WO2010068005A2 - Robot chirurgical - Google Patents

Robot chirurgical Download PDF

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Publication number
WO2010068005A2
WO2010068005A2 PCT/KR2009/007291 KR2009007291W WO2010068005A2 WO 2010068005 A2 WO2010068005 A2 WO 2010068005A2 KR 2009007291 W KR2009007291 W KR 2009007291W WO 2010068005 A2 WO2010068005 A2 WO 2010068005A2
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WO
WIPO (PCT)
Prior art keywords
support arm
robot
joined
bed
main unit
Prior art date
Application number
PCT/KR2009/007291
Other languages
English (en)
Other versions
WO2010068005A3 (fr
Inventor
Seung Wook Choi
Jong Seok Won
Dong Myung Min
Original Assignee
Rebo
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
Priority claimed from KR1020080126419A external-priority patent/KR101061987B1/ko
Priority claimed from KR1020090087963A external-priority patent/KR20110030034A/ko
Application filed by Rebo filed Critical Rebo
Publication of WO2010068005A2 publication Critical patent/WO2010068005A2/fr
Publication of WO2010068005A3 publication Critical patent/WO2010068005A3/fr

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    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

Definitions

  • the present invention relates to a surgical robot.
  • surgery refers to a procedure in which a medical device is used to make a cut or an incision in or otherwise manipulate a patient's skin, mucosa, or other tissue, to treat a pathological condition.
  • a surgical procedure such as a laparotomy, etc., in which the skin is cut open and an internal organ, etc., is treated, reconstructed, or excised, may entail problems of blood loss, side effects, pain, and scars, and as such, the use of robots is currently regarded as a popular alternative.
  • a conventional set of surgical robots may include a master robot, which is manipulated by the doctor to generate and transmit the necessary signals, and a slave robot, which receives the signals from the master robot to actually apply the manipulation to the patient.
  • the slave robot may be installed in the operating room, and the master robot may be installed in a manipulation room, with the master robot and slave robot connected by a wired and/or wireless system to allow remote operation of a surgical procedure.
  • the slave robot may be faced with the conflicting requirements of having to be positioned close to the patient undergoing surgery, while not occupying an excessive amount of space so that anesthetists, clinical staff, and nurses may approach the patient.
  • An aspect of the present invention is to provide a smaller, lighter surgical robot that is easier to store, install, and move and occupies a smaller amount of floor area.
  • the surgical robot may double as a bed for a patient, in an integrated form of bed and surgical robot.
  • Another aspect of the present invention is to provide a surgical robot which offers the strength, stability, functionality, and precision required for robotic surgery, is small and slim in size, so that the surgeon may readily access the patient, and which also provides greater freedom in pre-surgery preparations for both the patient and the robot.
  • One aspect of the present invention provides a bed mount surgical robot for performing a surgical procedure on a patient lying on an operating bed.
  • the bed mount surgical robot which uses a surgical instrument mounted on an end portion of a robot arm, may be mounted on the operating bed.
  • the bed mount surgical robot includes: a main unit joined to the operating bed; a support arm rotatably joined to the main unit; and one or more of the robot arms rotatably joined to the support arm.
  • the operating bed can include a footing, a core supported on the footing, and a table supported on the core for accommodating a patient lying on the table, where the main unit can be rotatably joined to the core such that the robot arm is able to move closer to or further from the operating bed.
  • the main unit can be shaped as an arc and can be joined to the core in such a way that the main unit is protracted from or retracted into the core by rotating about a particular point.
  • the main unit can be slidably joined to the core such that the main unit can move closer to or further from the core.
  • the support arm can include a major support arm and a minor support arm: the major support arm joined to the main unit such that the major support arm is movable in one direction, and the minor support arm joined to the major support arm such that the minor support arm is rotatable.
  • the major support arm can be slidably joined to the main unit such that the major support arm is able to move along a lengthwise direction of the main unit, while the minor support arm can be joined to an end portion of the major support arm by way of a SCARA system.
  • a multiple number of main units can be joined to the operating bed, and the robot arms can be joined respectively to the main units such that the robot arms are manipulated facing a particular point on the operating bed.
  • the main unit can be de- tachably joined to the operating bed, where the main unit can be shaped as a tower column which, when detached from the operating bed, can be mounted on the floor of an operating room in correspondence with a position of the operating bed.
  • Another aspect of the present invention provides a surgical robot for performing a surgical procedure using a surgical instrument mounted on an end portion of a robot arm.
  • the surgical robot includes: a first support arm, a second support arm rotatably joined to the first support arm, and a multiple number of robot arms rotatably joined to the second support arm, where the first support arm is supported on a base.
  • the base can be the operating room ceiling, operating room floor, operating bed, etc., and the first support arm can be rotatably joined to the base.
  • the surgical robot can be a slave robot that is operated by a signal generated by a user manipulation on a separate master robot.
  • the second support arm can be detachably joined to the first support arm.
