KR101084724B1 - Haptic device of 5 degree of freedoms that parallel style structure and series style structure for remote robot surgical operation are combined - Google Patents

Abstract

The present invention relates to a five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery, a force reflecting haptic device that can transmit the reaction force to the affected area to the doctor manipulating the remote robot surgical manipulator Multiple actuators are secured to the base of the steering system and driven by a tendon wire drive mechanism to simplify the overall configuration, ease of analysis, and improve parallelism with a parallel structure for remote robotic surgery. It is to provide a five degree of freedom haptic device combined with a mold structure.

Medical Robot, Haptic, 5 DOF, Parallel, Serial, Surgery, Procedure

Description

Haptic device of 5 degree of freedoms that parallel style structure and series style structure for remote robot surgical operation are combined}

The present invention relates to a five-degree-of-freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery. More specifically, the robot can be remotely controlled by a remote robot surgery manipulator in a multiple degree of freedom medical robot. 5 degrees of haptic device with a parallel structure and a serial structure to enable real-time control of the surgery. The surgical robot is capable of forward-backward, left-right rotation, up-down rotation, rotation, and grip. And a five degree of freedom haptic device combining a parallel structure and a serial structure for remote robotic surgery.

In general, a haptic device is a kind of mechanical device such as a robot manipulator, which is designed for interaction between a human and a virtual environment.

The human commands the probe in the virtual environment through the haptic device, and the probe moves in the virtual environment and transmits the touch or force generated by the interaction with the virtual environment to the haptic device. The manipulators feel the touch or power.

Such haptic technology is used in surgical simulators and telesurgical medical robots.

First, in the case of a surgical simulator, a surgical tool operates the affected part in a virtual environment or a simulator environment, and the surgical tool is controlled by a doctor using a haptic device.

At this time, the interaction between the virtual environment or the simulator environment and the surgical tool is sensed, and the force or touch is transmitted to the doctor who controls the haptic device. The force or touch from these simulators will help to increase the accuracy or skill of the procedure.

In addition, in the case of a telesurgical medical robot, a doctor controls a remote medical robot by a haptic master controller and the medical robot becomes a slave robot to perform surgery.

As described above, the haptic device developed in the related art can be largely divided into a serial structure and a parallel structure.

First, a haptic device of a serial structure refers to a structure in which links are connected in series to configure a required degree of freedom. Early haptic devices were primarily developed in this serial form. Serial haptic devices are easy to kinematically forward forward kinematics analysis and dynamic analysis from the position of each joint kinematics.

However, there are disadvantages in that links are arranged in series, so that durability is weak, mechanical inertia is large, and joint measurement errors are accumulated in position analysis.

In general, haptic devices have a high percentage of the weight of the actuator. However, in a typical haptic device having a serial structure, an actuator driven by being attached to a joint moves along with a link structure.

In particular, the actuator of the series structure increases the mechanical inertia when driving the haptic master at the end due to the load of the actuator mounted on each joint, resulting in a disadvantage of lowering the back driveability of the master. This causes a drop in precision.

In addition, the haptic device having a parallel structure has a structural feature in which several links are connected in parallel. A representative example is a haptic device having a parallel structure in the form of a Stewart platform. The mechanistic structure of the parallel haptic device is that the multiple links are connected in parallel so that the force is distributed, so that the durability is strong, the structure is stable, and the error accumulation in the joint is not large.

In addition, there is an advantage that the physical inertia is also minimized because the structure is not connected long like the haptic device of the serial structure. However, in the forward kinematics analysis, there is no single solution, so it is difficult to control in real time, and there is a technical difficulty in considering singularity (a point where normal control is impossible due to reduced freedom of the robot). Especially, considering the importance of real-time control for remote robot surgery, there may be limitations of parallel structure.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is a hybrid haptic device integrating a serial structure and a parallel structure in order to take advantage of the kinematic analysis advantages of the serial structure and the structural advantages of the parallel structure. It is a 5 degree of haptic device that combines a parallel structure and a serial structure for remote robot surgery that can be operated by a tendon wire driving mechanism, so that the overall configuration is simple, easy to analyze, and reverse driving can be improved. For the purpose of providing it.

