System, apparatus, and method for providing deformation state of transformable gripper

Abstract

The present invention relates to a system, apparatus, and method for providing a deformation state of a transformable gripper, the apparatus for providing a deformation state of a transformable gripper comprising: a collection unit that collects bending data from a bending detection sensor provided in the transformable gripper; a noise removal unit that removes noise from the collected bending data; a calculation unit that calculates a deformation state and bending angle of the transformable gripper by using the bending data from which noise has been removed; and a deformation state provision unit that provides the deformation state of the transformable gripper by visualizing the calculated deformation state and bending angle through a visualization program in which a kinematic diagram is implemented.

Description

System, device and method for providing deformation state of a transformable gripper

[0001] The present invention relates to a system, device, and method for providing a deformation state of a transformable gripper, and more particularly, to a system, device, and method for providing a deformation state of a transformable gripper that determines and provides the deformation state of a gripper in real time in a situation where visual information is limited.

[0002] Advances in science and technology are driving the development of technologies in various fields to enhance human convenience. For example, artificial intelligence is being researched to enable humans to achieve desired results through complex learning beyond simple, repetitive tasks. Research is also steadily underway on aviation and vehicle technologies to enhance human mobility. Furthermore, active development is underway on robots and devices that can replace physical human activity.

[0003] In particular, for robots and devices for replacing physical functions, micro-scale robots and devices are being studied using precision machining technology, and it is expected that these micro-scale robots and devices will be of great help in performing tasks with a precision that exceeds what humans can perform.

[0004] A representative field in which micro-scale robots and instruments are applied is the medical field, and their importance is increasing especially in areas that require small surgical tools, such as minimally invasive surgery with limited field of vision.

[0005] Typically, an origami robot refers to a robot made using origami (paper folding) techniques. It is used in various fields such as medicine, work assistance, and space exploration based on its flexibility and versatility in being able to flexibly fold its structure and transform it into a desired shape.

[0006] As we enter an aging society, quality of life is becoming increasingly important, along with longer lifespans. Minimally invasive surgery, which offers numerous benefits such as minimal scarring, shortened recovery times, and reduced post-operative pain, is rapidly advancing. Origami robots, designed as grippers, can be utilized in minimally invasive surgery. Their flexibility and versatility allow them to be inserted in a thin form and then transform into gripper form, enabling them to perform a variety of functions.

[0007] Typically, minimally invasive surgery involves collecting only 2D visual data through an endoscope, making it difficult for surgeons to gain direct sensory perception of objects and depth perception. While experienced surgeons can compensate for this limited visual information to accurately and effectively manipulate surgical tools, novice or inexperienced medical professionals may struggle with this limited visual information. This can impact the precision of surgical tool manipulation, tissue handling, and safe surgical performance required during surgery. Therefore, proprioceptive information acquisition using an origami-based gripper is essential to assist in precise surgical tool manipulation. Understanding and interpreting the unique shape, form, and structural characteristics of an origami gripper enables adaptation to environmental interactions and recognition of changes.

[0008] Proprioceptive data collection in origami grippers requires the detection of the degree and direction of bending of the gripper joints. Efforts have been made to integrate bending sensors into origami joints to achieve shape perception capabilities. However, sensor integration necessitates structural modifications to the robot and a separate sensor assembly process, complicating the manufacturing process and hindering the creation of compact robot systems. Furthermore, limitations in sensor thickness, stiffness, operating range, and sensitivity further complicate these technologies. For example, optical fibers struggle to integrate with origami manufacturing processes, while carbon ink has a limited measurement range (less than 180°), and strain gauges have low sensitivity (less than GF 5), hindering their widespread adoption.

[0009] Therefore, there is a need to develop a technology to detect the degree and direction of bending of the gripper joint in situations where visual information is limited.

[0010]

[0011] The technology underlying the invention is disclosed in Korean Patent Publication No. 10-2013-0127641 (published on November 25, 2013).

[0012] The present invention has been made to solve the above problems, and the technical problem to be achieved by the present invention is to provide a system, device, and method for providing a deformation state of a transformable gripper, which detects the degree of bending of the joint without interfering with the movement of the gripper joint in a situation where visual information is limited by minimizing the increase in thickness of the transformable gripper that can perform its function by passing through a narrow space by reversibly changing its shape, and provides the deformation state of the gripper in real time by detecting the degree of bending of the joint.

[0013] A system for providing a transformable gripper deformation state according to an embodiment of the present invention for achieving such a technical task includes: a transformable gripper in which the shape of a grip portion is deformed according to driving, and a bending detection sensor for detecting the deformation of the shape of the grip portion is provided; and a deformation state providing device for collecting bending data of the gripper detected by the bending detection sensor and calculating and providing a deformation state and a bending angle of the grip portion.

