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Title: Mechanism of a learning robot manipulator for laparoscopic surgical training
Authors: Yang, T.
Liu, J.
Huang, W.
Su, Y.
Yang, L. 
Chui, C.K. 
Ang Jr., M.H. 
Chang, S.K.Y.
Keywords: Laparoscopy
Robot manipulator
Surgical training
Issue Date: 2013
Citation: Yang, T.,Liu, J.,Huang, W.,Su, Y.,Yang, L.,Chui, C.K.,Ang Jr., M.H.,Chang, S.K.Y. (2013). Mechanism of a learning robot manipulator for laparoscopic surgical training. Advances in Intelligent Systems and Computing 194 AISC (VOL. 2) : 17-26. ScholarBank@NUS Repository.
Abstract: This paper presents a robot manipulator for hand-over-hand guidance training of laparoscopic surgery. Details of the mechanical design, kinematic analysis and control mechanism of the robot are presented. The robot records motion of surgical tool manipulated by master surgeon, and provides physical guidance to the trainee based on the recorded motion. The robotic manipulator can accurately reproduce the five degree of freedom manipulation of laparoscopic instrument during surgery. A hybrid spherical mechanism is applied for decoupling and reproducing the motion of surgical tool to facilitate implementation of control mechanism. The manipulators for left and right hands are capable of precise execution of a recorded trajectory with observed maximum error of 2.12 mm and 2 mm respectively during an experiment on user interaction. © 2013 Springer-Verlag.
Source Title: Advances in Intelligent Systems and Computing
ISBN: 9783642339318
ISSN: 21945357
DOI: 10.1007/978-3-642-33932-5_3
Appears in Collections:Staff Publications

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