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

Yoon Hyuk Kim; Le Dinh Phong; Won Man Park; Kyungsoo Kim; Koon Ho Rha

doi:10.1007/s12541-009-0023-2

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

Yoon Hyuk Kim, Le Dinh Phong, Won Man Park, Kyungsoo Kim, Koon Ho Rha

Department of Urology

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

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.

Original language	English
Pages (from-to)	25-29
Number of pages	5
Journal	International Journal of Precision Engineering and Manufacturing
Volume	10
Issue number	2
DOIs	https://doi.org/10.1007/s12541-009-0023-2
Publication status	Published - 2009 Apr

Bibliographical note

Funding Information:
This research was supported by a grant (07122KFDA499) from the Korea Food & Drug Administration in 2007, grants (R11-2007-028-02002-0 and R01-2008-000-20352-0) from the Korea Science and Engineering Foundation (KOSEF) funded by the Korea government (MEST), and a Manpower Development Program for Energy & Resources supported by the Ministry of Knowledge and Economy (MKE).

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1007/s12541-009-0023-2

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title = "Laboratory-level telesurgery with industrial robots and haptic devices communicating via the internet",

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.",

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

Abstract

Bibliographical note

All Science Journal Classification (ASJC) codes

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