WO2011102629A2 - Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif - Google Patents

Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif Download PDF

Info

Publication number
WO2011102629A2
WO2011102629A2 PCT/KR2011/000992 KR2011000992W WO2011102629A2 WO 2011102629 A2 WO2011102629 A2 WO 2011102629A2 KR 2011000992 W KR2011000992 W KR 2011000992W WO 2011102629 A2 WO2011102629 A2 WO 2011102629A2
Authority
WO
WIPO (PCT)
Prior art keywords
gimbal
robot
parallel
link
axis
Prior art date
Application number
PCT/KR2011/000992
Other languages
English (en)
Korean (ko)
Other versions
WO2011102629A3 (fr
Inventor
민동명
원종석
장형준
최승욱
장배상
Original Assignee
주식회사 이턴
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Publication of WO2011102629A2 publication Critical patent/WO2011102629A2/fr
Publication of WO2011102629A3 publication Critical patent/WO2011102629A3/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism

Definitions

  • the present invention relates to a master operating device of the robot and a surgical robot using the same.
  • surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device.
  • open surgery which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.
  • Such a surgical robot may be divided into a master unit that generates and transmits a signal required by a doctor's operation, and a slave unit that receives a signal from an operation unit and directly applies a manipulation necessary to a patient.
  • the slave unit may be divided as each part of a single surgical robot, or each may be a separate device, that is, the operation unit may be divided into a master robot and the driving unit may be disposed in an operating room, respectively.
  • Surgical robots in particular, the master unit is provided with a device for the operation of the doctor, in the case of robot surgery, the surgeon does not directly manipulate the instruments required for the operation, the various instruments mounted on the robot by operating the above-described devices to operate Perform the required action.
  • the master manipulation device is composed of a jointed articulated structure such that the surgeon can perform a motion similar to that performed by a surgeon directly, and a corresponding signal is generated according to the manipulation of the doctor with respect to the master manipulation device. It is sent to the slave unit.
  • the conventional master operating device is composed of a plurality of link members coupled to rotate in two or more directions, and gimbals coupled to the ends of the link members, so that the surgeon can grab the gimbal by hand and move it to any position in space. It is configured to be. However, if the conventional device is not fixed to a specific position when not in use, the gimbal rotates relative to the link member and falls downward due to the weight of the gimbal.
  • a force that the master operating device tries to rotate in the direction of gravity that is, a rotation moment
  • the device may move or be applied even if no force is applied in the direction of gravity. This may cause problems such as the need for more force to manipulate the device in the opposite direction of gravity.
  • the background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.
  • the present invention provides a master operation capable of making the amount of force necessary for moving the gimbal to any position in space without causing the gimbal to fall down by its own weight to some extent (not too different in a specific direction). It is to provide a device and a surgical robot using the same.
  • a master manipulation device for manipulating a robot the gimbal is manipulated by the user and coupled to the robot to be rotatable, so that the gimbal moves to any position in space Including a link portion that is operated, the link unit is characterized in that it comprises a SCARA link unit (SARA link) that is operated when the gimbal moves in a horizontal plane, and a parallel link unit that is activated when the gimbal moves in the vertical direction.
  • SARA link SCARA link unit
  • One end of the scara link portion is coupled to the robot, one end of the parallel link portion is coupled to the other end of the scara link portion, the gimbal may be coupled to the other end of the parallel link portion.
  • the gimbal may include a redundant member coupled to the parallel link portion to be rotatable about a vertical axis, the first gimbal member coupled to the redundant member so as to be rotatable about a first axis, and the first gimbal member.
  • a second gimbal member coupled to the gimbal member so as to be rotatable about a second axis not parallel to the first axis, and rotatable about a third axis not respectively parallel to the first axis and the second axis to the second gimbal member It is coupled to, and may further include a handle member for the user to hold and manipulate by hand.
