4 citations · 5 across the 6 of their papers we have counts for
7 papers · 1 filter
SSTL: Self-Sensing Tendon Loop for Hysteresis Modeling and Compensation in Tendon-Sheath Mechanisms
Myeongbo Park, Junhyun Park, Ihsan Ullah +2
Flexible endoscopic robots enable minimally invasive access through natural orifices, but their control accuracy is limited by configuration-dependent hysteresis in the tendon-shea…
MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators
Junhyun Park, Chunggil An, Myeongbo Park +3
Flexible endoscopic continuum manipulators offer high dexterity and access to complex anatomy, but nonlinear hysteresis limits feedforward control accuracy. Closed-loop control can…
Vibration-Assisted Hysteresis Mitigation for Achieving High Compensation Efficiency
Myeongbo Park, Chunggil An, Junhyun Park +2
Tendon-sheath mechanisms (TSMs) are widely used in minimally invasive surgical (MIS) applications, but their inherent hysteresis-caused by friction, backlash, and tendon elongation…
SIMS: Surgeon-Intention-driven Motion Scaling for Efficient and Precise Teleoperation
Jeonghyeon Yoon, Sanghyeok Park, Hyojae Park +3
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision…
SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm
Junhyun Park, Seonghyeok Jang, Myeongbo Park +3
Cable-Driven Continuum Manipulators (CDCMs) enable scar-free procedures but face limitations in workspace and control accuracy due to hysteresis. We introduce an extensible CDCM wi…
Optimizing Base Placement of Surgical Robot: Kinematics Data-Driven Approach by Analyzing Working Pattern
Jeonghyeon Yoon, Junhyun Park, Hyojae Park +3
In robot-assisted minimally invasive surgery (RAMIS), optimal placement of the surgical robot base is crucial for successful surgery. Improper placement can hinder performance beca…