Development of handy switch interface operated by index finger for surgery support forceps manipulator with five-dofs

Abstract

A handy switch interface has been developed to allow a surgeon in a sterilized area to control a locally operated forceps manipulator with five-DOFs. The proposed interface with two switches for the selection of axes and the on-off control of the selected axis operated by an index finger is designed to be attached to commercial forceps with adjustable position. Two prototypes using a toggle switch with 1 DOF or an analog stick with 2 DOFs were made by a 3 D printer. Both prototypes consist of a small push switch for the selection of axes. The control time was evaluated while performing a task model using prototypes by five participants. The difference between task times was shown. Compared to former developed interfaces, security, tiredness and operability under control were indicated by all subjects. An ergonomic handy interface was designed that allows minimally invasive robotically assisted endoscopic surgery.