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

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Nov 17, 2020

Abstract

BACKGROUND: Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance.

Authors

  • Jeongdo Ahn
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Joonhwan Kim
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Hyunyoung Lee
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Minho Hwang
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Dong-Soo Kwon
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.

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