Publication

Hanyang University HumanRobotics Lab

International Journal
Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications
Journal
Key Engineering Materials
Vol
Vol. 326
Page
pp. 773-776
Author
G. B. Chung, J. H. Chung, D. G. Choi, B.-J. Yi, S. Y. Han, and S. J. Kim
Year
2006
Date
2006.09.26
File
Development of a 5-DOF Hybrid Micro-Manipulator and Implementation to Needle Manipulation Process in Medical Applications.pdf (1.4M) 1회 다운로드 DATE : 2020-10-19 10:11:56
Abstract: This paper reports the development and preliminary experiments of a robotic system designed to perform needle manipulation tasks in medical applications. A hybrid type manipulator is designed to enlarge the workspace without loss of position accuracy. In this paper, we initially analyze the workspace and step resolution of the robotic system in the operational space. Then, we perform trajectory tracking experiment to verify that the developed robotic system could be employed to attenuate an unpredictable tremor of human operators and enhance position accuracy in neurosurgery or ophthalmic surgery, etc. It is shown through experimentation that the robothuman cooperation mode is effective for micro-manipulation tasks.