1P1-I12 Assemblable Three Fingered Five-DOF Hand for Laparoscopic Surgery

Abstract

In laparoscopic surgery, surgeons cannot use large and complicated shaped traditional instruments for abdominal surgery and their hands directly. When it is difficult to perform surgery by using only instruments for laparoscopic surgery, surgeons often make a 7-8 cm incision through which large instruments or their hand can be inserted. This paper propose an assemblable mechanical hand like a human hand that can be inserted through trocars. We developed an assemblable three fingerd five-DOF hand. To drive its fingers, power is transmitted with wires, gears and shafts. Experimental results verify that the hand can grasp and pushing aside various objects.