한국소음진동공학회논문집 (Transactions of the Korean Society for Noise and Vibration Engineering)

  • 제16권12호
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  • Pages.1286-1293
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  • 2006
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  • 1598-2785(pISSN)
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  • 2287-5476(eISSN)
한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
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전기유변 유체를 이용한 햅틱 마스터와 가상의 최소침습수술 환경과의 연동제어

Force-feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment

  • 강필순 (인하대학교 대학원 기계공학과) ;
  • 한영민 (인하대학교 기계공학부) ;
  • 최승복 (인하대학교 기계공학과)
  • 발행 : 2006.12.20
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초록

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

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참고문헌

  1. Abovitz, R., 2001, 'Digital Surgery: the Future of Medicine and Human-robot Symbiotic Interaction' , Industrial Robot: An International Journal, Vol. 28 No.5, pp.401-405
  2. Rovers, A. F., 2002, 'Haptic Feedback: A Literature Study on the Present-day Use of Haptic Feedback in Medical Robotics', DCT Report nr., University of Technology
  3. Han, Y. M., 2005, 'Design and Control Haptic Interface Utilizing Smart Materials' , Ph.D. Dissertation, Inha University
  4. Han, Y. M. and Choi, S. B., 2006, 'Force-feedback Control of a Spherical Haptic Device Featuring an Electrorheological Fluid', Smart Materials and Structures, Vol.15, No.5, pp.1438-1446 https://doi.org/10.1088/0964-1726/15/5/033
  5. Lee, S, S. and Lee, J. M., 2003, 'Design of a General Purpose 6-DOF Haptic Interface' . Mechatronics, Vol.13, pp.697-722 https://doi.org/10.1016/S0957-4158(02)00038-7
  6. Park, J., Kim, S. Y, Son, S. W. and Kwon, D. S., 2002, 'Shape Retaining Chain Linked Model for Real-time Volume Haptic Rendering', IEEE/SIGGRAPH Symposium on Volume Visualization and Graphics, Boston, pp. 65-72
  7. Kim, S. Y., Park, J., Son, S. W. and Kwon, D. S., 2002, 'Real-time Soft Material Volume Deformation Using Shape Retaining Chain Linked Model' , International Conference on Virtual Systems and MultiMedia (VSMM), Gyeongju, Korea, pp. 256-263
  8. Gibson, S., 1997, '3D Chainlvlail: A Fast Algorithm for Deforming Volumetric Objects' , Symposium on interactive 3D Graphics, pp.149-154
  9. Frisken -Gibson, S. F., 1999, 'Using Linked Volumes to Model Object. Collisions, Deformation, Cutting, Carving, and Joining' , IEEE Transactions on Visualizatrion and Comuter Graphics, Vol. 5, No.4, pp.333-348 https://doi.org/10.1109/2945.817350
  10. Sung, K.-G., Cho, J,-W. and Choi, S,-B., 2006, 'Vibration Control of Quarter ER Suspension System Using Fuzzy Moving Sliding Mode Controller', Proceedings of the KSNVE Annual Spring Conference, KSNVE06S-25-087

피인용 문헌

  1. Design and Speed Control of ER Brake System Using GER Fluids vol.22, pp.4, 2012, https://doi.org/10.5050/KSNVE.2012.22.4.365