서지주요정보
고관절 전치환 수술용 의료로봇의 개발 = Development of surgical robot for total hip arthroplasty
서명 / 저자 고관절 전치환 수술용 의료로봇의 개발 = Development of surgical robot for total hip arthroplasty / 정종하.
저자명 정종하 ; Chung, Jong-Ha
발행사항 [대전 : 한국과학기술원, 2001].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8011698

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 01053

SMS전송

도서상태

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초록정보

For the total hip replacement surgery using the noncemented prosthesis, it is very important to carve a cavity in a femur that precisely matches the shape of an artificial hip implant because close apposition to the bone cavity is necessary for a bone to grow into the porous surface. In this study a new type robot for total hip replacement surgery is developed. The surgery robot is designed to be fixed directly onto patient’s femur by clamp that is currently used as surgical tool. The parallel-serial type manipulator is designed as a surgical robot. It consists of 3RPS parallel manipulator and additional linear slider. The robot, which has a redundancy, is analyzed with respect to kinematic parameters. Dexterity, actuator force and uniformity are introduced as performance index and then normalized performance index (PI) is used as objective function. The surgical robot is optimized from the viewpoint of PI. The prototype is manufactured and proved to be able to apply at hip replacement surgery.

서지기타정보

서지기타정보
청구기호 {MME 01053
형태사항 v, 58 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jong-Ha Chung
지도교수의 한글표기 : 이정주
지도교수의 영문표기 : Jung-Ju Lee
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 34-36
주제 고관절치환술
병렬기구
최적설계
로봇 원용 수술
total hip arthroplasty
parallel robot
optimization
robot aided surgery
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