KR100571073B1 - 의료용 머니퓰레이터, 그 제어 장치 및 제어 방법 - Google Patents
의료용 머니퓰레이터, 그 제어 장치 및 제어 방법 Download PDFInfo
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- KR100571073B1 KR100571073B1 KR1020040021455A KR20040021455A KR100571073B1 KR 100571073 B1 KR100571073 B1 KR 100571073B1 KR 1020040021455 A KR1020040021455 A KR 1020040021455A KR 20040021455 A KR20040021455 A KR 20040021455A KR 100571073 B1 KR100571073 B1 KR 100571073B1
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- 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—Master-slave robots
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- H04W4/10—Push-to-Talk [PTT] or Push-On-Call services
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract
Description
Claims (10)
- 삭제
- 마스터 슬레이브 방식으로 동작하는 의료용 머니퓰레이터이며,동작을 지령하는 마스터부와,작업부를 갖고 상기 마스터부의 지령에 따라서 동작하는 슬레이브부와,상기 마스터부와 상기 슬레이브부 각각의 자세 각도를 검출하는 검출기와,상기 마스터부로부터의 지령에 의해 상기 슬레이브부를 제어하는 제어 장치를 구비하고,상기 제어 장치는 마스터부 위치와 슬레이브부 위치와의 편차를 산출하는 기능과,그 편차의 절대치와 미리 정한 기준치와의 비교에 의해, 비마스터 슬레이브 동작 모드, 마스터 슬레이브 동작 모드 및 비마스터 슬레이브 동작 모드로부터 마스터 슬레이브 동작 모드로 이행하는 천이적 마스터 슬레이브 동작 모드 중 어느 하나의 동작 모드를 결정하는 기능과상기 천이적 마스터 슬레이브 동작 모드에 있어서, 마스터부 위치와 슬레이브부 위치의 편차 변화율의 부호와 마스터부 위치 변화율의 부호와의 동이에 따라서, 슬레이브부의 위치 목표치를 마스터부의 위치에 따르도록 하는 가속 추종 목표 생성과, 슬레이브부의 위치 목표치를 마스터부의 위치가 따르도록 하는 감속 추종 목표 생성 중 어느 하나를 행하는 천이적 마스터 슬레이브 동작 모드의 동작 방식을 변화시키는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 상기 천이적 마스터 슬레이브 동작 모드에 있어서, 마스터부 위치 변화율이 0인 경우에 슬레이브부가 정지하는 정지 목표 생성을 행하는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 천이적 마스터 슬레이브 동작 모드에 있어서 선택된 동작 방식의 동작 속도를 설정 변경 가능한 변수에 의해 변화시키는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 상기 변수의 설정에 의해 천이적 마스터 슬레이브 동작 모드에 있어서의 동작 방식의 취사 선택을 행하는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 천이적 마스터 슬레이브 동작 모드와, 통상 추종 목표 생성 동작 모드로서의 미리 설정된 자동 천이 동작 모드를 절환하는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 상기 변수의 설정은 마스터부의 축마다 설정 가능한 것으로서 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 제2항에 있어서, 상기 제어 장치는 통상의 마스터 슬레이브 동작 모드에 있어서 마스터부의 조작 각도 판독치 불감 영역에 있는 위치를 천이적 마스터 슬레이브 동작 모드에 있어서 활용하는 기능과, 천이적 마스터 슬레이브 동작 모드에 있어서 정해지는 동작 방식에 의한 목표치 생성 후에 슬레이브부의 목표치 포화 처리를 행하는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터.
- 동작을 지령하는 마스터부와, 작업부를 갖고 마스터의 지령에 따라서 동작하는 슬레이브부와, 마스터부와 슬레이브부 각각의 위치를 검출하는 검출기를 갖는 마스터 슬레이브 방식으로 동작하는 의료용 머니퓰레이터의 제어 장치이며,마스터부 위치와 슬레이브부 위치와의 편차를 산출하는 기능과,그 편차의 절대치와 미리 정한 기준치와의 비교에 의해, 비마스터 슬레이브 동작 모드로부터 마스터 슬레이브 동작 모드로 이행하는 천이적 마스터 슬레이브 동작 모드와, 마스터 슬레이브 동작 모드와의 절환을 행하는 기능을 구비하는 것으로 구성되고,상기 천이적 마스터 슬레이브 동작 모드에 있어서, 마스터부 위치와 슬레이브부 위치의 편차 변화율의 부호와 마스터부 위치 변화율의 부호와의 동이에 따라서, 슬레이브부의 위치 목표치를 마스터부의 위치에 따르도록 하는 가속 추종 목표 생성과, 슬레이브부의 위치 목표치를 마스터부의 위치가 따르도록 하는 감속 추종 목표 생성 중 어느 하나를 행하는 천이적 마스터 슬레이브 동작 모드의 동작 방식을 변화시키는 기능을 구비하는 것으로 구성되어 있는 것을 특징으로 하는 의료용 머니퓰레이터의 제어 장치.
- 동작을 지령하는 마스터부와, 작업부를 갖고 마스터의 지령에 따라서 동작하는 슬레이브부와, 마스터부와 슬레이브부 각각의 위치를 검출하는 검출기를 갖는 마스터 슬레이브 방식으로 동작하는 의료용 머니퓰레이터의 제어 방법이며,마스터부 위치와 슬레이브부 위치와의 편차를 산출하고,그 편차의 절대치와 미리 정한 기준치와의 비교에 의해, 비마스터 슬레이브부 동작 모드로부터 마스터 슬레이브 동작 모드로 이행하는 천이적 마스터 슬레이브 동작 모드와, 마스터 슬레이브 동작 모드와의 절환을 행하고,상기 천이적 마스터 슬레이브 동작 모드에 있어서, 마스터부 위치와 슬레이브부 위치의 편차 변화율의 부호와 마스터부 위치 변화율의 부호와의 동이에 따라서, 슬레이브부의 위치 목표치를 마스터부의 위치에 따르도록 하는 가속 추종 목표 생성과, 슬레이브부의 위치 목표치를 마스터부의 위치가 따르도록 하는 감속 추종 목표 생성 중 어느 하나를 행하는 천이적 마스터 슬레이브 동작 모드의 동작 방식을 변화시키는 것을 특징으로 하는 의료용 머니퓰레이터의 제어 방법.
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JP2003096819A JP3752494B2 (ja) | 2003-03-31 | 2003-03-31 | マスタスレーブマニピュレータ、その制御装置及び制御方法 |
JPJP-P-2003-00096819 | 2003-03-31 |
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KR100571073B1 true KR100571073B1 (ko) | 2006-04-14 |
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US (2) | US6993413B2 (ko) |
JP (1) | JP3752494B2 (ko) |
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