Master/Slave 복합형 고관절 전치환 수술 로봇의 설계와 제어Design and Control of a Master/Slave Combined Surgical Robot for Total Hip Replacement Surgery

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This paper explores design and control methods of a surgical robot for total hip replacement surgery which can be easily maneuvered by a surgeon Like an advanced surgical tool. The 3-DOF in-parallel surgical robot is fixed directly onto patient's femur by the bone clamp during surgery. With the master/slave combined surgical robot, the surgeon can directly control the motion of the surgical robot with surgeon's experience and judgment during operation. For the easiness of operation, the master/slave combined robot is controlled using admittance control paradigm. And for the precise operation, the robot motion is restricted at the surgical boundary using virtual hard wall display.
Issue Date
2000-10
Language
KOR
Citation

제어로봇시스템학회 2000년도 제15차 한국자동제어학술회의 , pp.540 - 540

URI
http://hdl.handle.net/10203/137555
Appears in Collection
ME-Conference Papers(학술회의논문)
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