WO2022103166A1 - 수술용 이중 패러렐로그램 장치 - Google Patents
수술용 이중 패러렐로그램 장치 Download PDFInfo
- Publication number
- WO2022103166A1 WO2022103166A1 PCT/KR2021/016397 KR2021016397W WO2022103166A1 WO 2022103166 A1 WO2022103166 A1 WO 2022103166A1 KR 2021016397 W KR2021016397 W KR 2021016397W WO 2022103166 A1 WO2022103166 A1 WO 2022103166A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pitch
- roll
- link
- base link
- surgery
- Prior art date
Links
- 238000001356 surgical procedure Methods 0.000 claims description 68
- 238000000034 method Methods 0.000 claims description 22
- 239000012636 effector Substances 0.000 claims description 17
- 206010062767 Hypophysitis Diseases 0.000 claims description 12
- 210000003635 pituitary gland Anatomy 0.000 claims description 12
- 230000001419 dependent effect Effects 0.000 claims 1
- 239000011295 pitch Substances 0.000 description 176
- 230000001817 pituitary effect Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000004556 brain Anatomy 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
- 230000000694 effects Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000002207 retinal effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/02—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the master and slave units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00727—Apparatus for retinal reattachment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39389—Laparoscopic surgery, camera on center of operated part, view around, scale
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40415—Semi active robot, cobot, guides surgeon, operator to planned trajectory, constraint
Definitions
- the present invention relates to a double parallelogram device for surgery, and more particularly, to a double parallelogram device for surgery that forms a double parallelogram while rotating each pitch and roll module dependently pitch and roll.
- a parallelogram can have only one degree of freedom.
- pitch rotation is implemented by a parallelogram, and a single axis rotation is implemented so that roll rotation is performed by driving a motor.
- the two-degree-of-freedom implementation device using such an existing parallelogram and a motor has a problem in that the precision and rigidity of the corresponding degree of freedom are insufficient.
- the present invention has been created to solve the above-described problems, and it is possible to operate two degrees of freedom and RCM with a combination of prismatic degrees of freedom advantageous for high precision, and to provide an invention that minimizes backlash and friction. There is a purpose.
- each module forms a plurality of stages, and each module provides a plurality of pitch and roll module portion, a plurality of pitch and roll module portion that provides two degrees of freedom capable of pitch and roll rotation dependently, and It can be achieved by providing a double parallelogram device for surgery, characterized in that it comprises a plurality of pitch link portion by which a double parallelogram is formed by connecting and connecting.
- the plurality of pitch and roll module parts are jointly connected and connected by a plurality of pitch link parts while being spaced apart by a predetermined distance in parallel in the first direction.
- the plurality of pitch link units jointly connect and connect the plurality of pitch and roll module units in a second direction perpendicular to the first direction.
- each of the plurality of pitch and roll module parts is a base link part jointly connected to the plurality of pitch link parts in the second direction, a roll link part connected and connected to the base link part so that each module is roll-rotated, a base link part And by jointly connecting a plurality of pitch link parts to enable pitch rotation, each module includes a pitch joint part that enables pitch rotation, and a roll joint part jointly connected and connected so that the base link part and the roll link part can roll-rotate.
- first and fourth base link units are jointly connected to a plurality of pitch link units at two points on the left and right sides
- the second and third base link units are jointly connected with a plurality of pitch link units at three points on the left and right sides. connection is connected
- first and fourth base link units are respectively disposed at the outermost portion, and the second and third base link units are respectively disposed in a space between the first and fourth base link units.
- the plurality of pitch and roll module part first pitch and roll module part, each of which the first and second left pitch link parts and the first and second right pitch link parts are jointly connected to the first base link part in pairs, the first , 2nd pitch and roll modul part, 1st, 2nd, 3rd left pitch link in which each of 2,3 left pitch link part and the 1st, 2nd, 3rd right pitch link part are jointly connected and connected to the 2nd base link part in pairs
- a third pitch and roll module part jointly connected to the third base link part in pairs, each of the first, second, and third right pitch link parts, the second, third left pitch link part, and the second, third right pitch link part
- Each of the parts includes a fourth pitch and roll module part jointly connected to the fourth base link part in pairs.
- the surgical end effector is connected to the first and second pitch and one roll link part of the roll module part, and the driving part is connected and coupled to the other roll link part of the third and fourth pitches and the roll module part.
- first parallel program module unit for forming a first parallel program on one side about a virtual vertical axis
- second parallel program for forming a second parallel program to be in contact with and parallel to the first parallel program
- the first parallelogram on the side adjacent to the connected and connected surgical end effector is formed at a relatively higher position than the second parallelogram and is formed so that some overlapping is performed for intraocular surgery.
- the first parallelogram on the side adjacent to the connected and connected surgical end effector is formed at a relatively lower position compared to the second parallelogram and is formed so that a part overlaps with the suture operation.
- first and second parallelograms include first, second, third, and fourth base link units, first, second, and third base link units arranged to form a plurality of stages separated by a predetermined distance in parallel in the first direction;
- Each of the first, second, and third pitch link portions jointly connected in a second direction perpendicular to the first direction from one side is formed according to a connection combination of each joint connection connection point.
