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원격 중재시술용 마스터장치에 대한 의료진 요구분석 및 이를 반영한 메커니즘 설계
우현수(Hyun Soo Woo),조장호(Jang Ho Cho),이혁진(Hyuk Jin Lee) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.8
This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians’ requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.
유인식(Insik Yu),우현수(Hyun Soo Woo),이두용(Doo Yong Lee) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
A 2-dof arc-type haptic device for gastrointestinal endoscopy simulators is designed. The device implements translational and rotational movements of gastrointestinal endoscopy. This design reduces size and noise of the developed haptic device compared with the previous designs. Reflective force is provided by motors connected through wire-driven mechanisms to provide active force feedback, and reduce backlash. The developed haptic device satisfies requirements in force feedback and position accuracy of gastrointestinal endoscopy simulation.
대퇴 절단 장애인을 위한 4절 링크 구조의 전자 제어식 무릎형 의족
이지운(Ji-Woon Lee),우현수(Hyun-Soo Woo),안동영(Dong-Young Ahn),조민(Min Jo),이학(Hak Yi),김기영(Ki-Young Kim) 한국로봇학회(논문지) 2024 로봇학회 논문지 Vol.19 No.2
Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.