Surgical robot arm

Abstract

To provide a surgical robot arm.SOLUTION: Provided is a minimally invasive surgical robot arm that is formed in a modular manner for use in a laparoscopic surgery or other various surgeries.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to surgical robotic arms, and more particularly to modularly configured minimally invasive surgical robotic arms for use in laparoscopic or various surgical procedures. [Background technology]

[0002] In medicine, surgery refers to the treatment of disease by cutting, tearing, or manipulating the skin, mucous membranes, or other tissues using medical instruments. In particular, open surgery, which involves cutting the skin at the surgical site and treating, reshaping, or removing internal organs, can cause problems such as bleeding, side effects, pain, and scarring. Therefore, surgery that involves making specific holes in the skin and inserting only medical instruments, such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgery using robots, has recently gained attention as an alternative.

[0003] Here, a surgical robot is a robot that can replace the surgical procedures performed by a surgeon. Such a surgical robot has the advantage of being able to perform more accurate and precise movements than a human and enabling remote surgery.

[0004] Currently, surgical robots being developed around the world include bone surgery robots, laparoscopic surgery robots, stereotactic surgery robots, etc. Here, laparoscopic surgery robots are robots that perform minimally invasive surgery using a laparoscope and small surgical tools.

[0005] Laparoscopic surgery is a cutting-edge surgical technique that is expected to see great developments in the future. It involves performing surgery after making a small hole in the belly button and inserting a laparoscope, an endoscope used to look inside the abdomen. Recent laparoscopes are equipped with computer chips, which provide clearer and more magnified images than can be seen with the naked eye. Laparoscopes have also become so advanced that any surgery can be performed by viewing the screen on a monitor and using specially designed laparoscopic surgical instruments.

[0006] Furthermore, while the scope of surgery is almost the same as that of open surgery, laparoscopic surgery has fewer complications than open surgery, allows treatment to begin much earlier after surgery, and has the advantage of being able to maintain the patient's physical strength and immune function. For these reasons, laparoscopic surgery is gradually becoming recognized as the standard surgery for treating colon cancer in the United States and Europe.

[0007] On the other hand, surgical robots generally consist of a master robot and a slave robot. When a surgeon operates a control lever (e.g., a handle) on the master robot, a surgical tool connected to the robot arm of the slave robot or held by the robot arm is operated to perform surgery.

[0008] The above-mentioned background art is technical information that the inventor possessed for the purpose of deriving the present invention or that he acquired in the process of deriving the present invention, and is not necessarily publicly known art that was made public to the general public prior to the filing of the present invention. Summary of the Invention [Problem to be solved by the invention]

[0009] An object of the present invention is to provide a surgical robot arm in which the extension line connecting the third joint and the RCM and the first yaw axis Y1 are different from each other, thereby enabling surgical instruments to be positioned horizontally without causing gimbal lock. [Means for solving the problem]

[0010] One embodiment of the present invention provides a surgical robot arm having a surgical instrument attached thereto, the surgical robot arm including: a main body; a base link formed on one surface of the main body; a yaw drive assembly connected to the base link by a first joint and rotatable in a yaw direction around a first yaw axis relative to the base link; a third link rotatably connected to the yaw drive assembly around a third joint; a fourth link rotatably connected to the third link around a fourth joint; and a fifth link rotatably connected to the fourth link around a fifth joint, the fifth link being rotatable to the fourth link so that the surgical instrument can be attached thereto; wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices; and an extension line connecting the third joint and the RCM is different from the first yaw axis. [Effects of the Invention]

[0011] According to the present invention, the extension line connecting the third joint and the RCM and the first yaw axis Y1 are different from each other, which allows the fifth link and the surgical instrument connected thereto to be positioned horizontally without causing gimbal lock. Furthermore, it is also possible to position the surgical instrument so that it points upward beyond the horizontal. Furthermore, by positioning each link with a certain offset, the rotational movement of each link is not restricted by other links, and the moving direction of the instrument can be positioned upward beyond the horizontal, thereby increasing the range of movement of the instrument. This prevents gimbal lock from occurring, even in the case of frequently performed surgeries in which instruments are positioned horizontally, and provides the effect of allowing the instrument to move within a sufficient range. [Brief explanation of the drawings]

[0012] [Figure 1]FIG. 1 is a diagram showing a surgical robot arm. [Figure 2] FIG. 2 is a conceptual diagram of a surgical robot arm according to each embodiment of the present invention. [Figure 3] FIG. 3 is a perspective view showing a surgical robot arm according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a plan view of the surgical robot arm of FIG. [Figure 5] FIG. 5 is a diagram showing an example in which an RCM mechanism with a link structure is applied to the surgical robot arm of FIG. [Figure 6] FIG. 6 is a diagram showing the operating state of the RCM mechanism with a link structure. [Figure 7] FIG. 7 is a diagram showing an example in which an RCM mechanism with a belt structure is applied to the surgical robot arm of FIG. [Figure 8] FIG. 8 is a diagram showing the operating state of the RCM mechanism with a belt structure. [Figure 9] 9A and 9B are side and plan views showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 3. [Figure 10] 10A and 10B are side and plan views showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 3. [Figure 11] 11 is a side view and a plan view showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. [Figure 12] FIG. 12 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 13] FIG. 13 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 14] FIG. 14 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 15]FIG. 15 is a diagram showing a state in which the fifth link of the surgical robot arm of FIG. 3 and the surgical instrument coupled thereto are arranged in parallel. [Figure 16] FIG. 16 is a diagram showing the surgical robot arm shown in FIG. 15 placed near the surgical site on the patient, with the surgical instruments facing the patient. [Figure 17] FIG. 17 is a diagram showing a state in which the end tool of the surgical instrument coupled to the fifth link of the surgical robot arm of FIG. 3 is positioned so as to face up from below. [Figure 18] FIG. 18 is a perspective view showing a surgical robot arm according to a second embodiment of the present invention, illustrating an RCM motion (yaw operation) about the first yaw axis Y1. [Figure 19] FIG. 19 is a perspective view showing the RCM motion (yaw operation) about the second yaw axis Y2 of the surgical robot arm of FIG. [Figure 20] FIG. 20 is a plan view and a side view showing the state in which the surgical robot arm in FIG. 19(b) has further rotated by approximately 90° around the second yaw axis Y2. [Figure 21] FIG. 21 is a perspective view showing the RCM motion (yaw operation) about the second yaw axis Y2 of the surgical robot arm of FIG. [Figure 22] FIG. 22 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 23] FIG. 23 is a perspective view showing RCM motion (yaw operation) around the first yaw axis Y1 and the second yaw axis Y2 of the surgical robot arm of FIG. [Figure 24] FIG. 24 is a perspective view showing a surgical robot arm according to a third embodiment of the present invention. [Figure 25] 25 is a perspective view illustrating the operation of the pitch positioning joint of the surgical robot arm of FIG. 24. [Figure 26] 26 is a perspective view showing the operation of the setup link assembly of the surgical robot arm of FIG. 24. [Figure 27] FIG. 27 is a perspective view showing a surgical robot arm according to a fourth embodiment of the present invention. [Figure 28] 28 is a perspective view showing the operation of the setup link assembly of the surgical robot arm of FIG. 27. [Figure 29] FIG. 29 is a perspective view showing a surgical robot arm according to a fifth embodiment of the present invention. [Figure 30] FIG. 30 is a perspective view showing a surgical robot arm according to a sixth embodiment of the present invention. [Figure 31] 31 is a perspective view showing the operation of the setup link assembly of the surgical robot arm of FIG. 30. [Figure 32] FIG. 32 is a perspective view showing a surgical robot arm according to a seventh embodiment of the present invention. [Figure 33] FIG. 33 is a side view of the surgical robotic arm of FIG. 32. [Figure 34] FIG. 34 is a diagram showing an example in which an RCM mechanism with a link structure is applied to the surgical robot arm of FIG. [Figure 35] FIG. 35 is a diagram showing an example in which an RCM mechanism with a belt structure is applied to the surgical robot arm of FIG. [Figure 36] 36A and 36B are side and plan views showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 32. [Figure 37] 37A and 37B are side and plan views showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. [Figure 38] 38 is a side view and a plan view showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 32. [Figure 39] FIG. 39 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 40] FIG. 40 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 41] FIG. 41 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 42] FIG. 42 is a diagram showing the fifth link of the surgical robot arm of FIG. 32 and the surgical instrument coupled thereto arranged in parallel. [Figure 43] FIG. 43 is a diagram showing the surgical robot arm shown in FIG. 42 positioned near the surgical site on the patient, with the surgical instruments positioned so as to face the patient. [Figure 44] FIG. 44 is a diagram showing a state in which the end tool of the surgical instrument coupled to the fifth link of the surgical robot arm of FIG. 32 is positioned so as to face downward. [Figure 45] FIG. 45 is a plan view and a side view showing the surgical robot arm in FIG. 32 after it has further rotated approximately 90 degrees around the first yaw axis Y1. [Figure 46] FIG. 46 is a perspective view showing a surgical robot arm according to an eighth embodiment of the present invention. [Figure 47] FIG. 47 is a perspective view showing a surgical robot arm according to a ninth embodiment of the present invention. [Figure 48] FIG. 48 is a perspective view showing a surgical robot arm according to a tenth embodiment of the present invention. [Figure 49] FIG. 49 is a side view of the surgical robotic arm of FIG. 48. [Figure 50] 50 is a side view and a plan view showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. [Figure 51] 51 is a side view and a plan view showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. [Figure 52] 52 is a side view and a plan view showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. [Figure 53]FIG. 53 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 54] FIG. 54 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 55] FIG. 55 is a perspective view showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG. [Figure 56] FIG. 56 is a diagram showing the fifth link of the surgical robot arm of FIG. 48 and the surgical instrument coupled thereto arranged in parallel. [Figure 57] FIG. 57 is a diagram showing the surgical robot arm shown in FIG. 56 positioned near the surgical site on the patient, with the surgical instruments positioned so as to face the patient. [Figure 58] FIG. 58 is a diagram showing a state in which the end tool of the surgical instrument coupled to the fifth link of the surgical robot arm of FIG. 48 is positioned so as to face downward. [Figure 59] FIG. 59 is a perspective view showing a surgical robot arm according to an eleventh embodiment of the present invention. [Figure 60] FIG. 60 is a perspective view showing a surgical robot arm according to a twelfth embodiment of the present invention. [Figure 61] FIG. 61 is a perspective view showing a surgical robot arm according to a thirteenth embodiment of the present invention. [Figure 62] FIG. 62 is a perspective view showing a surgical robot arm according to a fourteenth embodiment of the present invention. [Figure 63] 63 is a side view showing various operational states of the surgical robot arm of FIG. 62. [Figure 64] FIG. 64 shows a surgical robot arm. [Figure 65] FIG. 65 shows a surgical robot arm. [Figure 66] FIG. 66 shows a surgical robot arm. [Figure 67]FIG. 67 is a diagram showing a surgical robot arm for implementing the surgical method of the present invention. [Figure 68] FIG. 68 is a diagram comparing the surgical operation using the surgical robot arm of FIG. 65 with the surgical operation using the surgical robot arm of FIG. 67. [Figure 69] FIG. 69 is a diagram showing a surgical method using the surgical robot arm of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

[0013] In the present invention, the extension line connecting the third joint and the RCM and the first yaw axis may be formed not parallel to each other but at a predetermined angle.

[0014] In the present invention, the RCM may be located on an extension line of the first yaw axis.

[0015] In the present invention, when the third link rotates around the third joint, the third link and the fifth link rotate while maintaining a parallel state, and the extension line connecting the third joint and the RCM and the fourth link can rotate while maintaining a parallel state.

[0016] In the present invention, the position of the RCM can be maintained constant regardless of the rotation of the third link.

[0017] In the present invention, the third link and the fifth link maintain a parallel state in any operating state of the surgical robot arm, and the extension line connecting the third joint and the RCM and the fourth link can maintain a parallel state in any operating state of the surgical robot arm.

[0018] In the present invention, the height of the RCM in the Z-axis direction may be greater than the height of a point in the base link through which the first yaw axis passes.

[0019] In the present invention, the yaw drive assembly may further include a first link connected to the base link by the first joint and configured to be yaw rotatable about a first yaw axis relative to the base link, a sixth link connected to the first link by a sixth joint and configured to be yaw rotatable about a second yaw axis relative to the first link, and a second link having one end fixedly connected to the sixth link and the other end connected to the third link.

[0020] In the present invention, the RCM may be located on an extension line of the second yaw axis.

[0021] In the present invention, an extension line of the first yaw axis and an extension line of the second yaw axis can intersect at the RCM.

[0022] In the present invention, the first link formed to be yaw rotatable around the first yaw axis and the sixth link formed to be yaw rotatable around the second yaw axis may be formed to be rotatable independently of each other.

[0023] In the present invention, when the roll axis of the surgical instrument and the first yaw axis are parallel, a yaw movement can be performed by rotating the second yaw axis.

[0024] In the present invention, when the roll axis of the surgical instrument and the second yaw axis are parallel, a yaw movement can be performed by rotating the first yaw axis.

[0025] In the present invention, the yaw drive assembly may further include a first link connected to the base link by the first joint and configured to be yaw rotatable about a first yaw axis relative to the base link, and a second link having one end fixedly connected to the first link and the other end connected to the third link.

[0026] In the present invention, the second link may be formed parallel to the extension line connecting the third joint and the RCM.

[0027] In the present invention, the second link and the fourth link may be formed in parallel.

[0028] In the present invention, the second link may be formed at an angle with respect to the extension line connecting the third joint and the RCM.

[0029] In the present invention, the second link and the fourth link may be formed not parallel to each other but at a predetermined angle.

[0030] In the present invention, the surgical robot arm may further include a setup link assembly formed between the main body and the base link, connecting the main body and the base link.

[0031] In the present invention, the setup link assembly may include a vertical setup link that connects the main body and the base link and is formed to be movable in the Z-axis direction relative to the main body.

[0032] In the present invention, the setup link assembly may include one or more horizontal setup links that connect the main body and the base link and are formed to be rotatable about the Z axis relative to the main body.

[0033] In the present invention, the setup link assembly may include a pitch positioning joint that connects the main body and the base link and is formed to be rotatable relative to the base link around an axis that is substantially parallel to the rotation axis of the third joint.

[0034] In the present invention, the setup link assembly may be configured to be operable only during a setup period when the surgical robot arm is positioned in an appropriate position on one side of a patient.

[0035] In the present invention, the third link, the fourth link, and the fifth link can be formed so as to be offset to a certain degree in the direction of the rotation axis.

[0036] In the present invention, the fourth link may be disposed on one side of the third link in the direction of the rotation axis of the third link, and the fifth link may be disposed on the one side of the fourth link.

[0037] In the present invention, the third link, the fourth link, and the fifth link may be formed so that at least a portion of each of them can overlap with each other in the first yaw axis direction.

[0038] In the present invention, when the surgical instrument connected to the fifth link is horizontal and the end tool of the surgical instrument is positioned in a direction away from the main body, the first surface to which the surgical instrument is connected on the fifth link can be positioned so as to face upward in the Z-axis direction.

[0039] In the present invention, in the above-mentioned state, the surgical instrument can be disposed above the fifth link.

[0040] In the present invention, when the surgical instrument connected to the fifth link is horizontal and the end tool of the surgical instrument is positioned in a direction away from the main body, the first surface to which the surgical instrument is connected on the fifth link can be positioned so as to face downward in the Z-axis direction.

[0041] In the present invention, in the above-mentioned state, the surgical instrument can be disposed below the fifth link.

[0042] In the present invention, the link may be not disposed between the surgical instrument and the bed in the state.

[0043] In the present invention, in a plane perpendicular to the Z axis, at least a portion of the third link, the fourth link, and the fifth link may be formed so as to form a predetermined angle with the first yaw axis.

[0044] In the present invention, at least a portion of the third link, the fourth link, and the fifth link may be formed parallel to the first yaw axis.

[0045] In the present invention, the height in the Z-axis direction of the distal portion of the first yaw axis can be made greater than the height in the Z-axis direction of the proximal portion of the first yaw axis.

[0046] In the present invention, the base link may be formed to be inclined at a predetermined angle with respect to the extension line connecting the third joint and the RCM, and the central axis of the base link may be formed to coincide with the first yaw axis.

[0047] In the present invention, the extension line connecting the third joint and the RCM and the first yaw axis may intersect at the RCM.

[0048] Another embodiment of the present invention provides a method for performing surgery using a surgical robot, comprising the steps of: positioning a body of a modular surgical robotic arm on one side of a patient's port into which a surgical instrument is inserted; positioning a fifth link of the surgical robotic arm, to which the surgical instrument is attached, substantially horizontally; attaching the surgical instrument to the fifth link of the surgical robotic arm; moving the surgical instrument attached to the surgical robotic arm to insert the surgical instrument into the patient's body; and performing surgery while the surgical instrument maintains RCM.

[0049] In the present invention, the step of positioning the body of the surgical robot arm on one side of the patient's port into which the surgical instrument is inserted can be performed by positioning the body of the surgical robot arm on the same side as the patient's port relative to the bed.

[0050] In the present invention, the step of positioning the fifth link to which the surgical instrument is attached substantially horizontally on the surgical robot arm can be formed so that at least a portion of the multiple links of the surgical robot arm overlap in the extension direction of each link.

[0051] In the present invention, in the step of attaching the surgical instrument to the fifth link of the surgical robot arm, the link of the surgical robot arm does not have to be positioned between the surgical instrument and the patient.

[0052] In the present invention, the surgical robot arm includes a base link, a yaw drive assembly formed to be yaw rotatable about a first yaw axis relative to the base link, a third link pivotally connected to the yaw drive assembly to be rotatable about a third joint, a fourth link pivotally connected to the third link to be rotatable about a fourth joint, and a fifth link pivotally connected to the fourth link to be rotatable about a fifth joint, the fifth link being formed to be rotatable about a fifth joint and to which the surgical instrument can be attached, wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices, and an extension line connecting the third joint and the RCM may be formed to be different from the first yaw axis.

[0053] In the present invention, the extension line connecting the third joint and the RCM and the first yaw axis may intersect at the RCM.

[0054] In the present invention, the RCM may be located on an extension line of the first yaw axis.

[0055] In the present invention, when the third link rotates around the third joint, the third link and the fifth link rotate while maintaining a parallel state, and the extension line connecting the third joint and the RCM and the fourth link can rotate while maintaining a parallel state.

[0056] In the present invention, the height of the RCM in the Z axis direction can be formed to be higher than the height of the point in the base link through which the first yaw axis passes.

[0057] In the present invention, the height in the Z-axis direction of the distal portion of the first yaw axis can be made greater than the height in the Z-axis direction of the proximal portion of the first yaw axis.

[0058] In the present invention, the base link may be formed to be inclined at a predetermined angle with respect to a horizontal plane, and the central axis of the base link may be formed to coincide with the first yaw axis.

[0059] In the present invention, the third link, the fourth link, and the fifth link can be formed so as to be offset to a certain degree in the direction of the rotation axis.

[0060] In the present invention, the fourth link may be disposed on one side of the third link in the direction of the rotation axis of the third link, and the fifth link may be disposed on the one side of the fourth link.

[0061] In the present invention, the third link, the fourth link, and the fifth link may be formed so that at least a portion of each of them can overlap with each other in the direction of the first yaw axis Y1.

[0062] In the present invention, when the surgical instrument connected to the fifth link is horizontal and the end tool of the surgical instrument is positioned in a direction away from the main body, the first surface to which the surgical instrument is connected on the fifth link can be positioned so as to face downward in the Z-axis direction.

[0063] In the present invention, in the above-mentioned state, the surgical instrument can be disposed below the fifth link.

[0064] In the present invention, in the above-described state, the link does not have to be disposed between the surgical instrument and the bed.

[0065] In the present invention, the extension line connecting the third joint and the RCM and the first yaw axis may be formed not parallel to each other but at a predetermined angle.

[0066] Other aspects, features, and advantages in addition to those described above will become apparent from the following drawings, claims, and detailed description of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0067] Since the present invention can be modified in various ways and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail. However, this does not limit the present invention to the specific embodiments, and it should be understood that the present invention includes all modifications, equivalents, or alternatives that fall within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may interfere with the gist of the present invention, the detailed description will be omitted.

[0068] Terms such as "first" and "second" may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0069] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0070] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0071] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment does not need to be interpreted or implemented independently, and that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments that are described separately.

[0072] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0073] FIG. 66 shows a surgical robot arm.

