CN114681059A

CN114681059A - Surgical robot device and load compensation method for surgical robot device

Info

Publication number: CN114681059A
Application number: CN202111635734.3A
Authority: CN
Inventors: 林囿安; 金世罗; 尹斗镐; 尹永一; 金亨周
Original assignee: Meere Co Inc
Current assignee: Meere Co Inc
Priority date: 2020-12-30
Filing date: 2021-12-29
Publication date: 2022-07-01

Abstract

The invention provides a surgical robot device and a load compensation method for the surgical robot device. The invention comprises the following steps: a base pillar; a robot arm unit having a plurality of arms; a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar; a load compensation unit having a constant load spring and a motor, connected with the connector unit, and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; and a controller that adjusts a torque of the motor according to a height of the connector unit.

Description

Surgical robot device and load compensation method for surgical robot device

Technical Field

The present invention relates to a surgical robot apparatus and a load compensation method for the surgical robot apparatus.

Background

The surgical robot refers to a robot having a function capable of replacing a surgical action of a surgeon. The surgical robot has the advantages of accurate and precise movement compared with a human body and capability of performing remote surgery. Surgical robots currently being developed worldwide include skeletal surgical robots, laparoscopic surgical robots, stereotactic surgical robots, and the like.

A surgical robot apparatus is generally composed of a master console and a slave robot. When the operator operates a joystick (e.g., a handle) provided in the main console, a robot arm coupled to the slave robot or an instrument held by the robot arm is operated to perform an operation.

The foregoing background art is the technical information that the inventors have held or obtained during the derivation of the present invention in order to derive the present invention, and cannot be said to be necessarily the publicly known art that has been disclosed to the general public before the application of the present invention.

Disclosure of Invention

Technical subject

The invention aims to provide a surgical robot device and a load compensation method of the surgical robot device, which can simply and quickly compensate the load of a mechanical arm structure to improve the safety.

Technical scheme

One aspect of the present invention provides a surgical robotic device comprising: a base pillar; a robot arm unit having a plurality of arms; a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar; and a load compensation unit connected with the connector unit and applying a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit.

Another aspect of the present invention provides a surgical robotic device comprising: a base pillar; a robot arm unit having a plurality of arms; a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar; a load compensation unit having a constant load spring and a motor, connected with the connector unit, and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; and a controller that adjusts a torque of the motor according to a height of the connector unit.

Yet another aspect of the present invention provides a surgical robotic device comprising: a base pillar; a robot arm unit having a plurality of arms; a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar; a load compensation unit having a constant load spring and a motor, connected with the connector unit, and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; and a controller that calculates first data regarding a magnitude and a direction of the torque generated by the motor according to a height of the connector unit so that the load compensation unit provides a constant compensation force.

Still another aspect of the present invention provides a load compensation method of a surgical robot apparatus to which a load compensation unit having a constant-load spring and a motor is attached, the load compensation method of the surgical robot apparatus including: measuring a first height of a mechanical arm unit additionally arranged on the base column; a step of measuring the magnitude and direction of the torque to be generated by the motor at the first height so that the load compensation unit provides a preset compensation force; measuring a second height of the robot arm unit attached to the base column; a step of measuring the magnitude and direction of the torque to be generated by the motor of the load compensation unit at the second height so that the load compensation unit provides a preset compensation force; storing data on the torque of the motor measured at the first height and the second height in a data storage unit as first data; and a step in which the controller adjusts the magnitude and direction of the torque of the motor according to the height of the robot arm unit based on the data stored in the data storage section if the robot arm unit moves on the base column.

Effects of the invention

According to the surgical robot apparatus and the load compensation method of the surgical robot apparatus of the present invention, the load can be compensated to improve the safety of the entire apparatus. The load compensation unit provides a constant compensation force to the connector, and thus the surgical robot apparatus can be prevented from being tilted to one side in operation, and the operation can be safely performed.

According to the surgical robot apparatus and the load compensation method of the surgical robot apparatus of the present invention, the output of the load compensation unit can be simply controlled. The controller can estimate the data to be output by the first motor in all the sections based on the data to be output by the first motor at the heights of a plurality of places, and can calculate and estimate the output of the first motor simply and quickly.

Drawings

Fig. 1 is a plan view illustrating a surgical robot system including a surgical robot apparatus according to an embodiment of the present invention.

Fig. 2 is a view showing the surgical robot device of fig. 1.

Fig. 3 is a perspective view illustrating the load compensation unit of fig. 2.

Fig. 4 is a sectional view showing an assembled relationship of the driving pulley and the wire rope of fig. 3.

Fig. 5 and 6 are block diagrams showing a part of the configuration of the surgical robot apparatus of fig. 2.

Fig. 7 is a graph illustrating a compensation force generated by the load compensation unit of fig. 3.

Fig. 8 to 10 are sequence diagrams illustrating a load compensation method of a surgical robot apparatus according to another embodiment of the present invention.

Fig. 11 is a modification of the surgical robot apparatus of fig. 2.

Fig. 12 is a view showing a surgical robot apparatus according to another embodiment of the present invention.

Fig. 13 is a diagram showing a modification of the surgical robot apparatus shown in fig. 12.

Fig. 14 is a diagram showing another modification of the surgical robot apparatus in fig. 12.

Reference numerals

50: controller

60: data storage unit

100: surgical robot device

110: main body

120: foundation column

130: robot arm unit

140: connector unit

150: load compensation unit

Detailed Description

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. However, the present invention is not limited to the specific embodiments, and all modifications, equivalents, and alternatives included in the spirit and technical scope of the present invention are to be understood as included therein. In describing the present invention, the same reference numerals are used for the same components even though they are shown in different embodiments.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terminology is used for the purpose of distinguishing one constituent element from another.

The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present application, the terms "comprising" or "having" should be interpreted as specifying the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and not excluding the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

The present invention will be described in detail below with reference to the embodiments thereof shown in the accompanying drawings.

