KR101234618B1 - Surgical robot - Google Patents

Abstract

A surgical robot is disclosed. A support arm coupled to the support arm, the guide arm extending along a predetermined path, and a robot arm coupled to the guide arm to move along the guide arm, Surgical robot, characterized in that the surgical instrument (instrument) is mounted on the end of the robot arm, by including a guide arm in the surgical robot and a plurality of robot arm module to perform the operation while moving along the guide arm, The RCM of the robot arm can be implemented around the patient, and the surgical robot can freely approach the surgical site without taking much space, and also provide a space for the operator to access the surgical site. have.

Surgery, robot, guide arm

Description

Surgical Robots {Surgical robot}

The present invention relates to a surgical robot.

Medically, surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Conventional surgical robots are composed of a master robot that generates and transmits a signal required by a doctor's operation, and a slave robot that receives a signal from a master robot and directly applies a manipulation required to a patient. The slave robot is installed in the operating room and the master robot is installed in the operating room, respectively, and the master robot and the slave robot are connected to each other in a wired or wireless manner to perform surgery remotely.

Surgical robots should be located in close proximity to the patient to be operated on, be able to rotate freely without colliding with each other towards the surgical site of the patient, and anesthesiologists, assistants or nurses can access the patients. Various conditions must be satisfied, such as not taking up too much space.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention provides a surgical robot that allows a plurality of robotic arms to perform surgery while freely rotating about a patient.

According to an aspect of the present invention, a support arm, a guide arm coupled to the support arm, extending along a predetermined path, and a robot arm coupled to the guide arm to move along the guide arm. Including a robot arm, a surgical robot is provided at the end of the robot arm, wherein a surgical instrument is mounted.

The guide arm may be coupled to the support arm to be movable in a sliding manner relative to the support arm, and may provide a movement path for the robot arm to move so that the instrument is manipulated toward the surgical site of the patient. The extended path of the guide arm may include circles, ellipses, arcs, elliptical arcs, etc., centered on the surgical site of the patient. The guide arm consists of a plurality of guide arm units, and the plurality of guide arm units may be detachably coupled to each other. In addition, the guide arm may include a first guide arm unit coupled to the support arm, and one or more second guide arm units elastically coupled to the first guide arm unit.

The robot arm may be provided in plurality, and an indicator may be installed on the robot arm indicating an orientation direction of the robot arm. In this case, the indicator may include a laser pointer, and the laser pointer installed on each of the plurality of robot arms may cause laser light of different colors to be emitted.

The robot arm may be provided in plurality, and may further include a display configured to display information regarding positions of the plurality of robot arms. In this case, the display may overlap and display an image regarding the surgical site of the patient and information about the position of the robot arm.

The robot arm may be coupled to the guide arm to be detachable. The support arm is supported on a predetermined base, and the base may be implemented in the form of a tower-shaped body, an operating room ceiling, an operating room floor, a surgical bed, and the like installed in the operating room.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to a preferred embodiment of the present invention, by including a guide arm in the surgical robot and a plurality of robot arm modules to perform the operation while moving along the guide arm, the remote center of motion (RCM) of the robot arm to the patient It can be implemented as a center, the surgical robot can be freely close to the surgical site without taking up a lot of space, it is possible to secure a space for the operator to access the surgical site (access).

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

1 to 4 is a conceptual diagram showing a surgical robot according to an embodiment of the present invention. 1 to 4, a support arm 10, a guide arm 12, a robot arm 20, and an instrument 30 are shown.

The present embodiment introduces a guide arm having a shape of C type, O type, elliptical shape, etc. to the surgical robot arm system, and mounts one or a plurality of robot arms with a guide arm so that the robot arm moves along the guide arm. By performing to, characterized in that the entire robot arm to rotate around the surgical site of the patient.

