• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.497-506
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• 2020

A chameleonic surface proposed in this study was a pin-art and 3D display device for generating arbitrary shapes. A smooth and continuous surface was formed using slim telescopic actuators and high-elasticity composite material. Realistic 3D shapes were continuously generated by projecting dynamic mapping images on the surface. A slim telescopic actuator was designed to show long strokes and minimize area for staking. A 3D shape was formed by thrusting and extruding the high-elasticity material using multiple telescopic actuators. This structure was advantageous for generating arbitrary continuous surface, projecting dynamic images and lightening weight. Because of real-time synchronization, a distributed controller based on EtherCAT was applied to operate hundreds of telescopic actuators smoothly. Integrated operating software consecutively generated realistic scenes by coordinating extruded shapes and projecting 3D image from multiple projectors. An opera content was optimized for the chameleon surface and showed to an audience in an actual concert.