title: Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery.
abstract: This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum." The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position. We evaluated the proposed hand based on a performance test and a physician's opinions, and we confirmed that it can grasp organs.
authors.forename: Koki
authors.initials: K
authors.lastname: Yoshida
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Yamada
authors.forename: Ryu
authors.initials: R
authors.lastname: Kato
authors.forename: Tatsuya
authors.initials: T
authors.lastname: Seki
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Yokoi
authors.forename: Masaya
authors.initials: M
authors.lastname: Mukai
mesh_terms: D000005:Abdomen / Q000601:surgery*; D004867:Equipment Design; D018737:Hand Strength; D058733:Hand-Assisted Laparoscopy / Q000295:instrumentation*; D006801:Humans; D009038:Motion; D065287:Robotic Surgical Procedures / Q000295:instrumentation*