[0014] At this time, the transformable gripper includes a body part, a driving connection part extending in one direction from the body part, a plurality of hinges extending in another direction from the body part, and a plurality of links that are distinct from the plurality of hinges, and a grip part in which a bending detection sensor that detects an electric signal according to a change in shape is inserted so that the links fold around the hinges as the driving connection part moves, and the bending detection sensor detects a sensor resistance that changes as a crack in the sensor opens and closes as the hinges are bent in an infolding or outfolding direction, and the resistance decreases as the crack closes during infolding, and the resistance increases as the crack opens during outfolding.

[0015] In addition, the deformation state providing device collects bending data that detects the degree of bending of the hinges from a bending detection sensor whose electric signal changes according to the deformation of the gripping portion in which the shape is changed by folding the plurality of links centered on the plurality of hinges, removes noise from the collected bending data, and calculates the deformation state and bending angle of the gripping portion using the bending data from which the noise has been removed, and visualizes the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented to provide the deformation state of the gripping portion.

[0016] In addition, the deformation state providing device can calculate the deformation state and bending angle of the grip portion by using the maximum angle at which the hinges of the grip portion included in the noise-removed bending data can be bent in the outfolding direction and the maximum angle at which the hinges of the grip portion can be bent in the infolding direction.

[0017] In addition, the body portion, the grip portion, and the drive connection portion are formed by stacking two unit stacks, and when viewed perpendicularly to the stacking direction, the two unit stacks are symmetrical, and each of the two unit stacks includes a first layer, a second layer stacked on the first layer, into which the bending detection sensor is inserted and which has lower rigidity than the first layer, and a first layer stacked on the second layer, and the hinges for forming the links may be provided.

[0018] In addition, a device for providing a deformation state of a transformable gripper according to another embodiment of the present invention includes a collection unit for collecting bending data from a bending detection sensor provided in the transformable gripper; a noise removal unit for removing noise from the collected bending data; a calculation unit for calculating a deformation state and a bending angle of the transformable gripper using the bending data from which the noise has been removed; and a deformation state provision unit for providing a deformation state of the transformable gripper by visualizing the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented.

[0019] At this time, the bending detection sensor is inserted into a grip portion formed on one side of the transformer gripper to detect an electric signal according to a change in the shape of the grip portion, and detects a sensor resistance that changes as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction, and is characterized in that the resistance decreases as the crack closes during infolding, and the resistance increases as the crack opens during outfolding.

[0020] In addition, the above-described output unit can calculate the deformation state and bending angle of the grip portion by using the maximum angle at which the hinges of the grip portion can be bent in the outfolding direction and the maximum angle at which the hinges of the grip portion can be bent in the infolding direction, which are included in the bending data from which noise has been removed.

[0021] In addition, the above-mentioned output unit can calculate the deformation state and bending angle of the above-mentioned grip unit using the following mathematical formula.

[0022]

[0023] Here is the current bending angle of the shaft, is the maximum angle at which the hinges can be bent in the outfolding direction, is the maximum angle at which the hinges can bend in the infolding direction, The angle of the hinges is The resistance value of the bend detection sensor when The angle of the hinges is When the resistance value of the bending detection sensor is , R is the current resistance value of the bending detection sensor.

[0024] In addition, a method for providing a deformation state of a transformable gripper according to another embodiment of the present invention includes the steps of: collecting bending data from a bending detection sensor provided in the transformable gripper; removing noise from the collected bending data; calculating a deformation state and a bending angle of the transformable gripper using the bending data from which the noise has been removed; and visualizing the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented to provide the deformation state of the transformable gripper.

[0025] At this time, the bending detection sensor is inserted into a grip portion formed on one side of the transformer gripper to detect an electric signal according to a change in the shape of the grip portion, and detects a sensor resistance that changes as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction, and is characterized in that the resistance decreases as the crack closes during infolding, and the resistance increases as the crack opens during outfolding.

[0026] In addition, the calculating step can calculate the deformation state and bending angle of the grip portion by using the maximum angle at which the hinges of the grip portion can be bent in the outfolding direction and the maximum angle at which the hinges of the grip portion can be bent in the infolding direction, which are included in the bending data from which noise has been removed.

[0027] In addition, the above-described calculating step can calculate the deformation state and bending angle of the grip portion using the following mathematical formula.

[0028]

[0029] Here is the current bending angle of the shaft, is the maximum angle at which the hinges can be bent in the outfolding direction, is the maximum angle at which the hinges can bend in the infolding direction, The angle of the hinges is The resistance value of the bend detection sensor when The angle of the hinges is When the resistance value of the bending detection sensor is , R is the current resistance value of the bending detection sensor.

[0030] In this way, according to the present invention, the thickness increase of a transformable gripper that can reversibly change shape to pass through a narrow space and perform a function is minimized, and the degree of bending of the joint is detected without interfering with the movement of the gripper joint in a situation where visual information is limited, and the deformation state of the gripper can be determined and provided in real time.

[0031] In addition, according to the present invention, when applied to minimally invasive surgery, the current operating status of the gripper can be checked in real time by analyzing the signal collected through the bending detection sensor mounted on the gripper even in a situation where the field of view is limited, thereby enabling precise control of the gripper.

