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WO2024144373A1 - Structure de maintien de tension de câble utilisant un segment ou des disques doubles pour faciliter le mouvement stable d'une articulation artificielle - Google Patents

Structure de maintien de tension de câble utilisant un segment ou des disques doubles pour faciliter le mouvement stable d'une articulation artificielle Download PDF

Info

Publication number
WO2024144373A1
WO2024144373A1 PCT/KR2023/022049 KR2023022049W WO2024144373A1 WO 2024144373 A1 WO2024144373 A1 WO 2024144373A1 KR 2023022049 W KR2023022049 W KR 2023022049W WO 2024144373 A1 WO2024144373 A1 WO 2024144373A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire
adjustment
link
yoke
joint
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/KR2023/022049
Other languages
English (en)
Korean (ko)
Inventor
백현우
이동호
공덕유
권동수
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.)
Roen Surgical Inc
Original Assignee
Roen Surgical Inc
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
Priority claimed from KR1020220189914A external-priority patent/KR102817957B1/ko
Application filed by Roen Surgical Inc filed Critical Roen Surgical Inc
Priority claimed from KR1020230197913A external-priority patent/KR20250105009A/ko
Publication of WO2024144373A1 publication Critical patent/WO2024144373A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • Patent document 002 relates to a joint driving device, which has a base, a protrusion connected to the base through a first rotation shaft, and into which the first rotation shaft is inserted, and one end of a first wire and a second wire are fixed to the outside of the protrusion.
  • a second wire is connected to one link and one end of the first link through a second rotation shaft, has a protrusion facing one end of the first link into which the second rotation shaft is inserted, and one end of a third wire is fixed to the outside of the protrusion.
  • a joint driving device for a robot including a link is proposed as an embodiment.
  • the number of motors and batteries required to drive a joint of a multi-link structure can be minimized, and thus the joint for a robot can be implemented in a compact and lightweight manner.
  • it provides the effect of increasing the driving force of the joint end devices for robots by increasing the power output compared to the space occupied by the multiple links.
  • Patent document 003 relates to a wire connection structure for robot joints, and includes a plurality of wires that drive the joints of the robot and a connection member that contacts the wires and guides the movement path of the wires according to the rotation of the joints. It includes a rotating assembly, wherein the connecting member is provided with a rotating shaft on a central vertical line of the vertical cross-section, and moves clockwise or counterclockwise from the bottom in contact with the wire to the top, from the rotating shaft to the wire. The distance to each point of the outer border being contacted increases sequentially. Since the movement path of the wire in contact with the connecting member is guided through the connecting member having the above shape, sagging of the wire is prevented during the process of pulling or unwinding the wire, thereby enabling more precise manipulation of the wire.
  • the rotating assembly can be rotated by connecting one drive motor to a pair of wires in contact with the connecting member, providing the effect of being economical and simplifying the structure.
  • Patent Document 004 relates to a robot joint device using wires and a modular robot joint system using wires.
  • the robot joint device according to the present invention includes a main frame, a joint module that is rotatably installed on the main frame and performs joint movement, a first wire and a second wire, each of which has one side connected to the joint module, and the first wire.
  • a first wire driving module that is connected to the other side of the joint module and pulls the first wire so that the joint module rotates clockwise, and a second wire that is connected to the other side of the second wire so that the joint module rotates counterclockwise.
  • the first wire driving module and the second wire driving module pull the first wire and the second wire, respectively, and adjust the stiffness of the joint movement of the joint module by the tension formed in the first wire and the second wire. and; As the first wire driving module and the second wire driving module are driven in opposite directions, the joint module is rotated clockwise or counterclockwise by a pulling force of either the first wire or the second wire. It is characterized by joint movement. Accordingly, movement of the joint can be generated by forming a joint structure using a combination of the tension of the first and second wires of the two strands forming a pair, and the structural joint stiffness can be adjusted from the tension applied to the joint module. This provides possible effects.
  • the present invention seeks to provide a wire tension maintenance structure that compensates for slack or tension increase in a support wire that changes with rotation of an artificial joint.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint, comprising a plurality of artificial joints, each of the artificial joints comprising: a driving unit containing a rotational degree of freedom; and supporting the outside of the driving unit. It consists of a configuration including a wire portion provided with a wire; and a tension adjustment portion that adjusts the length of the wire portion.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the adjustment module includes a first sliding pulley on which a portion of the first adjustment wire is wound; and a first adjustment module including a second sliding pulley on which a portion of the second adjustment wire is wound.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the first adjustment module includes a first link at one end of which is fastened to the first sliding pulley; A second link, one end of which is engaged with the second sliding pulley; and a pivot axis sharing the other end of the first link and the other end of the second link.
  • the present invention relates to a wire tension maintenance structure for assisting stable movement of an artificial joint.
  • the control module includes a second control module, and the second control module includes a rotatable reel; , a gear rotating coaxially with the reel; , a rack engaged with the gear and generating linear displacement; and a rod shaft, one end of which is fastened to the rack, and the other end of the rod shaft is fastened to the pivot shaft.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the tension adjusting unit includes a first support hole that changes the direction of the first adjusting wire; It consists of a configuration including a second support hole that changes the direction of the two adjustment wires.
