Development of a Novel Disposable Laparoscope Manipulator

This paper describes the development of a novel laparoscope manipulator using the medical linear actuators, called P-arm. The manipulator is composed of a Stewart-cough Platform with six degrees of freedom and six hydraulic linear actuators, and can hold a general laparoscope. In the current prototype, the position of a laparoscope can be controlled through a joystick interface. To evaluate the performance of this newly developed manipulator, an experiment was conducted in which a surgeon used the manipulator to perform an in-vitro laparoscopic cholecys-tectomy simulation. As a result, the manipulator could replace a human assistant during the operation. The arm part of the manipulator is lightweight (approximately 580 [g] ), compact, producible at a low price, and sterilized. Therefore, the manipulator can be manufactured as a disposable item. This new concept produces the following excellent characteristics. First, it does not obstruct the surgeon's operation. Second, setting the manipulator in the medical treatment site is easy. Finally, the manipulator need not be maintained.