[
    {
        "id": "osp-25760",
        "type": "article-journal",
        "title": "Surgical Master Console Using General-Purpose Robot Arms and a Separable Articulated Distal Interface: Porcine In-Vivo Evaluation",
        "author": [
            {
                "family": "Kim",
                "given": "Minsung"
            },
            {
                "family": "Shim",
                "given": "Seonho"
            },
            {
                "family": "Yee",
                "given": "Dongho"
            },
            {
                "family": "Noh",
                "given": "Younghoon"
            },
            {
                "family": "Oh",
                "given": "Juahn"
            },
            {
                "family": "Seo",
                "given": "Yechan"
            },
            {
                "family": "Lee",
                "given": "Jinseok"
            },
            {
                "family": "Lee",
                "given": "Jiyul"
            },
            {
                "family": "Jeong",
                "given": "Seong"
            },
            {
                "family": "Choi",
                "given": "Hyuk"
            },
            {
                "family": "Kong",
                "given": "Youngbin"
            },
            {
                "family": "Kong",
                "given": "Hyoun-Joong"
            }
        ],
        "URL": "https://omanscience.com/en/articles/surgical-master-console-using-general-purpose-robot-arms-and-a-separable-articulated-distal-interface-porcine-in-vivo-evaluation",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "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."
    }
]