이민규;CHOI, Seung Wook;(주)미래컴퍼니;LEE, Min Kyu;원종석;MEERE COMPANY INC.;WON, Jong Seok;최승욱
发明人:
CHOI, Seung Wook,최승욱,LEE, Min Kyu,이민규,WON, Jong Seok,원종석
申请号：
KRKR2012/004091
公开号：
WO2013/018983A1
申请日:
2012.05.24
申请国别(地区):
KR
年份:
2013
代理人:
摘要：
Disclosed are a master arm structure for a surgical robot and a control method for a master surgical robot. A master arm structure, provided to a master surgical robot, comprises: a handle which is manipulated by a user； an arm section, which connects the master robot and the handle, is formed from a structure in which a plurality of arm members are connected by means joints, and enables positioning of the handle due to the rotation of the arm members relative to the joints as a result of a user manipulating the handle； brakes, which are installed on the joints, and which operate so as to restrict the rotation of the arm members； a sensor unit which acquires information about the manipulation of the handle and/or the operation of the arm section； and a control unit which uses the information acquired from the sensor unit to control the operation of the brakes. After the operational state of the master arm has been detected, the master arm structure for a surgical robot operates the brakes installed on each of the joints and restricts the operation of the arm, thus the master arm structure can be simplified and the overall volume thereof can be reduced, whilst a user still receives haptic feedback during the master arm manipulation process.L'invention concerne une structure de bras maître pour un robot chirurgical et un procédé de commande pour un robot chirurgical maître. Une structure de bras maître, disposée sur un robot chirurgical maître, comprend : un manche qui est manipulé par un utilisateur ； une section de bras, qui relie le robot maître et le manche, est formée à partir d'une structure dans laquelle plusieurs éléments de bras sont reliés au moyen de joints, et permet le positionnement du manche en raison de la rotation des éléments de bras par rapport aux joints suite à une manipulation, par un utilisateur, du manche ； des freins, qui sont installés sur les joints, et qui fonctionnent de façon à limiter la rotation des éléments de bras ； une unité de capte
