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WO2014025204A1 - Surgical robot hand with decoupled wrist structure - Google Patents

Surgical robot hand with decoupled wrist structure Download PDF

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Publication number
WO2014025204A1
WO2014025204A1 PCT/KR2013/007124 KR2013007124W WO2014025204A1 WO 2014025204 A1 WO2014025204 A1 WO 2014025204A1 KR 2013007124 W KR2013007124 W KR 2013007124W WO 2014025204 A1 WO2014025204 A1 WO 2014025204A1
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WO
WIPO (PCT)
Prior art keywords
ring
robot hand
surgical robot
main link
link
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2013/007124
Other languages
French (fr)
Inventor
Dong Soo Kwon
Won Ho Shin
Min Ho Hwang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Advanced Institute of Science and Technology KAIST
Original Assignee
Korea Advanced Institute of Science and Technology KAIST
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Korea Advanced Institute of Science and Technology KAIST filed Critical Korea Advanced Institute of Science and Technology KAIST
Publication of WO2014025204A1 publication Critical patent/WO2014025204A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present invention relates to a surgical robot hand with a decoupled wrist structure, and more particularly, to a surgical robot hand with a decoupled wrist structure which allows accurate position control by preventing the coupling occurring at the wrist joint of a surgical tool.
  • joint driving mechanism for actuating an end-effector.
  • This joint driving mechanism actuates rings, which are also referred to as links or disks, by tensing and relaxing wires, and is applied to a wrist-like mechanism for a robot, a manipulator with multiple degrees of freedom, etc.
  • U.S. Patent Publication No. 6,394,998 discloses surgical tools which enable complex movements by increasing the degree of freedom with the use of joints.
  • the present invention has been made in an effort to provide a surgical robot hand with a decoupled wrist structure, which makes it possible to improve control speed and enhance accuracy because coupling is overcome by decoupling the degrees of freedom by a mechanical construction.
  • An exemplary embodiment of the present invention provides a surgical robot hand with a decoupled wrist structure, including: a first ring and a second ring mounted adjacent to each other; and a linking device that connects the first ring and the second ring and supports the first ring and the second ring such that the angles at which the facing sides of the first and second rings lie are kept the same with respect to the center line between the first and second rings.
  • the linking device includes: a main link, both ends of which are rotatably connected to the facing sides of the first and second rings, and which has a sliding hole longitudinally formed at the center in a direction perpendicular to the line connecting the first and second rings; and a pair of sub links, one end of which is rotatably connected to the facing sides of the first and second rings and the other end of which is connected to the sliding hole of the main link so as to make the sub links to maintain the same angle with respect to an extended line of the sliding hole.
  • One end of the main link is rotatably connected to the bottom of the first ring, and the other end of the main link is rotatably connected to the top of the second ring, and a sliding hole is longitudinally formed in a direction perpendicular to a line connecting a connection point of the first ring and a connection point of the second ring.
  • each of the sub links is connected to the bottom of the first ring or to the top of the second ring, and the other end thereof is rotatably connected to a hinge shaft inserted into the sliding hole of the main link.
  • the main link is rotatably mounted on rotating shafts passing through the center of the first and second rings, and one end of each of the sub links is placed off to one side of the center of the first and second rings.
  • the linking device includes: a main link, both ends of which are rotatably connected respectively to the facing sides of the first and second rings; and a pair of link rollers that are rotatably mounted on one side or both sides of the first and second rings, with the outer peripheral surfaces being in contact with each other.
  • the outer peripheral surfaces of the link rollers are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
  • a pair of tension wires may be provided, which diagonally cross the pair of link rollers, with both ends fixed to the link rollers on the opposite side, respectively.
  • a surgical robot hand with a decoupled wrist structure when the wire is actuated, this causes relative movement between the main link and pair of sub links of the linking device and between the main link and the pair of link rollers, and therefore the relative movement of the first and second rings is limited, and the distance between the rollers does not change, thus preventing coupling. Accordingly, it is possible to improve control speed, enhance accuracy, and reduces the inconvenience of users.
  • FIG. 1 is a perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
  • FIG. 2 is an exploded perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
  • FIG. 3 is a partial cross-sectional side view showing a main link and a pair of sub links mounted in a decoupled wrist structure according to an exemplary embodiment of the present invention.
  • FIG. 4 is a perspective view, taken from the opposite side of FIG. 1, of a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
  • FIG. 5 is a side view representing a schematic link structure to explain the movements of a main link and a pair of sub links in a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
  • FIG. 6 is a side view showing a surgical robot hand with a decoupled wrist structure according to another exemplary embodiment of the present invention.
  • FIG. 7 is a side view showing a tension wire mounted on the surgical robot hand with the decoupled structure according to another exemplary embodiment of the present invention.
  • a surgical robot hand includes a first ring 10, a second ring 20, and a linking device.
  • the first ring 10 and the second ring 20 are mounted adjacent to each other.
  • a pair of support lugs 12 and 22 protruding from both edges in a symmetrical shape are formed on each of the sides where the first and second rings 10 and 20 face each other.
  • a pair of distal lugs 14 having a phase difference of 90 degrees with respect to the support lugs 22 are formed on the opposite side of the side where the first ring 10 faces the second ring 20.
  • the support lugs 12 and 22 and the distal lugs 14 are protruded from the first ring 10 and the second ring 20, like a pair of towers facing each other.
  • Actuating members 90 where actual operations are performed are mounted on the distal lugs 14.
  • a hinge pin 66 is mounted through the distal lugs 14, and passes through a pair of rollers 82 and 84 and the actuating members 90, the rollers being disposed on two sides of the actuating members 90.
  • Shaft holes 13 and 23 are pierced through the center of the support lugs 12 and 22, and pin holes 15 and 25 are placed off to one side of the center.
  • the linking device is mounted to connect and support the first ring 10 and the second ring 20.
  • the linking device consists of a main link 30 and a pair of sub links 40 and 50.
  • the linking device operates in such a manner that that, when the first ring 10 makes relative movement with respect to the second ring 20, the angles at which the facing sides d 1 and d 2 of the first ring 10 and second ring 20 are positioned are kept equal with respect to the center line d 0 between the first ring 10 and the second ring 20.
  • One end of the main link 30 is rotatably connected to the bottom of the first link 10, and the other end is rotatably connected to the top of the second ring 20.
  • the upper end of the main link 30 is rotatably connected to the support lugs 12 of the first ring 10 through a rotating shaft 62, and the lower end thereof is rotatably connected to the support lugs 22 of the second ring 20 through a rotating shaft 64.
  • Shaft holes 32 and 33 through which the rotating shafts 62 and 64 pass through are respectively formed in upper and lower parts of the main link 30.
  • a sliding hole 35 is longitudinally formed at the center of the main link 30, in a direction perpendicular to the line that connects a connection point of the first ring 10 and a connection point of the second ring 20 (the line connecting the centers of the shaft holes 32 and 33.
  • One end of one 40 of the pair of sub links 40 and 50 is connected to the bottom of the first ring 10, and the other end thereof is rotatably connected to a hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
  • one end of the other one of the pair of sub links 40 and 50 is connected to the top of the second ring 20, and the other end thereof is rotatably connected to the hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
  • the ends of the pair of sub links 40 and 50 which are connected to the support lugs 12 of the first ring 10 and the support lugs 22 of the second ring 20 are rotatably mounted by hinge pins 46 and 56 passing through the pin holes 15 and 25 placed off to one side of the center.
  • Two pairs of rollers 75, 76, 77, and 78, which are rotatably supported on the rotating shaft 62, are mounted on the support lugs 12 of the first ring 10 such that they are disposed on each side, with the main link 30 interposed between them.
  • the main link 30 is supported by the rotating shafts 62 and 64 passing through the center of the first and second rings 10 and 20, and the first ring 10 and the second ring 20 are mounted in a symmetrical shape, with the opposite side of the sliding hole 35 being off to one side of the center of the first and second rings 10 and 20.
  • the distance (wire length) between the roller 72 and the roller 76 does not change when the rotating shaft 64 is driven, thereby preventing the coupling which occurs at the wrist joints of conventional surgical tools.