Hereinafter, the surgical robot apparatus can be applied to various industrially available robots. The present invention can be applied to various forms of robot devices and robot systems, for example, industrial robots, medical robots, mobile robots, and the like. That is, the surgical robot apparatus of the present invention is not limited to a specific form, place, or use, and may be applied to various configurations in which a plurality of links or arms are connected. For convenience of explanation, the following description will be made mainly of a case where the robot is mounted on a mobile phone.

Fig. 1 is a plan view showing a surgical robot system 1 including a surgical robot apparatus according to an embodiment of the present invention.

Referring to fig. 1, a surgical robot system 1 includes a surgical robot apparatus 10 that performs a surgery on a patient S lying on an operating table 2, and a main control table 20 that allows an operator O to remotely manipulate the surgical robot apparatus 10. In addition, the surgical robot system 1 may include an imaging trolley 30. The assistant a can confirm the progress of the operation on the display unit 35 of the imaging carriage 30.

The surgical robot device 10 may include more than one robot arm unit 11. In general, a robot arm means a device having a function similar to that of a human arm and/or wrist and capable of attaching a given tool to a wrist portion. In the present specification, the robot arm unit 11 may be defined as a concept including all components such as an upper arm, a lower arm, a wrist, and an elbow, and surgical instruments coupled to the wrist. The robot arm unit 11 of the surgical robot device 10 may be embodied to have multiple degrees of freedom and be driven.

The robot arm unit 11 may include, for example, a surgical instrument 12 inserted into a surgical site of the patient S, a swing drive unit configured to rotate the surgical instrument 12 in a course (yaw) direction according to a surgical position, a pitch drive unit configured to rotate the surgical instrument in a pitch direction orthogonal to a rotational drive of the swing drive unit, a transfer drive unit configured to move the surgical instrument 12 in a longitudinal direction, a rotational drive unit configured to rotate the surgical instrument, and a surgical instrument drive unit configured to be attached to an end of the surgical instrument 12 and to incise or intercept a surgical lesion. However, the constitution of the robot arm unit 11 is not limited thereto, and it should be understood that such an example is not intended to limit the scope of the present invention. A detailed description of actual control processes of the robot arm unit 11 such as rotation and movement in the corresponding direction by the operation of the operation lever by the operator O will be omitted.

One or more surgical instruments 12 for displaying the surgical site as an image on the display unit 35 may be used in the surgical robot apparatus 10 to perform the surgery on the patient S, or the surgical robot apparatus 10 may be embodied as a separate surgical robot apparatus. In addition, as described above, the embodiments of the present invention can be generally applied to operations using various kinds of surgical endoscopes (e.g., a thoracoscope, an arthroscope, a rhinoscope, etc.) other than a laparoscope.

The main console 20 and the surgical robot apparatus 10 are not necessarily separated from each other and may be integrally configured as a single unit without being physically separated from each other. However, for convenience of explanation, the following description will be given mainly of the case where the main console 20 is physically separated from the surgical robot device 10.

The main console 20 includes an operation lever (not shown) and a display member (not shown). The main console 20 may further include an external display device 25 provided on the outside to display the state of the operator O.

In detail, the main console 20 is provided with operation levers (not shown) so that the operator O can hold and operate with both hands. The operation lever may be embodied by two or more handles, and an operation signal generated by the operation of the handle by the operator O is transmitted to the surgical robot device 10 through a wired or wireless communication network, and the robot arm unit 11 is controlled. That is, the surgical operation such as the displacement, rotation, and cutting operation of the arm unit 11 can be performed by the handle operation of the operator O.

For example, the operator O can operate the robot arm unit 11, the surgical instrument 12, and the like using a lever in the form of a handle. Such a joystick may have various mechanical configurations depending on the operation mode thereof, such as a main handle for operating the operation of the robot arm unit 11 or the surgical instrument 12, and various input means such as a joystick, a keypad, a trackball, and a touch panel attached to the main console 20 for operating the overall system function, and may be provided in various forms for operating the robot arm unit 11 of the surgical robot apparatus 10 and/or other surgical equipment. Here, the operation lever is not limited to the shape of the handle, and may be applied without any limitation as long as it is a form capable of controlling the motion of the robot arm unit 11 through a network such as a wired or wireless communication network.

In the display means of the main console 20, an image captured by the surgical instrument 12 is displayed as an image. In the display means, a predetermined virtual operation panel may be displayed together with or independently of the image captured by the surgical instrument 12.

The display means may be provided in various forms in which the operator O can confirm the image. For example, display devices may be installed corresponding to both eyes of the operator O. As another example, the surgical operation apparatus may be configured with one or more displays, and information required for the surgical operation may be individually displayed on each display. The number of display members may be variously determined according to the type or kind of information to be displayed, and the like. The main console 20 will be described in more detail below.

The video cart 30 is mounted to the surgical robot apparatus 10 or the main console 20 with a space therebetween, and the progress of the surgery can be confirmed externally via the display unit 35. The image displayed on the display unit 35 may be the same as the image displayed on the main console 20 of the operator O. The assistant a can assist the operator O in the surgical operation while checking the image of the display unit 35. For example, the assistant a may replace the surgical instrument 12 in the instrument carriage 3 according to the progress state of the operation.

The central control unit 40 is connected to the surgical robot device 10, the main console 20, and the video cart 30, and can receive and transmit signals of the devices. The central control unit 40 may be attached to any one of the surgical robot device 10, the main console 20, and the video cart 30, or may be attached independently.

Fig. 2 is a view showing the surgical robot device of fig. 1.

Referring to fig. 2, the surgical robot apparatus 100 may include a main body 110, a base post 120, a robot arm unit 130, a connector unit 140, and a load compensation unit 150. The surgical robot apparatus 100 may be applied to the surgical robot apparatus 10 of fig. 1.

The present invention provides a surgical robot apparatus including: a base pillar; a robot arm unit having a plurality of arms; a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar; and a load compensation unit connected with the connector unit and applying a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit.

Further, the load compensation unit includes a wire rope connected to the connector unit, a constant load spring connected to the wire rope, and a first motor around which the part of the wire rope is wound.

In addition, the first motor may generate a torque in a forward or reverse direction so as to adjust the elastic force deviation of the constant load spring.