[0074] As shown in Figure 66, a surgical robot arm 3500 generally has one or more robotic arms extending from a single tower. In such a configuration, in the case of a surgery in which a surgical instrument 3200 is to be inserted horizontally relative to the plane of the operating table on which the patient is lying, the tower 3510 is positioned opposite the surgical site of the patient, the surgical robot arm 3500 is deployed to extend from the tower 3510 so as to cover the upper part of the patient's body, and the surgical instrument 3200 is then positioned in the opposite direction so as to face the patient again. Therefore, there are drawbacks to deploying multiple robotic arms above the patient, and the surgical robot arm 3500 may have drawbacks such as increased vibration and weak rigidity due to its long extension from the tower 3510, which serves as its support base.

[0075] To solve this problem, as shown in Figure 1, each robot arm can be modularized, and each module can be placed near the surgical site with the instruments facing the patient.

[0076] However, as in the case of Figure 1, when one of the rotation axes (yaw axis) of the multiple rotation axes that rotate the surgical instrument coincides with the instrument roll axis, which corresponds to the extension line of the instrument, a gimbal lock phenomenon may occur, in which the expected movement (yaw movement) of the surgical instrument when the one rotation axis (yaw axis) is rotated becomes impossible. In particular, when the instrument is placed horizontally, a situation that corresponds to the gimbal lock phenomenon may frequently occur when the yaw axis is placed horizontally.

[0077] To solve this problem, the present invention is characterized by arranging the yaw axis in a direction other than horizontal (for example, in a direction inclined relative to the horizontal plane) so that gimbal lock does not occur even when the instruments are arranged horizontally, thereby preventing gimbal lock from occurring even when the surgical instruments that are primarily used are arranged, and as a result, making it possible to make the overall surgical robot configuration more compact.

[0078] The present invention is also characterized in that the surgical robot is formed in a modular fashion, with one surgical instrument deployed from the main body of one surgical robot arm. It is also characterized in that it includes a plurality of modular surgical robot arms, each equipped with one surgical instrument. Each of these surgical robot arms is positioned near a respective one of the patient's ports, thereby shortening the overall length of the deployed surgical robot arm, reducing vibration and increasing rigidity.

[0079] Furthermore, in the present invention, as shown in FIG. 9(b) and other figures, the fourth link 150 and the fifth link 160 are arranged side by side (when viewed from the XY plane) and are formed so that they overlap (when viewed from the XZ plane). This prevents the rotation of the fourth link from being restricted by other links, such as the fifth link, as shown in FIG. 17, allowing the instrument's direction of movement to point upward beyond the horizontal, thereby increasing the instrument's range of motion. This prevents gimbal lock from occurring even in frequently performed surgeries in which instruments are positioned horizontally, and provides the effect of allowing the instrument to move within a sufficient range. This will be described in more detail below.

[0080] FIG. 2 is a conceptual diagram of a surgical robot arm according to each embodiment of the present invention.

[0081] In detail, Fig. 2(a) is a conceptual diagram of a case where the yaw axis is arranged horizontally. That is, the yaw axis is arranged on the XY plane. In this case, it may be difficult to perform the operation of pointing the instrument from bottom to top.

[0082] On the other hand, Figure 2(b) is a conceptual diagram of a surgical robot arm according to the first embodiment of the present invention. In the case of Figure 2(b), one yaw axis is formed in a direction different from the horizontal direction, more specifically, when viewed from the YZ plane, the yaw axis is formed at an angle pointing from bottom to top. This configuration prevents gimbal lock from occurring even when the surgical instruments are arranged horizontally, which is the most common arrangement, and as a result, the overall surgical robot configuration can be made more compact.

[0083] FIG. 2(c) is a conceptual diagram of a surgical robot arm according to a second embodiment of the present invention. The surgical robot arm shown in FIG. 2(c) is characterized by the inclusion of two yaw axes. Specifically, the first yaw axis (Y1) is tilted from bottom to top when viewed from the YZ plane, rather than from the horizontal. Furthermore, the second yaw axis (Y2), the other yaw axis, is positioned horizontally on the XY plane. Having two yaw axes like this offers the advantage of being able to use one of the two yaw axes to prevent gimbal lock from occurring regardless of the position of the surgical robot arm. Furthermore, using one of the two yaw axes as a positioning arm offers the advantage of easier module positioning and surgical configuration.

[0084] The specific configuration of each embodiment will be described in more detail in each embodiment.

[0085] <First embodiment of surgical robot arm>

[0086] The first embodiment of the present invention will be described below with reference to the accompanying drawings.

[0087] FIG. 3 is a perspective view showing a surgical robot arm according to a first embodiment of the present invention, and FIG. 4 is a plan view of the surgical robot arm of FIG. 3. FIG. 5 is a diagram showing an example in which a link-structured RCM mechanism is applied to the surgical robot arm of FIG. 2, and FIG. 6 is a diagram showing the operating state of the link-structured RCM mechanism. FIG. 7 is a diagram showing an example in which a belt-structured RCM mechanism is applied to the surgical robot arm of FIG. 2, and FIG. 8 is a diagram showing the operating state of the belt-structured RCM mechanism. FIGS. 9 to 11 are side and plan views showing the RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 3. FIGS. 12 to 14 are perspective views showing the RCM motion (yaw movement) about the first yaw axis Y1 of the surgical robot arm of FIG. 3. FIG. 15 is a diagram showing a state in which the fifth link of the surgical robot arm of FIG. 3 and the surgical instruments coupled thereto are arranged in parallel, and FIG. 16 is a diagram showing the surgical robot arm shown in FIG. 15 positioned near a surgical site on a patient, with the surgical instruments facing the patient. FIG. 17 is a diagram showing a state in which the end tool of the surgical instrument coupled to the fifth link of the surgical robot arm of FIG. 3 is positioned so as to face up from below.

[0088] 3 and 4, a surgical robotic arm 100 according to a first embodiment of the present invention includes a main body 110, a base link 115, a yaw drive assembly 105, a third link 140, a fourth link 150, and a fifth link 160. Here, the yaw drive assembly 105 may include a first link 120 and a second link 130. The surgical robotic arm 100 may also include a first joint 171, a second joint 172, a third joint 173, a fourth joint 174, and a fifth joint 175. A trocar 300 and a surgical instrument 200 are coupled to the fifth link 160 of the surgical robotic arm 100.

[0089] Here, the third link 140, the fourth link 150, and the fifth link 160 form a parallelogram to constitute a kind of "RCM (remote center of motion)" mechanism.

[0090] In particular, a surgical robot includes one or more surgical robot arms for surgical operations, and surgical instruments are attached to the tips of the surgical robot arms.

[0091] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist and can attach a predetermined tool to the wrist. In this specification, the term "robot arm" can be defined as a concept that encompasses all components such as the upper arm, lower arm, wrist, and elbow, as well as surgical instruments attached to the wrist. Such a surgical robotic arm can be realized to have multiple degrees of freedom.

[0092] When surgical instruments are attached to the tip of a surgical robotic arm, the surgical instruments move along with the movement of the surgical robotic arm, which can cause unnecessary damage to the patient's skin in the process of perforating the patient's skin and inserting the surgical instruments. Furthermore, if the surgical area is large, the skin must be incised only along the path of the surgical instruments, or perforated for each surgical area, potentially negating the benefits of robotic surgery.

[0093] Therefore, a virtual center of rotation is set at a predetermined position of the surgical instrument attached to the tip of the surgical robot arm (mainly the pivot point where the trocar penetrates the patient's skin), and the robot arm is controlled so that the instrument rotates around this point; this virtual center point is called the "remote center of motion" or "RCM (remote center of motion)." The RCM mechanism of the present invention will be described in more detail later.

[0094] Each component of the surgical robot arm 100 according to the first embodiment of the present invention will be described in more detail below.

[0095] In this embodiment, for convenience, the width direction of the bed on which the patient lies is defined as the X axis, the longitudinal direction of the bed as the Y axis, and the direction perpendicular to the ground as the Z axis.

[0096] The main body 110 serves as the base of the entire surgical robot arm 100. Here, a moving means (not shown) such as wheels is formed on the underside of the main body 110, so that the main body 110 can also serve as a type of moving member. In addition, a position fixing means (not shown) may be further formed on the main body 110, so that the position of the main body 110 can be fixed during surgery. However, the concept of the present invention is not limited thereto, and it can be said that the main body 110 may be formed in a shape that can be attached and detached to a bed or a wall.

[0097] A base link 115 may be formed on one surface, for example, the upper surface, of the body 110. The base link 115 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0098] Specifically, the base link 115 may be formed in the shape of a bent plate or wedge, with one region connected to the upper surface of the main body 110 and the other bent region inclined relative to the upper surface of the main body 110. Here, the base link 115 may be formed inclined to a certain degree (e.g., 30°) relative to the horizontal plane rather than at a right angle, and the first yaw axis Y1 passing through the base link 115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction). This will be described in more detail later.

[0099] On the other hand, the yaw drive assembly 105 is rotatably coupled to the base link 115 .

[0100] Specifically, the yaw drive assembly 105 may include a first link 120 and a second link 130. The yaw drive assembly 105 is connected to the base link 115 by a first joint 171 and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 115. The first link 120 is connected to the base link 115 by the first joint 171 and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 115. One end of the second link 130 is fixedly connected to the first link 120, and the other end is connected to a third link 140, which will be described in detail later.

[0101] The first joint 171 rotatably connects the base link 115 and the first link 120. Specifically, the first joint 171 is configured so that the first link 120 yaws around a first yaw axis Y1 that passes through an RCM (Remote Center of Motion). Although not shown in the drawings, the first joint 171 may include a motor for rotating the first link 120.

[0102] Here, the first yaw axis Y1 may be formed in an oblique direction that is not parallel to the X-axis, Y-axis, or Z-axis. Specifically, an extension line connecting the third joint 173 and the RCM, which will be described in detail later, and the first yaw axis Y1 may be formed to be different from each other, and the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 may be formed to intersect with each other at the RCM. In this case, the RCM, which will be described in detail later, may be located on the extension line of the first yaw axis Y1. In other words, the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 may be formed to be not parallel to each other but to form a predetermined angle with each other. By forming the RCM to be located on the extension line of the first yaw axis Y1 in this way, the position and orientation of the RCM relative to the base link 115 are maintained constant regardless of the amount of yaw rotation of the first link 120 relative to the base link 115.

[0103] Here, as described above, the base link 115 may be formed at a certain angle (e.g., 30°) rather than at a right angle, and the first yaw axis Y1 passing through the base link 115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction). Also, the extension line connecting the third joint 173 and the RCM may be formed to be different from the first yaw axis Y1.

[0104] From another perspective, this can be expressed as the height of the RCM in the Z-axis direction being higher than the height of the point in the base link 115 where the first yaw axis Y1 passes through (i.e., the first joint 171).

[0105] From another perspective, this can be expressed as the height in the Z-axis direction of the first yaw axis Y1 at the distal portion 102 of the surgical robot arm 100 being higher than the height in the Z-axis direction of the first yaw axis Y1 at the proximal portion 101 of the surgical robot arm 100. Here, in the surgical robot arm 100, the main body 110 or an area adjacent to the main body 110 can be defined as the proximal end 101, and the area farthest from the main body 110, for example, the end of the surgical instrument 200 on the end tool 210 side of the fifth link 160, can be defined as the distal end 102.

[0106] From another perspective, this can also be expressed as the base link 115 being formed at an angle relative to the horizontal plane, with the central axis of the base link 115 coinciding with the first yaw axis Y1.

[0107] In this way, by forming the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 to be different from each other, it becomes possible to position the fifth link 160 and the surgical instrument 200 horizontally without the gimbal lock phenomenon occurring.

[0108] When the first link 120 rotates about the first yaw axis Y1 relative to the base link 115, the second link 140, the third link 140, the fourth link 150, the fifth link 160, and the surgical instrument 200 connected to the first link 120 also rotate about the first yaw axis Y1 together with the first link 120. Therefore, the coordinate systems of each link and the surgical instrument 200 are not fixed but continue to change relative to each other as the first link 120 rotates. That is, in FIG. 3 and other drawings, the second link 130 is shown parallel to the X-axis. However, when the first link 120 rotates, the coordinate systems of the second link 130 and each link connected thereto also rotate. However, for convenience of explanation, this specification will be described based on the second link 130 being positioned parallel to the X-axis, as shown in FIG. 3, unless otherwise specified.

[0109] Meanwhile, the second joint 172 connects the first link 120 and the second link 130. In this case, the first link 120 and the second link 130 are fixedly connected, and the relative position of the second link 130 with respect to the first link 120 can be constant. That is, the first link 120 and the second link 130 can operate together as a single unit. Here, in the drawings, the first link 120 and the second link 130 are shown as being formed of separate members and fixedly connected to each other, but the concept of the present invention is not limited thereto, and it can be said that the first link 120 and the second link 130 can also be formed as a single unit and function as the yaw drive assembly 105.

[0110] Here, the second link 130 of the first embodiment of the present invention can be formed parallel to a horizontal plane. Alternatively, the second link 130 may be formed substantially parallel to the fourth link 150, which will be described in detail later. Alternatively, the second link 130 may be disposed on an extension line between the third joint 173 and the RCM, or may be disposed parallel to this extension line.

[0111] In this case, the second joint 172 may include a motor and may be connected to the third joint 173 by a belt, a wire, or the like. Therefore, the driving force of the second joint 172 may be transmitted to the third joint 173. Alternatively, the second joint 172 may not include a motor, and the third joint 173 may be configured to include a motor.

[0112] The third link 140 is axially coupled to the second link 130 so as to be rotatable about a third joint 173. Here, the third joint 173 may include one or more pulleys.

[0113] The fourth link 150 is axially coupled to the third link 140 so as to be rotatable about a fourth joint 174. Here, the fourth joint 174 may include one or more pulleys.

[0114] The fifth link 160 is axially coupled to the fourth link 150 so as to be rotatable about a fifth joint 175. Here, the fifth joint 175 may include one or more pulleys.

[0115] A surgical instrument 200 is coupled to the fifth link 160. At least a portion of the surgical instrument 200 is formed to be rotatable around a roll axis (i.e., a shaft axis) and is also formed to be capable of reciprocating linear motion along the roll axis R relative to the fifth link 160. Here, the roll axis R of the surgical instrument 200 is formed to pass through the RCM.

[0116] Meanwhile, although not shown in the figure, the fifth link 160, which is the instrument mounting link, is formed with an instrument mounting portion (not shown) and a guide rail (not shown), and with the surgical instrument 200 attached to the instrument mounting portion (not shown), the instrument mounting portion (not shown) can move linearly along the guide rail (not shown) formed in the direction of the roll axis R. To achieve this linear movement, the instrument mounting portion (not shown) may be provided with a linear actuator (not shown).

[0117] A surgical instrument 200 can be attached to the instrument attachment portion (not shown) of the fifth link 160 of such a surgical robot arm 100.

[0118] Meanwhile, the instrument mounting portion (not shown) may further include an interface portion (not shown) for connecting with the surgical instrument 200 to control the movement of the surgical instrument 200. The interface portion (not shown) may include components for connecting with the drive portion of the surgical instrument 200 and a motor for transmitting driving force from the surgical robot arm 100 to the surgical instrument 200. This interface portion (not shown) allows the end tool of the surgical instrument 200 to perform pitch, yaw, and actuation movements. Furthermore, this interface portion (not shown) allows the shaft and end tool of the surgical instrument 200 to perform roll movement around the roll axis R.

[0119] Meanwhile, the trocar 300, which serves as an insertion passage for inserting the surgical instrument 200 into the patient's body, can be coupled to the fifth link 160, which is an instrument mounting link. With the trocar 300 inserted into the body, the surgical instrument 200 can be inserted into the patient's body through the trocar 300. An RCM can be formed at a predetermined position on the trocar 300. As described above, the first yaw axis Y1 of the base link 115 can be formed to pass through this RCM.

[0120] The surgical instrument 200 may further include a driving unit (not shown). The driving unit (not shown) may include components for coupling with the interface unit (not shown) and a driving wheel that operates by meshing with the motor. As such, the interface unit (not shown) and the driving unit (not shown) are respectively provided with corresponding coupling means and drive transmission means, so that the surgical instrument 200, attached to the fifth link 160, receives driving force from the surgical robot arm 100 and operates.

[0121] Here, the third joint 173, the fourth joint 174, the fifth joint 175, and the RCM can be the four vertices of a parallelogram, that is, the third joint 173, the fourth joint 174, the fifth joint 175, and the RCM can form one parallelogram.

[0122] In detail, when there are three vertices, the third joint 173, the fourth joint 174, and the fifth joint 175, the position of the remaining point RCM of the parallelogram containing these three vertices will be automatically determined.

[0123] When the third link 140 rotates around the third joint 173 while the position of the third joint 173 is fixed, the third link 140 and the fifth link 160 rotate while maintaining a parallel state due to the RCM mechanism such as a link / belt, which will be described in detail later, and the extension line connecting the third joint 173 and the RCM and the fourth link 150 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 140.

[0124] With this configuration, once the surgical robot arm is set up, the RCM always maintains its position. Furthermore, when each link rotates around the RCM, the parallelogram is maintained regardless of the position of each link. In other words, with the main body 110 and base link 115 fixed, the position of the RCM remains unchanged regardless of the positions of the third link 140 to the fifth link 160, and the third joint 173, the fourth joint 174, the fifth joint 175, and the RCM maintain the parallelogram.

[0125] In this way, to maintain RCM, the fourth joint 174 and the fifth joint 175 are rotatably connected to the third joint 173. Various power transmission devices such as belts, wires, links, etc. can be used to connect the third joint 173, the fourth joint 174, and the fifth joint 175.

[0126] For example, the rotation of the third joint 173 and the fourth joint 174 may be linked by a belt, so that when the third link 140 rotates relative to the second link 130, the fourth link 150 rotates relative to the third link 140. At the same time, the rotation of the fourth joint 174 and the fifth joint 175 may be linked by a belt, so that when the fourth link 150 rotates relative to the third link 140, the fifth link 160 rotates relative to the fourth link 150. With this configuration, as a result, the line segment connecting the third joint 173 and the fourth joint 174 and the line segment connecting the fifth joint 175 and the RCM can always be maintained parallel to each other. Furthermore, the line segment connecting the third joint 173 and the RCM and the line segment connecting the fourth joint 174 and the fifth joint 175 can also always be maintained parallel to each other.

[0127] (Meanwhile, although not shown in the drawings, a configuration is also possible in which the second link 130 and the third joint 173 are not provided, and the first link 120 and the third link 140 are directly connected by the second joint 172.)

[0128] On the other hand, the first embodiment of the present invention is characterized in that the links, particularly the second link 130, the third link 140, the fourth link 150, and the fifth link 160, are arranged side by side without overlapping each other, so that no collision occurs when one link rotates relative to the other links, and one link does not interfere with the rotation of the other links, thereby widening the driving range of each link.

[0129] 9(b), which is a plan view of a surgical robot arm 100 according to an embodiment of the present invention, the second link 130, the third link 140, the fourth link 150, and the fifth link 160 are formed so as to be offset to a certain degree in the direction of their rotational axis (i.e., the Y-axis direction) when viewed from the XY plane. That is, in the Y-axis direction, the third link 140 is disposed on one side of the second link 130, the fourth link 150 is disposed on one side of the third link 140, and the fifth link 160 is disposed on one side of the fourth link 150. In other words, the second link 130, the third link 140, the fourth link 150, and the fifth link 160 can be expressed as being disposed in this order along the Y-axis direction.

[0130] In particular, since the fifth link 160 to which the surgical instrument 200 is attached is positioned at a certain offset relative to the fourth link 150, there is no restriction on the rotation angle of the fifth link 160 (and the surgical instrument 200 connected thereto) relative to the fourth link 150, and the effect of being able to rotate freely is obtained.

[0131] On the other hand, from another perspective, this can be expressed as the links being formed so as not to interfere with the rotation of other links, and therefore at least a portion of each link can overlap with each other in the direction of the first yaw axis Y1. That is, when the surgical robot arm 100 is folded to a certain extent as shown in Figure 11, the second link 130 and the third link 140 are arranged to overlap with each other to a certain extent in the direction of the first yaw axis Y1, the third link 140 and the fourth link 150 are arranged to overlap with each other to a certain extent, and the fourth link 150 and the fifth link 160 are arranged to overlap with each other to a certain extent.

