Surgical robot arm

Abstract

The present invention relates to a surgical robot arm, and more particularly, to a minimally invasive surgical robot arm in which a yaw axis of a driving arm rotatable relative to an installation arm is arranged so as to be inclined to a certain degree with respect to a rolling axis of a surgical instrument. According to the present invention, the joint of the active arm and the RCM (remote control module) form a parallelogram modular structure, so that the universal lock phenomenon can be prevented, various RCMs can be provided, and various entry angles can be provided.

Description

Technical Field

[0001] The present invention relates to a surgical robot arm, and more particularly to a modular minimally invasive surgical robot arm for use in laparoscopic surgery or various other surgeries. Background Art

[0002] In medicine, surgery refers to the use of medical instruments to cut or open or operate on the skin, mucous membranes, or other tissues to treat diseases. In particular, laparotomy, which cuts the skin of the surgical site and opens it for treatment, plastic surgery, or removal of internal organs, can cause problems such as bleeding, side effects, patient pain, and scarring. Therefore, in recent years, as an alternative, surgery that is performed by forming a predetermined hole in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgery microscopes, or surgery using robots, has attracted much attention.

[0003] Here, surgical robots refer to robots that can replace surgeons in performing surgical operations. The advantages of these surgical robots are that they can perform operations more accurately and precisely than humans and can perform remote surgery.

[0004] The surgical robots currently being developed around the world include orthopedic surgical robots, laparoscopic surgical robots, stereotactic surgical robots, etc. Here, the laparoscopic surgical robot is a robot that performs minimally invasive surgery using a laparoscope and microsurgical instruments.

[0005] Laparoscopic surgery, a cutting-edge surgical technique that performs surgery by drilling a small hole in the abdominal area and inserting a laparoscope, which acts as an endoscope, to view the inside of the abdominal cavity, is also an area that is expected to develop in the future. Current laparoscopes are equipped with computer chips that can obtain clearer and more magnified images than what can be seen with the naked eye, and have been developed to the point where any type of surgery can be performed while using specially designed laparoscopic surgical instruments while viewing a screen through a monitor.

[0006] In addition, although the scope of laparoscopic surgery is almost the same as that of open surgery, it has the following advantages over open surgery: fewer complications, earlier treatment after surgery, and the ability to maintain the patient's physical strength or immune function. Therefore, laparoscopic surgery is gradually being regarded as the standard surgery for treating colon cancer, etc. in the United States and Europe.

[0007] Meanwhile, a surgical robot generally consists of a master robot and a slave robot, and when a surgical staff operates a joystick (eg, a handle) provided in the master robot, a surgery is performed by operating a robot arm coupled to the slave robot or a surgical instrument held by the robot arm.

[0008] The above-mentioned background technology is the technical information possessed by the inventor in order to derive the present invention, or the technical information obtained in the process of deriving the present invention, and it should not be considered as necessarily the known technology disclosed to the public before applying for the present invention. Summary of the invention

[0009] Technical issues

[0010] An object of the present invention is to provide a surgical robot arm, wherein, since the yaw axis of an active arm that can rotate relative to a setting arm is formed from the upper side toward the lower side, and since the yaw axis is arranged to be inclined to a certain extent relative to the roll axis of a surgical instrument, a universal lock phenomenon can be prevented, various RCMs can be set, and various entry angles can be made relative to the RCM.

[0011] Technical Solution

[0012] An embodiment of the present invention provides a surgical robot arm, characterized in that the surgical robot arm equipped with a surgical instrument comprises: a setting arm; and an active arm, wherein the setting arm comprises a main body and a link assembly movably arranged on the main body, and the active arm is rotatably connected to one end of the setting arm, wherein the active arm comprises: a first link, which is connected to the setting arm through a first joint and is formed to be able to yaw (yaw) and rotate relative to the setting arm around a yaw axis; a second link, which is connected to the first link around a second joint; a third link, whose axis is connected to the second link so as to be able to rotate around the third joint; a fourth link, whose axis is connected to the third link so as to be able to rotate around a fourth joint; and a fifth link, whose axis is connected to the fourth link so as to be able to rotate around a fifth joint and is formed so as to enable the surgical instrument to be installed thereon, wherein a remote center of motion is formed at the remaining vertices of a parallelogram with the third joint, the fourth joint, and the fifth joint as vertices. Motion, RCM), the first joint is arranged at a position higher than the remote center of motion.

[0013] In the present invention, the yaw axis and a roll axis of the surgical instrument may be formed to be different from each other.

[0014] In the present invention, in a state where a roll axis of the surgical instrument is arranged in parallel with a horizontal plane, the yaw axis and the roll axis may be formed to be non-parallel to each other and to form a predetermined angle.

[0015] In the present invention, the setting link assembly may include one or more setting links, which connect the main body and the active arm and are formed to be rotatable around the Z axis relative to the main body.

[0016] In the present invention, the setting link assembly may include: a first setting link, which can move linearly along the height direction on the main body; a second setting link, whose axis is combined with the first setting link so that it can rotate with the first axis as the rotation center axis; and a third setting link, whose axis is combined with the second setting link so that it can rotate with a second axis different from the first axis as the rotation center axis.

[0017] In the present invention, the yaw axis is formed to be perpendicular to a surface of the third setting link, and the first link may be combined with the third setting link to be rotatable around the yaw axis.

[0018] In the present invention, the second axis may be arranged to be perpendicular to the first axis.

[0019] In the present invention, the setting link assembly may further include one or more setting links which are arranged between the second setting link and the third setting link and are formed to be rotatable around an axis substantially parallel to the first axis.

[0020] In the present invention, in the setting arm, the height in the Z-axis direction at the point through which the yaw axis passes can be formed to be higher than the height in the Z-axis direction of the remote motion center.

[0021] In the present invention, based on the first joint, the height of the yaw axis in the Z-axis direction at the proximal portion may be formed to be higher than the height of the yaw axis in the Z-axis direction at the distal portion.

[0022] In the present invention, the setup arm may be configured to be operable only during a setup period in which the surgical robot arm is arranged on a patient side.

[0023] In the present invention, the remote motion center may be located on an extension line of the yaw axis.

[0024] In the present invention, when the third link rotates around the third joint, the line segment connecting the third joint and the remote motion center and the fourth link rotate while maintaining a parallel state, and the line segment connecting the fifth joint and the remote motion center and the third link can rotate while maintaining a parallel state.

[0025] In the present invention, the position of the remote motion center can be kept constant regardless of the rotation of the third link.

[0026] In the present invention, no matter what action state the surgical robot arm is in, the line segment connecting the fifth joint and the remote motion center and the third link remain parallel, and no matter what action state the surgical robot arm is in, the line segment connecting the third joint and the remote motion center and the fourth link can remain parallel.

[0027] In the present invention, the third link, the fourth link, and the fifth link may be formed to be offset to a certain extent in the rotation axis direction thereof.

[0028] In the present invention, the fourth link may be arranged on one side of the third link in the rotation axis direction of the third link.

[0029] In the present invention, at least a portion of each of the third link and the fourth link may be formed to be able to overlap each other in the yaw axis direction.

[0030] In the present invention, at least a portion of each of the fourth link and the fifth link may be formed to be able to overlap each other in the yaw axis direction.

[0031] In the present invention, when the surgical instrument coupled to the fifth link is in a horizontal state and the end tool of the surgical instrument is arranged in a direction away from the main body, the first surface of the fifth link coupled to the surgical instrument can be arranged to face downward in the Z-axis direction.

[0032] In the present invention, in the above state, the surgical instrument may be arranged below the fifth link.

[0033] In the present invention, in the above state, the link may not be arranged between the surgical instrument and the bed.

[0034] In the present invention, the yaw axis and the longitudinal center axis of the fifth link may form a predetermined angle.

[0035] An embodiment of the present invention provides a surgical method using a surgical robot, comprising: arranging a main body of a modular surgical robot arm on one side of an interface of a patient into which a surgical instrument is to be inserted; adjusting the position of a setting arm including the main body; arranging a fifth link on which the surgical instrument is installed in an active arm connected to the setting arm to be in a substantially horizontal state; installing the surgical instrument on the fifth link of the active arm; moving the surgical instrument installed on the active arm to insert the surgical instrument into the patient's body; and performing surgery with the surgical instrument while maintaining a remote motion center.

[0036] In the present invention, in the step of arranging the main body of the surgical robot arm on a side of an interface of a patient into which the surgical instrument is to be inserted, the main body of the surgical robot arm may be arranged on the same side as the patient's interface based on a bed.

[0037] In the present invention, in the step of arranging the fifth link on which the surgical instrument is installed in the active arm in a substantially horizontal state, at least a portion of the plurality of links of the active arm may be formed to overlap in the extension direction of the respective links.

[0038] In the present invention, in the step of mounting the surgical instrument on the fifth link of the surgical robot arm, the link of the surgical robot arm may not be arranged between the surgical instrument and the patient.

[0039] In the present invention, the active arm includes: a first link, which is connected to the setting arm through a first joint and is formed to be able to yaw (yaw) rotate relative to the setting arm around a yaw axis; a second link, which is connected to the first link around a second joint axis; a third link, whose axis is connected to the second link so as to be able to rotate around a third joint; a fourth link, whose axis is connected to the third link so as to be able to rotate around a fourth joint; and a fifth link, whose axis is connected to the fourth link so as to be able to rotate around a fifth joint, and is formed to enable the surgical instrument to be mounted thereon, wherein a remote center of motion (RCM) is formed at the remaining vertices of a parallelogram with the third joint, the fourth joint, and the fifth joint as vertices, and the first joint can be arranged at a position higher than the remote center of motion.

[0040] In the present invention, the yaw axis and a roll axis of the surgical instrument may be formed to be different from each other.

[0041] In the present invention, in a state where a roll axis of the surgical instrument is arranged in parallel with a horizontal plane, the yaw axis and the roll axis may be formed to be non-parallel to each other and to form a predetermined angle.

[0042] In the present invention, the remote motion center may be located on an extension line of the yaw axis.

[0043] In the present invention, when the third link rotates around the third joint, the line segment connecting the fifth joint and the remote motion center and the third link rotate while maintaining a parallel state, and the extension line connecting the third joint and the remote motion center and the fourth link can rotate while maintaining a parallel state.

[0044] In the present invention, in the setting arm, the height in the Z-axis direction at the point through which the yaw axis passes can be formed to be higher than the height in the Z-axis direction of the remote motion center.

[0045] In the present invention, the height of the yaw axis in the Z-axis direction at the proximal end portion may be formed to be higher than the height of the yaw axis in the Z-axis direction at the distal end portion.

[0046] In the present invention, the third link and the fourth link may be formed to be offset to a certain extent in the rotation axis direction thereof.

[0047] In the present invention, when the surgical instrument coupled to the fifth link is in a horizontal state and the end tool of the surgical instrument is arranged in a direction away from the main body, the first surface of the fifth link coupled to the surgical instrument can be arranged to face downward in the Z-axis direction.

[0048] In the present invention, in the above state, the surgical instrument may be arranged below the fifth link.

[0049] In the present invention, in the above state, the link may not be arranged between the surgical instrument and the bed.

[0050] Other aspects, features, and advantages in addition to those described above will become apparent from the following drawings, claims, and summary.

[0051] Beneficial Effects

[0052] According to the present invention as described above, by adjusting the position of the setting arm combined with the active arm, the yaw axis can be kept at a certain angle relative to the horizontal plane, and since the yaw axis is formed to be inclined at a certain angle relative to the rolling axis of the surgical instrument, the fifth link and the surgical instrument combined therewith can be arranged in the horizontal direction without causing the universal lock phenomenon. Furthermore, the surgical instrument can also be arranged from the upper side to the lower side beyond the horizontal direction.

[0053] In addition, the present invention is characterized in that, by arranging each link to be offset to a certain extent, the rotational movement of each link is not restricted by other links, thereby expanding the movable range of the instrument, for example, making the running direction of the instrument go beyond the horizontal direction and face upward, etc. Therefore, even in surgical situations where instruments are frequently arranged in the horizontal direction, the universal lock phenomenon will not occur, and the effect of making the instrument move within a sufficient range can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a perspective view showing a surgical robot arm according to a first embodiment of the present invention.

[0055] Figure 2 It is a diagram showing the operating state of the Remote Center of Motion (RCM) mechanism of the link structure.

[0056] Figure 3 It is a diagram showing the operating state of the RCM mechanism of the belt structure.

[0057] Figure 4 It is shown Figure 1 Side view of a surgical robotic arm.

[0058] Figure 5 It is shown Figure 4 A plan view of the surgical robotic arm.

[0059] Figure 6 It is shown Figure 4 A perspective view of the RCM motion (first pitch motion) of the surgical robot arm centered on the pitch axis.

[0060] Figure 7 It is shown Figure 4 A side view of the RCM motion (second pitch motion) of the surgical robot arm centered on the pitch axis.

[0061] Figure 8 It is shown Figure 7 Perspective view of a surgical robotic arm.

[0062] Fig. 9 It is shown Figure 4 A side view of the RCM motion (third pitch motion) of the surgical robot arm centered on the pitch axis.

[0063] Fig.10 It is shown Fig. 9 Perspective view of a surgical robotic arm.

[0064] Fig.11 1 is a perspective view showing the RCM motion (first yaw motion) of the surgical robot arm centered on the yaw axis according to the first embodiment of the present invention.

[0065] Fig.12 It is shown Fig.11 A plan view of the surgical robotic arm.

[0066] Fig.13 1 is a perspective view showing the RCM motion (second yaw motion) of the surgical robot arm centered on the yaw axis according to the first embodiment of the present invention.

[0067] Fig.14 It is shown Fig.13A plan view of the surgical robotic arm.

[0068] Fig.15 1 is a perspective view showing the RCM motion (third yaw motion) of the surgical robot arm centered on the yaw axis according to the first embodiment of the present invention.

[0069] Fig.16 It is shown Fig.15 A plan view of the surgical robotic arm.

[0070] Fig.17 It is a perspective view showing a state in which a surgical instrument is arranged on the surgical robot arm so as to be opposed to a main body.

[0071] Fig.18 It is shown Fig.17 Side view of a surgical robotic arm.

[0072] Fig.19 It is shown Fig.17 A plan view of the surgical robotic arm.

[0073] Fig. 20 1 is a perspective view showing a state in which a setting arm of the surgical robot arm according to the first embodiment of the present invention is raised on a main body.

[0074] Fig.21 It is shown Fig. 20 Side view of a surgical robotic arm.

[0075] Fig. 22 1 is a perspective view showing a state in which a setting arm of the surgical robot arm according to the first embodiment of the present invention is lowered on a main body.

[0076] Fig.23 It is shown Fig. 22 Side view of a surgical robotic arm.

[0077] Figure 24 to Figure 26 1 is a diagram showing a first rotation state of a setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0078] Figure 27 to Figure 29 1 is a diagram showing a second rotation state of the setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0079] Figure 30 to Figure 32 2 is a diagram showing a third rotation state of the setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0080] Figure 33 to Figure 35 1 is a diagram showing an arbitrary first arrangement state of the surgical robot arm according to the first embodiment of the present invention.

