KR101123129B1 - Robot arm and surgical robot therewith - Google Patents

Robot arm and surgical robot therewith Download PDF

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KR101123129B1
KR101123129B1 KR1020100029236A KR20100029236A KR101123129B1 KR 101123129 B1 KR101123129 B1 KR 101123129B1 KR 1020100029236 A KR1020100029236 A KR 1020100029236A KR 20100029236 A KR20100029236 A KR 20100029236A KR 101123129 B1 KR101123129 B1 KR 101123129B1
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South Korea
Prior art keywords
link
freedom
degree
section
robot arm
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KR1020100029236A
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Korean (ko)
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KR20110109475A (en
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최영진
이병주
이호열
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한양대학교 산학협력단
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Priority to KR1020100029236A priority Critical patent/KR101123129B1/en
Priority claimed from US13/638,370 external-priority patent/US9919433B2/en
Publication of KR20110109475A publication Critical patent/KR20110109475A/en
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Abstract

The present invention relates to a robot arm, the robot arm according to the present invention, the work portion is inserted into the living body; A drive unit equipped with an actuator for operating the work unit; Is coupled between the work unit and the drive unit includes a position adjusting unit for transmitting the force of the actuator to the work unit, so that the operation of the work unit by the actuator, a plurality of link devices including a four-link link is stacked Combined, the position adjusting portion, characterized in that the four-section link of the linkage device is laminated and coupled, by using the robot arm according to the invention, the volume of the robot arm inserted into the living body is reduced incision of the surgical site The width can be reduced, the contact with surrounding organs can be minimized, and the material of the robot arm and the surgical tool mounted on the work part can be easily replaced.

Description

Robot arm and surgical robot including the same {ROBOT ARM AND SURGICAL ROBOT THEREWITH}

The present invention relates to a robot arm, and more particularly, to a robot arm in which the position of the working part equipped with the surgical tool is smooth and the working part is stably supported while minimizing the incision site.

Since the robotic arm of the surgical robot has to perform operations such as cutting or suturing tissue in vivo, it is subject to a lot of spatial constraints. Therefore, the robot arm undergoing surgery is limited in size. The robotic arm of a general surgical robot operates the robotic arm within the surgical site by mounting an actuator at each joint site and the tip of the robotic arm equipped with the surgical tool. Therefore, in order to prevent the volume of the robot arm inserted into the living body from increasing, the number of actuators mounted on the robot arm had to be limited. For this reason, in order to move the general robot arm closer to the tissue to be operated, as shown in FIG. 1A, surgery has to be performed at each position after incision of various parts of the skin 1. In the case of the robot arm (r 1 , r 2 ), the incision site is required a lot and the position of the incision site should be changed according to the purpose of the operation, which causes a large number of scars in the surgical site, resulting in aesthetic problems. . In particular, when the surgical site is a site that is likely to be exposed to daily life, these aesthetic problems are intensified. In addition, since the weight of the robot arm (r 1 , r 2 ) is increased due to the actuator, a problem that the load on the robot arm (r 1 , r 2 ) is increased as a whole. In addition, since the positions where the robot arms r 1 and r 2 are mounted are different from each other, the number of robot arm stands for adjusting the positions of the robot arms r 1 and r 2 also increases, so that the installation place becomes narrower. There was a problem that the operation is difficult to proceed.

Conventionally, in order to solve the above problems, the robot arm of the Republic of Korea Patent Publication No. 2009-0124552 shown in Figure 1b was used. The robot arm drives a joint provided through a plurality of nodes 20 and elastic members 16 and a plurality of nodes 20 that form joints by connecting adjacent nodes 20 of the plurality of nodes 20. Including the wires 12, 14, the retraction or extension of the resilient member 16 by traction of the joint drive wires 12, 14 causes the joints to bend.

However, in this case, since the joint drive wires 12 and 14 had to control not only the surgical tool 30 but also the driving of the joint portion of the robot arm, the robot arm was mounted for control of the joint in a state where the volume of the robot arm is extremely limited. The number of driving wires 12 and 14 that can be made is limited, and thus, there is a problem that the robot arm must be cut in several parts as in the robot arm used previously to approach the surgical site. In addition, if the length of the robot arm is longer, the load on the robot arm is increased, the vibration is generated in the robot arm by the load applied when the surgical tool 30 proceeds, thereby fine control of the robot arm There is a problem that is difficult.

Accordingly, the first problem to be solved by the present invention is to provide a robot arm with improved joint driving ability while minimizing volume.

The second problem to be solved by the present invention is to provide a surgical robot that can minimize the incision of the surgical site, the installation area is reduced, the robot arm is stably controlled by mounting the robot arm.

Therefore, the first problem to be solved by the present invention, the work unit is inserted into the living body;

A drive unit equipped with an actuator for operating the work unit;

Is coupled between the working part and the drive unit includes a position adjusting unit for transmitting the force of the actuator to the working part,

A plurality of link devices including four-links are stacked and stacked so that the working part is operated by the actuator,

The position adjusting unit is to provide a robot arm, characterized in that the four-link link of the link device is laminated.

According to an embodiment of the present invention, the link device includes an input link unit located in the driving unit, a four-section link unit located in the position control unit, and an output link unit coupled to the end of the four-section link unit,

The four-section link unit may include a first link, a connecting rod positioned opposite the first link, an input side transfer link connecting one end of the first link and the connecting rod, and an output side positioned opposite the input side transfer link. It may include a four-section link hinged to each other four links consisting of a transmission link.

In addition, the four-section link unit includes a fixed four-section link is a fixed link of the fixed position of the first link,

An input link unit hinged between both ends of the input side transmission link and equipped with an actuator, and

A one degree of freedom link device including an output link unit fixedly coupled to the output side transmission link at an angle may be mounted.

