• Title/Summary/Keyword: Robotic Device

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Robotic Needle Insertion Using Corneal Applanation for Deep Anterior Lamellar Keratoplasty (각막 압평을 이용한 로봇 바늘 삽입법: 심부표층각막이식수술에의 적용)

  • Park, Ikjong;Shin, Hyung Gon;Kim, Keehoon;Kim, Hong Kyun;Kyun., Wan
    • The Journal of Korea Robotics Society
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    • v.16 no.1
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    • pp.64-71
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    • 2021
  • This paper describes a robotic teleoperation system to perform an accurate needle insertion into a cornea for a separation between the stromal layer and Descemet's membrane during deep anterior lamellar Keratoplasty (DALK). The system can reduce the hand tremor of a surgeon by scaling the input motion, which is the control input of the slave robot. Moreover, we utilize corneal applanation to estimate the insertion depth. The proposed system was validated by performing the layer separation using 25 porcine eyes. The average depth of needle insertion was 742 ± 39.8 ㎛ while the target insertion depth was 750 ㎛. Tremor error was reduced from 402 ± 248 ㎛ in the master device to 28.5 ± 21.0 ㎛ in the slave robot. The rate of complete success, partial success, and failure were 60, 28, and 12%, respectively. The experimental results showed that the proposed system was able to reduce the hand tremor of surgeons and perform precise needle insertion during DALK.

Application of Calibration Techniques to Enhance Accuracy of Markerless Surgical Robotic System for Intracerebral Hematoma Surgery (뇌혈종 제거 수술을 위한 무마커 수술 유도 로봇 시스템의 정확도 향상을 위한 캘리브레이션 기법)

  • Park, Kyusic;Yoon, Hyon Min;Shin, Sangkyun;Cho, Hyunchul;Kim, Youngjun;Kim, Laehyun;Lee, Deukhee
    • Korean Journal of Computational Design and Engineering
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    • v.20 no.3
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    • pp.246-253
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    • 2015
  • In this paper, we propose calibration methods that can be applied to the markerless surgical robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are non-invasive, much less exposed to radiation exposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot's end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.

A Micro-robotic Platform for Micro/nano Assembly: Development of a Compact Vision-based 3 DOF Absolute Position Sensor (마이크로/나노 핸들링을 위한 마이크로 로보틱 플랫폼: 비전 기반 3자유도 절대위치센서 개발)

  • Lee, Jae-Ha;Breguet, Jean Marc;Clavel, Reymond;Yang, Seung-Han
    • Journal of the Korean Society for Precision Engineering
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    • v.27 no.1
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    • pp.125-133
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    • 2010
  • A versatile micro-robotic platform for micro/nano scale assembly has been demanded in a variety of application areas such as micro-biology and nanotechnology. In the near future, a flexible and compact platform could be effectively used in a scanning electron microscope chamber. We are developing a platform that consists of miniature mobile robots and a compact positioning stage with multi degree-of-freedom. This paper presents the design and the implementation of a low-cost and compact multi degree of freedom position sensor that is capable of measuring absolute translational and rotational displacement. The proposed sensor is implemented by using a CMOS type image sensor and a target with specific hole patterns. Experimental design based on statistics was applied to finding optimal design of the target. Efficient algorithms for image processing and absolute position decoding are discussed. Simple calibration to eliminate the influence of inaccuracy of the fabricated target on the measuring performance also presented. The developed sensor was characterized by using a laser interferometer. It can be concluded that the sensor system has submicron resolution and accuracy of ${\pm}4{\mu}m$ over full travel range. The proposed vision-based sensor is cost-effective and used as a compact feedback device for implementation of a micro robotic platform.

Improvement of surgical haptic master device using cable-conduit and backlash compensation by smooth backlash inverse (케이블 컨듀잇 구조의 수술용 햅틱 마스터 장치의 개선과 smooth backlash inverse를 이용한 backlash 보정)

  • Choi, Woo Hyeok;Yoon, Sung Min;Lee, Min Cheol
    • The Journal of Korea Robotics Society
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    • v.9 no.1
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    • pp.48-56
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    • 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.

