Development of universal gripping adapters: Sterile coupling of medical devices and robots using robotic fingers

摘要

In this article a new universal gripping adapter for a medical macro-micro telemanipulation system for the middle ear surgery is presented. The telemanipulation system should enable the surgeon to precisely manipulate tissue in interventions at the middle ear like the stapedotomy. The system proposed by Entsfellner et al. [1] contains of a joystick console, a robotic carrier system (macro-manipulator) with a robotic hand and three fingers, an active gripping adapter, a surgical micro-manipulator, and a microsurgical instrument.