KR102503568B1 - Surgical robot appartus - Google Patents

Abstract

The present invention provides a surgical robot device. The present invention relates to a base column, a robot arm unit having a plurality of arms, a connector unit connecting the robot arm unit and the base column and moving in a height direction of the base column, and a connector unit connected to the robot arm. and a load compensation unit for applying a compensating force to the connector unit to compensate for a static load of at least one of the unit and the connector unit.

Description

Surgical robot appartus {Surgical robot appartus}

The present invention relates to a surgical robot device.

A surgical robot refers to a robot having a function that can substitute for a surgical operation performed by a surgeon. Compared to humans, these surgical robots have the advantage of being able to perform more accurate and precise movements and enabling remote surgery. Bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots are currently being developed worldwide. Technologies related to these surgical robots appear in Korean Patent Registration No. 10-1767060 (August 4, 2017), Korean Patent Registration No. 10-1477133 (December 22, 2014), and Korean Patent Registration No. 10-1299472 (August 19, 2013). there is.

A surgical robot device is generally composed of a master console and a slave robot. When an operator manipulates a control lever (for example, a handle) provided in the master console, an instrument coupled to the robot arm of the slave robot or held by the robot arm is manipulated to perform surgery.

The foregoing background art is technical information that the inventor possessed for derivation of the present invention or acquired during the derivation process of the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

An object of the present invention is to provide a surgical robot device with improved safety by compensating for a load of a robot arm structure.

One aspect of the present invention is a base column, a robot arm unit having a plurality of arms, a connector unit connecting the robot arm unit and the base column and moving in a height direction of the base column, and the connector unit The surgical robot device includes a load compensation unit that is connected to apply a compensating force to the connector unit to compensate for a static load of at least one of the robot arm unit and the connector unit.

The surgical robot device according to the present invention can compensate for the load, thereby increasing the safety of the entire device. Since the load compensation unit provides a constant compensating force to the connector, it is possible to safely perform surgery by preventing the surgical robot device from being tilted to one side during operation.

In the surgical robot device according to the present invention, even if the height of the robot arm unit changes, the load compensation unit may provide a constant compensation force. Even if the elastic force provided by the static load spring varies, the load compensation unit eliminates the deviation of the elastic force by the torque of the first motor, so that a constant compensating force can be provided to the connector unit.

In the surgical robot device according to the present invention, when the height of the robot arm unit changes, a constant compensating force can be quickly provided to the connector unit. The surgical robot device stores data on torque to be output by the first motor in the data storage unit in advance according to the height of the connector unit. Since the operator quickly drives the first motor with pre-stored data when performing surgery with the surgical robot device, the load compensation unit can quickly provide a constant compensation force.

1 is a plan view illustrating a surgical robot system including a surgical robot device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the surgical robot device of FIG. 1 .
Fig. 3 is a perspective view showing the load compensation unit of Fig. 2;
FIG. 4 is a cross-sectional view showing an assembly relationship between a drive pulley and a cable in FIG. 3;
FIG. 5 is a block diagram showing some configurations of the surgical robot device of FIG. 2 .
FIG. 6 is a graph illustrating a compensating force generated in the load compensation unit of FIG. 3 .
7 is a modified example of the surgical robot device of FIG. 2 .
8 is a diagram illustrating a surgical robot device according to another embodiment of the present invention.
FIG. 9 is a diagram showing a modified example of the surgical robot device of FIG. 8 .
FIG. 10 is a diagram showing another modified example of the surgical robot device of FIG. 8 .

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, even if shown in different embodiments, the same identification numbers are used for the same components.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. Terms are only used to distinguish one component from another.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, the present invention will be described in detail with reference to embodiments of the present invention shown in the accompanying drawings.

In the following, the surgical robot device can be applied to various industrially available robots. It can be applied to various types of robot devices and robot systems, such as industrial robots, medical robots, and mobile robots. That is, the surgical robot device of the present invention is not limited to a specific shape, location, or use, and can be applied to various structures connected to a plurality of links or arms. However, hereinafter, for convenience of description, a case in which the surgical robot is installed will be mainly described.

1 is a plan view showing a surgical robot system 1 including a surgical robot device according to an embodiment of the present invention.

Referring to FIG. 1, a surgical robot system 1 includes a surgical robot device 10 that performs surgery on a patient S lying on an operating table 2, and an operator O remotely controls the surgical robot device 10. It includes a master console 20 to do so. In addition, the surgical robot system 1 may include a vision cart 30 . Through the display unit 35 of the vision cart 30, the assistant A can check the progress of the surgery.

