Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Design and Control of X-ray Permeable Teleoperated Stewart Platform for Fracture Surgery

골절 수술용 엑스레이 투과 원격조종 스튜어트 플랫폼의 설계 및 제어

  • Yoo, Byeongjun (Mechanical System and Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Hyemi (Mechanical System and Design Engineering, Seoul National University of Science and Technology) ;
  • Lee, Sung-Hak (Mechanical System and Design Engineering, Seoul National University of Science and Technology) ;
  • Lim, Sunho (Mechanical System and Design Engineering, Seoul National University of Science and Technology) ;
  • Park, Tae Gon (PRESTO SOLUTION Ltd.) ;
  • Lee, Chibum (Mechanical System and Design Engineering, Seoul National University of Science and Technology)
  • Received : 2015.09.08
  • Accepted : 2015.11.19
  • Published : 2015.12.15
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Abstract

To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.

Keywords

References

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