복강경 수술 로봇을 위한 머리 장착형 마스터 인터페이스 개발

학위논문 (석사)-- 서울대학교 대학원 : 공과대학 협동과정 바이오엔지니어링전공, 2018. 8. Sungwan Kim.The objective of this study is to design and control an additional master interface for laparoscopic surgical robot to control the endoscopic system using simple head motions. The additional master interface, called the head-mounted master interface (HMI), allows intuitive control of the endoscopic system and can be implemented to the existing surgical robot system enabling continuous surgical flow. The proposed system consists of the HMI, a simple three-dimensional endoscope, a four-degrees of freedom endoscope system, and a da Vinci Research Kit. The hardware of HMI is designed to be ergonomic and to be implemented to the stereo viewer of the existing system. The 27 pressure sensors and a hall sensor are located in the HMI to detect the seven simple head movements of the user. The sensor data is collected and classified using support vector machine in near real-time to manipulate the endoscopic system. The HMI has been evaluated of its usability through performing a modified peg transfer task and measuring the time latency of the interface in controlling the endoscopic system. The results from such tests confirmed that the use of HMI can shorten the surgical operation time and enable continuous surgical flow. Furthermore, the modified peg transfer task result showed that the HMI could reduce the completion time compared to the former developments utilizing index fingers to manipulate the endoscopic system. The HMI can be implemented to the laparoscopic surgical robot system to ensure simultaneous operation of the vision system and the patient side manipulators in accordance with the users intention. The HMI can be further developed to include the combination of head motions to make to control of vision system more intuitive. Consequently, the suggested HMI system could contribute to the advancements in medical field and even be applied to achieve industrial functions such as automated vision control.Abstract i Table of Contents iii List of Figures iv List of Tables vi 1. Introduction 1 1.1. Background 1 1.2. Research Trend 5 1.3. Objective of Sutdy 8 2. Materials and Methods 10 2.1. Overall System Setup 10 2.2. Hardware Development 13 2.3. Development of Control Algorithm 19 2.4. Evaluation 27 3. Results 30 3.1. Head Motion Classification 31 3.2. System Evaluation 38 4. Discussion 41 5. Concluding Remarks and Future Work 44 5.1. Head Motion Classification 44 5.2. System Evaluation 45 References 46 국문 초록 50Maste

소프트 몰드 연신을 통한 나노패턴의 모양과 배열의 제어

학위논문 (석사)-- 서울대학교 대학원 : 화학생물공학부, 2013. 2. 이종찬.Various methods for soft lithography have been developed due to the temporal and economical limitations of photo lithography, and still a lot of lithographical methods are being developed and studied to apply to different scientific fields. Here, we focus on nano-scale anisotropic patterns formed from a replica molding with curable polymers. We fabricate a stamp having an array of the patterns newly formed from a hexagonal pattern of tens of nanometers composed of dot-shaped vertices. We could successfully transform the dot-patterned feature to an ellipsoidal one and also manipulate its aspect ratio as desired. Furthermore, we were able to stretch the hexagonal pattern while keeping the dot shape the same, so we came up with a new pattern arrangement. Ultimately, we can notice the change in wetting property of materials having anisotropic structures.1 Introduction 1.1 Soft Lithography 1.2 Patterning based on mechanical stress 1.3 Sub-100 nm scale pattern 1.4 Purpose of this study 2 Experimentals 2.1 Fabrication of the AAO Mold 2.2 Patterning 2.2.1 PUA stamp 2.2.2 Nano patterned PDMS molds 2.2.3 Pore elongation 2.2.4 Rod elongation 2.3 Characterization 3 Results and Discussion 3.1 Sub-100 nm scale PDMS molds 3.1.1 Anodic aluminum oxide 3.1.2 Sub-100 nm patterned PDMS molds 3.2 Shape and arrangement control 3.2.1 Shape analysis 3.2.2 Anisotropic wetting behavior 3.2.3 Strain difference in a PDMS molds 3.3 Arrangement control 4 Conclusion Reference 국문초록Maste