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Intuitive master device for endoscopic robots with visual-motor correspondence.

Byungsik Cheon1,2, Hyunwoo Baek3, Chang-Kyun Kim2,3

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

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|March 29, 2022
PubMed
Summary

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Endoscopic surgery robot that facilitates insertion of the curved colon and ensures positional stability against external forces: K-COLON.

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The international journal of medical robotics + computer assisted surgery : MRCAS·2022

A new master device for endoscopes improves usability by aligning the control handle movement with the endoscopic image direction. This intuitive design reduces errors and speeds up procedures during kidney surgery simulations.

Area of Science:

  • Medical Robotics
  • Surgical Navigation
  • Endoscopic Technology

Background:

  • Isomorphic master devices for endoscopes with position control are under development.
  • Current designs present intuitive operation challenges due to misaligned image and control handle movements.

Purpose of the Study:

  • To develop an improved master device for endoscopes.
  • To enhance intuitive operation by synchronizing control handle and endoscopic image movement directions.

Main Methods:

  • A novel master device was engineered to match endoscopic image movement.
  • The device analyzes image motion across degrees of freedom relative to flexible ureteroscope movements.
  • A kidney model testbed was used for a driving experiment.
Keywords:
endoscopemaster devicemedical robotureteroscopevisual-motor correspondence

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Main Results:

  • The proposed master device demonstrated reduced experimental time compared to existing isomorphic devices.
  • Fewer operational mistakes were recorded using the new device.

Conclusions:

  • The developed master device is effective for exclusive use with endoscopes.
  • Feasibility of position control and aligned movement direction confirm its utility in surgical applications.