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6 DEGREE OF FREEDOM MASTER DEVICE FOR NEEDLE INSERTION-TYPE INTERVENTIONAL ROBOTIC SYSTEM
6 DEGREE OF FREEDOM MASTER DEVICE FOR NEEDLE INSERTION-TYPE INTERVENTIONAL ROBOTIC SYSTEM
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机译:针插入式介入机器人系统的6种自由度
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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.
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