Balancing Arm Design and Its Application to Robotic Surgery

Byung-Ju Yi
Hanyang University, Korea
16:00~16:45,November 19th, 2015


Abstract :

Counter-balancing technology has been extensively applied to automotive industry and industrial robot design to save energy or increase the payload. There are two different approaches in balancing technology; counter-weight and counter spring. It is desired that counter weight balances all gravity load of robotic links over the whole workspace. The same way, counter spring balances the robotic system by equilibrating potential energy over the whole workspace.

This presentation introduces mechanics of balancing mechanism with respect to both counter weight and counter spring. Specifically, a stackable mechanism composed of a five-bar and four-bar, or series of four-bars is employed as a building block to design such balancing mechanisms. Stiffness is employed as the measure of open-loop stability of the balancing mechanism and zero stiffness is found the condition ensuring perfect balancing over the whole workspace.

The balancing mechanism based on the stackable mechanism is applied to design surgical robots for otologic surgery, sinus surgery, throat surgery, spinal fusion procedure, and parallel type haptic device. Using the robotic system based on balancing arm, several cadaver tests are conducted and merits of using balancing mechanism in each application are discussed.


Professional Activities:

  • 2015-2016 President of Korean Society of Medical Robotics
  • 2014-Current Vice President of Korean Robotics Society
  • 2014-Current Associate Editor, ASME Transaction on Mechanisms and Robotics
  • 2012-Current Chairman of award committee for IROS best application paper award
  • 2012-Current Board member of Asian Society of Computer-Aided Surgery
  • 2012-Current Board member of International Society of Computer-Aided Surgery
  • 2010.11 Program Chairman of Asian Conf. on Computer Aided Surgery
  • 2009.11 General Chainman of 2009 Int. Conf. on Ubiquitous Robot and Ambient Intelligence
  • 2007.8, 2011.8 Co-Program Chairman of IEEE Conf. on Mechatronics and Automation
  • 2005.6-2008.6 Associate Editor, IEEE Transaction on Robotics
  • 2004.1-2005.1 Visiting Professor, Johns Hopkins University, U.S.A
  • 1995.3-Current Assistant, Associate, and Full Professor of Hanyang University
  • 1992.9-1995.2 Assistant professor, Korean Institute of Education and Technology
  • 1992.1-1992.8 Post-Doctoral Fellow, Robotics Group, The University of Texas at Austin
  • 1984.2 Bachelor, Department of Mechanical Engineering, Hanyang University, Korea
  • 1986.8 Master, Department of Mechanical Engineering, The University of Texas at Austin
  • 1984.2 Bachelor, Department of Mechanical Engineering, Hanyang University, Korea



Research Areas:

  1.  Medical Robotics : ENT (Ear-Nose-Throat) procedure, Neuro-surgical procedure, Vascular intervention procedure, Robotic colonoscopy, Micro robot application to surgery
  2. General Robot Mechanics : Theory and Synthesis of parallel robot/closed chain mechanism
  3. Mobile robot applications, Impact Mechanics, Robot dynamics, Mechanism design