KR20220040552A - Force Adjustable Arm assist Robot Unit - Google Patents

Abstract

The present invention includes: a force sensor which measures the strength of force generated in a stroke motion which is repeated forward and backward during liposuction using a cannula; a force control unit for adjusting the strength of the force within a certain range based on the strength of the force measured by the force sensor; and a force control motor unit operated by a signal of the force control unit. Therefore, user's elbow movement is minimized to protect joints and reduce muscle fatigue.

Description

Force Adjustable Arm assist Robot Unit

The present invention relates to an arm assisting robot device capable of controlling force, and more particularly, to an arm assisting robot device capable of minimizing the fatigue of hand and elbow movements and capable of controlling force that can be used for a long time.

Recently, as modern people make a lot of investment to improve their external appearance, the number of people who undergo plastic surgery, liposuction and other procedures is increasing rapidly. In particular, liposuction is a surgery that many people are interested in not only for cosmetic purposes, but also for health and treatment purposes. In general, liposuction removes fat by inserting a cannula into the fat layer and sucking the fat through the hole formed in the cannula. In other words, liposuction involves inserting a cannula into the skin layer consisting of the skin layer, the fat layer, and the muscle layer, and sucking and discharging the fat. is becoming Such liposuction has a problem in that the operator's wrist and elbow are strained due to repeated stroke motions, thereby increasing the operator's physical fatigue.

Korean Patent Registration No. 10-1979707 (2019.05.13.) discloses a base part disposed on the outside of the lower arm of the wearer's arm and maintaining an absolute position when the wearer's wrist is rolled; a hand fixing unit that is coupled to the back of the wearer's hand and rotates together when the wearer's hand is rotated; a first link disposed between the base part and the hand fixing part, one end being rotatably connected to the upper side of the base part, and the other end being rotatably connected to the lower side of the hand fixing part; and a second link disposed so as to cross the first link between the base part and the hand fixing part, one end being rotatably connected to the lower side of the base part, and the other end being rotatably connected to the upper side of the hand fixing part.

Korea Patent No. 10-1979707 (2019.05.13.) is fixed on the outer surface of the wearer's upper arm to sense the force acting on the wearer and transmit the overall support to the upper arm link, a muscle strength measuring device and a driving motor It consists of a frame for fixing the upper arm, a muscle strength measuring device coupled to the frame for measuring muscle strength, and a shoulder strap that is fixed to the upper part of the link of the upper arm and wraps around the wearer's shoulder so that the wearable robot can be fixed on the wearer's arm. The upper arm link is formed between the upper arm link and the forearm link, which is fixed and supported on the outer surface of the wearer's forearm, and detects the movement of the wearer's wrist and transmits it to the microcomputer. It receives information from the biceps brachii and converts it into mechanical energy to assist the wearer's muscle strength, and to measure the strength of the biceps brachii muscle, which is composed of a joint that flexibly rotates the upper arm link and forearm link according to the rotation of the elbow. In the wearable robot, the upper arm link is a muscle strength measuring device that measures whether or not to use the muscle strength of the biceps brachii by combining three elastic measuring bands at regular intervals at both ends of a 'U' shape measuring device formed on the inner surface of the upper arm frame. is comprised of

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 assisting robot device capable of controlling force that protects joints and reduces muscle fatigue by minimizing the elbow movement of a user who repeatedly uses the elbow fore and aft for a long time.

In addition, an embodiment of the present invention is an arm-assisted robot device capable of controlling the force that can be accurately performed scientifically and numerically by monitoring the strength of the force when doing the work to be performed continuously while maintaining the same fine force. provides

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

Among the embodiments, a force sensor for measuring the strength of a force generated in a stroke motion that is repeatedly performed forward and backward during a liposuction procedure using a cannula, and the force measured by the force sensor unit It characterized in that it comprises a force control unit for generating a force control signal for adjusting the strength of the force within a certain range based on the strength of the force control unit, and a force control motor operating in response to the force control signal of the force control unit.

