WO2011149187A2 - 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법 - Google Patents
단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법 Download PDFInfo
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- WO2011149187A2 WO2011149187A2 PCT/KR2011/002659 KR2011002659W WO2011149187A2 WO 2011149187 A2 WO2011149187 A2 WO 2011149187A2 KR 2011002659 W KR2011002659 W KR 2011002659W WO 2011149187 A2 WO2011149187 A2 WO 2011149187A2
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- Prior art keywords
- robot arm
- surgical
- auxiliary
- main
- coupled
- Prior art date
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims description 25
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000005452 bending Methods 0.000 claims description 4
- 210000003815 abdominal wall Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000002324 minimally invasive surgery Methods 0.000 description 6
- 238000002357 laparoscopic surgery Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011846 endoscopic investigation Methods 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 208000003906 hydrocephalus Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000037390 scarring Effects 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3462—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals
- A61B2017/3466—Trocars; Puncturing needles with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals for simultaneous sealing of multiple instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
Definitions
- the present invention relates to a surgical robot system capable of realizing a single-path surgical mode and a multi-pass surgical mode and a control method thereof.
- Minimally invasive surgery is a surgical technique that minimizes surgical incisions by performing surgery by inserting surgical instruments into the patient's body through at least one small incision.
- Such minimally invasive surgery may help to reduce the metabolic process changes in the patient after the surgery, which may help to shorten the patient's recovery period. That is, the application of minimally invasive surgery can shorten the hospital stay after surgery and allow the patient to return to normal life within a short time after surgery. Minimally invasive surgery may also reduce pain the patient feels while reducing scarring in the patient after surgery.
- the most common form of minimally invasive surgery is endoscopic surgery.
- the most common type of surgery is laparoscopic surgery with minimally invasive irradiation and surgery in the abdominal cavity.
- laparoscopic surgery With minimally invasive irradiation and surgery in the abdominal cavity.
- the patient's abdomen is filled with gas, and at least one small incision is made to provide an entrance to the laparoscopic surgical tool, followed by the insertion of a trocar. Will be performed.
- a user In performing such an operation, a user generally introduces a laparoscopic surgical tool through a trocar and manipulates it outside the abdominal cavity.
- Such laparoscopic surgical instruments generally include laparoscopics (for observation of surgical sites, etc.) and other work tools.
- the work tool is similar to that used in conventional open surgery, except that the work end (or distal end) of each tool is spaced from its handle or the like by a predetermined shaft.
- the work tool may include, for example, a clamp, grasper, scissors, stapler, needle holder, and the like.
- the user is monitoring the progress by a monitor that displays an image of the surgical site, such as taken by the laparoscopic. Similar endoscopic techniques are used throughout laparoscopy, pelvis, arthroscopy, hydrocephalus, paranasal, uterine, kidney, bladder, urethral, renal and so on.
- Such minimally invasive surgery may be divided into a single port surgery mode and a multi-port surgery mode according to the number of passages through which surgical tools are introduced into the surgical site.
- the object of the present invention is to solve all the problems of the prior art described above.
- Another object of the present invention is to provide a surgical robot system and a method of controlling the same, which can selectively realize both a single-pass surgery mode and a multi-pass surgery mode.
- a surgical robot system capable of realizing a single-channel surgical mode and a multi-channel surgical mode, comprising: a drive device, and a control device for electro-mechanically controlling the drive device;
- the apparatus includes an alignment portion including a plurality of main robot arms, and a plurality of manipulation portions each including a plurality of auxiliary robot arms, and in the multi-pass surgical mode, the plurality of main robot arms and the plurality of auxiliary arms.
- At least a portion of the robotic arm is driven such that each surgical tool coupled to each of the plurality of manipulators can be disposed with respect to each of the plurality of incisions, and in the single-path surgical mode, the plurality of main robotic arms and the plurality of Each surgical tool having at least some of the secondary robotic arms of the plurality of manipulators coupled to each of the plurality of manipulators can be aligned with respect to one incision.
- a surgical robotic system is provided that is driven.
- a surgical robot system capable of realizing a single-path surgical mode and a multi-channel surgical mode, comprising: a drive device, and a control device for electro-mechanically controlling the drive device;
- the apparatus includes an alignment unit including a plurality of main robot arms, and a plurality of operation units each including a plurality of auxiliary robot arms, wherein the plurality of main robot arms comprise a first main robot arm for rotating motion, the And a second main robot arm coupled to the first main robot arm to rotate, and a third main robot arm disposed on the second main robot arm to rotate.
