公开(公告)号：KR1020100075229A

公开(公告)日：2010-07-02

申请号：KR1020080133869

申请日：2008-12-24

Applicant: (주)미래컴퍼니

Inventor： 김봉석 ,  정일균 ,  김승환

IPC: G01L5/00 ,  G01L1/00 ,  A61B17/00

CPC classification number: G01L5/0061 ,  A61B34/30 ,  B25J9/1692 ,  G01L5/16 ,  G01L25/00

Abstract: PURPOSE: A force measuring instrument of a surgical instrument for an operation robot and a method thereof are provided to enable a doctor to feel the force of a surgical instrument through a remote control part by feeding back the force in the roll, the pitch, and the yaw direction of the operation instrument to the remote control part. CONSTITUTION: A force measuring instrument method of a surgical instrument for an operation robot comprises the following steps. A controller operates a surgical instrument through actuators coupled each other. The controller receives a detected deformation amount from a deformation amount detection unit which detects the deformation amount of an installed torque sensor on the actuators(S105). The controller divides the received deformation amount into the torques actuating by each actuators(S107). The controller produces the force in the roll, the pitch, and the yaw of the surgical instrument due to the external force from the torques by each actuators(S109).

Abstract translation: 目的：提供一种用于操作机器人的手术器械的力测量装置及其方法，其用于使医生能够通过反馈辊中的力，俯仰和俯仰来感受通过遥控部分的外科器械的力 操作仪器向遥控器的偏航方向。 构成：操作机器人手术器械的力测量仪方法包括以下步骤。 控制器通过彼此耦合的致动器操作外科器械。 控制器从检测致动器上安装的扭矩传感器的变形量的变形量检测单元接收检测出的变形量（S105）。 控制器将接收到的变形量分成由每个致动器致动的转矩（S107）。 控制器由于每个致动器的扭矩的外力而产生在滚动，俯仰和外科器械的偏转中的力（S109）。

公开(公告)号：KR1020110036898A

公开(公告)日：2011-04-12

申请号：KR1020110016947

申请日：2011-02-25

Applicant: (주)미래컴퍼니

Inventor： 김봉석 ,  정일균 ,  김승환

IPC: G01L5/00 ,  G01L1/00 ,  B25J19/02 ,  A61B19/00

CPC classification number: G01L5/226 ,  A61B34/30 ,  B25J19/02 ,  G01L1/22 ,  G01L5/0061

Abstract: PURPOSE: An apparatus and a method for measuring the force of the surgical instruments of a robot for operation are provided to enable a doctor to feel external force applied to surgical instruments through a remote control by the feedback of the roll, pitch and yaw of the surgical instruments to the remote control. CONSTITUTION: An apparatus for measuring the force of the surgical instruments of a robot for operation comprises a control unit(10). The control unit operates surgical instruments through a plurality of coupled actuators. The control unit receives deformation, which is detected from a deformation detector(50), which detects the deformation of a torque sensor(40) of each actuator. The control unit separates the received deformation into torques, which are applied to each actuator(60). The control unit calculates the forces of the roll, pitch and yaw of the surgical instruments due to external force, from the torque of each actuator.

Abstract translation: 目的：提供一种用于测量用于操作的机器人的外科器械的力的装置和方法，以使得医生能够通过遥控器的反馈来感受外科手术器械施加到外科手术器械上的力， 手术仪器遥控。 构成：用于测量用于操作的机器人的外科器械的力的装置包括控制单元（10）。 控制单元通过多个耦合的致动器操作手术器械。 控制单元接收从变形检测器（50）检测到的变形，该变形检测器检测每个致动器的转矩传感器（40）的变形。 控制单元将接收到的变形分解为施加到每个致动器（60）的扭矩。 控制单元根据每个执行机构的转矩，计算由于外力而导致的外科器械的滚动力，俯仰角和偏航力。