[0081] Figure 36 to Figure 38 2 is a diagram showing an arbitrary second arrangement state of the surgical robot arm according to the first embodiment of the present invention.

[0082] Figure 39 to Figure 41 2 is a diagram showing an arbitrary third arrangement state of the surgical robot arm according to the first embodiment of the present invention.

[0083] Figures 42 to 50 1 is a diagram showing the RCM motion of the surgical robot arm centered on the pitch axis at a certain angle according to the first embodiment of the present invention.

[0084] Figure 51 to Figure 56 1 is a diagram showing the RCM motion of the surgical robot arm centered on the yaw axis at a certain angle according to the first embodiment of the present invention.

[0085] Figures 57 to 60 1 is a diagram showing a moving state of the surgical robot arm according to the first embodiment of the present invention.

[0086] Figure 61 to Figure 63 1 is a diagram showing that a surgical robot arm according to a first embodiment of the present invention is arranged near a surgical site of a patient, and surgical instruments are arranged to directly face the patient.

[0087] Figure 64 to Figure 66 1 is a diagram showing a first arrangement state of a surgical robot arm according to a second embodiment of the present invention.

[0088] Figure 67 to Figure 69 2 is a diagram showing a second arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0089] Figure 70 to Figure 72 2 is a diagram showing a third arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0090] Figure 73 to Figure 75 2 is a diagram showing a fourth arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0091] Figure 76 to Figure 78 2 is a diagram showing a fifth arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0092] Figure 79 to Figure 81 1 is a diagram showing a first arrangement state of a surgical robot arm according to a third embodiment of the present invention.

[0093] Figure 82 to Figure 84 2 is a diagram showing a second arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0094] Figure 85 to Figure 872 is a diagram showing a third arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0095] Figures 88 to 90 2 is a diagram showing a fourth arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0096] Fig.91 and Fig.92 This is a diagram showing a surgical robot arm.

[0097] Best Mode

[0098] Since the present invention can be variously modified and has various embodiments, specific embodiments will be shown in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to specific embodiments, but is intended to cover all variations, equivalents or substitutes included in the concept and technical scope of the present invention. In describing the present invention, if it is determined that the detailed description of the relevant known technology may unnecessarily obscure the subject matter of the present invention, its detailed description will be omitted.

[0099] The terms "first", "second" and the like can be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from other components.

[0100] The terms used in this application are only used to describe specific embodiments and are not intended to limit the present invention. Unless the context clearly indicates otherwise, singular expressions include plural expressions. In this application, the terms "including" or "having" are intended to indicate the presence of features, numbers, steps, actions, constituent elements, parts or combinations thereof recorded in the specification, but it should be understood that this does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, constituent elements, parts or combinations thereof.

[0101] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the accompanying drawings, the same reference numerals will be given to the same or corresponding constituent elements, and repeated descriptions thereof will be omitted.

[0102] In addition, when describing various embodiments of the present invention, it should be understood that each embodiment should not be interpreted or implemented independently, and the technical ideas described in each embodiment may be interpreted or implemented in combination with other embodiments described separately.

[0103] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0104] Fig.91 This is a diagram showing a surgical robot arm.

[0105] like Fig.91 As shown, the surgical robotic arm 3500 typically has one or more robotic arms extending from a tower.

[0106] In this structure, generally speaking, in a surgical situation where the surgical instrument 3200 must be inserted in a direction parallel to the plane of the operating table on which the patient lies, the tower 3510 is located opposite the surgical site of the patient, and the surgical robot arm 3500 is arranged to extend from the tower 3510 and unfold as if covering the upper part of the patient's body, while the surgical instrument 3200 is arranged in the opposite direction to face the patient again.

[0107] Therefore, it may have the following disadvantages: multiple robot arms are deployed above the patient; vibration is increased and rigidity is weakened because the surgical robot arm 3500 extends longer from the tower 3510 serving as its support body, etc.

[0108] To solve this problem, Fig.92 As shown, the robot arm can be formed into a module type, and a plurality of robot arms can be arranged near the surgical site, and the instrument can be formed to directly face the patient.

[0109] However, if Fig.92 In the situation shown, when one of the multiple rotation axes of the rotating surgical instrument (yaw axis) is consistent with the roll axis of the instrument equivalent to the extension line of the surgical instrument, a gimbal lock phenomenon may occur, wherein the gimbal lock phenomenon means that when the one rotation axis (yaw axis) is rotated, the surgical instrument cannot perform the expected action (yaw action).

[0110] Particularly, during surgery, surgical instruments are often arranged horizontally, and if the yaw axis is also formed horizontally (or nearly horizontally), a situation equivalent to the gimbal lock phenomenon may frequently occur.

[0111] In order to solve the problems mentioned above, the present invention is characterized in that, in order to achieve the purpose of preventing the universal lock phenomenon from occurring when the surgical instruments are arranged in a horizontal state, the yaw axis is arranged in a direction other than the horizontal direction (for example, a direction inclined relative to the horizontal plane). Therefore, the universal lock phenomenon will not occur even when the main surgical instruments are arranged, and ultimately the overall structure of the surgical robot can be made more compact.

[0112] In addition, if Figure 61 to Figure 63As shown, the present invention is characterized in that it is formed in a modular type, wherein one surgical instrument is deployed from one surgical robot arm. In addition, one feature of the present invention is that a plurality of modular surgical robot arms are provided, and each surgical robot arm is respectively equipped with a surgical instrument. In addition, each of the surgical robot arms as described above is respectively arranged near each of the plurality of interfaces of the patient, so that the total length of the deployed surgical robot arm is shortened, thereby reducing vibration and enhancing rigidity. In this specification, "interface" refers to the position where the cannula needle is inserted and the surgical instrument is passed through.

[0113] Hereinafter, a surgical robot arm according to an embodiment of the present invention will be described in detail, which is formed in a module type in which one surgical instrument is deployed from one surgical robot arm.

[0114] <First Embodiment of Surgical Robot Arm>

[0115] Hereinafter, the contents of the first embodiment of the present invention will be described with reference to the drawings.

[0116] Figure 1 is a perspective view showing a surgical robot arm according to a first embodiment of the present invention. Figure 2 It is a diagram showing the operating state of the Remote Center of Motion (RCM) mechanism of the link structure. Figure 3 It is a diagram showing the operating state of the RCM mechanism of the belt structure. Figure 4 It is shown Figure 1 Side view of a surgical robotic arm. Figure 5 It is shown Figure 4 A plan view of the surgical robotic arm. Figure 6 It is shown Figure 4 A perspective view of the RCM motion (first pitch motion) of the surgical robot arm centered on the pitch axis P. Figure 7 It is shown Figure 4 Side view of the RCM motion (second pitch motion) of the surgical robot arm centered on the pitch axis P. Figure 8 It is shown Figure 7 Perspective view of a surgical robotic arm. Fig. 9 It is shown Figure 4 Side view of the RCM motion (third pitch motion) of the surgical robot arm centered on the pitch axis P. Fig.10 It is shown Fig. 9 Perspective view of a surgical robotic arm. Fig.11 1 is a perspective view showing the RCM motion (first yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.12 It is shown Fig.11 A plan view of the surgical robotic arm. Fig.13 1 is a perspective view showing the RCM motion (second yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.14 It is shown Fig.13 A plan view of the surgical robotic arm. Fig.15 1 is a perspective view showing the RCM motion (third yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.16 It is shown Fig.15 A plan view of the surgical robotic arm.

[0117] See also Figure 1 According to the first embodiment of the present invention, the surgical robot arm 1 may include an active arm 100 and a setting arm 200 .

[0118] Here, the setting arm 200 is operated (manually) before the operation to position the surgical instrument 300 to fit the patient's affected part, and can also be a part that does not move during the actual operation. At the same time, the active arm 100 can be a part that moves in real time during the operation by the doctor.

[0119] According to an embodiment of the present invention, the setting arm 200 may include a main body 201 and a setting link assembly including a plurality of setting links 210 , a setting link 220 , a setting link 230 , a setting link 240 and a setting link 250 .

[0120] Specifically, the setting arm 200 may include a first setting link 210, a second setting link 220, a third setting link 230, a fourth setting link 240, and a fifth setting link 250. In addition, the setting arm 200 may include a first setting joint 215, a second setting joint 225, a third setting joint 235, a fourth setting joint 245, and a fifth setting joint 255.

[0121] The active arm 100 according to an embodiment of the present invention is equipped with a surgical instrument 300, and can be connected to the setting arm 200, and can include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. In addition, the active arm 100 may include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155. In addition, the trocar 400 and the surgical instrument 300 are combined with the fifth link 150 of the surgical robot arm 1 as described above.

[0122] See also Figure 1The first link 110 is connected to the fifth setting link 250. Specifically, the first link 110 rotates around the first joint 115, and the rotation center axis can form the yaw axis Y1 of the surgical robot arm 1.

[0123] See also Figure 1 In the setting arm 200 of the surgical robot arm 1 according to the first embodiment of the present invention, the fifth setting link 250 rotates around the fifth setting joint 255, and the rotation center axis may be parallel to the pitch axis P of the active arm 100. However, when the active arm 100 rotates around the yaw axis Y1 to a certain extent, the rotation center axis of the fifth setting link 250 and the pitch axis P may not be parallel to each other.

[0124] See also Figure 1 In the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention, the first link 110 can rotate relative to the fifth setting link 250 around the first joint 115. That is, the first link 110 can rotate relative to the fifth setting link 250 around the yaw axis Y1 passing through the rotation center of the first joint 115.

[0125] Here, the third link 130 , the fourth link 140 and the fifth link 150 form a parallelogram, thereby forming a “Remote Center of Motion (RCM)” mechanism.

[0126] Specifically, a surgical robot (not shown in the drawings) is provided with one or more surgical robot arms for surgical operations, and surgical instruments are mounted on the front end portions of the surgical robot arms.

[0127] Generally speaking, a robot arm refers to a device having functions similar to a human arm and / or wrist and capable of attaching a predetermined tool to the wrist. In this specification, a robot arm may be defined as a concept covering all components such as components such as an upper arm, a lower arm, a wrist, and an elbow, and surgical instruments coupled to the wrist. The surgical robot arm as described above may be implemented to have multiple degrees of freedom.

[0128] As described above, when the surgical instrument is mounted on the front end of the surgical robot arm to perform the operation, the surgical instrument also moves with the movement of the surgical robot arm, but in the process of piercing part of the patient's skin and inserting the surgical instrument therein to perform the operation, there is a risk of causing unnecessary damage to the human skin. In addition, if the surgical site is wide, the skin must be cut in each operation to correspond to the path of movement of the surgical instrument, or the skin of each surgical site must be pierced, etc., and there is a problem that the advantages of robotic surgery may be halved.

[0129] Therefore, a virtual rotation center point is set at a predetermined position of the surgical instrument installed at the front end of the surgical robot arm (mainly the pivot point where the trocar pierces the patient's skin), and the robot arm is controlled to make the surgical instrument rotate around this point, and this virtual center point is called the "remote center" or "remote center of motion (RCM)". In the following, the RCM mechanism of the present invention will be described in more detail.

[0130] Hereinafter, each constituent element of the surgical robot arm 1 according to the first embodiment of the present invention will be described in more detail.

[0131] (Arm settings and movements of surgical robot arms)

[0132] See also Figure 1 , Figure 4 and Figure 5 According to the first embodiment of the present invention, the surgical robot arm 1 may include an active arm 100 and a setting arm 200. The setting arm 200 is disposed outside a bed 500 on which a patient lies, and may be connected to the active arm 100.

[0133] See also Figure 1 In this embodiment, for the sake of convenience, the width direction of the bed 500 on which the patient lies is defined as the X-axis, the length direction of the bed is defined as the Y-axis, and the direction perpendicular to the ground is defined as the Z-axis.

[0134] The setup arm 200 is used to set the position and posture of the active arm 100 so that the surgical instrument 300 coupled to the active arm 100 can be arranged in a position suitable for the operation, and it only moves in the preoperative stage to set the position, and once the operation begins, the position of the setup arm 200 is fixed and does not move.

[0135] That is, the setup arm 200 may be formed to be movable only during setup when the surgical robot arm is arranged on one side of the patient.

[0136] The setup arm 200 may be manually operated by a user, such as a medical professional, to change its position.

[0137] As an optional embodiment, the setting arm 200 may include a driving portion (not shown), and various modifications may be implemented, for example, a user may change the position of the setting arm 200 from the outside using a device such as a controller (not shown).

[0138] See also Figure 1 , the active arm 100 may be rotatably and movably connected to one side of the setting arm 200. Hereinafter, the active arm 100 will be described in detail.

[0139] See also Figure 1 and Figure 4 According to the first embodiment of the present invention, the setting arm 200 may include a main body 201, a setting link assembly including a plurality of setting links, and a plurality of setting joints 215, a setting joint 225, a setting joint 235, a setting joint 245 and a setting joint 255.

[0140] The plurality of setting joints 215 , 225 , 235 , 245 , and 255 connect the main body 201 and one of the plurality of setting links, or connect the plurality of setting links to each other, and may form a reference point for rotation and movement.

[0141] See also Figure 1 and Figure 4 The main body 201 can be used as a base of the entire surgical robot arm 1. Moving means (not provided with reference numerals) such as wheels are formed on the lower surface of the main body 201, thereby enabling the main body 201 to be used as a moving member.

[0142] As an optional embodiment, a position fixing device (not shown) is further formed on the main body 201, so that the position of the surgical robot arm 1 including the main body 201 can be fixed during surgery.

[0143] However, the concept of the present invention is not limited thereto, and various modifications may be implemented. For example, the shape of the main body 201 may be detachably formed on the bed 500, or may be detachably formed on a wall, etc.

[0144] The setting link assembly may include a first setting link 210, a second setting link 220, a third setting link 230, a fourth setting link 240, and a fifth setting link 250. In addition, the setting arm 200 may include a first setting joint 215, a second setting joint 225, a third setting joint 235, a fourth setting joint 245, and a fifth setting joint 255.

[0145] The first setting joint 215 can be formed to be movable up and down relative to the main body 201 (based on Figure 1 Z-axis movement).

[0146] Specifically, see Figure 20 to Figure 23 On the main body 201, the first setting link 210 can be arranged along a preset direction (based on Fig. 20 This will be described in more detail below.

[0147] In addition, the first setting joint 215 can be relative to the main body 201 around a direction parallel to the Y axis (based on Figure 1 ) rotates about its center axis of rotation.

[0148] See also Figure 1 and Figure 4 , the second setting link 220 can be combined with the first setting link 210 to be able to rotate around the second setting joint 225. Here, the second setting joint 225 may include one or more pulleys. Here, the second setting link 220 can rotate relative to the first setting link 210 around an axis parallel to the Z axis.

[0149] The third setting link 230 may be coupled to the second setting link 220 so as to be rotatable around a third setting joint 235. Here, the third setting joint 235 may include one or more pulleys. Here, the third setting link 230 may rotate relative to the second setting link 220 around an axis parallel to the Z axis.

