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This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles(More)
The new passivity condition including the human arm impedance shows that the achievable maximum stiffness at each sampling period depends on the local minimum viscosity of the human arm during the sampling period. Based on the analytical results and the characteristics of the human arm, a new control scheme is proposed to improve the performance of the(More)
This paper presents a prototype system for robot-assisted ultrasound diagnosis. The system includes master-slave configuration integrated with ultrasound diagnostic machine. We designed a new slave robot based on rotary Stewart platform and the conventional US probe is installed inside of the platform and contacts with patient's skin through the hole in the(More)
This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is optimally designed based on the newly defined interventional procedures and the physicians' requirements. It comprises a 2-DOF rotational mechanism for adjustment of needle orientation, a 2-DOF translational mechanism for(More)
This paper presents a clinical evaluation of the KAIST-Ewha colonoscopy simulator II, which includes quantitative analysis of colonoscopy experts' and trainees' profiles during simulation. This version of the colonoscopy simulator employs an actual colonoscope with added electronics for simulation, and succeeds the previous version of the colonoscopy(More)
A new passivity condition for designing a 1-DOF haptic system is derived with consideration of human arm impedance. The method includes a human arm impedance model of a newly defined ideal mass-spring system. The developed passivity condition guarantees that the virtual wall requires more work than the ideal mass-spring system to compress. The condition(More)
It is well known that stroke is the leading cause of long-term disability and the number of stroke patients has been increasing due to the ageing of the population worldwide. Over the past decade, the effort to deliver effective rehabilitation robots especially for stroke patients has also been growing steadily with aims to provide timely and effective(More)