- first and fourth base link units are respectively disposed at the outermost portion, and the second and third base link units are respectively disposed in a space between the first and fourth base link units.
- first parallel program module unit is perpendicular to the first direction from the first, first, second, and third base link units, first, second, and third base link units respectively connected to the first joint connection at at least two points on one side It includes first and second pitch link portions jointly connected and connected in the second direction, and a first parallelogram is formed by connecting the first joint connection points.
- the second parallel program module part is perpendicular to the first direction from the second, 3, 4 base link part, the 2nd, 3, 4 base link part and the second joint connection connected at least two points on one side, respectively It includes second and third pitch link portions jointly connected in the second direction, and a second parallelogram is formed by connecting the second joint connection points.
- first parallel program module unit for forming a first parallel program on one side with respect to a virtual horizontal axis
- second parallel program for forming a second parallel program in parallel with the first parallel program. It can be achieved by providing a double parallelogram device for surgery, characterized in that the operation of the pituitary gland, including two parallelogram module.
- the first parallelogram of the side adjacent to the connected and connected surgical end effector is formed at a relatively lower position compared to the second parallelogram, and is formed so as to overlap some to operate the pituitary gland.
- first and second parallelograms include first, second, third, and fourth base link units, first, second, and third base link units arranged to form a plurality of stages separated by a predetermined distance in parallel in the first direction;
- Each of the first, second, and third pitch link parts jointly connected and connected in the second direction perpendicular to the first direction from one side is formed according to the connection combination of the joint connection points, respectively, and the pituitary gland is operated.
- first and fourth base link units are disposed on the outermost side, respectively, and the second and third base link units are respectively disposed in the space between the first and fourth base link units to operate the pituitary gland.
- first parallel program module unit is perpendicular to the first direction from the first, first, second, and third base link units, first, second, and third base link units respectively connected to the first joint connection at at least two points on one side It includes first and second pitch link parts jointly connected in the second direction, and the pituitary gland is operated by connecting the first joint connection points to form a first parallelogram.
- the second parallel program module part is perpendicular to the first direction from the second, 3, 4 base link part, the 2nd, 3, 4 base link part and the second joint connection connected at least two points on one side, respectively
- the pituitary gland is operated on by connecting the second joint connection point to form a second parallelogram by connecting the second joint connection point and the second and third pitch link parts jointly connected in the second direction.
- FIG. 1 and 2 are views showing a double parallelogram device for intraocular surgery according to a first embodiment of the present invention
- FIG. 3 is a view showing that the double parallelogram device for intraocular surgery according to the first embodiment of the present invention is positioned without pitch rotation
- FIG. 4 is a view showing that the double parallelogram device for intraocular surgery according to the first embodiment of the present invention is pitch rotated relatively backward with respect to FIG.
- FIG. 5 is a view showing that the double parallelogram device for intraocular surgery according to the first embodiment of the present invention is rotated in a relatively forward pitch with respect to FIG.
- FIG. 6 is a view showing that the double parallelogram device for intraocular surgery according to the first embodiment of the present invention is rotated in the first roll rotation direction
- FIG. 7 is a view showing that the double parallelogram device for intraocular surgery according to the first embodiment of the present invention roll rotates in the second roll rotation direction
- FIG. 8 is a view showing first and second parallelograms of the double parallelogram apparatus for intraocular surgery according to the first embodiment of the present invention
- FIG. 9 is a view showing that the driving unit and the surgical end effector are coupled to the double parallelogram device for intraocular surgery according to the first embodiment of the present invention.
- FIG. 10 is a view showing a double parallelogram device for suture surgery according to a second embodiment of the present invention.
- FIG. 11 is a view showing first and second parallelograms of a double parallelogram device for suture surgery according to a second embodiment of the present invention.
- FIG. 12 is a view showing that the driving unit and the surgical end effector are coupled to the double parallelogram device for suture surgery according to the second embodiment of the present invention
- FIG. 13 is a view showing a double parallelogram device for pituitary surgery according to a third embodiment of the present invention.
- FIG. 14 is a view showing the first and second parallelograms of the double parallelogram device for pituitary surgery according to the third embodiment of the present invention.
- 15 is a view showing that the driving unit and the surgical end effector are coupled to the double parallelogram device for pituitary surgery according to the third embodiment of the present invention.
- the double parallelogram device for intraocular surgery according to the first embodiment of the present invention is rotated in pitch and roll according to the control driving of the driving unit 10 while forming a double parallelogram as shown in FIGS. It is a device for orienting the surgical end effector 20 (Orientation) and positioning (Position). Intraocular surgery includes retinal surgery as an example.
- a double parallelogram device for intraocular surgery according to a first embodiment of the present invention will be described in detail with reference to the accompanying FIGS. 1 to 9 .
- the double parallel gram unit 100 for eye surgery includes first, second, third, and fourth pitch and roll module units 110, 120, 130, and 140.
- the first pitch and roll module part 110 includes a first base link part, a first roll link part, a first pitch joint part, and a first roll joint part.
- the first base link part includes a left base link part 111a and a right base link part 111b with reference to FIGS. 1 and 2 .
- the left and right sides may be replaced with other terms according to the posture position of the double parallel gram unit 100 for eye surgery.
- the left base link part 111a and the right base link part 111b are separated from each other, they may be integrally formed as needed.
- the left base link part 111a and the first and second left pitch link parts 151a and 151b are jointly connected and connected to each other at two points to enable pitch rotation by the first and second left pitch joint parts 113a and 113b. .
- the first and second left pitch link parts 151a and 151b are jointly connected to the left base link part 111a while being spaced apart from each other by a predetermined distance in the horizontal direction (first direction).
- the right base link part 111b and the first and second right pitch link parts 152a and 152b are jointly connected and connected to each other to enable pitch rotation by the first and second right pitch joint parts 113c and 113d.
- the first and second right pitch link parts 152a and 152b are jointly connected to the right base link part 111b while being spaced apart from each other by a predetermined distance in the horizontal direction. Therefore, they are jointly connected and connected to each other at a total of 4 points on the left and right sides.
- the left and right base link parts 111a and 111b and the front roll link part 112a disposed in the front are jointly connected and connected to each other so that they can roll and rotate by the left and right front roll joint parts 114a and 114b.
- the left and right base link parts 111a and 111b and the rear roll link part 112b disposed at the rear are jointly connected and connected to each other so that they can be roll rotated by the left and right rear roll joint parts 114c and 114d.
- the above-described first pitch and roll module part 110 is pitch rotated based on the first and second left pitch joint parts 113a and 113b and the first and second right pitch joint parts 113c and 113d.
- the first pitch and roll module part 110 roll rotates by the front and rear roll link parts 112a and 112b and the left and right and front and rear roll joint parts 114a, 114b, 114c and 114d.
- the second pitch and roll module part 120 includes a second base link part, a second roll link part, a second pitch joint part, and a second roll joint part.
- the second base link part includes a left base link part 121a and a right base link part 121b with reference to FIGS. 1 and 2 . Although the left base link part 121a and the right base link part 121b are separated from each other, they may be integrally formed as needed.
- the left base link portion 121a and the first, second, and third left pitch link portions 151a, 151b, and 151c are configured to allow pitch rotation by the first, second, and third left pitch joint portions 123a, 123b, and 123c. They are jointly connected to each other at three points.
- the first, second, and third left pitch link portions 151a, 151b, and 151c are jointly connected and connected to the left base link portion 121a at three points while being spaced apart from each other by a predetermined distance in the horizontal direction.
- the right base link portion 121b and the first, second, and third right pitch link portions 152a, 152b, and 152c can be pitch rotated by the first, second, and third right pitch joint portions 123d, 123e, and .123f. They are jointly connected to each other at three points so that they are connected.
- the first, second, and third right pitch link portions 152a, 152b, and 152c are jointly connected and connected to the right base link portion 121b at three points while being spaced apart from each other by a predetermined distance in the horizontal direction. Therefore, they are jointly connected to each other at a total of 6 points on the left and right sides.
- the left and right base link parts 121a and 121b and the front roll link part 122a disposed in the front are jointly connected and connected to each other so that they can roll and rotate by the left and right front roll joint parts 124a and 124b.
- the left and right base link parts 121a and 121b and the rear roll link part 122b disposed at the rear are jointly connected and connected to each other so that they can be roll rotated by the left and right rear roll joint parts 124c and 124d.
- the above-described second pitch and roll module part 120 is based on the first, second, and third left pitch joint parts 123a, 123b, 123c and the first, second, and third right pitch joint parts 123d, 123e, 123f. rotates the pitch with In addition, the second pitch and roll module part 120 roll rotates by the front and rear roll link parts 122a and 122b and the left and right and front and rear roll joint parts 124a, 124b, 124c and 124d.
- the third pitch and roll module unit 130 includes a third base link unit, a third roll link unit, a third pitch joint unit, and a third roll joint unit.
- the third base link part includes a left base link part 131a and a right base link part 131b with reference to FIGS. 1 and 2 . Although the left base link part 131a and the right base link part 131b are separated from each other, they may be integrally formed as needed.
- the left base link portion 131a and the first, second, and third left pitch link portions 151a, 151b, and 151c are pitch-rotated by the first, second, and third left pitch joint portions 133a, 133b, and 133c. They are jointly connected to each other at three points.
- the first, second, and third left pitch link portions 151a, 151b, and 151c are jointly connected and connected to the left base link portion 131a at three points while being spaced apart from each other by a predetermined distance in the horizontal direction.
- the right base link portion 131b and the first, second, and third right pitch link portions 152a, 152b, and 152c can be pitch rotated by the first, second, and third right pitch joint portions 133d, 133e, and .133f. They are jointly connected to each other at three points so as to be connected.
- the first, second, and third right pitch link portions 152a, 152b, and 152c are jointly connected and connected to the right base link portion 131b at three points while being spaced apart from each other by a predetermined distance in the horizontal direction. Therefore, they are jointly connected to each other at a total of 6 points on the left and right sides.
- the left and right base link parts 131a and 131b and the front roll link part 132a disposed in the front are jointly connected and connected to each other so that they can roll and rotate by the left and right front roll joint parts 134a and 134b.
- the left and right base link parts 131a and 131b and the rear roll link part 132b disposed at the rear are jointly connected and connected to each other so that they can be roll rotated by the left and right rear roll joint parts 134c and 134d.
- the above-described third pitch and roll module unit 130 is based on the first, second, and third left pitch joint portions 133a, 133b, 133c and the first, second, and third right pitch joint portions 133d, 133e, and 133f. rotates the pitch with
- the second pitch and roll module part 120 roll rotates by the front and rear roll link parts 132a and 132b and the left and right and front and rear roll joint parts 134a, 134b, 134c and 134d.
- the fourth pitch and roll module unit 140 includes a fourth base link unit, a fourth roll link unit, a fourth pitch joint unit, and a fourth roll joint unit.
- the fourth base link part includes a left base link part 141a and a right base link part 141b with reference to FIGS. 1 and 2 . Meanwhile, the left base link part 141a and the right base link part 141b are separated from each other, but may be integrally formed as needed.
- the left base link portion 141a and the first and second left pitch link portions 151a and 151b are jointly connected and connected to each other at two points to enable pitch rotation by the first and second left pitch joint portions 143a and 143b.
- the first and second left pitch link parts 151a and 151b are jointly connected to the left base link part 141a while being spaced apart from each other by a predetermined distance in the horizontal direction.
- the right base link portion 141b and the first and second right pitch link portions 152a and 152b are jointly connected and connected to each other to enable pitch rotation by the first and second right pitch joint portions 143c and 143d.
- the first and second right pitch link parts 152a and 152b are jointly connected to the right base link part 141b while being spaced apart from each other by a predetermined distance in the horizontal direction. Therefore, they are jointly connected and connected to each other at a total of 4 points on the left and right sides.
- the left and right base link parts 141a and 141b and the front roll link part 142a disposed in the front are jointly connected and connected to each other so that they can be roll-rotated by the left and right front roll joint parts 144a and 144b.
- the left and right base link parts 141a and 141b and the rear roll link part 142b disposed at the rear are jointly connected and connected to each other so that they can be roll rotated by the left and right rear roll joint parts 144c and 144d.
- the above-described fourth pitch and roll module unit 140 pitch rotates based on the first and second left pitch joint portions 143a and 143b and the first and second right pitch joint portions 143c and 143d.
- the fourth pitch and roll module part 140 roll rotates by the front and rear roll link parts 142a and 142b and the left and right and front and rear roll joint parts 144a, 144b, 144c and 144d.
- the first pitch and roll module unit 110 is disposed on the uppermost side based on FIGS. 1 and 2 , and the second, 3, 4 pitch and roll module units 120 , 130 , 140 are sequentially disposed in a stage format.
- the first, second, and third left pitch link portions 151a, 151b, and 151c jointly connect and connect the left sides of the first, second, third, and fourth pitch and roll module portions 110, 120, 130, and 140 in the vertical direction.
- the first, second, and third right pitch link portions 152a, 152b, and 152c jointly connect and connect the right sides of the first, second, third, and fourth pitch and roll module portions 110, 120, 130, and 140 in the vertical direction.
- the first, second, and third left-pitch link portions 151a, 151b, and 151c and the first, second, and third right-pitch link portions 152a, 152b, and 152c are symmetrical to each other at first, second, third, and fourth pitches and
- the roll module parts 110, 120, 130, and 140 are jointly connected to each other.
- first and second left pitch joint parts 113a and 113b, the first, second, and third left pitch joint parts 123a, 123b, 123c, and the first, second, and third left pitch joint parts 133a, 133b, 133c ) when the joint connection points of the first and second left pitch joint portions 143a and 143b are connected in the horizontal direction based on FIGS. 1 and 2 , four virtual horizontal lines are formed parallel to each other by a predetermined distance. Also, on the right side, four virtual horizontal lines are formed parallel to each other by a predetermined distance from each other in the same principle.
- first and fourth pitch and roll module parts 110 and 140 are jointly connected and connected at two points in the horizontal direction.
- the two-point joint connection connection of the first pitch and roll module part 110 and the fourth pitch and roll module part 140 is connected so that any one joint connection point meets each other on an imaginary vertical line and is shifted.
- the second and third pitch and roll module parts 120 and 130 are jointly connected and connected at three points in the horizontal direction. If each joint connection point is connected in the horizontal direction and the vertical direction, the double parallelogram shown in FIG. 8 can be formed, which will be described later.
- the double parallelogram part 100 for eye surgery shown in FIG. 3 is a view showing that the pitch is not rotated.
- the pitch is rotated backward based on a point as shown in FIG. 4 , and when the second pitch driving signal is transmitted, forward with respect to the one point as shown in FIG. 5 . rotate the pitch.
- the double parallelogram part 100 for eye surgery shown in FIG. 6 shows that the roll rotates in the first roll rotation direction.
- the left base link portions 111a, 121a, 131a, and 141a are at a relatively lower position than the right base link portions 111b, 121b, 131b, and 141b.
- the double parallel gram unit 100 for eye surgery shown in FIG. 7 shows that the roll rotates in the second roll rotation direction.
- the left base link parts 111a, 121a, 131a, and 141a are at a relatively higher position than the right base link parts 111b, 121b, 131b and 141b.
- the first parallel program 31 and the second parallel program 32 are formed on the left and right sides based on the virtual vertical line.
- the first parallel program 31 is located on the upper side compared to the second parallel program 32 .
- the first parallel program 31 includes first and second left pitch joint parts 113a and 113b, first and second left pitch joint parts 123a and 123b, and first and second left pitch joint parts 133a and 133b. It is formed by connecting and connecting each joint connection point of the "rectangular shape" or "square shape”.
- the second parallelogram 32 is the second and third left pitch joint parts 123b and 123c, the second and third left pitch joint parts 133b and 133c, and the first and second left pitch joint parts 143a and 143b. It is formed by connecting and connecting each joint connection point of the "rectangular shape” or "square shape”.
- the first parallel program 31 and the second parallel program 32 share a joint part overlapping with each other so as to be in contact with each other.
- the first and second front roll link parts 112a and 122a and the front roll joint parts 114a and 124a located on the side close to the first parallel program 31 are surgical end effectors 20 ) is coupled, and the driving unit 10 is coupled to the first and second rear roll link portions 132b and 142b and the rear roll joint portions 134c and 144c located on the side close to the second parallelogram 32 .
- the modules constituting each stage depend on each other according to the control driving signal to rotate the pitch or roll. That is, during pitch rotation, the related modules of each stage depend on each other to perform pitch rotation, and during roll rotation, the related modules of each stage depend on each other to perform roll rotation.
- the double parallelogram device for suture surgery according to the second embodiment of the present invention is rotated in pitch and roll according to the control driving of the driving unit 10 while forming a double parallelogram as shown in FIGS. It is a device for orienting the end effector 20 for use and positioning.
- the suturing operation includes, for example, an operation for anastomizing blood vessels and nerves.
- the double parallel gram unit 200 for suture surgery may be configured by rotating the double parallel gram unit 100 for intraocular surgery by 180 degrees. Accordingly, the description of the configuration and function of each part will be replaced with the description of the first embodiment.
- the first parallel program 41 and the second parallel program 42 are formed on the left and right sides based on the virtual vertical line.
- the first parallel program (41) is located on the lower side compared to the second parallel program (42).
- the first parallelogram 41 includes first and second left pitch joint parts 213a and 213b, first and second left pitch joint parts 223a and 223b, and first and second left pitch joint parts 233a and 233b. It is formed by connecting and connecting each joint connection point of the "rectangular shape" or "square shape”.
- the second parallelogram 42 is the second and third left pitch joint parts 223b and 223c, the second and third left pitch joint parts 233b and 233c, and the first and second left pitch joint parts 243a and 243b. It is formed by connecting and connecting each joint connection point of the "rectangular shape" or "square shape”.
- the first parallelogram 41 and the second parallelogram 42 share a joint part overlapping with each other so as to be in contact with each other.
- the end effector 20 is coupled to the first and second rear roll link portions 232b and 242b and the rear roll joint portions 234c, 234d, 244c and 244d located on the side close to the second parallelogram 42.
- the driving unit 10 is coupled.
- the double parallelogram device for pituitary surgery according to the third embodiment of the present invention is rotated in pitch and roll according to the control drive of the driving unit 10 while forming a double parallelogram as shown in FIGS. It is a device for orienting the end effector 20 for use and positioning.
- Pituitary surgery includes, as an example, nose and brain surgery.
- a double parallelogram device for pituitary surgery according to a third embodiment of the present invention will be described in detail with reference to the accompanying FIGS. 13 to 15 .
- the double parallel gram unit 300 for pituitary surgery may be configured by rotating the double parallel gram unit 100 for intraocular surgery. Accordingly, the description of the configuration and function of each part will be replaced with the description of the first embodiment.
- first and second left pitch joint parts 313a and 313b, the first, second, and third left pitch joint parts 323a, 323b, and 323c, the first, second, and third left pitch joints When the joint connection points of the parts 333a, 333b, 333c and the first and second left pitch joint parts 343a and 343b are connected in the horizontal and vertical directions based on FIG. 14, a virtual first parallel program 51 and a second parallel program 52 may be formed.
- the first parallel program 51 and the second parallel program 52 are formed above and below the virtual horizontal line.
- the first parallel program 51 is located on the lower side compared to the second parallel program 52 .
- the first parallelogram 51 includes first and second left pitch joint parts 313a and 313b, first and second left pitch joint parts 323a and 223b, and first and second left pitch joint parts 333a and 233b. It is formed by connecting and connecting each joint connection point of the "rectangular shape" or "square shape”.
- the second parallelogram 52 is the second and third left pitch joint parts 323b and 323c, the second and third left pitch joint parts 333b and 333c, and the first and second left pitch joint parts 343a and 343b. It is formed by connecting and connecting each joint connection point of the "rectangular shape" or "square shape”.
- the first parallel program 51 and the second parallel program 52 share a joint portion overlapping with each other so as to be in contact with each other.
- the end effector 20 is coupled to the first and second rear roll link portions 332b and 342b and the rear roll joint portions 334c, 334d, 344c and 344d located on the side close to the second parallelogram 52.
- the driving unit 10 is coupled.
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Vascular Medicine (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (23)
- 복수의 스테이지를 형성하며, 상기 복수의 스테이지의 각각의 모듈이 피치 및 롤 회전이 가능하도록 2자유도를 제공하는 복수의 피치 및 롤 모듈부,상기 복수의 피치 및 롤 모듈부와 연결 접속됨으로써 이중 패러렐로그램이 형성되는 복수의 피치 링크부를 포함하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 1 항에 있어서,상기 복수의 피치 및 롤 모듈부는,제1 방향으로 평행하게 일정 거리 떨어지면서 상기 복수의 피치 링크부에 의해 조인트 연결 접속되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 2 항에 있어서,상기 복수의 피치 링크부는,상기 복수의 피치 및 롤 모듈부를 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 3 항에 있어서,상기 복수의 피치 및 롤 모듈부 각각은,상기 복수의 피치 링크부와 상기 제2 방향으로 조인트 연결 접속되는 베이스 링크부,롤 회전이 되도록 상기 베이스 링크부와 연결 접속되는 롤 링크부,상기 베이스 링크부 및 복수의 피치 링크부를 피치 회전이 가능하도록 조인트 연결 접속함으로써 피치 회전이 가능하도록 하는 피치 조인트부,상기 베이스 링크부와 롤 링크부를 롤 회전할 수 있도록 조인트 연결 접속하는 롤 조인트부를 포함하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 4 항에 있어서,제1,4 베이스 링크부는,좌측 및 우측의 각 2지점에서 상기 복수의 피치 링크부와 조인트 연결 접속되며,제2,3 베이스 링크부는,좌측 및 우측의 각 3지점에서 상기 복수의 피치 링크부와 조인트 연결 접속되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 5 항에 있어서,상기 제1,4 베이스 링크부는,최 외각에 각각 배치되며상기 제2,3 베이스 링크부는,상기 제1,4 베이스 링크부의 사이 공간에 각각 배치되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 6 항에 있어서,상기 복수의 피치 링크부는,복수의 베이스 링크부와 상기 제2 방향 및 좌측에서 조인트 연결 접속되도록 일정 거리 떨어져 평행하게 배치된 제1,2,3 좌측 피치 링크부,복수의 베이스 링크부와 상기 제2 방향 및 우측에서 쌍으로 조인트 연결 접속되도록 일정 거리 떨어져 평행하게 배치된 제1,2,3 우측 피치 링크부를 포함하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 7 항에 있어서,상기 복수의 피치 및 롤 모듈부는,제1,2 좌측 피치 링크부 및 제1,2 우측 피치 링크부 각각이 쌍으로 상기 제1 베이스 링크부에 조인트 연결 접속되는 제1 피치 및 롤 모듈부,제1,2,3 좌측 피치 링크부 및 제1,2,3 우측 피치 링크부 각각이 쌍으로 상기 제2 베이스 링크부에 조인트 연결 접속되는 제2 피치 및 롤 모둘부,제1,2,3 좌측 피치 링크부 및 제1,2,3 우측 피치 링크부 각각이 쌍으로 상기 제3 베이스 링크부에 조인트 연결 접속되는 제3 피치 및 롤 모듈부,제2,3 좌측 피치 링크부 및 제2,3 우측 피치 링크부 각각이 쌍으로 상기 제4 베이스 링크부에 조인트 연결 접속되는 제4 피치 및 롤 모듈부를 포함하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 8 항에 있어서,상기 제1,2 피치 및 롤 모듈부의 일측 롤 링크부에 수술용 엔드 이펙터가 접속 결합되며,상기 제3,4 피치 및 롤 모듈부의 타측 롤 링크부에 구동부가 접속 결합되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 가상의 수직축을 중심으로 일측에 제1 패러렐로그램을 형성하는 제1 패러렐로그램 모듈부,상기 제1 패러렐로그램에 접하면서 평행하도록 제2 패러렐로그램을 형성하는 제2 패러렐로그램 모듈부를 포함하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 10 항에 있어서,연결 접속된 수술용 엔드 이펙터와 인접한 측의 상기 제1 패러렐로그램이 제2 패러렐로그램에 비해 상대적으로 더 높은 위치에 형성되면서 일부가 중첩되도록 형성되어 안구 내를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 10 항에 있어서,연결 접속된 수술용 엔드 이펙터와 인접한 측의 상기 제1 패러렐로그램이 제2 패러렐로그램에 비해 상대적으로 더 낮은 위치에 형성되면서 일부가 중첩되도록 형성되어 봉합 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 11 항 또는 제 12 항에 있어서,상기 제1,2 패러렐로그램은,제1 방향으로 평행하게 일정 거리 떨어져 복수의 스테이지를 이루도록 배치되는 제1,2,3,4 베이스 링크부,상기 제1,2,3,4 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 제1,2,3 피치 링크부의 각 조인트 연결 접속점의 연결 조합에 따라 각각 형성되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 13 항에 있어서,상기 제1,4 베이스 링크부는,최 외각에 각각 배치되며상기 제2,3 베이스 링크부는,상기 제1,4 베이스 링크부의 사이 공간에 각각 배치되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 14 항에 있어서,상기 제1 패러렐로그램 모듈부는,일측의 적어도 2지점에서 각각 제1 조인트 연결 접속되는 상기 제1,2,3 베이스 링크부,상기 제1,2,3 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 상기 제1,2 피치 링크부를 포함하며,상기 제1 조인트 연결 접속점을 연결하여 제1 패러렐로그램을 형성하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 14 항에 있어서,상기 제2 패러렐로그램 모듈부는,일측의 적어도 2지점에서 각각 제2 조인트 연결 접속되는 상기 제2,3,4 베이스 링크부,상기 제2,3,4 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 상기 제2,3 피치 링크부를 포함하며,상기 제2 조인트 연결 접속점을 연결하여 제2 패러렐로그램을 형성하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 가상의 수평축을 중심으로 일측에 제1 패러렐로그램을 형성하는 제1 패러렐로그램 모듈부,상기 제1 패러렐로그램에 접하면서 평행하도록 제2 패러렐로그램을 형성하는 제2 패러렐로그램 모듈부를 포함하여 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 17 항에 있어서,연결 접속된 수술용 엔드 이펙터와 인접한 측의 상기 제1 패러렐로그램이 제2 패러렐로그램에 비해 상대적으로 더 낮은 위치에 형성되면서 일부가 중첩되도록 형성되어 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 17 항에 있어서,상기 제1,2 패러렐로그램은,제1 방향으로 평행하게 일정 거리 떨어져 복수의 스테이지를 이루도록 배치되는 제1,2,3,4 베이스 링크부,상기 제1,2,3,4 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 제1,2,3 피치 링크부의 각 조인트 연결 접속점의 연결 조합에 따라 각각 형성되어 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 19 항에 있어서,상기 제1,4 베이스 링크부는,최 외각에 각각 배치되며상기 제2,3 베이스 링크부는,상기 제1,4 베이스 링크부의 사이 공간에 각각 배치되어 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 20 항에 있어서,상기 제1 패러렐로그램 모듈부는,일측의 적어도 2지점에서 각각 제1 조인트 연결 접속되는 상기 제1,2,3 베이스 링크부,상기 제1,2,3 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 상기 제1,2 피치 링크부를 포함하며,상기 제1 조인트 연결 접속점을 연결하여 제1 패러렐로그램을 형성하여 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 20 항에 있어서,상기 제2 패러렐로그램 모듈부는,일측의 적어도 2지점에서 각각 제2 조인트 연결 접속되는 상기 제2,3,4 베이스 링크부,상기 제2,3,4 베이스 링크부와 일측에서 상기 제1 방향에 수직하는 제2 방향으로 조인트 연결 접속되는 상기 제2,3 피치 링크부를 포함하며,상기 제2 조인트 연결 접속점을 연결하여 제2 패러렐로그램을 형성하여 뇌하수체를 수술하는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
- 제 1 항에 있어서,상기 복수의 스테이지의 각각의 모듈은 서로 종속적으로 피치 및 롤 회전되는 것을 특징으로 하는 수술용 이중 패러렐로그램 장치.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180076317.1A CN116472005A (zh) | 2020-11-13 | 2021-11-11 | 手术用双平行四边形装置 |
US18/036,868 US20230415332A1 (en) | 2020-11-13 | 2021-11-11 | Surgical double parallelogram device |
EP21892333.2A EP4245249A1 (en) | 2020-11-13 | 2021-11-11 | Surgical double parallelogram device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020200151617A KR102502444B1 (ko) | 2020-11-13 | 2020-11-13 | 수술용 이중 패러렐로그램 장치 |
KR10-2020-0151617 | 2020-11-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022103166A1 true WO2022103166A1 (ko) | 2022-05-19 |
Family
ID=81601577
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2021/016397 WO2022103166A1 (ko) | 2020-11-13 | 2021-11-11 | 수술용 이중 패러렐로그램 장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230415332A1 (ko) |
EP (1) | EP4245249A1 (ko) |
KR (1) | KR102502444B1 (ko) |
CN (1) | CN116472005A (ko) |
WO (1) | WO2022103166A1 (ko) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005198700A (ja) * | 2004-01-13 | 2005-07-28 | Olympus Corp | 手術用顕微鏡システム |
KR20090119366A (ko) * | 2008-05-16 | 2009-11-19 | 한국과학기술원 | 여유 자유도를 갖는 복강경 수술 로봇 |
