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Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery

Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery

Conference Proceedings 2016: 5124-5127

This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum." The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position. We evaluated the proposed hand based on a performance test and a physician's opinions, and we confirmed that it can grasp organs.

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Accession: 059599530

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PMID: 28269420

DOI: 10.1109/embc.2016.7591880

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