http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Ryan Blaine Wicker (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Dynamic Modeling of Coupled Tendon-Driven System for Surgical Robot Instrument
김지언,이민철,Ryan Blaine Wicker,윤성민 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.15 No.10
This paper is the study of a surgical instrument which directly performs MIS(Minimally Invasive surgery) on a patient, instead of asurgeon. The instrument used in robot assisted laparoscopy adopts a tendon driven mechanism so that it generates hand-like surgicalmotion through aperture of trocar. To create a high DOF of motion in restricted spaces, cable systems for end-effector have beenorganized by serial kinematic chains which can cause interference among joints sharing same axis. Also, to prevent the elongationof any cable, composited and pre-extended cables, which show nonlinear characteristics, are used in surgical instrument tendonsystem. As aforementioned difficulty and complexity, there are not many studies about measuring or estimating the operating forceof instruments without sensors, which is needed for safety but still impossible in commercial systems. This paper derives governinga dynamic model of a coupled cable pulley structure while considering the material tensile characteristics of the cables. The derivedmodel can estimate the operating force on end-effector as well as states of all inner pulleys without encoders. This paper proves theavailability of proposed methodology with comparison of numerical analysis and the experimental test of 2 DOF serial kinematicchained cable pulley link apparatus.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
