Visible forceps manipulator with novel linkage bending mechanism for neurosurgery

In minimally invasive surgery (MIS), especially the neurosurgery, surgeons often suffer from occlusion region problem. Common surgical instruments, like endoscope and corresponding operating tools, are hard to solve it due to their size and rigid mechanical structure. In this paper, we present a visible forceps manipulator with novel linkage bending mechanism, which realizes the flexible bending capability and high output force, as well as the integrated endoscopic function. We present the simplified experiment to evaluate the results of mechanical performance and brain phantom test to evaluate feasibility and usefulness in neurosurgery. Preliminary results show that phantom experiments using the brain phantom verify the feasibility of the novel manipulator.