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Title
Japanese:水圧駆動腹腔内組立式ハンドの開発（水圧駆動の利点検証） 
English:Development of Assemblable Hydraulic Driven Hand for Laparoscopic Surgery:(Verification of Benefits of Hydraulic Drive) 
Author
Japanese: 宮本寛之, 高山俊男, 小俣透, 小嶋一幸, 高瀬浩造, 田中直文.  
English: Hiroyuki Miyamoto, Toshio Takayama, TORU OMATA, Kazuyuki Kojima, Kozo Takase, Naofumi Tanaka.  
Language Japanese 
Journal/Book name
Japanese:日本フルードパワー学会論文集 
English: 
Volume, Number, Page Vol. 42    No. 6    pp. 101-107
Published date Nov. 2011 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
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DOI https://doi.org/10.5739/jfps.42.101
Abstract In laparoscopic surgery, retracting internal organs is required for appropriate visibility and workspace. It is desired that retracting instruments be less invasive and conform better to organ surfaces. An assemblable three-fingered retractor-hand was previously developed. It had three active joints driven with wires. In this research, a new assemblable three-fingered hand is developed. The fingers of this hand are equipped with hydraulic driven bending joints, which enables simplification of the mechanism and safe retraction. There are advantages of using a hydraulic drive system such as; easier power transmission and therefore higher transmission rate. Fingertip forces are equalized and can be estimated with the help of a water pressure gauge. In addition, the load torque, at which the fingers are extended, can be adjusted by modifying precompression. Also, the hydraulic joints provide adjustable compliance because of the elasticity of the tubes in the flow path. Those benefits are verified by experiments, and an in vivo experiment is conducted.

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