KR20090089928A - 수술용 로봇 암의 링크구조 - Google Patents

수술용 로봇 암의 링크구조 Download PDF

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Publication number
KR20090089928A
KR20090089928A KR1020080015088A KR20080015088A KR20090089928A KR 20090089928 A KR20090089928 A KR 20090089928A KR 1020080015088 A KR1020080015088 A KR 1020080015088A KR 20080015088 A KR20080015088 A KR 20080015088A KR 20090089928 A KR20090089928 A KR 20090089928A
Authority
KR
South Korea
Prior art keywords
axis
robot arm
link
link member
instrument
Prior art date
Application number
KR1020080015088A
Other languages
English (en)
Korean (ko)
Inventor
원종석
최승욱
파이니 윌리엄
Original Assignee
(주)미래컴퍼니
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)미래컴퍼니 filed Critical (주)미래컴퍼니
Priority to KR1020080015088A priority Critical patent/KR20090089928A/ko
Priority to PCT/KR2008/005870 priority patent/WO2009104853A1/fr
Publication of KR20090089928A publication Critical patent/KR20090089928A/ko

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
KR1020080015088A 2008-02-20 2008-02-20 수술용 로봇 암의 링크구조 KR20090089928A (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020080015088A KR20090089928A (ko) 2008-02-20 2008-02-20 수술용 로봇 암의 링크구조
PCT/KR2008/005870 WO2009104853A1 (fr) 2008-02-20 2008-10-07 Centre de rotation déporté (rcm) courbe de bras de robot chirurgical

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020080015088A KR20090089928A (ko) 2008-02-20 2008-02-20 수술용 로봇 암의 링크구조

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR2020100003803U Division KR200451737Y1 (ko) 2010-04-13 2010-04-13 수술용 로봇 암의 링크구조

Publications (1)

Publication Number Publication Date
KR20090089928A true KR20090089928A (ko) 2009-08-25

Family

ID=40985704

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020080015088A KR20090089928A (ko) 2008-02-20 2008-02-20 수술용 로봇 암의 링크구조

Country Status (2)

Country Link
KR (1) KR20090089928A (fr)
WO (1) WO2009104853A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150023237A (ko) * 2012-06-01 2015-03-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102218734B (zh) * 2011-05-31 2013-07-03 北京航空航天大学 具有虚拟运动中心的双平行四杆两维转动并联机构
EP3915504A1 (fr) 2012-06-01 2021-12-01 Intuitive Surgical Operations, Inc. Aspects de manipulateur d'instrument chirurgical
KR102636293B1 (ko) 2012-06-01 2024-02-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 멀티­포트 수술 로봇 시스템 구조
CN105705110B (zh) 2013-08-28 2018-11-13 新加坡工艺教育学院 用于引导器械的系统和设备
EP3200960A4 (fr) * 2014-09-30 2018-05-30 Seiko Epson Corporation Robot et système de robot
CN104783900B (zh) * 2015-04-03 2017-02-22 中国科学院深圳先进技术研究院 随动式鼻内镜手术辅助机器人
CN108261243A (zh) * 2017-01-03 2018-07-10 上银科技股份有限公司 具有远端运动中心特性的机械手臂
CN107049498B (zh) * 2017-05-15 2023-10-20 浙江理工大学 一种并联式三自由度远程运动中心手术机器人
WO2019157763A1 (fr) 2018-02-15 2019-08-22 Covidien Lp Ensemble gaine pour endoscope rigide
EP3788994B1 (fr) * 2018-05-02 2023-08-23 Riverfield Inc. Porte-instrument de chirurgie intraoculaire
DE102022131661A1 (de) * 2022-11-30 2024-06-06 Karl Storz Se & Co. Kg Chirurgischer Roboterarm, chirurgisches System und Verfahren zur Steuerung eines chirurgischen Roboterarms

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
GB0521281D0 (en) * 2005-10-19 2005-11-30 Acrobat Company The Ltd hybrid constrant mechanism
US8469945B2 (en) * 2006-01-25 2013-06-25 Intuitive Surgical Operations, Inc. Center robotic arm with five-bar spherical linkage for endoscopic camera

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150023237A (ko) * 2012-06-01 2015-03-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
KR20200137047A (ko) * 2012-06-01 2020-12-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
US10973598B2 (en) 2012-06-01 2021-04-13 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
KR20210134836A (ko) * 2012-06-01 2021-11-10 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
KR20220051272A (ko) * 2012-06-01 2022-04-26 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
US11490977B2 (en) 2012-06-01 2022-11-08 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
KR20230070050A (ko) * 2012-06-01 2023-05-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도

Also Published As

Publication number Publication date
WO2009104853A1 (fr) 2009-08-27

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E902 Notification of reason for refusal
WICV Withdrawal of application forming a basis of a converted application