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Titlebook: Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2005; 8th International Co James S. Duncan,Guido Gerig Conference proc

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Compact Forceps Manipulator Using Friction Wheel Mechanism and Gimbals Mechanism for Laparoscopic Suon with load of 4 [N], positioning accuracy was less than 1.2 [deg] in pivoting motion, less than 4 [deg] in rotation of forceps, less than 1.2 [mm] in longitudinal translation of forceps. As future works, we will modify mechanism for sterilization and safety improvement, and also integrate this man
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