KR102529993B1 - Force Adjustable Arm assist Robot Unit - Google Patents

Abstract

The present invention relates to a force sensor unit for measuring the strength of force generated in a repetitive stroke motion that proceeds forward and backward during liposuction using a cannula, and the strength of the force measured by the force sensor unit. It is characterized in that it comprises a force control unit for adjusting the strength of the force within a certain range based on, and a force control motor unit operating in response to a signal from the force control unit.

Description

Force adjustable arm assist robot unit {Force Adjustable Arm assist Robot Unit}

The present invention relates to a power-adjustable arm-assisted robot device, and more particularly, to a power-adjustable arm-assisted robot device capable of minimizing hand and elbow movement fatigue and usable for a long time.

Recently, as modern people invest heavily in improving their external appearance, the number of plastic surgery, liposuction, and plastic surgery is rapidly increasing. In particular, liposuction is a surgery that many people are interested in for health and treatment purposes as well as cosmetic purposes. In liposuction, a cannula is generally inserted into the fat layer and the fat formed in the cannula is suctioned and removed alone. In other words, liposuction is a procedure in which a cannula is inserted into the fat layer, which is composed of the skin layer, fat layer, and muscle layer, and suctions and discharges the fat. It can remove fat from the abdomen, thighs, buttocks, arms, as well as the face, and is also used for lipoma removal. It is becoming. Such liposuction has a problem in that the operator's physical fatigue is increased because the operator's wrist and elbow are strained due to the repetitive stroke motion.

Korean Patent Registration No. 10-1979707 (May 13, 2019) discloses a base portion disposed outside the lower arm of the wearer's arm and maintaining an absolute position during rolling of the wearer's wrist; A hand fixing unit that is coupled to the back of the wearer's hand and rotates together when the wearer's hand rotates; A first link disposed between the base part and the hand fixing part, one end rotatably connected to the upper side of the base part, and the other end rotatably connected to the lower side of the hand and hand holding part; and a second link disposed to cross the first link between the base part and the hand fixing part, one end rotatably connected to the lower side of the base part, and the other end rotatably connected to the upper side of the hand fixing part.

Korean Patent Registration No. 10-1478102 (2014.12.24.) is fixed to the outer surface of the wearer's upper arm to sense the force acting on the wearer and to transmit it to the microcomputer, supporting the upper arm link as a whole, and providing a muscle strength measuring device and drive motor An upper arm frame that fixes the upper arm frame, a muscle strength measurement device that is coupled to the upper arm frame to measure muscle strength, and a shoulder strap that is fixed to the upper arm link and wraps around the wearer's shoulder so that the wearable robot can be fixed on the wearer's arm. The upper arm link formed between the upper arm link, the forearm link fixed and supported on the outer surface of the wearer's forearm, detecting the wearer's wrist movement and transmitting it to the microcomputer, and the angle change and rotational speed of the elbow formed between the upper arm link and the forearm link. For muscle strength measurement of the biceps brachii muscle and reinforcement of elbow muscle strength using elbow movement, which is composed of a joint that flexibly mutually rotates the upper arm link and forearm link according to the elbow rotation In the wearable robot, the upper arm link has three elastic measuring bands coupled at regular intervals to both ends of a 'U' shaped measuring device formed on the inner surface of the upper arm frame Muscle strength measuring device for measuring whether or not the muscle strength of the biceps muscle is used is included and composed.

Korean Patent Registration No. 10-1478102 (2014.12.24.) Korean Patent Registration No. 10-1979707 (2019.05.13.)

An embodiment of the present invention provides an arm-assisted robot device capable of adjusting power to protect a joint and reduce muscle fatigue by minimizing the elbow movement of a user who repeatedly uses elbow back and forth movements for a long time.

In addition, an embodiment of the present invention is an arm assist robot device capable of controlling force that can be scientifically and numerically accurately performed by monitoring the intensity of force when performing a task that needs to be continuously performed while maintaining the same force in minute detail. provides

In addition, one embodiment of the present invention provides an arm-assisted robot device capable of adjusting power that can be worn on both the left hand and the right hand according to the user's convenience.

Among the embodiments, during liposuction using a cannula, a force sensor for measuring the strength of force generated in a stroke motion that repeatedly proceeds forward and backward, and the force measured by the force sensor unit It is characterized in that it includes a force control unit that generates a force control signal that adjusts the strength of the force within a certain range based on the strength of the force control unit, and a force control motor unit that operates according to the force control signal of the force control unit.

It is characterized in that it further comprises a force data storage unit for storing the strength of the force measured by the force sensor unit into data.

The force sensor unit may further include a motion sensor for detecting a motion of a joint, and store the motion of the joint measured through the motion sensor in a data storage unit.

The arm-assisted robot device includes a plurality of measurement units, wherein the measurement unit measures a change in the patient's skin tissue, a measurement unit that measures the thickness of a fat layer corresponding to a liposuction site, or a measurement unit that detects the position of the cannula. It is characterized in that it further includes wealth.