In addition, the one degree of freedom link device, and

The fixed four-section link, and the first link is a movable four-section link is a movable link, including a four-section link portion hinged to the fixed link and the movable link, the input side transmission link provided in the fixed four-section link The two-degree of freedom link device is hinged between both ends of the coupling, including an input link unit equipped with an actuator, and an output link unit fixedly coupled to the output side transfer link of the movable four-link link and rotated by the output side transfer link. But

A connection joint for transferring the drive of the output side transmission link of the fixed four-link to the input side transmission link of the movable four-link is coupled between the fixed four-link and the movable four-link;

A two-degree of freedom stack type link mechanism in which the output of the one degree of freedom link device is input to the two degree of freedom link device may be mounted so that the output of the two degree of freedom link device can be controlled.

At this time, the output link portion of the one degree of freedom link device is preferably fixedly coupled to the movable link of the two degree of freedom link device.

In addition, the connection joint is preferably fixedly coupled to the output side transmission link of the fixed four-section link and the input side transmission link of the movable four-section link.

According to another embodiment of the present invention, the robot arm is the one degree of freedom link device, and

A four-section link including two to n four-section links, each of which includes a movable four-section link, wherein the first link is a movable link, and the fixed four-section link, and wherein the adjacent first link is hinged to each other; It is hinged between the both ends of the input side transmission link provided in the first four-section link constituting the link portion, and fixed to the output side transmission link of the last four-section link with the actuator is mounted, and the last four-section link of each four-section link portion It is formed by stacking n-1 link devices including a combined output link unit,

The n link devices are stacked and coupled so that the outputs of the 1 to n-1 degree of freedom link devices are respectively input to the 2 to n degree of freedom link devices so that the outputs of the n degree of freedom link devices are all controllable.

A connection joint coupled between an output side transmission link and an input side transmission link of the adjacent four-section link, and transmitting a driving force between the four-section links;

It is preferable that each of the link devices is equipped with an n degree of freedom stacked link mechanism in which the first four-section link of the four-section link portion is the fixed four-section link and the remaining four-section link is a movable four-section link. Where n is an integer of 3 or more.

In addition, the n degree of freedom stacked link mechanism, the connection joint may be fixedly coupled to the output side transmission link and the input side transmission link of the adjacent four-section link.

In addition, the n degree of freedom link type link mechanism, it is preferable that the output link portion of each of the 1 to n-1 degree of freedom link device is fixedly coupled to the movable link of the last four links of each of the 2 to n degree of freedom link device. .

In this case, it is preferable that the n-degree-of-freedom stacking link mechanism is stacked on the first link in the same order.

Here, the working part may be formed of a radiation transmitting material.

In addition, a second problem to be solved by the present invention, the robot arm and a robot driving unit including a robot arm stand for adjusting the position of the robot arm; And

It is to provide a surgical robot including a robot console for inputting the operation command of the robot driver.

According to an embodiment of the present invention, a wire for transmitting the operation command input from the robot console to the work unit; And

It is preferable to further include a guide coupled to the position adjusting portion of the robot arm to fix the installation position of the wire.

According to the present invention, even if the actuator is provided only at the position of the driving unit, since the position adjusting unit can freely adjust the driving position of the work unit, the cutting position and the cutting width at which the robot arm is inserted are reduced, as well as the position of the robot arm in the body. Irrespective of the operation status, the operation of the robot arm can be stably controlled by the four-link link, which is a parallel link included in the position control unit, so that the robot arm can be stably controlled, and the actuator and the actuator are controlled. Since the robot arm can be driven without limiting the weight and size of the device, and the number of wires controlling the work part can be minimized, the volume of the robot arm is reduced, and even if a plurality of robot arms are mounted at the same position, Since the operating position can be freely adjusted, the area where the robot arm stand is installed can be minimized.

1A and 1B are front views of a typical robot arm.
2 is a front view combined with a link device constituting the robot arm according to an embodiment of the present invention.
3 is a front view of a link device constituting a robot arm according to an embodiment of the present invention.
4 is a front view of a robotic arm in accordance with various embodiments of the present invention.
5 is a perspective view of a robot arm according to another embodiment of the present invention.
6 is a partial perspective view of a surgical robot according to an embodiment of the present invention.
7 is a conceptual diagram of a one degree of freedom linkage device mounted on the robot arm according to an embodiment of the present invention.
8 is a conceptual diagram illustrating an operation principle of a two degree of freedom stacked link mechanism mounted on a robot arm according to an embodiment of the present invention.
9 is a conceptual diagram illustrating an operation principle of an n degree of freedom stacked link mechanism mounted on a robot arm according to another embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated in detail.

Robot arm according to the present invention, the work portion is inserted into the living body;

A drive unit equipped with an actuator for operating the work unit;

Is coupled between the working part and the drive unit includes a position adjusting unit for transmitting the force of the actuator to the working part,

A plurality of link devices including four-links are stacked and stacked so that the working part is operated by the actuator,

The four-section link of the link device, which is a parallel link, is stacked and coupled to the position adjusting unit.

Since the robot arm according to the present invention stacks and combines a plurality of link devices including a four-link link as a parallel link as described above, there is a structural characteristic capable of supporting a large force. That is, even if the actuator is not provided in the joint of the robot arm, the load is distributed to each link constituting the four-section link included in the link device, and a plurality of link devices are stacked and coupled so that the robot arm works. The force applied at the part is distributed evenly to each link device so that the robot arm according to the present invention can support a large force.

The robot arm according to the present invention adjusts an angle at which the position adjusting unit is bent by driving a plurality of stacked link devices so that the work unit on which the surgical tool is mounted is easily moved to the surgical site. Therefore, even if the actuator or the wire is not provided to each joint of the position adjusting portion as in the related art, the position adjusting portion is stably driven. In other words, the robot arm according to the present invention can be smoothly proceeded even if the surgical site is cut in only one place, not only to minimize the occurrence of the surgical scar, but also to cut a little distance from the surgical site Since the operation can be performed smoothly, there is an advantage that the operation can be performed by dissecting the part that is not exposed to daily life.