[0132] On the other hand, one feature of the first embodiment of the present invention is that the surgical instrument 200 coupled to the fifth link 160 is arranged to face outward from the surgical robot arm 100.

[0133] Specifically, the surface of the fifth link 160 where the instrument attachment portion is formed, in other words, the surface to which the surgical instrument 200 is coupled, is considered to be the first surface, and the opposite side is considered to be the second surface.

[0134] At this time, the surgical instrument 200 coupled to the fifth link 160 is positioned so that the first surface faces in a direction away from the main body 110, with the end tool 210 of the surgical instrument 200 facing vertically downward. In other words, the surgical instrument 200 coupled to the first surface of the fifth link 160 is positioned farther from the main body 110 than the fifth link 160.

[0135] On the other hand, the surgical instrument 200 coupled to the fifth link 160 is horizontal and is disposed so that the first surface faces upward with the end tool 210 disposed in a direction away from the main body 110. In other words, the surgical instrument 200 coupled to the first surface of the fifth link 160 is disposed above the fifth link 160.

[0136] (RCM conceptual diagram - link structure)

[0137] As an example of the RCM mechanism of the present invention, a link structure can be applied.

[0138] FIG. 5 is a diagram showing an example in which an RCM mechanism with a link structure is applied to the surgical robot arm of FIG. 2, and FIG. 6 is a diagram showing the operating state of the RCM mechanism with a link structure.

[0139] In the case of such a link structure, the surgical robot arm 100 according to the first embodiment of the present invention includes a first link 120, a second link 130, a third link 140, a fourth link 150, and a fifth link 160. The surgical robot arm 100 further includes a third-1 link 140-1 and a fourth-1 link 150-1. The surgical robot arm 100 may also include a first joint 171, a second joint 172, a third joint 173, a fourth joint 174, and a fifth joint 175.

[0140] First, when the third link 140 rotates relative to the second link 130 around the third joint 173, the fourth link 150 and the 3-1 link 140-1, which form a parallelogram, rotate together. At this time, the parallelogram is maintained even when the links rotate, so the third link 140 and the 3-1 link 140-1 remain parallel to each other regardless of the rotation state.

[0141] On the other hand, when the fourth link 150 rotates relative to the third link 140 around the fourth joint 174, the third link 140, the fifth link 160, and the fourth-first link 150-1, which form a parallelogram, rotate together. In this case, the parallelogram is maintained even when the links rotate, and therefore the fourth link 150 and the fourth-first link 150-1 remain parallel in any rotation state.

[0142] In this way, in conjunction with the rotation of the third link 140 around the third joint 173, the fourth link 150 also rotates relative to the third link 140, and the extension line connecting the third joint 173 and the RCM and the fourth link 150 remain parallel to each other.

[0143] Similarly, in conjunction with the rotation of the fourth link 150 relative to the third link 140, the fifth link 160 also rotates relative to the fourth link 150, and the third link 140 and the fifth link 160 remain parallel to each other.

[0144] As a result, the RCM remains constant under all operating conditions.

[0145] (RCM conceptual diagram - belt structure)

[0146] As an example of the RCM mechanism of the present invention, a belt structure can be applied.

[0147] FIG. 7 is a diagram showing an example in which an RCM mechanism with a belt structure is applied to the surgical robot arm of FIG. 2, and FIG. 8 is a diagram showing the operating state of the RCM mechanism with a belt structure.

[0148] In the case of such a belt structure, the surgical robot arm 100 according to the first embodiment of the present invention includes a first link 120, a second link 130, a third link 140, a fourth link 150, and a fifth link 160.

[0149] The surgical robot arm 100 may also include a first joint 171, a second joint 172, a third joint 173, a fourth joint 174, and a fifth joint 175. Here, the second joint 172 may include a pulley 192, the third joint 173 may include a pulley 193-1 and a pulley 193-2, the fourth joint 174 may include a pulley 194-1 and a pulley 194-2, and the fifth joint 175 may include a pulley 195.

[0150] Here, pulleys 192, 193-1, 194-1, and 195 may be rotating pulleys that rotate around their central axes, while pulleys 193-2 and 194-2 may be fixed pulleys that do not rotate.

[0151] The surgical robot arm 100 may also include a first belt 181, a second belt 182, and a third belt 183.

[0152] Here, the first belt 181 can connect the pulley 192 and the pulley 193-1. The second belt 182 can connect the pulley 193-2 and the pulley 194-1. The third belt 183 can connect the pulley 194-2 and the pulley 195.

[0153] Here, pulley 192, which is a rotating pulley, may be connected to a motor (not shown) and configured to be rotatable relative to second link 130. Each pulley and the belt are fixedly connected at one or more points, and it can be assumed that no slippage occurs.

[0154] First, pulley 193-1, which is a rotating pulley, is formed to be rotatable relative to second link 130 and is formed integrally with third link 140. Therefore, when pulley 193-1 rotates relative to second link 130, third link 140, which is integral with pulley 193-1, rotates relative to second link 130.

[0155] On the other hand, the pulley 193-2, which is a fixed pulley, is formed integrally with the second link 130.

[0156] On the other hand, pulley 194-1, which is a rotating pulley, is formed to be rotatable relative to the third link 140 and is formed integrally with the fourth link 150. Therefore, when pulley 194-1 rotates relative to the third link 140, the fourth link 150, which is integral with pulley 194-1, rotates relative to the third link 140.

[0157] On the other hand, the pulley 194-2, which is a fixed pulley, is formed integrally with the third link 140.

[0158] On the other hand, pulley 195, which is a rotating pulley, is formed to be rotatable relative to fourth link 150 and is formed integrally with fifth link 160. Therefore, when pulley 195 rotates relative to fourth link 150, fifth link 160, which is integral with pulley 195, rotates relative to fourth link 150.

[0159] In this case, the two pulleys bound by one belt must have the same diameter to maintain RCM, i.e., {diameter of pulley 192 = diameter of pulley 193-1}, {diameter of pulley 193-2 = diameter of pulley 194-1}, {diameter of pulley 194-2 = diameter of pulley 195}.

[0160] The operation of such a belt structure RCM mechanism will now be described.

[0161] First, when pulley 192 connected to a motor (not shown) rotates, pulley 193-1 connected to pulley 192 via belt 181 also rotates.

[0162] When the pulley 193-1 rotates, the third link 140, which is formed integrally with the pulley 193-1, rotates relative to the second link .

[0163] At this time, the third link 140 rotates relative to the second link 130 while the pulley 193-2 is fixed relative to the second link 130, so that the belt 182 rotates relative to the pulley 193-2.

[0164] When the belt 182 rotates, the pulley 194-1 rotates relative to the third link 140, and when the pulley 194-1 rotates, the fourth link 150, which is integral with the pulley 194-1, rotates relative to the third link 140.

[0165] In this way, in conjunction with the rotation of the third link 140 relative to the second link 130, the fourth link 150 also rotates relative to the third link 140, and the extension line connecting the third joint 173 and the RCM and the fourth link 150 remain parallel to each other.

[0166] Then, with the pulley 194-2 fixed to the third link 140, the fourth link 150 rotates relative to the third link 140, so that the belt 183 rotates relative to the pulley 194-2.

[0167] When the belt 183 rotates, the pulley 195 rotates relative to the fourth link 150 , and when the pulley 195 rotates, the fifth link 160 that is integral with the pulley 195 rotates relative to the fourth link 150 .

[0168] In this way, in conjunction with the rotation of the fourth link 150 relative to the third link 140, the fifth link 160 also rotates relative to the fourth link 150, and the third link 140 and the fifth link 160 remain parallel to each other.

[0169] As a result, the RCM remains constant under all operating conditions.

[0170] (Operation of surgical robot arm)

[0171] 9 to 11 are side views and plan views showing the RCM motion (pitching operation) about the pitch axis P of the surgical robot arm of FIG.

[0172] As shown in Figures 9, 10, and 11, when a motor (not shown) is driven, the third link 140 rotates relative to the second link 130 around the third joint (see 173 in Figure 4). In conjunction with this, the fourth link 150 rotates relative to the third link 140, and the fifth link 160 rotates relative to the fourth link 150. At this time, due to the structure of the belts, links, etc. described above, the extension line connecting the third joint 173 and the RCM and the fourth link 150 are maintained in a parallel state, and the third link 140 and the fifth link 160 are maintained in a parallel state. In other words, the RCM is maintained constant regardless of the operating state of the surgical robot arm 100 around the pitch axis P.

[0173] On the other hand, as shown in the plan views of each figure, the second link 130, the third link 140, the fourth link 150, and the fifth link 160 can be arranged so as to be adjacent to each other without overlapping with each other in the Y-axis direction.

[0174] *240

[0175] 12 to 14 are perspective views showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG.

[0176] 12, 13, and 14, when a motor (not shown) is driven, the first link 120 of the yaw drive assembly 105 rotates about the first yaw axis Y1 relative to the base link 115. At this time, since the first yaw axis Y1 passes through the RCM, the RCM remains constant regardless of the angle by which the first link 120 rotates relative to the base link 115.

[0177] FIG. 15 is a diagram showing a state in which the fifth link 160 of the surgical robot arm 100 in FIG. 3 and the surgical instrument 200 coupled thereto are arranged in parallel.

[0178] As described above, in the surgical robot arm 100 according to the first embodiment of the present invention, the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 are formed to be different from each other, which makes it possible to position the fifth link 160 and the surgical instrument 200 connected thereto in a horizontal direction without causing a gimbal lock phenomenon.

[0179] FIG. 16 is a diagram showing the surgical robot arm 100 shown in FIG. 15 placed near the surgical site of a patient, with the surgical instruments 200 positioned so as to face the patient.

[0180] As described above, in the surgical robot arm 100 according to the first embodiment of the present invention, each robot arm is formed modularly, and the fifth link 160 and the surgical instrument 200 coupled thereto can be arranged in parallel. Therefore, each modular surgical robot arm 100 can be arranged near the surgical site on the patient, and the surgical instrument 200 can be arranged facing the patient.

[0181] FIG. 17 is a diagram showing a state in which the end tool 210 of the surgical instrument 200 coupled to the fifth link 160 of the surgical robot arm 100 of FIG. 3 is positioned so that it faces upward.

[0182] As described above, in the surgical robot arm 100 according to the first embodiment of the present invention, the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 are formed so as to intersect with each other at the RCM, so that the surgical instruments 200 can be positioned so that they face upward beyond the horizontal direction.

[0183] In this first embodiment of the present invention, the extension line connecting the third joint 173 and the RCM and the first yaw axis Y1 are formed to be different from each other, which makes it possible to arrange the fifth link 160 and the surgical instrument 200 connected thereto in a horizontal direction without causing the gimbal lock phenomenon. Furthermore, it is also possible to arrange the surgical instrument 200 so that it faces upward beyond the horizontal direction.

[0184] In addition, by arranging each link with a certain degree of offset, the rotational movement of each link is not restricted by other links, and the moving direction of the instrument can be directed upward beyond the horizontal direction, thereby increasing the movable range of the instrument. As a result, even in the case of frequently performed surgeries in which the instrument is positioned horizontally, gimbal lock does not occur and the instrument can move within a sufficient range.

[0185] <Second embodiment of surgical robot arm>

[0186] A surgical robot arm 500 according to a second embodiment of the present invention will be described below. The surgical robot arm 500 according to the second embodiment of the present invention is characterized by the number of yaw axes and the resulting configuration of the yaw drive assembly 505, as compared to the surgical robot arm according to the first embodiment of the present invention (see 100 in Figure 3, etc.). These differences from the first embodiment will be described in detail later.

[0187] FIG. 18 is a perspective view showing a surgical robot arm according to a second embodiment of the present invention, illustrating an RCM motion (yaw operation) about the first yaw axis Y1.

[0188] 18, a surgical robot arm 500 according to a second embodiment of the present invention includes a main body 510, a base link 515, a yaw drive assembly 505, a third link 540, a fourth link 550, and a fifth link 560. Here, the yaw drive assembly 505 may include a first link 520, a second link 530, and a sixth link 570. Similarly to the first embodiment of FIG. 3, the surgical robot arm 500 of this embodiment may include a first joint (see 171 in FIG. 4), a second joint (see 172 in FIG. 4), a third joint (see 173 in FIG. 4), a fourth joint (see 174 in FIG. 4), and a fifth joint (see 175 in FIG. 4). The surgical robot arm 500 of this embodiment may further include a sixth joint 576. A trocar 300 and a surgical instrument 200 are coupled to the fifth link 560 of the surgical robot arm 500.

[0189] Here, the main body 510 serves as the base of the entire surgical robotic arm 500.

[0190] Meanwhile, a base link 515 may be formed on one surface, for example, the upper surface, of the main body 510. The base link 515 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0191] Meanwhile, the yaw drive assembly 505 is rotatably coupled to the base link 515. The yaw drive assembly 505 is coupled to the base link 515 by a first joint (see 171 in FIG. 4) and is configured to be rotatable in yaw direction relative to the base link 515 around a first yaw axis Y1.

[0192] Here, the yaw drive assembly 505 may include a first link 520 and a second link 530. Furthermore, the yaw drive assembly 505 of the surgical robot arm 500 according to the second embodiment of the present invention may further include a sixth link 570 connecting the first link 520 and the second link 530. This will be described in more detail later.

[0193] The third link 540 is axially coupled to the second link 530 so as to be rotatable about a third joint (see 173 in FIG. 4), where the third joint (see 173 in FIG. 4) may include one or more pulleys.

[0194] The fourth link 550 is axially coupled to the third link 540 so as to be rotatable about a fourth joint (see 174 in FIG. 4), where the fourth joint (see 174 in FIG. 4) may include one or more pulleys.

[0195] The fifth link 560 is axially coupled to the fourth link 550 so as to be rotatable about a fifth joint (see 175 in FIG. 4), where the fifth joint (see 175 in FIG. 4) may include one or more pulleys.

[0196] The surgical instrument 200 is coupled to the fifth link 560 .

[0197] In this case, the third link 540, the fourth link 550, and the fifth link 560 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 540 rotates around the third joint (see 173 in FIG. 4) with the position of the third joint fixed, the third link 540 and the fifth link 560 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 173 in FIG. 4) and the RCM and the fourth link 550 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 540.

[0198] The surgical robot arm 500 according to the second embodiment of the present invention is characterized by having two yaw axes, a first yaw axis Y1 and a second yaw axis Y2. That is, the first yaw axis Y1 and the second yaw axis Y2 are rotatable independently of each other, and when the roll axis R and the first yaw axis Y1 coincide, the robot performs yaw movement around the second yaw axis Y2. When the roll axis R and the second yaw axis Y2 coincide, the robot performs yaw movement around the first yaw axis Y1. This will be described in more detail below.

[0199] The yaw drive assembly 505 of the surgical robotic arm 500 according to the second embodiment of the present invention may include a first link 520 and a second link 530. Furthermore, the yaw drive assembly 505 of the surgical robotic arm 500 according to the second embodiment of the present invention may further include a sixth link 570 connecting the first link 520 and the second link 530.

[0200] The yaw drive assembly 505 is coupled to the base link 515 by a first joint (see 171 in FIG. 4), and is configured to be rotatable in a yaw direction relative to the base link 515 around a first yaw axis Y1.

[0201] Here, the first link 520 is connected to the base link 515 by a first joint (see 171 in FIG. 4) and is configured to be rotatable in yaw about a first yaw axis Y1 relative to the base link 515. Here, the RCM may be located on an extension of the first yaw axis Y1.

[0202] Meanwhile, the sixth link 570 is connected to the first link 520 by a sixth joint 576 and is configured to be rotatable in a yaw direction relative to the first link 520 around a second yaw axis Y2.

[0203] Meanwhile, the second link 530 has one end fixedly connected to the sixth link 570 and the other end connected to the third link 540 .

[0204] Here, the RCM may be located on an extension of the second yaw axis Y2. In other words, the extension of the first yaw axis Y1 and the extension of the second yaw axis Y2 may meet at the RCM. In this case, the first link 520 formed to be rotatable in a yaw direction around the first yaw axis Y1 and the sixth link 570 formed to be rotatable in a yaw direction around the second yaw axis Y2 may be formed to be rotatable independently of each other.

[0205] With this configuration, the yaw movement of this embodiment may be performed by the first link 520 yaw rotating relative to the base link 515 around the first yaw axis Y1, or by the sixth link 570 yaw rotating relative to the first link 520 around the second yaw axis Y2.

[0206] In other words, it is equipped with a first yaw axis Y1 and a second yaw axis Y2 that can rotate independently of each other, and when the roll axis R and the first yaw axis Y1 coincide, it performs yaw movement around the second yaw axis Y2, and when the roll axis R and the second yaw axis Y2 coincide, it performs yaw movement around the first yaw axis Y1.

[0207] In this way, by providing two yaw axes, if one yaw axis coincides with the roll axis and there is a risk of gimbal lock occurring, the other yaw axis can be used to perform yaw movement. Therefore, regardless of the operating state of each link of surgical robot arm 500, it is possible to achieve the effect of performing the desired operation without the occurrence of gimbal lock.

[0208] 18 is a perspective view showing RCM motion (yaw movement) about the first yaw axis Y1 of the surgical robot arm 500 according to the second embodiment of the present invention. Here, Fig. 18 shows a state in which neither the first yaw axis Y1 nor the second yaw axis Y2 coincides with the roll axis R. In this case, the first link 520 can be rotated relative to the base link 515 about the first yaw axis Y1 to perform yaw movement.

[0209] Figure 19 is a perspective view showing RCM motion (yaw movement) about the second yaw axis (Y2) of the surgical robot arm of Figure 18. Like Figure 18, Figure 19 also shows a state in which neither the first yaw axis Y1 nor the second yaw axis Y2 coincides with the roll axis R. In this case, yaw movement can also be performed by rotating the sixth link 570 relative to the first link 520 about the second yaw axis Y2.

[0210] 20 is a plan view and a side view showing the surgical robot arm 500 after being rotated approximately 90° about the second yaw axis Y2 in FIG. 19(b). As described above, the surgical robot arm 500 according to the second embodiment of the present invention is equipped with two yaw axes, enabling a wider variety of operating states for the surgical robot arm 500.

[0211] Figure 21 is a perspective view showing RCM motion (yaw movement) about the second yaw axis Y2 of the surgical robot arm of Figure 18. Here, Figure 21 shows a state in which the second yaw axis Y2 coincides with the roll axis R. In this case, yaw movement can be performed by rotating the first link 520 relative to the base link 515 about the first yaw axis Y1.

[0212] Figure 22 is a perspective view showing RCM motion (yaw movement) about the first yaw axis Y1 of the surgical robot arm of Figure 18. Here, Figure 22 shows a state in which the first yaw axis Y1 coincides with the roll axis R. In this case, yaw movement can be performed by rotating the sixth link 570 relative to the first link 520 about the second yaw axis Y2.

[0213] Figure 23 is a perspective view showing RCM motion (yaw movement) about the first yaw axis Y1 and the second yaw axis Y2 of the surgical robot arm of Figure 18. Here, Figure 23 shows a state in which neither the first yaw axis Y1 nor the second yaw axis Y2 coincides with the roll axis R. In this case, the yaw movement can be performed by combining two movements. That is, the yaw movement can be performed by simultaneously rotating the first link 520 relative to the base link 515 about the first yaw axis Y1 and rotating the sixth link 570 relative to the first link 520 about the second yaw axis Y2.

[0214] According to the present invention, it is possible to obtain the effect that the desired operation can be performed without the occurrence of the gimbal lock phenomenon, regardless of the operating state of each link of the surgical robot arm 500.

[0215] <Third embodiment of surgical robot arm>

[0216] A surgical robot arm 600 according to a third embodiment of the present invention will be described below. The surgical robot arm 600 according to the third embodiment of the present invention is distinctively different from the surgical robot arm according to the first embodiment of the present invention (see 100 in FIG. 3, etc.) in that it further includes a setup link assembly 690. Such differences from the first embodiment will be described in detail later.

[0217] FIG. 24 is a perspective view showing a surgical robotic arm according to a third embodiment of the present invention, FIG. 25 is a perspective view showing the operation of a pitch positioning joint of the surgical robotic arm of FIG. 24, and FIG. 26 is a perspective view showing the operation of a setup link assembly of the surgical robotic arm of FIG. 24.

