KR101567516B1 - 6 degree of freedom master device for needle insertion-type interventional robotic system - Google Patents

Abstract

The present invention relates to a six degree-of-freedom master device for a needle insertion-type remote interventional robotic system and, more specifically, to a six degree-of-freedom master device for delivering a command of a doctor for movement to a slave robot, and delivering feedback information measured in the slave robot to the doctor in a needle insertion-type remote interventional robotic system. The six degree-of-freedom master device for a needle insertion-type remote interventional robotic system receives input of six degree-of-freedom of three degree-of-freedom rotation and three degree-of-freedom translation, and outputs a five degree-of-freedom reaction except for rotation in the roll direction.

Description

[0001] The present invention relates to a 6-degree-of-freedom master device for a needle-inserted remote interventional robotic system,

The present invention relates to a six-degree-of-freedom master apparatus for a needle-inserted remote mediating robot system, and more particularly, to a saddle-type remote mediating robot system which transmits a physician's motion command to a slave robot, The present invention relates to a six-degree-of-freedom master device for transmitting an input of a six degrees-of-freedom motion of three degrees of freedom rotational motion and three degrees of freedom translational motion, The present invention relates to a 6-DOF master apparatus for a needle insertion type remote arbitration robot system which can be formed so as to be able to generate a needle-

As the medical technology develops, a hole is made only in the smallest part of the human body without direct incision, and a medical needle such as an ablator or a biopsy is inserted into a lesion where the lesion is present. Technology is being used.

This method is called "interventional procedure" or "interventional procedure" because the procedure is performed while observing the inside of the human body with medical imaging equipment.

In other words, the interventional procedure can be performed in a region where the medical needle is inspected through the skin while observing the image obtained from CT (Computerized Tomography) or MRI (Magnetic Resonance Imager) And the procedure is a procedure to diagnose or treat, and the procedure has a burden on the radiation exposure.

Therefore, in order to minimize radiation exposure of the procedure, an interventional robot for needle insertion may be used. In the case of insertion of a needle using a robot for intervention for insertion of a needle, the operator manipulates the needle insertion robot manipulator to insert the needle insertion robot A needle is inserted into a region to be inspected or a treatment region ('touched'), and a haptic device is generally used as an operation portion.

Korean Patent Laid-Open Publication No. 2011-0090782 (published on Aug. 10, 2011, entitled "Scanning Simulation System and Method") includes a syringe including an injection needle; A haptic portion that measures an insertion angle and an insertion depth of the injection needle and that is driven by a haptic force corresponding to the measured insertion angle and insertion depth; And a control unit for calculating a haptic force corresponding to the insertion angle and the insertion depth, and transmitting the calculated haptic force to the motor unit of the haptic unit.

However, since the haptic device used in the medical field has no haptic feedback or inserts the needle depending only on the amount of positional deviation, precise force control is not possible, which can damage the skin or the organ of the subject.

That is, since the needle is inserted only depending on the deviation between the point at which the needle is inserted and the point at which the current needle is inserted, there is no system capable of precisely controlling the needle insertion force, There will be a problem.

In addition, the conventional haptic device and the master device have been developed for general purpose use and have a large range of movement range and reaction force, and accordingly, there is a great problem in inertia felt in the handle.

Since the master device for the remote needle insertion type intervention has a needle-shaped knob shape, the inertia should be minimized, and the movement range should also be able to realize the range of operation. On the other hand, the reaction force realization range does not have to be large.

Therefore, it is necessary to develop a master device optimized for the characteristics of such a remote needle insertion type intervention procedure.

Korean Laid-Open Patent Application No. 2011-0090782 (Publication date: 2011.08.10, Name: Scanning simulation system and method)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a needle insertion type remote arbitration robot system that transmits a physician's motion command to a slave robot, The master device for transmitting feedback information back to the physician is capable of receiving input for 6 degrees of freedom movement of 3 degrees of freedom rotational motion and 3 degrees of freedom translational motion, So that feedback can be performed, thereby providing a six-degree-of-freedom master device optimized for specification of a remote needle insertion type interventional procedure.

