케이블 컨듀잇 구조의 수술용 햅틱 마스터 장치의 개선과 smooth backlash inverse를 이용한 backlash 보정
Improvement of surgical haptic master device using cable-conduit and backlash compensation by smooth backlash inverse
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In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgeryby vision and sound information. In order to solve this limited information, the haptic function isnecessary. And haptic surgical robot is also necessary to design a haptic master device. The masterdevice for laparoscope operation with cable-conduit was developed in previous research to givehaptic 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 designstructure to solve the problems of the previous work by new forming a new master device. And it hasproved that it’s usability is better than previous one. Furthermore it has also experimented andanalyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.
Abstract
In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgeryby vision and sound information. In order to solve this limited information, the haptic function isnecessary. And haptic surgical robot is also necessary to design a haptic master device. The masterdevice for laparoscope operation with cable-conduit was developed in previous research to givehaptic 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 designstructure to solve the problems of the previous work by new forming a new master device. And it hasproved that it’s usability is better than previous one. Furthermore it has also experimented andanalyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.
참고문헌 (12)
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