Advertisement

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)

Abstract

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.

Keywords

Haptic Surgical robot Robot assisted Laparoscopy 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Lee, M.C., Kim, C.Y., Yao, B., Penie, W.J., Song, Y.E.: Reaction Force Estimation of Surgical Robot Instrument Using Perturbation Observer with SMCSPO Algorithm. In: Proceedings of AIM 2010, Montreal, Canada, pp. 181–186 (July 2010)Google Scholar
  2. 2.
    Corcione, F., Esposito, C., Cuccurullo, D., Settembre, A., Miranda, N., Amato, F., Pirozzi, F., Caizzo, P.: Advantages and limits of robot-assisted laparoscopic surgery. Surgical Endoscopy 19(1), 117–119 (2002)CrossRefGoogle Scholar
  3. 3.
    Giulianotti, P., Coratti, A., Angelini, M., Sbrana, F., Cecconi, S., Balestracci, T., Caravaglios, G.: Robotics in General Surgery- Personal Experience in a Large Community Hospital. Archives of Surgery (238), 777–784 (2003)Google Scholar
  4. 4.
    Vlachos, K., Papadopoulos, E., Mitropoulos, D.N.: Design and Implementation of a Haptic Device for Training in Urological Operations. IEEE Transactions on Robotics and Automation 19, 801–809 (2003)CrossRefGoogle Scholar
  5. 5.
    Payandeh, S., Li, T.: Towards new designs of haptic devices for minimally invasive surgery. International Congress Series, pp. 775–781 (2003)Google Scholar
  6. 6.
    Hayward, V., Gregorio, P., Astley, O., Greenish, S., Doyon, M.: Freedom-7: A High Fidelity Seven Axis Haptic Deviec With Application to Surgical Training. In: Experimental Robotics Vi, pp. 445–456 (1998)Google Scholar
  7. 7.
    Crisco, J.J., Heard, W.M.R., Rich, R.R., Paller, D.J., Wolfe, S.W.: The mechanical Axes of the Wrist Are Oriented Obliquely to the Anatomical Axes. The Journal of Bone & Joint Surgery 93, 169–177 (2011)CrossRefGoogle Scholar
  8. 8.
    Agrawal, V., Penine, W.J., Yao, B.: Modeling of Transmission Characteristics Across a Cable-Conduit System. IEEE Trans. on Robotics 36(5), 914–924 (2010)CrossRefGoogle Scholar
  9. 9.
    Jacobs, I.S., Bean, C.P.: Fine particles, thin films and exchange anisotropy. In: Rado, G.T., Suhl, H. (eds.) Magnetism, vol. III, pp. 271–350. Academic, New York (1963)Google Scholar
  10. 10.
    Elissa, K.: Title of paper if known (unpublished)Google Scholar
  11. 11.
    Nicole, R.: Title of paper with only first word capitalized. J. Name Stand. Abbrev. (in press)Google Scholar
  12. 12.
    Yorozu, Y., Hirano, M., Oka, K., Tagawa, Y.: Electron spectroscopy studies on magneto-optical media and plastic substrate interface. IEEE Transl. J. Magn. Japan 2, 740–741 (1987); [Digests 9th Annual Conf. Magnetics Japan, p. 301 (1982)]Google Scholar
  13. 13.
    Young, M.: The Technical Writer’s Handbook. University Science, Mill Valley (1989)Google Scholar

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

Personalised recommendations