The MUSHA underactuated hand for robot-aided minimally invasive surgery

Area of Science:

• Robotics
• Surgical Technology
• Biomedical Engineering

Background:

• Keyhole surgery presents challenges including reduced dexterity, limited workspace, and loss of tactile sensation.
• These limitations can lead to tissue damage and suboptimal task performance in minimally invasive procedures.

Purpose of the Study:

• To develop an anthropomorphic, three-fingered underactuated miniature tool for robot-aided laparoscopic surgery.
• To enhance surgeon's dexterity and tactile feedback during minimally invasive procedures.

Main Methods:

• A novel three-fingered underactuated miniature tool design enabling closed-hand insertion and versatile configurations within the abdominal cavity.
• Analysis of kinematic structures using quality indices for optimal manipulability and grasp stability.
• Development and experimental testing of a fingertip force sensor prototype utilizing fiber Bragg grating (FBG) technology.

Main Results:

• Identified optimal kinematic designs to significantly improve grasping and manipulation capabilities.
• The fiber Bragg grating (FBG) fingertip force sensor prototype demonstrated good performance, validating its potential for surgical robotics.
• Surgeon feedback guided design improvements for enhanced kinematics and mechanical features.

Conclusions:

• The developed anthropomorphic tool addresses key limitations in laparoscopic surgery, offering improved dexterity and manipulation.
• Fiber Bragg grating (FBG) sensor technology shows promise for enhancing tactile feedback in surgical robotics.
• Collaborative design with surgeons ensures clinical relevance and potential for widespread adoption.