The measurement unit further includes a measurement unit for measuring an insertion angle and depth of the cannula, and when the insertion angle or insertion depth of the cannula measured by the measurement unit is greater than or equal to a preset value, the operation of the force control motor unit is stopped. to be characterized

The arm-assisting robot device includes a first strap surrounding an upper end of an operator's arm and a second strap spaced apart from the first strap by a predetermined interval and adjacent to the operator's wrist, the first strap and the second strap. It is characterized in that the force control motor unit is mounted between.

The force control motor unit may further include a protective structure positioned on the operator's elbow and adjacent to the force control motor unit to protect the elbow.

The arm-assisted robot device may further include a fixing part for flatly fixing the treatment site, and the fixing part may be mounted on a hand opposite to the hand using the cannula.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment should include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

An arm assisting robot device capable of adjusting force according to an embodiment of the present invention provides an effect of protecting a joint and reducing muscle fatigue by minimizing elbow movement of a user who repeatedly uses an elbow for a long time.

In addition, the arm-assisted robot device capable of adjusting the force according to an embodiment of the present invention maintains the same force minutely and continuously monitors the strength of the force when performing a task to be performed scientifically and numerically accurately. It provides an effect that can be confirmed.

In addition, the power-adjustable arm assist robot device according to an embodiment of the present invention is formed to be worn on both the left hand and the right hand, and provides an effect of changing the position of the hand used according to the user's convenience.

1 shows a schematic diagram of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.
Figure 2 shows a schematic diagram of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.
3 illustrates an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.
4 illustrates an operation sequence of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. On the other hand, other expressions describing the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to" should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “have” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

1 shows a schematic diagram of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention. The power-adjustable arm-assisted robot device can be mounted on an operator performing liposuction, and operates the motor part of the arm-assisted robot device so that the procedure can be performed while using less power of the arm, and it can be directly applied to the operator's arm. It serves to reduce the operator's fatigue by dispersing the applied force.

Referring to FIG. 1, a force-adjustable arm-assisted robot device according to an embodiment of the present invention will be described.

First, the arm-assisted robot device 100 includes a force sensor unit 110, a force data storage unit 120, a force control unit 130, and a force control motor unit 140.

The force sensor unit 110 detects the movement of muscles and joints of the operator during liposuction and measures the strength of the force. During liposuction using a cannula, the operator's arm reciprocates forward and backward to perform a repetitive stroke motion. The strength of the force generated during the stroke motion can be measured through the force sensor unit 110. As the force sensor unit 110 measures the strength of force, keep the same force minutely and monitor the strength of force in real time or periodically when performing tasks that need to be continuously performed to check whether it is performed scientifically and numerically accurately. can

The force data storage unit 120 stores the strength of the force measured by the force sensor unit 110 as data. The force data storage unit 120 may classify and store the intensity of force generated during a stroke operation according to a number of criteria. For example, the data may be analyzed by operator or analyzed based on the degree of similarity of patients' physical conditions and stored.

In addition, the force data storage unit 120 is capable of transmitting and receiving data, so that stored data can be transmitted to externally stored data, and previously measured data can be received and stored again.

The force control unit 130 generates and transmits a force control signal for adjusting the strength of the force based on the strength of the force measured by the force sensor unit 110 . The force control unit 130 directly receives data measured from the force sensor unit 110 or receives stored data through the force data storage unit 120 . The force control unit 130 determines how much the strength of the force is to be adjusted within a preset control range, and the operator may arbitrarily change the control range.

The force control motor unit 140 determines whether or not to operate the motor unit according to the force control signal received from the force control unit 130 . When the operation of the force control motor unit 140 is determined, the motor unit operates at a predetermined speed to assist the operator's stroke operation in the liposuction procedure. The force control motor unit 140 may operate while maintaining a constant speed, or may operate such that the speed is gradually increased or decreased according to the operator's settings. As the force control motor unit 140 operates, the operator's fatigue can be reduced by reducing the force applied to the operator's elbow and wrist.

Figure 2 shows a schematic diagram of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.

Referring to FIG. 2 , the arm assist robot device 200 includes a force sensor unit 210 , a data storage unit 230 and a measuring unit 240 .

The force sensor unit 210 serves to measure the strength of the force by detecting the operator's stroke motion, and further includes a motion sensor 220 to detect the motion of the joint. The motion sensor 220 measures and converts the movement of the operator's joints into data, and then stores the measured data in the data storage unit 230 . The saved data can be used as comparative data for future liposuction procedures.

The measurement unit 240 includes a measurement unit 250 that measures changes in the patient's skin tissue during liposuction, a measurement unit 260 that measures the thickness of the fat layer corresponding to the liposuction site, and a measurement unit that detects the position of the cannula. (270) may be further included.

In addition, a measuring unit 280 for measuring the insertion angle and depth of the cannula may be further included. Data measured by the measurement unit 240 may be stored in the data storage unit 230 or directly transmitted to the force control motor unit. When the insertion angle or insertion depth of the cannula measured by the measuring unit 240 is greater than or equal to a predetermined value, the operation of the force control motor unit is stopped. The preset value may vary based on the patient's body data, the size of the treatment area, and the distribution of fat, and may be changed by the operator.

