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승성민(Sungmin Seung),강병전(Byungjeon Kang),박석호(Sukho Park),박종오(Jongoh Park),김경환(Kyunghwan Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Recently, due to the remarkable progress of robot technologies, many robots are applied to various applications. Especially, for the requests of the high quality medical service, the interests of medical robot rapidly increased. The area of medical robot system is classified into surgical robot, surgical assisting robot, surgical simulator and rehabilitation robot. This paper suggested a teleoperation surgical robot system for a minimally invasive brain surgery. The propose robot system consists of 4 DOF master system and 4 DOF slave manipulator, which are driven by electrical motors and tendon mechanism. The haptic feedback in master system can be realized and thus the precise manipulation of the slave system is possible. For the minimally invasive brain surgery, the miniaturized slave manipulator is designed fabricated. The slave system and the master control system are connected by TCP/IP communication and the slave system can be remotely controlled by the master system.