The surgical robot according to the present embodiment has a structure in which the guide arm 12 is coupled to the support arm 10, and the robot arm 20 is coupled to the guide arm 12 to move along the guide arm 12. . The support arm 10 is an arm serving to support the guide arm 12 and the robot arm 20 coupled thereto. The support arm 10 may be manufactured in various shapes and structures according to the implementation of the base to be described later. .

The guide arm 12 extends along various types of paths such as C, O, and elliptical shapes so as to provide a moving path of the robot arm 20, and the support arm 10 as shown in FIG. 1. Axially coupled to, or as shown in (a) to (c) of Figure 2 may be manufactured in a structure that is movably coupled in a sliding manner relative to the support arm (10). In the case of the embodiment shown in Figure 2 the guide arm is rotated around a predetermined axis (see 'S' in Figure 2), for example, the point corresponding to the surgical site of the patient.

The robot arm 20 is a component mounted on the guide arm 12 and movable along the guide arm 12. The robot arm 20 is rolled and yawed like a human arm according to a user's operation of the surgical robot. yawing), pitching, etc.

A surgical instrument 30 may be mounted at the end of the robot arm 20, and the robot arm 20 may be mounted at a predetermined position, for example, a surgical site, by the above-described operation. It serves to move up to. The end of the instrument 30 is equipped with an effector for performing operations required for surgery, such as grip (cutting), cutting (suturing), the instrument 30 to receive the driving force from the robot arm 20 Accordingly, the effector is operated to perform robotic surgery.

However, the instrument in the present embodiment is not necessarily limited to the apparatus used to perform the above-described surgical operation, it is a concept including a variety of surgical tools that can be used for surgery, such as endoscope, laparoscope, auxiliary instrument, camera.

In the surgical robot according to the embodiment illustrated in FIGS. 1 and 2, the guide arm 12 having a C shape is mounted at the end of the support arm 10, and the robot arm 20 is mounted on the guide arm 12. It is made of a structure to perform the operation while moving along. By constructing the robot arm system in this way, each robot arm 20 can be rotated about the center of the path of the guide arm 12, for example, the surgical patient, instead of the predetermined point at the end thereof. There is an advantage that it is very easy to set the posture of each robot arm 20 for surgery, and to change the posture of each robot arm 20.

For example, when operating the upper and lower abdomen of the patient at the same time, the guide arm 12 is moved in a sliding manner with respect to the support arm 10 without turning the bed or changing the position of the robot, The posture of the robot can be easily changed by moving the robot arm 20 along 12).

That is, the guide arm 12 according to the present embodiment may be coupled to be rotatable about the support arm 10, and serves to provide a path for the robot arm 20 to move. By moving the robot arm 20 along the guide arm 12, the posture of the robot arm 20 may be set so that the instrument 30 mounted on the robot arm 20 is manipulated toward the surgical site of the patient.

Although the guide arm 12 illustrated in FIGS. 1 and 2 is formed in a C-shape bent toward a patient, the shape of the guide arm 12 is not necessarily limited thereto, and the circle, ellipse, arc, ellipse arc, Alternatively, the robot arm 20, such as a combination thereof, may be formed in various forms within a range capable of providing a path for the robot arm 20 to move about the patient. Accordingly, the surgical robot arm system according to the present embodiment may be implemented with an RCM centered on the patient.

On the other hand, the guide arm 12 according to the present embodiment may be configured in such a way that another unit is additionally coupled to one unit. That is, the guide arm coupled to the support arm 10 may be used as the base unit, and another guide arm unit may be additionally attached thereto to form one guide arm 12 as a whole. As such, by making the guide arm into a plurality of detachable units, it is possible to add more units as necessary to extend the path in which the robot arm moves.

For example, as illustrated in FIG. 3, when the movement path of the robot arm 20 is to be extended in a state where the guide arm is formed in a C shape, the unit coupled to the support arm 10 ('U1 in FIG. 3) may be used. Another unit ('U2', 'U3' of FIG. 3) may be additionally mounted to ') to implement the extended guide arm 12.

