Surgical Robot Hand

摘要

It has been demonstrated that a small robotic hand working with Bowden pulleys and SME shape memory elements is possible below the range of 10 mm in diameter and movement of nearly 3 Hz speed. The robot hand can be sterilized and used for medical applications and can easily carry up to 400 g of weight. It can be made adaptable to different software and electronic systems and can be pushed through standard surgical trocars. Time delays are still in the acceptable range. Such a robot hand can be controlled by means of a dataglove. It has been demonstrated that a dataglove can easily be manufactured with resistive rubber. Time delay of that resistive rubber is still five times longer than time delay of robotic hand. Both together robotic hand and dataglove comprise a total time-delay which should be acceptable for standard surgical procedures. Robot Hand with dataglove is precise in the range of a fifth of a millimeter. We propose to test the robot hand now on different surgical robotic systems.