KR101670735B1 - Robot for controlling position of moving platform and System for stimulating living body having the same - Google Patents

Abstract

The robot includes a fixed platform, a plurality of driving modules coupled to the fixed platform, and a moving platform coupled to the driving module, the moving platform being changed in attitude by the driving module. Each of the plurality of drive modules includes a first guide member in the form of an arc, a moving member coupled to the first guide member, and a leg member having one end coupled to the moving member and the other end fixed to the moving platform The moving member slides along the first guide member, and the other end of the leg member is rotatably connected to the moving platform. The biomedical stimulation system includes the robot and a stimulator coupled to the exercise platform and applying a stimulus to the living body, and the stimulator is moved to the stimulation region of the living body according to a change in the posture of the exercise platform.

Description

TECHNICAL FIELD [0001] The present invention relates to a robot for controlling the position of a movement platform, and a biomedical stimulation system having the robot.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for controlling the position of a movement platform and a biomedical device having the same, and more particularly, to a robot for moving a movement platform in various positions and postures using a drive module, To a robot capable of effectively positioning a stimulator at a stimulation site and a biomedical stimulation apparatus having the same.

Non-invasive brain stimulation is widely seen in the treatment of various neurological / psychiatric disorders. Typical techniques include transcranial magnetic stimulation (TMS), transcranial direct current stimulation (tDCS), and transcranial ultrasound stimulation (TUS) have.

In recent years, the possibility of transmitting bi-directional information between a human and a computer through such brain stimulation has been reported. However, these breakthrough methods have not yet been widely used despite their high expected performance. The main reason for hindering generalization is low reproducibility.

Most of the above methods have difficulty in precisely stimulating the desired position using the method of controlling the position and angle of the stimulation with the hand of the human hand, and the reproducibility of the stimulation effect is deteriorated.

In order to overcome these problems, there have been recent efforts to improve the accuracy of brain stimulation using a robot. Most of these studies use conventional six-degree-of-freedom tandem robot arm, which is widely used for industrial purposes as in Patent Document 1, and greatly improved brain stimulation performance through precise stimulation.

However, this type of robot has a low safety and can cause a great impact on the head of a person in case of control failure. In order to overcome such a problem, a device for securing safety by reducing the driving speed of the device by using a high reduction ratio has been developed. However, the device is not able to follow the sudden movement of the subject.

Korean Patent Registration No. 10-1392532

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems of the prior art described above. Unlike the serial type robot, the robot has a structure in which only the end-effector of the robot can contact the head of the stimulant, And it is an object of the present invention to provide a parallel type robot and a biomedical stimulation system having the parallel type robot that can secure a high driving speed and safety at the same time.

According to an aspect of the present invention, there is provided a portable terminal including a fixed platform, a plurality of driving modules coupled to the fixed platform, and a moving platform coupled to the driving module, Each of the plurality of drive modules includes a first guide member in the form of an arc, a moving member coupled to the first guide member, a leg member having one end coupled to the moving member and the other end fixed to the moving platform, Wherein the moving member is slid along the first guide member and the other end of the leg member is rotatably connected to the moving platform.

According to one embodiment, the leg member is formed as a straight member and is capable of extending and contracting along the longitudinal direction thereof. In addition to the rotational movement of the moving member along the first guide member, Thereby changing the posture of the exercise platform.

According to one embodiment, one end of the leg member is rotatably connected to the moving member.

According to one embodiment, one end of the leg member is rotatably connected in two directions to the moving member by a second universal joint of two axes, and the two axes of the first universal joint are formed by the first guide member And a second rotation axis which is perpendicular to the first rotation axis and extends in the longitudinal direction of the leg member.

According to one embodiment, the other end of the leg member is rotatably connected in two directions with respect to the moving platform by a second universal joint of two axes, and the two axes of the second universal joint are parallel to the first rotational axis And a fourth rotation axis that is perpendicular to the second rotation axis and perpendicular to the third rotation axis.

According to one embodiment, the first guide members of the plurality of drive modules are arranged in parallel to each other.

According to one embodiment, each of the plurality of drive modules further includes a second guide member disposed parallel to and parallel to the first guide member, and the second guide member includes a second guide member corresponding to the first guide member And the motion member moves along the first guide member and the second guide member.