[0218] 24, 25, and 26, a surgical robot arm 600 according to a third embodiment of the present invention includes a main body 610, a base link 615, a yaw drive assembly 605, a third link 640, a fourth link 650, and a fifth link 660. The yaw drive assembly 605 may include a first link 620 and a second link 630. The surgical robot arm 600 according to the third embodiment of the present invention further includes a setup link assembly 690. Similar to the first embodiment of FIG. 3, the surgical robot arm 600 of this embodiment may include a first joint (see 171 in FIG. 4), a second joint (see 172 in FIG. 4), a third joint (see 173 in FIG. 4), a fourth joint (see 174 in FIG. 4), and a fifth joint (see 175 in FIG. 4). A trocar 300 and a surgical instrument 200 are coupled to the fifth link 660 of the surgical robot arm 600.

[0219] Here, the main body 610 serves as the base of the entire surgical robotic arm 600.

[0220] Meanwhile, a base link 615 may be formed on one surface, for example, the upper surface, of the main body 610. The base link 615 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0221] Meanwhile, the yaw drive assembly 605 is rotatably coupled to the base link 615. The yaw drive assembly 605 is coupled to the base link 615 by a first joint (see 171 in FIG. 4) and is configured to be rotatable in yaw direction relative to the base link 615 around a first yaw axis Y1.

[0222] Here, the yaw drive assembly 605 may include a first link 620 and a second link 630. The yaw drive assembly 605 is coupled to the base link 615 by a first joint (see 171 in FIG. 4 ) and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 615. Here, the first link 620 is coupled to the base link 615 by a first joint (see 171 in FIG. 4 ) and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 615. One end of the second link 630 is fixedly coupled to the first link 620, and the other end is coupled to a third link 640, which will be described in detail later.

[0223] The third link 640 is axially coupled to the second link 630 so as to be rotatable about a third joint (see 173 in FIG. 4), where the third joint (see 173 in FIG. 4) may include one or more pulleys.

[0224] The fourth link 650 is axially coupled to the third link 640 so as to be rotatable about a fourth joint (see 174 in FIG. 4), where the fourth joint (see 174 in FIG. 4) may include one or more pulleys.

[0225] The fifth link 660 is axially coupled to the fourth link 650 so as to be rotatable about a fifth joint (see 175 in FIG. 4), where the fifth joint (see 175 in FIG. 4) may include one or more pulleys.

[0226] The surgical instrument 200 is coupled to the fifth link 660 .

[0227] In this case, the third link 640, the fourth link 650, and the fifth link 660 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 640 rotates around the third joint (see 173 in FIG. 4) with the position of the third joint fixed, the third link 640 and the fifth link 660 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 173 in FIG. 4) and the RCM and the fourth link 650 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 640.

[0228] Here, the surgical robot arm 600 according to the third embodiment of the present invention is characterized by further including a setup link assembly 690. That is, the setup link assembly 690 is formed between the main body 610 and the base link 615, connects the main body 610 and the base link 615, and allows the base link 615 (and links connected thereto) to move vertically or horizontally relative to the main body 610, thereby making it easier to set up and position the surgical robot arm 600. This will be described in more detail below.

[0229] In particular, the setup link assembly 690 can include a vertical setup link 691 and one or more horizontal setup links 692 , 693 , 694 .

[0230] The vertical setup link 691 is connected to the main body 610 and is configured to be movable in the Z-axis direction relative to the main body 610.

[0231] Here, a vertical guide groove 611 is formed in the main body 610, and a vertical setup link 691 can move linearly up and down in the direction of arrow A along this guide groove 611.

[0232] Meanwhile, the setup link assembly 690 may include a first horizontal setup link 692, a second horizontal setup link 693, and a third horizontal setup link 694. The first horizontal setup link 692 is rotatably connected to the vertical setup link 691. The second horizontal setup link 693 is rotatably connected to the first horizontal setup link 692. One end of the third horizontal setup link 693 is rotatably connected to the second horizontal setup link 692. The other end of the third horizontal setup link 693 is formed with a pitch positioning joint 695, which will be described in detail later, and the base link 615 connected thereto. Here, the rotation axis of each of the one or more horizontal setup links 692, 693, and 694 may be parallel to the Z axis. That is, the one or more horizontal setup links 692, 693, and 694 may rotate on the XY plane.

[0233] Thus, the setup link assembly 690 includes one or more horizontal setup links 692, 693, 694, allowing the base link 615 coupled to the setup link assembly 690 to be positioned at various setup positions on the XY plane.

[0234] Meanwhile, the setup link assembly 690 may further include a pitch positioning joint 695. The pitch positioning joint 695 may further include a pitch positioning base 696 and a pitch positioning shaft 697. The pitch positioning base 696 is coupled to one end of the third horizontal setup link 694. The pitch positioning base 696 and the base link 615 may be coupled to each other by the pitch positioning shaft 697 so as to be rotatable about a second pitch axis P2. Here, the pitch positioning shaft 697 or the second pitch axis P2 may be substantially parallel to the pitch axis P or the rotation axis of the third joint (see 173 in FIG. 4 ).

[0235] That is, as shown in FIG. 25, the base link 615 rotates relative to the pitch positioning base 696 about the pitch positioning axis 697, so that setup in the direction of the second pitch axis P2 can be further performed.

[0236] Meanwhile, although the drawings show that vertical setup link 691 is connected to main body 610 and horizontal setup links 692, 693, and 694 are connected to vertical setup link 691, the concept of the present invention is not limited to this. That is, a configuration in which the horizontal setup link is connected to main body 610 and the vertical setup links are connected to the horizontal setup links is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of horizontal setup links and vertical links are possible, such as a configuration in which a vertical setup link is arranged intermediate multiple horizontal setup links.

[0237] Here, the setup link assembly 690 can be configured to operate only during a setup period in which the surgical robot arm 600 is positioned at an appropriate position on one side of the patient before the surgical robot arm 600 actually begins surgery, and to remain fixed and motionless while the surgical robot arm 600 is being positioned and the surgery is actually being performed. For this reason, although not shown in the drawings, the setup link assembly 690 can further include a brake module (not shown) that can maintain a stopped state, and can further include an operating member (not shown) that can select an activated / deactivated state for this brake module.

[0238] In this way, by further providing the setup link assembly 690, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 600.

[0239] <Fourth embodiment of surgical robot arm>

[0240] A surgical robot arm 700 according to a fourth embodiment of the present invention will be described below. Here, the surgical robot arm 700 according to the fourth embodiment of the present invention is distinctively different from the surgical robot arm according to the first embodiment of the present invention (see 100 in FIG. 3, etc.) in that it further includes a setup link assembly 790. Such differences from the first embodiment will be described in detail later.

[0241] FIG. 27 is a perspective view showing a surgical robot arm according to a fourth embodiment of the present invention, and FIG. 28 is a perspective view showing the operation of the setup link assembly of the surgical robot arm of FIG.

[0242] 27 and 28, a surgical robot arm 700 according to a fourth embodiment of the present invention includes a main body 710, a base link 715, a yaw drive assembly 705, a third link 740, a fourth link 750, and a fifth link 760. The yaw drive assembly 705 may include a first link 720 and a second link 730. Furthermore, the surgical robot arm 700 according to the fourth embodiment of the present invention further includes a setup link assembly 790. Similar to the first embodiment of FIG. 3, the surgical robot arm 700 of this embodiment may include a first joint (see 171 in FIG. 4), a second joint (see 172 in FIG. 4), a third joint (see 173 in FIG. 4), a fourth joint (see 174 in FIG. 4), and a fifth joint (see 175 in FIG. 4). A trocar 300 and a surgical instrument 200 are coupled to the fifth link 760 of the surgical robot arm 700.

[0243] Here, the main body 710 serves as the base of the entire surgical robotic arm 700.

[0244] Meanwhile, a base link 715 may be formed on one surface, for example, the upper surface, of the main body 710. The base link 715 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0245] Meanwhile, the yaw drive assembly 705 is rotatably coupled to the base link 715. The yaw drive assembly 705 is coupled to the base link 715 by a first joint (see 171 in FIG. 4) and is configured to be rotatable in yaw direction relative to the base link 715 around a first yaw axis Y1.

[0246] Here, the yaw drive assembly 705 may include a first link 720 and a second link 730. The yaw drive assembly 705 is coupled to the base link 715 by a first joint (see 171 in FIG. 4 ) and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 715. Here, the first link 720 is coupled to the base link 715 by a first joint (see 171 in FIG. 4 ) and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 715. One end of the second link 730 is fixedly coupled to the first link 720, and the other end is coupled to a third link 740, which will be described in detail later.

[0247] The third link 740 is axially coupled to the second link 730 so as to be rotatable about a third joint (see 173 in FIG. 4), where the third joint (see 173 in FIG. 4) may include one or more pulleys.

[0248] The fourth link 750 is axially coupled to the third link 740 so as to be rotatable about a fourth joint (see 174 in FIG. 4), where the fourth joint (see 174 in FIG. 4) may include one or more pulleys.

[0249] The fifth link 760 is rotatably connected to the fourth link 750 about a fifth joint (see 175 in FIG. 4), where the fifth joint (see 175 in FIG. 4) may include one or more pulleys.

[0250] The surgical instrument 200 is coupled to the fifth link 760 .

[0251] In this case, the third link 740, the fourth link 750, and the fifth link 760 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 740 rotates around the third joint (see 173 in FIG. 4) with the position of the third joint fixed, the third link 740 and the fifth link 760 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 173 in FIG. 4) and the RCM and the fourth link 750 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 740.

[0252] Here, the surgical robot arm 700 according to the fourth embodiment of the present invention is characterized by further including a setup link assembly 790. That is, the setup link assembly 790 is formed between the main body 710 and the base link 715, connects the main body 710 and the base link 715, and allows the base link 715 (and links connected thereto) to move vertically or horizontally relative to the main body 710, thereby making it easier to set up and position the surgical robot arm 700. This will be described in more detail below.

[0253] In particular, the setup link assembly 790 can include a vertical setup link 791 and one or more horizontal setup links 792, 793.

[0254] The vertical setup link 791 is connected to the main body 710 and is configured to be movable in the Z-axis direction relative to the main body 710.

[0255] Here, the vertical setup link 791 is formed in a cylindrical shape, and the vertical setup link 791 can move linearly up and down while being pulled in or out in the direction of arrow B relative to the main body 710.

[0256] Meanwhile, the setup link assembly 790 can include a first horizontal setup link 792 and a second horizontal setup link 793. The first horizontal setup link 792 is rotatably connected to the vertical setup link 791 via a shaft. The second horizontal setup link 793 is rotatably connected to the first horizontal setup link 792 via a shaft. A base link 715 is formed at the other end of the second horizontal setup link 792.

[0257] Thus, the setup link assembly 790 includes one or more horizontal setup links 792, 793, allowing the base link 715 coupled to the setup link assembly 790 to be positioned at various setup positions on the XY plane.

[0258] Meanwhile, although the drawings show that vertical setup link 791 is connected to main body 710 and horizontal setup links 792 and 793 are connected to vertical setup link 791, the concept of the present invention is not limited to this. That is, a configuration in which the horizontal setup link is connected to main body 710 and the vertical setup link is connected to the horizontal setup link is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of horizontal setup links and vertical links are possible, such as a configuration in which the vertical setup link is arranged intermediate multiple horizontal setup links.

[0259] Here, the setup link assembly 790 can be configured to operate only during the period when the surgical robot arm 700 is positioned in an appropriate position on one side of the patient before the surgical robot arm 700 actually begins surgery, and to remain fixed without moving once the surgical robot arm 700 has been positioned and the surgery is actually being performed. To this end, although not shown in the drawings, the setup link assembly 790 can further include a brake module (not shown) that can maintain a stopped state, and an operating member (not shown) that can select an activated / deactivated state for this brake module.

[0260] In this way, by further providing the setup link assembly 790, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 700.

[0261] <Fifth embodiment of surgical robot arm>

[0262] A surgical robot arm 800 according to a fifth embodiment of the present invention will be described below. The surgical robot arm 800 according to the fifth embodiment of the present invention is characteristically different from the surgical robot arm according to the first embodiment of the present invention (see 100 in Figures 3 and other figures) in the number of yaw axes and the resulting configuration of the yaw drive assembly 805. The surgical robot arm 800 according to the fifth embodiment of the present invention is also characteristically different from the surgical robot arm according to the first embodiment of the present invention (see 100 in Figures 3 and other figures) in that it further includes a setup link assembly 890.

[0263] In other words, the surgical robot arm 800 according to the fifth embodiment of the present invention can be considered to combine the features of the second embodiment shown in Figure 18 etc. and the features of the third embodiment shown in Figure 24 etc. Such differences from the first embodiment will be described in detail later.

[0264] FIG. 29 is a perspective view showing a surgical robot arm according to a fifth embodiment of the present invention.

[0265] 29 , a surgical robot arm 800 according to a fifth embodiment of the present invention includes a main body 810, a base link 815, a yaw drive assembly 805, a third link 840, a fourth link 850, and a fifth link 860. Here, the yaw drive assembly 805 may include a first link 820, a second link 830, and a sixth link 870. Furthermore, the surgical robot arm 800 according to the sixth embodiment of the present invention further includes a setup link assembly 890. Furthermore, the surgical robot arm 800 of this embodiment may include a first joint (see 171 in FIG. 4 ), a second joint (see 172 in FIG. 4 ), a third joint (see 173 in FIG. 4 ), a fourth joint (see 174 in FIG. 4 ), and a fifth joint (see 175 in FIG. 4 ), similar to the first embodiment of FIG. 3 . Furthermore, the surgical robot arm 800 of this embodiment may further include a sixth joint 876. The trocar 300 and the surgical instrument 200 are coupled to the fifth link 860 of the surgical robot arm 800 .

[0266] Here, the surgical robot arm 800 according to the fifth embodiment of the present invention is characterized by having two yaw axes, a first yaw axis Y1 and a second yaw axis Y2. That is, the first yaw axis Y1 and the second yaw axis Y2 are rotatable independently of each other, and when the roll axis R and the first yaw axis Y1 coincide, the robot arm performs yaw movement around the second yaw axis Y2, and when the roll axis R and the second yaw axis Y2 coincide, the robot arm performs yaw movement around the first yaw axis Y1.

[0267] Here, the yaw drive assembly 805 of the surgical robot arm 800 may include a first link 820 and a second link 830. Furthermore, the yaw drive assembly 805 of the surgical robot arm 800 according to the second embodiment of the present invention may further include a sixth link 870 connecting the first link 820 and the second link 830. Since each component of the yaw drive assembly 805 is substantially the same as that of the second embodiment described above, detailed description thereof will be omitted here.

[0268] In this way, by providing two yaw axes, if one yaw axis coincides with the roll axis and there is a risk of gimbal lock occurring, the other yaw axis can be used to perform yaw movement. Therefore, regardless of the operating state of each link of surgical robot arm 800, it is possible to achieve the effect of performing the desired operation without the occurrence of gimbal lock.

[0269] *345

[0270] Meanwhile, the surgical robot arm 800 according to the fifth embodiment of the present invention is characterized by further including a setup link assembly 890. That is, the setup link assembly 890 is formed between the main body 810 and the base link 815, connects the main body 810 and the base link 815, and allows the base link 815 (and links connected thereto) to move vertically or horizontally relative to the main body 810, thereby making it easier to set up and position the surgical robot arm 800.

[0271] Here, the setup link assembly 890 can include a vertical setup link 891 and one or more horizontal setup links 892, 893, and 894. Each component of the setup link assembly 890 is substantially the same as that of the third embodiment described above, and therefore detailed description thereof will be omitted here.

[0272] In this way, by further providing the setup link assembly 890, it is possible to obtain the effect that the setup positioning of the surgical robot arm 800 can be more easily performed.

[0273] <Sixth embodiment of surgical robot arm>

[0274] A surgical robot arm 900 according to a sixth embodiment of the present invention will be described below. The surgical robot arm 900 according to the sixth embodiment of the present invention is characteristically different from the surgical robot arm according to the first embodiment of the present invention (see 100 in Figures 3 and other figures) described above in terms of the number of yaw axes and the resulting configuration of the yaw drive assembly 905. The surgical robot arm 900 according to the sixth embodiment of the present invention is also characteristically different from the surgical robot arm according to the first embodiment of the present invention (see 100 in Figures 3 and other figures) described above in terms of the inclusion of a setup link assembly 990.

[0275] In other words, the surgical robot arm 900 according to the sixth embodiment of the present invention can be considered to combine the features of the second embodiment shown in Figure 18 etc. and the features of the fourth embodiment shown in Figure 27 etc. Such differences from the first embodiment will be described in detail later.

[0276] FIG. 30 is a perspective view showing a surgical robot arm according to a sixth embodiment of the present invention, and FIG. 31 is a perspective view showing the operation of the setup link assembly of the surgical robot arm of FIG.

[0277] 31 and 31B, a surgical robot arm 900 according to a sixth embodiment of the present invention includes a main body 910, a base link 915, a yaw drive assembly 905, a third link 940, a fourth link 950, and a fifth link 960. Here, the yaw drive assembly 905 may include a first link 920, a second link 930, and a sixth link 970. Furthermore, the surgical robot arm 900 according to the sixth embodiment of the present invention further includes a setup link assembly 990. Note that, like the first embodiment of FIG. 3 , the surgical robot arm 900 of this embodiment may include a first joint (see 171 in FIG. 4 ), a second joint (see 172 in FIG. 4 ), a third joint (see 173 in FIG. 4 ), a fourth joint (see 174 in FIG. 4 ), and a fifth joint (see 175 in FIG. 4 ). Furthermore, the surgical robot arm 900 of this embodiment may further include a sixth joint 976. The trocar 300 and the surgical instrument 200 are connected to the fifth link 960 of the surgical robot arm 900 .

[0278] Here, the surgical robot arm 900 according to the sixth embodiment of the present invention is characterized by having two yaw axes, a first yaw axis Y1 and a second yaw axis Y2. That is, the first yaw axis Y1 and the second yaw axis Y2 are rotatable independently of each other, and when the roll axis R and the first yaw axis Y1 coincide with each other, the robot arm 900 performs yaw movement around the second yaw axis Y2, and when the roll axis R and the second yaw axis Y2 coincide with each other, the robot arm 900 performs yaw movement around the first yaw axis Y1.

[0279] Here, the yaw drive assembly 905 of the surgical robot arm 900 may include a first link 920 and a second link 930. Furthermore, the yaw drive assembly 905 of the surgical robot arm 900 according to the second embodiment of the present invention may further include a sixth link 970 connecting the first link 920 and the second link 930. Since each component of the yaw drive assembly 905 is substantially the same as that of the second embodiment described above, detailed description thereof will be omitted here.

[0280] In this way, by providing two yaw axes, if one yaw axis coincides with the roll axis and there is a risk of gimbal lock occurring, the other yaw axis can be used to perform yaw movement. Therefore, regardless of the operating state of each link of the surgical robot arm 900, it is possible to achieve the effect of performing the desired operation without the occurrence of gimbal lock.

[0281] *359

[0282] Meanwhile, the surgical robot arm 900 according to the sixth embodiment of the present invention is characterized by further including a setup link assembly 990. That is, the setup link assembly 990 is formed between the main body 910 and the base link 915, connects the main body 910 and the base link 915, and allows the base link 915 (and links connected thereto) to move vertically or horizontally relative to the main body 910, thereby making it easier to set up and position the surgical robot arm 900.

[0283] Here, the setup link assembly 990 includes a vertical setup link 991 and one or more horizontal setup links 992, 993. Each component of the setup link assembly 990 is substantially the same as that of the fourth embodiment described above, and therefore detailed description thereof will be omitted here.

[0284] In this way, by further providing the setup link assembly 990, it is possible to obtain the effect that the setup positioning of the surgical robot arm 900 can be more easily performed.

[0285] <Seventh embodiment of surgical robot arm>

[0286] A surgical robot arm 1100 according to the seventh embodiment of the present invention will be described below. The surgical robot arm 1100 according to the seventh embodiment of the present invention is characteristically different from the surgical robot arm according to the first embodiment of the present invention (see 100 in Figure 3, etc.) in terms of the configuration and arrangement of the links. Such differences from the first embodiment will be described in detail later.