[0150] The fourth setting link 240 may be coupled to the third setting link 230 so as to be rotatable around a fourth setting joint 245. Here, the fourth setting joint 245 may include one or more pulleys. Here, the fourth setting link 240 may rotate relative to the third setting link 230 around an axis parallel to the Z axis.

[0151] The fifth setting link 250 may be coupled to the fourth setting link 240 so as to be rotatable around a fifth setting joint 255. Here, the fifth setting joint 255 may include one or more pulleys. Here, the fifth setting link 250 may rotate relative to the fourth setting link 240 around an axis parallel to the X-axis.

[0152] That is, the rotation center axis of the fifth setting link 250 relative to the fourth setting link 240 may be formed to be different from the rotation center axis of the second setting link 220 relative to the first setting link 210. Specifically, the rotation center axis of the fifth setting link 250 relative to the fourth setting link 240 may be perpendicular to the rotation center axis of the second setting link 220 relative to the first setting link 210.

[0153] The rotational axis of the third setting link 230 relative to the second setting link 220 and the rotational axis of the fourth setting link 240 relative to the third setting link 230 may be parallel to the rotational axis of the second setting link 220 relative to the first setting link 210 .

[0154] Figure 1 , Figures 4 to 41 2 is a diagram showing that the fifth setting link 250 is rotated 20 degrees relative to the fourth setting link 240. In other words, the angle formed between the horizontal plane and the fifth setting link 250 is 20 degrees.

[0155] See also Figure 1 and Figure 4The first link 110 of the active arm 100 may be combined with the setting arm 200 according to the first embodiment of the present invention, specifically, combined with the fifth setting link 250 .

[0156] The first joint 115 may rotatably combine the fifth setting link 250 with the first link 110. Here, the first link 110 may be formed to be rotatable about the yaw axis Y1 with respect to the fifth setting link 250.

[0157] See also Figure 1 , Figures 4 to 41 In this case, the first link 110 of the active arm 100 can be vertically combined with the setting arm 200, specifically, vertically combined with the fifth setting link 250 forming 20 degrees with the horizontal plane, and the yaw axis Y1 as the rotation center axis of the first link 110 forms 70 degrees with the horizontal plane.

[0158] That is, the yaw axis Y1 and the roll axis R are formed to be different from each other, and in a state where the roll axis R of the surgical instrument 300 is arranged in parallel with the horizontal plane, the yaw axis Y1 and the roll axis R are not parallel to each other but are formed to form a predetermined angle.

[0159] That is, when the roll axis R of the surgical instrument 300 coupled to the fifth link 150 is arranged parallel to the horizontal plane, the yaw axis Y1 of the surgical robot arm 1 may be arranged to be inclined at 70 degrees with respect to the roll axis R.

[0160] Therefore, in a case where the surgical instrument 300 is arranged parallel to the horizontal plane, a gimbal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged parallel or nearly parallel to each other can be prevented.

[0161] The surgical robot arm 1 according to the first embodiment of the present invention can place the RCM at various positions by means of a setting arm 200 including a plurality of setting links 210, a setting link 220, a setting link 230, a setting link 240 and a setting link 250, and has the effect of arranging the surgical instrument 300 at various arbitrary angles.

[0162] That is, the RCM can be located in various positions by rotating a plurality of setting links 210, 220, 230, 240, and 250 and by yaw rotation of the active arm 100, and the active arm 100 can be arranged in various positions at various angles, and the entry angle of the surgical instrument 300 can be arranged in various ways.

[0163] To describe this from another perspective, since the arm 200 is provided, the distance between the main body 201 and the surgical instrument 300 can be adjusted in various ways.

[0164] See also Figure 1 and Figure 4 , compared with the fifth link 150 of the active arm 100, the surgical instrument 300 connected to the fifth link 150 can be arranged closer to the patient.

[0165] Therefore, when the fifth link 150 is not located between the patient and the surgical instrument 300 and the plurality of surgical robot arms are arranged to surround the bed 500 on which the patient lies, interference between the active arms 100 provided on the plurality of different surgical robot arms 1 can be prevented.

[0166] See also Figure 1 and Figure 4 In the plurality of setting links according to the first embodiment of the present invention, the heights of the setting links 210, 220, 230 and 240 rotating around a direction parallel to the Z axis can be arranged to be higher as they are directed away from the main body 201, i.e., toward the active arm 100 side.

[0167] Specifically, the second setting link 220 is rotatably coupled to the top surface of the first setting link 210 (based on the second setting joint 225). Figure 4 ), the third setting link 230 is rotatably coupled to the top surface of the second setting link 220 around a third setting joint 235, and the fourth setting link 240 is rotatably coupled to the top surface of the third setting link 230 around a fourth setting joint 245.

[0168] Therefore, the fourth setting link 240 is arranged to be relatively higher than the first setting link 210, the second setting link 220 and the third setting link 230, the fifth setting link 250 rotating around the axis parallel to the X-axis is coupled to the fourth setting link 240, and the active arm 100, specifically, the first link 110 is rotatably coupled to the fifth setting link 250 around the yaw axis Y1, and the RCM is formed on the other side opposite to the one side of the active arm 100 coupled to the fifth setting link 250, so that the yaw axis Y1 can be formed from top to bottom (based on Figure 1 ).

[0169] Therefore, the roll axis R and the yaw axis Y1 of the surgical instrument 300 combined with the active arm 100 described later are formed to be inclined at a relatively large angle, thereby preventing the universal lock phenomenon that occurs due to the horizontal or nearly horizontal arrangement.

[0170] In addition, since the yaw axis Y1 arranged from top to bottom and the roll axis R of the surgical instrument 300 form a predetermined angle, and the active arm 100 is arranged from top to bottom, the driving range that the surgical robot arm 1 must move for a predetermined action can be reduced.

[0171] Fig. 20 1 is a perspective view showing a state in which a setting arm of the surgical robot arm according to the first embodiment of the present invention is raised on a main body. Fig.21 It is shown Fig. 20 Side view of a surgical robotic arm. Fig. 22 1 is a perspective view showing a state in which a setting arm of the surgical robot arm according to the first embodiment of the present invention is lowered on a main body. Fig.23 It is shown Fig. 22 Side view of a surgical robotic arm.

[0172] See also Fig. 20 According to the first embodiment of the present invention, the setting arm 200 may include a main body 201, a first setting link 210, a second setting link 220, a third setting link 230, a fourth setting link 240 and a fifth setting link 250.

[0173] The first setting link 210 is combined with the main body 201, specifically, it can be combined by the first setting joint 215. The first setting joint 215 can be formed to be movable up and down relative to the main body 201 (based on Fig. 20 Z-axis movement).

[0174] See also Fig. 20 The fifth setting link 250 can rotate relative to the fourth setting link 240 around a rotation center axis parallel to the X-axis, and can rotate relative to the fourth setting link 240 to form a certain angle relative to the horizontal plane.

[0175] Specifically, in Figure 4 , the fifth setting link 250 is rotated 20 degrees around the horizontal plane relative to the fourth setting link 240 .

[0176] Although not shown in the drawings, a lifting motor (not shown) may be provided on the main body 201, and the lifting motor is connected to the first setting joint 215. When the lifting motor is driven, the first setting joint 215 and the first setting link 210 connected thereto may rise or fall along the Z-axis direction.

[0177] See also Fig. 20 and Fig.21 As the first setting link 210 rises, the second setting link 220 connected to the first setting link 210, the third setting link 230 connected to the second setting link 220, the fourth setting link 240 connected to the third setting link 230, the fifth setting link 250 connected to the fourth setting link 240, and the active arm 100 connected to the fifth setting link 250 can move along the Z-axis direction (based on Fig. 20 ) to move upward.

[0178] In this case, since the angle of the fifth setting link 250 relative to the fourth setting link 240 remains constant, the angle formed by the yaw axis Y1 and the horizontal plane, which is the rotation center axis of the first link 110 combined with the fifth setting link 250, also remains constant, thereby changing the position of the active arm 100 in the Z-axis direction.

[0179] See also Fig. 22 and Fig.23 ,and Fig. 20 and Fig.21 Differently, the first setting link 210 is arranged on the main body 201 along the A direction from the upper side to the lower side (based on Fig. 22 ) moves, even at this time, the angle formed by the yaw axis Y1 and the horizontal plane remains constant.

[0180] Figure 24 to Figure 26 1 is a diagram showing a first rotation state of a setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0181] See also Fig.24 According to the first embodiment of the present invention, the setting arm 200 may include a main body 201, a first setting link 210, a second setting link 220, a third setting link 230, a fourth setting link 240 and a fifth setting link 250.

[0182] The first setting link 210 is connected to the main body 201 through the first setting joint 215, and the second setting link 220 is connected to the axis of the first setting link 210 through the second setting joint 225, and the third setting link 230 is connected to the axis of the second setting link 220 through the third setting joint 235, and the fourth setting link 240 is connected to the axis of the third setting link 230 through the fourth setting joint 245, and the fifth setting link 250 is connected to the axis of the fourth setting link 240 through the fifth setting joint 255.

[0183] The fifth setting link 250 is connected to the fourth setting link 240 with an axis parallel to the pitch axis P of the active arm 100 (or an axis parallel to the X axis) as the rotation center axis. Fig. 20 , the fifth setting link 250 is coupled to the fourth setting link 240 at a certain angle, for example, 20 degrees. However, when the active arm 100 rotates around the yaw axis Y1 to a certain extent, the rotation center axis of the fifth setting link 250 and the pitch axis P may not be parallel to each other.

[0184] Fig.24 The second setting link 220, the third setting link 230 and the fourth setting link 240 are shown as rotating around the rotation center axis, and the RCM formed by the active arm 100 can be moved along a preset direction (based on Fig.24 Y-axis) for parallel movement.

[0185] That is, in Figure 5 In the state shown in FIG. 1 , when the second setting link 220 rotates a predetermined angle relative to the first setting link 210, the third setting link 230 rotates a predetermined angle relative to the second setting link 220, and the fourth setting link 240 rotates a predetermined angle relative to the third setting link 230, when the surgical instrument 300 is arranged in Figure 5 In the state in the direction shown, since the position between the second setting link 220 and the third setting link 230 is adjusted, the RCM moves parallel to the Y axis, specifically, moves toward the main body 201 side.

[0186] Therefore, the RCM can be placed in various positions by rotating the plurality of setting links according to the first embodiment of the present invention. In addition, the first link 110 of the active arm 100 can be rotated around the yaw axis Y1, thereby changing the entry angle of the surgical instrument 300 in different ways while maintaining the RCM.

[0187] Figure 27 to Figure 29 1 is a diagram showing a second rotation state of the setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0188] See also Fig. 27 ,like Figure 5 As shown, when the angle of the fifth setting link 250 relative to the fourth setting link 240 is fixed at a certain angle of 20 degrees, the second setting link 220, the third setting link 230 and the fourth setting link 240 are respectively rotated by a certain angle.

[0189] exist Figure 27 to Figure 29 In the embodiment, the second setting link 220, the third setting link 230 and the fourth setting link 240 can rotate while maintaining the RCM, and Figure 24 to Figure 26 Differently, the direction of surgical instrument 300 can be changed.

[0190] See also Fig.29 The position of the surgical instrument 300 can be changed as the position of the active arm 100 changes. Fig.26 In comparison, the position of the RCM is the same, but the entry angle of the surgical instrument 300 can be changed.

[0191] Therefore, the position of the RCM can be kept constant by rotating the plurality of setting links according to the first embodiment of the present invention while changing the entry angle of the instrument in various ways.

[0192] Additionally, the first link 110 of the active arm 100 may be rotated about the yaw axis Y1 , thereby changing the entry angle of the surgical instrument 300 in more different ways while maintaining the RCM.

[0193] Figure 30 to Figure 32 2 is a diagram showing a third rotation state of the setting arm of the surgical robot arm according to the first embodiment of the present invention.

[0194] See also Fig.30 ,like Figure 5 As shown, when the angle of the fifth setting link 250 relative to the fourth setting link 240 is fixed at a certain angle of 20 degrees, the second setting link 220, the third setting link 230 and the fourth setting link 240 are respectively rotated by a certain angle, and further, the first link 110 of the active arm 100 also rotates to a certain extent around the yaw axis Y1.

[0195] See also Figure 30 to Figure 32 While maintaining the RCM state, the plurality of setting links 220, 230 and 240 can be rotated, and with the relative rotation of the plurality of setting links 220, 230 and 240, the positions of the plurality of links 110, 120, 130, 140 and 150 of the active arm 100 combined with the fifth setting link 250 can also change.

[0196] At this time, the user can rotate the first link 110 of the active arm 100 around the yaw axis Y1, so as to change the entry angle of the surgical instrument 300 to the same as the entry angle before the change, wherein the first link 110 of the active arm 100 is rotatably connected to the fifth setting link 250.

[0197] That is, even if the user changes the positions of setting link 220, setting link 230, and setting link 240, active arm 100 can be driven so that surgical instrument 300 enters at the same angle relative to the same RCM as before the change.

[0198] In addition, when performing surgery on a patient using multiple different surgical robot arms, by changing the interval between the main body 201 and the active arm 100 of any one of the surgical robot arms or creating additional space, it is possible to create a space into which surgical instruments of the active arm combined with another surgical robot arm can enter.

[0199] In addition, in order to create the space, there is no need to move the setting arm 200, specifically, the main body 201, to another position, and by rotating a plurality of setting links arranged between the main body 201 and the active arm 100, the moving time of surgical equipment such as the surgical robot arm 1 is eliminated, thereby having the effect of shortening the operation time.

[0200] Figure 33 to Figure 351 is a diagram showing an arbitrary first arrangement state of the surgical robot arm according to the first embodiment of the present invention. Figure 36 to Figure 38 2 is a diagram showing an arbitrary second arrangement state of the surgical robot arm according to the first embodiment of the present invention. Figure 39 to Figure 41 2 is a diagram showing an arbitrary third arrangement state of the surgical robot arm according to the first embodiment of the present invention.

[0201] See also Figures 33 to 41 In the surgical robot arm 1 according to the first embodiment of the present invention, the position of the first setting link 210 is fixed on the main body 201, that is, its height in the Z-axis direction of the setting arm 200 is fixed, and the rotation angle of the fifth setting link 250 relative to the fourth setting link 240 is also fixed to a certain angle of 20 degrees.

[0202] At this time, the position of the RCM can be changed differently by rotating the second setting link 220 relative to the first setting link 210 by a predetermined angle, rotating the third setting link 230 relative to the second setting link 220 by a predetermined angle, and rotating the fourth setting link 240 relative to the third setting link 230 by a predetermined angle.

[0203] In addition, as described above, since the active arm 100 connected to the setting arm 200, specifically, the first link 110 connected to the fifth setting link 250 rotates around the yaw axis Y1, the position of the surgical instrument 300 can be changed while the position of the RCM is fixed while the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM remain in a parallelogram state.

[0204] This has the effect that as the position of the surgical instrument 300 changes, the rolling axis R of the surgical instrument 300 also changes, and the entry angle of the surgical instrument 300 can also be changed, and any surgical instrument 300 can be arranged at various entry angles.

