Robotic surgical system for laparoscopic surgery

• US 20080058776A1
• Filed: 09/06/2006
• Published: 03/06/2008
• Est. Priority Date: 09/06/2006
• Status: Active Grant

• Current Assignee: National Cancer Center
• Original Assignee: National Cancer Center
• Inventors: Jo, Yung-Ho, Kim, Dong-Jun, Choi, Jaesoon, Kim, Young-Woo, Park, Sang-Jae, Park, Jae-Gahb
• Granted Patent: US 8,231,610 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

A robotic surgical system includes a master manipulator, slave robotic units having a surgical instrument for performing a Minimal Invasive Surgery (MIS), and a control system for electrically associating the master manipulator with the slave robotic units. The slave robotic unit includes the driving mechanisms which are more compact than those of the conventional MIS system. In use, the existing surgical instruments used in the conventional MIS procedure can be applied to the slave robotic unit. Moreover, by using the pivotal mechanism of the driving mechanisms, a pivot point of the surgical instrument is allowed to be shifted with respect to an incision of a patient. So, the patient'"'"'s tissues surrounding the surgical instrument are not excessively affected by the surgical instrument during the procedure.

Claims

1. A robotic surgical system comprising:

a master manipulator installed at a control station to be manipulated by an operator;

slave robotic units for performing a surgical procedure on a patient;

a control system for electrically associating the master manipulator with the slave robotic units to allow each slave robotic unit to be remotely controlled by the associated master manipulator; and

a display for viewing the surgical procedure conducted by the slave robotic units,

wherein each slave robotic unit includes;

a surgical instrument being inserted to a surgical site of the patient;

a yaw driving mechanism for moving the surgical instrument in a yaw direction;

a pitch driving mechanism for moving the surgical instrument in a pitch direction;

a linear driving mechanism for linearly moving the surgical instrument;

a rotational driving mechanism for rotating the surgical instrument about its longitudinal axis;

an end tip driving mechanism for incising, sewing or cutting the surgical site; and

a pivotal mechanism for allowing the surgical instrument to be freely pivoted.

2. The robotic surgical system of claim 1, wherein the yaw driving mechanism includes:

a forearm;

a motor installed in the forearm;

a shaft rotated by the motor; and

a wrist coupled to the shaft, the wrist being rotated in the yaw direction.

3. The robotic surgical system of claim 1, wherein the pitch driving mechanism includes:

a semicircular rack gear guide coupled to the yaw driving mechanism;

a carriage movably mounted on the semicircular rack gear guide; and

a motor, a pinion gear and guide rollers provided in the carriage, wherein the pinion gear is driven by the motor,

wherein the semicircular rack gear guide is provided between the pinion gear and the guide rollers so that the carriage is moved along the semicircular rack gear guide in the pitch direction.

4. The robotic surgical system of claim 1, wherein the linear driving mechanism includes:

a linear guide; and

a motor and rollers provided in the linear guide, wherein the rollers are driven by the motor, wherein the surgical instrument is inserted between the rollers so as to be linearly moved by the rollers,

wherein the linear guide is pivotally connected to the pitch driving mechanism through the pivotal mechanism.

5. The robotic surgical system of claim 1, wherein the pivotal mechanism includes:

a lower part engaged with the pitch driving mechanism;

a middle part pivotally connected to the lower part; and

an upper part pivotally connected to the middle part, the upper part being fixed to the linear driving mechanism.

6. The robotic surgical system of claim 5, wherein the pivot movements of the middle part and the upper part are orthogonal to each other.