Novel Design of Detachable Surgical Tool for Robotic Assisted Minimal Invasive Surgery

In modern surgical operation, a surgeon using a robotic surgical system which use a manipulator (a variety of surgical instruments, such as tissue graspers, needle drivers), Each of these structures perform functions for the surgeon such as holding or driving a needle, grasping a blood vessel, cutting or dissecting tissue, for this hand input devices of the surgeon’s workstation coupled to the surgical instrument by a servo mechanism (more especially DC servo motors). This servo mechanism provides an interfacing between surgeon’s hand input and manipulator surgical tool. The surgeon or assistant will mount robotic surgical instruments having suitable end effectors (grasper forceps, scissors, needle etc.) to the manipulator, and will often pass the end effectors through hollow sleeve for internal surgical site, so as to treat the targeted tissues while minimizing injury to the adjacent tissue structures. We are developing surgical tool with minimally invasive robotic surgical system. To use those tools in surgery, the mechanism of system needs to be simple and durable to reduce the cost of robotic surgery. In this paper, we present mechanism for minimally invasive surgical robot tools that have simple structure, easy to manufacture and control. Through an extensive design process, a compact and dexterous robotic surgical manipulator as well as the supporting control hardware is formed