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Background: In robot‐assisted minimally invasive surgery, feedback as well as sensing of translational and grasping forces allows surgeons to manipulate the robots using an appropriate force. However, there have been limited reports on single instruments capable of sensing both forces (translational force and grasping force), with the exception of instruments with electronic sensors.
Methods: In this...
Robot-assisted surgery is limited by the lack of haptic feedback and increased operating times. Force scaling adjusts feedback transmitted to the operator through the use of scaling factors. Herein, we investigate how force scaling affects forces exerted in robotic surgery during simple and complex tasks, using a pneumatic surgical robot, IBIS VI. Secondary objectives were to test the effects of force...
In this paper, a lightweight master interface for a surgical robot system is proposed. The position of the human hand is measured by a non-contact motion tracker, but the force feedback is realized by a handheld haptic device. A gripping force is displayed by a pneumatic bellows, which is smaller and more lightweight than electric motors. As for the slave manipulator, the gripper of a surgical forceps...
In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection...
Development of intuitive user interface of a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important for reducing the surgeon's confusion and fatigue. In this paper, a wearable robotic forceps manipulator is proposed. By measuring the wrist attitude of the surgeon by a motion sensor and driving the forceps tip by actuators, intuitive operation is realized, compared with...
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