KR101597758B1 - Robot base for medical robot having weight balance function - Google Patents

Abstract

A medical robot base having a weight balance function is disclosed in the present invention. The medical robot base includes a sliding guide movably supported by a front wheel and a rear wheel for supporting the medical robot so as to be slidable in the left and right directions and a sliding guide for supporting the medical robot in a sliding motion of the medical robot, A weight guide for supporting the sliding motion of the counterweight, and a controller for controlling the control of the controller. The counterweight is provided for moving the counterweight in the lateral direction opposite to the sliding motion of the medical robot, And a drive motor driven under the control of the motor.
According to the present invention, a medical robot base that supports a counterweight function to cancel the eccentricity of weight due to sliding movement of the medical robot and to maintain balance of weight is provided.

Description

[0001] The present invention relates to a medical robot having a weight balance function,

The present invention relates to a medical robot base, and more particularly, to a medical robot base that movably supports a medical robot including a manipulator.

BACKGROUND ART [0002] Recent developments in technology have led to the development of medical devices capable of mounting various medical tools in a medical procedure. Such a medical device may be provided with medical instruments at the treatment or diagnosis site so that the operator can operate the medical instrument without regard to the position of the medical instrument or a manipulator for driving the medical instrument directly .

In a medical procedure such as diagnosis, treatment, and surgery, it is essential that the medical robot including the manipulator is supported in a stable state. In order to cancel the eccentricity of the weight due to the motion of the medical robot, .

Patent Registration No. 10-1307951 (Surgical robot, Sep. 13, 2013)

An embodiment of the present invention provides a medical robot base that supports a counterweight function to cancel the eccentricity of weight due to sliding movement of the medical robot and to maintain balance of weight.

In order to solve the above-mentioned problems and other problems, according to the present invention,

A medical robot base which is supported movably by front wheels and rear wheels, and on which a medical robot is mounted,

A sliding guide for slidably supporting the medical robot in a left-right direction; And

A counterweight moving in a left and right direction opposite to a sliding motion of the medical robot to cancel a weight eccentricity caused by a sliding movement of the medical robot;

A weight guide for supporting a sliding movement of the counterweight; And

And a drive motor for driving the counterweight and driven under the control of the controller.

For example, the medical robot base further includes a motion converting mechanism for converting a rotational motion of the driving motor into a sliding motion of the counterweight.

For example, the motion converting mechanism may include:

A ball screw being coaxially and power-connected to the drive motor; And

And a starter portion screwed to the ball screw to perform a sliding movement integrally with the counterweight.

For example, the sliding guide is installed on a frame on which the medical robot is mounted,

The counterweight and the weight guide are installed inside the frame.

For example, the sliding guide and the weight guide extend in a direction parallel to each other.

For example, the medical robotic base may be provided with a first positional limit position corresponding to the maximum displacement along the motion locus of the counterweight, and a second positional position corresponding to the second positional position, And a second position sensor.

For example, the first and second position sensors are provided with an optical sensor for capturing that the counterweight has reached the first limit position or the second limit position according to whether the irradiation light is blocked.

For example, the drive motor outputs a count indicating the rotational position of the rotating body.

For example,

According to the sliding drive of the medical robot,

A memory storing a corresponding relationship between a target position of the counterweight and a count of the drive motor is inquired,

The drive motor is operated until the count of the drive motor corresponding to the target position of the counterweight is outputted.

For example,

According to the operator's instruction signal in accordance with the panel operation,

The medical robot base is moved to the leftmost position, the rightmost position, or the center position,

The counterweight is moved to the first limit position, the second limit position, or the center position.

For example,

Counting a memory in which the maximum-count of the drive motor is stored up to the second limit position, with reference to the first limit position,

The drive motor is operated until the count of the drive motor is zero to move the counterweight to the first limit position,

The driving motor is operated until the count of the driving motor becomes half of the maximum-count to move the counterweight to the central position,

The drive motor is operated until the count of the drive motor reaches the maximum-count, and the counterweight is moved to the second limit position.

For example, the maximum-

And is calculated through calibration at the beginning of the driving of the medical robot or the medical robot base.