- the plurality of auxiliary robot arm is a first auxiliary robot arm for a rotational movement, the second auxiliary robot arm coupled to the first auxiliary robot arm for a rotational movement
- the surgical robot system consisting of the third auxiliary robot arm for the rotary movement is coupled to the second auxiliary robot arm is provided.
- a surgical robot system and a control method thereof which can selectively realize both a single passage surgery mode and a multi-pass surgery mode.
- FIG. 1 is a view showing the overall configuration of a surgical robot system according to an embodiment of the present invention.
- FIGS. 2 to 4 are side, perspective and exploded perspective views of the drive device 200 according to the first embodiment of the present invention.
- FIG 5 is a diagram illustrating a configuration of the operation unit 220 of the driving apparatus 200 according to the first embodiment of the present invention.
- FIG. 6 is a diagram illustrating a configuration of an operation unit 220 of the driving apparatus 200 according to the second embodiment of the present invention.
- FIG. 7 is a diagram illustrating an example in which the driving device 200 according to the first embodiment of the present invention operates in a multi-pass surgery mode.
- FIG. 8 is a diagram illustrating an example in which the driving device 200 according to the first embodiment of the present invention operates in a single passage surgical mode.
- FIG. 9 is a view showing an example in which the drive device 200 according to the second embodiment of the present invention is operating in a single passage surgical mode.
- the present invention will mainly be described assuming a case of laparoscopic surgery, but the present invention is not limited to this, the surgical robot system according to the present invention for any other surgery or for controlling the same It will be apparent to those skilled in the art that the method can be applied.
- the number of the operation part 220 of the drive apparatus 200 of this invention is assumed to be four for the convenience of description, this invention is not limited to this, and it is a technical idea of this invention. It will be apparent to those skilled in the art that the present invention can be applied in any case, as long as the above and the number of the operation unit 220 of the drive device 200 is two or more.
- FIG. 1 is a view showing the overall configuration of a surgical robot system according to an embodiment of the present invention.
- the surgical robot system according to the exemplary embodiment of the present invention may include an operating table 100, a driving device 200, and a control device 300.
- the operating table 100 may be a device for performing a function of supporting the body of the patient and fixing it as necessary.
- the operating table 100 may include a frame structure that is firmly installed with respect to the floor or the ground to prevent adverse effects that the patient may receive from vibration or shock from the outside.
- the operating table 100 is preferably installed horizontally with respect to the floor or the ground for more precise surgery.
- Such operating table 100 preferably, may be installed in parallel with each part of the third main robot arm as described later.
- the driving device 200 may be a device for driving a surgical tool to target the patient on the operating table (100).
- Such a driving device 200 may perform a function of aligning or arranging a surgical tool (for example, a minimally invasive surgical tool) at a predetermined position.
- a surgical tool for example, a minimally invasive surgical tool
- the surgical tool may be aligned by the drive device 200 and placed relative to one incision.
- each of the plurality of surgical instruments may be arranged with respect to different incisions.
- the alignment or placement of the surgical tool as used herein does not necessarily mean that the surgical tool faces the incision or the surgical tool is inserted through the incision.
- the driving device 200 may drive the surgical tool aligned or arranged with respect to the incision and precisely control its operation to perform the surgery.
- the driving device 200 as described above will be described in more detail below with reference to FIG. 2.
- control device 300 may perform a function of controlling the driving device 200.
- the control device 300 may control the driving device 200 by reflecting a user's operation, for example, includes a user input means such as an adjusting knob, a keyboard, a mouse, a joystick, a pedal, and the like.
- the electrical signal generated due to the user's manipulation of the user input means may be transmitted to the driving device 200.
- These electrical signals received by the drive device 200 are each component included in the drive device 200 by electro-mechanical drive means such as an electric motor (not shown) or a hydraulic cylinder (not shown). It can be used as an input signal for operating an element. That is, the control device 300 may electro-mechanically control the operation of each component of the drive device 200.
- the present applicant's Korean Patent Application No. 2008-108103 the specification of the patent application is described herein as a whole Should be considered as incorporated in
- the control device 300 is a digital device including a function for allowing a user to control the driving device 200.
- the control device 300 includes a memory device and a microprocessor, and any digital device having a computing power may be used. It can be adopted as the control device 300 according.
- control device 300 of the present invention does not necessarily control all components of the drive device 200, but at least some of the components of the drive device 200 may be manually controlled by a user. Should be.
- FIGS. 2 to 4 are side, perspective and exploded perspective views of the drive device 200 according to the first embodiment of the present invention.
