A Study on Smart 3-DOF Parallel Micromanipulator
- Title
- A Study on Smart 3-DOF Parallel Micromanipulator
- Alternative Title
- 스마트 3 자유도 병렬 마이크로매니퓰레이터에 대한 연구
- Author(s)
- Jiyeon Baik
- DGIST Authors
- Jiyeon Baik ; Cheol Song ; Sukho Park
- Advisor
- 송철
- Co-Advisor(s)
- Sukho Park
- Issued Date
- 2021
- Awarded Date
- 2021/02
- Type
- Thesis
- Table Of Contents
-
I. INTRODUCTION 1
1.1 Introduction of vitreoretinal surgery 1
1.2 Previous studies of surgical robots for vitreoretinal surgery 3
1.3 Remote Center of Motion (RCM) mechanism 5
1.4 Advantages and disadvantages of current robots 7
1.5 Study Purpose 8
II. SYSTEM DESIGN 9
2.1 Requirements of handheld manipulators 9
2.2 Design of 3-DOF manipulator 10
2.3 Kinematics of the 3-DOF manipulator 12
2.4 Control algorithm 18
III. EXPERIMENTS AND RESULTS 26
3.1 Experiment materials 26
3.2 RCM accuracy test 27
3.3 Hand tremor reduction 28
3.4 Control algorithm 31
IV. DISCUSSION 33
V. CONCLUSION 35
References 36
- URI
-
http://dgist.dcollection.net/common/orgView/200000364675
http://hdl.handle.net/20.500.11750/16702
- Degree
- Master
- Department
- Robotics Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Song, Cheol
- Research Interests Handheld medical robotics; Smart robotic microsurgery; Smart neuro-rehabilitation; Bio-photonic sensing and imaging
-
- 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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