WO2020256504A3 - 수술 시스템 - Google Patents

수술 시스템 Download PDF

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Publication number
WO2020256504A3
WO2020256504A3 PCT/KR2020/008019 KR2020008019W WO2020256504A3 WO 2020256504 A3 WO2020256504 A3 WO 2020256504A3 KR 2020008019 W KR2020008019 W KR 2020008019W WO 2020256504 A3 WO2020256504 A3 WO 2020256504A3
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WO
WIPO (PCT)
Prior art keywords
arm
same
shaft
gripper
master
Prior art date
Application number
PCT/KR2020/008019
Other languages
English (en)
French (fr)
Other versions
WO2020256504A2 (ko
Inventor
권동수
양운제
김덕상
공덕유
김창균
안정도
김준환
유재민
천병식
Original Assignee
한국과학기술원
주식회사 이지엔도서지컬
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 한국과학기술원, 주식회사 이지엔도서지컬 filed Critical 한국과학기술원
Publication of WO2020256504A2 publication Critical patent/WO2020256504A2/ko
Publication of WO2020256504A3 publication Critical patent/WO2020256504A3/ko

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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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches

Abstract

일 실시 예에 따르면, 수술 시스템은, 하부 샤프트와, 상기 하부 샤프트에 1자유도로 슬라이딩 가능하게 연결되는 상부 샤프트와, 상기 하부 샤프트를 2자유도 회전 가능하게 지지하는 하부 그리퍼와, 상기 상부 샤프트를 2자유도 회전 가능하게 지지하는 상부 그리퍼와, 상기 하부 그리퍼를 이동 가능하게 지지하는 하부 델타 로봇과, 상기 상부 그리퍼를 이동 가능하게 지지하는 상부 델타 로봇과, 상기 하부 샤프트에 연결되는 수술 도구를 포함하는 슬레이브 장치; 마스터 베이스부와, 상기 마스터 베이스부로부터 연결되는 암 지지 로드와, 상기 암 지지 로드의 상측에 설치되는 상부 암 및 상기 암 지지 로드의 하측에 설치되고 하부 암을 구비하는 마스터 암과, 상기 상부 암 및 상기 하부 암에 각각 회전 가능하게 연결되며 사용자가 파지할 수 있는 조작 그리퍼를 포함하는 마스터 장치; 및 상기 마스터 장치로부터 입력 신호를 전달받아, 상기 슬레이브 장치를 제어하는 제어부를 포함할 수 있다.
PCT/KR2020/008019 2019-06-21 2020-06-19 수술 시스템 WO2020256504A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0074365 2019-06-21
KR1020190074365A KR102284387B1 (ko) 2019-06-21 2019-06-21 수술 시스템

Publications (2)

Publication Number Publication Date
WO2020256504A2 WO2020256504A2 (ko) 2020-12-24
WO2020256504A3 true WO2020256504A3 (ko) 2021-02-11

Family

ID=74040580

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/008019 WO2020256504A2 (ko) 2019-06-21 2020-06-19 수술 시스템

Country Status (2)

Country Link
KR (1) KR102284387B1 (ko)
WO (1) WO2020256504A2 (ko)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3204500A1 (en) * 2021-02-05 2022-08-11 Steven T. Charles Direct drive robot for vitreoretinal surgery
KR102549111B1 (ko) * 2021-08-02 2023-06-29 주식회사 로엔서지컬 수술용 로봇의 제어 장치 및 제어 방법
CN114052924B (zh) * 2022-01-12 2022-05-06 极限人工智能(北京)有限公司 手术机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110106141A1 (en) * 2009-03-24 2011-05-05 Toshio Nakamura Robot system for endoscopic treatment
US20110160745A1 (en) * 2007-04-16 2011-06-30 Tim Fielding Frame Mapping and Force Feedback Methods, Devices and Systems
KR101567516B1 (ko) * 2014-05-23 2015-11-10 한국기계연구원 바늘 삽입형 원격 중재 로봇 시스템을 위한 6자유도 마스터 장치
WO2016030336A1 (en) * 2014-08-26 2016-03-03 Technische Universiteit Eindhoven Surgical robotic system and control of surgical robotic system
KR20180001153A (ko) * 2016-06-27 2018-01-04 한국과학기술원 병진형 델타 로봇 및 이를 포함하는 수술용 로봇

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010504151A (ja) 2006-09-19 2010-02-12 ザ トラスティーズ オブ コロンビア ユニヴァーシティ イン ザ シティ オブ ニューヨーク 中空の解剖学的に懸吊された器官の手術のためのシステム、装置、及び方法
CA3026538C (en) 2016-08-01 2021-01-05 Novartis Ag Integrated ophthalmic surgical system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110160745A1 (en) * 2007-04-16 2011-06-30 Tim Fielding Frame Mapping and Force Feedback Methods, Devices and Systems
US20110106141A1 (en) * 2009-03-24 2011-05-05 Toshio Nakamura Robot system for endoscopic treatment
KR101567516B1 (ko) * 2014-05-23 2015-11-10 한국기계연구원 바늘 삽입형 원격 중재 로봇 시스템을 위한 6자유도 마스터 장치
WO2016030336A1 (en) * 2014-08-26 2016-03-03 Technische Universiteit Eindhoven Surgical robotic system and control of surgical robotic system
KR20180001153A (ko) * 2016-06-27 2018-01-04 한국과학기술원 병진형 델타 로봇 및 이를 포함하는 수술용 로봇

Also Published As

Publication number Publication date
KR20200145402A (ko) 2020-12-30
KR102284387B1 (ko) 2021-08-02
WO2020256504A2 (ko) 2020-12-24

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