[0032] Figure 1 is a system configuration diagram showing a system for providing a deformation state of a transformable gripper according to an embodiment of the present invention.

[0033] Figure 2 is an exploded perspective view showing a transformer gripper according to one embodiment of the present invention.

[0034] FIG. 3 is a perspective view showing a transformable gripper according to one embodiment of the present invention.

[0035] FIG. 4 is a perspective view showing a folding state of a gripping portion of a transformable gripper according to one embodiment of the present invention.

[0036] Figure 5 is a flowchart showing a process of forming a unit laminate according to one embodiment of the present invention.

[0037] Figure 6 is a schematic diagram showing the operation of a transformer gripper according to one embodiment of the present invention.

[0038] Figure 7 is a schematic diagram showing in more detail the operation of a transformer gripper according to one embodiment of the present invention.

[0039] Figure 8 is a conceptual diagram showing a driving unit according to one embodiment of the present invention.

[0040] Figure 9 is a conceptual diagram showing an example of use of a transformer gripper according to one embodiment of the present invention.

[0041] Figure 10 is a block diagram showing a device for providing a deformation state of a transformer gripper according to an embodiment of the present invention.

[0042] FIG. 11 is a drawing for explaining a bending detection sensor inserted into a transformer gripper according to an embodiment of the present invention.

[0043] Figures 12 and 13 are diagrams showing changes in sensor resistance values ​​according to the bending direction and angle of the bending detection sensor illustrated in Figure 11.

[0044] Figure 14 is a flowchart illustrating the operation flow of a method for providing a deformation state of a transformer gripper according to an embodiment of the present invention.

[0045] FIG. 15 is an example of visualizing a change in the shape of a gripper in real time in a method for providing a deformation state of a transformable gripper according to an embodiment of the present invention.

[0046] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines and the sizes of components depicted in the drawings may be exaggerated for clarity and convenience of explanation.

[0047] Furthermore, the terms described below are defined based on their functions within the present invention, and may vary depending on the intent or custom of the user or operator. Therefore, the definitions of these terms should be based on the overall content of this specification.

[0048] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

[0049]

[0050] First, a system for providing a deformation state of a transformer gripper according to an embodiment of the present invention will be described with reference to FIGS. 1 to 9.

[0051] FIG. 1 is a system configuration diagram showing a system for providing a deformation state of a transformable gripper according to an embodiment of the present invention, FIG. 2 is an exploded perspective view showing a transformable gripper according to an embodiment of the present invention, FIG. 3 is a perspective view showing a transformable gripper according to an embodiment of the present invention, and FIG. 4 is a perspective view showing a state in which a gripping portion of a transformable gripper according to an embodiment of the present invention is folded.

[0052] The transformable gripper (1000) may be a gripper capable of reversibly changing its shape depending on the application and situation. That is, the transformable gripper (1000) may be capable of reversibly changing its shape from a basic shape (or linear shape, thread shape) that can pass through a narrow gap, to a gripper shape (or state) that can pass through a narrow gap and grip a target in a limited space.

[0053] As shown in Fig. 1, a system for providing a deformation state of a transformable gripper according to an embodiment of the present invention includes a transformable gripper (1000) and a deformation state providing device (2000).

[0054] First, to describe in detail the structure of the transformable gripper (1000), the transformable gripper (1000) may include a body part (10) and a grip part (20).

[0055] At this time, the grip portion (20) may be provided to be foldable and extend in one direction from the body portion (10).

[0056] Specifically, the transformable gripper (1000) of FIG. 2 or FIG. 3 may have a gripping portion (20) in a linear or threaded state. Accordingly, the transformable gripper (1000) may be easily inserted into a narrow gap or space. The transformable gripper (1000) of FIG. 4 may have a gripping portion (20) in a folded form, and when inserted into a narrow space through a narrow gap, the gripping portion (20) may be transformed into a shape as shown in FIG. 4 and ultimately into a gripper shape.

[0057] And the transformer gripper (1000) may include a driving connection (30).

[0058] At this time, the drive connection part (30) can be formed in a form extending in the other direction from the body part (10).

[0059] The grip portion (20) can be folded and its shape can be changed according to the movement of the driving connection portion (30). For example, as illustrated in FIG. 4, if the driving connection portion (30) is pulled in a different direction, the grip portion (20) can be deformed. In addition, if the driving connection portion (30) is pulled in a different direction and then moved in one direction again, reversible deformation can be possible. A detailed description of the deformation of the grip portion (20) will be described later.

[0060] The gripping member (20) may include hinges and links distinguished by the hinges. For example, the gripping member (20) may be deformed in shape as the links fold around the hinges according to the movement of the driving connecting member (30).

[0061] And the transformable gripper (1000) may include a fixing member (40).

