JRM Vol.25 No.5 pp. 863-870
doi: 10.20965/jrm.2013.p0863


Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes

Mikio Osaki, Toru Omata, and Toshio Takayama

Department of Mechano-Micro Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, Kanagawa 226-8502, Japan

February 26, 2013
July 23, 2013
October 20, 2013
laparoscopic surgery, robot hand, ultrasound sensing, assemblable hand, medical robot
During laparoscopic surgery, large internal organs should often be manipulated while being internally visualized. For this purpose, we study an assemblable two-fingered hand implemented with an ultrasound probe. The fingers are separately introduced into the abdominal cavity through small incisions and are assembled into a hand sufficiently large to grasp or manipulate the large organ. Two types of ultrasound probes are employed; a phased array probe of a commercially available ultrasound diagnosis system, and a single-element probe. Using the latter probe, the hand is assembled through 12 mm trocars and is assessed in an in vivo experiment. Ultrasound echo sensing is found to retrieve diagnostic information regarding specific internal organs. It also visualizes the finger and its back during grasping, which can improve the safety of hand grasping and manipulation. Furthermore, ultrasound echo sensing can assist the measurement of the relative position and orientation of the two grasping fingers.
Cite this article as:
M. Osaki, T. Omata, and T. Takayama, “Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes,” J. Robot. Mechatron., Vol.25 No.5, pp. 863-870, 2013.
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