KR20180001153A - A translation type of delta robot and a surgical robot comprising thereof - Google Patents

Abstract

According to one embodiment, a surgical robot comprises: a shaft having a first support point, a second support point, and a functional point which are sequentially arranged; a first delta robot supporting the first support point to be moved; a second delta robot connected to the first delta robot in parallel, and supporting the second support point to be moved; and a surgical device connected to the functional point.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a translational type delta robot and a surgical robot including the same,

The following embodiment relates to a translational type delta robot and a surgical robot including the same.

Delta robots are intelligent robots that pick up objects on the conveyor by self-sensing and move them to another conveyor or other location. These delta robots are driven by three or more axes that are continuously synchronized and moving.

These delta robots have been used in small desktop and surface mount technology (SMT) pick-and-place robots because they can perform small and high speed pick and place operations.

The three-point support type delta robot is provided with an upper plate and a lower plate, which are connected by three-point rod arms, and a motor for driving the rod arm is formed on the upper plate, The lower plate has an operating characteristic for adjusting the relative position of the lower plate relative to the lower plate. And a gripper for rotating the article to be picked up is formed at a lower portion of the lower plate.

However, the ball link that implements the rotational freedom of the delta robot has a problem that the radius of rotation is small due to the structure of the holder which covers the ball by 50% or more, and the backlash due to the surface friction increases during long-term use. The increase of backlash of such a delta robot is not suitable for precise work due to high possibility of error.

In order to utilize the delta robot in the field of micro-surgery, the precision should be increased dramatically compared to the conventional one. However, only increasing the precision of the movement of the three supporting points may increase the cost excessively, It can fall.

Korean Registered Patent: 10-0817864 (Published on Mar. 31, 2008)

An object according to an embodiment is to arrange two three-point support type delta robots in parallel.

An object according to an embodiment is to adjust the gap between the two grippers supporting the drive shaft.

A robot according to one embodiment includes: a shaft including a first support point, a second support point, and a point of action, which are placed in order; A first delta robot movably supporting the first support point; And a second delta robot connected in parallel with the first delta robot and movably supporting the second support point.

According to one aspect, the first supporting point is disposed at one end of the shaft, the working point is disposed at the other end of the shaft, and the distance between the first supporting point and the second supporting point can be adjusted.

According to one aspect of the present invention, the movement radius may vary depending on the ratio of the distance between the first support point and the second support point to the distance between the second support point and the action point, when the first support point is moved.

According to one aspect, when the distance between the first support point and the second support point is short, the movement distance of the action point with respect to the movement distance of the first support point may increase.

According to one aspect of the present invention, when the distance between the first support point and the second support point is increased, the movement distance of the action point with respect to the movement distance of the first support point may be reduced.

According to one aspect, the first fulcrum moves on a first plane and the second fulcrum moves on a second plane.

According to one aspect, the first plane and the second plane may be parallel.

According to one aspect, the first delta robot and the second delta robot each include three support rods; Three moving parts moving along the longitudinal direction of the support rod; A gripper movably supporting the shaft; And N arms connecting the moving part and the gripper.

According to one aspect, the rotary arm may be rotatably connected to each of the moving part and the gripper.

According to one aspect of the present invention, the first delta robot and the second delta robot may further include three driving sources each for generating movement of each of the three moving parts.

According to one aspect, the in-plane movement of the gripper may arise from the up-and-down movement of each of the three moving parts.

According to one aspect, the support rods of the first delta robot and the support rods of the second delta robot may be parallel to each other.

According to one aspect, the distance between the first support point and the second support point is adjustable by adjusting the distance between the moving part of the first delta robot and the moving part of the second delta robot.

A surgical robot according to one embodiment comprises: a shaft including a first support point, a second support point and a point of action arranged in turn; A first delta robot movably supporting the first support point; A second delta robot connected in parallel with the first delta robot and movably supporting the second support point; And a surgical device coupled to the point of action.

According to one aspect, the first support point is disposed at one end of the shaft, and the action point may be disposed at the opposite end of the one end.

According to one aspect, by increasing the distance between the first support point and the second support point, by improving the precision of the surgical apparatus and by reducing the distance between the first and second support points, The accuracy of the surgical apparatus can be reduced.

According to one aspect of the present invention, the apparatus may further include a rotation module disposed at the first support point or the second support point, for rotating the shaft in the longitudinal direction of the shaft with the rotation axis.

According to one aspect, the rotating module may be integrated into the surgical device.