In addition, even if an actuator or a control circuit or wire for controlling the actuator is installed in the robot arm for controlling the operation of the work unit, the position adjusting unit can control the operation only by the plurality of link devices. It does not need to be provided separately. Therefore, compared with the prior art, the number of actuators, control circuits, and wires mounted on the position adjusting portion of the robot arm is reduced, thereby making it possible to reduce the weight of the robot arm inserted into the surgical site. In addition, since the load actually supported by the position adjusting unit decreases, and the load that the robot arm must support is distributed to each of the plurality of link apparatuses which are stacked and coupled, the position of the working part is more limited. Stable control In addition, since each of the linkage device includes a four-way link, which is a parallel link, the robot arm according to the present invention can be stably driven because each load applied to the linkage is once again distributed in the four-way link. It is.

Robotic arms used in such surgical robots can perform Minimally Invasive Surgery (MIS) thanks to the thin arms and endoscopes. Therefore, the recovery speed of the patient can be increased, and the optimal surgical site can be accurately operated to increase the surgical success rate. Therefore, surgery using a robot is in the limelight as a new surgical method that both medical staff and patients are satisfied with. Currently used surgical robots include laparoscopic surgery robots that operate on soft tissues such as the prostate, stomach, and heart, artificial joint surgery robots that operate on hard tissues such as knee joints, catheter in blood vessels, etc. It can be divided into vascular surgery robot to operate through.

By using such a surgical robot, the micro-sewing ability without shaking is improved and the rotational ability of the instrument is improved as compared to the existing instrument. Therefore, Minimally Invasive Surgery (MIS) is possible.

Hereinafter, the present invention will be described in more detail with reference to preferred examples. It will be apparent to those skilled in the art, however, that these examples are provided to further illustrate the present invention, and the scope of the present invention is not limited thereto.

2 and 3 show a link device constituting a robot arm according to an embodiment of the present invention.

Robot arm according to the present invention can be largely divided into a driving unit, a position adjusting unit, a working unit, a plurality of link devices are laminated and coupled throughout the driving unit, the position adjusting unit, and the working unit of the robot arm. The input link part of the link device is located in the driving part of the robot arm, the four-section link part including one or more four-section links is located in the position adjusting part of the robot arm, and the output link part of the link device is It is coupled to the end of the four-link portion. A part of the output link part of the link device is located in the position adjusting part of the robot arm, and the other part is located in the working part of the robot arm.

The link device shown in FIG. 2 is a one degree of freedom link device 100 and a two degree of freedom link device 200, wherein the output link unit 130 of the one degree of freedom link device 100 is connected to the robot arm. Located in the position adjusting unit, it can be seen that the output link unit 230 of the two degree of freedom link device 200 is located in the working part of the robot arm.

When each link device including the four-section link, which is a parallel link, is stacked and coupled as described above, the robot arm formed by coupling the link device has a large force in the working part even if the length of the position adjusting part is increased. There is a structural advantage to withstand.

The four-section link of the link device may include one or more four-section link, the four-section link portion of the one degree of freedom link device 100 is provided with one four-section link 122, the two freedom The four-section link part of the link device 200 is provided with two four-section links 222 and 224.

In the stacked link mechanism coupled with the link device, the output link unit 130 of the one degree of freedom link device 100 and the second four-section link 224 of the two degree of freedom link device 200 are integrally formed. Combined. Therefore, the output link unit 230 of the two degree of freedom link device 200 having two degrees of freedom is driveable. The two degree of freedom link device 200 is a link device having two degrees of freedom, but the input value provided by the input link unit 210 is one. Therefore, by combining the linkage device 100 of the 1 degree of freedom and the linkage device 200 of the 2 degree of freedom, the output value of the 1 degree of freedom link device 100 is input to the 2 degree of freedom link device 200. It is possible to obtain an effect of providing two input values to the two degree of freedom linkage device 200 having two degrees of freedom.

In the four-section link, four links are pivotally coupled to each other, and the driving method of the four-section link varies depending on which link is fixed. The four-section link used in the present invention, the input side transmission link (122a, 222a, 224a) located on the input link unit 110, 210 side, the output side transmission link (122c, 222c, 224c) located on the output link unit side, the The connecting rods 122b, 222b and 224b coupled between the input side transmission links 122a, 222a and 224a and the output side transmission links 122c, 222c and 224c and opposite the connecting rods 122b, 222b and 224b. First links 122d, 222d, and 224d are included. Four links constituting the four-section link is hinged to each other, the four-section link may be divided into a fixed four-section link and a movable four-section link depending on whether the first link is a fixed link or a movable link.

The fixed link included in the fixed four-link link (122, 222) is the first link (122d, 222d) is fixed in position, the movable link included in the movable four-link link (224) is the position Although not fixed, it refers to the first link 224d whose movement trajectory is limited by coupling with another link device. That is, since the first link 224d located in the second four-section link 224 of the two-degree of freedom link device is a movable link, the first of the one-degree of freedom link device 100 and the two-degree of freedom link device 200 first. The first links 122d and 222d positioned in the fourth four link links 122 and 222 are not fixed in one place. However, the movement trajectory is limited by the output link unit 130. Accordingly, the first four-section links 122 and 222 of the one degree of freedom link device 100 and the two degrees of freedom link device 200 are fixed four-section links, and the second four sections of the two degree of freedom link device 200. The link 224 is a movable four link.

Since the output link unit 130, 230 is fixedly coupled to the output side transmission links 122c and 224c of the four-section link 122, 224 located at the end of the four-section link unit, the output link unit through the four-section link unit 130 and 230 are driven. To this end, in the link device according to an embodiment of the present invention, the fixed joints J 1 and J 2 are fixedly coupled between the output side transmission link and the output link unit.

