WO2011122862A3 - 1자유도 링크장치, 이를 이용한 로봇암 및 이를 포함하는 수술용 로봇 - Google Patents

1자유도 링크장치, 이를 이용한 로봇암 및 이를 포함하는 수술용 로봇 Download PDF

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Publication number
WO2011122862A3
WO2011122862A3 PCT/KR2011/002206 KR2011002206W WO2011122862A3 WO 2011122862 A3 WO2011122862 A3 WO 2011122862A3 KR 2011002206 W KR2011002206 W KR 2011002206W WO 2011122862 A3 WO2011122862 A3 WO 2011122862A3
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WO
WIPO (PCT)
Prior art keywords
link
same
side transmission
input
output
Prior art date
Application number
PCT/KR2011/002206
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English (en)
French (fr)
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WO2011122862A2 (ko
Inventor
최영진
이병주
이호열
Original Assignee
한양대학교 산학협력단
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
Priority claimed from KR1020100029236A external-priority patent/KR101123129B1/ko
Priority claimed from KR20100029233A external-priority patent/KR101206978B1/ko
Application filed by 한양대학교 산학협력단 filed Critical 한양대학교 산학협력단
Priority to EP11763034.3A priority Critical patent/EP2554136B1/en
Priority to US13/638,370 priority patent/US9919433B2/en
Priority to CN201180021909.XA priority patent/CN102905640B/zh
Publication of WO2011122862A2 publication Critical patent/WO2011122862A2/ko
Publication of WO2011122862A3 publication Critical patent/WO2011122862A3/ko
Priority to US15/883,861 priority patent/US10695917B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (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)
  • Transmission Devices (AREA)

Abstract

본 발명은 위치가 고정된 고정링크, 상기 제1링크의 맞은편에 위치한 커넥팅 로드, 상기 제1링크와 커넥팅로드의 일측 단부를 연결하는 입력측 전달링크, 및 상 기 입력측 전달링크의 맞은편에 위치한 출력측 전달링크로 구성되는 4개의 링크가 서로 힌지결합된 고정4절링크; 상기 입력측 전달링크의 양단 사이에 힌지 결합되 며, 액추에이터가 장착된 입력링크부; 및 상기 출력측 전달링크에 고정 결합되어 상기 출력측 전달링크에 의해 회동하는 출력링크부를 포함하며, 본 발명에 따른 1 자유도 링크장치 및 이를 이용한 로봇암을 사용함으로써, 링크장치 간의 탈장착이 용이하여 목적하는 바에 따라 로봇암의 동작이 원활하게 이루어지도록 할 수 있다.
PCT/KR2011/002206 2010-03-31 2011-03-31 1자유도 링크장치, 이를 이용한 로봇암 및 이를 포함하는 수술용 로봇 WO2011122862A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP11763034.3A EP2554136B1 (en) 2010-03-31 2011-03-31 Link device for a robot
US13/638,370 US9919433B2 (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
CN201180021909.XA CN102905640B (zh) 2010-03-31 2011-03-31 单自由度连杆装置、利用该单自由度连杆装置的机械手及包括该机械手的手术机器人
US15/883,861 US10695917B2 (en) 2010-03-31 2018-01-30 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020100029236A KR101123129B1 (ko) 2010-03-31 2010-03-31 로봇암 및 이를 포함하는 수술용 로봇
KR10-2010-0029236 2010-03-31
KR10-2010-0029233 2010-03-31
KR20100029233A KR101206978B1 (ko) 2010-03-31 2010-03-31 1자유도 링크장치 및 이를 이용한 로봇구동기구

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US13/638,370 A-371-Of-International US9919433B2 (en) 2010-03-31 2011-03-31 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
US15/883,861 Division US10695917B2 (en) 2010-03-31 2018-01-30 One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same

Publications (2)

Publication Number Publication Date
WO2011122862A2 WO2011122862A2 (ko) 2011-10-06
WO2011122862A3 true WO2011122862A3 (ko) 2012-02-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/002206 WO2011122862A2 (ko) 2010-03-31 2011-03-31 1자유도 링크장치, 이를 이용한 로봇암 및 이를 포함하는 수술용 로봇

Country Status (4)

Country Link
US (2) US9919433B2 (ko)
EP (1) EP2554136B1 (ko)
CN (1) CN102905640B (ko)
WO (1) WO2011122862A2 (ko)

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US8761927B2 (en) * 2010-12-17 2014-06-24 Disney Enterprises, Inc. Externally actuated figure
EP2882330B1 (en) * 2011-10-03 2020-05-13 Board of Regents of the University of Nebraska Robotic surgical devices and systems
WO2013078529A1 (en) 2011-11-30 2013-06-06 Titan Medical Inc. Apparatus and method for supporting a robotic arm
KR101912717B1 (ko) 2012-05-25 2018-10-29 삼성전자주식회사 수술 용구 및 이를 포함하는 매니플레이션 시스템
CN107820412B (zh) * 2015-06-23 2021-01-15 柯惠Lp公司 机器人手术组合件
US10111719B2 (en) * 2016-08-16 2018-10-30 Ethicon Llc Control of the rate of actuation of tool mechanism based on inherent parameters
CZ307343B6 (cs) * 2016-09-20 2018-06-20 BORCAD Medical a.s. Zdravotnický prostředek
US11820011B2 (en) * 2019-05-17 2023-11-21 Kinova Inc. Robot arm with skeleton and skin shell construction
CN111053665B (zh) * 2019-12-16 2021-06-08 山东蝰蛇智能装备有限公司 一种多级连杆可调式角度翻转装置

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Also Published As

Publication number Publication date
US20130074637A1 (en) 2013-03-28
EP2554136B1 (en) 2021-08-11
EP2554136A2 (en) 2013-02-06
CN102905640B (zh) 2015-07-01
US9919433B2 (en) 2018-03-20
EP2554136A4 (en) 2017-06-28
US20180161990A1 (en) 2018-06-14
US10695917B2 (en) 2020-06-30
WO2011122862A2 (ko) 2011-10-06
CN102905640A (zh) 2013-01-30

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