Curved bone-drilling robot with high rigidity and large bending angle
- Title
- Curved bone-drilling robot with high rigidity and large bending angle
- Alternative Title
- 높은 굽힘 각도와 높은 강성을 가진 곡선형 뼈 드릴링 로봇
- Author(s)
- Seunguk Kim
- DGIST Authors
- Hong, Jaesung ; Kim, Seunguk ; Jin, Sangrok
- Advisor
- 홍재성
- Co-Advisor(s)
- Sangrok Jin
- Issued Date
- 2020
- Awarded Date
- 2020-02
- Type
- Thesis
- Description
- 물결 모양 노치 형태의 유연관절, 강성, 굽힘 각도, 스페이서의 두께, 노치의 높이
- Table Of Contents
-
I. Introduction
1.1 Introduction to bone-drilling 1
1.2 Conventional curved bone-drilling robot 4
II. Proposed curved bone-drilling robot
2.1 Types of joint 16
2.2 Characteristic of notched compliant joint 18
2.3 Wave-shape notched compliant joint 29
2.3.1 Concept of design 29
2.3.2 Determination of design parameter 30
2.4 Actuation 35
2.4.1 Configuration 35
2.4.2 Mechanism and Kinematics 37
III. Experiment and results
3.1 Rigidity test 41
3.2 Maximum force test 43
3.3 Repeatability test 45
IV. Discussion and conclusion
- URI
-
http://dgist.dcollection.net/common/orgView/200000285401
http://hdl.handle.net/20.500.11750/11959
- Degree
- Master
- Department
- Robotics Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Hong, Jaesung
- Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상 유도 수술 로봇; 수술 내비게이션
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- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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