  • Yet another aspect of the present invention provides a surgical robot that includes: a base, a support arm supported on the base, and a multiple number of robot arms, which are detachably joined to the support arm, and on an end portion of which a surgical instrument is mounted to perform a maneuver required for surgery.
  • the robot arms can each be mounted on the support arm, or can be joined to the support arm in such a way that one robot arm is mounted on another robot arm mounted on the support arm. Also, the robot arms can be joined to the support arm such that the center of motion of each of the robot arms faces a patient, so that the robot arms may generally be bent towards the patient.
  • multiple robot arms may be joined to a support arm, which itself may be joined to a main unit mounted on the operating bed, so that the surgical slave robot can have a slim, compact form as well as greater stability.
  • the relative positions of the robot arms with respect to the bed can be accurately identified without having to separately input the position information of the bed when installing the robot arms.
  • the positions of the robot arms can be configured automatically without the need for separately setting the initial positions of the robot arms when performing surgery.
  • each of the main units can be given a reduced size, so that the benefits of the bed mount surgical robot may be obtained with regard to transporting the patient or draping.
  • the main unit is detachably joined to the operating bed, the main unit can be formed as a separate structure that can be supported on the floor of the operating room, thereby bypassing problems caused by shaky beds and allowing a more stable mode of robotic surgery.
  • the surgical slave robot may be constructed with a compact and slim size that occupies a small amount of space. This makes it possible to position the surgical robot close to the patient while providing space for the surgeon to access the patient.
  • Figure 1 is a diagram schematically illustrating a bed mount surgical robot according to an embodiment of the present invention.
  • Figure 2 is a perspective view of a bed mount surgical robot according to an embodiment of the present invention.
  • Figure 3 is a front view of a bed mount surgical robot according to an embodiment of the present invention.
  • Figure 4 is a diagram schematically illustrating a bed mount surgical robot according to another embodiment of the present invention.
  • Figure 5 is a diagram schematically illustrating a bed mount surgical robot according to another embodiment of the present invention.
  • Figure 6, Figure 7, and Figure 8 each illustrate a perspective view of a surgical robot according to an embodiment of the present invention.
  • Figure 9, Figure 10, and Figure 11 each illustrate a plan view of a surgical robot according to another embodiment of the present invention.
  • Figure 1 is a diagram schematically illustrating a bed mount surgical robot according to an embodiment of the present invention
  • Figure 2 is a perspective view of a bed mount surgical robot according to an embodiment of the present invention. Illustrated in Figures 1 and 2 are instruments 1, an operating bed 3, a footing 5, a core 7, a table 9, a main unit 10, a support arm 11, a major support arm 12, a minor support arm 14, robot arms 20, and wheels 30.
  • a feature of this embodiment is to structure the surgical robot such that the main unit is mounted on the operating bed and the support arm and the robot arms in turn are joined to the main unit.
  • the surgical robot may be implemented with structural stability, and the relative positions between the robot arms and the patient may be accurately identified.
  • the surgical robot faces conflicting requirements. That is, the surgical robot may have to be positioned close to the patient when operated, while enabling clinical staff, etc., to access the patient without interference, and the surgical robot may have to be positioned over the body of the patient when operated, while guaranteeing sterilization to eliminate the risk of infection for the patient.
  • the surgical robot may have to provide the levels of strength, accuracy, and dexterity sufficient for operation, while providing a small, slim size and light weight, and the surgical robot may have to be mounted in a stable manner, while being capable of moving freely and occupying a small area. Furthermore, the surgical robot may have to provide freedom in pre-surgery preparations for both the patient and the robot.
  • This embodiment can be referred to as a "bed mount type,” combining the advantages of the table mount type and tower type robots by joining the foundation of a tower type robot to the operating bed 3.
  • a surgical robot can include a structure formed under the operating bed 3, with a tower type main unit extending from this structure to move closer to or further from the bed.
  • Several robot arms 20 can be joined to the tower type main unit by way of the support arm 11.
  • the surgical robot can be of a structure that is mounted on an operating bed 3 and can be a kind of slave robot that is equipped with a surgical instrument 1 on one end, i.e. one end of a robot arm 20, and used for performing surgery on a patient lying on the operating bed 3.
  • the basic structure of a surgical robot may include a main unit, a support arm 11 joined to the main unit, and a robot arm 20 joined to the support arm 11, where the main unit may be joined to an operating bed 3.
  • a core 7 can be installed between the footing 5 and the table 9, as illustrated in Figure 1, while the main unit of the surgical robot may be joined to the core 7.
  • the main unit joined to the core 7 of the operating bed 3 can be made to move or rotate further from or closer to the operating bed 3.
  • An example of a mechanism for moving and rotating the main unit will be described later in more detail with reference to Figure 3.
  • a robot arm 20 may be joined to the main unit by way of an interposed support arm
