MASTER GRIPPER STRUCTURE FOR SURGICAL ROBOT

摘要

Disclosed is a master gripper structure for a surgical robot. A gripper structure, which is furnished on the master handle of a surgical robot and receives the input of grip manipulations by a user, comprises: a rod-shaped handle member which is connected to a master handle so as to be rotatable around the lengthwise axis thereof; a grip section, which contracts toward the outer peripheral surface of the handle member in response to grip manipulation by a user, and which is radially arranged along the outer peripheral surface of the handle member, and thus can maintain the same state in which grip manipulation by a user can be received, regardless of the extent to which the handle member is rotated; and a sensing unit which senses information corresponding to the extent of the contraction of the grip section due to the grip manipulation by a user, and outputs a sensing signal. The gripper structure has a grip section radially arranged on the outer peripheral section of a handle member, with structures such as an umbrella structure, an umbrella rib structure, a steamer structure, or the structure in which sensors are installed, thus a user can always perform grip manipulations in the same state, regardless of the degree to which the handle member is rotated, i.e. the rotational angle of the handle member.