  • the linking device includes a main link 31, both ends of which are rotatably connected respectively to the facing sides of the first and second rings 10 and 20, and a pair of link rollers 41 and 51, which are rotatably mounted on one side or both sides of the first and second rings 10 and 20, with their outer peripheral surfaces being in contact with each other.
  • the outer peripheral surfaces of the link rollers 41 and 51 are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
  • first and second rings 10 and 20 are provided in a pair on both sides because the forces applied by the link rollers 41 and 51 are kept in balance without being concentrated on one side.
  • link rollers 41 and 51 By forming the outer peripheral surfaces of the link rollers 41 and 51 of a highly frictional material and arranging them to be in contact with each other, one link roller 41 rotates with the other link roller 51, causing them to maintain the same angle with respect to the center line.
  • a pair of tension wires 52 may be provided, which diagonally cross the pair of link rollers 41 and 51, with their both ends fixed to the link rollers 41 and 51 on the opposite side, respectively.
  • One end of the tension wires 53 is fixed to one side of the link roller 41 mounted on the first ring 10, and the other end thereof is fixed to the other side of the link roller 51 mounted on the second ring 20.
  • the two tension wires 52 make an X shape when viewed from the side.
  • the tension wires 53 have a constant length, when the first ring 10 moves, the tension wires 53 are wound around or released from the link roller 41 mounted on the first ring 10 as much as they are released from or wound around the link roller 51 mounted on the second ring 20, and the first and second rings 10 and 20 on both sides rotate while maintaining the same angle with respect to the center line.
  • the outer peripheral surfaces of the link rollers 41 and 51 may not be formed of a highly frictional material.
  • This exemplary embodiment of the present invention has the same configuration as the foregoing exemplary embodiment, except for the above-described components, so detailed description will be omitted.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)

Description

SURGICAL ROBOT HAND WITH DECOUPLED WRIST STRUCTURE
The present invention relates to a surgical robot hand with a decoupled wrist structure, and more particularly, to a surgical robot hand with a decoupled wrist structure which allows accurate position control by preventing the coupling occurring at the wrist joint of a surgical tool.
In general, surgical instruments for use in laparoscopic surgery or robotic surgery are provided with a joint driving mechanism for actuating an end-effector. This joint driving mechanism actuates rings, which are also referred to as links or disks, by tensing and relaxing wires, and is applied to a wrist-like mechanism for a robot, a manipulator with multiple degrees of freedom, etc.
U.S. Patent Publication No. 6,394,998 discloses surgical tools which enable complex movements by increasing the degree of freedom with the use of joints.
However, conventional surgical tools (e.g., daVinci) are systems that transmit a driving force through wire with the use of rollers, and they are disadvantageous in that inverse kinematics should be still used for accurate position control because coupling can occur at the wrist joint at the end of a surgical tool.
Taking the surgical tools disclosed in U.S. Patent Publication No. 6,394,998 as an example, as wire is wound around one roller by rotating the roller around one axis, the wire is released from the other roller to compensate the length, and the other roller rotates around the other axis as much as the length is compensated, and these two axes are coupled to each other.
Also, it is necessary to decouple the degrees of freedom when using multiple joints in surgical tools, in order to make control simple and allow accurate position control.
The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
The present invention has been made in an effort to provide a surgical robot hand with a decoupled wrist structure, which makes it possible to improve control speed and enhance accuracy because coupling is overcome by decoupling the degrees of freedom by a mechanical construction.
An exemplary embodiment of the present invention provides a surgical robot hand with a decoupled wrist structure, including: a first ring and a second ring mounted adjacent to each other; and a linking device that connects the first ring and the second ring and supports the first ring and the second ring such that the angles at which the facing sides of the first and second rings lie are kept the same with respect to the center line between the first and second rings.
The linking device includes: a main link, both ends of which are rotatably connected to the facing sides of the first and second rings, and which has a sliding hole longitudinally formed at the center in a direction perpendicular to the line connecting the first and second rings; and a pair of sub links, one end of which is rotatably connected to the facing sides of the first and second rings and the other end of which is connected to the sliding hole of the main link so as to make the sub links to maintain the same angle with respect to an extended line of the sliding hole.
