A Tendon-Driven Mechanism of the Bending Joints Based on Differential Gears

摘要

In minimally invasive surgery, surgeons use a variety of techniques to operate with less damage to the body than with open surgery. Minimally invasive surgery is associated with less pain, a shorter hospital stay and fewer complications. The da Vinci Surgical System is a robotic surgical system made by the American company Intuitive Surgical. Approved by the Food and Drug Administration (FDA) in 2000, it is designed to facilitate complex surgery using a minimally invasive approach, and is controlled by a surgeon from a master console. The da Vinci System has been designed to improve upon conventional laparoscopy, in which the surgeon operates while standing, using hand-held, long-shafted instruments, which have no wrist joints. By providing surgeons with enhanced dexterity, the da Vinci Surgical System makes it possible for more surgeons to perform minimally invasive procedures.