Effects of Flexible Surgery Robot on Endoscopic Procedure: Preliminary Bench-Top User Test

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Endoscopes are widely used for not only intraluminal diagnosis but also therapeutic procedures in the gastrointestinal area. However, conventional endoscopes present a few challenges such as nonintuitive manipulation, physical burden on the operator, and lack of dexterity. These challenges limit endoscope usage in complex surgical procedures. Moreover, endoscope operators undergo extensive and lengthy training to attain an adequate skill level. In this paper, we introduce a flexible surgery robot platform K-FLEX that facilitates teleoperation via an intuitive master interface and bimanual manipulation by means of two dexterous surgical robot arms. Its effects on endoscopic procedures, especially in terms of task performance, learning properties, and physical burden on the operator, are validated by conducting a user test. The experimental results demonstrate that the developed robotic assistant increases operation speed, especially for novices; simplifies the learning process; and reduces the workload on the operator compared to conventional endoscopes.
Publisher
The 28th IEEE International Conference on Robot & Human Interactive Communication
Issue Date
2019-10-16
Language
English
Citation

28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

ISSN
1944-9445
DOI
10.1109/RO-MAN46459.2019.8956333
URI
http://hdl.handle.net/10203/270204
Appears in Collection
ME-Conference Papers(학술회의논문)
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