로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제9권1호
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  • Pages.48-56
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  • 2014
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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케이블 컨듀잇 구조의 수술용 햅틱 마스터 장치의 개선과 smooth backlash inverse를 이용한 backlash 보정

Improvement of surgical haptic master device using cable-conduit and backlash compensation by smooth backlash inverse

  • Choi, Woo Hyeok (Interdisciplinary Program in Robotics, Pusan National University) ;
  • Yoon, Sung Min (Mechanical Engineering, Pusan National University) ;
  • Lee, Min Cheol (Department of Mechanical Engineering, Pusan National University)
  • 투고 : 2013.12.05
  • 심사 : 2014.02.07
  • 발행 : 2014.02.28
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초록

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

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참고문헌

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피인용 문헌

  1. Bilateral control based rupture protection method in surgical robot using improved master device vol.14, pp.4, 2016, https://doi.org/10.1007/s12555-014-0555-9
  2. 복강경 수술 로봇의 힘 반향을 위한 임피던스 모델 기반의 양방향 제어 vol.20, pp.8, 2014, https://doi.org/10.5302/j.icros.2014.14.9038