Abstract
This work presents a novel technique to control multi-functional hand for robot-assisted laparoscopic surgery. We tested the technique using the MUSHA multi-functional hand, a robot-aided minimally invasive surgery tool with more degrees of freedom than the standard commercial end-effector of the da Vinci robot. Extra degrees of freedom require the development of a proper control strategy to guarantee high performance and avoid an increasing complexity of control consoles. However, developing reliable control algorithms while reducing the control side’s mechanical complexity is still an open challenge. In the proposed solution, we present a control strategy that projects the human hand motions into the robot actuation space. The human hand motions are tracked by a LeapMotion camera and mapped into the actuation space of the virtualized end-effector. The effectiveness of the proposed method was evaluated in a twofold manner. Firstly, we verified the Lyapunov stability of the algorithm, then an user study with 10 subjects assessed the intuitiveness and usability of the system.
Highlights
In minimally invasive surgery (MIS), surgical instruments are introduced into the patient’s body through small incisions, this practice allows to reduce trauma
The teleoperated MUSHA hand system is composed of surgical gripper and the da Vinci robot arm in patient side, while the surgeon side is comprehensive of a human hand tracker system
We present a reliable and intuitive method for the bilateral asymmetric teleoperation of the MUSHA hand
Summary
In minimally invasive surgery (MIS), surgical instruments are introduced into the patient’s body through small incisions, this practice allows to reduce trauma. Robot-assisted surgery is a common practice for several surgical operations and will probably become the most exploited surgical procedure of the future (Song et al, 2009; Parisi et al, 2017; Kulaylat et al, 2018; Sheetz et al, 2020). In this context, the da Vinci robot (Intuitive Surgical Inc.) demonstrated effective recovery of hand-eye coordination and motion dexterity. Research done in the last decade has been focused on
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