US20160100900A1 (en) * | 1996-05-20 | 2016-04-14 | Massachusetts Institute Of Technology | Robotic apparatus |
KR101787265B1 (ko) * | 2016-06-03 | 2017-10-18 | 한국과학기술원 | 위치 조절 암 |
KR20180097423A (ko) * | 2017-02-23 | 2018-08-31 | 고려대학교 산학협력단 | 중력보상장치를 구비한 로봇 암 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6411999B2 (ja) | 2012-06-01 | 2018-10-24 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 手術器具マニピュレータの態様 |
KR101700514B1 (ko) | 2015-06-30 | 2017-01-31 | 성균관대학교산학협력단 | 최소침습수술용 로봇 시스템 |
-
2020
- 2020-11-13 KR KR1020200151617A patent/KR102502444B1/ko active IP Right Grant
-
2021
- 2021-11-11 EP EP21892333.2A patent/EP4245249A1/en active Pending
- 2021-11-11 WO PCT/KR2021/016397 patent/WO2022103166A1/ko active Application Filing
- 2021-11-11 CN CN202180076317.1A patent/CN116472005A/zh active Pending
- 2021-11-11 US US18/036,868 patent/US20230415332A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160100900A1 (en) * | 1996-05-20 | 2016-04-14 | Massachusetts Institute Of Technology | Robotic apparatus |
JP2005198700A (ja) * | 2004-01-13 | 2005-07-28 | Olympus Corp | 手術用顕微鏡システム |
KR20090119366A (ko) * | 2008-05-16 | 2009-11-19 | 한국과학기술원 | 여유 자유도를 갖는 복강경 수술 로봇 |
KR101787265B1 (ko) * | 2016-06-03 | 2017-10-18 | 한국과학기술원 | 위치 조절 암 |
KR20180097423A (ko) * | 2017-02-23 | 2018-08-31 | 고려대학교 산학협력단 | 중력보상장치를 구비한 로봇 암 |
Also Published As
Publication number | Publication date |
---|---|
EP4245249A1 (en) | 2023-09-20 |
KR20220065279A (ko) | 2022-05-20 |
KR102502444B1 (ko) | 2023-02-23 |
CN116472005A (zh) | 2023-07-21 |
US20230415332A1 (en) | 2023-12-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2326265A2 (en) | Tool for minimally invasive surgery and method for using the same | |
WO2011149260A2 (ko) | 수술용 로봇 암의 rcm 구조 | |
WO2010050771A2 (en) | Surgical robot system having tool for minimally invasive surgery | |
WO2020122557A2 (ko) | 손가락 기구 및 이를 포함하는 로봇 핸드 | |
EP2341846A2 (en) | Tool for minimally invasive surgery and method for using the same | |
WO2015160021A1 (ko) | 개방형 근위 경골 절골술을 위한 고정 기구 | |
WO2022103166A1 (ko) | 수술용 이중 패러렐로그램 장치 | |
WO2013094965A1 (ko) | 내시경 장비에 구비되는 벤딩모듈 및 그 제조 방법 | |
EP3389549A1 (en) | Palatal expansion appliance | |
WO2013055057A2 (ko) | 의료용 전동 절첩침대 | |
WO2022075547A1 (ko) | 스왑의 장착 및 수거가 가능한 검진장치 및 이를 이용한 검체 채취방법 | |
WO2016003172A1 (ko) | 병렬형 마이크로 로봇 및 이를 갖는 수술 로봇 시스템 | |
WO2020222570A1 (ko) | 적층형 모듈로봇 | |
WO2011102629A2 (ko) | 로봇의 마스터 조작 디바이스 및 이를 이용한 수술용 로봇 | |
WO2011093553A1 (ko) | 평면 3자유도 스테이지 | |
WO2020180058A1 (ko) | 펼침 상태 유지가 가능한 보호케이스 | |
WO2019240453A1 (ko) | 로봇 암 구조물 및 이를 포함하는 수술 로봇의 매니퓰레이터 | |
WO2021137327A1 (ko) | 디스플레이 디바이스 | |
WO2011115387A2 (ko) | 싱글포트 수술용 로봇 암 커플러 및 이를 구비한 수술용 로봇 | |
WO2021075876A2 (ko) | 다관절 로봇 암의 정밀도 보정방법 | |
WO2023243926A1 (ko) | 다기능 반송로봇을 이용한 반도체 웨이퍼 세정장비 | |
WO2023080618A1 (ko) | 3자유도 중력 보상이 적용된 위치 조절 암 | |
WO2023090782A1 (ko) | 수술용 로봇의 이중 델타 구조 | |
WO2019117405A1 (ko) | 융합 스캐닝 시스템의 회전 안정화 및 확장성 향상을 위한 장치 및 그 방법 | |
WO2023048313A1 (ko) | 내시경 시스템 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21892333 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180076317.1 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18036868 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2021892333 Country of ref document: EP Effective date: 20230613 |