  • the robot arm 20 may be extended, withdrawn, and/or rotated in relation to the main unit, to be set to a position facing the surgical site of the patient lying on the table 9, ready to perform a maneuver required for surgery.
  • An extension device such as a sliding system, telescoping system, etc., can be employed for the extending and withdrawing of the robot arm 20, and various extension and rotation devices, such as rotation shafts, links, etc., can be employed for the positioning of the robot arm 20.
  • the main unit may rotate and extend from the operating bed 3, and the robot arm 20 may be driven such that a surgical instrument 1 joined to the front end of the robot arm 20 faces the surgical site of the patient.
  • the main unit may withdraw and rotate, to be stored in the operating bed 3.
  • a surgical robot may be mounted on the operating bed 3, as illustrated in Figures 1 and 3, the origin of the driving coordinates for the robot arm 20 may correspond to a particular position on the bed.
  • the point at which the robot arm 20 is mounted on the bed can be used as the origin for the coordinates, without having to input information regarding the positional relationship between the robot and the bed or between the robot and the patient as in the related art. Therefore, the instrument 1 can be accurately manipulated to face a particular position on the table 9 or on the patient lying on the bed.
  • a means of transport such as wheels or rollers for moving the bed can be installed on the footing 5 of the operating bed 3, but since the driving coordinates of the robot may remain unchanged as described above even when the bed is moved by the transport means, the robotic surgery procedures can be performed in the same manner as when the bed was not moved.
  • the height of the robot can be adjusted in linkage with the height of the table 9, or the information on how much the height of the table 9 was adjusted can be transferred immediately to the surgical robot, so that the robot arm 20 may be manipulated using the same or a corresponding set of coordinates regardless of the adjustment in height.
  • the surgical robot according to this embodiment is formed in this manner as a structure that is mounted on the bed, the surgical robot can be installed with greater stability, and the relative positions between the bed and the surgical robot can be identified with high accuracy.
  • the support arm 11 may be rotatably joined to the main unit, while the robot arm 20 may be joined to the end of the support arm 11. That is, in forming the surgical robot, the support arm 11 may be joined to the main unit, and one or more robot arms 20 may be joined to the end portion of the support arm 11, so that the overall surgical robot can be implemented in a slim and compact form.
  • Forming a main unit for each robot arm 20 can result in a larger volume, lower mobility, and more complicated operation, but by joining the support arm 11 to one main unit and joining one or more robot arms 20 to the support arm 11, a robot can be implemented that is slim in shape and easier to move and operate.
  • the support arm 11 can be composed of the major support arm 12, which may be joined to the main unit 10, and the minor support arm 14, which may be joined to an end portion of the major support arm 12.
  • the two support arms 11 may be operated to move a robot arm 20 to a position required for surgery.
  • the support arm 11 can be joined to the main unit 10 by way of a variety of linking systems, such as a sliding system, SCARA system, etc.
  • a sliding system such as a sliding system, SCARA system, etc.
  • SCARA Selective Compliance Assembly Robot Arm
  • the methods of linking the support arm 11 described here are merely examples, and it is obvious that various robot operating systems can be employed for moving the robot arm 20 to a desired position.
  • the major support arm 12 can be joined to the main unit 10 by way of a sliding system or a SCARA system
  • the minor support arm 14 can also be joined to the major support arm 12 by way of a sliding system or a SCARA system.
  • the robot arm 20 can be made to move to a required position.
  • One or more robot arms 20 may be rotatably joined to an end portion of the minor support arm 14, and a surgeon may perform robotic surgery by operating a robot arm 20 that has been moved by the major/minor support arms 12, 14 to a required position.
  • Various instruments 1 required for surgery such as a laparoscope, skin holder, suction line, effector, etc., can be mounted on the end portion of a robot arm 20 for performing the surgical procedure.
  • the surgical robot according to this embodiment can be manufactured in a much more compact form compared to existing robot structures, i.e. in a size and weight that enables mounting on a bed.
  • “draping” may be performed on the surgical robot that entails covering the robot arms 20 with sanitized vinyl, etc. Whereas each of the robot arms 20 may have to be draped individually for a conventional robot, all of the robot arms 20 can be draped simultaneously by just covering the support arm 11 for robot according to the present embodiment, so that pre-surgery preparations can be performed easily and quickly.
  • the main unit of a surgical robot may be joined to the operating bed 3 such that the main unit is able to move away from the operating bed 3, and the support arm 11 may extend from the main unit, while one or more robot arms 20 for performing a maneuver required for surgery may be joined to the end of the support arm 11, so that the surgical procedure may be conducted with the robot arms 20 manipulated directly over the patient.
  • the support arm 11 may extend the robot arm 20 from the robot's main unit to the position of the patient, the major support arm 12 and minor support arm 14 can be rotatably joined to the main unit 10, whereby the robot arms 20 may to move to a point in 3-dimensional space according to the manipulation of the surgeon.
