Surgical robot device and load compensation method for surgical robot device

Abstract

The present invention provides a surgical robot device and a load compensation method for the surgical robot device. The present invention includes: a base column; a mechanical arm unit, the mechanical arm unit having a plurality of arms; a connector unit, the connector unit connecting the mechanical arm unit and the base column and moving along the height direction of the base column; a load compensation unit, the load compensation unit having a constant load spring and a motor, connected to the connector unit, and providing a compensation force to the connector unit to compensate for a constant load of at least one of the mechanical arm unit and the connector unit; and a controller, the controller adjusting the torque of the motor according to the height of the connector unit.

Description

Technical Field

[0001] The invention relates to a surgical robot device and a load compensation method for the surgical robot device. Background Art

[0002] A surgical robot is a robot that can replace a surgeon's surgical actions. The advantages of this type of surgical robot are that it can perform more accurate and precise movements than humans and can perform remote surgery. Currently, surgical robots being developed around the world include bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots.

[0003] A surgical robot apparatus generally includes a master console and a slave robot. When an operator operates a joystick (eg, a handle) provided on the master console, a robot arm coupled to the slave robot or an instrument held by the robot arm is operated to perform surgery.

[0004] The aforementioned background technology is technical information that the inventor has retained in order to derive the present invention or obtained in the process of deriving the present invention. It cannot be said that it must be the known technology that has been disclosed to the general public before the application of the present invention. Summary of the invention

[0005] Technical issues

[0006] The present invention aims to provide a surgical robot device and a load compensation method for the surgical robot device, which can simply and quickly compensate the load of a robot arm structure to improve safety.

[0007] Technical Solution

[0008] One aspect of the present invention provides a surgical robot device, comprising: a base column; a robotic arm unit having multiple arms; a connector unit, which connects the robotic arm unit and the base column and moves along the height direction of the base column; and a load compensation unit, which is connected to the connector unit and applies a compensation force to the connector unit to compensate for the constant load of at least one of the robotic arm unit and the connector unit.

[0009] Another aspect of the present invention provides a surgical robot device, comprising: a base column; a robotic arm unit having multiple arms; a connector unit connecting the robotic arm unit and the base column and moving along the height direction of the base column; a load compensation unit having a constant load spring and a motor, connected to the connector unit, and providing a compensation force to the connector unit to compensate for the constant load of at least one of the robotic arm unit and the connector unit; and a controller, which adjusts the torque of the motor according to the height of the connector unit.

[0010] Another aspect of the present invention provides a surgical robot device, comprising: a base column; a robotic arm unit having multiple arms; a connector unit, which connects the robotic arm unit and the base column and moves along the height direction of the base column; a load compensation unit, which has a constant load spring and a motor, is connected to the connector unit, and provides a compensation force to the connector unit to compensate for the constant load of at least one of the robotic arm unit and the connector unit; and a controller, which calculates first data about the magnitude and direction of the torque generated by the motor according to the height of the connector unit, so that the load compensation unit provides a constant compensation force.

[0011] Another aspect of the present invention provides a load compensation method for a surgical robot device, wherein the surgical robot device is equipped with a load compensation unit having a constant load spring and a motor, the load compensation method for the surgical robot device comprising: a step of measuring a first height of a robotic arm unit installed on a base column; a step of measuring the magnitude and direction of the torque required to be generated by the motor at the first height so that the load compensation unit provides a preset compensation force; a step of measuring a second height of the robotic arm unit installed on the base column; a step of measuring the magnitude and direction of the torque required to be generated by the motor of the load compensation unit at the second height so that the load compensation unit provides a preset compensation force; a step of storing data on the torque of the motor measured at the first height and the second height as first data in a data storage unit; and a step of adjusting the magnitude and direction of the torque of the motor according to the height of the robotic arm unit by a controller based on the data stored in the data storage unit if the robotic arm unit moves on the base column.

[0012] Effects of the Invention

[0013] The surgical robot device and the load compensation method of the surgical robot device according to the present invention can compensate the load and improve the safety of the overall device. The load compensation unit provides a constant compensation force to the connector, thereby preventing the surgical robot device from tilting to one side during operation and performing the operation safely.

[0014] The surgical robot device and the load compensation method of the surgical robot device according to the present invention can simply control the output of the load compensation unit. The controller can infer the data required to be output by the first motor in the entire interval based on the data required to be output by the first motor at the heights of multiple locations, and simply and quickly calculate and infer the output of the first motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a top view showing a surgical robot system including a surgical robot apparatus according to an embodiment of the present invention.

[0016] Figure 2 It is shown Figure 1 Figure 1. A diagram of a surgical robotic device.

[0017] Figure 3 It is shown Figure 2 A perspective view of a load compensation unit.

[0018] Figure 4 It is shown Figure 3 A cross-sectional view showing the assembly relationship between the drive pulley and the steel cable.

[0019] Figure 5 and Figure 6 It is shown Figure 2 A block diagram of a portion of a surgical robot apparatus.

[0020] Figure 7 It is shown Figure 3 A diagram of the compensation forces generated by the load compensation unit.

[0021] Figures 8 to 10 is a sequence diagram illustrating a load compensation method of a surgical robot apparatus according to another embodiment of the present invention.

[0022] Fig.11 yes Figure 2 A modified example of a surgical robot device.

[0023] Fig.12 FIG. 1 is a diagram showing a surgical robot apparatus according to another embodiment of the present invention.

[0024] Fig.13 It is shown Fig.12 FIG. 1 is a diagram of a modified example of a surgical robot apparatus.

[0025] Fig.14 It is shown Fig.12 FIG. 2 is a diagram of another variation of the surgical robot apparatus.

[0026] Reference numerals

[0027] 50: Controller

[0028] 60: Data storage department

[0029] 100: Surgical Robotic Device

[0030] 110: Main body

[0031] 120: Base column

[0032] 130: Robotic arm unit

[0033] 140: Connector unit

[0034] 150: Load compensation unit DETAILED DESCRIPTION

[0035] The present invention can be subjected to a variety of transformations and can have various embodiments. Specific embodiments will be exemplarily shown in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, and it should be understood that it includes all transformations, equivalents and substitutes included in the concept and technical scope of the present invention. When describing the present invention, even if it is shown in different embodiments, the same reference numerals are used for the same constituent elements.

[0036] The terms "first", "second", etc. can be used to describe a variety of components, but the components should not be limited by the terms. The terms are only used to distinguish one component from another.

