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

Journal: International journal of computer assisted radiology and surgery
Published Date: Feb 12, 2016

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.

Authors

  • Seongbo Shim
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Taehun Kang
    Division of IoT & Robotics Convergence Research, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Daekeun Ji
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Hyunseok Choi
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Sanghyun Joung
    Medical Device and Robot Institute of Park, Kyungpook National University, 80 Daehakro, Bukgu, Daegu, 702-701, Korea.
  • Jaesung Hong
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea. jhong@dgist.ac.kr.

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