KR101241809B1 - Surgical robot - Google Patents

Surgical robot Download PDF

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Publication number
KR101241809B1
KR101241809B1 KR1020090070699A KR20090070699A KR101241809B1 KR 101241809 B1 KR101241809 B1 KR 101241809B1 KR 1020090070699 A KR1020090070699 A KR 1020090070699A KR 20090070699 A KR20090070699 A KR 20090070699A KR 101241809 B1 KR101241809 B1 KR 101241809B1
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South Korea
Prior art keywords
robot
operation
arm
robot arm
plurality
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KR1020090070699A
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Korean (ko)
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KR20110012822A (en
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최승욱
원종석
이민규
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(주)미래컴퍼니
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Priority to KR1020090070699A priority Critical patent/KR101241809B1/en
Publication of KR20110012822A publication Critical patent/KR20110012822A/en
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Abstract

A surgical robot is disclosed. A manipulation unit for performing a manipulation necessary for operation by a user's operation, a robot arm connected to the manipulation unit, inserted into the patient's body, and rotated according to a user's manipulation to the manipulation unit, and coupled to an end portion of the robot arm The surgical robot, which is inserted into the body of the body and includes an effector that performs an operation required for the operation according to a user's operation of the operation unit, does not separately configure the surgical robot and the instrument mounted thereto, By integrally configuring the instrument to act as a robot arm, or by performing the operation by directly inserting the integrated robot arm-instrument itself into the body.
Surgery, robot

Description

Surgical Robots {Surgical robot}

The present invention relates to a surgical robot.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars.

On the contrary, instead of dissecting the skin, a small insertion hole is drilled, and through this, a medical device such as an endoscope, a laparoscope, a surgical instrument, a microsurgical microscope is inserted to allow surgery to be performed in the body. 'Laparoscopic surgery' or 'minimally invasive surgery' is in the spotlight.

Furthermore, recently, surgery using a robot for laparoscopic surgery has emerged as an alternative. Robot surgery is to perform the operation using a surgical robot equipped with a robot arm, the instrument is mounted on the front end of the robot arm (instrument) and the instrument performs the operation required for the operation by the driving force generated and transmitted from the robot The surgery is performed by doing so.

However, in the case of robotic surgery, the robot does not perform the surgery itself, but the robot operates the instrument to perform the surgery.In order to prevent the skin of the human body from being unnecessarily damaged by the movement of the instrument during the surgery, the instrument is virtual. There is a limitation that the robot arm must be controlled to operate around the 'remote center of motion' for this purpose.

In addition, there is a technical difficulty, such as the need to bend the shaft of the instrument in order to operate the area that the instrument inserted into the body can not reach.

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.

According to the present invention, the surgical instrument itself can be driven like a robot arm, so that it is not necessary to attach a separate instrument to the robot arm, and the robot arm does not need to be configured to rotate around the RCM, and the shaft of the instrument is It is to provide a surgical robot that does not need to bend.

According to an aspect of the present invention, the operation unit is performed for the operation required by the operation of the user, a robot arm connected to the operation unit is inserted into the body of the patient, and rotates in accordance with the user operation to the operation unit, A surgical robot is provided that is coupled to an end of the robot arm and inserted into the body of a patient, and includes an effector that performs an operation required for surgery according to a user's manipulation to the manipulation unit.

A single port is punctured at the surgical site of the patient, and the robot arm and effector can be inserted into the body through the single port. In this case, the robot arm is coupled to the operation unit in plurality, the plurality of robot arms may be formed to a thickness that can pass through a single port.

The robot arm includes a plurality of arm joints connecting the plurality of arm members and the plurality of arm members to each other, and the operation unit may be provided with an operation handle having a structure corresponding to that of the robot arm. In this case, the operation handle is composed of a plurality of handle members corresponding to the plurality of handle members and a plurality of arm joints corresponding to the plurality of arm members, and the plurality of arm joints and the plurality of handle joints are each pulled by wires ( pulley) can be combined. Alternatively, a plurality of arm joints each have a motor coupled thereto, and the operation handles include a plurality of handle joints corresponding to the plurality of arm joints, and the motor is operated by operation of the plurality of handle joints according to a user's operation with respect to the operation handles. Driving signals can be generated respectively.

