• 로봇학회논문지
• /
• 제7권4호
• /
• pp.267-275
• /
• 2012

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.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
• /
• pp.456-458
• /
• 2004

Recent medical robot systems perform surgery operations, by following the preplanned trajectory and surgical procedures. Depending on the complexity of surgery operations, they are operated in manual, semi-automatic or full automatic mode. To improve the performance of those medical robot systems, development of the simulator and more advanced auto-illumination system, in which intensity of light, direction and focal point can be controlled automatically according to the varied environments during surgical operations. are required. Therefore, in this paper, the simulator for SPINEBOT system which is a computer-intergrated robotic surgery system are developed. And further, an auto-illumination system which will be integrated to the SPINEBOT system is investigated and its preliminary design is described.

• 한국소음진동공학회논문집
• /
• 제23권1호
• /
• pp.41-48
• /
• 2013

In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2012년도 추계학술대회 논문집
• /
• pp.421-427
• /
• 2012

In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

• 로봇학회논문지
• /
• 제9권1호
• /
• pp.48-56
• /
• 2014

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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.298-298
• /
• 2000

This paper presents the optimization technique to analyze the effect of the design parameters of rapid prototyping system for human brain model fabrication. The optimization method considers the functional relationships among the design parameters such as thickness gap, shrink rate, and laser speed that govern the operation of fabrication system. This paper applies a discrete optimization technique as the optimization method to determine the dominant parameter values. Additional study includes manner of complement surface image of ellipse which approximates the brain model using the adaptive slicing and the offset contour. According to the parameters tuning and interaction of effect, more suitable parameter values can be obtained by enhanced 3D brain model fabrication.

• 로봇학회논문지
• /
• 제3권1호
• /
• pp.58-67
• /
• 2008

This study developed a novel augmented reality interface for minimally invasive surgery. The augmented reality technique can alleviate the sensory feedback problem inherent to laparoscopic surgery. An augmented reality system merges real laparoscope image and reconstructed 3D patient model based on diagnostic medical image such as CT, MRI data. By using reconstructed 3D patient model, AR interface could express structure of patient body that is invisible outside visual field of laparoscope. Therefore, an augmented reality system improved sight information of limited laparoscope. In our augmented reality system, the laparoscopic view is located at the center of a wide-angle concave screen and reconstructed 3D patient model is displayed outside the laparoscope. By using a joystick, the laparoscopic view and the reconstructed 3D patient model view are changed concurrently. With our augmented reality system, the surgeon can see the peritoneal cavity from a wide angle of view, without having to move the laparoscope. Since the concave screen serves immersive environments, the surgeon can feel as if she is in the patient body. For these reasons, a surgeon can recognize easily depth information about inner parts of patient and position information of surgical instruments without laparoscope motion. It is possible for surgeon to manipulate surgical instruments more exact and fast. Therefore immersive augmented reality interface for minimally invasive surgery will reduce bodily, environmental load of a surgeon and increase efficiency of MIS.

• 제어로봇시스템학회논문지
• /
• 제22권8호
• /
• pp.615-618
• /
• 2016

This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average $L_2$ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.

• Radiation Oncology Journal
• /
• 제26권4호
• /
• pp.263-270
• /
• 2008

목 적: 본 연구에서는 로봇 사이버나이프의 호흡추적장치($Synchrony^{TM}$ Respiratory motion tracking system)을 이용하여 방사선수술을 시행한 간 종양환자를 대상으로 치료 중 실시간 종양의 움직임을 정량적으로 측정하고 방사선 수술시 호흡추적장치의 정확성을 평가하고자 한다. 대상 및 방법: 사이버나이프 치료를 시행한 간 종양 환자 24명을 대상으로 호흡추적 장치를 이용하여 총 64회의 시술을 시행하였다. 모든 환자에서 초음파를 이용하여 간 종양 근처에 $4{\sim}6$개의 금침을 삽입하였고 치료계획용 컴퓨터 단층촬영 영상을 이용하여 치료계획을 세웠다. 매 치료 시 금침의 위치는 치료계획 시 만들어진 디지털 재구성 방사선 영상(Digitally Reconstructed Radiography; DRR)과 실시간으로 촬영되어진 방사선영상(X-ray image)으로 확인하고, 이 결과를 MTS (Motion Tracking System)을 통해 Mtsmain.log 치료파일 형식으로 저장하여 종양의 움직임을 측정하였다 또한 사이버나이프를 이용한 방사선 수술 시 호흡추적장치의 정확성은 실시간 금침의 위치와 미리 예측된 좌표 사이의 상관관계 오차(Correlation Error)로 평가하였다. 결 과: 간 종양의 직선형태 움직임은 SI (Superior-Inferior)방향으로 최대 23.5 mm, 평균 $13.9{\pm}5.5\;mm$, LR (Left-Right)방향으로 최대 3.9 mm, 평균 $1.9{\pm}0.9\;mm$, AP (Anterior-Posterior)방향으로 최대 8.3 mm, 평균 $4.9{\pm}1.9\;mm$였으며 간 종양의 회전 운동 정도는 X (Left-Right)축 회전은 최대 $3.3^{\circ}$, 평균 $2.6{\pm}1.3^{\circ}$, Y (Cranio-Caudal)축회전은 최대 $4.8^{\circ}$, 평균 $2.3{\pm}1.0^{\circ}$, Z (Anterior-Posterior)축 회전은 최대 $3.9^{\circ}$, 평균 $2.8{\pm}1.1^{\circ}$로 측정되었다. 또한 치료의 정확성을 평가하는 상관관계 오차는 평균 $1.1{\pm}0.7\;mm$였다. 결 론: 본 연구에서 방사선 수술 중 간 종양의 실시간 움직임을 정량적으로 확인할 수 있었고 로봇 사이버나이프의 호흡추적 장치를 이용한 방사선 수술의 정확성을 평가할 수 있었다 이를 토대로 간 종양의 방사선 수술이나 일반적인 방사선치료에 있어서 치료용적의 결정과 움직임에 대한 유용한 정보를 제공할 것이라 생각된다.

• 한국콘텐츠학회논문지
• /
• 제22권7호
• /
• pp.670-675
• /
• 2022

4차 산업혁명의 시대는 모든 것이 데이터 중심이다. 데이터의 종류와 양이 중심이 될 수도 있고, 특수한 상황에서 요구하는 새로운 데이터가 필요할 때도 있다. 3D프린터가 다양한 분야에 활용되면서 새롭게 도전을 받는 분야들이 있다. 특히 의료 관련 분야에서 그동안 생각도 하지 못했던 새로운 시도가 일어나고 있다. 본 논문에서는 인체 데이터 중에도 인체 물성이 요구되는 분야에 연구를 가능하게 하기 위한 연구이다. 그동안 인체 장기를 활용한 연구에서는 주로 실리콘 소재로 만들어진 데이터를 활용하였다. 시신으로부터 인체 물성을 측정하고, 이 물성을 반영한 신소재를 개발하고, 3D프린터로 인공 장기를 개발한다. 이렇게 만들어진 인공장기를 활용하여 신장결석 제거용 로봇으로 수술하는 연습을 할 수 있도록 한다. 본 논문에서는 사람의 실제 장기와 유사한 첨단 소재를 개발하기 위한 일련의 연구 과정을 소개하고자 한다.