According to one embodiment, the spacing of the two grippers supporting the drive shaft can be adjusted to change the precision of the work.

According to one embodiment, by arranging two delta robots in parallel, a robust structure can be achieved, and accurate movement with less vibration and backlash is possible.

According to one embodiment, by using a dual Delta robot, it is possible to overcome the limit of the small operation range that existing Delta robots have.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be construed as limited.
1 is a perspective view illustrating a translational type delta robot according to an embodiment.
2 is a perspective view illustrating movement of a translational type delta robot according to an embodiment.
3 is a schematic diagram illustrating the precision and operable range adjustment of a translational delta robot according to one embodiment.
4 is a perspective view illustrating the precision and operable range adjustment of the translational type delta robot according to one embodiment.
5 is a perspective view illustrating a surgical robot including a translational delta robot according to an embodiment.
6 is a cross-sectional view illustrating a rotation module of a surgical robot according to an embodiment of the present invention.
7 is a perspective view showing another arrangement of the rotation module of the surgical robot according to the embodiment.
FIG. 8 is a structural view showing the entire configuration of a surgical robot according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

1 is a perspective view showing a translational type delta robot 1 according to an embodiment.

The translational type delta robot 1 is a type in which two first delta robots 10 and a second delta robot 20 are connected in parallel. The first delta robot 10 and the second delta robot 20 can be arranged up and down in order in the direction parallel to the direction in which the movement points 12, 13, 14, 22, 23, have.

The shaft (30) is arranged to move in the vicinity of the center of the translational type delta robot (1). And includes three points 11, 21, and 31.

The first support point 11 of the shaft 30 is located at the upper end portion and is supported by the gripper 15 of the first delta robot 10. The second support point 21 of the shaft 30 corresponds to any point in the middle portion between both ends of the shaft 30 and is supported by the gripper 25 of the second delta robot 20.

The position of the first support point 11 is generally fixed and the position of the second support point 21 can be changed for improving the precision or mobility of the translational type delta robot 1. [ Accordingly, the distance between the first support point 11 and the second support point 21 can be adjusted.

The working point 31 of the shaft 30 is disposed at the opposite end of the first supporting point 11. [ Various working tools, medical devices, cutters, etc., which can be used in the robot, may be disposed at the action point 31.

Each of the moving points 12, 13 and 14 of the first delta robot 10 can slide up and down along the rod on which each moving point is fixed. In addition, the moving points 12, 13 and 14 of the first delta robot 10 can be connected to the gripper 15 by a link, respectively. When each of the movement points 12, 13, and 14 moves upward or downward along the rod, the first support point 11 can be moved while the gripper 15 moves in conjunction with the movement.

In the same manner, each of the movement points 22, 23, 24 of the second delta robot 10 can slide up and down along the rod on which each movement point is fixed, Lt; / RTI > When the respective moving points 22, 23, 24 move along the rod upward or downward, the second fulcrum 21 can be moved while the gripper 25 moves in conjunction with the movement.

2 is a perspective view showing the movement of the translational type delta robot 1 according to one embodiment. 2 (a) shows the movement of the shaft 30 in the X, Y and Z axis directions, and FIG. 2 (b) shows the roll and pitch rotation movements of the shaft 30. FIG.

The first fulcrum 11 of the shaft 30 moves in the first plane A while the distance between the first fulcrum 11 and the second fulcrum 21 is fixed, 2 support point 21 moves in the second plane B and the point of action 31 of the shaft 30 can move within the third plane B. The first plane A and the second plane B may be substantially parallel.

Referring to FIG. 2 (a), the shaft 30 can translationally move in the X, Y, and Z axis directions.

The positions of the moving planes A, B, and C of the respective points 11, 21, and 31 do not change when the shaft 30 translationally moves in the X or Y axis direction. In addition, the gripper 15 of the first delta robot 10 and the gripper 25 of the second delta robot 20 can exhibit the same motion.

The translational movement of the shaft 30 in the Z-axis direction can be caused by the movement of the moving points of the first delta robot 10 and the moving points of the second delta robot 20 in the same direction. When the shaft 30 translationally moves in the Z-axis direction, the movement planes A, B, and C of the respective points can move in the Z-axis direction as the shaft 30 moves.

Fig. 2 (b) shows the roll and pitch rotation movement of the shaft 30. Fig. The position of the second fulcrum 21 is substantially fixed and the gripper 15 of the first delta robot 10 is moved in the first plane A in the first plane A for a roll, The first supporting point 11 of the shaft 30 can be moved while moving.

