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http://dx.doi.org/10.7746/jkros.2012.7.4.267

Development of Low-inertia Master device for Haptic system configuration of surgical robot  

Kang, Byeong-Ho (Graduated of Mechanical Engineering, Pusan National University)
Yoon, Sung-Min (Graduated of Mechanical Engineering, Pusan National University)
Lee, Min Cheol (School of Mechanical Engineering, Pusan National University)
Kim, Chi-Yen (Division of Mechanical Engineering Technology, Yeungnam College of Science & Technology)
Publication Information
The Journal of Korea Robotics Society / v.7, no.4, 2012 , pp. 267-275 More about this Journal
Abstract
When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.
Keywords
laparoscopy surgical robot; haptic master console; cable-conduit mechanism;
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Times Cited By KSCI : 1  (Citation Analysis)
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