Journal of the Korea Convergence Society (한국융합학회논문지)

Korea Convergence Society (한국융합학회)
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Control of MR Haptic Simulator Using Novel S-chain Model

새로운 S-Chain 모델을 이용한 MR 햅틱 시뮬레이터 제어

  • Oh, Jong-Seok (Division of Mechanical and Automotive Engineering, Kongju National University)
  • 오종석 (공주대학교 기계자동차공학부)
  • Received : 2018.08.16
  • Accepted : 2018.11.20
  • Published : 2018.11.28
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Abstract

Due to difficulty in minimally invasive surgery, training simulator is actively researched. A volumetric deformable organ is created by employing a shape-retaining chain-linked (S-chain) model to realize positioning a human organ model in virtual space. Since the main principle of the S-chain algorithm is that the repulsive force is proportional to the number of chain elements, the calculation time can be increased according to the magnitude of deformation. In this work, the advanced S-chain algorithm is used to calculate the repulsive torque according to spin motion. Finally, haptic architecture was constructed using this S-chain model by incorporating the virtual organ with a real master device, which allows the repulsive force and target position to be transferred to each other. The control performance of S-chain algorithm has been evaluated via experiment.

의료 현장에서의 최소침습수술(MIS)의 어려움 때문에 시뮬레이터 훈련이 활발히 연구되고 있다. 이를 위해 본 연구에서는 S-chain모델을 사용하여 가상 장기와 변형과정을 표현하고 반발력 제공이 가능한 햅틱 시뮬레이터를 개발하고자 한다. S-chain알고리즘의 주요 원리는 반발력이 체인 요소의 수에 비례하는 것이며, 대상인 장기의 변형이 클수록 많은 계산시간을 요구한다. 이에 본 연구에서는 계산속도가 개선된 S-chain알고리즘을 회전움직임에 적용하여 제어성능을 평가하였다. 본 연구에서는 자기 점성 점성(MR) 유체를 사용하는 햅틱 마스터 시스템을 제안하고 S-chain모델을 개발한다. 결과적으로, 이 S-chain모델을 사용하여 가상의 장기와 실제 마스터 장치를 결합함으로써 반발력과 수술로봇의 좌표 위치를 서로 전달하는 햅틱 시스템을 구축하여, 햅틱 시뮬레이터의 제어 성능을 실험을 통해 평가하였다.

Keywords

OHHGBW_2018_v9n11_291_f0001.png 이미지

Fig. 1. Manufacture MR Hapctic Master

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Fig. 2. Concept of S-chain Algorithm

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Fig. 3. Configuration of New S-chain Algorithm

OHHGBW_2018_v9n11_291_f0004.png 이미지

Fig. 4. Deformed Object According to New S-chain Model

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Fig. 5. Experimental Apparatus of Control Test

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Fig. 6 Virtual Organ Results

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Fig. 7 Control Test Results

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