Research

Surgical Robot and Device

Surgical assistant robot with cooperative robot and human-robot interaction technology
The first domestically produced surgical assistant robot to obtain medical device approval from the Ministry of Food and Drug Safety and achieve commercialization (2024)
- 2024-04-08, Robot Newspaper, "Professor Sang-rok Jin of Pusan National University -EROP succeeded in surgery using a surgical assist robot: Proof of convergence of robotic and medical technology"
- 2024-03-14, Maeil Business Newspaper(MK), "Medical robots can do the work of two or three people in the OR"

Recognition and tracking of the surgical instruments for control of the surgical assistant robot holding the camera without removing their hands from the surgical tools
YOLO(You Only Look Once) v5 + Deep SORT(Simple Online and Realtime Tracking) Algorithm
Model Predictive Control with the Hammerstein model for consistent tracking performance under laparoscopic zoom changes

Preisach modeling and hysteresis compensation of the Tendon-Sheath Mechanism(TSM) for various shape configurations
Recurrent Neural Network(RNN) with Preisach model for configuration-specific hysteresis modeling of TSM
Real-time compensation algorithm for arbitrary trajectories using successive parabolic interpolation method

Empirical modeling of hysteresis in a tendon–sheath mechanism on multi-segmented curves
Observation and modeling of the phenomenon in which the shape of a curved path away from the input module has a more dominant effect on hysteresis
Derivation of the full hyteresis model by nonlinear superpostion with decomposition of the hysteresis of each curved path of a multi-curve path into the hysteresis of a single curved path as a function of distance from the input module

Device applicable within the surgical site without the need to resect both ends of the femur
Optimal design of a device via Taguchi method: uniformity and maximization of heat transfer rate through optimization of 7 design variables

Derivation and validation of mathematical and simulation models for the vibration dynamics of robotic arms
Optimal design of vibration reduction of development robot using Taguchi method based on the derived model
Industry-academic cooperation project with Meerecompany Inc.

3-point support robot gripper modified for cooking tool grip
Using the example of cooking ramen, it not only handles and operates pots and various containers but also implements the function of using tongs to grasp noodles.
Human Resources Development Project Capstone Design Project with DRB Automation co. ltd.

Ex-RRT*, a modified RRT* algorithm that incorporates a margin to avoid collisions with obstacles during trajectory generation
The algorithm adds a cost function for the distance from nodes to obstacles, ensuring safer path planning by preventing potential collisions during waypoint interpolation.
Human Resources Development Project Capstone Design Project with DRB Automation co. ltd.

By independently operating four vacuum generators, vacuum leakage through unused vacuum cups is prevented according to the size of the box.
The four gripper arms with vacuum cups rotate to adjust the position and area of the suction force based on the size of the box.
Human Resources Development Project Capstone Design Project with DRB Automation co. ltd.

Collision avoidance and inverse kinematics analysis using nonlinear numerical method
Detection and avoidance of collisions through OBB(Oriented Bounding Box)
The optimal path generation that meets the welding conditions
Industry-academic cooperation project with Daewoo Shipbuilding & Marine Engineering co. ltd.

Analysis of dual-arm mechanisms with serial and parallel kinematic model
Desired joint torque calculation to generate task force with disturbance compensation
Collaborative control with vehicle and maipulator

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