Study on high performance Hyper Finger for minimal invasive surgery : Miniaturized prototype of master-slave Hyper Finger applicable for invasive surgery and in vivo surgical experiments

Abstract

Miniaturized prototype of master-slave Hyper Finger applicable for minimal invasive surgery is developed. By using a couple of the Hyper Finger, smooth control of the surgical tool is verified experimentally. Both feasibility and problems for clinical application are made clear by in vivo surgical experiments with anesthetized pig.