In addition, the four-section link (222, 224), the first link (222d, 224d) is hinged to each other, the first link (222d, 224d) hinged to each other the position where the connection joint 223 is Since it is formed, the driving of the four-section link 222 located in front is transmitted to the four-section link 224 located in the back. In this case, the connection joint 223 may be hinged to the output side transmission link 222d and the input side transmission link 224a connected to each other, and the output side transmission link 222d and the input side transmission link 224a have a constant angle. It can also be fixedly coupled to hold.

This structure is equally applicable to link devices 100 and 200 mounted on the two degree of freedom stacked link mechanism, as well as link devices mounted on the n degree of freedom stacked link mechanism described later.

4 is a front view illustrating a shape in which a robot arm operates in a living body according to various embodiments of the present disclosure, and FIGS. 4A and 4B show front views of a plurality of robot arms fitted in the same position, and FIG. 4C. 4D shows a front view of a plurality of robot arms coupled to different positions, respectively, and FIG. 5 shows a front view of wires mounted to a robot arm according to another embodiment of the present invention.

The robot arm RA is operated in vivo by a stacked link mechanism composed of a plurality of link devices. The robot arm RA inserted into the living body, as shown in FIGS. 4A to 4B, receives a force from the driving unit 510 on which the actuator is mounted, and the joints are bent to form the position adjusting unit 520. In addition to the deformation, the operation unit 530 performs an operation to be applied to the surgical site (S). For example, when an incision is required, the surgical scissors may be mounted at the position of the working part 530 to perform the procedure, and when an operation of catching blood vessels is required, the procedure may be performed by mounting the forceps. There may be a plurality of robot arms RA inserted into the living body when the surgery is performed. Since the robot arms RA are free to move in the working part 530 by the driving of the position adjusting part 520, the robot arms RA may be freely moved. As shown in Figure 4a and 4b, even if a plurality of robot arms (RA) mounted at the same position is inserted into one incision at the same time, each of the surgical site is easy to access.

In addition, as shown in Figure 4c and 4d, even when the robot arm (RA) is coupled in a separated state, the robot arm (RA) according to the present invention, the robot arm (RA) when inserted through the incision site Irrespective of the angle of), the position adjusting unit 520 may be adjusted to move the working unit 530 to a position close to the surgical site (S).

In addition, when the robot arm RA is inserted into a living body, as shown in FIG. 4D, the robot arm RA is preferably inserted with a minimum volume. After cutting the robot arm RA only a minimum portion of the skin 1, the robot arm RA may be inserted after fixing the cut portion with the retractor 550. Here, the shape of the retractor 550 may be various.

The robot arm RA according to the present invention can be freely changed in shape without providing an actuator in the joint of the robot arm RA formed in the position adjusting unit 520 as described above, and the robot arm RA Since the joint of the, and the position of the actuator and the actuator system for driving it are separated, it is possible to drive the robot arm (RA) without restriction on the weight and size of the actuator.

The working part 530 of the robot arm RA may be coupled to a plurality of stacked link devices to control driving of a surgical tool mounted on the working part 530. In this case, in order to control the work unit 530 more precisely, the robot arm may further include an actuator for controlling the driving of the work unit 530 or a wire w for transmitting an electrical signal to the actuator. It may be. That is, as shown in FIG. 5, the robot arm RA may secure a space in which the wire w is mounted. To this end, the guide arm (g) for fixing the position of the wire (w) may be formed at a predetermined interval on the robot arm (RA). As shown in FIG. 5, the guide g may be formed so that the wire w passes through the penetrated portion, and the first link of the link device constituting the robot arm has a tubular shape. The first link may be formed to serve as a guide. Here, since the wire (w) only controls the driving of the surgical tool mounted on the work unit 530, the volume of the robot arm can be limited to a minimum.

The work unit 530 may directly serve as a surgical tool of the output link unit of the link device, by attaching a separate surgical tool to the work unit 530, the surgical tool through the output link unit of the link device May be operated, or a surgical tool coupled to the output link unit may be driven by a control command transmitted through the wire w.

Here, the working part 530 constituting the robot arm RA may be made of a radiation transmitting material to check whether the surgery proceeds smoothly. For example, when the operation is performed by inserting the robot arm RA into a living body, whether the operation is smoothly performed by the robot arm RA or whether the operation is properly completed is performed by α-ray, β-ray, It can confirm by transmitting radiation, such as a gamma ray, an X ray, and a neutron beam. In this case, when the working part 530 or the entire robot arm RA is formed of a material that transmits radiation, even if the robot arm RA is not discharged from the living body, the visual field is not obscured so that the operation state of the operation may be changed. I can figure it out. Therefore, it is preferable to form the whole working part 530 or the robot arm RA constituting the robot arm from a polymer material such as plastic or a radiation transmitting material such as ceramic. That is, in some cases, the surgical tool located in the working part 530 may also be operated by using a thing formed of a radio transmitting material.

6 is a schematic diagram of a surgical robot according to an embodiment of the present invention.

Robot arm (RA) according to the present invention, as shown in Figure 6, is used by mounting to a surgical robot. Surgical robot according to the present invention, the robot arm (RA), the robot arm including a robot arm stand (RS) for adjusting the position to move the robot arm (RA) to the surgical site; And a robot console RC for inputting an operation command of the robot driver. The robot arm RA may be provided with a camera for photographing the insertion portion of the robot arm RA.

In FIG. 6, one robot arm RA is illustrated as being mounted on the robot arm stand RS in order to easily explain the coupling relationship between the robot arm stand RS and the robot arm RA. The robot arm RA may be mounted on one robot arm stand RS. This is because the working part can be easily changed in position by the position adjusting part. That is, while the position and angle of the robot arm RA inserted into the living body should be limited in the related art, the robot arm RA according to the present invention has a plurality of robot arms RA having one robot arm stand RS. The working part can be easily repositioned to the surgical site even if it is mounted on the back panel. Because of this, since the operation can proceed smoothly even if only one robot arm stand (RS) is installed in the operating room, the surgical robot according to the present invention has an area required to install the surgical robot compared to the conventional surgical robot It will be reduced, and the operation space can be more smoothly because the active space in the operating room is expanded.

