The Experts below are selected from a list of 3111 Experts worldwide ranked by ideXlab platform
Jungju Lee - One of the best experts on this subject based on the ideXlab platform.
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design considerations for a hyper redundant pulleyless Rolling Joint with elastic fixtures
IEEE-ASME Transactions on Mechatronics, 2015Co-Authors: Jungwook Suh, Kiyoung Kim, Juwon Jeong, Jungju LeeAbstract:Compliant Joints composed of slit tubes or springs are commonly utilized for steerable endoscopes and catheters. Because this type of Joint is actuated by means of its elasticity, it is difficult to bend it with a small radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling Joint with Elastic Fixtures (PREF Joint) is proposed. To enable miniaturization, the PREF Joint does not have a pulley, and the Rolling contact motion aids the actuation cables to maintain the tension. The elastic fixtures guarantee a stable Rolling motion at the center of the Rolling surfaces. In this paper, the fundamental characteristics for the unit and the hyper-redundant PREF Joints are presented. Moreover, design considerations are proposed for the PREF Joint including the Rolling tooth shape, structure of the elastic fixtures, and cable actuation method. The validity of the design is verified using finite-element analysis and a 10 mm diameter prototype composed of 12 units of PREF Joints for a 1 degree-of-freedom motion. As a result, the 55 mm long Joint can be bent up to ±180° with low actuation tension. The presented guidelines will assist in the development of various steerable instruments for medical applications.
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underactuated miniature bending Joint composed of serial pulleyless Rolling Joints
Advanced Robotics, 2014Co-Authors: Jungwook Suh, Jungju Lee, Dongsoo KwonAbstract:This paper proposes a miniature bending Joint composed of serial Rolling Joints; it refers to the classification of small Joints of other products and studies on surgical applications according to the structures and transmissions. To achieve this, a pulleyless Rolling Joint is introduced as a unit component and the basic design principle is established for the Joint. A simple mechanism guarantees a smooth Rolling contact using elastic fixtures. Underactuation, which prevents S-shaped curvature similar to buckling, is applied to drive the bending Joint with a limited number of wire cables. Using a 1-DOF real-sized prototype, experiments were performed to measure the motion accuracy and payload capacity from various angles to evaluate the efficacy of an improved design that enhances the payload on the distal end. This novel Joint is applicable to a wider variety of surgical tools and catheters relative to other candidates owing to its small constant curvature, reasonable payload capacity, and miniature size.
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a novel surgical manipulator with workspace conversion ability for telesurgery
IEEE-ASME Transactions on Mechatronics, 2013Co-Authors: Kiyoung Kim, Jungwook Suh, Hoseok Song, Jungju LeeAbstract:This paper proposes a surgical manipulator with workspace-conversion ability for both minimally invasive surgery (MIS) and open surgery. The focus of the proposed surgical manipulator is on its potential use in places such as battlefields, army camps, and rural areas rather than in civilian hospitals. The proposed surgical manipulator has a workspace for MIS with a virtual remote center of motion and has a workspace for open surgery like that of an articulated manipulator. The mechanism of the surgical manipulator is proposed and implemented in this paper. A new distal Rolling Joint with two spiral wire ropes is also implemented. Several experiments to validate the feasibility of the surgical manipulator were carried out. Two fundamentals of laparoscopic surgery tasks were performed to compare the performance of the surgical manipulator with other MIS systems. The workspace conversion from MIS to open surgery was implemented. The workspace-conversion ability enables the surgical manipulator to attach or detach the surgical tool unit without human assistance or an assistant robot.
Jungwook Suh - One of the best experts on this subject based on the ideXlab platform.
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design considerations for a hyper redundant pulleyless Rolling Joint with elastic fixtures
IEEE-ASME Transactions on Mechatronics, 2015Co-Authors: Jungwook Suh, Kiyoung Kim, Juwon Jeong, Jungju LeeAbstract:Compliant Joints composed of slit tubes or springs are commonly utilized for steerable endoscopes and catheters. Because this type of Joint is actuated by means of its elasticity, it is difficult to bend it with a small radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling Joint with Elastic Fixtures (PREF Joint) is proposed. To enable miniaturization, the PREF Joint does not have a pulley, and the Rolling contact motion aids the actuation cables to maintain the tension. The elastic fixtures guarantee a stable Rolling motion at the center of the Rolling surfaces. In this paper, the fundamental characteristics for the unit and the hyper-redundant PREF Joints are presented. Moreover, design considerations are proposed for the PREF Joint including the Rolling tooth shape, structure of the elastic fixtures, and cable actuation method. The validity of the design is verified using finite-element analysis and a 10 mm diameter prototype composed of 12 units of PREF Joints for a 1 degree-of-freedom motion. As a result, the 55 mm long Joint can be bent up to ±180° with low actuation tension. The presented guidelines will assist in the development of various steerable instruments for medical applications.