The six-degree-of-freedom master device of the present invention is a six-degree-of-freedom master device for transferring a physician's motion command to a slave robot in a needle-like grip in a needle-inserted telescoping robot system, and transmitting feedback information measured by a slave robot to a doctor again. An apparatus comprising: a first drive module for rotating a first shaft, the first drive module having a first output connected to a first output; A second driving module that rotates the second shaft and has a second output connected to the second arm; A third driving module that rotates the third shaft and has a third output connected to the third arm; A base to which the first to third drive modules are coupled so that the first to third shafts are at an angle to each other in a delta shape on the same plane; An end effector coupled to the ends of the first through third arm portions; And the end effector of the first delta robot and the end effector of the second delta robot are respectively connected to two points spaced apart from each other in the longitudinal direction of the handle have.

In addition, the 6-DOF master device according to an embodiment of the present invention is characterized in that a bearing insertion hole having a ring-shaped hollow portion with a predetermined inner region is formed at the end effector end, and the needle- And the handle coupled with the ball bearing can be engaged with a spherical bearing coupled to the inner circumferential surface of the bearing insertion hole.

Further, the 6-DOF master device according to an embodiment of the present invention is characterized in that the first drive module includes a first motor for generating a rotational force, a first output terminal formed at one side of the first motor, And a first encoder coupled to the first shaft at the other side of the first brake to control a rotation speed and a speed of the first motor, wherein the first encoder is disposed on the other side of the first brake and generates a braking force, A second brake for generating a braking force which is formed on the other side of the second motor and a second brake for generating a braking force on the other side of the second motor; And a second encoder coupled to the second shaft to control a rotation speed and a speed of the second motor, wherein the second drive module includes a second motor for generating a rotational force, A second output terminal formed, A second brake formed on the other side of the second motor for generating a braking force and a second encoder coupled to the second shaft at the other side of the second brake for controlling the rotational speed and speed of the second motor have.

According to an embodiment of the present invention, the base further includes a first fixing part, a second fixing part, and a third fixing part extending in the radial direction from the central part, spaced apart from each other by 120 degrees, A first bracket protruding from both side edge surfaces of the first fixing part is coupled to the first output end in a direction perpendicular to the first shaft and protruded from both side edges of the second fixing part in the circumferential direction A second bracket is coupled to the second output end in a direction perpendicular to the second shaft and a third bracket protruding from both side edges of the third fixing part in the circumferential direction is disposed in a direction perpendicular to the third shaft And may be coupled to the third output terminal.

Also, in the 6-DOF master device according to an embodiment of the present invention, the first engaging member is coupled to the other side of the first arm portion coupled with the first output end so that the first bracket is connected to the first output end and the And a second coupling member is coupled to the other side of the second arm portion coupled to the second output end so that the second bracket is coupled to the second output end and the second coupling member, And the third engaging member is coupled to the other side of the third arm portion coupled to the third output end so that the third bracket can be coupled to the third output end and the third engaging member, respectively.

In addition, the 6-DOF master device according to an embodiment of the present invention includes a first upper arm to which the first arm portion is coupled to the first output end, and a second upper arm that is connected to the lower portion of the first upper arm by a rotation joint, A second upper arm formed to include the lower arm and having the second arm portion coupled to the second output end and a second lower arm connected to the lower portion of the second upper arm with a rotation joint, The third arm may include a third upper arm coupled to the third output end and a third lower arm connected to the lower portion of the third upper arm by a rotation joint.

In addition, the 6-DOF master device according to an embodiment of the present invention includes a first lower shaft coupled to a first rotary groove formed at a lower portion of the first upper arm, A first lower arm and a first lower arm coupled to the lower ends of the first lower arm and the second lower arm in a direction perpendicular to both ends thereof, The second lower arm is coupled to a second rotary groove formed in a lower portion of the second upper arm, and a second-1 lower arm coupled in a direction perpendicular to both ends of the second rotary shaft, And a second-2 rotation shaft connecting the second-2 lower arm and the lower ends of the second-1 lower arm and the second-2 lower arm, and the third lower arm is connected to the third upper arm A third-1 lower arm and a third -2 lower arm which are coupled in a direction perpendicular to both ends of the third rotation shaft; And a third-second rotary shaft connecting the lower arm and the lower arm of the third-second lower arm.

