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Related Experiment Video

Updated: Oct 12, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Leader manipulator with hand rest function for microsurgery.

Solmon Jeong¹, Kotaro Tadano²

¹School of Engineering, Tokyo Institute of Technology, Yokohama-shi, Japan.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|November 26, 2021

Summary

This summary is machine-generated.

This study integrated hand rest functionality into a surgical robot manipulator, enhancing stability for microsurgeons. Optimal performance was achieved with adjustable impedance, improving precise robotic surgery.

Keywords:

hand rest leader manipulator microsurgery robotic surgery teleoperation

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Area of Science:

Robotics
Surgical Technology
Human-Machine Interaction

Background:

Traditional hand rests aid microsurgeons but pose mechanical challenges in teleoperated surgical robots.
Manipulator interference is a key issue with external hand rests in robotic surgery.

Purpose of the Study:

To integrate hand rest functionality directly into a leader manipulator of a surgical robot.
To evaluate the impact of this integrated hand rest on surgical precision and control during teleoperation.

Main Methods:

Implemented hand rest functionality by adjusting impedance control in the manipulator's translation section.
Conducted teleoperation experiments to assess positioning accuracy and manipulation conditions.

Main Results:

The integrated hand rest could be positioned accurately.
Best performance was observed when the hand rest had high impedance but was not fully constrained, allowing for optimal manipulation.

Conclusions:

The developed leader manipulator with integrated hand rest shows potential for enhancing robotic microsurgery quality.
The system offers improved fine manipulation capabilities due to the large repositionable working range of the hand rest.