  • Figure 2 illustrates an example in which the major support arm 12 is joined to the main unit 10 by a sliding system. That is, the major support arm 12 may slide along the lengthwise direction of the main unit 10 while extending the components joined to the major support arm 12, i.e. the minor support arm 14 and the robot arms 20, by a particular length.
  • the minor support arm 14 may be joined to the major support arm 12 by a SCARA system to enable the robot arms 20 joined to the minor support arm 14 to move freely while extended by a particular length.
  • the robot arms 20 may be moved to a particular position in 3-dimensional space, such as the surgical site of the patient, for example, according to the operation of the major support arm 12 and the minor support arm 14, and the surgeon may manipulate the master robot to operate the robot arms 20 and thus perform robot surgery.
  • a surgical robot according to the present embodiment can be manufactured in a compact form while maintaining the strength, accuracy, and dexterity required for surgery.
  • the main unit 10 can be formed in a size capable of holding the major support arm
  • the major support arm 12 can slide along the lengthwise direction of the main unit 10, to be retracted when not in use and protracted from the main unit 10 when needed.
  • the surgical robot can be made much slimmer. Since the robot arms 20 can be made to readily reach the surgical site when needed by protracting the robot to a desired length, the level of dexterity required for surgery can be maintained.
  • the major support arm 12 can be tiltably joined to the main unit 10, and in addition, the minor support arm 14 can also be tiltably joined to major support arm 12. That is, the major support arm 12 and/or minor support arm 14 can be axially joined to the main unit 10 or major support arm 12, or a hinge can be placed in a middle portion of the major support arm 12 and/or minor support arm 14, so that the major support arm 12 and/or minor support arm 14 may rotate about the joint axis or hinge to provide a tilting action.
  • the robot arms 20 joined to the end portion of the support arm 11 can be made to move a considerable amount of distance merely by slightly rotating the support arm 11, so that the robot arms 20 may easily be moved to a desired position.
  • wheels 30 can be joined to the main unit, in order that the surgical robot may be supported on the floor, etc., of the operating room while connected to the operating bed 3. Details related to the composition and action of the wheels 30 will be provided later in the paragraphs referring to Figure 5.
  • Figure 3 is a front view of a bed mount surgical robot according to an embodiment of the present invention. Illustrated in Figure 3 are an instrument 1, an operating bed 3, a footing 5, a core 7, a table 9, a main unit 10, a support arm 11, and a robot arm 20.
  • an arc-shaped structure can be formed, as illustrated in Figure 3, in the core 7 of the operating bed 3 along which the main unit may be protracted.
  • the main unit may also be formed in the shape of an arc such that the main unit may be retracted in the core 7, where the main unit may be protracted from the core 7 by rotating about the center of the arc.
  • the main unit may also be retracted into the core 7 by rotating about the center of the arc.
  • the assembly shown in Figure 3 is merely an example of one method by which the main unit of the surgical robot may be retracted in and protracted from the bed, and it is obvious that other retractable structures different from the one illustrated can be applied.
  • the main unit according to this embodiment may be joined to the core 7 of the operating bed 3 by way of a sliding system, to be moved further away from or closer to the operating bed 3 as necessary.
  • the retracting and protracting structure and the slide linking structure for the main unit and the core 7 can be implemented as separate structures or an integrated structure.
  • Driving devices such as a motor, hydraulic jack, gears, links, etc., can additionally be installed for retracting or protracting the main unit in or out of the operating bed 3 or for moving the main unit closer to or further from the operating bed 3. Details on such driving devices will be omitted.
  • Figure 4 is a diagram schematically illustrating a bed mount surgical robot according to another embodiment of the present invention. Illustrated in Figure 4 are instruments 1, an operating bed 3, a footing 5, a core 7, a table 9, main units 10, support arms 11, and robot arms 20.
  • This embodiment includes multiple main units joined to the operating bed 3. By thus joining a multiple number of main units, the size of each main unit can be reduced, whereby the surgical robot can be implemented in a slimmer form, the bed itself on which the surgical robot is mounted can be used for transporting the patient, and the inconveniences related to the draping process can be resolved.
  • this embodiment includes several of the main units (towers) mounted on the operating bed 3, where one or more robot arms 20 may be mounted on each tower as described above. [76] Even in cases where more than one main unit is mounted, the robot arms 20 on each main unit may be joined such that a robot arm 20 is manipulated facing a particular point on the operating bed 3, such as the surgical site of the patient, for example, similar to the case of multiple robot arms 20 joined to one main unit.
  • Figure 5 is a diagram schematically illustrating a bed mount surgical robot according to another embodiment of the present invention. Illustrated in Figure 5 are an instrument 1, an operating bed 3, a footing 5, a core 7, a table 9, a main unit 10, a support arm 11, a robot arm 20, wheels 30, and stoppers 32.
  • the surgical robot is detachably joined to the operating bed 3, where the main unit can be detached from the core 7 to be used as an independent apparatus.
  • the main unit may serve as the main unit of a tower type robot, i.e. as a tower column, and may be mounted and secured at a position corresponding with the position of the operating bed 3.