  • the redundant member may be controlled to rotate about an axis in the vertical direction corresponding to the position of the hand of the user.
  • the scara link unit may include a first link member rotatably coupled to the robot about an axis in the vertical direction, and a second link member rotatably coupled to the first link member about an axis in the vertical direction.
  • the parallel link portion may include a pair of parallel members each coupled to the scara link portion so as to be rotatable about an axis on a horizontal plane.
  • the parallel member may be provided with a moment balance mechanism for equilibrating a moment acting on the parallel member due to gravity.
  • the moment balance mechanism includes a plate cam which is punctured along a predetermined path at the other end of the scara link portion, and a cam follower which moves along the movement path provided by the plate cam as the parallel member rotates. and an elastic body coupled to the parallel member and applying tension to the cam follower to generate a moment that is offset from the moment due to the load, the cam follower being installed in the parallel member to be movable in the direction in which the tension is applied.
  • the plate cam may be formed to constrain the distance at which the cam follower is moved in the tensioned direction as the parallel member rotates.
  • the path of the plate cam may be formed according to a functional relationship expressed by the following equation with respect to the angle ⁇ at which the parallel member is rotated.
  • r may be a distance from the center point to the cam follower
  • h may be a height at which the cam follower is installed in a direction perpendicular to the tension direction of the elastic body in the parallel member
  • ⁇ may be an angle at which the cam follower is rotated around the center point.
  • the elastic body is applied to the tension while the tensile deformation, ⁇ can be calculated by the following equation.
  • A is the distance from the center point on the axis in the tensioned direction to the point where the elastic body is supported
  • B is the distance between the cam follower and the elastic body on the axis in the tensioned direction
  • s f is the free length of the elastic body
  • s 1 is the later length of the elastic body (the length to deform to achieve moment equilibrium when the rotating part rotates by ⁇ )
  • s is the initial tensile force of the elastic body
  • ⁇ may be an angle at which the parallel member is rotated with respect to the scara link portion.
  • the elastic body may apply tension while compressively deforming, and ⁇ may be calculated by the following equation.
  • A is the distance from the center point on the axis in the tensioned direction to the point where the elastic body is supported
  • B is the distance between the cam follower and the elastic body on the axis in the tensioned direction
  • s f is the free length of the elastic body
  • s 1 is the later length of the elastic body (the length to deform to achieve moment equilibrium when the rotating part rotates by ⁇ )
  • s is the initial tensile force of the elastic body
  • ⁇ may be an angle at which the parallel member is rotated with respect to the scara link portion.
  • a surgical robot equipped with the above-described master operation device, a main body, a robot arm connected to the main body and operated, mounted on the tip of the robot arm, inserted into the surgical site It includes an instrument for performing the operation required for surgery, the link portion is coupled to the main body portion, the robot arm and the instrument is provided with a surgical robot, characterized in that the operation in accordance with the user operation for the gimbal.
  • the main body and the master operating device constitute a master robot, the robot arm is mounted on the slave robot, and the slave robot can be connected in a wired or wireless communication manner with the master robot.
  • the horizontal operation of the gimbal is carried out by the scara link, and the vertical operation of the gimbal by the parallel link. It can be rotated to prevent the gimbal from falling down and to keep the gimbal always horizontal.
  • FIG. 1 is a conceptual diagram showing a master operation device according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing a gimbal according to an embodiment of the present invention.
  • FIG 3 is a perspective view showing a master operation device according to an embodiment of the present invention.
  • FIG. 4 is a conceptual diagram showing a moment balance mechanism according to an embodiment of the present invention.
  • 5 to 8 is a conceptual diagram for derivation of the shape of the plate cam in the moment balance mechanism according to an embodiment of the present invention.
