Intuitive master device for endoscopic robots with visual-motor correspondence

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Background Master devices exclusively used for endoscopes with position control are being developed as an isomorphic form of endoscopes. These master devices are difficult to intuitively operate because the movement direction of the endoscopic image and control handle do not match. Methods To solve this problem, a master device was developed. Its movement direction is compatible with that of the endoscopic image. It analyzes image movements according to flexible endoscopic ureteroscope movements for each degree of freedom. A driving testbed experiment was conducted that modelled the internal structure of a kidney. Results The time taken in the experiment was shorter when using the proposed master device than the existing isomorphic master device. The proposed device yielded fewer mistakes. Conclusions It was confirmed the proposed device is effective in exclusive use for endoscopes because of its feasibility of position control and movement direction's coinciding with that of the endoscopic image.
Publisher
WILEY
Issue Date
2022-06
Language
English
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, v.18, no.3

ISSN
1478-5951
DOI
10.1002/rcs.2397
URI
http://hdl.handle.net/10203/296403
Appears in Collection
ME-Journal Papers(저널논문)
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