Abstract
We have proposed robot hands that can be assembled inside the abdominal cavity to grasp/manipulate large internal organs. However, previous hands were equipped with no sensors. This paper presents a two-fingered assemblable hand with ultrasonic transducers, which enables observation of the inside of an internal organ. Ultrasonic sensing can provide the operator with deformation information of an internal organ. It also implies the accuracy improvement of the configuration of another finger in contact with the internal organ. This paper shows results of preliminary experiments.