For example, the maximum-

And is calibrated at every power-on of the medical robot or the medical robot base.

For example, in the calibration,

The controller comprising:

The counter is initialized by setting the count to zero at the time point when the counterweight reaches a first limit position along the movement trajectory,

The count is set to the maximum-count at the time when the counterweight reaches the second limit position of the other end along the movement locus,

The maximum-count is stored in the memory.

According to the present invention, the eccentricity of the weight caused by the sliding movement of the medical robot in the lateral direction is canceled and the balance of the weight of the whole apparatus is maintained, so that a counterweight function is provided so that precise medical actions such as diagnosis, And provides a supporting medical robot base.

1 is a perspective view of a medical robot base according to an embodiment of the present invention.
2 is a view for showing the necessity of a left-right sliding operation of the medical robot.
Figs. 3 and 4 show an exploded perspective view showing main components for implementing a left-right sliding operation and a counterweight balancing operation of the medical robot.
Fig. 5 shows an exploded perspective view showing the main components for implementing the balancing operation of the counterweight.
6, a flow chart illustrating a series of control steps performed by a controller for a calibration operation is shown.
Fig. 7 is a diagram showing a correspondence relationship between the position of the counterweight and the count of the drive motor as a result of the calibration.
Fig. 8 is a flowchart showing the control steps of the controller for implementing the counterweight balancing operation.

Hereinafter, a medical robot base according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view of a medical robot base according to an embodiment of the present invention.

Referring to FIG. 1, the medical robot base 100 is movably supported by a front wheel 103 and a rear wheel 101, and a medical robot 210 may be mounted on the medical robot base 100.

For example, a medical robot 210 including at least one manipulator may be mounted on the medical robot base 100, and a computing unit (not shown) and a display unit (not shown) may be mounted . For example, the medical robot 210 may perform a function of cutting a bone of a patient, and may include a plurality of joint structures to implement a precision operation of a 6-DOF (degree of freedom) have.

The display unit (not shown) may acquire a video signal transmitted from a camera (not shown) mounted on the medical robot 210 to provide an image image. The display unit (not shown) And manipulator manipulation can be performed. In addition, the display unit (not shown) may output the prescription history of the patient through a wired / wireless network connected to a computing unit (not shown).

For example, the display unit (not shown) may include at least two display panels (not shown), and may include a holder (not shown) for supporting a display panel (not shown). The cradle may include a joint structure having an appropriate degree of freedom to support the display panel in a viewable position.

A pump unit (not shown) may be mounted on the medical robot base 100. The pump unit may include a fluid pump (not shown) for providing a negative pressure or a positive pressure to exert a suction function and a discharge function.

In one embodiment of the present invention, the medical robot 210 may be mounted on the medical robot base 100. An operation unit for steering and braking operations, for example, a steering wheel (not shown), a brake pedal 121, a brake release pedal, and the like may be provided behind the medical robot base 100. The rear wheel 101 may refer to a rear wheel of the medical robot base 100 on the rear side where the operation unit 121 is formed.

For example, the medical robot base 100 may be provided in the form of a three-wheeled vehicle including a pair of front wheels 103 and a rear wheel 101 for transportation of the medical robot 210. The medical robot base 100 can be applied with rear wheel steering so that it can be turned even in a place or in a narrow place. At this time, the rear wheel may be formed of one wheel so that the steering operation can be performed smoothly. This is because, when wheels for steering are formed in pairs, a differential operation is required between the inside and the outside of the turning radius according to the turning radius.

The medical robot base 100 of the present invention maintains the lifting posture in which the vehicle body is lifted from the floor while performing precise medical actions such as diagnosis, treatment, and operation. At this time, the vehicle body is supported by the leg members mounted so as to extend / retract through the lift actuator 110 instead of the wheels including the front wheel 103 and the rear wheel 101. Therefore, in order to stably support the vehicle body, 101) need not be provided in pairs.

