Published October 18, 2019
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The MUSHA Soft Hand for Minimally Invasive Surgery
Description
In robot-assisted laparoscopic surgery, the existing surgical instruments generally remain two-jawed forceps design without force feedback, which leads to the surgeon’s loss of dexterity and sense of touch, possibly causing inappropriate force on the organs. This paper presents the MUSHA Hand II, a multi-functional soft hand with force sensors, which has three miniature underactuated fingers composed by multiple vertebrae and internal elastic elements. Furthermore, three-component force sensors are integrated into the fingertips.
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The MUSHA Soft Hand for Minimally Invasive Surgery.pdf
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