A novel encountered-type master device with precise manipulation for robot-assisted microsurgery.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Aug 17, 2021

Abstract

BACKGROUND: The unconstrained master devices have emerged as attractive alternatives to the existing linkage-based counterparts. However, the conventional unconstrained master device's manipulation methods have several disadvantages in efficiency and precision.

Authors

  • Duk Sang Kim
    Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Un-Je Yang
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Byungsik Cheon
    The Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Donghoon Baek
    EasyEndo Surgical Inc., Truth Hall, KAIST, Daejeon, 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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