The surgical robotic device 10 may include one or more robotic arm units 11 . In general, a robot arm refers to a device having functions similar to those of a human arm and/or wrist and capable of attaching a predetermined tool to the wrist. In this specification, the robot arm unit 11 may be defined as a concept encompassing all components such as the upper arm, lower arm, wrist, and elbow, and a surgical instrument coupled to the wrist. As such, the robot arm unit 11 of the surgical robot device 10 may be implemented to be driven with multiple degrees of freedom.

The robot arm unit 11 includes, for example, the instrument 12 inserted into the surgical site of the patient S, the oscillation driving unit that rotates the instrument 12 in the yaw direction according to the surgical position, and the rotational drive of the oscillation driving unit. A pitch driving unit for rotating the instrument in a pitch direction perpendicular to the pitch, a transfer driving unit for moving the instrument 12 in the longitudinal direction, and a rotation driving unit for rotating the instrument. Installed at the end of the instrument 12 to cut the surgical lesion Or it may be configured to include an instrument driving unit for cutting. However, the configuration of the robot arm unit 11 is not limited thereto, and it should be understood that these examples do not limit the scope of the present invention. Here, a detailed description of an actual control process, such as rotation and movement of the robot arm unit 11 in a corresponding direction by the operator O manipulating the control lever, will be omitted.

One or more surgical robot devices 10 may be used to operate on the patient S, and the instrument 12 for displaying a surgical site as an image through the display unit 35 is an independent surgical robot device ( 10) can also be implemented. In addition, as described above, the embodiments of the present invention can be used universally for surgeries using various surgical endoscopes (eg, thoracoscopy, arthroscopy, parenteral mirror, etc.) other than laparoscopy.

The master console 20 and the surgical robot device 10 do not necessarily have to be separated as separate and physically independent devices, but may be integrated into one unit. However, hereinafter, for convenience of description, a case in which the master console 20 and the surgical robot device 10 are physically separated will be described.

The master console 20 includes a control lever (not shown) and a display member (not shown). In addition, the master console 20 may further include an external display device 25 capable of displaying the state of the operator O on the outside.

In detail, the master console 20 includes a control lever (not shown) so that the operator O can hold and operate the control lever with both hands. The control lever may be implemented as two or more handles, and a control signal according to the handle operation of the operator O is transmitted to the surgical robot device 10 through a wired or wireless communication network, and the robot arm unit 11 this is controlled That is, surgical operations such as movement, rotation, and cutting of the robot arm unit 11 may be performed by manipulating the handle of the operator O.

For example, the operator O may operate the robot arm unit 11 or the instrument 12 using a handle-type control lever. Such a control lever may have various mechanical configurations according to its operation method, and a master handle for manipulating the operation of the robot arm unit 11 or instrument 12, and a master console for manipulating the functions of the entire system. It may be provided in various forms for operating the robot arm unit 11 of the surgical robot device 10 and/or other surgical equipment, such as various input tools such as a joystick, keypad, trackball, and touch screen added to (20). can Here, the control lever is not limited to the shape of the handle, and any shape capable of controlling the operation of the robot arm unit 11 through a network such as a wired or wireless communication network may be applied without any limitation.

An image captured by the instrument 12 is displayed as an image on the display member of the master console 20 . In addition, a predetermined virtual manipulation panel may be displayed on the display member together with an image captured through the instrument 12 or independently.

The display member may be provided in various forms through which the operator O can check the image. For example, a display device may be installed to correspond to both eyes of the operator O. As another example, it may be composed of one or more monitors, and information necessary for surgery may be individually displayed on each monitor. The number of display members may be variously determined according to the type or type of information required to be displayed. A more detailed description of the master console 20 will be described below.

The vision cart 30 is installed to be spaced apart from the surgical robot device 10 or the master console 20, and the operation progress can be checked from the outside through the display unit 35. An image displayed on the display unit 35 may be the same as an image displayed on the operator O's master console 20 . The assistant (A) can assist the operator (O) in the surgical operation while checking the image of the display unit (35). For example, the assistant (A) can replace the instrument 12 in the instrument cart (3) according to the progress of the operation.

The central control unit 40 may be connected to the surgical robot device 10, the master console 20, and the vision cart 30 to transmit and receive signals. The central control unit 40 may be installed in any one of the surgical robot device 10, the master console 20, and the vision cart 30, or may be installed independently.

