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액티브 캐뉼라 로봇의 엔드 이펙터용 손가락모형 메커니즘
김상명(Sangmyung Kim),이수준(Soojun Lee),최동은(Dongeun Choi),이우섭(Woosub Lee),강성철(Sungchul Kang),김계리(Keri Kim) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
As minimally invasive surgery has been a trend in the medical world, many medical instruments tend to be thinner and smaller and active cannula robot also has been studied for a decade to implement thin and flexible surgical robot. However, in some cases, we need much higher curvature than the one made by using only pre-curved tubes in active cannula robot. We designed and made a prototype of the end-effector which has high-curvature in order to use active cannula robot in narrow space of human body. The developed end-effector, which has finger-like shape, consists of three joints that are constrained in the form of four-bar linkage and the first link is constrained in the inner tube of the active cannula robot. The end-effector is possible to bend from 0 degrees to 180 degrees and it has 3 degrees of freedom including the translational and rotational motions. In this paper, we verified that the finger-like mechanism has ability to guide camera which is installed at the end section of the end-effector in minimally invasive surgery.
김상명(Sangmyung Kim),김기호(Kiho Kim) 한국표면공학회 2008 한국표면공학회지 Vol.41 No.2
Traditionally and generally used calcined clay was carburized, and its characteristics were studied. Carburization treatment was performed by the thermally decomposed carbon and the deposit carbon which occur in a so called 'Boudouard reaction (2CO→CO₂+C)' at fuel combustion process in a closed-type furnace. The color of the carburized calcine clay changed from yellow to black, and the carbon component revealed as crystalline graphite by the X-ray diffraction test. The weight of the carburized calcine clay decreased to about 4 wt. % by the Ist heating to 1400℃ in air but it does not decreased by the 2nd heating of the same conditions. By the carburization treatment, the water absorption changed from 13 wt. % to 6 wt, %, and the contact angle for water drop changed, too, from 0 to 87° which was tested by the photograph of one minute after a water drop contact. It means the carburized calcine clay does not absorb water drop so it has a hydro-phobic characteristic.