3 accepted papers
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 an…
In robotic surgeries employing the master-slave operation scheme, various haptic devices have been adopted as master manipulators. The main challenge of the haptic device is to contribute to a sensitive reaction to external forces for operators. Since force perception on fingertips is impaired by un…
In conventional robotic surgery, the manipulating methods exhibit limitations that are strongly related to the advantages and disadvantages of a pinch grip and power grip. The context of this study is focused on the introduction of a combined grip to compensate for such restraints. In particular, th…