DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Ki-Young | ko |
dc.contributor.author | Song, Ho-Seok | ko |
dc.contributor.author | Park, Suk-Hoon | ko |
dc.contributor.author | Lee, Jung-Ju | ko |
dc.contributor.author | Yoon, Yong-San | ko |
dc.date.accessioned | 2013-03-11T12:01:46Z | - |
dc.date.available | 2013-03-11T12:01:46Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2010-09 | - |
dc.identifier.citation | ADVANCED ROBOTICS, v.24, no.12, pp.1695 - 1718 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | http://hdl.handle.net/10203/99260 | - |
dc.description.abstract | This paper describes a teleoperated surgical manipulator with an additional degree of freedom (d.o.f.). If the surgical manipulator has the same number of d.o.f. as a human arm, intuitive movements of the surgical manipulator will be achieved and the movements of the surgical manipulator will be easily predictable. The proposed surgical manipulator affords 7-d.o.f. joints using a cable-pulley mechanism. The surgical manipulator has upper and lower arms akin to a human arm, and has an elbow joint as an additional d.o.f. joint. In addition, a remote controller was developed to measure the human arm position and deliver the angle data of the 7-d.o.f. joints to the surgical manipulator by TCP/IP communication. The calculated joint angles from the remote controller have a linear relationship with the measured angles from a human arm. The tracking experiment was performed and an approach angle to the surgical site was measured using a liver model. The proposed manipulator has a wider angle range compared to that of a conventional surgical tool. The surgical manipulator can also perform surgical tasks near the bottom of the liver model. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010 | - |
dc.language | English | - |
dc.publisher | TAYLOR & FRANCIS LTD | - |
dc.title | Design and Evaluation of a Teleoperated Surgical Manipulator with an Additional Degree of Freedom for Laparoscopic Surgery | - |
dc.type | Article | - |
dc.identifier.wosid | 000282737800003 | - |
dc.identifier.scopusid | 2-s2.0-84863070103 | - |
dc.type.rims | ART | - |
dc.citation.volume | 24 | - |
dc.citation.issue | 12 | - |
dc.citation.beginningpage | 1695 | - |
dc.citation.endingpage | 1718 | - |
dc.citation.publicationname | ADVANCED ROBOTICS | - |
dc.identifier.doi | 10.1163/016918610X522522 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Lee, Jung-Ju | - |
dc.contributor.localauthor | Yoon, Yong-San | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Surgical manipulator | - |
dc.subject.keywordAuthor | minimally invasive surgery | - |
dc.subject.keywordAuthor | robotic surgical system | - |
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