[0062] At this time, the fixing member (40) may be provided to wrap around the body part (10). In addition, the fixing member (40) may be provided with a groove (41) on the grip part (20) side. When the links of the grip part (20) are folded, the drive connection part (30) may restrict the movement of some of the links by catching them in the groove (41). The groove (41) may have a trapezoidal shape so that the links are effectively caught, but is not limited thereto.

[0063] The fixed member (40) may be in the form of a cylinder that surrounds the body (10), but is not limited thereto.

[0064] As described above, the shape of the gripping portion (20) of the transformer gripper (1000) can be changed according to the purpose or situation as the driving connection portion (30) is pulled.

[0065] Additionally, the transformer gripper (1000) may be provided with a bending detection sensor (150) that detects the shape deformation of the grip portion (20).

[0066] At this time, the bending detection sensor (150) detects the sensor resistance that changes as the cracks within the sensor open and close as the hinges are bent in the infolding or outfolding direction, and when infolding, the cracks close and the resistance decreases, and when outfolding, the cracks open and the resistance increases.

[0067] Figure 5 is a flowchart showing a process of forming a unit laminate according to one embodiment of the present invention.

[0068] The body portion (10), the grip portion (20), and the driving connection portion (30) can be formed by stacking two unit laminates (120). Referring to Fig. 5, the two unit laminates (120) can be stacked in a folded state to form the body portion (10), the grip portion (20), and the driving connection portion (30).

[0069] Two unit stacks (120) can be stacked symmetrically when viewed perpendicularly to the stacking direction. By arranging the two unit stacks (120) symmetrically in this way, when the driving connection part (30) moves, the shape changes to be symmetrical to each other, so that the gripper's function can be secured, and the utilization of the shape change in a limited space can be predicted.

[0070] Each of the two unit stacks (120) may be provided with hinges to form links.

[0071] Looking at the state before the two unit stacks (120) are folded and stacked in Fig. 5, it can be seen that multiple hinges and multiple links are formed.

[0072] For example, each of the two unit stacks (120) may be formed with a first hinge (121), a second hinge (122), a third hinge (123), and a fourth hinge (124).

[0073] As the first hinge (121), the second hinge (122), the third hinge (123), and the fourth hinge (124) are formed on each of the two unit stacks (120), the first link (131), the second link (132), the third link (133), the fourth link (134), and the fifth link (135) distinguished by the hinges can be formed.

[0074] The first links (131) of each of the two unit stacks (120) can be stacked to form a driving connection (30). In addition, since the first link (131) is connected to the remaining links, when the driving connection (30) moves, the remaining links can be folded around the hinges.

[0075] Each of the two unit stacks (120) can be formed by stacking multiple layers.

[0076] The unit laminate (120) may include a first layer (101), a second layer (102) laminated on the first layer (101), and the first layer (101) laminated on the second layer (102).

[0077] For example, a second layer (102) may be laminated on a first layer (101) with an adhesive layer (103) therebetween. The second layer (102) may have lower rigidity than the first layer. In addition, a first layer (101) having a relatively small size may be laminated on the second layer (102) with an adhesive layer (103) therebetween. In addition, an ultra-thin bending detection sensor (150) whose electrical signal changes according to deformation may be inserted on the second layer (102).

[0078] A first groove (101-1) may be formed in the first layer (101) laminated on the lowest layer. A third groove (103-1) may be formed in the adhesive layer (103) laminated on the first layer (101) laminated on the lowest layer. In addition, a fourth groove (103-2) may be formed in the adhesive layer (103) laminated on the second layer (102), and a second groove (101-2) may be formed in the first layer (101) laminated on the highest layer.

[0079] The above grooves (101-1, 101-2, 103-1, 103-2) can be formed at positions corresponding to each other. Accordingly, the grooves (101-1, 101-2, 103-1, 103-2) can form a first hinge (121), a second hinge (122), a third hinge (123), and a fourth hinge (124).

[0080] Specifically, a plurality of layers can be laminated to form a laminated layer (110), and when the laminated layer (110) is cut along a cutting line (C), a unit laminate (120) can be formed. When the laminated layer (110) is cut along a cutting line (C), the grooves (101-1, 101-2, 103-1, 103-2) can form a first hinge (121), a second hinge (122), a third hinge (123), and a fourth hinge (124). Since the second layer (102) has low rigidity, folding at the hinges can be easy.

[0081] FIG. 6 is a schematic diagram showing the operation of a transformable gripper according to an embodiment of the present invention, and FIG. 7 is a schematic diagram showing the operation of a transformable gripper according to an embodiment of the present invention in more detail.

[0082] Referring to FIG. 6, the grip portion (20) can be folded with links (e.g., 132, 133, 134) centered around hinges (e.g., 121, 122, 123, 124). For example, when the driving connection portion (30) is pulled in another direction, the shape of the grip portion (20) connected to the driving connection portion (30) can change, and the shape of the grip portion (20) can be changed as the links (e.g., 132, 133, 134) are folded centered around the hinges (e.g., 121, 122, 123, 124).

