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Laboratory-level telesurgery with industrial robots and haptic devices communicating via the internet

Authors
 Yoon Hyuk Kim  ;  Le Dinh Phong  ;  Won Man Park  ;  Kyungsoo Kim  ;  Koon Ho Rha 
Citation
 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, Vol.10(2) : 25-29, 2009 
Journal Title
 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 
ISSN
 2234-7593 
Issue Date
2009
Keywords
Telesurgery ; Surgical robot ; Force feedback
Abstract
With recent advances in data communications and robotic engineering, surgical robots have evolved into telerobotic surgical platforms that permit surgeons to operate on patients from remote locations using robotic instruments. Even so, telesurgical systems need to be improved by considering haptic sense or force feedback. In this study, a laboratory-level telesurgical system with force feedback was developed using industrial robots and commercial haptic systems operating over the Internet. Telesurgery via high-bandwidth UDP/IP communication was successfully conducted on objects mimicking human organs by the surgical robot system commanded by a surgeon 40 km away. During the test experiment, the surgeon could feel the interaction between the instruments and the tissues. The time delay was less than 45 ms with very little discrepancy between the command of the haptic device and the movement of the robot. This technology is useful for developing a clinically applicable telesurgical robot system that could be used in various emergency situations
Full Text
http://link.springer.com/article/10.1007%2Fs12541-009-0023-2#
DOI
10.1007/s12541-009-0023-2
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Urology (비뇨의학교실) > 1. Journal Papers
Yonsei Authors
Rha, Koon Ho(나군호) ORCID logo https://orcid.org/0000-0001-8588-7584
URI
https://ir.ymlib.yonsei.ac.kr/handle/22282913/103715
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