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http://dx.doi.org/10.7746/jkros.2019.14.3.203

Hand-controller Mechanism and its Optimal Design Method for Manually Controlled Endoscopic Surgical Instrument  

Lee, Hoyul (DGMIF)
Song, Chanho (DGMIF)
Son, Jaebum (Medical Device Development Center, DGMIF)
Publication Information
The Journal of Korea Robotics Society / v.14, no.3, 2019 , pp. 203-210 More about this Journal
Abstract
This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.
Keywords
Endoscopic Surgical Instrument; Wire-driven Mechanism; Hand-controller Mechanism;
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Times Cited By KSCI : 1  (Citation Analysis)
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