[0287] FIG. 32 is a perspective view showing a surgical robot arm according to a seventh embodiment of the present invention, and FIG. 33 is a side view of the surgical robot arm of FIG. 32. FIG. 34 is a diagram showing an example in which a link-structured RCM mechanism is applied to the surgical robot arm of FIG. 32, and FIG. 35 is a diagram showing an example in which a belt-structured RCM mechanism is applied to the surgical robot arm of FIG. 32. FIGS. 36 to 38 are side and plan views showing RCM motion (pitch movement) about pitch axis P of the surgical robot arm of FIG. 32. FIGS. 39 to 41 are perspective views showing RCM motion (yaw movement) about first yaw axis Y1 of the surgical robot arm of FIG. 32. FIG. 42 is a diagram showing a state in which the fifth link of the surgical robot arm of FIG. 32 and the surgical instruments coupled thereto are arranged in parallel, and FIG. 43 is a diagram showing a state in which the surgical robot arm of FIG. 42 is arranged near a surgical site on a patient, with the surgical instruments facing the patient. Figure 44 shows the state in which the end tool of the surgical instrument connected to the fifth link of the surgical robot arm of Figure 32 is positioned so that it faces upward, and Figure 45 shows a plan view and a side view showing the state in which the surgical robot arm of Figure 32 has further rotated approximately 90 degrees around the first yaw axis Y1.

[0288] 32 to 45, a surgical robot arm 1100 according to the seventh embodiment of the present invention includes a main body 1110, a base link 1115, a yaw drive assembly 1105, a third link 1140, a fourth link 1150, and a fifth link 1160. Here, the yaw drive assembly 1105 may include a first link 1120 and a second link 1130. Note that, like the first embodiment of FIG. 3, the surgical robot arm 1100 of this embodiment may include a first joint 1171, a second joint 1172, a third joint 1173, a fourth joint 1174, and a fifth joint 1175. A trocar 1300 and a surgical instrument 1200 are coupled to the fifth link 1160 of the surgical robot arm 1100.

[0289] Here, the main body 1110 serves as the base for the entire surgical robotic arm 1100.

[0290] Meanwhile, a base link 1115 may be formed on one surface, for example, the upper surface, of the main body 1110. The base link 1115 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0291] In detail, the base link 1115 may be formed in the shape of a bent plate or wedge, with one region being connected to the upper surface of the main body 1110 and the other bent region being inclined relative to the upper surface of the main body 1110. Here, the base link 1115 may be formed at a certain angle (e.g., 30°) relative to the horizontal plane rather than at a right angle, and the first yaw axis Y1 passing through the base link 1115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction). This will be described in more detail later.

[0292] In turn, the yaw drive assembly 1105 is rotatably coupled to the base link 1115 .

[0293] Specifically, the yaw drive assembly 1105 may include a first link 1120 and a second link 1130. The yaw drive assembly 1105 is coupled to the base link 1115 by a first joint 1171 and is configured to be rotatable in a yaw direction relative to the base link 1115 about a first yaw axis Y1.

[0294] Here, the first link 1120 is connected to the base link 1115 by a first joint 1171 and is configured to be rotatable in yaw motion around a first yaw axis Y1 relative to the base link 1115. One end of the second link 1130 is fixedly connected to the first link 1120, and the other end is connected to a third link 1140, which will be described in detail later.

[0295] For example, the first link 1120 may be formed in a substantially cylindrical shape and may yaw around a first yaw axis Y1 relative to the base link 1115. The second link 1130 may be coupled to one side of the cylindrical first link 1120, and the second link 1130 may yaw around the first yaw axis Y1 together with the first link 1120. Here, the second link 1130 may be formed substantially parallel to the first yaw axis Y1, as will be described in more detail later.

[0296] The first joint 1171 rotatably connects the base link 1115 and the first link 1120. Specifically, the first joint 1171 is configured so that the first link 1120 yaws around a first yaw axis Y1 that passes through an RCM (Remote Center of Motion). Although not shown in the drawings, the first joint 1171 may include a motor for rotating the first link 1120.

[0297] Here, the first yaw axis Y1 may be formed in an oblique direction that is not parallel to the X-axis, Y-axis, or Z-axis. Specifically, an extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 may be formed so as to be different from each other, and the extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 may be formed so as to intersect with each other at the RCM. That is, the RCM, which will be described in detail later, may be located on an extension line of the first yaw axis Y1. By forming the RCM to be located on an extension line of the first yaw axis Y1 in this manner, the position and direction of the RCM relative to the base link 1115 are maintained constant regardless of the amount of yaw rotation of the first link 1120 relative to the base link 1115.

[0298] Here, as mentioned above, the base link 1115 may be formed at a certain inclination (e.g., 30°) rather than at a right angle, and the first yaw axis Y1 passing through the base link 1115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction).

[0299] From another perspective, this can be expressed as the height of the RCM in the Z-axis direction being higher than the height of the point in the base link 1115 where the first yaw axis Y1 passes through (i.e., the first joint 1171).

[0300] From another perspective, this can be expressed as the height of the first yaw axis Y1 in the Z-axis direction at the distal part 1102 of the surgical robot arm 1100 being higher than the height of the first yaw axis Y1 in the Z-axis direction at the proximal part 1101 of the surgical robot arm 1100.

[0301] From another perspective, this can also be expressed as the base link 1115 being formed at an angle relative to the horizontal plane, with the central axis of the base link 1115 coinciding with the first yaw axis Y1.

[0302] In this way, the extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 are formed to be different from each other, and the first yaw axis Y1 is formed to be inclined with respect to the horizontal plane, so that the fifth link 1160 and the surgical instrument 1200 can be positioned horizontally without the gimbal lock phenomenon occurring.

[0303] Here, when the first link 1120 rotates about the first yaw axis Y1 relative to the base link 1115, the second link 1140, the third link 1140, the fourth link 1150, the fifth link 1160, and the surgical instrument 1200, which are connected to the first link 1120, rotate about the first yaw axis Y1 together with the first link 1120. Therefore, the coordinate systems of each link and the surgical instrument 1200 are not fixed but continue to change relatively in response to the rotation of the first link 1120. However, for convenience of explanation, this specification will be described based on the state in which the second link 1130 is positioned parallel to the X-axis as shown in FIG. 32 unless otherwise specified.

[0304] Meanwhile, the second joint 1172 connects the first link 1120 and the second link 1130. In this case, the first link 1120 and the second link 1130 are fixedly coupled, and the relative position of the second link 1130 with respect to the first link 1120 can be constant. That is, the first link 1120 and the second link 1130 can operate together as a single unit. Here, in the drawings, the first link 1120 and the second link 1130 are shown as being formed of separate members and fixedly coupled together, but the concept of the present invention is not limited thereto, and it can be said that the first link 1120 and the second link 1130 can also be formed as a single unit and function as the yaw drive assembly 1105.

[0305] Here, a feature of the surgical robot arm 1100 according to the seventh embodiment of the present invention is that the second link 1130 is not formed parallel to the horizontal plane but is formed at a certain incline. For example, the second link 1130 may be formed approximately parallel to the first yaw axis Y1, which is formed at an incline.

[0306] In this case, the second joint 1172 may include a motor and may be connected to the third joint 1173 by a belt, a wire, or the like. Therefore, the driving force of the second joint 1172 may be transmitted to the third joint 1173. Alternatively, the second joint 1172 may not include a motor, and the third joint 1173 may be configured to include a motor.

[0307] The third link 1140 is rotatably coupled to the second link 1130 about a third joint 1173, where the third joint 1173 may include one or more pulleys.

[0308] The fourth link 1150 is pivotally coupled to the third link 1140 about a fourth joint 1174, where the fourth joint 1174 may include one or more pulleys.

[0309] The fifth link 1160 is rotatably coupled to the fourth link 1150 about a fifth joint 1175, where the fifth joint 1175 may include one or more pulleys.

[0310] A surgical instrument 1200 is coupled to the fifth link 1160. At least a portion of the surgical instrument 1200 is formed to be rotatable around a roll axis (i.e., a shaft axis) and is also formed to be capable of reciprocating linear motion along the roll axis R relative to the fifth link 1160. Here, the roll axis R of the surgical instrument 1200 is formed to pass through the RCM.

[0311] Meanwhile, although not shown in the figure, an instrument mounting portion (not shown) and a guide rail (not shown) are formed on the fifth link 1160, which is an instrument mounting link, and when a surgical instrument 1200 is attached to the instrument mounting portion (not shown), the instrument mounting portion (not shown) can move linearly along the guide rail (not shown) formed in the direction of the roll axis R. To achieve this linear movement, the instrument mounting portion (not shown) may be provided with a linear actuator (not shown).

[0312] A surgical instrument 1200 can be attached to the instrument attachment portion (not shown) of the fifth link 1160 of such a surgical robot arm 1100.

[0313] Meanwhile, the third link 1140, the fourth link 1150, and the fifth link 1160 form a parallelogram, forming a kind of "RCM (remote center of motion)" mechanism.

[0314] In particular, the third joint 1173, the fourth joint 1174, the fifth joint 1175, and the RCM can be the four vertices of a parallelogram, that is, the third joint 1173, the fourth joint 1174, the fifth joint 1175, and the RCM can form one parallelogram.

[0315] In detail, when there are three vertices, the third joint 1173, the fourth joint 1174, and the fifth joint 1175, the position of the remaining point RCM of the parallelogram containing these three vertices will be automatically determined.

[0316] When the third link 1140 rotates around the third joint 1173 while the position of the third joint 1173 is fixed, the third link 1140 and the fifth link 1160 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint 1173 and the RCM and the fourth link 1150 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 1140.

[0317] In this configuration, once the surgical robot arm is set up, the RCM always maintains its position. Furthermore, when each link rotates around the RCM, the parallelogram is maintained regardless of the position of each link. In other words, with the main body 1110 and base link 1115 fixed, the position of the RCM remains unchanged regardless of the positions of the third link 1140 to the fifth link 1160, and the third joint 1173, the fourth joint 1174, the fifth joint 1175, and the RCM maintain the parallelogram.

[0318] On the other hand, the seventh embodiment of the present invention is characterized in that each link, particularly the second link 1130, the third link 1140, the fourth link 1150, and the fifth link 1160, are arranged side by side without overlapping each other, so that no collision occurs when one link rotates relative to the other link, and one link does not interfere with the rotation of the other link, thereby widening the driving range of each link.

[0319] 36(b), which is a plan view of a surgical robot arm 1100 according to an embodiment of the present invention, the second link 1130, the third link 1140, the fourth link 1150, and the fifth link 1160 are formed so as to be offset to a certain degree in the direction of their rotational axis (i.e., the Y-axis direction) when viewed from the XY plane. That is, in the Y-axis direction, the third link 1140 is located on one side of the second link 1130, the fourth link 1150 is located on one side of the third link 1140, and the fifth link 1160 is located on one side of the fourth link 1150. In other words, the second link 1130, the third link 1140, the fourth link 1150, and the fifth link 1160 are located in this order along the Y-axis direction.

[0320] In particular, since the fifth link 1160 to which the surgical instrument 1200 is attached is positioned at a certain offset relative to the fourth link 1150, there is no restriction on the rotation angle of the fifth link 1160 (and the surgical instrument 1200 connected thereto) relative to the fourth link 1150, and the effect of being able to rotate freely is obtained.

[0321] On the other hand, one feature of the seventh embodiment of the present invention is that the surgical instrument 1200 coupled to the fifth link 1160 is arranged to face outward from the surgical robot arm 1100.

[0322] Specifically, the surface on which the instrument attachment portion is formed in the fifth link 1160, in other words, the surface on which the surgical instrument 1 is attached,

[0323] The surface to which 200 is bonded is assumed to be the first surface, and the opposite surface is assumed to be the second surface.

[0324] At this time, with the end tool 1210 of the surgical instrument 1200 coupled to the fifth link 1160 facing vertically downward, the first surface is positioned so as to face in a direction away from the main body 1110. In other words, the surgical instrument 2200 coupled to the first surface of the fifth link 1160 is positioned farther from the main body 1110 than the fifth link 1160.

[0325] On the other hand, the surgical instrument 1200 coupled to the fifth link 1160 is horizontal and is disposed so that the first surface faces upward with the end tool 1210 disposed in a direction away from the main body 1110. In other words, the surgical instrument 1200 coupled to the first surface of the fifth link 1160 is disposed above the fifth link 1160.

[0326] (Operation of surgical robot arm)

[0327] 36 to 38 are side views and plan views showing the RCM motion (pitching operation) about the pitch axis P of the surgical robot arm of FIG.

[0328] As shown in Figures 36, 37, and 38, when a motor (not shown) is driven, the third link 1140 rotates relative to the second link 1130 around the third joint 1173. In conjunction with this, the fourth link 1150 rotates relative to the third link 1140, and the fifth link 1160 rotates relative to the fourth link 1150. At this time, due to the structure of the belts, links, etc. described above, the extension line connecting the third joint 1173 and the RCM and the fourth link 1150 are maintained in a parallel state, and the third link 1140 and the fifth link 1160 are maintained in a parallel state. In other words, the RCM is maintained constant regardless of the operating state of the surgical robot arm 1100 around the pitch axis P.

[0329] On the other hand, as shown in the plan views of each figure, the second link 1130, the third link 1140, the fourth link 1150, and the fifth link 1160 can be arranged so as to be adjacent to each other without overlapping with each other in the Y-axis direction.

[0330] 39 to 41 are perspective views showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG.

[0331] 39, 40, and 41, when a motor (not shown) is driven, the first link 1120 of the yaw drive assembly 1105 rotates about the first yaw axis Y1 relative to the base link 1115. At this time, since the first yaw axis Y1 passes through the RCM, the RCM remains constant no matter what angle the first link 1120 rotates at relative to the base link 1115.

[0332] FIG. 42 is a diagram showing a state in which the fifth link 1160 of the surgical robot arm 1100 in FIG. 32 and the surgical instrument 1200 coupled thereto are arranged in parallel.

[0333] As described above, in the surgical robot arm 1100 according to the seventh embodiment of the present invention, the extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 are formed to be different from each other, which makes it possible to position the fifth link 1160 and the surgical instrument 1200 connected thereto in a horizontal direction without causing a gimbal lock phenomenon.

[0334] FIG. 43 is a diagram showing the surgical robot arm 1100 shown in FIG. 42 placed near the surgical site of a patient, with the surgical instrument 1200 positioned so as to face the patient.

[0335] As described above, in the surgical robot arm 1100 according to the seventh embodiment of the present invention, each robot arm is formed modularly, and the fifth link 1160 and the surgical instrument 1200 coupled thereto can be arranged in parallel. Therefore, each modular surgical robot arm 1100 can be arranged near the surgical site on the patient, and the surgical instrument 1200 can be arranged facing the patient.

[0336] FIG. 44 is a diagram showing a state in which the end tool 1210 of the surgical instrument 1200 coupled to the fifth link 1160 of the surgical robot arm 1100 of FIG. 32 is positioned so that it faces downward.

[0337] As described above, in the surgical robot arm 1100 according to the seventh embodiment of the present invention, the extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 are formed so as to intersect with each other at the RCM, making it possible to position the surgical instruments 1200 so that they face upward beyond the horizontal direction.

[0338] According to the seventh embodiment of the present invention, the extension line connecting the third joint 1173 and the RCM and the first yaw axis Y1 are different from each other, which makes it possible to horizontally position the fifth link 1160 and the surgical instrument 1200 connected thereto without causing the gimbal lock phenomenon. Furthermore, it is also possible to position the surgical instrument 1200 so that it faces upward beyond the horizontal direction.

[0339] In addition, by arranging each link with a certain degree of offset, the rotational movement of each link is not restricted by other links, and the moving direction of the instrument can be directed upward beyond the horizontal direction, thereby increasing the movable range of the instrument. As a result, even in the case of frequently performed surgeries in which the instrument is positioned horizontally, gimbal lock does not occur and the instrument can move within a sufficient range.

[0340] <Eighth embodiment of surgical robot arm>

[0341] A surgical robot arm 1600 according to an eighth embodiment of the present invention will be described below. Here, the surgical robot arm 1600 according to the eighth embodiment of the present invention is distinctively different from the surgical robot arm according to the seventh embodiment of the present invention (see 1100 in FIG. 32, etc.) in that it further includes a setup link assembly 1690. Such differences from the seventh embodiment will be described in detail later.

[0342] FIG. 46 is a perspective view showing a surgical robot arm according to an eighth embodiment of the present invention.

[0343] 46 , a surgical robotic arm 1600 according to an eighth embodiment of the present invention includes a main body 1610, a base link 1615, a yaw drive assembly 1605, a third link 1640, a fourth link 1650, and a fifth link 1660. Here, the yaw drive assembly 1605 may include a first link 1620 and a second link 1630. Furthermore, the surgical robotic arm 1600 according to the eighth embodiment of the present invention further includes a setup link assembly 1690. Note that, like the seventh embodiment of FIG. 32 , the surgical robotic arm 1600 according to this embodiment may include a first joint (see 1171 in FIG. 35 ), a second joint (see 1172 in FIG. 35 ), a third joint (see 1173 in FIG. 35 ), a fourth joint (see 1174 in FIG. 35 ), and a fifth joint (see 1175 in FIG. 35 ). The trocar 1300 and the surgical instrument 1200 are coupled to the fifth link 1660 of the surgical robot arm 1600 .

[0344] Here, the body 1610 serves as the base for the entire surgical robotic arm 1600.

[0345] Meanwhile, a base link 1615 may be formed on one surface, for example, the upper surface, of the main body 1610. The base link 1615 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0346] Meanwhile, a yaw drive assembly 1605 is rotatably coupled to the base link 1615. The yaw drive assembly 1605 is coupled to the base link 1615 by a first joint (see 1171 in FIG. 35) and is configured to be rotatable in yaw direction relative to the base link 1615 around a first yaw axis Y1.

[0347] Here, the yaw drive assembly 1605 may include a first link 1620 and a second link 1630. The yaw drive assembly 1605 is coupled to the base link 1615 by a first joint (see 1171 in FIG. 35 ) and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 1615. Here, the first link 1620 is coupled to the base link 1615 by a first joint (see 1171 in FIG. 35 ) and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 1615. One end of the second link 1630 is fixedly coupled to the first link 1620, and the other end is coupled to a third link 1640, which will be described in detail later.

[0348] The third link 1640 is axially coupled to the second link 1630 so as to be rotatable about a third joint (see 1173 in FIG. 35 ), where the third joint (see 1173 in FIG. 35 ) can include one or more pulleys.

[0349] The fourth link 1650 is axially coupled to the third link 1640 so as to be rotatable about a fourth joint (see 1174 in FIG. 35 ), where the fourth joint (see 1174 in FIG. 35 ) can include one or more pulleys.

[0350] The fifth link 1660 is rotatably coupled to the fourth link 1650 about a fifth joint (see 1175 in FIG. 35), where the fifth joint (see 1175 in FIG. 35) can include one or more pulleys.

[0351] The surgical instrument 1200 is coupled to the fifth link 1660 .

[0352] In this case, the third link 1640, the fourth link 1650, and the fifth link 1660 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 1640 rotates around the third joint (see 1173 in FIG. 35) with the position of the third joint fixed, the third link 1640 and the fifth link 1660 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 1173 in FIG. 35) and the RCM and the fourth link 1650 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 1640.

[0353] Here, the surgical robot arm 1600 according to the eighth embodiment of the present invention is characterized by further including a setup link assembly 1690. That is, the setup link assembly 1690 is formed between the main body 1610 and the base link 1615, connects the main body 1610 and the base link 1615, and allows the base link 1615 (and links connected thereto) to move vertically or horizontally relative to the main body 1610, thereby making it easier to set up and position the surgical robot arm 1600. This will be described in more detail below.

[0354] In particular, the setup link assembly 1690 can include a vertical setup link 1691 and one or more horizontal setup links 1692, 1693, 1694.

[0355] The vertical setup link 1691 is connected to the main body 1610 and is configured to be movable in the Z-axis direction relative to the main body 1610.

[0356] Here, a vertical guide groove 1611 is formed in the main body 1610, and a vertical setup link 1691 can move linearly up and down in the direction of arrow A along this guide groove 1611.

[0357] Meanwhile, the setup link assembly 1690 may include a first horizontal setup link 1692, a second horizontal setup link 1693, and a third horizontal setup link 1694. The first horizontal setup link 1692 is rotatably and axially coupled to the vertical setup link 1691. The second horizontal setup link 1693 is rotatably and axially coupled to the first horizontal setup link 1692. One end of the third horizontal setup link 1693 is rotatably and axially coupled to the second horizontal setup link 1692. The other end of the third horizontal setup link 1693 is formed with a base link 1615.

[0358] Thus, the setup link assembly 1690 includes one or more horizontal setup links 1692, 1693, 1694, allowing the base link 1615 coupled to the setup link assembly 1690 to be positioned at various setup positions on the XY plane.

