Analysis of the surgeon's grasp for telerobotic surgical manipulation

摘要

Applications of robotics in surgery to date have taken advantage primarily of the robot's accurate positioning capability. Robotics technology could also be applied to a telerobotic microsurgical system with the surgeon dynamically controlling the manipulator. A first step toward developing such a system is to understand the surgeon's grasp and dexterous movement strategies. Principles of the analysis of grasp are described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>