The MUSHA underactuated hand for robot‐aided minimally invasive surgery
International Journal of Medical Robotics and Computer Assisted Surgery2018Vol. 15(3), pp. e1981–e1981
Citations Over TimeTop 21% of 2018 papers
Mario Selvaggio, Giuseppe Andrea Fontanelli, Vincenzo Romano Marrazzo, Umberto Bracale, Andrea Irace, Giovanni Breglio, Luigi Villani, Bruno Siciliano, Fanny Ficuciello
Abstract
The whole concept and the need for such anthropomorphic tool are discussed with surgeons to highlight constraints and potentials in surgical tasks. The feedback by expert surgeons is used to provide specifications and improvements to the kinematics and mechanical design. The investigations of different designs allow identifying the optimal solution to improve grasping and manipulation capabilities. The tests on FBG sensors led to the conclusion that this technology guarantees good performance and can be a good solution for applications in surgical robotics.
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