MASTER INTERFACE AND DRIVING METHOD OF SURGICAL ROBOT
First Claim
1. A master interface for a surgical robot, the master interface mounted on a master robot to manipulate a slave robot connected with the master robot, and activated with mounting of a first surgical equipment and a second surgical equipment, the master interface comprising:
- a main handle coupled to the master robot, and manipulated to move certain way by user;
a sub-handle coupled to the main handle, and manipulated to move certain way by user while the main handle is manipulated;
a first processor configured to generate a first signal in correspondence with movement of the main handle; and
a second processor configured to generate a second signal in correspondence with movement of the sub-handle,wherein the first signal and the second signal are transmitted to the slave robot independently, the first signal is used to activate the first surgical equipment in correspondence with movement of the main handle, and while the first surgical equipment is activated the second signal is used to activate the second surgical equipment in correspondence with movement of the sub-handle.
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Accused Products
Abstract
A master interface and a driving method for a surgical robot are disclosed. The master interface is mounted on a master robot, to manipulate a slave robot connected with the master robot, and includes: a main handle coupled to the master robot; a sub-handle coupled to the main handle; a first processor configured to generate a first signal in correspondence with user manipulation on the main handle; and a second processor configured to generate a second signal in correspondence with user manipulation on the sub-handle, where the first signal and the second signal are transmitted to the slave robot independently. As the interface for the surgical master robot includes not only the handle (main handle) for manipulating the robot arm, but also an additional controller (sub-handle) for a laparoscope, etc., the operator is able to simultaneously manipulate the laparoscope, etc., while manipulating the handle, without having to stop manipulating the handle or perform an additional action separately. The sub-handle may be detachably coupled to the main handle, so that the laparoscope, etc., may be manipulated separately by an assistant when necessary.
145 Citations
36 Claims
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1. A master interface for a surgical robot, the master interface mounted on a master robot to manipulate a slave robot connected with the master robot, and activated with mounting of a first surgical equipment and a second surgical equipment, the master interface comprising:
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a main handle coupled to the master robot, and manipulated to move certain way by user; a sub-handle coupled to the main handle, and manipulated to move certain way by user while the main handle is manipulated; a first processor configured to generate a first signal in correspondence with movement of the main handle; and a second processor configured to generate a second signal in correspondence with movement of the sub-handle, wherein the first signal and the second signal are transmitted to the slave robot independently, the first signal is used to activate the first surgical equipment in correspondence with movement of the main handle, and while the first surgical equipment is activated the second signal is used to activate the second surgical equipment in correspondence with movement of the sub-handle. - View Dependent Claims (2, 5, 6, 7, 8)
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3. (canceled)
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4. (canceled)
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9. (canceled)
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10. (canceled)
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11. (canceled)
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12. (canceled)
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13. (canceled)
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14. (canceled)
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15. (canceled)
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16. (canceled)
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17. A manipulation device for a master robot, the manipulation device connected to the master robot to manipulate a slave robot connected to the master robot, the manipulation device comprising:
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a joint part coupled to the master robot by way of a first rotational axis; a scissor-link part coupled to the joint part by way of a second rotational axis, comprises a composite of a first link member and a second link member connected to each other in a scissor-like manner by way of a first pivot pin, the composites connected sequentially along a lengthwise direction by way of a second pivot pin, and configured to extend or retract along the lengthwise direction according to a driving thereof; and a handle part coupled to the scissor-link part, and moved to a certain location in space by user manipulation. - View Dependent Claims (18, 21, 22, 24, 25, 26, 27, 28, 29, 30)
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19. (canceled)
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20. (canceled)
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23. (canceled)
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31. A master interface for a surgical robot, the master interface installed on a master robot connected with a slave robot to manipulate a surgical instrument mounted on the slave robot, the master interface comprising:
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a handle coupled to the master robot; a manipulation wheel coupled to the handle, the manipulation wheel configured to rotate about a particular rotational axis; and a processor mounted on the master robot, the processor configured to generate a signal for driving the instrument in correspondence with a rotation of the manipulation wheel. - View Dependent Claims (32, 33, 34, 35, 36)
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Specification