Abstract
High-performance surgical master consoles offer intuitive articulated manipulation but are expensive and difficult to reproduce, while accessible commercial haptic devices lack built-in interfaces for surgical wrist articulation and continuous grasp. We present a laparoscopic master in which general-purpose robot manipulators provide the programmable base and surgical-specific interaction is concentrated in a separable distal adapter. Each 6-DoF arm carries a custom 2-DoF direct-drive wrist, continuous grasp sensing, and clutch-based workspace management; the complete bimanual hardware costs approximately US$5,500, below common bimanual commercial haptic references. To support sustained hand-guided use, we characterize current scaling, gravity, and break-away friction and use them for posture-dependent gravity compensation and motion-gated assistance, reducing continuous actuation and thermal loading. A common master state drives either Isaac Sim or an RCM-constrained dual-FR3 platform. Master-state publication to FR3 target update adds at most 8 ms, and tip tracking shows 0.31-0.66 mm mean delay-aligned residuals. In a porcine cholecystectomy experiment, five common operator-side metrics and hand/tip-speed distributions were compared descriptively with human in-vivo telemetry from 120 clinical Versius recordings of 99 cholecystectomy procedures; no interruption originated from the master console, and no abnormal clinical signs were recorded during the 7-day postoperative observation period. These results demonstrate a surgical master built from general-purpose robot arms with surgical-specific interaction concentrated in a separable distal interface.
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Cite this article
APA 7
Kim, M., Shim, S., Yee, D., Noh, Y., Oh, J., Seo, Y., Lee, J., Lee, J., Jeong, S., Choi, H., Kong, Y., & Kong, H. J. (2026). Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation. https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation
MLA 9
Kim, Minsung, et al. "Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation." https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation.
Chicago (author–date)
Kim, Minsung, Seonho Shim, Dongho Yee, Younghoon Noh, Juahn Oh, Yechan Seo, Jinseok Lee, Jiyul Lee, Seong Jeong, Hyuk Choi, Youngbin Kong, and Hyoun-Joong Kong. 2026. "Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation." https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation.
Harvard
Kim, M., Shim, S., Yee, D., Noh, Y., Oh, J., Seo, Y., Lee, J., Lee, J., Jeong, S., Choi, H., Kong, Y. and Kong, H. J. (2026) 'Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation', Available at: https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation.
Vancouver
Kim M, Shim S, Yee D, Noh Y, Oh J, Seo Y, et al. Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation. https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation
IEEE
M. Kim, S. Shim, D. Yee, Y. Noh, J. Oh, Y. Seo, J. Lee, J. Lee, S. Jeong, H. Choi, Y. Kong, and H. J. Kong, "Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation," https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation.