Adjustable Balancing Mechanism Design and Its Applications to Surgical Robotic Systems

Abstract

본 연구는 가변형 밸런싱 메커니즘에 대한 이론적 방법론 제시와 이에 대한 응용을 다룬다. 기존에는 두 가지 유형의 밸런싱 방법(counterweight 및 spring)이 사용되고 있으며, 밸런싱 조건은 potential energy를 이용하여 도출하고 있다. 본 연구에서는 3-DOF 적층형 메커니즘을 기반으로 한다. 스프링 밸런싱 접근법은 동작 중 관성 토크가 적게 소요된다는 점에서 카운터 웨이트 밸런싱 접근법보다 장점이 있으나 말단부의 가변 하중에 대한 가변형 밸런싱 방법으로는 두 가지 방식의 조합이 효과적이다. 본 연구에서는 가반 하중이 변화 할 때 카운터 웨이트 방식에 의한 밸런싱 방법, 스프링에 의한 밸런싱 방법, 그리고 두 가지를 조합한 방식에 의한 밸런싱 방법을 수학적 이론으로 제시하고, 실질적인 구현을 통하여 성능을 검증 한다.

개발된 밸런싱 암은 다양한 의료 분야에 성공적으로 적용될 수 있으며, 본 연구에서는 제안한 적층형 밸런싱 메커니즘의 의료 분야 세 가지 유형의 응용 및 방법을 제안한다. 첫 번째로, 말단부의 무게 변화에 대응하기 위하여 카운터 웨이트와 스프링을 조합한 밸런싱 암이 이과용 드릴 홀더에 적용되었다. 두 번째로, 인후과용 마스터-슬레이브 로봇 시스템으로서 스프링을 사용하는 2개의 밸런싱 메커니즘으로 구성되는 듀얼 암 장치가 개발 되었다. 세 번째로, 혈관 중재 로봇 시스템에 적용되는 메커니즘은 카운터웨이트를 이용한 밸런싱 메커니즘이며 혈관 중재용 슬레이브 로봇을 제어하는 ​​마스터 장치로 사용되었다.|This paper presents the theoretical methodology for the variable balancing mechanism and its applications. Conventionally, two types of balancing methods (counterweight and spring) have been used, and the balancing conditions has been derived using potential energy. This study is based on three-DOF stackable mechanism. The spring balancing approach has an advantage over the counterweight balancing approach in that it requires less inertial torque during operation, but the combination of the two approaches is effective as a balancing method for variable loads at the end. In this dissertation, the counterweight based balancing loads, the spring based balancing loads, and the combination of both methods are presented mathematically and their performances are verified through practical implementation.

The developed balancing arm can be successfully applied to various medical fields. In this dissertation, three types of applications are proposed for the medical field. First, a counterbalancing arm with a combination of counterweights and springs was applied to the ear surgical drilling holder to counteract the weight change at the distal end. Secondly, spring balancing mechanism was applied to dual master device for throat surgical robot system. Thirdly, counterweight based balancing mechanism was applied to design of master device for the vascular intervention robot system to control the slave robot.; This paper presents the theoretical methodology for the variable balancing mechanism and its applications. Conventionally, two types of balancing methods (counterweight and spring) have been used, and the balancing conditions has been derived using potential energy. This study is based on three-DOF stackable mechanism. The spring balancing approach has an advantage over the counterweight balancing approach in that it requires less inertial torque during operation, but the combination of the two approaches is effective as a balancing method for variable loads at the end. In this dissertation, the counterweight based balancing loads, the spring based balancing loads, and the combination of both methods are presented mathematically and their performances are verified through practical implementation.

The developed balancing arm can be successfully applied to various medical fields. In this dissertation, three types of applications are proposed for the medical field. First, a counterbalancing arm with a combination of counterweights and springs was applied to the ear surgical drilling holder to counteract the weight change at the distal end. Secondly, spring balancing mechanism was applied to dual master device for throat surgical robot system. Thirdly, counterweight based balancing mechanism was applied to design of master device for the vascular intervention robot system to control the slave robot.