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underactuated miniature bending Joint composed of serial pulleyless Rolling Joints
Advanced Robotics, 2014Co-Authors: Jungwook Suh, Jungju Lee, Dongsoo KwonAbstract:This paper proposes a miniature bending Joint composed of serial Rolling Joints; it refers to the classification of small Joints of other products and studies on surgical applications according to the structures and transmissions. To achieve this, a pulleyless Rolling Joint is introduced as a unit component and the basic design principle is established for the Joint. A simple mechanism guarantees a smooth Rolling contact using elastic fixtures. Underactuation, which prevents S-shaped curvature similar to buckling, is applied to drive the bending Joint with a limited number of wire cables. Using a 1-DOF real-sized prototype, experiments were performed to measure the motion accuracy and payload capacity from various angles to evaluate the efficacy of an improved design that enhances the payload on the distal end. This novel Joint is applicable to a wider variety of surgical tools and catheters relative to other candidates owing to its small constant curvature, reasonable payload capacity, and miniature size.
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a novel surgical manipulator with workspace conversion ability for telesurgery
IEEE-ASME Transactions on Mechatronics, 2013Co-Authors: Kiyoung Kim, Jungwook Suh, Hoseok Song, Jungju LeeAbstract:This paper proposes a surgical manipulator with workspace-conversion ability for both minimally invasive surgery (MIS) and open surgery. The focus of the proposed surgical manipulator is on its potential use in places such as battlefields, army camps, and rural areas rather than in civilian hospitals. The proposed surgical manipulator has a workspace for MIS with a virtual remote center of motion and has a workspace for open surgery like that of an articulated manipulator. The mechanism of the surgical manipulator is proposed and implemented in this paper. A new distal Rolling Joint with two spiral wire ropes is also implemented. Several experiments to validate the feasibility of the surgical manipulator were carried out. Two fundamentals of laparoscopic surgery tasks were performed to compare the performance of the surgical manipulator with other MIS systems. The workspace conversion from MIS to open surgery was implemented. The workspace-conversion ability enables the surgical manipulator to attach or detach the surgical tool unit without human assistance or an assistant robot.
Kiyoung Kim - One of the best experts on this subject based on the ideXlab platform.
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Rolling Joint design optimization for tendon driven snake like surgical robots
Intelligent Robots and Systems, 2018Co-Authors: Pierre Berthetrayne, Kiyoung Kim, Konrad Leibrandt, Carlo A Seneci, Jianzhong Shang, Guangzhong YangAbstract:The use of snake-like robots for surgery is a popular choice for intra-luminal procedures. In practice, the requirements for strength, flexibility and accuracy are difficult to be satisfied simultaneously. This paper presents a computational approach for optimizing the design of a snake-like robot using serial Rolling-Joints and tendons as the base architecture. The method optimizes the design in terms of Joint angle range and tendon placement to prevent the tendons and Joints from colliding during bending motion. The resulting optimized Joints were manufactured using 3D printing. The robot was characterized in terms of workspace, dexterity, precision and manipulation forces. The results show a repeatability as low as 0.9mm and manipulation forces of up to 5.6N.
