KAIST Laparoscopic Surgery Assistant Robot : KaLAR (2002~2005) (Click to watch movie clip)

• Application ; Robotic camera assistant for laparoscopy
• Stage
  : Completed In-Vivo porcine cholecystectomy test, waiting commercialization
• Feature
  • Minimized external motion by utilizing bending section
  • Voice command, autonomous tool-tip tracking
  • 5DOF for complex surgery

• Surgery Task Model to give intelligence to medical assistant robot
  • Based on 15 cases of human cholecystectomy
  • 28 surgical stages
• Related Papers
  • Compact Laparoscopic Assistant Robot Using a Bending Mechanism
    http://robot.kaist.ac.kr/paper/view.php?n=9
  • In Vivo Study of Porcine Cholecystectomy using a Compact Laparoscopic Assistant Robot System KaLAR
    http://robot.kaist.ac.kr/paper/view.php?n=157
  • Compact Camera Assistant Robot for Minimally Invasive Surgery: KaLAR
    http://robot.kaist.ac.kr/paper/view.php?n=93
  • Design of a Compact Laparoscopic Assistatant Robot : KaLAR
    http://robot.kaist.ac.kr/paper/view.php?n=71

Total Hip Arthroplasty Robot (~ 2002) : < KAIST ARTHROBOT> (Click to watch movie clip)

• Application : Gauge-based Total Hip Arthroplasty Robot
• Stage
  • Completed 6 sawbone models & 7pig femur experiments.
  • Mounted on actual Patient.
  • Waiting commercialization
• Features
  • 4 DOF, Parallel structure
  • Over 90% Accurate Surface Conformity
  • Reduction of Pre-operative Process
  • Simplified Gauge-based Registration technique
  • Efficient Work Space
    
    Guage-based Registration
    
    ARTHROBOT-Pig Femur Experiment
• Related Papers
  • Arthroplastic Surgical Robot : ARTHROBOT
    http://robot.kaist.ac.kr/paper/view.php?n=78
  • The Bone-Mountable Surgical Robot System for Hip Arthroplasty: ARTHROBOT
    http://robot.kaist.ac.kr/paper/view.php?n=50
  • The Mechanism and the Intelligent Control Method of a Surgical Robot for Total Hip Arthroplasty
    http://robot.kaist.ac.kr/paper/view.php?n=84
  • The Mechanism and the Registration Method of a Surgical Robot for Total Hip Arthroplasty
    http://robot.kaist.ac.kr/paper/view.php?n=75
  • Experimental Evaluation of a Surgical Robot System (ARTHROBOT) for Hip Surgery using Sawbones and Pig Femurs
    http://robot.kaist.ac.kr/paper/view.php?n=60

Telesurgery Robot(1997~1999) (Click to watch Movie Clip)

• Application ; Open Surgery
• Hand Master System
  • 6DOF
  • Parallel Mechanism
  • Workspace : 20x20x20cm
  • Maximum Force : 90N, 1.5Nm
    
• Slave System
  • Force feedback system
  • Macro/Micro motion robot
  • Possible to have Big Workspace with Micro Motion