According to an embodiment of the present invention, a gear is formed in the first guide member, a rotating shaft rotatable by a curved driver is rotatably connected to the moving member, and a pinion meshing with the gear teeth is formed around the rotating shaft And when the rotation shaft is rotated by the curved driver, the pinion is rotated with the gear teeth engaged with each other, and the moving member moves along the first guide member.

According to one embodiment, the moving member includes a frame rotatably supporting the rotating shaft, and a traveling member connected to the frame and coupled to the guide member to move along the second guide member.

According to one embodiment, the robot includes a translational actuator for stretching the leg members.

According to one embodiment, the plurality of drive modules are fixed to the rotating frame and connected to the stationary platform, and the rotating frame is rotatable with respect to the stationary platform.

According to another aspect of the present invention, there is provided a robot comprising: a robot; and a stimulator that is coupled to the movement platform and applies a stimulus to the body, wherein the stimulus is moved to a stimulation region of the body according to a change in posture of the movement platform, System is provided.

According to one embodiment, the stimulator is a magnetic stimulator that applies magnetism to the living body, an electric stimulator that applies current, or an ultrasonic stimulator that applies ultrasonic waves.

According to one embodiment, the biomedical system is a brain stimulation system that stimulates the brain of a living body.

According to one embodiment, a marker recognizable through the optical measuring instrument is attached to the stimulator and the living body, and a change in relative position between the stimulator and the living body according to the movement of the living body is sensed through the marker, And controls the plurality of drive modules to compensate for movement of the living body.

1 and 2 are perspective views of a robot according to an embodiment of the present invention.
3 is a perspective view of a driving module according to an embodiment of the present invention.
Figure 4 shows the moving member of the drive module of Figure 3;
Figure 5 shows the drive modules rotated relative to the stationary platform.
FIGS. 6A through 6C illustrate a method of independently controlling the driving modules of the robot according to an embodiment of the present invention to change the posture of the exercise platform.
7 is a conceptual diagram for explaining an operation control of a robot according to an embodiment of the present invention.
FIG. 8 conceptually illustrates a biostimulation system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and operation are not limited thereby.

1 and 2 are perspective views of a robot 1 according to an embodiment of the present invention.

1 and 2, the robot 1 includes a fixed platform 20 in the form of a column fixed to a floor or other structure, a plurality of driving modules 10, 10 'coupled to the fixed platform 200, , 10 ") and a motion platform (40) that is coupled to and moves with each of the drive modules (10, 10 ', 10").

The plurality of drive modules 10, 10 ', 10 "form a substantially arch-shaped space approximately at the center, so that the workpiece such as a human being can be positioned in the arched space (see FIG.

According to the present embodiment, three drive modules 10, 10 ', 10 "are provided.

Fig. 3 shows the configuration of the drive module 10. Fig. According to the present embodiment, the configurations of the three drive modules 10, 10 ', 10 "are the same. Therefore, only one drive module 10 will be described, It is omitted.

In FIG. 3, only a part of the drive module 10 is shown for convenience of explanation.

3, the driving module 10 includes a first guide member 300 and a second guide member 400 in the form of an arc, a first guide member 300 and a second guide member 400, And a leg member 200 which is coupled to the moving member 100 at one end and is fixed to the moving platform 40 at the other end .

The first guide member 300 is formed in a slightly wider plate shape and the gear teeth 310 are formed on the outer surface of the first guide member 300. As will be described later, the first guide member 300 serves as a kind of a gear to transmit the driving force for moving the moving member 100.

The second guide member 400 is formed in a thin shape having a smaller area than the first guide member 300. The second guide member 400 suppresses vibrations that may occur when the movable member 100 moves along the first guide member 300, thereby allowing the movable member 100 to move along a smooth arc locus.

The second guide member 400 is formed with a guide groove 410 through which the traveling member 116 (see FIG. 4) of the moving member 100 can be coupled.

The first guide member 300 and the second guide member 400 are formed in an arc shape having the same curvature and the first guide member 300 and the second guide member 400 are arranged in parallel with each other .