The medical robot base 100 may include a frame 105 on which the medical robot 210 is mounted. For example, a medical robot 210 including a manipulator and a display unit (not shown) may be disposed on the frame 105, and a computing unit (not shown) and a pump unit (not shown) have. As will be described later, a plurality of configurations relating to the steering and braking of the medical robot base 100 can be accommodated in the frame 105, and a part of them can be exposed to the outside of the frame 105 for steering and braking The operation of the user relating to the user is input. For example, a steering wheel (not shown) for steering operation and a brake pedal 121 and a brake release pedal (not shown) for braking related operation may be formed on the rear side of the medical robot base 100.

There is a great need to improve the degree of freedom of movement of the medical robot 210 so that the medical treatment can be smoothly performed while moving the medical robot 210 including the manipulator or the manipulator in the left and right direction during medical operations such as diagnosis, . For example, the medical robot 210 can be moved back and forth through the wheels 101 and 103 of the robot base 100.

Fig. 2 is a view for showing the necessity of the lateral movement of the medical robot 210. Fig.

Referring to the drawings, a patient and a bed to be subjected to a medical treatment are placed in a lateral direction (arrow direction in FIG. 2) of the medical robot 210. In order to approach a treatment means such as a manipulator in a patient direction, It is necessary to move the medical robot 210 in left and right directions in a state where the medical robot 100 is fixed in position. Considering the thickness of the robot base 100 itself and the thickness of the bed, in order to approach the patient side more than the state where the robot base 100 is attached to the bed as much as possible, the medical robot 210 is moved Direction.

Figs. 3 and 4 are views for explaining a left-right sliding operation of the medical-use robot 210. Fig. 3, the medical robot 210 may be mounted on a robot mounting portion 205 formed to be long in the front-rear direction. The robot mounting portion 205 includes a sliding guide 151 (see FIG. 3) And can be moved in the left and right directions. That is, the medical robot 210 may be mounted to be movable in the left and right directions along the sliding guide 151. [

For example, the medical robot 210 may be driven under the control of a controller which senses an operator's instruction signal according to a panel operation. That is, the medical robot 210 is a motion converting mechanism for converting the rotational motion of a driving motor (not shown) into a sliding motion in the direction of the guide 151 by a driving mechanism (not shown) Lt; / RTI > For example, the driving motor (not shown) may be driven according to a control signal of the controller, and may be connected to a medical robot (not shown) connected to the driving shaft of the driving motor through a spiral coupling 210 can slide in the left and right directions on the robot base 100.

On the other hand, as the medical robot 210 is driven in the lateral direction on the robot base 100, there is a high probability that the balance of the right and left of the whole apparatus will be broken. Accordingly, the robot base 100 of the present invention includes the counterweight 130 for maintaining the balance of the weight in the left-right direction as the medical robot 210 is driven. The weight of the counterweight 130 is equivalent to that of the medical robot 210, so that the left and right balance of the entire apparatus can be maintained, and a medical operation requiring high precision can be performed under a stable support base.

3, the counterweight 130 moves to a position opposite to the medical robot 210 in order to offset the eccentricity of the weight caused by the movement of the medical robot 210, The counterweight 130 is slidably moved in the rightward direction of the counterweight 130 in response to the sliding movement S1 of the medical robot 210 in the left direction and in order to actively balance the weight in the leftward and rightward direction, The counterweight 130 is moved in the left and right direction under the control of the control unit 130. [

As shown in Fig. 4, the sliding guide 151 of the medical robot 210 can be formed on the frame 105. Fig. For example, the sliding guide 151 may be formed on the upper plate 105U of the frame 105. [ The counterweight 130 and the weight guide 152 for guiding the movement of the counterweight 130 may be formed on the lower plate 105L of the frame 105. [ That is, the counterweight 130 and the weight guide 152 may be formed inside the frame 105, and more specifically, the counterweight 130 and the weight guide 152 may be integrally formed by a side wall And may be disposed in the inner space of the frame 105.

Figs. 4 and 5 show an exploded perspective view showing main components for implementing a balancing operation.

