Hand for Humanoid Robot

University of California, San Diego

Mechanical and Aerospace Engineering 

MAE 156B: Senior Design Project

Project Background and Need Being Addressed

This project aims to develop a compact, wrist-mounted system that allows the humanoid robot Surgie to use standardized daVinci surgical instruments for teleoperated procedures. By leveraging the consistent mechanical interface of these tools, the system enables precise control of multiple degrees of freedom while maintaining a lightweight and space-efficient design suitable for a humanoid platform.

The next phase of the project focuses on refining and integrating the core components of the system. This includes improving the tool latching mechanism to ensure secure and repeatable attachment, designing and fabricating the tool adapter base that connects the instrument to the robot’s wrist, and developing the motor interface hardware and software required to accurately drive the tool’s cable-actuated movements. These subsystems will then be fully integrated and tested on Surgie to evaluate performance, reliability, and overall functionality in a realistic operational setting.

This project addresses key social, economic, and technical needs in the field of robotic surgery:

1. Improving Access to Surgical Care
   Enable teleoperated robotic surgery in rural and underserved areas where large, traditional surgical systems are not available.

2. Reducing Cost Barriers
   Utilize standardized daVinci instruments and a compact humanoid platform to create a more affordable alternative to full-scale surgical robots.

3. Efficient Use of Existing Technology
   Leverage widely available, standardized surgical tools to support multiple functions without requiring custom instruments.

4. Meeting Design Constraints
   Develop a lightweight, compact, and modular system that operates within the strict payload and size limits of a humanoid robot.

5. Ensuring Precision and Reliability
   Create a system capable of secure tool attachment and accurate, repeatable control for safe and effective surgical operation.