In addition, the sum of the elastic force of the constant load spring and the torque of the first motor may be kept constant.

The load compensation unit may further include a drive pulley attached to a rotating shaft of the first motor and having a guide groove in which the wire rope is inserted in an outer circumferential surface.

In addition, the constant load spring may be installed to be spaced apart from the first motor.

In addition, the method may further include: a data storage unit that stores data regarding a magnitude and a direction of a torque generated by the first motor according to a height of the connector unit; a first sensor unit measuring a height of the connector unit; and a controller that switches an electric signal relating to the magnitude and direction of torque to be generated by the first motor into the first motor based on the height of the connector unit measured by the first sensor unit and data stored in advance in the data storage unit.

In addition, the load compensation unit may include a wire rope connected to the connector unit, a constant load spring connected to the wire rope, and a second motor mounted to the connector unit and moving the connector unit together.

In addition, the second motor may be connected with a guide member extending in a height direction of the base column.

In addition, the second motor outputs torque to adjust the height of the connector unit, and the torque may be adjusted in a forward or reverse direction to adjust the deviation of the elastic force of the constant load spring.

In addition, a weight unit attached to the connector unit may be further included.

The main body 110 may be disposed at a lower side of the surgical robot apparatus 100. The main body 110 may form a basic frame of the surgical robot apparatus 100, and may support the base post 120.

As an example, the body 110 may be fixedly installed on the ground or an external structure, etc. As another example, the main body 110 may be mounted at a lower portion with a moving member (not shown), such as wheels, movable by an operator O or an assistant a.

The base pillar 120 is connected to the body 110 and may extend in a height direction. The base column 120 is attached with a robot arm unit 130, and a driving part (not shown) may be installed to move the robot arm unit 130 in a height direction. The number of pillars 120 is not limited to a specific number, and at least one or more pillars 120 may be disposed on the body 110.

A robot arm unit 130 may be attached to the base cylinder 120. In the drawings, an example in which one robot arm unit 130 is additionally mounted on the base column 120 is shown, but the present invention is not limited thereto, and a plurality of robot arm units 130 may be mounted. For example, a robot arm unit 130 may be installed at each side of the base column 120. In addition, at least a plurality of robot arm units 130 may be installed according to the height of the base column 120.

The robot Arm unit 130 may include a plurality of joints and an Arm (Arm) or a link (link) connecting the joints.

The surgical robotic device 10 may be divided into a Passive Area (p.a) and an Active Area (Active Area: A.A). In the arm unit 130, a part may be defined as a passive region p.a, and another part may be defined as an active region A.A. A passive arm may be installed at the passive zone p.a and an active arm may be installed at the active zone A.A.

The passive zone p.a and the active zone A.A are differentiated based on the area driven by the surgical robotic system 1 during surgery. In detail, a passive arm is installed in the passive zone p.a, and only the passive arm is driven before the operation, and the active arm is not driven at this time. The passive zone p.a is a region where the position of the surgical robot system 1 is set before performing surgery, and the operator O or an assistant a may drive the passive arm to set the position of the active arm.

The active region A.A mounts the active arm and only drives the active arm during a procedure, and the surgical device 12 may have multiple degrees of freedom to perform a procedure without driving the passive arm. That is, the active zone A.A is the portion that is driven during a surgical procedure, and the operator O can operate the master console to drive the surgical instrument 12. At this time, the surgical instrument 12 may perform Yaw (Yaw) Motion, Pitch (Pitch) Motion, and Roll (Roll) Motion while maintaining a state of being fixed at a preset RCM (Remote Center of Motion) point.

The passive Arm includes a plurality of joints and an Arm (Arm) or link (link) connecting the joints. Each joint performs rotational (rotation) motion or linear (rectilinear) motion, and this motion generates overall motion of the driven arm. The joint may be provided with an actuator (actuator), a decelerator, a sensor, a brake (brake), a balance weight (counterweight), and the like.

The drive mainly uses an electric motor, which may include a BDC (brushed DC) motor, a BLDC (brushless DC) motor, an AC (alternating current) motor, etc. The reduction gear can be embodied as a gear (gear) like a harmonic drive, a planetary gear, etc. The sensor may be an encoder (encoder), resolver (resolver) or the like for measuring the movement of the joint, and may include a force/torque (force/torque) sensor for measuring a force or a torque acting on a link connected to each joint. The brake is a device for restricting the movement of the joint, and may include a form in which the movement of the actuator is restricted by being connected to the actuator, a form in which the movement of the link is restricted by being connected to the link, or both forms, with a solenoid (solenoid) and a spring as main components. The counterbalance is a device that compensates for the weight of the mechanical arm, and provides a force that can offset the weight of the mechanical arm in a static (static) state.

The active arm is provided with a surgical instrument 12 or an endoscope (not shown) attached to the distal end portion thereof, and the surgical instrument 12 or the endoscope is movable in the body of the patient while driving each joint of the active arm during the operation. The active Arm includes a plurality of joints and an Arm (Arm) or link (link) connecting the joints. Each joint performs a rotational (rotation) motion or a linear (translational) motion, and the overall motion of the master arm 120 is generated by this motion. The joint may be provided with an actuator (actuator), a decelerator, a sensor, a brake (brake), a balance weight (counterweight), and the like. The respective joints may be substantially the same in configuration as the joints of the driven arm, and may be arranged differently.

The connector unit 140 may connect the robot arm unit 130 and the base post 120 and move in the height direction of the base post 120.

The robot arm unit 130 may be supported to the connector unit 140. In the drawings, one robot arm unit 130 is shown to be mounted on the connector unit 140, but it is not limited thereto, and a plurality of robot arm units 130 may be mounted. However, for convenience of explanation, an embodiment in which one robot arm unit 130 is mounted on the connector unit 140 will be mainly described below.

The connector unit 140 may be retrofitted with a weighted member 145. A weight member 145 having a predetermined weight may be additionally installed at one side of the connector unit 140 to improve stability of the robot arm unit 130. The weight member 145 is attached to the connector unit 140 to prevent the robot arm unit 130 having a considerable weight from being inclined to one side, and the surgical robot apparatus 100 can stably drive the robot arm unit 130.