[0037] The terms used in this application are only used to illustrate specific embodiments and are not intended to limit the present invention. In this application, the terms "including" or "having" should be understood to specify the features, numbers, steps, actions, constituent elements, parts or their combinations recorded in the specification, and do not preclude the possibility of the existence or addition of one or more other features or numbers, steps, actions, constituent elements, parts or their combinations.

[0038] The present invention will be described in detail below with reference to the relevant embodiments of the present invention shown in the accompanying drawings.

[0039] The surgical robot device can be applied to a variety of industrially available robots. It can be applied to various forms of robot devices and robot systems, for example, it can be applied to industrial robots, medical robots, mobile robots, etc. That is, the surgical robot device of the present invention is not limited to a specific form, location or use, and can be applied to various structures connecting multiple connecting rods or arms. However, for the sake of convenience, the following mainly describes the case where it is installed on a mobile robot.

[0040] Figure 1 1 is a top view showing a surgical robot system 1 including a surgical robot apparatus according to an embodiment of the present invention.

[0041] Reference Figure 1 The surgical robot system 1 includes a surgical robot device 10 for performing surgery on a patient S lying on an operating table 2, and a main console 20 for allowing an operator O to remotely operate the surgical robot device 10. In addition, the surgical robot system 1 may include an imaging trolley 30. The assistant A can check the progress of the surgery through the display unit 35 of the imaging trolley 30.

[0042] The surgical robot device 10 may include one or more robot arm units 11. Generally speaking, a robot arm refers to a device that has functions similar to those of a human arm and / or wrist and can attach a predetermined tool to the wrist. In this specification, the so-called robot arm unit 11 can be defined as a concept that includes all components such as an upper arm, a lower arm, a wrist, an elbow, and surgical instruments attached to the wrist. The robot arm unit 11 of the surgical robot device 10 can be embodied as having multiple degrees of freedom and can be driven.

[0043] The robot arm unit 11 may include, for example, a surgical instrument 12 inserted into the surgical site of the patient S, a rocking drive unit that rotates the surgical instrument 12 in a yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in a pitch direction orthogonal to the rotation drive of the rocking drive unit, a transfer drive unit that moves the surgical instrument 12 in a longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit installed at the end of the surgical instrument 12 and cuts or amputates the surgical lesion. However, the structure of the robot arm unit 11 is not limited to this, and it should be understood that this example does not limit the scope of rights of the present invention. Among them, the specific description of the actual control process of the robot arm unit 11 rotating and moving in the corresponding direction by the operator O operating the operating lever is omitted.

[0044] The surgical robot device 10 may utilize more than one surgical instrument 12 for performing surgery on the patient S, and the surgical instrument 12 for displaying the surgical site as an image through the display unit 35 may also be embodied as an independent surgical robot device 10. In addition, as described above, the embodiment of the present invention can be generally used for surgeries using various surgical endoscopes (e.g., thoracoscopes, arthroscopes, rhinoscopes, etc.) other than laparoscopes.

[0045] The main console 20 and the surgical robot 10 do not necessarily need to be separated as physically independent devices, but may be integrated into one. However, for ease of description, the following mainly describes a case where the main console 20 and the surgical robot 10 are physically separated.

[0046] The main console 20 includes an operation lever (not shown) and a display member (not shown). In addition, the main console 20 may be further provided with an external display device 25 capable of displaying the state of the operator O on the outside.

[0047] In detail, the main console 20 is provided with an operating rod (not shown) so that the operator O can hold and operate with both hands. The operating rod can be embodied in two or more handles, and the operation signal generated by the operator O operating the handle is transmitted to the surgical robot device 10 through a wired or wireless communication network, and the robot arm unit 11 is controlled. That is, the operator O can perform surgical actions such as displacement, rotation, and cutting of the robot arm unit 11 by operating the handle.

[0048] For example, the operator O can use a joystick in the form of a handle to operate the robot arm unit 11 or the surgical instrument 12. Such a joystick can have various mechanical structures according to its operation mode, such as a main handle for operating the robot arm unit 11 or the surgical instrument 12, and various input tools such as a joystick, a keypad, a trackball, and a touch screen attached to the main console 20 for operating the overall system function, which can be equipped in various forms for operating the robot arm unit 11 and / or other surgical equipment of the surgical robot device 10. Among them, the joystick is not limited to the shape of a handle, and can be applied without any restrictions as long as it is a form that can control the movement of the robot arm unit 11 through a network such as a wired or wireless communication network.

[0049] The image captured by the surgical instrument 12 is displayed as an image on the display means of the main console 20. In addition, a predetermined virtual operation panel may be displayed together with the image captured by the surgical instrument 12 or independently on the display means.

[0050] The display component can be equipped in various forms so that the operator O can check the image. For example, a display device can be installed corresponding to both eyes of the operator O. As another example, it can be composed of more than one display, and the information required for surgery can be displayed individually on each display. The number of display components can be variously determined according to the type or kind of information to be displayed. The main console 20 will be described in more detail below.

[0051] The image cart 30 is installed separately from the surgical robot device 10 or the main console 20, and the progress of the operation can be confirmed externally through the display unit 35. The image displayed on the display unit 35 can be the same as the image displayed on the main console 20 of the operator O. The assistant A can assist the surgical operation of the operator O while confirming the image on the display unit 35. For example, the assistant A can replace the surgical instrument 12 in the instrument cart 3 according to the progress of the operation.

[0052] The central control unit 40 is connected to the surgical robot 10, the main console 20 and the imaging trolley 30, and can send and receive signals from each of them. The central control unit 40 can be installed in any one of the surgical robot 10, the main console 20 and the imaging trolley 30 or installed independently.

[0053] Figure 2 It is shown Figure 1 Figure 1. A diagram of a surgical robotic device.

[0054] Reference Figure 2 The surgical robot device 100 may include a main body 110, a base column 120, a robot arm unit 130, a connector unit 140, and a load compensation unit 150. The surgical robot device 100 may be applied to Figure 1 A surgical robot device 10.

[0055] The present invention provides a surgical robot device, which includes: a base column; a robotic arm unit, which has multiple arms; a connector unit, which connects the robotic arm unit and the base column and moves along the height direction of the base column; and a load compensation unit, which is connected to the connector unit and applies a compensation force to the connector unit to compensate for the constant load of at least one of the robotic arm unit and the connector unit.

[0056] In addition, a surgical robot apparatus is provided, wherein the load compensation unit includes a wire cable connected to the connector unit, a constant load spring connected to the wire cable, and a first motor around which the portion of the wire cable is wound.