[0359] Meanwhile, although the drawings show vertical setup link 1691 connected to main body 1610 and horizontal setup links 1692, 1693, and 1694 connected to vertical setup link 1691, the concept of the present invention is not limited thereto. That is, a configuration in which the horizontal setup link is connected to main body 1610 and the vertical setup links are connected to the horizontal setup links is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of horizontal setup links and vertical links are possible, such as a configuration in which a vertical setup link is arranged intermediate multiple horizontal setup links.

[0360] Here, the setup link assembly 1690 can be configured to operate only during the period when the surgical robot arm 1600 is positioned in an appropriate position on one side of the patient before the surgical robot arm 1600 actually begins surgery, and to remain fixed without moving once the surgical robot arm 1600 has been positioned and the surgery is actually being performed. For this purpose, although not shown in the drawings, the setup link assembly 1690 can further include a brake module (not shown) that can maintain a stopped state, and can further include an operating member (not shown) that can select an activated / deactivated state for this brake module.

[0361] In this way, by further providing the setup link assembly 1690, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 1600.

[0362] <Ninth embodiment of surgical robot arm>

[0363] A surgical robot arm 1700 according to a ninth embodiment of the present invention will be described below. Here, the surgical robot arm 1700 according to the ninth embodiment of the present invention is distinctively different from the surgical robot arm according to the seventh embodiment of the present invention (see 1100 in FIG. 32, etc.) in that it further includes a setup link assembly 1790. Such differences from the seventh embodiment will be described in detail later.

[0364] FIG. 47 is a perspective view showing a surgical robot arm according to a ninth embodiment of the present invention.

[0365] 47 , a surgical robotic arm 1700 according to a ninth embodiment of the present invention includes a main body 1710, a base link 1715, a yaw drive assembly 1705, a third link 1740, a fourth link 1750, and a fifth link 1760. Here, the yaw drive assembly 1705 may include a first link 1720 and a second link 1730. Furthermore, the surgical robotic arm 1700 according to the ninth embodiment of the present invention further includes a setup link assembly 1790. Note that, like the seventh embodiment of FIG. 32 , the surgical robotic arm 1700 according to this embodiment may include a first joint (see 1171 in FIG. 35 ), a second joint (see 1172 in FIG. 35 ), a third joint (see 1173 in FIG. 35 ), a fourth joint (see 1174 in FIG. 35 ), and a fifth joint (see 1175 in FIG. 35 ). The trocar 1300 and the surgical instrument 1200 are coupled to the fifth link 1760 of the surgical robot arm 1700 .

[0366] Here, the body 1710 serves as the base for the entire surgical robotic arm 1700.

[0367] Meanwhile, a base link 1715 may be formed on one surface, for example, the upper surface, of the main body 1710. The base link 1715 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0368] Meanwhile, a yaw drive assembly 1705 is rotatably coupled to the base link 1715. The yaw drive assembly 1705 is coupled to the base link 1715 by a first joint (see 1171 in FIG. 35) and is configured to be rotatable in yaw direction relative to the base link 1715 around a first yaw axis Y1.

[0369] Here, the yaw drive assembly 1705 may include a first link 1720 and a second link 1730. The yaw drive assembly 1705 is coupled to the base link 1715 by a first joint (see 1171 in FIG. 35 ) and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 1715. Here, the first link 1720 is coupled to the base link 1715 by a first joint (see 1171 in FIG. 35 ) and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 1715. One end of the second link 1730 is fixedly coupled to the first link 1720, and the other end is coupled to a third link 1740, which will be described in detail later.

[0370] The third link 1740 is axially coupled to the second link 1730 so as to be rotatable about a third joint (see 1173 in FIG. 35 ), where the third joint (see 1173 in FIG. 35 ) can include one or more pulleys.

[0371] The fourth link 1750 is rotatably coupled to the third link 1740 about a fourth joint (see 1174 in FIG. 35), where the fourth joint (see 1174 in FIG. 35) can include one or more pulleys.

[0372] The fifth link 1760 is pivotally coupled to the fourth link 1750 about a fifth joint (see 1175 in FIG. 35), where the fifth joint (see 1175 in FIG. 35) can include one or more pulleys.

[0373] A surgical instrument 1200 is coupled to the fifth link 1760 .

[0374] In this case, the third link 1740, the fourth link 1750, and the fifth link 1760 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 1740 rotates around the third joint (see 1173 in FIG. 35) with the position of the third joint fixed, the third link 1740 and the fifth link 1760 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 1173 in FIG. 35) and the RCM and the fourth link 1750 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 1740.

[0375] Here, the surgical robot arm 1700 according to the ninth embodiment of the present invention is characterized by further including a setup link assembly 1790. That is, the setup link assembly 1790 is formed between the main body 1710 and the base link 1715, connects the main body 1710 and the base link 1715, and allows the base link 1715 (and links connected thereto) to move vertically or horizontally relative to the main body 1710, thereby making it easier to set up and position the surgical robot arm 1700. This will be described in more detail below.

[0376] In particular, the setup link assembly 1790 can include a vertical setup link 1791 and one or more horizontal setup links 1792, 1793.

[0377] The vertical setup link 1791 is connected to the main body 1710 and is configured to be movable in the Z-axis direction relative to the main body 1710.

[0378] Here, the vertical setup link 1791 is formed in a cylindrical shape, and the vertical setup link 1791 can move linearly up and down while being pulled in or out in the direction of arrow B relative to the main body 1710.

[0379] Meanwhile, the setup link assembly 1790 can include a first horizontal setup link 1792 and a second horizontal setup link 1793. The first horizontal setup link 1792 is rotatably connected to the vertical setup link 1791 via a shaft. The second horizontal setup link 1793 is rotatably connected to the first horizontal setup link 1792 via a shaft. A base link 1715 is formed at the other end of the second horizontal setup link 1792.

[0380] Thus, the setup link assembly 1790 includes one or more horizontal setup links 1792, 1793, allowing the base link 1715 coupled to the setup link assembly 1790 to be positioned at various setup positions on the XY plane.

[0381] Meanwhile, although the drawings show that vertical setup link 1791 is connected to main body 1710 and horizontal setup links 1792 and 1793 are connected to vertical setup link 1791, the concept of the present invention is not limited to this. That is, a configuration in which the horizontal setup link is connected to main body 1710 and the vertical setup link is connected to the horizontal setup link is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of horizontal setup links and vertical links are possible, such as a configuration in which the vertical setup link is arranged intermediate multiple horizontal setup links.

[0382] Here, setup link assembly 1790 can be configured to operate only during the period when surgical robot arm 1700 is positioned in an appropriate position on one side of the patient before surgical robot arm 1700 actually begins surgery, and to remain fixed and motionless after surgical robot arm 1700 has been positioned and surgery is actually being performed. For this purpose, although not shown in the drawings, setup link assembly 1790 may further include a brake module (not shown) that can maintain a stopped state, and may further include an operating member (not shown) that allows this brake module to select an activated / deactivated state.

[0383] In this way, by further providing the setup link assembly 1790, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 1700.

[0384] <Tenth embodiment of surgical robot arm>

[0385] The following describes a surgical robot arm 2100 according to a tenth embodiment of the present invention. The surgical robot arm 2100 according to the tenth embodiment of the present invention is characteristically different from the surgical robot arm according to the seventh embodiment of the present invention (see 1100 in FIG. 32, etc.) in terms of the configuration and arrangement of the links. These differences from the seventh embodiment will be described in detail later.

[0386] FIG. 48 is a perspective view showing a surgical robot arm according to a tenth embodiment of the present invention, and FIG. 49 is a side view of the surgical robot arm of FIG. 48. FIGS. 50 to 52 are side and plan views showing RCM motion (pitch movement) about the pitch axis P of the surgical robot arm of FIG. 48. FIGS. 53 to 55 are perspective views showing RCM motion (yaw movement) about the first yaw axis Y1 of the surgical robot arm of FIG. 48. FIG. 56 is a diagram showing a state in which the fifth link of the surgical robot arm of FIG. 48 and the surgical instruments coupled thereto are arranged in parallel, and FIG. 57 is a diagram showing a state in which the surgical robot arm shown in FIG. 56 is positioned near a surgical site on a patient, with the surgical instruments facing the patient. FIG. 58 is a diagram showing a state in which the end tool of the surgical instrument coupled to the fifth link of the surgical robot arm of FIG. 48 is arranged so as to face upward.

[0387] 48 to 58, a surgical robot arm 2100 according to the tenth embodiment of the present invention includes a main body 2110, a base link 2115, a yaw drive assembly 2105, a third link 2140, a fourth link 2150, and a fifth link 2160. Here, the yaw drive assembly 2105 may include a first link 2120 and a second link 2130. Furthermore, the surgical robot arm 2100 of this embodiment may include a first joint 2171, a second joint 2172, a third joint 2173, a fourth joint 2174, and a fifth joint 2175, similar to the seventh embodiment of FIG. 32. A trocar 2300 and a surgical instrument 2200 are coupled to the fifth link 2160 of the surgical robot arm 2100.

[0388] Here, the main body 2110 serves as the base of the entire surgical robotic arm 2100.

[0389] Meanwhile, a base link 2115 may be formed on one surface, for example, the upper surface, of the main body 2110. The base link 2115 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0390] Specifically, the base link 2115 may be formed in the shape of a bent plate or wedge, with one region connected to the upper surface of the main body 2110 and the other bent region inclined relative to the upper surface of the main body 2110. Here, the base link 2115 may be formed inclined to a certain degree (e.g., 30°) relative to the horizontal plane rather than at a right angle, and the first yaw axis Y1 passing through the base link 2115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction). This will be described in more detail later.

[0391] In turn, the yaw drive assembly 2105 is rotatably coupled to the base link 2115 .

[0392] Specifically, the yaw drive assembly 2105 may include a first link 2120 and a second link 2130. The yaw drive assembly 2105 is coupled to the base link 2115 by a first joint 2171 and is configured to be rotatable in a yaw direction relative to the base link 2115 about a first yaw axis Y1.

[0393] Here, the first link 2120 is connected to the base link 2115 by a first joint 2171 and is configured to be rotatable in yaw motion around a first yaw axis Y1 relative to the base link 2115. One end of the second link 2130 is fixedly connected to the first link 2120, and the other end is connected to a third link 2140, which will be described in detail later.

[0394] For example, the first link 2120 may be formed in a substantially cylindrical shape and may yaw around the first yaw axis Y1 relative to the base link 2115. The second link 2130 may be coupled to one side of the cylindrical first link 2120, and the second link 2130 may yaw around the first yaw axis Y1 together with the first link 2120. Here, the second link 2130 may be formed substantially parallel to the first yaw axis Y1. This will be described in more detail later.

[0395] The first joint 2171 rotatably connects the base link 2115 and the first link 2120. Specifically, the first joint 2171 is configured so that the first link 2120 yaws around a first yaw axis Y1 that passes through an RCM (Remote Center of Motion). Although not shown in the drawings, the first joint 2171 may include a motor for rotating the first link 2120.

[0396] Here, the first yaw axis Y1 may be formed in an oblique direction that is not parallel to the X-axis, Y-axis, or Z-axis. Specifically, an extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 may be formed so as to be different from each other, and the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 may be formed so as to intersect with each other at the RCM. In this case, the RCM, which will be described in detail later, may be located on the extension line of the first yaw axis Y1. By forming the RCM to be located on the extension line of the first yaw axis Y1 in this manner, the position and direction of the RCM relative to the base link 2115 are maintained constant regardless of the amount of yaw rotation of the first link 2120 relative to the base link 2115.

[0397] Here, as mentioned above, the base link 2115 may be formed at a certain inclination (e.g., 30°) rather than at a right angle, and the first yaw axis Y1 passing through the base link 2115 may also be formed not parallel to the horizontal direction (i.e., the X-axis direction).

[0398] From another perspective, this can be expressed as the height of the RCM in the Z axis direction being higher than the height of the point in the base link 2115 where the first yaw axis Y1 passes through (i.e., the first joint 2171).

[0399] From another perspective, this can be expressed as the height of the first yaw axis Y1 in the Z-axis direction at the distal part 2102 of the surgical robot arm 2100 being higher than the height of the first yaw axis Y1 in the Z-axis direction at the proximal part 2101 of the surgical robot arm 2100.

[0400] From another perspective, this can also be expressed as the base link 2115 being formed at an angle relative to the horizontal plane, with the central axis of the base link 2115 coinciding with the first yaw axis Y1.

[0401] In this way, the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are formed to be different from each other, making it possible to position the fifth link 2160 and the surgical instrument 2200 horizontally without the gimbal lock phenomenon occurring.

[0402] Here, when the first link 2120 rotates about the first yaw axis Y1 relative to the base link 2115, the second link 2140, the third link 2140, the fourth link 2150, the fifth link 2160, and the surgical instrument 2200, which are connected to the first link 2120, rotate about the first yaw axis Y1 together with the first link 2120. Therefore, the coordinate systems of each link and the surgical instrument 2200 are not fixed but continue to change relatively in response to the rotation of the first link 2120. However, for convenience of explanation, this specification will be described based on the state in which the second link 2130 is positioned parallel to the X-axis as shown in FIG. 48 unless otherwise specified.

[0403] Meanwhile, the second joint 2172 connects the first link 2120 and the second link 2130. In this case, the first link 2120 and the second link 2130 are fixedly coupled, and the relative position of the second link 2130 with respect to the first link 2120 can be constant. That is, the first link 2120 and the second link 2130 can operate together as a single unit. Here, in the drawings, the first link 2120 and the second link 2130 are shown as being formed of separate members and fixedly coupled together, but the concept of the present invention is not limited thereto, and it can be said that the first link 2120 and the second link 2130 can also be formed as a single unit and function as the yaw drive assembly 2105.

[0404] Here, a feature of the surgical robot arm 2100 according to the tenth embodiment of the present invention is that the second link 2130 is not formed parallel to the horizontal plane but is formed at a certain incline. For example, the second link 2130 may be formed approximately parallel to the first yaw axis Y1, which is formed at an incline.

[0405] In this case, the second joint 2172 may include a motor and may be connected to the third joint 2173 by a belt, a wire, or the like. Therefore, the driving force of the second joint 2172 may be transmitted to the third joint 2173. Alternatively, the second joint 2172 may not include a motor, and the third joint 2173 may be configured to include a motor.

[0406] The third link 2140 is pivotally coupled to the second link 2130 for rotation about a third joint 2173, where the third joint 2173 may include one or more pulleys.

[0407] The fourth link 2150 is pivotally coupled to the third link 2140 about a fourth joint 2174, where the fourth joint 2174 may include one or more pulleys.

[0408] The fifth link 2160 is pivotally coupled to the fourth link 2150 about a fifth joint 2175, where the fifth joint 2175 may include one or more pulleys.

[0409] A surgical instrument 2200 is coupled to the fifth link 2160. At least a portion of the surgical instrument 2200 is formed to be rotatable around a roll axis (i.e., a shaft axis) and is also formed to be capable of reciprocating linear motion along the roll axis R relative to the fifth link 2160. Here, the roll axis R of the surgical instrument 2200 is formed to pass through the RCM.

[0410] Meanwhile, although not shown in the figure, an instrument mounting portion (not shown) and a guide rail (not shown) are formed on the fifth link 2160, which is the instrument mounting link, and with a surgical instrument 2200 attached to the instrument mounting portion (not shown), the instrument mounting portion (not shown) can move linearly along the guide rail (not shown) formed in the direction of the roll axis R. To achieve such linear movement, a linear actuator (not shown) may be provided on the instrument mounting portion (not shown).

[0411] A surgical instrument 2200 can be attached to the instrument attachment portion (not shown) of the fifth link 2160 of such a surgical robot arm 2100.

[0412] Meanwhile, the third link 2140, the fourth link 2150, and the fifth link 2160 form a parallelogram, forming a kind of "RCM (remote center of motion)" mechanism.

[0413] In particular, the third joint 2173, the fourth joint 2174, the fifth joint 2175, and the RCM can be the four vertices of a parallelogram, that is, the third joint 2173, the fourth joint 2174, the fifth joint 2175, and the RCM can form one parallelogram.

[0414] In detail, when there are three vertices, the third joint 2173, the fourth joint 2174, and the fifth joint 2175, the position of the remaining point RCM of the parallelogram containing these three vertices will be automatically determined.

[0415] When the third link 2140 rotates around the third joint 2173 while the position of the third joint 2173 is fixed, the third link 2140 and the fifth link 2160 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint 2173 and the RCM and the fourth link 2150 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 2140.

[0416] In this configuration, once the surgical robot arm is set up, the RCM always maintains its position. Furthermore, when each link rotates around the RCM, the parallelogram is maintained regardless of the position of each link. In other words, with the main body 2110 and base link 2115 fixed, the position of the RCM does not change regardless of the positions of the third link 2140 to the fifth link 2160, and the third joint 2173, the fourth joint 2174, the fifth joint 2175, and the RCM maintain the parallelogram.

[0417] On the other hand, the tenth embodiment of the present invention is characterized in that each link, particularly the second link 2130, the third link 2140, the fourth link 2150, and the fifth link 2160, are arranged side by side without overlapping each other, so that no collision occurs when one link rotates relative to the other link, and one link does not interfere with the rotation of the other link, thereby widening the driving range of each link.

[0418] 50(b), which is a plan view of a surgical robot arm 2100 according to an embodiment of the present invention, the second link 2130, the third link 2140, the fourth link 2150, and the fifth link 2160 are formed so as to be offset to a certain degree in the direction of their rotational axis (i.e., the Y-axis direction) when viewed from the XY plane. That is, in the Y-axis direction, the third link 2140 is disposed on one side of the second link 2130, the fourth link 2150 is disposed on one side of the third link 2140, and the fifth link 2160 is disposed on one side of the fourth link 2150. In other words, the second link 2130, the third link 2140, the fourth link 2150, and the fifth link 2160 can be expressed as being disposed in this order along the Y-axis direction.

[0419] In particular, since the fifth link 2160 to which the surgical instrument 2200 is attached is positioned offset to a certain extent relative to the fourth link 2150, there is no restriction on the rotation angle of the fifth link 2160 (and the surgical instrument 2200 connected thereto) relative to the fourth link 2150, and the effect of being able to rotate freely is obtained.

[0420] On the other hand, one feature of the tenth embodiment of the present invention is that the surgical instrument 2200 coupled to the fifth link 2160 is arranged to face the inside of the surgical robot arm 2100.

[0421] Specifically, the surface of the fifth link 2160 where the instrument attachment portion is formed, in other words, the surface to which the surgical instrument 2200 is coupled, is considered to be the first surface, and the opposite side is considered to be the second surface.

[0422] At this time, with the end tool 2210 of the surgical instrument 2200 coupled to the fifth link 2160 facing vertically downward, the first surface is disposed in a direction approaching or facing the main body 2110. In other words, the surgical instrument 2200 coupled to the first surface of the fifth link 2160 is disposed closer to the main body 2110 than the fifth link 2160.

[0423] On the other hand, the surgical instrument 2200 coupled to the fifth link 2160 is horizontal and is disposed so that the first surface faces downward with the end tool 1210 disposed in a direction away from the main body 1110. In other words, the surgical instrument 2200 coupled to the first surface of the fifth link 2160 is disposed below the fifth link 2160.

[0424] This configuration has the advantage that even when the modular surgical robot arm 2100 is positioned horizontally adjacent to the patient's port, the fifth link 2160, to which the surgical instruments 2200 are attached, is not in direct contact with the patient, thereby reducing vibration and improving rigidity.

[0425] (Operation of surgical robot arm)

[0426] 50 to 52 are side views and plan views showing the RCM motion (pitching operation) about the pitch axis P of the surgical robot arm of FIG.

[0427] 50, 51, and 52, when a motor (not shown) is driven, the third link 2140 rotates relative to the second link 2130 around the third joint 2173. In conjunction with this, the fourth link 2150 rotates relative to the third link 2140, and the fifth link 2160 rotates relative to the fourth link 2150. At this time, due to the structure of the belts, links, etc. described above, the extension line connecting the third joint 2173 and the RCM and the fourth link 2150 are maintained in a parallel state, and the third link 2140 and the fifth link 2160 are maintained in a parallel state. In other words, the RCM is maintained constant regardless of the operating state of the surgical robot arm 2100 around the pitch axis P.

[0428] On the other hand, as shown in the plan views of each figure, the second link 2130, the third link 2140, the fourth link 2150, and the fifth link 2160 can be arranged so as to be adjacent to each other in the Y-axis direction without overlapping each other.

