Robotic System for Laparoscopic Surgery

• US 20120136372A1
• Filed: 05/20/2010
• Published: 05/31/2012
• Est. Priority Date: 05/22/2009
• Status: Active Grant

• Current Assignee: Universitat Politecnica De Catalunya
• Original Assignee: Universitat Politecnica De Catalunya
• Inventors: Amat Girbau, Josep, Casals Gelpi, Alicia, Frigola Bourdon, Manel
• Granted Patent: US 9,119,653 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence

Abstract

It comprises a supporting structure in which at least one arm is slidably attached. Each arm comprises first and second members hinged to each other. The first member is rotatably hinged to the supporting structure and it can be rotated about a longitudinal axis and the second member may receive a joint having at least two degrees of freedom for attaching a tool. The longitudinal axis of the first member is substantially perpendicular to an axis joining the first member and the second member to each other. A simplified architecture is obtained allowing for accurate and efficient spatial movement of the tool holding arm.

Claims

1. A robotic system for laparoscopic surgery comprising:

a supporting structure; and

,

at least one arm;

the at least one arm being slidably attached to said supporting structure, said at least one arm comprising;

a first member and

a second member;

the first and second members being hingedly joined to each other, and,

the first member being rotatably hinged on the supporting structure, and,

the first member is being adapted to be rotated around a longitudinal axis of the first member and

the second member is being adapted to receive a joint having at least two degrees of freedom for attaching a tool.

2. A robotic system as claimed in claim 1, wherein said longitudinal axis of the first member is at least substantially perpendicular to a joint axis for the hinged joining of the first member and the second member to each other.

3. A robotic system as claimed in claim 1, wherein the supporting structure comprises a vertical column having a vertical column longitudinal axis around which vertical column longitudinal axis the at least one arms can be rotated.

4. A robotic system as claimed in claim 1, wherein the joint having at least two degrees of freedom for attaching a tool is a gimbal-type joint.

5. A robotic system as claimed in claim 1, wherein the second member consists of two parts to which the first member of the arm is hinged.

6. A robotic system as claimed in claim 1 comprising at least two of said at least one arms each of said at least two arms being hinged on said supporting structure.

7. A robotic system as claimed in claim 6, wherein said at least two arms can be rotated independently of each other around the longitudinal axis of the supporting structure.

8. A robotic system as claimed in claim 1, wherein the first member is rotatably mounted on an extension integral with the supporting structure.