  • the driving coordinates of the robot may be automatically defined in linkage with the position of the operating bed 3.
  • the information regarding the positional relationship between the robot and the bed may be inputted separately, or the main unit may be detachable within a range that maintains an associative relation in the driving coordinates without being completely separated from the bed.
  • the robot can be made to identify where the main unit is mounted, even when the main unit is separated from the operating bed 3, using the tensional forces or electrical signals transferred through the wire or cable.
  • the main unit can be equipped with wheels 30, as well as stoppers 32 placed adjacent to the wheels 30.
  • the wheels 30 may enable the main unit to move freely to a certain position after it is separated from the bed, while the stoppers 32 may serve as brakes that secure the main unit by restraining the wheels 30, preventing them from further rotation, when the robot has been moved to a desired position.
  • the stoppers can also be formed as supports that are installed near the wheel and protracted to secure the main unit 10, in a manner similar to that of an outrigger used in a mobile crane.
  • more than one surgical robots according to this embodiment can be joined to the bed, arranged radially around the bed, for example.
  • the multiple robots can be retracted in and protracted out of the bed or can be mounted independently, separated from the bed.
  • Figure 6 through Figure 8 provide perspective views of surgical robots according to an embodiment of the present invention. Illustrated in Figures 6 through 8 are instruments 51, an operating table 53, a first support arm 62, a second support arm 64, and robot arms 70.
  • a feature of this embodiment is to structure the surgical robot such that multiple robot arms 70 are rotatably joined to the support arm. In this way, the surgical robot can be made slimmer and more compact, occupying a smaller amount of space.
  • the support arm may be composed of a first support arm 62, and a second support arm 64 rotatably joined to the first support arm 62, while a multiple number of robot arms 70 may be rotatably joined to the second support arm 64.
  • the second support arm can be detachably joined to the first support arm.
  • the first support arm 62 may be supported on a base.
  • the first support arm 62 can be suspended from the ceiling of the operating room ("B" in Figure 6), as illustrated in Figure 6, secured to the floor of the operating room, or mounted on the operating bed or operating table 53, as illustrated in Figures 7 and 8.
  • Figure 7 illustrates an example in which a sliding structure is employed for moving the support arm to a desired position
  • Figure 8 illustrates an example in which a SCARA structure is employed.
  • the robot according to this embodiment can be used as a type of ceiling mount surgical robot, if the first support arm 62 is suspended from the ceiling, a type of floor mount surgical robot, if the first support arm 62 is secured to the floor, and a type of table mount surgical robot, if the first support arm 62 is mounted on the operating table 53.
  • the surgical robot according to this embodiment can have the parts from the first support arm onward (the first support arm 62, second support arm 64, and robot arms 70) formed as a module, which may be attached to the ceiling, mounted on the operating table 53, or joined to a separate main unit for use.
  • first support arm 62 can be fixed to the ceiling or to a base (e.g. the operating table 53, etc.) such that it is unable to move, it is also possible to join the first support arm 62 such that it is movable along a certain direction or rotatable about the joining position.
  • the surgical robot can be moved to a desired position or rotated in a required direction to be operated afterwards for robotic surgery.
  • Figure 9 through Figure 11 provide plan views of surgical robots according to another embodiment of the present invention. Illustrated in Figures 9 through 11 are instruments 51, a support arm 64, and robot arms 70.
  • a surgical robot can include robot arms that are mounted on the support arm 64 by assembly.
  • the multiple number of robot arms 70 can be fabricated as detachable modules and can be mounted by fitting the modules onto the support arm 64.
  • some of the robot arm modules 70 can be connected directly onto the support arm 64, while additional robot arm modules 70 can be connected onto other robot arm modules 70 that have been mounted beforehand, so that the multiple robot arm modules 70 may be fitted on continuously.
  • a linking structure by which the multiple robot arms 70 join the support arm 64 can be implemented, as illustrated in Figure 11, by designing the support arm 64 in a form capable of receiving each of the robot arms 70, and then mounting the robot arms 70 individually on this support arm 64.
  • a linking structure by which the multiple robot arms 70 join the support arm 64 can be implemented, as illustrated in Figure 10, by mounting some of the robot arms 70 on the support arm 64, and mounting other robot arms 70 on the mounted robot arms 70, i.e. with some robot arm modules joined to the support arm by other robot arm modules positioned in-between.
  • each robot arm module 70 needs only to be connected to a power line and communication line. Therefore, by forming contact terminals for the power line and communication line on the connection parts of the robot arm modules 70, for the example shown in Figure 10, or on the support arm, for the example shown in Figure 11, the robot arm modules 70 can readily be mounted continuously.
  • each robot arm module 70 can be formed in fan-like shapes, as illustrated in Figure 10, or the support arm 64 can be formed in a circular or elliptical arc shape, etc. Then, as the robot arm modules 70 are mounted continuously, the center of motion of each robot arm 70 may face the patient. In other words, the overall shape after the multiple robot arms 70 are mounted may bend towards the patient (for example, in the shape of a "C").

