Kinesthetic Feedback for Robot-Assisted Minimally Invasive Surgery (Da Vinci) with Two Fingers Exoskeleton

Abstract

Minimally Invasive Surgery and, in particular, Robotic Minimally Invasive Surgery may benefit from the integration of Haptic device: here we propose a preliminary study on a two-finger exoskeleton for kinesthetic feedback of surgeon thumb and index finger while controlling a Da Vinci Robotic Device through its Master Tool Manipulator (MTM). Simulation of contact between rigid and soft objects with the Patient Side Manipulator (PSM) are integrated with Force Feedback on the MTM coupled with the exoskeleton.