The method of performing the surgery using the surgical robot according to the present invention is as follows. First, when the patient is placed on the operating table and anesthesia is completed, the length of the robot arm stand RS is adjusted or properly rotated so that the robot arm RA is inserted into the patient's abdominal cavity. When the robot arm RA is positioned at the set insertion position, the robot arm RA is operated while controlling the shape of the robot arm RA through the robot console RC.

Hereinafter, the operation principle of the robot arm according to the present invention will be described in more detail.

7 is a conceptual diagram of a one degree of freedom linkage device used in the robot arm according to an embodiment of the present invention.

The robot arm according to the present invention includes a stacked link mechanism having multiple degrees of freedom. Before describing this, the terms and mathematical symbols used herein will be described through the one degree of freedom linkage device.

FIG. 7A shows the input link unit of the one degree of freedom link device shown in FIG. 3 in detail.

Here, L 02 represents the length of the second link of the input link part, and generalizes it, and the arbitrary constant L jk and the arbitrary variable θ jk mean the k-th link and the joint of the j-th section link part of the input link part, respectively. For kinematic analysis, the center point of L 03 is designated as an arbitrary target point (P 0 ), and the X, Y coordinates and the direction angle φ are represented by Loop 1 as follows.

Figure 112010020577309-pat00001

In addition, the target point P 0 of FIG. 6A is expressed as Loop 2 as follows.

Figure 112010020577309-pat00002

Equations 1 and 2 express kinematics for the same point in different paths. Differentiating Equations 1 and 2 with respect to time gives

Figure 112010020577309-pat00003

Figure 112010020577309-pat00004

Equations 3 and 4 are related to the velocity at the same point, so they can be briefly expressed as follows.

Figure 112010020577309-pat00005

here

Figure 112010020577309-pat00006
,
Figure 112010020577309-pat00007
,
Figure 112010020577309-pat00008
Denotes the first, second, and third column vectors of the 3X3 matrix of Equation 3, respectively. Since the mobility of the input link unit is 1, if any one of the four joints composed of the translational and rotational joints is input, the motions and angles of the remaining three joints are all determined. Here, the joint providing the input is defined as an active joint, and the remaining joint is defined as a passive joint. The active joint of Equation 5 is arranged on the right side and the passive joint on the left side. here
Figure 112010020577309-pat00009
Was set as the active joint.

Figure 112010020577309-pat00010

Assuming that there is no singular point in Equation 6, Equation 6 is converted as follows.

Figure 112010020577309-pat00011

here,

Figure 112010020577309-pat00012
to be.

Equation 7 gives the speed relation from the input active joint to the passive joint. Output in FIG. 7A

Figure 112010020577309-pat00013
And input
Figure 112010020577309-pat00014
Can be obtained from Equation 7 as follows.

Figure 112010020577309-pat00015

here

Figure 112010020577309-pat00016
The heat vector
Figure 112010020577309-pat00017
Means the third ingredient.

Equation 8 is generalized and expressed as follows.

Figure 112010020577309-pat00018

here

Figure 112010020577309-pat00019
Is the relation of speed of output with respect to input at input link part.
Figure 112010020577309-pat00020
Is the final output of the input link section. For example, when the worm gear is located in the input link part, the speed of the output with respect to the input is expressed by the gear ratio as shown in Equation 10.

Figure 112010020577309-pat00021

here

Figure 112010020577309-pat00022
Is the gear ratio of the worm gear. The link apparatus used in the robot arm according to the present invention can obtain a speed relation expression of the input link unit as shown in Equations 9 and 10 for various input methods.

7B shows <1> which is a four-section link and <fix> which is an output link unit. A typical four-section link consists of four joints and four fixed length links. However, when the robot driving mechanism expands to multiple degrees of freedom, the first link (

Figure 112010020577309-pat00023
The angle of) can be changed, so it is defined as 5 variables. In the same manner as the kinematic analysis of the input link unit of Equation 1 to Equation 9, the velocity relation of the passive joint with respect to the active joint of the four-section link can be obtained as follows.

Figure 112010020577309-pat00024

here,

Figure 112010020577309-pat00025
And
Figure 112010020577309-pat00026
Is the active joint that is the input of the 4 link.
Figure 112010020577309-pat00027
Is the first link (
Figure 112010020577309-pat00028
) Is the angle between the reference axis and the virtual active joint. In other words,
Figure 112010020577309-pat00029
Is a passive joint, but for kinematic interpretation we first define it as an active joint. Expressing the relation of the output to the input of the section 4 link as follows.

Figure 112010020577309-pat00030

If the first link (

Figure 112010020577309-pat00031
) Is a fixed link fixed to the ground, Equation 12 can be abbreviated as follows.

Figure 112010020577309-pat00032

The following relationship can be seen by comparing the one degree of freedom link device and <1> which is a four-section link shown in FIG. 7B.

Figure 112010020577309-pat00033

And

Figure 112010020577309-pat00034

Using the relationship between Equation 14 and Equation 15, the first four-section link <is combined by the input link section <0>, the first four-section link <1>, and the output link section <fix> fixed to the four-section link. 1> input

Figure 112010020577309-pat00035
Output for
Figure 112010020577309-pat00036
You can get the speed relation of.

Figure 112010020577309-pat00037

Enter Equation 16 using Equation 9

Figure 112010020577309-pat00038
In the following equation, it is as follows.

Figure 112010020577309-pat00039

here

Figure 112010020577309-pat00040
Is a relational expression regarding the input link unit as described in Equation 9.
Figure 112010020577309-pat00041
Is the speed relation between the input and output of the four-section link of the one-degree-of-freedom link device composed of one four-section link. Therefore, input of 1 degree of freedom linkage
Figure 112010020577309-pat00042
Output for
Figure 112010020577309-pat00043
You can get the speed relation of.

