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스프링 백본과 와이어를 이용한 3자유도 내시경 KCI 등재

3DOF Endoscope with Spring Backbone and Wires

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  • URLhttps://db.koreascholar.com/Article/Detail/1017
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로봇학회논문지 (The Journal of Korea Robotics Society)
한국로봇학회 (Korea Robotics Society)
초록

This work proposes structure of spring backbone micro endoscope. For effective surgery in narrow and limited space, many manipulators are developing that different to existed structure. This device can move like elephant nose or snake unlike the existing robots. For this motion, a mechanism that uses spring backbone and wires has been developed. The new type endoscope that has Z axis motion for spring structure, therefore it has 3 degree of freedom, two rotations and one linear motion. And new kinematics for backbone structure is proposed using simple geographic analysis. The Jacobian and stiffness modeling are also derived. Exact actuator sizing is determined using stiffness model. Finally, the proposed kinematics are verified by simulation and experiments.

저자
  • 최동걸 | Choi Dong-Geol
  • 이병주 | Yi byung-Ju