Transactions of the Korean Society of Mechanical Engineers B (대한기계학회논문집B)

The Korean Society of Mechanical Engineers (대한기계학회)
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Continuum Mechanics-Based Environment Modeling for Telemanipulation of Soft Tissues in a Telepalpation System

생체조직의 원격촉진시스템을 위한 연속체역학 기반의 환경 모델링

  • Kim, Jung-Sik (Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, KAIST) ;
  • Kim, Jung (Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, KAIST)
  • 김정식 (카이스트 기계항공시스템공학부 기계공학과) ;
  • 김정 (카이스트 기계항공시스템공학부 기계공학과)
  • Received : 2011.04.28
  • Accepted : 2011.08.17
  • Published : 2011.11.01
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Abstract

The capability to bilaterally telemanipulate soft-tissues for medical applications could increase the quality of telemanipulation systems. Since most soft-tissue manipulation tasks include constrained motion interacting with an unknown and dynamic bioenvironment through contact, bilateral telemanipulation raises problems due to stability and transparency issues. It is well understood that knowledge of environments plays an important role in pursuing transparent telemanipulation and achieving telepresence, and in particular, online estimation of environmental parameters with an explicit environment model can improve these systems' performance. In this study, a continuum mechanics-based environment model with an online environmental property estimation algorithm and an adaptive telemanipulation control scheme is proposed. The proposed method can improve the telemanipulation performance in terms of stability and transparency and can offer valuable information (e.g., elastic modulus of soft tissues) pertaining to diagnostic examinations.

본 연구에서는 원격촉진 시스템을 위한 양방향 원격조작 제어 전략개발의 일환으로, 작업환경의 실시간 파라미터 추정기법을 제안한다. 명시적 환경모델과 파라미터 추정은 원격제어에 있어 투명성의 개선과 작업환경의 경도정보를 제공할 수 있다. 본 연구는 기존의 환경모델이 갖는 문제점들을 개선하고 빠르고 안정된 알고리즘을 개발하기 위해, 연속체 역학 기반의 유한요소 모델과 확장 칼만필터를 이용한 추정 알고리즘을 포함하는 원격제어 기법을 제안한다. 이를 통해 사용자는 실시간으로 구현되는 환경 모델과 상호작용하며, 조작성의 향상 과 진단 및 분석을 위한 재료의 고유한 물성정보를 획득할 수 있다.

Keywords

References

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