SURGICAL INSTRUMENT, SUPPORT EQUIPMENT, AND SURGICAL ROBOT SYSTEM

• US 20140128882A1
• Filed: 05/23/2013
• Published: 05/08/2014
• Est. Priority Date: 11/06/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: KWAK, Ho-seong, KIM, Hyung-joo, WON, Jong-hwa, CHOI, Hyun-do
• Granted Patent: US 9,408,670 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/41 Tool

Abstract

A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle.

Claims

1. A surgical instrument comprising:

an extension portion having a surgical tool at an end thereof; and

a head portion connected to the extension portion and actuating the surgical tool,

wherein the extension portion comprises;

a first extension portion connected to the head portion;

a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion; and

a connection portion connecting the first and second extension portions at an angle.

2. The surgical instrument of claim 1, further comprising:

a rigid main rod extending from the head portion toward the first extension portion and reciprocated in a lengthwise direction by a motor; and

a flexible rod disposed in the connection portion and having one end portion and another end portion each respectively connected to the rigid rod and the main rod, the flexible rod being reciprocated by the main rod, performing a rigid motion in a lengthwise direction, and being bendable.

3. The surgical instrument of claim 2, wherein the connection portion comprises a first guide that is arranged at at least one of an inner portion and an outer portion of the flexible rod in a bending direction to guide the flexible rod.

4. The surgical instrument of claim 3, wherein the first guide is a roller-type guide and is supported on the connection portion to be capable of rotating in rolling contact with the flexible rod.

5. The surgical instrument of claim 3, wherein the surgical tool is actuated by a wire actuation method, and the first guide divides an inner space of the connection portion into a space where a wire for actuating the surgical tool is arranged and a space where the flexible rod is arranged.

6. The surgical instrument of claim 2, wherein the connection portion comprises a second guide that is arranged at at least one of opposite sides in a direction perpendicular to a bending direction of the flexible rod to guide the flexible rod.

7. The surgical instrument of claim 1, wherein the elbow joint portion is rolling actuated.

8. The surgical instrument of claim 1, wherein the elbow joint portion comprises:

a first arm connected to the connection portion;

a second arm connected to the first arm to be capable of pivoting around a pitching shaft; and

a joint link having one end portion connected to the second arm at a position spaced apart from the pitching shaft of the first arm and another end portion to which the rigid rod is connected,

wherein the second arm is bending actuated with respect to the first arm.

9. A support equipment comprising:

at least one surgical instrument as recited in claim 1;

a base member having an insertion area; and

at least one movable member supporting the surgical instrument and installed on the base member to be capable of moving around the insertion area.

10. The support equipment of claim 9, further comprising:

a rigid main rod extending from the head portion to the first extension portion and being reciprocally actuated by a motor in a lengthwise direction; and

a flexible rod disposed at the connection portion, having one end portion and another end portion each respectively connected to the actuation rod and the main rod, being reciprocally actuated by the main rod, performing a rigid motion in a lengthwise direction, and being capable of bending.

11. The support equipment of claim 10, wherein a first guide is arranged at at least one side of an inner portion and an outer portion of the flexible rod in a bending direction and guides the flexible rod.

12. The support equipment of claim 11, wherein the first guide is a roller-type guide and is supported on the connection portion and rotating in rolling contact with the flexible rod.

13. The support equipment of claim 9, wherein the elbow joint portion is rolling actuated.

14. The support equipment of claim 9, wherein the elbow joint portion comprises:

a first arm connected to the connection portion;

a second arm connected to the first arm to be capable of pivoting around a pitching shaft; and

a joint link having one end portion connected to the second arm at a position spaced apart from the pitching shaft of the first arm and the other end portion to which the rigid rod is connected,

wherein the second arm is bending actuated with respect to the first arm.

15. The support equipment of claim 9, wherein the first extension portion is connected to a side surface of the head portion facing a movement center axis of the movable member.

16. The support equipment of claim 15, wherein the first extension portion extends from the head portion toward the movement center axis.

17. The support equipment of claim 9, comprising a pivot member on which the surgical instrument is installed on the movable member to be capable of pivoting around a pivot axis that passes through the insertion area,

wherein the movement center axis of the movable member, the pivot axis, and an extension axis of the second extension portion have a single cross point that does not change even when the movable member is moved.

18. The support equipment of claim 17, wherein the movable member comprises first and second movable members that move around first and second movement center axes, respectively,

the pivot member comprises first and second pivot members, on which first and second surgical instruments are installed, which are respectively installed on the first and second movable members to be capable of pivoting around first and second pivot axes,

the first movement center axis, the first pivot axis, and a first extension axis of the first surgical instrument cross at a first cross point, and

a second movement center axis, the second pivot axis, and a second extension axis of the second surgical instrument cross at a second cross point.

19. The support equipment of claim 17, further comprising an installation portion on which the surgical instrument is installed and which is supported on the pivot member to be capable of elevating in a direction along the extension axis.

20. A surgical robot system comprising:

at least one support equipment as recited in claim 9;

a position adjustment unit supporting the support equipment and moving the support equipment to be located at an incision portion of a testee; and

a control station controlling a surgical instrument, the at least one support equipment, and the position control unit, for a surgical operation.