A highly intuitive and ergonomic redundant joint master device for four-degrees of freedom flexible endoscopic surgery robot

Jeongdo Ahn, Joonhwan Kim, Hyunyoung Lee, Minho Hwang, Dong Soo Kwon

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

Background: Studies have been conducted on slave-specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four-degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. Methods: To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four-DOFs slave-specific and six-DOFs general-purpose master devices. Results: Significant differences were observed in terms of intuitiveness performance between the slave-specific and the general-purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint. Conclusions: Compared with a general-purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance.

Original languageEnglish
Pages (from-to)1-14
Number of pages14
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume17
Issue number1
DOIs
StatePublished - Feb 2021

Bibliographical note

Publisher Copyright:
© 2020 John Wiley & Sons Ltd.

Keywords

  • endoscopy
  • ergonomics
  • human-machine interfaces
  • intuitiveness
  • redundant joint
  • telesurgery

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