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WO2013018984A3 - Master gripper structure for surgical robot - Google Patents

Master gripper structure for surgical robot Download PDF

Info

Publication number
WO2013018984A3
WO2013018984A3 PCT/KR2012/004093 KR2012004093W WO2013018984A3 WO 2013018984 A3 WO2013018984 A3 WO 2013018984A3 KR 2012004093 W KR2012004093 W KR 2012004093W WO 2013018984 A3 WO2013018984 A3 WO 2013018984A3
Authority
WO
WIPO (PCT)
Prior art keywords
grip
handle member
user
master
surgical robot
Prior art date
Application number
PCT/KR2012/004093
Other languages
French (fr)
Korean (ko)
Other versions
WO2013018984A2 (en
Inventor
최승욱
장배상
이민규
원종석
Original Assignee
(주)미래컴퍼니
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 (주)미래컴퍼니 filed Critical (주)미래컴퍼니
Publication of WO2013018984A2 publication Critical patent/WO2013018984A2/en
Publication of WO2013018984A3 publication Critical patent/WO2013018984A3/en

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • 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
    • A61B34/37—Leader-follower robots
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (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)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a master gripper structure for a surgical robot. A gripper structure, which is furnished on the master handle of a surgical robot and receives the input of grip manipulations by a user, comprises: a rod-shaped handle member which is connected to a master handle so as to be rotatable around the lengthwise axis thereof; a grip section, which contracts toward the outer peripheral surface of the handle member in response to grip manipulation by a user, and which is radially arranged along the outer peripheral surface of the handle member, and thus can maintain the same state in which grip manipulation by a user can be received, regardless of the extent to which the handle member is rotated; and a sensing unit which senses information corresponding to the extent of the contraction of the grip section due to the grip manipulation by a user, and outputs a sensing signal. The gripper structure has a grip section radially arranged on the outer peripheral section of a handle member, with structures such as an umbrella structure, an umbrella rib structure, a steamer structure, or the structure in which sensors are installed, thus a user can always perform grip manipulations in the same state, regardless of the degree to which the handle member is rotated, i.e. the rotational angle of the handle member.
PCT/KR2012/004093 2011-08-03 2012-05-24 Master gripper structure for surgical robot WO2013018984A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0077433 2011-08-03
KR1020110077433A KR20130015440A (en) 2011-08-03 2011-08-03 Master gripper of surgical robot

Publications (2)

Publication Number Publication Date
WO2013018984A2 WO2013018984A2 (en) 2013-02-07
WO2013018984A3 true WO2013018984A3 (en) 2013-04-04

Family

ID=47629754

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/004093 WO2013018984A2 (en) 2011-08-03 2012-05-24 Master gripper structure for surgical robot

Country Status (2)

Country Link
KR (1) KR20130015440A (en)
WO (1) WO2013018984A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106175937A (en) * 2016-09-21 2016-12-07 东莞市联洲知识产权运营管理有限公司 A kind of operating robot being provided with rotary cutter clamping dish

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3004197C (en) * 2016-02-05 2023-08-22 Board Of Regents Of The University Of Texas System Surgical apparatus
WO2017210501A1 (en) * 2016-06-03 2017-12-07 Covidien Lp Control arm assemblies for robotic surgical systems
CN106264733B (en) * 2016-09-21 2018-12-25 青岛市妇女儿童医院 A kind of suspension type surgical instrument
CN106264734B (en) * 2016-09-21 2018-09-28 吴红燕 A kind of surgical instrument equipped with roller seat
CN106264735B (en) * 2016-09-21 2018-09-28 吴红燕 A kind of removable operating robot that can be stood
WO2018102430A1 (en) * 2016-11-29 2018-06-07 Virtual Incision Corporation User controller with user presence detection and related systems and methods
DE102017103199A1 (en) * 2017-02-16 2018-08-16 avateramedical GmBH HMI device for a robot-assisted surgical system
IT201800005468A1 (en) * 2018-05-17 2019-11-17 Robotic system for surgery, particularly microsurgery
WO2019240824A1 (en) * 2018-06-15 2019-12-19 Verb Surgical Inc. User interface device having grip linkages
US11135031B2 (en) 2018-06-15 2021-10-05 Verb Surgical Inc. User interface device having grip linkages
KR102116119B1 (en) * 2018-10-22 2020-05-27 (주)미래컴퍼니 Master robot and control method thereof
KR102221090B1 (en) * 2018-12-18 2021-02-26 (주)미래컴퍼니 User interface device, master console for surgical robot apparatus and operating method of master console
WO2020256502A2 (en) * 2019-06-21 2020-12-24 한국과학기술원 Gripper and surgical master device comprising same
KR102285586B1 (en) 2019-06-21 2021-08-04 한국과학기술원 Gripper used in master device for surgery
KR102283670B1 (en) 2019-06-21 2021-07-30 한국과학기술원 Master device for surgery to control slave device
KR102220526B1 (en) * 2019-07-18 2021-02-25 주식회사 우리제어기술 Gripper Device of Robot Hand
DE102021119624A1 (en) 2021-07-28 2023-02-02 Karl Storz Se & Co. Kg Input unit for a medical instrument and medical system with an input unit
CN117400228B (en) * 2023-12-04 2024-04-02 广东东软学院 Wearable mechanical arm for rapid assembly of industrial assembly line

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6669693B2 (en) * 2001-11-13 2003-12-30 Mayo Foundation For Medical Education And Research Tissue ablation device and methods of using
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6879880B2 (en) * 1999-04-07 2005-04-12 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
KR20050110123A (en) * 2004-05-18 2005-11-23 고등기술연구원연구조합 Handle for measuring the grip and feed force

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6879880B2 (en) * 1999-04-07 2005-04-12 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US6669693B2 (en) * 2001-11-13 2003-12-30 Mayo Foundation For Medical Education And Research Tissue ablation device and methods of using
KR20050110123A (en) * 2004-05-18 2005-11-23 고등기술연구원연구조합 Handle for measuring the grip and feed force

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106175937A (en) * 2016-09-21 2016-12-07 东莞市联洲知识产权运营管理有限公司 A kind of operating robot being provided with rotary cutter clamping dish

Also Published As

Publication number Publication date
KR20130015440A (en) 2013-02-14
WO2013018984A2 (en) 2013-02-07

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