In this specification, the arcuate members are "arranged side by side in parallel ", meaning that the origin of each member is on the same axis, and the members are arranged in parallel so as not to overlap each other.

The radius of the second guide member 400 is slightly larger than the radius of the first guide member 300 so that the outer circumferential surface of the second guide member 400 is in contact with the gears of the first guide member 300, Slightly radially outward than the end line of the tooth.

In this embodiment, the center angles of the first guide member 300 and the second guide member 400 are shown to exceed 180 degrees, but may be 180 degrees or less if necessary.

Fig. 4 shows the structure of the movable member 100. Fig.

4, the shifting member 100 includes a frame 110, a rotating shaft 124 rotatably fixed to the frame 110, and a curved driver 120 for rotating the rotating shaft 124 ).

The frame 110 includes a top frame 113 and a bottom frame 112 vertically arranged with the rotary shaft 124 and a first side frame 114 connecting and supporting the top frame 113 and the bottom frame 112, And a second side frame 115. In addition, the frame 110 includes a first side frame 114 and a third side frame 118 perpendicular to the second side frame 115.

The rotary shaft 124 passes through the upper face frame 113 and the lower face frame 112 and is rotatably supported with respect to the upper face frame 113 and the lower face frame 112.

The traveling body 116 is coupled to the outside of the upper surface frame 113. The traveling body 116 serves to support the moving member 100 to the second guide member 400.

The traveling body 116 is formed with a connecting groove 117 which is formed in the entire lengthwise direction of the traveling body 116 and which is open to the outside.

The inner side portion of the second guide member 400 is connected to the connection groove 117 with the second guide member 400 coupled to the guide groove 410 of the second guide member 400 117).

The traveling body 116 is slidable along the longitudinal direction of the second guide member 400 while being coupled to the second guide member 400.

Two rotary shaft connecting blocks 111 are formed on the outer side of the third side frame 118 and a through hole through which one rotary shaft of the first universal joint 200 can be inserted is formed in the rotary shaft connecting block 111 , And a line passing through the center of the two through holes becomes the first rotation axis S ₁ (see FIG. 3).

The curve driver 120 includes a motor 121 which is a flat motor and a harmonic drive 123 which is connected to the motor shaft of the motor 121 and decelerates rotation. So that a high torque can be transmitted to the rotating shaft 124 through the harmonic drive 123.

The motor 121 may be provided with a brake and the brake may be configured such that the motor shaft of the motor 121 is fixed such that the rotating shaft 124 is fixed even when power is not supplied to the motor 121, .

The curved driver 120 also includes a rotation angle sensor 122 capable of sensing the rotation angle of the motor 121. [

A pinion 125 is formed in the circumferential direction of the rotating shaft 124 at an intermediate portion of the rotating shaft 124 positioned between the upper frame 113 and the lower frame 112.

The gear teeth 310 of the first guide member 300 are engaged with the pinions 125 of the rotating shaft 124.

When the motor 121 is driven to rotate the rotary shaft 124, the first guide member 300 acts as a kind of a gear, and the rotary shaft 124 rotates in the circumferential direction of the first guide member 300 Exercise. Accordingly, the moving member 100 connected to the rotating shaft 124 is moved.

A first universal joint 220 is coupled to the third side frame 118 of the movable member 100 and a shaft 221 extending through the first universal joint 220 in the longitudinal direction is connected to a leg member (200).

The first universal joint 220 has a first rotation axis S ₁ extending parallel to the normal direction of an arc formed by the first guide member and a second rotation axis S ₁ perpendicular to the first rotation axis S ₁ , Axis direction and a second rotation axis S ₂ extending in the direction of the first axis.

As the body of the first universal joint 220 rotates with respect to the first rotation axis S _{1 the} leg member 200 can rotate about the first rotation axis S ₁ relative to the shifting member 100 . In addition, the bridge member 200 is the second rotation axis (S ₂₎ centered in the first and able to rotate around the body of the universal joint 220, the second rotation axis center of the movable member 100 is a (S ₂₎ the .

The leg member 200 includes a body portion 210 extending in a straight line shape and the body portion 210 includes a first body 212 connected to the first universal joint 220 and a second body 212 connected to the first body 212, And a second body 211 slidable in the longitudinal direction of the second body 211.

