6 DEGREE OF FREEDOM MASTER DEVICE FOR NEEDLE INSERTION-TYPE INTERVENTIONAL ROBOTIC SYSTEM

摘要

The present invention relates to a six degree-of-freedom master device for a needle insertion-type remote interventional robotic system and, more specifically, to a six degree-of-freedom master device for delivering a command of a doctor for movement to a slave robot, and delivering feedback information measured in the slave robot to the doctor in a needle insertion-type remote interventional robotic system. The six degree-of-freedom master device for a needle insertion-type remote interventional robotic system receives input of six degree-of-freedom of three degree-of-freedom rotation and three degree-of-freedom translation, and outputs a five degree-of-freedom reaction except for rotation in the roll direction.