  • FIG. 9 is a conceptual diagram showing a surgical robot according to an embodiment of the present invention.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • FIG. 1 is a conceptual diagram showing a master operation device according to an embodiment of the present invention. Referring to FIG. 1, a master manipulation device 48, gimbal 50, a scara link unit 60, and a parallel link unit 70 are shown.
  • the parallel link is operated in parallel direction (vertical up and down) using the parallel link to the master operation device for manipulating the robot, and the gimbal is moved relative to the horizontal plane. It is characterized in that the general scara link is operated to be in charge, thereby preventing the phenomenon that the operation of the gimbal is unintentionally rotated by the link portion due to the weight of the gimbal.
  • the master operation device 48 is based on the link unit which is operated so that the gimbal 50 and the gimbal 50, which are parts that the user grasps and manipulates by hand, move to an arbitrary position in space.
  • the link unit may include a SCARA (Selective Compliance Assembly Robot Arm) link unit and a parallel link unit 70.
  • the scara link unit 60 is a link that is operated when the gimbal 50 moves in the horizontal plane (see 'x-y' plane of FIG. 1), that is, when the gimbal 50 moves in the front, rear, left and right directions.
  • the link unit 70 is a link operated when the gimbal 50 moves in the vertical direction (see 'z' axis direction in FIG. 1), that is, in the up and down directions. In this way, even if divided into the scara link unit 60 and the parallel link unit 70, there is no problem in securing the degree of freedom necessary to move the gimbal 50 to the desired position in the three-dimensional space.
  • the movement of the gimbal 50 is divided into a movement based on the horizontal plane and a movement in the vertical direction, and the respective weights of the gimbal 50 are handled by different link units so that the weight of the gimbal 50 (and the link unit) is reduced.
  • the link portion can be prevented from rotating. That is, even if gravity acts on the gimbal 50, the entire link portion does not rotate, but only the parallel link portion 70 that is responsible for the movement in the vertical direction, the gimbal 50 is lowered in the gravity direction.
  • the moment balance mechanism when applied to the parallel link unit 70 as described below, the rotation moment due to the self-weight of the gimbal 50 and the parallel link can be canceled.
  • the gimbal 50 can be moved with a certain degree of force, and even if the user releases the gimbal 50 from the gimbal 50, the gimbal 50 will adhere to its final position without being rotated or lowered by its own weight.
  • the link unit according to the present embodiment is coupled to the robot so that one end is rotatable and the other end is gimbal 50 is coupled, the gimbal 50 is a component that is operated to move to any position in space, the scalar to the robot
  • the link unit 60 may be coupled and the link unit 60 may be configured in such a manner that the parallel link unit 70 is coupled to the scara link unit 60.
  • the parallel link unit 70 is coupled to the gimbal 50.
  • the parallel link unit 70 is configured as the last link stage, that is, the final link stage to which the gimbal 50 is coupled.
  • the load applied to the parallel link unit 70 can be reduced only by its own weight and the weight of the gimbal 50, thereby reducing the magnitude of the moment applied to the parallel link unit 70.
  • FIG. 2 is a perspective view showing a gimbal according to an embodiment of the present invention.
  • a gimbal 50, a redundant member 52, a first gimbal member 54, a second gimbal member 56, a handle member 58, and a parallel link unit 70 are illustrated.
  • the link unit according to the present embodiment has three degrees of freedom so that the gimbal 50 can move in three-dimensional space, for example, in the x, y, and z directions in FIG. Since there is no force in rotating the link according to the angle formed by each link member at each joint of the link portion (particularly the scara link portion 60), the user is required in the process of holding the gimbal (50) There may be a so-called 'singular point', which must apply more force or prevent the gimbal 50 from moving.
  • the link unit according to the present exemplary embodiment may provide a degree of freedom only for movement in space, and may not provide a degree of freedom for rotation operation (eg, twist operation) of the gimbal 50.
  • a redundant joint may be added to the gimbal 50 according to the present embodiment in order to secure extra degrees of freedom.
  • a redundant member 52 may be further coupled to the gimbal 50 according to the present embodiment, as shown in FIG. 2, and the redundant member 52 is parallel to the parallel link unit 70 so as to rotate about the z-axis. It may be axially bonded to the end of).
