ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2022
Leader manipulator with hand rest function for microsurgery.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed, 1 citations in OpenAlex.
- Leader manipulator with hand rest function for microsurgery.The international journal of medical robotics + computer assisted surgery : MRCAS · 2022Article
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Authors and funding
2 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
backgroundHand rest assists microsurgeons with maintaining a stable hand condition. In manipulating a surgical robot using teleoperation, the external hand rest poses mechanical difficulties such as interferences from manipulators.
methodsHerein, we introduced hand rest functionality into a leader manipulator. The hand rest function was realised by switching the impedance value in admittance control for the translation section. With teleoperation, we evaluated the positioning accuracy in the direction of gravity and the manipulating conditions during precise positioning.
resultsThe experiments proved that the position of the hand rest could be arranged at the intended position, and the condition with the hand rest function, applying sufficiently high impedance, and not constraining the hand rest completely provided the best performance.
conclusionOur leader manipulator showed the potentials to improve the quality of robotic microsurgery with the advantage in fine manipulation based on large repositionable working range of the hand rest.
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