Abstract ▼

□ Purpose& contents
This research aims at developing a vascular intervention robot system for TACE(Transarterial chemoembolization) for liver, which is able to not only minimize the X-ray exposure to both surgeons and patients, but also enhance success rate and accuracy of vascular intervention p

□ Purpose& contents
This research aims at developing a vascular intervention robot system for TACE(Transarterial chemoembolization) for liver, which is able to not only minimize the X-ray exposure to both surgeons and patients, but also enhance success rate and accuracy of vascular intervention procedure by master-slave robot systems.

□ Result
First year : Development of a 4 DOF slave robot for vascular intervention procedure and a 4 DOF haptic master device
- Development of a 4 DOF slave robot which is able to insert and rotate a guidewire and a catheter
- Development of a 4 DOF haptic master device with counter balancing by using counter weights and springs
- Development of a two module type master device
- Development of a phantom and flow sheet for vascular intervention procedure with the robot system
- Design of a first level user interface
Second year : Integration of the 4 DOF master-slave robot system and the first phantom experiment
- Development of a 4 DOF slave robot which is able to insert and rotate a guidewire, a catheter, and a microcatheter
- Improvement of the master device and integration of the 4 DOF master-slave robot system
- Implementation of the first phantom experiment and in vivo experiment
- Step-by-step quantification of vascular intervention procedure using a robotic system
Third year : Development of a 6 DOF slave robot which is able to steer a catheter and 6 DOF haptic master device / implementation of the second phantom experiment and in vivo experiment
- Development of a new vascular intervention procedure with the robot system
- Development of the 6 DOF 3D haptic master device
- Development of the 6 DOF slave robot able to steer a catheter
- Integration of the master-slave system
- The second phantom and in vivo experiment

□ Expected Contribution
(1) Application to various vascular intervention procedure
- Various procedure inserting a catheter into the blood vessel such as angioplasty, aneurism, Chronicle total occlusion, Cerebral angiography
(2) Application of the steering mechanism to various surgical robot with
- Surgeries in the narrow area such as laparascopic surgery, sinus surgery, neurosurgery
(3) Application of the counter-weight master robot to industrial robot
- Driving force reduction or securement of stability of robot operation for transportation in industrial field
(출처:SUMMARY 5p)

목차 Contents

• 표지 ... 1목차 ... 2연구계획 요약문 ... 3연구결과 요약문 ... 4 한글요약문 ... 4 SUMMARY ... 5연구내용 및 결과 ... 6 1. 연구개발과제의 개요 ... 6 2. 국내외 기술개발 현황 ... 8 3. 연구수행 내용 및 결과 ... 10 4. 목표달성도 및 관련분야에의 기여도 ... 38 5. 연구결과의 활용계획 ... 40 6. 연구과정에서 수집한 해외 과학기술정보 ... 40 7. 주관연구책임자 대표적 연구실적 ... 41 8. 참고문헌 ... 41 9. 연구성과 ... 42 10. 국가과학기술지식정보서비스에 등록한 연구시설.장비 현황 ... 47 11. 연구개발과제 수행에 따른 연구실 등의 안전조치 이행실적 ... 47 12. 기타사항 ... 48별첨1 대표연구성과 ... 49별첨2 세부 목표 관련 증빙 ... 62끝페이지 ... 72