In addition, the 6-DOF master device according to an embodiment of the present invention includes a first lower arm and a first upper arm, a second lower arm and a second upper arm, a third lower arm, A limit formed in a straight line with the first through third lower arms and protruding in opposite directions so that an angle formed by the upper and lower arms is less than 180 degrees; A certain region of the limit is inserted into the hollow plunger insertion hole, and the first lower arm and the first upper arm, the second lower arm and the second upper arm, the third lower arm, and the third A short plunger for adjusting the maximum angle of the upper arm; . ≪ / RTI >

The six-degree-of-freedom master device of the present invention is capable of receiving inputs for six-degree-of-freedom motion of three degrees of freedom rotational motion and three degrees of freedom translational motion, Therefore, it is advantageous to be able to be optimized for the specification of a remote needle insertion type interventional procedure.

That is, the six-degree-of-freedom master device of the present invention utilizes the characteristics of the delta robot mechanism to minimize the inertia experienced by the user in the handle, thereby enabling more precise intervention.

In addition, the 6-DOF master device of the present invention can not accurately feedback the angles in the haptic device used in the conventional intervention procedure, and can not damage the skin or the organ of the subject. So that the accuracy of the procedure can be greatly improved.

In addition, the present invention is based on data obtained by analyzing motion and force information measured in the course of implementing a practicing intervention procedure, and is characterized in that two delta robots in the form of a motion range and reaction force sufficient to implement the intervention procedure The present invention can be applied to an actual needle insertion type remote-assisted robot system, thereby improving the operation effect.

In addition, the present invention includes a limiter mounted in combination with a short plunger between an upper arm and a lower arm, so that when the angle between the upper arm and the lower arm of each of the delta robots exceeds a predetermined angle, .

Accordingly, the present invention improves the performance of the remote interventional robotic system and significantly improves the surgical effect, thereby contributing to popularization of the interventional procedure.

1 is a perspective view of a six degree of freedom master device according to the present invention;
2 is a perspective view showing one of the delta robots constituting the 6-DOF master device according to the present invention.
Figure 3 is a perspective view of the delta robot of Figure 2 taken at different angles;
4 is a side view of a drive module of a delta robot constituting a 6-DOF master device according to the present invention.
5 and 6 are a perspective view and an exploded perspective view showing an end effector and a handle coupling portion of a 6-DOF master device according to the present invention.
7 to 9 are perspective views showing an upper arm and a lower arm connecting portion of a 6-DOF master device according to the present invention.
10 is an actual photograph of a 6-DOF master device according to the present invention.

Hereinafter, a six-degree-of-freedom master device for a needle insertion type remote arbitration robot system according to the present invention will be described in detail with reference to the accompanying drawings.

The six-degree-of-freedom master device 1 of the present invention transmits a physician's motion command to the slave robot in the needle-type remote-assisted robot system in the needle-inserted type and controls the slave robot To do this, two delta robots can be used to receive inputs for 6 degrees of freedom motion, and at the same time, outputs can be output in the form of 5-degree-of-freedom reaction except for roll rotation, .

First, the 6-DOF master device 1 of the present invention comprises two delta robots composed of a first delta robot 10, a second delta robot 20, and a needle-like handle 30.

The first and second delta robots 10 and 20 include three drive modules and a base 400 and an end effector 500, respectively.

The driving module includes a first driving module 100, a second driving module 200, and a third driving module 300, all of which have the same configuration.

4, the first driving module 100 includes a first motor 113 for generating a rotational force, a first output terminal 112 formed on one side of the first motor 113, A first brake 114 which is formed on the other side of the motor 113 to generate a braking force and a second brake 114 which is provided on the first shaft 111 rotated by the first motor 113 on the other side of the first brake 114 And a first encoder 115 coupled to control the rotation speed and speed of the first motor 113.

That is, the first driving module 100 rotates the output end by the rotation of the first motor 113, generates the braking force if necessary by the first brake 114, Thereby controlling the rotational speed and speed of the motor.

Since the brakes and encoders of the motors are well known in the art, detailed description of the principle and structure will be omitted.

