WO2011102630A3 - 모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조 - Google Patents

모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조 Download PDF

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Publication number
WO2011102630A3
WO2011102630A3 PCT/KR2011/000993 KR2011000993W WO2011102630A3 WO 2011102630 A3 WO2011102630 A3 WO 2011102630A3 KR 2011000993 W KR2011000993 W KR 2011000993W WO 2011102630 A3 WO2011102630 A3 WO 2011102630A3
Authority
WO
WIPO (PCT)
Prior art keywords
balancing device
rotary section
moment
arm structure
surgical robot
Prior art date
Application number
PCT/KR2011/000993
Other languages
English (en)
French (fr)
Other versions
WO2011102630A2 (ko
Inventor
원종석
장형준
민동명
최승욱
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 WO2011102630A2 publication Critical patent/WO2011102630A2/ko
Publication of WO2011102630A3 publication Critical patent/WO2011102630A3/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (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

모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조가 개시된다. 기준부에 대해 소정의 중심점을 중심으로 회전하는 회동부를 포함하는 패러랠 링크에 있어서, 회동부에 작용하는 하중에 의해 중심점에 작용하는 모멘트가 평형이 되도록 하는 기구로서, 플레이트 캠과, 캠 팔로워와, 탄성체를 포함하되, 플레이트 캠의 경로는, 기준부에 대해 회동부의 회전한 각도에 대한 함수관계에 따라 형성되는 모멘트 평형 기구는, 장력을 인가하는 탄성체 및 캠 구조를 채용함으로써, 회동부의 하중에 의해 발생하는 회전 모멘트를 상쇄시켜, 회동부를 회전시킴에 있어서 어느 방향으로든 균일한 힘이 가해지도록 할 수 있으며, 이를 수술용 로봇의 암 구조에 적용하여 중력의 영향을 받지 않고 동일한 힘으로 로봇 암을 움직일 수 있다.
PCT/KR2011/000993 2010-02-19 2011-02-16 모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조 WO2011102630A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0014963 2010-02-19
KR1020100014963A KR101070239B1 (ko) 2010-02-19 2010-02-19 모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조

Publications (2)

Publication Number Publication Date
WO2011102630A2 WO2011102630A2 (ko) 2011-08-25
WO2011102630A3 true WO2011102630A3 (ko) 2011-12-15

Family

ID=44483454

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/000993 WO2011102630A2 (ko) 2010-02-19 2011-02-16 모멘트 평형 기구 및 이를 이용한 수술용 로봇의 암 구조

Country Status (2)

Country Link
KR (1) KR101070239B1 (ko)
WO (1) WO2011102630A2 (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3172153A4 (en) * 2014-02-07 2018-02-21 Centre for Imaging Technology Commercialization Modular base link for a counterbalancing arm
EP3861958A1 (de) * 2020-02-06 2021-08-11 Ondal Medical Systems GmbH Tragarmgelenkvorrichtung und tragsystem für ein medizinisches gerät
CN111618827B (zh) * 2020-06-13 2022-07-19 深圳市金柏珠宝首饰有限公司 一种可调节加工轨迹的机械人基座

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4573128A (en) * 1983-03-31 1986-02-25 United States Steel Corporation Digital method for the measurement and control of liquid level in a continuous casting mold
JPH06155365A (ja) * 1992-11-18 1994-06-03 Tokico Ltd 工業用ロボット
JPH06170780A (ja) * 1992-09-30 1994-06-21 Mitsubishi Electric Corp ロボット
US20070156122A1 (en) * 2005-01-24 2007-07-05 Cooper Thomas G Compact counter balance for robotic surgical systems

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4573128A (en) * 1983-03-31 1986-02-25 United States Steel Corporation Digital method for the measurement and control of liquid level in a continuous casting mold
JPH06170780A (ja) * 1992-09-30 1994-06-21 Mitsubishi Electric Corp ロボット
JPH06155365A (ja) * 1992-11-18 1994-06-03 Tokico Ltd 工業用ロボット
US20070156122A1 (en) * 2005-01-24 2007-07-05 Cooper Thomas G Compact counter balance for robotic surgical systems

Also Published As

Publication number Publication date
KR101070239B1 (ko) 2011-10-06
KR20110095481A (ko) 2011-08-25
WO2011102630A2 (ko) 2011-08-25

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