[0083] The grip portion (20) may be in a linear state (or thread shape) when the driving connection portion (30) is not pulled.

[0084] Referring to Fig. 7, the grip portion (20) of the transformable gripper (1000) can be folded so that the distal end (50) moves in the other direction when the driving connection portion (30) is pulled. For example, when the driving connection portion (30) is pulled in the other direction, the distal end (50) can also move in the other direction. At this time, the shape of the grip portion (20) can gradually change as the links (e.g., 132, 133, 134) fold around the hinges (e.g., 121, 122, 123, 124).

[0085] The gripping member (20) may be arranged so that some of the links (e.g., 132, 133, 134) are caught in the groove (41) of the fixed member (40) when the driving connection member (30) is pulled to the maximum. For example, while the shape of the gripping member (20) changes while the driving connection member (30) is pulled, the fourth link (134) may be caught in the groove (41), thereby suppressing movement of the driving connection member (30) or additional shape change of the gripping member (20). That is, additional angular change of the fourth link (134) may be suppressed through the frictional force between the groove (41) and the fourth link (134).

[0086] The gripper (20) can form a pair of gripping units. For example, the gripper (20) can form a pair of gripping units folded in a polygonal shape when the driving connection (30) is pulled to the maximum. Referring to Fig. 7, each of the pair of gripping units can be formed in a triangular shape, with their longest sides overlapping each other. The state of the gripper (20) at this time can be defined as a gripper state. Alternatively, the gripper state can be defined up to a predetermined section prior to the aforementioned gripper state among the shape change sections of the gripper (20) in a wide range.

[0087] The shape change according to the movement of the driving connection part (30) of the grip part (20) as described above can be reversibly and repeatedly switched.

[0088] Figure 8 is a conceptual diagram showing a driving unit according to one embodiment of the present invention.

[0089] The transformable gripper (1000) may include a driving unit (200).

[0090] The driving unit (200) may be provided to control the movement of the driving connection unit (30). For example, as shown in FIG. 8, the driving unit (200) is connected to the driving connection unit (30) and can pull or push the driving connection unit (30).

[0091] The grip strength of the gripping unit (20) can be adjusted by the driving unit (200) controlling the movement of the driving connection unit (30). For example, when the gripping unit (20) is in a gripper state and the gripping unit (20) grips a target, the gripping strength of the gripping unit (20) can be strengthened by the driving unit (200) pulling the driving connection unit (30) more in one direction, or the gripping strength of the gripping unit (20) can be weakened by pushing the driving connection unit (30) in one direction.

[0092] The driving unit (200) may be a linear actuator, but this is only an example and is not limited thereto.

[0093] In addition, the grip strength of the grip portion (20) may vary depending on the material constituting the grip portion (20).

[0094] Figure 9 is a conceptual diagram showing an example of use of a transformer gripper according to one embodiment of the present invention.

[0095] As illustrated in FIG. 9, the transformable gripper (1000) can be utilized in minimally invasive surgery with limited field of vision. The transformable gripper (1000) can be inserted into a space requiring surgery in its basic form (or linear form, thread state). The transformable gripper (1000) can undergo a transforming state to transform into a gripper form while inserted into the space requiring surgery. Once transformed into a gripper state, the transformable gripper (1000) can grasp a target.

[0096] As described above, the transformable gripper (1000) can reversibly change shape according to the purpose and can be inserted into a narrow space to effectively grip a target.

[0097] And the deformation state providing device (2000) collects bending data of the transformer gripper (1000) detected from the bending detection sensor (150) inserted into the gripper (20) and calculates and provides the deformation state and bending angle of the gripper (20).

[0098] In detail, the deformation state providing device (2000) collects bending data that detects the degree of bending of hinges (e.g., 121, 122, 123, 124) from a bending detection sensor (150) in which an electric signal changes according to the deformation of the gripping part (20) in which a plurality of links (e.g., 132, 133, 134) are folded around a plurality of hinges (e.g., 121, 122, 123, 124) and the shape changes, removes noise from the collected bending data, and calculates the deformation state and bending angle of the gripping part (20) using the bending data from which noise has been removed, and visualizes the calculated deformation state and bending angle through a visualization program (3000) in which a mechanical diagram is implemented, thereby providing the deformation state of the gripping part (20).

[0099] At this time, the deformation state providing device (2000) can calculate the deformation state and bending angle of the gripping portion (20) by using the maximum angle at which the hinges (e.g., 121, 122, 123, 124) of the gripping portion (20) included in the bending data from which noise has been removed can bend in the outfolding direction and the maximum angle at which the hinges can bend in the infolding direction.

[0100] And the visualization program (3000) may be configured as a separate device server, and may receive the deformation state and bending angle of the gripper (20) produced from the deformation state providing device (2000), visualize the deformation state and bending angle of the gripper (20), and modify the parameters of the mechanical diagram model to match the bending angle of the actual transformable gripper (1000), and then visualize it in real time.