One end of the main link is rotatably connected to the bottom of the first ring, and the other end of the main link is rotatably connected to the top of the second ring, and a sliding hole is longitudinally formed in a direction perpendicular to a line connecting a connection point of the first ring and a connection point of the second ring.
One end of each of the sub links is connected to the bottom of the first ring or to the top of the second ring, and the other end thereof is rotatably connected to a hinge shaft inserted into the sliding hole of the main link.
The main link is rotatably mounted on rotating shafts passing through the center of the first and second rings, and one end of each of the sub links is placed off to one side of the center of the first and second rings.
The linking device includes: a main link, both ends of which are rotatably connected respectively to the facing sides of the first and second rings; and a pair of link rollers that are rotatably mounted on one side or both sides of the first and second rings, with the outer peripheral surfaces being in contact with each other.
The outer peripheral surfaces of the link rollers are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
A pair of tension wires may be provided, which diagonally cross the pair of link rollers, with both ends fixed to the link rollers on the opposite side, respectively.
According to a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention, when the wire is actuated, this causes relative movement between the main link and pair of sub links of the linking device and between the main link and the pair of link rollers, and therefore the relative movement of the first and second rings is limited, and the distance between the rollers does not change, thus preventing coupling. Accordingly, it is possible to improve control speed, enhance accuracy, and reduces the inconvenience of users.
That is, as the pair of sub links maintains the same angel with respect to the extended line of the sliding hole of the main link and relative movement of the pair of sub links is limited, thereby decoupling the degrees of freedom of two actuating members moving on the first ring.
FIG. 1 is a perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
FIG. 2 is an exploded perspective view showing a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
FIG. 3 is a partial cross-sectional side view showing a main link and a pair of sub links mounted in a decoupled wrist structure according to an exemplary embodiment of the present invention.
FIG. 4 is a perspective view, taken from the opposite side of FIG. 1, of a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
FIG. 5 is a side view representing a schematic link structure to explain the movements of a main link and a pair of sub links in a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention.
FIG. 6 is a side view showing a surgical robot hand with a decoupled wrist structure according to another exemplary embodiment of the present invention.
FIG. 7 is a side view showing a tension wire mounted on the surgical robot hand with the decoupled structure according to another exemplary embodiment of the present invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Hereinafter, a surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention will be described in detail with reference to the drawings.
As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.
Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive. Like reference numerals designate like elements throughout the specification.
First, as shown in FIGS. 1 to 4, a surgical robot hand according to an exemplary embodiment of the present invention includes a first ring 10, a second ring 20, and a linking device.
The first ring 10 and the second ring 20 are mounted adjacent to each other.
A pair of support lugs 12 and 22 protruding from both edges in a symmetrical shape are formed on each of the sides where the first and second rings 10 and 20 face each other.
A pair of distal lugs 14 having a phase difference of 90 degrees with respect to the support lugs 22 are formed on the opposite side of the side where the first ring 10 faces the second ring 20.
The support lugs 12 and 22 and the distal lugs 14 are protruded from the first ring 10 and the second ring 20, like a pair of towers facing each other.
Actuating members 90 where actual operations are performed are mounted on the distal lugs 14.
A hinge pin 66 is mounted through the distal lugs 14, and passes through a pair of rollers 82 and 84 and the actuating members 90, the rollers being disposed on two sides of the actuating members 90.
Shaft holes 17 through which the hinge pin 66 passes are formed in the distal lugs 14.
Shaft holes 13 and 23 are pierced through the center of the support lugs 12 and 22, and pin holes 15 and 25 are placed off to one side of the center.
The linking device is mounted to connect and support the first ring 10 and the second ring 20.
The linking device consists of a main link 30 and a pair of sub links 40 and 50.
As shown in FIG. 5, the linking device operates in such a manner that that, when the first ring 10 makes relative movement with respect to the second ring 20, the angles at which the facing sides d1 and d2 of the first ring 10 and second ring 20 are positioned are kept equal with respect to the center line d0 between the first ring 10 and the second ring 20.
One end of the main link 30 is rotatably connected to the bottom of the first link 10, and the other end is rotatably connected to the top of the second ring 20.
