WO2009104853A1 - Centre de rotation déporté (rcm) courbe de bras de robot chirurgical - Google Patents

Centre de rotation déporté (rcm) courbe de bras de robot chirurgical Download PDF

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Publication number
WO2009104853A1
WO2009104853A1 PCT/KR2008/005870 KR2008005870W WO2009104853A1 WO 2009104853 A1 WO2009104853 A1 WO 2009104853A1 KR 2008005870 W KR2008005870 W KR 2008005870W WO 2009104853 A1 WO2009104853 A1 WO 2009104853A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
robot arm
linkage unit
linkage
instrument
Prior art date
Application number
PCT/KR2008/005870
Other languages
English (en)
Inventor
Jong Seok Won
Seung Wook Choi
William Peine
Original Assignee
Meerecompany
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 Meerecompany filed Critical Meerecompany
Publication of WO2009104853A1 publication Critical patent/WO2009104853A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets

Definitions

  • the present invention relates to a linkage structure of a surgical robot arm.
  • Surgery refers to a medical specialty that uses operative manual and instrumental techniques on the tissues of a patient to treat a pathological condition.
  • Surgical robots have been proposed as an alternative for performing an excision surgery, which needs cutting tissues to treat or remove the organ within the body, to reduce blood loss, pain and improve precision.
  • the surgical robot consists of a master robot generating and transmitting signals according to manipulations of a surgeon and a slave robot applying the manipulation directly to the patient according to the signals from the master robot.
  • the master robot may be integrated with the slave robot or may be separated from the slave robot.
  • the slave robot has a robot arm in order for surgery manipulation, and an instrument is disposed at a fore-end of the robot arm. Accordingly, a movement of the robot arm causes the instrument to move together, which may lead to unnecessary injury while the instrument performs a surgery. Also, when the surgical area is wide, tissues of the patient should be incised as much as the moving path of the instrument, which weakens the advantage of the robotic surgery.
  • the instrument sets a virtual pivot center point at a predetermined location on a fore-end, so that the robot arm is controlled such that the instrument pivots around this point.
  • a virtual point is referred to as a remote center of motion or RCM.
  • Prior methods for controlling the RCM of the robot arm may be classified into a passive type and an active type.
  • the passive type controls such that the fore-end of the instrument moves against a moving direction of the robot arm by adopting tissues incised for inserting the instrument as a confronting point.
  • a method has been introduced as the active type in which an RCM determination unit 23 having a 4-bar linkage is formed to determine a predetermined area of the fore- end of the instrument as the RCM 8.
  • the present invention aims to provide a linkage structure of a surgical robot arm that can decrease the size and weight of a surgical robot by using less parts to form an RCM of a robot arm.
  • a linkage structure for a surgical robot arm comprising a robot arm, a first linkage unit forming an axis combination with a fore-end of the robot arm through a first axis, a second linkage unit forming an axis combination with the first linkage unit through a second axis and an instrument forming an axis combination with the second linkage unit through a third axis, the first, second and third axes being formed such that extended lines of the three axes are concentrated on a predetermined point of a fore-end of the instrument.
  • the first linkage unit may be formed by perforating the first axis and the second axis in a sub linkage unit that is curved to a degree such that the first axis and the second axis are concentrated on the predetermined point
  • the second linkage unit may be formed by perforating the second and the third axes in a sub linkage unit that is curved to a degree such that the second axis and the third axis are concentrated on the predetermined point
  • the second linkage unit may be overlapped with the first linkage unit by rotating the second linkage unit about the second axis.
  • the first linkage unit may be deposited on the robot arm by rotating the first linkage unit about the first axis.
  • An active type RCM of robot arm according to the present invention allows a fore- end of an instrument to freely pivot around an incision point of the instrument without injuring tissues and to perform precise spherical motion.
  • the present invention provides a compact size robot arm by forming an RCM with two overlappable linkage units. Since fewer parts are required for forming the RCM, failure rate may decrease.
  • Fig.1 is a side view of an RCM mechanism according to a prior art.
  • Fig.2 is a side view of linkage structure of a robot arm according to an embodiment of the present invention.
  • FIG.3 shows a driving mechanism of a linkage structure of a surgical robot arm according to an embodiment of the present invention.
