제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.2648-2653
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- 2003
Design of a Compact Laparoscopic Assistant Robot;KaLAR
- Lee, Yun-Ju (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Kim, Jona-Than (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Ko, Seong-Young (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Lee, Woo-Jung (Yonsei University School of Medicine) ;
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Kwon, Dong-Soo
(Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
- Published : 2003.10.22
Abstract
This paper describes the development of a 3-DOF laparoscopic assistant robot system with motor-controlled bending and zooming mechanisms using the voice command motion control and auto-tracking control. The system is designed with two major criteria: safety and adaptability. To satisfy the safety criteria we designed the robot with optimized range of motion. For adaptability, the robot is designed with compact size to minimize interference with the staffs in the operating room. The required external motions were replaced by the bending mechanism within the abdomen using flexible laparoscope. The zooming of the robot is achieved through in and out motion at the port where the laparoscope is inserted. The robot is attachable to the bedside using a conventional laparoscope holder with multiple DOF joints and is compact enough for hand-carry. The voice-controlled command input and auto-tracking control is expected to enhance the overall performance of the system while reducing the control load imposed on the surgeon during a laparoscopic surgery. The proposed system is expected to have sufficient safety features and an easy-to-use interface to enhance the overall performance of current laparoscopy.