When the gripper 15 of the first delta robot 10 moves parallel to the Y axis direction, roll rotation with the X axis as the rotation axis with respect to the shaft 30 may occur, and the gripper 15 of the first delta robot 10 15 may move in parallel with the X-axis direction, pitch rotation may occur with the Y-axis as the rotation axis with respect to the shaft 30. [

Yaw rotation of the shaft 30 will be described later in FIGS. 7 and 8. FIG.

FIG. 3 is a schematic diagram showing the precision and operable range adjustment of the translational delta robot 1 according to one embodiment, which is related to the roll pitch rotational motion of FIG. 2 (b). In FIG. 3, the second support point 21 can serve as a center of the lever.

The grippers 15 and 25 of the first delta robot 10 and the second delta robot 20 can be moved in three degrees of freedom such as X, Y and Z. When two delta robots are used in parallel, Roll, pitch and fulcrum point adjustments can be added to the Z-direction movement.

3 (a) corresponds to a case in which the distance between the first supporting point 11 and the second supporting point 21 is close to the distance between the first supporting point 11 and the second supporting point 21 The ratio of the distance between the second support point 21 and the action point 31 is about 1: 2.

In this case, the distance that the action point 31 moves may be substantially twice as long as the distance that the gripper of the first delta robot 10 moves the first supporting point 11. 3 (a), when the operation point 31 of the shaft 30 moves over a wide range within a short time, it is necessary to move the first support point 11 and the second support point 21 You can adjust the distance.

3 (b) corresponds to a case where the distance between the first supporting point 11 and the second supporting point 21 is intermediate, for example, the distance between the first supporting point 11 and the second supporting point 21 And the distance between the second support point 21 and the action point 31 is about 1: 1.

In this case, the distance at which the gripper of the first delta robot 10 moves the first support point 11 and the distance at which the action point 31 moves may be substantially the same level. Therefore, it is possible to utilize in a work requiring intermediate precision between Figs. 3 (a) and 3 (c).

3 (c) corresponds to a case where the distance between the first supporting point 11 and the second supporting point 21 is large. For example, the distance between the first supporting point 11 and the second supporting point 21, 2 ratio of the distance between the supporting point 21 and the point of action 31 is about 2: 1.

In this case, the distance that the action point 31 moves may be substantially half as long as the gripper of the first delta robot 10 moves the first support point 11. 3 (c), the distance between the first support point 11 and the second support point 21 is set to be longer than the distance between the first support point 11 and the second support point 21. Therefore, when a precise operation is required to move the action point 31 of the shaft 30 over a narrow range, Can be determined to move away.

The movement radius of the action point 31 may vary depending on the relative position of the second support point 21 with respect to the first support point 11. That is, when the distance between the first support point 11 and the second support point 21 is shortened, the movement distance of the action point 31 increases with respect to the movement distance of the first support point 11, And the second support point 21 are distant from each other, the movement distance of the action point 31 is reduced compared to the movement distance of the first fulcrum 11.

3 (a) to Fig. 3 (c), the accuracy increases by the principle of the leverage, and conversely, the operable range increases from Fig. 3 (c) to Fig. 3 1 can be precisely adjusted by adjusting the distance between the supporting point 11 and the second supporting point 21.

4 is a perspective view showing the precision and operable range adjustment of the translational type delta robot 1 according to one embodiment. Fig. 4 (a) corresponds to Fig. 3 (a), Fig. 4 (b) corresponds to Fig. 3 I do not know.

4 (a) to 4 (c), the radii in the plane A on which the first supporting point 11 moves are the same, and the distance between the moving points 31 of the first supporting point 11 4A to 4C are different from each other.

4A, since the distance between the first supporting point 11 and the second supporting point 21 is near, the radius of the plane C on which the point of action 31 moves is the largest, and in FIG. 4B, Since the distance between the first supporting point 11 and the second supporting point 21 is intermediate, the radius of the plane C on which the working point 31 moves is intermediate, and in FIG. 4 (c) 11 and the second support point 21 are the farthest from each other, the radius of the plane C on which the action point 31 moves is relatively small.

For example, in the case of FIG. 4 (a), since it has a wide operable range, it can be utilized for a surgical operation with low precision, and in the case of FIG. 4 (b) In the case of FIG. 4 (c), since a high accuracy can be obtained while having a small operation range, it is possible to perform a surgical operation requiring high precision .

