WO2014025204A1 - Main de robot chirurgical ayant une structure de poignet découplée - Google Patents
Main de robot chirurgical ayant une structure de poignet découplée Download PDFInfo
- Publication number
- WO2014025204A1 WO2014025204A1 PCT/KR2013/007124 KR2013007124W WO2014025204A1 WO 2014025204 A1 WO2014025204 A1 WO 2014025204A1 KR 2013007124 W KR2013007124 W KR 2013007124W WO 2014025204 A1 WO2014025204 A1 WO 2014025204A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ring
- robot hand
- surgical robot
- main link
- link
- Prior art date
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Definitions
- the present invention relates to a surgical robot hand with a decoupled wrist structure, and more particularly, to a surgical robot hand with a decoupled wrist structure which allows accurate position control by preventing the coupling occurring at the wrist joint of a surgical tool.
- joint driving mechanism for actuating an end-effector.
- This joint driving mechanism actuates rings, which are also referred to as links or disks, by tensing and relaxing wires, and is applied to a wrist-like mechanism for a robot, a manipulator with multiple degrees of freedom, etc.
- U.S. Patent Publication No. 6,394,998 discloses surgical tools which enable complex movements by increasing the degree of freedom with the use of joints.
- the present invention has been made in an effort to provide a surgical robot hand with a decoupled wrist structure, which makes it possible to improve control speed and enhance accuracy because coupling is overcome by decoupling the degrees of freedom by a mechanical construction.
- An exemplary embodiment of the present invention provides a surgical robot hand with a decoupled wrist structure, including: a first ring and a second ring mounted adjacent to each other; and a linking device that connects the first ring and the second ring and supports the first ring and the second ring such that the angles at which the facing sides of the first and second rings lie are kept the same with respect to the center line between the first and second rings.
- the linking device includes: a main link, both ends of which are rotatably connected to the facing sides of the first and second rings, and which has a sliding hole longitudinally formed at the center in a direction perpendicular to the line connecting the first and second rings; and a pair of sub links, one end of which is rotatably connected to the facing sides of the first and second rings and the other end of which is connected to the sliding hole of the main link so as to make the sub links to maintain the same angle with respect to an extended line of the sliding hole.
- One end of the main link is rotatably connected to the bottom of the first ring, and the other end of the main link is rotatably connected to the top of the second ring, and a sliding hole is longitudinally formed in a direction perpendicular to a line connecting a connection point of the first ring and a connection point of the second ring.
- each of the sub links is connected to the bottom of the first ring or to the top of the second ring, and the other end thereof is rotatably connected to a hinge shaft inserted into the sliding hole of the main link.
- the main link is rotatably mounted on rotating shafts passing through the center of the first and second rings, and one end of each of the sub links is placed off to one side of the center of the first and second rings.
- the linking device includes: a main link, both ends of which are rotatably connected respectively to the facing sides of the first and second rings; and a pair of link rollers that are rotatably mounted on one side or both sides of the first and second rings, with the outer peripheral surfaces being in contact with each other.
- the outer peripheral surfaces of the link rollers are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
- a pair of tension wires may be provided, which diagonally cross the pair of link rollers, with both ends fixed to the link rollers on the opposite side, respectively.
- a surgical robot hand with a decoupled wrist structure when the wire is actuated, this causes relative movement between the main link and pair of sub links of the linking device and between the main link and the pair of link rollers, and therefore the relative movement of the first and second rings is limited, and the distance between the rollers does not change, thus preventing coupling. Accordingly, it is possible to improve control speed, enhance accuracy, and reduces the inconvenience of users.
- FIG. 1 is a perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
- FIG. 2 is an exploded perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
- FIG. 3 is a partial cross-sectional side view showing a main link and a pair of sub links mounted in a decoupled wrist structure according to an exemplary embodiment of the present invention.
- FIG. 4 is a perspective view, taken from the opposite side of FIG. 1, of a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
- FIG. 5 is a side view representing a schematic link structure to explain the movements of a main link and a pair of sub links in a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
- FIG. 6 is a side view showing a surgical robot hand with a decoupled wrist structure according to another exemplary embodiment of the present invention.