The stacked link mechanism constituting the robot arm according to the present invention has various degrees of freedom.

Hereinafter, a relational expression for determining how the four-section link located at the end of the four-section link unit is driven with respect to the input of the first four-section link of the link device.

The robot arm according to the present invention combines a plurality of link devices to form a multi-degree of freedom stacked link mechanism. In this case, the multi-degree of freedom stack type link mechanism has one input, and the plurality of link apparatuses having one or more outputs are sequentially combined with each other, and the sum of the inputs of the plurality of link apparatuses combined and the number of outputs are the most. The number of outputs of many linkages is the same.

First, a linking method for coupling a link device of a two degree of freedom stacked link mechanism like the robot arm according to an embodiment of the present invention will be described.

8 is a schematic view of a two degree of freedom stacked link mechanism constituting the robot arm according to the present invention.

The robot drive mechanism is coupled to a one degree of freedom link device (DOF 1 ) having one output, and a two degree of freedom link device (DOF 2 ) having two outputs, the output of the two degree of freedom link device (DOF 2 ) are all to be controlled, the one-degree-of-freedom can be input to the output link unit (1, L 1, out) is the two-degree-of-freedom link mechanism (2 DOF) of the link device (1 DOF). The four-section link portion of the one degree of freedom link device (DOF 1 ) is provided with one four-section link <1, 1>, and the four-section link portion of the two degree of freedom link device (DOF 2 ) is provided. It can be seen that two four-section links <2, 1> and <2, 2> are provided. In particular, the one degree-of-freedom link mechanism (DOF 1) output link unit (1, L 1, out) of the said two Mrs. input link of freedom link mechanism (DOF 2) <2, 0 > from the second in the moving It can be integrally fixed to the first link ( 2 L 24 ) that is the movable link of the four-section link <2, 2>.

FIG. 8 shows each link device of the two degree of freedom stacked link mechanism as shown in FIG. 3 in detail. Here, each link device is laminated. Here, the 1 degree of freedom link device (DOF 1 ) refers to a link device having one four-link link, and the two degree of freedom link device (DOF 2 ) refers to a link device having two four-link links. The stacked-layer type two-degree of freedom link mechanism has an output of the first degree of freedom link device (1 DOF) link unit (

Figure 112010020577309-pat00044
) And the first link, which is a movable link of the two degree of freedom link device (DOF 2 )
Figure 112010020577309-pat00045
) So that the position and orientation angle always match. Here, the first link, which is a fixed link of <1, 1>, which is the first four-section link of the 1 degree of freedom link device (DOF 1 )
Figure 112010020577309-pat00046
) Is always fixed to the ground, so it can be expressed as

Figure 112010020577309-pat00047

Here, <1, 1> represents the first four-section link of the DOF 1 , that is, the first four-section link of the link device having 1 degree of freedom. Generalizing this, <i, j> represents the j th section 4 link of the i degree of freedom link device.

Figure 112010020577309-pat00048
,
Figure 112010020577309-pat00049
Denotes the k-th joint and the link of the j-th section link of the i degree of freedom linkage device, respectively. 8B shows a two degree of freedom linkage (DOF 2 ). Here, the first link, which is the movable link of <2, 2> (
Figure 112010020577309-pat00050
) Is a four-section link that is not fixed to the ground.
Figure 112010020577309-pat00051
Output for
Figure 112010020577309-pat00052
The relation of can be obtained as

Figure 112010020577309-pat00053

From here

Figure 112010020577309-pat00054
Is a virtual active joint, which is the virtual input of the two degree of freedom linkage (DOF 2 ) shown in FIG. 8B.

In addition, the first link (<2, 1> fixed link)

Figure 112010020577309-pat00055
) Is fixed, and can be expressed as follows from Equation 13.

Figure 112010020577309-pat00056

The following relationship can be seen from FIG. 8B.

Figure 112010020577309-pat00057

Since the output of the first four-section link <2, 1> of the two degree of freedom link device (DOF 2 ) acts as an input of the second four-section link <2, 2>, As follows.

Figure 112010020577309-pat00058

In addition, equation 19 is summarized using the relationship of equation 22 and equation 20 as follows.

Figure 112010020577309-pat00059

As shown in Equation 23, the two degree of freedom link device DOF 2 of FIG. 8B is defined as a system having two input variables and one output variable. That is, here

Figure 112010020577309-pat00060
Is a virtual active joint. This is the input
Figure 112010020577309-pat00061
By
Figure 112010020577309-pat00062
Wow
Figure 112010020577309-pat00063
It means that the angle can all be changed. Therefore, the following constraints are considered because the system lacks one degree of freedom with one input and two outputs.

As shown in FIG. 8, the one degree of freedom link device DOF 1 and the two degree of freedom link device DOF 2 are the first link (DOF 1 ) of the one degree of freedom link device DOF 1 , which is a fixed link.

Figure 112010020577309-pat00064
) And the first link (DOF 2 )
Figure 112010020577309-pat00065
), And the output link unit of the 1 degree of freedom link device (DOF 1 )
Figure 112010020577309-pat00066
) And the first link 2 L 24 of the two degree of freedom link device DO 2 are coupled to each other. In other words, the output of the 1 degree of freedom link device (DOF 1 )
Figure 112010020577309-pat00067
Is the second section of the 2nd degree of freedom link device (DOF 2 ).
Figure 112010020577309-pat00068
Since the following equation can be obtained.

Figure 112010020577309-pat00069

Using Equation 24, Equation 18, which is the relational expression of the 1 degree of freedom link device (DOF 1 ), and Equation 23, which is the relational expression of the 2 degree of freedom link device (DOF 2 ), can be summarized as follows.

Figure 112010020577309-pat00070

Briefly, this is as follows.

