ARTICLE | doi:10.20944/preprints201712.0010.v1
Subject: Engineering, Automotive Engineering Keywords: Hand Assisted Laparoscopic Surgery (HALS); sensing glove; wearable; collaborative surgical robot, gesture recognition.
Online: 1 December 2017 (16:32:22 CET)
This paper presents a system developed for the assistance with a collaborative robot in hand-assisted laparoscopic surgery (HALS). The system includes a sensing glove with piezoresistive sensors which capture continuously the flexion degree of the surgeon's fingers. These data are analyzed using an algorithm that detects and recognize the selected movements. This information is sent as commands to the collaborative robot throughout the surgical operation. The bending patterns, speed and execution times of the movements are modelled in a pre-phase in which it will extract all the necessary information for later detection during the motion execution. The results obtained with 10 different volunteers show a high degree of accuracy and a low false discovery rate.