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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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公开(公告)号：KR101358668B1
公开(公告)日：2014-02-11
申请号：KR1020120053691
申请日：2012-05-21
Applicant: 한국과학기술원
Abstract: 수술도구와 접촉 대상 사이의 접촉력(힘 또는 토크)을 측정하기 위한 장치 및 방법에 관한 것으로서, 상세하게는 다자유도 수술도구가 장기에 대하여 수직 및 수평 방향으로 작용하는 힘 또는 토크를 측정하기 위하여 수술도구에 센서를 직접 부착하지 않고, 로봇팔의 슬라이더에서 수술도구로 전달되는 토크를 통해 접촉력을 측정하는 장치 및 그 방법에 관한 것이다.
Abstract translation: （力或扭矩），更具体地涉及用于测量相对于器官在垂直或水平方向上作用的力或扭矩的装置和方法 本发明涉及一种用于通过从机械臂的滑动件传递到外科手术工具的扭矩来测量接触力的装置和方法，而无需将传感器直接附接到手术工具。
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Patent Agency Ranking
公开(公告)号：KR1020120095549A
公开(公告)日：2012-08-29
申请号：KR1020110014929
申请日：2011-02-21
Applicant: 한국과학기술원
CPC classification number: G09B9/00 , A61B10/04 , G09B19/00 , G09B23/285
Abstract: PURPOSE: A reaction force providing apparatus for an endoscope simulator is provided to similarly offer reaction force in which a user feels with the real by interlinking an endoscope and a haptic device during the rime in which the reaction force is offered. CONSTITUTION: A supporting part(21) is provided to a body part(29) and supports an endoscope tube(100). A pressing part(24) maintains the state which does not contact with the endoscope tube in the situation that reaction force does not generate. The presser part contacts with the endoscope tube and provides pressure in the situation that the reaction force generates. The situation that the reaction force generates is a crash description situation of an endoscope and internal organs.
Abstract translation: 目的：提供一种用于内窥镜模拟器的反作用力提供装置，以类似地提供用户通过在提供反作用力的霜时将内窥镜和触觉装置相互连接而与真实感觉的反作用力。 构成：将支撑部件（21）设置在主体部（29）上并支撑内窥镜管（100）。 在不产生反作用力的情况下，按压部（24）保持与内窥镜管不接触的状态。 压脚部分与内窥镜管接触，并在反作用力产生的情况下提供压力。 反应力产生的情况是内窥镜和内脏的崩溃描述情况。
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公开(公告)号：KR101400442B1
公开(公告)日：2014-05-28
申请号：KR1020120124429
申请日：2012-11-05
Applicant: 한국과학기술원
Abstract: 본 발명은 시뮬레이터에 관한 것으로서, 특히 바늘 삽입형 중재적 시술 훈련용 시뮬레이터 및 이를 위한 인터페이스 장치에 관한 것이다. 본 발명에 의하면, 바늘에 대응하는 바늘축선(A)을 따라 연장되는 바늘 부재(1123)를 구비하는 바늘 모사부(1110); 및 피부에 대응하는 기준면(S)을 제공하는 피부 모사부(1170)를 포함하며, 상기 바늘 모사부(1110)는 상기 바늘 부재(1123)의 상기 바늘축선(A) 방향 이동을 가능하게 하는 직선 이동부(1120)와, 상기 바늘 부재(1123)가 상기 기준면(S)에 대해 기울어질 수 있도록 상기 바늘축선(A) 상에 위치하는 회전 중심(O)을 중심으로 한 상기 직선 이동부(1120)의 회전을 가능하게 하는 회전부(1140)를 구비하며, 상기 피부 모사부(1170)는 상기 기준면(S)을 형성하는 조절 판부재(1171)와, 상기 조절 판부재(1171)의 상기 기준면(S)상 평면이동을 가능하게 지지하는 지지부(1180)를 구비하는 것을 특징으로 하는 바늘 삽입형 중재적 시술 훈련용 시뮬레이터의 인터페이스 장치가 제공된다.
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公开(公告)号：KR101212634B1
公开(公告)日：2012-12-14
申请号：KR1020120059340
申请日：2012-06-01
Applicant: 한국과학기술원
CPC classification number: G09B9/00 , G09B19/0076 , G09B23/285
Abstract: PURPOSE: A simulation device for a needle mediating medical procedure training is provided to enable a user to effectively learn a medical technique. CONSTITUTION: A supporting unit(10) is installed in a fixed state. A first driving unit(20) is installed in the supporting unit. The first driving unit outputs a control signal of a control unit(100) as rotation power. A connection bracket(30) is rotated by connecting to the first driving unit. A second driving unit(40) is fixed at the connection bracket and outputs the control signal of the control unit as the rotation power. A mobile housing(50) is rotatably installed in the connection bracket and is rotated by connecting to the second driving unit. A control unit(60) linearly moves to the inside of the mobile housing. A linear mobile unit(70) supplies reaction to the control unit and linearly moves with the control unit by connecting to the mobile housing.
