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公开(公告)号：WO2013129770A1
公开(公告)日：2013-09-06
申请号：PCT/KR2013/000099
申请日：2013-01-07
Applicant: 한국과학기술원
IPC: G06F3/01
CPC classification number: G06F3/016
Abstract: 본 발명은 정확한 힘 정보를 조작자에게 전달해주는 것보다 다양한 정보를 교류할 수 있게 한 햅틱 인터페이스에 관한 것으로서, 상세하게는 촉감뿐만 아니라 조작자가 필요로 하는 정보를 시각, 청각, 후각, 미각 등의 서로 다른 감각으로 전달하여 보다 다양한 정보를 제공할 수 있게 한 햅틱장치에 관한 것이다. 또한, 입력지점과 출력지점이 일치하거나 불일치할 수 있고, 다양한 출력지점을 구비하여 조작자가 원하는 다양한 지점으로 피드백을 제공할 수 있으며, 조작자에게 피드백을 통해 정보 제공할 때 단순한 온/오프(on/off) 신호의 출력이 아니라 출력의 강약을 조절하여 피드백을 제공할 수 있으며, 조작자가 햅틱 인터페이스로 입력하는 입력량이 조절 가능할 때는 입력량에 따라 피드백 출력강도가 다양하게 계산되고 조작자에게 피드백시킬 수 있게 한 햅틱장치에 관한 것이다.
Abstract translation: 本发明涉及一种用于交换各种信息的触觉界面，而不是将精确的力信息传送到操纵器，更具体地，涉及一种触觉接口，能够通过传递用于不同感官的操纵器所需的信息来提供各种信息 包括视力，听觉，嗅觉和味道。 此外，触觉界面允许输入点可选地与输出点相同，允许包括各种输出点，以便向机械手期望的各种输出点提供反馈，通过调整机械手的强度来提供反馈给操纵器 输出而不是仅在将信息返回到机械手时将输出提供为开/关信号，并且当输入的输入量通过输入量输入时，允许反馈的输出强度被计算并根据输入量反馈给机械手 操纵器的触觉界面是可调节的。
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公开(公告)号：KR1020180125316A
公开(公告)日：2018-11-23
申请号：KR1020170060073
申请日：2017-05-15
Applicant: 한국과학기술원
Abstract: 본발명에의한능동조향카테터를제어하기위한햅틱마스터장치및 시스템이개시된다. 본발명의일 실시예에따른능동조향카테터를제어하기위한햅틱마스터장치는조향이가능한조향선단부와조향이가능하지않은비조향선단부를갖는카테터에대응되는조향선단부링크와비조향선단부링크를포함하는조작부; 외부로부터상기조작부의조작에따라신체조직내에삽입되어움직이는상기카테터를촬영한영상을표시하는표시부; 및상기조작부의상기조향선단부링크와상기비조향선단부링크에가해지는힘 또는토크를감지하여상기카테터의움직임을제어하되, 상기조작부의상기조향선단부링크와상기비조향선단부링크의조향방향이상기표시부에표시된영상내 카테터의상기조향선단부와상기비조향선단부의조향방향을각각추종하도록제어하는제어부를포함한다.
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公开(公告)号：KR1020170057976A
公开(公告)日：2017-05-26
申请号：KR1020150161548
申请日：2015-11-18
Applicant: 한국과학기술원
Abstract: 본발명에의하면, 카테터조작햅틱장치에서반력제공하기위한것으로서, 관통구(132)와, 상기관통구의주위를에워싸는내부공간(135)를구비하며, 탄성재질로이루어지는것을특징으로하는반력제공탄성체및 이를구비하는햅틱장치가제공된다.
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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：KR101413406B1
公开(公告)日：2014-06-27
申请号：KR1020130035385
申请日：2013-04-01
Applicant: 한국과학기술원
Abstract: According to an embodiment of the present invention, a contact torque measurement device includes: an instrument which performs operation of burning or cutting biological tissue through electrical operation with three degrees of freedom in rotational (ROLL, PITCH, YAW) motions based on the X, Y and Z axes with respect to a support point or an RCM point; a cannular which is inserted into a human body to guide the instrument into the human body; and a docking clamp which fixates and supports the cannular to a slider which performs a translation motion and has a strain gauge sensor to measure a torque due to a contact force generated in a contact point with the cannular when the instrument invades into a human body. The present invention can improve the accuracy of operation by accurately receiving an interaction generated while the surgical robot and human organ are in contact when a surgeon conducts minimal invasive surgery by measuring a torque generated by a contact force at the end of the instrument with the strain gauge sensor attached to the docking clamp when the docking clamp which is to fixate the cannular, through which the instrument is inserted, is inclined while performing a rotational motion (ROLL, PITCH) based on the X-axis or Y-axis with respect to the support point.