The connector unit 140 may linearly move along the guide member 125 of the base post 120. The connector unit 140 may be connected to the base post 120 by a mechanical drive mechanism. For example, the pulley, connector unit 140 may be connected to the base column 120 and moved along the base column 120 by a transmission mechanism such as a gear, a chain, a belt.

The connector unit 140 may be connected to the load compensation unit 150, and receive a compensation force for compensating a load of at least one of the robot arm unit 130 and the connector unit 140 from the load compensation unit 150.

Fig. 3 is a perspective view illustrating the load compensation unit 150 of fig. 2, and fig. 4 is a sectional view illustrating an assembled relationship of the driving pulley 154 and the wire rope 152 of fig. 3.

Referring to fig. 2 to 4, the load compensation unit 150 may apply a compensation force to the connector unit 140 to compensate for a constant load of at least one of the robot arm unit 130 and the connector unit 140. The load compensation unit 150 may be connected with the connector unit 140 and pulled toward the upper side of the connector unit 140 to provide a compensation force to the connector unit 140.

The load compensation unit 150 may include a constant load spring 151, a wire rope 152, a first motor 153, a drive pulley 154, and a first pulley 155. The load compensation unit 150 may provide a compensation force to the connector unit 140 by the elastic force generated by the constant load spring 151 and the output of the first motor 153. The load compensation unit 150 may provide a compensation force in an opposite direction of the load of the arm unit 130 and the connector unit 140, i.e., in an upward direction, preventing the arm unit 130 from sagging.

The constant load spring 151 may be defined as an elastic member that provides a constant elastic force regardless of a form change. However, the elastic force generated by the constant load spring 151 varies depending on the length of the constant load spring 151, and it is necessary to reduce such variation. As will be explained below.

The constant load spring 151 is connected to a wire rope 152 at a connection end 151 a. The constant load spring 151 may have a substantially spiral wound form. The length of the constant load spring 151 may vary according to the height of the connector unit 140 connected with the wire rope 152.

A constant load spring 151 may be installed at the main body 110 to provide an elastic force corresponding to a preset compensation force F. The constant load spring 151 may be attached to the main body 110 and advance or retreat along the upper surface of the main body 110.

The constant load spring 151 can provide a constant elastic force only through a constant interval. Therefore, the constant load spring 151 can be attached to the surgical robot apparatus 100 in a state where the first section l is exposed. Referring to fig. 5, after the constant load spring 151 elongates the first section l, the elastic force enters the constant section. That is, the constant load spring 151 provides a constant load in principle even if pulled longer than the first interval l. However, the elastic force f1 provided by the constant load spring 151 is deviated, and the torque of the first motor 153 is applied in order to remove the deviation.

The length of the constant load spring 151 may be adjusted corresponding to the height variation of the connector unit 140. In fig. 3, the connector unit 140 may move by a height L, and the constant load spring 151 may also be stretched within the length L corresponding to the height change of the connector unit 140.

The cable 152 is connected to the connector unit 140. The cable 152 may have a wire form as shown in figure 3. But not limited thereto, the wire rope 152 may be provided in various forms for transmitting power.

One end of the wire rope 152 may be connected to the constant load spring 151 and the other end may be connected to the connector unit 140. A part of the wire rope 152 may be wound around the driving pulley 154, and may transmit the torque generated by the first motor 153 connected to the driving pulley 154.

The first motor 153 may receive the transmitted electric signal from the controller 50 and adjust an output, and the load compensation unit 150 may provide a constant compensation force. The torque generated by the first motor 153 may adjust the deflection of the constant load spring 151 and provide a constant compensation force F to the connector unit 140.

If the height of the connector unit 140 is adjusted, the length of the constant load spring 151 is varied according to the height of the connector unit 140. The connector unit 140 and the robot arm unit 130 have a constant load, and thus it is preferable that the load compensation unit 150 provides a constant compensation force to the connector unit 140. The first motor 153 may generate a torque F2 of a set direction and magnitude, cancel the deviation of the elastic force F1 provided by the constant load spring 151, and transmit a constant compensation force F to the connector unit 140.

The first motor 153 may be mounted to the body 110 and disposed spaced apart from the constant load spring 151. The first motor 153 and the constant load spring 151 are disposed to be spaced apart from each other, so that the torque f2 of the first motor 153 can adjust the deviation of the elastic force f1 generated by the constant load spring 151.

If the first motor is integrally formed with the constant load spring, it is difficult for the first motor to accurately measure the deviation of the elastic force of the constant load spring caused as the length is changed. For example, if the shaft of the constant load spring is identically connected to the rotation shaft of the motor, the torque output from the first motor affects the length of the constant load spring, and thus it is difficult for the first motor to accurately measure the deviation of the constant load spring, and there is a limitation in providing a constant compensation force.

A drive pulley 154 is connected to the rotating shaft 153a of the first motor 153, and a part of the section of the wire rope 152 can be wound around the drive pulley 154. The magnitude and direction of the torque f2 of the first motor 153 may be adjusted according to a control signal of the controller 50. If the output of the first motor 153 is transmitted to the cable 152 through the driving pulley 154, the cable 152 may pull the connector unit 140 with a constant compensation force F which is the sum of the elastic force F1 and the torque F2.

The drive pulley 154 is connected to a rotating shaft 153a of the first motor 153, and can wind the cable 152 around the outer circumferential surface. The drive pulley 154 can receive the transmitted torque from the first motor 153 and transmit it to the cable 152.

The drive pulley 154 may have a guide groove 154a disposed on the outer circumferential surface. The cable 152 is inserted into the guide groove 154a, and the torque f2 of the first motor 153 can be transmitted to the cable 152 by means of the frictional force between the cable 152 and the guide groove 154 a.

The guide groove 154a may extend along the outer circumferential surface of the drive pulley 154 and have a spiral shape. The guide grooves 154a may be arranged at a predetermined distance.