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

The force sensor unit further comprises a motion sensor for detecting the movement of the joint, characterized in that for storing the movement of the joint measured through the motion sensor in the data storage unit.

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

The measurement unit further includes a measurement unit for measuring the 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 stops characterized.

The arm assisting robot device includes a first strap surrounding the upper end of the operator's arm, a second strap spaced apart from the first strap, 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 therebetween.

The force control motor unit is positioned on the operator's elbow, and adjacent to the force control motor unit, it characterized in that it further comprises a protective structure for protecting the elbow.

The arm-assisted robot device further includes a fixing unit for flatly fixing the treatment site, and the fixing unit is characterized in that it is mounted on the opposite hand of the hand using the cannula.

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be construed as being limited thereby.

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

In addition, the arm-assisted robot device capable of controlling the force according to an embodiment of the present invention is performed scientifically and numerically accurately by continuously monitoring the strength of the force when doing the work to be performed while maintaining the same fine force. It provides an effect that can be checked.

In addition, the arm assisting robot device capable of controlling force according to an embodiment of the present invention is formed to be worn on both the left and right hands, thereby providing the 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 controlling force according to an embodiment of the present invention.
Figure 2 shows a schematic diagram of an arm-assisted robot device capable of controlling force according to an embodiment of the present invention.
Figure 3 shows an arm-assisted robot device capable of controlling the force according to an embodiment of the present invention.
Figure 4 shows the operation sequence of the arm-assisted robot device capable of controlling the force according to an embodiment of the present invention.

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment may have various changes and may 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, it should not be understood that the scope of the present invention is limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. On the other hand, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The singular expression is to be understood to include the plural expression unless the context clearly dictates otherwise, and terms such as "comprises" or "have" refer to the embodied feature, number, step, action, component, part or these It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

In each step, identification numbers (eg, a, b, c, etc.) are used for convenience of description, and identification numbers do not describe the order of each step, and each step clearly indicates a specific order in context. Unless otherwise specified, it may occur in a different order from the specified order. 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 otherwise defined. Terms defined in the dictionary should be interpreted as being consistent with the meaning of the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 shows a schematic diagram of an arm-assisted robot device capable of controlling force according to an embodiment of the present invention. The arm-assisted robot device capable of controlling force can be installed on the operator performing liposuction, and it operates the motor unit of the arm-assisted robot device to allow the operation to be performed while using less arm power, and is placed directly on the operator's arm. It serves to reduce the operator's fatigue by dispersing the force applied to the

An arm-assisted robot device capable of controlling force according to an embodiment of the present invention will be described with reference to FIG. 1 .

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 measures the strength of the force by detecting the movement of the operator's muscles and joints during liposuction. During a liposuction procedure using a cannula, the operator's arm performs a stroke operation that is repeatedly performed by reciprocating forward and backward, and the strength of the force generated during the stroke operation can be measured through the force sensor unit 110 . As the force sensor unit 110 measures the strength of the force, it maintains the same force finely and monitors the strength of the force in real time or periodically when doing the work that needs to be done continuously to check whether it is performed scientifically and numerically accurately. can

The force data storage unit 120 converts the strength of the force measured by the force sensor unit 110 into data and stores it. The force data storage unit 120 may classify and store the strength of the force generated during the stroke operation according to a plurality of criteria and set criteria. For example, it is possible to analyze data for each operator or to analyze and store data based on the similarity of the patient's physical condition.

In addition, the force data storage unit 120 can transmit and receive data so that the stored data can be transmitted to external stored data, and can also receive and re-store previously measured data.

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

The force control motor unit 140 determines whether the motor unit operates 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 process. The force control motor unit 140 may operate while maintaining a constant speed, and may operate such that the speed is gradually increased or decreased according to the setting of the operator. As the force control motor unit 140 operates, the force entering the operator's elbow and wrist is reduced, so that the operator's fatigue can be reduced.

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

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

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

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

In addition, it may further include a measuring unit 280 for measuring the insertion angle and depth of the cannula. Data measured by the measurement unit 240 may be stored in the data storage unit 230 or may be directly transmitted to the force control motor unit. When the insertion angle or insertion depth of the cannula measured by the measurement unit 240 is greater than or equal to a preset 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 site, and the distribution of fat, and may be changed by the operator.

