Surgical Applications of Milli-Robots

摘要

Minimally invasive surgical techniques, especially endoscopy and laparoscopy, possess many advantages over conventional methods. These include accelerated patient recovery and reduced rate of complications. However, limitations of current operating instruments create difficulties for the surgeon. In this article, we present a design for an improved polypectomy snare for the endoscope, several rotary actuator designs for endoscopic tools, and a prototype endo-platform, which provides fine motion control for endoscopic tools. We also present several prototypes of more dextrous laparo-scopic tools based on the human hand. Finally, we present a sensory glove designed as a natural and dextrous human interface.