Abstract
In laparoscopic surgery, it is difficult to grasp organs such as liver, spleen and kidney using only slender laparoscopic surgery instruments. In this paper, we propose a three-fingered hand that can be inserted through a 10 mm trocar. Each finger is composed of two springs which are cut from cylindrical columns and driven by pneumatic cylinders to bend in order to achieve a soft grasp of organs. In addition to that, this mechanism helps us to estimate a grasping force for organs. Therefore, this hand is adequate for grasping organs. The mechanism of the hand is introduced. Then, the effectiveness of this hand is demonstrated with some experiments.