On the other hand, the robot arm is made of a snake (snake) joint structure, the operation unit may be provided with an operation handle made of a snake joint structure corresponding to the structure of the robot arm.

The surgical robot is composed of a master robot that generates and transmits a predetermined signal by a user's operation, and a slave robot that receives and operates a signal from the master robot, and an operation unit is included in the master robot, and the robot arm and effector are slave robots. Can be included.

The effector may be provided in plural, and any one effector may be coupled to and operated at the end of the robot arm according to a user's selection. In this case, the plurality of effectors are coupled to a base consisting of a revolver structure, and the base may be coupled to an end of the robot arm to rotate according to the user's selection.

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, an integrated robot arm is configured by integrally configuring the robot arm to act as an instrument or the instrument to act as a robot arm without separately configuring the surgical robot and the instrument mounted thereto. -The instrument itself can be inserted directly into the body to perform the surgery.

This eliminates the need for a complex structure for mounting a separate instrument to the surgical robot, eliminates the need to use an instrument with a curved shaft, and eliminates the need to configure the robot arm to rotate around the RCM. Can implement an instrument integrated robot.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. 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 this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination 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 is a conceptual diagram showing a surgical robot according to an embodiment of the present invention. Referring to FIG. 1, a patient 1, a single port 3, an operation unit 10, a robot arm 20, and an effector 30 are shown.

In this embodiment, the robot arm is manufactured to a size that can be directly inserted into the body through the insertion hole drilled in the skin of the patient so that the robot arm does not need to be equipped with a separate instrument. There is no need to configure the rotating structure around the RCM, it is characterized by the implementation of a simpler and more intuitive surgical robot.

Surgical robots are mechanical devices that perform tasks or operations required for surgery by substituting or supplementing the manual work of a person (doctor). In the embodiments to be described below, the 'surgical robot' is a sensor, a controller, a motor or the like. As well as a mechanical device including a drive means, it is used in a broad sense including a mechanical instrument such as a surgical instrument and an auxiliary tool operated by a human being manually operated.

Conventional robotic surgical instrument is composed of an operation unit mounted on the robot arm, a shaft extending in one direction from the operation unit, and an effector coupled to the end of the shaft, the robot surgery process, a diameter of 1cm or less on the skin of the patient The insertion hole is drilled, through which the end of the shaft is inserted into the body, and then the robot is driven to transmit the driving force to the operation unit so that the effector inserted into the body performs the operation necessary for surgery.

In this case, it is difficult to insert the robot arm directly into the body because the size of the insertion hole drilled into the patient's skin is very small. For this purpose, an instrument equipped with a shaft with a diameter of several mm is mounted on the robot arm to perform robot surgery. come.

On the other hand, rather than perforating the insertion hole for each site where the instrument is to be inserted, the insertion hole (this is called a 'single pot') with a diameter of about 2-5cm in the area of the patient's navel, etc., and through a single port In the case of so-called single port surgery, the robot arm is about 1 cm in diameter, and the robot arm itself is inserted into the body without a separate instrument. Surgery can be performed.

As in the past, when the operation was performed by mounting an instrument on the robot arm, the structure of the robot arm had to be designed so that the robot arm is driven around the center of rotation (RCM) of the instrument. When inserted and operated, the robot arm does not necessarily need to rotate around the RCM, and the robot arm can be freely moved as needed to perform surgery.

The surgical robot according to the present exemplary embodiment includes an operation unit 10, a robot arm 20 connected to the operation unit 10, and an effector 30 coupled to an end of the robot arm 20. The operation unit 10 is a component that acts as a kind of console to operate the robot by the user (for example, a doctor) holding by hand and performing various operations necessary for surgery.