Here, the cannula is a tube inserted into the body, the front end is closed and the rear end is open, and the cannula is inserted into the fat layer, which is the treatment site, and moved in forward/backward directions to destroy fat cells and extract fat cells to the outside. The front end of the cannula to be closed is formed in a streamlined shape to prevent injury to internal organs or muscles when inserted into the treatment site. In addition, a cannula corresponds to a medical device that allows liquid or air to pass through, and can be inserted into the thoracic or abdominal cavity to extract liquid or inserted into a blood vessel to collect blood. Can be used for a variety of purposes

3 illustrates an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.

Referring to FIG. 3 , the arm assist robot device 300 includes a first strap 310 surrounding the upper end of the operator's arm and a second strap ( 320).

In the arm assist robot device 300 , a force control motor unit 330 is mounted between the first strap 310 and the second strap 320 .

The force control motor unit 330 is located at the operator's elbow joint and is coupled to the first motor unit 330a connected to the first connection unit 315 coupled to the first strap 310 and the second strap 320. A second motor unit 330b connected to the second connection unit 325 may be further included. The first motor unit 330a assists the movement of the upper arm of the operator, and the second motor unit 330b assists the movement of the operator's wrist.

The first motor unit 330a and the second motor unit 330b can be more firmly fixed to the operator's arm through the third strap 340, and are adjacent to the force control motor unit 330 to protect the elbow. Further structures may be included.

In addition, the arm assisting robot device 300 may further include a fixing unit for flatly fixing the treatment site. It is preferable to use the fixing part after attaching it to the hand opposite to the hand using the cannula, but it is not necessarily limited thereto. The location of the fixing part can be changed according to the operation method of the operator.

The arm assisting robot device 300 is formed to be worn on both the left hand and the right hand, so that the position of the hand can be changed according to the hand that the operator mainly uses.

4 illustrates an operation sequence of an arm-assisted robot device capable of adjusting force according to an embodiment of the present invention.

Referring to FIG. 4 , the force sensor unit ('110' in FIG. 1) measures the strength of the operator's force generated during a stroke operation during liposuction (S410). The strength of the force measured through the force sensor unit is converted into data and stored in the data storage unit (S420).

Next, a force control signal for adjusting the intensity of force within a certain range is generated based on the data stored in the data storage unit (S430).

The force control signal is transmitted to the force control motor unit. The force control motor unit operates by receiving the force control signal, and adjusts the degree of operation of the motor unit within a preset range (S440).

As described above, the arm-assisting robot device according to the present invention provides an effect of protecting a joint and reducing muscle fatigue by minimizing the elbow movement of a user who repeatedly uses the elbow for a long time.

Although the above has been described with reference to the preferred embodiments of the present application, those skilled in the art will variously modify this application within the scope not departing from the spirit and scope of the present invention described in the claims below. And it will be understood that it can be changed.

100, 200, 300: arm assist robot device
110, 210: force sensor unit 120, 230: data storage unit
130: force control unit 140, 330: force control motor unit
240: measurement unit 250: skin tissue change measurement unit
260: fat layer thickness measuring unit 270: cannula position measuring unit
280: cannula insertion angle and depth measuring unit
310: first strap 315: first connection part
320: second strap 325: second connection part
330a: first motor unit 330b: second motor unit
340: third strap

Claims (8)

During liposuction using a cannula, a force sensor unit that measures the strength of force generated from the operator's stroke motion that proceeds repetitively back and forth forward and backward;
a force data storage unit that converts the strength of the force measured by the force sensor unit into data and then classifies and stores it for each operator;
a force controller configured to generate a force control signal by determining how much the force intensity is to be adjusted within a certain range based on the force intensity measured by the force sensor unit or the data stored in the force data storage unit; and
A force control motor unit that operates at a speed determined by the force control signal of the force control unit to assist the operator's stroke operation.
A power-adjustable arm-assisted robot device comprising a.
delete According to claim 1,
The force sensor unit further includes a motion sensor for detecting motion of the joint,
An arm-assisted robot device capable of adjusting force, characterized in that for storing the movement of the joint measured by the motion sensor in the data storage unit.
delete delete The method of claim 1, wherein the arm-assisted robot device
A first strap wrapped around the operator's upper arm; and
A second strap located at a predetermined interval from the first strap and adjacent to the operator's wrist,
The arm assist robot device capable of adjusting the force, characterized in that the force control motor is mounted between the first strap and the second strap.
According to claim 1,
The force control motor is located on the operator's elbow,
Arm-assisted robot device capable of adjusting force, characterized in that it further comprises a protective structure for protecting the elbow adjacent to the force control motor unit.
According to claim 1,
The arm-assisted robot device further includes a fixing part for flatly fixing the treatment site, and the fixing part is mounted on the hand opposite to the hand using the cannula.

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