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The objective of this paper is to describe the endoscope holder mechanism design and the controller configuration for the laryngeal surgical robotic system. This system consists of a master device, a slave device, and a control PC. The endoscope holder mechanism was designed based on a stackable mechanism. The EtherCAT communication was used for overall real-time control of the laryngeal surgical...
This paper describes methodology to design a balancing arm for variable payload. A passive stackable parallel mechanism is employed for this design. Two variables, link length and counter-weight, are considered to cope with variable payload. This mechanism is specifically applied to otologic surgery in which drills with different weight are being used.
This paper introduces a robotic approach for colonoscopy. 4 DOF haptic master device and slave device were designed by analyzing the movement of surgeon. The force or torque felt during insertion of the endoscope tube is feedback to the master device for providing the operator with haptic feeling and preventing damage of the inner surface of the large intestine.
The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by...
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