The robot arm 20 is a component that is inserted into the body of the patient 1 and moves. The robot arm 20 is large enough to be inserted into the body through an insertion hole drilled into the skin of the patient 1 as described above. It can be produced as. When the user manipulates the manipulation unit 10, the robot arm 20 is rotated and / or moved accordingly to move the surgery so that surgery can be performed. To this end, the robot arm 20 may be configured in various structures such as a multi-joint structure, a snake joint structure, a detailed description thereof will be described later.

Effector (30) is a component that is coupled to the end of the robot arm 20 inserted into the body, as the user manipulates the operation unit 10, the grip (grip) operation, cutting (cutting) operation, suture ( Perform various operations required for surgery such as suturing). In order for the effector 30 to perform various operations, various effectors 30 having various shapes and structures may be used in combination with the ends of the robot arm 20, and a detailed configuration thereof will be described later.

Surgical robot according to the present embodiment can be used to couple the plurality of robot arm 20 to the operation unit 10, the effector 30 of various functions to the end of each robot arm 20. When performing the operation using a plurality of robot arm 20 as described above, it is possible to utilize the effector 30 of various functions coupled to each robot arm 20, there is no need to replace the effector 30 during the operation Therefore, the robotic surgery 20 can be completed without having to pull the robot arm 20 out of the body for the replacement of the effector 30.

The robot arm 20 according to the present embodiment is operated by being inserted directly into the body through an insertion hole drilled in the skin of the patient 1, and in particular, in the case of the above-described single port surgery, a plurality of robots are provided through the single port 3. Surgery may be performed by inserting both the arm 20 and the effector 30 coupled thereto into the body. In this case, it is preferable to form the thickness of the plurality of robot arms 20 to the extent that they can pass through the single port 3 as described above.

2 is a view showing the structure of a surgical robot according to an embodiment of the present invention. 2, the operation unit 10, the operation handle 11, the handle member 12, the handle joint 14, the wire 16, the robot arm 20, the arm member 22, and the arm joint 24. Effector 30 is shown.

Hereinafter, the structure of the above-described robot arm 20 will be described in more detail with reference to FIG. 2. The robot arm 20 according to the present embodiment may be formed in an articulate structure as a whole. That is, as shown in FIG. 2, the robot arm 20 is composed of a plurality of arm members 22 and the arm joints 24 are interposed between the arm members 22 so that each arm joint 24 portion is formed. It can be configured to serve as a joint of the robot arm 20.

When the robot arm 20 is configured in the articulated structure as described above, the user operates the manipulation unit 10 to adjust the degree of bending of each joint so that the robot arm 20 performs a desired motion or moves to a required position. You can do that.

Furthermore, the operation unit 10 according to the present exemplary embodiment includes an operation handle 11 formed of a structure corresponding to the joint structure of the robot arm 20, thereby allowing the robot arm 20 to be manipulated more intuitively. For example, the operation handle 11 is manufactured to have the same structure as the joint structure of the robot arm 20, and the robot arm 20 moves in response to the user's operation of the operation handle 11 in a 1: 1 ratio. Can be configured. That is, when the operation handle 11 having the same structure as the robot arm 20 is made, and the user moves the operation handle 11, the robot arm 20 inserted into the body also moves in response to the movement of the operation handle 11. You can operate to

As described above, when the robot arm 20 is composed of a plurality of arm members 22 and an arm joint 24 connecting each arm member 22, the operation handle 11 according to the present embodiment is A plurality of handle members 12 corresponding to each arm member 22 and a handle joint 14 corresponding to each arm joint 24 may be formed. Accordingly, when the handle member 12 is bent at the specific handle joint 14 by moving the handle members 12, the arm joint 24 corresponding to the specific handle joint 14 is rotated so that the arm joint 24 is rotated. The arm member 22 connected to is bent like the handle member 12.

To this end, the respective arm joints 24 and the handle joints 14 corresponding to each other may be connected to each other and operate, for example, each arm joint 24 and each handle joint 14 with a wire 16. By the pulley (pulley) coupling, when one of the handle joints 14 is rotated it can be made to rotate the arm joint 24 corresponding thereto.

