KR101114235B1 - 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇 - Google Patents

로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇 Download PDF

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Publication number
KR101114235B1
KR101114235B1 KR1020100015051A KR20100015051A KR101114235B1 KR 101114235 B1 KR101114235 B1 KR 101114235B1 KR 1020100015051 A KR1020100015051 A KR 1020100015051A KR 20100015051 A KR20100015051 A KR 20100015051A KR 101114235 B1 KR101114235 B1 KR 101114235B1
Authority
KR
South Korea
Prior art keywords
gimbal
robot
parallel
link
coupled
Prior art date
Application number
KR1020100015051A
Other languages
English (en)
Korean (ko)
Other versions
KR20110095529A (ko
Inventor
민동명
원종석
장형준
최승욱
장배상
Original Assignee
주식회사 이턴
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Priority to KR1020100015051A priority Critical patent/KR101114235B1/ko
Priority to PCT/KR2011/000992 priority patent/WO2011102629A2/fr
Publication of KR20110095529A publication Critical patent/KR20110095529A/ko
Application granted granted Critical
Publication of KR101114235B1 publication Critical patent/KR101114235B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
KR1020100015051A 2010-02-19 2010-02-19 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇 KR101114235B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020100015051A KR101114235B1 (ko) 2010-02-19 2010-02-19 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇
PCT/KR2011/000992 WO2011102629A2 (fr) 2010-02-19 2011-02-16 Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100015051A KR101114235B1 (ko) 2010-02-19 2010-02-19 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇

Publications (2)

Publication Number Publication Date
KR20110095529A KR20110095529A (ko) 2011-08-25
KR101114235B1 true KR101114235B1 (ko) 2012-03-13

Family

ID=44483453

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100015051A KR101114235B1 (ko) 2010-02-19 2010-02-19 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇

Country Status (2)

Country Link
KR (1) KR101114235B1 (fr)
WO (1) WO2011102629A2 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102150633B1 (ko) * 2013-09-13 2020-09-01 (주)미래컴퍼니 컨트롤 암 구조 및 컨트롤 암 설계방법
CN114504387A (zh) * 2016-06-03 2022-05-17 柯惠Lp公司 用于机器人手术系统的被动轴系统
CN109195542B (zh) * 2016-06-03 2021-09-21 柯惠Lp公司 用于机器人手术系统的被动轴系统
US20180308728A1 (en) * 2017-02-07 2018-10-25 Brooks Automation, Inc. Method and apparatus for substrate transport
GB2592862B (en) * 2019-10-22 2024-04-10 Cmr Surgical Ltd Console for controlling a robotic manipulator
CN113081289B (zh) * 2021-04-06 2022-10-25 山东威高手术机器人有限公司 手术机器人用主操作臂
CN113189950B (zh) * 2021-05-07 2022-02-11 南京航空航天大学 用于大型弱刚性结构件装配的双机器人协同柔顺装调方法
CN117428818B (zh) * 2023-12-18 2024-03-12 以诺康医疗科技（苏州）有限公司 低转动惯量的主手手腕、主操作手

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
KR100925102B1 (ko) * 2007-12-10 2009-11-05 고려대학교 산학협력단 원격 수술 로봇
KR101013081B1 (ko) * 2008-07-25 2011-02-14 (주)미래컴퍼니 수술용 로봇의 마스터 인터페이스

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration

Also Published As

Publication number Publication date
WO2011102629A2 (fr) 2011-08-25
KR20110095529A (ko) 2011-08-25
WO2011102629A3 (fr) 2011-12-15

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