Development of a Humanoid Hand System to Support Robotic Urological Surgery
Development of a Humanoid Hand System to Support Robotic Urological Surgery
复制标题
开发支持机器人泌尿外科手术的人形手系统
DOI：
10.1109/embc48229.2022.9870999
复制
发表时间：
2022
期刊：
影响因子：
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通讯作者：
Ishizaka Kazuhiro
中科院分区：
文献类型：
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作者：
Hashira Ibuki;Kato Ryu;Ishizaka Kazuhiro
在机器人泌尿外科手术中，助手通常使用腹腔镜镊子将器官移出手术工作空间;然而，辅助效率低。在这项研究中，我们的目标是开发一种具有多个自由度和折叠机构的三指人形手，使其能够通过小切口插入，以提高辅助器官的效率。选择膀胱（含前列腺）和肾脏作为靶器官。为了实现对这些器官的稳定辅助，我们分析了三种姿势：“抓”、“张开手掌”和“捏”。我们验证了申报的手可以通过20 mm端口插入腹腔，并且可以通过这三种运动辅助抓取与靶器官相同大小的物体。临床相关性-所提出的三指、八自由度人形手（带有折叠机构）可通过20 mm端口插入，并显示能够稳定地协助在泌尿外科手术工作空间中抓取与肾脏和膀胱（含前列腺）大小相同的物体。
In robotic urological surgery, it is common for an assistant to use laparoscopic forceps to move organs clear of the surgical working space; however, the assistance efficiency is low. In this study, we aimed to develop a three-fingered humanoid hand with multiple degrees of freedom and a folding mechanism that would allow it to be inserted through a small incision to improve the efficiency of assisting with organs. The bladder (with prostate) and kidneys were selected as the target organs. To achieve stable assistance for these organs, we analyzed three postures: “grasp,” “open palm,” and “pinch.” We verified that the proposed hand can be inserted into the abdominal cavity through a 20 mm port and can assist in a grasping an object of the same size as the target organ with these three movements. Clinical Relevance— The proposed three-fingered, eight-degree-of-freedom humanoid hand with a folding mechanism can be inserted through a 20-mm port and is shown to be able to stably assist in grasping objects of the same size as the kidney and bladder (with prostate) in the urological surgical workspace.