A Robotic System for Microsurgery: the "MicroHand" System

A robotic system(named "MicroHand") for microsurgery is developed.The system designed is based on a master-slave operation mode,and the master-slave operators are in isomery.The PHANToM Desktop which is capable of providing force feedback is used as the master device.Based on the characteristics of micro-surgery,an articulated robot with high precision is designed and used as the slave device.The surgical environment information measured by the 6D force sensors Mini40 is fed back to the master device,and thus the master system is capable of providing force feedback to the surgeon during the operation.Animal experiments have been made on a rabbit for the vas suturing of two arteries 1mm in diameter on the neck and the leg,and the results have proved the validity of the system.