Hyper redundant miniature manipulator "Hyper Finger" for remote minimally invasive surgery in deep area

Author

Ikuta, Koji ; Hasegawa, Takahiko ; Daifu, Shinichi

Author_Institution

Dept. of Micro Syst. Eng., Nagoya Univ., Aichi, Japan

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

1098

Abstract

A new robotic system named "Hyper Finger" for minimally invasive surgery in deep organs has been developed. The finger size of the latest version is 10 mm and the entire system is much smaller and lighter, and can be set up on a camera tripod. This is one of the smallest master-slave robots in medicine. Each finger has nine degrees of freedom and several unique mechanisms are employed to solve the fundamental issues of conventional wire drive manipulators. The new concept and system were verified successfully by in-vivo remote minimally invasive surgery. Further improvements of the system toward a clinical version are now underway.

Keywords

biological organs; medical robotics; position control; redundant manipulators; surgery; telerobotics; 10 mm; Hyper Finger; camera tripod; conventional wire drive manipulators; hyper redundant miniature manipulator; in-vivo remote; master-slave robots; medicine; nine degrees of freedom; remote minimally invasive surgery; robotic system; Abdomen; Cameras; Fingers; Master-slave; Minimally invasive surgery; Prototypes; Robot vision systems; Surgical instruments; Systems engineering and theory; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241739

Filename

1241739