Skip to main content
SpringerLink
Log in
Book cover

Intelligent Autonomous Systems 12 pp 3–10Cite as

Design of Master Console Haptic Handle for Robot Assisted Laparoscopy

  • Conference paper

Part of the book series: Advances in Intelligent Systems and Computing ((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.

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2011-0014915)

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  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. 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)

    Article  Google Scholar 

  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. 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)

    Article  Google Scholar 

  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. 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. 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)

    Article  Google Scholar 

  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)

    Article  Google Scholar 

  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. Elissa, K.: Title of paper if known (unpublished)

    Google Scholar 

  11. Nicole, R.: Title of paper with only first word capitalized. J. Name Stand. Abbrev. (in press)

    Google Scholar 

  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. Young, M.: The Technical Writer’s Handbook. University Science, Mill Valley (1989)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Division of Mechanical Engineering Technology, Yeungnam College of Science & Technology, Daegu, South Korea

    Chi Yen Kim

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Byeong Ho Kang & Sung Min Yoon

  3. Department of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

Authors
  1. Chi Yen Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Byeong Ho Kang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Min Cheol Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Sung Min Yoon
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Chi Yen Kim .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Kim, C.Y., Kang, B.H., Lee, M.C., Yoon, S.M. (2013). Design of Master Console Haptic Handle for Robot Assisted Laparoscopy. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_1

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-33932-5_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33931-8

  • Online ISBN: 978-3-642-33932-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation