DocumentCode :
1875736
Title :
Assemblable three fingered five-DOF hand for laparoscopic surgery
Author :
Ohshima, Ritsuya ; Takayama, Toshio ; Omata, Toru ; Ohya, Toshiki ; Kojima, Kazuyuki ; Takase, Kozo ; Tanaka, Naofumi
Author_Institution :
Tokyo Med. & Dental Univ., Tokyo
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
3896
Lastpage :
3901
Abstract :
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 paper proposes an assemblable mechanical hand like a human hand that can be inserted through trocars. We already developed a three-fingered three-degree of freedom assemblable hand. The purpose of this paper is to develop an assemblable hand with more degrees of freedom that can grasp/push aside large internal organs and open membranes. The developed hand has three fingers with a total of five degrees of freedom. Its power transmission mechanisms and assembling method are completely different from those of the previous hand. The hand is assembled from body and finger units with 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 cables, gears and shafts. Experimental results verify that the hand can be assembled in a closed space and that it can grasp and push aside various objects.
Keywords :
manipulators; medical robotics; surgery; abdominal cavity; assemblable mechanical hand; assemblable three fingered five-DOF hand; installation tool; laparoscopic surgery; power transmission mechanism; small diameter trocars; Abdomen; Assembly; Biomembranes; Cables; Fasteners; Fingers; Humans; Minimally invasive surgery; Power transmission; Surgical instruments;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543809
Filename :
4543809
Link To Document :
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