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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

A novel encountered-type master device with precise manipulation for robot-assisted microsurgery.

Duk Sang Kim^1,2, Un-Je Yang^1,2, Byungsik Cheon^1,2

¹Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|July 23, 2021

Summary

This study introduces a novel encountered-type master device for precise manipulation. It offers improved efficiency and accuracy in tasks like microsurgery compared to conventional devices.

Keywords:

encountered-type master-slave teleoperation microsurgery precise manipulating method unconstrained master device

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Area of Science:

Robotics
Surgical Technology
Human-Computer Interaction

Background:

Unconstrained master devices offer advantages over traditional linkage-based systems.
Conventional unconstrained master devices face challenges in efficiency and precision.

Purpose of the Study:

To develop and evaluate a novel encountered-type master device for enhanced manipulation.
To address the limitations of existing unconstrained master devices in terms of precision and efficiency.

Main Methods:

An encountered-type master device utilizing electromagnetic tracking and a prismatic joint was proposed.
Performance was analyzed through path-following and pointing tasks under varying conditions.

Main Results:

Closed-loop support conditions enabled convenient, efficient, and precise positioning and pointing.
Higher accuracy and precision were achieved with lower motion scale factors under closed-loop support.

Conclusions:

The proposed master device facilitates precise and accurate manipulation for microsurgical applications.
It offers clutching-free motion, outperforming conventional unconstrained devices in precision tasks.