지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
이 논문의 연구 히스토리 (2)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.
목차
Abstract
1. 서론
2. 슬라이딩 섭동 관측기
3. 동특성 해석
4. 반력 추정 가능성 평가
5. 결론
참고문헌
참고문헌 (11)
참고문헌 신청
1. [인터넷자원] - Intuitive Surgical Inc / / EndoWrist Instrument catalogue
2. [학술지(정기간행물)] - J. Bodner / 2004 / First experiences with the da VinciTM operating robot in thoracic surgery / European Journal of Cardio-Thoracic Surgery 25 (25) : 844 ~ 851
3. [학술대회논문] - T. K. Lee / 2009 / Modeling of torque transmission characteristicsin surgical robot / ICROS-SICE InternationalJoint Conference 2009 : 2617 ~ 2620
4. [학술지(정기간행물)] - 이태경 / 2011 / Friction Analysis According to Pretension of Laparoscopy Surgical Robot Instrument / International Journal of Precision Engineering and Manufacturing 12 (2) : 259 ~ 266
5. [학술대회논문] - Y. E. Song / 2009 / Sliding Mode Control with Sliding Perturbation Observer for Surgical Robots / Proceedings of ISIE 2009 : 2153 ~ 2158
2. [학술지(정기간행물)] - J. Bodner / 2004 / First experiences with the da VinciTM operating robot in thoracic surgery / European Journal of Cardio-Thoracic Surgery 25 (25) : 844 ~ 851
3. [학술대회논문] - T. K. Lee / 2009 / Modeling of torque transmission characteristicsin surgical robot / ICROS-SICE InternationalJoint Conference 2009 : 2617 ~ 2620
4. [학술지(정기간행물)] - 이태경 / 2011 / Friction Analysis According to Pretension of Laparoscopy Surgical Robot Instrument / International Journal of Precision Engineering and Manufacturing 12 (2) : 259 ~ 266
5. [학술대회논문] - Y. E. Song / 2009 / Sliding Mode Control with Sliding Perturbation Observer for Surgical Robots / Proceedings of ISIE 2009 : 2153 ~ 2158
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2020-559-001259110