KR102116119B1 - 마스터 로봇 및 그 제어 방법 - Google Patents

마스터 로봇 및 그 제어 방법 Download PDF

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Publication number
KR102116119B1
KR102116119B1 KR1020180126306A KR20180126306A KR102116119B1 KR 102116119 B1 KR102116119 B1 KR 102116119B1 KR 1020180126306 A KR1020180126306 A KR 1020180126306A KR 20180126306 A KR20180126306 A KR 20180126306A KR 102116119 B1 KR102116119 B1 KR 102116119B1
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KR
South Korea
Prior art keywords
angle
arm
angular velocity
master robot
degrees
Prior art date
Application number
KR1020180126306A
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English (en)
Korean (ko)
Other versions
KR20200045352A (ko
Inventor
최종도
Original Assignee
(주)미래컴퍼니
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Priority to KR1020180126306A priority Critical patent/KR102116119B1/ko
Priority to CN201980069471.9A priority patent/CN112888398B/zh
Priority to PCT/KR2019/013860 priority patent/WO2020085748A1/ko
Publication of KR20200045352A publication Critical patent/KR20200045352A/ko
Application granted granted Critical
Publication of KR102116119B1 publication Critical patent/KR102116119B1/ko

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)
KR1020180126306A 2018-10-22 2018-10-22 마스터 로봇 및 그 제어 방법 KR102116119B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020180126306A KR102116119B1 (ko) 2018-10-22 2018-10-22 마스터 로봇 및 그 제어 방법
CN201980069471.9A CN112888398B (zh) 2018-10-22 2019-10-22 主机器人及其控制方法
PCT/KR2019/013860 WO2020085748A1 (ko) 2018-10-22 2019-10-22 마스터 로봇 및 그 제어 방법

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020180126306A KR102116119B1 (ko) 2018-10-22 2018-10-22 마스터 로봇 및 그 제어 방법

Publications (2)

Publication Number Publication Date
KR20200045352A KR20200045352A (ko) 2020-05-04
KR102116119B1 true KR102116119B1 (ko) 2020-05-27

Family

ID=70330550

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020180126306A KR102116119B1 (ko) 2018-10-22 2018-10-22 마스터 로봇 및 그 제어 방법

Country Status (3)

Country Link
KR (1) KR102116119B1 (zh)
CN (1) CN112888398B (zh)
WO (1) WO2020085748A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220027465A (ko) * 2020-08-27 2022-03-08 (주)미래컴퍼니 수술용 마스터 로봇

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130239735A1 (en) 2004-09-30 2013-09-19 Intuitive Surgical Operations, Inc. Multi-Ply Strap Drive Trains for Robotic Arms
KR101645969B1 (ko) 2016-07-15 2016-08-08 (주)미래컴퍼니 수술 로봇 시스템 및 그 제어방법
KR101812297B1 (ko) 2011-04-14 2017-12-27 주식회사 미래컴퍼니 로봇의 마스터 조작 디바이스 및 이를 구비한 수술용 로봇의 제어방법
US20180140370A1 (en) 2015-12-04 2018-05-24 Ethicon Endo-Surgery, Llc Methods, systems, and devices for control of surgical tools in a robotic surgical system

Family Cites Families (13)

* Cited by examiner, † Cited by third party
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KR100925102B1 (ko) * 2007-12-10 2009-11-05 고려대학교 산학협력단 원격 수술 로봇
KR20090119366A (ko) * 2008-05-16 2009-11-19 한국과학기술원 여유 자유도를 갖는 복강경 수술 로봇
KR101038417B1 (ko) * 2009-02-11 2011-06-01 주식회사 이턴 수술 로봇 시스템 및 그 제어 방법
KR20130015440A (ko) * 2011-08-03 2013-02-14 주식회사 이턴 수술용 로봇의 마스터 그립퍼 구조
EP2774729A4 (en) * 2011-09-15 2016-05-18 Yaskawa Denki Seisakusho Kk ROBOTIC SYSTEM AND ROBOT CONTROL
KR102306959B1 (ko) * 2013-09-04 2021-10-01 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
KR101527176B1 (ko) * 2013-12-09 2015-06-09 (주)미래컴퍼니 수술 로봇 장치 및 수술 로봇 장치의 제어 방법
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
US10828115B2 (en) * 2015-07-23 2020-11-10 Sri International Robotic arm and robotic surgical system
DE102016210500B4 (de) * 2016-06-14 2020-09-17 Kuka Roboter Gmbh Patientenpositioniervorrichtung und medizinischer Arbeitsplatz
US11037464B2 (en) * 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
CN107049499B (zh) * 2017-06-05 2019-10-29 上海速介机器人科技有限公司 遥操作血管介入手术机器人系统及方法
CN108567489B (zh) * 2018-03-23 2022-05-13 深圳市精锋医疗科技股份有限公司 操作臂、从操作设备及手术机器人

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130239735A1 (en) 2004-09-30 2013-09-19 Intuitive Surgical Operations, Inc. Multi-Ply Strap Drive Trains for Robotic Arms
KR101812297B1 (ko) 2011-04-14 2017-12-27 주식회사 미래컴퍼니 로봇의 마스터 조작 디바이스 및 이를 구비한 수술용 로봇의 제어방법
US20180140370A1 (en) 2015-12-04 2018-05-24 Ethicon Endo-Surgery, Llc Methods, systems, and devices for control of surgical tools in a robotic surgical system
KR101645969B1 (ko) 2016-07-15 2016-08-08 (주)미래컴퍼니 수술 로봇 시스템 및 그 제어방법

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220027465A (ko) * 2020-08-27 2022-03-08 (주)미래컴퍼니 수술용 마스터 로봇
KR102480814B1 (ko) * 2020-08-27 2022-12-23 (주)미래컴퍼니 수술용 마스터 로봇

Also Published As

Publication number Publication date
CN112888398B (zh) 2023-11-21
KR20200045352A (ko) 2020-05-04
WO2020085748A1 (ko) 2020-04-30
CN112888398A (zh) 2021-06-01

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