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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >The MUSHA Hand II:A Multifunctional Hand for Robot-Assisted Laparoscopic Surgery
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The MUSHA Hand II:A Multifunctional Hand for Robot-Assisted Laparoscopic Surgery

机译：MUSHA WILK II：用于机器人辅助腹腔镜手术的多功能手

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摘要

Although substantial progresses have been made in robot-assisted laparoscopic surgery, the graspers for existing surgical systems generally remain nonsensorized forceps design with limited functions. This article presents the design, development, and preliminary evaluation of the MUSHA Hand II, a multifunctional hand with force sensors for robot-assisted laparoscopic surgery. The proposed hand has three snake-like underactuated fingers that can be folded into a phi 12 mm cylindrical form. Each finger has a three-axis force sensor, to provide force information. After been deployed into an abdominal cavity, the hand can be configured to either grasper mode, retractor mode, or palpation mode for different tasks. Underactuated finger design enhances the adaptivity in grasping and the compliance in interaction with the environment. In addition, fingertip force sensors can be utilized for palpation to obtain a real-time stiffness map of organs. Using the da Vinci Research Kit as a robotic testbed, the functionality of the hand has been demonstrated and experiments have been conducted, including robotic palpation and organ manipulation. The results suggest that the hand can effectively enhance the functionality of a robotic surgical system and overcome the limits on force sensing introduced by the use of robots in laparoscopic surgery.
机译：虽然机器人辅助腹腔镜手术中已经进行了实质性进展，但现有手术系统的刺刀通常保持不均匀的镊子设计，其功能有限。本文介绍了MUSHA AND II的设计，开发和初步评估，一种用于机器人辅助腹腔镜手术的力传感器的多功能手。所提出的手具有三个类似的蛇形手指，可以折叠成PHI 12mm圆柱形。每个手指具有三轴力传感器，提供强制信息。在展开到腹腔之后，手可以配置为掌握模式，牵开器模式或不同任务的触觉模式。欠触发的手指设计提高了抓握的适应性和与环境互动的顺应性。此外，指尖力传感器可用于触诊以获得器官的实时刚度图。使用Da Vinci研究套件作为机器人测试平，已经证明了手的功能，并进行了实验，包括机器人触诊和器官操纵。结果表明，手可以有效地增强机器人外科系统的功能，并克服了腹腔镜手术中使用机器人引入的力传感的限制。

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