Referring to the drawings, a medical robot base 100 includes a counterweight 130, a weight guide 152 for supporting a sliding motion of the counterweight 130, a drive unit 130 for driving the counterweight 130, A motor 141 and a motion converting mechanism 145 for converting the rotational motion of the driving motor 141 into linear motion in the weight guide direction.

The weight guide 152 supports the left and right sliding movement of the counterweight 130 to define a motion locus and may extend in the same direction as the sliding guide 151 of the medical robot 121. The counterweight 130 moves in a side-by-side direction opposite to the medical robot 121 to perform a balance operation to maintain the entire weight balance.

The weight guide 152 can extend approximately the same width from the center position of the robot base 100 in the lateral direction. The left and right widths of the weight guide 152 can define the maximum displacement of the counterweight 130. Hereinafter, one end is referred to as a first limit position and the other end is referred to as a second limit position along the movement locus of the counterweight 130. The center of the first and second limit positions is referred to as a center position. For example, the first restriction position may refer to a position corresponding to the maximum displacement to the right, and the second restriction position may refer to a position corresponding to the maximum displacement to the left.

A rail mounting portion 131 may be provided between the weight guide 152 and the counterweight 130. The counterweight 130 may be integrally coupled to the rail mounting portion 131, The sliding movement in the left and right direction can be performed while being guided by the weight guide 152. [

The drive motor 141 is controlled by a controller and operates in accordance with a control signal received from the controller. The controller controls the driving motor 141 to control the movement of the counterweight 130. For example, a stepping motor may be used as the driving motor 141. The driving motor 141 may be provided with an encoder (not shown) for detecting the rotational position of the motor. The rotational position of the motor may be detected according to the number of pulses output from the encoder. That is, the controller counts the number of pulses output from the drive motor 141, thereby determining the rotational position of the drive motor 141. [ Hereinafter, any type of rotational position information output from the driving motor 141 will be referred to as a count. That is, the counting of the driving motor 141 includes any information for indicating the rotational position of the driving motor 141 as well as the number of pulses outputted from the encoder (not shown) of the driving motor 141 .

The correspondence in which the count of the drive motor 141 and the position of the counterweight 130 are mutually mapped can be stored in a memory (not shown). For example, the memory (not shown) may be provided in a flash memory, and the once-stored correspondence may be maintained regardless of whether the power is turned off. In another embodiment of the present invention, the memory (not shown) can only maintain the memory function while the power is being maintained. As described later, the calibration is performed only once at the initial stage of the driving without requiring calibration every time the power is applied, which calculates a corresponding relationship in which the count of the driving motor 141 and the position of the counter weight 130 are mapped to each other. It is possible to make a difference between whether the movement of the counterweight 130 is controlled according to the pre-stored correspondence relationship or whether the calibration is performed at every power-on.

For example, when it is necessary to move the counterweight 130 to a specific position in order to balance the weight, the controller inquires the memory and counts the number of driving motors 141 corresponding to the target position of the counterweight 130 . More specifically, the controller sets the first limit position as a reference point, counts the maximum-count from the reference point to the opposite second limit position, and then stores the maximum-count in the memory. Then, a count for reaching the target position can be calculated based on the maximum-count information stored in the memory in the future. For example, to move to the center position, the drive motor may be operated from the reference point to a count corresponding to the maximum-count / 2. The maximum-count up to the second limit position with the first limit position as a reference point may be determined through calibration at the beginning of the drive, and such calibration may be performed each time the drive is performed.

The motion converting mechanism 145 converts the rotational motion of the driving motor 141 into a linear sliding motion of the counterweight 130. More specifically, the motion converting mechanism 145 includes a ball screw 1451 that is coaxially and power-connected to the driving motor 141, a starter 1452 that performs a sliding motion by screwing the ball screw 1451, . ≪ / RTI > For example, the activation portion 1452 may be coupled to the lower surface of the counterweight 130 to provide a mobile power for sliding.

First and second position sensors 181 and 182 for detecting the first and second limit positions of the counterweight 130 may be disposed on the robot base 100. The first and second position sensors 181 and 182 may be disposed at first and second limit positions, respectively, to detect whether the counterweight 130 reaches the first and second limit positions along the movement trajectory .