Similarly, the second driving module 200 includes a second motor 213 for generating a rotational force, a second output terminal 212 formed on one side of the second motor 213, And a second brake 214 coupled to the second shaft 211 rotated by the second motor 213 at the other side of the second brake 214. The second brake 214 is disposed on the other side of the second brake 214 to generate a braking force, And a second encoder 215 for controlling the number of revolutions and the speed of the motor 213.

The third driving module 300 includes a third motor 313 generating a rotational force, a third output 312 formed on one side of the third motor 313, And a third brake 314 coupled to the second shaft 211 rotated by the third motor 313 from the other side of the third brake 314 to generate a braking force, And a third encoder 315 for controlling the number of revolutions and the speed of the second encoder 313.

At this time, the first arm part 120 is connected to the first output end 112 of the first driving module 100 so that the movement of the first arm part 120 is controlled according to the rotation angle of the first motor 113 do.

The second arm part 220 is connected to the second output terminal 212 of the second driving module 200 so that the movement of the second arm part 220 is controlled according to the rotation angle of the second motor 213 A third arm part 320 is connected to a third output terminal 312 of the third module to control the movement of the third arm part 320 according to the rotation angle of the third motor 313.

1 to 3, the first driving module 100, the second driving module 200, and the third driving module 300 are inclined at a predetermined angle to each other and coupled to the base 400, The movement of the first arm 120, the second arm 220, and the third arm 320 connected to each other is controlled in different directions.

At this time, like the delta robot mechanism, the base 400 is provided with the first shaft 111 of the first driving module 100, the second shaft 211 of the second driving module 200, and the third driving module The first to third driving modules 300 are coupled such that the third shaft 311 of the first and second shafts 300 and 300 forms a delta shape on the same plane and is inclined at an angle with respect to each other.

More specifically, the base 400 has a first fixing portion 410, a second fixing portion 420, and a third fixing portion 430 extending in the radial direction from the central portion, As shown in FIG.

At this time, the first fixing part 410 has a first bracket 411 protruding from both side edge surfaces in the circumferential direction adjacent to the end part, and the first bracket 411 protrudes from the first output part 112 (in the direction perpendicular to the first shaft 111) ). ≪ / RTI >

The first bracket 411 may protrude substantially vertically from both sides of the first fixing part 410 and may have a hollow shape so that the first output end 112 may be inserted and coupled .

Likewise, the second fixing part 420 has a second bracket 421 protruding from both side edges thereof in the circumferential direction and adjacent to the end thereof, and the second bracket 421 protrudes from the second output end And a third bracket 431 protruding from both sides of the third fixing part 430 in the circumferential direction and adjacent to an end of the third bracket 431 in a direction perpendicular to the third shaft 311, 3 < / RTI >

3, the base 400 includes a first fixing part 410, a first shaft 111, a second fixing part 420 and a second shaft 211, a third fixing part (not shown) The first to third driving modules 300 are coupled so that the first to third shafts 430 and 311 are substantially perpendicularly crossed and the first to third shafts 311 are formed in a delta .

At this time, the 6-DOF master device 1 according to the present invention includes first to third arm portions 320 coupled to the first to third output ends, and first to third brackets 431, To 3 < / RTI >

In other words, in the 6-DOF master device 1 of the present invention, the first engaging member is coupled to the other side of the first arm portion 120 coupled to the first output end 112, and the first bracket 411, And a second coupling member is coupled to the other side of the second arm portion 220 coupled to the first output end 112 and the first coupling member and coupled to the second output end 212, The third coupling part is coupled to the other side of the third arm part 320 coupled to the third output terminal 312, and the third coupling part is coupled to the second output part 212 and the second coupling part, And the third bracket 431 may be coupled to the third output end 312 and the third engagement member, respectively.

The six degrees of freedom master device 1 of the present invention includes a first upper arm 130 coupled to the first output end 112 of the first arm portion 120, A second upper arm 230 formed to include a first lower arm 140 connected to the lower part by a rotation joint and the second arm 220 coupled to the second output terminal 212, And a second lower arm 240 connected to the lower portion of the upper arm 230 by a rotation joint and the third arm portion 320 includes a third upper arm 330 coupled to the third output end 312 And a third lower arm 340 connected to the lower portion of the third upper arm 330 by a rotation joint.

