title: An all-joint-control master device for single-port laparoscopic surgery robots.
abstract: OBJECTIVE
  Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns.
  
  
  METHODS
  We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot.
  
  
  RESULTS
  The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave.
  
  
  CONCLUSIONS
  We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error.
authors.affiliation: Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
authors.forename: Seongbo
authors.initials: S
authors.lastname: Shim
authors.affiliation: Division of IoT & Robotics Convergence Research, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
authors.forename: Taehun
authors.initials: T
authors.lastname: Kang
authors.affiliation: Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
authors.forename: Daekeun
authors.initials: D
authors.lastname: Ji
authors.affiliation: Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
authors.forename: Hyunseok
authors.initials: H
authors.lastname: Choi
authors.affiliation: Medical Device and Robot Institute of Park, Kyungpook National University, 80 Daehakro, Bukgu, Daegu, 702-701, Korea.
authors.forename: Sanghyun
authors.initials: S
authors.lastname: Joung
authors.affiliation: Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea. jhong@dgist.ac.kr.
authors.forename: Jaesung
authors.initials: J
authors.lastname: Hong
mesh_terms: D000005:Abdomen / Q000601:surgery*; D001696:Biomechanical Phenomena; D004867:Equipment Design; D006801:Humans; D010535:Laparoscopy / Q000295:instrumentation*; D009038:Motion; D012371:Robotics / Q000295:instrumentation*
keywords: All-joint control; Mapping factor; Master device; Single-port laparoscopic surgery robot