[0205] (Motion of the active arm of the surgical robot arm)

[0206] See also Figure 1 and Figure 4 , the active arm 100 is combined with the setting arm 200, and the surgical instrument 300 and the trocar 400 may be combined with the active arm 100. The active arm 100 is combined with the end of the setting arm 200, and may be a part that moves in real time by the operation of the doctor during the operation, wherein the position of the setting arm 200 is only adjusted and fixed in a static state in the preoperative stage.

[0207] In the surgical robot arm 1 according to the first embodiment of the present invention, the active arm 100 is combined with one end of the setting arm 200 whose position is fixed, and the surgical instrument 300 is installed on the active arm 100, and a virtual rotation center is set at a predetermined position of the distal end of the surgical instrument 300, and the active arm 100 is controlled so that the surgical instrument 300 rotates around this point, and this virtual rotation center is RCM.

[0208] Before describing the active arm 100, the RCM mechanism will be briefly described in the following.

[0209] (RCM concept diagram - chain link structure)

[0210] As an example of the RCM mechanism of the present invention, a link structure may be applied. Figure 2 It is a diagram showing the operating state of the Remote Center of Motion (RCM) mechanism of the link structure. Figure 4 The RCM mechanism of the chain link structure is applied to Figure 1 Figure 2 shows an example of a surgical robotic arm.

[0211] Under this link structure, the active arm 100 of the surgical robot arm 100 according to the first embodiment of the present invention may include a first link 110 , a second link 120 , a third link 130 , a fourth link 140 and a fifth link 150 .

[0212] In addition, the active arm 100 may further include a 3-1 link 130 - 1 and a 4-1 link 140 - 1. In addition, the active arm 100 may include a first joint 115 , a second joint 125 , a third joint 135 , a fourth joint 145 , and a fifth joint 155 .

[0213] See also Figure 2 When the third link 130 rotates relative to the second link 120 about the third joint 135, the third link 130, the fourth link 140 and the 3-1 link 130-1 rotate together as links forming a parallelogram. At this time, even if the links rotate, the parallelogram is maintained, so the third link 130 and the 3-1 link 130-1 remain parallel in any rotation state.

[0214] Meanwhile, when the fourth link 140 rotates relative to the third link 130 about the fourth joint 145 , the third link 130 , the fourth link 140 , the fifth link 150 and the 4-1 link 140 - 1 forming a parallelogram rotate together.

[0215] At this time, even if the link rotates, the parallelogram is maintained, and therefore, the fourth link 140 and the 4-1 link 140-1 remain parallel in any rotation state.

[0216] As described above, as the third link 130 rotates around the third joint 135 , the fourth link 140 also rotates relative to the third link 130 , so that the extension line connecting the third joint 135 and the RCM and the fourth link 140 remain parallel.

[0217] Similarly, as the fourth link 140 rotates relative to the third link 130, the fifth link 150 also rotates relative to the fourth link 140, thereby maintaining the third link 130 and the fifth link 150 in a parallel state. As a result, the RCM remains constant in any operating state.

[0218] (RCM concept diagram - belt structure)

[0219] As an example of the RCM mechanism of the present invention, a belt structure may be applied. Figure 3 It is a diagram showing the operating state of the RCM mechanism of the belt structure.

[0220] Under this belt structure, the active arm 100 of the surgical robot arm 100 according to the first embodiment of the present invention may include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. In addition, the active arm 100 of the surgical robot arm 1 may include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155.

[0221] Here, the second joint 125 may include a pulley 192 , the third joint 135 may include pulleys 193 - 1 and 193 - 2 , the fourth joint 145 may include pulleys 194 - 1 and 194 - 2 , and the fifth joint 155 may include a pulley 195 .

[0222] Here, the pulley 192, the pulley 193-1, the pulley 194-1 and the pulley 195 may be rotating pulleys rotating around their central axes, while the pulley 193-2 and the pulley 194-2 may be fixed pulleys not rotating.

[0223] In addition, the active arm 100 of the surgical robot arm 100 may further include a first belt 181 , a second belt 182 , and a third belt 183 .

[0224] Here, the first belt 181 may connect the pulley 192 and the pulley 193-1. The second belt 182 may connect the pulley 193-2 and the pulley 194-1. The third belt 183 may connect the pulley 194-2 and the pulley 195.

[0225] See also Figure 3 The pulley 192 as a rotating pulley is connected to a motor (not shown) and may be formed to be rotatable relative to the second link 120. In addition, it may be assumed that each pulley and belt are fixedly coupled at one or more points so that no slip occurs.

[0226] First, the pulley 193-1 as a rotating pulley is formed to be rotatable relative to the second link 120, and is formed as a whole with the third link 130. Therefore, when the pulley 193-1 rotates relative to the second link 120, the third link 130 formed as a whole with the pulley 193-1 rotates relative to the second link 120.

[0227] Meanwhile, the pulley 193 - 2 as a fixed pulley is formed as a whole with the second link 120 .

[0228] Meanwhile, the pulley 194-1 as a rotating pulley is formed to be rotatable relative to the third link 130, and is formed as one body with the fourth link 140. Therefore, when the pulley 194-1 rotates relative to the third link 130, the fourth link 140 formed as one body with the pulley 194-1 rotates relative to the third link 130.

[0229] Meanwhile, the pulley 194 - 2 as a fixed pulley is formed as a whole with the third link 130 .

[0230] Meanwhile, the pulley 195 as a rotating pulley is formed to be rotatable relative to the fourth link 140, and is formed as a whole with the fifth link 150. Therefore, when the pulley 195 rotates relative to the fourth link 140, the fifth link 150 formed as a whole with the pulley 195 rotates relative to the fourth link 140.

[0231] At this time, the two pulleys tied to one belt must have the same diameter to maintain RCM, that is, {diameter of pulley 192 = diameter of pulley 193-1}, {diameter of pulley 193-2 = diameter of pulley 194-1}, and {diameter of pulley 194-2 = diameter of pulley 195} are required.

[0232] The action of the RCM mechanism of the belt structure as described above will be described.

[0233] First, when the pulley 192 connected to the motor (not shown) rotates, the pulley 193-1 connected to the pulley 192 through the belt 181 also rotates.

[0234] In addition, when the pulley 193 - 1 rotates, the third link 130 formed as one body with the pulley 193 - 1 rotates relative to the second link 120 .

[0235] At this time, since the third link 130 rotates relative to the second link 120 in a state where the pulley 193 - 2 is fixed to the second link 120 , the belt 182 rotates relative to the pulley 193 - 2 .

[0236] In addition, when the belt 182 rotates, the pulley 194 - 1 rotates relative to the third link 130 , and when the pulley 194 - 1 rotates, the fourth link 140 formed as one body with the pulley 194 - 1 rotates relative to the third link 130 .

[0237] As described above, as the third link 130 rotates relative to the second link 120 , the fourth link 140 also rotates relative to the third link 130 , so that the extension line connecting the third joint 135 and the RCM and the fourth link 140 remain parallel.

[0238] In addition, since the fourth link 140 rotates relative to the third link 130 in a state where the pulley 194 - 2 is fixed to the third link 130 , the belt 183 rotates relative to the pulley 194 - 2 .

[0239] In addition, when the belt 183 rotates, the pulley 195 rotates relative to the fourth link 140 , and when the pulley 195 rotates, the fifth link 150 formed as one body with the pulley 195 rotates relative to the fourth link 140 .

[0240] Similarly, as the fourth link 140 rotates relative to the third link 130 , the fifth link 150 also rotates relative to the fourth link 140 , so that the third link 130 and the fifth link 150 remain in a parallel state.

[0241] As a result, the RCM remains constant in any operating state.

[0242] Hereinafter, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention will be described.

[0243] See also Figure 1 , Figures 4 to 17 The active arm 100 of the surgical robot arm 100 according to the first embodiment of the present invention may include a first link 110 , a second link 120 , a third link 130 , a fourth link 140 and a fifth link 150 .

[0244] In addition, the active arm 100 may include a first joint 115 , a second joint 125 , a third joint 135 , a fourth joint 145 , and a fifth joint 155 .

[0245] See also Figure 1 and Figure 4The first joint 115 rotatably couples the fifth setting link 250 and the first link 110. The first joint 115 is formed so that the first link 110 rotates around a yaw axis Y1 formed to pass through an RCM (Remote Center of Motion) as a rotation center.

[0246] As a result, regardless of how much the first link 110 is yaw rotated relative to the fifth setting link 250 , the position and orientation of the RCM relative to the fifth setting link 250 remains constant.

[0247] The second joint 125 connects the first link 110 and the second link 120. At this time, the first link 110 and the second link 120 are fixedly coupled, so that the relative position of the second link 120 with respect to the first link 110 can be kept constant.

[0248] At this time, the second joint 125 may include a motor (not shown in the drawings), and may be connected to the third joint 135 through a belt or a wire, etc. Therefore, the driving force of the second joint 125 may be transmitted to the third joint 135.

[0249] Although not shown in the drawings, various modifications may be implemented, for example, the second joint 125 does not include a motor, but the third joint 135 includes a motor, so that the driving force of the third joint 135 can be transmitted to the second joint 125 .

[0250] The third link 130 is coupled to the second link 120 to be rotatable around a third joint 135. Here, the third joint 135 may include one or more pulleys.

[0251] The fourth link 140 is coupled to the third link 130 to be rotatable around a fourth joint 145. Here, the fourth joint 145 may include one or more pulleys.

[0252] The fifth link 150 is coupled to the fourth link 140 to be rotatable around a fifth joint 155. Here, the fifth joint 155 may include one or more pulleys.

[0253] See also Figure 1 and Figure 4 The surgical instrument 300 is coupled to the fifth link 150. At this time, at least a portion of the surgical instrument 300 may be formed to be rotatable around the rolling axis R (ie, the shaft axis).

[0254] In addition, at least a portion of the surgical instrument 300 may be formed to be capable of reciprocating linear motion relative to the fifth link 150 along the rolling axis R. Here, the rolling axis R of the surgical instrument 300 coupled to the fifth link 150 is formed to pass through the RCM.

[0255] See also Figure 4, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM may be four vertices of a parallelogram. That is, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM may form a parallelogram.

[0256] With this structure, once the surgical robot arm 1 is set up by operating the setup arm 200 described later, the RCM always maintains its position. In addition, when each link rotates around the RCM, each link maintains a parallelogram no matter where it is located.

[0257] As described above, in order to maintain the RCM, the fourth joint 145 and the fifth joint 155 are rotatably connected to the third joint 135. Various power transmission means such as belts, wires, and links may be used to connect the third joint 135, the fourth joint 145, and the fifth joint 155.

[0258] For example, when the third joint 135 and the fourth joint 145 rotate in conjunction with each other through the belt so that the third link 130 rotates relative to the second link 120 , the fourth link 140 can rotate relative to the third link 130 .

[0259] Meanwhile, when the fourth joint 145 and the fifth joint 155 are rotated in conjunction with each other through the belt so that the fourth link 140 rotates relative to the third link 130 , the fifth link 150 can rotate relative to the fourth link 140 .

[0260] Due to the above-mentioned structure, the line segment connecting the third joint 135 and the fourth joint 145 and the line segment connecting the fifth joint 155 and RCM can always remain parallel. In addition, the line segment connecting the third joint 135 and RCN and the line segment connecting the fourth joint 145 and the fifth joint 155 can also always remain parallel.

[0261] The active arm 100 of the surgical robotic arm will be described in more detail.

[0262] See also Figure 1 The first link 110 can be connected to the fifth setting link 250 through the first joint 115, and is formed to be yaw-rotatable around the yaw axis Y1 relative to the fifth setting link 250. One end of the second link 120 is fixedly coupled to the first link 110, and the other end thereof is coupled to the third link 130.

[0263] The first joint 115 combines the fifth setting link 250 and the first link 110 so that the fifth setting link 250 and the first link 110 rotate relative to each other. Specifically, the first joint 115 is formed to yaw-rotate the first link 110 around the yaw axis Y1 formed to pass through the RCM. Although not shown in the drawings, the first joint 115 may include a motor for rotating the first link 110.

[0264] See also Figure 1 and Figure 4 , the yaw axis Y1 can be along a direction that is not parallel to the X-axis / Y-axis / Z-axis (based on Figure 1 Specifically, the extension line connecting the third joint 135 and the RCM and the yaw axis Y1 can be arranged to have the same angle relative to the horizontal plane.

[0265] See also Figure 1 and Figure 4 Since the first link 110 is connected to the fifth setting link 250 which is one end of the setting arm 200 through the first joint 115 so as to be able to rotate with the yaw axis Y1 as the rotation center axis, the yaw axis Y1 which is an extension line connecting the first joint 115 and the RCM can be formed to extend from the upper side to the lower side based on the patient arranged on the bed 500.

[0266] Describing this from another perspective, it can be expressed that the height of the yaw axis Y1 in the Z-axis direction at the point where the fifth setting link 250 and the first link 110 pass (ie, the first joint 115) is formed to be higher than the height of the RCM in the Z-axis direction.

[0267] Describing this from another perspective, it can be expressed that the height of the yaw axis Y1 in the Z-axis direction at the proximal end of the active arm 100 is formed to be higher than the height of the yaw axis Y1 in the Z-axis direction at the distal end of the active arm 100 .

[0268] Here, for the position of the active arm 100 of the surgical robot arm 1, the area connected to the setting arm 200 (wherein, the fifth setting link 250) is defined as the proximal end, and the end on the opposite side of the proximal end, such as the RCM formed on the fifth link 150, can be defined as the distal end.

[0269] Describing this from another perspective, it can be expressed that the longitudinal direction central axis or the rotation central axis of the first link 110 is formed to be inclined at a predetermined angle relative to the horizontal plane, so that the central axis of the first link 110 is formed to be consistent with the yaw axis Y1.

[0270] See also Figure 1The first link 110 may be rotatably connected to the fifth setting link 250 around the yaw axis Y1 via the first joint 115 , and as described above, the fifth setting link 250 may be coupled to rotate relative to the fourth setting link 240 .

[0271] The fifth setting link 250 may be connected to the fourth setting link 240 at a certain angle. The fourth setting link 240 may be arranged parallel to the horizontal plane, and the angle formed by the fifth setting link 250 and the fourth setting link 240 may be the same as the angle formed by the fifth setting link 250 and the horizontal plane.

[0272] For example, if the fifth setting link 250 is arranged to have an angle of α degrees relative to the fourth setting link 240, the rotation center axis of the first link 110 rotatably coupled to the fifth setting link 250, i.e., the yaw axis Y1 is formed to be perpendicular to the fifth setting link 250 and to have an angle of 90-α degrees with the horizontal plane.

[0273] This can also be expressed as follows: the first link 110 is formed to be inclined at a predetermined angle relative to the horizontal plane, so that the central axis of the first link 110 is consistent with the yaw axis Y1.

[0274] Therefore, the following effect is achieved: even if the surgical instrument 300 combined with the active arm 100 is parallel to the bed 500 in the horizontal direction, that is, arranged parallel to the horizontal plane on which the patient lies, the rolling axis R formed along the horizontal direction is inclined to a certain extent relative to the yaw axis Y1 and forms a certain angle with each other, thereby preventing the universal lock phenomenon caused by the rolling axis R of the surgical instrument 300 being consistent with the yaw axis Y1 of the active arm 100.

