Dexterous and Lightweight Robotic Hand-held Forceps for Laparoscopy Surgery

抄録

A novel hand-held robotic forceps for the laparoscopic surgery is developed. Intuitive operation is realized by an active transformation from the surgeon's wrist-rotation to the tip-rotation using an IMU and lightweight pneumatic actuators. The position control performance was evaluated and the in-vivo experiment was conducted to confirm the ability of suturing.