• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.267-275
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• 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.

• 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.

• Journal of Korean Tunnelling and Underground Space Association
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• v.19 no.2
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• pp.121-141
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• 2017

The thermal analysis of an underground power conduit for electrical cables is essential to determine their current capacity with an increasing number of demands for high-voltage underground cables. The temperature rises around a buried cable, caused by excessive heat dissipation, may increase considerably the thermal resistance of the cables, leading to the danger of "thermal runaway" or damaging to insulators. It is a key design factor to develop the mechanism on thermal behavior of backfilling materials for underground power conduits. With a full-scale field test, a numerical model was developed to estimate the temperature change as well as the thermal resistance existing between an underground power conduit and backfill materials. In comparison with the field test, the numerical model for analyzing thermal behavior depending on density, moisture content and soil constituents is verified by the one-year-long field measurement.