17 accepted papers
Resolving disorientation of the surgeon caused by wrong recognition of scope’s position, which often increases procedural time and workload, remains a significant challenge in robotic-assisted retrograde intrarenal surgery (RIRS). This paper introduces a novel hybrid ureteroscope tracking algorithm …
Resolving disorientation of the surgeon caused by wrong recognition of scope's position, which often increases procedural time and workload, remains a significant challenge in robotic-assisted retrograde intrarenal surgery (RIRS). This paper introduces a novel hybrid ureteroscope tracking algorithm
Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to es…
The awareness for preserving privacy in in-home monitoring robots is increasing. Although several studies have proposed privacy-preserved in-home monitoring robot systems for adults, only a limited amount of attention has been paid attention to research on privacy-preserved in-home monitoring of bab…
Tendon-sheath mechanisms offer a means for a flexible surgical robot to be operated efficiently in restricted environments, for example, the long and narrow paths inside human organs. However, nonlinear hysteresis interferes with the precise motion control of a flexible robot. Generally, the charact
A colonoscopy is the most typical method to inspect for colorectal cancer; however, inserting colonoscopes in nonfixed sites, such as the sigmoid colon, requires very skilled insertion techniques. Since the sigmoid colon is one of the most difficult nonfixed sites for insertion, straightening it is
There are two corresponding authors who have contributed to this letter, yet only one of them has been mentioned as the corresponding author in the original letter. As a result, “Ki-Uk Kyung” was added to footnote as a co-corresponding author. The changes have been reflected as follows.
High stiffness is desirable for wire-driven underactuated hyperredundant manipulators used in minimally invasive surgery. However, limited structural stiffness can cause lateral and angular deflections by the lateral force and moment applied to the distal end of the manipulator. This letter proposes
Tendon-sheath-driven manipulators (TSM) are widely used in minimally invasive surgical systems due to their long, thin shape, flexibility, and compliance making them easily steerable in narrow or tortuous environments. Many commercial TSM-based medical devices have non-linear phenomena resulting fro
Hysteresis causes difficulties in precisely controlling motion of flexible surgery robots and degrades the surgical performance. In order to reduce hysteresis, model-based feed-forward and feedback-based methods using endoscopic cameras have been suggested. However, model-based methods show limited
Many surgical robots with steerable surgical instruments have been proposed for endoscopic surgery. Surgical instruments should be small in size for insertion into the body and be able to handle large payloads such as tissue. Because the overall diameter and payload parameters are a trade-off, it is…
The use of the tendon-sheath mechanism (TSM) is common in flexible surgery robots, because it can flexibly work in limited spaces and provides efficient power transmission. However, hysteresis from nonlinearities such as friction and backlash poses a challenge in controlling precise motion in the su…
The use of flexible endoscope has been rising inconveniences. Steering of the distal section is not intuitive and the weight of the endoscope burdens a physical pressure on physicians who use it continuously for a long time. Also, the limited dexterity of an instrument makes therapeutic procedures m…
Single-incision laparoscopic surgery (SILS) has emerged as a procedure to further improve cosmetic profits and reduce the postoperative pain of multiport laparoscopic surgery. However, SILS is a difficult operation due to the limited workspace or accessibility. To improve surgical convenience, flexi
For safety enhancement reasons, passive gravity compensation is widely applied in robotic systems used in minimally invasive surgery (MIS). MIS robotic systems have a remote center of motion (RCM) in which a surgical instrument conducts a fulcrum motion around a point of invasion. RCM mechanisms inc
In robotics, robotic arms should be smaller, less expensive, and able to demonstrate a better performance, in order to be utilized in various fields. However, expensive actuators and speed reducers are required to generate sufficient force at the end effector after overcoming the gravitational torqu…
Fall detection systems have been proposed to prevent additional injuries following fall accidents. This paper introduces an easily learnable fall detection system based on the data of an individual patient in a hospital room. The improvement of low performance using a single accelerometer at wrists…