For example, the upper end of the main link 30 is rotatably connected to the support lugs 12 of the first ring 10 through a rotating shaft 62, and the lower end thereof is rotatably connected to the support lugs 22 of the second ring 20 through a rotating shaft 64.
Shaft holes 32 and 33 through which the rotating shafts 62 and 64 pass through are respectively formed in upper and lower parts of the main link 30.
A sliding hole 35 is longitudinally formed at the center of the main link 30, in a direction perpendicular to the line that connects a connection point of the first ring 10 and a connection point of the second ring 20 (the line connecting the centers of the shaft holes 32 and 33.
One end of one 40 of the pair of sub links 40 and 50 is connected to the bottom of the first ring 10, and the other end thereof is rotatably connected to a hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
Also, one end of the other one of the pair of sub links 40 and 50 is connected to the top of the second ring 20, and the other end thereof is rotatably connected to the hinge shaft 48 inserted into the sliding hole 35 of the main link 30.
The ends of the pair of sub links 40 and 50 which are connected to the support lugs 12 of the first ring 10 and the support lugs 22 of the second ring 20 are rotatably mounted by hinge pins 46 and 56 passing through the pin holes 15 and 25 placed off to one side of the center.
Two pairs of rollers 75, 76, 77, and 78, which are rotatably supported on the rotating shaft 62, are mounted on the support lugs 12 of the first ring 10 such that they are disposed on each side, with the main link 30 interposed between them.
Two pairs of rollers 71, 72, 73, and 74, which are rotatably supported on the rotating shaft 64, are mounted on the support lugs 22 of the second ring 20 such that they are disposed on each side, with the main link 30 interposed between them.
Next, the operation process of the thus-configured surgical robot hand with a decoupled wrist structure according to an exemplary embodiment of the present invention will be described.
First of all, when wire (not shown) is driven to cause the first ring 10 to be bent and inclined with respect to the second ring 20, the hinge shaft 48 passing through one end of the pair of sub links 40 and 50 moves along the sliding hole 35 of the main link 30, and the sub links 40 and 50 each make relative movement with respect to the main link 30.
That is, the main link 30 is supported by the rotating shafts 62 and 64 passing through the center of the first and second rings 10 and 20, and the first ring 10 and the second ring 20 are mounted in a symmetrical shape, with the opposite side of the sliding hole 35 being off to one side of the center of the first and second rings 10 and 20. Hence, as shown in FIG. 5, the first ring 10 and the second ring 20 rotate at the same angle (angle d0-d1= angle d0-d2) with respect to the center line d0.
Accordingly, as shown in FIG. 3, when the wire passes sequentially through the roller 72, the roller 76 and the roller 82 and then through the roller 78 and roller 74 at the back, the wire is wound around the roller 72 when the roller 72 rotates around the rotating shaft 64. This causes the wire to be released from the roller 76, and does not affect the roller 82. The same applies to the relationship between the roller 78 and the roller 74.
As a result, the movements of the rotating shafts 64 and 65 are not coupled, and it eliminates the coupling which occurs at the wrist joints of conventional surgical tools.
That is, the distance (wire length) between the roller 72 and the roller 76 does not change when the rotating shaft 64 is driven, thereby preventing the coupling which occurs at the wrist joints of conventional surgical tools.
In a surgical robot hand with a decoupled wrist structure according to another exemplary embodiment of the present invention, as shown in FIG. 6, the linking device includes a main link 31, both ends of which are rotatably connected respectively to the facing sides of the first and second rings 10 and 20, and a pair of link rollers 41 and 51, which are rotatably mounted on one side or both sides of the first and second rings 10 and 20, with their outer peripheral surfaces being in contact with each other.
The outer peripheral surfaces of the link rollers 41 and 51 are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
It is preferable that the first and second rings 10 and 20 are provided in a pair on both sides because the forces applied by the link rollers 41 and 51 are kept in balance without being concentrated on one side.
By forming the outer peripheral surfaces of the link rollers 41 and 51 of a highly frictional material and arranging them to be in contact with each other, one link roller 41 rotates with the other link roller 51, causing them to maintain the same angle with respect to the center line.
