Lee, Tae-Hoon Choi, Dongeun Kim, Chunwoo 2024-01-19T09:31:32Z 2024-01-19T09:31:32Z 2023-06-08 2023-06 2288-4300 https://pubs.kist.re.kr/handle/201004/113684 Robot assistance can improve the outcome of microsurgery by scaling down the surgeon's hand motions. However, the high cost of surgical robots has prevented their use in small hospitals or medical facilities in several developing countries. As a novel alternative, a fully mechanical motion-scaling instrument, which can be operated without computers and motors, was proposed based on the pantograph mechanism. However, it had several problems owing to the cumbersome and heavy structures during the prototype test. This study aims solving the problems found in the first design and proving the advantages of the improvement, based on the design and performance criteria. The pantograph structure was simplified, and the gravity compensation method was modified to reduce inertia by using a constant force spring instead of a counter-mass. The improvement was computationally predicted using a mathematical model, and the results were verified through trajectory measurements in a micropositioning task. Finally, the evaluation of dynamic performance is quantitatively presented through iterative positioning tasks. English 한국CDE학회 Fully mechanical motion-scaling instrument for microsurgery assistance: design improvement for enhancing the dynamic performance Article 10.1093/jcde/qwad034 1 Journal of Computational Design and Engineering, v.10, no.3, pp.1010 - 1025 Journal of Computational Design and Engineering 10 3 1010 1025 Y scie scopus kci ART003008407 000986245200001 Computer Science, Interdisciplinary Applications Engineering, Multidisciplinary Computer Science Engineering Article ROBOTIC SURGERY WORKSPACE FORCES mechanical motion-scaling instrument microsurgery robot pantograph mechanism