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원격제어 기반의 심혈관 중재시술 로봇 시스템을 위한 시술자 조작 시스템 개발
문영진(Youngjin Moon),김성준(Seongjoon Kim),최재순(Jaesson Choi) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
This paper presents a master platform of tele-operation robotic system for cardiovascular interventions. The slave robot of the robotic system handles medical devices such as a guide wire, guiding catheter, stent, and etc. and master device makes input commands for the motion of the slave. Even though the motion of the medical devices currently includes only forward/backward translation and axial rolling in the slave site, the master manipulator is designed as higher degree-of–freedom (DOF) mechanism considering improvement of the devices like contact sensor-based haptic feedback or actively steerable function. The manipulator consists of a spherical mechanism that makes two-DOF rotational motions, linear actuator for vertical translation, and three-DOF planar mechanism. For matching the motion between the master and slave, the rotation of the spherical mechanism corresponds to axial rolling in the slave, vertical translation of the linear actuator does phase of master-slave connection, and planar movement of the planar mechanism does forward/backward translation. A master console platform is also designed with the master manipulator. The console has a base platform with controllers and a power, and a user interface panel is on the top of the platform. With
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