Figure 112010020577309-pat00071

As shown in FIG. 8, a speed relation equation of an output with respect to an input of a robot drive mechanism composed of a 1 degree of freedom link device (DOF 1 ) and a 2 degree of freedom link device (DOF 2 ) can be obtained as shown in Equation 26. Equation 26 is the relationship between two input variables and two output variables. Thus, a two degree of freedom link device (DOF 2 ) consisting of two four-links and one degree of freedom link device (DOF 1 ) consisting of four four-links are combined to operate as a series manipulator. It can be seen that it becomes a degree of freedom system.

In addition, <1, 0>, <2, 0>, which are input link sections, are applied to the inputs of <1, 1>, <2, 1>, which are the first four-links of each plane, are as follows.

Figure 112010020577309-pat00072

here

Figure 112010020577309-pat00073
,
Figure 112010020577309-pat00074
Denotes the relational expression of the output to the inputs of <i, 0> which are the i degree of freedom link device input link units, respectively, and the input of the i degree of freedom link device, respectively. Therefore, as shown in Equation 27, a speed relation equation of a two degree of freedom stacked link mechanism can be obtained. Of the above mentioned two degree of freedom linkage (DOF 2 )
Figure 112010020577309-pat00075
Since in practice it is passive joints of the virtual active joints of the expression 23 is one, but the lack of linkage degree of freedom, one degree of freedom link mechanism (DOF 1) a 1 degree of freedom for one degree of freedom link mechanism (DOF 1) insufficient by laminating Print
Figure 112010020577309-pat00076
By constraining this, it is possible to construct a complete two degree of freedom stacked link mechanism.

Hereinafter, the n degree of freedom stacked link mechanism will be described in detail.

9 is a schematic diagram of a method of coupling the n degree of freedom stacked link mechanism constituting the robot arm according to the present invention.

In the n-degree-of-freedom stacking link mechanism applied to the robot arm according to the present invention, link devices having 1 to n degrees of freedom are stacked. At this time, the outputs of the 1 to n-1 degree of freedom link devices are input to the 2 to n degree of freedom link devices so that all of the outputs of the n degree of freedom link device DO n can be controlled. N is an integer of 3 or more.

Accordingly, when n is 3, the outputs of the 1 degree of freedom link device (DOF 1 ) and the 2 degree of freedom link device (DOF 2 ) are respectively the 2 degree of freedom link device (DOF 2 ) and the 3 degree of freedom link device (DOF 3). The laminated link mechanism is configured to be input to The four-section link unit of the n-1 degree of freedom link device (DOF n- 1 ) includes n-1 four-section links composed of <n-1, 1> to <n-1, n-1>. The four-section link portion of the n degree of freedom link device (DOF n ) is provided with n four-section links composed of <n, 1> to <n, n>. Wherein the output link portions of the 1 to n-1 degree of freedom linkages are positioned at the end of the four-section link portion of the 2 to n degree of freedom linkages such that the stacked link mechanism is a complete multi-degree of freedom stacked linkage. It is preferable to be fixed to the four-section link. In particular, like the two-degree-of-freedom stacking link mechanism, the output link unit 1 L 1 , out , 2 L 2 , out , 3 L 3 , out ,..., N-1 L n − 1, out ) is preferably integrally coupled to the movable links 2 L 24 , 3 L 34 ,..., N L n4 of the last four-links of each of the 2 to n degree of freedom link devices. That is, n-1 degrees of freedom link mechanism (DOF n -1) output link unit (n-1 L n-1 , out) of the, n n the movable link of the second four-bar linkage of the degree-of-freedom link mechanism (DOF n) In ( n L n4 ), the output link portion of the n-2 degree of freedom link device is the movable link (n-1 L n ) of the n-1 th 4th link of the n-1 degree of freedom link device (DOF n −1 ). 1,4 ), the output link portion of the n-3 degree of freedom linkage is connected to the movable link of the n-2nd four-section link of the n-2 degree of freedom linkage in a manner that is integrally coupled to the output link portion of the remaining linkage. And the movable link can be combined integrally.

In addition, when the multiple degree of freedom link device is stacked coupled, it is preferable that the first link of the four-section link located in the same order is integrally coupled to each other. That is, as shown in Figure 9, it is preferable that the first link of the four-link link represented by the same hatching is laminated to each other.

Further, each of the multiple degree of freedom link device is formed by connecting the first link of the four-section link in the adjacent position hinged with each other, and forming a connection joint at the position where the first link is hinged, thereby The drive can be delivered to the input side transfer link located behind it. In FIG. 9, the four linkages in which the first link is hinged are formed to share a part of the output side transmission link and the input side transmission link. Therefore, each link device can be formed to achieve the same effect as the connection joint is fixedly coupled to the output side transmission link and the input side transmission link of the adjacent four-section link.

Here, in the 1 to n degree of freedom link device, the first link of the first four sections link may be a fixed link. In addition, only the first link of the 1 degree of freedom linkage device may be a fixed link, and the first link of the 2 to n degree of freedom linkage device that is a movable link may be laminated in a shape that is fixedly coupled to the fixed link.

Through the relational expression of the two degree of freedom stacked link mechanism, an output relational expression with respect to the input of the multiple degree of freedom stacked link mechanism can be obtained. It is possible to obtain a relationship between the input speed and the output speed of the n degree of freedom lamination type link mechanism by repeating the same process as the equations (18) to (26).

Figure 112010020577309-pat00077

here

Figure 112010020577309-pat00078
Is the angle of the n output link portions of the n degree of freedom stacked link mechanism.
Figure 112010020577309-pat00079
And 1 to n degrees of freedom indicating the angle between the input link transmission line and the input link extension of the first four links of the link device
Figure 112010020577309-pat00080
Is a speed relation.

Equation 29 is a relation of the speed of the output with respect to the input of the n degree of freedom stacked link mechanism. In this way, it is possible to obtain a general relation between the speed of the robot arm with a stacked link mechanism having n degrees of freedom.