Abstract translation: 根据本发明的实施例，接触扭矩测量装置包括：通过电动操作进行燃烧或切割生物组织的操作的仪器，其具有基于X的旋转（ROLL，PITCH，YAW）运动的三自由度， Y轴和Z轴相对于支撑点或RCM点; 将插入人体的插管引导到人体内; 以及对接夹具，其将插管固定并支撑到执行平移运动的滑块，并具有应变仪传感器，以在仪器侵入人体时由于与管状体的接触点产生的接触力来测量扭矩。 本发明可以通过精确地接收外科手术机器人和人体器官接触时产生的相互作用，当外科医生进行最小的侵入性手术时，通过测量由器械端部的接触力产生的扭矩，从而提高操作的准确性 相对于相对于X轴或Y轴进行旋转运动（ROLL，PITCH）时，固定通过其插入的管状的对接夹具倾斜， 支持点。
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Patent Agency Ranking
公开(公告)号：KR1020140057996A
公开(公告)日：2014-05-14
申请号：KR1020120124429
申请日：2012-11-05
Applicant: 한국과학기술원
CPC classification number: G09B9/00 , A61B17/00234 , A61B2017/00367 , G09B23/285
Abstract: The present invention relates to a simulator and, specifically, to a simulator for training needle interventional operation and an interface apparatus for the same. The present invention provides the interface apparatus for the simulator for training needle interventional operation which comprises: a needle imitation unit (1110) including a needle member (1123) extended along a needle shaft line corresponding to the needle; and a skin imitation unit (1170) which provides a standard surface (S) corresponding to skin. The needle imitation unit (1110) comprises: a linear moving unit (1120) which enables the needle member (1123) to move in the needle shaft line (A) direction; and a rotary unit (1140) which facilitates rotation of the linear moving unit (1120) based on a rotary center (O) located on the needle shaft line (A) in order for the needle members (1123) to be inclined based on the standard surface (S). The skin imitation unit (1170) comprises: a control panel member (1171) which forms the standard surface (S); and a supporting unit (1180) which supports to enable the control panel unit (1171) to move on the standard surface (S) in plane.
Abstract translation: 模拟器技术领域本发明涉及一种模拟器，具体涉及用于训练针头介入操作的模拟器以及用于其的接口装置。 本发明提供了一种用于训练针介入操作的模拟器的接口装置，其包括：针模单元（1110），其包括沿着与针相对应的针轴线延伸的针构件（1123） 以及提供与皮肤相对应的标准表面（S）的皮肤仿制单元（1170）。 针模单元（1110）包括：能够使针构件（1123）在针轴线（A）方向上移动的直线移动单元（1120） 以及旋转单元（1140），其基于位于针轴线（A）上的旋转中心（O）而促进线性移动单元（1120）的旋转，以使针构件（1123）基于 标准表面（S）。 皮肤仿制单元（1170）包括：形成标准表面（S）的控制面板构件（1171）。 以及支撑单元（1180），其支撑以使得控制面板单元（1171）能够在平面上在标准表面（S）上移动。
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公开(公告)号：KR1020130129661A
公开(公告)日：2013-11-29
申请号：KR1020120053697
申请日：2012-05-21
Applicant: 한국과학기술원
Abstract: The present invention relates to a device and a method for measuring torque or power of a multi-DOF gripper by using a slider of a robot arm. According to the device and the method for measuring a contact force, which is power or torque, between a gripper and a target object, the contact force is measured based on the torque transmitted to the gripper from the slider of the robot arm, which is sensed by an external sensor, without attaching the sensor to the gripper inserted into a body. [Reference numerals] (1) Gripper;(100) Main computer;(11) Robot arm;(110) Control program;(2) Slider;(200) Slave computer;(3) Operating body;(300) Motion controller;(S) Sensor;(SW) Adhesive power calculating program
Abstract translation: 本发明涉及一种通过使用机器人手臂的滑块来测量多自由度夹持器的扭矩或功率的装置和方法。 根据用于测量夹持器和目标物体之间的功率或扭矩的接触力的装置和方法，基于从机器人手臂的滑块传递到夹具的扭矩来测量接触力，即， 由外部传感器感测，而不将传感器附接到插入到身体中的夹具。 （1）夹爪;（100）主机;（11）机械臂;（110）控制程序;（2）滑块;（200）从机;（3）操作体;（300）运动控制器; （S）传感器;（SW）粘合力计算程序
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8.发明授权
公开(公告)号：KR101742516B1
公开(公告)日：2017-05-31
申请号：KR1020150161548
申请日：2015-11-18
Applicant: 한국과학기술원
Abstract: 본발명에의하면, 카테터조작햅틱장치에서반력제공하기위한것으로서, 관통구(132)와, 상기관통구의주위를에워싸는내부공간(135)를구비하며, 탄성재질로이루어지는것을특징으로하는반력제공탄성체및 이를구비하는햅틱장치가제공된다.
Abstract translation: 根据本发明，用于提供在所述导管的操作触觉设备中，通孔132的反作用力，并且反作用力提供围绕所述弹性体，其包括内部空间（135）的通过所述球体周围，其特征在于，包括弹性材料，并 并且提供了具有该触觉装置的触觉设备。
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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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