FIG. 2 is a diagram illustrating the surgical robot device of FIG. 1 .

Referring to FIG. 2 , the surgical robot device 100 may include a body 110, a base column 120, a robot arm unit 130, a connector unit 140, and a load compensation unit 150. The surgical robot device 100 may be applied to the surgical robot device 10 of FIG. 1 .

The body 110 may be disposed below the surgical robot device 100 . The body 110 may form a basic frame of the surgical robot device 100 and may support the base column 120 .

In one embodiment, the body 110 may be fixedly installed on the ground or an external structure. In another embodiment, a movable member (not shown) such as a wheel may be installed at the bottom of the body 110 to be movable by an operator O or an assistant A.

The base column 120 is connected to the body 110 and may extend in a height direction. A robot arm unit 130 is mounted on the base column 120, and a driving unit (not shown) may be installed to move the robot arm unit 130 in a height direction. The number of base columns 120 is not limited to a specific number, and at least one base column 120 may be disposed on the body 110 .

A robot arm unit 130 may be mounted on the base column 120 . Although the drawing shows an example in which one robot arm unit 130 is mounted on the base column 120, the present invention is not limited thereto, and a plurality of robot arm units 130 may be installed. For example, the robot arm unit 130 may be installed on each side of the base column 120 . In addition, at least a plurality of robot arm units 130 may be installed according to the height of the base column 120 .

The robot arm unit 130 may include a plurality of joints and arms or links connecting the joints.

The surgical robot device 10 may be divided into a passive area (PA) and an active area (A.A). In the robot arm unit 130, some may be defined as the passive area P.A, and the other part may be defined as the active area A.A. A passive arm may be installed in the passive area P.A, and an active arm may be installed in the active area A.A.

The passive area P.A and the active area A.A are classified according to the driving area of the surgical robot system 1 in the surgical procedure. In detail, a passive arm is installed in the passive area P.A, and only the passive arm is driven before surgery. In this case, the active arm is not driven. The passive area P.A is an area for setting the position of the surgical robot system 1 before performing surgery, and the operator O or assistant A may set the position of the active arm by driving the passive arm.

In the active area A.A, an active arm is installed, and only the active arm is driven during a surgical procedure so that the instrument 12 can perform surgery with a plurality of degrees of freedom. In this case, the passive arm is not driven. That is, the active area A.A is a part that is driven during the surgical procedure, and the operator O can operate the instrument 12 by manipulating the master console. At this time, the instrument 12 may perform a yaw motion, a pitch motion, and a roll motion while maintaining a fixed state at a preset RCM (Remote Center of Motion) point.

The passive arm includes a plurality of joints and arms or links connecting the joints. Each joint performs a rotational movement or a prismatic movement, and through this movement, the entire movement of the passive arm is created. The joint may include an actuator, a reducer, a sensor, a brake, a counterbalance, and the like.

The actuator mainly uses an electric motor, and may include a brushed DC (BDC) motor, a brushless DC (BLDC) motor, an AC motor, and the like. The reducer may be implemented as a gear, such as a harmonic drive or a planetary gear. The sensor may include an encoder, a resolver, etc. that measure the movement of the joint, and include a force/torque sensor that measures the force or torque acting on the link connected to each joint. can do. A brake is a device that limits the movement of a joint, and its main components are mainly a solenoid and a spring. may include both forms of The counterbalance is a device that compensates for the weight of the robot arm, and applies a force that can offset the weight of the robot arm in a static state.

An instrument 12 or an endoscope (not shown) is mounted on the distal end of the active arm, and each joint of the active arm is driven during surgery so that the instrument 12 or the endoscope can move in the patient's body. The active arm includes a plurality of joints and arms or links connecting the joints. Each joint performs a rotational movement or a prismatic movement, and through this movement, the entire movement of the active arm is created. The joint may include an actuator, a reducer, a sensor, a brake, a counterbalance, and the like. The configuration of each joint is substantially the same as that of the aforementioned joint of the passive arm, and may differ only in arrangement.

The connector unit 140 connects the robot arm unit 130 and the base column 120 and may move in the height direction of the base column 120 .

The robot arm unit 130 may be supported by the connector unit 140 . Although the drawing shows that one robot arm unit 130 is installed in the connector unit 140, it is not limited thereto, and a plurality of robot arm units 130 may be installed. However, hereinafter, for convenience of description, an embodiment in which one robot arm unit 130 is installed in the connector unit 140 will be mainly described.

