DC Field | Value | Language |
---|---|---|
dc.contributor.author | 허관회 | ko |
dc.contributor.author | 권동수 | ko |
dc.contributor.author | 김상연 | ko |
dc.contributor.author | 어정주 | ko |
dc.contributor.author | 윤용산 | ko |
dc.date.accessioned | 2013-03-03T17:23:48Z | - |
dc.date.available | 2013-03-03T17:23:48Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2002-09 | - |
dc.identifier.citation | 제어.로봇.시스템학회 논문지, v.8, no.9, pp.788 - 794 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/79669 | - |
dc.description.abstract | To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeons experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeons force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment. | - |
dc.language | Korean | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | 마스터/슬레이브 복합형 고관절 전치환 수술로봇의 제어 | - |
dc.title.alternative | Control of a Master/Slave Combined Surgical Robot for Total Hip Arthroplasty | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 8 | - |
dc.citation.issue | 9 | - |
dc.citation.beginningpage | 788 | - |
dc.citation.endingpage | 794 | - |
dc.citation.publicationname | 제어.로봇.시스템학회 논문지 | - |
dc.identifier.kciid | ART000889654 | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 허관회 | - |
dc.contributor.nonIdAuthor | 김상연 | - |
dc.contributor.nonIdAuthor | 어정주 | - |
dc.contributor.nonIdAuthor | 윤용산 | - |
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