  • FIG.2 is a side view of linkage structure of a robot arm according to an embodiment of the present invention.
  • Fig.3 shows a driving mechanism of a linkage structure of a surgical robot arm according to an embodiment of the present invention.
  • a robot arm 1 a first axis 3, a second axis 5, a third axis 7, a remote center of motion 9, a first linkage unit 10, a second linkage unit 20, and an instrument 30.
  • This embodiment presents an active type linkage structure for controlling an RCM of the robot arm 1.
  • This embodiment presents a serial type linkage structure in which linkage units are, unlike the parallel type having a 4-bar linkage as shown in Fig.l, serially linked to realize the RCM.
  • this embodiment realizes an RCM by linking linkage units in a serial type at an end of the moving robot arm 1.
  • a linkage part for implementing the serial type RCM may comprise a single linkage unit, but if necessary, several sub linkage units may be assembled to form a linkage part functioning as a single linkage unit. While this embodiment describes an example in which each linkage unit is formed of a single unit, the present invention is not limited thereto.
  • the linkage structure of the robot arm 1 comprises the first linkage unit 10 forming an axial combination with a fore-end of the robot arm 1, the second linkage unit 20 forming an axial combination with an fore-end of the first linkage unit 10, and the instrument 30 forming an axial combination with a fore-end of the second likage unit 20.
  • the first axis 3 refers to an axis combining the robot arm 1 with the first linkage unit
  • the first axis refers to an axis combining the first linkage unit 10 with the second linkage unit 20
  • the third axis 7 refers to an axis combining the second linkage unit 20 with the instrument 30.
  • the first axis 3, the second axis 5, and the third axis 7 are designed to concentrate on the remote center of motion 9, a predetermined point of the fore-end of the instrument 30, as shown in Fig.2.
  • this embodiment employs two linkage units and designs the combination axes to focus on the remote center of motion 9, thereby realizing an RCM and allowing the manipulation part disposed on the end of the instrument 30 to perform a spherical motion.
  • each linkage unit is formed of a single unit, it is also true that several sub units may also form one linkage unit. However, it is still true that in any case the combination axes of the linkage units should be designed to focus on the remote center of motion 9.
  • the combination axes of the units may be perforated in the direction of the remote center of motion 9, or the first linkage unit 10 may be formed to be curved as shown in Fig.2.
  • the first linkage unit 10 and the fore end of the robot arm 1 are jointed perpendicular to the surface, and the degree of curve of the first linkage unit 10 may be adjusted to concentrate the first axis 3 and the second axis 5 on the remote center of motion 9.
  • the second linkage unit 20 may be formed to be curved so that the second
  • the first linkage unit 10 and the second linkage unit 20 are jointed perpendicular to the surface, the instrument 30 is combined perpendicular to the fore end of the second linkage unit 20, and the degree of curve of the second linkage unit 20 may be adjusted to concentrate the second axis 5 and the third axis 7 on the remote center of motion 9.
  • the second linkage unit 20 may be rotated about the second axis 5 to be overlapped with the first linkage unit 10, thereby saving the occupying space of the robot arm 1.
  • first linkage unit 10 and/or the first linkage unit 10 overlapped with the second linkage unit 20 may be rotated about the first axis 3 to be deposited on the robot arm 1, which may be materialized by forming a storage or forming the curve of the linkage units corresponding to the fore end of the robot arm 1.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une structure de liaison pour un bras de robot chirurgical. La structure de liaison pour un bras de robot chirurgical comporte un bras de robot, une première unité de liaison formant une combinaison d'axe avec une extrémité avant du bras de robot à travers un premier axe, une seconde unité de liaison formant une combinaison d'axe avec la première unité de liaison à travers un second axe et un instrument formant une combinaison d'axe avec la seconde unité de liaison à travers un troisième axe, les premier, second et troisième axes étant formés de sorte que des lignes d'extension des trois axes sont concentrées sur un point prédéterminé d'une extrémité avant de l'instrument. Un centre de rotation déporté actif de bras de robot selon la présente invention permet le pivotement libre d'une extrémité avant d'un instrument autour d'un point d'incision de l'instrument sans endommager des tissus et d'effectuer un mouvement sphérique précis.
PCT/KR2008/005870 2008-02-20 2008-10-07 Centre de rotation déporté (rcm) courbe de bras de robot chirurgical WO2009104853A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020080015088A KR20090089928A (ko) 2008-02-20 2008-02-20 수술용 로봇 암의 링크구조
KR10-2008-0015088 2008-02-20

