Publication

Hanyang University HumanRobotics Lab

International Conference
Master-Slave Robotic System for 3 dimensional Needle Steering
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
H.-J. Cha, J. Chung, W. K. Kim, and B.-J. Yi
Year
2010
Date
2010.10.18
File
Master-Slave Robotic System for 3 dimensional Needle Steering.pdf (1.8M) 1회 다운로드 DATE : 2020-10-19 22:49:57
Abstract: This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed. The design of the master-slave system is described in detail. Finally, the effectiveness of this system for 3 dimensional needle steering task is verified through experimental work.