Manipulation of a master manipulator with a combined-grip-handle of pinch and power grips.
Conventional robotic surgery employs pinch and power grips for manipulating a master manipulator. As such, the manipulating methods exhibit limitations that are strongly related to the advantages and disadvantages of the gripping type. The context of this paper is focused on the introduction of a combined grip to compensate for such restraints. In particular, this paper proposed the combined-grip-handle scheme on a master manipulator, which employs both the pinch and power grips. A pointing experiment applying the master-slave scheme was conducted with the master manipulator under several manipulating conditions of the combined grip and the conventional gripping types. Results of using the combined grip demonstrated that the positioning operation performed with fewer failures and required shorter time and trajectory. Compared with the conventional gripping types, the proposed combined grip showed better performance on the positioning operation and provided a possibility to perform precise work at lower scale factors.
['Jeong|Solmon|S|https://orcid.org/0000-0003-1502-1499', 'Tadano|Kotaro|K|']
D000328:Adult D000465:Algorithms D004867:Equipment Design D005260:Female D018737:Hand Strength D006801:Humans D008297:Male D008328:Man-Machine Systems D015203:Reproducibility of Results D065287:Robotic Surgical Procedures D025321:Surgery, Computer-Assisted D055815:Young Adult
robotic surgery manipulating method gripping type handle master slave system