Won-Ho Shin

Bio: Won-Ho Shin is an academic researcher from KAIST. The author has contributed to research in topics: Flutter & Aeroelasticity. The author has an hindex of 9, co-authored 18 publications receiving 285 citations. Previous affiliations of Won-Ho Shin include Samsung Electro-Mechanics.

Surgical Robot System for Single-Port Surgery With Novel Joint Mechanism

Abstract: Single-port surgery is a new surgical method performed by inserting several surgical tools and a laparoscope through an umbilical incision. Compared with conventional laparoscopic surgery, the smaller incision in this procedure produces a lower amount of trauma, which leads to shorter hospitalization. However, with the current laparoscopic tools and surgical robots, the surgeon must overcome several difficulties, such as a limited range of motion and collisions between the surgical instruments and the laparoscope. This paper proposes a new surgical robot system for single-port surgery that uses a novel joint mechanism. The proposed joint mechanism is suitable for surgical instruments with multiple degrees of freedom (DOF). Thus, it can prevent hysteresis of the joint and achieve more accurate motion with a large force. A 6-DOF surgical instrument with this joint mechanism can avoid collisions between surgical tools or arms and approach the surgical target more easily than a conventional straight surgical tool. The external arm with 2-DOF passive joints can extend the workspace of the system during surgery. Preliminary tests and validations were performed with a prototype of the system.

Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

Abstract: In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation and experiments are conducted to determine the design parameters. The compact surgical robot CURES of 5-DOF spherical mechanism is developed from the analysis and its properties are presented.

Nonlinear Aeroelastic Analysis of a Deployable Missile Control Fin

Abstract: The nonlinear aeroelastic characteristics of a deployable missile control fin have been investigated. Modes from free vibration analysis and a doublet-point method are used for the computation of supersonic unsteady aerodynamic forces. The minimum-state approximation is used to approximate the aerodynamic forces. The fictitious mass modal approach is applied to reduce the problem size and the computation time in the linear and nonlinear flutter analyses. For the nonlinear flutter analysis, the deployable hinge is represented by an asymmetric bilinear spring and is linearized using the dual-input describing function method. From the nonlinear flutter analysis, three different types of limit-cycle oscillations are observed in the wide range of airspeed over the linear flutter boundary. The aeroelastic characteristics of the missile control fin can become more stable due to the existence of the deployable hinge nonlinearity.

A review of medical robotics for minimally invasive soft tissue surgery

Abstract: This paper provides an overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature. The paper includes a thorough review of the literature, which focuses on soft tissue surgical robots developed and published in the last five years (between 2004 and 2008) in indexed journals and conference proceedings. Only surgical systems were considered; imaging and diagnostic devices were excluded from the review. The systems included in this paper are classified according to the following surgical specialties: neurosurgery; eye surgery and ear, nose, and throat (ENT); general, thoracic, and cardiac surgery; gastrointestinal and colorectal surgery; and urologic surgery. The systems are also cross-classified according to their engineering design and robotics technology, which is included in tabular form at the end of the paper. The review concludes with an overview of the field, along with some statistical considerations about the size, geographical spread, and impact of medical robotics for soft tissue surgery today.

Non-linear vibrations of shells: A literature review from 2003 to 2013

Abstract: The present literature review focuses on geometrically non-linear free and forced vibrations of shells made of traditional and advanced materials. Flat and imperfect plates and membranes are excluded. Closed shells and curved panels made of isotropic, laminated composite, piezoelectric, functionally graded and hyperelastic materials are reviewed and great attention is given to non-linear vibrations of shells subjected to normal and in-plane excitations. Theoretical, numerical and experimental studies dealing with particular dynamical problems involving parametric vibrations, stability, dynamic buckling, non-stationary vibrations and chaotic vibrations are also addressed. Moreover, several original aspects of non-linear vibrations of shells and panels, including (i) fluid–structure interactions, (ii) geometric imperfections, (iii) effect of geometry and boundary conditions, (iv) thermal loads, (v) electrical loads and (vi) reduced-order models and their accuracy including perturbation techniques, proper orthogonal decomposition, non-linear normal modes and meshless methods are reviewed in depth.

Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy

Abstract: Single-port laparoscopy (SPL) has attracted continuous attention in the past decade due to the potential of generating better surgical outcomes than the traditional multiport laparoscopy. In order to ease the challenging surgical manipulation tasks using manual tools in SPL, several robotic systems were constructed to provide surgeons an intuitive way to operate. With possible improvements identified, the SJTU unfoldable robotic system (SURS) for SPL is developed for improved system specifications. The SURS can be deployed into abdomen through a $\phi$ 12-mm port in its folded configuration and can then be unfolded for dual-arm surgical interventions with onboard 3-D visual guidance. A few key design concepts which lead to the specification improvements are elaborated. The design descriptions, kinematics modeling, actuation compensations, and experimental characterizations are detailed to demonstrate the potentials of the SURS.