Haptic Augmentation of Surgical Operation Using a Passive Hand Exoskeleton
- 1.6k Downloads
This study proposes a haptic augmentation method for surgical operations using a passive hand exoskeleton and a 4DOF link arm. The enhancements aim to allow neurosurgeons to surgerize cephalic area precisely by improving their finger movement capability. The hand exoskeleton has multiple quadric crank mechanisms with torque dampers to increase motion resolution and decrease hand tremors. The dampers are passively actuated by the action of the user. The voluntary movement of the surgeon’s fingers will not be obstructed and safety would be increased. The link arm has electromagnetic brakes in each joint and is capable of supporting a surgeon’s upper limb. In this study, the development and assessment of the exoskeleton and link arm are described.
KeywordsNeurosurgery Haptic augmentation Augmented hand Passive hand exoskeleton Robot-assisted surgery
- 1.Guthart, G.S., et al.: The intuitive telesurgery system: overview and application. In: Proceedings of International Conference on Robotics and Automation, pp. 618–621 (2000)Google Scholar
- 4.Arata, J., et al.: A study on intuitive operability based on body ownership transfer for surgical assistive master-slave system. Jpn. Soc. Comput. Aided Surg. 13(8), 174–175 (2013)Google Scholar
- 5.Matsuoka, Y., et al.: An EMG-controlled hand exoskeleton for natural pinching. J. Robot. Mechatron. 16(5) (2004)Google Scholar