A robotic approach for colonoscopy

URAI（2014）

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摘要

This paper introduces a robotic approach for colonoscopy. 4 DOF haptic master device and slave device were designed by analyzing the movement of surgeon. The force or torque felt during insertion of the endoscope tube is feedback to the master device for providing the operator with haptic feeling and preventing damage of the inner surface of the large intestine.

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关键词

medical robotics,4 dof haptic master device,endoscopes,master-slave system,haptic,endoscope tube,slave device,robotic approach,large intestine,surgeon movement,colonoscopy,haptic feeling,haptic interfaces,surgery,force,robots,torque

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