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비균일 임피던스를 갖는 변형체와 접촉하는 방향을 추정하기 위한 실험적 방법
김청준(Cheongjun Kim),이두용(Doo Yong Lee) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Model-mediated teleoperation is a system which provides haptic sensation using environment models. Parameters of the model are estimated from the position and force information measured at the slave side. It is necessary to know the direction of contact between the slave tool-tip and the object to distinguish the viscoelastic and frictional components of the measured force. The contact direction does not coincide with the object surface when the impedance distribution of the object is inhomogeneous. An experimental method to estimate the contact direction from the measured position and force is developed. An object with inhomogeneous impedance is constructed by using two different types of silicone. A force/torque sensor is attached to the 7-axis articulated robot. The robot is controlled to move with a constant force to the object, and the position and force are measured. The object is modeled as two springs connected in series. The contact direction is derived as a function of the force and the pressing depth. The amount of changes in the contact direction varies depending on the hardness ratio of the two silicones according to the derived equation. The elastic modulus of each commercial silicone is calculated from the measurement condition of Shore hardness. It is confirmed that the changes in the contact direction vary from 15.52 deg to 31.19 deg when the inner silicone has Shore A-50 and the outer silicone has Shore OO-10 to 50.
트로카 고정부에 작용하는 반력을 측정하여 수술도구 말단의 수직방향 상호작용 힘을 추정하는 방법
김수용(Suyong Kim),김청준(Cheongjun Kim),이두용(Doo Yong Lee) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.8
This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average L₂ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.
수술용 로봇의 기구와 생체조직과의 상호작용 힘 추정을 위한 트로카 고정부의 힘 센서 설계
김수용(Suyong Kim),김청준(Cheongjun Kim),박수환(Suhwan Park),이두용(Doo Yong Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
Interaction force between a surgical instrument and tissues can be estimated by attaching force sensors to parts supporting the drape plate and the trocar. The moment occurring at the trocar support, however, can hinder accuracy of the force measurement. The magnitude of the moment is proportional to the reaction force to the trocar support. This paper reports sensor specification to estimate maximum interaction force of 15 N, and proposes I-shaped force sensor to minimize coupling effect by y-axis moment. Static simulation results using ANSYS workbench 16.1 show that the sensor can measure 3-DOF force with less than 6 % error.
능동 조향 카테터 로봇을 위한 햅틱 마스터의 토크 요구 사양 분석
한형주(Hyeongju Han),김청준(Cheongjun Kim),이두용(Doo Yong Lee) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Active-steering catheters and haptic masters for remote manipulation of catheter are being developed to reduce radiation exposure of the operators, and improve accuracy of interventional procedures using the catheters. A haptic master with 3-axis gimbal structure, which can represent and input three-dimensional orientation is designed to enhance intuitiveness of the manipulation. Maximum force to be rendered to the operator is determined and the required torque for haptic rendering and gravity is calculated. The maximum angular acceleration of the tip of the catheter is derived from the analysis of the actual intervention movies. The required torques of inertia compensation for each axis are 201 Nmm, 25 Nmm, and 0.25 Nmm which are calculated based on the angular acceleration. The maximum required torques for each axis considering haptic rendering, gravity and inertia compensation are calculated as 1384 Nmm, 441 Nmm, and 247 Nmm. The required torque for the inertia compensation is up to 15% of the total required torque.