• 대한의용생체공학회:의공학회지
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• 제30권4호
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• pp.271-278
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• 2009

Recently, robot research and development was interesting the inside and outside of the country. Medical robot surgery showed diverse advantages according to advanced technical robot research. Also the academic society, research institute and industry showed concerning to the medical robot system. There is a growing need to introduce medical research for aging society. The surgical landscape is quickly changing because of the major driving force of robotics. Robot system and biomedical engineering research as defined a new engine of development show present ways of future revitalization of medical robot system. Medical robot system will be even more utilized when we keeps trying to combine high biomedical technique, IT research, and robot technique. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied.

• 로봇학회논문지
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• 제5권4호
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• pp.359-366
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• 2010

This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 춘계학술대회
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• pp.77-80
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• 2011

의료용 로봇은 크게 네 분야로 나눌 수 있는데, 수술을 보조하는 수술보조 로봇, 수술 로봇, 수술시뮬레이터, 재활 로봇이라 할 수 있다. 이와 같이 의료용 로봇은 주로 고 정밀도 및 신뢰성을 요구하는 작업을 위해 개발되고 있다. 의료용 서비스 로봇의 또 다른 분야로 수술이 아닌 진료를 위한 서비스 로봇이 있다. 진료 서비스 로봇은 병원의 접수 업무 및 진료 시 사용할 수 있는 환자의 생체 데이터 취득, 병원 내 위치 및 콘텐츠 정보 등을 환자에게 제공할 수 있는 로봇이다. 하지만 지금까지의 의료 서비스 로봇은 실제적인 접수 처리과정을 진행하는 역할을 하지는 못하였다. 본 논문에서는 의료 서비스 로봇 시스템을 설계 및 구현하였다. 구현된 로봇 시스템은 의료정보 교환을 위한 표준 프로토콜을 사용해 직접 병원 정보 시스템과의 연동이 가능하고, 병원의 환자 접수 및 처리, 진료 대기자 수와 같은 정보를 제공할 수 있다.

• 로봇학회논문지
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• 제12권4호
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• pp.395-401
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• 2017

In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

• 대한의용생체공학회:의공학회지
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• 제40권5호
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• pp.206-214
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• 2019

Surgical methods and associated precision systems have been developed, but surgical procedures that require precise location and fine manipulation of the lesion remain a limitation. The combination of precision robot manipulation technology and 3D medical image navigation technology overcomes the limitations of minimally invasive surgery (MIS) and enables a more stable and successful operation. Surgical robots are surgical robots such as da Vince, and surgical robots using industrial robotic arms. There are various developments and researches of medical robots. In recent medical robot development, a new type of surgical robot based on an industrial robot arm capable of easily replacing the end effector according to the user's needs is being actively developed at home and abroad. Therefore, in this study, we developed safety and performance evaluation guideline for micro - surgical robots based on open robot platform using general purpose robot arm to help quality control of the medical device.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2011년도 춘계학술대회
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• pp.113-127
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• 2011

The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots. The service of U-Health is the fusion of Information Technology and Medical Service. The U-Health provides for doing about household's medical behavior. Conclusionally, the Chungbuk has merit on establishment of national consilience complex such as Medical Robot and U-Health.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1781-1785
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• 2004

In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

• 문화기술의 융합
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• 제5권4호
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• pp.203-208
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• 2019

의료용 컬러 그래픽 연구는 의료용 로봇의 생산 시대를 통해 회사 제품의 디자인 품질을 세계적으로 확대하고 보급하는 기반이 될 것이다. 본 연구에서는 의료 로봇 침대 확대 시대에 걸맞은 기술과 내용, 유니버셜 의료색 적용, 인체공학적 색채 등을 기반으로 하였다. 이와 함께 유니버셜 디자인의 관점에서 의료용 침대 로봇의 색채 연구방향을 제시하였다. 이에 따라, 국내업체에서 개발 중인 의료용 로봇의 기능을 사례로 하여 유니버셜 컬러 설계를 제안하였다. 이 로봇 침대의 특성은 기능별로 3가지로 구분할 수 있는 바, 첫째는 치유성(Curative)으로 욕창 예방을 위한 치료 특성을, 두 번째는 의료 환경을 위한 청결성(Clean)으로 시트 자동교환을, 세 번째는 편의성(Convenient)으로 환자이송을 구현하는 기능을 갖는 것으로 파악된다. 본론으로 이에 적합한 기능 색채의 조합을 제시하였다. 결과적으로 제시한 색채분석 및 유니버설 컬러설계 기법이 첨단 의료용 로봇 침대의 외형과 기능을 잘 표현하는 데 유용한 방법론이 될 수 있을 것이다.

• 한국멀티미디어학회논문지
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• 제24권2호
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• pp.267-273
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• 2021

Recently, the small-size mobile robots with remote-control are rapidly growth which market of mobile is increased in the world. Especially, the smart-phones are widely used for interface device in the small size of a mobile robot. The research goal is control system design which is applied to miniaturization of a mobile robot using smart-phone and it can be confirmed performance for designed system. Meanwhile, the fabrication of mini-mobile robot can also be remote-control operation through the WIFI performance of a smart-phone. The smart-phone is used to remote-control for robot operation which control data transmit to robot via the WIFI network. To drive the robot, we can observe by the smart-phone screen and it can easily adjust the robot drive condition and direction by smart-phone button. Consequentially, there was no malfunction and images were printed out well. However, in drive, because of blind spot, robot was bumped into obstacle. Therefore, the additional test is necessary to sensor for blind spot which sensor can be equipment to mobile robot. In addition, the experiment with robot object recognition is needed.

• 로봇학회논문지
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• 제15권4호
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.