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논문 기본정보
Comparison of the Operative Results of Performing Endoscopic Robot Assisted Minimally Invasive Surgery Versus Conventional Cardiac Surgery
논문 개요
| 기관명 | NDSL |
|---|---|
| 저널명 | 大韓胸部外科學會誌 = The Korean journal of thoracic and cardiovascular surgery |
| ISSN | 0301-2859, |
| ISBN |
논문저자 및 소속기관 정보
| 저자(한글) | Young Ook Lee,Joon-Yong Cho,Jong-Tae Lee,Gun-Jik Kim |
|---|---|
| 저자(영문) | |
| 소속기관 | |
| 소속기관(영문) | |
| 출판인 | |
| 간행물 번호 | |
| 발행연도 | 2008-01-01 |
| 초록 | This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test. |
| 원문URL | http://click.ndsl.kr/servlet/OpenAPIDetailView?keyValue=03553784&target=NART&cn=NART69927873 |
| 첨부파일 |
추가정보
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