The Experts below are selected from a list of 8493 Experts worldwide ranked by ideXlab platform
Hyouk Ryeol Choi - One of the best experts on this subject based on the ideXlab platform.
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S-Surge: A Portable Surgical Robot Based on a Novel Mechanism With Force-Sensing Capability for Robotic Surgery
Handbook of Robotic and Image-Guided Surgery, 2019Co-Authors: Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:Abstract In order to create a compact and lightweight surgical robot with force-Sensing Capability, in this chapter, we propose a surgical robot called “S-surge,” which was developed for robot-assisted minimally invasive surgery, with a primary focus on its machinery design and force-Sensing system. The robot consists of a four degrees-of-freedom (DoF) surgical instrument and a three DoF remote center-of-motion manipulator. The manipulator adopts a double parallelogram mechanism and spherical parallel mechanism design, which have the advantages of a compact structure, simplicity, high precision, and high rigidity. A kinematic analysis is conducted to optimize the workspace. The surgical instruments enable multiaxis force Sensing, including three-axis pulling force and single-axis gripping force. In this study, it will be verified that it is feasible to carry the entire robot owing to its light weight (4.7 kg), thus allowing the robot to be used for telesurgery in remote areas. Finally, we will explain how we can use the robot’s motion- and force-Sensing capabilities to simulate robot performance and perform tissue manipulation tasks in a simulated surgical environment.
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A Surgical Palpation Probe With 6-Axis Force/Torque Sensing Capability for Minimally Invasive Surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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a surgical palpation probe with 6 axis force torque Sensing Capability for minimally invasive surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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S-Surge: Novel Portable Surgical Robot with Multiaxis Force-Sensing Capability for Minimally Invasive Surgery
IEEE ASME Transactions on Mechatronics, 2017Co-Authors: Dong-yeop Seok, Jinho So, Hyouk Ryeol ChoiAbstract:To achieve a compact and lightweight surgical robot with force-Sensing Capability, in this paper, we propose a surgical robot called “S-surge,” which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-Sensing system. The robot consists of a 4-degree-of-freedom (DOF) surgical instrument and a 3-DOF remote center-of-motion manipulator. The manipulator is designed by adopting a double-parallelogram mechanism and spherical parallel mechanism to provide advantages such as compactness, simplicity, improved accuracy, and high stiffness. Kinematic analysis was performed in order to optimize workspace. The surgical instrument enables multiaxis force Sensing including a three-axis pulling force and single-axis grasping force. In this study, it will be verified that it is feasible to carry the entire robot around thanks to its light weight (4.7 kg); therefore, allowing the robot to be applicable for telesurgery in remote areas. Finally, it will be explained how we experimented with the performance of the robot and conducted tissue manipulating task using the motion and force Sensing Capability of the robot in a simulated surgical setting.
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A Laparoscopic Grasping Tool with Force Sensing Capability
IEEE ASME Transactions on Mechatronics, 2016Co-Authors: Dong Hyuk Lee, Woon Jong Yoon, Uikyum Kim, Tauseef Gulrez, Blake Hannaford, Hyouk Ryeol ChoiAbstract:This paper presents a laparoscopic grasping tool for minimally invasive surgery with the Capability of multiaxis force Sensing. The tool is able to sense three- Abstract axis Cartesian manipulation force and a single-axis grasp- ing force. The forces are measured by a wrist force sensor located at the distal end of the tool, and two torque sen- sors at the tool base, respectively. We propose an innova- tive design of a miniature force sensor achieving structural simplicity and potential cost effectiveness. A prototype is manufactured and experiments are conducted in a simu- lated surgical environment by using an open platform for surgical robot research, called Raven-II.
M. Rude - One of the best experts on this subject based on the ideXlab platform.
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IROS - A flexible, shock-absorbing bumper system with touch-Sensing Capability for autonomous vehicles
Proceedings of IEEE RSJ International Conference on Intelligent Robots and Systems. IROS '96, 1996Co-Authors: M. RudeAbstract:A bumper system for an autonomous vehicle as described. It has been primarily designed for a mobile robot operating in a multi-robot environment. Though mainly thought to avoid damage to the robot and to the environment in case of collision, the bumper has some additional properties: reduction of wheel slip during collision, a limited touch-Sensing Capability without extra cost, and a simple human "push interface". The paper describes the design and functionality of the bumper system, the experiments which have been performed, and what future work is planned with this bumper.
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A flexible, shock-absorbing bumper system with touch-Sensing Capability for autonomous vehicles
Proceedings of IEEE RSJ International Conference on Intelligent Robots and Systems. IROS '96, 1996Co-Authors: M. RudeAbstract:A bumper system for an autonomous vehicle as described. It has been primarily designed for a mobile robot operating in a multi-robot environment. Though mainly thought to avoid damage to the robot and to the environment in case of collision, the bumper has some additional properties: reduction of wheel slip during collision, a limited touch-Sensing Capability without extra cost, and a simple human "push interface". The paper describes the design and functionality of the bumper system, the experiments which have been performed, and what future work is planned with this bumper.
Dong-yeop Seok - One of the best experts on this subject based on the ideXlab platform.
