Development of Surgical System Using Bellows-Type Foldable Five-Fingered Robot Hand Inserted through a 20-mm Port

Area of Science:

• Robotics
• Surgical Technology
• Medical Devices

Background:

• Laparoscopic surgery requires precise instrument control.
• Assistance for manipulating large organs in minimally invasive procedures is needed.
• Current robotic systems may have limitations in dexterity and accessibility.

Purpose of the Study:

• To develop a novel robotic hand system for hand-assisted laparoscopic surgery.
• To evaluate the system's performance in grasping, pinching, and organ exclusion tasks.
• To identify areas for improvement in the robotic hand's design and control.

Main Methods:

• Development of a robotic hand prototype with specific grasping functionalities.
• Performance evaluation by three non-medical subjects performing simulated surgical tasks.
• Qualitative feedback and usability assessment by experienced surgeons operating the device via laparoscope imagery.

Main Results:

• The robotic hand system demonstrated capability in performing surgical operations in hand-assisted laparoscopic surgery with proficient users.
• Non-medical subjects showed potential with the system, indicating a learning curve.
• Surgeons were able to effectively grasp and pinch with minimal practice, suggesting intuitive operation.
• Difficulties in organ approach highlighted the need for refinement in the thumb mechanism and wrist control.

Conclusions:

• The developed robotic hand shows promise for assisting in laparoscopic surgery, particularly for organ manipulation.
• Further design optimization of the thumb mechanism and wrist control is necessary for enhanced maneuverability and broader clinical application.
• The system's usability by surgeons suggests a viable tool for future surgical assistance.