WO2013018984A3 - Master gripper structure for surgical robot - Google Patents
Master gripper structure for surgical robot Download PDFInfo
- 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
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—Master-slave 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.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020110077433A KR20130015440A (en) | 2011-08-03 | 2011-08-03 | Master gripper of surgical robot |
KR10-2011-0077433 | 2011-08-03 |
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)
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 (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6959264B2 (en) * | 2016-06-03 | 2021-11-02 | コヴィディエン リミテッド パートナーシップ | Control arm assembly for robotic surgery system |
CN106264733B (en) * | 2016-09-21 | 2018-12-25 | 青岛市妇女儿童医院 | A kind of suspension type surgical instrument |
CN106264735B (en) * | 2016-09-21 | 2018-09-28 | 吴红燕 | A kind of removable operating robot that can be stood |
CN106264734B (en) * | 2016-09-21 | 2018-09-28 | 吴红燕 | A kind of surgical instrument equipped with roller seat |
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 | |
US11135031B2 (en) | 2018-06-15 | 2021-10-05 | Verb Surgical Inc. | User interface device having grip linkages |
EP3787852B1 (en) * | 2018-06-15 | 2023-10-25 | 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 |
KR102283670B1 (en) | 2019-06-21 | 2021-07-30 | 한국과학기술원 | Master device for surgery to control slave device |
KR102285586B1 (en) | 2019-06-21 | 2021-08-04 | 한국과학기술원 | Gripper used in master device for surgery |
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)
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 |
-
2011
- 2011-08-03 KR KR1020110077433A patent/KR20130015440A/en not_active Application Discontinuation
-
2012
- 2012-05-24 WO PCT/KR2012/004093 patent/WO2013018984A2/en active Application Filing
Patent Citations (4)
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)
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 |
---|---|
WO2013018984A2 (en) | 2013-02-07 |
KR20130015440A (en) | 2013-02-14 |
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