[0101]

[0102] Hereinafter, a device for providing a deformation state of a transformer gripper according to an embodiment of the present invention will be described with reference to FIGS. 10 to 13.

[0103] Figure 10 is a block diagram showing a device for providing a deformation state of a transformer gripper according to an embodiment of the present invention.

[0104] As shown in Fig. 10, a device (2000) for providing a deformation state of a transformer gripper according to an embodiment of the present invention includes a collection unit (2100), a noise removal unit (2200), a production unit (2300), and a deformation state providing unit (2400).

[0105] First, the collection unit (2100) collects bending data from a bending detection sensor (150) provided in the transformer gripper (1000).

[0106] At this time, the bending detection sensor (150) is inserted into the grip portion (20) formed on one side of the transformer gripper (1000) to detect an electric signal according to a change in the shape of the grip portion (20), and detects the sensor resistance that changes as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction, and when infolding, the crack closes and the resistance decreases, and when outfolding, the crack opens and the resistance increases.

[0107] FIG. 11 is a drawing for explaining a bending detection sensor inserted into a transformer gripper according to an embodiment of the present invention.

[0108] As shown in Fig. 11, the bending detection sensor (150) is made of gold and chrome and is positioned at the first hinge (121) of the grip portion (20). When bent in the infolding direction, the crack included in the bending detection sensor (150) closes, thereby decreasing the resistance of the sensor. Conversely, when bent in the outfolding direction, the crack included in the bending detection sensor (150) opens, thereby increasing the resistance of the sensor.

[0109] Figures 12 and 13 are diagrams showing changes in sensor resistance values ​​according to the bending direction and angle of the bending detection sensor illustrated in Figure 11.

[0110] As shown in FIGS. 12 and 13, the bending detection sensor (150) is initially bent in the infolding direction (real shape), so that the sensor resistance value reaches the lowest point, and as the gripping portion (20) is deformed (gripper shape), it bends in the outfolding direction, so that the sensor resistance value reaches the highest value. Since the coefficient of determination (R2) is close to 1, it can be seen that the bending angle and the resistance of the sensor have a linear relationship, as shown in FIG. 13.

[0111] And the noise removal unit (2200) removes noise from the bending data collected from the collection unit (2100).

[0112] And the output unit (2300) calculates the deformation state and bending angle of the transformable gripper (1000) using the bending data from which noise has been removed.

[0113] In detail, the output unit (2300) calculates the deformation state and bending angle of the gripper (20) by using the maximum angle at which the hinges (e.g., 121, 122, 123, 124) of the gripper (20) included in the bending data from which noise has been removed can be bent in the outfolding direction and the maximum angle at which the hinges can be bent in the infolding direction, using the following mathematical expression 1.

[0114]

[0115] Here, is the bending angle of the current phasing part (20), is the maximum angle at which the hinges (e.g. 121, 122, 123, 124) can be bent in the outfolding direction, is the maximum angle to which the hinges (e.g. 121, 122, 123, 124) can bend in the infolding direction, The angles of the hinges (e.g. 121, 122, 123, 124) Resistance value of the bending detection sensor (150) when The angles of the hinges (e.g. 121, 122, 123, 124) When the resistance value of the bending detection sensor (150) is , R is the current resistance value of the bending detection sensor (150).

[0116] Finally, the deformation state providing unit (2400) provides the deformation state of the transformable gripper (1000) by visualizing the generated deformation state and bending angle through a visualization program (3000) in which a mechanical diagram is implemented.

[0117] At this time, the visualization program (300) can modify the parameters of the mechanical diagram model to match the deformation state of the actual transformable gripper (1000) and then visualize it in real time. That is, by modifying the parameters of the linear regression line of FIG. 13 in detail, the bending angle of the grip portion (20) visualized in the mechanical diagram can be perfectly matched with the bending angle of the grip portion (20) of the actual transformable gripper (1000).

[0118]

[0119] Hereinafter, a method for providing a deformation state of a transformer gripper according to an embodiment of the present invention will be described through FIGS. 14 and 15.

[0120] FIG. 14 is a flowchart illustrating the operation flow of a method for providing a deformation state of a transformable gripper according to an embodiment of the present invention, and specific operations of the present invention will be described with reference to this.

[0121] According to an embodiment of the present invention, first, the collection unit (2100) of the deformation state providing device (2000) collects bending data from a bending detection sensor (150) provided in the transformer gripper (1000) (S10).

[0122] At this time, the bending detection sensor (150) is inserted into the grip portion (20) formed on one side of the transformer gripper (1000) to detect an electric signal according to a change in the shape of the grip portion (20), and detects the sensor resistance that changes as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction. In the case of infolding, the crack closes and the resistance decreases, and in the case of outfolding, the crack opens and the resistance increases.

[0123] Next, the noise removal unit (2200) removes noise from the bending data collected in step S10 (S20).

[0124] Next, the output unit (2300) calculates the deformation state and bending angle of the transformable gripper (1000) using the bending data from which noise has been removed in step S20 (S30).

