Compact 4DOF robotic forceps with 3.5 mm in diameter for neurosurgery based on a synthetic elastic structure

摘要

In recent years, robotic forceps are widely explored in the field of Robotics using various types of mechanisms. In this paper, we propose compact 4DOF robotic forceps for neurosurgery based on compliant mechanism. A notable feature of proposed robotic forceps is that the springs are largely deformed to transmit and transform the motion, therefore the manipulator's structure can be simple, thus can be miniaturized. We performed a series of Finite Element Analysis and showed that the proposed robotic forceps have sufficient working area and rigidity.