Also, as shown in FIG. 7, a pair of tension wires 52 may be provided, which diagonally cross the pair of link rollers 41 and 51, with their both ends fixed to the link rollers 41 and 51 on the opposite side, respectively.
One end of the tension wires 53 is fixed to one side of the link roller 41 mounted on the first ring 10, and the other end thereof is fixed to the other side of the link roller 51 mounted on the second ring 20.
By mounting the pair of tension wires 52 as above, the two tension wires 52 make an X shape when viewed from the side.
Since the tension wires 53 have a constant length, when the first ring 10 moves, the tension wires 53 are wound around or released from the link roller 41 mounted on the first ring 10 as much as they are released from or wound around the link roller 51 mounted on the second ring 20, and the first and second rings 10 and 20 on both sides rotate while maintaining the same angle with respect to the center line.
In the case that the tension wires 53 are mounted, the outer peripheral surfaces of the link rollers 41 and 51 may not be formed of a highly frictional material.
This exemplary embodiment of the present invention has the same configuration as the foregoing exemplary embodiment, except for the above-described components, so detailed description will be omitted.
While this invention has been described in connection with what is presently considered to be practical exemplary embodiments of a surgical robot hand with a decoupled wrist structure, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
<Description of symbols>
10 - first ring, 12,22 - support lugs,
13,17,23,32,33 - shaft holes, 14 - distal lugs
15,25 - pin holes, 20 - second ring,
30,31 - main links, 35 - sliding hole
40,50 - sub links, 41,51 - link rollers,
46,56,66 - hinge pins, 48 - hinge shaft
62,64 - rotating shafts, 71,72,73,74,75,76,77,78.82,84 - rollers,
90 - actuating members

Claims (14)

  1. A surgical robot hand with a decoupled wrist structure, comprising:
    a first ring and a second ring mounted adjacent to each other; and
    a linking device that connects the first ring and the second ring and supports the first ring and the second ring such that the angles at which the facing sides of the first and second rings lie are kept the same with respect to the center line between the first and second rings.
  2. The surgical robot hand of claim 1, wherein the linking device comprises: a main link, both ends of which are rotatably connected respectively to the facing sides of the first and second rings; and a pair of link rollers that are rotatably mounted on one side or both sides of the first and second rings, with the outer peripheral surfaces being in contact with each other.
  3. The surgical robot hand of claim 2, wherein the outer peripheral surfaces of the link rollers are formed of a highly frictional material so that one link roller rotates with the other link roller by friction against each other.
  4. The surgical robot hand of claim 2, wherein a pair of tension wires may be provided, which diagonally cross the pair of link rollers in an X-shape, with both ends fixed to the link rollers on the opposite side, respectively.
  5. The surgical robot hand of claim 1, wherein the linking device comprises: a main link, both ends of which are rotatably connected to the facing sides of the first and second rings, and which has a sliding hole longitudinally formed at the center in a direction perpendicular to the line connecting the first and second rings; and a pair of sub links, one end of which is rotatably connected to the facing sides of the first and second rings and the other end of which is connected to the sliding hole of the main link so as to make the sub links to maintain the same angle with respect to an extended line of the sliding hole.
  6. The surgical robot hand of claim 5, wherein one end of the main link is rotatably connected to the bottom of the first ring, and the other end of the main link is rotatably connected to the top of the second ring, and a sliding hole is longitudinally formed in a direction perpendicular to a line connecting a connection point of the first ring and a connection point of the second ring.
  7. The surgical robot hand of claim 5, wherein one end of each of the sub links is connected to the bottom of the first ring or to the top of the second ring, and the other end thereof is rotatably connected to a hinge shaft inserted into the sliding hole of the main link.
  8. The surgical robot hand of claim 5, wherein the main link is rotatably mounted on rotating shafts passing through the center of the first and second rings, and one end of each of the sub links is placed off to one side of the center of the first and second rings.
  9. The surgical robot hand of claim 5, wherein
    a pair of support lugs protruding from both edges in a symmetrical shape are formed on each of the sides where the first and second rings face each other, and
    a pair of distal lugs having a phase difference of 90 degrees with respect to the support lugs are formed on the opposite side of the side where the first ring faces the second ring.