On the other hand, the guide arm 12 according to the present embodiment may be made of a structure that can itself stretch. That is, as shown in Figure 4, by combining the second guide arm unit (U2 in Figure 4) to be stretchable to the first guide arm unit (U1 in Figure 4) coupled to the support arm 10 By constituting the guide arm 12, the path of the guide arm 12 can be extended or shortened as necessary.

As the flexible coupling structure between the first guide arm unit and the second guide arm unit, various coupling structures such as a linear motor (LM) link structure, a rail link structure, and a telescopic link structure may be applied.

The second guide arm unit does not necessarily have to be one, and as shown in FIG. 4, a plurality of second guide arm units may be coupled to the first guide arm unit to be extensible, and further, any second guide arm unit may be used. Another second guide arm unit may be further combined with each other to form a stretchable structure.

5 is a conceptual diagram showing a surgical robot equipped with an indicator according to an embodiment of the present invention. Referring to FIG. 5, a support arm 10, a guide arm 12, a robot arm 20, a laser pointer 22, and an instrument 30 are shown.

In the guide arm 12 according to the present embodiment, a plurality of robot arms 20 may be coupled and move. In this case, the robot arm 20 may move its position and direction so as to face a desired point, for example, a surgical site. You need to set it up properly. To this end, each robot arm 20 according to the present embodiment may be provided with an indicator that can indicate its direction.

5 shows an example in which the laser pointer 22 is used as an indicator. In this case, the laser beam is emitted from the laser pointer 22 installed in each robot arm 20 so that the direction in which the robot arm 20 is currently directed. Since the robot arm 20 is directed toward the rotation center point (for example, the surgical site), the robot arm 20 can intuitively determine whether the robot arm 20 is directed to the surgical site. The direction can be easily set.

For example, by causing the robot arm 20 to pitch in the state in which the laser pointer 22 directs the directing direction of the robot arm 20, the locus indicated by the laser pointer 22 (FIG. 5). Check whether the robot arm 20 is directed to the surgical site, and whether the robot arm 20 is directed at the surgical site by checking whether it passes through a point corresponding to the surgical site of the patient (see 'S' in FIG. 5). It is possible to determine which trajectory the instrument 30 mounted on 20 will move, and thus, the position of the robot arm 20 can be set much easier.

On the other hand, when the plurality of robot arm 20 is mounted on the guide arm 12 as described above, the color of the laser light emitted from each robot arm 20 is different from each other, or the instrument mounted on the robot arm 20 By allowing laser light of different colors to be emitted according to the type of 30, the position of each robot arm 20 can be clearly set without confusion with other robot arms 20.

6 is a conceptual diagram showing a surgical robot with a display according to an embodiment of the present invention, Figure 7 is a view showing a display according to an embodiment of the present invention. 6 and 7, the support arm 10, the guide arm 12, the robot arm 20, and the display 24 are shown.

As in the above-described embodiment, when the plurality of robot arms 20 are coupled to the guide arm 12 and move, it is necessary to properly set the position and the direction so that each robot arm 20 faces the desired point. To this end, the surgical robot according to the present exemplary embodiment may further include a display 24 for displaying information regarding the position of each robot arm 20.

As such, by displaying the positions of the robot arms 20 through the separate display 24, the positions of the robot arms 20 may be managed and controlled. For example, by rendering each robot arm 20 on the display 24 and displaying the position on the three-dimensional coordinates of the robot arm 20, the operator can determine that each robot arm 20 is a fixed point. It is easy to see whether it is facing (for example, a surgical site).

Furthermore, the display 24 according to the present exemplary embodiment may display not only information regarding the position of the robot arm 20 but also information about a surgical site of the patient. For example, as shown in FIG. 7, when the organ of the patient is rendered in 3D by using CT and MR images, and the robot arm 20 is overlaid and displayed, the image of the surgical site and the robot arm are displayed. Since the image about 20 can be viewed in direct contrast, the position of the robot arm 20 can be set much easier.

