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Fig. 4 | BMC Surgery

Fig. 4

From: Robot-assisted sleeve gastrectomy in patients with obesity with a novel Chinese domestic MicroHand SII surgical system

Fig. 4

a The introduction of a robotic arm to MicroHand SII. The robotic arm has three active joints and three passive joints in each slave manipulator. The compact size and light weight of the operating arm are accomplished by adopting the fold-unfold structure design, which can provide a large-scale moving area. The two arms can be located in the same plane after their joints collapse tightly. The instrument can move 180° in the left-to-right direction and 180° in the foot-to-head direction to reach the full extent of the abdomen. The design of the active slave manipulator combined with the central pillar, crossbeam, and long-range swivel head structure can fulfil the surgical workspace of its instruments. b The multi-DoF instruments. The joint motion of the handle controls the movement of the end of the instrument, while the motion of the main hand arm controls the movement of the instrument

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