Robotized laparoscopic system

• US 7,435,216 B2
• Filed: 10/22/2004
• Issued: 10/14/2008
• Est. Priority Date: 04/22/2004
• Status: Active Grant

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: Korea Advanced Institute of Science and Technology
• Inventors: Kwon, Dong Soo, Kim, Jonathan, Lee, Yun Ju, Ko, Seong Young, Lee, Woo Jung
• Primary Examiner(s): Leubecker; John P.
• Assistant Examiner(s): Chen; Victoria W
• Application Number:
  US10/971,249
• Publication Number:
  US 20050240078A1
• Time in Patent Office: 1,453 Days
• Field of Search: 600/112, 600/114, 600/101, 600/106, 600/117, 600/118, 600/137, 600/139, 600/145, 600/146, 606/130, 128/898
• US Class Current: 600/139
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

A robotized laparoscopic system capable of executing commands of an operating surgeon is provided. The laparoscopic system includes a cylindrical tube inserted through an incision. A small-sized camera is attached to one end of the tube to capture the images of the surgical site. A bending portion is adapted to bend the tip of the tube in any direction. A driving unit controls a bending direction and a bending angle of the bending portion. A movement device moves the tube forward or backward in a longitudinal direction. A control unit independently controls the driving unit and the movement device. An input unit receives commands from the surgeon. A conversion unit converts the command input from the surgeon into digital signals and transmits the digital signals to the control unit. A support unit supports the weight of the movement device by being connected to an operating table or the floor.

Claims

1. A robotized laparoscopic system for a surgery, comprising:

a cylindrical tube adapted to be inserted through an incision on abdominal walls and having a tip on one end;

a bending portion for connecting the cylindrical tube and the tip and for changing a bending direction of the tip;

a driving unit for controlling the bending direction and a bending angle of the bending portion;

a movement device for moving the tube in a longitudinal direction; and

a control unit for controlling the driving unit and the movement device independently;

wherein the control unit calculates a rotation angle θ

₂-θ

₁ of the bending portion during a longitudinal displacement D₂-D₁ of the movement device using the following Equations, to compensate for the change in viewing angle by either enlargement or reduction command;

$\begin{array}{c}\frac{d}{{\mathrm{\theta <br><br>}}_1}<br><br>\left(1-\cos <br><br><br><br>{\mathrm{\theta <br><br>}}_1\right)+\left(l_0+l_1\right)<br><br>\sin <br><br><br><br>{\mathrm{\theta <br><br>}}_1=\frac{d}{{\mathrm{\theta <br><br>}}_2}<br><br>\left(1-\cos <br><br><br><br>{\mathrm{\theta <br><br>}}_2\right)+\left(l_0+l_2\right)<br><br>\sin <br><br><br><br>{\mathrm{\theta <br><br>}}_2\\ \frac{d}{{\mathrm{\theta <br><br>}}_1}<br><br>\sin <br><br><br><br>{\mathrm{\theta <br><br>}}_1+\left(l_0+l_1\right)<br><br>\cos <br><br><br><br>{\mathrm{\theta <br><br>}}_1+D_1=\frac{d}{{\mathrm{\theta <br><br>}}_2}<br><br>\sin <br><br><br><br>{\mathrm{\theta <br><br>}}_2+\left(l_0+l_2\right)<br><br>\cos <br><br><br><br>{\mathrm{\theta <br><br>}}_2+D_2\end{array}$

where d is a length of the bending portion, I₀ is a distance between a front surface of the tube and the bending portion, θ

₁ is a bending angle of the bending portion before moving, I₁ is a distance between an end of the tube and a surgical site of interest before moving, D₁ is a position of the tube before moving, θ

₂ is a bending angle of the bending portion after moving, I₂ is a distance between the tip of the tube and the surgical site after moving, and D₂ is a position of the tube after moving.