  • the present invention relates to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • a portion of the wire whose direction has been changed by the first support hole is wound around the first sliding pulley. and a portion of the wire whose direction has been changed by the second support hole is wound around the second sliding pulley.
  • the present invention can prevent slack or increase in tension of the wire by compensating for changes in the length of the support wire for rotation of a driving part such as an artificial joint. Through this, stable driving durability of the artificial joint can be secured.
  • Figure 5 is a cross-sectional view showing the operating state of the control module when the driving unit is tilted according to another embodiment of the present invention.
  • Figure 8 is a perspective view of a guide according to an embodiment of the present invention.
  • Figure 9 is a perspective view of a third control module and a fourth control module according to an embodiment of the present invention.
  • Figure 11 is a cross-sectional view before and after the driving unit is tilted while wires are connected to the third and fourth adjustment modules according to an embodiment of the present invention.
  • Figure 13 is a 3D perspective view of the third control module and the fourth control module according to an embodiment of the present invention.
  • a wire tension maintaining structure for assisting stable movement of an artificial joint comprising: a driving unit 100 having a plurality of artificial joints, each of the artificial joints containing a rotational degree of freedom; It includes a wire portion 200 provided with a wire supporting the outside of the 100; and a tension adjusting portion 300 that adjusts the length of the wire portion 200.
  • Example 1-1 the driving unit 100 includes a first joint 110 whose outer sides contact each other and a second joint 120.
  • Example 1-4 In Example 1-3, the curved surface is formed to have a constant curvature.
  • the present invention may relate to a wire tension maintaining structure for assisting stable movement of an artificial joint.
  • the present invention may include a driving unit 100, a wire unit 200, and a tension adjusting unit 300.
  • the driving unit 100 may include a first joint 110 and a second joint 120.
  • the third and fourth joints may be further included, but since the technical idea of the present invention regarding two joints can be applied even when multiple joints are included, only two joints will be described. .
  • the wire portion 200 may include a wire that supports the artificial joint.
  • the wire may support the outer surface of the artificial joint.
  • the tension adjusting unit 300 may be configured to prevent slack or increase in tension of the wire by adjusting the length of the wire unit 200 according to the driving of the driving unit 100.
  • the outer sides of the first joint 110 and the second joint 120 may be in contact with each other.
  • the outer side that is in contact can be defined as a junction.
  • the joint may be formed as a curved surface, and the curvature may be formed to be constant. Referring to FIG. 1, the joint may be formed with a constant curvature of radius R.
  • the length of the two links is the same as the distance between one end of the first link 414 fastened to the first sliding pulley 411 and the other end of the first link 414, which is the position of the pivot axis 416.
  • This may mean that the distance between one end of the second link 415 coupled to the second sliding pulley 412 and the other end of the second link 415, which is the position of the pivot axis 416, is equal to each other.
  • the first adjustment module 410 and the second adjustment module 420 may be interlocked by a rod shaft 424.
  • the rod shaft 424 moves linearly according to the linear movement of the rack 423 of the second adjustment module 420, and the pivot axis ( 416), the same linear displacement may also occur.
  • the first link 414 and the second link 415 rotate according to the linear displacement of the pivot axis 416.
  • the first adjustment wire 221 is wound or wound around the first sliding pulley 411 located at the bottom, and the second adjustment wire 222 is connected to the second sliding pulley located at the top. (412) may be coiled or coiled.
  • the first sliding pulley 411 may be located at the top and the second sliding pulley 412 may be located at the bottom.
  • the change in length of the control wire 220 by the second control module 420 according to the rotation of the reel 421 is the same, but the change in length of the control wire 220 by the first control module 410 is It may change.
  • the length of the adjustment wire 220 changes by the first adjustment module 410 depending on whether the first sliding pulley 411 and the second sliding pulley 412 are located at the bottom and top or the top and bottom. The direction of can be determined.
  • the positions of the first sliding pulley 411 and the second sliding pulley 412 are expressed as top and bottom, but this is not an absolute standard, and the positions of the first adjustment wire 221 and the second adjustment wire 222 It may be determined depending on relative location.
  • the driving units may be tilted toward each other as the reel 421 rotates, and conversely, the reel 421 may be rotated as the driving unit is tilted.
  • the tilt or rotation of the driving unit may be parallel to the rotation of the reel 421.
  • Example 5-1 In Example 4-4, the tension adjusting unit 300 includes a first support hole 310 that changes the direction of the first adjustment wire 221;, the second adjustment wire It includes a second support hole 320 that changes the direction of (222).
  • Example 5-1 a portion of the wire whose direction has been changed by the first support hole 310 is wound around the first sliding pulley 411, and the second support hole A portion of the wire whose direction has been changed by 320 is wound around the second sliding pulley 412.
  • R is the radius of curvature of the joint
  • d is half the width of the driving part
  • B is the length of the variable part
  • Example 4-4 the radius of the reel 421 is The radius of the gear 422 is , the lengths of the first link and the second link , the rotation angle of the driving unit is , the rotation angle of the reel When said, the following relational expression is satisfied.
  • R is the radius of curvature of the joint
  • d is half the width of the driving part
  • B is the length of the variable part
