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Master-slave robotic system for 3 dimensional needle steering
- Issue Date
- Oct-2010
- Publisher
- IEEE
- Keywords
- Parallel mechanisms; Mechanisms; Master-slave robotic systems; Slave device; Real time; Needle steering; Intelligent robots; Force reflection; Master-slave systems; Experimental works; Needles; 3-dimensional; Needle insertion
- Citation
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp.857 - 862
- Indexed
- SCIE
- Journal Title
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
- Start Page
- 857
- End Page
- 862
- ISSN
- 2153-0858
- Abstract
- This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed. The design of the master-slave system is described in detail. Finally, the effectiveness of this system for 3 dimensional needle steering task is verified through experimental work. ©2010 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)