8 accepted papers
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
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…
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