WO2011149260A3 - Rcm structure for a surgical robot arm - Google Patents
Rcm structure for a surgical robot arm Download PDFInfo
- Publication number
- WO2011149260A3 WO2011149260A3 PCT/KR2011/003817 KR2011003817W WO2011149260A3 WO 2011149260 A3 WO2011149260 A3 WO 2011149260A3 KR 2011003817 W KR2011003817 W KR 2011003817W WO 2011149260 A3 WO2011149260 A3 WO 2011149260A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rcm
- robot arm
- surgical robot
- base
- surgical
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a remote center of motion (RCM) structure for a surgical robot arm. The RCM structure for a surgical robot arm is configured such that an end of the robot arm is equipped with a surgical instrument such that the surgical instrument is rotatable about a point of an RCM. The RCM structure for a surgical robot arm comprises: a base; a first link unit coupled to the base such that the first link unit is rotatable in both directions about the virtual line interconnecting the base and the RCM point; and a second link unit which is rotatably coupled to the first link, and the end of which is equipped with the surgical instrument. The first and second link units are rotatable by 360 degrees with respect to the base so as to significantly increase the range in which the surgical instrument rotates about the RCM point, thereby enabling the surgical robot arm to operate in a wider range while maintaining the RCM.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020100050681A KR20110131053A (en) | 2010-05-28 | 2010-05-28 | Rcm structure of surgical robot arm |
KR10-2010-0050681 | 2010-05-28 | ||
KR1020100076924A KR101550451B1 (en) | 2010-08-10 | 2010-08-10 | RCM structure of surgical robot arm |
KR10-2010-0076924 | 2010-08-10 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2011149260A2 WO2011149260A2 (en) | 2011-12-01 |
WO2011149260A3 true WO2011149260A3 (en) | 2012-04-19 |
Family
ID=45004558
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2011/003817 WO2011149260A2 (en) | 2010-05-28 | 2011-05-25 | Rcm structure for a surgical robot arm |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2011149260A2 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2854692B1 (en) | 2012-06-01 | 2022-07-20 | Intuitive Surgical Operations, Inc. | Multi-port surgical robotic system architecture |
WO2014155257A1 (en) | 2013-03-28 | 2014-10-02 | Koninklijke Philips N.V. | Localization of robotic remote center of motion point using custom trocar |
EP3102142A1 (en) * | 2014-02-04 | 2016-12-14 | Koninklijke Philips N.V. | Remote center of motion definition using light sources for robot systems |
KR102327948B1 (en) | 2014-03-17 | 2021-11-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Structural adjustment systems and methods for a teleoperational medical system |
DE102015101018A1 (en) * | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Device for holding and moving a laparoscope during an operation |
CN104783900B (en) * | 2015-04-03 | 2017-02-22 | 中国科学院深圳先进技术研究院 | Follow-up type nasal endoscope operation auxiliary robot |
US11547281B2 (en) | 2018-02-15 | 2023-01-10 | Covidien Lp | Sheath assembly for a rigid endoscope |
CN110421577A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | Synchronous telescopic boom and its inspecting robot |
CN114533269B (en) * | 2021-09-13 | 2023-10-31 | 广西大学 | RCM positioning mechanism of surgical robot |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003067341A2 (en) * | 2002-02-06 | 2003-08-14 | The Johns Hopkins University | Remote center of motion robotic system and method |
WO2008157225A1 (en) * | 2007-06-19 | 2008-12-24 | Intuitive Surgical, Inc. | Robotic manipulator with remote center of motion and compact drive |
US20090048611A1 (en) * | 1992-05-27 | 2009-02-19 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US20090234369A1 (en) * | 2006-06-19 | 2009-09-17 | Robarts Research Institute | Apparatus for guiding a medical tool |
-
2011
- 2011-05-25 WO PCT/KR2011/003817 patent/WO2011149260A2/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090048611A1 (en) * | 1992-05-27 | 2009-02-19 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
WO2003067341A2 (en) * | 2002-02-06 | 2003-08-14 | The Johns Hopkins University | Remote center of motion robotic system and method |
US20090234369A1 (en) * | 2006-06-19 | 2009-09-17 | Robarts Research Institute | Apparatus for guiding a medical tool |
WO2008157225A1 (en) * | 2007-06-19 | 2008-12-24 | Intuitive Surgical, Inc. | Robotic manipulator with remote center of motion and compact drive |
US20080314181A1 (en) * | 2007-06-19 | 2008-12-25 | Bruce Schena | Robotic Manipulator with Remote Center of Motion and Compact Drive |
Also Published As
Publication number | Publication date |
---|---|
WO2011149260A2 (en) | 2011-12-01 |
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