MASTER ARM STRUCTURE FOR SURGICAL ROBOT, AND CONTROL METHOD FOR MASTER SURGICAL ROBOT

摘要

Disclosed are a master arm structure for a surgical robot and a control method for a master surgical robot. A master arm structure, provided to a master surgical robot, comprises: a handle which is manipulated by a user; an arm section, which connects the master robot and the handle, is formed from a structure in which a plurality of arm members are connected by means joints, and enables positioning of the handle due to the rotation of the arm members relative to the joints as a result of a user manipulating the handle; brakes, which are installed on the joints, and which operate so as to restrict the rotation of the arm members; a sensor unit which acquires information about the manipulation of the handle and/or the operation of the arm section; and a control unit which uses the information acquired from the sensor unit to control the operation of the brakes. After the operational state of the master arm has been detected, the master arm structure for a surgical robot operates the brakes installed on each of the joints and restricts the operation of the arm, thus the master arm structure can be simplified and the overall volume thereof can be reduced, whilst a user still receives haptic feedback during the master arm manipulation process.