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Measuring Method for the Torque Control of Instrument in Surgical Robot
Chi Yen Kim,Min Choel Lee 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The surgical robot instruments conduct an operation in the body on behalf of the surgeon’s hands. However working inside a body prohibits attaching electronic sensors in addition to space restriction. Therefore, all commercial surgical robots are only operated in position control mode because there is no way to measure the working force at instrument. The position control mode of the robot system has some problem in grasping. To build a force controllable surgical robot instrument system, this paper proposes torque measuring mechanism indirectly using reaction force. The proposed mechanism estimates the grasping force from measuring reaction force against the driving motor by using a load-cell. The motor is mounted on movable platform which push on load cell according to the tension arisen by reaction force.
복강경 수술용 로봇 인스트루먼트의 간접적 작동력 측정법에 관한 연구
김지언(Chi-Yen Kim),이민철(Min-Cheol Lee),이태경(Tae-Kyung Lee),최승욱(Seung-Wook Choi),박민규(Min-Kyu Park) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.9
This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon’s hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.
( Nguyen Yen Chi Dinh ),김정호 ( Jung-ho Kim ) 국제지역학회 2017 국제지역연구 Vol.21 No.2
본 연구에서는 베트남 일반은행들의 경쟁력제고를 의사결정의 목적으로 삼고 AHP 계층분석기법을 적용하여 이 문제의 해결을 돕기 위한 모형을 제시하고 있다. 은행 분야 전문가들을 대상으로 항목간 쌍방비교방식으로 이루어진 설문지를 배포하고 회수된 의사결정요소들의 상대적 가중치를 분석한 결과 다음의 세 가지의 주요 결과를 도출하였다. 첫째, 은행의 안전성이 베트남 일반은행들의 경쟁력확보에 있어 가장 중요한 평가기준이며 운용의 효율성, 무형가치의 보유정도 및 영업규모가 그 뒤를 뒤따른다. 둘째, 베트남 일반은행들의 경쟁력제고를 위한 대안으로 건전한 재무상태의 확보가 가장 우선시되어야 한다. 효과적인 경영관리시스템, 전략적 인적자원계획 및 고품질의 제품과 서비스 또한 높은 상대적 가중치를 보인다. 셋째, 건전한 재정확보를 위해서 악성부채 해결이 절대 필요한 것으로 나타났다. 또한, 효과적인 경영관리시스템을 구축하고 고품질의 제품과 서비스를 제공하기 위해서는 신기술의 도입이 매우 중요하다. 아울러 전략적 인적자원계획의 달성을 위해서는 임직원의 자질향상이 절대적으로 필요하다. This study employed the Analytical Hierarchy Process (AHP) methodology with the enhancement of the competitiveness of Vietnamese commercial banks set as the overall goal of the model. Analysis of the survey questionnaire based on pair-wise comparisons and collected from experts in the field of banking led to three significant findings. First, banking safety is the most important evaluation criteria for the competitiveness of local commercial banks in Vietnam, followed by operating efficiency, intangible values and large scale. Second, in order to achieve the overall goal of enhancing competitiveness for local banks, securing healthy financial conditions should be made the priority. Effective management systems, strategic human resource planning and high-quality products and services all show strong connections to achieving the evaluation criteria. Third, the study found that bad debt settlement is essential in obtaining healthy financial conditions. In order to introduce effective management systems as well as high-quality products and services, technological advances are very important. Improving the quality of executives and staff is imperative for strategic human resource planning purposes.
알루미늄이 도핑 된 산화아연 나노입자의 합성에 관한 연구
신치호 ( Chi Ho Shin ),김현종 ( Hun Jong Kim ),이호년 ( Ho Yen Lee ),한명근 ( M. K. Han ),신태욱 ( T. W. Shin ),임병태 ( B. T. Lim ) 한국공업화학회 2010 응용화학 Vol.14 No.1
Zinc oxide (ZnO) has attracted much attention for a long time since it shows wide range of application such as ultra-violet absorbents, photocatalysts, photo-detector, and transistors, due to its wide band gap (3.37 eV) and large exciton binding energy (60 mV). Wide varieties of synthesis techniques have thus been developed to produce this material in different forms. They are, for instance, sol-gel process, hydrothermal process, hydrothermal process, and chemical vapor deposition. The wide band gap of ZnO can be reduced by controllably introducing non-stoichiometry and/or appropriate dopants for actual application in photocatalysts working at visible range. Recently, doping of ZnO could be achieved by replacing Zn2+ions with the ions of elements of higher valency such as Ga, Al, Co and In, or with the ions of transition metals, which was inducing drastic changes in its electrical and optical properties. ZnO and Aluminum doped ZnO particles were prepared by polyol process in different conditions. The effect of zinc concentration and dopant on structural, morphological, optical properties was investigated.
