Development of a finger-like mechanism of end-effector for micro surgery

S. M. Kim, C. M. Park, J. H. Yoo, K. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Neurosurgery had been considered nearly impossible due to its technical difficulty and the danger to its special target organ, but with endoscopic methods, many such surgeries can be made safely through the nose. Endoscopic neurosurgery is limited by available instruments, however, and there remain some areas of the human body inaccessible to standard surgical tools. To overcome some of these limitations, in this study we developed a simple mechanism that could form a high curvature in a narrow space. The end product is a finger-like mechanism consisting of five body parts and four joints. All body parts are connected in series, having a total length of 20mm and a diameter of φ4mm. A four-bar linkage internally connects the body parts and joints, and a nitinol backbone was used to improve repeatability. The first joint is driven by a rod or wire, and the shape of the mechanism is determined by rotating the first joint, because the position of each joint depends on the position of the joint before it. The study verified that an image sensor in the end of the finger-like mechanism has a wider range of view, 210 degrees than a conventional endoscope of 100 degrees. Finally, skull model simulation suggests that this device could be used in real neurosurgical applications.

Original languageEnglish
Title of host publication2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5224-5227
Number of pages4
Volume2016-October
ISBN (Electronic)9781457702204
DOIs
Publication statusPublished - 2016 Oct 13
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: 2016 Aug 162016 Aug 20

Other

Other38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
CountryUnited States
CityOrlando
Period16/8/1616/8/20

Fingerprint

Neurosurgery
End effectors
Surgery
Joints
Human Body
Endoscopy
Image sensors
Wire
Endoscopes
Nose
Skull
Equipment and Supplies

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Kim, S. M., Park, C. M., Yoo, J. H., & Kim, K. (2016). Development of a finger-like mechanism of end-effector for micro surgery. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 (Vol. 2016-October, pp. 5224-5227). [7591905] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7591905
Kim, S. M. ; Park, C. M. ; Yoo, J. H. ; Kim, K. / Development of a finger-like mechanism of end-effector for micro surgery. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Vol. 2016-October Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5224-5227
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Kim, SM, Park, CM, Yoo, JH & Kim, K 2016, Development of a finger-like mechanism of end-effector for micro surgery. in 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. vol. 2016-October, 7591905, Institute of Electrical and Electronics Engineers Inc., pp. 5224-5227, 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016, Orlando, United States, 16/8/16. https://doi.org/10.1109/EMBC.2016.7591905

Development of a finger-like mechanism of end-effector for micro surgery. / Kim, S. M.; Park, C. M.; Yoo, J. H.; Kim, K.

2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Vol. 2016-October Institute of Electrical and Electronics Engineers Inc., 2016. p. 5224-5227 7591905.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kim SM, Park CM, Yoo JH, Kim K. Development of a finger-like mechanism of end-effector for micro surgery. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Vol. 2016-October. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5224-5227. 7591905 https://doi.org/10.1109/EMBC.2016.7591905