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

Abstract

L'invention concerne un robot chirurgical. Un robot chirurgical monté sur une table, pour pratiquer une intervention chirurgicale sur un patient étendu sur une table d'opération au moyen d'un instrument chirurgical monté sur une partie d'extrémité du bras d'un robot, peut comprendre : une unité principale assemblée à la table d'opération, un bras de support assemblé rotatif à l'unité principale, et un ou plusieurs bras de robot assemblés rotatifs au bras de support. Étant donné que plusieurs bras de robot peuvent être assemblés à un bras de support, lequel peut être assemblé à une unité principale montée sur la table d'opération, le robot chirurgical esclave peut présenter une forme mince, compacte ainsi qu'une meilleure stabilité. Le montage des bras de robot sur la table d'opération permet également d'identifier de manière plus précise les positions relatives des bras du robot par rapport à la table d'opération sans avoir à entrer séparément des informations de position de la table lors de l'installation des bras du robot.
PCT/KR2009/007291 2008-12-12 2009-12-08 Robot chirurgical WO2010068005A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020080126419A KR101061987B1 (ko) 2008-12-12 2008-12-12 침대 장착식 수술용 로봇
KR10-2008-0126419 2008-12-12
KR1020090087963A KR20110030034A (ko) 2009-09-17 2009-09-17 수술용 로봇
KR10-2009-0087963 2009-09-17

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WO2010068005A2 true WO2010068005A2 (fr) 2010-06-17
WO2010068005A3 WO2010068005A3 (fr) 2010-09-30

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Cited By (47)

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