Abstract
In Laparoscopic surgery, surgeons cannot use their own hand directory. Therefore, they retract an organ with a slender instrument called retractor. Current retractors do not have area enough to retract an organ gently. This paper proposes an assemblable mechanical retractor-hand that can be inserted through a trocar. The aim of this research is to design a practical assemblable hand by limiting its application to retracting. Previous work already reveals that assembling in the abdominal cavity is possible. However, assembling require skills of a surgeon. Therefore we propose new assembling sequence, "Single Trocar Assembling", that uses only one trocar. Experimental results verify that the hand can be assembled easily and withstand a force of 25N in a retracting experiment.