[0057] Additionally, the first motor may generate torque in a positive or negative direction to adjust the spring force deviation of the constant load spring.

[0058] In addition, the sum of the elastic force of the constant load spring and the torque of the first motor may be kept constant.

[0059] In addition, the load compensation unit may further include a drive pulley, which is attached to the rotating shaft of the first motor and has a guide groove for inserting the wire rope on its outer peripheral surface.

[0060] In addition, the constant load spring and the first motor may be installed separately.

[0061] In addition, it may also include: a data storage unit, which stores data about the size and direction of the torque generated by the first motor according to the height of the connector unit; a first sensor unit, which measures the height of the connector unit; and a controller, which connects an electrical signal related to the size and direction of the torque to be generated by the first motor to the first motor based on the height of the connector unit measured by the first sensor unit and the data pre-stored in the data storage unit.

[0062] In addition, the load compensation unit may include a wire rope connected to the connector unit, a constant load spring connected to the wire rope, and a second motor mounted on the connector unit to move the connector unit together.

[0063] In addition, the second motor may be connected to a guide member extending in a height direction of the base column.

[0064] In addition, the second motor outputs torque to adjust the height of the connector unit, and the torque can be adjusted in a positive or negative direction to adjust the elastic force deviation of the constant load spring.

[0065] In addition, a counterweight unit installed on the connector unit may also be included.

[0066] The main body 110 may be disposed at the lower side of the surgical robot apparatus 100 . The main body 110 may form a basic frame of the surgical robot apparatus 100 , and may support the base column 120 .

[0067] As an embodiment, the main body 110 may be fixedly mounted on the ground or an external structure, etc. As another embodiment, the main body 110 may be provided with a moving member (not shown) such as a wheel at the bottom, and may be moved by the operator O or the assistant A.

[0068] The base column 120 is connected to the main body 110 and can extend in the height direction. The base column 120 is equipped with a mechanical arm unit 130, and a driving unit (not shown) can be installed to move the mechanical arm unit 130 in the height direction. The number of the base columns 120 is not limited to a specific number, and at least one base column 120 can be configured on the main body 110.

[0069] A robot arm unit 130 may be installed on the base column 120. The accompanying drawings show an example in which one robot arm unit 130 is installed on the base column 120, but the present invention is not limited thereto, and a plurality of robot arm units 130 may be installed. For example, a robot arm unit 130 may be installed on each side of the base column 120. In addition, at least a plurality of robot arm units 130 may be installed according to the height of the base column 120.

[0070] The robot arm unit 130 may include a plurality of joints and an arm or a link connecting the joints.

[0071] The surgical robot device 10 can be divided into a passive area (PA) and an active area (AA). In the robot arm unit 130, a part can be defined as the passive area PA, and another part can be defined as the active area AA. The passive arm can be installed in the passive area PA, and the active arm can be installed in the active area AA.

[0072] The passive area PA and the active area AA are distinguished according to the area driven by the surgical robot system 1 during the operation. In detail, a passive arm is installed in the passive area PA, and only the passive arm is driven before the operation, and the active arm is not driven at this time. The passive area PA is the area where the position of the surgical robot system 1 is set before performing the operation, and the operator O or the assistant A can drive the passive arm to set the position of the active arm.

[0073] The active area AA is equipped with an active arm. During the operation, only the active arm is driven. The surgical instrument 12 can have multiple degrees of freedom to perform the operation. At this time, the passive arm is not driven. That is, the active area AA is the part that is driven during the operation. The operator O can operate the main console to drive the surgical instrument 12. At this time, the surgical instrument 12 can perform yaw motion, pitch motion, and roll motion while maintaining a state fixed at a preset RCM (Remote Center of Motion) point.

[0074] The passive arm consists of multiple joints and arms or links connecting these joints. Each joint performs rotational or linear motion, and the overall movement of the passive arm is generated through this motion. The joints can have actuators, reducers, sensors, brakes, counterbalances, etc.

[0075] The driver mainly uses an electric motor, which may include a BDC (brushed DC) motor, a BLDC (brushless DC) motor, an AC (alternating current) motor, etc. The reducer may be embodied in a gear like a harmonic drive, a planetary gear, etc. The sensor may use an encoder, a resolver, etc. for measuring joint movement, and may include a force / torque sensor for measuring the force or torque acting on the connecting rod connected to each joint. The brake is a device that limits the movement of the joint, with solenoids and springs as the main components, and may include all forms connected to the driver to limit the movement of the driver, connected to the connecting rod to limit the movement of the connecting rod, or both of the above forms. The balance block is a device that compensates for the weight of the robot arm, providing a force that can offset the weight of the robot arm in a static state.

[0076] The active arm is equipped with a surgical instrument 12 or an endoscope (not shown) at the end, and the joints of the active arm are driven during surgery, so that the surgical instrument 12 or the endoscope can move in the patient's body. The active arm includes multiple joints and arms (Arm) or links connecting these joints. Each joint performs rotational motion or linear (prismatic motion), and the overall movement of the active arm 120 is generated through this motion. The joints can have a driver (actuator), a reducer, a sensor, a brake (brake), a counterbalance (counterbalance), etc. The structure of each joint can be substantially the same as the joints of the aforementioned passive arm, but the configuration is different.

[0077] The connector unit 140 may connect the robot arm unit 130 and the base column 120 , and move along a height direction of the base column 120 .

[0078] The robot unit 130 may be supported by the connector unit 140. In the drawings, one robot unit 130 is shown installed on the connector unit 140, but it is not limited thereto, and a plurality of robot units 130 may be installed. However, for the sake of convenience, the following mainly describes an embodiment in which one robot unit 130 is installed on the connector unit 140.

[0079] The connector unit 140 may be equipped with a weight member 145. A weight member 145 having a preset weight may be installed on one side of the connector unit 140 to improve the stability of the robot arm unit 130. The weight member 145 is installed on the connector unit 140 to prevent the robot arm unit 130 having a considerable weight from tilting to one side, and the surgical robot device 100 can stably drive the robot arm unit 130.

[0080] The connector unit 140 can move linearly along the guide member 125 of the base column 120. The connector unit 140 can be connected to the base column 120 through a mechanical drive mechanism. For example, a pulley, the connector unit 140 can be connected to the base column 120 through a transmission mechanism such as a gear, a chain, or a belt and move along the base column 120.

[0081] The connector unit 140 may be connected to the load compensating unit 150 and receive a compensation force for compensating for a load of at least one of the robot unit 130 and the connector unit 140 from the load compensating unit 150 .