[0429] 53 to 55 are perspective views showing the RCM motion (yaw operation) about the first yaw axis Y1 of the surgical robot arm of FIG.

[0430] 53, 54, and 55, when a motor (not shown) is driven, the first link 2120 of the yaw drive assembly 2105 rotates about the first yaw axis Y1 relative to the base link 2115. At this time, since the first yaw axis Y1 passes through the RCM, the RCM remains constant regardless of the angle by which the first link 2120 rotates relative to the base link 2115.

[0431] FIG. 56 is a diagram showing a state in which the fifth link 2160 of the surgical robot arm 2100 in FIG. 48 and the surgical instrument 2200 coupled thereto are arranged in parallel.

[0432] As described above, in the surgical robot arm 2100 according to the tenth embodiment of the present invention, the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are formed to be different from each other, which makes it possible to position the fifth link 2160 and the surgical instrument 2200 connected thereto in a horizontal direction without causing the gimbal lock phenomenon.

[0433] FIG. 57 is a diagram showing the surgical robot arm 2100 shown in FIG. 56 placed near the surgical site on a patient, with the surgical instrument 2200 positioned so as to face the patient.

[0434] As described above, in the surgical robot arm 2100 according to the tenth embodiment of the present invention, each robot arm is formed modularly, and the fifth link 2160 and the surgical instrument 2200 coupled thereto can be arranged in parallel. Therefore, each modular surgical robot arm 2100 can be arranged near the surgical site on the patient, and the surgical instrument 2200 can be arranged facing the patient.

[0435] FIG. 58 is a diagram showing a state in which the end tool 2210 of the surgical instrument 2200 coupled to the fifth link 2160 of the surgical robot arm 2100 of FIG. 48 is positioned so that it faces downward.

[0436] As described above, in the surgical robot arm 2100 according to the tenth embodiment of the present invention, the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are formed so as to intersect with each other at the RCM, so that the surgical instrument 2200 can be positioned so that it faces upward beyond the horizontal direction.

[0437] According to the tenth embodiment of the present invention, the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are different from each other, which makes it possible to horizontally position the fifth link 2160 and the surgical instrument 2200 connected thereto without causing the gimbal lock phenomenon. Furthermore, it is also possible to position the surgical instrument 2200 so that it faces upward beyond the horizontal direction.

[0438] In addition, by arranging each link with a certain degree of offset, the rotational movement of each link is not restricted by other links, and the moving direction of the instrument can be directed upward beyond the horizontal direction, thereby increasing the movable range of the instrument. As a result, even in the case of frequently performed surgeries in which the instrument is positioned horizontally, gimbal lock does not occur and the instrument can move within a sufficient range.

[0439] <Eleventh embodiment of surgical robot arm>

[0440] A surgical robot arm 2600 according to an eleventh embodiment of the present invention will be described below. Here, the surgical robot arm 2600 according to the eleventh embodiment of the present invention is distinctively different from the surgical robot arm according to the tenth embodiment of the present invention (see 2100 in FIG. 48 etc.) in that it further includes a setup link assembly 2690. Such differences from the tenth embodiment will be described in detail later.

[0441] FIG. 59 is a perspective view showing a surgical robot arm according to an eleventh embodiment of the present invention.

[0442] 59 , a surgical robotic arm 2600 according to an eleventh embodiment of the present invention includes a main body 2610, a base link 2615, a yaw drive assembly 2605, a third link 2640, a fourth link 2650, and a fifth link 2660. Here, the yaw drive assembly 2605 may include a first link 2620 and a second link 2630. Furthermore, the surgical robotic arm 2600 according to the eleventh embodiment of the present invention further includes a setup link assembly 2690. Note that, like the tenth embodiment of FIG. 32 , the surgical robotic arm 2600 according to this embodiment may include a first joint (see 2171 in FIG. 50 ), a second joint (see 2172 in FIG. 50 ), a third joint (see 2173 in FIG. 50 ), a fourth joint (see 2174 in FIG. 50 ), and a fifth joint (see 2175 in FIG. 50 ). The trocar 1300 and the surgical instrument 2200 are coupled to the fifth link 2660 of the surgical robot arm 2600 .

[0443] Here, the body 2610 serves as the base for the entire surgical robotic arm 2600.

[0444] Meanwhile, a base link 2615 may be formed on one surface, for example, the upper surface, of the main body 2610. The base link 2615 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0445] Meanwhile, a yaw drive assembly 2605 is rotatably coupled to the base link 2615. The yaw drive assembly 2605 is coupled to the base link 2615 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in yaw motion relative to the base link 2615 around a first yaw axis Y1.

[0446] Here, the yaw drive assembly 2605 may include a first link 2620 and a second link 2630. The yaw drive assembly 2605 is coupled to the base link 2615 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction around a first yaw axis Y1 relative to the base link 2615. Here, the first link 2620 is coupled to the base link 2615 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction around the first yaw axis Y1 relative to the base link 2615. And, one end of the second link 2630 is fixedly coupled to the first link 2620, and the other end is coupled to a third link 2640, which will be described in detail later.

[0447] The third link 2640 is rotatably coupled to the second link 2630 about a third joint (see 2173 in FIG. 50), where the third joint (see 2173 in FIG. 50) can include one or more pulleys.

[0448] The fourth link 2650 is pivotally coupled to the third link 2640 about a fourth joint (see 2174 in FIG. 50), where the fourth joint (see 2174 in FIG. 50) can include one or more pulleys.

[0449] The fifth link 2660 is pivotally coupled to the fourth link 2650 about a fifth joint (see 2175 in FIG. 50), where the fifth joint (see 2175 in FIG. 50) can include one or more pulleys.

[0450] A surgical instrument 2200 is coupled to the fifth link 2660 .

[0451] In this case, the third link 2640, the fourth link 2650, and the fifth link 2660 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 2640 rotates around the third joint (see 2173 in FIG. 50) with the position of the third joint fixed, the third link 2640 and the fifth link 2660 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 2173 in FIG. 50) and the RCM and the fourth link 2650 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 2640.

[0452] Here, the surgical robot arm 2600 according to the eleventh embodiment of the present invention is characterized by further including a setup link assembly 2690. That is, the setup link assembly 2690 is formed between the main body 2610 and the base link 2615, connects the main body 2610 and the base link 2615, and allows the base link 2615 (and links connected thereto) to move vertically or horizontally relative to the main body 2610, thereby making it easier to set up and position the surgical robot arm 2600. This will be described in more detail below.

[0453] In particular, the setup link assembly 2690 can include a vertical setup link 2691 and one or more horizontal setup links 2692, 2693, 2694.

[0454] The vertical setup link 2691 is connected to the main body 2610 and is configured to be movable in the Z-axis direction relative to the main body 2610.

[0455] Here, a vertical guide groove 2611 is formed in the main body 2610, and a vertical setup link 2691 can move linearly up and down in the direction of arrow A along this guide groove 2611.

[0456] Meanwhile, the setup link assembly 2690 may include a first horizontal setup link 2692, a second horizontal setup link 2693, and a third horizontal setup link 2694. The first horizontal setup link 2692 is rotatably and axially coupled to the vertical setup link 2691. The second horizontal setup link 2693 is rotatably and axially coupled to the first horizontal setup link 2692. One end of the third horizontal setup link 2693 is rotatably and axially coupled to the second horizontal setup link 2692. The other end of the third horizontal setup link 2693 is formed with a base link 2615.

[0457] Thus, the setup link assembly 2690 includes one or more horizontal setup links 2692, 2693, 2694, allowing the base link 2615 coupled to the setup link assembly 2690 to be positioned at various setup positions on the XY plane.

[0458] Meanwhile, although the drawings show the vertical setup link 2691 connected to the main body 2610 and the horizontal setup links 2692, 2693, and 2694 connected to the vertical setup link 2691, the concept of the present invention is not limited thereto. That is, a configuration in which the horizontal setup link is connected to the main body 2610 and the vertical setup links are connected to the horizontal setup links is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of the horizontal setup links and vertical links are possible, such as a configuration in which the vertical setup link is arranged intermediate multiple horizontal setup links.

[0459] Here, the setup link assembly 2690 can be configured to operate only during the period when the surgical robot arm 2600 is positioned in an appropriate position on one side of the patient before the surgical robot arm 2600 actually begins surgery, and to remain fixed and motionless after the surgical robot arm 2600 has been positioned and the surgery is actually being performed. For this reason, although not shown in the drawings, the setup link assembly 2690 can further include a brake module (not shown) that can maintain a stopped state, and can further include an operating member (not shown) that can select an activated / deactivated state for this brake module.

[0460] In this way, by further providing the setup link assembly 2690, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 2600.

[0461] <Twelfth embodiment of surgical robot arm>

[0462] A surgical robot arm 2700 according to a twelfth embodiment of the present invention will be described below. Here, the surgical robot arm 2700 according to the twelfth embodiment of the present invention is distinctively different from the surgical robot arm 2100 according to the tenth embodiment of the present invention (see FIG. 48 etc.) in that it further includes a setup link assembly 2790. Such differences from the tenth embodiment will be described in detail later.

[0463] FIG. 60 is a perspective view showing a surgical robot arm according to a twelfth embodiment of the present invention.

[0464] 60 , a surgical robotic arm 2700 according to a twelfth embodiment of the present invention includes a main body 2710, a base link 2715, a yaw drive assembly 2705, a third link 2740, a fourth link 2750, and a fifth link 2760. Here, the yaw drive assembly 2705 may include a first link 2720 and a second link 2730. Furthermore, the surgical robotic arm 2700 according to the twelfth embodiment of the present invention further includes a setup link assembly 2790. Furthermore, the surgical robotic arm 2700 of this embodiment may include a first joint (see 2171 in FIG. 50 ), a second joint (see 2172 in FIG. 50 ), a third joint (see 2173 in FIG. 50 ), a fourth joint (see 2174 in FIG. 50 ), and a fifth joint (see 2175 in FIG. 50 ), similar to the tenth embodiment of FIG. 48 . The trocar 2300 and the surgical instrument 2200 are coupled to the fifth link 2760 of the surgical robot arm 2700 .

[0465] Here, the body 2710 serves as the base for the entire surgical robotic arm 2700.

[0466] Meanwhile, a base link 2715 may be formed on one surface, for example, the upper surface, of the main body 2710. The base link 2715 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0467] Meanwhile, a yaw drive assembly 2705 is rotatably coupled to the base link 2715. The yaw drive assembly 2705 is coupled to the base link 2715 by a first joint (see 2171 in FIG. 50) and is configured to be rotatable in a yaw direction relative to the base link 2715 around a first yaw axis Y1.

[0468] Here, the yaw drive assembly 2705 may include a first link 2720 and a second link 2730. The yaw drive assembly 2705 is coupled to the base link 2715 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about a first yaw axis Y1 relative to the base link 2715. Here, the first link 2720 is coupled to the base link 2715 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about the first yaw axis Y1 relative to the base link 2715. And, one end of the second link 2730 is fixedly coupled to the first link 2720, and the other end is coupled to a third link 2740, which will be described in detail later.

[0469] The third link 2740 is rotatably coupled to the second link 2730 about a third joint (see 2173 in FIG. 50), where the third joint (see 2173 in FIG. 50) can include one or more pulleys.

[0470] The fourth link 2750 is pivotally coupled to the third link 2740 about a fourth joint (see 2174 in FIG. 50), where the fourth joint (see 2174 in FIG. 50) can include one or more pulleys.

[0471] The fifth link 2760 is pivotally coupled to the fourth link 2750 about a fifth joint (see 2175 in FIG. 50), where the fifth joint (see 2175 in FIG. 50) can include one or more pulleys.

[0472] A surgical instrument 2200 is coupled to the fifth link 2760 .

[0473] In this case, the third link 2740, the fourth link 2750, and the fifth link 2760 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 2740 rotates around the third joint (see 2173 in FIG. 50) with the position of the third joint fixed, the third link 2740 and the fifth link 2760 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 2173 in FIG. 50) and the RCM and the fourth link 2750 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 2740.

[0474] Here, the surgical robot arm 2700 according to the twelfth embodiment of the present invention is characterized by further including a setup link assembly 2790. That is, the setup link assembly 2790 is formed between the main body 2710 and the base link 2715, connects the main body 2710 and the base link 2715, and allows the base link 2715 (and links connected thereto) to move vertically or horizontally relative to the main body 2710, thereby making it easier to set up and position the surgical robot arm 2700. This will be described in more detail below.

[0475] In particular, the setup link assembly 2790 can include a vertical setup link 2791 and one or more horizontal setup links 2792, 2793.

[0476] The vertical setup link 2791 is connected to the main body 2710 and is configured to be movable in the Z-axis direction relative to the main body 2710.

[0477] Here, the vertical setup link 2791 is formed in a cylindrical shape, and the vertical setup link 2791 can move linearly up and down while being pulled in or out in the direction of arrow B relative to the main body 2710.

[0478] Meanwhile, the setup link assembly 2790 can include a first horizontal setup link 2792 and a second horizontal setup link 2793. The first horizontal setup link 2792 is rotatably connected to the vertical setup link 2791 via a shaft. The second horizontal setup link 2793 is rotatably connected to the first horizontal setup link 2792 via a shaft. A base link 2715 is formed at the other end of the second horizontal setup link 2792.

[0479] Thus, the setup link assembly 2790 includes one or more horizontal setup links 2792, 2793, allowing the base link 2715 coupled to the setup link assembly 2790 to be positioned in various setup positions on the XY plane.

[0480] Meanwhile, although the drawings show that the vertical setup link 2791 is connected to the main body 2710 and the horizontal setup links 2792 and 2793 are connected to the vertical setup link 2791, the concept of the present invention is not limited to this. That is, a configuration in which the horizontal setup link is connected to the main body 2710 and the vertical setup link is connected to the horizontal setup link is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of the horizontal setup link and the vertical link are possible, such as a configuration in which the vertical setup link is arranged intermediate multiple horizontal setup links.

[0481] Here, the setup link assembly 2790 can be configured to operate only during the period when the surgical robot arm 2700 is positioned in an appropriate position on one side of the patient before the surgical robot arm 2700 actually begins surgery, and to remain fixed and motionless after the surgical robot arm 2700 has been positioned and the surgery is actually being performed. For this reason, although not shown in the drawings, the setup link assembly 2790 can further include a brake module (not shown) that can maintain a stopped state, and an operating member (not shown) that can select an activated / deactivated state for this brake module.

[0482] In this way, by further providing the setup link assembly 2790, it is possible to obtain the effect of making it easier to perform setup positioning of the surgical robot arm 2700.

[0483] <Thirteenth embodiment of surgical robot arm>

[0484] A surgical robot arm 2800 according to a thirteenth embodiment of the present invention will be described below. The surgical robot arm 2800 according to the thirteenth embodiment of the present invention is distinctively different from the surgical robot arm 2100 according to the tenth embodiment of the present invention (see FIG. 48 and other figures) in that the first yaw axis Y1 is formed parallel to the link. This difference from the tenth embodiment will be described in detail later.

[0485] FIG. 62 is a perspective view showing a surgical robot arm according to a thirteenth embodiment of the present invention.

[0486] 62 , a surgical robotic arm 2800 according to a thirteenth embodiment of the present invention includes a main body 2810, a base link 2815, a yaw drive assembly 2805, a third link 2840, a fourth link 2850, and a fifth link 2860. Here, the yaw drive assembly 2805 may include a first link 2820 and a second link 2830. Furthermore, the surgical robotic arm 2800 according to the thirteenth embodiment of the present invention further includes a setup link assembly 2890. Furthermore, the surgical robotic arm 2800 of this embodiment may include a first joint (see 2171 in FIG. 50 ), a second joint (see 2172 in FIG. 50 ), a third joint (see 2173 in FIG. 50 ), a fourth joint (see 2174 in FIG. 50 ), and a fifth joint (see 2175 in FIG. 50 ), similar to the tenth embodiment of FIG. 48 . The trocar 2300 and the surgical instrument 2200 are coupled to the fifth link 2860 of the surgical robot arm 2800 .

[0487] Here, the body 2810 serves as the base for the entire surgical robotic arm 2800.

[0488] Meanwhile, a base link 2815 may be formed on one surface, for example, the upper surface, of the main body 2810. The base link 2815 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0489] Meanwhile, a yaw drive assembly 2805 is rotatably coupled to the base link 2815. The yaw drive assembly 2805 is coupled to the base link 2815 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction relative to the base link 2815 around a first yaw axis Y1.

[0490] Here, the yaw drive assembly 2805 may include a first link 2820 and a second link 2830. The yaw drive assembly 2805 is coupled to the base link 2815 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about a first yaw axis Y1 relative to the base link 2815. Here, the first link 2820 is coupled to the base link 2815 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about the first yaw axis Y1 relative to the base link 2815. Then, one end of the second link 2830 is fixedly coupled to the first link 2820, and the other end is coupled to a third link 2840, which will be described in detail later.

[0491] The third link 2840 is axially coupled to the second link 2830 so as to be rotatable about a third joint (see 2173 in FIG. 50), where the third joint (see 2173 in FIG. 50) can include one or more pulleys.

[0492] The fourth link 2850 is rotatably pivotally coupled to the third link 2840 about a fourth joint (see 2174 in FIG. 50), where the fourth joint (see 2174 in FIG. 50) can include one or more pulleys.

[0493] The fifth link 2860 is pivotally coupled to the fourth link 2850 about a fifth joint (see 2175 in FIG. 50), where the fifth joint (see 2175 in FIG. 50) can include one or more pulleys.

[0494] A surgical instrument 2200 is coupled to the fifth link 2860 .

[0495] At this time, the third link 2840, the fourth link 2850, and the fifth link 2860 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 2840 rotates around the third joint (see 2173 in FIG. 50) with the position of the third joint fixed, the third link 2840 and the fifth link 2860 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 2173 in FIG. 50) and the RCM and the fourth link 2850 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 2840.

[0496] Here, the surgical robot arm 2800 according to the thirteenth embodiment of the present invention is characterized in that the first yaw axis Y1 is formed parallel to the link.

[0497] In particular, in the case of the tenth embodiment of the present invention shown in Figures 50 to 52, the first yaw axis Y1 is not parallel to the links (i.e., base link 2815, first link 2820, second link 2830, third link 2840, fourth link 2850, fifth link 2860), but is formed so that the first yaw axis forms a predetermined angle with at least a portion of the links.

[0498] In contrast, in the surgical robot arm 2800 according to the thirteenth embodiment of the present invention, when viewed from the XY plane, the first yaw axis Y1 is formed parallel to at least a portion of the base link 2815, the first link 2820, the second link 2830, the third link 2840, the fourth link 2850, and the fifth link 2860.

[0499] In this way, by forming the first yaw axis Y1 parallel to at least a part of the link, the surgical robot arm 2800 can be advantageously arranged more compactly.

[0500] <Fourteenth embodiment of surgical robot arm>

[0501] A surgical robot arm 2900 according to a fourteenth embodiment of the present invention will be described below. The surgical robot arm 2900 according to the fourteenth embodiment of the present invention is distinctively different from the surgical robot arm according to the tenth embodiment of the present invention (see 2100 in FIG. 48 etc.) in that it further includes a setup link assembly 2990. Such differences from the tenth embodiment will be described in detail later.

[0502] FIG. 62 is a perspective view showing a surgical robot arm according to a fourteenth embodiment of the present invention, and FIG. 63 is a side view showing various operating states of the surgical robot arm of FIG.

[0503] 62 and 63 , a surgical robotic arm 2900 according to a fourteenth embodiment of the present invention includes a main body 2910, a base link 2915, a yaw drive assembly 2905, a third link 2940, a fourth link 2950, ​​and a fifth link 2960. Here, the yaw drive assembly 2905 may include a first link 2920 and a second link 2930. Furthermore, the surgical robotic arm 2900 according to the fourteenth embodiment of the present invention further includes a setup link assembly 2990. Furthermore, the surgical robotic arm 2900 of this embodiment may include a first joint (see 2171 in FIG. 50 ), a second joint (see 2172 in FIG. 50 ), a third joint (see 2173 in FIG. 50 ), a fourth joint (see 2174 in FIG. 50 ), and a fifth joint (see 2175 in FIG. 50 ), similar to the tenth embodiment of FIG. 48 . The trocar 2300 and the surgical instrument 2200 are coupled to the fifth link 2960 of the surgical robot arm 2900 .

[0504] Here, the body 2910 serves as the base for the entire surgical robotic arm 2900.