5 is a perspective view showing a surgical robot 100 to which a translational type delta robot 1 according to an embodiment is applied.

The surgical robot 100 includes a first delta robot 110 and a second delta robot 120 connected in parallel below the first delta robot 110. The first delta robot 110 and the second delta robot 110, A shaft 130 that is moved by the shaft 120, and a surgical device 140 that is disposed at the lower end of the shaft 130.

5, each of the first delta robot 110 and the second delta robot 120 includes three support rods 111 and 121, three support rods 111 and 121 that move along the length direction of the support rods 111 and 121, One gripper 115 and 125 for movably supporting the shaft 130 and three arms connecting the moving parts 112 and 122 and the grippers 115 and 125, (113, 143).

The moving parts 112 and 122 corresponding to the respective arms 113 and 143 can be rotatably connected relative to each other and the grips 115 and 125 corresponding to the respective arms 113 and 143 can be connected to each other As shown in FIG.

The gripper 115 of the first delta robot 110 supports the upper end or the first support point of the shaft 130 and the gripper 125 of the second delta robot 120 supports the upper end of the shaft 130 between the opposite ends of the shaft 130 And the surgical device 140 is connected to the lower end of the shaft 130. The second support point,

The upper frame 150 of the surgical robot 100 disposes the upper ends of the three support rods 111 of the first delta robot 111 at an angle of 120 degrees with respect to the center. The lower frame 170 of the surgical robot 100 disposes the lower ends of the three support rods 121 of the second delta robot 120 at an angle of 120 degrees with respect to the center.

The support rod 111 of the first delta robot 111 and the support rod 121 of the second delta robot 120 may be connected to each other by the middle frame 160 and the first delta robot 111, The support rod 111 of the second delta robot 120 and the support rod 121 of the second delta robot 120 are parallel.

Each of the frames 150, 160, and 170 may be formed as a triangle as shown in FIG. 5. However, since the positions of the support rods 111 and 121 may be changed, 170 may be formed in a circular or other polygonal shape.

Each of the three moving parts 112 of the first delta robot 110 can move along the respective support rods 112 by a separate driving source M. [ Since the gripper 115 moves in a planar manner, the up-and-down direction and the size of the movement of each of the three moving parts 112 can be different from each other.

Likewise, each of the three moving parts 122 of the second delta robot 120 can be moved along the respective support rods 122 by a separate driving source M. Since the gripper 125 of the second delta robot 120 moves in a planar manner, the upward and downward directions and the sizes of the movements of the three moving parts 122 can be different from each other.

Conventional microsurgery robots have been mainly developed to have a mechanism specialized for each surgery, and most of them have a structural limit and a workspace limit for general use in various operations, The surgical robot 100 according to the present invention can provide a mechanism capable of adjusting the operable range and accuracy by applying the structure of the double-parallel delta robot and the lever.

This mechanism is a mechanism that can simultaneously control the RCM (Remote Center of Motion) and the multi-degree of freedom movement. Therefore, RCM can be universally applied to various micro surgical fields such as microvascular / nerve connection as well as eye surgery have.

Such a mechanism can be configured to vary the fulcrum point of the lever so that the precision and the workspace of the shaft end motion to be mounted on the surgical robot can be varied, This is possible.

6 is a cross-sectional view illustrating a rotation module 200 applicable to the surgical robot 100 according to an embodiment of the present invention. The rotation module 200 may be installed on the first gripper 115 or the second gripper 125 of the surgical robot 100. Alternatively, it may be installed elsewhere in the shaft 230.

The rotation module 200 includes a main body 215, a first gear 216 mounted on a side surface of the main body 215, a second gear 231 engaged with the first gear 216 and fitted to the shaft 230, And a rotation shaft 217 for rotating the first gear 216.

The driving source installed in the rotating module 200 first rotates the rotating shaft 217 so that the first gear 216 rotates the second gear 231 and then the shaft 230 rotates. Through this, yaw rotation with the longitudinal direction of the shaft 230 as the rotation axis can be achieved.

7 is a perspective view showing another arrangement of the rotation module 200 of the surgical robot 100 according to an embodiment. The rotation module 200 may be disposed between the shaft 130 and the surgical device 140 to rotate the surgical device 140 itself.

6, when the rotation module 200 is mounted on the grippers 115 and 125, the rotation module 200 needs to rotate both the shaft 130 and the surgical device 140, . ≪ / RTI >

In contrast, in the case of FIG. 7, since only the surgical device 140 is rotated by the rotation module 200, the burden imposed on the rotation module 200 can be reduced.

