Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of a Master/Slave Combined Surgical Robot for Total Hip Arthroplasty

마스터/슬레이브 복합형 고관절 전치환 수술로봇의 제어

  • Heo, Gwan-Hoe ;
  • Gwon, Dong-Su (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Sang-Yeon (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Jeong-Ju (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Yun, Yong-San (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 허관회 (HSD 엔진(주) 기술연구소) ;
  • 권동수 (한국과학기술원 기계공학과) ;
  • 김상연 (한국과학기술원 기계공학과) ;
  • 이정주 (한국과학기술원 기계공학과) ;
  • 윤용산 (한국과학기술원 기계공학과)
  • Published : 2002.09.01
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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 surgeon's 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 surgeon's 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.

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References

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