Hyper Finger for Remote Minimally Invasive Surgery in Deep Area (7th report) Slave Finger Family according to function

摘要

A new robotic system named "Hyper Finger·Efor remote minimally invasive surgery in deep organs has been developed. In this paper we propose three new surgical tools of Hyper Finger with multifunction. One is a variety of grippers for several use, other is the active endoscope with six degrees of freedom which is able to monitor the surgical field avoiding the obstacles, and the other is the scissors with seven degrees of freedom for cutting off the surgical suture. We add these three tools to Hyper Finger, and develop total system of Hyper Finger. Finally experimental verification demonstrates the effectiveness of this system.