:: ICCAS 2015 ::

FA04		[OS] Medical Robotics and Simulation
Time : 09:10~10:40 Room : 104		Chair : Doo Yong Lee (KAIST, )



09:10~09:25	FA04-1

Control Configuration for Upper Limb Rehabilitation Robotic Systems
Jang Ho Cho, Hyun Soo Woo, Hyuk Jin Lee, chul seung Kim(KIMM, Korea, Republic of )

It is important to design control configuration for medical robots to allow high fidelity human robot interactions. This paper considers the control configuration for upper limb rehabilitation robotic systems. The considered 11-DOF exoskeleton-type robot enables an grasping motion, an elbow actuation, three wrist actuations, three glenohumeral joint actuations and another three axis linear actuations corresponds to shoulder joint center movements. The overall control configuration guarantees high-speed control bandwidth of 2 kHz which is enough to algorithm implementations.



09:25~09:40	FA04-2

Friction-Model-Based Estimation of Interaction Force of a Surgical Robot
Subon Kim, Doo Yong Lee(KAIST, Korea, Republic of )

This paper reports a method to estimate the interactin force between the surgical robot instrument and the organ tissues. It was found that the main problem of the previous estimation method is the friction inside the surgical robot instrument. Therefore, the friction force model is developed to enhance the estimation accuracy considering the tendon-driven mechanism of the surgical robot instrument.



09:40~09:55	FA04-3

Improvement of Robotic Mechanism for Automated Biopsy
Youngjin Moon(Asan Medical Center, Korea, Republic of ), Jongseok Won(Seou National University, Korea, Republic of ), Sanghoon Park, Jaesoon Choi(Asan Medical Center, Korea, Republic of )

This paper presents improved robotic mechanism for automated biopsy procedure. The robotic intervention system is a solution of the radiation exposure and accuracy issues in needle insertion type intervention. As one component of the system, the robotic mechanism for biopsy has been developed. The biopsy robot model II-B is the revised version of the previous ones. The modifications include adding a cartridge rotation checker and needle stoppers, renovating cartridge connection method, the spring loader, and spring block mover. Effectiveness of the improved functions is verified by experiment.



09:55~10:10	FA04-4

3D Registration Using Inertial Navigation System And Kinect For Image-Guided Surgery
JoonYoung Bang(Kyungpook National University, Korea, Republic of )

3d image registration using inertial navigation system and kinect device.



10:10~10:25	FA04-5

Endoscopic Camera Manipulation Planning of a Surgical Robot using Rapidly-Exploring Random Tree Algorithm
Jaehyeon Park, Woojung Park, Chiwon Lee, Myungjoon Kim, Sungwan Kim, H. Jin Kim(Seoul National University, Korea, Republic of )

In this paper, we propose an automatized Endoscopic CameraManipulator (ECM) system for da Vinci surgical robot system to relieve surgeon’s load in surgery. We also perform a simulation of the ECM motion planning as a basic step for automatized ECM system. We can obtain the motion trajectories of the ECM that make end effector of the ECM to reach a desired target position. We consider the ECM as a four-joint robot arm system and use the RRT (Rapidly- Exploring Random Tree) planning algorithm for this high order joint system. The simulation works properly and it will be helpful in proceeding further research.



10:25~10:40	FA04-6

Design of an MRI-Compatible Modularized Needle Driver for In-bore MRI-Guided Prostate Interventions
Kiyoung Kim(Imperial college London, Hamlyn Centre, United Kingdom), Meng Li, Berk Gonenc(Johns Hopkins University, United States), Weijian Shang(Worcester Polytechnic Institute, United States), Sohrab Eslami, Iulian Iordachita(Johns Hopkins University, United States)

we propose an MRI-compatible robotic manipulator to perform both prostate biopsy and brachytherapy intervention in a closed-bore MRI scanner. The proposed manipulator mainly consists of a base robot and a needle driver. The needle driver can operate a conventional biopsy gun. The needle driver is draped separately from the base robot for sterilization, thus it can be detached from the base robot for needle replacing through a quick-release mechanism. Mechanical design and kinematic analysis of the robotic manipulator are delineated according to the constraints of the MRI environment.