As the second body 211 slides along the first body 212, the length of the leg member 200 may be stretched or contracted.

A translating driver 230 is provided between the first body 212 and the second body 211 to slide the second body 211. The translational actuator 230 may be a pneumatic piston or may be a motor with a mechanism to change the rotation to a straight line.

At the end of the second body 211 is formed a second universal joint 240 which can be connected to the motion platform 400.

The second universal joint 240 includes a third rotation axis S ₃ extending in parallel with the first rotation axis S ₁ and a third rotation axis S ₃ extending in parallel to the fourth rotation axis S ₁ perpendicular to the second rotation axis S ₂ and the third rotation axis S ₃ . (S ₄ ).

The moving platform 40 connected to the leg member 200 through the second universal joint 240 is movable in two directions about the third rotational axis S ₃ and the fourth rotational axis S ₄ with respect to the leg member 200 .

Referring again to FIG. 1, the first guide members 300, 300 ', 300 "of each of the drive modules 10, 10', 10" are arranged in parallel to each other. In addition, the second guide members 400, 400 ', 400 "of the drive modules 10, 10', 10" are also arranged in parallel to each other. That is, all the guide members of the drive modules 10, 10 ', 10 "are arranged in parallel to each other in parallel.

Both ends of all the guide members 300, 400, 300 ', 400', 300 "and 400" of the drive modules 10, 10 ', 10 "are fixed to the frames 31, 32.

5, the rotating frame 32 of the two frames 31 and 32 is fixed to the fixed folio 20 and is rotatable with respect to the fixed platform 20 by a rotary actuator 21. As shown in Fig.

Thus, the robot 1 is driven by a total of 7 degrees of freedom, and is constituted by one rotation actuator 21 and a six-degree-of-freedom parallel robot connected thereto. The six-degree-of-freedom parallel type robot is composed of three moving members each moving along three curved guides (first guide member and second guide member) placed in parallel, and three leg members connected thereto, The member constitutes a closed-loop and is connected to the movement platform 40.

The robot 1 according to the present embodiment independently controls the curved driver and the translating driver of each of the driving modules 10, 10 ', 10 "so that the moving members 100, 100', 100" The rotational motion and / or the leg members 200, 200 ', 200 "may extend and contract along the members 300, 300', 300" to change the posture of the exercise platform 40 connected thereto.

6A to 6C show how the driving module 10, 10 ', 10 "is independently controlled to change the posture of the exercise platform 40. [

6A shows a state in which the moving member 100 of the first driving module 10 is rotated counterclockwise and the leg member 200 is extended and the second driving module 10 ' The moving member 100 'extends the rotation / leg member 200' in the clockwise direction and the leg member 200 '' of the third driving module 10 '' is contracted. As shown in FIG. 6A, it can be seen that the exercise platform 40 is posture-controlled so as to face the front side of the head of the subject H, as compared with the reference position.

6B shows a state in which the moving members 100, 100 ', 100 "of the driving modules 10, 10', 10" rotate clockwise at the same angle as a whole, And the length is controlled to be unchanged. 6B, it can be seen that the exercise platform 40 is posture-controlled so as to face the side of the head of the subject H, as compared with the reference position.

6C shows a state in which the moving member 100 of the first driving module 10 is rotated in the counterclockwise direction and the leg member 200 is extended and the second driving module 10 ' The movable member 100 'of the third drive module 10' 'extends clockwise and the rotational / leg member 200' 'of the third drive module 10' As shown in FIG. 6C, the movement platform 40 is posture-controlled so as to face the front and the side of the head of the subject H, as compared with the reference position.

As described above, the robot 1 according to the present embodiment independently controls two actuators (curved driver, translator) of the drive modules 10, 10 ', 10 "to vary the posture of the exercise platform 40 Can be controlled.

7 is a conceptual diagram for explaining the operation control of the robot 1 according to the present embodiment. In FIG. 7, only the configuration of the second drive module 10 'is shown for convenience of explanation.

