WO2011102629A3 - Master control device of robot, and surgical robot using same - Google Patents

Master control device of robot, and surgical robot using same Download PDF

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Publication number
WO2011102629A3
WO2011102629A3 PCT/KR2011/000992 KR2011000992W WO2011102629A3 WO 2011102629 A3 WO2011102629 A3 WO 2011102629A3 KR 2011000992 W KR2011000992 W KR 2011000992W WO 2011102629 A3 WO2011102629 A3 WO 2011102629A3
Authority
WO
WIPO (PCT)
Prior art keywords
gimbal
robot
control device
link portion
master control
Prior art date
Application number
PCT/KR2011/000992
Other languages
French (fr)
Korean (ko)
Other versions
WO2011102629A2 (en
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/en
Publication of WO2011102629A3 publication Critical patent/WO2011102629A3/en

Links

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

Abstract

Disclosed are a master control device of a robot, and a surgical robot using the same. The master control device for controlling a robot comprises: a gimbal controlled by a user; and a link portion which is rotatably combined to a robot and is operated to allow the gimbal to move to an arbitrary position in space. The link portion comprises: a SCARA link portion which is operated when the gimbal moves on a horizontal plane; and a parallel link portion which is operated when the gimbal moves vertically. A SCARA link is in charge of the horizontal control of the gimbal and a parallel link is in charge of the vertical control of the gimbal, which makes the link portion rotate by the self-weight of the gimbal, and thus downward falling of the gimbal is prevented and the gimbal can always be maintained to be horizontal.
PCT/KR2011/000992 2010-02-19 2011-02-16 Master control device of robot, and surgical robot using same WO2011102629A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0015051 2010-02-19
KR1020100015051A KR101114235B1 (en) 2010-02-19 2010-02-19 Master manipulation device for robot and surgical robot using the same

Publications (2)

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

Family

ID=44483453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/000992 WO2011102629A2 (en) 2010-02-19 2011-02-16 Master control device of robot, and surgical robot using same

Country Status (2)

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

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102150633B1 (en) * 2013-09-13 2020-09-01 (주)미래컴퍼니 Structure and design method of control arm
US10874470B2 (en) * 2016-06-03 2020-12-29 Covidien Lp Passive axis system for robotic surgical systems
WO2017210073A1 (en) * 2016-06-03 2017-12-07 Covidien Lp Passive axis system for robotic surgical systems
US20180308728A1 (en) * 2017-02-07 2018-10-25 Brooks Automation, Inc. Method and apparatus for substrate transport
GB2592862B (en) * 2019-10-22 2024-04-10 Cmr Surgical Ltd Console for controlling a robotic manipulator
CN113081289B (en) * 2021-04-06 2022-10-25 山东威高手术机器人有限公司 Main operation arm for surgical robot
CN113189950B (en) * 2021-05-07 2022-02-11 南京航空航天大学 Double-robot cooperative flexible assembly and adjustment method for assembling large weak-rigidity structural member
CN117428818B (en) * 2023-12-18 2024-03-12 以诺康医疗科技（苏州）有限公司 Main wrist with low moment of inertia and main manipulator

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 (en) * 2007-12-10 2009-06-15 고려대학교 산학협력단 Remote-controllable surgical robot
KR20100011477A (en) * 2008-07-25 2010-02-03 (주)미래컴퍼니 Master interface of surgical robot

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 (en) * 2007-12-10 2009-06-15 고려대학교 산학협력단 Remote-controllable surgical robot
KR20100011477A (en) * 2008-07-25 2010-02-03 (주)미래컴퍼니 Master interface of surgical robot

Also Published As

Publication number Publication date
KR101114235B1 (en) 2012-03-13
WO2011102629A2 (en) 2011-08-25
KR20110095529A (en) 2011-08-25

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