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최소침습수술용 로봇의 안전성을 위한 제어 및 HMI 개발Development of Control and HMI for Safe Robot Assisted Minimally Invasive Surgery
- Other Titles
- Development of Control and HMI for Safe Robot Assisted Minimally Invasive Surgery
- Issue Date
- 2011
- Publisher
- 한국정밀공학회
- Keywords
- Minimally Invasive Surgery (최소침습수술); Teleoperation (원격수술); Robot Surgery (로봇수술); Master-Slave System (주-종속 시스템)
- Citation
- 한국정밀공학회지, v.28, no.9, pp.1048 - 1053
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 28
- Number
- 9
- Start Page
- 1048
- End Page
- 1053
- ISSN
- 1225-9071
- Abstract
- Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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