- the driving device 200 according to the first embodiment of the present invention includes an alignment unit 210 and an operation unit 220.
- the alignment unit 210 may perform a function of aligning or arranging the surgical tool 10 in a proper position so that surgery may be performed on a patient on the operating table 100 according to a surgical mode.
- the surgical tool 10 may be an endoscope or a minimally invasive surgical tool.
- a detailed configuration of such a surgical tool 10 will be described later with reference to FIG. 5.
- all surgical tools 10 shown or described as being minimally invasive surgical tools including a working end capable of opening and closing operations are endoscope or other minimally invasive at the discretion of those skilled in the art. It should be understood that it may be replaced with surgical instruments.
- the alignment unit 210 may include a main support 211, a first main robot arm 212, a second main robot arm 213, and a third main robot arm 214.
- the main support 211 is preferably configured so that the entire driving device 200 is not affected by vibration or shock from the outside in order to proceed smoothly.
- the main support 211 is made of a material of high load can be firmly fixed to the floor or ground.
- the first main robot arm 212 is coupled to each other and the main support 211, one end, in the direction as shown, for example, in the pitch (pitch) direction of the Y axis as the rotation axis, can do.
- the second main robot arm 213 is also coupled to the first main robot arm 212 and one end, so that the rotational motion is performed in the direction as shown, for example, in the pitch direction with the Y axis as the rotation axis. can do.
- the third main robot arm 214 is disposed to be substantially orthogonal to the second main robot arm 213 as shown, and in the direction as shown, for example, in the pitch direction with the Y axis as the rotation axis. , Can do rotational movement.
- Two parts 214a and 214b of the third main robot arm 214 may independently rotate with respect to each other.
- 214a portion and 214b portion of the third main robot arm 214 is near the portion where the end of the second main robot arm 213 is coupled with the end of the first main robot arm 212, respectively. And the other end of the second main robot arm 213 on the opposite side thereof.
- One operation unit 220 may be coupled to each of the four end portions of the third main robot arm 214 214a and the 214b portion (in particular, FIG. 4 shows more clearly about this coupling).
- the manipulation unit 220 may perform a rotational movement about the Y axis of the third main robot arm 214.
- the length of the portion 214a and 214b of the third main robot arm 214 may be configured to be different from each other as shown. This may be to allow each operation unit 220 to use a different space (rotation space).
- the main robot arms 212 to 214 and the operation unit 220 of the present invention will be further described below with reference to FIG. 5.
- FIG 5 is a diagram illustrating a configuration of the operation unit 220 of the driving apparatus 200 according to the first embodiment of the present invention.
- the manipulation unit 220 may be coupled to the third main robot arm 214 to perform a function of aligning / arranging and precisely controlling the surgical tool 10.
- the manipulation unit 220 includes an auxiliary robot arm such as a first auxiliary robot arm 221, a second auxiliary robot arm 222, and a third auxiliary robot arm 223 and a first joint part 224. ), The second joint part 225, and the third joint part 226 may be included.
- one end of the first auxiliary robot arm 221 is coupled to the third main robot arm 214 by the first joint part 224, so that the first auxiliary robot arm 221 may rotate around the X rotation axis and the Y rotation axis.
- the rotation direction in this case is a yaw direction and a pitch direction.
- the rotation direction in this case is a pitch direction and a roll direction.
- one end of the third auxiliary robot arm 223 is coupled to the other end of the second auxiliary robot arm 222 by the third joint part 226, thereby rotating around the X rotation axis and the Y rotation axis. can do.
- the rotation direction in this case becomes a roll direction and a pitch direction.
- the first auxiliary robot arm 221 to the third auxiliary robot arm 223 as described above may preferably have a range of motion of 180 degrees or more in the Y-axis center movement.
- the rotational movement ranges of the first auxiliary robot arm 221 of the operation unit 220 coupled to both ends of one third main robot arm 213 are symmetric with each other (such symmetry).
- the range of rotational motion may enable the user to understand the operation of the control unit 220 or the surgical tool 10 more intuitively.
- the third auxiliary robot arm 223 as described above may include a body portion 223a, a moving portion 223b, and a holder portion 223c as shown in an enlarged perspective view.
- the body portion 223a may be configured to be coupled to the third joint portion 226 to perform a rotational movement (ie, pitch direction rotational movement) about the Y rotational axis.
- the moving part 223b may be coupled to the body part 223a by a guide G formed on one surface of the body part 223a to move in a surge direction.
