A tactile feedback hexapod operating robot for endoscopic procedures.
This paper describes a test prototype for precision robot-assisted surgery using a hexapod operating robot and a movable operating cockpit for tactile feedback. The objective of the work described is twofold: 1, to evaluate the use of hexapod robots for precisely manipulating endoscopes and surgical instruments in submillimeter surgery; 2, to test a new user interface concept based on tactile feedback. Based on the principle of a flight simulator, the aim is to give the surgeon motion cues in addition to the endoscope image, to assist his spatial orientation. The paper gives a detailed description of the system components and the potential applications.
Urban
V
V
Department of Neurosurgery, Dr Horst-Schmidt-Kliniken, Wiesbaden, Germany.
Wapler
M
M
Weisener
T
T
Schönmayr
R
R
D019723:Endoscopes; D004867:Equipment Design; D005246:Feedback; D015203:Reproducibility of Results; D012371:Robotics; D014110:Touch