As such, the surgical robot according to the present exemplary embodiment operates by moving the robot arm 20 by inserting the robot arm 20 into the body and manipulating the manipulation handle 11 having the same structure as the robot arm 20. Thus, the robot arm 20 simply inserts the robot arm 20 into the body of the patient 1 and does not need to be configured to move about the remote center of rotation (RCM) like a conventional surgical robot. Surgery may be performed by manipulating the manipulation handle 11 having the same structure as the arm 20.

3 is a view showing the structure of a surgical robot according to another embodiment of the present invention. Referring to FIG. 3, the operation unit 10, the operation handle 11, the handle member 12, the handle joint 14, the sensor 17, the motor 18, the controller 19, the robot arm 20, Arm member 22, arm joint 24, effector 30 are shown.

Surgical robot according to the present embodiment is to remove the distinction between the robot arm 20 and the instrument in the conventional surgical robot, it is possible to perform the operation while moving by inserting the robot arm 20 itself in the body.

For this purpose, the robot arm 20 can be operated in a multi-joint structure and the operation arm 11 can be operated to rotate the arm joints 24 of the robot arm 20 to operate the robot arm 20. As shown. For this purpose, in FIG. 2, a case in which each handle joint 14 of the manipulation handle 11 and each arm joint 24 of the robot arm 20 are pulley-coupled with a wire 16 has been described.

Further, as shown in FIG. 3, the motor 18 is mounted on each arm joint 24 of the robot arm 20, and the motor 18 is operated at each handle joint 14 of the operation handle 11. It can also be configured to generate and transmit a signal that can be.

That is, by coupling the motor 18 to each arm joint 24 of the articulated structure, and the motor 18 is operated so that the arm joint 24 is configured to rotate accordingly, the user operates the operation unit 10 By operating each motor 18, each joint of the robot arm 20 can be rotated.

Furthermore, when operating the robot arm 20 using the operation handle 11 having the same joint structure as the joint structure of the robot arm 20 as described above, each handle joint 14 of the operation handle 11 In this case, it is possible to generate a signal for driving the motor 18 mounted on the arm joint 24 so that the arm joint 24 corresponding thereto rotates.

For example, a sensor 17 capable of detecting the degree of rotation of the handle joint 14 is installed in each handle joint 14, and each handle joint 14 is provided to be proportional to the value (degree of rotation) detected by the sensor 17. By driving the motor 18 mounted on the corresponding arm joint 24, the user manipulates the operation handle 11 so that each arm of the robot arm 20 corresponds to the degree by which each handle joint 14 is rotated. The joint 24 can be rotated. To this end, the control unit 19 is interposed between the operation handle 11 and the robot arm 20, and the control unit 19 receives the signal sensed from the operation handle 11 and drives the motor 18 accordingly. You can generate and transmit a signal.

4 is a view showing the structure of a surgical robot according to another embodiment of the present invention. Referring to FIG. 4, an operation unit 10, an operation handle 11, a robot arm 20, and an effector 30 are illustrated.

The embodiment shown in FIG. 4 is an example in which the robot arm 20 is configured in a so-called 'snake joint' structure. The snake joint structure is composed of a continuous joint of the entire arm without distinguishing between the arm member and the arm joint, such that the robot arm 20 is bent in any direction at any position like a snake body.

As such, when the robot arm 20 according to the present embodiment is configured to have a snake joint structure, the user manipulates the operation unit 10 to adjust the bending position and the degree of the robot arm 20 to be the robot arm 20. You can either move it or move it to the required location.

Furthermore, the operation unit 10 according to the present exemplary embodiment includes an operation handle 11 formed of a structure corresponding to the joint structure of the robot arm 20, thereby allowing the robot arm 20 to be manipulated more intuitively. That is, like the robot arm 20, the steering wheel 11 may be manufactured in a snake joint structure, and the robot arm 20 may be configured to move in a 1: 1 manner in response to a user's operation on the steering wheel 11. .