[0082] Figure 3 It is shown Figure 2 A perspective view of the load compensation unit 150, Figure 4 It is shown Figure 3 A cross-sectional view of the assembly relationship between the drive pulley 154 and the steel cable 152.

[0083] Reference Figures 2 to 4The load compensating unit 150 may apply a compensating force to the connector unit 140 to compensate for a constant load of at least one of the robot unit 130 and the connector unit 140. The load compensating unit 150 may be connected to the connector unit 140 and pulled toward the upper side of the connector unit 140 to provide the compensating force to the connector unit 140.

[0084] The load compensating unit 150 may include a constant load spring 151, a steel cable 152, a first motor 153, a driving pulley 154, and a first pulley 155. The load compensating unit 150 may provide a compensating force to the connector unit 140 through the elastic force generated by the constant load spring 151 and the output of the first motor 153. The load compensating unit 150 may provide a compensating force in the opposite direction of the loads of the robot arm unit 130 and the connector unit 140, that is, in the upward direction, to prevent the robot arm unit 130 from sagging.

[0085] The constant load spring 151 may be defined as an elastic member that provides a constant elastic force regardless of the shape change. However, the elastic force generated by the constant load spring 151 may deviate according to the length of the constant load spring 151, and this deviation needs to be reduced. This will be described below.

[0086] The constant load spring 151 is connected to the steel cable 152 at the connection end 151a. The constant load spring 151 may have a substantially spirally wound form. The length of the constant load spring 151 may vary according to the height of the connector unit 140 connected to the steel cable 152.

[0087] The constant load spring 151 may be installed on the main body 110 so as to provide an elastic force corresponding to a preset compensation force F. The constant load spring 151 may be added to the main body 110 and move forward or backward along the upper surface of the main body 110 .

[0088] The constant load spring 151 can provide a constant elastic force only when it passes through the constant section. Therefore, the constant load spring 151 can be installed in the surgical robot device 100 in a state where the first section 1 is exposed. Figure 5 After the constant load spring 151 is stretched to the first interval l, the elastic force enters the constant interval. That is, even if it is stretched longer than the first interval l, the constant load spring 151 provides a constant constant load in principle. However, there is a deviation in the elastic force f1 provided by the constant load spring 151, and the torque of the first motor 153 is applied to eliminate the deviation.

[0089] The length of the constant load spring 151 can be adjusted corresponding to the height change of the connector unit 140. Figure 3 In the embodiment, the connector unit 140 can move to a height L, and the constant load spring 151 can also be stretched within a length L range corresponding to the change in the height of the connector unit 140.

[0090] The steel cable 152 is connected to the connector unit 140. The steel cable 152 is connected to the connector unit 140. Figure 3 The steel cable 152 may have a steel wire shape, but is not limited thereto, and the steel cable 152 may be arranged in various shapes for transmitting power.

[0091] One end of the cable 152 may be connected to the constant load spring 151, and the other end may be connected to the connector unit 140. A portion of the cable 152 may be wound around the drive pulley 154, and the torque generated by the first motor 153 connected to the drive pulley 154 may be transmitted.

[0092] The first motor 153 may receive the transmitted electrical signal from the controller 50 and adjust the output, and the load compensation unit 150 may provide a constant compensation force. The torque generated by the first motor 153 may adjust the deviation of the constant load spring 151 and provide a constant compensation force F to the connector unit 140.

[0093] If the height of the connector unit 140 is adjusted, the length of the constant load spring 151 changes according to the height of the connector unit 140. The connector unit 140 and the robot unit 130 have a constant load, so it is preferred that the load compensation unit 150 provides a constant compensation force to the connector unit 140. The first motor 153 can generate a torque f2 of a set direction and magnitude, eliminate the deviation of the elastic force f1 provided by the constant load spring 151, and transmit the constant compensation force F to the connector unit 140.

[0094] The first motor 153 may be installed at the body 110 and spaced apart from the constant load spring 151. The first motor 153 and the constant load spring 151 are spaced apart from each other, so that the torque f2 of the first motor 153 may adjust the deviation of the elastic force f1 generated by the constant load spring 151.

[0095] If the first motor is formed in an integral manner with the constant load spring, it is difficult for the first motor to accurately measure the elastic force deviation caused by the constant load spring as the length changes. For example, if the axis of the constant load spring is connected to the same axis of rotation as the motor, the torque output by the first motor affects the length of the constant load spring, so it is difficult for the first motor to accurately measure the deviation of the constant load spring, and there is a limitation in providing a constant compensation force.

[0096] A driving pulley 154 is connected to the rotating shaft 153a of the first motor 153, and a portion of the cable 152 can be wound around the driving pulley 154. The magnitude and direction of the torque f2 of the first motor 153 can be adjusted according to the control signal of the controller 50. If the output of the first motor 153 is transmitted to the cable 152 through the driving pulley 154, the cable 152 can pull the connector unit 140 with a constant compensation force F that is the sum of the elastic force f1 and the torque f2.

[0097] The driving pulley 154 is connected to the rotating shaft 153a of the first motor 153 and can be wound around the outer circumference of the cable 152. The driving pulley 154 can receive the torque transmitted from the first motor 153 and transmit it to the cable 152.

[0098] The driving pulley 154 may have a guide groove 154a disposed on the outer peripheral surface. The cable 152 is inserted into the guide groove 154a, and the torque f2 of the first motor 153 may be transmitted to the cable 152 by means of the friction between the cable 152 and the guide groove 154a.

[0099] The guide groove 154a may extend along the outer peripheral surface of the driving pulley 154 and may have a spiral shape. In addition, the guide grooves 154a may be arranged at a predetermined distance.

[0100] If the length of the constant load spring 151 changes as the height of the connector unit 140 changes, the steel cable 152 moves along the guide groove 154a. After the height of the connector unit 140 is set, the first motor 153 outputs a pre-stored torque. At this time, the position of the steel cable 152 does not move, and the output generated by the first motor 153 is transmitted to the steel cable 152 through the guide groove 154a.

[0101] As an example, in order to provide a constant compensation force F, even if the first motor 153 is driven, the driving pulley 154 does not rotate, and the cable 152 may receive the transmitted torque in a state of being wound around the driving pulley 154 .

[0102] As another example, in order to provide the constant compensation force F, if the first motor 153 is driven, the driving pulley 154 may be slightly rotated by the output of the first motor 153. However, even if the driving pulley 154 is slightly rotated, the length of the constant load spring 151 does not change, and the position of the wire cable 152 does not change. That is, the driving pulley 154 can overcome the friction between the wire cable 152 and the surface of the guide groove 154a and rotate within a constant range.

