1A1-B14 A soft finger with the function of attaching and holding internal organs referring to an octopus sucker(Medical Robotics and Mechatronics (1))

摘要

This study consists of the development of soft finger with a function of attaching and holding internal organs by using fluid power. It is necessary to attach and hold many kinds of organ softy. Inspired in an octopus, stable adhesive force is produced through application of negative pressure in the sealed space by the object. The suckers have roundly shape for attaching softly and urethane funnels for attaching various kinds of organs. It is verified through experiments that soft finger is effective in the laparoscopic surgery.