[0275] See also Figure 1 Since the RCM is formed to be located on the extension line of the yaw axis Y1, no matter how much the first link 110 yaws and rotates relative to the fifth setting link 250, the position and direction of the RCM relative to the fifth setting link 250 remain constant.

[0276] Here, when the first link 110 rotates around the yaw axis Y1 relative to the fifth setting link 250, the second link 120, the third link 130, the fourth link 140, the fifth link 150 connected to the first link 110 and the surgical instrument 300 connected to the fifth link 150 rotate around the yaw axis Y1 together with the first link 110.

[0277] Therefore, the coordinate systems of the links and the surgical instrument 300 are not fixed but continuously change relative to each other according to the rotation of the first link 110 .

[0278] At the same time, the second joint 125 connects the first link 110 and the second link 120. At this time, the first link 110 and the second link 120 are fixedly coupled, so that the relative position of the second link 120 with respect to the first link 110 can be formed to remain constant.

[0279] That is, the first link 110 and the second link 120 can act together as a whole. Here, in the drawings, the first link 110 and the second link 120 are shown as separate components and fixedly coupled to each other, however, the concept of the present invention is not limited thereto, and the first link 110 and the second link 120 can be formed as a whole and function as a yaw drive assembly (without a reference numeral).

[0280] Here, the second link 120 according to the first embodiment of the present invention is the rotation center axis of the first link 110, and may be formed to be parallel to the yaw axis Y1 of the active arm 100 of the surgical robot arm 1. Alternatively, the second link 120 may be formed to be substantially parallel to the fourth link 140. Alternatively, the second link 120 may be arranged on an extension line of the third joint 135 and the RCM, or may be arranged to be parallel to the extension line.

[0281] At this time, the second joint 125 may include a motor and may be connected to the third joint 135 by a belt or a wire, etc. Therefore, the driving force of the second joint 125 may be transmitted to the third joint 135. Alternatively, the second joint 125 may not include a motor, and the third joint 135 may be formed to include a motor.

[0282] The third link 130 is axially coupled to the second link 120 to be rotatable around a third joint 135. Here, the third joint 135 may include one or more pulleys.

[0283] The fourth link 140 is axially coupled to the third link 130 to be rotatable around a fourth joint 145. Here, the fourth joint 145 may include one or more pulleys.

[0284] The fifth link 150 is axially coupled to the fourth link 140 to be rotatable around a fifth joint 155. Here, the fifth joint 155 may include one or more pulleys.

[0285] The surgical instrument 300 is coupled to the fifth link 150. At this time, at least a portion of the surgical instrument 300 is formed to be rotatable around a rolling axis R (i.e., a shaft axis), and is formed to be capable of reciprocating linear motion along the rolling axis R relative to the fifth link 150. Here, the rolling axis R of the surgical instrument 300 is formed to pass through the RCM.

[0286] On the other hand, although not shown in the drawings, an instrument mounting portion (not shown) and a guide rail (not shown) are formed on the fifth link 150 as the mounting link of the surgical instrument 300, so that when the surgical instrument 300 is mounted on the instrument mounting portion, the instrument mounting portion can reciprocate linearly along the guide rail formed in the direction of the rolling axis R. In order to achieve the linear motion as described above, a driving portion such as a linear actuator (not shown) may be provided on the instrument mounting portion (not shown). In addition, the surgical instrument 300 may be mounted on the instrument mounting portion (not shown) formed on the fifth link 150 of the active arm 100 as described above.

[0287] Meanwhile, an interface portion (not shown) for controlling the movement of the surgical instrument 300 by combining with the surgical instrument 300 may be further formed on the instrument mounting portion (not shown).

[0288] The interface part (not shown) may be provided with components for coupling with the driving part of the surgical instrument 300 and a motor for transmitting the driving force from the surgical robot arm to the surgical instrument 300. The end tool of the surgical instrument 300 may perform pitch, yaw and actuation motions through the interface part (not shown). Furthermore, the shaft and the end tool of the surgical instrument 300 may perform rolling motions around the rolling axis R through the interface part (not shown).

[0289] Meanwhile, the trocar 400 is used as an insertion channel to insert the surgical instrument 300 into the patient's body, and the trocar 400 may be coupled to the fifth link 150 as a mounting link on which the surgical instrument 300 is mounted, and in a state where the trocar 400 is inserted into the body, the surgical instrument 300 may be inserted into the patient's body through the trocar 400. In addition, the RCM may be formed at a predetermined position on the trocar 400 as described above.

[0290] In addition, as described above, as the rotation center axis of the first link 110 rotatably coupled to the fifth setting link 250 , the yaw axis Y1 may be formed to pass through the RCM.

[0291] In addition, the surgical instrument 300 may further include a driving unit (not shown). Constituent elements for coupling with the interface unit (not shown) and driving wheels for engaging with the motor for operation may be formed on the driving unit (not shown). As described above, the interface unit (not shown) and the driving unit (not shown) are respectively provided with coupling devices and drive transmission devices corresponding to each other, whereby the surgical instrument 300 can receive driving force from the surgical robot arm 1, specifically, the active arm 100, to operate while being mounted on the fifth link 150.

[0292] Here, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM may be four vertices of a parallelogram. That is, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM may form a parallelogram.

[0293] Specifically, if there are three vertices of the third joint 135 , the fourth joint 145 , and the fifth joint 155 , the positions of the remaining vertices (RCM) of the parallelogram including the three vertices are automatically determined.

[0294] In addition, when the third link 130 rotates around the third joint 135 in a state where the position of the third joint 135 is fixed, the third link 130 and the fifth link 150 rotate while maintaining a parallel state through the RCM mechanism of the link / belt, etc., which will be described later, regardless of the state of action of the surgical robot arm 1, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 also rotate while maintaining a parallel state regardless of the state of action of the surgical robot arm 1. Therefore, regardless of the rotation angle of the third link 130 relative to the second link 120, the position of the RCM can be kept constant. See FIG. Figure 4 The third link 130 and the fifth link 150 being in parallel means that the third link 130 and the “line segment connecting the fifth joint 155 and the RCM” are in parallel.

[0295] With this structure, once the surgical robot arm 1 is set up, the RCM will always maintain its position. In addition, when each link rotates around the RCM, each link remains a parallelogram no matter where it is located.

[0296] That is, during the set-up process, the position of the setting arm 200 is determined, and the positions of the main body 201 and a plurality of setting links 210, 220, 230, 240 and 250 respectively connected to the main body 201 are fixed, and in a state where the first link 110 combined with the setting link, specifically, the fifth setting link 250 is fixed, no matter where the third link 130 to the fifth link 150 are, the position of the RCM remains constant, and the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM maintain a parallelogram.

[0297] As described above, in order to maintain the RCM, the fourth joint 145 and the fifth joint 155 are rotatably connected to the third joint 135. Various power transmission means such as belts, wires, and links may be used to connect the third joint 135, the fourth joint 145, and the fifth joint 155.

[0298] For example, when the third joint 135 and the fourth joint 145 are rotated by the belt linkage so that the third link 130 rotates relative to the second link 120, the fourth link 140 can rotate relative to the third link 130. At the same time, when the fourth joint 145 and the fifth joint 155 are rotated by the belt linkage so that the fourth link 140 rotates relative to the third link 130, the fifth link 150 can rotate relative to the fourth link 140.

[0299] Due to the structure as described above, the line segment connecting the third joint 135 and the fourth joint 145 and the line segment connecting the fifth joint 155 and the RCM can always remain parallel.

[0300] In addition, the line segment connecting the third joint 135 and the RCM and the line segment connecting the fourth joint 145 and the fifth joint 155 may also always remain parallel.

[0301] Although not shown in the drawings, as an optional embodiment, the first link 110 and the third link 130 may be directly connected via the second joint 125 without the second link 120 and the third joint 135 .

[0302] Meanwhile, in the first embodiment of the present invention, each link, in particular, a portion of the second link 120 , the third link 130 , the fourth link 140 , and the fifth link 150 may be arranged on different planes so as not to intersect with each other.

[0303] That is, along the rotation center axis of the third joint 135 to which the second link 120 and the third link 130 are combined, the second link 120 and the third link 130 may be arranged on any different planes perpendicular to the rotation center axis.

[0304] In addition, along the rotation center axis of the fourth joint 145 combining the third link 130 and the fourth link 140 , the third link 130 and the fourth link 140 may be arranged on any different planes perpendicular to the rotation center axis.

[0305] However, it is not limited thereto, and various modifications may be implemented within the technical concept of being arranged side by side and not overlapping each other. For example, the second link 120 , the third link 130 , and the fourth link 140 are arranged on the same plane perpendicular to the central axis of rotation.

[0306] At the same time, Figure 1 In the figure, the fourth link 140 and the fifth link 150 are arranged on the same plane perpendicular to the rotation center axis of the fifth joint 155 combining the fourth link 140 and the fifth link 150, but are not limited thereto, and various modifications may be implemented, for example, they may be arranged on different planes.

[0307] Therefore, a feature of the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention is that since no collision occurs when any link rotates relative to another link, and any link is formed so as not to interfere with the rotation of another link, the driving range of each link becomes wider.

[0308] Specifically, see FIG. 1 which is a plan view of a surgical robot arm 1 according to an embodiment of the present invention. Fig.19 When viewed from the XY plane, at least a portion of the second link 120, the third link 130, and the fourth link 140 are formed to be offset to a certain extent in the direction of the rotation axis thereof (ie, the Y-axis direction).

[0309] In other words, in the Y-axis direction, the third link 130 is disposed on one side of the second link 120 , and the fourth link 140 may be disposed on one side of the third link 130 .

[0310] See also Fig.18 , as the rotation center axis of the first link 110 rotatably coupled to the fifth setting link 250 , the yaw axis Y1 and the roll axis R of the surgical instrument 300 may intersect on RCM.

[0311] Within this technical idea, there is the following effect: the second link 120, the third link 130, the fourth link 140 and the fifth link 150 are connected to each other on one side along the rotation axis direction (i.e., the Y-axis direction), so the rotation range of the third link 130, the fourth link 140 and the fifth link 150 can rotate freely while being unrestricted.

[0312] At the same time, describing this from another perspective, it can be expressed that, since any one link is formed so as not to interfere with the rotation of another link, at least a portion of each link can overlap with each other in the direction of the yaw axis Y1. Fig.19 As shown, when the active arm 100 of the surgical robot arm 1 is folded to a certain extent, the second link 120 and the third link 130 are arranged to overlap to a certain extent in the direction of the yaw axis Y1, and the third link 130 and the fourth link 140 can be arranged to overlap to a certain extent.

[0313] See also Fig.19 In the active arm 100 according to the first embodiment of the present invention, the fourth link 140 and the fifth link 150 are arranged side by side on the same plane and are rotatably coupled to each other, but are not limited thereto, and various modifications may be implemented, for example, they may be arranged side by side on any other plane along the direction of the rotation center axis between the fourth link 140 and the fifth link 150.

[0314] Meanwhile, the first surface (based on Figure 1 The top surface of the first surface) can be rotatably coupled to the fourth link 140, and the surgical instrument 300 can be coupled to the second surface (based on Figure 1 bottom surface).

[0315] Hereinafter, the motion of the active arm of the surgical robot arm according to the first embodiment of the present invention will be described.

[0316] like Figures 4 to 6 As shown, when the motor (not shown in the drawings) is driven, the active arm 100 (specifically, the first link 110) coupled to the setting arm 200 (specifically, the fifth setting link 250) rotates around the yaw axis Y1 relative to the fifth setting link 250. At this time, since the yaw axis Y1 passes through the RCM, no matter how much the first link 110 rotates relative to the fifth setting link 250, the RCM remains constant.

[0317] Specifically, before surgery, in the setting stage of the surgical robot arm 1, the fifth setting link 250 is in a state of being rotated about a horizontal plane by a predetermined angle (e.g., 20 degrees) relative to the fourth setting link 240. In addition, the active arm 100, specifically, the first link 110 is rotatably coupled to the fifth setting link 250, and the rotation center axis of the first link 110 can be set as the yaw axis Y1 of the surgical robot arm 1.

[0318] The yaw axis Y1 may be arranged to form a certain angle with the fifth setting link 250, specifically, perpendicular to the fifth setting link 250, and thus, the yaw axis Y1 may be arranged to form a predetermined angle (e.g., 70 degrees) relative to the horizontal plane. The RCM is arranged on the yaw axis Y1, and the second link 120 combined with the first link 110 is also arranged parallel to the yaw axis Y1, and the extension line connecting the third joint 135 and the RCM may be arranged side by side with the yaw axis Y1, wherein the second link 120 and the third link 130 are combined on the third joint 135.

[0319] That is, the extension line connecting the third joint 135 and RCM is arranged side by side with the yaw axis Y1, and the yaw axis Y1 is arranged to be inclined at a certain angle relative to the roll axis R of the surgical instrument 300 connected to the fifth link, thereby preventing the universal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged to be parallel or nearly parallel to each other when the surgical instrument 300 is arranged parallel to the horizontal plane.

[0320] See also Figure 4 , Figure 5 and Figure 6, a plurality of setting links are axially coupled to each other, and since the setting links are arranged at a relatively high position when they are away from the main body 201 along the Z-axis direction, the yaw axis Y1 of the surgical robot arm 1 can be formed from the upper side toward the lower side, and the yaw axis Y1 can be formed to be inclined at a certain angle relative to the horizontal plane. When the surgical instrument 300 is horizontally arranged, since the yaw axis Y1 is inclined at a certain angle relative to the roll axis R of the surgical instrument 300, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0321] Figure 7 It is shown Figure 4 Side view of the RCM motion (second pitch motion) of the surgical robot arm centered on the pitch axis P. Figure 8 It is shown Figure 7 Perspective view of a surgical robotic arm.

[0322] See also Figure 7 and Figure 8 ,exist Figure 6 In the first pitch motion state shown, the active arm 100 rotates around the pitch axis P by a certain angle.

[0323] That is, the position of the RCM is fixed, the angle of the fifth setting link 250 relative to the fourth setting link 240 is also the same, and the pitch motion of the surgical robot arm 1 can be performed by rotating the third link 130 , the fourth link 140 , and the fifth link 150 .

[0324] At this time, since the position of the second link 120 is fixed, and the positions of the third joint 135 and the RCM are also fixed, the third link 130, the fourth link 140 and the fifth link 150 can move while the third joint 135, the fourth joint 145 and the fifth joint 155 and the RCM form a parallelogram.

[0325] See also Figure 7 and Figure 8 , allowing the surgical instrument 300 to enter from the upper side to the lower side based on the Z-axis direction.

[0326] See also Figure 7 , the yaw axis Y1 is formed to be the same and Figures 4 to 6 In comparison, the angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 is relatively reduced, but the yaw axis Y1 and the roll axis R can still be formed to be inclined at a certain angle, thereby preventing the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R.

