A Soft Robotic Haptic Feedback Glove for Colonoscopy Procedures
Arincheyan Gerald,Rukaiya Batliwala,Jonathan Ye,Patra Hsu,Hiroyuki Aihara,Sheila Russo,Arincheyan Gerald,Rukaiya Batliwala,Jonathan Ye,Patra Hsu,Hiroyuki Aihara,Sheila Russo
This paper presents a proof-of-concept soft robotic glove that provides haptic feedback to the surgeon's hand during interventional endoscopy procedures, specifically colonoscopy. The glove is connected to a force sensing soft robotic sleeve that is mounted onto a colonoscope. The glove consists of pneumatic actuators that inflate in proportion to the incident forces on the soft robotic sleeve. Th...
