SURGICAL DEVICE

• US 20120310253A1
• Filed: 05/16/2012
• Published: 12/06/2012
• Est. Priority Date: 06/03/2011
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: KIM, Yeon-ho, CHOI, Hyun-do
• Granted Patent: US 9,579,162 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A surgical device including first and second joint parts that are connected in series is provided. The surgical device includes a plurality of link arms that pass through an inner portion of the first joint part so as to drive the second joint part. The link arms are serially connected so as to rotate with respect to each other, and are rotatably connected to a driving unit for driving the plurality of link arms.

Claims

1. A surgical device comprising a surgical tool that is mounted on a robot arm of a surgical robot and that performs a surgical operation, the surgical device comprising:

a first joint part rotating around a first rotation axis;

a second joint part rotatably connected to the first joint part so as to rotate around a second rotation axis that is not parallel to the first rotation axis;

a joint driving part comprising first and second driving units that provide a driving power for allowing the first and second joint parts to rotate around the first and second rotation axes respectively;

a first link unit connecting the first driving unit and the first joint part, the first link unit having a slider-crank structure and rotating the first joint part due to a reciprocating movement of the first driving unit; and

a second link unit connecting the second driving unit and the second joint part, rotating the second joint part due to a reciprocating movement of the second driving unit, and comprising a plurality of link arms that pass through an inner portion of the first joint part and that are serially connected to rotate with respect to the second driving unit.

2. The surgical device of claim 1, further comprising a connection unit that connects the plurality of link arms and the first joint part,

wherein the plurality of link arms comprise a first link arm that is reciprocated by the second driving unit and that is connected to the second driving unit so as to rotate around a rotation axis that is in parallel with the first rotation axis, and

wherein, when the first joint part rotates, the plurality of link arms also rotate around the rotation axis of the first link arm.

3. The surgical device of claim 2, wherein the plurality of link arms comprise a second link arm that is connected to the first link arm so as to rotate around the rotation axis that is in parallel with the first rotation axis, and comprise a third link arm that is rotatably connected to the second link arm and the second joint part.

4. The surgical device of claim 3, wherein the connection unit comprises a cut groove that is formed in the first joint part by being cut in a longitudinal direction of the first joint part, and comprises an insertion unit that is arranged in at least one of the plurality of link arms and that is inserted into the cut groove.

5. The surgical device of claim 4, wherein the rotation axis of the first link arm with respect to the second driving unit matches with the first rotation axis.

6. The surgical device of claim 4, wherein the rotation axis of the first link arm with respect to the second driving unit deviates from the first rotation axis.

7. The surgical device of claim 6, wherein the insertion unit comprises a projection part that is arranged on the second link arm, that has a length in a longitudinal direction of the cut groove, and that is inserted into the cut groove, and

when the first joint part rotates, the second link arm rotates around the rotation axis with respect to the first link arm due to an interference between the cut groove and the projection part.

8. The surgical device of claim 2, further comprising:

a mounting part combined with the robot arm; and

an extension part having a bar shape extending from the mounting part, and to which the joint driving part, the first joint part, and the second joint part are sequentially connected.

9. The surgical device of claim 8, wherein the second driving unit comprises:

a housing;

a driving rod disposed in the housing so as to reciprocate in a longitudinal direction of the housing;

a driving motor installed in the housing and connected to the driving rod so as to reciprocate the driving rod; and

a slider including a first end connected to the driving rod and a second end connected to the first link arm.

10. The surgical device of claim 9, wherein the driving motor comprises a linear motor having a driving axis that is in parallel with the driving rod, and

wherein the driving axis is connected to the driving rod by using a connection member having an elasticity.

11. The surgical device of claim 10, wherein the connection member comprises first and second connecting members each having a first end connected to the driving rod and a second end that elastically contacts ends of the driving axis while each of the second ends apply a pre-load to the ends of the driving axis.

12. The surgical device of claim 10, wherein the driving motor comprises an ultrasonic motor.

13. A surgical device that is mounted on a robot arm of a surgical robot and that performs a surgical operation, the surgical device comprising:

a housing having a hollow bar shape;

a first joint part rotatably connected to the housing so as to rotate around a first rotation axis;

a second joint part rotatably connected to the first joint part so as to rotate around a second rotation axis that is not parallel to the first rotation axis;

a driving rod disposed in the housing so as to reciprocate;

a slider connected to the driving rod;

a plurality of link arms that pass through an inner portion of the first joint part so as to connect the slider and the second joint part, and that are serially connected so as to rotate around a rotation axis that is in parallel with the first rotation axis, with respect to the slider; and

a connection unit connecting the plurality of link arms and the first joint part,

wherein, when the first joint part rotates, the plurality of link arms rotate with respect to the slider.

14. The surgical device of claim 13, wherein the plurality of link arms comprise:

a first link arm rotatably connected to the slider so as to rotate around the rotation axis that is in parallel with the first rotation axis;

a second link arm rotatably connected to the first link arm so as to rotate around the rotation axis that is in parallel with the first rotation axis; and

a third link arm rotatably connected to the second link arm and the second joint part.

15. The surgical device of claim 14, wherein the rotation axis of the first link arm with respect to the slider matches the first rotation axis.

16. The surgical device of claim 14, wherein the rotation axis of the first link arm with respect to the slider deviates from the first rotation axis.

17. The surgical device of claim 16, wherein the connection unit comprises:

a cut groove that is formed in the first joint part by being cut in a longitudinal direction of the first joint part; and

a projection part that is arranged on the second link arm, that has a length in a longitudinal direction of the cut groove, and that is inserted into the cut groove,

wherein, when the first joint part rotates, the first through third link arms rotate with respect to the slider due to an interference between the cut groove and the projection part, and simultaneously, the second link arm rotates with respect to the first link arm.

18. The surgical device of claim 13, further comprising:

a mounting part combined with the robot arm;

an extension part having a bar shape extending from the mounting part, and combined with the housing;

a linear motor installed in the housing so as to reciprocate the driving rod, and having a driving axis that reciprocates in a parallel direction with the driving rod; and

first and second connecting members each having a first end connected to the driving rod and a second end that elastically contacts ends of the driving axis while each of the second ends apply a pre-load to the ends of the driving axis.

19. The surgical device of claim 18, further comprising a plurality of the linear motors and a plurality of the first and second connecting members.

20. The surgical device of claim 19, wherein the plurality of the linear motors comprise ultrasonic linear motors.

21. A surgical device that is mounted on a robot arm of a surgical robot that performs a surgical operation, the surgical device comprising:

a first joint part rotating around a first rotation axis;

a second joint part rotatably connected to the first joint part so as to rotate around a second rotation axis that is different than the first rotation axis; and

a joint driving part having a hollow bar-shaped housing and comprising first and second driving units that are relatively rigid and are disposed within the housing and that provide a driving power for allowing the first and second joint parts to rotate around the first and second rotation axes respectively.

22. The surgical device of claim 21, further comprising:

a first link unit connecting the first driving unit and the first joint part, the first link unit having a slider-crank structure and rotating the first joint part due to a reciprocating movement of the first driving unit; and

a second link unit connecting the second driving unit and the second joint part, rotating the second joint part due to a reciprocating movement of the second driving unit, and comprising a plurality of link arms that pass through an inner portion of the first joint part and that are serially connected to rotate with respect to the second driving unit.