Modeling of Torque Transmission Characteristics in Surgical robot
Tae kyung Lee,Chi Yen Kim,Min Cheol Lee 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The laparoscopy surgery has been developed well enough to use a surgical robot as the development of robot technology. As distinct from the traditional large invasive surgery, surgical robot conducts the operation through small invasive hole using instrument which performs surgery instead of surgeon hand. And surgeon just drives the robot using master system located far from patient. But the surgical instrument has a few obligations because it has to be inserted into the human body. It should be small size under 10mm diameter and it is impossible to attach any electric sensors. To do proper control of instrument without sensor, especially to do force control, this paper analyzes the cable-pulley structure in the surgical robot instrument system and studies the method to estimate the grasping force by modeling the torque transmission between driving motor and instrument tip.
( Soon-min Kwon ),( Chi-son Chang ),( Yen-ling Lai ),( Chel Hun Choi ),( Tae-joong Kim ),( Jeong-won Lee ),( Byoung-gie Kim ),( Yu-li Chen ),( Yoo-young Lee ) 대한산부인과학회 2022 대한산부인과학회 학술대회 Vol.108 No.-
Objective: The aim of this study was to compare oncologic outcomes between minimally invasive surgery (MIS) and open surgery in the treatment of endometrial cancer with high risk of recurrence. Methods: This retrospective study included patients with endometrial cancer with high risk factor who underwent primary surgery in two tertiary centers in Korea and Taiwan. Stage III-IVA endometrial cancer with grade 1-2 endometrioid type, stage I-IVA endometrial cancer with grade 3 endometrioid type or non-endometrioid type were considered as factors of high risk of recurrence. We conducted 1:1 propensity score matching between MIS and open surgery group to adjust the baseline characteristics. Oncologic outcomes were compared according to surgical approach. Results: A total of 284 patients were included after propensity score matching. Among them, 32 (11.3%) cases were patients with low grade endometrioid carcinoma with advanced stage, 109 (38.4%) patients were grade 3 endometrioid carcinoma, and 143 (50.3%) were patients with non-endometrioid carcinoma. Compared to patients who underwent open surgery, MIS did not show difference in disease-free survival (HR 1.09, 95% CI 0.67-1.77, P=0.717) and overall survival (HR 0.67, 95% CI 0.36-1.24, P=0.198). In multivariate analysis, non-endometrioid histology, tumor size, tumor in cytology, depth of invasion, and lympho-vascular space invasion were risk factors for recurrence. There was no association between surgical approach in either recurrence or mortality in subgroup analysis according to stage and histologic type. Conclusion: Minimally invasive surgery did not compromise survival outcomes for endometrial cancer with high risk of recurrence when compared to open surgery.
Friction Analysis According to Pretension of Laparoscopy Surgical Robot Instrument
Lee, Tae-Kyung,Kim, Chi-Yen,Lee, Min-Cheol 한국정밀공학회 2011 International Journal of Precision Engineering and Vol.12 No.2
Surgical robot instruments are driven by using cable-pulley structure. The elasticity at cable-pulley structure causes slack effect of cable. Elastic region of cable must be compensated for preventing the slack. The surgical instrument inputs a pretension for compensation at cable's elastic region. Therefore pretension is an important factor in the design of a surgical instrument. However, the pretension is related with friction force which is affected by normal force at the driving shaft pulley. The shaft and contact surface of the pulley consist of sliding bearing structure. Typically, the friction coefficient in the sliding bearing structure is determined by the Petroff equation. The pressure of Petroff equation is related to the denominator of the equation. Therefore increasing normal force brings about an effect which decreases friction coefficient. Eventually, in theoretically, that means the pretension can be increased to infinity to decrease friction coefficient. However actual result comes out different. Therefore in this paper, the friction analysis method according to a pretension is proposed and an experiment method for the analysis of the friction is introduced. The correlation between pretension and friction is estimated by the analysis. The estimated result is compared with the experiment one and is analyzed. Also finally this paper suggests an appropriate pretension for surgical robot instrument by the friction analysis result.