Flexible endoscope manipulating robot using quad-roller friction mechanism
A robotic system for manipulating a flexible endoscope in surgery can provide enhanced accuracy and usability compared to manual operation. However, previous studies require large-scale, complex hardware systems to implement the rotational and translational motions of the soft endoscope cable. The c...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2024-12-01
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| Series: | Computer Assisted Surgery |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/24699322.2024.2404695 |
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| _version_ | 1850116463786983424 |
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| author | Subin Lee Hyeonwook Kim Jaehyeon Byeon Seongbo Shim Hyun-Joo Lee Jaesung Hong |
| author_facet | Subin Lee Hyeonwook Kim Jaehyeon Byeon Seongbo Shim Hyun-Joo Lee Jaesung Hong |
| author_sort | Subin Lee |
| collection | DOAJ |
| description | A robotic system for manipulating a flexible endoscope in surgery can provide enhanced accuracy and usability compared to manual operation. However, previous studies require large-scale, complex hardware systems to implement the rotational and translational motions of the soft endoscope cable. The conventional control of the endoscope by actuating the endoscope handle also leads to undesired slack between the endoscope tip and the handle, which becomes more problematic with long endoscopes such as a colonoscope. This study proposes a compact quad-roller friction mechanism that enables rotational and translational motions triggered not from the endoscope handle but at the endoscope tip. Controlling two pairs of tilted rollers achieves both types of motion within a small space. The proposed system also introduces an unsynchronized motion strategy between the handle and tip parts to minimize the robot’s motion near the patient by employing the slack positively as a control index. Experiments indicate that the proposed system achieves accurate rotational and translational motions, and the unsynchronized control method reduces the total translational motion by up to 88% compared to the previous method. |
| format | Article |
| id | doaj-art-4edaa2d69e09403cbf3481c1f21ef424 |
| institution | OA Journals |
| issn | 2469-9322 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Computer Assisted Surgery |
| spelling | doaj-art-4edaa2d69e09403cbf3481c1f21ef4242025-08-20T02:36:19ZengTaylor & Francis GroupComputer Assisted Surgery2469-93222024-12-0129110.1080/24699322.2024.2404695Flexible endoscope manipulating robot using quad-roller friction mechanismSubin Lee0Hyeonwook Kim1Jaehyeon Byeon2Seongbo Shim3Hyun-Joo Lee4Jaesung Hong5Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Republic of KoreaDevelopment Team 3, Ajinextek, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Republic of KoreaDepartment of Medical Robotics, Korea Institute of Machinery and Materials (KIMM), Daegu, South KoreaDepartment of Orthopaedic Surgery, School of Medicine, Kyungpook National University, Kyungpook National University Hospital (KNU), Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu, Republic of KoreaA robotic system for manipulating a flexible endoscope in surgery can provide enhanced accuracy and usability compared to manual operation. However, previous studies require large-scale, complex hardware systems to implement the rotational and translational motions of the soft endoscope cable. The conventional control of the endoscope by actuating the endoscope handle also leads to undesired slack between the endoscope tip and the handle, which becomes more problematic with long endoscopes such as a colonoscope. This study proposes a compact quad-roller friction mechanism that enables rotational and translational motions triggered not from the endoscope handle but at the endoscope tip. Controlling two pairs of tilted rollers achieves both types of motion within a small space. The proposed system also introduces an unsynchronized motion strategy between the handle and tip parts to minimize the robot’s motion near the patient by employing the slack positively as a control index. Experiments indicate that the proposed system achieves accurate rotational and translational motions, and the unsynchronized control method reduces the total translational motion by up to 88% compared to the previous method.https://www.tandfonline.com/doi/10.1080/24699322.2024.2404695Flexible endoscopemedical robots and systemsfriction mechanismquad-roller system |
| spellingShingle | Subin Lee Hyeonwook Kim Jaehyeon Byeon Seongbo Shim Hyun-Joo Lee Jaesung Hong Flexible endoscope manipulating robot using quad-roller friction mechanism Computer Assisted Surgery Flexible endoscope medical robots and systems friction mechanism quad-roller system |
| title | Flexible endoscope manipulating robot using quad-roller friction mechanism |
| title_full | Flexible endoscope manipulating robot using quad-roller friction mechanism |
| title_fullStr | Flexible endoscope manipulating robot using quad-roller friction mechanism |
| title_full_unstemmed | Flexible endoscope manipulating robot using quad-roller friction mechanism |
| title_short | Flexible endoscope manipulating robot using quad-roller friction mechanism |
| title_sort | flexible endoscope manipulating robot using quad roller friction mechanism |
| topic | Flexible endoscope medical robots and systems friction mechanism quad-roller system |
| url | https://www.tandfonline.com/doi/10.1080/24699322.2024.2404695 |
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