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posted by janrinok on Tuesday February 25 2020, @06:08PM   Printer-friendly
from the getting-a-grip dept.

Getting a grip: An innovative mechanical controller design for robot-assisted surgery:

Robotics has weaved its way into many different fields, and medicine is no exception; robot-assisted surgery has advanced dramatically over the past decade in almost every surgical subspecialty. Robot-assisted surgery is usually performed using surgical robot systems that involve a master-slave configuration, in which the "master" is a controller device that the surgeon manipulates to control a robotic arm. Such systems improve the dexterity and precision of surgeons by filtering out hand tremors and scaling their hand motions into smaller movements. They also reduce the risk of common surgical complications such as surgical site infection.

However, robot-assisted surgery comes with its own disadvantages, especially for the person performing the surgery. Robotic surgeons sometimes feel physical discomfort during surgery, with finger fatigue being common. This discomfort is associated with the way in which they grip the master controller. Two types of grips are usually used to control surgical robots: the "pinch grip" and "power grip." The pinch grip has been used in conventional surgeries for centuries; it involves using the thumb, middle, and index fingers to achieve high-precision movements. On the other hand, the power grip involves grabbing a handle with the entire hand and is more suitable for forceful work and large movements.

Because the pinch grip puts tension on certain muscles of the hand and fingers, it is more likely to cause fatigue. And although the power grip does not seem to cause such discomfort, it offers less precise control. Therefore, there is a trade-off between the discomfort caused by the pinch grip and the lack of fine control of the power grip. Fortunately, Mr. Solmon Jeong and Dr. Kotaro Tadano, a pair of researchers from Tokyo Institute of Technology (Tokyo Tech), found a clever solution to this problem. In a study published in The International Journal of Medical Robotics and Computer Assisted Surgery , the researchers speculated that a master controller that combines both types of gripping can be designed. Dr. Tadano explains, "In robotic surgery, the limitations of the two conventional gripping methods are strongly related to the advantages and disadvantages of each gripping type.

[...] This new master controller design could be a step in the right direction in robot-assisted surgery. "The manipulating method of master controllers for robotic surgery has a significant influence in terms of intuitiveness, comfort, precision, and stability. In addition to enabling precise operation, a comfortable manipulating method could potentially benefit both the patient and the surgeon," remarks Dr. Tadano. Although future work is needed to analyze other variables involved in robotic arm manipulation, this work surely paves the way for advanced surgical robot systems.

Journal Reference:

Solmon Jeong, Kotaro Tadano. Manipulation of a master manipulator with a combined‐grip‐handle of pinch and power grips. The International Journal of Medical Robotics and Computer Assisted Surgery, 2020; DOI: 10.1002/rcs.2065


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  • (Score: 1, Interesting) by Anonymous Coward on Tuesday February 25 2020, @08:09PM

    by Anonymous Coward on Tuesday February 25 2020, @08:09PM (#962524)

    Fun aside, the pictures in the DOI link are pretty interesting. The experimental setup is pretty Rube Goldberg looking (links & joints all over), but probably makes sense for development. The various tests that they ran for accuracy and speed, with and without wrist & arm rests make sense.

    In a miniature way, this kind of detailed human-machine interface work reminds me of the work funded by the US Air Force that resulted in flying qualities specification and the Cooper-Harper Rating Scale.

    The typical SN reader will be pleased to hear that they connected the master and slave through a Linux system and claim 3ms max lag (latency) for their setup.

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