NDLI: Assemblable three fingered five-DOF hand for laparoscopic surgery

Content Provider	IEEE Xplore Digital Library
Author	Ohshima, R. Takayama, T. Omata, T. Ohya, T. Kojima, K. Takase, K. Tanaka, N.
Copyright Year	2008
Description	Author affiliation: Tokyo Med. & Dental Univ., Tokyo (Ohshima, R.; Takayama, T.; Omata, T.)
Abstract	In laparoscopic surgery, surgeons perform surgery in the abdominal cavity by using only slender instruments that can be inserted through small diameter trocars. When it is difficult to perform surgery by using only instruments for laparoscopic surgery, they often make a 7-8 cm incision through which their hand can be inserted. Clearly this is invasive compared with complete laparoscopic surgery. This paper proposes an assemblable mechanical hand like a human hand that can be inserted through trocars. We already developed a three-fingered three-degree of freedom assemblable hand. The purpose of this paper is to develop an assemblable hand with more degrees of freedom that can grasp/push aside large internal organs and open membranes. The developed hand has three fingers with a total of five degrees of freedom. Its power transmission mechanisms and assembling method are completely different from those of the previous hand. The hand is assembled from body and finger units with an installation tool. The finger unit is fixed to the body unit with only one screw by using the installation tool. To drive the fingers, power is transmitted with cables, gears and shafts. Experimental results verify that the hand can be assembled in a closed space and that it can grasp and push aside various objects.
Starting Page	3896
Ending Page	3901
File Size	1955615
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543809
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assembly Minimally invasive surgery Fingers Surgical instruments Abdomen Humans Biomembranes Power transmission Fasteners Cables
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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