@article{oai:nagoya.repo.nii.ac.jp:00012598, author = {Kawahara, Tomohiro and Matsumoto, Tetsuro and Muramatsu, Naoki and Osada, Taro and Sakamoto, Naoto and Arai, Fumihito}, journal = {3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)}, month = {}, note = {Endoscopic Sub-mucosal Dissection (ESD) has the low operability problem during operation by using surgical tools with a simple mechanism. In this paper, newly developed an exoskeletal microarm is proposed. For enabling the surgical operation of cancer tissues during ESD, a gripper is attached to the microarm based on a wire decoupling design. The fabrication methods for the microarm by using an electrical discharge machining and a photolithography are also shown. By using this approach, the developed extra-thin 2-DOF microarm can insert to the endoscope channel with the diameter of 2.7 mm.}, pages = {849--854}, title = {Development of a Decoupling Wire Driven Exoskeletal Microarm for Endoscopic Submucosal Dissection}, year = {2010} }