한국생산제조학회 학술지 영문 홈페이지

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Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29 , No. 6

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Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 6, pp.413-421
Abbreviation: J. Korean Soc. Manuf. Technol. Eng.
ISSN: 2508-5107 (Online)
Print publication date 15 Dec 2020
Received 20 Oct 2020 Revised 27 Oct 2020 Accepted 30 Oct 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.6.413

Design and Evaluation of a Bending Actuator for a Robotic Uterine Manipulator, based on a McKibben Pneumatic Artificial Muscle
Sangmin Leea ; Hyeongseok Kanga ; Bohyun Hwanga ; Byungkyu Kima, *
aSchool of Aerospace and Mechanical Engineering, Korea Aerospace University

Correspondence to : *Tel: +82-2-300-0101 E-mail address: bkim@kau.ac.kr (Byungkyu Kim).

Funding Information ▼

Abstract

A bending actuator for a robotic uterine manipulator was designed and evaluated. The actuator is based on a McKibben pneumatic artificial muscle (PAM) and aimed to reduce the surgeon’s operating time and lower the risk of patient injury. To enable the operation to be conducted using a laparoscope, the manipulator had to be able to manipulate the uterus in two degrees of freedom (2-DOF) with a minimum bending angle of ±45° and force of 3 N. Considering these requirements, three PAMs were placed using two disks at 120° intervals to manipulate the uterus in 2-DOF by pressurizing them. A kinematic model of the manipulator was derived and its workspace was computed. Based on this result, the manipulator was fabricated and its bending angle and tip force experimentally evaluated. We successfully demonstrated that the uterus could be controlled with a tip force of 3.31 N at a bending angle of 50°.


Keywords: Manipulator, Robotics, Pneumatic, Bending actuator, Medical robot

Acknowledgments

This research was supported by a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Republic of Korea (grant number: HI19C0664).


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Sangmin Lee

Student in the School of Aerospace and Mechanical Engineering, Korea Aerospace University.His research interest is robotics and control.

E-mail: haru0322@kau.ac.kr

Hyeongseok Kang

Student in the School of Aerospace and Mechanical Engineering, Korea Aerospace University.His research interest is mechanism design

E-mail: khsork0115@naver.com

Bohyun Hwang

Student in the School of Aerospace and Mechanical Engineering, Korea Aerospace University.His research interest is biomedical robot.

E-mail: hbh_92@nate.com

Byungkyu Kim

Professor in the School of Aerospace and Mechanical Engineering, Korea Aerospace University.His research interest is biomedical robot.

E-mail: bkim@kau.ac.kr