• Title/Summary/Keyword: 구학

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Surgical Planning in Deformity Correction Osteotomies using Forward Kinematics and Inverse Kinematics (정기구학 및 역기구학을이용한하지 교정절골술 계획 생성)

  • Jeong, Jiwon;Lee, Seung Yeol;Youn, Kibeom;Park, Moon Seok;Lee, Jehee
    • Journal of the Korea Computer Graphics Society
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    • v.20 no.1
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    • pp.1-11
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    • 2014

  • Patients with cerebral palsy or arthritis have deformities in lower limb which cause unstable gait or posture and pains. Surgeons perform a deformity correction osteotomy with surgical plan. But sometimes they find the unexpected angular or rotational deformation after surgery. The problems are that there is no method to predict the result of a surgical plan and also there are so many factors to must consider in surgical planning step such as clinical measurements, rotation angle, wedge angle, morphology of lower limb, etc. This paper presents new methods for planning the deformity correction osteotomy efficiently. There are two approaches based on the 3D mesh model and the accurate assessment of the patient's lower limb. One is the manual pre-simulation of surgery using forward kinematics. And the other is the automatic surgical planning using inverse kinematics and nonlinear optimization. Using these methods, we can predict and verify the results of various surgical treatments and also we can find a more effective surgical plan easily compared to conventional methods.

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Design of Multi-Linked Lifter (다관절 고소 작업 장치의 개발)

  • Kim, Myun-Hee;Lee, Sang-Ryong
    • Proceedings of the KSME Conference
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    • 2000.04a
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    • pp.562-565
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    • 2000

  • For solving problems of manpower and improving working environment, Robot System have been introduced. In the past, Robot System was adopted mass production, indoor factory condition, but present Robot System is applied to many other fields. This applied field is Robot System was adopted fruit harvest, maintenance, and so on. The developed Multi-Linked Lifter is applied to eminant multi-purpose working. The purpose of this study is to develop control algorithm for this equipment composed of multi-linked manipulator.

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The Study on the Trajectory Control of Manipulator Using Self-Organizing Neural Network (자기구성 신경회로망을 이용한 매니플레이터의 궤적제어에 관한 연구)

  • 김동희;신위재;주창복
    • Proceedings of the Korea Institute of Convergence Signal Processing
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    • 2001.06a
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    • pp.145-148
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    • 2001

  • 본 논문에서는 자기구성 신경회로망을 이용하여 3축 매니퓰레이터의 궤적제어기를 설계한다. 궤적 제어는 경유점을 정하고 각 경유점에 대한 역기구학을 적용하는 제어기로서 본 논문에서는 역기구학의 해를 자기구성 신경회로망을 통해 해결하는 제어기를 설계하고자 한 다. 또한 제어기에서의 은닉층의 활성화 함수는 가우 시안 함수를 사용하고, 은닉층의 파라미터는 오차를 기초로 하여 자동적으로 최적의 파라미터 값을 구함으로 서 유연한 궤적 제어가 되도록 한다.

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