WO2011149260A3 - Rcm structure for a surgical robot arm - Google Patents

Rcm structure for a surgical robot arm Download PDF

Info

Publication number
WO2011149260A3
WO2011149260A3 PCT/KR2011/003817 KR2011003817W WO2011149260A3 WO 2011149260 A3 WO2011149260 A3 WO 2011149260A3 KR 2011003817 W KR2011003817 W KR 2011003817W WO 2011149260 A3 WO2011149260 A3 WO 2011149260A3
Authority
WO
WIPO (PCT)
Prior art keywords
rcm
robot arm
surgical robot
base
surgical
Prior art date
Application number
PCT/KR2011/003817
Other languages
French (fr)
Korean (ko)
Other versions
WO2011149260A2 (en
Inventor
최승욱
원종석
Original Assignee
주식회사 이턴
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 KR1020100050681A external-priority patent/KR20110131053A/en
Priority claimed from KR1020100076924A external-priority patent/KR101550451B1/en
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Publication of WO2011149260A2 publication Critical patent/WO2011149260A2/en
Publication of WO2011149260A3 publication Critical patent/WO2011149260A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • 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
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph

Landscapes

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

Abstract

The present invention relates to a remote center of motion (RCM) structure for a surgical robot arm. The RCM structure for a surgical robot arm is configured such that an end of the robot arm is equipped with a surgical instrument such that the surgical instrument is rotatable about a point of an RCM. The RCM structure for a surgical robot arm comprises: a base; a first link unit coupled to the base such that the first link unit is rotatable in both directions about the virtual line interconnecting the base and the RCM point; and a second link unit which is rotatably coupled to the first link, and the end of which is equipped with the surgical instrument. The first and second link units are rotatable by 360 degrees with respect to the base so as to significantly increase the range in which the surgical instrument rotates about the RCM point, thereby enabling the surgical robot arm to operate in a wider range while maintaining the RCM.
PCT/KR2011/003817 2010-05-28 2011-05-25 Rcm structure for a surgical robot arm WO2011149260A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020100050681A KR20110131053A (en) 2010-05-28 2010-05-28 Rcm structure of surgical robot arm
KR10-2010-0050681 2010-05-28
KR10-2010-0076924 2010-08-10
KR1020100076924A KR101550451B1 (en) 2010-08-10 2010-08-10 RCM structure of surgical robot arm

Publications (2)

Publication Number Publication Date
WO2011149260A2 WO2011149260A2 (en) 2011-12-01
WO2011149260A3 true WO2011149260A3 (en) 2012-04-19

Family

ID=45004558

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/003817 WO2011149260A2 (en) 2010-05-28 2011-05-25 Rcm structure for a surgical robot arm

Country Status (1)

Country Link
WO (1) WO2011149260A2 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102309822B1 (en) 2012-06-01 2021-10-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Multi­port surgical robotic system architecture
EP3003180B1 (en) 2013-03-28 2019-02-27 Koninklijke Philips N.V. Localization of robotic remote center of motion point using custom trocar
CN113616334A (en) * 2014-02-04 2021-11-09 皇家飞利浦有限公司 Remote center of motion definition using light sources for robotic systems
WO2015142512A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Structural adjustment systems and methods for a teleoperational medical system
DE102015101018A1 (en) * 2015-01-23 2016-07-28 MAQUET GmbH Device for holding and moving a laparoscope during an operation
CN104783900B (en) * 2015-04-03 2017-02-22 中国科学院深圳先进技术研究院 Follow-up type nasal endoscope operation auxiliary robot
CN111712174A (en) 2018-02-15 2020-09-25 柯惠Lp公司 Sheath assembly for rigid endoscope
CN110421577B (en) * 2019-08-08 2024-09-17 四川阿泰因机器人智能装备有限公司 Synchronous telescopic boom and inspection robot thereof
CN114533269B (en) * 2021-09-13 2023-10-31 广西大学 RCM positioning mechanism of surgical robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003067341A2 (en) * 2002-02-06 2003-08-14 The Johns Hopkins University Remote center of motion robotic system and method
WO2008157225A1 (en) * 2007-06-19 2008-12-24 Intuitive Surgical, Inc. Robotic manipulator with remote center of motion and compact drive
US20090048611A1 (en) * 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US20090234369A1 (en) * 2006-06-19 2009-09-17 Robarts Research Institute Apparatus for guiding a medical tool

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090048611A1 (en) * 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
WO2003067341A2 (en) * 2002-02-06 2003-08-14 The Johns Hopkins University Remote center of motion robotic system and method
US20090234369A1 (en) * 2006-06-19 2009-09-17 Robarts Research Institute Apparatus for guiding a medical tool
WO2008157225A1 (en) * 2007-06-19 2008-12-24 Intuitive Surgical, Inc. Robotic manipulator with remote center of motion and compact drive
US20080314181A1 (en) * 2007-06-19 2008-12-25 Bruce Schena Robotic Manipulator with Remote Center of Motion and Compact Drive

Also Published As

Publication number Publication date
WO2011149260A2 (en) 2011-12-01

Similar Documents

Publication Publication Date Title
WO2011149260A3 (en) Rcm structure for a surgical robot arm
CA2865398C (en) 360° imaging system
WO2013036054A3 (en) Torque-free robot arm
WO2013014621A3 (en) Mechanical teleoperated device for remote manipulation
EP4275634A3 (en) Surgical end effector
MX336487B (en) Robotic system for laparoscopic surgery.
WO2012128591A3 (en) Minimally invasive surgical instrument having a bent shaft
WO2013130683A3 (en) Xten conjugate compositions and methods of making same
WO2014134031A3 (en) Rotary powered surgical instruments with multiple degrees of freedom
EP2586195A4 (en) Swing arm,tilt positionable mount for electronic display
WO2012096464A3 (en) Minimally invasive surgical instrument
EP2542966A4 (en) Virtual environment for server applications, such as web applications
WO2012040593A3 (en) Surgical instrument with selectively articulatable end effector
WO2012093336A3 (en) Tray table assembly
WO2011012816A3 (en) Pharmaceutical formulation
WO2011154703A3 (en) Support system
KR20180085042A (en) Bismuth-thiols as antiseptics for agricultural, industrial and other uses
WO2012090150A3 (en) New cell-penetrating peptides and uses thereof
WO2008002454A3 (en) Robot with belt-drive system
WO2008122721A3 (en) Compact manipulation robot
WO2012037312A3 (en) Low profile dual arm vacuum robot
EP2756930A3 (en) Robot
EP2554136A4 (en) One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
WO2011126226A3 (en) Robot finger structure
AU2010280497A8 (en) Anhydrate of tiotropium bromide

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11786892

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11786892

Country of ref document: EP

Kind code of ref document: A2