대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 추계학술대회
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- Pages.1470-1475
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- 2003
최소침습수술용 Grasper의 힘반영 원격제어
Force-Reflected Teleoperation of Grasper for Minimum Invasive Surgery
- 발행 : 2003.11.05
초록
The senses that a doctor can feel is limited in MIS(Minimal Invasive Surgery) which guarantees the fast recovery of the patient and minimal incision for going in and out of instruments through the tissue of the patient. In particular, the surgical robotic teleoperation system developed recently serves with only the information of eyesight and auditory sense. Therefore force-reflection is the most demanded element of the senses in manipulating surgical instruments. In this paper, we designed the Master system and the 2 D.O.F grasper for the robotic teleoperation system(Slave) that has two force sensors on the grasper. Particularly, we focused on serve to master's handle with the contact force between tissue and the grasper of Slave.