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Development of a Real-Time Model-based Magnetic Actuation Simulator |
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Yeongoh Ko, Han-Sol Lee, Chang-Sei Kim(Chonnam National University, Korea) |
| Accurate modeling of magnetic fields is crucial in various domains such as medical devices and robotics. The conventional methods of magnetic field calculations, such as the finite element method (FEM) and point-dipole model, often involve time-consuming.To address this issue, we propose a new magnetic field model derived from the Biot-Savart law. Our proposed model enhances computational efficiency by providing a streamlined approach. The comparison with simulations conducted using th COMSOL demonstrate a close agreement between the proposed model and the COMSOL. This new magnetic field model enables the development of real-time magnetic actuation simulators. |
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Preliminary results on 2D vertebrae instance segmentation methods for interventional pain procedures |
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Giwan Lee, Sharmin Sultana Sharmee, Ayoung Hong(Chonnam National University, Korea) |
| This paper presents preliminary results on two-dimensional (2D) vertebrae segmentation methods for interventional pain procedures using CT images. Since doctors are at risk of serious radiation exposure, it is important to automate the procedure and accurately estimate the locations of affected areas and treatment apparatus. Mask R-CNN and YOLOv8s-seg networks were trained on 2D images extracted from VerSe2020 dataset and we evaluated the performance of the networks on the validation dataset in terms of detection and segmentation accuracy. Both networks have achieved low accuracy, and we discuss the possible reasons and limitations of our approach. |
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2D Quasi-Statics Experiment of a Tendon-Driven Discrete Continuum Robot Unit with Ball Socket Joint |
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Yeoun-Jae Kim(Asan Medical Center, Korea), Muhammad Umer Khan Niazi(University of Ulsan, Korea), Daehan Wi(Asan Medical Center, Korea), Youngjin Moon(Asan Medical Center & University of Ulsan, Korea), Jaesoon Choi(University of Ulsan, Korea) |
| In this work, an experiment on the 2D quasi-statics of the developed tendon-driven discrete continuum robot unit is performed to validate and compare with the 2D quasi-statics analysis result. Even though the experiment has uncertainty on its own, the quasi-statics candidates at θ= 29.01deg in the experiment result (Ts = 140 g, Tl = 105 ~ 110 g) could be considered to be consistent with the analysis result (Ts = 140.7 g and Tl = 103.19 g at θ= 29.01deg). |
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Mechanical Impedance Minimizing Control using Disturbance Observer for Single-Degree-of-Freedom Robotic Arm |
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Choonggun Kim(Sogang University, Korea), Youngjin Moon(Asan Medical Center & University of Ulsan, Korea), Jaesoon Choi(University of Ulsan, Korea) |
| The mechanical impedance plays an important role in robot safety and precision manipulation. Low mechanical impedance of robotic systems can be achieved by reducing the volume of the robot hardware. However, there is a trade-off relationship that weakens the robot’s performance such as torque. To address this issue, a disturbance observer based Mechanical Impedance Minimizing Controller(MIMC) is designed. The controller decides the transfer function between the interaction force and the velocity of the robot and minimizes the mechanical impedance derived from the desired transfer function within the specific range while ensuring stability. |
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Kinematics Analysis of Two Types of Five-Bar Linkage Mechanisms with Extended Links for an Eye Surgery Robot |
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Chenyu Wang, Seong Young Ko(Chonnam National University, Korea) |
| The five-bar linkage mechanism is widely used in robotic systems for positioning tasks or rehabilitation robots due to its regular workspace and good manipulability. This paper presents an eye surgery robot that uses a double five-bar linkage mechanism to provide sufficient DOF for surgical tools and also for programmable remote center of motion (RCM). To connect the two five-bar linkages to the surgical tools, the mechanism requires extended links. To evaluate the workspace characteristics of two different mechanisms, this paper analyzes their workspace and compares them to each other by local conditioning index (LCI) and global conditioning index (GCI). |
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