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This paper presents a implantable intrathecal drug infusion pump for pain control in cancer patients. This device consists of micropump module, drug reservoir module and control module. The micropump module using cam-follower mechanism composed of small-sized four cams and four followers. Each followers is driven by a cam and liquid is discharged by a sequential reciprocal motion of the followers. The advantage of this structure is that it allows the pump to be clean and valveless. The drug reservoir module composed of drug chamber, gas chamber and diaphragm. The control module composed of battery, wireless communication unit and controller. To design a small-sized, low power pump some analysis were performed to determine the design parameters. To verify the feasibility of the experiment, a prototype was manufactured and its operating characteristics were investigated. Experimental results were in accordance with the expected results obtained from analysis. 1. 서 론***

This paper proposes a tube pump composed of small-sized cams and followers for an implantable intrathecal drug infusion device. Each followers is driven by a cam and liquid is discharged by a sequential reciprocal motion of the followers. The advantage of this structure is that it allows the pump to be clean and valveless. To design a small-sized, low power pump some analysis were performed to determine the design parameters of the cam, follower and the tube. To verify the feasibility of the experiment, a prototype was manufactured and its operating characteristics were investigated. Experimental results were in accordance with the expected results obtained from analysis.

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.