조립부품의 분리도및 불안정도를 이용한 Turning device의 설계에관한 연구

  • 신철균;조형석
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1993.04b
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    • pp.257-261
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    • 1993
  • This paper presents a design method of turning device for robotic assembly based on the verification of a instability for a base assembly. To derive the instability, first we inference collision free assembly directions by extracting separable directions for the part, and calculate the separability which gives informations as to how the part can be dasily separated. Using the result, we determine the instability evaluated by summing the all separabilites of each component part in base assembly. The proposed method gives a design guidance of turning device by evaluating a degree of the motion istability for the base assembly in flexible manufacturing application. An example is given to illustrate the concepts and procedure of the proposed scheme.

Design and Performance Evaluation of Tactile Device Using MR Fluid (MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가)

  • Kim, Jin-Kyu;Oh, Jong-Seok;Lee, Snag-Rock;Han, Young-Min;Choi, Seung-Bok
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.22 no.12
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    • pp.1220-1226
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    • 2012
  • This paper proposes a novel type of tactile device utilizing magnetorheological(MR) fluid which can be applicable for haptic master of minimally invasive surgery(MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field(or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

Design and Performance Evaluation of Tactile Device Using MR Fluid (MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가)

  • Kim, Jin-Kyu;Oh, Jong-Seok;Han, Young-Min;Choi, Seung-Bok
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2012.10a
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    • pp.415-420
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    • 2012
  • This paper proposes a novel type of tactile device utilizing magnetorheological (MR) fluid which can be applicable for haptic master of minimally invasive surgery (MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field (or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

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A Study on Modeling of Pneumatic System for an IDC Device (IDC장치에 대한 공압시스템의 모델링에 관한 연구)

  • Nguyen, C.T.;Le, Q.H.;Jeong, Y.M.;Yang, S.Y.
    • Journal of Drive and Control
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    • v.12 no.3
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    • pp.11-17
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    • 2015
  • An intelligent deburring control (IDC) device is used to control the constant force for a deburring tool mounted on the end-effector of a robotic arm. This device maintains a constant contact force between the deburring tool and the workpiece in order to provide a good deburring performance. In this paper, we build a mathematical model in Matlab/Simulink to estimate the force control mechanism of the pneumatic system for the IDC device. The Simulink blocks are built for each separate part and are linked into an integrated simulation system. Such a model also relies on the effects of the flow rate through the valve, air compressibility in the cylinder, and time delay in the pressure valve. The results of the simulation are compared to a simple experiment in which convenient math modeling is performed. These results are then used to optimize the mechanical design and to develop a force control algorithm for the pneumatic cylinder.

Analysis of Surface Characteristics for Clad Thin Film Materials (극박형 복합재료 필름의 표면 물성 분석에 대한 연구)

  • Lee, Jun Ha
    • Journal of the Semiconductor & Display Technology
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    • v.17 no.1
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    • pp.62-65
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    • 2018
  • In the era of the 4th Industrial Revolution, IoT products of various and specialized fields are being developed and produced. Especially, the generation of the artificial intelligence, robotic technology Multilayer substrates and packaging technologies in the notebook, mobile device, display and semiconductor component industries are demanding the need for flexible materials along with miniaturization and thinning. To do this, this work use FCCL (Flexible Copper Clad Laminate), which is a flexible printed circuit board (PCB), to implement FPCB (Flexible PCB), COF (Chip on Film) Use is known to be essential. In this paper, I propose a transfer device which prevents the occurrence of scratches by analyzing the mechanism of wrinkle and scratch mechanism during the transfer process of thin film material in which the thickness increases while continuously moving in air or solution.

Development of a Nuclear Steam Generator Tube Inspection/maintenance Robot

  • Shin, Ho-Cheol;Kim, Seung-Ho;Seo, Yong-Chil;Jung, Kyung-Min;Jung, Seung-Ho;Choi, Chang-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2508-2513
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    • 2003
  • This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

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