3P1-C02 Suction Hand for Grasping Large Internal Organs for Laparoscopic Surgery(Medical Robotics and Mechatronics (2))

摘要

In laparoscopic surgery, it is difficult to grasp large internal organs and drag it to make appropriate workspace by using conventional apparatus. Therefore, this paper proposes an assemblable mechanical hand for grasping the end of internal organs. This mechanical hand consists of the several units that can pass through a trocar, and can be assembled into a three fingered hand. Moreover, we developed a suction cup that can actively bend to fit the curved surface of the internal organs. The fingers equipped with the developed suction cups can grasp a pig liver without slippage.