[0125] In detail, the deformation state and bending angle of the grip portion (20) are calculated by using the maximum angle at which the hinges (e.g., 121, 122, 123, 124) of the grip portion (20) included in the bending data from which noise has been removed in step S20 can be bent in the outfolding direction and the maximum angle at which the hinges can be bent in the infolding direction, using the mathematical expression 1 described above.

[0126] Finally, the deformation state providing unit (2400) visualizes the deformation state and bending angle calculated in step S30 through a visualization program (3000) in which a mechanical diagram is implemented, thereby providing the deformation state of the transformable gripper (1000) (S40).

[0127] FIG. 15 is an example of visualizing a change in the shape of a gripper in real time in a method for providing a deformation state of a transformable gripper according to an embodiment of the present invention.

[0128] As shown in Fig. 15, the bending detection sensor (150) operates on the principle that the resistance changes as the crack in the crack-based sensor opens and closes due to the infolding and outfolding deformation of the first hinge (121), and the shape of the transformable gripper (1000) that changes in real time can be visualized through the visualization program (3000), so that the shape of the transformable gripper (1000) can be estimated in real time even in an environment where the transformable gripper (1000) is not directly visible.

[0129] At this time, the visualization program (300) can modify the parameters of the mechanical diagram model to match the deformation state of the actual transformable gripper (1000) and then visualize it in real time. That is, by modifying the parameters of the linear regression line in detail, the bending angle of the grip portion (20) visualized in the mechanical diagram can be perfectly matched with the bending angle of the grip portion (20) of the actual transformable gripper (1000).

[0130]

[0131] The method for providing a deformation state of a transformable gripper according to an embodiment of the present invention has been described above.

[0132] The method for providing a deformation state of a transformable gripper according to an embodiment of the present invention as described above may be provided in the form of a computer-readable medium suitable for storing computer program commands and data.

[0133] In particular, the computer program of the present invention can execute the steps of collecting bending data from a bending detection sensor provided in a transformable gripper, removing noise from the collected bending data, calculating a deformation state and a bending angle of the transformable gripper using the bending data from which noise has been removed, and providing a deformation state of the transformable gripper by visualizing the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented.

[0134] Such computer-readable recording media may contain program commands, data files, data structures, etc. alone or in combination, and include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs (Compact Disk Read Only Memory) and DVDs (Digital Video Disks), magneto-optical media such as floptical disks, and hardware devices specifically configured to store and execute program commands such as ROMs (Read Only Memory), RAMs (Random Access Memory), and flash memory.

[0135] Additionally, computer-readable recording media can be distributed across network-connected computer systems, allowing computer-readable code to be stored and executed in a distributed manner. Furthermore, functional programs, codes, and code segments for implementing the present invention can be readily inferred by programmers skilled in the art to which the present invention pertains.

[0136] According to the present invention as described above, the thickness increase of a transformable gripper that can reversibly change shape to pass through a narrow space and perform a function is minimized, and the degree of bending of the joint is detected without interfering with the movement of the gripper joint in a situation where visual information is limited, and the deformation state of the gripper can be determined and provided in real time.

[0137] In addition, when applied to minimally invasive surgery, the current operating status of the gripper can be checked in real time by analyzing the signals collected through the bending detection sensor mounted on the gripper even in situations with limited field of vision, enabling precise control of the gripper.

[0138] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent embodiments are possible. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the following claims.

[0139] [Explanation of symbols]

[0140] 1000: Transformable gripper 10: Body

[0141] 20: grip section 30: drive connection section

[0142] 40: Fixed member 41: Home

[0143] 50: Terminal 101: First layer

[0144] 101-1: Home 1 101-2: Home 2

[0145] 102: Second layer 103: Adhesive layer

[0146] 103-1: 3rd home 103-2: 4th home

[0147] 110: Laminated layer 120: Unit laminate

[0148] 121: First hinge 122: Second hinge

[0149] 123: Third hinge 124: Fourth hinge

[0150] 131: First Link 132: Second Link

[0151] 133: Third Link 134: Fourth Link

[0152] 135: Fifth link 150: Bending detection sensor

[0153] 200: Drive C: Cutting line

[0154] 2000: Transformation state providing device 2100: Collection unit

[0155] 220: Noise removal unit 2300: Output unit

[0156] 2400: Transformation status provider 3000: Visualization program

Claims

1. In a system providing a deformation state of a transformable gripper, A transformer gripper in which the shape of the gripping part is deformed according to the driving, and a bending detection sensor is provided to detect the deformation of the shape of the gripping part; and A deformation state providing system including a deformation state providing device that collects bending data of a gripper detected from the above bending detection sensor and calculates and provides a deformation state and bending angle of the gripping portion.

