수술로봇의 수술도구 구동 토크 측정을 위한 관절 설계

Abstract

This paper proposes a design of the joint which not only conveys the driving torque to surgical robot instruments but also measures it in a surgical slave robot for a haptic teleoperation system. This design allows to identify the transmission loss between the actuators and the joints which are connected with wires. This design also enables us to estimate the interaction forces. By using the proposed design, the joint induce oneaxis bending strains once the driving torque is applied. Results of dynamic simulation show validity of the proposed design.