If the length of the constant load spring 151 is changed as the height of the connector unit 140 is changed, the wire rope 152 moves along the guide groove 154 a. After the height of the connector unit 140 is set, the first motor 153 outputs a pre-stored torque. At this time, the position of the wire 152 does not move, and the output generated by the first motor 153 is transmitted to the wire 152 through the guide groove 154 a.

As an example, in order to provide a constant compensation force F, even if the first motor 153 is driven, the driving pulley 154 is not rotated, and the wire rope 152 may receive the transmitted torque in a state of being wound around the driving pulley 154.

As another example, to provide a constant compensation force F, if the first motor 153 is driven, the drive pulley 154 may be slightly rotated by the output of the first motor 153. However, even if the drive pulley 154 is slightly rotated, the length of the constant load spring 151 does not change, and the position of the wire rope 152 does not change. That is, the driving pulley 154 can be rotated within a constant range against the frictional force between the wire cable 152 and the surface of the guide groove 154 a.

First pulley 155 may route cable 152. First pulley 155 is attached to base 120 and can be routed through cable 152 so that cable 152 pulls connector unit 140 upward.

The first sensor unit 160 may measure the height of the connector unit 140. The first sensor unit 160 may be attached to the base post 120 or to the connector unit 140. The first sensor unit 160 is not limited to a specific sensor, and may be configured with various components capable of measuring height. The first sensor unit 160 is not limited to a mechanical device, and may be software capable of calculating the height.

The second sensor unit 170 may measure the output of the first motor 153. In order to provide a constant compensation force F from the load compensation unit 150 according to the height of the connector unit 140, the second sensor unit 170 may measure the magnitude and direction of the torque F2 generated by the first motor 153. The second sensor unit 170 may measure an output voltage, a current, a number of revolutions, etc. of the first motor 153, sensing an output torque of the first motor 153. The second sensor unit 170 is not limited to a mechanical device, and may be software capable of calculating torque.

Fig. 5 and 6 are block diagrams illustrating a part of the configuration of the surgical robot apparatus of fig. 2, and fig. 7 is a graph illustrating a compensation force generated by the load compensation unit 150 of fig. 3.

Referring to fig. 5 to 7, the controller 50 may control the load compensation unit 150 such that the load compensation unit 150 provides a constant compensation force F to the connector unit 140. The controller 50 may adjust the torque of the first motor 153 according to the height of the connector unit 140.

The data measured by the first and

second sensor units

160 and 170 are stored in the data storage unit 60, and the controller 50 applies a control signal to the first motor 153 based on the data, so that the load compensation unit 150 can transmit a constant compensation force F to the connector unit 140.

In order to provide a constant compensation force from the load compensation unit 150 according to the height of the connector unit 140, the data storage part 60 may store data on the magnitude and direction of the torque f2 that the first motor 153 needs to generate.

The controller 50 may adjust the magnitude or direction of the torque f2 of the first motor 153 based on the data stored by the data storage portion 60.

The loads of the robot arm unit 130 and the connector unit 140 have been determined in advance, and thus the compensation force F to be provided by the load compensation unit 150 has also been determined.

The first sensor unit 160 measures whether the connector unit 140 is located at the first height H1. The second sensor unit 170 measures the torque f2 output by the first motor 153. The constant load spring 151 provides a spring force F1 at a first height H1, but the spring force F1 does not correspond to the compensation force F due to the deflection. Since the torque F2 eliminates the deviation, the compensation force F provided by the load compensation unit 150 at the first height H1 becomes constant.

If the height of the connector unit 140 is changed to the second height H2, the first sensor unit 160 measures whether the connector unit 140 is located at the second height H2. The second sensor unit 170 measures the torque output from the first motor 153. The constant load spring 151 provides the spring force F1 at the second height H2, but the spring force F1 does not correspond to the compensation force F due to the deviation. Since the torque F2 eliminates the deviation, the compensation force F provided by the load compensation unit 150 at the second height H2 becomes constant.

The torque f2 measured at the first height H1 and the second height H2 may have information about magnitude and direction, respectively. The information may be stored as first data in the data storage unit 60.

During surgery using the surgical robot apparatus 100, if the operator O or an assistant a adjusts the height of the connector unit 140, the first sensor unit 160 measures the height of the connector unit 140 and provides information regarding this to the controller 50.

The controller 50 may control the torque output of the first motor 153 based on the data stored in the data storage part 60. That is, the magnitude and direction of the torque previously stored by the controller 50 are controlled according to the height of the connector unit 140, whereby the load compensation unit 150 can provide the constant compensation force F to the connector unit 140 even if the height is changed during the use of the surgical robot apparatus 100.

As an example, the surgical robot apparatus 100 may first acquire the first data and then store the first data in the data storage unit 60. During the assembly of the surgical robot apparatus 100, the torque to be generated by the first motor 153 is calculated and stored from each position of the connector unit 140. Then, the controller 50 may instantaneously control the output of the first motor 153 using the first data stored in advance during the operation using the surgical robot apparatus 100. That is, the surgical robot apparatus 100 may measure and store the output of the first motor 153 in advance.

As another example, if the height of the connector unit 140 is changed, the surgical robot apparatus 100 may control the output of the first motor 153 accordingly. The surgical robot apparatus 100 may sense the magnitude and direction of the torque to be output from the first motor 153 in real time in order to provide the constant compensation force F, and control the first motor 153 based on the sensed data.

The controller 50 may have an output calculation section 51 and an output inference section 52. The output calculating part 51 may calculate torques to be output from the height first motor 153 at a plurality of points preset in the connector unit 140. The output estimating unit 52 may estimate the torque to be output by the first motor 153 at all heights of the connector unit 140 based on the data calculated by the output calculating unit 51.

The controller 50 sets a first height H1 and a second height H2 of the connector unit 140 in the base post 120. The output calculating part 51 may generate first data regarding the magnitude and direction of the torque F2 of the first motor 153 to keep the compensating force F of the load compensating unit 150 constant at the first height H1 and the second height H2, respectively. The output calculation portion 51 may calculate the output of the first motor 153 at a plurality of points using the first sensor unit 160 and the second sensor unit 170.

