Haptic Augmentation of Surgical Operation Using a Passive Hand Exoskeleton

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 277)


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.


Neurosurgery Haptic augmentation Augmented hand Passive hand exoskeleton Robot-assisted surgery 


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Copyright information

© Springer Japan 2015

Authors and Affiliations

  1. 1.School of Integrative and Global MajorsUniversity of TsukubaTsukubaJapan
  2. 2.Department of Neurosurgery, Faculty of MedicineUniversity of TsukubaTsukubaJapan
  3. 3.Center for Cybernics ResearchUniversity of TsukubaTsukubaJapan
  4. 4.Faculty of Engineering, Information and SystemsUniversity of TsukubaTsukubaJapan

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