Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach
- Title
- Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach
- Author
- 송지성
- Keywords
- Robots; Endoscopes; Instruments; Medical services; Digital twins; Medical diagnostic imaging; Telerobotics; Usability; Testing; Digital twin; flexible endoscope; robot design; robotic diagnosis; telerobotic system; usability test
- Issue Date
- 2023-03
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE ACCESS, v. 11, Page. 28735-28750
- Abstract
- The COVID-19 pandemic has emphasized the need for non-contact medical robots to alleviate the heavy workload and emotional stress experienced by healthcare professionals while preventing infection. In response, we propose a non-contact robotic diagnostic system for otolaryngology clinics, utilizing a digital twin model for initial design optimization. The system employs a master-slave robot architecture, with the slave robot comprising a flexible endoscope manipulation robot and a parallel robot arm for controlling additional medical instruments. The novel 4 degrees of freedom (DOF) control mechanism enables the single robotic arm to handle the endoscope, facilitating the process compared to the traditional two-handed approach. Phantom experiments were conducted to evaluate the effectiveness of the proposed flexible endoscope manipulation system in terms of diagnosis completion time, NASA task load index (NASA-TLX), and subjective risk score. The results demonstrate the system's usability and its potential to alternate conventional diagnosis.
- URI
- https://ieeexplore.ieee.org/document/10077375https://repository.hanyang.ac.kr/handle/20.500.11754/185213
- ISSN
- 2169-3536
- DOI
- 10.1109/ACCESS.2023.3259539
- Appears in Collections:
- COLLEGE OF DESIGN[E](디자인대학) > COMMUNICATION DESIGN(커뮤니케이션디자인학과) > Articles
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- 99909_송지성.pdfDownload
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