  • the radius of the reel 421 and the gear 422, the rotation angle of the first link 414, the second link 415, and the drive unit 100, and the rotation of the reel 421 Angle , the relationship between the width of the first joint 110 and the second joint 120, the radius of curvature of the joint, and the length of the variable portion can be specified.
  • the first sliding pulley 411 may be located at the bottom and the second sliding pulley 412 may be located at the top.
  • the first adjustment wire 221 and the second adjustment wire 222 are adjusted by the first adjustment module 410.
  • the length decreases.
  • the first sliding pulley 411 may be located at the top and the second sliding pulley 412 may be located at the bottom.
  • the first adjustment wire 221 and the second adjustment wire 222 are adjusted by the first adjustment module 410.
  • the length increases.
  • the rotation angle of the reel 421 and the gear 422 may be driven by a separate electric motor (not shown).
  • the rotation angle of the reel 421 according to an embodiment of the present invention can be determined by considering the rotation angle of the driving unit.
  • the electric motor provides driving force to the reel 421 to rotate the reel 421 and the gear 422, and the rack 423 can move linearly according to the rotation of the gear 422.
  • the electric motor that applies driving force can be replaced with a linear motor that directly or indirectly provides linear driving force to the rack 423.
  • the control module 400 includes a rotatable first disk 511; and a first crank hole protruding from one surface of the first disk 511.
  • a third adjustment module 510 including a first yoke 513 that converts the rotational movement of the first crank hole 512 into linear movement; and a rotatable second disk 521; and a second crank hole 522 protruding from one surface of the second disk 521; and a third crank hole 523
  • a fourth control module 520 including a second yoke 524 that converts the rotational movement of the second crank hole 522 and the third crank hole 523 into linear motion; and a third yoke 525 Includes ;
  • Example 7-2 In Example 7-1, the third adjustment module 510 extends from one side of the first yoke 513 in a direction parallel to the linear movement of the first yoke 513.
  • a first shaft 514 is formed;
  • control pulley 515 includes a first winding portion 516 around which the first control wire 221 and the second control wire 222 can be wound. It includes a second winding portion 517.
  • Example 7-4 In Example 7-3, the first control wire 221 is partially wound around the first winding part 516, and the second control wire 222 is connected to the second control wire 222. A portion is wound on the winding portion 517.
  • Example 7-5 In Example 7-3, the lengths of the first control wire 221 and the second control wire 222 are varied by the linear movement of the control pulley 515.
  • the first crank hole 512 may be configured to protrude from one surface of the first disk 511. As the first disk 511 rotates, the first crank hole 512 may rotate at the same angular speed as the first disk 511.
  • the first yoke 513 may be formed by being in contact with the first crank hole 512. The rotational displacement of the first crank hole 512 may be converted to a linear displacement of the first yoke 513.
  • the first yoke 513 may be linearly displaced.
  • the first yoke 513 may be formed integrally with the first shaft 514.
  • the first shaft 514 may be coupled to the adjustment pulley 515, and the adjustment pulley 515 may be a first winding portion around which the first adjustment wire 221 and the second adjustment wire 222 can be wound, respectively. It may include (516) and a second winding portion (517).
  • Winding the first and second control wires may mean that the wire is wound around the control pulley 515 in a “U” shape and the direction is changed.
  • the distance between the center of the first disk 511 and the first crank hole 512 may be determined as B-R or R-B.
  • crank hole 522 and the third crank hole 523 can be located at the top and bottom, and when expressed in terms of phase, as shown in Figure 4 (a) , respectively It can exist in a position that is the topology of .
  • a line connecting the center of the first disk 511 and the first crank hole 512 and a line connecting the second crank hole 522 and the third crank hole 523 Not only are they perpendicular to each other, but the phases of the initial positions of the first, second, and third crank holes (512, 522, and 523) are It may need to be provided in the location of .
  • the phase at the position of the right horizontal line based on Figure 4 is set to 0, and the counterclockwise direction is set as the direction in which the phase increases.
  • the magnitude of the rotational displacement of the first disk 511 and the second disk 521 caused by the electric motor is the same.
  • the rotational displacement of the first disk 511 and the second disk 521 may be generated the same, and the same rotational displacement may be half the tilt angle of the driving unit 100 as described above.
  • Example 10-3 In Example 10-2, a part of the wire whose direction has been changed by the third support body 630 is fastened to the second shaft 526 and is connected to the fourth support body 640. A portion of the wire whose direction has been changed is fastened to the third shaft 527.
  • the first support 610 may be composed of two stands.
  • the first control wire 221, whose direction is changed by each holder, may be hung or wound around the control pulley 515.
  • the second support 620 may also be composed of two stands.
  • the second control wire 222 whose direction is changed by each holder, may be hung or wound around the control pulley 515.
  • the third support body 630 and the fourth support body 640 may each be composed of one stand, and may be configured to change the directions of the first adjustment wire 221 and the second adjustment wire 222, respectively.
  • the second control wire 222 whose direction has been changed by the fourth support 640, may be fixed and fastened to the end of the third shaft 527.
  • the third support body 630 and the fourth support body 640 may be configured to assist the operation of the fourth adjustment module 520.
  • the present invention compensates for changes in the length of the support wire with respect to the rotation of a driving part such as an artificial joint through the various embodiments described above, thereby preventing the generation of slack or an increase in tension in the wire, and through this, stable driving durability of the artificial joint. can be secured.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Prostheses (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

