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公开(公告)号：KR101400447B1
公开(公告)日：2014-05-28
申请号：KR1020130026444
申请日：2013-03-13
Applicant: 한국과학기술원
CPC classification number: G01L5/226 , A61B34/30 , B25J11/008 , B25J19/02 , G01L1/22
Abstract: According to an embodiment of the present invention, provided is a contact force measurement device comprising protrusion parts having an inverse T-shaped body, a protrusion formed at the top of the body with an oval-shaped cross section, and one or more strain gauge sensors attached throughout the both side surfaces and the lower surface of the body to measure contact force generated from the protrusion; a cover plate having a pair of rectangular through-holes through which the protrusion parts can be fitted in both side surfaces of the upper surface thereof to be coupled; and a drape plate coupled to the cover plate and having receiving grooves for receiving the protrusion parts formed in both side surfaces to receive the protrusion parts. The present invention enables a doctor to receive accurate feedback on interaction force caused when the internal organ of a human body is in contact with a surgery robot during a minimum invasion surgery by measuring the contact force with a non-contact method after the stain gauge sensors are attached to the slider of the surgery robot where surgery tools are attached. Thus, the doctor can reflect the feedback to the surgery to increase the accuracy of the surgery.
Abstract translation: 根据本发明的实施例，提供了一种接触力测量装置，其包括具有倒T形体的突出部分，在主体的顶部形成有椭圆形横截面的突起，以及一个或多个应变计 传感器附着在主体的两个侧表面和下表面，以测量从突起产生的接触力; 具有一对矩形通孔的盖板，所述突出部分可以通过所述一对矩形通孔装配在所述上表面的两个侧表面中以便联接; 以及联接到盖板的盖板，并且具有用于接收形成在两个侧表面中的突出部分以容纳突出部分的接收槽。 本发明使得医生能够在最小入侵手术期间当人体的内脏器官与手术机器人接触时所产生的相互作用力获得准确的反馈，通过在污迹计传感器之后通过非接触方法测量接触力 附着在手术工具附着的手术机器人的滑块上。 因此，医生可以反映手术的反馈，以提高手术的准确性。
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公开(公告)号：KR101382089B1
公开(公告)日：2014-04-04
申请号：KR1020120124428
申请日：2012-11-05
Applicant: 한국과학기술원
Abstract: The present invention relates to a joint connection device for a surgical robot and, specifically, to a joint connection device for a surgical robot capable of measuring a torque generated in the joint. The present invention comprises: an operation unit which is rotated around a rotating shaft line; an operated unit which is delivered with torque from the operation unit by being combined with the operation unit; and at least one of strain gages used for measuring torque. One of the operation unit and the operated unit includes an extension unit extended toward an outside in a radial direction from the rotation center, and the other restricts a movement of the extension unit in a circumferential direction from a distanced location. At least one of the strain gages are installed in the extension unit.
Abstract translation: 本发明涉及一种外科手术机器人的关节连接装置，具体涉及能够测量在关节中产生的扭矩的外科手术机器人的关节连接装置。 本发明包括：围绕旋转轴线旋转的操作单元; 操作单元，其通过与操作单元组合而从操作单元传递转矩; 以及用于测量扭矩的应变片中的至少一个。 操作单元和操作单元中的一个包括从旋转中心沿径向朝向外侧延伸的延伸单元，另一个限制延伸单元从远离位置的圆周方向的移动。 至少一个应变计安装在扩展单元中。
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公开(公告)号：KR101358669B1
公开(公告)日：2014-02-24
申请号：KR1020120053697
申请日：2012-05-21
Applicant: 한국과학기술원
Abstract: 본 발명은 그리퍼와 접촉 대상 사이의 접촉력(힘 또는 토크)을 측정하기 위한 장치 및 방법에 관한 것으로서, 신체 내부에 삽입되는 그리퍼에 센서를 직접 부착하지 않고, 외부에 설치된 센서에서 감지된 그리퍼로 전달되는 토크를 통해 접촉력을 측정할 수 있게 한 다자유도 그리퍼 장치의 로봇팔의 슬라이더에서 힘 또는 토크를 측정하기 위한 장치 및 그 방법에 관한 것이다.
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公开(公告)号：KR1020130129659A
公开(公告)日：2013-11-29
申请号：KR1020120053691
申请日：2012-05-21
Applicant: 한국과학기술원
Abstract: The present invention relates to a device and a method for measuring a contact force, which is power or torque, between surgical equipment and a target object. The power or the torque of the multi-DOF surgical equipment which is vertically and horizontally actuated on organs is measured based on the torque transmitted from a slider of a robot arm to the surgical equipment without directly attaching a sensor to the surgical equipment. [Reference numerals] (1) Guide clip;(10) Surgical equipment;(100) Main computer;(10s) Inertia measuring sensor;(11) Guide holder;(110) Control program;(1s) Sensor;(2) Slider;(200) Slave computer;(300) Motion controller;(400) Robot arm;(SW) Adhesive power calculating program
Abstract translation: 本发明涉及一种用于测量手术设备与目标物体之间的力或力的测量装置和方法。 基于从机器人手臂的滑动器传递到手术设备的扭矩而不直接将传感器附接到手术设备来测量在器官上垂直和水平地致动的多自由度手术设备的功率或扭矩。 （1）导向夹;（10）手术设备;（100）主机;（10s）惯性测量传感器;（11）导向架;（110）控制程序;（1s）传感器;（2） ;（200）从属电脑;（300）运动控制器;（400）机械臂;（SW）胶粘力计算程序
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