[0103] The first pulley 155 can set a path for the steel cable 152. The first pulley 155 is installed on the base column 120, and can set a path for the steel cable 152 so that the steel cable 152 pulls the connector unit 140 upward.

[0104] The first sensor unit 160 can measure the height of the connector unit 140. The first sensor unit 160 can be attached to the base column 120 or attached to the connector unit 140. The first sensor unit 160 is not limited to a specific sensor, and can be composed of various components that can measure the height. The first sensor unit 160 is not only a mechanical device, but also can be software that can calculate the height.

[0105] The second sensor unit 170 may measure the output of the first motor 153. In order to provide a constant compensation force F from the load compensation unit 150 according to the height of the connector unit 140, the second sensor unit 170 may measure the magnitude and direction of the torque f2 generated by the first motor 153. The second sensor unit 170 may measure the output voltage, current, number of revolutions, etc. of the first motor 153, and sense the output torque of the first motor 153. The second sensor unit 170 is not only a mechanical device, but may also be software capable of calculating torque.

[0106] Figure 5 and Figure 6 It is shown Figure 2 A block diagram of a part of a surgical robot apparatus, Figure 7 It is shown Figure 3 A graph of the compensation force generated by the load compensation unit 150.

[0107] Reference Figures 5 to 7 , the controller 50 may control the load compensating unit 150 so that the load compensating unit 150 provides a constant compensation force F to the connector unit 140 . The controller 50 may adjust the torque of the first motor 153 according to the height of the connector unit 140 .

[0108] The data measured by the first sensor unit 160 and the second sensor unit 170 are stored in the data storage unit 60 , and the controller 50 applies a control signal to the first motor 153 based on the data, so that the load compensation unit 150 can transmit a constant compensation force F to the connector unit 140 .

[0109] In order to provide a constant compensation force from the load compensating unit 150 according to the height of the connector unit 140 , the data storage part 60 may store data on the magnitude and direction of the torque f2 that the first motor 153 needs to generate.

[0110] The controller 50 may adjust the magnitude or direction of the torque f2 of the first motor 153 based on the data stored in the data storage unit 60 .

[0111] The loads of the robot unit 130 and the connector unit 140 are predetermined, and thus the compensation force F that the load compensation unit 150 needs to provide is also predetermined.

[0112] The first sensor unit 160 measures whether the connector unit 140 is located at the first height H1. The second sensor unit 170 measures the torque f2 output by the first motor 153. The constant load spring 151 provides the elastic force f1 at the first height H1, but the elastic force f1 is inconsistent with the compensation force F due to deviation. Since the torque f2 eliminates the deviation, the compensation force F provided by the load compensation unit 150 at the first height H1 becomes constant.

[0113] If the height of the connector unit 140 is changed to the second height H2, the first sensor unit 160 measures whether the connector unit 140 is located at the second height H2. The second sensor unit 170 measures the torque output by the first motor 153. At the second height H2, the constant load spring 151 provides the elastic force f1, but the elastic force f1 is inconsistent with the compensation force F due to the deviation. Since the torque f2 eliminates the deviation, the compensation force F provided by the load compensation unit 150 at the second height H2 becomes constant.

[0114] The torque f2 measured at the first height H1 and the second height H2 may have information about the magnitude and direction, respectively. The information may be stored in the data storage unit 60 as first data.

[0115] During surgery using the surgical robot apparatus 100 , if the operator O or the assistant A adjusts the height of the connector unit 140 , the first sensor unit 160 measures the height of the connector unit 140 , providing information thereon to the controller 50 .

[0116] The controller 50 may control the torque output of the first motor 153 based on the data stored in the data storage unit 60. That is, the magnitude and direction of the torque pre-stored by the controller 50 are controlled according to the height of the connector unit 140, whereby the load compensation unit 150 may provide a constant compensation force F to the connector unit 140 even if the height changes during the use of the surgical robot device 100.

[0117] As an embodiment, the surgical robot device 100 may first perform the step of obtaining the first data and then storing it in the data storage unit 60. During the assembly process of the surgical robot device 100, the torque to be generated by the first motor 153 is calculated and stored according to each position of the connector unit 140. Then, during the operation performed using the surgical robot device 100, the controller 50 may use the pre-stored first data to instantly control the output of the first motor 153. That is, the surgical robot device 100 may measure and store the output of the first motor 153 in advance.

[0118] As another embodiment, if the height of the connector unit 140 changes, the surgical robot device 100 can control the output of the first motor 153 accordingly. In order to provide a constant compensation force F, the surgical robot device 100 can sense the magnitude and direction of the torque to be output by the first motor 153 in real time, and control the first motor 153 based on the sensed data.

[0119] The controller 50 may include an output calculation unit 51 and an output estimation unit 52. The output calculation unit 51 may calculate the torque that the first motor 153 needs to output at a plurality of locations preset in the connector unit 140. The output estimation unit 52 may estimate the torque that the first motor 153 needs to output at all heights of the connector unit 140 based on the data calculated by the output calculation unit 51.

[0120] The controller 50 sets the first height H1 and the second height H2 of the connector unit 140 in the base column 120. The output calculation unit 51 may generate first data on the magnitude and direction of the torque f2 of the first motor 153 so that the compensation force F of the load compensation unit 150 is kept constant at the first height H1 and the second height H2, respectively. The output calculation unit 51 may calculate the output of the first motor 153 at a plurality of locations using the first sensor unit 160 and the second sensor unit 170.

[0121] The controller 50 may infer the second data on the magnitude and direction of the first motor 153 at an unmeasured height based on the first data measured at each height of the robot unit 130. The output inference unit 52 may infer the torque f2 to be output by the first motor 153 at a location not calculated by the output calculation unit 51. For example, the output inference unit 52 may generate the second data inferring the magnitude and direction of the torque f2 of the first motor 153 in the interval between the first height H1 and the second height H2.

[0122] The output inference unit 52 can use the first data to infer the second data. The output inference unit 52 can infer the second data in a variety of ways. For example, the output inference unit 52 can use a data inference algorithm, an approximate equation, a lookup table, an interpolation method, and a combination thereof for inference.

[0123] The surgical robot device 100 according to the present invention can compensate for the load to improve the safety of the entire device. The load compensation unit 150 provides a constant compensation force F to the connector unit 140, thereby preventing the surgical robot device 100 from tilting to one side during operation, and safely performing surgery.

