Development of End-effector with High-curvature on Active Cannula for Micro Surgery

Abstract

This paper presents an end-effector with high-curvature for micro surgery. The developed end-effector consists of three joints that are constrained in the form of four-bar linkage and the support link that the first joint is attached is constrained in the inner tube of the Active Cannula robot. The end-effector is possible to bend from 0 degree to 180 degrees and it has 3DOFs including the translational and rotational motions, which are controlled by two wires or one rod. Also, a micro camera or a micro laser device for the micro surgery can be installed at the end section of the end-effector. In this study, the end-effector is designed and produced focusing on the mechanism mentioned above and the applicability of the micro surgery through the performance test is verified.