The controller 50 may infer second data regarding the size and direction of the first motor 153 at an unmeasured height based on the first data measured at each height of the robot arm unit 130. The output estimating unit 52 may estimate the torque f2 to be output by the first motor 153 at a point not calculated by the output calculating unit 51. For example, the output estimation section 52 may generate second data that estimates the magnitude and direction of the torque f2 of the section first motor 153 between the first height H1 and the second height H2.

The output inference section 52 may infer the second data using the first data. The output inference section 52 may infer the second data in a variety of ways. For example, the output inference section 52 may infer using a data inference algorithm, an approximation equation, a lookup table (lookup table), an interpolation method, and a combination thereof.

The surgical robot apparatus 100 according to the present invention can compensate for the load to improve the safety of the entire apparatus. The load compensation unit 150 provides a constant compensation force F to the connector unit 140, and thus can prevent the surgical robot apparatus 100 from being tilted to one side during operation, and safely perform a surgery.

In the surgical robot apparatus 100 according to the present invention, the load compensation unit 150 may provide the constant compensation force F even if the robot arm unit 130 varies in height. Even if the elastic force f1 provided by the constant load spring 151 is deviated, the load compensation unit 150 can provide a constant compensation force to the connector unit 140 since the deviation of the elastic force f1 is eliminated by the torque f2 of the first motor 153.

The surgical robot apparatus 100 according to the present invention can rapidly provide a constant compensation force to the connector unit 140 when the height of the robot arm unit 130 is changed. The surgical robot apparatus 100 stores data on the torque to be output by the first motor 153 in the data storage unit 60 in advance according to the height of the connector unit 140. The operator O rapidly drives the first motor 153 using the pre-stored data while performing a surgery using the surgical robot apparatus 100, and thus the load compensation unit 150 can rapidly provide a constant compensation force.

The surgical robot apparatus 100 according to the present invention may simply control the output of the load compensation unit 150. The controller 50 can estimate data to be output from the first motor 153 in the entire section based on data to be output from the first motor 153 at a plurality of positions, and can calculate and estimate the output of the first motor 153 easily and quickly.

Referring to fig. 8, a load compensation method of a surgical robot apparatus may include: a step S10 of setting an output of the first motor in order to provide a constant compensation force from the load compensation unit; and a step S20 of the load compensation unit generating a constant compensation force when adjusting the height of the robot arm unit.

In step S10 of setting the output of the first motor in order to provide a constant compensation force from the load compensation unit, data regarding the magnitude and direction of the torque f2 to be output by the first motor 153 according to the height of the robot arm unit 130 or the connector unit 140 may be calculated and inferred before performing a surgery using the surgical robot apparatus 100.

Specifically, referring to fig. 9, the step S10 of setting the output of the first motor in order to provide a constant compensation force from the load compensation unit may include: a step S11 of measuring a first height of the robot arm unit attached to the base column; a step S12 of measuring the magnitude and direction of the torque to be generated by the motor at the first altitude for the load compensation unit to provide a preset compensation force; a step S13 of measuring a second height of the robot arm unit attached to the base column; a step S14 of measuring the magnitude and direction of the torque to be generated by the motor of the load compensation unit at the second height in order for the load compensation unit to provide a preset compensation force; step S15 of storing data on the torque of the motor measured at the first and second heights as first data in a data storage section.

In step S11 of measuring the first height of the robot arm unit mounted on the base pillar, the first sensor unit 160 measures the first height H1.

In step S12, which measures the magnitude and direction of the torque that the motor needs to generate at the first altitude in order for the load compensation unit to provide the preset compensation force, the second sensor unit 170 may calculate the output of the first motor 153. The output calculating part 51 may calculate the magnitude of the current to be output by the first motor 153 and calculate the torque value of the first motor 153 to be output by the first motor 153 at the first height H1.

In the step S13 of measuring the second height of the robot arm unit mounted on the base pillar, the first sensor unit 160 measures the second height H2 different from the first height H1.

In step S14, which measures the magnitude and direction of the torque to be generated by the motor of the load compensation unit at the second height in order for the load compensation unit to provide a preset compensation force, the second sensor unit 170 may calculate the output of the first motor 153. The output calculation unit 51 may calculate the magnitude of the current to be output from the first motor 153, and calculate the torque value of the first motor 153 to be output from the first motor 153 at the second height H2.

In step S15 of storing data regarding the torque of the motor measured at the first height and the second height as first data in a data storage section, the first data calculated at the first height H1 and the second height H2 are stored in the data storage section 60.

In addition, the controller 50 may perform the steps S11 to S15 a plurality of times, obtaining first data regarding the magnitude and direction of the torque f2 to be output by the first motor 153 at various heights.

The step S20 of the load compensation unit generating a constant compensation force is applied by the operator O and the assistant a when actually using the mobile phone robot while adjusting the height of the robot arm unit.

The operator O or an assistant a presses a switch (not shown) to move the passive arm in the height direction in order to adjust the height of the robot arm unit 130. At this time, the height of the connector unit 140 may be adjusted.

The first sensor unit 160 senses the height of the connector unit 140, and the controller 50 controls the first motor 153 so as to provide a constant compensation force F at the sensed height of the connector unit 140. The controller 50 controls the first motor 153 according to the data stored in the data storage part 60 to remove the deviation of the elastic force F1 of the constant load spring 151, and the load compensation unit 150 provides the constant compensation force F to the connector unit 140.

Referring to fig. 10, a load compensation method of a surgical robot apparatus may include: a step S21 of measuring first data on the magnitude and direction of the torque to be generated by the motor for each level of the robot arm unit attached to the base column; and a step S22 of inferring second data on the magnitude and direction of the torque to be generated by the zone motor between the respective altitudes, based on the first data.

In step S21 of measuring first data on the magnitude and direction of torque to be generated by the motors for each level of the robot arm unit attached to the base column, the magnitude and direction of torque to be output by the first motor 153 at a plurality of height points of the robot arm unit are calculated as shown in the aforementioned steps S11 to S14. The output calculation unit 51 of the controller 50 calculates the torque to be output by the first motor 153 at each level. Further, the controller 50 stores the calculated first data in the data storage unit 60.

