Robotic surgical system for laparoscopic surgery

• US 8,231,610 B2
• Filed: 09/06/2006
• Issued: 07/31/2012
• Est. Priority Date: 09/06/2006
• Status: Active Grant

• Current Assignee: National Cancer Center
• Original Assignee: National Cancer Center
• Inventors: Jo, Yung-Ho, Kim, Dong-Jun, Choi, Jaesoon, Park, Jae-Gahb, Kim, Young-Woo, Park, Sang-Jae
• Primary Examiner(s): ROANE, AARON F
• Application Number:
  US11/515,738
• Publication Number:
  US 20080058776A1
• Time in Patent Office: 2,155 Days
• Field of Search: 606/1, 606 41- 52
• US Class Current: 606/1
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• 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

Abstract

A robotic surgical system includes a master manipulator, slave robotic units having a surgical instrument for performing a Minimal Invasive Surgery (MIS), and a control system for electrically associating the master manipulator with the slave robotic units. The slave robotic unit includes the driving mechanisms which are more compact than those of the conventional MIS system. In use, the existing surgical instruments used in the conventional MIS procedure can be applied to the slave robotic unit. Moreover, by using the pivotal mechanism of the driving mechanisms, a pivot point of the surgical instrument is allowed to be shifted with respect to an incision of a patient. So, the patient'"'"'s tissues surrounding the surgical instrument are not excessively affected by the surgical instrument during the procedure.

Claims

1. A robotic surgical system for performing a surgical procedure on a patient, comprising:

a master manipulator installed at a control station to be manipulated by an operator;

a plurality of slave robotic units for conducting the surgical procedure;

a control system for electrically associating the master manipulator with the slave robotic units to allow each of the slave robotic units to be remotely controlled by the associated master manipulator; and

a display for viewing the surgical procedure,

wherein said each of the slave robotic units includes;

a forearm uniquely provided to said each of the slave robotic units;

a surgical instrument for being inserted to a surgical site of the patient, the surgical instrument being held by the forearm and including a rod and an end tip tool pivotably connected to one end of the rod;

a yaw driving mechanism for moving the rod of the surgical instrument in a yaw direction, the yaw driving mechanism including a wrist coupled to the forearm and rotationally driven in the yaw direction;

a pitch driving mechanism for moving the rod of the surgical instrument in a pitch direction, the pitch driving mechanism including a semicircular rack gear guide supported by the wrist and further including a carriage movably mounted on the semicircular rack gear guide;

a linear driving mechanism for linearly moving the rod of the surgical instrument, the linear driving mechanism being disposed on the carriage;

a rotational driving mechanism for rotating the rod of the surgical instrument about a longitudinal axis of the rod, the rotational driving mechanism being disposed on the carriage; and

a pivotal mechanism for allowing the rod of the surgical instrument to be freely pivoted, the pivotal mechanism being disposed on the carriage.

2. The robotic surgical system of claim 1, wherein the yaw driving mechanism further includes:

a motor installed in the forearm; and

a shaft rotated by the motor and coupled to the wrist.

3. The robotic surgical system of claim 2, wherein the pitch driving mechanism further includes:

a motor, a pinion gear and guide rollers provided in the carriage, wherein the pinion gear is driven by the motor of the pitch driving mechanism,

wherein the semicircular rack gear guide is provided between the pinion gear and the guide rollers so that the carriage is moved along the semicircular rack gear guide in the pitch direction.

4. The robotic surgical system of claim 3, wherein the pivotal mechanism includes:

a first part engaged with the carriage of the pitch driving mechanism;

a second part pivotally connected to the first part; and

a third part pivotally connected to the second part, the third part being fixed to the linear driving mechanism.

5. The robotic surgical system of claim 4, wherein the pivot movements of the second part and the third part are orthogonal to each other.

6. The robotic surgical system of claim 4, wherein the linear driving mechanism includes:

a linear guide fixed to the third part of the pivotal mechanism; and

a motor and rollers provided in the linear guide, wherein the rollers are driven by the motor of the linear driving mechanism, wherein the rod of the surgical instrument is inserted between the rollers so as to be linearly moved by the rollers,

wherein the linear guide is pivotably mounted on the carriage of the pitch driving mechanism through the pivotal mechanism such that the linear guide is allowed to be pivoted relative to the carriage of the pitch driving mechanism.

7. The robotic surgical system of claim 4, wherein the rotational mechanism includes:

a motor coupled to the first part of the pivotal mechanism;

a first gear driven by the motor; and

a second gear inserted by the rod, the second gear being driven by the first gear.

8. The robotic surgical system of claim 1, wherein the pitch driving mechanism further includes:

a motor, a pinion gear and guide rollers provided in the carriage, wherein the pinion gear is driven by the motor, and

wherein the semicircular rack gear guide is provided between the pinion gear and the guide rollers so that the carriage is moved along the semicircular rack gear guide in the pitch direction.

9. The robotic surgical system of claim 1, wherein the linear driving mechanism includes:

a linear guide; and

a motor and rollers provided in the linear guide, wherein the rollers are driven by the motor, wherein the rod of the surgical instrument is inserted between the rollers so as to be linearly moved by the rollers, and

wherein the linear guide is pivotally connected to the pitch driving mechanism through the pivotal mechanism.

10. The robotic surgical system of claim 1, wherein the pivotal mechanism includes:

a lower part engaged with the pitch driving mechanism;

a middle part pivotally connected to the lower part; and

an upper part pivotably connected to the middle part, the upper part being fixed to the linear driving mechanism.

11. The robotic surgical system of claim 10, wherein the pivot movements of the middle part and the upper part are orthogonal to each other.

12. The robotic surgical system of claim 1, wherein the end tip tool includes a pair of fingers, and

wherein the surgical instrument further includes an end tip driving mechanism for driving the fingers and thereby incising, sewing, or cutting the surgical site.

13. The robotic surgical system of claim 12, wherein the end tip driving mechanism includes a motor and a wire which is connected between the fingers and the motor of the end tip driving mechanism.

14. The robotic surgical system of claim 1, wherein the rotational mechanism includes:

a motor coupled to the pivotal mechanism;

a first gear driven by the motor; and

a second gear inserted to the rod, the second gear being driven by the first gear.

15. The robotic surgical system of claim 1,

wherein the linear driving mechanism, the rotational driving mechanism and the pivotal mechanism are coupled to each other.

16. The robotic surgical system of claim 1, wherein the yaw driving mechanism, the pitch driving mechanism, the linear driving mechanism, and the pivotal mechanism serve to move the rod of the surgical instrument to the surgical site.

17. The robotic surgical system of claim 1, wherein the pivotal mechanism is configured to shift a pivot point of the rod of the surgical instrument depending on a relative position with respect to the surgical site so that affection of the rod of the surgical instrument on the surgical site is restrained.

18. The robotic surgical system of claim 17, wherein the distance between an original pivot point of the rod of the surgical instrument and the shifted pivot point of the rod of the surgical instrument is equal to or less than 50 mm.

19. The robotic surgical system of claim 1, wherein the pivotal mechanism serves to allow the rod of the surgical instrument to be pivoted without the help of an electrical power source.

20. The robotic surgical system of claim 1, further comprising:

an operation table on which the patient is placed,

wherein the forearm of said each of the slave robotic units is mounted on the operation table via a holder.