지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.7
- 수록면
- 685 - 696 (12page)
이용수
초록· 키워드
오류제보하기
An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.
목차
Abstract
Ⅰ. 서론
Ⅱ. 복강경 매니퓰레이터의 구성
Ⅲ. 복강경 운동 위치제어
Ⅳ. 제어 실험 결과 및 분석
Ⅴ. 결론 및 향후 과제
APPENDIX
참고문헌
참고문헌 (16)
참고문헌 신청
1. [학술지(정기간행물)] - P. Berkelman / 2009 / A compact modular teleoperated robotic system for laparoscopic surgery / International Journal of Robotics Research 28 (9) : 1198 ~ 1125
2. [학술지(정기간행물)] - P. Sauer / 2006 / ASYSTENT-Control system assisting surgeon in laparoscopy / Biocybernetics and Biomedical Eng 26 (4) : 55 ~ 70
3. [학술지(정기간행물)] - M. J. H. Lum / 2009 / The RAVEN: Design and validation of a telesurgery system / International Journal of Robotics Research 28 (9) : 1183 ~ 1197
4. [학술지(정기간행물)] - A. Krupa / 2003 / Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing / IEEE Trans. on Robotics and Automation 19 (5)
5. [학술지(정기간행물)] - M. Li / 2007 / Spatial motion constraints using virtual fixtures generated by anatomy / IEEE Trans. on Robotics 23 (1) : 4 ~ 19
2. [학술지(정기간행물)] - P. Sauer / 2006 / ASYSTENT-Control system assisting surgeon in laparoscopy / Biocybernetics and Biomedical Eng 26 (4) : 55 ~ 70
3. [학술지(정기간행물)] - M. J. H. Lum / 2009 / The RAVEN: Design and validation of a telesurgery system / International Journal of Robotics Research 28 (9) : 1183 ~ 1197
4. [학술지(정기간행물)] - A. Krupa / 2003 / Autonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing / IEEE Trans. on Robotics and Automation 19 (5)
5. [학술지(정기간행물)] - M. Li / 2007 / Spatial motion constraints using virtual fixtures generated by anatomy / IEEE Trans. on Robotics 23 (1) : 4 ~ 19
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UCI(KEPA) : I410-ECN-0101-2013-569-003284516