Publications (1)

Publication Number Publication Date
WO2009104853A1 true WO2009104853A1 (fr) 2009-08-27

Family

ID=40985704

Family Applications (1)

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

Country Status (2)

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

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102218734A (zh) * 2011-05-31 2011-10-19 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
WO2015030671A1 (fr) * 2013-08-28 2015-03-05 Institute Of Technical Education Système et appareil pour guider un instrument
CN104783900A (zh) * 2015-04-03 2015-07-22 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
CN107049498A (zh) * 2017-05-15 2017-08-18 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
EP3200960A4 (fr) * 2014-09-30 2018-05-30 Seiko Epson Corporation Robot et système de robot
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
JP2019048064A (ja) * 2012-06-01 2019-03-28 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
CN112469373A (zh) * 2018-05-02 2021-03-09 瑞德医疗机器股份有限公司 眼内手术器械保持器
EP2854692B1 (fr) * 2012-06-01 2022-07-20 Intuitive Surgical Operations, Inc. Architecture d'un système robotique chirurgical à ports multiples
US11547281B2 (en) 2018-02-15 2023-01-10 Covidien Lp Sheath assembly for a rigid endoscope

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111513852B (zh) * 2012-06-01 2023-11-03 直观外科手术操作公司 硬件受限的远程中心机器人操纵器的冗余轴线和自由度

Citations (3)

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US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
WO2007045810A2 (fr) * 2005-10-19 2007-04-26 The Acrobot Company Limited Mecanisme de contrainte d'outil
WO2007114975A2 (fr) * 2006-01-25 2007-10-11 Intuitive Surgical, Inc. Bras robotique central avec liaison a cinq barres spheriques pour une camera endoscopique

Patent Citations (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
WO2007045810A2 (fr) * 2005-10-19 2007-04-26 The Acrobot Company Limited Mecanisme de contrainte d'outil
WO2007114975A2 (fr) * 2006-01-25 2007-10-11 Intuitive Surgical, Inc. Bras robotique central avec liaison a cinq barres spheriques pour une camera endoscopique

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102218734A (zh) * 2011-05-31 2011-10-19 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
EP2854692B1 (fr) * 2012-06-01 2022-07-20 Intuitive Surgical Operations, Inc. Architecture d'un système robotique chirurgical à ports multiples
US11737834B2 (en) 2012-06-01 2023-08-29 Intuitive Surgical Operations, Inc. Surgical instrument manipulator aspects
US11576734B2 (en) 2012-06-01 2023-02-14 Intuitive Surgical Operations, Inc. Multi-port surgical robotic system architecture
JP2019048064A (ja) * 2012-06-01 2019-03-28 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
EP3620128B1 (fr) * 2012-06-01 2022-07-27 Intuitive Surgical Operations, Inc. Architecture de système de robot chirurgical à ports multiples
WO2015030671A1 (fr) * 2013-08-28 2015-03-05 Institute Of Technical Education Système et appareil pour guider un instrument
US11633236B2 (en) 2013-08-28 2023-04-25 Invivo Medical Pte Ltd System and apparatus for guiding an instrument
US10835323B2 (en) 2013-08-28 2020-11-17 Institute Of Technical Education System and apparatus for guiding an instrument
EP3200960A4 (fr) * 2014-09-30 2018-05-30 Seiko Epson Corporation Robot et système de robot
US10737378B2 (en) 2014-09-30 2020-08-11 Seiko Epson Corporation Robot and robot system
CN104783900A (zh) * 2015-04-03 2015-07-22 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
CN107049498A (zh) * 2017-05-15 2017-08-18 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
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
US11547281B2 (en) 2018-02-15 2023-01-10 Covidien Lp Sheath assembly for a rigid endoscope
CN112469373A (zh) * 2018-05-02 2021-03-09 瑞德医疗机器股份有限公司 眼内手术器械保持器

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