Publication

Hanyang University HumanRobotics Lab

International Conference
A 4-DOF Bendable Endoscope Mechanism For Single Port Access Surgery
Conference
ICRA Workshop: Snake, Worms and Catheters: Continuum and Serpentine Robots for Minimally Invasive Surgery
Author
H.-S. Yoon, Y. Choi, and B.-J. Yi
Year
2010
Date
2010.05.03
File
A 4-DOF Bendable Endoscope Mechanism For Single Port Access Surgery.pdf (194.7K) 0회 다운로드 DATE : 2020-10-19 22:47:58
Abstract: Different from a straight endoscope mechanism used for Laparoscopic surgery, single port access (SPA) surgery requires multi degrees of freedom endoscope mechanism. This work presents a 4-DOF bendable endoscope mechanism that employs a spring as its backbone. This design is slim-sized, lightweighted, and easy to implement a camera at the distal end. The suggested mechanism consists of two modules in which each has 2 DOF. A mechanism integration method with a small-sized camera as well as design principle  the endoscope is introduced. The performance of the suggested mechanism is verified by experiments