Hands with Detachable Fingers for Laparoscopic Surgery

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  • 腹腔鏡下手術のための組立式ハンド
  • フククウキョウカ シュジュツ ノ タメノ クミタテシキ ハンド

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Abstract

In laparoscopic surgery, surgeons can use only rod-shaped instruments that can be inserted through a trocar and therefore high techniques are required. To overcome this problem, much work has been done to develop multi-degree-of-freedom forceps. However they are still inadequate to handle or retract large organs, like a spleen, pancreas, and liver. This paper proposes mechanical hands with detachable fingers that can be assembled in the abdominal cavity, each of whose parts is inserted through a trocar. Two types of such three-fingered hands are developed. The three fingers of one of them are dependently driven and those of the other are independently driven. For each hand, we show locking and power transmission mechanisms. Power of each hand is transmitted from operator's hand to its fingers by connecting wires with a ball and socket. Experimental results verify that both hands can grasp large and oily objects like organs. When rod-shaped instruments are not enough to accomplish laparoscopic surgery, hand assist laparoscopic surgery is often applied. The goal of this study is to develop robot hands that can replace surgeons' hands in hand assisted laparoscopic surgery.

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