  • the gimbal 50 can be rotated in any direction in space without the link unit being responsible for the rotational operation and the torsional operation of the gimbal 50.
  • the redundant member 52 is not necessarily connected to the end of the parallel link portion 70 (that is, the first end of the gimbal 50), but at any position of the gimbal 50 composed of a combination of a plurality of members.
  • the redundant member 52 may be designed and manufactured so as to be interposed.
  • the gimbal 50 is axially coupled to the distal end of the parallel link with respect to the z-axis so that the gimbal 50 is always kept horizontal (rotated only about the z-axis). It is possible to prevent the phenomenon that the fall by rotating downward due to its own weight, and the weight of the gimbal 50 is transmitted to the parallel link unit 70 as it is. A function of the parallel link unit 70 in charge of the weight of the gimbal 50 will be described later with reference to FIG. 4.
  • the gimbal 50 according to the present embodiment may be constituted by axial coupling of at least three members that rotate about at least three axes so as to be manipulated to rotate in any direction in space.
  • the first gimbal member 54 is axially coupled to the redundant member 52 so as to be rotatable about a first axis (refer to the 'p' axis of FIG. 2), and the second shaft to the first gimbal member 54.
  • the second gimbal member 56 is axially coupled so as to be rotatable about (see 'q' axis of FIG. 2), and the third shaft (see 'r' axis of FIG. 2) is attached to the second gimbal member 56.
  • the handle member 58 is axially coupled to be rotatable about the center to constitute the gimbal 50. In this case, the user can operate the gimbal 50 by holding the handle member 58 by hand.
  • the first axis, the second axis, and the third axis are three axes in space that are not parallel to each other, and may be not only p, q, and r axes shown in FIG. 2, but also, for example, the x, y, and z axes of a rectangular coordinate system. .
  • the redundant member 52 added to the gimbal 50 serves to secure an extra degree of freedom as described above, in the normal case, the user is holding the handle member 58 by hand to perform a redundancy while rotating in an arbitrary direction.
  • the member 52 does not need to move, but rather, the redundant member 52 may interfere with the user's hand and cause inconvenience in the operation of the gimbal 50.
  • the redundant member 52 can be controlled to automatically move in correspondence with the position of the user's hand, that is, rotate around the z axis. For example, when the redundant member 52 touches the back of the hand as the user rotates the gimbal 50, the redundant member 52 is detected by automatically rotating the redundant member 52 away from the back of the hand. Can be controlled so as not to interfere with the operation of the gimbal (50).
  • a sensor for detecting the position of the user's hand to operate the gimbal 50, a processor for calculating the angle at which the redundant member 52 should be rotated from the sensed result, and rotating the redundant member 52 according to the calculation result may be provided with a component such as a drive motor to be described, and detailed description thereof will be omitted here.
  • FIG. 3 is a perspective view showing a master operation device according to an embodiment of the present invention. Referring to FIG. 3, the moment balancing mechanism 1, the master operating device 48, the gimbal 50, the scara link unit 60, the first link member 62, the second link member 64, and the parallel link The unit 70 and the parallel members 72a and 72b are shown.
  • the scara link unit 60 is a link unit responsible for movement of the gimbal 50 with respect to the horizontal plane, and may be formed of a plurality of link arms coupled in a SCARA manner.
  • the scara link unit 60 includes a first link member 62 coupled to the robot so as to rotate about a vertical axis (see the z-axis of FIG. 3), and the first link member.
  • the second link member 64 may be coupled to the second rotation member 64 so as to rotate about the z-axis, and may further include a link member coupled to rotate about the z-axis as necessary.
  • the scara link unit 60 includes a plurality of link members axially coupled with respect to the z-axis so that the movement based on the horizontal plane of the gimbal 50 (see the xy plane in FIG. 3), that is, in the space of the gimbal 50 may be used.
  • the coordinate is referred to as (x, y, z)
  • the scara link unit 60 is activated for the change of the x and y coordinates.
  • the parallel link unit 70 is a link unit that is responsible for the movement of the gimbal 50 in the vertical direction, and may be formed of a plurality of members coupled in a parallel link method.
