SURGICAL ROBOT AND CONTROL METHOD THEREOF
First Claim
1. A surgical robot comprising:
- a slave arm; and
an instrument provided at the slave arm, the instrument to be introduced into a single port to perform surgical motion,wherein the instrument includes;
a plurality of surgical instrument members configured to perform surgical work while coming into contact with at least one organ that is a surgical object; and
a plurality of arm members introduced through the single port and coupled to the plurality of surgical instrument members, wherein the arm members include;
a plurality of variable-length surgical position regulators to move the plurality of surgical instrument members respectively to a plurality of surgical regions where a plurality of surgical sites spaced apart from one another is located; and
a plurality of surgical workers connecting the plurality of surgical position regulators and the plurality of surgical instrument members to each other, the plurality of surgical workers serving to move the plurality of surgical instrument members respectively to positions close to the plurality of surgical sites within the plurality of surgical regions.
1 Assignment
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Accused Products
Abstract
A surgical robot including a slave arm and an instrument provided at the slave arm to be introduced into a single port to perform surgery. The instrument includes a plurality of surgical instrument members to perform surgery while coming into contact with a surgical object, and a plurality of arm members. The arm members include surgical position regulators to move the surgical instrument members from the single port to a first surgical region where the surgical object is located, and surgical workers connecting the surgical position regulators and the surgical instrument members to each other, the surgical workers serving to move the surgical instrument members to a position close to surgical object within the first surgical region. The single-port surgical robot may effectively perform simultaneous surgery upon various surgical regions like multi-port surgery.
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Citations
21 Claims
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1. A surgical robot comprising:
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a slave arm; and an instrument provided at the slave arm, the instrument to be introduced into a single port to perform surgical motion, wherein the instrument includes; a plurality of surgical instrument members configured to perform surgical work while coming into contact with at least one organ that is a surgical object; and a plurality of arm members introduced through the single port and coupled to the plurality of surgical instrument members, wherein the arm members include;
a plurality of variable-length surgical position regulators to move the plurality of surgical instrument members respectively to a plurality of surgical regions where a plurality of surgical sites spaced apart from one another is located; and
a plurality of surgical workers connecting the plurality of surgical position regulators and the plurality of surgical instrument members to each other, the plurality of surgical workers serving to move the plurality of surgical instrument members respectively to positions close to the plurality of surgical sites within the plurality of surgical regions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A surgical robot comprising:
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a slave arm; and an instrument provided at the slave arm, the instrument to be introduced into a single port to perform surgical motion, wherein the instrument includes; a plurality of surgical instrument members configured to perform surgical work while coming into contact with at least one organ that is a surgical object; and a plurality of arm members introduced into the patient'"'"'s body and coupled to the plurality of surgical instrument members, the plurality of arm members to connect the plurality of surgical instrument members and the slave arm to each other;
wherein the plurality of arm members includes;shoulder joints provided at an end of the slave arm, the shoulder joints having at least 2 degrees of freedom to radially distribute the plurality of surgical instrument members to a plurality of surgical regions where a plurality of surgical sites spaced apart from one another is located, or to gather the plurality of surgical instrument members in a given direction; and shoulder links coupled to the shoulder joints, lengths of the respective shoulder links being variable such that the shoulder links extend to the plurality of surgical regions located at different distances from the single port. - View Dependent Claims (15, 16)
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17. A surgical robot comprising:
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a slave arm; and an instrument provided at the slave arm, wherein the instrument includes; a plurality of surgical instrument members configured to perform surgical work while coming into contact with at least one organ; and a plurality of arm members, coupled to the plurality of surgical instrument members, having shoulder joints provided at an end of the slave arm, wherein the shoulder joints have at least 2 degrees of freedom to distribute the plurality of arm members in different directions or to gather the plurality of arm members in a given direction.
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18. A surgical robot comprising:
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a slave arm; and an instrument provided at the slave arm, the instrument to be introduced into a single port to perform surgical motion, wherein the instrument includes; a plurality of surgical instrument members configured to perform surgical work while coming into contact with an organ that is a surgical object; and a plurality of arm members coupled to the plurality of surgical instrument members, wherein the arm members include;
a plurality of surgical position regulators to move the plurality of surgical instrument members from the single port to a first surgical region where a surgical object is placed; and
a plurality of surgical workers connecting the surgical position regulators and the plurality of surgical instrument members to each other, the plurality of surgical workers serving to move the plurality of surgical instrument members to a position close to the organ within the first surgical region.
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19. A control method of a surgical robot, the surgical robot comprising a slave arm, a plurality of surgical instrument members provided at the slave arm and to be introduced into a single port to perform surgery, surgical position regulators to move the plurality of surgical instrument members to a surgical region, and surgical workers to move the plurality of surgical instrument members to a surgical object placed in the surgical region, the method comprising:
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introducing the plurality of surgical instrument members through the single port; operating the surgical position regulators to move the plurality of surgical instrument members to a first surgical region where the surgical object spaced apart from the single port is located; operating the surgical workers to move the plurality of surgical instrument members to a position close to the surgical object within the first surgical region; and performing surgery using the plurality of surgical instrument members. - View Dependent Claims (20, 21)
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Specification