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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) Bulletin of Electrical Engineering and Informatics

Jackrit Suthakorn

Mahidol University

Author-ID : 2378718

Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering

Published : 6 Documents Claim Missing Document

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Articles

Sensitivity and packaging improvement of an LCP pressure sensor for intracranial pressure measurement via FEM simulation Preedipat Sattayasoonthorn; Jackrit Suthakorn; Sorayouth Chamnanvej
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 5: October 2019
Publisher : Institute of Advanced Engineering and Science

A biocompatible liquid crystal polymer (LCP) pressure sensor is proposed for measuring intracranial pressure (ICP) in Traumatic Brain Injury (TBI) patients. Finite element method using COMSOL multiphysics is employed to study the mechanical behavior of the packaged LCP pressure sensor in order to optimize the sensor design. A 3D model of the 8x8x0.2 mm LCP pressure sensor is simulated to investigate the parameters that significantly influence the sensor characteristics under the uniform pressure range of 0 to 50 mmHg. The simulation results of the new design are compared to the experimental results from a previous design. The result shows that reducing the thickness of the sensing membrane can increase the sensitivity up to six times of that previously reported. An improvement of fabrication methodology is proposed to complete the LCP packaging.

Observer based dynamic control model for bilaterally controlled MU-lapa robot: Surgical tool force limiting Branesh M. Pillai; Chumpon Wilasrusmee; Jackrit Suthakorn
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 1: February 2020
Publisher : Institute of Advanced Engineering and Science

During laparoscopic surgeries, primary surgical tool insertion is the demanding and strenuous task. As the surgeon is unaware of the type of the tissue and associated parameters to conduct the insertion, therefore, to ease the procedure, the movement of the surgical tool needs to be controlled. It’s the operational capabilities that are to be manipulated to perform a smooth surgery even from a distant location. In this study, a robot system is being introduced for laparoscopic primary surgical tool insertion. It will incorporate a novel observer based dynamic control along with robot assisted bilateral control. Moreover, a virtual spring damper force lock system is introduced through which the slave system will notify the master regarding the target achieved and excessive force. The validation of the proposed control system is experimented with bilaterally controlled MU-LapaRobot. The experiment is comprising 3 cases of bilateral control criteria which are non-contact motion, contact motion, and limit force locking. The results defined the same value for contact and non-contact motion by 0.3N. The results depicted a force error of 3.6% and a position error of 5.8% which validated the proposed algorithm.

Design of high performance DC motor actuated cable driving system for compact devices Chawaphol Direkwatana; Jackrit Suthakorn
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 11, No 2: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v11.i2.pp580-593

The cable transmission is widely used in the remote operation or complex geometry with high stiffness and low backlash. Larger drum is required to reduce and error of transmission in long stroke. An error of the desired position occurs due to the fleet angle while cable winding on a drum. Therefore, a new cable driving module which overcomes this problem is proposed. A new cable driving module with a sliding platform is connected to the actuator unit. A motion of the sliding platform is corresponding to a screw rod connected to an actuator. The precision of the driving system is measured by a high-resolution rotatory encoder and high gear ratio actuator. Results are measured by load and error of the system. A load of system shows a performance of overall translation and rotation of the drum at different speeds. An error of the system is measured from forward and reverse direction by increasing and decreasing the number of turns with constant speed. A system has an average load consumption along a long stroke of cable winding which has no significant problem on the screw platform. Multiple turns have low error value in specific and continuous turn in forward and reverse motion. A new cable driving system is proved in precision movement. The fleet angle is eliminated in new mechanism. Along with a constraint motion, there is no significant change in load consumption. An error is low value in a different direction of movement. Hence, a new design of cable transmission can perform in high performance and small size of the system.

Motion control applications: observer based DC motor parameters estimation for novices Branesh M Pillai; Jackrit Suthakorn
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 10, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.

Design and development of sensorless based 5-DOF bilaterally controlled surgical manipulator: A prototype Sakol Nakdhamabhorn; M. Branesh Pillai; Jackrit Suthakorn
Bulletin of Electrical Engineering and Informatics Vol 10, No 2: April 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i2.2331

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

The development of a virtual simulator for a novel design surgical tool in endoscopic endonasal transsphenoidal surgery Nantida Nillahoot; Branesh M. Pillai; Sorayouth Chumnanvej; Jackrit Suthakorn
Bulletin of Electrical Engineering and Informatics Vol 10, No 3: June 2021
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v10i3.3037

Endoscopic endonasal transsphenoidal surgery (EETS) is a standard procedure to treat the pituitary adenoma, a tumor in the pituitary gland that causes malfunction of hormones. Although the method is substantially minimal invasive, the surgeon may encounter intricacies. The major challenges are narrow surgery pathway, limited working area, lack of case studies for practicing, steep learning curve owing to the intricate steps, and the tool insertion risk. To ease the neurosurgeons, this research focuses on the development and testing of the surgical simulator based on the pathway guidance and the interchangeable surgical instrument tooltip. The system was tested in human cadaver-based experiments with interchangeability in terms of function and the performance of the simulator in terms of the benefits. The experiments demonstrate the augmentation in the learning skill of the user through the simulator based on the completion time assessment and the error reduction. Furthermore, the satisfaction level of the interchangeable surgical tool, which was found using sliding switch and gripper scored 71.40%, the interchangeable tooltip function, which is a novel function to participants scored 85.6% and the practical use had 77%. The geometric aspect of the interchangeable tool scored lowest (62.80%) and was found to be moderate among the neurosurgeons.

Co-Authors Branesh M Pillai Branesh M. Pillai Chawaphol Direkwatana Chumpon Wilasrusmee M. Branesh Pillai Nantida Nillahoot Preedipat Sattayasoonthorn Sakol Nakdhamabhorn Sorayouth Chamnanvej Sorayouth Chumnanvej

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