  • the parallel link unit 70 includes a pair of parallel members 72a and 72b respectively coupled to the scara link unit 60 so as to rotate about an axis on a horizontal plane (see xy plane in FIG. 3). 3, the pair of parallel members 72a and 72b coupled to the second link member 64 and the second link member 64, respectively, which are end members of the scara link unit 60. And a case in which the parallel link is formed by another member 72c to which the pair of parallel members 72a and 72b are coupled.
  • the parallel link is composed of a plurality of parallel members 72a and 72b rotating about an axis on a horizontal plane, thereby moving the gimbal 50 in the vertical direction (see the z-direction in FIG. 3), that is, in the space of the gimbal 50.
  • the parallel link unit 70 operates on a change in the z coordinate.
  • the gimbal 50 may be coupled to the end (member 72c) of the parallel link unit 70 according to the present embodiment, so that the parallel link unit 70 has its own weight and Due to the weight of the gimbal 50, it is forced to rotate in the direction of gravity.
  • the rotational moment may cause the gimbal 50 to move downwardly unlike the user's intention, or when the gimbal 50 is manipulated, the force in the direction of gravity and the direction opposite to gravity may be greatly different.
  • the 'moment balancing device' may be additionally installed in the parallel members 72a and / or 72b.
  • the moment balance mechanism will be described in detail with reference to FIGS. 4 to 8.
  • FIG. 4 is a conceptual view showing a moment balance mechanism according to an embodiment of the present invention
  • Figures 5 to 8 is a conceptual diagram for derivation of the shape of the plate cam in the moment balance mechanism according to an embodiment of the present invention. 4 to 8, a moment balancing mechanism 1, a plate cam 12, a cam follower 22, an elastic body 30, a second link member 64, and a parallel member 72 are shown. .
  • the moment balance mechanism 1 prevents the parallel link portion 70 from falling downward due to its own weight and the weight of the gimbal 50, and moves the gimbal 50 in any direction in the movement. It is intended to take a constant force to some extent without a large difference, the rotation moment (hereinafter referred to as 'chair') generated at the center of rotation (see 'C' in Figures 4 to 8) as the load acts on the parallel member 72 By generating a moment (hereinafter, referred to as a 'sub-moment') to offset the moment, so that the parallelism of the parallel member 72 is somewhat constant in any direction without a large difference in any direction. Characterized in that it can be rotated to.
  • FIG. 3 will be described as an example.
  • the moment balance mechanism 1 is characterized in that the cam structure is adopted such that the parent moment is equal to the size of the constant moment so that the moment equilibrium can be achieved regardless of the angle at which the parallel member 72 is rotated. do. That is, the plate cam 12 is drilled in the portion where the other end of the scara link portion 60 (in the case of FIG. 3, the end of the second link member 64) is in contact with the parallel member 72. By equipping the parallel member 72 with the cam follower 22 whose movement path is constrained by), the moment equilibrium is achieved regardless of the angle at which the parallel member 72 is rotated with respect to the second link member 64. can do.
  • An elastic body 30 (one end of the elastic body 30) is coupled to the cam follower 22, and tension is applied to the cam follower 22 by the elastic body 30, and the other end of the elastic body 30 is connected to the parallel member 72. Can be fixed.
  • the cam follower 22 is pulled out by the tension force by the elastic body 30, and the cam follower 22 is applied to the plate cam 12 as the parallel member 72 rotates with respect to the second link member 64. In restraint, the distance at which the cam follower 22 is pulled out varies.
  • the cam follower 22 is installed in the parallel member 72 so as to move in a direction in which tension is applied, and as the parallel member 72 rotates with respect to the second link member 64.
  • the length at which the cam follower 22 moves in the tensioned direction is constrained by the plate cam 12.
  • the size of the static moment is changed. As described above, since the size of the parent moment is also changed by the cam structure, the parent moment is offset from the static moment. You can get results.
  • the shape of the path of the plate cam 12 constraining the movement of the cam follower 22 must be designed appropriately, and the magnitude of the moment acting on the parallel member 72 is parallel. Since the member 72 varies with the angle rotated with respect to the second link member 64 (hereinafter, may be referred to as ' ⁇ '), the shape of the path of the plate cam 12 depends on the functional relationship with respect to ⁇ . Can be formed.
