서지주요정보
마스터/슬레이브 복합형 고관절 전치환 수술로봇의 제어 = Control of a master/slave combined surgical robot for total hip arthroplasty
서명 / 저자 마스터/슬레이브 복합형 고관절 전치환 수술로봇의 제어 = Control of a master/slave combined surgical robot for total hip arthroplasty / 허관회.
저자명 허관회 ; Huh, Kwan-Hoe
발행사항 [대전 : 한국과학기술원, 2001].
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소장정보

등록번호

8011707

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 01062

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초록정보

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon’s experience and judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can carve the femur by changing the moving direction and the speed of a surgical robot. In the admittance display control, a trajectory of the surgical robot is generated by the admittance model to the direction of the surgeon’s guide force, and the relationship between the surgeon’s guide force and the velocity of a surgical robot can be adjusted as comfortable state to maneuver a surgical robot. The stability of a master/slave combined system is analyzed. To prevent the over-cutting of a femur within an acceptable error, virtual hard wall is display at the surgical boundary. To evaluate the proposed control method of the master /slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

서지기타정보

서지기타정보
청구기호 {MME 01062
형태사항 vi, 49 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Kwan-Hoe Huh
지도교수의 한글표기 : 권동수
지도교수의 영문표기 : Dong-Soo Kwon
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 48-49
주제 고관절 전치환술
마스터/슬레이브 복합형
수술로봇
어드미턴스
가상 벽
Total Hip Arthroplasty
Master/Slave Combined
surgical robot
admittance
virtual hard wall
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