지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,469 - 1,473 (5page)
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초록· 키워드
오류제보하기
Interacted force between a robot, human and anatomical object in orthopedic surgery provides crucial information for safe and accurate bone cutting. When the robot plays the role of assisting the surgeon in the whole surgical procedure, the robot is trying to comply with the human intention according to various cutting conditions. The reaction force to the robot from the human is for indicating human intention, whereas the force from the anatomical object reflects the cutting condition. In this paper two impedance indices are defined by these two interacted forces and a surgical robot then decides whether assistive or resistant action is activated so that accuracy and safety of bone cutting can be achieved.
목차
Abstract
1. INTRODUCTION
2. MODELING
3. CONTROL STRATEGY
4. EXPERIMENTAL SETUP
5. RESULTS AND DISCUSSIONS
6. CONCLUSIONS
REFERENCES
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