Design of a haptic interface for simulation of endoscopic endonasal skull base surgery = 내시경 두개저 종양 수술 시뮬레이션을 위한 햅틱 인터페이스 설계

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This paper proposes a haptic interface for simulation of endoscopic endonasal skull base surgery. Requirements of the haptic interface are derived by analyzing six surgical procedures selected by a surgeon. The haptic interface consists of two symmetrical haptic units which have 7 DOF input and 3 DOF output individually. The spherical mechanism is applied to render high force and high stiffness. The required torque of motors is 2427.8 N⋅mm, 1358.9 N⋅mm, 3829.0 N⋅mm to provide maximum 24 N. The stiffness of the haptic interface is analyzed to be 9.96 N/mm. The safety of the haptic interface is analyzed to be higher than 2. A force sensor is used to compensate the friction and inertia of the haptic interface. The force felt by the user in the free motion decreased by maximum 89.9 %. It is confirmed through experiments that the stiffness of 8.9 N/mm and the force of 24 N can be rendered. The haptic interface has at least 8.2 Hz force bandwidth which is sufficient.
Advisors
Lee, Doo Yongresearcher이두용researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2019
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2019.2,[v, 76 p. :]

Keywords

Medical simulation▼ahaptic interface▼aendoscopic endonasal skull base surgery; 의료 시뮬레이션▼a햅틱 인터페이스▼a내시경 두개저 종양 수술

URI
http://hdl.handle.net/10203/265912
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=843003&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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