- the holder 223c may perform a function of fixing the predetermined surgical tool 10 with respect to the moving unit 223b.
- the surgical tool 10 includes an endoscope and / or minimally invasive surgical tool using the mechanism described in the specification of Korean Patent Application No. 2008-51248 or 2008-61894, or Korean Patent Application No. 2008-108103 Endoscopes and / or minimally invasive surgical instruments as described in the specification of the call. Since the surgical tool 10 is coupled with the driving device 200 according to the first embodiment of the present invention, the surge direction operation, the pitch by the control signal from the control device 300 and / or the manual operation of the user. At least one of the directional action, the yaw direction action, the roll direction action, and the opening and closing operation of the working end of the surgical tool 10 may be performed.
- the configuration of the drive device 200 according to the second embodiment of the present invention is basically the same as the configuration of the drive device 200 according to the first embodiment of the present invention described above. However, since there are some characteristic differences, the following description will focus on this.
- FIG. 6 is a diagram illustrating a configuration of an operation unit 220 of the driving apparatus 200 according to the second embodiment of the present invention.
- the surgical tool 10 coupled to the operation unit 220 of the driving apparatus 200 has a bending by forming a predetermined angle A by itself.
- a bend may be preformed by the bending of at least one shaft of the surgical tool 10 or may be laterally formed by the control of a user, and in a single passage operation, even between several surgical tools 10
- To secure the space to observe, and to allow the end of the various surgical instruments 10 to be placed in a narrower area serves to make enough small incisions.
- the effect of facilitating the introduction of a surgical tool that assists the user's surgery to the surgical site can be achieved.
- FIG. 7 is a diagram illustrating an example in which the driving device 200 according to the first embodiment of the present invention operates in a multi-pass surgery mode.
- each surgical tool 10 of the manipulation unit 220 may be driven and disposed to face the surgical site through different incisions. Therefore, according to the present invention, multi-channel surgery can be easily performed.
- FIG. 8 is a diagram illustrating an example in which the driving device 200 according to the first embodiment of the present invention operates in a single passage surgical mode.
- each surgical instrument 10 of the manipulation unit 220 can be driven and aligned to face the surgical site through the same incision.
- each of the four third auxiliary robot arms 223 may be aligned such that the edges of the corresponding body parts 223a are in contact with the edges of the other body parts 223a as shown in an enlarged perspective view.
- the four body portions 223a when viewed from above, may form a square shape as shown in an enlarged perspective view (this shape may vary depending on the number of controls 220 of the surgical robot system).
- the above shape may be hexagonal).
- the surgical tool 10 fixed to each of the four holder portions 223c corresponding to the four body portions 223a can be easily aligned, and they are inserted together into a single passage for surgery. It becomes possible.
- the aligned structure enhances the mechanical stability of the surgical tool 10 when performing a single-pass surgery, and fixes the relative position of the surgical tool 10 relative to each other to facilitate control of the surgical tool 10. You can do that.
- a separate single channel surgical port 230 as shown in Figure 8 may be further used (for such a single channel surgical Regarding the specific configuration of the port 230, reference may be made to Korean Patent Application No. 2008-99872 of the applicant (the specification of the patent application should be considered to be incorporated herein in its entirety).
- This single channel surgical port 230 may perform the function of securing a plurality of surgical tools 10 in one bundle.
- the elbow mechanism (as disclosed in Korean Patent Application No. 2008-79126 or 2008-90560) It is preferable to use a surgical tool 10 having an elbow mechanism (see Korean Patent Application No. 2008-108103 for further application of such a surgical tool 10).
- a plurality of surgical tools 10 inserted into a single passage through an incision can be operated in one unit, for this purpose,
- a fixed motion fulcrum may be required (for example, in the case of laparoscopic surgery, one can assume that the abdominal wall meets the virtual longitudinal axis, which is the center of the longitudinal axis of the plurality of surgical instruments 10, as such a reference point. ). And this reference point may be included in the single passage surgical port 230 as described above.
- the plurality of surgical tools 10 may be controlled to operate in a pitch direction, yaw direction, roll direction and / or surge direction in one unit (for this purpose, multiple surgical tools 10 ) May advantageously be aligned with each other at least at the reference point).
- each of the plurality of surgical tools 10 may be in the roll direction and / or surge direction movement or joint motion by itself while being fixed to the third auxiliary robot arm 223 corresponding thereto.
- FIG. 9 is a view showing an example in which the drive device 200 according to the second embodiment of the present invention is operating in a single passage surgical mode.
