Detachable-Fingered Hands for Manipulation of Large Internal Organs in Laparoscopic Surgery
Detachable-Fingered Hands for Manipulation of Large Internal Organs in Laparoscopic Surgery
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用于腹腔镜手术中大型内脏器官操作的可拆卸手指手
DOI：
10.1109/robot.2007.363794
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
N. Tanaka
中科院分区：
文献类型：
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作者：
T. Takayama;T. Omata;T. Futami;H. Akamatsu;Toshiaki Ohya;K. Kojima;K. Takase;N. Tanaka
在腹腔镜手术中，外科医生只能使用可以通过套管针插入的杆状器械，因此需要高技术。为了克服这个问题，已经做了很多工作来开发多自由度镊子。然而，他们仍然不足以抓住，操纵或推开大型内脏器官，如脾脏，胰腺和肝脏。本文提出了一种可拆卸手指的机械手，它可以在腹腔内组装，每个部分都可以通过套管针插入。两种类型的这种三指手的发展。其中一个的三个指状物被依赖地驱动，而另一个的三个指状物被独立地驱动。对于每只手，我们展示了固定和动力传输机制。每只手的动力通过球和插座连接电线从操作者的手传递到手指。实验结果证明，双手可以抓住大的和油性的物体，如内脏。这项研究的一个目标是开发简单的手，可以用作牵开器。另一个目标是开发熟练的手，可以取代外科医生的手在手辅助腹腔镜手术，这仍然是侵入性的，通过制作一个7 - 8厘米的切口，将人手插入腹腔。
In laparoscopic surgery, surgeons can use only rod-shaped instruments that can be inserted through a trocar and therefore high technique is required. To overcome this problem, much work has been done to develop multi-degree-of-freedom forceps. However they are still inadequate to grasp, manipulate or push aside large internal 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 can be inserted through a trocar. Two types of such three-fingered hands are developed. The three fingers of one are dependently driven and those of the other are independently driven. For each hand, we show fixing 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 internal organs. One goal of this study is to develop simple hands that can be used as a retractor. The other goal is to develop skillful hands that can replace surgeons' hands in hand assisted laparoscopic surgery which is still invasive by making a 7-8cm incision to insert a human hand into the abdominal cavity.
用于深部远程微创手术的超冗余微型机械臂“Hyper Finger”
DOI：
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发表时间：
2003
期刊：
Proceeding of the 2003 IEEE International Conference on Robotics & Automation 1
影响因子：
--
作者：
Koji Ikuta;Takahiko Hasegawa;Shinichi Daifu
通讯作者：
Shinichi Daifu