  • the magnitude of the moment acting on the parallel member 72 varies according to the angle ⁇ of the parallel member 72 rotated with respect to the second link member 64. It is characterized in that the shape of the plate cam 12 is formed in accordance with the functional relationship with respect to ⁇ so that the moment equilibrium can be achieved regardless of ⁇ .
  • FIG. 5 to 8 schematically illustrate each component to explain the process of deriving the path of the plate cam 12
  • Figures 5 and 6 is a case where the tension spring is used as an elastic body
  • Figures 7 and 8 illustrates the case where the compression spring is used as the elastic body.
  • Equation 2 the moment equilibrium can be satisfied for all ⁇ . It may be represented as in Equation 2.
  • Equation 4 since A, B, s, s 0 , and h are all given as constants, the value of ⁇ according to the change of ⁇ can be obtained.
  • the shape of the plate cam 12 according to the present embodiment can be obtained by substituting ⁇ into the equation (5) to obtain the r value.
  • the shape of the plate cam 12 according to the present embodiment can be obtained by obtaining ⁇ from this and substituting ⁇ in equation (5) to obtain the r value.
  • 9 is a conceptual diagram showing a surgical robot according to an embodiment of the present invention. 9, the surgical robot 40, the slave robot 41, the robot arm 42, the instrument 43, the main body 45, the master robot 46, the master operating device 48, and the gimbal 50, a scara link unit 60, and a parallel link unit 70 are shown.
  • Surgical robot is a robot that is implemented by the movement of the robot arm 42 and the instrument 43 as it is, the user operation on the gimbal 50, the operation in the patient's body as a robot, in the master operation device 48 Errors, for example, if the link portion or gimbal 50 moves or rotates unintentionally, this can lead to medical accidents directly connected to the patient's life.
  • the master operation device 48 described above requires a certain constant force without any significant difference in a specific direction in preventing the unintentional movement of the link portion or the gimbal 50 by its own weight and operating the gimbal 50. As such, by applying such a master manipulation device 48 to the surgical robot 40, the doctor can be more easily manipulated and the risk of medical accident can be minimized.
  • Surgical robot 40 is the body portion 45, the robot arm 42 is connected to the main body portion 45, the operation is mounted to the front end of the robot arm 42 is inserted into the surgical site operation required for surgery It can be configured as an instrument 43 for performing the, as the master operation device 48 according to the present embodiment is mounted on the surgical robot 40 (coupling the link portion to the main body portion 45), the robot arm ( 42) and / or instrument 43 may be activated as the user manipulates gimbal 50.
  • the surgical robot 40 may be made of a single body as a whole, and is divided into a master robot 46 and a slave robot 41 which is operated by receiving a signal from the master robot 46 which is a part manipulated by a user. It may be configured.
  • the master operating device 48 may be mounted on the master robot 46, and as the manipulating the master operating device 48 causes the slave robot 41 connected to the master robot 46 to operate. Can be.
  • the slave robot 41 is provided with a robot arm 42 and the instrument 43, it is connected to the master robot 46 in a wired / wireless communication manner can be operated by receiving a signal from the master robot 46.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un dispositif de commande principale d'un robot et sur un robot chirurgical utilisant ce dispositif. Le dispositif de commande principale destiné à commander un robot comprend : un cardan commandé par un utilisateur ; et une partie liaison combinée en rotation à un robot et est actionnée pour permettre au cardan de se déplacer dans une position arbitraire dans l'espace. La partie liaison comprend : une partie liaison SCARA actionnée lorsque le cardan se déplace sur un plan horizontal ; et une partie liaison parallèle actionnée lorsque le cardan se déplace verticalement. Une liaison SCARA est responsable de la commande horizontale du cardan et une liaison parallèle est responsable de la commande verticale du cardan, ce qui fait tourner la partie liaison par le propre poids du cardan, et ainsi, la chute vers le bas du cardan est empêchée et le cardan peut toujours être maintenu dans une position horizontale.
PCT/KR2011/000992 2010-02-19 2011-02-16 Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif WO2011102629A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0015051 2010-02-19
KR1020100015051A KR101114235B1 (ko) 2010-02-19 2010-02-19 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇

Publications (2)

Publication Number Publication Date
WO2011102629A2 true WO2011102629A2 (fr) 2011-08-25
WO2011102629A3 WO2011102629A3 (fr) 2011-12-15

Family

ID=44483453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/000992 WO2011102629A2 (fr) 2010-02-19 2011-02-16 Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif

Country Status (2)

Country Link
KR (1) KR101114235B1 (fr)
WO (1) WO2011102629A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017210073A1 (fr) * 2016-06-03 2017-12-07 Covidien Lp Système d'axe passif pour systèmes chirurgicaux robotiques
WO2018148317A1 (fr) * 2017-02-07 2018-08-16 Brooks Automation, Inc. Procédé et appareil de transport de substrat
CN109195543A (zh) * 2016-06-03 2019-01-11 柯惠Lp公司 用于机器人手术系统的被动轴系统
WO2021079102A1 (fr) * 2019-10-22 2021-04-29 Cmr Surgical Limited Console pour commander un manipulateur robotique
CN117428818A (zh) * 2023-12-18 2024-01-23 以诺康医疗科技（苏州）有限公司 低转动惯量的主手手腕、主操作手

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102150633B1 (ko) * 2013-09-13 2020-09-01 (주)미래컴퍼니 컨트롤 암 구조 및 컨트롤 암 설계방법
CN113081289B (zh) * 2021-04-06 2022-10-25 山东威高手术机器人有限公司 手术机器人用主操作臂
CN113189950B (zh) * 2021-05-07 2022-02-11 南京航空航天大学 用于大型弱刚性结构件装配的双机器人协同柔顺装调方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US7107090B2 (en) * 1998-12-08 2006-09-12 Intuitive Surgical Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
KR20090060909A (ko) * 2007-12-10 2009-06-15 고려대학교 산학협력단 원격 수술 로봇
KR20100011477A (ko) * 2008-07-25 2010-02-03 (주)미래컴퍼니 수술용 로봇의 마스터 인터페이스

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7107090B2 (en) * 1998-12-08 2006-09-12 Intuitive Surgical Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
KR20090060909A (ko) * 2007-12-10 2009-06-15 고려대학교 산학협력단 원격 수술 로봇
KR20100011477A (ko) * 2008-07-25 2010-02-03 (주)미래컴퍼니 수술용 로봇의 마스터 인터페이스