- FIG. 7 is a side view showing a tension wire mounted on the surgical robot hand with the decoupled structure according to another exemplary embodiment of the present invention.
- a surgical robot hand includes a first ring 10, a second ring 20, and a linking device.
- the first ring 10 and the second ring 20 are mounted adjacent to each other.
- a pair of support lugs 12 and 22 protruding from both edges in a symmetrical shape are formed on each of the sides where the first and second rings 10 and 20 face each other.
- a pair of distal lugs 14 having a phase difference of 90 degrees with respect to the support lugs 22 are formed on the opposite side of the side where the first ring 10 faces the second ring 20.
- the support lugs 12 and 22 and the distal lugs 14 are protruded from the first ring 10 and the second ring 20, like a pair of towers facing each other.
- Actuating members 90 where actual operations are performed are mounted on the distal lugs 14.
- a hinge pin 66 is mounted through the distal lugs 14, and passes through a pair of rollers 82 and 84 and the actuating members 90, the rollers being disposed on two sides of the actuating members 90.
- Shaft holes 13 and 23 are pierced through the center of the support lugs 12 and 22, and pin holes 15 and 25 are placed off to one side of the center.
- the linking device is mounted to connect and support the first ring 10 and the second ring 20.
- the linking device consists of a main link 30 and a pair of sub links 40 and 50.
- the linking device operates in such a manner that that, when the first ring 10 makes relative movement with respect to the second ring 20, the angles at which the facing sides d 1 and d 2 of the first ring 10 and second ring 20 are positioned are kept equal with respect to the center line d 0 between the first ring 10 and the second ring 20.
- One end of the main link 30 is rotatably connected to the bottom of the first link 10, and the other end is rotatably connected to the top of the second ring 20.
- the upper end of the main link 30 is rotatably connected to the support lugs 12 of the first ring 10 through a rotating shaft 62, and the lower end thereof is rotatably connected to the support lugs 22 of the second ring 20 through a rotating shaft 64.
- Shaft holes 32 and 33 through which the rotating shafts 62 and 64 pass through are respectively formed in upper and lower parts of the main link 30.
- a sliding hole 35 is longitudinally formed at the center of the main link 30, in a direction perpendicular to the line that connects a connection point of the first ring 10 and a connection point of the second ring 20 (the line connecting the centers of the shaft holes 32 and 33.
- One end of one 40 of the pair of sub links 40 and 50 is connected to the bottom of the first ring 10, and the other end thereof is rotatably connected to a hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
- one end of the other one of the pair of sub links 40 and 50 is connected to the top of the second ring 20, and the other end thereof is rotatably connected to the hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
- the ends of the pair of sub links 40 and 50 which are connected to the support lugs 12 of the first ring 10 and the support lugs 22 of the second ring 20 are rotatably mounted by hinge pins 46 and 56 passing through the pin holes 15 and 25 placed off to one side of the center.
- Two pairs of rollers 75, 76, 77, and 78, which are rotatably supported on the rotating shaft 62, are mounted on the support lugs 12 of the first ring 10 such that they are disposed on each side, with the main link 30 interposed between them.
- the main link 30 is supported by the rotating shafts 62 and 64 passing through the center of the first and second rings 10 and 20, and the first ring 10 and the second ring 20 are mounted in a symmetrical shape, with the opposite side of the sliding hole 35 being off to one side of the center of the first and second rings 10 and 20.
- the distance (wire length) between the roller 72 and the roller 76 does not change when the rotating shaft 64 is driven, thereby preventing the coupling which occurs at the wrist joints of conventional surgical tools.
- the linking device includes a main link 31, both ends of which are rotatably connected respectively to the facing sides of the first and second rings 10 and 20, and a pair of link rollers 41 and 51, which are rotatably mounted on one side or both sides of the first and second rings 10 and 20, with their outer peripheral surfaces being in contact with each other.
- the outer peripheral surfaces of the link rollers 41 and 51 are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
- first and second rings 10 and 20 are provided in a pair on both sides because the forces applied by the link rollers 41 and 51 are kept in balance without being concentrated on one side.
