학술논문
Design of the Dexterous Manipulator for Minimally Invasive Surgery
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- 영문명
- Design of the Dexterous Manipulator for Minimally Invasive Surgery
- 발행기관
- 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
- 저자명
- Jong-Ha Chung Ho-Seok Song Jung-Ju Lee
- 간행물 정보
- 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.5 No.2, 24~29쪽, 전체 6쪽
- 주제분류
- 공학 > 제어계측공학
- 파일형태
- 발행일자
- 2004.06.01
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국문 초록
영문 초록
Minimally Invasive Surgery (MIS) is carried out in the chest, abdomen, spine and pelvis, by using a viewing scope and special surgical tools. Benefits of minimally invasive surgery are less pain, less need for post-surgical pain medication, less scarring and less likelihood for incisional complications. Since the late 1980"s, minimally invasive surgery has gained widespread acceptance because of these advantages. However there are significant disadvantages also, such as the limited usability of the minimal invasive techniques. The reasons are limited degree-of-freedom, reduced dexterity and the lack of tactile feeling. To overcome such disadvantages many researchers have endeavored to develop robotic systems. Even though some robot aided systems achieved success and commercialized, there still remain many thing to be improved. In this paper, the robotic system which can mimic whole motions of a human arm by adding additional DOF is presented. The suggested design is expected to provide surgeons with improved dexterity during minimally invasive surgery.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. DESIGN CONCEPT
Ⅲ. DESIGN REQUIREMENTS
Ⅳ. DESIGN OF THE SURICAL TOOL
Ⅴ. SUMMARY AND CONCLUSION
ACKNOWLEDGEMENTS
REFERENCES
Ⅰ. INTRODUCTION
Ⅱ. DESIGN CONCEPT
Ⅲ. DESIGN REQUIREMENTS
Ⅳ. DESIGN OF THE SURICAL TOOL
Ⅴ. SUMMARY AND CONCLUSION
ACKNOWLEDGEMENTS
REFERENCES
해당간행물 수록 논문
- Development of Interface and Loading Assistance System for the Handicapped and the Elderly at Work Places
- Upcoming Conferences & Workshops etc.
- Design of the Dexterous Manipulator for Minimally Invasive Surgery
- View-invariant Hand-posture Recognition Method for Soft Remocon System
- Towards a Personal Robotic-aid System
- HWRS-ERC Seminars
- Keynote Address
- Another successful 5<SUP>th</SUP> international workshop on HWARS
- EDITORIAL BOARD
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