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In this research, a compact surgical robot system is developed by using the existing skill of surgeons. The proposed system consists of forceps manipulator with a 2-DOF wrist joint and a 4-DOF passive holder supporting the forceps manipulator. The forceps manipulator is operated by a built-in master controller, integrated in the proximal side of the forceps. A master-slave type wrist joint, in which...
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...
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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