[0505] Meanwhile, a base link 2915 may be formed on one surface, for example, the upper surface, of the main body 2910. The base link 2915 may be formed to be inclined to a certain degree so as to have a predetermined angle with respect to the horizontal plane.

[0506] Meanwhile, a yaw drive assembly 2905 is rotatably coupled to the base link 2915. The yaw drive assembly 2905 is coupled to the base link 2915 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction relative to the base link 2915 around a first yaw axis Y1.

[0507] Here, the yaw drive assembly 2905 may include a first link 2920 and a second link 2930. The yaw drive assembly 2905 is coupled to the base link 2915 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about a first yaw axis Y1 relative to the base link 2915. Here, the first link 2920 is coupled to the base link 2915 by a first joint (see 2171 in FIG. 50 ) and is configured to be rotatable in a yaw direction about the first yaw axis Y1 relative to the base link 2915. And, one end of the second link 2930 is fixedly coupled to the first link 2920, and the other end is coupled to a third link 2940, which will be described in detail later.

[0508] The third link 2940 is rotatably coupled to the second link 2930 about a third joint (see 2173 in FIG. 50), where the third joint (see 2173 in FIG. 50) can include one or more pulleys.

[0509] The fourth link 2950 is pivotally coupled to the third link 2940 about a fourth joint (see 2174 in FIG. 50), where the fourth joint (see 2174 in FIG. 50) can include one or more pulleys.

[0510] The fifth link 2960 is pivotally coupled to the fourth link 2950 about a fifth joint (see 2175 in FIG. 50), where the fifth joint (see 2175 in FIG. 50) can include one or more pulleys.

[0511] A surgical instrument 2200 is coupled to the fifth link 2960 .

[0512] At this time, the third link 2940, the fourth link 2950, ​​and the fifth link 2960 form a parallelogram, constituting a kind of "RCM (remote center of motion)" mechanism. That is, when the third link 2940 rotates around the third joint (see 2173 in FIG. 50) with the position of the third joint fixed, the third link 2940 and the fifth link 2960 rotate while maintaining a parallel state due to the RCM mechanism such as the link / belt described above, and the extension line connecting the third joint (see 2173 in FIG. 50) and the RCM and the fourth link 2950 also rotate while maintaining a parallel state. Therefore, the position of the RCM can be maintained constant regardless of the rotation angle of the third link 2940.

[0513] Here, the surgical robot arm 2900 according to the fourteenth embodiment of the present invention is characterized by further including a setup link assembly 2990. That is, the setup link assembly 2990 is formed between the main body 2910 and the base link 2915, connects the main body 2910 and the base link 2915, and allows the base link 2915 (and links connected thereto) to move vertically or horizontally relative to the main body 2910, thereby making it easier to set up and position the surgical robot arm 2900. This will be described in more detail below.

[0514] In particular, the setup link assembly 2990 can include a vertical setup link 2991 and one or more horizontal setup links 2992, 2993, 2994.

[0515] The vertical setup link 2991 is connected to the main body 2910 and is configured to be movable in the Z-axis direction relative to the main body 2910.

[0516] Here, a vertical guide groove 2911 is formed in the main body 2910, and a vertical setup link 2991 can move linearly up and down in the direction of arrow A along this guide groove 2911.

[0517] Meanwhile, the setup link assembly 2990 may include a first horizontal setup link 2992, a second horizontal setup link 2993, and a third horizontal setup link 2994. The first horizontal setup link 2992 is rotatably connected to the vertical setup link 2991. The second horizontal setup link 2993 is rotatably connected to the first horizontal setup link 2992. One end of the third horizontal setup link 2993 is rotatably connected to the second horizontal setup link 2992. The other end of the third horizontal setup link 2993 is formed with a pitch positioning joint 2995, which will be described in detail later, and a base link 2915 connected thereto. Here, the rotation axis of each of the one or more horizontal setup links 2992, 2993, and 2994 may be parallel to the Z axis. That is, the one or more horizontal setup links 2992, 2993, and 2994 may rotate on the XY plane.

[0518] Thus, the setup link assembly 2990 includes one or more horizontal setup links 2992, 2993, 2994, allowing the base link 2915 coupled to the setup link assembly 2990 to be positioned at various setup positions on the XY plane.

[0519] Meanwhile, the setup link assembly 2990 may further include a pitch positioning joint 2995. The pitch positioning joint 2995 may further include a pitch positioning base 2996 and a pitch positioning axis 2997. The pitch positioning base 2996 is coupled to one end of the third horizontal setup link 2994. The pitch positioning base 2996 and the base link 2915 may be coupled to be rotatable about a second pitch axis P2 by the pitch positioning axis 2997. Here, the pitch positioning axis 2997 or the second pitch axis P2 may be substantially parallel to the pitch axis P or the rotation axis of the third joint (see 173 in FIG. 4 ).

[0520] That is, as shown in FIGS. 62 and 63, the base link 2915 rotates relative to the pitch positioning base 2996 about the pitch positioning axis 2997, thereby allowing further setup in the direction of the second pitch axis P2.

[0521] Thus, the setup link assembly 2990 includes a pitch positioning joint 2995 that allows the base link 2915 coupled to the setup link assembly 2990 to be positioned at various setup positions on the XZ plane.

[0522] Meanwhile, although the drawings show vertical setup link 2991 connected to main body 2910 and horizontal setup links 2992, 2993, and 2994 connected to vertical setup link 2991, the concept of the present invention is not limited thereto. That is, a configuration in which the horizontal setup link is connected to main body 2910 and the vertical setup links are connected to the horizontal setup links is also possible. Alternatively, only one of the vertical setup link and the horizontal setup link may be provided. Alternatively, it can be said that various configurations and arrangements of horizontal setup links and vertical links are possible, such as a configuration in which a vertical setup link is arranged intermediate multiple horizontal setup links.

[0523] Here, setup link assembly 2990 can be configured to operate only during the period when surgical robot arm 2900 is positioned in an appropriate position on one side of the patient before surgical robot arm 2900 actually begins surgery, and to remain fixed without moving once surgical robot arm 2900 has been positioned and surgery is actually being performed. For this purpose, although not shown in the drawings, setup link assembly 2990 can further include a brake module (not shown) that can maintain a stopped state, and can further include an operating member (not shown) that allows this brake module to select an activated / deactivated state.

[0524] As a result, as shown in FIG. 63, the surgical robot arm 2900 according to the fourteenth embodiment of the present invention further comprises a setup link assembly 2990 including a vertical setup link 2991, one or more horizontal setup links 2992, 2993, 2994, and a pitch positioning joint 2995, thereby enabling the surgical robot arm 2900 to be set up at various positions and angles, and also making setup positioning easier.

[0525] <Surgical method using surgical robots>

[0526] A surgical method using a surgical robot including a surgical robot arm according to an embodiment of the present invention will be described below.

[0527] Here, the position where the trocar is inserted and the surgical instrument passes through is called a port.

[0528] In the case of the surgical robot arm 3100 shown in Figure 64, the surgical instrument 3200 is in its fixed position facing upward (outward), and the fifth link 3160 to which the surgical instrument 3200 is attached and the fourth link 3150 connected to it are formed on the same plane and do not overlap each other.

[0529] Therefore, in the case of surgery in which the surgical instrument 3200 must be inserted in a direction horizontal to the plane of the operating table on which the patient is lying, in order to prevent the fifth link 3160 to which the surgical instrument 3200 is attached from coming into direct contact with the patient, the main body 3110 must be positioned on the opposite side of the patient's surgical site (i.e., port), and the links of the surgical robot arm 3100 must be deployed so as to extend from the main body 3110 to cover the upper part of the patient's body, and the surgical instrument 3200 must be positioned in the opposite direction so as to face the patient again, as shown in Figure 64(b). Therefore, the shape of the surgical robot arm 3100, which extends long from the main body 3110 that serves as its support, can have drawbacks such as increased vibration and weak rigidity.

[0530] On the other hand, the surgical robot arm 3500 shown in FIGS. 65 and 66 also has a structure in which the surgical instruments 3200 are in their fixed positions facing upward (outward).

[0531] 64, since the fifth link 3260 to which the surgical instrument 3200 is attached does not come into direct contact with the patient, the main body 3510 is positioned on the opposite side of the patient's surgical site (i.e., the port), and the links of the surgical robot arm 3500 must be deployed to extend from the main body 3510 to cover the upper part of the patient's body, and then positioned in the opposite direction so that the surgical instrument 3200 faces the patient again. Therefore, the shape of the surgical robot arm 3500, which extends long from the main body 3510 that serves as its support, can have drawbacks such as increased vibration and weak rigidity.

[0532] In contrast, in the case of the surgical robot arm 2100 according to the tenth embodiment of the present invention shown in Figure 67, the surgical instrument 2200 is in an inverted position facing downward (inward), and the fifth link 2160 and the fourth link 2150 are formed on different planes and can overlap each other.

[0533] Therefore, in the case of a surgery in which the surgical instrument 2200 must be inserted from a direction horizontal to the plane of the operating table on which the patient is lying, even when the modular surgical robot arm 2100 is positioned horizontally adjacent to the patient's port, the fifth link 2160 to which the surgical instrument 3200 is attached does not come into direct contact with the patient.

[0534] 66 and 68(a), in order for the surgical instrument 3200 to be inserted in a direction horizontal to the plane of the operating table on which the patient lies, the surgical robot arm 3100 must be positioned in a form that extends long from the main body 3110, which serves as its support base, which can increase vibration and weaken rigidity. On the other hand, in the case of the surgical robot arm 3500 shown in FIGS. 67 and 68(b), even if the modular surgical robot arm 2100 is positioned horizontally adjacent to the patient's port, the fifth link 2160 to which the surgical instrument 3200 is attached does not come into direct contact with the patient, which has the advantage of reducing vibration and improving rigidity.

[0535] A surgical method using the surgical robot arm 2100 according to the tenth embodiment of the present invention will be described in detail below.

[0536] As mentioned above, in the previous embodiment, in the case of surgery where instruments must be inserted from a direction horizontal to the plane of the operating table on which the patient is lying, the base (cart) must be positioned opposite the surgical site on the patient, the robotic arms must be extended and deployed toward the patient, and the instruments must be placed in the opposite direction to face the patient again. Therefore, there are drawbacks, such as the need to deploy more than one robotic arm above the patient, and the fact that the surgical robot arms extend long from the tower that serves as their support base, which can increase vibration and weaken rigidity.

[0537] To solve these problems, the surgical robot arm 2100 according to the tenth embodiment of the present invention has the following features: 1) each surgical robot arm 2100 is modularly configured; 2) the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are different from each other, and these extension lines and the first yaw axis Y1 intersect at the RCM; and 3) the links are arranged adjacent to each other and overlap each other (when viewed on the XZ plane). This prevents the rotation of one link from being restricted by other links, thereby increasing the range of motion of the instrument. 4) Furthermore, when the surgical instrument 2200 is attached to the fifth link 2160, the surgical instrument 2200 can be configured to be attached downward rather than upward (i.e., in the direction in which the link would be positioned when all the links are folded). In other words, this can be described as a state in which the surgical instrument 2200 is upside down compared to existing inventions.

[0538] With this configuration of the present invention, even in the case of surgery in which the surgical instrument 2200 must be inserted horizontally to the plane of the operating table on which the patient is lying, the main body 2110 of the surgical robot arm 2100 can be positioned near the patient's port (trocar insertion position), i.e., on the side where the surgical instrument 2200 is inserted, and even if the surgical instrument 2200 is inserted horizontally into the patient's port (trocar) at this position, the fifth link 2160 to which the surgical instrument 2200 is attached does not come into direct contact with the patient. Furthermore, this simplifies the design and implementation of the surgical robot arm 2200 and further increases the range of motion of the surgical instrument 2200.

[0539] A surgical method using the surgical robot arm of the present invention may include the steps of: placing a main body of a modular surgical robot arm 2100 on one side of a patient's port into which a surgical instrument 2200 is inserted; placing a fifth link 2150, to which the surgical instrument 2200 is attached, in a substantially horizontal position in the surgical robot arm 2100; attaching the surgical instrument 2200 to the fifth link 2150 of the surgical robot arm 2100; moving the surgical instrument 2200 attached to the surgical robot arm 2100 to insert the surgical instrument 2200 into the patient's body; and performing surgery while the surgical instrument 2200 maintains RCM. This will be described in more detail as follows.

[0540] First, as shown in Figure 69(a), the modular surgical robot arm 2100 is placed on one side of the patient. At this time, the main body 2110 of the modular surgical robot arm 2100 can be placed adjacent to the port on the same side of the bed as the patient's port (the position where the trocar is inserted), rather than on the opposite side of the patient's port.

[0541] Next, as shown in Figure 69(b), the surgical robot arm 2100 is set to a horizontal position (or a predetermined angle similar to horizontal). At this time, the multiple links may not be extended long, but two or more links may be folded and arranged to overlap each other.

[0542] Next, as shown in Figure 69(c), the surgical instrument 2100 is attached to the fifth link 2160 of the surgical robot arm 2100. At this time, no parts such as links are positioned between the surgical instrument 2200 and the patient. That is, as described above, when the surgical instrument 2200 is attached to the fifth link 2160, the surgical instrument 2200 can be configured to be attached in a downward position rather than an upward position (i.e., in the direction in which the link is positioned when all the links are folded).

[0543] In other words, one feature of this embodiment is that the surgical instrument 2200 coupled to the fifth link 2160 is disposed so as to face the inside of the surgical robot arm 2100. That is, when the surgical instrument 2200 coupled to the fifth link 2160 is horizontal and its end tool 2210 is disposed in a direction away from the main body 2110, the surface to which the surgical instrument 2200 is coupled faces downward. In other words, the surgical instrument 2200 coupled to one surface of the fifth link 2160 is disposed below the fifth link 2160.

[0544] This configuration allows the fifth link 2160, to which the surgical instruments 2200 are attached, to be out of direct contact with the patient, even when the modular surgical robotic arm 2100 is positioned horizontally adjacent to the patient's port, which has the advantage of reducing vibration and increasing rigidity.

[0545] Next, as shown in FIG. 69(d), the surgical instrument 2200 attached to the fifth link 2160 is moved linearly to insert the end tool of the surgical instrument 2200 into the patient's body.

[0546] Next, as shown in FIG. 69(e), the surgical robot arm 2100 performs surgery while maintaining the RCM point.

[0547] In this way, in the present invention, the extension line connecting the third joint 2173 and the RCM and the first yaw axis Y1 are formed to be different from each other, and this extension line and the first yaw axis Y1 are formed to intersect with each other at the RCM, which prevents gimbal lock from occurring even when the surgical instruments are mainly used, resulting in a more compact overall surgical robot configuration.

[0548] Furthermore, the present invention provides a modular surgical robotic arm, in which one surgical instrument is deployed from the main body of one surgical robotic arm, and includes multiple modular surgical robotic arms, each equipped with one surgical instrument. Each of these surgical robotic arms is positioned near a respective one of the patient's ports, shortening the overall length of the deployed surgical robotic arm, reducing vibration and increasing rigidity.

[0549] Furthermore, in the present invention, the fourth link 2150 and the fifth link 2160 are arranged side by side when viewed on the XY plane, and the fourth link 2150 and the fifth link 2160 are formed so as to overlap when viewed on the XZ plane, thereby preventing the rotational movement of the fourth link 2150 from being restricted by other links such as the fifth link 2160, and increasing the range of movement of the instrument, for example, by allowing the direction of movement of the instrument to point upward beyond the horizontal direction. This prevents gimbal lock from occurring even in frequently performed surgeries in which instruments are positioned horizontally, and provides the effect of allowing the instrument to move within a sufficient range.

[0550] Furthermore, in the present invention, the surgical instruments are arranged parallel to one another with the surface to which the surgical instrument 2200 is coupled facing downwards, and no parts such as links are positioned between the surgical instrument 2200 and the patient. This configuration reduces vibrations in the surgical robot arm and improves its rigidity.

[0551] Although the present invention has been described with reference to one embodiment shown in the drawings, it is understood that this is merely an example, and that various modifications and variations of the embodiment are possible by those skilled in the art. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. [Industrial Applicability]

[0552] The present invention relates to a surgical robotic arm, and in particular to a modularly configured minimally invasive surgical robotic arm for use in laparoscopic or various surgical procedures.

Claims

1. In a surgical robot arm to which a surgical instrument is attached, The main body and a base link disposed on one side of the main body; a setup link assembly formed between the body and the base link and connecting the body and the base link; a yaw drive assembly coupled to the base link by a first joint and configured to be yaw rotatable about a first yaw axis relative to the base link; a third link pivotally coupled to the yaw drive assembly for rotation about a third joint; a fourth link axially connected to the third link so as to be rotatable about a fourth joint; a fifth link rotatably connected to the fourth link about a fifth joint, the fifth link being formed so that the surgical instrument can be attached thereto; An RCM (remote center of motion) is formed at the remaining vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices, The surgical robot arm of claim 1, wherein an extension line connecting the third joint and the RCM and the first yaw axis are formed to be different from each other.

2. The surgical robot arm according to claim 1 , wherein the setup link assembly includes a vertical setup link that connects the main body and the base link and is formed to be movable in the Z-axis direction relative to the main body.

3. 2. The surgical robot arm of claim 1, wherein the setup link assembly includes one or more horizontal setup links that connect the main body and the base link and are formed to be rotatable about a Z-axis relative to the main body.

4. 2. The surgical robot arm of claim 1, wherein the setup link assembly includes a pitch positioning joint that connects the main body and the base link and is formed to be rotatable relative to the base link about an axis that is substantially parallel to the rotation axis of the third joint.

5. 2. The surgical robotic arm of claim 1, wherein the setup link assembly is configured to be operable only during a setup period when the surgical robotic arm is positioned in an appropriate position on one side of a patient.

6. 2. The surgical robot arm according to claim 1, wherein the height of the RCM in the Z-axis direction is greater than the height of a point through which the first yaw axis passes in the base link.

7. 2. The surgical robot arm of claim 1, wherein the yaw drive assembly further comprises: a first link coupled to the base link by the first joint and configured to be yaw rotatable about a first yaw axis relative to the base link; a sixth link coupled to the first link by a sixth joint and configured to be yaw rotatable about a second yaw axis relative to the first link; and a second link having one end fixedly coupled to the sixth link and the other end coupled to the third link.

8. The surgical robot arm according to claim 7, wherein the RCM is located on an extension line of the second yaw axis.

9. The surgical robot arm according to claim 7 , wherein an extension line of the first yaw axis and an extension line of the second yaw axis intersect at the RCM.

10. 8. The surgical robot arm of claim 7, wherein the first link formed to be yaw rotatable about the first yaw axis and the sixth link formed to be yaw rotatable about the second yaw axis are formed to be rotatable independently of each other.

11. 8. The surgical robot arm of claim 7, wherein when a roll axis of the surgical instrument and the first yaw axis are parallel, a yaw movement is performed by rotating the second yaw axis.

12. 8. The surgical robot arm of claim 7, wherein when a roll axis of the surgical instrument and the second yaw axis are parallel, a yaw movement is performed by rotation of the first yaw axis.

13. 2. The surgical robot arm of claim 1, wherein the yaw drive assembly further comprises: a first link coupled to the base link by the first joint and configured to be yaw rotatable about a first yaw axis relative to the base link; and a second link having one end fixedly coupled to the first link and the other end coupled to the third link.

14. The surgical robot arm of claim 13, wherein the second link is formed at an angle with respect to the extension line connecting the third joint and the RCM.

15. The surgical robot arm according to claim 13, wherein the second link and the fourth link are not parallel to each other but are formed at a predetermined angle.

16. 2. The surgical robot arm according to claim 1, wherein the third link, the fourth link, and the fifth link are formed so as to be offset to a certain degree in the direction of their rotation axes.

17. 2. The surgical robot arm according to claim 1, wherein the fourth link is disposed on one side of the third link in the direction of the rotation axis of the third link, and the fifth link is disposed on the one side of the fourth link.

18. 2. The surgical robot arm according to claim 1, wherein the third link, the fourth link, and the fifth link are formed so that at least a portion of each of them can overlap with each other in the first yaw axis direction.

19. 2. The surgical robot arm according to claim 1, wherein at least a portion of the third link, the fourth link, and the fifth link is formed parallel to the first yaw axis.

20. 2. The surgical robot arm of claim 1, wherein the base link is inclined to form a predetermined angle with respect to the extension line connecting the third joint and the RCM, and a central axis of the base link is formed to coincide with a first yaw axis.

Images