- the shafts of the four surgical instruments 10 disposed on the four manipulation units 220 are bent in a direction away from the corresponding first and second auxiliary robot arms 221 and 222. It can be seen that it is controlled to have (as described above, of course, this bend may be originally formed in the surgical tool 10). Regarding the control of the shaft of the surgical tool 10, reference may be made to the descriptions of the specifications of Korean Patent Application Nos. 2008-79126 and 2008-90560.
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Abstract
Description
Claims (22)
- 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템으로서,구동 장치, 및상기 구동 장치를 전기-기계적으로 제어하기 위한 제어 장치를 포함하고,상기 구동 장치는,다수의 메인 로봇암을 포함하는 정렬부, 및각각이 다수의 보조 로봇암을 포함하는 다수의 조작부를 포함하며,다통로 수술 모드의 경우, 상기 다수의 메인 로봇암 및 상기 다수의 보조 로봇암 중 적어도 일부가 상기 다수의 조작부의 각각에 결합되어 있는 각 수술 도구가 다수의 절개부의 각각에 대하여 배치될 수 있도록 구동되고,단일 통로 수술 모드의 경우, 상기 다수의 메인 로봇암 및 상기 다수의 보조 로봇암 중 적어도 일부가 상기 다수의 조작부의 각각에 결합되어 있는 각 수술 도구가 하나의 절개부에 대하여 정렬될 수 있도록 구동되는수술용 로봇 시스템.
- 제1항에 있어서,상기 제어 장치는 조절 손잡이, 키보드, 마우스, 조이스틱 및 페달 중 적어도 한 가지를 포함하는 수술용 로봇 시스템.
- 제1항에 있어서,상기 다수의 메인 로봇암은 회전 운동을 하는 제1 메인 로봇암, 상기 제1 메인 로봇암에 결합되어 회전 운동을 하는 제2 메인 로봇암 및 상기 제2 메인 로봇암에 배치되어 회전 운동을 하는 제3 메인 로봇암으로 구성되는 수술용 로봇 시스템.
- 제1항에 있어서,상기 다수의 메인 로봇암은 피치 방향으로 회전 운동을 하는 제1 메인 로봇암, 상기 제1 메인 로봇암에 일단이 결합되어 피치 방향으로 회전 운동을 하는 제2 메인 로봇암 및 상기 제2 메인 로봇암에 실질적으로 직교하도록 배치되어 피치 방향으로 회전 운동을 하는 제3 메인 로봇암으로 구성되는 수술용 로봇 시스템.
- 제3항에 있어서,상기 제3 메인 로봇암은 상기 다수의 조작부와 결합되어 있는 수술용 로봇 시스템.
- 제5항에 있어서,상기 다수의 보조 로봇암은 회전 운동을 하는 제1 보조 로봇암, 상기 제1 보조 로봇암에 결합되어 회전 운동을 하는 제2 보조 로봇암 및 상기 제2 보조 로봇암에 결합되어 회전 운동을 하는 제3 보조 로봇암으로 구성되는 수술용 로봇 시스템.
- 제5항에 있어서,상기 다수의 보조 로봇암은 피치 방향 및 요 방향으로 회전 운동을 하는 제1 보조 로봇암, 상기 제1 보조 로봇암에 일단이 결합되어 피치 방향 및 롤 방향으로 회전 운동을 하는 제2 보조 로봇암 및 상기 제2 보조 로봇암에 일단이 결합되어 피치 방향 및 롤 방향으로 회전 운동을 하는 제3 보조 로봇암으로 구성되는 수술용 로봇 시스템.
- 제6항에 있어서,상기 제3 메인 로봇암은 다수의 부분을 포함하고,상기 다수의 부분의 길이는 서로 다른수술용 로봇 시스템.
- 제8항에 있어서,상기 다수의 부분 중 하나에 결합되어 있는, 서로 대향하는 2개의 조작부 각각의 제1 보조 로봇암의 회전 운동 범위는 서로 대칭되는 수술용 로봇 시스템.
- 제6항에 있어서,상기 다수의 제3 보조 로봇암 중 적어도 일부는 서로 실질적으로 평행하도록 정렬될 수 있는 수술용 로봇 시스템.
- 제6항에 있어서,상기 제3 보조 로봇암은,상기 제2 보조 로봇암에 결합되는 몸체부,상기 몸체부에 대하여 서지 방향으로 이동하는 이동부, 및수술 도구를 상기 이동부에 고정시키기 위한 홀더부를 포함하는 수술용 로봇 시스템.
