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In this paper, we present a modeling and control method for a single-port access robot developed by our robotics group at the Samsung Advanced Institute of Technology. The surgical robot consists of a snake-like 6-degree-of-freedom (DOF) guide tube, two 7-DOF tools, a 3-DOF stereo camera, and a 5-DOF slave arm. The robot is capable of reaching various surgical sites inside the abdominal cavity from...
This paper presents a 14-DOF robotic hand including 5 fingers and a wrist. The hand has a new tendon-driven mechanism which minimizes frictional loss and maximizes efficiency and backdrivability. In order to accomplish high efficiency and backdrivability as well as human-like payload and dexterity in a compact size, two novel mechanical concepts are proposed. Firstly, the actuators are placed according...
In this paper, tension propagation analysis of a newly designed multi-DOF robotic platform for single-port access surgery (SPS) is presented. The analysis is based on instantaneous kinematics of the proposed 6-DOF surgical instrument, and provides the decision criteria for estimating the payload of a surgical instrument according to its pose changes and specifications of a driving-wire. Also, the...
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