• 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.

• Korean Journal of Optics and Photonics
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• v.23 no.4
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• pp.147-153
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• 2012

Multi-view 3D displays based on a limited number of pixels have the problem that the stereo-scopic image has a low resolution because of increasing view number. To solve the problem of low resolution, we propose an optical approaching method that focuses the width of a unit pixel by using a commercial spherical shape lenticular lens sheet and increases the effective resolution by increasing the number of sources of light in the multi-view 3D display system based on projection type. The method was performed in such an order that several main derivable parameters were defined, and, through the theoretical and experimental result, the value of the contractible unit pixel width and the scalable effective resolution was derived in a given system environment. As a result, for the case that the ray of light from the projector transmitted the 25 LPI lenticular lens sheet which has the pitch size 1.016 mm, the focused unit pixel width was 0.19 mm and the scalable effective resolution was, at most, 5 times wider than the original one. In addition, the range of depth of focus was 1.496 mm, which shows us the range of thickness tolerances of commercial spherical shape lenticular lens sheet and sufficient optical alignment tolerances.