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In laparoscopic surgery, surgeons perform surgery in the abdominal cavity by using only slender instruments that can be inserted through small diameter trocars. When it is difficult to perform surgery by using only instruments for laparoscopic surgery, they often make a 7-8 cm incision through which their hand can be inserted. Clearly this is invasive compared with complete laparoscopic surgery. This...
In laparoscopic surgery, surgeons can use only rod-shaped instruments that can be inserted through a trocar and therefore high technique is required. To overcome this problem, much work has been done to develop multi-degree-of-freedom forceps. However they are still inadequate to grasp, manipulate or push aside large internal organs, like a spleen, pancreas, and liver. This paper proposes mechanical...
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