Intuitive master device for endoscopic robots with visual-motor correspondence.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Apr 7, 2022

Abstract

BACKGROUND: Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match.

Authors

  • Byungsik Cheon
    The Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Hyunwoo Baek
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Chang-Kyun Kim
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Jeongdo Ahn
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (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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