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Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery

Toshikazu Kawai, Hiroyuki Hayashi, Yuji Nishizawa, Atsushi Nishikawa, Ryoichi Nakamura, Hiroshi Kawahira, Masaaki Ito, Tatsuo Nakamura. Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery. Int. J. Computer Assisted Radiology and Surgery, 12(8):1345-1353, 2017. [doi]

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