Hands-free interface for surgical procedures based on foot movement patterns

摘要

A hands-free interface has been developed to allow a single surgeon to control a locally operated forceps manipulating robot. It is based on the use of a pressure sensor sheet placed on the floor to measure temporal changes in the center of gravity of the operator's foot, in addition to the applied force. Pattern recognition was carried out during trials with endoscope specialists and students for six different types of foot movements. The specialist patterns were then used to develop an interface for controlling a robot with five degrees of freedom. Using this control interface, it was found that the robot could successfully handle a model organ during simulated surgery.