탄성 와이어의 동역학 모델링 및 형태 추정 알고리즘

Abstract

첨단 컴퓨터의 발달과 기계공학의 발전은 이제 각 분야에서 로봇의 역할을 확대시키고 있다. 특별히 로봇의 의학 응용은 1990년대에 들어 매우 연구가 활발해지고 실용화 되기 시작하였다. 내시경의 발명은 수술의 패러다임을 변화시켰다. 인체 내부의 좁은 공간을 내시경을 통해 시각화 할 수 있었고, 특히 장기 내부 상태를 진단할 수 있는 유용한 수단이다. 그러나 수술의는 단순히 카메라의 이미지만을 볼 수 있기 때문에, 대장 내의 내시경 말단의 위치와 방향을 알기가 힘들다. 따라서 대장내시경의 위치를 파악하고자 하는 많은 연구들이 진행되고 있다. 이에 대표적인 방법으로 전자기 센서를 대장내시경 튜브의 여러 부분에 부착하여 보간(interpolation)의 방법으로 대장내시경의 위치를 추정하는 것이다. 본 논문에서는 소수의 전자기 센서를 이용한 탄성체 와이어의 형태 추정 알고리즘을 제시한다. 이를 위하여 본 논문에서는 다수의 관절과 링크를 가지는 탄성 연속체를 모델링한다. 기구학적으로 여유자유도를 가지는 모델을 이용하여 주어진 경계조건을 만족하는 형태추정 알고리즘을 제안한다. 제안한 알고리즘을 이용하여 시뮬레이션을 수행하고, 실제 튜브에 센서를 장착하여 실험한 결과를 영상 비교를 통해 성능을 검증한다.|The development of mechanical engineering and advanced computer has expanded the role of robots in various fields. Since 1990s, the research of the medical robot has been very popular due to much need at clinics. Advent of endoscope has changed the paradigm of surgery much. Even narrow spaces inside the human body could be visualized using the endoscope. Specially, the flexible endoscope is a good means to diagnosis the internal states of the stomach or the colon. However, just looking at the camera image, it is hard for surgeon to recognize the direction and location of the distal end of the flexible endoscope inside the colon. Thus, research for determining the configuration of the endoscope is demanding. Typically in this research, the location and the shape of the colonoscopy are predicted by using one electromagnetic sensor which is attached to the distal end of the colonoscopy. In this thesis, a shape prediction algorithm of the flexible colonoscopy is proposed. For this, the colonoscopy is modeled as an elastic kinematic chain having abundant joints and links. Using this model, a shape prediction algorithm of the colonoscopy is suggested for the given boundary condition. Numerical simulation is conducted to estimate the motion behavior of the elastic colonoscopy and experimental work is also performed to corroborate the effectiveness of the proposed algorithm.; The development of mechanical engineering and advanced computer has expanded the role of robots in various fields. Since 1990s, the research of the medical robot has been very popular due to much need at clinics. Advent of endoscope has changed the paradigm of surgery much. Even narrow spaces inside the human body could be visualized using the endoscope. Specially, the flexible endoscope is a good means to diagnosis the internal states of the stomach or the colon. However, just looking at the camera image, it is hard for surgeon to recognize the direction and location of the distal end of the flexible endoscope inside the colon. Thus, research for determining the configuration of the endoscope is demanding. Typically in this research, the location and the shape of the colonoscopy are predicted by using one electromagnetic sensor which is attached to the distal end of the colonoscopy. In this thesis, a shape prediction algorithm of the flexible colonoscopy is proposed. For this, the colonoscopy is modeled as an elastic kinematic chain having abundant joints and links. Using this model, a shape prediction algorithm of the colonoscopy is suggested for the given boundary condition. Numerical simulation is conducted to estimate the motion behavior of the elastic colonoscopy and experimental work is also performed to corroborate the effectiveness of the proposed algorithm.