MEDICAL ROBOT SYSTEM FOR SUPPORTING AN ORGAN IN A POSITION SUITABLE FOR A MEDICAL TREATMENT

• US 20100331859A1
• Filed: 06/21/2010
• Published: 12/30/2010
• Est. Priority Date: 06/24/2009
• Status: Active Grant

• Current Assignee: Karl Storz Se & Co. Kg
• Original Assignee: Terumo Kabushiki Kaisha (Terumo Corporation)
• Inventors: Omori, Shigeru
• Granted Patent: US 9,554,827 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 17/4241 Instruments for manoeuvring or retracting the uterus, e.g. during laparoscopic surgery
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00327 with actuating members moving in opposite directions
• CPC Class Codes: A61B 2017/00464 for use with different instruments with hole for different instruments A61B2017/22072
• CPC Class Codes: A61B 2034/742 Joysticks
• 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 34/71 Manipulators operated by drive cable mechanisms

Abstract

Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes.

Claims

1. A medical robot system comprising:

a robot arm;

a medical manipulator, detachably connected to said robot arm, to support an organ at a predetermined position in a patient body, said medical manipulator including;

a first arm portion provided on a base side of said medical manipulator,

a second arm portion, provided on a front side of said medical manipulator relative to said first arm portion, to support the organ, and

a connection portion to connect said first arm portion with said second arm portion; and

a control unit to adjust a longitudinal length of said second arm portion, and to adjust an orientation of said second arm portion relative to said first arm portion.

2. The medical robot system according to claim 1, further comprising an expandable supporting balloon provided on said second arm portion.

3. The medical robot system according to claim 1, wherein said second arm portion further comprises:

a stationary portion connected to said connection portion and extending in a longitudinal direction; and

a movable portion movably fitted to said stationary portion,

wherein said medical robot system further comprises a movement mechanism to move said movable portion relative to said stationary portion in the longitudinal direction thereof.

4. The medical robot system according to claim 1, further comprising an expandable fixing balloon provided on said first arm portion.

5. The medical robot system according claim 1, wherein said control unit further comprises an input mechanism to operate said medical manipulator, and

wherein said control unit controls said medical manipulator in such a manner that an input movement direction of said input mechanism is opposite to an actual horizontal movement of said medical manipulator.

6. The medical robot system according to claim 3, wherein said second arm portion further comprises a stopper mechanism to limit a relative movement of said stationary portion and said movable portion within a predetermined range.

7. The medical robot system according to claim 3, wherein said control unit further comprises:

an input switch to control said movement mechanism to cause a relative movement of said stationary portion and said movable portion to adjust a length of said second arm portion; and

a safety switch, said input switch being effective when said safety switch is actuated.

8. The medical robot system according to claim 3, further comprising an expandable supporting balloon provided on said movable portion of said second arm portion.

9. The medical robot system according to claim 1, further comprising:

a second robot arm; and

a treatment manipulator, detachably connected with said second robot arm, to apply a medical treatment to the organ supported by said second arm portion.

10. The medical robot system according to claim 9, further comprising:

a third robot arm; and

an endoscope, detachably connected with said third robot arm, to capture an image of the organ supported by said second arm portion,

wherein said control unit further comprises a monitor to display an image captured by said endoscope.

11. A medical robot system comprising:

a robot arm;

a medical manipulator, detachably connected to said robot arm, to support an organ at a predetermined position in a patient body, said medical manipulator including;

an arm portion provided on a base side of said medical manipulator,

means for supporting the organ, said means for supporting the organ provided on a front side of said medical manipulator relative to said arm portion, and

means for connecting said arm portion with said means for supporting the organ; and

means for adjusting a longitudinal length of said means for supporting the organ, and for adjusting an orientation of said means for supporting the organ relative to said arm portion.

12. A medical robot system comprising:

a robot arm;

a medical manipulator, detachably connected to said robot arm, to support an internal portion of an organ at a predetermined position in a patient body, said medical manipulator including;

an arm portion provided on a base side of said medical manipulator;

means for supporting the organ, said means for supporting the organ provided on a front side of said medical manipulator relative to said arm portion, and

means for connecting said arm portion to said means for supporting the organ; and

means for adjusting a longitudinal length of said means for supporting the organ, and for adjusting an orientation of said means for supporting the organ relative to said arm portion.