In order to achieve the above technical problem, the present invention comprises a base having a plurality of actuators and a plurality of large pulleys while constituting the base surface; A drive unit including a plurality of first, second, and three joint actuators which transmit power to each joint at a lower end of the base; A first joint connected to the driving unit and coupled to the first joint driving pulley fixed to an upper end of the base vertically up and down about an axis, the first joint connecting first and second links to the first joint driving pulley; And a parallel link unit configured to drive the first joint forward and backward by rotation of the first joint driving pulley in the same direction and in the opposite direction; A second joint which is connected to a driving support unit in which the first and second links are assembled in the parallel link unit and rotates left and right by a second joint driving large pulley positioned inside the base; A third joint connected to the second joint and driven in a vertical rotation direction by driving of a third joint driving pulley positioned inside the base; A driving link part formed of a fourth joint formed of a handle extending in a length direction from one side of the second joint and a third joint and rotating about an axis; The first link of the parallel link unit and the second, 3, 4 joints of the drive link unit is a series link portion forming a structure connected in a line on a horizontal line;

The first joint of the parallel link unit is a device of driving forward and backward in a rhombic shape having a parallel structure, and each of the first and second links is connected to the first joint driving pulley, in which two are coupled up and down, one by one. When the first joint driving large pulley is driven while rotating in the opposite direction about the axis, the first joint and the second pulley are configured to include forward and backward movement while the size of each of the first and second links of the parallel structure is changed.

In addition, the left and right bending rotation of the second joint is the first link and the first link and the parallel link portion is divided in the left and right directions in the second joint drive large pulley located inside the base by the drive of the second joint actuator of the drive unit It is connected to the small pulley of the second joint connected to the inside of the two links, the second joint driving large pulley is driven by the drive of the second joint actuator of the drive unit is a structure in which the second joint rotates left and right.

In addition, the vertical bending of the third joint is connected to the guide pulley for guiding the change of direction to the small pulley of the second joint, and the third joint driving large pulley is driven by the driving of the third joint actuator of the driving unit. The left and right rotations of the guide pulley are changed to the up-down bending rotation, and the third joint is up-down bending rotation.

In addition, the fourth joint has a structure in which a rotational actuator is driven about an axis by directly mounting a rotational actuator in the axial direction in the joint.

Finally, the tongs are fixed to the end of the fourth joint for the grip to form a structure capable of driving 5 degrees of freedom through the sensor.

According to the present invention as described above, the 5-degree of freedom haptic device is a force reflecting haptic device that can transmit a reaction force to the affected part to the doctor manipulating the remote robotic surgical manipulator by fixing a plurality of actuators to the base of the steering system Driven by a wire drive mechanism, the overall configuration is simple, easy to analyze, there is an effect that can improve the reverse drive.

In addition, the haptic device can reduce the measurement error due to the deflection of the joint through the integration of the parallel link unit and the serial link unit, and can escape the limitation of the singular point generation. This has the effect of being a very favorable condition given the characteristics of medical robots requiring precise control.

As such, the 5 degree of freedom haptic degree of freedom is a forward-reverse, left-right bending rotation, up-down bending rotation, rotation about the link axis, and a grip structure attached to the end of the link. Surgical forceps can be driven.

Such a five-degree of freedom haptic device having a high force reflection efficiency and high reverse driving force can be used as a manipulator controller for a remote robotic manipulator and a manipulator controller for other tasks.

The present invention for achieving the above object comprises a base having a plurality of actuators and a plurality of large pulleys therein while the base surface;

A drive unit including a plurality of first, second, and three joint actuators which transmit power to each joint at a lower end of the base;

A first joint connected to the driving unit and coupled to the first joint driving pulley fixed to an upper end of the base vertically up and down about an axis, the first joint connecting first and second links to the first joint driving pulley; And

A parallel link unit configured to drive the first joint forward and backward by rotation of the first joint driving pulley in the same direction and in the opposite direction;

A second joint which is connected to a driving support unit in which the first and second links are assembled in the parallel link unit and rotates left and right by a second joint driving large pulley positioned inside the base;

A third joint connected to the second joint and driven in a vertical rotation direction by driving of a third joint driving pulley positioned inside the base;

A driving link part formed of a fourth joint formed of a handle extending in a length direction from one side of the second joint and a third joint and rotating about an axis;

And a serial link unit forming a structure in which the first joint of the parallel link unit and the second, 3, and 4 joints of the driving link unit are connected in a line on a horizontal line. It was achieved by providing a five degree of freedom haptic device with a mold structure.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in more detail.

Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, they can be replaced at the time of the present application It should be understood that there may be various equivalents and variations.

1 is a view showing the front handle side of the haptic device of 5 degrees of freedom combined with a parallel structure and a serial structure for remote robot surgery according to the present invention, Figure 2 is a parallel type for remote robot surgery according to the present invention Figure 5 shows the rear side of a five degree of freedom haptic device combined with a tandem structure.

As shown, the 5 degree of freedom haptic device 200 coupled to the parallel link unit 130 structure and the serial link unit 190 structure for remote robot surgery according to the present invention controls the remote robot surgery manipulator It is a force reverberation control system that can transmit the reaction force to the affected part to the doctor who operates the manipulator. The overall configuration is simple by driving a number of actuators to the base of the control system and driving them with a tendon wire driving mechanism. And it relates to a five degree of freedom haptic device 200 that can be easily analyzed and improve the reverse drive.

The haptic device 200 is a mechanical device such as a robot manipulator, which is designed for interaction between a person and a virtual environment. The haptic device 200 is located in a virtual environment as shown in FIG. 7 through the haptic device 200. The position of the probe (probe) (300) is detected and the position command is issued by the haptic device 200, and the probe (probe) (300) moves in the virtual environment and the touch or force generated through interaction with the virtual environment To the haptic device 200 to be manipulated by the person to feel the touch or power.

Such haptic technology is used in surgical simulators and telesurgical medical robots.

In addition, the haptic device 200 of the present invention constitutes a base surface and has a plurality of first, second, and three joint actuators 112, 114, 116 and a plurality of first, two, and three joint driving large pulleys therein. A base 101 having (122, 152, 162) is configured, and a plurality of first, second, and three joint actuators 112, 114 that transmit power to each joint at the bottom of the base 101. The driving unit 110 including the 116 and the first, second, and third joint driving pulleys 122, 152, and 162 is formed.

The first joint driving large pulley 122 fixed to the upper end of the base 101 while being connected to the driving unit 110 is vertically coupled up and down about an axis, and each of the first joint driving large pulleys 122 is connected to the first joint driving large pulley 122. The parallel link unit 130 including the first joint 120 connected to the two links 122 and 124 may rotate in the opposite direction to the same direction of the first joint driving pulley 122. 120 is driven forward and backward in the horizontal direction.

The third joint driven in the vertical rotation direction and the second joint 150, which rotates left and right, connected by the driving support unit 140 in which the first and second links 122 and 124 of the parallel link unit 130 are assembled. As the joint 160 extends in the longitudinal direction, the driving link unit 180 is formed of a fourth joint 170 of the handle that rotates about an axis on one side.

The first joint 120 of the parallel link unit 130 and the second, third and fourth joints 120, 160 and 170 of the driving link unit 180 are connected in a horizontal line. The serial link unit 190 is formed.

As such, the first joint 120 of the parallel link unit 130 is a device for driving forward and backward in a rhombic shape having a parallel structure, and each of the first joints to the first joint driving large pulley 122 coupled with the top and bottom two. 1,2 links 124, 126 are connected one by one.

Here, the first and second links 124 and 126 of the first joint 120 are formed by a small pulley 102 in the center of the 'b' shape is to be adjusted by the angle.

The first and second links 124 and 126 configured in the first joint of the parallel link unit 130 are coupled to one side of the first joint driving large pulley 122 vertically and two small pulleys on the other side. It is fixed to both sides by the drive support part 140 which comprised 102 on both sides.

The guide bar 128 is fixed to the fixed support 125 at the upper end of the driving support 140.

The guide bar 128 is coupled to the fixture 127 placed on the upper end of the base 101 is to slide the guide bar 128 to the front and rear in the fixture 127.

That is, the guide link 129 consisting of the guide bar 128 and the fixed body 127 is composed of a guide bar 128 which is slid from the fixed body 127 located on the top of the base 101, the guide bar Reference numeral 128 is connected to the upper end of the driving support unit 140 in which the first and second links 124 and 126 are assembled with the fixed support 125.

