Development of a Remotely Controlled Robotic Hand System for Surgical Application
Development of a Remotely Controlled Robotic Hand System for Surgical Application
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DOI：
10.1109/arso46408.2019.8948747
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
A. Omer;Kenta Kato;Jamal T Hamdi;A. Takanishi
中科院分区：
文献类型：
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作者：
A. Omer;Kenta Kato;Jamal T Hamdi;A. Takanishi
手辅助腹腔镜手术（HALS）对手术操作有一定的改进；然而，它有一些风险和局限性。因此，我们提出了开发一种机器人手系统的想法，该系统可以在手术过程中替代外科医生的手。该系统使用远程操作系统进行控制，并配备触觉反馈系统。为了给用户提供控制的灵活性和鲁棒性，我们开发了一种用于控制机械手运动的非接触输入接口系统。该系统的优点是使用户的手不需要接触设备，从而为触觉反馈系统提供了自由的空间。
The Hand-Assistive Laparoscopic Surgery (HALS) has made some improvement to the surgical operation; however, it has some risks and limitations. Therefore, we proposed the idea of developing a robotic hand system that can be used as a replacement for the surgeon's hand during the operation. The system is controlled using a teleoperation system, and is equipped with a haptic feedback system. In order to provide the user with the flexibility and robustness of the control we developed a contactless input interface system for controlling the robotic hand motion. The developed system gives the advantages of making the user's hand free of contacting devices which will give a free space for the haptic feedback sensation system.