Sanghwa Kim, J. Seo, Jaehong Woo, Hyun-Soo Yoon, K. Tae, B. Yi
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System Design and Experiment of a Laryngeal Surgical Robotic System
A laryngeal surgical robotic system equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a system configuration and demonstrate effectiveness of the laryngeal surgical robotic system. A mechanical construction of this system is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical robotic system, experiments using phantom and cadaver were performed.
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