A weight member 145 may be mounted on the connector unit 140 . A weight member 145 having a predetermined weight is mounted on one side of the connector unit 140 to increase stability of the robot arm unit 130 . The weight member 145 is mounted on the connector unit 140 to prevent the heavy robot arm unit 130 from leaning to one side, and the surgical robot device 100 stably drives the robot arm unit 130. can

The connector unit 140 can linearly move along the guide member 125 of the base column 120 . The connector unit 140 may be connected to the base column 120 through a mechanical driving mechanism. For example, the pulley and the connector unit 140 are connected to the base column 120 by a power transmission mechanism such as a gear, chain, or belt, and may move along the base column 120 .

The connector unit 140 is connected to the load compensation unit 150 and may receive a compensation force for compensating for a load of at least one of the robot arm unit 130 and the connector unit 140 from the load compensation unit 150. .

FIG. 3 is a perspective view showing the load compensating unit 150 of FIG. 2, and FIG. 4 is a cross-sectional view showing the assembly relationship between the drive pulley 154 and the cable 152 of FIG.

Referring to FIGS. 2 to 4 , the load compensation unit 150 may apply a compensating force to the connector unit 140 to compensate for a static load of at least one of the robot arm unit 130 and the connector unit 140 . The load compensating unit 150 may be connected to the connector unit 140, pull the connector unit 140 upward, and provide a compensating force to the connector unit 140.

The load compensation unit 150 may include a static load spring 151 , a cable 152 , a first motor 153 , a driving pulley 154 , and a first pulley 155 . The load compensation unit 150 may provide a compensation force to the connector unit 140 using the elastic force generated by the static load spring 151 and the output of the first motor 153 . The load compensation unit 150 provides a compensation force in an upward direction, which is opposite to the load of the robot arm unit 130 and the connector unit 140, so that the robot arm unit 130 can be prevented from sagging.

The static load spring 151 may be defined as an elastic member provided to provide a constant elastic force regardless of a change in shape. However, the elastic force generated by the static load spring 151 may vary depending on the length of the static load spring 151, and it is necessary to reduce such variation. This will be explained below.

In the static load spring 151, the cable 152 is connected to the connection end 151a. The static load spring 151 may have a substantially spirally wound shape. The static load spring 151 may change in length according to a change in height of the connector unit 140 connected to the cable 152 .

A static load spring 151 may be installed on the body 110 to provide an elastic force corresponding to a preset compensating force F. The static load spring 151 is mounted on the body 110 and may move forward or backward along the upper surface of the body 110 .

The static load spring 151 may provide a constant elastic force only after a predetermined period passes. Accordingly, the static load spring 151 may be installed in the surgical robot device 100 in a state in which the first section l is exposed. Referring to FIG. 5 , when the static load spring 151 is pulled by the first section l, the elastic force enters a certain section. That is, even if it is pulled longer than the first section (l), the static load spring 151 provides a constant static load in principle. However, since the elastic force f1 provided by the static load spring 151 varies, the torque of the first motor 153 is applied to eliminate the variation.

The length of the static load spring 151 may be adjusted in response to a change in height of the connector unit 140 . In FIG. 3 , the connector unit 140 can be moved by a height of L, and the static load spring 151 can also be drawn out within the range of the length of L in response to the change in the height of the connector unit 140.

The cable 152 is connected to the connector unit 140 . The cable 152 may have a wire shape as shown in FIG. 3 . However, it is not limited thereto, and the cable 152 may be set in various forms for transmitting power.

One end of the cable 152 may be connected to the static load spring 151 and the other end may be connected to the connector unit 140 . A partial section of the cable 152 may be wound around the driving pulley 154 , and torque from the first motor 153 connected to the driving pulley 154 may be transmitted.

The first motor 153 receives an electrical signal from the controller 50 and adjusts the output so that the load compensation unit 150 can provide a constant compensation force. The torque generated by the first motor 153 adjusts the deviation of the static load spring 151 so that a constant compensating force F may be provided to the connector unit 140 .

When the height of the connector unit 140 is adjusted, the length of the static load spring 151 changes according to the height of the connector unit 140 . Since the connector unit 140 and the robot arm unit 130 have a constant load, the load compensation unit 150 preferably provides a constant compensation force to the connector unit 140 . The first motor 153 generates a torque f2 in a set direction and magnitude, eliminates the deviation of the elastic force f1 provided by the static load spring 151, and provides a constant compensating force F to the connector unit 140. can be conveyed

The first motor 153 may be installed on the body 110 and spaced apart from the static load spring 151 . Since the first motor 153 and the static load spring 151 are spaced apart from each other, the torque f2 of the first motor 153 can adjust the deviation of the elastic force f1 generated by the static load spring 151.

