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Prof. Yong-Jae Kim and Dr. Jongwon Lee
Yong-Jae Kim received the M.S. and Ph.D. degrees in electrical engineering and computer science from the Korea Advanced Institute of Science and Technology, Daejeon, Korea, in 1998 and 2003, respectively. He was a research staff member of the Samsung Advanced Institute of Technology, Korea. He is currently an assistant professor of the Korea University of Technology and Education, Cheonan, Korea. His research interests include electromechanical design and control of hyper-redundant robots, soft wearable robots, and humanoid robots for physical human–machine interaction. 
 
Jongwon Lee received the M.S. and Ph.D. degrees in mechanical engineering from the Pohang University of Science and Technology, Pohang, Korea, in 2007 and 2012, respectively. He is currently a research staff member of the Samsung Advanced Institute of Technology, Korea. His research interests include electromechanical  design, medical/rehabilitation robotics, and robust controller for precise motion control. 

A Novel Trans-Umbilical Single-Port Surgical Robot maximizing Internal Dexterity, Flexibility and Stiffness

A new surgical robotic system for a trans-umbilical single-port access surgery is presented, which has high internal dexterity and high stiffness in a compact size. It includes a snake-like guide tube, two 7-DOF surgical tools, and one 3-DOF stereo endoscope. To overcome the critical limitations of conventional single-port surgical robots, concerning with internal dexterity and stiffness, two novel mechanisms are proposed: 1) A unique snake-like guide tube based on a variable-stiffness mechanism enabling access of the entire abdominal cavity in arbitrary angles of approach as well as controlling the stiffness for operational safety. 2) Multi-DOF surgical tools based on a wire reduction mechanism amplifying the tension of joint actuating wires that provides sufficient stiffness of the surgical tools and endoscope. The developed surgical robot based on these mechanisms was verified by simulations and experiments. 


Relevant publications
[1] Yong-Jae Kim, Shanbao Cheng, Sangbae Kim, and Karl Iagnemma, "A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery", IEEE Trans. Robotics, preprint available.
 
[2]  Yong-Jae Kim, Shanbao Cheng, Sangbae Kim, and Karl Iagnemma, "A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery", IEEE Trans. Robotics, vol. 29, no. 4, 2013.