- 제11항에 있어서,상기 단일 통로 수술 모드의 경우, 하나의 제3 보조 로봇암의 몸체부의 모서리가 다른 제3 보조 로봇암의 몸체부의 모서리와 접하는 수술용 로봇 시스템.
- 제6항에 있어서,상기 각 수술 도구는 내시경 또는 최소 침습 수술 도구인 수술용 로봇 시스템.
- 제13항에 있어서,상기 각 수술 도구는 굴곡을 갖는 수술용 로봇 시스템.
- 제14항에 있어서,상기 굴곡은 상기 각 수술 도구의 작업 단부가 해당 제1 보조 로봇암 및 해당 제2 보조 로봇암으로부터 멀어지는 방향으로 형성된 수술용 로봇 시스템.
- 제1항에 있어서,상기 단일 통로 수술 모드의 경우, 상기 다수의 수술 도구 중 적어도 일부는 소정의 동작 기준점에 기초하여 하나의 단위로 동작할 수 있는 수술용 로봇 시스템.
- 제16항에 있어서,상기 동작 기준점은 복벽과 상기 다수의 수술 도구의 종축들의 가상의 중심축이 만나는 점에 설정되는 수술용 로봇 시스템.
- 제17항에 있어서,상기 동작 기준점에서, 상기 다수의 수술 도구 중 적어도 일부는 서로 실질적으로 평행하도록 정렬될 수 있는 수술용 로봇 시스템.
- 제1항에 있어서,상기 다수의 수술 도구 중 적어도 일부가 하나의 단위로 동작하도록 하기 위한 단일 통로 수술용 포트를 더 포함하는 수술용 로봇 시스템.
- 제19항에 있어서,상기 단일 통로 수술용 포트는 소정의 동작 기준점을 갖는 수술용 로봇 시스템.
- 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템으로서,구동 장치, 및상기 구동 장치를 전기-기계적으로 제어하기 위한 제어 장치를 포함하고,상기 구동 장치는,다수의 메인 로봇암을 포함하는 정렬부, 및각각이 다수의 보조 로봇암을 포함하는 다수의 조작부를 포함하며,상기 다수의 메인 로봇암은 회전 운동을 하는 제1 메인 로봇암, 상기 제1 메인 로봇암에 결합되어 회전 운동을 하는 제2 메인 로봇암 및 상기 제2 메인 로봇암에 배치되어 회전 운동을 하는 제3 메인 로봇암으로 구성되고,상기 제3 메인 로봇암은 상기 다수의 조작부와 결합되어 있으며,상기 다수의 보조 로봇암은 회전 운동을 하는 제1 보조 로봇암, 상기 제1 보조 로봇암에 결합되어 회전 운동을 하는 제2 보조 로봇암 및 상기 제2 보조 로봇암에 결합되어 회전 운동을 하는 제3 보조 로봇암으로 구성되는수술용 로봇 시스템.
- 제1항 내지 제21항 중 어느 한 항에 따른 수술용 로봇 시스템을 제어하기 위한 방법으로서,단일 통로 수술 모드에서, 다수의 수술 도구 중 적어도 하나가 굴곡을 갖도록 제어하는 단계를 포함하는 방법.
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US13/699,852 US10010375B2 (en) | 2010-05-25 | 2011-04-14 | Surgical robot system for realizing single-port surgery and multi-port surgery and method for controlling same |
CN201180025798.XA CN102917662B (zh) | 2010-05-25 | 2011-04-14 | 手术用机器人*** |
EP11786820.8A EP2578177A4 (en) | 2010-05-25 | 2011-04-14 | Surgical robot system for realizing single-port surgery and multi-port surgery and method for controlling same |
JP2013512518A JP2013532007A (ja) | 2010-05-25 | 2011-04-14 | 単一通路手術モードと多通路手術モードを実現できる手術用ロボットシステム及びその制御方法 |
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Also Published As
Publication number | Publication date |
---|---|
CN102917662A (zh) | 2013-02-06 |
EP2578177A2 (en) | 2013-04-10 |
KR20110129293A (ko) | 2011-12-01 |
EP2578177A4 (en) | 2017-04-19 |
US20130144307A1 (en) | 2013-06-06 |
US10010375B2 (en) | 2018-07-03 |
CN102917662B (zh) | 2015-11-25 |
KR101181569B1 (ko) | 2012-09-10 |
WO2011149187A3 (ko) | 2012-03-01 |
JP2013532007A (ja) | 2013-08-15 |
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