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Computer Integrated Surgical Robot System for Spinal Fusion
Kim Sungmin,Chung Goo Bong,Oh Se Min,Yi Byung-Ju,Kim Whee Kuk,Park Jong Il,Kim Young Soo The Korean Society of Medical and Biological Engin 2005 의공학회지 Vol.26 No.5
A new Computer Integrated Surgical Robot system is composed of a surgical robot, a surgical planning system, and an optical tracking system. The system plays roles of an assisting surgeon and taking the place of surgeons for inserting a pedicle screw in spinal fusion. Compared to pure surgical navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical target area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. Preoperatively, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT/MR images. Intra-operatively, position information on surgical instruments and targeted surgical areas is obtained from the navigation system. Two exemplary experiments employing the developed image-guided surgical robot system are conducted.
Analysis on Regular Rotational Gait of a Quadruped Walking Robot
Whee Kuk Kim,이병주,조황 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.2
In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts form one of six support patterns in a translational gaits and end up with one of six patterns in a translational gaits. Noting that siz support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.