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International Journal

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International Journal

SAM: Semi-Active Mechanism for Extensible Continuum Manipulator and Real-time Hysteresis Compensation Control Algorithm

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 20, No. 6, Nov. 2024

Junhyun Park, Seonghyeok Jang, Myeongbo Park, Hyojae Park, Jeonghyeon Yoon, and Minho Hwang [pub link] [pdf]

Efficacy of robot arm-assisted endoscopic submucosal dissection in live porcine stomach (with video)

Scientific Reports, 14:17367, July, 2024

Joonhwan Kim, Dong-Ho Lee, Dong-Soo Kwon, Ki Cheol Park, Hae Joung Sul, Minho Hwang, and Seung-Woo Lee [pub link] [pdf]

Hysteresis Compensation of Flexible Continuum Manipulator using RGBD Sensing and Temporal Convolutional Network

IEEE Robotics and Automation Letters (RA-L), Vol. 9, No. 7, pp. 6091-6098, May, 2024

Junhyun Park, Seonghyeok Jang, Hyojae Park, Seongjun Bae, and Minho Hwang [pub link] [pdf]

Asymmetric Rolling Contact Joint for Enhanced Payload Capabilities

IEEE/ASME Transactions on Mechatronics, July, 2023

Jeongdo Ahn, Minho Hwang, Dukyoo Kong, Joonhwan Kim, and Dong-Soo Kwon [pub link] [pdf]

Sigmoidal Auxiliary Tendon-Driven Mechanism Reinforcing Structural Stiffness of Hyper-Redundant Manipulator for Endoscopic Surgery

Soft Robotics, April 13, 2023

Hansoul Kim, Jae Min You, Minho Hwang, Ki-Uk Kyung, and Dong-Soo Kwon [pub link] [pdf]

Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans

IEEE Transactions on Automation Science and Engineering (T-ASE) , Vol. 20, No. 2, pp. 909-922, April 2023

Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, Daniel Seita, Samuel Paradis, Danyal Fer, Thomas Low, and Ken Goldberg [pub link] [pdf]

Bed-mounted laparoscopic surgical robot system with novel positioning arm mechanism

The International Journal of Medical Robotics and Computer Assisted Surgery, April, 2022

Deok Gyoon Chung, Minho Hwang, Byungsik Cheon, Dukyoo Kong, DongHoon Kang, Dong-Ho Lee, Chang-Kyun Kim, Duksang Kim, Jung Min Han, Young-Geun Kim, and Dong-Soo Kwon
[pub link] [pdf]

Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones

IEEE Robotics and Automation Letters (RA-L), Vol. 6, No. 3, pp. 4915-4922, July, 2021

Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, and Ken Goldberg [pub link] [pdf]

A novel microsurgery robot mechanism with mechanical motion scalability for intraocular and reconstructive surgery

The International Journal of Medical Robotics and Computer Assisted Surgery, July, 2021

Un-Je Yang, Duksang Kim, Minho Hwang, Dukyoo Kong, JoonHwan Kim, Young-Hoon Nho, WonKi Lee, and Dong-Soo Kwon [pub link] [pdf]

A Highly Intuitive and Ergonomic Redundant Joint Master Device for 4-Degrees of Freedom Flexible Endoscopic Surgery Robot

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 17, No. 1, Feb. 2021

Jeongdo Ahn, Joonhwan Kim, Hyunyoung Lee, Minho Hwang, and Dong-Soo Kwon [pub link] [pdf]

Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation

IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 5937-5944, Oct. 2020

Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, and Ken Goldberg [pub link] [pdf]

K-FLEX: A flexible robotic platform for scar-free endoscopic surgery

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 2, April 2020

Minho Hwang and Dong-Soo Kwon [pub link] [pdf]

Evaluation of a robotic arm assisted endoscope to facilitate endoscopic submucosal dissection (with video)

Gastrointestinal Endoscopy, Vol. 91, No. 3, pp. 699-706, March 2020

Minho Hwang, Seung Woo Lee, Ki Cheol Park, Hae Joung Sul, and Dong-Soo Kwon [pub link] [pdf]

Effect of backlash hysteresis of surgical tool bending joints on task performance in teleoperated flexible endoscopic robot

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 16, No. 1, Feb. 2020

Hansoul Kim, Minho Hwang, Joonhwan Kim, Jae Min You, Chan-Soon Lim, and Dong-Soo Kwon [pub link] [pdf]

Strong Continuum Manipulator for Flexible Endoscopic Surgery

IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 5, pp. 2193-2203, Oct. 2019

Minho Hwang and Dong-Soo Kwon [pub link] [pdf]

A 3-Degrees-of-Freedom Gravity-Compensated Robotic Arm with Roll-Pitch-Translational Motion for Remote Center of Motion

IEEE Robotics and Automation Letters, Vol. 4, No. 4, pp. 3473-3480, Oct. 2019

Chang-Kyun Kim, Deok Gyoon Chung, Minho Hwang, Byungsik Cheon, Hansoul Kim, Joonhwan Kim, and Dong-Soo Kwon [pub link] [pdf]

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 14, No. 1, Feb. 2018

Hyunyoung Lee, Byungsik Cheon, Minho Hwang, Donghoon Kang, and Dong-Soo Kwon [pub link] [pdf]

A single port surgical robot system with novel elbow joint mechanism for high force transmission

The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 13, No. 4, Dec. 2017

Minho Hwang, Un-Je Yang, Deokyoo Kong, Deok Gyoon Chung, June-gi Lim, Dong-Ho Lee, Daniel H. Kim, Dongsuk Shin, Taeho Jang, Jeong-Whun Kim, and Dong-Soo Kwon
[pub link] [pdf]

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