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Development of Low-inertia Master device for Haptic system configuration of surgical robot

수술용 로봇 햅틱 시스템 구성을 위한 저관성 마스터 장치 핸들부 개발

  • Kang, Byeong-Ho (Graduated of Mechanical Engineering, Pusan National University) ;
  • Yoon, Sung-Min (Graduated of Mechanical Engineering, Pusan National University) ;
  • Lee, Min Cheol (School of Mechanical Engineering, Pusan National University) ;
  • Kim, Chi-Yen (Division of Mechanical Engineering Technology, Yeungnam College of Science & Technology)
  • Received : 2012.05.03
  • Accepted : 2012.11.06
  • Published : 2012.11.30

Abstract

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

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