The first lower arm 140 includes a first rotating shaft 141 coupled to a first rotating shaft 131 formed at a lower portion of the first upper arm 130, A lower first arm 143 and a second lower arm 143 which are coupled to both ends in a direction perpendicular to the first lower arm 141 and the second lower arm 143, And a first-second rotating shaft 144 connecting the first rotating shaft 144 and the second rotating shaft 144.

The second lower arm 240 includes a second-1 rotary shaft 241 coupled to a second rotary groove 231 formed at a lower portion of the second upper arm 230, 2-1 lower arm 242 and second -2 lower arm 243 coupled to both ends in a direction perpendicular to both ends of the lower arm 241 and the second lower arm 242, And a second-2 rotating shaft 244 connecting the lower portion of the second rotating shaft 244.

The third lower arm 340 is coupled to a third rotary groove 331 formed at a lower portion of the third upper arm 330 and a third-first rotary shaft 341, The lower arm 342 and the lower arm 343 are connected to each other in a direction perpendicular to both ends of the upper arm 341 and the lower arm 342. The lower arm 342 and the lower arm 343 And a third-2 rotating shaft 344 connecting the lower part of the third rotating shaft 344.

Since the upper arm and the lower arm structure of the delta robot as described above are well known in the art, a detailed description thereof will be omitted.

Generally, in the delta robot, the upper arm and the lower arm are connected to each other by rotating joints so that joint movement is possible. If the upper arm and the lower arm are singularities, control becomes impossible.

To prevent this, the 6-DOF master device 1 of the present invention may further include a limit 610 and a short plunger 620 as shown in FIGS.

The limit 610 is formed in the first lower arm 140 and the first upper arm 130, the second lower arm 240 and the second upper arm 230, the third lower arm 340, 3 upper arm 330 may be less than 180 degrees and may protrude in a direction opposite to the first lower arm 340 in a straight line.

The limit 610 shown in Figs. 7 to 9 has a substantially U-shaped configuration in which both ends are connected to the 1st-1st rotary shaft 141, the 2nd-1st rotary shaft 241 and the 3rd-1st rotary shaft 341 Such as a bolt, and the first to third upper arms 330 are positioned between both ends to be engaged.

The short plunger 620 is screwed into a hollow plunger insertion hole 611 in a certain region of the limit 610 and is inserted into the first lower arm 140 and first The maximum angle of the upper arm 130, the second lower arm 240 and the second upper arm 230, the third lower arm 340, and the third upper arm 330 is adjusted.

That is, the plunger insertion holes 611 are formed to correspond to the positions of the first to third upper arms 330, and the short plungers 620 are connected to the first to third upper arms 330 To adjust the angle at which the first to third upper arms 330 can be rotated and moved to the short plunger 620 side.

The shape of the limit 610 and the short plunger 620 are not limited to the above-described shapes and methods, and can be changed as long as they have the above-described angle adjustment effect.

Meanwhile, the 6-DOF master device 1 of the present invention includes a first delta robot (not shown) formed to include an end effector 500 coupled to ends of the first through third arm portions 320, 10 and the end effector 500 of the third delta robot are respectively connected to two points spaced apart from each other in the lengthwise direction of the handle 30 so as to receive input for 6 degrees of freedom motion, So that an output can be generated.

5 and 6, in the 6-DOF master device 1, a ring-shaped bearing insertion hole 510 is formed in the end portion of the end effector 500, The handle 30 in the form of a needle is coupled to the ball bearing 31 at two points and the handle 30 coupled to the ball bearing 31 is coupled to the inner surface of the bearing insertion hole 510 32).

Shaped handle 30 connected to the first delta robot 10 and the second delta robot 20 through two points through engagement with the end effector 500 by the ball bearing 31 and the spherical bearing 32 ) Will be able to receive input for 3-DOF rotational motion as well as 3-DOF linear motion.

The end effector 500 is connected to the first to third rotary portions 144 and 242 and the third to second rotary shafts 344 in the form of a rotary joint, As shown in FIG.

