腹腔内組立式3指5自由度ハンド [in Japanese] Assemblable Three Fingered Five-DOF Hand for Laparoscopic Surgery [in Japanese]
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In laparoscopic surgery, surgeons perform surgery in the abdominal cavity by using only rod-shaped instruments that can be inserted through the small halls of trocars. Thus, they cannot use large and complicated shaped traditional instruments for abdominal surgery, nor their hands directly. When it is difficult to perform surgery by using only instruments for laparoscopic surgery, surgeons often make a 7-8 [cm] incision through which large instruments or their hands can be inserted. This paper propose an assemblable mechanical hand like a human hand that can be inserted through trocars. There are two directions in this study. One is to develop a few degree of freedom hand specialized for a single task and the other to develop a large degree of freedom hand with multiple functions like a human hands. We developed an assemblable three fingerd five-DOF hand in the latter direction. This hand consists of body and finger units, and an installation tool. The finger unit is fixed to the body unit with only one screw by using the installation tool. To drive the fingers, power is transmitted with wires, gears and shafts. Experimental results verify that the hand can grasp and pushing aside various objects.
JRSJ 26(5), 453-461, 2008-07-15
The Robotics Society of Japan