[ Special Issue : Seoul Tech Capstone Design ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.252-261

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 26 Feb 2018 Accepted 30 Apr 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.252

비전을 이용한 자동 수술 보조 로봇 팔의 설계

주민석^a ; 김현수^a ; 윤대희^a ; 이동희^a ; 김성걸^a^{, *}

Design of Automatic Operation Supporting Manipulator Using Vision

Min-Suk Ju^a ; Hyeon-Su Kim^a ; Dae-Hee Yun^a ; Dong-Hee Lee^a ; Seong Keol Kim^a^{, *}

aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: ^*Tel.: +82-2-970-6855, Fax: +82-2-974-8270, E-mail address: rhett@seoultech.ac.kr (Seong Keol Kim).

Abstract

We designed and fabricated an automatic surgical assistant robot arm. The robot arm assists in operations such as an endonasal skull base surgery and an epiduroscopic intervention. The coordinates of the marking point are read using a camera and the rotational angles of each motor are analyzed through inverse kinematics. Finally, a needle tube is inserted into the marking point with the device. The stress distribution of the robot arm was studied using the ANSYS and the coordinate data of the marking point from the vision were processed using C#. The motors by the Dynamixel were used because of their higher torque and accuracy. Additionally, Arduino was applied to the data processing. In the near future, this robot may become an efficient operation assistant.

Keywords:

Operation, Robot arm, Lesion, Inverse kinematics, ANSYS, Vision

Acknowledgments

본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.

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