Dimitrakakis, E;
Dwyer, G;
Lindenroth, L;
Aylmore, H;
Dorward, N;
Marcus, H;
Stoyanov, D;
(2020)
Towards the Development and Evaluation of a Handle Prototype for a Handheld Robotic Neurosurgical Instrument.
In:
(Proceedings) Conference on New Technologies for Computer and Robot Assisted Surgery.
CRAS
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Abstract
The purpose of this study is to develop an ergonomic handle that is aimed to be used as the handle of a handheld robotic instrument intended for the Expanded Endoscopic Endonasal Approach. An ergonomically designed handle prototype was developed employing a joystick to move the robot joints and a trigger for the opening and closing of the gripper. To account for different hand sizes and to make sure that the instrument at rest is maintained by a hand that is also kept at rest to minimize fatigue, we introduced a 'rotating body' that is modifiable and can be rotated into the position that each surgeon feels more comfortable with. This prototype was then paired with a CoppeliaSim simulator that was developed during this study. The simulated robot in this environment is an end-effector manufactured in previous work for this robotic instrument. Using the handle prototype, a 'ring-transfer' task was carried out. Expanding on this preliminary work, more handles and simulated tasks will be developed in the future and evaluated by clinical experts, so that the most appropriate handle for the robotic neurosurgical instrument is chosen.
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