Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-19T08:23:24Z | - |
dc.date.available | 2023-05-19T08:23:24Z | - |
dc.date.issued | 2023-03 | - |
dc.identifier.citation | IEEE ACCESS, v. 11, Page. 28735-28750 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/10077375 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180995 | - |
dc.description.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. | - |
dc.description.sponsorship | This research was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2021R1I1A4A01051258, and in part by the BK21 Fostering Outstanding Universities for Research (FOUR) funded by the Ministry of Education (MOE, South Korea, and NRF). | - |
dc.language | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | Robots | - |
dc.subject | Endoscopes | - |
dc.subject | Instruments | - |
dc.subject | Medical services | - |
dc.subject | Digital twins | - |
dc.subject | Medical diagnostic imaging | - |
dc.subject | Telerobotics | - |
dc.subject | Usability | - |
dc.subject | Testing | - |
dc.subject | Digital twin | - |
dc.subject | flexible endoscope | - |
dc.subject | robot design | - |
dc.subject | robotic diagnosis | - |
dc.subject | telerobotic system | - |
dc.subject | usability test | - |
dc.title | Robotic Manipulation System Design and Control for Non-Contact Remote Diagnosis in Otolaryngology: Digital Twin Approach | - |
dc.type | Article | - |
dc.relation.volume | 11 | - |
dc.identifier.doi | 10.1109/ACCESS.2023.3259539 | - |
dc.relation.page | 28735-28750 | - |
dc.relation.journal | IEEE ACCESS | - |
dc.contributor.googleauthor | Lee, Sho-Hyun | - |
dc.contributor.googleauthor | Lee, Dong-Woo | - |
dc.contributor.googleauthor | Song, Hwa-Seob | - |
dc.contributor.googleauthor | Jeong, Seonmin | - |
dc.contributor.googleauthor | Ji, Yongbae | - |
dc.contributor.googleauthor | Song, Ji-Sung | - |
dc.contributor.googleauthor | Kim, Jiyoung | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
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