If the first motor and the static load spring are integrally formed, it is difficult to accurately measure the deviation of the elastic force according to the length change of the static load spring in the first motor. For example, if the axis of the static load spring and the rotational axis of the motor are connected to be the same, the torque output from the first motor affects the length of the static load spring, so it is difficult for the first motor to accurately measure the deviation of the static load spring, and constant compensation There is a limit to the power provided.

A driving pulley 154 may be connected to the rotating shaft 153a of the first motor 153, and a section of the cable 152 may be wound around the driving pulley 154. According to the control signal of the controller 50, the torque f2 of the first motor 153 may be adjusted in magnitude and direction. When the output of the first motor 153 is transmitted to the cable 152 through the driving pulley 154, the cable 152 is connected to the connector unit with a constant compensation force F, which is the sum of the elastic force f1 and the torque f2 140) can be pulled.

The drive pulley 154 is connected to the rotational shaft 153a of the first motor 153, and the cable 152 may be wound around the outer circumferential surface. The driving pulley 154 may receive torque from the first motor 153 and transmit it to the cable 152 .

The driving pulley 154 may have a guide groove 154a disposed on an outer circumferential surface. The cable 152 is inserted into the guide groove 154a, and the torque f2 of the first motor 153 may be transmitted to the cable 152 by frictional force between the cable 152 and the guide groove 154a. .

The guide groove 154a extends along the outer circumferential surface of the driving pulley 154 and may have a spiral shape. In addition, the guide grooves 154a may be spaced apart by a predetermined distance.

When the length of the static load spring 151 changes according to the height change of the connector unit 140, the cable 152 moves along the guide groove 154a. When the height of the connector unit 140 is set, the first motor 153 outputs pre-stored torque. At this time, the position of the cable 152 does not move, and the output generated by the first motor 153 is transmitted to the cable 152 through the guide groove 154a.

For example, in order to provide a constant compensation force F, even if the first motor 153 is driven, the drive pulley 154 does not rotate, and the cable 152 is wound around the drive pulley 154 and torqued. can be delivered.

As another example, when the first motor 153 is driven to provide a constant compensation force F, the driving pulley 154 may slightly rotate by the output of the first motor 153 . However, even if the drive pulley 154 rotates slightly, the length of the static load spring 151 does not change, and the position of the cable 152 does not change. That is, the drive pulley 154 can overcome the frictional force between the cable 152 and the surface of the guide groove 154a and rotate within a predetermined range.

The first pulley 155 may route the cable 152 . The first pulley 155 is mounted on the base column 120 so that the cable 152 can route the cable 152 to pull the connector unit 140 upward.

The first sensor unit 160 may measure the height of the connector unit 140 . The first sensor unit 160 may be mounted on the base column 120 or on the connector unit 140 . The first sensor unit 160 is not limited to a specific sensor and may be composed of various parts capable of measuring height. The first sensor unit 160 may be a software capable of calculating height as well as a mechanical device.

The second sensor unit 170 may measure the output of the first motor 153 . The second sensor unit 170 may measure the magnitude and direction of torque generated by the first motor 153 when the load compensation unit 150 is driven. The second sensor unit 170 may sense the output torque of the first motor 153 by measuring the output voltage, current, and number of rotations of the first motor 153 . The second sensor unit 170 may be a software capable of calculating torque as well as a mechanical device.

FIG. 5 is a block diagram showing some configurations of the surgical robot device 100 of FIG. 2 , and FIG. 6 is a graph showing a compensating force generated by the load compensation unit 150 of FIG. 3 .

Referring to FIGS. 5 and 6 , a control method for providing a constant compensation force F in the load compensation unit 150 can be described as follows.

Data measured by the first sensor unit 160 and the second sensor unit 170 are stored in the data storage unit 60, and the controller 50 sends a control signal to the first motor 153 based on the data. and, thus, the load compensation unit 150 may transmit a constant compensation force F to the connector unit 140.

Since the loads of the robot arm unit 130 and the connector unit 140 are determined in advance, the compensating force F to be provided by the load compensating unit 150 is also determined.

