비전을 이용한 자동 수술 보조 로봇 팔의 설계

We designed and fabricated an automatic surgical assistant robot arm. The robot arm assists in operations such as an endonasal skull base surgery and an epiduroscopic intervention. The coordinates of the marking point are read using a camera and the rotational angles of each motor are analyzed throu...

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Bibliographic Details
Published in한국생산제조학회지 Vol. 27; no. 3; pp. 252 - 261
Main Authors 주민석(Min-Suk Ju), 김현수(Hyeon-Su Kim), 윤대희(Dae-Hee Yun), 이동희(Dong-Hee Lee), 김성걸(Seong Keol Kim)
Format Journal Article
LanguageKorean
Published 한국생산제조학회 2018
Subjects
기계공학
ANSYS
Operation
Robot arm
Lesion
Inverse kinematics
Vision
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ISSN2508-5093
2508-5107
DOI10.7735/ksmte.2018.27.3.252

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Summary:We designed and fabricated an automatic surgical assistant robot arm. The robot arm assists in operations such as an endonasal skull base surgery and an epiduroscopic intervention. The coordinates of the marking point are read using a camera and the rotational angles of each motor are analyzed through inverse kinematics. Finally, a needle tube is inserted into the marking point with the device. The stress distribution of the robot arm was studied using the ANSYS and the coordinate data of the marking point from the vision were processed using C#. The motors by the Dynamixel were used because of their higher torque and accuracy. Additionally, Arduino was applied to the data processing. In the near future, this robot may become an efficient operation assistant.
ISSN:2508-5093
2508-5107
DOI:10.7735/ksmte.2018.27.3.252