Referring to FIG. 5, when the first delta robot 10 moves in the x1 direction and the second delta robot 20 moves in the x2 direction, the grip 30 moves in the x direction.

Also, when the first delta robot 10 moves in the y1 direction and the second delta robot 20 moves in the y2 direction, the handle 30 moves in the y direction.

Likewise, when the first delta robot 10 moves in the z1 direction and the second delta robot 20 moves in the z2 direction, the handle 30 moves in the z direction so that the six degree of freedom master device 1 of the present invention You can get an input for a three degree-of-freedom translational motion.

Meanwhile, when the first delta robot 10 moves in the x1 direction and the second delta robot 20 moves in the -x2 direction, the grip 30 rotates about the y axis.

In addition, when the first delta robot 10 moves in the y1 direction and the second delta robot 20 moves in the -y2 direction, the grip 30 rotates about the x axis.

Similarly, when the end effector 500 of the first delta robot 10 moves in the clockwise direction and the second delta robot 20 moves in the counterclockwise direction, the grip 30 rotates about the z-axis, The six degrees-of-freedom master device 1 can receive inputs for three degrees of freedom rotational motion.

The 6-DOF master device 1 of the present invention can output the reaction force transmitted from the slave robot in the same manner as the above-described mechanism, It is possible to generate an output in the form of a reaction force of 5 degrees of freedom excluding the roll direction.

To summarize the features of the present invention once again, the 6-DOF master device 1 of the present invention is capable of receiving input for 6 degrees of freedom movement of 3 degrees of freedom rotational motion and 3 degrees of freedom translational motion, It is possible to generate the output in the form of a 5-degree-of-freedom reaction force except for the rotation, so that the feedback can be performed, so that it can be optimized for the specification of the remote needle insertion type interventional procedure.

That is, the 6-DOF master device 1 of the present invention utilizes the characteristics of the delta robot mechanism to minimize inertia felt by the user at the handle 30, thereby enabling more precise intervention.

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. It goes without saying that various modifications can be made.

1: 6 degree of freedom master device
10: first delta robot 20: second delta robot
30: Handle
31: Ball Bearing 32: Spherical Bearing
100: first drive module
111: first shaft 112: first output stage
113: first motor 114: first brake
115: first encoder 116: first coupling member
120: first arm portion
130: first upper arm 131: first rotary groove
140: first lower arm 141: 1st-1st rotary shaft
142: 1-1 lower arm 143: 1-2 lower arm
144:
200: first drive module
211: second shaft 212: second output stage
213: second motor 214: second brake
215: second encoder 216: second coupling member
220: second arm portion
230: second upper arm 231: second rotary groove
240: second lower arm 241: 2nd-1st rotary shaft
242: 2-1 lower arm 243: 2-2 lower arm
244:
300: third drive module
311: Third shaft 312: Third output stage
313: Third motor 314: Third brake
315: Third encoder 316: Third coupling member
320: Third arm portion
330: third upper arm 331: third rotary groove
340: third lower arm 341: 3rd-1st rotary shaft
342: Lower arm 3-1: Lower arm 343: Lower arm 3-2
344:
400: Base
410: first fixing part 411: first bracket
420: second fixing part 421: second bracket
430: third fixing portion 431: third bracket
500: End effector
510: Bearing insertion hole
610: Limit 611: Plunger insertion hole
620: Short plunger

Claims (9)

