Hyper-finger for Remote Minimally Invasive Surgery in Deep Area

Hyper-finger for Remote Minimally Invasive Surgery in Deep Area
复制标题

超手指用于深部远程微创手术

DOI：
10.1007/3-540-45786-0_22
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发表时间：
2002
期刊：
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影响因子：
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通讯作者：
Humihiro Higashikawa
Humihiro Higashikawa
中科院分区：
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文献类型：
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作者：
K. Ikuta;S. Daifu;T. Hasegawa;Humihiro Higashikawa

文献摘要

被引文献

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一种新的机器人系统命名为超手指微创手术在深部器官已经开发出来。最新版本的手指尺寸为10 mm，整个系统更小更轻，可以设置在相机三脚架上。这是医学界最小的主从机器人之一。每个手指有九个自由度和几个独特的机制来解决传统的线驱动机械手的基本问题。新的概念和系统已通过在体远程微创手术成功验证。目前正在对该系统进行进一步改进，使其成为临床版本。
A new robotic system named Hyper Finger for minimally invasive surgery in deep organs has been developed. The finger size of the latest version is 10 mm and the entire system is much smaller and lighter, and can be set up on a camera tripod. This is one of the smallest master-slave robots in medicine. Each finger has nine degrees of freedom and several unique mechanisms are employed to solve the fundamental issues of conventional wire drive manipulators. The new concept and system were verified successfully by in-vivo remote minimally invasive surgery. Further improvements of the system toward a clinical version are now underway.