2. In paragraph 1, The above transformer gripper, body, A driving connection extending in one direction from the above body part, A gripping part extending in another direction from the body part and including a plurality of hinges and a plurality of links distinct from the plurality of hinges, wherein the links are folded around the hinges and the shape is changed according to the movement of the driving connecting part, and a bending detection sensor that detects an electric signal according to the shape change is inserted, The above bend detection sensor, A system that detects the changing sensor resistance as the cracks within the sensor open and close as the above hinges are bent in the infolding or outfolding direction, and provides a deformation state in which the cracks close during infolding and the resistance decreases, and the cracks open during outfolding and the resistance increases.

3. In paragraph 2, The above-mentioned deformation state providing device, A deformation state providing system that collects bending data by detecting the degree of bending of the hinges from a bending detection sensor in which an electric signal changes according to the deformation of a gripping portion in which the shape is changed by folding the plurality of links centered on the plurality of hinges, removes noise from the collected bending data, calculates a deformation state and a bending angle of the gripping portion using the bending data from which the noise has been removed, and visualizes the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented to provide a deformation state of the gripping portion.

4. In paragraph 3, The above-mentioned deformation state providing device, A deformation state providing system that calculates the deformation state and bending angle of the grip section by using the maximum angle at which the hinges of the grip section included in the noise-removed bending data can be bent in the outfolding direction and the maximum angle at which the hinges of the grip section can be bent in the infolding direction.

5. In paragraph 2, The above body part, the grip part and the drive connection part, Two unit laminates are formed by laminating each other, and when viewed perpendicularly to the laminating direction, the two unit laminates are symmetrical, Each of the above two unit stacks, 1st layer, A second layer laminated on the first layer, having the bending detection sensor inserted therein and having lower rigidity than the first layer, and A first layer is laminated on the second layer, A deformation state providing system in which the hinges for forming the above links are provided.

6. In a device providing a deformation state of a transformer gripper, A collection unit that collects bending data from a bending detection sensor provided in the above-mentioned transformer gripper; A noise removal unit for removing noise from the above-collected bending data; A calculation unit that calculates the deformation state and bending angle of the transformable gripper using the bending data from which the noise has been removed; and A deformation state providing device including a deformation state providing unit that provides the deformation state of the transformable gripper by visualizing the above-described deformation state and bending angle through a visualization program in which a mechanical diagram is implemented.

7. In paragraph 6, The above bend detection sensor, It is inserted into a gripping part formed on one side of the above transformer gripper and detects an electric signal according to a change in the shape of the gripping part. A device that detects the changing sensor resistance as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction, and provides a deformation state in which the crack closes in infolding and the resistance decreases, and the crack opens in outfolding and the resistance increases.

8. In paragraph 7, The above output section, A deformation state providing device that calculates the deformation state and bending angle of the grip section by using the maximum angle at which the hinges of the grip section can be bent in the outfolding direction and the maximum angle at which the hinges of the grip section can be bent in the infolding direction, which are included in the bending data from which noise has been removed.

9. In paragraph 8, The above output section, A deformation state providing device that calculates the deformation state and bending angle of the above-mentioned grip section using the following mathematical formula: Here is the current bending angle of the shaft, is the maximum angle at which the hinges can be bent in the outfolding direction, is the maximum angle at which the hinges can bend in the infolding direction, The angle of the hinges is The resistance value of the bend detection sensor when The angle of the hinges is When the resistance value of the bending detection sensor is , R is the current resistance value of the bending detection sensor.

10. In a method for providing a deformation state in a deformation state providing device that provides a deformation state of a transformer gripper, A step of collecting bending data from a bending detection sensor provided in the above-mentioned transformer gripper; A step of removing noise from the above collected bending data; A step of calculating the deformation state and bending angle of the transformable gripper using the bending data from which the noise has been removed; and A method for providing a deformation state, comprising a step of providing a deformation state of the transformable gripper by visualizing the calculated deformation state and bending angle through a visualization program in which a mechanical diagram is implemented.

11. In paragraph 10, The above bend detection sensor, It is inserted into a gripping part formed on one side of the above transformer gripper and detects an electric signal according to a change in the shape of the gripping part. A method for detecting a sensor resistance that changes as a crack within the sensor opens and closes as it is bent in the infolding or outfolding direction, and providing a deformation state in which the crack closes during infolding and the resistance decreases, and the crack opens during outfolding and the resistance increases.

12. In paragraph 11, The above calculating steps are: A method for providing a deformation state, which calculates the deformation state and bending angle of the grip portion by using the maximum angle at which the hinges of the grip portion can be bent in the outfolding direction and the maximum angle at which the hinges of the grip portion can be bent in the infolding direction, which are included in the bending data from which noise has been removed.

13. In paragraph 12, The above calculating steps are: A method for providing a deformation state by calculating the deformation state and bending angle of the grip section using the following mathematical formula: Here is the current bending angle of the shaft, is the maximum angle at which the hinges can be bent in the outfolding direction, is the maximum angle at which the hinges can bend in the infolding direction, The angle of the hinges is The resistance value of the bend detection sensor when The angle of the hinges is When the resistance value of the bending detection sensor is , R is the current resistance value of the bending detection sensor.

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