La présente invention concerne une structure de maintien de tension de câble utilisant un segment ou des disques doubles pour faciliter le mouvement stable d'une articulation artificielle, la structure de maintien de tension de câble comprenant : une partie d'entraînement (100) pourvue d'une pluralité d'articulations artificielles, chacune des articulations artificielles ayant un degré de liberté de rotation ; une partie câble (200) pourvue d'un câble supportant l'extérieur de la partie d'entraînement (100) ; et une partie de réglage de tension (300) pour régler la longueur de la partie câble (200).
PCT/KR2023/022049 2022-12-29 2023-12-29 Structure de maintien de tension de câble utilisant un segment ou des disques doubles pour faciliter le mouvement stable d'une articulation artificielle Ceased WO2024144373A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2022-0189914 2022-12-29
KR1020220189914A KR102817957B1 (ko) 2022-12-29 2022-12-29 링크를 이용한 인공 관절의 안정적인 움직임을 보조하기 위한 와이어 텐션 유지 구조체
KR10-2023-0197913 2023-12-29
KR1020230197913A KR20250105009A (ko) 2023-12-29 2023-12-29 3-bar 링크를 이용한 인공 관절의 안정적인 움직임을 보조하기 위한 와이어 텐션 유지 구조체

Publications (1)

Publication Number Publication Date
WO2024144373A1 true WO2024144373A1 (fr) 2024-07-04

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PCT/KR2023/022049 Ceased WO2024144373A1 (fr) 2022-12-29 2023-12-29 Structure de maintien de tension de câble utilisant un segment ou des disques doubles pour faciliter le mouvement stable d'une articulation artificielle

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WO (1) WO2024144373A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11156770A (ja) * 1997-11-28 1999-06-15 Dainippon Screen Mfg Co Ltd 基板保持装置
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
JP2015159844A (ja) * 2014-02-26 2015-09-07 オリンパス株式会社 弛み補正機構、マニピュレータ及びマニピュレータシステム
JP2016512961A (ja) * 2013-02-08 2016-05-12 オリンパス株式会社 マニピュレータ
JP6265853B2 (ja) * 2014-07-10 2018-01-24 オリンパス株式会社 医療用機器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11156770A (ja) * 1997-11-28 1999-06-15 Dainippon Screen Mfg Co Ltd 基板保持装置
JP2016512961A (ja) * 2013-02-08 2016-05-12 オリンパス株式会社 マニピュレータ
KR101482746B1 (ko) * 2013-10-17 2015-01-14 한국과학기술원 무활차 관절의 케이블 구동 장치
JP2015159844A (ja) * 2014-02-26 2015-09-07 オリンパス株式会社 弛み補正機構、マニピュレータ及びマニピュレータシステム
JP6265853B2 (ja) * 2014-07-10 2018-01-24 オリンパス株式会社 医療用機器

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