Handheld robot for orthopedic surgery and control method thereof
AssigneesNational Taiwan University, Taipei Tzu Chi Hospital, Buddhist Tzu Chi Medical Foundation
InventorsPing-Lang Yen, Shuo-Suei Hung
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Abstract
The present invention provides a handheld robot for orthopedic surgery and a control method thereof. The handheld robot of the present invention includes a main body, a grip, a kinematic mechanism, a tool connector, a tool, a force sensor and a positioning unit. The handheld robot of the present invention combines the position/orientation information of the tool acquired by the positioning unit with the force/torque information acquired by the force sensor, and utilizes the combined information to adjust the position of the tool so as to keep the tool within the range/path of a predetermined operation plan. In this way, the precision of the orthopedic surgery can be enhanced, and the error occurred during the surgery can be minimized.
Claims13
A handheld robot for orthopedic surgery, comprising:
- a main body;
- a grip, connected to the main body;
- a kinematic mechanism connected to the main body;
- a tool connector connected to the kinematic mechanism;
- a tool connected to the tool connector;
- and
- a force sensor configured to measure a deviation force, a deviation torque, or a combination thereof that deviates the tool from a predetermined range, a predetermined path or a combination thereof, wherein the kinematic mechanism is capable to adjust at least one of the position and the orientation of the tool based on the measured deviation force, the measured deviation torque, or the combination thereof;
- and
- a controller programmed to receive an operation plan with the predetermined range, the predetermined path, or the combination thereof, control the force sensor to measure the deviation force, the deviation torque, or the combination thereof and control the kinematic mechanism to adjust at least one of the position and the orientation of the tool based on the measured deviation force, the measured deviation torque, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.
Dependencies are inferred from the claim text.