[0124] In the surgical robot apparatus 100 according to the present invention, even if the height of the robot arm unit 130 changes, the load compensating unit 150 can provide a constant compensating force F. Even if the elastic force f1 provided by the constant load spring 151 has a deviation, the torque f2 of the first motor 153 eliminates the deviation of the elastic force f1, and thus the load compensating unit 150 can provide a constant compensating force to the connector unit 140.

[0125] The surgical robot device 100 according to the present invention can quickly provide a constant compensation force to the connector unit 140 when the height of the robot arm unit 130 changes. The surgical robot device 100 pre-stores data on the torque to be output by the first motor 153 in the data storage unit 60 according to the height of the connector unit 140. When the operator O performs surgery using the surgical robot device 100, he quickly drives the first motor 153 using the pre-stored data, so that the load compensation unit 150 can quickly provide a constant compensation force.

[0126] The surgical robot device 100 according to the present invention can simply control the output of the load compensation unit 150. The controller 50 can infer the data required to be output by the first motor 153 in the entire section based on the data required to be output by the first motor 153 at the heights of multiple locations, and can simply and quickly calculate and infer the output of the first motor 153.

[0127] Figures 8 to 10 is a sequence diagram illustrating a load compensation method of a surgical robot apparatus according to another embodiment of the present invention.

[0128] Reference Figure 8 The load compensation method of the surgical robot device may include: step S10 of setting the output of the first motor to provide a constant compensation force from the load compensation unit; and step S20 of generating a constant compensation force by the load compensation unit when adjusting the height of the robot arm unit.

[0129] In step S10 of setting the output of the first motor in order to provide a constant compensation force from the load compensation unit, before performing surgery using the surgical robot device 100, data about the magnitude and direction of the torque f2 that the first motor 153 needs to output according to the height of the robotic arm unit 130 or the connector unit 140 can be calculated and inferred.

[0130] Specifically, refer to Fig. 9, step S10 of setting the output of the first motor in order to provide a constant compensation force from the load compensation unit may include: step S11 of measuring a first height of a robotic arm unit installed on a base column; step S12 of measuring the magnitude and direction of a torque that the motor needs to generate at the first height in order for the load compensation unit to provide a preset compensation force; step S13 of measuring a second height of the robotic arm unit installed on the base column; step S14 of measuring the magnitude and direction of a torque that the motor of the load compensation unit needs to generate at the second height in order for the load compensation unit to provide a preset compensation force; and step S15 of storing data on the torque of the motor measured at the first height and the second height as first data in a data storage unit.

[0131] In the step S11 of measuring the first height of the robot arm unit installed on the base column, the first sensor unit 160 measures the first height H1.

[0132] In step S12 of measuring the magnitude and direction of the torque that the motor needs to generate at the first height in order for the load compensation unit to provide a preset compensation force, the second sensor unit 170 may calculate the output of the first motor 153. The output calculation unit 51 may calculate the magnitude of the current that the first motor 153 needs to output, and calculate the torque value of the first motor 153 that the first motor 153 needs to output at the first height H1.

[0133] In the step S13 of measuring the second height of the robot arm unit installed on the base column, the first sensor unit 160 measures a second height H2 different from the first height H1.

[0134] In step S14 of measuring the magnitude and direction of the torque that needs to be generated by the motor of the load compensation unit at the second height in order for the load compensation unit to provide a preset compensation force, the second sensor unit 170 may calculate the output of the first motor 153. The output calculation unit 51 may calculate the magnitude of the current that the first motor 153 needs to output, and calculate the torque value of the first motor 153 that the first motor 153 needs to output at the second height H2.

[0135] In step S15 of storing data on the torque of the motor measured at the first height and the second height as first data in the data storage part, the first data calculated at the first height H1 and the second height H2 are stored in the data storage part 60 .

[0136] In addition, the controller 50 may execute steps S11 to S15 multiple times to obtain first data on the size and direction of the torque f2 that the first motor 153 needs to output at various heights.

[0137] When adjusting the height of the robot arm unit, the step S20 of the load compensation unit generating a constant compensation force is applied by the operator O and the assistant A when actually using the mobile phone robot.

[0138] The operator O or the assistant A presses a switch (not shown) to adjust the height of the robot arm unit 130, so that the passive arm moves in the height direction. At this time, the height of the connector unit 140 can be adjusted.

[0139] The first sensor unit 160 senses the height of the connector unit 140, and the controller 50 controls the first motor 153 to provide a constant compensation force F at the sensed height of the connector unit 140. The controller 50 controls the first motor 153 according to the data stored in the data storage unit 60, eliminates the deviation of the elastic force f1 of the constant load spring 151, and the load compensation unit 150 provides the constant compensation force F to the connector unit 140.

[0140] Reference Fig.10 The load compensation method of the surgical robot device may include: step S21 of measuring first data about the size and direction of the torque that the motor of each height of the robotic arm unit installed on the base column needs to generate; step S22 of inferring second data about the size and direction of the torque that the motor needs to generate in the interval between each height based on the first data.

[0141] In step S21 of measuring the first data on the magnitude and direction of the torque to be generated by the motor at each height of the robot arm unit installed on the base column, as shown in the above steps S11 to S14, the magnitude and direction of the torque to be output by the first motor 153 at multiple height locations of the robot arm unit are calculated. The output calculation unit 51 of the controller 50 calculates the torque to be output by the first motor 153 at each height. In addition, the controller 50 stores the calculated first data in the data storage unit 60.

[0142] In step S22 of inferring the second data about the magnitude and direction of the torque that the motor needs to generate in the intervals between the heights based on the first data, the magnitude and direction of the torque that the first motor 153 needs to output at the height not stored as the first data are inferred. The output inference unit 52 of the controller 50 can infer the magnitude and direction of the torque that the first motor 153 needs to output at the uncalculated location based on the first data.

[0143] For example, the output estimation unit 52 may estimate the magnitude and direction of the torque that the first motor 153 needs to generate in the interval between the first height H1 and the second height H2 , calculate it as second data, and store the second data in the data storage unit 60 .

[0144] As another embodiment, the output inference unit 52 can select various heights and combine them to infer the second data with high reliability. For example, the output calculation unit 51 calculates the torque that the first motor 153 needs to output at heights H1, H2, H3, H4, and H5 as the first data and stores it. The output inference unit 52 can combine H1 to H5 to infer the height. Select H1 and H2 and infer the second data between H1 and H2, and select H1 and H4 and infer the second data between H1 and H4. The output inference unit 52 can infer various intervals, and combine or re-infer the inferred second data to infer the third data.