- link rollers 41 and 51 By forming the outer peripheral surfaces of the link rollers 41 and 51 of a highly frictional material and arranging them to be in contact with each other, one link roller 41 rotates with the other link roller 51, causing them to maintain the same angle with respect to the center line.
- a pair of tension wires 52 may be provided, which diagonally cross the pair of link rollers 41 and 51, with their both ends fixed to the link rollers 41 and 51 on the opposite side, respectively.
- One end of the tension wires 53 is fixed to one side of the link roller 41 mounted on the first ring 10, and the other end thereof is fixed to the other side of the link roller 51 mounted on the second ring 20.
- the two tension wires 52 make an X shape when viewed from the side.
- the tension wires 53 have a constant length, when the first ring 10 moves, the tension wires 53 are wound around or released from the link roller 41 mounted on the first ring 10 as much as they are released from or wound around the link roller 51 mounted on the second ring 20, and the first and second rings 10 and 20 on both sides rotate while maintaining the same angle with respect to the center line.
- the outer peripheral surfaces of the link rollers 41 and 51 may not be formed of a highly frictional material.
- This exemplary embodiment of the present invention has the same configuration as the foregoing exemplary embodiment, except for the above-described components, so detailed description will be omitted.
Abstract
L'invention concerne une main de robot chirurgical ayant une structure de poignet découplée, qui comprend : une première bague et une seconde bague montées adjacentes l'une à l'autre ; un raccord principal, dont une première extrémité est reliée de façon rotative à la partie inférieure de la première bague, et dont l'autre extrémité est reliée de façon rotative à la partie supérieure de la seconde bague, et qui a un trou coulissant formé longitudinalement dans une direction perpendiculaire à une ligne reliant un point de raccord de la première bague et un point de raccord de la seconde bague ; et une paire de raccords secondaires, dont une première extrémité de chacun est reliée à la partie inférieure de la première bague ou à la partie supérieure de la seconde bague, et dont l'autre extrémité de chacun est reliée de façon rotative à une tige de charnière introduite dans le trou coulissant du raccord principal.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2012-0086488 | 2012-08-07 | ||
KR1020120086488A KR101384776B1 (ko) | 2012-08-07 | 2012-08-07 | 자유도가 분리된 손목 구조를 가지는 수술용 로봇 핸드 |
Publications (1)
Publication Number | Publication Date |
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WO2014025204A1 true WO2014025204A1 (fr) | 2014-02-13 |
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ID=50068369
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/KR2013/007124 WO2014025204A1 (fr) | 2012-08-07 | 2013-08-07 | Main de robot chirurgical ayant une structure de poignet découplée |
Country Status (2)
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KR (1) | KR101384776B1 (fr) |
WO (1) | WO2014025204A1 (fr) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019173266A1 (fr) * | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Outils médicaux à faible frottement ayant des éléments de tension assistés par rouleau |
US10582975B2 (en) | 2015-10-16 | 2020-03-10 | Medical Microinstruments S.p.A. | Surgical tool |
CN111631846A (zh) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | 一种两自由度假肢手腕 |
CN113171178A (zh) * | 2021-04-23 | 2021-07-27 | 上海微创医疗机器人(集团)股份有限公司 | 蛇形关节、手术器械和内窥镜 |
US11241246B2 (en) | 2010-02-08 | 2022-02-08 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US11259798B2 (en) | 2018-07-16 | 2022-03-01 | Intuitive Surgical Operations, Inc. | Medical devices having tissue grasping surfaces and features for manipulating surgical needles |
