로봇학회논문지 제14권 제3호(통권 제53호) (p.203-210)

내시경 수술 도구의 수동 조작 메커니즘 및 이의 최적 형상 설계

Hand-controller Mechanism and its Optimal Design Method for Manually Controlled Endoscopic Surgical Instrument
키워드 :
Endoscopic Surgical Instrument,Wire-driven Mechanism,Hand-controller Mechanism

목차

Abstract
1. 서 론
2. 메커니즘 해석
   2.1 와이어 길이 보상 메커니즘의 필요성
   2.2 구동부 해석
   2.3 조작부 풀리 해석
3. 형상 최적화
   3.1 조작부 풀리 형상 최적화
   3.2 초기 값 설정
   3.3 유전자 알고리즘
   3.4 최적 형상
4. 실 험
   4.1 최적 형상 실험
   4.2 시작품
5. 결 론
References

초록

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.