[0145] The output inference unit 52 can re-infer the inferred second data to infer the third data, and further infer the third data to infer the fourth data. The reliability of the data can be increased as the number of inferences increases.

[0146] The load compensation method of the surgical robot device according to the present invention can compensate the load of the surgical robot device and improve the safety of the overall device. The load compensation unit 150 provides a constant compensation force F to the connector unit 140, thereby preventing the surgical robot device 100 from tilting to one side during operation and safely performing surgery.

[0147] The load compensation method of the surgical robot device can simply control the output of the load compensation unit 150. The controller 50 can infer the data that the first motor 153 needs to output in the entire section based on the data that the first motor 153 needs to output at multiple locations, and simply and quickly calculate and infer the output of the first motor 153. In addition, the controller 50 obtains highly reliable data, and thus can provide a constant compensation force F to the connector unit 140 through the output of the first motor 153.

[0148] Fig.11 yes Figure 2 A modified example of a surgical robot device.

[0149] Reference Fig.11 The surgical robot device 100A may include a main body 110, a base column 120, a guide member 125, a robot arm unit 130, a connector unit 140, a weight member 145, and a load compensation unit 150A. Compared with the aforementioned surgical robot device 100, the surgical robot device 100A has a different configuration of the load compensation unit 150A, which will be mainly described below.

[0150] The load compensating unit 150A may include a constant load spring 151A, a wire cable 152 , a first motor 153A, and a driving pulley 154A.

[0151] The constant load spring 151A may be disposed on the base column 120, and the wire cable 152 may connect the constant load spring 151A and the connector unit 140. The constant load spring 151A may be disposed on the upper end of the base column 120.

[0152] The first motor 153A may be disposed between the constant load spring 151A and the connector unit 140. The first motor 153A is additionally equipped with a driving pulley 154A, and the torque of the first motor 153A may be transmitted to the cable 152.

[0153] In the surgical robot device 100A according to the present invention, the load compensation unit 150A is disposed at the upper end of the base column 120 , which can shorten the transmission path of the compensation force provided by the load compensation unit 150A.

[0154] Fig.12 FIG. 2 is a diagram showing a surgical robot apparatus 200 according to another embodiment of the present invention.

[0155] Reference Fig.12 The surgical robot device 200 may include a main body 210 , a base column 220 , a robot arm unit 230 , a connector unit 240 , a weight member 245 , a load compensation unit 250 , a first sensor unit 260 , and a second sensor unit 270 .

[0156] The main body 210, base column 220, robotic arm unit 230, connector unit 240, counterweight component 245, first sensor unit 260, and second sensor unit 270 of the surgical robot device 200 are substantially the same as the main body 110, base column 120, robotic arm unit 130, connector unit 140, counterweight component 145, first sensor unit 160, and second sensor unit 170 of the aforementioned surgical robot device 100. The load compensation unit 250 will be described in detail below.

[0157] The load compensating unit 250 may include a constant load spring 251 , a wire cable 252 , a second motor 253 , a driving member 254 , and a guide member 255 .

[0158] The ends of the constant load spring 251 are connected to a steel cable 252 which may be routed through a first pulley 256 and a second pulley 257 .

[0159] The second motor 253 may be installed at the connector unit 240 and may move together with the connector unit 240 .

[0160] As an embodiment, the second motor 253 may generate a driving force in a height direction of the connector unit 240 and simultaneously provide a torque f2 to adjust a deviation of the elastic force f1 .

[0161] If the second motor 253 is driven, the driving member 254 may linearly move along the guide member 255. The driving force output by the second motor 253 may move the connector unit 240 in the height direction.

[0162] At the same time, the second motor 253 can provide a torque f2 to eliminate the deviation of the elastic force f1 of the constant load spring 251. The controller 50 can control the output of the second motor 253 using the torque data pre-stored in the data storage unit 60. Thus, even if the height of the connector unit 240 changes, the compensation force F provided by the load compensation unit 250 can be kept constant.

[0163] As another embodiment, the second motor 253 may provide torque to eliminate the deviation of the constant load spring 251. The driving source for adjusting the height of the connector unit 240 may also be provided by other components, and the second motor 253 may only eliminate the deviation of the constant load spring 251.

[0164] After the height of the connector unit 240 is set, the controller 50 can control the output of the second motor 253 using the data on the torque of the second motor 253 pre-stored in the data storage unit 60. At this time, even if the second motor 253 generates an output, the output eliminates the deviation of the elastic force f1, so the height of the connector unit 240 does not change. Therefore, even if the height of the connector unit 240 changes, the compensation force F provided by the load compensation unit 250 can be kept constant.

[0165] The surgical robot device 200 according to the present invention can compensate for the load and improve the safety of the entire device. The load compensation unit 250 provides a constant compensation force F to the connector unit 240, thereby preventing the surgical robot device 200 from tilting to one side during operation and performing surgery safely.

[0166] In the surgical robot apparatus 200 according to the present invention, even if the height of the robot arm unit 230 changes, the load compensating unit 250 can provide a constant compensation force F. Even if the elastic force f1 provided by the constant load spring 251 has a deviation, the torque f2 of the second motor 253 eliminates the deviation of the elastic force f1, and thus the load compensating unit 250 can provide a constant compensation force to the connector unit 240.

[0167] The surgical robot device 200 according to the present invention can quickly provide a constant compensation force to the connector unit 240 when the height of the robot arm unit 230 changes. The surgical robot device 200 can pre-store data on the torque that the second motor 253 needs to output in the data storage unit 60 according to the height of the connector unit 240. When the operator O uses the surgical robot device 200 to perform surgery, the second motor 253 is quickly driven using the pre-stored data, so that the load compensation unit 250 can quickly provide a constant compensation force.

[0168] The surgical robot device 200 according to the present invention can provide a constant compensation force F to the connector unit 240 while the load compensation unit 250 adjusts the height of the connector unit 240. The second motor 253 of the load compensation unit 250 moves together with the connector unit 240, and eliminates the deviation of the constant load spring 251 while adjusting the height of the connector unit 240, so that the load compensation unit 250 can provide a constant compensation force F to the connector unit 240.

[0169] Fig.13 It is shown Fig.12 FIG. 1 is a diagram of a modified example of a surgical robot apparatus.

[0170] Reference Fig.13 The surgical robot device 200A may include a main body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250A. Compared with the aforementioned surgical robot device 200, the surgical robot device 200A has a different configuration of the load compensation unit 250A, which will be mainly described below.

