Although substantial progresses have been made in robot-assisted laparoscopic surgery, the graspers for existing surgical systems generally remain nonsensorized forceps design with limited functions. This article presents the design, development, and preliminary evaluation of the MUSHA Hand II, a multifunctional hand with force sensors for robot-assisted laparoscopic surgery. The proposed hand has three snake-like underactuated fingers that can be folded into a Φ12 mm cylindrical form. Each finger has a three-axis force sensor, to provide force information. After been deployed into an abdominal cavity, the hand can be configured to either grasper mode, retractor mode, or palpation mode for different tasks. Underactuated finger design enhances the adaptivity in grasping and the compliance in interaction with the environment. In addition, fingertip force sensors can be utilized for palpation to obtain a real-time stiffness map of organs. Using the da Vinci Research Kit as a robotic testbed, the functionality of the hand has been demonstrated and experiments have been conducted, including robotic palpation and organ manipulation. The results suggest that the hand can effectively enhance the functionality of a robotic surgical system and overcome the limits on force sensing introduced by the use of robots in laparoscopic surgery.

中文翻译：

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MUSHA Hand II：用于机器人辅助腹腔镜手术的多功能手


尽管机器人辅助腹腔镜手术已经取得了实质性进展，但现有手术系统的抓握器通常仍然是非传感钳设计，功能有限。本文介绍了 MUSHA Hand II 的设计、开发和初步评估，这是一款带有力传感器的多功能手，用于机器人辅助腹腔镜手术。所提出的手具有三个蛇状欠驱动手指，可以折叠成 Φ12 毫米的圆柱形。每个手指都有一个三轴力传感器，提供力信息。部署到腹腔后，手可以配置为抓紧器模式、牵开器模式或触诊模式以执行不同的任务。欠驱动手指设计增强了抓取的适应性以及与环境交互的顺应性。此外，指尖力传感器可用于触诊，以获得器官的实时硬度图。使用达芬奇研究套件作为机器人测试台，展示了手的功能并进行了实验，包括机器人触诊和器官操作。结果表明，手可以有效增强机器人手术系统的功能，并克服腹腔镜手术中使用机器人带来的力传感限制。