Assemblable three-fingered nine-degrees-of-freedomhand for laparoscopic surgery

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 6, 2010, Pages 862-870

  Oshima, Ritsuya ^a   Takayama, Toshio ^b   Omata, Toru ^b   Kojima, Kazuyuki ^c   Takase, Kozo ^c   Tanaka, Naofumi ^c  

^a MITSUBISHI ELECTRIC CORPORATION   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

^c TOKYO MEDICAL AND DENTAL UNIVERSITY   (Japan)

Author keywords

Manipulators; mechanical systems; medical devices; medical robotics

Indexed keywords

ABDOMINAL CAVITY; ASSISTIVE; FINGER JOINTS; HOLD UP; IN-VIVO EXPERIMENTS; INTERNAL ORGANS; LAPAROSCOPIC SURGERY; MECHANICAL SYSTEMS; MEDICAL DEVICES; MEDICAL ROBOTICS; RIGHT AND LEFT; ROBOTIC HANDS; SMALL INTESTINE; SURGERY ROBOT; WRIST JOINTS;

BIOMEDICAL ENGINEERING; END EFFECTORS; MANIPULATORS; MECHANICAL ENGINEERING; MECHANICS; ROBOTIC ARMS; SURGERY;

ROBOTICS;

EID: 78650414343     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2010.2081997     Document Type: Article

References (21)

1. R. H. Taylor and D. Stoianovic, "Medical robotics in computer-integrated surgery," IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 765-781, Oct. 2003, 2010.
2. G. S. Guthart and J. K. Salisbury, Jr., "The intutiveTM telesurgery system: Overview and application," in Proc. 2000 IEEE Int. Conf. Robot. Autom., pp. 618-621.
3. K. Ikuta, T. Hasegawa, and S. Daifu, "Hyper redundant miniature manipulator "Hyper finger" for remote minimally invasive surgery in deep area," in Proc. 2003 IEEE Int. Conf. Robot. Autom., pp., 1098-1102.
4. K. Tadano and K. Kawashima, "Development of a master slave system with force sensing using pneumatic servo system for laparoscopic surgery," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 947-952.
5. M. C. Cavusoglu, W. Williams, F. Tendick, and S. S. Sastry, "Robotics for telesurgery: Second generationBerkeley/ucsf laparoscopic telesurgical workstation and looking towards the future applications," Ind. Robot, Int. J., vol. 30, no. 1, pp. 22-29, 2003.
6. M. J. H. Lum, D. Trimble, J. Rosen, K. Dodero II, H. H. King, G. Sankaranarayanan, J. Dosher, R. Leuschke, B. Martin-Anderson, M. N. Sinanan, and B. Hannaford, "Multidisciplinary approach for developing a new minimally invasive surgical robotic system," in Proc. 1st IEEE/RAS-EMBS Int. Conf. Biomed. Robot. Biomechatoron., Pisa, Tuscany, Italy, Feb. 2006, pp. 841-846.
7. M. Minor and R. Mukherjee, "A dexterous manipulator for minimally invasive surgery," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 2057- 2064.
8. H. Yamashita, D. Kim, N. Hata, and T. Dohi, "Multi-slider linkage mechanism for endoscopic forceps manipulator," in Proc. 2003 IEEE/RSJ Int. Conf. Intell. Robot. Syst., pp., 2577-2582.
9. C. Ishii, K. Kobayashi, Y. Kamei, and T. Nishitani, "Robotic forceps manipulator with a novel bending mechanism," IEEE/ASME Trans. Mechatronics, vol. 15, no. 5, pp. 671-684, Oct. 2010.
10. G. Tholey and J. P. Desai, "A modular, automated laparoscopic grasper with three-dimensional force measurement capability," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2007, pp. 250-255.
11. V. R. C. Kode and M. C. Cavusoglu, "Design and characterization of a novel hybrid actuator using shape memory alloy and DC micromotor for minimally invasive surgery applications," IEEE/ASME Trans. Mechatronics, vol. 12, no. 4, pp. 455-464, Aug. 2007.
12. T. Frede, A. Hammady, J. Klein, D. Teber, N. Inaki,M.Waseda, G. Buess, and J. Rassweiler, "The radius surgical system-A new device for complex minimally invasive procedures in urology," Eur. Urol., vol. 51, no. 4, pp. 1015-1022, 2007.
13. Tuebingen Scientific Medical GmbH. (2010). [Online]. Available: http://www.tuebingen-scientific.de.
14. A. C. Lehman, N. A.Wood, J. Dumpert, D. Oleynikov, and S.M. Farritor, "Robotic natural orifice translumenal endoscopic surgery," in Proc. IEEE Int. Conf. Robot. Autom., May 2008, pp. 2969-2974.
15. K. Harada, E. Susilo, A.Menciassi, and P. Dario, "Wireless reconfigurable modules for robotic endoluminal surgery," in Proc. IEEE Int. Conf. Robot. Autom., May 2009, pp. 2699-2704.
16. Covidien-Autosuture. (2010). [Online]. Available: http://www.autosuture. com.
17. T. Takayama, T. Omata, T. Futami, H. Akamatsu, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, "Detachable-fingered hands for manipulation of large internal organs in laparoscopic surgery," in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 244-249.
18. R. Oshima, T. Takayama, T. Omata, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, "Assemblable three fingered five-DOF hand for laparoscopic surgery," in Proc. IEEE Int. Conf. Robot. Autom., 2008, pp. 3896-3901.
19. M. Osaki, T. Takayama, T. Omata, T. Ohya, K. Kojima, K. Takase, and N. Tanaka, "Single-trocar assemblable retractor-hand for laparoscopic surgery," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 3490-3495.
20. R. Oshima, T. Takayama, T. Omata, K. Kojima, K. Takase, and N. Tanaka, "Assemblable three-fingered nine-DOF hand for laparoscopic surgery," in Proc. 2009 IEEE/RSJ Int. Conf. Intell. Robots Syst., St. Louis, MO, Oct., pp. 5528-5533.
21. J. Shigley and C. Mischke, Mechanical Engineering Design. New York: McGraw-Hill, 1985, ch. 17.