SINGLE PORT SURGICAL ROBOT AND CONTROL METHOD THEREOF

• US 20140194699A1
• Filed: 07/05/2013
• Published: 07/10/2014
• Est. Priority Date: 01/08/2013
• Status: Abandoned Application

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Lee, Youn-Baek, Kim, Yong-Jae, ROH, Se-Gon, Kwon, Young-Do, Kim, Jeong-Hun, Roh, Kyung-Shik, Moon, Kyung-won, Sang, Tae-Jun, Lee, Jong-Won, Choi, Byung-June, Ha, Tae-Sin
• Application Number:
  US13/935,841
• Publication Number:
  US 20140194699A1
• Time in Patent Office: Days
• US Class Current: 600/249
• CPC Class Codes: A61B 17/34 Trocars; Puncturing needles pointed biopsy instruments A61B10/0233; devices for piercing the ear-lobes A44C7/001; seals or hemostasis valves A61M39/06
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 90/13 guided by light, e.g. laser pointers
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation

Abstract

A single port surgical robot capable of setting the location of a remote center motion (RCM) point, and a control method thereof includes: a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure; a second link connected to the upper end of the first link by a second joint, the second link having a curved structure; a third link connected to the upper end of the second link by a third joint, the third link having a cylindrical structure; a plurality of light-emitting units arranged on the lower end of the third link along the circumference of the third link, and configured to emit light toward a remote center motion (RCM) point; and a controller configured to adjust the location of the RCM point.

Claims

1. A single port surgical robot comprising:

a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure;

a second link connected to an upper end of the first link by a second joint, the second link having a curved structure;

a third link connected to an upper end of the second link by a third joint, the third link having a cylindrical structure;

a plurality of light-emitting units arranged on a lower end of the third link along the circumference of the third link, and configured to emit light toward a remote center motion (RCM) point; and

a controller configured to adjust the location of the RCM point.

2. The single port surgical robot according to claim 1, further comprising a manipulation unit,

wherein the manipulation unit comprises a first manipulation unit configured to set a motion mode of a surgical instrument assembly connected to an upper part of the third link to a translation mode or a rotation mode, and a second manipulation unit configured to receive a command for translating the surgical instrument assembly or a command for rotating the surgical instrument assembly based on the RCM point.

3. The single port surgical robot according to claim 2, wherein the second manipulation unit includes a force/torque (F/T) sensor for sensing a force applied by an operator, and the controller adjusts the location of the RCM point according to a command input through the second manipulation unit.

4. The single port surgical robot according to claim 2, wherein the manipulation unit is separated from the single port surgical robot.

5. The single port surgical robot according to claim 1, wherein the plurality of light-emitting units emit different colors of light.

6. The single port surgical robot according to claim 1, wherein a plurality of filters having different shapes of holes are provided in front of the respective light-emitting units.

7. The single port surgical robot according to claim 1, further comprising a photographing unit disposed on the lower end of the third link, and configured to photograph an image corresponding to a photographing area,

wherein the photographed image includes the RCM point, a trocar inserted into a patient'"'"'s incision point, and at least one among a plurality of light-emitting points created by the plurality of light-emitting units.

8. The single port surgical robot according to claim 7, wherein the controller detects at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image, and automatically adjusts the location of the RCM point based on the result of the detection.

9. The single port surgical robot according to claim 8, wherein if the detected light-emitting points are located outside the trocar, the controller adjusts at least one of the x and y coordinates of the RCM point.

10. The single port surgical robot according to claim 8, wherein the controller adjusts the z coordinate of the RCM point, according to the results of comparison between the detected light-emitting points and the locations of the light-emitting units.

11. A control method of a single port surgical robot, comprising:

operating a plurality of light-emitting units arranged along the circumference of a cylindrical link, and configured to emit light toward a remote center motion (RCM) point; and

adjusting the location of the RCM point.

12. The control method according to claim 11, further comprising receiving a command for setting a motion mode of a surgical instrument assembly connected to an upper part of the link to a translation mode, from a first manipulation unit.

13. The control method according to claim 12, wherein the adjusting of the location of the RCM point comprises translating the surgical instrument assembly according to a command input through a second manipulation unit, to thus adjust the location of the RCM point, the second manipulation unit including a force/torque (F/T) sensor for sensing a force applied by an operator.

14. The control method according to claim 11, further comprising photographing an image corresponding to a photographing area using a photographing unit disposed on the lower end of the link,

wherein the photographed image includes at least one among the RCM point, a trocar inserted into a patient'"'"'s incision point, and a plurality of light-emitting points created by the plurality of light-emitting units.

15. The control method according to claim 14, wherein the adjusting of the location of the RCM point comprises:

detecting at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image; and

automatically adjusting the location of the RCM point based on the results of the detection.

16. A single port surgical robot comprising:

a plurality of light-emitting units emitting highly linear beams and configured such that the beams emitted from the plurality of light-emitting units intersect with each other at the RCM point; and

a controller configured to adjust the location of the RCM point.

17. The single port surgical robot according to claim 16, further comprising:

a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure;

a second link connected to an upper end of the first link by a second joint, the second link having a curved structure; and

a third link connected to an upper end of the second link by a third joint, the third link having a cylindrical structure,

wherein the plurality of light-emitting units are arranged on a lower end of the third link along the circumference of the third link.

18. The single port surgical robot according to claim 16, further comprising a manipulation unit,

wherein the manipulation unit is configured to adjust the location of the RCM point based on a command input by an operator.

19. The single port surgical robot according to claim 16, further comprising a photographing unit configured to photograph an image corresponding to a photographing area,

wherein the photographed image includes the RCM point, a trocar inserted into a patient'"'"'s incision point, and at least one among a plurality of light points created by the plurality of light-emitting units.

20. The single port surgical robot according to claim 19, wherein the controller detects at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image, and automatically adjusts the location of the RCM point based on the result of the detection.