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액티브 캐뉼라 로봇의 엔드 이펙터용 손가락모형 메커니즘
김상명(Sangmyung Kim),이수준(Soojun Lee),최동은(Dongeun Choi),이우섭(Woosub Lee),강성철(Sungchul Kang),김계리(Keri Kim) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
As minimally invasive surgery has been a trend in the medical world, many medical instruments tend to be thinner and smaller and active cannula robot also has been studied for a decade to implement thin and flexible surgical robot. However, in some cases, we need much higher curvature than the one made by using only pre-curved tubes in active cannula robot. We designed and made a prototype of the end-effector which has high-curvature in order to use active cannula robot in narrow space of human body. The developed end-effector, which has finger-like shape, consists of three joints that are constrained in the form of four-bar linkage and the first link is constrained in the inner tube of the active cannula robot. The end-effector is possible to bend from 0 degrees to 180 degrees and it has 3 degrees of freedom including the translational and rotational motions. In this paper, we verified that the finger-like mechanism has ability to guide camera which is installed at the end section of the end-effector in minimally invasive surgery.