Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Physicians' Requirement Analysis Based Design of the Master Device Mechanism for Teleoperated Interventional Robotic System

원격 중재시술용 마스터장치에 대한 의료진 요구분석 및 이를 반영한 메커니즘 설계

  • Woo, Hyun Soo (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials) ;
  • Cho, Jang Ho (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials) ;
  • Lee, Hyuk Jin (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials)
  • 우현수 (한국기계연구원 의료지원로봇연구실) ;
  • 조장호 (한국기계연구원 의료지원로봇연구실) ;
  • 이혁진 (한국기계연구원 의료지원로봇연구실)
  • Received : 2016.06.09
  • Accepted : 2016.07.21
  • Published : 2016.08.01
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Abstract

This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

Keywords

References

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