As will be described later, an end effector such as a stimulator is coupled to the motion platform 40, and an object to be controlled by the drive modules 10, 10 ', 10 "becomes the position of the end effector.

와 기준 위치에 대한 회전행렬(R)(3×3 행렬)이 주어지면, 원점에서 운동 플랫폼(40)의 제2유니버설 조인트(240)까지의 거리 벡터(q_i)는 하기 [수학식 1]과 같이 정해진다.
Position vector of end effector end

And the rotation matrix (R) with respect to a reference position (3 × 3 matrix) to the distance vector (q _i) to the second universal joint 240 of the motion platform 40 in a given, the origin Equation 1 .

[Equation 1]

Where b _i is the distance vector from the local coordinate system of the motion platform 40 to the second universal joint 240 of the motion platform 40.

를 만족시키기 위한 제1구동 입력값(θ_i)(제1구동기(121')의 회전각)를 하기 [수학식 2]를 이용해 구할 수 있다.
In this way,

The first drive input value (θ _i) to satisfy to the (rotation angle of the first actuator 121 ') can be determined using Equation (2).

&Quot; (2) "

The second driving input value d _i corresponding to the expansion and contraction distance of the leg member 200 'is obtained by the following equation (3) using the driving input value? _I obtained in the above-mentioned equation (2) .

&Quot; (3) "

The Equation (2), and it is possible to obtain the [Equation 3] of six actuator input value (θ _i, d _i) determined in each drive module (10, 10 ', 10 ") is two (mobile A curved driver for rotational movement of the member, and a translational driver for the extension / contraction of the leg member), the position and angle of the end effector can be controlled as desired by simultaneously driving six actuators as much as the input value .

There is no limitation on the kind of the end effector, but according to the present embodiment, a stimulator that applies a stimulus to the living body as an end effector is attached to the exercise platform 40, and the robot 1 constitutes a biomedical stimulation system.

FIG. 8 conceptually illustrates a biostimulation system according to an embodiment of the present invention.

As shown in FIG. 8, a stimulator 500 is attached to the exercise platform 40 as an end effector. The biomedical stimulation system according to the present embodiment is a brain stimulation system that applies stimulation to the brain of the subject H. The stimulator 500 may be replaced as needed, and may be a magnetic stimulator for applying magnetism, an electric stimulator for applying current, or an ultrasonic stimulator for applying ultrasonic waves.

The attitude of the exercise platform 40 can be changed according to the control method described above so that the stimulator 500 can move to the stimulation site of the desired living body (head of the subject H) (see FIG. 6). At this time, in order to prevent the stimulator 500 from colliding with the head of the examinee H, which can be seen in a substantially spherical shape, during the movement, the exercise platform 40 has a spherical motion range (work space) around the head It is preferable to control it to move.

8, the biomedical system includes an optical meter 600, a stimulator 500 is attached with a marker 510, which can be captured by the optical meter 600, A marker 520 is also attached to the stimulation site.

The optical measuring instrument 600 senses the markers 510 and 520 to detect the positions of the stimulation parts of the stimulator 500 and the subject H. [ In addition, the optical meter 600 provides a vision awareness capable of simulating the positions of the stimulator 500 and the subject H on a monitor based on the movement of the markers 510, 520.

The biomedical stimulation system according to this embodiment operates in the following order.

First, a vision system recognition marker 520 is attached to the subject's head and a vision system recognition marker 500 is attached to the stimulator 500. The coordinate system information of the subject's brain region is prepared in the optical tracker 600 of the vision system by using CT and fMRI information about the head of the subject H and the like.

Next, a desired brain stimulation region and angle and stimulation amount using the stimulator 500 are specified.

A low-speed, high-output rotary actuator 21, which is responsible for a large motion in each drive module, is driven to move the stimulator 500 near the work area.

Through the inverse kinematic analysis, six actuators (three curved actuators and three translational actuators) of the robot 1 are simultaneously driven to move the stimulator 500 at a desired brain stimulation position and angle.

By operating the stimulator 500 at the position, the brain stimulation is performed for the specified amount of stimulation.

At this time, the movement of the subject H is monitored through a marker 520 attached to the head, and a control signal is inputted to compensate for an error when a subject moves, so that the robot 1 maintains a position and an angle specified during a brain stimulation operation .

