PURPOSE Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. MATERIALS AND METHODS The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colo...

Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopic surgery is restriction of free motion of the forceps because of limited degrees of freedom by the trocar. Recently, many master–slave manipulators with a remote center-of-motion mechanis...

This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under nonholonomic constraints. This environment is comprised of a haptic telemanipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback...

I the last several decades, minimally Invasive Surgery (MIS) has changed the traditional approaches surgery procedures dramatically. MIS could decrease suffered pain, shorten recovery time and hospital stays for the patient. Teleoperation can solve many problems encountered in conventional surgery, so it is often used in MIS surgery. Teleoperation system is a kind of semiautonomous system; the ...

We introduce a position-exchange controller for bilateral teleoperation of flexible surgical robots. The controller requires the position of the master arm and the deformed shape of the slave arm, but no force information is required. The position-tracking controller of the master arm causes the master arm to follow the position of the tip of the slave arm. The position tracking controller of t...

The complexity and variety of household chores creates conflicting demands on the technical design of domestic robots. One solution for this problem is the coordination of several specialized robots based on the master-slave principle. One robot acts as a master system, tracking and remotely controlling the slave robots. This way, only the master robot needs to be equipped with sophisticated se...

For robot path generation, a lot of researches have been done including automatic path planning, and teaching/playback. Teleoperation is commonly used in order to control a robot from remote site, dealing with unknown environment. To increase the accuracy and the reliability of teleoperation, close interaction between human and the slave robot is required. Many force feedback devices and contro...

Virtual master-slave concept is proposed to realize a human-machine interface for nonholonomic systems. In this concept, the virtual master system acts as an interface to control the slave system. The control architecture using this concept is based on a two degrees-of-freedom (DOF) design, where the neural network (NN) constructs a feedforward controller, whereas a compensator acts as a feedba...

This artic1e introduces three concepts: 1) "te1efunctioning", 2) a contr01 method for achieving te1efunctioning, and 3) an approach to the ana1ysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetua1 sense of the load dynamics for the operator. We define telefunctioning as a robotic manipu1ation me...