|
Master-Slave Teleoperation-Based Catheter Ablation Robot System for Arrhythmia |
|
Youngjin Moon(Asan Medical Center & University of Ulsan, Korea), Zhenkai Hu, Sanghoon Park, Jaesoon Choi(Asan Medical Center, Korea) |
| This paper presents a robotic assist system for cardiovascular intervention. The clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator with haptic feedback in some systems. Most of the current master manipulators have structure of joystick-like pivoting 2 DOF handle in the core, which is used in parallel with other sliding switches and input devices. It is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use o |
|
|
Ultrasonic-based impinger system for bioaerosol collection |
|
Dongkyu Lee, Ohwon Kwon, Kang-Ho Lee(Korea Institute of Machinery & Materials (KIMM), Korea) |
| An ultrasonic-based impinger system was developed to collect nanoparticles of exhaled breath condensate (EBC) containing biomarkers. A strong ultrasonic homogenizer in the impinger breaks gas bubbles . The EBC in the gas bubble was readily liquefied into water due to increased air/water interface. We confirmed that the efficiency of nanoparticle collection with ultrasonication dramatically increased up to 80 % compared with the efficiency of those without ultrasonication. This impinger system can be utilized in the collection of various aerosols such as viruses, dusts, and nanparticles for bio |
|
|
A Pneumatic Haptic Module for Simulation of Catheters Used in Gastrointestinal Endoscopy |
|
Jihye Hwang(Korea Advanced Institute of Science and Technology, Korea), Yunjin Gu(KTH Royal Institute of Technology, Sweden), Doo Yong Lee(Korea Advanced Institute of Science and Technology, Korea) |
| This paper proposes a haptic module for catheter simulation used in GI (gastrointestinal) endoscopy. The designed haptic interface provides translational force feedback in one degree-of-freedom using the pneumatic module made of silicon rubber. The space inside of the module can be filled with air activated by a syringe pump. The module grasps the catheter traveling through the module. The syringe pump is controlled to insufflate or remove air into the space in real-time. Experimental results show that the feedback force and the amount of injected air to the module have a linear relationship. |
|
|
Novel Seat Position Stabilizing Function for an Electric Wheelchair Based on Passively Controlled Pendulum Mechanism |
|
Bo Ram Cho(Korea Institute of Industrial Technology, Korea) |
| The purpose of this study is to develop a seat position stabilizing function for an electric wheelchair without actuators. The nonactuator seat position stabilizing function uses instruments that can stabilize the position of a passenger seat, including passively controlled pendulum mechanism, brake, and position angle detector. When applying the novel seat position stabilizing function to personal transportation means, we found that the seat position stabilizer could maintain the stability of seat against 15° of both uphill and downhill slopes. |
|
|
Stair-Walk Motion Analysis for Stair-Walking Function of Robotic Gait Trainer |
|
Sang Eun Park, Ye Ji Ho, Ki Hwan Hong(Asan Medical Center, Korea), Youngjin Moon(Asan Medical Center & University of Ulsan, Korea), Jaesoon Choi(University of Ulsan, Asan Medical Center, Korea) |
| This paper presents the motion analysis for stair walking to improve gait training function of a foot-plate type robotic locomotion therapy system. To get applicable data for stair walking function of the system, the stair walk of five subjects were measured by a motion capture system. From the data, trajectories of each joint angle and relative change of the joints were analyzed. |
|
|
Experimental Validation of a Newly Designed Ankle-Foot Prosthesis for Lower Limb Amputee |
|
Hyun Soo Woo, Jang Ho Cho, Hyuk Jin Lee(KIMM, Korea) |
| This paper presents preliminary experimental results to validate the performance of a newly designed ankle-foot prosthesis for lower limb amputee. The robotic prosthesis is developed based on a low weight unified actuator module which includes a frameless motor, hall sensors, a harmonic drive, and a torque sensor. The low weight unified actuator module enables the robotic prosthesis to have large enough torque characteristics as well as low weight and height. The control system composed of an embedded controller, a motor drive, and a power supply is described. |
|