The first sensor unit 160 measures whether the connector unit 140 is located at the first height H1. The second sensor unit 170 measures the torque f2 output from the first motor 153 . At the first height H1, the static load spring 151 provides the elastic force f1, but the elastic force f1 and the compensating force F may not match due to deviation. Since the torque f2 eliminates the deviation, the compensating force F provided by the load compensating unit 150 becomes constant at the first height H1.

When the height of the connector unit 140 is changed to the second height H2, the first sensor unit 160 measures whether the connector unit 140 is located at the second height H2. The second sensor unit 170 measures the torque output from the first motor 153 . At the second height H2, the static load spring 151 provides the elastic force f1, but the elastic force f1 and the compensating force F may not match due to deviation. Since the torque f2 eliminates the deviation, the compensating force F provided by the load compensating unit 150 becomes constant at the second height H2.

The torque f2 measured at the first height H1 and the second height H2 may have information about magnitude and direction, respectively. The information may be stored in the data storage unit 60 as first data.

When an operator O or an assistant A adjusts the height of the connector unit 140 during surgery with the surgical robot device 100, the first sensor unit 160 measures the height of the connector unit 140. and provides information about this to the controller 50.

The controller 50 may control torque output of the first motor 153 based on data stored in the data storage unit 60 . That is, according to the height of the connector unit 140, the controller 50 controls the magnitude and direction of the pre-stored torque, so that the load compensation unit 150 maintains a constant level even if the height changes while the surgical robot device 100 is in use. A compensating force F may be provided to the connector unit 140 .

In one embodiment, the surgical robot device 100 may first perform a step of obtaining first data and storing it in the data storage unit 60 . In the process of assembling the surgical robot device 100, torque to be generated by the first motor 153 is calculated and stored according to each position of the connector unit 140. Thereafter, the controller 50 may immediately control the output of the first motor 153 by using the first data stored in advance by using the surgical robot device 100 during surgery. That is, the surgical robot device 100 may measure and store the output of the first motor 153 in advance.

In another embodiment, when the height of the connector unit 140 changes, the surgical robot device 100 may control the output of the first motor 153 accordingly. The surgical robot device 100 senses the magnitude and direction of torque to be output from the first motor 153 in real time in order to provide a constant compensation force F, and the first motor 153 based on the sensed data. can control.

The surgical robot device 100 according to the present invention can compensate for the load, thereby increasing the safety of the entire device. Since the load compensation unit 150 provides a constant compensating force F to the connector unit 140, it is possible to safely perform surgery by preventing the surgical robot device 100 from being tilted to one side during operation.

In the surgical robot apparatus 100 according to the present invention, even when the height of the robot arm unit 130 changes, the load compensation unit 150 may provide a constant compensation force F. The load compensation unit 150 removes the deviation of the elastic force f1 provided by the static load spring 151, even if the elastic force f1 of the first motor 153 is deviated, so the connector unit 140 ), a constant compensation force can be provided.

In the surgical robot device 100 according to the present invention, when the height of the robot arm unit 130 changes, a constant compensating force can be quickly provided to the connector unit 140 . The surgical robot device 100 stores data on torque to be output by the first motor 153 in the data storage unit 60 in advance according to the height of the connector unit 140 . Since the operator O quickly drives the first motor 153 with pre-stored data when performing surgery with the surgical robot device 100, the load compensation unit 150 can quickly provide a constant compensation force. .

7 is a modified example of the surgical robot device of FIG. 2 .

Referring to FIG. 7 , the surgical robot device 100A includes a body 110, a base column 120, a guide member 125, a robot arm unit 130, a connector unit 140, a weight member 145, a load A compensation unit 150A may be included. Compared to the surgical robot device 100 described above, the surgical robot device 100A has a difference in the arrangement of the load compensation unit 150A, and will be described below focusing on this.

The load compensation unit 150A may include a static load spring 151A, a cable 152, a first motor 153A, and a driving pulley 154A.

The static load spring 151A is disposed on the base column 120, and a cable 152 may connect the static load spring 151A and the connector unit 140. A static load spring 151A may be disposed on top of the base column 120 .

The first motor 153A may be disposed between the static load spring 151A and the connector unit 140 . The driving pulley 154A is mounted on the first motor 153A, and torque of the first motor 153A may be transmitted to the cable 152 .

In the surgical robot device 100A according to the present invention, the load compensation unit 150A is disposed on the upper end of the base column 120 to reduce the transmission path of the compensation force provided by the load compensation unit 150A.

