@inproceedings{9697d410b65e4f5d834dd14c4934e807,
title = "Human arm-like surgical robot system with force reflection measurement for minimally invasive surgery",
abstract = "The concept design of the suggested robotic surgical system is to measure the position and orientation of the surgeon's arm and to develop the surgical manipulator same 7 degree of freedom as the human arm. The kinematic configuration of the surgeon's arm is obtained by using the hand tool and the elbow supporter. Then the surgical manipulator tracks the movement of the surgeon's arm similarly by using the measured data in real time. The inverse kinematic solution of an additional degree of freedom is derived by using the angle data of the surgeon's elbow joint. And the force measurement system using a fiber bragg grating sensor was developed. The method to measure the 3 axial force applied on the surgical tool was described.",
keywords = "Minimally invasive surgery, Robotic surgical system, Surgical robot",
author = "Kim, \{Ki Young\} and Song, \{Ho Seok\} and Suh, \{Jung Wook\} and Lee, \{Jung Ju\}",
year = "2009",
language = "English",
isbn = "9784990288037",
series = "Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09",
pages = "313--316",
booktitle = "Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09",
note = "14th International Symposium on Artificial Life and Robotics, AROB 14th'09 ; Conference date: 05-02-2008 Through 07-02-2009",
}