Abstract translation: 目的：提供用于针头介导医疗程序训练的模拟装置，以使用户能够有效地学习医疗技术。 构成：支撑单元（10）安装在固定状态。 第一驱动单元（20）安装在支撑单元中。 第一驱动单元将控制单元（100）的控制信号作为旋转功率输出。 通过连接到第一驱动单元来旋转连接支架（30）。 第二驱动单元（40）固定在连接支架上，并输出控制单元的控制信号作为旋转功率。 移动壳体（50）可旋转地安装在连接支架中并通过连接到第二驱动单元来旋转。 控制单元（60）线性移动到移动壳体的内部。 线性移动单元（70）通过连接到移动壳体向控制单元提供反应并与控制单元线性移动。
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公开(公告)号：KR101138532B1
公开(公告)日：2012-04-25
申请号：KR1020110019074
申请日：2011-03-03
Abstract: PURPOSE: A torque measurement apparatus for a robot joint and a method thereof are provided to solve a problem which causes measurement error since strain is changed despite the application of different-directional torque in a joint part connected to two or more links. CONSTITUTION: A torque measurement apparatus for a robot joint comprises a first link, a rotating shaft(30), each inner races(11,12) of first and second bearings, a second link, a shaft torque sensor, a driver, and outer races of first and third bearings. The rotary shaft is vertically coupled with the first line. Each inner ring of the first and second bearings is separated at regular intervals in the longitudinal direction of the rotary shaft. The second link is coupled with the rotary shaft. The rotary shaft is inserted into the shaft torque sensor, and the shaft torque sensor is fixed in the second link to generate relative rotation with the rotary shaft. The driver is fixed to the shaft torque sensor and transmits the driving force to the shaft torque sensor.
Abstract translation: 目的：提供一种用于机器人关节的扭矩测量装置及其方法，以解决由于连接到两个或多个连杆的连接部中施加不同方向的扭矩而导致应变变化的测量误差的问题。 构成：用于机器人接头的扭矩测量装置包括第一连杆，旋转轴（30），第一和第二轴承的每个内圈（11,12），第二连杆，轴扭矩传感器，驱动器和外部 第一和第三轴承的种族。 旋转轴与第一根线垂直结合。 第一和第二轴承的每个内圈在旋转轴的纵向上以规则的间隔分开。 第二连杆与旋转轴连接。 旋转轴插入到轴转矩传感器中，并且轴扭矩传感器固定在第二连杆中，以产生与旋转轴的相对旋转。 驱动器固定在轴转矩传感器上，并将驱动力传递给轴转矩传感器。
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公开(公告)号：KR101096571B1
公开(公告)日：2011-12-21
申请号：KR1020110019075
申请日：2011-03-03
IPC: G01L5/00 , A61B17/062 , B25J3/00
CPC classification number: G01L5/226 , A61B17/062 , B25J17/00 , B25J19/02
Abstract: PURPOSE: An apparatus and a method for measuring the power or torque of a haptic master device for a robot are provided to simplify a control structure by installing a multi-axis power/torque sensor in a master device. CONSTITUTION: An apparatus and a method for measuring the power or torque of a haptic master device for a robot comprises a link unit, multiple drive units, a haptic master interface device, and a motion control unit. The link unit is composed of multiple joints formed by coupling multiple links. The drive units generate torque in each joint. The haptic master interface device is formed in one end of the link unit and has a grip unit(11). The motion control unit controls the operation of the drive units. A multi-axis power/torque sensor(1) is formed in the joint connected to the link unit and measures power or torque transferred to the grip unit.
Abstract translation: 目的：提供一种用于测量机器人的触觉主装置的功率或扭矩的装置和方法，以通过在主装置中安装多轴功率/扭矩传感器来简化控制结构。 构成：用于测量机器人的触觉主装置的功率或扭矩的装置和方法，包括链接单元，多个驱动单元，触觉主界面装置和运动控制单元。 链接单元由多个连接形成的多个关节构成。 驱动单元在每个接头处产生扭矩。 触觉主界面装置形成在连杆单元的一端，并具有把手单元（11）。 运动控制单元控制驱动单元的操作。 在连接到连杆单元的接头中形成多轴功率/扭矩传感器（1），并测量传递到把手单元的功率或扭矩。
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