SURGICAL SLAVE ROBOT

• US 20100224022A1
• Filed: 07/23/2009
• Published: 09/09/2010
• Est. Priority Date: 10/13/2008
• Status: Active Grant

• Current Assignee: Meere Company
• Original Assignee: Meere Company
• Inventors: Won, Jong Seok, Choi, Seung Wook
• Granted Patent: US 7,954,397 B2
• Time in Patent Office: Days
• US Class Current: 74/490.10
• 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 34/73 Manipulators for magnetic surgery
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A surgical slave robot is disclosed. The surgical slave robot, for performing a surgical operation with a surgical instrument installed on an end portion of a robot arm, can include: a main body; a major support arm that is coupled to the main body such that the major support arm is movable along one direction; a minor support arm rotatably coupled to the major support arm; and a plurality of the robot arms rotatably coupled to the minor support arm. By coupling a twofold support arm of a major and minor support arm to a tower-shaped main body and coupling multiple robot arms to the support arms, the surgical slave robot may be constructed with a compact and slim size that occupies a small amount of space, making it possible to position the surgical robot close to the patient while providing space for the surgeon to access the patient.

Claims

1. A surgical slave robot for performing a surgical operation with a surgical instrument installed on an end portion of a robot arm, the surgical slave robot comprising:

a main body;

a major support arm movably coupled to the main body, the major support arm movable along one direction;

a minor support arm rotatably coupled to the major support arm; and

a plurality of the robot arms rotatably coupled to the minor support arm,

wherein the robot arm comprises a plurality of link members, and the link members are coupled in a way that implements an RCM (remote center of motion) function.

2. The surgical slave robot of claim 1, wherein the main body is formed as a tower-shaped column mounted on a floor of an operating room in correspondence to a position of an operating table.

3. The surgical slave robot of claim 1, wherein the main body is supported by a wheel such that the main body is movable within an operating room.

4. The surgical slave robot of claim 3, wherein a stopper is coupled to the main body adjacent to the wheel such that an action of the stopper secures the main body at a particular position.

5. The surgical slave robot of claim 1, wherein the major support arm is coupled to the main body by a sliding system such that the major support arm is movable upward and downward along the main body.

6. The surgical slave robot of claim 5, wherein the minor support arm is coupled to an end portion of the major support arm by a SCARA system.

7. The surgical slave robot of claim 1, wherein the major support arm is tiltably coupled to the main body.

8. The surgical slave robot of claim 1, wherein the minor support arm is tiltably coupled to the major support arm.

9. The surgical slave robot of claim 1, wherein the main body is formed with a size capable of housing the major support arm, and

the major support arm is coupled to the main body by a sliding system such that the major support arm is movable along a retracting and protracting direction in relation to the main body.

10. The surgical slave robot of claim 1, wherein the plurality of link members are axially coupled to each other, and

lines extending from coupling axes between the link members meet at a particular point on an end portion of the instrument.