Research and Development on Microgripper System of Microsurgical Robot

Based on the characteristics and requirements of microsurgery,a microgripper system for microsurgical robot(MicroHand system) is developed.The advantages of the microgripper system are as follows:small size,light weight,strong gripping force,condensed structure,high reliability,exact instrument rotation and open-closed motion,and easy replacement of the instrument.Through a series of tests and animal experiments,we can draw a conclusion that the design of the microgripper system is capable of satisfying the requirements of microsurgery and is proved to be successful.