Surgical device
First Claim
Patent Images
1. A surgical device configured to perform a surgical operation, the surgical device comprising:
- a base configured to mount the surgical device on a robot arm of a surgical robot;
an extension having a bar shape extending from the base, and to which a joint driver, a first joint, and a second joint are sequentially connected, the joint driver including,a housing connected to the extension, the first joint being directly connected to the housing such that the first joint is configured to rotate around a first rotation axis, the second joint being directly connected to the first joint such that the second joint is configured to rotate around a second rotation axis that is not parallel to the first rotation axis, and to which a surgical tool is combined, andfirst and second drivers configured to provide a driving power for allowing the first and second joints to rotate around the first and second rotation axes respectively, thereby allowing the surgical tool to rotate around the first and second rotation axes respectively relative to the extension;
a first linkage configured to connect the first driver and the first joint, the first linkage having a slider-crank structure and configured to rotate the first joint due to a reciprocating movement of the first driver; and
a second linkage configured to connect the second driver and the second joint, and configured to rotate the second joint due to a reciprocating movement of the second driver, the second linkage including a plurality of link arms configured to pass through an inner portion of the first joint and that are serially connected to rotate with respect to the second driver.
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Accused Products
Abstract
A surgical device including first and second joint parts that are connected in series is provided. The surgical device includes a plurality of link arms that pass through an inner portion of the first joint part so as to drive the second joint part. The link arms are serially connected so as to rotate with respect to each other, and are rotatably connected to a driving unit for driving the plurality of link arms.
17 Citations
21 Claims
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1. A surgical device configured to perform a surgical operation, the surgical device comprising:
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a base configured to mount the surgical device on a robot arm of a surgical robot; an extension having a bar shape extending from the base, and to which a joint driver, a first joint, and a second joint are sequentially connected, the joint driver including, a housing connected to the extension, the first joint being directly connected to the housing such that the first joint is configured to rotate around a first rotation axis, the second joint being directly connected to the first joint such that the second joint is configured to rotate around a second rotation axis that is not parallel to the first rotation axis, and to which a surgical tool is combined, and first and second drivers configured to provide a driving power for allowing the first and second joints to rotate around the first and second rotation axes respectively, thereby allowing the surgical tool to rotate around the first and second rotation axes respectively relative to the extension; a first linkage configured to connect the first driver and the first joint, the first linkage having a slider-crank structure and configured to rotate the first joint due to a reciprocating movement of the first driver; and a second linkage configured to connect the second driver and the second joint, and configured to rotate the second joint due to a reciprocating movement of the second driver, the second linkage including a plurality of link arms configured to pass through an inner portion of the first joint and that are serially connected to rotate with respect to the second driver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A surgical device configured to mount on a robot arm of a surgical robot and configured to perform a surgical operation, the surgical device comprising:
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a housing having a hollow bar shape; a first joint directly connected to the housing so as to rotate around a first rotation axis; a second joint directly connected to the first joint so as to rotate around a second rotation axis that is not parallel to the first rotation axis, and to which a surgical tool is combined so that the surgical tool is configured to rotate around the second rotation axis relative to the housing; a driving rod in the housing so as to reciprocate; a slider connected to the driving rod; a plurality of link arms that pass through an inner portion of the first joint so as to connect the slider and the second joint, and that are serially connected so as to rotate around a rotation axis that is in parallel with the first rotation axis, with respect to the slider; and a connector configured to connect the plurality of link arms and the first joint such that, when the first joint rotates around the first rotation axis, the plurality of link arms rotate with respect to the slider and the surgical tool rotates around the first rotation axis. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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21. A surgical device configured to mount on a robot arm of a surgical robot and configured to perform a surgical operation, the surgical device comprising:
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a joint driver having a hollow bar-shaped housing, the joint driver including first and second drivers within the housing, the first and second drivers being relatively rigid and configured to provide a first driving power and a second driving power, respectively; a first joint directly connected to the housing so as to rotate around a first rotation axis in response to the first driving power; a second joint directly connected to the first joint so as to rotate around a second rotation axis in response to the second driving power, the second rotation axis being different than the first rotation axis, the second joint configured to combine with a surgical tool thereby allowing the surgical tool to rotate around the first and second rotation axes respectively relative to the housing;
a first linkage configured to connect the first driver and the first joint, the first linkage having a slider-crank structure and configured to rotate the first joint due to a reciprocating movement of the first driver; and
a second linkage configured to connect the second driver and the second joint, configured to rotate the second joint due to a reciprocating movement of the second driver, and comprising a plurality of link arms that pass through an inner portion of the first joint and that are serially connected to rotate with respect to the second driver.
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Specification