8A to 8C are conceptual views illustrating a base according to an embodiment of the present invention. 8A-8C, the support arm 10, the guide arm 12, and the robot arm 20 are shown.

The robot arm 20 according to the present embodiment may be coupled to the guide arm 12 in a prefabricated form. That is, by manufacturing the robot arm 20 in a modular fashion, it can be coupled in a manner that the robot arm 20 is mounted to the guide arm 12.

If the controller is embedded in each modular robot arm 20, only the power line and the communication line need to be connected to the controller. By forming the power supply terminal and the communication terminal, the robot arm 20 can be modularized, manufactured, and detachably coupled to the guide arm 12. Electrical connection between the guide arm 12 and the robot arm 20 module can be applied to various connection methods that will be apparent to those skilled in the art, the detailed description thereof will be omitted.

Furthermore, looking at the case of configuring the surgical robot according to the present embodiment by applying a removable, prefabricated structure, first, a structure for detachably connecting the guide arm and the robot arm to the support arm, second, the removable robot arm to the guide arm 3, a method of coupling the support arm to which the guide arm and the robot arm are coupled to another support arm is detachably coupled.

On the other hand, the surgical robot according to the present embodiment can be implemented in a variety of structures, such as tower type, ceiling attached type, bed mounted type, bed integral type. To this end, as a base (see 'B' in FIGS. 8A to 8C) on which the support arm 10 is supported according to the present embodiment, a tower-shaped main body installed in an operating room is shown in FIG. In the case of the ceiling-mounted type, the operating room ceiling may serve as a base, as shown in FIG. 8B, and in the case of a bed-mounted or integrated bed, the surgical bed may serve as a base.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1 to 4 is a conceptual diagram showing a surgical robot according to an embodiment of the present invention.

5 is a conceptual diagram showing a surgical robot equipped with an indicator according to an embodiment of the present invention.

6 is a conceptual diagram showing a surgical robot with a display according to an embodiment of the present invention.

7 shows a display according to an embodiment of the invention.

8A to 8C are conceptual views illustrating a base according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

10: support arm 12: guide arm

20: robot arm 22: laser pointer

24: display 30: instrument

Claims (12)

A support arm; A guide arm coupled to the support arm and extending along a predetermined path; A robot arm coupled to the guide arm to move along the guide arm, At the end of the robot arm is equipped with a surgical instrument (instrument), The robot arm may be provided in plurality, and the robot arm may be provided with an indicator indicating a direction in which the robot arm is directed. The indicator includes a laser pointer, and the laser pointer installed on each of the plurality of robot arms each of the surgical robot, characterized in that for firing laser light of different colors. The method of claim 1, The guide arm is surgical robot, characterized in that coupled to the support arm to be movable in a sliding manner relative to the support arm. The method of claim 1, The guide arm is a surgical robot, characterized in that to provide a movement path for the robot arm to move so that the instrument is manipulated toward the surgical site of the patient. The method of claim 1, The extended path of the guide arm is a surgical robot, characterized in that it comprises any one or more selected from the group consisting of a circle, an ellipse, an arc, an elliptical arc around the surgical site of the patient. The method of claim 1, The guide arm is composed of a plurality of guide arm units, the plurality of guide arm units are surgical robot, characterized in that coupled to each other detachably. The method of claim 1, And the guide arm includes a first guide arm unit coupled to the support arm and at least one second guide arm unit elastically coupled to the first guide arm unit. delete delete The method of claim 1, The robot arm is provided with a plurality, the surgical robot further comprises a display for displaying information about the position of each of the plurality of robot arms. 10. The method of claim 9, The display is a surgical robot, characterized in that for superimposing the image on the surgical site of the patient and the information on the position of the robot arm. The method of claim 1, The robot arm is surgical robot, characterized in that coupled to the guide arm detachably. The method of claim 1, The support arm is supported on a predetermined base (base), the base is a surgical robot, characterized in that any one or more selected from the group consisting of a tower-shaped body, operating room ceiling, operating room floor, operating bed installed in the operating room .

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