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초음파 센서기반 추적 알고리즘을 이용한 자동 수술 조명 로봇 시스템
최동걸,이병주,김영수,Choi, Dong-Gul,Yi, Byung-Ju,Kim, Young-Soo 대한의용생체공학회 2007 의공학회지 Vol.28 No.3
Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.
형상 정합 기법 기반의 물체의 파지 및 이동 궤적 모사를 위한 로봇 시스템의 개발
고성영(Seong-Young Ko),주한별(Hanbyul Joo),최동걸(Dong Gul Choi),김형우(Hyeongwoo Kim),권인소(In So Kweon) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper explains the development of robotic system to imitate the grasping motion and trajectory of an object based on shape matching method. The system was developed so that it observes the position and the trace of the chosen object, produces the trajectory for 5DoF robotic arm, and moves to mimic the trajectory reversely. In order to extract the information of the object in real time, the shape matching algorithm is applied to stereo images. The center position of the object is obtained at each image and these are utilized to calculate the position in real time in terms of the camera coordination system. These points were converted in terms of the robot coordination system, and the trajectory for robot's motion was generated by interpolating these points. The grasping motion of the robotic arm is planned using the start position and the end position of the trajectory. It was shown that the developed robotics system based on shape matching method operates robustly.