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승성민(Sungmin Seung),강병전(Byungjeon Kang),박석호(Sukho Park),박종오(Jongoh Park),김경환(Kyunghwan Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Recently, due to the remarkable progress of robot technologies, many robots are applied to various applications. Especially, for the requests of the high quality medical service, the interests of medical robot rapidly increased. The area of medical robot system is classified into surgical robot, surgical assisting robot, surgical simulator and rehabilitation robot. This paper suggested a teleoperation surgical robot system for a minimally invasive brain surgery. The propose robot system consists of 4 DOF master system and 4 DOF slave manipulator, which are driven by electrical motors and tendon mechanism. The haptic feedback in master system can be realized and thus the precise manipulation of the slave system is possible. For the minimally invasive brain surgery, the miniaturized slave manipulator is designed fabricated. The slave system and the master control system are connected by TCP/IP communication and the slave system can be remotely controlled by the master system.
Design and Testing of a Compact Tattooing Mechanism for Capsule Endoscope
조성건(Seonggun Joe),이동규(Dongkyu Lee),강병전(Byungjeon Kang),박종오(Jong-Oh Park),김병규(Byungkyu Kim) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.5
The process of tattooing to mark the position of lesions in the colon is one of important functions of the conventional endoscope. However, commercial capsule endoscope (CE) devices cannot perform the tattooing procedure because they cannot accommodate the size of the tattooing device. In this paper, we propose a compact tattooing mechanism design which can be accommodated inside the CE. Two conical springs, two triggering modules and a needle that can be installed inside a volume of 840 mm3 are employed to perform the needle insertion/withdrawal and inject the ink. A triggering module to deploy the conical springs is designed to be activated by heating a Ni-Cr wire and melting Wood’s metal. In this study, the activation time of the triggering module is investigated based on a Wood’s metal heating simulation. In order to determine the proper conical springs to ensure the activation of the tattooing mechanism, the elastic force correlation between two conical springs is studied. Then, the components of the proposed tattooing mechanism are fabricated and assembled, and an ex-vivo test is performed. Conclusively, the proposed tattooing mechanism implements the correct needle stroke and the proper ink injection into the submucosal layer of a porcine colon.