A5073071477- Surgical Simulation and Training
- Soft Robotics and Applications
- Anatomy and Medical Technology
- Teleoperation and Haptic Systems
- Simulation and Modeling Applications
- Augmented Reality Applications
- Dynamics and Control of Mechanical Systems
- Robotics and Sensor-Based Localization
- Piezoelectric Actuators and Control
- Brake Systems and Friction Analysis
- Hemodynamic Monitoring and Therapy
Pusan National University
2021-2024
Wan Fang Hospital
2009
This paper presents a control strategy that secures both precision and manipulation sensitivity of remote center motion with direct teaching for surgical assistant robot. Remote is an essential function conventional laparoscopic surgery, the most intuitive way surgeon manipulates robot through teaching. The must maintain position insertion port in three-dimensional space during four-degree-of-freedom motions such as pan, tilt, spin, forward/backward. In addition, should move smoothly when...
To enable the operator to control surgical assistant robot without a separate joystick, we aim develop an interface using artificial intelligence that responds movement of instruments in laparoscopic screen. In this study, propose method for detecting and tracking tools YOLOv5 (YOU ONLY LOOK ONCE v5) DeepSORT (Deep Learning based Simple Online Real-time Tracking) algorithms. The proposed approach employs algorithm detect real-time, track detected across multiple frames. model requires...
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow surgical assistant robot hold handle instruments. It also presents force-free control algorithm for direct teaching effectors. The can actively transmit force both upwards downwards by staggering wires on sides. In order estimate torque via motor current without force/torque sensor, gravity model friction device are derived through repeated experiments. LuGre is applied model,...