Preliminary Study of Fingertip and Wrist Motion Based Haptic Controller for Robotically Assisted Micro- and Supermicrosurgery
Muneaki Miyasaka,Pepijn Van Esch,Atsushi Morikawa,Kotaro Tadano,Muneaki Miyasaka,Pepijn Van Esch,Atsushi Morikawa,Kotaro Tadano
One issue of robotic microsurgery is that compared to manual surgery, the operation time tends to be longer due to high motion scaling. To address this issue, we developed a new controller that can provide the accuracy required for microsurgery without a high scaling factor by utilizing fingertip and wrist motions. Also, for the better outcome of surgery, the proposed controller has a force feedba...
