robotics.snuh

When performing the respiratory-gated radiation therapy (RGRT), the quality assurance (QA) process is required.
Conventional moving platforms for QA generate 3D motions (xy motion and index motion), but for more precise QA, the motion platform should generate 4D motions (xyz motion and index motion).

No metal artifact

Better QA performance than conventional 3D simulations

Radiotherapy for breast cancer is conducted 28–33 times.
To keep the pose of a patient at every treatment, the immobilization board is used.
When using conventional immobilization boards, a therapist adjusts supporting parts manually. Because of time constraints, a therapist use only a few adjusting parts.
The automatic immobilization board can control all the adjustments at the same time. By using it, a therapist can setup the pose of patients quickly and precisely.

Abdominal breathing machine

Quadriplegic singer using abdominal breathing machine
출처 https://tv.naver.com/v/1359182

Abdominal breathing machine and
wheelchair for Pompe patient

Problems in operating C-arms
- Non-holonomic motion ⇒ Difficulty in position setting
- Repositioning process ⇒ Radiation exposure
We are developing a robotic C-arm platform, which can perform
- Precise holonomic motions with active casters, and
- Automatic repositioning with machine vision and laser sensing.

C-arm

Exoskeletal master device, which enables
- intuitive control,
- precise measurement, and
- unconstrained arm motions.
Robot teleoperation system, which consists of
- dual-arm slave robot and stair-climbing mobile platform,
- 3D camera and monitor, and
- wireless transmission system.

Experimental setup

Master device (2x playback)

Demonstration of teleoperation (2x playback)

Interactive humanoid arm
- External force sensing
- Adjustable torsional stiffness of each joint
Slim size and compact design
Hollow core structure
All-in-one solution consists of a motor driver, controller, and power module

Gripping and throwing a ball

Adjustable torsional stiffness

External force sensing

8-DOF compact robot hand

Performance of human eyeball
- 3-DOF movement (Listing’s law)
- Peak velocity and acceleration: 800 deg/s, 30,000 deg/s²
- Diameter: 27mm
We developed a humanoid eyeball mechanism,
- which can move in 3-DOF and rotates fast.
- It has the same rotational radius as the human eyeball,
- and can be installed in a human-head-sized curvy frame.

Circular motion

Reading the online newspaper

Eyeball movement faster than human's

Repeated exercise is essential to learn Kendo skills.
For kendo exercise, a partner is needed.
Robot can be an excellent assistant in Kendo training.
No need for worrying about injury by robot
The ripple effect on technology is great.
Motion teaching method for complex robot links
- Teaching of various complex Kendo motions

A high-performance smart motor with the following characteristics

High positioning accuracy enabled by the dual absolute encoder system
No need for a backup battery or a brake in securing the output position
High power and power density
High mechanical accuracy and durability suitable for industrial robots enabled by a harmonic reducer
Hollow structure for easy cable wiring
Easy connection with other smart motors or robot frames in various assemblies
Short, cylindrical, symmetrical shape allowing for compact assembly without unnecessary protruding parts when making multi-axis robot arms

Research