In step S22 of inferring second data regarding the magnitude and direction of torque that the first motor 153 needs to generate at the section between the altitudes based on the first data, the magnitude and direction of torque that the first motor 153 needs to output at the altitudes that are not stored as the first data are inferred. The output inferring portion 52 of the controller 50 may infer the magnitude and direction of the torque to be output by the first motor 153 at a non-calculated location based on the first data.

For example, the output estimating unit 52 may estimate the magnitude and direction of the torque to be generated by the first motor 153 in the section between the first height H1 and the second height H2, calculate the estimated magnitude and direction as second data, and store the second data in the data storage unit 60.

As another example, the output estimation unit 52 may select various heights, and combine them to estimate the second data with high reliability. For example, the output calculation unit 51 calculates and stores the torque to be output by the first motor 153 at the heights H1, H2, H3, H4, and H5 as first data. The output inference section 52 may combine H1 to H5 to infer the height. H1 and H2 were selected and the second data between H1 and H2 were inferred, H1 and H4 were selected and the second data between H1 and H4 were inferred. The output estimation unit 52 may estimate various sections, combine the estimated second data, or estimate the second data again, and estimate the third data.

The output estimation unit 52 may estimate the third data by re-estimating the estimated second data and estimate the fourth data by re-estimating the third data, and the reliability of the data may increase as the number of estimations increases.

The load compensation method of the surgical robot device can compensate the load of the surgical robot device and improve the safety of the whole device. The load compensation unit 150 provides a constant compensation force F to the connector unit 140, and thus can prevent the surgical robot apparatus 100 from being tilted to one side during operation, and safely perform a surgery.

The load compensation method of the surgical robot apparatus may simply control the output of the load compensation unit 150. The controller 50 can estimate data to be output from the first motor 153 in the entire section based on data to be output from the first motor 153 at a plurality of positions, and can calculate and estimate the output of the first motor 153 easily and quickly. In addition, the controller 50 obtains data with high reliability, and thus can supply a constant compensation force F to the connector unit 140 through the output of the first motor 153.

Fig. 11 is a modification of the surgical robot apparatus of fig. 2.

Referring to fig. 11, the surgical robot apparatus 100A may include a main body 110, a base post 120, a guide member 125, a robot arm unit 130, a connector unit 140, a weight member 145, and a load compensation unit 150A. The surgical robot apparatus 100A differs from the surgical robot apparatus 100 described above in the arrangement of the load compensation unit 150A, and this will be mainly described below.

The load compensation unit 150A may include a constant load spring 151A, a wire rope 152, a first motor 153A, and a drive pulley 154A.

A constant load spring 151A may be disposed at the base post 120, and a wire rope 152 may connect the constant load spring 151A with the connector unit 140. The constant load spring 151A may be disposed at an upper end of the base cylinder 120.

The first motor 153A may be disposed between the constant load spring 151A and the connector unit 140. The first motor 153A is provided with a drive pulley 154A, and the torque of the first motor 153A can be transmitted to the cable 152.

In the surgical robot apparatus 100A according to the present invention, the load compensation unit 150A is disposed at the upper end of the base column 120, and a transmission path of the compensation force provided by the load compensation unit 150A can be shortened.

Fig. 12 is a diagram showing a surgical robot apparatus 200 according to another embodiment of the present invention.

Referring to fig. 12, the surgical robot apparatus 200 may include a main body 210, a base post 220, a robot arm unit 230, a connector unit 240, a weight member 245, a load compensation unit 250, a first sensor unit 260, and a second sensor unit 270.

The main body 210, the base column 220, the robot arm unit 230, the connector unit 240, the weight member 245, the first sensor unit 260, and the second sensor unit 270 of the surgical robot apparatus 200 are substantially the same as the main body 110, the base column 120, the robot arm unit 130, the connector unit 140, the weight member 145, the first sensor unit 160, and the second sensor unit 170 of the surgical robot apparatus 100 described above, and the load compensation unit 250 will be described below with emphasis on the description.

The load compensation unit 250 may include a constant load spring 251, a wire rope 252, a second motor 253, a driving member 254, and a guide member 255.

The end of the constant load spring 251 is connected to a wire rope 252, and the wire rope 252 may be routed through a first pulley 256 and a second pulley 257.

The second motor 253 may be mounted to the connector unit 240 to be movable together with the connector unit 240.

As an embodiment, the second motor 253 may generate a driving force in the height direction of the connector unit 240 while providing the torque f2 to adjust the deviation of the elastic force f 1.

If the second motor 253 is driven, the driving member 254 may be linearly moved along the guide member 255. The driving force output from the second motor 253 may move the connector unit 240 in the height direction.

Meanwhile, the second motor 253 may provide the torque f2 to eliminate the deviation of the elastic force f1 of the constant load spring 251. The controller 50 may control the output of the second motor 253 by using the torque data stored in advance in the data storage unit 60. Thereby, the compensation force F provided by the load compensation unit 250 can be kept constant even if the height of the connector unit 240 varies.

As another example, the second motor 253 may provide a torque to eliminate the deflection of the constant load spring 251. The driving source for adjusting the height of the connector unit 240 may be provided by other components, and the second motor 253 may remove only the deviation of the constant load spring 251.

After the height of the connector unit 240 is set, the controller 50 may control the output of the second motor 253 using data on the torque of the second motor 253 stored in advance in the data storage unit 60. At this time, even if the second motor 253 generates an output, the height of the connector unit 240 does not change because the output cancels the deviation of the elastic force f 1. Thus, even if the height of the connector unit 240 varies, the compensation force F provided by the load compensation unit 250 may be kept constant.

The surgical robot apparatus 200 according to the present invention can compensate for the load, improving the safety of the entire apparatus. The load compensation unit 250 provides a constant compensation force F to the connector unit 240, and thus can prevent the surgical robot apparatus 200 from being tilted to one side in operation, and safely perform a surgery.