The guide link 129 swings when the first joint driving large pulley 122 coupled with the upper and lower two rotates in the same direction so that the first and second links 124 and 126 of the parallel structure rotate from side to side. This prevents the phenomenon, and the first and second links 124 and 126 increase the accuracy in the forward and backward driving.

In addition, Figure 3 is a view showing the backward by the first joint of the haptic device of 5 degrees of freedom combined with a parallel structure and a serial structure for remote robot surgery according to the present invention, Figure 4 is a remote according to the present invention It is a diagram showing the advancement by the first joint of the five degree of freedom haptic device combined with a parallel structure and a serial structure for robot surgery.

As shown in the figure, the first joint driving large pulley 122 fixed to the base 101 is a first joint driving large pulley coupled to two around the axis driven by the first joint actuator 112 ( When 122 is driven while rotating in opposite directions, the size of each of the first and second links 124 and 126 of the parallel structure is changed to move forward and backward.

Here, the first joint driving pulley 122, which is fixed to the base 101 and divided up and down, has two large pulleys formed up and down, and the first joint 120 is moved forward and backward by rotation in the opposite direction. Make it possible.

That is, the first joint driving pulley 122 rotates within a predetermined range, and the first joint driving pulley 122 rotates in the same direction, respectively, about the axis of the base 101 to prevent the phenomenon. While the first and second links 124 and 126 of the first joint driving large pulley 122 structure are fixed and moved forward and backward along the guide link 129 located on the top of the base 101, Is to move backwards.

As such, the structure of the parallel link unit 130 is a device for driving forward and backward in a rhombic shape, and each of the first and second links 124 and 126 is connected to the first joint driving pulley 122 one by one. If the first joint driving pulley 122, which is coupled to each other, is driven while rotating in opposite directions, the first and second links 124 and 126 of the parallel structure change in size, and move forward and backward. You will move.

In addition, the first joint driving pulley 122, the first and second links 124, 126 and the driving support unit 140, which cause forward and backward, are connected in parallel to distribute the force, thereby structurally strengthening durability and precision. It has a stable structure and reduces the physical inertia.

In addition, Figure 5 is a view showing the left and right, vertical movement of the second and third joints of the five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

As shown in the figure, the second joint 150 of the driving link unit 180 connected to the driving support unit 140 to which the first and second links 124 and 126 are assembled and rotated left and right is made of the first joint. In the second joint drive large pulley 152 driven by the two-joint actuator 114, the wires 154 are divided in the left and right directions, respectively, so that the first link 124 and the second link 126 of the parallel link unit 130 are separated. The second joint driving large pulley 152 is driven by the second joint actuator 114 of the driving unit 110 to be connected to the small pulley 102 of the second joint 150. Joint 150 is to rotate left and right.

In addition, the third joint 160 driven in the vertical rotation direction of the driving link unit 180 has a guide pulley 162 for guiding a direction change to the small pulley 102 of the second joint 150. The third pulley driving large pulley 162 is driven by the third joint actuator 160 of 110 so that the guide pulley 162 is rotated up and down by rotating the second joint 150 left and right. Three joints 160 is to rotate up and down.

At this time, each of the joints by connecting wires 154 into the first and second links 124 and 126 of the parallel link unit 130 structure to drive the second joint 150 and the third joint 160. It is driven by fixing the wire 154 to the small pulley 102 fixed to.

Here, the plurality of first, second and third joint driving large pulleys 122, 152 and 162 and the first, second and third joints 120, 150 and 160 existing on the base 101 are present. The small pulley 102 that rotates is composed of a ratio of 1: n (n ≧ 1) to enable precise control.

The driving direction of the third joint 160 is the up and down bending rotation to guide the change of direction to the link between the second joint 150 and the third joint 160 to drive the wire 154 in the left and right directions. The guide pulley 162 can be configured by giving an angle.

In addition, the lengths of the first, second, third, and fourth joints 120, 150, 160, and 170 are minimized in order to minimize the inertia that may occur physically.

In addition, the fourth joint 170 extending from the third joint 160 is configured to rotate on the axis by configuring an axis to rotate therein.

The fourth joint 170 was mounted directly to the rotary actuator 172 in the axial direction in the joint to enable rotational drive about the axis.