For example, the position sensors 181 and 182 may be provided as optical sensors, and may include a pair of light emitting diodes and light receiving sensors. For example, the pair of light emitting diodes and light receiving sensors may be disposed opposite to each other in a direction intersecting with the movement trajectory of the counterweight 130. The current counterweight 130 reaches the first limit position or the second limit position depending on whether the light emitted from the light emitting diode is sensed by the light receiving sensor or blocked or blocked by the counterweight 130 Can be detected.

One side of the counterweight 130 may include a detection unit 135 for capturing a counterweight by the position sensor. The position sensors 181 and 182 can recognize the arrival of the counterweight 130 by capturing the detection unit 135 moving integrally with the counterweight 130. [ For example, the detection unit 135 may be formed in the form of a thin plate formed so as to pass between the light emitting diode of the position sensors 181 and 182 and the light receiving sensor.

6 is a flow chart illustrating a series of control steps performed by a controller for a calibration operation. Hereinafter, the calibration for setting the correspondence between the position of the counterweight 130 and the count of the drive motor 141 will be described with reference to the drawings.

First, the controller moves the counterweight 130 to the right according to the panel operation (S11). Then, the drive motor 141 is initialized when the counterweight 130 reaches the first limit position along the movement locus. For example, the count of the drive motor 141 is set to zero by initializing the drive motor 141, and the first limit position is set as the reference point (S12, S13). The time when the counterweight 130 reaches the first limit position can be confirmed by analyzing the detection signal output from the first position sensor.

Next, the controller moves the counterweight 130 to the left (S14). Then, the count at the time when the counter weight 130 reaches the second limit position along the movement trajectory is stored in the memory as a maximum-count (S15, S16). Here, the count is increased as the counterweight 130 moves from the first restricting position to the second restricting position, and the count at the time when the counterweight 130 reaches the second restricting position is stored as the maximum-count (S17). The time when the counterweight reaches the second limit position can be confirmed by analyzing the detection signal output from the second position sensor.

Next, the controller moves the counter weight 130 to the right again (S18). Then, the count information of the drive motor 141 is obtained in real time, and the operation of the drive motor 141 is stopped at the time when the count of the drive motor 141 reaches the maximum-count / 2 (S19). This operation is for positioning the count weight 130 at the center position of the movement locus. When the counterweight 130 is half the maximum-count from the first limit position to the second limit position, It is time to reach the position.

7 is a diagram showing the correspondence between the position of the counterweight 130 and the count of the drive motor 141 as a result of the calibration. Referring to the drawings, a motion locus along the left-right direction of the counterweight 130 between the first restriction position of the rightmost position and the second restriction position of the leftmost position can be defined. The center point between the first restriction position and the second restriction position may be defined as a center position. As described above, the first and second position sensors 181 and 182 are disposed at the first and second limit positions to capture the counterweight 130 that reaches the first and second limit positions, respectively. have.

Through the above-described calibration, the first limit position can be set as a reference point, at which time the count of the drive motor can correspond to zero (0). And, the second restricting position may correspond to the maximum displacement of the counterweight 130 from the first restricting position, which is the reference position, as a position which is far from the first restricting position. The second limit position may correspond to the maximum-count of the drive motor 141. [ And, the center position may correspond to half of the maximum-count. The first limit position, the center position, and the second limit position of the counterweight 130 are thus mapped to the count of the drive motor 141 and are set to zero (0), half of the maximum-count, Respectively.

8 is a flow chart showing control steps of the controller for implementing the balanced operation of the counterweight 130. Fig.

Referring to the drawing, according to the lateral movement of the medical robot 210, the controller can move the counterweight 130 to the right first limited position, the left second limited position, and the middle central position. Of course, the balance operation of the counterweight 130 is intended to offset the eccentricity of the weight due to the lateral movement of the medical robot 210, and is moved opposite to the moving direction of the medical robot 210.

