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Semi-automatic Knob System for Assisting Flexible Endoscope Steering

Title
Semi-automatic Knob System for Assisting Flexible Endoscope Steering
Authors
Yoon, Hyun-SooYi, Byung-Ju
DGIST Authors
Yoon, Hyun-Soo; Yi, Byung-Ju
Issue Date
2020-10
Citation
International Journal of Control, Automation, and Systems, 18(10), 2650-2657
Type
Article
Article Type
Article; Early Access
Author Keywords
Admittance controlcolonoscopycolorectal surgeon-assistant systemflexible endoscope steering
Keywords
ERGONOMICS
ISSN
1598-6446
Abstract
In this paper, a semi-automatic knob system for assisting control of flexible endoscope is introduced. For conventional flexible endoscope, the torque to bend the bending part is increased proportionally to the curvature of the insertion tube. As the bending angle increases, the required torque is increased. This characteristic makes a surgeon tired. The proposed semi-automatic knob system consists of a knob controller, a power generation unit, and a bending part. The knob controller includes four FSR (force sensitive resistor) sensors to measure external force applied by the operator. The power generation unit generates the power depending on the signal level of FSR sensors. Using the semi-automatic knob system, a user can control the steering of the flexible endoscope with less power as compared to conventional flexible endoscope. The usefulness of the proposed system is verified through experiments. © 2020, ICROS, KIEE and Springer.
URI
http://hdl.handle.net/20.500.11750/11705
DOI
10.1007/s12555-019-0246-7
Publisher
제어·로봇·시스템학회
Related Researcher
  • Author Yoon, Hyun-Soo  
  • Research Interests Medical robot system, Robot hand, Mechanism design and analysis, Wire-driven mechanism
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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