[0171] The load compensating unit 250A may include a constant load spring 251A, a wire cable 252 , a second motor 253 , a driving member 254 , and a guide member 255 .

[0172] The constant load spring 251A may be disposed at the body 210, and the steel cable 252 may connect the constant load spring 251A and the connector unit 240. The constant load spring 251A is disposed adjacent to the base column 220, and may extend along the base column 220 if the constant load spring 251A is stretched.

[0173] The second motor 253 may be installed at the connector unit 240 and may move together with the connector unit 240 .

[0174] The load compensation unit 250A of the surgical robot apparatus 200A according to the present invention is disposed on the main body 210 , so that the transmission path of the compensation force provided by the load compensation unit 250A can be shortened.

[0175] Fig.14 It is shown Fig.12 FIG. 2 is a diagram of another variation of the surgical robot apparatus.

[0176] Reference Fig.12 The surgical robot device 200B may include a main body 210, a base column 220, a robot arm unit 230, a connector unit 240, a weight member 245, and a load compensation unit 250B. Compared with the aforementioned surgical robot device 200, the surgical robot device 200B has a different configuration of the load compensation unit 250B, which will be mainly described below.

[0177] The constant load spring 251B may be disposed on the base column 220 , and the steel cable 252 may connect the constant load spring 251B and the connector unit 240 . The constant load spring 251B may be disposed on the upper end of the base column 220 .

[0178] The second motor 253 may be installed at the connector unit 240 and may move together with the connector unit 240 .

[0179] In the surgical robot device 200B according to the present invention, the load compensation unit 250 is disposed at the upper end of the base column 220 , which can shorten the transmission path of the compensation force provided by the load compensation unit 250 .

[0180] In this specification, although the present invention is described with the limited embodiments as the center, there may be various embodiments within the scope of the present invention. In addition, although not described, equivalent devices may also be directly combined with the present invention. Therefore, the true protection scope of the present invention should be determined according to the following claims.

Claims

1. A surgical robot device, comprising: base column; a robot arm unit, the robot arm unit having a plurality of arms; A connector unit, the connector unit connects the robot arm unit and the base column and moves along the height direction of the base column; a load compensation unit connected to the connector unit and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; a controller, the controller adjusting a torque of the load compensation unit according to a height of the connector unit; as well as a data storage unit storing data on the magnitude and direction of a torque to be generated by a motor in order for the load compensation unit to provide a constant compensation force according to the height of the connector unit, The load compensation unit comprises: a motor having a portion of a steel cable connected to the connector unit wound thereon; as well as a constant load spring, which is separated from the motor and to which the other end of the steel cable partially wound around the motor is connected, Before driving the robot unit, the controller measures and estimates the magnitude and direction of the torque that the motor needs to generate based on the height of the connector unit, and stores the magnitude and direction of the torque that the motor needs to generate as load compensation data of the robot unit in the data storage unit.

2. The surgical robot device according to claim 1, wherein: The controller adjusts the magnitude or direction of the torque of the motor based on the data stored in the data storage unit.

3. The surgical robot device according to claim 1, further comprising: a first sensor unit, the first sensor unit measuring a height of the connector unit; as well as The second sensor unit measures the magnitude and direction of the torque generated by the motor in order for the load compensating unit to provide a constant compensation force according to the height of the connector unit.

4. The surgical robot device according to claim 1, wherein: The controller sets a first height and a second height of the connector unit in the base column, and generates first data on the magnitude and direction of the torque of the motor so that the compensation force of each of the load compensation units remains constant at the first height and the second height.

5. The surgical robot device according to claim 4, wherein: The controller generates second data for inferring the magnitude and direction of the torque of the motor in a section between the first height and the second height.

6. A surgical robot device, comprising: base column; a robot arm unit, the robot arm unit having a plurality of arms; A connector unit, the connector unit connects the robot arm unit and the base column and moves along the height direction of the base column; a load compensation unit connected to the connector unit and providing a compensation force to the connector unit to compensate for a constant load of at least one of the robot arm unit and the connector unit; a controller that calculates first data about the magnitude and direction of the torque generated by the load compensating unit according to the height of the connector unit so that the load compensating unit provides a constant compensation force; as well as a data storage unit storing data on the magnitude and direction of a torque to be generated by a motor in order for the load compensation unit to provide a constant compensation force according to the height of the connector unit, The load compensation unit comprises: a motor having a portion of a steel cable connected to the connector unit wound thereon; as well as a constant load spring, which is separated from the motor and to which the other end of the steel cable partially wound around the motor is connected, Before driving the robot unit, the controller measures and estimates the magnitude and direction of the torque that the motor needs to generate based on the height of the connector unit, and stores the magnitude and direction of the torque that the motor needs to generate as load compensation data of the robot unit in the data storage unit.

7. The surgical robot device according to claim 6, wherein: The controller infers second data regarding the size and direction of the motor at an unmeasured height based on the first data measured at each height of the robot unit.

8. The surgical robot device according to claim 7, wherein: When driving the surgical robot device, the controller uses at least one of the first data and the second data to control the magnitude and direction of the torque of the motor according to the height of the robot arm unit.

9. A load compensation method for a surgical robot device, wherein the surgical robot device is equipped with a load compensation unit having a constant load spring and a motor and connected to a connector unit, the load compensation method for the surgical robot device comprising: The step of measuring a first height of a robot arm unit installed on the base column; The step of measuring the magnitude and direction of the torque that the motor needs to generate at the first height so that the load compensation unit provides a preset compensation force; A step of measuring a second height of the robotic arm unit installed on the base column; The step of measuring the magnitude and direction of the torque that the motor of the load compensation unit needs to generate at the second height so that the load compensation unit provides a preset compensation force; A step of storing data on the torque of the motor measured at the first height and the second height as first data in a data storage unit; as well as If the robot unit moves on the base column, the controller adjusts the magnitude and direction of the torque of the motor according to the height of the robot unit based on the data stored in the data storage unit, The motor is wound around a portion of a steel cable connected to the connector unit; and The constant load spring is separated from the motor, and the other end of the steel cable partially wound around the motor is connected to the constant load spring, The load compensation method of the surgical robot device further includes: the controller estimates the magnitude and direction of the torque that the motor needs to generate in the interval between the first height and the second height, calculates and stores it as second data, Before driving the surgical robot apparatus, the first data and the second data are calculated and stored, and load compensation data of the robot arm unit is set.

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