로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제7권4호
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  • Pages.267-275
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  • 2012
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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수술용 로봇 햅틱 시스템 구성을 위한 저관성 마스터 장치 핸들부 개발

Development of Low-inertia Master device for Haptic system configuration of surgical robot

  • Kang, Byeong-Ho (Graduated of Mechanical Engineering, Pusan National University) ;
  • Yoon, Sung-Min (Graduated of Mechanical Engineering, Pusan National University) ;
  • Lee, Min Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Kim, Chi-Yen (Division of Mechanical Engineering Technology, Yeungnam College of Science & Technology)
  • 투고 : 2012.05.03
  • 심사 : 2012.11.06
  • 발행 : 2012.11.30
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초록

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

키워드

참고문헌

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피인용 문헌

  1. 케이블 컨듀잇 구조의 수술용 햅틱 마스터 장치의 개선과 smooth backlash inverse를 이용한 backlash 보정 vol.9, pp.1, 2012, https://doi.org/10.7746/jkros.2014.9.1.048
  2. 텐던 구동 로봇 메커니즘의 일반화된 그래프 표현 vol.9, pp.3, 2012, https://doi.org/10.7746/jkros.2014.9.3.178
  3. 회전관절만을 활용하는 병진 3자유도 병렬 메커니즘의 기구학 특성 분석 vol.10, pp.2, 2012, https://doi.org/10.7746/jkros.2015.10.2.119