As such, when the robot arm 20 and the operation handle 11 are configured in a snake joint structure, the operation handles are connected by connecting the respective points of the robot arm 20 and the respective points of the corresponding operation handles 11 with wires. When bending 11, tension is applied to each wire accordingly, and tension is transmitted to a corresponding portion of the robot arm 20 to which each wire is coupled, so that the robot arm 20 responds to the bending of the operation handle 11. Can be manipulated to bend.

5 is a view showing the structure of a surgical robot according to another embodiment of the present invention. Referring to FIG. 5, a patient 1, a manipulation handle 11, a robot arm 20, and an effector 30 are shown.

In the above-described embodiment, a case in which the robot arm is operated by operating an operation handle having the same structure as the robot arm has been described. However, the operation handle is not necessarily configured to have the same structure as the robot arm, and the robot arm and the effector are operated. Of course, the operation handle of the other structure that can be made to perform the operation required for the surgery can also be used.

Furthermore, as shown in FIG. 5, the surgical robot according to the present exemplary embodiment may be configured in a master-slave structure, and the operation handle 11 may be installed in the master robot to remotely operate. That is, a master robot (see 'M' in FIG. 5) for generating and transmitting a signal required by a doctor's operation of the surgical robot according to the present embodiment, and receiving a signal from the master robot to directly operate on the patient 1. The robot arm 20 of the slave robot is configured as a slave robot (see 'S' in FIG. 5) that applies the necessary operation, and a signal generated by manipulating the operation handle 11 installed in the master robot is transmitted to the slave robot. And effector 30 may be enabled.

The master robot and the slave robot may be configured as separate devices so that the master robot may be disposed in the operating room and the slave robot in the operating room, or the master robot and the slave robot may be integrated into one device.

6 is a view showing an effector according to an embodiment of the present invention. Referring to FIG. 6, robot arm 20, effector 30, and base 32 are shown.

Since the surgical robot according to the present embodiment operates while the robot arm 20 itself is in the body, in order to replace the effector 30 mounted at the end of the robot arm 20 with another type as necessary. After the robot arm 20 is drawn out of the body to replace the effector 30, the operation of inserting the robot arm 20 back into the body should be performed. Therefore, when the robot arm 20 is inserted into the body in the state in which various kinds of effectors 30 are mounted at the end of the robot arm 20, the cumbersome work of replacing the effector 30 can be omitted. have.

That is, the surgical robot according to the present embodiment is equipped with various types of effectors 30 such as endoscopes, laparoscopes, lights, forceps, forceps, scissors, cutters, etc. on the robot arm 20. It may be used in one state, and if desired, the user may select the appropriate effector 30 so that the desired effector 30 may be coupled to and operated at the end of the robot arm 20.

To this end, as shown in FIG. 6, by coupling the rotatable base 32 to the robot arm 20 and the various types of effectors 30 to the base 32, the base 32 according to the user's choice. Rotation may be such that the desired effector 30 is coupled to the end of the robot arm 20. That is, the base 32 according to the present embodiment may operate similarly to a revolver structure of a pistol or a microscope, and may be replaced with a desired effector 30 according to a user's needs.

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

2 is a view showing the structure of a surgical robot according to an embodiment of the present invention.

3 is a view showing the structure of a surgical robot according to another embodiment of the present invention.

4 is a view showing the structure of a surgical robot according to another embodiment of the present invention.

5 is a view showing the structure of a surgical robot according to another embodiment of the present invention.

6 is a view showing an effector according to an embodiment of the present invention.

