School of Engineering, Tokyo Institute of Technology, Yokohama-shi, Japan.
Laboratory for Future Interdisciplinary Research of Science and Technology, Tokyo Institute of Technology, Yokohama-shi, Japan.
Int J Med Robot. 2022 Apr;18(2):e2355. doi: 10.1002/rcs.2355. Epub 2021 Dec 8.
Hand 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.
Herein, 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.
The 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.
Our 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.
手部支撑有助于显微外科医生保持手部稳定。在使用遥操作操纵手术机器人时，外部手部支撑会带来机械上的困难，例如与操纵器发生干扰。
在此，我们将手部支撑功能引入到主操纵器中。通过切换导纳控制的平移部分的阻抗值来实现手部支撑功能。通过遥操作，我们评估了在重力方向上的定位精度和在精确定位时的操纵条件。
实验证明，手部支撑的位置可以被安排在预期的位置，并且具有手部支撑功能、施加足够高的阻抗、不完全限制手部支撑的条件提供了最佳的性能。
我们的主操纵器具有改善机器人显微手术质量的潜力，其优势在于基于手部支撑的可重新定位的大工作范围进行精细操作。