[0327] Fig. 9 It is shown Figure 4 Side view of the RCM motion (third pitch motion) of the surgical robot arm centered on the pitch axis P. Fig.10 It is shown Fig. 9 Perspective view of a surgical robotic arm.

[0328] See also Fig. 9 ,exist Figure 6 In the first pitch motion state shown, the active arm 100 rotates around the pitch axis P by a certain angle.

[0329] Right now, Fig. 9 Shows that along with Figure 7 In the state of rotation around the pitch axis P in the opposite direction, the position of the RCM is fixed, and the angle of the fifth setting link 250 relative to the fourth setting link 240 is also the same, and the pitch action of the surgical robot arm 1 is performed by rotating the third link 130, the fourth link 140 and the fifth link 150.

[0330] At this time, since the position of the second link 120 is fixed, and the positions of the third joint 135 and the RCM are also fixed, the third link 130, the fourth link 140 and the fifth link 150 can move while the third joint 135, the fourth joint 145 and the fifth joint 155 and the RCM form a parallelogram.

[0331] See also Fig. 9 , the yaw axis Y1 is formed in the same manner and is along Figure 7 The rotation around the pitch axis P in the opposite direction increases the angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 , thereby allowing the surgical instrument 300 to enter from the lower side to the upper side based on the Z-axis direction.

[0332] In addition, the yaw axis Y1 and the roll axis R may be formed to be inclined at a certain angle, thereby preventing a gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0333] Fig.11 1 is a perspective view showing the RCM motion (first yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.12 It is shown Fig.11 A plan view of the surgical robotic arm.

[0334] like Figure 5 and Figure 6 As shown, the yaw axis Y1 of the surgical robot arm 1 is formed in a direction from the upper side to the lower side, and the yaw axis Y1 is formed to be inclined at a certain angle with respect to the roll axis R of the surgical instrument 300 arranged in parallel on a horizontal plane.

[0335] As described above, the yaw axis Y1 of the surgical robot arm 1 can be formed to extend from the upper side toward the lower side, and the yaw axis Y1 can be formed to be inclined at a certain angle relative to the horizontal plane. When the surgical instrument 300 is arranged horizontally, since the yaw axis Y1 is inclined at a certain angle relative to the roll axis R of the surgical instrument 300, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0336] Fig.13 1 is a perspective view showing the RCM motion (second yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.14 It is shown Fig.13 A plan view of the surgical robotic arm. Fig.15 1 is a perspective view showing the RCM motion (third yaw motion) of the surgical robot arm centered on the yaw axis Y1 according to the first embodiment of the present invention. Fig.16 It is shown Fig.15 A plan view of the surgical robotic arm.

[0337] See also Fig.13 ,exist Fig.11 In the first yaw motion state shown, the active arm 100 rotates around the yaw axis Y1 by a certain angle.

[0338] That is, the position of the RCM is fixed, the angle of the fifth setting link 250 relative to the fourth setting link 240 is also the same, and the yaw action of the surgical robot arm 1 can be performed by rotating the first link 110 coupled to the fifth setting link 250 .

[0339] At this time, since the position of the second link 120 is fixed, and the positions of the third joint 135 and the RCM are also fixed, the third joint 135, the fourth joint 145, and the fifth joint 155 and the RCM can maintain a state of forming a parallelogram.

[0340] See also Fig.13 and Fig.14 , when the first joint 115 rotates counterclockwise around the yaw axis Y1 (based on Fig.13 ) rotates, since the first link 110 rotates counterclockwise with the yaw axis Y1 as the rotation center axis relative to the fifth setting link 250, and the yaw axis Y1 remains constant, the active arm 100 can rotate while the RCM arranged on the yaw axis Y1 also remains constant.

[0341] See also Fig.14 , the entry path can be changed to enable the surgical instrument 300 to pass from Fig.12Compared to the point on the left (based on Fig.14 )Enter.

[0342] See also Fig.15 ,exist Fig.11 In the first yaw motion state shown, the active arm 100 rotates around the yaw axis Y1 by a certain angle. Fig.13 The second yaw action rotates in the direction opposite to the rotation direction.

[0343] That is, the position of the RCM is fixed, the angle of the fifth setting link 250 relative to the fourth setting link 240 is also the same, and the yaw action of the surgical robot arm 1 can be performed by rotating the first link 110 coupled to the fifth setting link 250 .

[0344] At this time, since the position of the second link 120 is fixed, and the positions of the third joint 135 and the RCM are also fixed, the third joint 135, the fourth joint 145, and the fifth joint 155 and the RCM can maintain a state of forming a parallelogram.

[0345] See also Fig.15 and Fig.16 , when the first joint 115 rotates clockwise around the yaw axis Y1 (based on Fig.13 ) rotates, since the first link 110 rotates axially clockwise with the yaw axis Y1 as the rotation center relative to the fifth setting link 250, and the yaw axis Y1 remains constant, the active arm 100 can rotate while the RCM arranged on the yaw axis Y1 also remains constant.

[0346] See also Fig.15 , the entry path can be changed to enable the surgical instrument 300 to pass from Fig.12 Compared to the point on the left (based on Fig.14 )Enter.

[0347] See also Fig.13 and Fig.15 , the yaw axis Y1 is formed to be the same, and the yaw axis Y1 and the roll axis R can be formed to be inclined at a certain angle, thereby preventing the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R.

[0348] Fig.17 It is a perspective view showing a state in which a surgical instrument is arranged on the surgical robot arm so as to be opposed to a main body. Fig.18 It is shown Fig.17 Side view of a surgical robotic arm. Fig.19 It is shown Fig.17 A plan view of the surgical robotic arm.

[0349] exist Figure 4 In the embodiment, the end tool 310 of the surgical instrument 300 is oriented away from the main body 201 of the arm 200. Fig.17 , which shows a state in which the end tool 310 of the surgical instrument 300 is arranged toward the main body 201 side.

[0350] like Fig.17 As shown, when the motor (not shown in the drawings) is driven, the active arm 100 (specifically, the first link 110 ) coupled to the setting arm 200 (specifically, the fifth setting link 250 ) rotates around the yaw axis Y1 relative to the fifth setting link 250 .

[0351] and Figure 6 In contrast, the first link 110 can rotate 180 degrees around the yaw axis Y1. At this time, since the yaw axis Y1 passes through the RCM, even if the first link 110 rotates relative to the fifth setting link 250, the RCM remains constant.

[0352] and Figure 6 similar, Fig.17 This is a diagram showing a state in which the fifth link 150 of the active arm 100 of the surgical robot arm 1 and the surgical instrument 300 coupled thereto are arranged parallel to a horizontal plane (or an XY plane).

[0353] See also Fig.17 The fifth setting link 250 can rotate relative to the fourth setting link 240 around a rotation center axis parallel to the X-axis, and can rotate relative to the fourth setting link 240 to form a certain angle relative to the horizontal plane.

[0354] See also Fig.17 ,and Figure 6 Similarly, the fifth setting link 250 rotates a predetermined angle (e.g., 20 degrees) around the horizontal plane relative to the fourth setting link 240. In addition, the active arm 100, specifically, the first link 110 is rotatably coupled to the fifth setting link 250, and the rotation center axis of the first link 110 can be set as the yaw axis Y1 of the surgical robot arm 1.

[0355] The yaw axis Y1 may be arranged to form a certain angle with the fifth setting link 250, specifically, 90 degrees with the fifth setting link 250, and thus, the yaw axis Y1 may be arranged to form a predetermined angle (e.g., 70 degrees) relative to the horizontal plane. The RCM is arranged on the yaw axis Y1, and the second link 120 combined with the first link 110 is also arranged parallel to the yaw axis Y1, and an extension line connecting the third joint 135 and the RCM may be arranged side by side with the yaw axis Y1, wherein the second link 120 and the third link 130 are combined on the third joint 135.

[0356] exist Figure 6 In the embodiment, the fifth link 150 combined with the surgical instrument 300 is arranged on the same side as the arm 200, specifically, the same side as the body 201, based on the RCM. Fig.17 In the embodiment, the fifth link 150 coupled with the surgical instrument 300 is arranged on the opposite side of the setting arm 200, specifically, on the opposite side of the main body 201, based on the RCM. Therefore, the end tool 310 of the surgical instrument 300 coupled to the fifth link 150 can be arranged in a direction toward the main body 201.

[0357] Therefore, when performing surgery on a patient, the surgical robot arm 1 is located on one side of the bed 500, and then when the surgical instrument 300 needs to move or enter from a different direction, there is no need to move the entire main body 201, but only drive the active arm 100 connected to the setting arm 200, so that the fifth link 150 and the surgical instrument 300 connected to the fifth link 150 move to the opposite direction based on maintaining a constant RCM, thereby having the effect of shortening the operation time by eliminating the movement time of surgical equipment such as the surgical robot arm 1.

[0358] In addition, the extension line connecting the third joint 135 and the RCM is arranged side by side with the yaw axis Y1, and the yaw axis Y1 is arranged to be inclined at a certain angle relative to the roll axis R of the surgical instrument 300 connected to the fifth link 150, thereby preventing the universal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged to be parallel or nearly parallel to each other when the surgical instrument 300 is arranged parallel to the horizontal plane.

[0359] See also Figures 17 to 19 The yaw axis Y1 of the surgical robot arm 1 can be formed to extend from the upper side to the lower side, and the yaw axis Y1 can be formed to be inclined at a certain angle relative to the horizontal plane. When the surgical instrument 300 is arranged horizontally, since the yaw axis Y1 is inclined at a certain angle relative to the roll axis R of the surgical instrument 300, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0360] Figures 42 to 50 1 is a diagram showing the RCM motion of the surgical robot arm centered on the pitch axis P at a certain angle according to the first embodiment of the present invention.

[0361] Figure 4 The fifth setting link 250 is shown to be rotated by 20 degrees relative to the fourth setting link 240. Fig.42 , which shows that the fifth setting link 250 forms another certain angle of 45 degrees with respect to the fourth setting link 240 .

[0362] That is, the angle formed by the fifth setting link 250 relative to the horizontal plane is 45 degrees, and as the rotation center axis of the first link 110 of the active arm 100 rotatably coupled to the fifth setting link 250, the yaw axis Y1 forms 45 degrees relative to the horizontal plane.

[0363] See also Fig.42 , in the active arm 100, while the positions of the first link 110 and the second link 120 are fixed, the third link 130, the fourth link 140 and the fifth link 150 rotate, so that the RCM can be maintained by the above-mentioned RCM mechanism.

[0364] See also Fig.42 , the second link 120 , the third link 130 , and a portion of the fourth link 140 are arranged to overlap, and the third joint 135 , the fourth joint 145 , and the fifth joint 155 may be arranged on the yaw axis Y1 .

[0365] See also Figure 42 to Figure 44 The fifth link 150 rotates relative to the fourth link 140 so that the longitudinal center axis of the fifth link 150 is parallel to the Z axis. That is, the rolling axis R of the surgical instrument 300 may be perpendicular to the bed 500 or the horizontal plane.

[0366] At this time, the yaw axis Y1 of the surgical robot arm 1 can be formed from the upper side to the lower side, and the yaw axis Y1 can be formed to be inclined at a certain angle of 45 degrees relative to the horizontal plane. When the surgical instrument 300 is arranged perpendicular to the horizontal plane, since the yaw axis Y1 is inclined relative to the roll axis R of the surgical instrument 300, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0367] See also Fig.45 and Fig.46 ,exist Fig.43 In the embodiment, the third link 130 receives the driving force from the motor (not shown) in the second link 120 and moves along the first direction (based on Fig.45The third joint 135, the fourth joint 145 and the fifth joint 155 form a parallelogram through the RCM mechanism, and the active arm 100 of the surgical robot arm 1 can perform a pitching motion while maintaining the RCM state.

[0368] That is, a pitch motion can be performed in a direction in which the angle between the roll axis R and the yaw axis Y1 becomes smaller based on the pitch axis P. In this case, since the yaw axis Y1 and the roll axis R of the surgical robot arm 1 are arranged obliquely, the gimbal lock phenomenon can still be prevented.

[0369] See also Fig.47 and Fig.48 ,exist Fig.43 In the embodiment, the third link 130 receives the driving force from the motor (not shown) in the second link 120 and moves along the second direction (based on Fig.45 At this time, the third joint 135, the fourth joint 145 and the fifth joint 155 form a parallelogram through the RCM mechanism, and the active arm 100 of the surgical robot arm 1 can move along the same direction as the active arm 100 while maintaining the RCM state. Fig.45 Perform a pitch motion in the opposite direction.

[0370] That is, a pitch motion can be performed in a direction in which the angle between the roll axis R and the yaw axis Y1 becomes larger based on the pitch axis P. In this case, since the yaw axis Y1 and the roll axis R of the surgical robot arm 1 are arranged obliquely, the gimbal lock phenomenon can still be prevented.

[0371] See also Fig.49 and Fig.50 , showing a state in which the third link 130 , the fourth link 140 , and the fifth link 150 are rotated so that the end tool 310 of the surgical instrument 300 is arranged in the direction along the main body 201 side.

[0372] See also Fig.49 The fifth link 150 of the active arm 100 of the surgical robot arm 1 and the surgical instrument 300 combined therewith can be arranged in parallel on a horizontal plane (or XY plane).

[0373] The fifth setting link 250 forms an angle of 45 degrees with respect to the fourth setting link 240 , and as the rotation center axis of the first link 110 rotatably coupled to the fifth setting link 250 , the yaw axis Y1 forms an angle of 45 degrees with respect to the horizontal plane.

[0374] At this time, the third link 130 rotates relative to the second link 120 in a direction away from the main body 201 with the pitch axis P as the rotation center, and the fourth link 140 connected to the third link 130 and the fifth link 150 connected to the fourth link 140 rotate, so that the end tool 310 of the surgical instrument 300 can be arranged in a direction toward the side of the main body 201.

[0375] At this time, since the position of the third joint 135 is fixed and the positions of the first link 110 and the second link 120 are fixed, the yaw axis Y1 remains constant, and the RCM disposed on the yaw axis Y1 may remain constant.

[0376] See also Fig.49 and Fig.50 According to the first embodiment of the present invention, the yaw axis Y1 of the surgical robot arm 1 is formed to be inclined at a certain angle of 45 degrees relative to the horizontal plane in the direction from the upper side to the lower side. In this state, the surgical instrument 300 can enter parallel to the horizontal plane.

[0377] In addition, the yaw axis Y1 is arranged to be inclined at a certain angle relative to the roll axis R of the surgical instrument 300 connected to the fifth link, thereby preventing the universal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged to be parallel or nearly parallel to each other when the surgical instrument 300 is arranged parallel to the horizontal plane.

[0378] Figure 51 to Figure 56 1 is a diagram showing the RCM motion of the surgical robot arm centered on the yaw axis Y1 at a certain angle according to the first embodiment of the present invention.

[0379] See also Fig.51 , showing that the fifth setting link 250 forms an angle of 45 degrees relative to the fourth setting link 240 .

[0380] That is, the angle formed by the fifth setting link 250 relative to the horizontal plane is 45 degrees, and as the rotation center axis of the first link 110 of the active arm 100 rotatably coupled to the fifth setting link 250, the yaw axis Y1 forms 45 degrees relative to the horizontal plane.