  10. The surgical robot hand of claim 9, wherein
    shaft holes are pierced through the center of the support lugs, and pin holes are placed off to one side of the center,
    one end of the main link is rotatably connected through the rotating shaft passing through the shaft holes formed in the support lugs of the first ring, and the other end thereof is rotatably connected through the rotating shaft passing through the shaft holes formed in the support lugs of the second ring,
    one end of one of the pair of sub links is connected by a hinge pin passing through the pin hole formed in the support lugs of the first ring, and the other end thereof is rotatably connected to the hinge shaft inserted into the sliding hole of the main link,
    one end of the other one of the pair of sub links is connected by a hinge pin passing through the pin hole formed in the support lugs of the second ring, and the other end thereof is rotatably connected to the hinge shaft inserted into the sliding hole of the main link.
  11. The surgical robot hand of claim 10, wherein
    two pairs of rollers, which are rotatably supported on the rotating shaft connected to one end portion of the main link, are disposed on each side and mounted on the support lugs of the first ring, with the main link interposed therebetween, and
    two pairs of rollers, which are rotatably supported on the rotating shaft connected to another end portion of the main link, are disposed on each side and mounted on the support lugs of the second ring, with the main link interposed therebetween.
  12. The surgical robot hand of claim 10, wherein the support lugs and the distal lugs are protruded from the first ring and the second ring, like a pair of towers facing each other.
  13. The surgical robot hand of claim 10, wherein actuating members where actual operations are performed are mounted on the distal lugs of the first ring.
  14. The surgical robot hand of claim 13, wherein
    a hinge pin is mounted through the distal lugs of the first ring, and passes through a pair of rollers and the actuating members, the rollers being disposed on two sides of the actuating members, and
    shaft holes through which the hinge pin passing through the actuating member passes are formed in the distal lugs.
PCT/KR2013/007124 2012-08-07 2013-08-07 Surgical robot hand with decoupled wrist structure Ceased WO2014025204A1 (en)

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KR1020120086488A KR101384776B1 (en) 2012-08-07 2012-08-07 Surgical Robot Hand with Decoupled Wrist Structure

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CN111631846A (en) * 2020-06-10 2020-09-08 苏州通和景润康复科技有限公司 Two-degree-of-freedom artificial limb wrist
CN113171178A (en) * 2021-04-23 2021-07-27 上海微创医疗机器人（集团）股份有限公司 Snake joint, surgical instrument and endoscope
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US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
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CN115741772A (en) * 2022-11-22 2023-03-07 沈阳工业大学 Turnover device for coupling and decoupling orthogonal degrees of freedom of linear drive
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US10582975B2 (en) 2015-10-16 2020-03-10 Medical Microinstruments S.p.A. Surgical tool
US11096748B2 (en) 2015-10-16 2021-08-24 Medical Microinstruments S.p.A. Surgical tool
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US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US12303226B2 (en) 2018-03-07 2025-05-20 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
WO2019173266A1 (en) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US11992287B2 (en) 2018-04-10 2024-05-28 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US12357299B2 (en) 2018-07-16 2025-07-15 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
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CN111631846A (en) * 2020-06-10 2020-09-08 苏州通和景润康复科技有限公司 Two-degree-of-freedom artificial limb wrist
CN113171178B (en) * 2021-04-23 2023-09-22 上海微创医疗机器人（集团）股份有限公司 Snake-shaped joint, surgical instrument and endoscope
CN113171178A (en) * 2021-04-23 2021-07-27 上海微创医疗机器人（集团）股份有限公司 Snake joint, surgical instrument and endoscope
CN114631894B (en) * 2022-02-22 2022-12-16 哈尔滨工业大学 Force feedback master hand for surgical operation or examination
CN114631894A (en) * 2022-02-22 2022-06-17 哈尔滨工业大学 Force feedback master hand for surgical operation or examination
CN115213871A (en) * 2022-08-12 2022-10-21 上汽大众汽车有限公司 Automatic grabbing gripper and method for placing workpieces out of order in a material box
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CN116250932A (en) * 2023-03-09 2023-06-13 杭州华匠医学机器人有限公司 Anterior Joints for Laparoscopic Surgery

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