• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.401-407
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• 1999

A microsurgery telerobotic system has been developed to aid surgeons from physiological tremor, eye stram, hand tremor, contagious and radioactive hazard. This paper identifies four general areas of advanced microsurgery and analyzes the motion, tools, accuracy and applying forces with respect to microsurgery tasks, and proposes the criteria to design the microsurgical robot. The analysis of microsurgery can be helpful to clarify some basic concept and design of surgical robots. Based on this analysis results, we propose an efficient in-parallel-platform manipulator having a special kinematic structure suitable for microsurgery.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 대한위암학회:학술대회논문집
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• 2005.03a
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• pp.13-15
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• 2005

• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1048-1053
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• 2011

Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.11
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• pp.171-179
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• 2013

This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1460-1464
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• 2003

This paper describes the design and implementation techniques of a generic Internet based telerobotic system. The purpose is to make precious technical information and hands-on experience of the authors widely available for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST and Saga University, Japan. In its current functionality, two control modes can be exercised; high-level supervisory control, and low-level supervisory control.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.220-227
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• 2004

This paper describes the design and implementation techniques of a generic Internet-based telerobotic system. The purpose is to make available the precious technical information and hands-on experience of the authors for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST, Korea and Saga University, Japan. In its current functionality, two control modes: high-level supervisory control and low-level supervisory control are explored demonstrating their merits and demerits.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.286-292
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• 2010

In this paper, we investigate the relationship between the performance of telerobotic systems and the two independent time-delay on different modality, which are haptic and video. Especially, we try to find some performance improvement when the amount of delay of haptic and video is synchronized. Experiments were conducted with 10 subjects by scanning the amount of video and haptic delay independently. It is rather interesting to note that the teleoperation performance was not that sensitive to video delay, and the synchronized video and haptic delay doesn't show better performance than the case when haptic delay is lower than video delay.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.963-964
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• 2010

• The Journal of Korean Institute for Practical Engineering Education
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• v.3 no.1
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• pp.193-199
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• 2011

In this paper, we propose a novel manipulator intended for the needs of telerobotic micromanipulation. We designed an original manipulator capable of performing fine motion with an accuracy greater than $2{\mu}m$, while remaining simple in design and easy in control. Preliminary calculations of manipulator accuracy have been conducted, and the device has been designed and manufactured accordingly. The accuracy of the proposed manipulator has been verified during the series micro-positioning experiments under different types of controllers, and the results proved that the manipulator is suitable for micromanipulation applications as a part of telerobotic system. The proposed manipulator has been compared to existing analogues by several parameters, and both its advantages and disadvantages have been discussed.