[0381] See also Fig.51 , in the active arm 100, while the positions of the first link 110 and the second link 120 are fixed, the third link 130, the fourth link 140 and the fifth link 150 rotate, so that the RCM can be maintained by the above-mentioned RCM mechanism.

[0382] See also Fig.51, the second link 120 , the third link 130 , and a portion of the fourth link 140 are arranged to overlap, and the third joint 135 , the fourth joint 145 , and the fifth joint 155 may be arranged on the yaw axis Y1 .

[0383] See also Fig.51 and Fig.52 The fifth link 150 rotates relative to the fourth link 140 so that the longitudinal center axis of the fifth link 150 is parallel to the Z axis. That is, the rolling axis R of the surgical instrument 300 may be perpendicular to the bed 500 or the horizontal plane.

[0384] At this time, the yaw axis Y1 of the surgical robot arm 1 can be formed from the upper side to the lower side, and the yaw axis Y1 can be formed to be inclined at a certain angle of 45 degrees relative to the horizontal plane. When the surgical instrument 300 is arranged perpendicular to the horizontal plane, since the yaw axis Y1 is inclined relative to the roll axis R of the surgical instrument 300, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0385] See also Fig.53 and Fig.54 ,exist Fig.51 In the embodiment, the first link 110 rotatably coupled to the fifth setting link 250 rotates along the first direction (based on Fig.53 The chain element 120 is rotated in a clockwise direction (in a clockwise direction) so that the second link 120, the third link 130, the fourth link 140 and the fifth link 150 directly or indirectly connected to the first link 110 can be rotated.

[0386] In this case, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM form a parallelogram, and the active arm 100 can perform a yaw motion while maintaining the state of the RCM.

[0387] See also Fig.55 and Fig.56 ,exist Fig.51 In the embodiment, the first link 110 rotatably coupled to the fifth setting link 250 rotates along the yaw axis Y1 along the second direction (based on Fig.55 The first link 110 is rotated in a counterclockwise direction, thereby enabling the second link 120, the third link 130, the fourth link 140 and the fifth link 150 directly or indirectly connected to the first link 110 to rotate.

[0388] In this case, the third joint 135, the fourth joint 145, the fifth joint 155 and the RCM form a parallelogram, and the active arm 100 can perform a yaw motion while maintaining the state of the RCM.

[0389] See also Figure 53 to Figure 56 When the active arm 100 performs a yaw motion, the yaw axis Y1 and the roll axis R of the surgical instrument 300 are arranged to be inclined at a certain angle, thereby preventing the universal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged to be parallel or nearly parallel to each other when the surgical instrument 300 is arranged parallel to the horizontal plane.

[0390] Figures 57 to 60 1 is a diagram showing the unfolded state of each link when the surgical robot arm moves according to the first embodiment of the present invention.

[0391] The surgical robot arm 1 may include a setting arm 200 and an active arm 100. The setting arm 200 may include a plurality of setting arm links. In addition, the setting arm 200 may include a plurality of setting joints.

[0392] Specifically, the second setting link 220 is axially coupled to the first setting link 210 via a second setting joint 225 and can rotate relative to the first setting link 210. The third setting link 230 is axially coupled to the second setting link 220 via a third setting joint 235 and can rotate relative to the second setting link 220.

[0393] The fourth setting link 240 can rotate relative to the third setting link 230 via a fourth setting joint 245 . The fifth setting link 250 can rotate relative to the fourth setting link 240 via a fifth setting joint 255 .

[0394] See also Figures 57 to 60 , the first setting link 210 , the second setting link 220 , the third setting link 230 , and the fourth setting link 240 may be combined so that the height along the Z-axis direction as the height direction is relatively high.

[0395] Therefore, there is an effect that interference and collision due to another setting link being arranged on the rotation path can be prevented when the first setting link 210, the second setting link 220, the third setting link 230 and the fourth setting link 240 rotate relatively, and their rotation range can be freely rotated while being unrestricted.

[0396] In addition, since the rotation range of multiple setting links is not limited, the following effects are achieved: the first setting link 210, the second setting link 220, the third setting link 230 and the fourth setting link 240 are arranged overlappingly along the height direction, thereby minimizing the area occupied by the setting arm 200.

[0397] At the same time, the fifth setting link 250 is rotatably coupled to the fourth setting link 240. Specifically, the fifth setting link 250 is rotatably coupled to the fourth setting link 240 with the fifth setting joint 255 as the rotation center, and it will be formed parallel to the X axis (based on Fig.57 )’s pitch axis P is used as the center axis of rotation.

[0398] At this time, when the fifth setting link 250 is rotated relative to the fourth setting link 240 so that it is arranged on the same plane as the fourth setting link 240, the yaw axis Y1, which is the rotation center axis of the first link 110 combined with the fifth setting link 250, forms 90 degrees relative to the horizontal plane.

[0399] At this time, the third link 130, the fourth link 140 and the fifth link 150 can be rotated by driving the motor, and the following effect is achieved: the third link 130, the fourth link 140 and the fifth link 150 overlap each other, thereby minimizing the area occupied by the active arm 100.

[0400] See also Figures 57 to 60 , the area occupied by the surgical robot arm 1 can be minimized by minimizing the area occupied by the multiple setting links and the active arm 100 connected to the main body 201, that is, it has the effect of minimizing the area occupied by the surgical robot arm 1 when not in use, thereby making it easy to move and store.

[0401] Figure 61 to Figure 63 1 is a diagram showing that a surgical robot arm according to a first embodiment of the present invention is arranged near a surgical site of a patient, and surgical instruments are arranged to directly face the patient.

[0402] See also Figure 61 to Figure 63 , the patient lies on a bed 500, and a plurality of surgical robot arms may be arranged around the bed 500. The surgical instrument 300 and the trocar 400 may be respectively coupled to each active arm 100 of the plurality of surgical robot arms, specifically, the fifth link 150, and surgery may be performed by using different points of the patient's body as RCM.

[0403] As a result, the following effects are achieved: the plurality of surgical robot arms 1 arranged on the outside of the bed 500 can be used by users such as medical staff to change the position of the active arm 100 by setting the arm 200, specifically, by rotating the plurality of setting links, and even without moving the main body 201, the operating space can be effectively used by changing the positions of the plurality of setting links 210, setting links 220, setting links 230, setting links 240 and setting links 250 respectively provided on the setting arm 200 and the active arm 100, and the plurality of links 110, links 120, links 130, links 140 and links 150, and the operating time can be shortened by minimizing the moving time of surgical equipment such as the main body 201.

[0404] <Surgical method using surgical robot>

[0405] Hereinafter, a surgical method using a surgical robot including the surgical robot arm according to the first embodiment of the present invention will be described. Here, a location where the trocar 400 is inserted and the surgical instrument 300 passes is referred to as an interface.

[0406] The surgical method using a surgical robot arm of the present invention may include the steps of: arranging the main body of a modular surgical robot arm on one side of an interface of a patient into which a surgical instrument is to be inserted; adjusting a setting arm including the main body; arranging the fifth link in an active arm on which a surgical instrument is mounted to a substantially horizontal state; mounting the surgical instrument on the fifth link of the active arm; moving the surgical instrument mounted on the active arm to insert the surgical instrument into the patient's body; and performing surgery while maintaining RCM with the surgical instrument.

[0407] A more detailed description thereof is as follows.

[0408] See also Figure 1 and Figure 4 , the modular surgical robot arm 1 is arranged on one side of the bed 500 where the patient lies. At this time, the main body 201 of the surgical robot arm 1 can be arranged on the same side as the surgical instrument 300 based on the patient's interface (the insertion position of the trocar 400). Or, as Figures 17 to 19 As shown, the body 201 may be arranged to oppose the surgical instrument 300 based on a patient interface.

[0409] Next, in the step of adjusting the setting arm 200, the position of the end of the active arm 100 coupled to the fifth setting link 250 is determined by adjusting a plurality of setting links 210, 220, 230, 240 and 250 movable along a preset direction on the main body 201.

[0410] See also Figure 20 to Figure 23 The first setting link 210 movably coupled to the main body 201 can be moved along a preset direction (based on Fig. 20 The second setting link 220 is rotatably coupled to the first setting link 210, the third setting link 230 is rotatably coupled to the second setting link 220, and the fourth setting link 240 is rotatably coupled to the third setting link 230.

[0411] See also Figure 1 The fifth setting link 250 is rotatably coupled to the fourth setting link 240 based on a rotation center axis parallel to the pitch axis P.

[0412] See also Figure 1 The second setting link 220, the third setting link 230 and the fourth setting link 240 are arranged along the height direction of the setting arm 200 based on the Z axis (based on Figure 1 ) are connected to each other in a relatively rotatable manner. Therefore, the position of the setting arm 200 can be determined by rotating the second setting link 220, the third setting link 230, the fourth setting link 240 and the fifth setting link.

[0413] After the step of adjusting the setting arm 200, the active arm 100, specifically, the position of the plurality of links coupled to the fifth setting link 250 can be adjusted. Instead of making the plurality of links long unfolded, two or more links can be arranged to be folded and overlap each other.

[0414] Next, the surgical instrument 300 is mounted on the fifth link 150 of the active arm 100. At this time, components such as links are not located between the surgical instrument 300 and the patient. That is, as described above, it can be configured so that when the surgical instrument 300 is mounted on the fifth link 150, the position of the surgical instrument 300 is installed at the bottom (that is, the direction in which the links are located when all the links are folded) instead of at the top.

[0415] In other words, one feature of the present invention is that the surgical instrument 300 coupled to the fifth link 150 is arranged to face the inner side of the surgical robot arm 1. That is, when the surgical instrument 300 coupled to the fifth link 150 is horizontal and its end tool 310 is arranged in a direction away from the main body 201, the surface coupled to the surgical instrument 300 is arranged to face downward. In other words, the surgical instrument 300 coupled to one surface of the fifth link 150 is arranged at a position lower than the fifth link 150.

[0416] According to the configuration as described above, even when the modular surgical robot arm 1 is horizontally positioned adjacent to the patient's interface, since the fifth link 150 on which the surgical instrument 300 is mounted does not directly contact the patient, it can have the advantage of being able to reduce vibration and enhance rigidity.

[0417] Next, the end tool 310 of the surgical instrument 300 is inserted into the patient's body by linearly moving the surgical instrument 300 attached to the fifth link 150. Next, the surgical instrument 300 performs surgery while maintaining the RCM.

[0418] As described above, in the present invention, the extension line connecting the third joint 135 and the RCM and the yaw axis Y1 are formed to be identical or arranged in parallel with each other and are formed to be inclined with respect to the roll axis R of the surgical instrument 300 coupled to the fifth link 150 .

[0419] Therefore, since the roll axis R and the yaw axis Y1 formed when the surgical instrument 300 is arranged parallel to the bed 500 or the horizontal plane on which the patient lies are inclined at a certain angle, the universal lock phenomenon that may occur due to the small angle between the yaw axis Y1 and the roll axis R or the parallel arrangement of the yaw axis Y1 and the roll axis R can be prevented.

[0420] In addition, since the active arm 100 (specifically, the first link 110) is rotatably connected to the setting arm 200 (specifically, the fifth setting link 250) as the rotation center axis, the yaw axis Y1 is from the upper side to the lower side (based on Figure 1 ) is formed, so the moving range between multiple links becomes smaller, which has the effect of improving space utilization.

[0421] In addition, when multiple surgical robot arms are arranged outside the bed 500 on which the patient lies, since the driving range of each surgical robot arm is relatively small, interference between the multiple surgical robot arms can be prevented, and the multiple surgical robot arms can be easily arranged.

[0422] In other words, each of the surgical robot arms described above is respectively arranged near each of the plurality of interfaces of the patient, so that the total length of the deployed surgical robot arm becomes shorter, thereby reducing vibration and enhancing rigidity.

[0423] In addition, in the present invention, when the surgical instrument is arranged in parallel, since the active arm 100 is combined with the end of the setting arm 200 arranged on the upper side, that is, the fifth setting link 250, and the yaw axis Y1 is arranged from the upper side toward the lower side, a surface of the fifth link 150 combined with the surgical instrument 300 is arranged to face the lower side. At this time, components such as links are not located between the surgical instrument 300 and the patient.

[0424] With the configuration described above, it is possible to achieve the effect of reducing vibration of the surgical robot arm and enhancing rigidity. DETAILED DESCRIPTION

[0425] <Second Embodiment of the Surgical Robot Arm>

[0426] Hereinafter, a surgical robot arm according to a second embodiment of the present invention will be described. Here, the surgical robot arm according to the second embodiment of the present invention is different in features in terms of the configuration of setting links, compared to the surgical robot arm 1 according to the first embodiment of the present invention described above. As described above, hereinafter, a configuration different from the first embodiment will be described in detail.

[0427] Figure 64 to Figure 66 1 is a diagram showing a first arrangement state of a surgical robot arm according to a second embodiment of the present invention.

[0428] The surgical robot arm 2 according to the second embodiment of the present invention may include a setting arm 600 and an active arm 100. The active arm 100 is rotatably coupled to the setting arm 600, and the setting arm 600 may include a main body 601, a first setting link 610, a second setting link 620, a third setting link 630, and a fourth setting link 640.

[0429] Regarding the configuration of the setting arm 600, the surgical robot arm 2 according to the second embodiment of the present invention is the third setting link 230 and the fourth setting link 240 of the surgical robot arm 1 according to the first embodiment of the present invention, which are integrated into one configuration, including the third setting link 630 and reducing one degree of freedom. Since the configuration, working principle and effect of the main body 201, the plurality of setting links and the active arm 100 are the same, the detailed description repeated therein will be omitted.

[0430] Figure 67 to Figure 69 The second arrangement state of the surgical robot arm 2 according to the second embodiment of the present invention is shown, and compared with the first arrangement state, the second arrangement link 620 and the third arrangement link 630 are rotated.

[0431] The interval between the main body 601 and the active arm 100 can be reduced by rotating the second setting link 620 and the third setting link 630, that is, reducing the distance along the Y-axis direction, and the RCM can move parallel to the Y-axis direction.

[0432] In addition, when the active arm 100, specifically, the first link 110, which is rotatably coupled to the fourth setting link 640, rotates around the yaw axis Y1, the position of the surgical instrument 300 can be changed while the RCM remains constant. That is, the angle at which the surgical instrument 300 enters the RCM and the rolling axis R can be set differently.

[0433] Figure 70 to Figure 72 2 is a diagram showing a third arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0434] See also Fig.70 ,and Fig.64 Compared with the first arrangement state of the surgical robot arm 2 according to the second embodiment of the present invention, the second setting link 620 and the third setting link 630 can be rotated, and the active arm 100, specifically, the first link 110 can be rotated around the yaw axis Y1 relative to the fourth setting link 640.

[0435] See also Fig.72 , when the second setting link 620 and the third setting link 630 rotate, the RCM can move parallel to the Y-axis direction. Thus, the following effect is achieved: at this time, the active arm 100, specifically, the first link 110 is rotated relative to the fourth setting link 640 with the yaw axis Y1 as the rotation center axis, so that the RCM can only move parallel to the Y-axis direction while maintaining the RCM entry angle at the state before the second setting link 620 and the third setting link 630 are rotated.

