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Curved bone-drilling robot with high rigidity and large bending angle

Title
Curved bone-drilling robot with high rigidity and large bending angle
Translated Title
높은 굽힘 각도와 높은 강성을 가진 곡선형 뼈 드릴링 로봇
Authors
Seunguk Kim
DGIST Authors
Kim, Seunguk; Jin, Sangrok; Hong, Jaesung
Advisor(s)
홍재성
Co-Advisor(s)
Sangrok Jin
Issue Date
2020
Available Date
2020-06-23
Degree 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
DOI
10.22677/Theses.200000285401
Degree
Master
Department
Robotics Engineering
University
DGIST
Related Researcher
  • Author Hong, Jaesung Surgical Robotics & Augmented Reality Lab
  • Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상 유도 수술 로봇; 수술 내비게이션
Files:
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Collection:
Department of Robotics EngineeringThesesMaster


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