8 is a diagram showing a surgical robot apparatus 200 according to another embodiment of the present invention.

Referring to FIG. 8 , the surgical robot device 200 includes a body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, a load compensation unit 250, A first sensor unit 260 and a second sensor unit 270 may be included.

The body 210 of the surgical robot device 200, the base column 220, the robot arm unit 230, the connector unit 240, the weight member 245, the first sensor unit 260, the second sensor unit ( 270 includes the body 110, the base column 120, the robot arm unit 130, the connector unit 140, the weight member 145, the first sensor unit 160, Since it is substantially the same as the second sensor unit 170, the load compensation unit 250 will be mainly described below.

The load compensation unit 250 may include a static load spring 251 , a cable 252 , a second motor 253 , a driving member 254 , and a guide member 255 .

An end of the static load spring 251 is connected to a cable 252, and the cable 252 can be routed to a first pulley 256 and a second pulley 257.

The second motor 253 may be installed on the connector unit 240 and may move together with the connector unit 240 .

In one embodiment, the second motor 253 may generate a driving force in the height direction of the connector unit 240 and, at the same time, provide torque f2 to adjust the deviation of the elastic force f1.

When the second motor 253 is driven, the driving member 254 may linearly move along the guide member 255 . The driving force output from the second motor 253 may move the connector unit 240 in the height direction.

At the same time, the second motor 253 may provide torque f2 to eliminate the deviation of the elastic force f1 of the static load spring 251 . The controller 50 may control the output of the second motor 253 using torque data previously stored in the data storage unit 60 . Thus, even if the height of the connector unit 240 changes, the compensating force F provided by the load compensation unit 250 can be maintained constant.

In another embodiment, the second motor 253 may provide torque to eliminate the deviation of the static load spring 251 . A driving source for adjusting the height of the connector unit 240 is provided by another component, and the second motor 253 can remove only the deviation of the static load spring 251 .

When the height of the connector unit 240 is set, the controller 50 controls the output of the second motor 253 using torque data of the second motor 253 stored in the data storage unit 60 in advance. can do. At this time, even if an output is generated by the second motor 253, the height of the connector unit 240 does not change because the output eliminates the deviation of the elastic force f1. Thus, even if the height of the connector unit 240 changes, the compensating force F provided by the load compensation unit 250 can be maintained constant.

The surgical robot device 200 according to the present invention can compensate for the load, thereby increasing the safety of the entire device. Since the load compensation unit 250 provides a constant compensating force F to the connector unit 240, it is possible to safely perform surgery by preventing the surgical robot device 200 from being tilted to one side during operation.

In the surgical robot apparatus 200 according to the present invention, even when the height of the robot arm unit 230 changes, the load compensation unit 250 may provide a constant compensation force F. Since the load compensation unit 250 removes the deviation of the elastic force f1 provided by the static load spring 251, even if the elastic force f1 of the second motor 253 is deviated, the connector unit 240 ), a constant compensation force can be provided.

In the surgical robot device 200 according to the present invention, when the height of the robot arm unit 230 changes, a constant compensating force can be quickly provided to the connector unit 240 . The surgical robot device 200 stores data on torque to be output by the second motor 253 in the data storage unit 60 in advance according to the height of the connector unit 240 . Since the operator O quickly drives the second motor 253 with previously stored data when performing surgery with the surgical robot device 200, the load compensation unit 250 can quickly provide a constant compensation force. .

In the surgical robot apparatus 200 according to the present invention, the load compensation unit 250 may adjust the height of the connector unit 240 and simultaneously provide a constant compensation force F to the connector unit 240 . The second motor 253 of the load compensation unit 250 moves together with the connector unit 240, so that the height of the connector unit 240 is adjusted and the deviation of the static load spring 251 is eliminated at the same time, so that the load compensation unit 250 may provide a constant compensating force F to the connector unit 240 .

FIG. 9 is a diagram showing a modified example of the surgical robot device of FIG. 8 .

Referring to FIG. 9 , the surgical robot device 200A includes a body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250A. can include Compared to the surgical robot device 200 described above, the surgical robot device 200A has a difference in the arrangement of the load compensation unit 250A, and will be described below focusing on this.

The load compensation unit 250A may include a static load spring 251A, a cable 252, a second motor 253, a driving member 254, and a guide member 255.

The static load spring 251A is disposed on the body 210, and a cable 252 may connect the static load spring 251A and the connector unit 240. The static load spring 251A is disposed adjacent to the base column 220 and may extend along the base column 220 when the static load spring 251A is withdrawn.

