MASTER ROBOT FOR SURGERY ROBOT SYSTEM

摘要

The present invention relates to a master robot for a surgical robot system capable of preventing the structural complexity and an increase of weight and inertia by forming a haptic actuator and an encoder for providing a haptic function separately from a handling unit. A master robot for a surgical robot system according to the present invention includes a handling unit including a base; a rotation operation unit which is installed on the base around a plurality of axes and rotated by the manipulation of an operator; and a plurality of driving pulleys rotated with the rotation operation unit. Also, the present invention includes a control unit including a mount frame configured separately from the handling unit; a plurality of driven pulleys which is installed on the mount frame to be rotated, is connected to the driving pulleys by a cable and rotated by the rotation of the driving pulleys; a plurality of encoders which is installed to be coaxially connected to the driven pulleys respectively on the mount frame; and a plurality of haptic actuators which is installed to be coaxially connected to the driven pulleys on the mount frame.