Here, the cannula is a tube to be inserted into the body, and the front end is closed and the rear end is open. The cannula is inserted into the fat layer, which is the treatment site, and moved in the anterior/posterior direction to destroy the fat cells and extract the fat cells to the outside. The cannula has a streamlined tip that is sealed to prevent injury to internal organs or muscles when inserting a surgical site. In addition, a cannula is a medical device that allows liquid or air to pass through, and it can be inserted into the chest cavity or abdominal cavity to extract liquid or inserted into a blood vessel to collect blood. Can be used for various purposes

Figure 3 shows an arm-assisted robot device capable of controlling force according to an embodiment of the present invention.

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

In the arm assist robot device 300 , the force control motor 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 and the second strap 320 connected to the first connection unit 315 coupled to the first strap 310 . It may further include a second motor unit 330b connected to the second connection unit 325 . The first motor unit 330a assists the movement of the operator's upper arm, 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 may be more firmly fixed to the operator's arm through the third strap 340 , and adjacent to the force control motor unit 330 to protect the elbow It may further include a structure.

In addition, the arm-assisted robot device 300 may further include a fixing unit for flatly fixing the treatment site. The fixing part is preferably used after being mounted on the opposite hand of the hand using the cannula, but is not necessarily limited thereto. The position of the fixing part can be changed according to the procedure method of the operator.

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

4 is a diagram illustrating an operation sequence of an arm-assisted robot device capable of controlling 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 the liposuction procedure ( S410 ). The intensity 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 strength of the force within a predetermined 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 the effect of protecting the joints and reducing muscle fatigue by minimizing the elbow movement of a user who repeatedly uses the elbow fore and aft for a long time.

Although the above has been described with reference to preferred embodiments of the present application, those skilled in the art can variously modify the present application within the scope without departing from the spirit and scope of the present invention as described in the claims below. and may be changed.

100, 200, 300: arm assisting 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 measurement unit 270: cannula position measurement unit
280: cannula insertion angle and depth measurement 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)

A force sensor that measures the strength of a force generated in a stroke motion that is repeatedly performed in forward and backward reciprocating motion during liposuction using a cannula;
a force control unit for generating a force control signal for adjusting the strength of the force within a predetermined range based on the strength of the force measured by the force sensor unit; and
Force control motor unit operated by the force control signal of the force control unit
Arm-assisted robot device capable of controlling the force comprising a.
According to claim 1,
The arm assisting robot device capable of controlling force, 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.
3. The method of claim 2,
The force sensor unit further comprises a motion sensor for detecting the movement of the joint,
An arm assisting robot device capable of controlling force, characterized in that it stores the joint motion measured through the motion sensor in a data storage unit.
According to claim 1,
The arm-assisted robot device includes a plurality of measuring units,
The measuring unit may further include a measuring unit measuring a change in the patient's skin tissue, a measuring unit measuring the thickness of the fat layer corresponding to the liposuction site, or a measuring unit sensing the position of the cannula. Assistive Robot Device.
5. The method of claim 4,
The measuring unit further comprises a measuring unit for measuring the insertion angle and depth of the cannula,
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 force controllable arm assisting robot device, characterized in that the operation of the force control motor unit is stopped.
According to claim 1, wherein the arm assisting robot device
A first strap surrounding the upper arm of the operator; and
It is spaced apart from the first strap and includes a second strap adjacent to the operator's wrist,
The arm assisting robot device capable of adjusting force, characterized in that the force control motor unit is mounted between the first strap and the second strap.
According to claim 1,
The force control motor unit is located on the operator's elbow,
Adjacent to the force control motor unit, the arm assisting robot device capable of controlling force further comprising a protective structure for protecting the elbow.
According to claim 1,
The arm-assisted robot device further includes a fixing unit for flatly fixing the treatment site, wherein the fixing unit is mounted on the opposite hand of the hand using the cannula.

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