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S-Surge: A Portable Surgical Robot Based on a Novel Mechanism With Force-Sensing Capability for Robotic Surgery
Handbook of Robotic and Image-Guided Surgery, 2019Co-Authors: Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:Abstract In order to create a compact and lightweight surgical robot with force-Sensing Capability, in this chapter, we propose a surgical robot called “S-surge,” which was developed for robot-assisted minimally invasive surgery, with a primary focus on its machinery design and force-Sensing system. The robot consists of a four degrees-of-freedom (DoF) surgical instrument and a three DoF remote center-of-motion manipulator. The manipulator adopts a double parallelogram mechanism and spherical parallel mechanism design, which have the advantages of a compact structure, simplicity, high precision, and high rigidity. A kinematic analysis is conducted to optimize the workspace. The surgical instruments enable multiaxis force Sensing, including three-axis pulling force and single-axis gripping force. In this study, it will be verified that it is feasible to carry the entire robot owing to its light weight (4.7 kg), thus allowing the robot to be used for telesurgery in remote areas. Finally, we will explain how we can use the robot’s motion- and force-Sensing capabilities to simulate robot performance and perform tissue manipulation tasks in a simulated surgical environment.
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A Surgical Palpation Probe With 6-Axis Force/Torque Sensing Capability for Minimally Invasive Surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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a surgical palpation probe with 6 axis force torque Sensing Capability for minimally invasive surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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S-Surge: Novel Portable Surgical Robot with Multiaxis Force-Sensing Capability for Minimally Invasive Surgery
IEEE ASME Transactions on Mechatronics, 2017Co-Authors: Dong-yeop Seok, Jinho So, Hyouk Ryeol ChoiAbstract:To achieve a compact and lightweight surgical robot with force-Sensing Capability, in this paper, we propose a surgical robot called “S-surge,” which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-Sensing system. The robot consists of a 4-degree-of-freedom (DOF) surgical instrument and a 3-DOF remote center-of-motion manipulator. The manipulator is designed by adopting a double-parallelogram mechanism and spherical parallel mechanism to provide advantages such as compactness, simplicity, improved accuracy, and high stiffness. Kinematic analysis was performed in order to optimize workspace. The surgical instrument enables multiaxis force Sensing including a three-axis pulling force and single-axis grasping force. In this study, it will be verified that it is feasible to carry the entire robot around thanks to its light weight (4.7 kg); therefore, allowing the robot to be applicable for telesurgery in remote areas. Finally, it will be explained how we experimented with the performance of the robot and conducted tissue manipulating task using the motion and force Sensing Capability of the robot in a simulated surgical setting.
Uikyum Kim - One of the best experts on this subject based on the ideXlab platform.
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a surgical palpation probe with 6 axis force torque Sensing Capability for minimally invasive surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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A Surgical Palpation Probe With 6-Axis Force/Torque Sensing Capability for Minimally Invasive Surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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A Laparoscopic Grasping Tool with Force Sensing Capability
IEEE ASME Transactions on Mechatronics, 2016Co-Authors: Dong Hyuk Lee, Woon Jong Yoon, Uikyum Kim, Tauseef Gulrez, Blake Hannaford, Hyouk Ryeol ChoiAbstract:This paper presents a laparoscopic grasping tool for minimally invasive surgery with the Capability of multiaxis force Sensing. The tool is able to sense three- Abstract axis Cartesian manipulation force and a single-axis grasp- ing force. The forces are measured by a wrist force sensor located at the distal end of the tool, and two torque sen- sors at the tool base, respectively. We propose an innova- tive design of a miniature force sensor achieving structural simplicity and potential cost effectiveness. A prototype is manufactured and experiments are conducted in a simu- lated surgical environment by using an open platform for surgical robot research, called Raven-II.
Jinho So - One of the best experts on this subject based on the ideXlab platform.
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A Surgical Palpation Probe With 6-Axis Force/Torque Sensing Capability for Minimally Invasive Surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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a surgical palpation probe with 6 axis force torque Sensing Capability for minimally invasive surgery
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Uikyum Kim, Yong Bum Kim, Jinho So, Dong-yeop Seok, Hyouk Ryeol ChoiAbstract:A novel surgical palpation probe installing a miniature 6-axis force/torque (F/T) sensor is presented for robot-assisted minimally invasive surgery. The 6-axis F/T sensor is developed by using the capacitive transduction principle and a novel capacitance Sensing method. The sensor consists of only three parts, namely a Sensing printed circuit board, a deformable part, and a base part. The simple configuration leads to simpler manufacturing and assembly processes in conjunction with high durability and low weight. In this study, a surgical instrument installed with a surgical palpation probe is implemented. The 6-axis F/T Sensing Capability of the probe has been experimentally validated by comparing it with a reference 6-axis F/T sensor. Finally, a vivo tissue palpation task is performed in a simulated surgical environment with an animal organ and a relatively hard simulated cancer buried under the surface of the organ.
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S-Surge: Novel Portable Surgical Robot with Multiaxis Force-Sensing Capability for Minimally Invasive Surgery
IEEE ASME Transactions on Mechatronics, 2017Co-Authors: Dong-yeop Seok, Jinho So, Hyouk Ryeol ChoiAbstract:To achieve a compact and lightweight surgical robot with force-Sensing Capability, in this paper, we propose a surgical robot called “S-surge,” which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design and force-Sensing system. The robot consists of a 4-degree-of-freedom (DOF) surgical instrument and a 3-DOF remote center-of-motion manipulator. The manipulator is designed by adopting a double-parallelogram mechanism and spherical parallel mechanism to provide advantages such as compactness, simplicity, improved accuracy, and high stiffness. Kinematic analysis was performed in order to optimize workspace. The surgical instrument enables multiaxis force Sensing including a three-axis pulling force and single-axis grasping force. In this study, it will be verified that it is feasible to carry the entire robot around thanks to its light weight (4.7 kg); therefore, allowing the robot to be applicable for telesurgery in remote areas. Finally, it will be explained how we experimented with the performance of the robot and conducted tissue manipulating task using the motion and force Sensing Capability of the robot in a simulated surgical setting.
