SURGICAL APPLICATORS OF MILLI-ROBOTS

Minimally invasive surgical techniques, especially endoscopy and lapar oscopy, possess many advantages over conventional methods. These inclu de accelerated patient recovery and reduced rate of complications. How ever, limitations of current operating instruments create difficulties for the surgeon. In this article, we present a design for an improved polypectomy snare for the endoscope, several rotary actuator designs for endoscopic tools, and a prototype endo-platform, which provides fi ne motion control for endoscopic tools. We also present several protot ypes of more dextrous laparoscopic tools based on the human hand. Fina lly, we present a sensory glove designed as a natural and dextrous hum an interface. (C) 1995 John Wiley & Sons, Inc.