CN114631894A (zh) * | 2022-02-22 | 2022-06-17 | 哈尔滨工业大学 | 一种用于外科手术或检查的力反馈主手 |
US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
US11452572B2 (en) | 2017-12-14 | 2022-09-27 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
US11612447B2 (en) | 2018-07-19 | 2023-03-28 | Intuitive Surgical Operations, Inc. | Medical devices having three tool members |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102397447B1 (ko) * | 2020-09-01 | 2022-05-13 | 주식회사 리브스메드 | 수술용 인스트루먼트의 엔드 툴 |
WO2022224007A1 (fr) * | 2021-04-18 | 2022-10-27 | Goodarzi Mahdi | Robot à 9 degrés de liberté de poignet pour instruments chirurgicaux |
Citations (5)
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US6394998B1 (en) * | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US20060259071A1 (en) * | 1992-02-12 | 2006-11-16 | United States Surgical Corporation | Articulating endoscopic surgical apparatus |
KR20090119366A (ko) * | 2008-05-16 | 2009-11-19 | 한국과학기술원 | 여유 자유도를 갖는 복강경 수술 로봇 |
KR20100118166A (ko) * | 2009-04-28 | 2010-11-05 | 국립암센터 | 최소 침습 수술을 위한 내시경 조정 장치 |
WO2011016640A2 (fr) * | 2009-08-07 | 2011-02-10 | 주식회사 래보 | Instrument dappareil pour opérations chirurgicales |
Family Cites Families (1)
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JP2008212451A (ja) * | 2007-03-06 | 2008-09-18 | Nagoya Institute Of Technology | 手術用マニピュレータ |
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2012
- 2012-08-07 KR KR1020120086488A patent/KR101384776B1/ko active IP Right Grant
-
2013
- 2013-08-07 WO PCT/KR2013/007124 patent/WO2014025204A1/fr active Application Filing
Patent Citations (5)
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US20060259071A1 (en) * | 1992-02-12 | 2006-11-16 | United States Surgical Corporation | Articulating endoscopic surgical apparatus |
US6394998B1 (en) * | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
KR20090119366A (ko) * | 2008-05-16 | 2009-11-19 | 한국과학기술원 | 여유 자유도를 갖는 복강경 수술 로봇 |
KR20100118166A (ko) * | 2009-04-28 | 2010-11-05 | 국립암센터 | 최소 침습 수술을 위한 내시경 조정 장치 |
WO2011016640A2 (fr) * | 2009-08-07 | 2011-02-10 | 주식회사 래보 | Instrument dappareil pour opérations chirurgicales |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11241246B2 (en) | 2010-02-08 | 2022-02-08 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US11103319B2 (en) | 2015-10-16 | 2021-08-31 | Medical Microinstruments S.p.A. | Surgical tool |
US10582975B2 (en) | 2015-10-16 | 2020-03-10 | Medical Microinstruments S.p.A. | Surgical tool |
US11096748B2 (en) | 2015-10-16 | 2021-08-24 | Medical Microinstruments S.p.A. | Surgical tool |
US11452572B2 (en) | 2017-12-14 | 2022-09-27 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
WO2019173266A1 (fr) * | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Outils médicaux à faible frottement ayant des éléments de tension assistés par rouleau |
US11259798B2 (en) | 2018-07-16 | 2022-03-01 | Intuitive Surgical Operations, Inc. | Medical devices having tissue grasping surfaces and features for manipulating surgical needles |
US11612447B2 (en) | 2018-07-19 | 2023-03-28 | Intuitive Surgical Operations, Inc. | Medical devices having three tool members |
CN111631846A (zh) * | 2020-06-10 | 2020-09-08 | 苏州通和景润康复科技有限公司 | 一种两自由度假肢手腕 |
CN113171178A (zh) * | 2021-04-23 | 2021-07-27 | 上海微创医疗机器人(集团)股份有限公司 | 蛇形关节、手术器械和内窥镜 |
CN113171178B (zh) * | 2021-04-23 | 2023-09-22 | 上海微创医疗机器人(集团)股份有限公司 | 蛇形关节、手术器械和内窥镜 |
CN114631894A (zh) * | 2022-02-22 | 2022-06-17 | 哈尔滨工业大学 | 一种用于外科手术或检查的力反馈主手 |
CN114631894B (zh) * | 2022-02-22 | 2022-12-16 | 哈尔滨工业大学 | 一种用于外科手术或检查的力反馈主手 |
Also Published As
Publication number | Publication date |
---|---|
KR101384776B1 (ko) | 2014-04-14 |
KR20140020072A (ko) | 2014-02-18 |
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