The robot 1 according to the present embodiment and the biomedical stimulation system having the robot 1 have a structure in which a parallel robot is driven along a curved guide.

Due to this structure, it is possible to secure a wide work area relative to the device size, for example, for a special type of work area around the human head, and to minimize the possibility of collision between the head and the stimulator, have.

Generally, when a head collision occurs, the risk is proportional to the kinetic energy due to the collision. Since the proposed device can reduce the inertia effect of the device operation stage due to the characteristics of the parallel device, it is possible to lower the kinetic energy generated at the time of collision without using a large reduction ratio, Can be greatly improved.

As a result, the biostimulation system according to the present embodiment enables safe and precise brain stimulation, maximizes the effect of the brain stimulation therapy, and greatly improves the reliability of the related research.

Claims (15)

Fixed platform;
A plurality of drive modules coupled to the stationary platform;
And a motion platform coupled to the drive module, the motion platform changing its posture by the drive module,
Wherein each of the plurality of drive modules includes:
A first guide member having an arc shape;
A moving member coupled to the first guide member;
A leg member having one end coupled to the moving member and the other end fixed to the moving platform,
Wherein the leg member is capable of extending and contracting along its longitudinal direction,
One end of each leg member is rotatably connected to a corresponding shifting member,
The other end of each leg member is rotatably connected to the moving platform,
Each of the movable members is independently moved along the corresponding first guide member, and each of the leg members is independently expanded and contracted to change the attitude of the movement platform. delete delete The method according to claim 1,
One end of the leg member is rotatably connected to the moving member in two directions by a first universal joint of two axes,
Wherein the two axes of the first universal joint
A first rotation axis extending parallel to a normal direction of an arc formed by the first guide member,
And a second rotation axis which is perpendicular to the first rotation axis and extends in the longitudinal direction of the leg member. 5. The method of claim 4,
And the other end of the leg member is rotatably connected in two directions with respect to the movement platform by a second universal joint of two axes,
And the two shafts of the second universal joint,
A third rotation axis extending parallel to the first rotation axis,
And a fourth rotation axis that is perpendicular to the second rotation axis and perpendicular to the third rotation axis. The method according to claim 1,
Wherein the first guide members of the plurality of drive modules are arranged in parallel to each other. The method according to claim 6,
Wherein each of the plurality of drive modules includes:
And a second guide member disposed parallel to and parallel to the first guide member,
The second guide member has an arc shape corresponding to the first guide member,
And the moving member moves along the first guide member and the second guide member. 8. The method of claim 7,
The first guide member is provided with gear teeth,
A rotating shaft rotatable by a curved driver is rotatably connected to the moving member,
A pinion that engages with the gear teeth is formed around the rotating shaft,
And when the rotary shaft is rotated by the curved driver, the pinion is rotated in a state engaged with the gear teeth, and the moving member moves along the first guide member. 9. The method of claim 8,
The moving member includes:
A frame rotatably supporting the rotating shaft;
And a traveling body connected to the frame and coupled to the second guide member to move along the second guide member. The method according to claim 1,
And a translational actuator for stretching the leg member to a length. The method according to claim 1,
Wherein the plurality of drive modules are fixed to the rotating frame and connected to the fixed platform,
Wherein the rotating frame is rotatable with respect to the fixed platform. A robot according to any one of claims 1 and 4 to 11;
A stimulator coupled to the exercise platform for applying a stimulus to the living body,
Wherein the stimulator is moved to a stimulation region of the living body according to a change in posture of the exercise platform. 13. The method of claim 12,
Wherein the stimulator is a magnetic stimulator for applying magnetism to the living body, an electric stimulator for applying a current, or an ultrasonic stimulator for applying ultrasonic waves. 13. The method of claim 12,
Wherein the biomedical stimulation system is a brain stimulation system for stimulating a brain of a living body. 13. The method of claim 12,
A marker recognizable through an optical measuring instrument is attached to the stimulator and the living body,
Wherein the controller controls the plurality of driving modules to detect a change in relative position between the stimulator and the living body according to the movement of the living body through the marker to compensate for the movement of the living body.

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