| 摘要 |
<p>The present invention relates to a master robot for a surgery robot system, in which a haptic actuator for a haptic function and an encoder are separated from a handling unit. The master robot includes the following parts: a handling unit having a base, a roll rotating member rotated about a roll axis parallel to the base, a pitch rotating member rotated about a pitch axis perpendicular to the roll axis of the roll rotating member, an L-shape handle having one end installed at the pitch rotating member vertically to the ground in such a manner that the L-shape handle can be rotated left and right about a yaw axis that intersects with the roll axis and the pitch axis at one point and a user can rotate the L-shape handle by griping the L-shape handle using a hand, and a plurality of driving pulleys individually coupled to the roll rotating member, the pitch rotating member, the handle and a fingertip to rotate together with the roll rotating member, the pitch rotating member, the handle and the fingertip; and a control unit having a mount frame separated from the handling unit, a plurality of driven pulleys connected to driving pulleys of the handling unit through a cable and rotated as the driving pulleys are rotated, and a plurality of haptic actuators connected to mount frame coaxially with the driven pulleys.</p> |
