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公开(公告)号：KR1020140110685A
公开(公告)日：2014-09-17
申请号：KR1020130080810
申请日：2013-07-10
Applicant: 삼성전자주식회사
Abstract: A control method of a single-port surgical robot including a slave device having a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device includes: setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.
Abstract translation: 一种单端口手术机器人的控制方法，包括具有设置有肘部和末端执行器的外科器械的从属装置和用于控制从属装置的动作的主装置，包括：将虚拟切口设置到任意位置; 设置末端执行器的操作位置; 使用虚拟切口的设定位置和末端执行器的设定操作位置来计算肘部的目标位置; 使用所述肘部的计算目标位置计算用于移动所述肘部的每个关节的移动角; 以及使用计算出的肘部的目标位置和末端执行器的设定操作位置来计算用于移动末端执行器的每个关节的移动角度。
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公开(公告)号：KR1020140110620A
公开(公告)日：2014-09-17
申请号：KR1020130025254
申请日：2013-03-08
Applicant: 삼성전자주식회사
CPC classification number: A61B19/2203 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , Y10S901/47
Abstract: Disclosed is a single path surgical robot system which comprises a first robot arm including a joint type instrument and providing motion displacement based on RCM to the joint type instrument, and a second robot making a pair with the first robot arm, including a non-joint type instrument, and providing motion displacement based on RCM to the non-joint type instrument.
Abstract translation: 公开了一种单路外科手术机器人系统，其包括：第一机器人臂，包括关节型仪器，并且基于RCM向关节型仪器提供运动位移;以及第二机器人，与第一机器人手臂成对，包括非接头 并向非接合式仪器提供基于RCM的运动位移。
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