[0436] See also Figure 73 to Figure 78 , shows the fourth and fifth arrangement states of the surgical robot arm 2 according to the second embodiment of the present invention, and while the angle formed by the fourth setting link 640 relative to the third setting link 630 remains constant, the position of the RCM can be changed by rotating the second setting link 620 and the third setting link 630 respectively.

[0437] As a result, the following effects are achieved: namely, by keeping the angle formed by the fourth setting link 640 relative to the third setting link 630 constant, the angle formed by the yaw axis Y1 of the rotation center axis of the first link 110 as the active arm 100, specifically, relative to the horizontal plane is kept constant, thereby being able to change the position of the RCM differently, and once the position of the RCM is determined, the first link 110 rotatably coupled to the fourth setting link 640 is rotated around the yaw axis Y1 as the rotation center axis, thereby changing the roll axis R of the surgical instrument 300 coupled to the active arm 100, specifically, the fifth link 150, thereby being able to change the angle entering the RCM differently.

[0438] The surgical robot arm 2 according to the second embodiment of the present invention has one less link, but since the configuration, working principle and effect of the main body 601 and the active arm 100 are the same as those of the surgical robot arm 1 according to the first embodiment, the repeated detailed description thereof will be omitted.

[0439] <Third Embodiment of Surgical Robot Arm>

[0440] Hereinafter, a surgical robot arm according to a third embodiment of the present invention will be described. Here, the surgical robot arm according to the third embodiment of the present invention is different in features in terms of the configuration of setting links, compared to the surgical robot arm 1 according to the first embodiment of the present invention described above. As described above, hereinafter, a configuration different from the first embodiment will be described in detail.

[0441] Figure 79 to Figure 81 1 is a diagram showing a first arrangement state of a surgical robot arm according to a third embodiment of the present invention.

[0442] The surgical robot arm 3 according to the third embodiment of the present invention may include a setting arm 700 and an active arm 100. The active arm 100 is rotatably coupled to the setting arm 700, and the setting arm 700 may include a main body 701, a first setting link 710, a second setting link 720, and a third setting link 730.

[0443] The rotation center axis of the second setting link 720 relative to the first setting link 710 and the rotation center axis of the third setting link 730 relative to the second setting link 720 may be formed parallel to each other. Specifically, the rotation center axis may be formed parallel to the Z axis.

[0444] The active arm 100, specifically, the first link 110 is rotatably coupled to the third setting link 730. At this time, the first link 110 is rotatably coupled to the third setting link 730, and the yaw axis Y1 as the rotation center axis of the first link 110 can be arranged to form a fixed angle with the third setting link 730.

[0445] See also Fig.79 The first link 110 is coupled to the third setting link 730 so that the yaw axis Y1, which is the rotation center axis of the first link 110, forms a certain angle, for example, 90 degrees, relative to the horizontal plane. That is, the surgical robot arm 3 according to the third embodiment is formed so that the angle formed by the yaw axis Y1 of the active arm 100 relative to the horizontal plane remains constant.

[0446] Regarding the configuration of the setting arm 700, the surgical robot arm 3 according to the third embodiment of the present invention is the same as the surgical robot arm 1 according to the first embodiment of the present invention, except that the third setting link 230, the fourth setting link 240 and the fifth setting link 250 are integrated into one configuration, including the third setting link 730 to reduce two degrees of freedom, and the angle formed by the yaw axis Y1 of the active arm 100 relative to the horizontal plane remains constant. Since the configuration, working principle and effect of the main body 701, the multiple setting links and the active arm 100 are the same as those of the surgical robot arm 1 according to the first embodiment, the detailed description repeated therein will be omitted.

[0447] Figure 82 to Figure 84 A second arrangement state of the surgical robot arm 3 according to the third embodiment of the present invention is shown. Compared with the above-mentioned first arrangement state, the active arm 100, specifically, the first link 110 rotates around the yaw axis Y1 relative to the third setting link 730 (i.e., yaw rotation).

[0448] Since the positions of the second setting link 720 and the third setting link 730 are the same, the RCM remains constant. Fig.79 The first arrangement state is shown in the opposite direction so that the end tool 310 of the surgical instrument 300 faces the main body 701 by rotating the third link 130, the fourth link 140 and the fifth link 150 of the active arm 100.

[0449] Figure 85 to Figure 87 2 is a diagram showing a third arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0450] See also Fig.85 ,and Fig.79 Compared with the first arrangement state of the surgical robot arm 3 according to the third embodiment of the present invention, the second setting link 720 and the third setting link 730 can be rotated, and the active arm 100, specifically, the first link 110 can be rotated around the yaw axis Y1 relative to the third setting link 730.

[0451] When the second setting link 720 and the third setting link 730 rotate, the RCM moves parallel to a certain extent along the Y-axis direction. When the third setting link 730 rotates, the position of the surgical instrument 300 changes, that is, the rolling axis R and the entry angle of the surgical instrument 300 can change, when the first link 110 rotatably coupled to the third setting link 730 does not rotate around the yaw axis Y1.

[0452] At this time, the active arm 100, specifically, the first link 110 is rotated around the yaw axis Y1, so that even when the second setting link 720 and the third setting link 730 rotate, the entry angle of the surgical instrument 300 remains constant, and only the RCM can move parallel to a certain extent along the Y-axis direction.

[0453] The surgical robot arm 3 according to the third embodiment of the present invention has two fewer chain links than the first embodiment, but since the configuration, working principle and effect of the main body 701 and the active arm 100 are the same as those of the surgical robot arm 1 according to the first embodiment, the detailed description repeated therein will be omitted.

[0454] As mentioned above, the present invention is described with reference to an embodiment shown in the accompanying drawings, but this is only exemplary, and those skilled in the art should understand that various modifications and variations of the embodiments can be made therefrom. Therefore, the true technical protection scope of the present invention should depend on the technical ideas of the attached claims.

[0455] Industrial Applicability

[0456] The present invention relates to a surgical robot arm and can be used for a minimally invasive surgical robot arm formed in a modular type for use in laparoscopic surgery or various other surgeries.

Claims

1. A surgical robot arm, characterized in that: The surgical robot arm equipped with surgical instruments comprises: A setting arm; and an active arm, wherein the setting arm comprises a main body and a setting link assembly movably arranged on the main body, The active arm is rotatably coupled to one end of the setting arm, wherein: The active arm comprises: A first link, which is coupled to the setting arm via a first joint and is formed to be capable of yaw rotation around a yaw axis relative to the setting arm; a second link coupled to the first link around a second joint; a third link whose axis is coupled to the second link so as to be rotatable about a third joint; a fourth link, the shaft of which is coupled to the third link so as to be rotatable about a fourth joint; and A fifth link, the shaft of which is coupled to the fourth link so as to be rotatable about a fifth joint, and is formed so as to enable the surgical instrument to be mounted thereon, wherein: A remote motion center is formed at the remaining vertices of a parallelogram with the third joint, the fourth joint, and the fifth joint as vertices, The first joint is arranged at a position higher than the remote motion center.

2. The surgical robot arm according to claim 1, characterized in that: The yaw axis and the roll axis of the surgical instrument are formed to be different from each other.

3. The surgical robot arm according to claim 2, characterized in that: In a state where the roll axis of the surgical instrument is arranged in parallel with a horizontal plane, the yaw axis and the roll axis are formed to be non-parallel to each other and to form a predetermined angle.

4. The surgical robot arm according to claim 1, characterized in that: The chain link assembly is provided including One or more links are provided, which connect the main body and the active arm and are formed to be rotatable about the Z-axis relative to the main body.

5. The surgical robot arm according to claim 1, characterized in that: The chain link assembly is provided including: A first chain link is provided, which can move linearly along the height direction on the main body; A second setting link, whose shaft is coupled to the first setting link so as to be rotatable about the first shaft as a rotation center axis; and The third setting link has an axis connected to the second setting link so as to be rotatable around a second axis different from the first axis as a rotation center axis.

6. The surgical robot arm according to claim 5, characterized in that: The yaw axis is formed perpendicular to a surface of the third setting link, and the first link is coupled to the third setting link to be rotatable around the yaw axis.

7. The surgical robot arm according to claim 5, characterized in that: The second axis is arranged perpendicular to the first axis.

8. The surgical robot arm according to claim 5, wherein: The setting link assembly further includes one or more setting links disposed between the second setting link and the third setting link and configured to rotate about an axis substantially parallel to the first axis.

9. The surgical robot arm according to claim 1, characterized in that: In the setting arm, a height in the Z-axis direction at a point through which the yaw axis passes is formed to be higher than a height in the Z-axis direction of the remote motion center.

10. The surgical robot arm according to claim 1, characterized in that: Based on the first joint, a height of the yaw axis at the proximal end portion in the Z-axis direction is formed to be higher than a height of the yaw axis at the distal end portion in the Z-axis direction.

11. The surgical robot arm according to claim 1, characterized in that: The setup arm is configured to be operable only during a setup period in which the surgical robot arm is arranged on the patient's side.

12. The surgical robot arm according to claim 1, characterized in that: The remote motion center is located on the extension line of the yaw axis.

13. The surgical robot arm according to claim 1, characterized in that: When the third link rotates around the third joint, the line segment connecting the third joint and the remote motion center and the fourth link rotate while maintaining a parallel state, and the line segment connecting the fifth joint and the remote motion center and the third link rotate while maintaining a parallel state.

14. The surgical robot arm according to claim 1, characterized in that: The position of the remote center of motion remains constant regardless of the rotation of the third link.

15. The surgical robot arm according to claim 1, characterized in that: Regardless of the state of motion of the surgical robot arm, the line segment connecting the fifth joint and the remote motion center and the third link remain parallel. Regardless of the motion state of the surgical robot arm, the line segment connecting the third joint and the remote motion center and the fourth link remain parallel.

16. The surgical robot arm according to claim 1, characterized in that: The third link, the fourth link, and the fifth link are formed to be offset to a certain extent in the rotation axis direction thereof.

17. The surgical robot arm according to claim 1, characterized in that: In the direction of the rotation axis of the third chain link, The fourth link is arranged on one side of the third link.

18. The surgical robot arm according to claim 1, characterized in that: In the yaw axis direction, At least a portion of the third link and the fourth link is formed to be able to overlap each other.

19. The surgical robot arm according to claim 1, characterized in that: In the yaw axis direction, At least a portion of each of the fourth link and the fifth link is formed to be able to overlap each other.

20. The surgical robot arm according to claim 1, characterized in that: When the surgical instrument coupled to the fifth link is in a horizontal state and the end tool of the surgical instrument is arranged in a direction away from the main body, The first surface of the fifth link coupled to the surgical instrument is arranged to face downward in the Z-axis direction.

21. The surgical robot arm according to claim 20, characterized in that: In the above state, The surgical instrument is arranged below the fifth link.

22. The surgical robot arm according to claim 20, characterized in that: In the above state, The chain link is not arranged between the surgical instrument and the bed.

23. The surgical robot arm according to claim 1, characterized in that: The yaw axis forms a predetermined angle with a longitudinal center axis of the fifth link.

24. A surgical method using a surgical robot, comprising: Arranging the main body of the modular surgical robot arm on one side of the patient's interface into which the surgical instrument is to be inserted; adjusting a setting arm including said main body; Arranging the fifth link on which the surgical instrument is mounted in the active arm connected to the setting arm in a substantially horizontal state; Mounting the surgical instrument on the fifth link of the active arm; moving the surgical instrument mounted on the active arm to insert the surgical instrument into a patient's body; and The surgical instrument performs surgery while maintaining a remote center of motion.

25. The surgical method using a surgical robot according to claim 24, characterized in that: In the step of arranging the main body of the surgical robot arm on one side of the interface of the patient into which the surgical instrument is to be inserted, The main body of the surgical robot arm is arranged on the same side as the interface of the patient based on the bed.

26. The surgical method using a surgical robot according to claim 24, characterized in that: In the step of arranging the fifth link on which the surgical instrument is mounted in the active arm in a substantially horizontal state, At least a portion of the plurality of links of the active arm are formed to overlap in the extending direction of the respective links.

27. The surgical method using a surgical robot according to claim 24, characterized in that: In the step of mounting the surgical instrument on the fifth link of the surgical robot arm, The links of the surgical robot arm are not arranged between the surgical instrument and the patient.

28. The surgical method using a surgical robot according to claim 24, characterized in that: The active arm comprises: A first link, which is coupled to the setting arm via a first joint and is formed to be capable of yaw rotation around a yaw axis relative to the setting arm; a second link coupled to the first link around a second joint axis; a third link whose axis is coupled to the second link so as to be rotatable about a third joint; a fourth link, the shaft of which is coupled to the third link so as to be rotatable about a fourth joint; and A fifth link, the shaft of which is coupled to the fourth link so as to be rotatable about a fifth joint, and is formed so as to enable the surgical instrument to be mounted thereon, wherein: A remote motion center is formed at the remaining vertices of a parallelogram with the third joint, the fourth joint, and the fifth joint as vertices, The first joint is arranged at a position higher than the remote motion center.

29. The surgical method using a surgical robot according to claim 28, characterized in that: The yaw axis and the roll axis of the surgical instrument are formed to be different from each other.

30. The surgical method using a surgical robot according to claim 28, characterized in that: In a state where the roll axis of the surgical instrument is arranged in parallel with a horizontal plane, the yaw axis and the roll axis are formed to be non-parallel to each other and to form a predetermined angle.

31. The surgical method using a surgical robot according to claim 28, characterized in that: The remote motion center is located on the extension line of the yaw axis.

32. The surgical method using a surgical robot according to claim 28, characterized in that: When the third link rotates around the third joint, the line segment connecting the fifth joint and the remote motion center and the third link rotate while maintaining a parallel state, and the extension line connecting the third joint and the remote motion center and the fourth link rotate while maintaining a parallel state.

33. The surgical method using a surgical robot according to claim 28, characterized in that: In the setting arm, a height in the Z-axis direction at a point through which the yaw axis passes is formed to be higher than a height in the Z-axis direction of the remote motion center.

34. The surgical method using a surgical robot according to claim 28, characterized in that: A height of the yaw axis in the Z-axis direction at the proximal end portion is formed to be higher than a height of the yaw axis in the Z-axis direction at the distal end portion.

35. The surgical method using a surgical robot according to claim 28, characterized in that: The third link and the fourth link are formed to be offset to a certain extent in the rotation axis direction thereof.

36. The surgical method using a surgical robot according to claim 28, characterized in that: When the surgical instrument coupled to the fifth link is in a horizontal state and the end tool of the surgical instrument is arranged in a direction away from the main body, The first surface of the fifth link coupled to the surgical instrument is arranged to face downward in the Z-axis direction.

37. The surgical method using a surgical robot according to claim 36, characterized in that: In the above state, The surgical instrument is arranged below the fifth link.

38. The surgical method using a surgical robot according to claim 36, characterized in that: In the above state, The chain link is not arranged between the surgical instrument and the bed.

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