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An all-joint-control master device for single-port laparoscopic surgery robots

Title
An all-joint-control master device for single-port laparoscopic surgery robots
Author(s)
Shim, SeongboKang, TaehunJi, DaekeunChoi, HyunseokJoung, SanghyunHong, Jaesung
Issued Date
2016-08
Citation
International Journal of Computer Assisted Radiology and Surgery, v.11, no.8, pp.1547 - 1557
Type
Article
Author Keywords
Single-port laparoscopic surgery robotMaster deviceAll-joint controlMapping factor
Keywords
All-Joint ControlARMMapping FactorMaster DeviceSingle-Port Laparoscopic Surgery RobotSITE SURGERY
ISSN
1861-6410
Abstract
Purpose: Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns. Methods: We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot. Results: The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave. Conclusions: We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error. © 2016, CARS.
URI
http://hdl.handle.net/20.500.11750/2227
DOI
10.1007/s11548-016-1352-0
Publisher
Springer Verlag
Related Researcher
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Appears in Collections:
Division of Intelligent Robot 1. Journal Articles
Department of Robotics and Mechatronics Engineering Surgical Robotics & Augmented Reality Lab 1. Journal Articles

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