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design considerations for a hyper redundant pulleyless Rolling Joint with elastic fixtures
IEEE-ASME Transactions on Mechatronics, 2015Co-Authors: Jungwook Suh, Kiyoung Kim, Juwon Jeong, Jungju LeeAbstract:Compliant Joints composed of slit tubes or springs are commonly utilized for steerable endoscopes and catheters. Because this type of Joint is actuated by means of its elasticity, it is difficult to bend it with a small radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling Joint with Elastic Fixtures (PREF Joint) is proposed. To enable miniaturization, the PREF Joint does not have a pulley, and the Rolling contact motion aids the actuation cables to maintain the tension. The elastic fixtures guarantee a stable Rolling motion at the center of the Rolling surfaces. In this paper, the fundamental characteristics for the unit and the hyper-redundant PREF Joints are presented. Moreover, design considerations are proposed for the PREF Joint including the Rolling tooth shape, structure of the elastic fixtures, and cable actuation method. The validity of the design is verified using finite-element analysis and a 10 mm diameter prototype composed of 12 units of PREF Joints for a 1 degree-of-freedom motion. As a result, the 55 mm long Joint can be bent up to ±180° with low actuation tension. The presented guidelines will assist in the development of various steerable instruments for medical applications.
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a novel surgical manipulator with workspace conversion ability for telesurgery
IEEE-ASME Transactions on Mechatronics, 2013Co-Authors: Kiyoung Kim, Jungwook Suh, Hoseok Song, Jungju LeeAbstract:This paper proposes a surgical manipulator with workspace-conversion ability for both minimally invasive surgery (MIS) and open surgery. The focus of the proposed surgical manipulator is on its potential use in places such as battlefields, army camps, and rural areas rather than in civilian hospitals. The proposed surgical manipulator has a workspace for MIS with a virtual remote center of motion and has a workspace for open surgery like that of an articulated manipulator. The mechanism of the surgical manipulator is proposed and implemented in this paper. A new distal Rolling Joint with two spiral wire ropes is also implemented. Several experiments to validate the feasibility of the surgical manipulator were carried out. Two fundamentals of laparoscopic surgery tasks were performed to compare the performance of the surgical manipulator with other MIS systems. The workspace conversion from MIS to open surgery was implemented. The workspace-conversion ability enables the surgical manipulator to attach or detach the surgical tool unit without human assistance or an assistant robot.
Juwon Jeong - One of the best experts on this subject based on the ideXlab platform.
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design considerations for a hyper redundant pulleyless Rolling Joint with elastic fixtures
IEEE-ASME Transactions on Mechatronics, 2015Co-Authors: Jungwook Suh, Kiyoung Kim, Juwon Jeong, Jungju LeeAbstract:Compliant Joints composed of slit tubes or springs are commonly utilized for steerable endoscopes and catheters. Because this type of Joint is actuated by means of its elasticity, it is difficult to bend it with a small radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling Joint with Elastic Fixtures (PREF Joint) is proposed. To enable miniaturization, the PREF Joint does not have a pulley, and the Rolling contact motion aids the actuation cables to maintain the tension. The elastic fixtures guarantee a stable Rolling motion at the center of the Rolling surfaces. In this paper, the fundamental characteristics for the unit and the hyper-redundant PREF Joints are presented. Moreover, design considerations are proposed for the PREF Joint including the Rolling tooth shape, structure of the elastic fixtures, and cable actuation method. The validity of the design is verified using finite-element analysis and a 10 mm diameter prototype composed of 12 units of PREF Joints for a 1 degree-of-freedom motion. As a result, the 55 mm long Joint can be bent up to ±180° with low actuation tension. The presented guidelines will assist in the development of various steerable instruments for medical applications.
Keri Kim - One of the best experts on this subject based on the ideXlab platform.
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accurate estimation of the position and shape of the Rolling Joint in hyper redundant manipulators
Intelligent Robots and Systems, 2020Co-Authors: Jeongryul Kim, Yonghwan Moon, Seongil Kwon, Keri KimAbstract:Hyper-redundant manipulators driven by cables are used in minimally invasive surgery because of their flexibility and small diameters. In particular, manipulators composed of many rigid links and Joints have the advantages of high stiffness and payload. However, these manipulators have difficulty in estimating their positions and shapes using calculations based only on the kinematics model that assumes all Joint angles are equal. In this paper, we present a method for estimating the position and shape of the Rolling Joint in hyper-redundant manipulators by minimizing the Joint moments. This allows the determination the equilibrium position of all segments of the Rolling Joint, and therefore an estimation of its shape. We experimentally determine the position and shape of a prototype of the Rolling Joint and compare them to a simulation of our method. The maximum error between the simulation and the experimental results is 4.13 mm, which is a 77.22% improvement over the kinematic model that calculates the same Joint angle. This verifies that our method accurately estimates the position and shape of the Rolling Joint.