The second motor 253 may be installed on the connector unit 240 and may move together with the connector unit 240 .

In the surgical robot device 200A according to the present invention, the load compensation unit 250A is disposed on the body 210 to reduce the transmission path of the compensation force provided by the load compensation unit 250A.

FIG. 10 is a diagram showing another modified example of the surgical robot device of FIG. 8 .

Referring to FIG. 10 , the surgical robot device 200B includes a body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250B. can include Compared to the surgical robot device 200 described above, the surgical robot device 200B has a difference in the arrangement of the load compensation unit 250B, which will be mainly described below.

The static load spring 251B is disposed on the base column 220, and a cable 252 may connect the static load spring 251B and the connector unit 240. A static load spring 251B may be disposed on top of the base column 220 .

The second motor 253 may be installed on the connector unit 240 and may move together with the connector unit 240 .

In the surgical robot device 200B according to the present invention, the load compensation unit 250 is disposed on top of the base column 220 to reduce the transmission path of the compensation force provided by the load compensation unit 250 .

In this specification, the present invention has been described with a focus on limited embodiments, but various embodiments are possible within the scope of the present invention. Also, although not described, equivalent means will also be incorporated in the present invention as they are. Therefore, the true scope of protection of the present invention will be defined by the claims below.

50: controller
60: data storage unit
100: surgical robot device
110: body
120: base column
130: robot arm unit
140: connector unit
150: load compensation unit

Claims (12)

base column;
A robot arm unit having a plurality of arms;
a connector unit connecting the robot arm unit and the base column and moving in a height direction of the base column;
a first pulley mounted on the base column and configured to route a cable having one end connected to the connector unit; and
A load compensation unit coupled to the other end of the cable to which the path is set by the first pulley and applying a compensating force to the cable to compensate for a static load of at least one of the robot arm unit and the connector unit; includes,
The load compensation unit,
a first motor around which a portion of a cable connected to the connector unit is wound; and
A static load spring spaced apart from the first motor and to which the other end of a cable partially wound around the first motor is connected. delete According to claim 1,
The first motor
A surgical robot device that generates torque in a forward or reverse direction so as to adjust the deviation of the elastic force of the static load spring. According to claim 1,
The surgical robot device, wherein the sum of the elastic force of the static load spring and the torque of the first motor is maintained constant. According to claim 1,
The load compensation unit
The surgical robot apparatus further comprising: a drive pulley mounted on the rotation shaft of the first motor and having a guide groove on an outer circumferential surface into which the cable is inserted. delete According to claim 1,
a data storage unit configured to store data on magnitude and direction of torque generated by the first motor according to the height of the connector unit;
a first sensor unit measuring a height of the connector unit; and
Based on the height of the connector unit measured by the first sensor unit and data stored in advance in the data storage unit, an electrical signal related to the magnitude and direction of torque to be generated by the first motor is transmitted to the first motor. A controller that applies; further comprising a surgical robot device. base column;
A robot arm unit having a plurality of arms;
a connector unit connecting the robot arm unit and the base column and moving in a height direction of the base column;
a first pulley mounted on the base column and configured to route a cable having one end connected to the connector unit; and
A load compensation unit coupled to the other end of the cable to which the path is set by the first pulley and applying a compensating force to the cable to compensate for a static load of at least one of the robot arm unit and the connector unit; includes,
The load compensation unit
a guide member extending in a height direction of the base column;
a second motor installed in the connector unit and moving along the guide member together with the connector unit by a driving force; and
A surgical robot apparatus including a static load spring spaced apart from the second motor and connected to the other end and the end of the cable. According to claim 8,
The second motor
Connected to a guide member extending in the height direction of the base column, the surgical robot device. According to claim 8,
The second motor
A surgical robot apparatus that outputs a torque to adjust the height of the connector unit, and adjusts the torque in a forward or reverse direction to adjust a deviation of elastic force of the static load spring. According to claim 8,
a data storage unit that stores data about the magnitude and direction of torque generated by the second motor according to the height of the connector unit;
a sensor unit measuring a height of the connector unit; and
Based on the height of the connector unit measured by the sensor unit and data previously stored in the data storage unit, an electrical signal related to the magnitude and direction of torque to be generated by the second motor is applied to the second motor A controller; further comprising a surgical robot device. According to claim 8,
A surgical robot device further comprising; a weight unit mounted on the connector unit.

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