Figure 112010020577309-pat00081

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: 1 degree of freedom linkage 200: 2 degree of freedom linkage
110, 210: input link unit 122, 222: first four-section link
122a, 222a, 224a: Input side transmission link 122b, 222b, 224b: Connecting rod
122c, 222c, 224c: output side transmission link 122d, 222d, 224d: first link
130, 230: output link unit 223: connection joint
224: Second section 4 link J 1 , J 2 : Fixed joint
RA: Robot Arm RS: Robot Arm Stand
RC: Robot Console

Claims (13)

  1. A work part inserted into the living body;
    A drive unit equipped with an actuator for operating the work unit;
    Is coupled between the working part and the drive unit includes a position adjusting unit for transmitting the force of the actuator to the working part,
    A plurality of link devices including four-links are stacked and stacked so that the working part is operated by the actuator,
    The position adjusting portion, the robot arm, characterized in that the four-section link of the link device is laminated.
  2. The method of claim 1,
    The link device includes an input link unit located at the driving unit, a four-section link unit including at least one four-section link, and an output link unit coupled to an end of the four-section link unit.
    The four-section link unit may include a first link, a connecting rod positioned opposite the first link, an input side transfer link connecting one end of the first link and the connecting rod, and an output side positioned opposite the input side transfer link. Robot arm, characterized in that it comprises a four-section link hinged to each other four links consisting of a transmission link.
  3. The method of claim 2,
    The four-section link unit includes a fixed four-section link is a fixed link of the first link is fixed position,
    An input link unit hinged between both ends of the input side transmission link and equipped with an actuator, and
    Robot arm characterized in that the one degree of freedom link device including an output link unit fixedly coupled to the output side transmission link at a predetermined angle.
  4. The method of claim 3,
    The one degree of freedom link device, and
    The fixed four-section link, and the first link is a movable four-section link is a movable link, including a four-section link portion hinged to the fixed link and the movable link, the input side transmission link provided in the fixed four-section link The two-degree of freedom link device is hinged between both ends of the coupling, including an input link unit equipped with an actuator and an output link unit fixedly coupled to the output side transmission link of the movable four-link link and rotated by the output side transmission link. But
    A connection joint for transferring the drive of the output side transmission link of the fixed four-link to the input side transmission link of the movable four-link is coupled between the fixed four-link and the movable four-link;
    And a two-degree-of-freedom stacking link mechanism in which the output of the one-degree-of-freedom link device is input to the two-degree-of-freedom link device so that the outputs of the two-degree-of-freedom link device can be controlled.
  5. The method of claim 4, wherein
    And the output link portion of the one degree of freedom linkage device is fixedly coupled to the movable link of the two degree of freedom linkage.
  6. The method of claim 4, wherein
    And the connecting joint is fixedly coupled to the output side transmission link of the fixed four-section link and the input side transmission link of the movable four-section link.
  7. The method of claim 3,
    The one degree of freedom link device, and
    A four-section link including two to n four-section links, each of which includes a movable four-section link, wherein the first link is a movable link, and the fixed four-section link, and wherein the adjacent first link is hinged to each other; It is hinged between the both ends of the input side transmission link provided in the first four-section link constituting the link portion, and fixed to the output side transmission link of the last four-section link with the actuator is mounted, and the last four-section link of each four-section link portion It is formed by stacking n-1 link devices including a combined output link unit,
    The n link devices are stacked and coupled so that the outputs of the 1 to n-1 degree of freedom link devices are respectively input to the 2 to n degree of freedom link devices so that the outputs of the n degree of freedom link devices are all controllable.
    A connection joint coupled between an output side transmission link and an input side transmission link of the adjacent four-section link, and transmitting a driving force between the four-section links;
    Each link device is equipped with an n degree of freedom stacked link mechanism, wherein the first four links of the four-section link unit is the fixed four-section link, and the remaining four-section links are movable four-section links.
    Where n is an integer of 3 or more.
  8. The method of claim 7, wherein
    The n degree of freedom stacked link mechanism is a robot arm, characterized in that the connecting joint is fixedly coupled to the output side transmission link and the input side transmission link of the adjacent four-section link.
  9. The method of claim 7, wherein
    The n degree of freedom stacked link mechanism is characterized in that the output link portion of each of the 1 to n-1 degree of freedom link device is fixedly coupled to the movable link of the last four links of each of the 2 to n degree of freedom link device. Robotic arm.
  10. The method of claim 7, wherein
    The n-degree of freedom stacked link mechanism is a robot arm, characterized in that the first link in the same order is stacked.
  11. The method of claim 1,
    The working arm is a robotic arm, characterized in that formed by a radiation transmitting material.
  12. A robot driver comprising a robot arm according to any one of claims 1 to 11 and a robot arm stand for adjusting the position of the robot arm; And
    Surgical robot including a robot console for inputting the operation command of the robot driver.
  13. The method of claim 12,
    A wire for transmitting an operation command input from the robot console to the work unit; And
    Surgical robot further comprises a guide coupled to the position adjusting portion of the robot arm to fix the installation position of the wire.
KR1020100029236A 2010-03-31 2010-03-31 Robot arm and surgical robot therewith KR101123129B1 (en)

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KR1020100029236A KR101123129B1 (en) 2010-03-31 2010-03-31 Robot arm and surgical robot therewith
US13/638,370 US9919433B2 (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
PCT/KR2011/002206 WO2011122862A2 (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
CN201180021909.XA CN102905640B (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
EP11763034.3A EP2554136A4 (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
US15/883,861 US20180161990A1 (en) 2010-03-31 2018-01-30 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same

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KR102038632B1 (en) 2012-11-06 2019-10-30 삼성전자주식회사 surgical instrument, supporting device, and surgical robot system adopting the same
KR101538041B1 (en) * 2013-10-15 2015-07-23 한국과학기술원 Device for positioning of surgical tool and sergical robot system including the same
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