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정구봉(Goo Bong Chung),이수강(Soo Gang Lee),김성민(Sungmin Kim),오세민(Se Min Oh),이병주(Byung-Ju Yi),김영수(Young Soo Kim),박종일(Jong Il Park),오성훈(Seong Hoon Oh),김희국(Whee Kuk Kim) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images and intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Several experiments employing the developed robotic surgery system are conducted. The experimental results confirmed that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to his/her respiration.
이재열 ( Jeayoul Lee ),전광우 ( Kwangwoo Jeon ),최재연 ( Jeayeon Choi ),정구봉 ( Goobong Chung ),서진호 ( Jinho Suh ),최일섭 ( Ilseob Choi ),신광복 ( Kwangbok Shin ) 한국복합재료학회 2015 Composites research Vol.28 No.3
본 논문은 착용형 근력지원 로봇의 경량화를 위하여 CFRP(Carbon Fiber Reinforced Plastic) 복합재료의 적용 설계와 유한요소해석을 이용한 안전성 평가 내용을 기술하였다. 금속재 프레임으로 제작된 착용형 근력지원 로봇에 대하여 탄소섬유 복합소재로 대체하였고, 적용 재료에 대하여 ASTM을 기준으로 인장, 압축 그리고 전단 시험을 통하여 해석적 평가를 위한 기계적 물성시험을 수행 하였다. 구조해석 결과를 이용하여 설계된 경량 착용형 근력지원 로봇의 메인 프레임 및 대퇴부 프레임은 경량 설계의 설계요구조건을 만족하였으며 제작된 로봇이 기존 금속재 프레임 대비 경량화 효과를 얻을 수 있음을 확인하였다. In this paper, we evaluate structural integrity of the wearable robot by using finite element analysis, which is made of CFRP(Carbon Fiber Reinforced Plastic) composite materials to be lightened. On the basis of the ASTM(American Standard Test Method), mechanical tests of the material are carried out in tensile, compressive and shear test for analytical evaluation. With the tested composite material, the main frame and two femoral frames of the robot is redesigned to satisfy the lightening design requirements. It is verified with the structural analysis that the redesigned frames are good for the part of the wearable robot.
한석영(Seog Young Han),이병주(Byung-Ju Yi),김종오(Jong O Kim),정구봉(Goo Bong Chung),윤상준(Sang-Jun Yoon) 한국생산제조학회 2005 한국생산제조시스템학회 학술발표대회 논문집 Vol.2005 No.10
Ultra-precision positioning systems basically require high natural frequency and sufficient workspace. To cope with this requirement, flexure hinge mechanisms have been proposed. However, previous designs are hard to satisfy the functional requirements of the system due to difficulty in modeling and optimization process applying the independent axiomatic design. Therefore, this paper suggests a new design and design-order based on semi-coupled, axiomatic design. A spatial 3-DOF parallel type micro mechanism is chosen as an exemplary device. Based on preliminary kinematic analysis and dynamic modeling of the system, an optimal design is conducted. To check the effectiveness of the optimal parameters obtained by theoretical approach, simulation is performed by FEM.