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

1: patient 3: single port

10: operation unit 11: operation handle

12: handle member 14: handle joint

16: wire 17: sensor

18: motor 19: control unit

20: robot arm 22: arm absence

24: arm joint 30: effector

32: Base

Claims (10)

  1. An operation unit for performing an operation necessary for an operation by a user's operation;
    A robot arm connected to the operation unit and inserted into the body of the patient, the robot arm rotating according to a user operation of the operation unit;
    Is coupled to the end of the robot arm is inserted into the body of the patient, including an effector (effector) for performing the operation required for the operation according to the user operation on the operation unit,
    The robot arm is composed of a plurality of arm members and a plurality of arm joints connecting the plurality of arm members to each other, the operation unit is characterized in that the operation handle is provided with a structure corresponding to the structure of the robot arm Dragon robot.
  2. The method of claim 1,
    A single port is punctured in the surgical site of the patient, and the robot arm and the effector are inserted into the body through the single port.
  3. 3. The method of claim 2,
    The robot arm is coupled to the operation portion in a plurality, the plurality of robot arm is a surgical robot, characterized in that formed in a thickness that can pass through the single port.
  4. delete
  5. The method of claim 1,
    The operation handle may include a plurality of handle members corresponding to the plurality of arm members and a plurality of handle joints corresponding to the plurality of arm joints, and the plurality of arm joints and the plurality of handle joints are each connected by a wire. Surgical robot, characterized in that coupled to the pulley (pulley).
  6. The method of claim 1,
    A motor is coupled to each of the plurality of arm joints, and the operation handles include a plurality of handle joints corresponding to the plurality of arm joints, and the operation of the plurality of handle joints according to a user's operation on the operation handles. Surgical robot, characterized in that for each signal to drive the motor is generated.
  7. The method of claim 1,
    The robot arm is made of a snake (snake) joint structure, the operation portion is a surgical robot, characterized in that the operation handle made of a snake joint structure corresponding to the structure of the robot arm.
  8. The method of claim 1,
    The surgical robot is composed of a master robot that generates and transmits a predetermined signal by a user's operation, and a slave robot that operates by receiving a signal from the master robot.
    The operation unit is included in the master robot,
    And the robot arm and the effector are included in the slave robot.
  9. The method of claim 1,
    The effector is provided with a plurality, the surgical robot, characterized in that any one effector is coupled to the end of the robot arm operates according to the user's selection.
  10. 10. The method of claim 9,
    The plurality of effectors are coupled to the base consisting of a revolver (revolver) structure, the base is a surgical robot, characterized in that coupled to the end of the robot arm to rotate according to the user's selection.
KR1020090070699A 2009-07-31 2009-07-31 Surgical robot KR101241809B1 (en)

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
KR20160054307A (en) * 2014-11-06 2016-05-16 (주)미래컴퍼니 Surgical Robot System and Method for Controlling Surgical Robot System

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101101274B1 (en) * 2011-07-01 2012-01-04 전남대학교산학협력단 Small-sized manipulator for single port surgery
CN103006329B (en) * 2012-12-03 2014-10-15 上海交通大学 A single multi-joint robot minimally invasive surgical abdominal wound and its operating mechanism

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Publication number Priority date Publication date Assignee Title
US6223100B1 (en) 1992-01-21 2001-04-24 Sri, International Apparatus and method for performing computer enhanced surgery with articulated instrument
US6850817B1 (en) * 1992-01-21 2005-02-01 Sri International Surgical system
KR100585458B1 (en) 2004-04-13 2006-06-07 국립암센터 Laparoscopic surgery robot system
US20090054909A1 (en) * 2007-07-12 2009-02-26 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6223100B1 (en) 1992-01-21 2001-04-24 Sri, International Apparatus and method for performing computer enhanced surgery with articulated instrument
US6850817B1 (en) * 1992-01-21 2005-02-01 Sri International Surgical system
KR100585458B1 (en) 2004-04-13 2006-06-07 국립암센터 Laparoscopic surgery robot system
US20090054909A1 (en) * 2007-07-12 2009-02-26 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160054307A (en) * 2014-11-06 2016-05-16 (주)미래컴퍼니 Surgical Robot System and Method for Controlling Surgical Robot System
KR101632034B1 (en) * 2014-11-06 2016-07-01 (주)미래컴퍼니 Surgical Robot System and Method for Controlling Surgical Robot System

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