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WO2014025204A1 - Main de robot chirurgical ayant une structure de poignet découplée - Google Patents

Main de robot chirurgical ayant une structure de poignet découplée 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
Authority
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
English (en)
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/fr
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)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
PCT/KR2013/007124 2012-08-07 2013-08-07 Main de robot chirurgical ayant une structure de poignet découplée Ceased WO2014025204A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2012-0086488 2012-08-07
KR1020120086488A KR101384776B1 (ko) 2012-08-07 2012-08-07 자유도가 분리된 손목 구조를 가지는 수술용 로봇 핸드

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Publication Number Publication Date
WO2014025204A1 true WO2014025204A1 (fr) 2014-02-13

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PCT/KR2013/007124 Ceased WO2014025204A1 (fr) 2012-08-07 2013-08-07 Main de robot chirurgical ayant une structure de poignet découplée

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KR (1) KR101384776B1 (fr)
WO (1) WO2014025204A1 (fr)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019173266A1 (fr) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Outils médicaux à faible frottement ayant des éléments de tension assistés par rouleau
US10582975B2 (en) 2015-10-16 2020-03-10 Medical Microinstruments S.p.A. Surgical tool
CN111631846A (zh) * 2020-06-10 2020-09-08 苏州通和景润康复科技有限公司 一种两自由度假肢手腕
CN113171178A (zh) * 2021-04-23 2021-07-27 上海微创医疗机器人（集团）股份有限公司 蛇形关节、手术器械和内窥镜
US11241246B2 (en) 2010-02-08 2022-02-08 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
CN114631894A (zh) * 2022-02-22 2022-06-17 哈尔滨工业大学 一种用于外科手术或检查的力反馈主手
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
CN115213871A (zh) * 2022-08-12 2022-10-21 上汽大众汽车有限公司 料箱内无序摆放工件的自动抓取抓手及方法
CN115741772A (zh) * 2022-11-22 2023-03-07 沈阳工业大学 一种用于线驱动的正交自由度耦合和解耦的翻转装置
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
CN116250932A (zh) * 2023-03-09 2023-06-13 杭州华匠医学机器人有限公司 用于腹腔镜手术的前端关节
US11992287B2 (en) 2018-04-10 2024-05-28 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102397447B1 (ko) * 2020-09-01 2022-05-13 주식회사 리브스메드 수술용 인스트루먼트의 엔드 툴
WO2022224007A1 (fr) * 2021-04-18 2022-10-27 Goodarzi Mahdi Robot à 9 degrés de liberté de poignet pour instruments chirurgicaux

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US20060259071A1 (en) * 1992-02-12 2006-11-16 United States Surgical Corporation Articulating endoscopic surgical apparatus
KR20090119366A (ko) * 2008-05-16 2009-11-19 한국과학기술원 여유 자유도를 갖는 복강경 수술 로봇
KR20100118166A (ko) * 2009-04-28 2010-11-05 국립암센터 최소 침습 수술을 위한 내시경 조정 장치
WO2011016640A2 (fr) * 2009-08-07 2011-02-10 주식회사 래보 Instrument d’appareil pour opérations chirurgicales

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008212451A (ja) * 2007-03-06 2008-09-18 Nagoya Institute Of Technology 手術用マニピュレータ

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060259071A1 (en) * 1992-02-12 2006-11-16 United States Surgical Corporation Articulating endoscopic surgical apparatus
US6394998B1 (en) * 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
KR20090119366A (ko) * 2008-05-16 2009-11-19 한국과학기술원 여유 자유도를 갖는 복강경 수술 로봇
KR20100118166A (ko) * 2009-04-28 2010-11-05 국립암센터 최소 침습 수술을 위한 내시경 조정 장치
WO2011016640A2 (fr) * 2009-08-07 2011-02-10 주식회사 래보 Instrument d’appareil pour opérations chirurgicales

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11241246B2 (en) 2010-02-08 2022-02-08 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
US12137926B2 (en) 2010-02-08 2024-11-12 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
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
US11103319B2 (en) 2015-10-16 2021-08-31 Medical Microinstruments S.p.A. Surgical tool
US12127809B2 (en) 2017-12-14 2024-10-29 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US12004834B2 (en) 2017-12-14 2024-06-11 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US12251088B2 (en) 2018-03-07 2025-03-18 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
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 (fr) * 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Outils médicaux à faible frottement ayant des éléments de tension assistés par rouleau
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
US12458459B2 (en) 2018-07-19 2025-11-04 Intuitive Surgical Operations, Inc. Medical devices having three tool members
CN111631846A (zh) * 2020-06-10 2020-09-08 苏州通和景润康复科技有限公司 一种两自由度假肢手腕
CN113171178B (zh) * 2021-04-23 2023-09-22 上海微创医疗机器人（集团）股份有限公司 蛇形关节、手术器械和内窥镜
CN113171178A (zh) * 2021-04-23 2021-07-27 上海微创医疗机器人（集团）股份有限公司 蛇形关节、手术器械和内窥镜
CN114631894B (zh) * 2022-02-22 2022-12-16 哈尔滨工业大学 一种用于外科手术或检查的力反馈主手
CN114631894A (zh) * 2022-02-22 2022-06-17 哈尔滨工业大学 一种用于外科手术或检查的力反馈主手
CN115213871A (zh) * 2022-08-12 2022-10-21 上汽大众汽车有限公司 料箱内无序摆放工件的自动抓取抓手及方法
CN115741772A (zh) * 2022-11-22 2023-03-07 沈阳工业大学 一种用于线驱动的正交自由度耦合和解耦的翻转装置
CN116250932A (zh) * 2023-03-09 2023-06-13 杭州华匠医学机器人有限公司 用于腹腔镜手术的前端关节

Also Published As

Publication number Publication date
KR101384776B1 (ko) 2014-04-14
KR20140020072A (ko) 2014-02-18

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