MASTER DEVICE FOR SURGICAL ROBOT AND CONTROL METHOD THEREOF

摘要

Disclosed are a master device for a surgical robot, which is capable of generating motion of a stable robot-type surgical instrument by guiding hand motion of an operator, and a control method thereof. A master device for a surgical robot comprises: a handle unit including at least one multi-joint robot finger, so as to control a robot-type surgical instrument arranged on a robot arm of a slave device; and a micromotion generation unit for generating a control signal for controlling so as to enable an end of at least one multi-joint robot finger to move along the previously defined virtual locus.