1P1-C14 腹腔内組立式3指5自由度ハンド(第2報) : 指駆動機構の改良とIn Vivo実験による評価(手術支援ロボティクス・メカトロニクス)

概要

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In laparoscopic surgery, surgeons often make a 7-8 cm incision through which traditional instruments for abdominal surgery and their hands directly when it is difficult to perform surgery by using only slender instruments for laparoscopic surgery. We have developed an assemblable three fingered five-DOF hand like a human hand that can be inserted through trocars. This paper describes an improved finger mechanism and its evaluation in In Vivo experiment. The middle finger and the forefinger have interlocking joint mechanisms in which the two joints of each finger equally or proportionally rotate. The base joint of the thumb adopts a locking mechanism. Experimental results verify that the hand can grasp and open internal organs.
2008-06-06