A six-degree-of-freedom master device for transferring a physician's motion command to a slave robot in a needle-inserted type remote-assisted robot device and transmitting feedback information measured by a slave robot to a doctor,
The 6-DOF master device
A first driving module that rotates the first shaft and has a first arm connected to the first output terminal;
A second driving module that rotates the second shaft and has a second output connected to the second arm;
A third driving module that rotates the third shaft and has a third output connected to the third arm;
A base to which the first to third drive modules are coupled so that the first to third shafts are at an angle to each other in a delta shape on the same plane;
An end effector coupled to the ends of the first through third arm portions; The first delta robot and the second delta robot, which are formed so as to face each other,
And the end effectors of the first delta robot and the second delta robot are connected to two points spaced apart from each other in the longitudinal direction of the handle.
The method according to claim 1,
The 6-DOF master device
A ring-shaped bearing insertion hole is formed in the end effector,
The handle in the form of a needle is engaged with the ball bearing at two points, respectively,
And the handle coupled to the ball bearing is engaged with a spherical bearing coupled to an inner circumferential surface of the bearing insertion hole.
3. The method of claim 2,
The 6-DOF master device
The first drive module includes a first motor for generating a rotational force, a first output end formed on one side of the first motor, a first brake formed on the other side of the first motor for generating a braking force, And a first encoder coupled to the first shaft at the other side of the brake to control a rotation speed and a speed of the first motor,
The second drive module includes a second motor for generating a rotational force, a second output end formed on one side of the second motor, a second brake formed on the other side of the second motor for generating a braking force, And a second encoder coupled to the second shaft at the other side of the brake to control the rotational speed and speed of the second motor.
The method of claim 3,
The base
The first fixing part, the second fixing part, and the third fixing part are extended from the central part in the radial direction and are spaced apart from each other by 120 degrees,
A first bracket protruding from both side edges of the first fixing part in the circumferential direction is coupled to the first output end in a direction perpendicular to the first shaft,
A second bracket formed on both side edges of the second fixing part in the circumferential direction is coupled to the second output end in a direction perpendicular to the second shaft,
And a third bracket protruding from both side edges of the third fixing part in the circumferential direction is coupled to the third output end in a direction perpendicular to the third shaft.
5. The method of claim 4,
The 6-DOF master device
A first coupling member is coupled to the other side of the first arm portion coupled to the first output end, the first bracket is coupled to the first output end and the first coupling member,
A second coupling member is coupled to the other side of the second arm portion coupled to the second output terminal, the second bracket is coupled to the second output terminal and the second coupling member,
And a third coupling member is coupled to the other side of the third arm portion coupled to the third output end, and the third bracket is coupled to the third output end and the third coupling member, respectively.
6. The method of claim 5,
The 6-DOF master device
The first arm portion is formed to include a first upper arm coupled to the first output end and a first lower arm connected to the lower portion of the first upper arm by a rotation joint,
A second upper arm coupled to the second output end of the second arm portion and a second lower arm connected to the lower portion of the second upper arm by a rotation joint,
Wherein the third arm portion is formed to include a third upper arm coupled to the third output end and a third lower arm connected to the lower portion of the third upper arm by a rotation joint.
The method according to claim 6,
The 6-DOF master device
A first lower arm coupled to a first rotary groove formed in a lower portion of the first upper arm, a 1-1 second lower arm coupled in a direction perpendicular to both ends of the first rotary shaft, And a first-second rotary shaft connecting the first lower arm and the lower ends of the first lower arm and the second lower arm,
The second lower arm is coupled to a second rotary groove formed in a lower portion of the second upper arm, and a second lower arm coupled to the second rotary shaft in a direction perpendicular to both ends of the second rotary shaft; And a second-2 rotation shaft connecting the 2-2 lower arm and the lower ends of the 2-1 lower arm and the 2-2 lower arm,
A third lower arm coupled to a third rotary groove formed in a lower portion of the third upper arm, a third lower arm coupled in a direction perpendicular to both ends of the third rotary shaft , And a 3-2 rotation shaft connecting the 3-2 lower arm and the lower part of the 3-1 lower arm and the 3-2 lower arm.
8. The method of claim 7,
The 6-DOF master device
The first lower arm and the second upper arm, the third lower arm, and the third upper arm are less than 180 degrees, A limit formed in a straight line and protruding in the opposite direction;
A certain region of the limit is inserted into the hollow plunger insertion hole, and the first lower arm and the first upper arm, the second lower arm and the second upper arm, the third lower arm, and the third A short plunger for adjusting the maximum angle of the upper arm; Wherein the master-slave device is a six-degree-of-freedom master device.
9. A six-degree-of-freedom master device according to any one of claims 1 to 8,
And a slave robot which receives the movement of the doctor applied to the handle of the needle shape and performs the actual needle insertion type operation and transmits the reaction force applied to the needle to the doctor through the handle during the operation .

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