Research Article
Kinesthetic Feedback for Robot-Assisted Minimally Invasive Surgery (Da Vinci) with Two Fingers Exoskeleton
@INPROCEEDINGS{10.1007/978-3-030-49289-2_17, author={Emanuele Secco and Andualem Tadesse}, title={Kinesthetic Feedback for Robot-Assisted Minimally Invasive Surgery (Da Vinci) with Two Fingers Exoskeleton}, proceedings={Wireless Mobile Communication and Healthcare. 8th EAI International Conference, MobiHealth 2019, Dublin, Ireland, November 14-15, 2019, Proceedings}, proceedings_a={MOBIHEALTH}, year={2020}, month={6}, keywords={Haptic device Kinesthetic feedback Da Vinci}, doi={10.1007/978-3-030-49289-2_17} }- Emanuele Secco
Andualem Tadesse
Year: 2020
Kinesthetic Feedback for Robot-Assisted Minimally Invasive Surgery (Da Vinci) with Two Fingers Exoskeleton
MOBIHEALTH
Springer
DOI: 10.1007/978-3-030-49289-2_17
Abstract
Minimally Invasive Surgery and, in particular, Robotic Minimally Invasive Surgery may benefit from the integration of Haptic device: here we propose a preliminary study on a two-finger exoskeleton for kinesthetic feedback of surgeon thumb and index finger while controlling a Da Vinci Robotic Device through its Master Tool Manipulator (MTM). Simulation of contact between rigid and soft objects with the Patient Side Manipulator (PSM) are integrated with Force Feedback on the MTM coupled with the exoskeleton.
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