In the surgical robot device 200 according to the present invention, the load compensation unit 250 may provide the constant compensation force F even if the height of the robot arm unit 230 is changed. Even if the elastic force f1 provided by the constant load spring 251 is deviated, the load compensation unit 250 can provide a constant compensation force to the connector unit 240 since the torque f2 of the second motor 253 cancels the deviation of the elastic force f 1.

The surgical robot apparatus 200 according to the present invention can rapidly provide a constant compensation force to the connector unit 240 when the height of the robot arm unit 230 is changed. The surgical robot apparatus 200 may store data on the torque to be output by the second motor 253 in the data storage unit 60 in advance according to the height of the connector unit 240. When the operator O performs an operation using the surgical robot apparatus 200, the second motor 253 is rapidly driven using the pre-stored data, and thus the load compensation unit 250 can rapidly provide a constant compensation force.

The surgical robot device 200 according to the present invention may provide a constant compensation force F to the connector unit 240 while the load compensation unit 250 adjusts the height of the connector unit 240. The second motor 253 of the load compensation unit 250 moves together with the connector unit 240, and eliminates the deviation of the constant load spring 251 while adjusting the height of the connector unit 240, so that the load compensation unit 250 can provide a constant compensation force F to the connector unit 240.

Referring to fig. 13, the surgical robot apparatus 200A may include a main body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250A. The surgical robot apparatus 200A differs from the surgical robot apparatus 200 described above in the arrangement of the load compensation unit 250A, and this will be mainly described below.

The load compensation unit 250A may include a constant load spring 251A, a wire rope 252, a second motor 253, a driving member 254, and a guide member 255.

A constant load spring 251A may be disposed at the body 210, and a wire rope 252 may connect the constant load spring 251A and the connector unit 240. The constant load spring 251A is disposed adjacent to the base post 220, and may extend along the base post 220 if the constant load spring 251A is stretched.

The load compensation unit 250A of the surgical robot apparatus 200A according to the present invention is disposed on the main body 210, and a transmission path of the compensation force provided by the load compensation unit 250A can be shortened.

Fig. 14 is a view showing another modification of the surgical robot apparatus of fig. 12.

Referring to fig. 12, the surgical robot apparatus 200B may include a main body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250B. The surgical robot apparatus 200B differs from the surgical robot apparatus 200 described above in the arrangement of the load compensation unit 250B, and this will be mainly described below.

A constant load spring 251B may be disposed at the base column 220, and a wire rope 252 may connect the constant load spring 251B with the connector unit 240. A constant load spring 251B may be disposed at an upper end of the base cylinder 220.

The second motor 253 may be installed at the connector unit 240 to be movable together with the connector unit 240.

In the surgical robot apparatus 200B according to the present invention, the load compensation unit 250 is disposed at the upper end of the base column 220, and a transmission path of the compensation force provided by the load compensation unit 250 can be shortened.

In the present specification, although the present invention has been described centering on the limited embodiments, various embodiments are possible within the scope of the present invention. Although not illustrated, equivalent devices may be directly incorporated into the present invention. Accordingly, the true scope of the invention should be determined from the following claims.

Claims

1. A surgical robotic device, comprising:

a base pillar;

a robot arm unit having a plurality of arms;

a connector unit that connects the robot arm unit and the base pillar and moves in a height direction of the base pillar;

a load compensation unit having a constant load spring and a motor, connected with the connector unit, and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; and

a controller that adjusts a torque of the motor according to a height of the connector unit.

2. The surgical robotic device of claim 1,

further comprising: a data storage part storing data on the magnitude and direction of torque to be generated by the motor in order for the load compensation unit to provide a constant compensation force according to the height of the connector unit, an

The controller adjusts the magnitude or direction of the torque of the motor based on the data stored by the data storage.

3. The surgical robotic device of claim 1, further comprising:

a first sensor unit measuring a height of the connector unit; and

a second sensor unit measuring a magnitude and a direction of the torque generated by the motor in order for the load compensation unit to provide a constant compensation force according to a height of the connector unit.

4. The surgical robotic device of claim 1,

the controller sets a first height and a second height of the connector unit in the base pillar, and generates first data regarding a magnitude and a direction of a torque of the motor to keep the compensation force of each of the load compensation units constant at the first height and the second height.

5. The surgical robotic device of claim 4,

the controller generates second data inferring a magnitude and direction of torque of the motor in an interval between the first altitude and the second altitude.

6. A surgical robotic device, comprising:

a base pillar;

a robot arm unit having a plurality of arms;

a controller calculating first data regarding a magnitude and a direction of the torque generated by the motor according to a height of the connector unit so that the load compensation unit provides a constant compensation force.

7. The surgical robotic device of claim 6,

the controller infers second data regarding the size and direction of the motor at an unmeasured height based on the first data measured at each height of the robot arm unit.

8. The surgical robotic device of claim 7,

the controller controls a magnitude and a direction of a torque of the motor using at least one of the first data and the second data according to a height of the robot arm unit when driving the surgical robot apparatus.

9. A load compensation method of a surgical robot apparatus to which a load compensation unit having a constant-load spring and a motor is attached, the load compensation method of the surgical robot apparatus comprising:

measuring a first height of a mechanical arm unit additionally arranged on the base column;

a step of measuring the magnitude and direction of the torque to be generated by the motor at the first height so that the load compensation unit provides a preset compensation force;

measuring a second height of the robot arm unit attached to the base column;

a step of measuring the magnitude and direction of the torque to be generated by the motor of the load compensation unit at the second height so that the load compensation unit provides a preset compensation force;

storing data on the torque of the motor measured at the first height and the second height in a data storage unit as first data; and

a step in which a controller adjusts the magnitude and direction of the torque of the motor according to the height of the robot arm unit based on the data stored in the data storage section if the robot arm unit moves on the base column.

10. The load compensation method of a surgical robotic device according to claim 9, further comprising:

and a step in which the controller estimates the magnitude and direction of torque to be generated by the motor in the section between the first height and the second height, and calculates and stores the magnitude and direction as second data.

11. The load compensation method of a surgical robotic device according to claim 10,

before driving the surgical robot apparatus, the first data and the second data are calculated and stored, and load compensation data of the robot arm unit is set.