In addition, as shown in Figure 6 by fixing the tongs 174 to the end for the grip on the fourth joints 170, the user using the forceps 174 and the fourth joints 170, 1,2, 3, 4 joints 120, 150, 160, 170 is to rotate the medical surgical robot by left, right, up and down, rotation.

That is, by configuring the forceps 174 to the fourth joint 170, the user adjusts the rotation, left and right, forward and backward movement of the fourth joint 170, which serves as a handle to perform the procedure.

The tongs 174 are fixed to the end of the fourth joint 170 for the grip to obtain a position value through the sensor so that 5 degrees of freedom can be driven.

The forceps 174 are not connected to the actuator, and only the input sensor (encoder) is mounted so as to receive only the input value as the rotation value of the forceps like scissors without receiving force-feedback.

As such, the first joint 120 of the parallel link unit 130 and the second joints 150, 160, 170 of the driving link unit 180 form a structure connected in a line on a horizontal line. The serial link unit 190 is to be configured.

The structure of the serial link unit 190 is a structure in which the first, second, third, and fourth joints 120, 150, 160, and 170 are connected in series to configure a required degree of freedom.

The series link unit 190 minimizes the length of each of the first, second, third, and fourth joints 120, 150, 160, and 170, and uses a tendon wire driving mechanism. By reducing the weight of all the first, second, third and fourth joints 120, 150, 160 and 170, the inertia generated in the forceps 174 portion of the haptic device 200 is reduced and in parallel. The durability is improved through the second, third and fourth joints 150, 160 and 170 of the connected front part, and thus has a stable structure.

When using the haptic device 200 of the hybrid structure in which the parallel link unit 130 structure and the serial link unit 190 structure are combined by the tendon wire driving mechanism of the haptic device 200. Easy to apply for medical use

That is, all the actuators except for the rotary actuator 172 for the last rotary drive based on the axis are mounted on the base 101 to drive through the wire 154 to minimize mechanical inertia when moving the instrument at the free end. It's the way.

In addition, the haptic device 200 of the present invention calculates the final position of the final operating device from the position of each of the first, second, third, fourth joints 120, 150, 160, 170 by kinematic simplification. Easy to do forward kinematics analysis, easy to dynamic analysis Through the integration of the parallel link unit 130 and the serial link unit 190 can reduce the joint measurement error, it can escape the limit of the singular point generation. This is the basis for the favorable conditions given the characteristics of medical robots requiring precise control.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

1 is a view showing the front handle side of a five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

Figure 2 is a view showing the rear side of the five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

Figure 3 is a view showing the backward movement by the first joint of the five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

Figure 4 is a diagram showing the advance by the first joint of the five degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

5 is a view showing the left and right, vertical movement of the second and third joints of the 5 degree of haptic device combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

Figure 6 is a view showing the attachment of the forceps to the fourth joint of the haptic device of 5 degrees of freedom combined with a parallel structure and a serial structure for remote robot surgery according to the present invention.

FIG. 7 is a view illustrating a simulator in which a probe is manipulated in a virtual environment using a 5 degree of freedom haptic device in which a parallel structure and a serial structure for remote robot surgery according to the present invention are combined.

* Description of the symbols for the main parts of the drawings *

101: base 102: small pulley

110: drive unit 112: the first joint actuator

114: second joint actuator 116: third joint actuator

120: first joint 122: first joint drive large pulley

124: first link 125: fixed support

126: second link 127: fixed body

128: Guide bar 129: Guide link

130: parallel link portion 140: driving support portion

150: second joint 152: second joint driving large pulley

154: wire 160: the third joint

162: drive joint 3 pulley 170: joint 4

172: rotary actuator 174: tongs

180: drive link portion 190: serial link portion

200: haptic device 300: probe

Claims (11)

