Design of Master Console Haptic Handle for Robot Assisted Laparoscopy

  • Chi Yen Kim
  • Byeong Ho Kang
  • Min Cheol Lee
  • Sung Min Yoon
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


Now robot assisted laparoscopy has some problem to depend only on image of the surgical field. However, there is a research result which shows that it is possible to measure the operation force on commercialized instrument inside patient without sensors [1]. By using measured information, haptic technique can be implemented into surgical robot system. Therefore, this paper proposes the design of master console handle to put haptic function into laparoscopy surgical robot system. The design is centered on the implementation particularly. Therefore this paper suggests the design of master console handle whose structure can match with the joint and DOF of instrument to and the adoption of cable-conduit mechanism to make light structure t to perform a delicate haptic function. Cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link.


Haptic Surgical robot Robot assisted Laparoscopy 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Chi Yen Kim
    • 1
  • Byeong Ho Kang
    • 2
  • Min Cheol Lee
    • 3
  • Sung Min Yoon
    • 2
  1. 1.Division of Mechanical Engineering TechnologyYeungnam College of Science & TechnologyDaeguSouth Korea
  2. 2.School of Mechanical EngineeringPusan National UniversityBusanSouth Korea
  3. 3.Department of Mechanical EngineeringPusan National UniversityBusanSouth Korea

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