SURGICAL ROBOT SYSTEM FOR REALIZING SINGLE-PORT SURGERY AND MULTI-PORT SURGERY AND METHOD FOR CONTROLLING SAME

• US 20130144307A1
• Filed: 04/14/2011
• Published: 06/06/2013
• Est. Priority Date: 05/25/2010
• Status: Active Grant

• Current Assignee: Chang Wook Jeong, Hyungtae Kim
• Original Assignee: Chang Wook Jeong, Hyungtae Kim
• Inventors: Jeong, Chang Wook, Kim, Hyung Tae
• Granted Patent: US 10,010,375 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/3466 for simultaneous sealing of multiple instruments
• 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
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043

Abstract

Provided is a surgical robot system for realizing single-port surgery and multi-port surgery, the system comprising: an operating device; and a controlling device for electro-mechanically controlling the operating device, wherein the operating device includes an alignment section having a plurality of main robot arms, and a plurality of manipulating sections each having a plurality of auxiliary robot arms, and in the multi-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be placed in correspondence with each of a plurality of incisions, and in the single-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be aligned in correspondence with one incision.

Claims

1. A surgical robot system capable of implementing a single port surgery mode and a multi-port surgery mode, comprising:

a driving device; and

a controlling device to control the driving device electro-mechanically,

wherein the driving device comprises an alignment unit comprising multiple main robot arms and multiple operating units, each of which comprises multiple auxiliary robot arms, and

wherein, in the multi-port surgery mode, at least some of the multiple main robot arms and the multiple auxiliary robot arms are driven so that each surgical instrument coupled with each of the multiple operating units can be disposed to each of multiple incisions, and

in the single port surgery mode, at least some of the multiple main robot arms and the multiple auxiliary robot arms are driven so that each surgical instrument coupled with each of the multiple operating units can be aligned to a single incision.

2. A surgical robot system as claimed in claim 1,

wherein the controlling device comprises at least one of a controlling lever, a keyboard, a mouse, a joystick and a pedal.

3. A surgical robot system as claimed in claim 1,

wherein the multiple main robot arms are comprised of:

a first main robot arm to move rotationally;

a second main robot arm coupled with the first main robot arm to move rotationally; and

a third main robot arm disposed to the second main robot arm to move rotationally.

4. A surgical robot system as claimed in claim 1,

wherein the multiple main robot arms are comprised of:

a first main robot arm to move rotationally in a pitch direction;

a second main robot arm, one end of which is coupled with the first main robot arm, to move rotationally in a pitch direction; and

a third main robot arm disposed substantially orthogonal to the second main robot arm to move rotationally in a pitch direction.

5. A surgical robot system as claimed in claim 3,

wherein the third main robot arm is coupled with the multiple operating units.

6. A surgical robot system as claimed in claim 5,

wherein the multiple auxiliary robot arms are comprised of:

a first auxiliary robot arm to move rotationally;

a second auxiliary robot arm coupled with the first auxiliary robot arm to move rotationally; and

a third auxiliary robot arm disposed to the second main robot arm to move rotationally.

7. A surgical robot system as claimed in claim 5,

wherein the multiple auxiliary robot arms are comprised of:

a first auxiliary robot arm to move rotationally in pitch and yaw directions;

a second auxiliary robot arm, one end of which is coupled with the first main robot arm, to move rotationally in pitch and roll directions; and

a third auxiliary robot arm, one end of which is coupled with the second main robot arm, to move rotationally in pitch and roll directions.

8. A surgical robot system as claimed in claim 6,

wherein the third main robot arm comprises multiple parts different from each other in length.

9. A surgical robot system as claimed in claim 8,

wherein the rotational movement ranges of the first auxiliary robot arms of two opposing operating units, which are coupled to one of the multiple parts, are symmetrical to each other.

10. A surgical robot system as claimed in claim 6,

wherein at least some of the multiple third auxiliary robot arms can be aligned to be substantially parallel to each other.

11. A surgical robot system as claimed in claim 6,

wherein the third auxiliary robot arm comprises:

a body coupled with the second auxiliary robot arm;

a moving unit to move with reference to the body in a surge direction; and

a holding unit to fix a surgical instrument to the moving unit.

12. A surgical robot system as claimed in claim 11,

wherein, in the single port surgery mode, an edge of the body of one of the third auxiliary robot arms adjoins an edge of the body of another third auxiliary robot arm.

13. A surgical robot system as claimed in claim 6,

wherein each of the surgical instruments is an endoscope or a minimally-invasive surgical instrument.

14. A surgical robot system as claimed in claim 13,

wherein each of the surgical instruments has curvature.

15. A surgical robot system as claimed in claim 14,

wherein the curvature is formed in a direction to separate the working end of each surgical instrument from the corresponding first auxiliary robot arm and the corresponding second auxiliary robot arm.

16. A surgical robot system as claimed in claim 1,

Wherein, in the single port surgery mode, at least some of the multiple surgical instruments can act as a single unit based on a certain fulcrum.

17. A surgical robot system as claimed in claim 16,

wherein the fulcrum is set on a point where an abdominal wall meets a virtual central axis of the vertical axes of the multiple surgical instruments.

18. A surgical robot system as claimed in claim 17,

wherein at least some of the multiple surgical instruments can be aligned to be substantially parallel to each other at the fulcrum.

19. A surgical robot system as claimed in claim 1, further comprising a port for single port surgery for enabling at least some of the multiple surgical instruments to act as a single unit.

20. A surgical robot system as claimed in claim 19,

wherein the port for single port surgery has a predetermined fulcrum.

22. A method for controlling the surgical robot system as claimed in claim 1, comprising:

a step of controlling at least one of the multiple surgical instruments to have curvature, in the single port surgery mode.

21. A surgical robot system capable of implementing a single port surgery mode and a multi-port surgery mode, comprising:

a driving device; and

a controlling device to control the driving device electro-mechanically,

wherein the driving device comprises an alignment unit comprising multiple main robot arms and multiple operating units, each of which comprises multiple auxiliary robot arms,

wherein the multiple main robot arms are comprised of;

a first main robot arm to move rotationally;

a second main robot arm coupled with the first main robot arm to move rotationally; and

a third main robot arm disposed to the second main robot arm to move rotationally, wherein the third main robot arm is coupled with the multiple operating units,

wherein the multiple auxiliary robot arms are comprised of;

a first auxiliary robot arm to move rotationally;

a second auxiliary robot arm coupled with the first auxiliary robot arm to move rotationally; and

a third auxiliary robot arm disposed to the second main robot arm to move rotationally.