3A1-D03 Toward Intuitively Manipulable Surgical Robot based on Multi-Sensory Illusion(Medical Robotics and Mechatronics (1))

Abstract

Body ownership transfer in rubber hand illusion is a well known multi-sensory illusion in the literature. In this study, we introduce the illusion into a microsurgical master slave system to realize a further operability. The developed system has been designed based on the preliminary study that we had conducted using 1 DOF motorized rubber hand with a wearable master device with a optical encoder on the index finger's MP joint. In this paper, we briefly introduce the concept and the mechanical setup of the system.