A Teleoperated Minimally Invasive Surgical System with an Additional Degree of Freedom Manipulator

Author

Kim, Ki-Young ; Song, Ho-Seok ; Suh, Jung-Wook ; Lee, Jung-Ju

Author_Institution

Mech. Eng. Dept., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea

fYear

2010

fDate

18-25 July 2010

Firstpage

90

Lastpage

94

Abstract

A teleoperated minimally invasive surgical system was implemented for laparoscopic surgery. The surgical manipulator has upper and lower arms akin to a human arm and has an elbow joint as an additional DoF joint. A remote controller was developed to measure the human arm position and deliver the angle data of the human arm to the surgical manipulator by TCP/IP communication. The human elbow angle change is used to activate the additional DoF joint of the surgical manipulator. The tooltip of the surgical manipulator has a wide approach angle from below the liver model toward the upper part of this model.

Keywords

manipulators; medical robotics; surgery; telemedicine; telerobotics; transport protocols; TCP/IP communication; laparoscopic surgery; liver model; surgical manipulator; teleoperated minimally invasive surgical system; Elbow; Humans; Joints; Manipulators; Minimally invasive surgery; Tracking; minimally invasive surgical robot; robotic surgery; telesurgical system;

fLanguage

English

Publisher

ieee

Conference_Titel

Sensor Technologies and Applications (SENSORCOMM), 2010 Fourth International Conference on

Conference_Location

Venice

Print_ISBN

978-1-4244-7538-4

Type

conf

DOI

10.1109/SENSORCOMM.2010.21

Filename

5558032