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

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4 Author(s)
Ki-Young Kim ; Mech. Eng. Dept., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea ; Ho-Seok Song ; Jung-Wook Suh ; Jung-Ju Lee

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.

Published in:

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

Date of Conference:

18-25 July 2010