A highly intuitive and ergonomic redundant joint master device for four‐degrees of freedom flexible endoscopic surgery robot

2020 ◽  
Author(s):  
Jeongdo Ahn ◽  
Joonhwan Kim ◽  
Hyunyoung Lee ◽  
Minho Hwang ◽  
Dong‐Soo Kwon
Keyword(s):  
Endoscopic Surgery ◽  
Degrees Of Freedom ◽  
Flexible Endoscopic Surgery ◽  
Master Device

scholarly journals A Flexible Transoral Robot Towards COVID-19 Swab Sampling

2021 ◽  
Vol 8 ◽  
Author(s):  
Changsheng Li ◽  
Xiaoyi Gu ◽  
Xiao Xiao ◽  
Chwee Ming Lim ◽  
Xingguang Duan ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Flexible Manipulator ◽  
The Novel ◽  
Visual Guidance ◽  
Face To Face ◽  
Tongue Depressor ◽  
Operation Procedure ◽  
The Face ◽  
Master Device

There are high risks of infection for surgeons during the face-to-face COVID-19 swab sampling due to the novel coronavirus’s infectivity. To address this issue, we propose a flexible transoral robot with a teleoperated configuration for swab sampling. The robot comprises a flexible manipulator, an endoscope with a monitor, and a master device. A 3-prismatic-universal (3-PU) flexible parallel mechanism with 3 degrees of freedom (DOF) is used to realize the manipulator’s movements. The flexibility of the manipulator improves the safety of testees. Besides, the master device is similar to the manipulator in structure. It is easy to use for operators. Under the guidance of the vision from the endoscope, the surgeon can operate the master device to control the swab’s motion attached to the manipulator for sampling. In this paper, the robotic system, the workspace, and the operation procedure are described in detail. The tongue depressor, which is used to prevent the tongue’s interference during the sampling, is also tested. The accuracy of the manipulator under visual guidance is validated intuitively. Finally, the experiment on a human phantom is conducted to demonstrate the feasibility of the robot preliminarily.

Strong Continuum Manipulator for Flexible Endoscopic Surgery

2019 ◽  
Vol 24 (5) ◽  
pp. 2193-2203 ◽  
Author(s):  
Minho Hwang ◽  
Dong-Soo Kwon
Keyword(s):  
Endoscopic Surgery ◽  
Continuum Manipulator ◽  
Flexible Endoscopic Surgery

scholarly journals A Novel Robotic Suturing System for Flexible Endoscopic Surgery

2019 ◽  
Author(s):  
Lin Cao ◽  
Xiaoguo Li ◽  
Phuoc Thien Phan ◽  
Anthony Meng Huat Tiong ◽  
Jiajun Liu ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Flexible Endoscopic Surgery

723 Application of 6-Degrees-of-Freedom Robot Arm to Endoscopic Surgery Using Touch Panel

2010 ◽  
Vol 2010.85 (0) ◽  
pp. _7-27_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Keita KITANO ◽  
Tohru HIROSHIMA ◽  
Yasunori ICHIKAWA ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Degrees Of Freedom ◽  
Robot Arm ◽  
Touch Panel ◽  
6 Degrees Of Freedom

Design of a master device for controlling multi-moduled continuum robots

2015 ◽  
Vol 231 (10) ◽  
pp. 1921-1931 ◽  
Author(s):  
Hyun-Soo Yoon ◽  
Byung-Ju Yi
Keyword(s):  
Degrees Of Freedom ◽  
Control Experiment ◽  
Light Weight ◽  
Kinematic Structure ◽  
Continuum Robots ◽  
Two Degrees Of Freedom ◽  
Forward Kinematic ◽  
Master Device ◽  
Kinematic Solution

Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a unique forward kinematic solution. This design is slim-sized, light-weight, and easy to implement. As an example mechanism, a continuum unit with two degrees of freedom was developed. Two-unit modules were assembled to generate four degrees of freedom. The performance of the master device is verified through a master-slave control experiment.

scholarly journals Developments in flexible endoscopic surgery: a review

2014 ◽  
pp. 31 ◽  
Author(s):  
Hubertus Feussner ◽  
Valentin Becker ◽  
Margit Bauer ◽  
Michael Kranzfelder ◽  
Rebekka Schirren ◽  
...  
Keyword(s):  
Endoscopic Surgery ◽  
Flexible Endoscopic Surgery

Comparison of visual tracking algorithms on in vivo sequences for robot-assisted flexible endoscopic surgery

2009 ◽  
Author(s):  
N. Masson ◽  
F. Nageotte ◽  
P. Zanne ◽  
M. de Mathelin ◽  
J. Marescaux
Keyword(s):  
Visual Tracking ◽  
Endoscopic Surgery ◽  
Robot Assisted ◽  
Tracking Algorithms ◽  
Flexible Endoscopic Surgery
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