DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | Lee, Doo Yong | - |
dc.contributor.advisor | 이두용 | - |
dc.contributor.author | Goh, Heejae | - |
dc.date.accessioned | 2019-08-28T02:44:16Z | - |
dc.date.available | 2019-08-28T02:44:16Z | - |
dc.date.issued | 2019 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=843003&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/265912 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 기계공학과, 2019.2,[v, 76 p. :] | - |
dc.description.abstract | This paper proposes a haptic interface for simulation of endoscopic endonasal skull base surgery. Requirements of the haptic interface are derived by analyzing six surgical procedures selected by a surgeon. The haptic interface consists of two symmetrical haptic units which have 7 DOF input and 3 DOF output individually. The spherical mechanism is applied to render high force and high stiffness. The required torque of motors is 2427.8 N⋅mm, 1358.9 N⋅mm, 3829.0 N⋅mm to provide maximum 24 N. The stiffness of the haptic interface is analyzed to be 9.96 N/mm. The safety of the haptic interface is analyzed to be higher than 2. A force sensor is used to compensate the friction and inertia of the haptic interface. The force felt by the user in the free motion decreased by maximum 89.9 %. It is confirmed through experiments that the stiffness of 8.9 N/mm and the force of 24 N can be rendered. The haptic interface has at least 8.2 Hz force bandwidth which is sufficient. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | Medical simulation▼ahaptic interface▼aendoscopic endonasal skull base surgery | - |
dc.subject | 의료 시뮬레이션▼a햅틱 인터페이스▼a내시경 두개저 종양 수술 | - |
dc.title | Design of a haptic interface for simulation of endoscopic endonasal skull base surgery | - |
dc.title.alternative | 내시경 두개저 종양 수술 시뮬레이션을 위한 햅틱 인터페이스 설계 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :기계공학과, | - |
dc.contributor.alternativeauthor | 고희재 | - |
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