A base 101 having a plurality of actuators and a plurality of large pulleys therein while forming a base surface; A driving unit (110) formed of a plurality of first, second, and third joint actuators (112, 114, 116) for transmitting power to each joint at a lower end of the base (101); It includes a first joint drive large pulley 122 fixed to the upper end of the base 101 while being coupled vertically vertically with respect to the drive unit 110 and the axis, The first and second joints that are rotated in the opposite direction to each other and are respectively divided up and down to form a small pulley 102 in the middle while being coupled to the first pulley large pulley 122, the angle is adjusted in the form of a '' Links 124 and 126 are connected one by one, and the first joint 120 including first and second links 124 and 126 is driven forward and backward while the size of the angle is changed in the shape of a parallel lozenge. A parallel link unit 130 in which the first joint 120 is driven forward and backward by the rotation of the first joint driving pulley 122 in the same direction and in the opposite direction; The second joint drive large pulley 152 located inside the base 101 is connected to the driving support unit 140 in which the first and second links 124 and 126 are collected in the parallel link unit 130. A second joint 150 which rotates left and right by driving; A third joint (160) connected to the second joint (150) and driven in a vertical rotation direction by driving of a third joint driving pulley (162) positioned inside the base (101); The forceps extends in the longitudinal direction from the second joint 150 and the third joint 160 and directly mounts the rotary actuator 172 in the axial direction within the joint to the fourth joint 170 driven to rotate about the axis. The first, second, third and fourth joints 120, 150, 160 and 170 are fixed to the end to rotate the left and right, up and down, and rotate. A drive link unit 180 to allow the remote control; The first joint 120 of the parallel link unit 130 and the second, third, fourth joints 150, 160, 170 of the driving link unit 180 form a series connected in a line on a horizontal line 5 link degree haptic device combined with a parallel structure and a serial structure for remote robot surgery, characterized in that consisting of; link portion 190. delete The method of claim 1, wherein the first joint driving pulley 122 is fixed to the base 101, up and down about the axis in order to prevent the rotation in the same direction, the first joint driving large pulley ( The first and second links 124 and 126 connected to 122 are moved forward and backward along the guide link 129 located at the top of the base 101 during the forward and backward driving. A 5 degree of freedom haptic device that combines a parallel structure and a serial structure for robotic surgery. According to claim 3, The guide link 129 is composed of a guide bar (128) which slides in the fixed body 127 located on the top of the base 101, the guide bar 128 is the first, second links ( 124, 126 is a five-degree of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery, characterized in that it comprises a fixed support 125 to the drive support unit (140). 5. The phenomenon of claim 4, wherein the guide link 129 swings when the first joint driving pulley 122 rotates in the same direction and the first and second links 124 and 126 of the parallel structure rotate left and right. The first and second links 124 and 126 are coupled to the parallel structure and the serial structure for the remote robot surgery, which includes increasing the accuracy in the forward and backward driving. 5 degree of freedom haptic device. According to claim 1, The left and right bending rotation of the second joint 150 is driven by the second joint actuator 114 of the drive unit 110 is driven by the second joint drive large pulley (100) In 152, the wires 154 are divided in the left and right directions, respectively, and connected to the inside of the first link 124 and the second link 126 of the parallel link unit 130, and thus the small pulley 102 of the second joint 150. The second joint driving large pulley 152 is driven by driving the second joint actuator 114 of the driving unit 110, so that the second joint 150 rotates left and right. A 5 degree of freedom haptic device combining a parallel structure and a serial structure for remote robot surgery. According to claim 1, wherein the vertical bending of the third joint 160, the guide pulley 162 for guiding the change of direction to the small pulley 102 of the second joint 150 is connected to the first of the drive unit 110 The third pulley driving large pulley 162 is driven by the driving of the three-joint actuator 116 and the second pulley 162 rotates to the left and right to rotate the guide pulley 162 to the up-and-down bending rotation. 5 degrees of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery, characterized in that the rotation 160 up and down. According to claim 1, wherein the fourth joint 170 is a parallel type for remote robot surgery, characterized in that the rotational drive based on the axis is performed by mounting the rotary actuator 172 in the axial direction directly in the joint; A 5 degree of freedom haptic device that combines a structure and a tandem structure. delete The method according to claim 1, wherein the force of the forceps 174 is fixed to the end of the fourth joint 170 for the grip, and the position value is 5 degrees of freedom through the sensor. A 5 degree of freedom haptic device combining a parallel structure and a serial structure. The method of claim 1, wherein the large pulley (122) and the small pulley (102) present in the first, second and third joints (120, 150, 160) to rotate in the base 101 is 1: 5 degrees of freedom haptic device combined with a parallel structure and a serial structure for remote robot surgery, characterized in that it comprises a ratio of n (n≥1) capable of precise control.

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