FIG. 8 is a structural view showing the entire configuration of a surgical robot 100 according to an embodiment.

The operation of the first delta robot 110 and the second delta robot 120 is controlled by the control unit 180 and the shaft 130 is controlled by the first delta robot 110 and the second delta robot 120, Can be moved.

The control unit 180 can control the operation of each of the three driving sources 114 of the first delta robot 110 separately. The moving part 122 moves according to the operation of the driving source 114 and moves the gripper 115 while the arm 113 connected to the moving part 112 moves. The gripper 115 finally moves the first support point of the shaft 130. [

In addition, the control unit 180 can separately control the operation of each of the three driving sources 114 of the second delta robot 120. The moving part 122 moves according to the operation of the driving source 124 and moves the gripper 125 while the arm 123 connected to the moving part 122 moves. The gripper 125 finally moves the second support point of the shaft 130. [

The movement of the surgical device 140 may be interlocked with the movement of the shaft 130.

According to the above-described embodiment, since a rigid structure called a delta robot robot is used, precise movement with less vibration and backlash can be performed, and by utilizing the delta robot in a double manner, the delta robot has a small operation range .

In addition, the precision and operation range can be adjusted as needed by utilizing the precise delta robot structure that has been used throughout the existing industry, so that not only medical robots but also all the fields .

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

1: translational type delta robot
10: First Delta Robot
20: Second Delta Robot
30: Shaft
11: 121: support rod
112: 122:
113, 123: Cancer
114, 124: driving source
115, 125: gripper
140: Surgical device

Claims (17)

A shaft including a first support point, a second support point, and a point of action arranged in order;
A first delta robot movably supporting the first support point; And
And a second delta robot connected in parallel with the first delta robot and movably supporting the second support point.
The method according to claim 1,
The first support point being disposed at one end of the shaft,
The action point is disposed at the other end of the shaft,
Wherein the distance between the first support point and the second support point is adjustable.
3. The method of claim 2,
Wherein the action point is such that, when the first support point is moved, the movement radius varies according to a distance between the first support point and the second support point and a ratio of the distance between the second support point and the action point.
The method of claim 3,
When the distance between the first support point and the second support point approaches,
Wherein the movement distance of the action point increases with respect to the movement distance of the first support point.
The method of claim 3,
When the distance between the first support point and the second support point is large,
Wherein the movement distance of the action point is reduced with respect to the movement distance of the first support point.
The method according to claim 1,
The first support point moves on a first plane, the second support point moves on a second plane,
Wherein the first plane and the second plane are parallel to each other.
The method according to claim 6,
Wherein the first delta robot and the second delta robot respectively comprise:
Three support rods;
Three moving parts moving along the longitudinal direction of the support rod;
A gripper movably supporting the shaft; And
And three arms connecting the moving part and the gripper.
8. The method of claim 7,
The arm being rotatably connected to each of the moving part and the gripper.
9. The method of claim 8,
Wherein the first delta robot and the second delta robot respectively comprise:
Further comprising three driving sources for generating movement of each of the three moving parts.
10. The method of claim 9,
And the in-plane movement of the gripper is caused by the up-and-down movement of each of the three moving parts.
8. The method of claim 7,
Wherein the support rods of the first delta robot and the support rods of the second delta robot are parallel to each other.
12. The method of claim 11,
Wherein the distance between the first support point and the second support point is adjustable by adjusting a distance between a moving part of the first delta robot and a moving part of the second delta robot.
A shaft including a first fulcrum, a second fulcrum, and a point of action arranged in turn;
A first delta robot movably supporting the first support point;
A second delta robot connected in parallel with the first delta robot and movably supporting the second support point; And
And a surgical device connected to said action point.
14. The method of claim 13,
Wherein the first support point is disposed at one end of the shaft, and the action point is disposed at the opposite end of the one end.
14. The method of claim 13,
By increasing the distance between the first support point and the second support point, the precision of the surgical apparatus can be improved,
Thereby reducing the distance between the first support point and the second support point, thereby reducing the precision of the surgical apparatus.
15. The method of claim 14,
Further comprising a rotation module disposed at the one support point or the second support point for rotating the shaft in the longitudinal direction of the shaft with the rotation axis.
17. The method of claim 16,
Wherein the rotating module is integrated into the surgical device.

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