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단일마스터 멀티슬레이브형 텔레로보틱스 수술시스템 개발
Development of Telerobotic Surgery System with Single-Master Multi-Slave

황길경    (동경대학 생산기술연구소   ); 진태석    (동서대학교 메카트로닉스공학과   ); 하시모토히데키    (동경대학 생산기술연구소  );
  • 초록

    Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.


  • 주제어

    teleoperation .   haptic interface .   internal force .   kinematics .   dual-manipulator.  

  • 참고문헌 (12)

    1. S. S. Sastry, M. Cohn, and F. Tendick, 'Milli-robotics for remote, minimally invasive surgery,' J. Robot. Auton. Syst., vol. 21, no. 3, pp. 305-316, Sept. 1997 
    2. J. E. Colgate, 'Robust Impedance Shaping Telemanipulation,' IEEE Trans. on Robotics and Automation, vol. 9, no. 4, pp. 374-384, 1993 
    3. T. Tanikawa and T. Arai 'Development of a nicro-manipulation system having a two-fingered micro-hand,' IEEE Trans. on Robotics and Automation, vol. 15, no. 1, pp. 152-162, Feb 1999 
    4. J. A. Thompson and R. S. Fearing, 'Automating microassembly with ortho-tweezers and force sensing,' in Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, Maui, HI, pp. 1327-1334, 2001 
    5. N. Ando, M. Ohta, K. Gonda, and H. Hashimoto, 'Micro teleoperation with parallel manipulator,' 2001 IEEE/SME International Conference on Advanced Intelligent Mechtronics Proc., pp. 63-68, July 2001 
    6. Richard P. Paul 'Robot manipulators: Mathematics, programing, and control,' Cambridge, MA: The MIT Press, 1981 
    7. T. Yoshikawa 'Manipulability of robotic mechanisms,' The International Journal of Robotics Research, vol. 4, no. 1, pp. 3-9, Dec 1985 
    8. R. Bonitz and T. Hsia, 'Force decomposition in cooperating manipulators using theory of metric spaces and generalized inverses,' in Proc. of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1521-1527, May 1994 
    9. E. F. Fichter, 'A stewart platform-based manipulator: General theory and practical construction,' The International journal of Robotics Research, vol. 5-2, pp. 157-182, 1986 
    10. K. Cleary and T. Arai, 'A prototype parallel manipulator: Kinematics, construction, software, workspace results, and singularity analysis,' Proc. of the 1991 IEEE International Corference on Robotics and Automation, pp. 566-571, 1991 
    11. K. Kosuge, T. Itoh, Toshio Fukuda, and Manabu Otsuka, 'Telemanipularion system based on task-oriented virtual tool,' IEEE International Conference on Robot and Automation, pp. 351-356, 1995 
    12. B. Hannoford and R. Anderson, 'Experimental and simulation studies of hard contact in force reflecting teleoperation,' Proc. of 1988 IEEE International Conference on Robotics and Automation, pp. 584-589, 1988 
  • 이 논문을 인용한 문헌 (1)

    1. Kim, Soo-Hyun ; Kim, Kwang-Gi ; Jo, Yung-Ho 2011. "Laparoscope Manipulator Control for Minimally Invasive Surgery" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 17(7): 685~696     

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  • 진태석 (40)

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