Start Date
13-5-2021 9:50 AM
End Date
13-5-2021 10:10 AM
Document Type
Full Paper
Keywords
Medical Robotics, Hybrid Robotic Hand, Soft Robotics
Description
Considering rapid technological advancements throughout the last decade, utilization of robot manipulators has begun to be favored in many medical applications. Recent researches and various implementations of robot manipulators in related literature started to introduce new designs for different application constraints by leaving the use of traditional industrial robot manipulator structures behind. In light of this, current study tries to present development of hybrid surgical robotic hand that includes multiple rigid and soft fingers that can be utilized in collaborative robotics in medicine. Hybrid structure of the robotic hand was previously conceptualized [1] to carry out grasping tasks of rigid tools by using its regular robotic fingers, while preserving its ability to grasp soft tissues during surgeries. Considering the results that were acquired from earlier manufacturing procedures [2], this study focuses on further development of utilized soft finger designs and a new modular palm design to form an attachment base.
DOI
https://doi.org/10.5038/BJJL8734
Development of Soft Finger and Palm Design for a Hybrid Surgical Robotic Hand
Considering rapid technological advancements throughout the last decade, utilization of robot manipulators has begun to be favored in many medical applications. Recent researches and various implementations of robot manipulators in related literature started to introduce new designs for different application constraints by leaving the use of traditional industrial robot manipulator structures behind. In light of this, current study tries to present development of hybrid surgical robotic hand that includes multiple rigid and soft fingers that can be utilized in collaborative robotics in medicine. Hybrid structure of the robotic hand was previously conceptualized [1] to carry out grasping tasks of rigid tools by using its regular robotic fingers, while preserving its ability to grasp soft tissues during surgeries. Considering the results that were acquired from earlier manufacturing procedures [2], this study focuses on further development of utilized soft finger designs and a new modular palm design to form an attachment base.