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109195542B (zh) * 2016-06-03 2021-09-21 柯惠Lp公司 用于机器人手术系统的被动轴系统
WO2017210073A1 (fr) * 2016-06-03 2017-12-07 Covidien Lp Système d'axe passif pour systèmes chirurgicaux robotiques
CN109195542A (zh) * 2016-06-03 2019-01-11 柯惠Lp公司 用于机器人手术系统的被动轴系统
CN109195543A (zh) * 2016-06-03 2019-01-11 柯惠Lp公司 用于机器人手术系统的被动轴系统
US11737843B2 (en) 2016-06-03 2023-08-29 Covidien Lp Passive axis system for robotic surgical systems
US11090125B2 (en) 2016-06-03 2021-08-17 Covidien Lp Passive axis system for robotic surgical systems
WO2018148317A1 (fr) * 2017-02-07 2018-08-16 Brooks Automation, Inc. Procédé et appareil de transport de substrat
WO2021079102A1 (fr) * 2019-10-22 2021-04-29 Cmr Surgical Limited Console pour commander un manipulateur robotique
JP2022508669A (ja) * 2019-10-22 2022-01-19 シーエムアール・サージカル・リミテッド ロボットマニピュレータを制御するためのコンソール
JP7224479B2 (ja) 2019-10-22 2023-02-17 シーエムアール・サージカル・リミテッド ロボットマニピュレータを制御するためのコンソール
US20220370165A1 (en) * 2019-10-22 2022-11-24 Cmr Surgical Limited Console for controlling a robotic manipulator
GB2592862B (en) * 2019-10-22 2024-04-10 Cmr Surgical Ltd Console for controlling a robotic manipulator
CN117428818A (zh) * 2023-12-18 2024-01-23 以诺康医疗科技（苏州）有限公司 低转动惯量的主手手腕、主操作手
CN117428818B (zh) * 2023-12-18 2024-03-12 以诺康医疗科技（苏州）有限公司 低转动惯量的主手手腕、主操作手

Also Published As

Publication number Publication date
KR20110095529A (ko) 2011-08-25
KR101114235B1 (ko) 2012-03-13
WO2011102629A3 (fr) 2011-12-15

Similar Documents

Publication Publication Date Title
WO2011102629A2 (fr) Dispositif de commande principale de robot et robot chirurgical utilisant ce dispositif
US11903668B2 (en) Torque sensing in a surgical robotic wrist
US11633087B2 (en) Endoscope manipulator and method for controlling the same
WO2019240453A1 (fr) Structure de bras de robot et manipulateur de robot chirurgical la comprenant
JP2020065644A (ja) 手術支援装置、その制御方法及びプログラム
WO2010011011A1 (fr) Robot chirurgical
KR20150118586A (ko) 수술용 기구의 근위측 제어를 위한 시스템 및 방법
WO2011149260A2 (fr) Structure à centre de mouvement déporté pour bras de robot chirurgical
JPH07328016A (ja) 手術用マニピュレータシステム
WO2020122416A1 (fr) Procédé et système permettant d'atténuer la collision d'un robot chirurgical
JP6546361B1 (ja) 手術支援装置
WO2013018985A1 (fr) Système de robot chirurgical
WO2015194806A1 (fr) Structure de doigt de robot
WO2022039296A1 (fr) Équipement d'assistance au traitement
WO2020130559A2 (fr) Dispositif d'interface utilisateur, pupitre maître de dispositif de robot chirurgical et procédé de fonctionnement de pupitre maître
JP3628743B2 (ja) 医療用マニピュレータ
JP2020065910A (ja) 手術支援装置
WO2020130558A2 (fr) Robot chirurgical et procédé de commande de robot chirurgical
CN112585379A (zh) 并联柔索装置、并联柔索系统、用于医疗机器人的操作装置、移动投影装置以及移动拍摄装置
WO2020085748A1 (fr) Robot maître et son procédé de commande
JP3605057B2 (ja) 医療用マニピュレータシステム
WO2020162666A1 (fr) Appareil d'exercice pour membre supérieur utilisant un volant d'inertie
WO2020116792A1 (fr) Procédé et système de commande à distance de bras chirurgical esclave
WO2022225084A1 (fr) Dispositif de support de traitement
WO2011102630A2 (fr) Dispositif d'équilibrage de moment et structure de bras d'un robot chirurgical utilisant celui-ci

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11744871

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A SENT 27.11.12)

122 Ep: pct application non-entry in european phase

Ref document number: 11744871

Country of ref document: EP

Kind code of ref document: A2