First, the controller calculates the target position of the counterweight according to the sliding movement of the medical robot (S20). In order to move the counterweight 130 to the first limit position in accordance with the controller's judgment, the controller may operate the drive motor 141 until the count of the drive motor 141 becomes zero S21 to S24). In order to move the counterweight 130 to the center position in accordance with the judgment of the controller, the controller may operate the drive motor until the count of the drive motor 141 reaches the maximum-count / 2 (S31 to S34) .

On the other hand, in order to move the counterweight to the second limit position in accordance with the judgment of the controller, the controller may operate the drive motor until the count of the drive motor reaches the maximum-count (S41 to S44).

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: medical robot base 101: rear wheel
103: front wheel 105: frame
105U: upper plate of frame 105L: lower plate of frame
110: Lift actuator 121: Brake pedal
130: Counterweight 131: Rail mounting portion
135: Tested part 141: Driving motor
145: Motion converting mechanism 1451: Ball screw
1452: activation section 151: sliding guide
152: weight guide 181: first position sensor
182: second position sensor 205: robot mounting part
210: Medical Robot

Claims (14)

A medical robot base which is supported movably by front wheels and rear wheels, and on which a medical robot is mounted,
A sliding guide for slidably supporting the medical robot in a left-right direction; And
A counterweight moving in a left and right direction opposite to a sliding motion of the medical robot to cancel a weight eccentricity caused by a sliding movement of the medical robot;
A weight guide for supporting a sliding movement of the counterweight; And
And a drive motor for driving the counterweight and driven under the control of the controller,
Wherein the sliding guide is provided on a frame on which the medical robot is mounted,
Wherein the counterweight and the weight guide are installed inside the frame. The method according to claim 1,
Further comprising a motion converting mechanism for converting a rotational motion of the driving motor into a sliding motion of the counterweight. 3. The method of claim 2,
Wherein the motion converting mechanism comprises:
A ball screw being coaxially and power-connected to the drive motor; And
And a starter unit screwed to the ball screw to perform a sliding movement integrally with the counterweight. delete The method according to claim 1,
Wherein the sliding guide and the weight guide extend in a direction parallel to each other. The method according to claim 1,
Further comprising a first position sensor and a second position sensor for capturing the counterweight at a first limit position at one end corresponding to the maximum displacement along the motion locus of the counterweight and at a second limit position at the opposite opposite end Medical robot base that features. The method according to claim 6,
Wherein the first and second position sensors are provided with optical sensors for detecting that the counterweight has reached the first limit position or the second limit position according to whether the irradiation light is blocked. The method according to claim 1,
Wherein the driving motor outputs a count indicating a rotational position of the rotating body. 9. The method of claim 8,
The controller comprising:
According to the sliding drive of the medical robot,
A memory storing a corresponding relationship between a target position of the counterweight and a count of the drive motor is inquired,
And the drive motor is operated until a count of the drive motor corresponding to the target position of the counterweight is outputted. 10. The method of claim 9,
The controller comprising:
According to the operator's instruction signal in accordance with the panel operation,
The medical robot base is moved to the leftmost position, the rightmost position, or the center position,
And the counterweight is moved to the first restricting position, the second restricting position, or the center position. 11. The method of claim 10,
The controller comprising:
Counting a memory in which the maximum-count of the drive motor is stored up to the second limit position, with reference to the first limit position,
The drive motor is operated until the count of the drive motor is zero to move the counterweight to the first limit position,
The driving motor is operated until the count of the driving motor becomes half of the maximum-count to move the counterweight to the central position,
Wherein the drive motor is operated until the count of the drive motor becomes the maximum-count, and the counterweight is moved to the second limit position. 12. The method of claim 11,
The maximum-
Wherein the calculation is performed through calibration at the beginning of the driving of the medical robot or the medical robot base. 12. The method of claim 11,
The maximum-
Wherein the at least one of the medical robot and the medical robot base is calibrated at every power-on of the medical robot or the medical robot base. The method according to claim 12 or 13,
In this calibration,
The controller comprising:
The counter is initialized by setting the count to zero at the time point when the counterweight reaches a first limit position along the movement trajectory,
The count is set to the maximum-count at the time when the counterweight reaches the second limit position of the other end along the movement locus,
Wherein the maximum-count is stored in a memory.

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