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Robot-assisted Surgery System with Kinesthetic Feedback

: Wapler, M.; Neugebauer, J.-G.; Weisener, T.; Urban, V.


International Federation of Robotics:
Advanced Robotics: Beyond 2000. Conference papers
Redhill, Surrey: dmg Business Media Ltd., 1998
International Symposium on Robotics <29, 1998, Birmingham>
Fraunhofer IPA ()
Chirurgie; Mensch-Maschine-Schnittstelle; Mikrochirurgie; Roboter

The better understanding of the human body systems and their specific functions has led to minimally invasive and microsurgical procedures being carried out a smaller and smaller scale. New therapies will require precision of 10 µm and better, which will only be achievable with robotic teleoperators. Experience with existing robot-assisted surgery systems shows that the man-machine interface is a critical component for the acceptance of this technology. Up to now, no universally satisfactory interface has been found. Therefore, this paper investigates a new concept based on kinesthetic motion feedback and presents details of the implementation of a first prototype.