Surgical robot arm

Abstract

The present invention relates to a surgical robot arm. Specifically, the y-axis of the active arm rotatable relative to the setup arm is arranged obliquely to the roll axis of the surgical instrument, and the joint of the active arm and the RCM (remote center of motion) have a modular structure forming a parallelogram, thereby preventing the gimbal lock phenomenon, enabling various RCMs to be set, and relating to a minimally invasive surgical robot arm capable of having various access angles.

Description

Technical Field

[0001] The present invention relates to a surgical robot arm. Specifically, the yaw axis of the active arm that can rotate relative to the setup arm is arranged obliquely to the roll axis of the surgical instrument, and the joint of the active arm and the RCM (remote center of motion) have a modular structure forming a parallelogram, thereby preventing the gimbal lock phenomenon, enabling various RCMs to be set, and relating to a minimally invasive surgical robot arm that can have various access angles.

Background Art

[0002] Medically, surgery refers to cutting, incising, or manipulating the skin, mucous membranes, and other tissues using medical devices to treat diseases. In particular, open surgeries such as laparotomy, which involves incising and opening the skin at the surgical site and treating, shaping, or removing the internal organs, etc., cause problems such as bleeding, side effects, patient pain, and scars. Therefore, recently, surgeries performed by forming predetermined holes in the skin and inserting only medical devices such as laparoscopes, surgical instruments, microscopes for microsurgery, etc., or surgeries using robots have been in the spotlight as alternatives.

[0003] Here, a surgical robot refers to a robot having a function that substitutes for the surgical actions performed by a surgeon. Such a surgical robot has the advantages of being able to perform more accurate and precise movements compared to humans and enabling remote surgery.

[0004] Currently, surgical robots being developed worldwide include bone surgical robots, laparoscopic surgical robots, stereotactic surgical robots, etc. Here, a laparoscopic surgical robot is a robot that performs minimally invasive surgery using a laparoscope and small surgical tools.

[0005] Laparoscopic surgery is a field that is expected to have significant future development as an advanced surgical technique. After making small incisions in the umbilical area and inserting a laparoscope, an endoscope for viewing inside the abdomen, surgery is performed. Recent laparoscopes are equipped with computer chips, enabling the acquisition of clearer and magnified images compared to visual inspection. Moreover, they have advanced to the point where any surgery can be performed while viewing the screen through a monitor using specially designed laparoscopic surgical instruments.

[0006] Furthermore, laparoscopic surgery has the advantage that, although its surgical scope is almost the same as that of open surgery, it has fewer complications compared to open surgery, allows treatment to be initiated much earlier after the procedure, and is excellent in maintaining the physical strength and immune function of the surgical patient. For this reason, in the United States, Europe, and other regions, laparoscopic surgery is gradually being recognized as a standard surgery, especially in the treatment of colorectal cancer.

[0007] On the other hand, a surgical robot generally consists of a master robot and a slave robot. When a surgeon operates a control lever (e.g., a handle) provided on the master robot, it engages with the robotic arm of the slave robot or operates the surgical tool held by the robotic arm to perform the surgery.

[0008] The background technology described above is technical information that the inventor possessed for deriving the present invention or acquired during the derivation process of the present invention, and is not necessarily prior art publicly disclosed to the general public before the filing of the present invention.

Summary of the Invention

Problems to be Solved by the Invention

[0009] An object of the present invention is to provide a surgical robotic arm in which the yaw axis of an active arm that can rotate relative to a setup arm is formed in the direction from the upper side to the lower side, and by being arranged inclined to the roll axis of the surgical instrument, the gimbal lock phenomenon can be prevented, various RCMs can be set, and various approach angles can be provided with respect to the RCM.

Means for Solving the Problem

[0010] One embodiment of the present invention is a surgical robot arm to which a surgical instrument is attached, including a setup arm including a main body and a setup link assembly movably disposed on the main body, and an active arm rotatably engaged with one end of the setup arm. The active arm is engaged with the setup arm by a first joint and includes a first link formed to be yaw-rotatable about a yaw axis with respect to the setup arm, a second link engaged with the first link about a second joint, a third link axially engaged with the second link to be rotatable about a third joint, a fourth link axially engaged with the third link to be rotatable about a fourth joint, and a fifth link axially engaged with the fourth link to be rotatable about a fifth joint and formed to attach the surgical instrument. An RCM (remote center of motion) is formed at the remaining one vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices, and the first joint is disposed relatively above the RCM. A surgical robot arm is provided.

[0011] In the present invention, the yaw axis and the roll axis of the surgical instrument can be formed to be different from each other.

[0012] In the present invention, with the roll axis of the surgical instrument arranged parallel to the horizontal plane, the yaw axis and the roll axis can be formed to form a predetermined angle instead of being parallel to each other.

[0013] In the present invention, the setup link assembly can include one or more setup links that connect the main body and the active arm and are formed to be rotatable about a Z axis with respect to the main body.

[0014] In the present invention, the setup link assembly can include a first setup link that can linearly move along the height direction on the main body, a second setup link that is pivotally engaged with the first setup link so as to be rotatable about a first axis as a rotation center axis, and a third setup link that is pivotally engaged with the second setup link so as to be rotatable about a second axis different from the first axis as a rotation center axis.

[0015] In the present invention, the yaw axis is formed to be perpendicular to one surface of the third setup link, and the first link can be engaged so as to be rotatable about the yaw axis with respect to the third setup link.

[0016] In the present invention, the second axis can be arranged perpendicular to the first axis.

[0017] In the present invention, the setup link assembly can further include one or more setup links that are arranged between the second setup link and the third setup link and are formed to be rotatable about an axis substantially parallel to the first axis.

[0018] In the present invention, the height in the Z-axis direction at the point where the yaw axis penetrates the setup arm can be formed to be higher than the height in the Z-axis direction of the RCM.

[0019] In the present invention, the height in the Z-axis direction at the proximal portion of the yaw axis with reference to the first joint can be formed to be higher than the height in the Z-axis direction at the distal portion of the yaw axis.

[0020] In the present invention, the setup arm can be formed to be operable only during a setup in which the surgical robot arm is arranged on one side of the patient.

[0021] In the present invention, the RCM can be arranged on the extension line of the yaw axis.

[0022] In the present invention, when the third link rotates about the third joint, the line segment connecting the third joint and the RCM and the fourth link rotate while maintaining a parallel state, and the line segment connecting the fifth joint and the RCM and the third link can rotate while maintaining a parallel state.

[0023] In the present invention, regardless of the rotation of the third link, the position of the RCM can be maintained constant.

[0024] In the present invention, the line segment connecting the fifth joint and the RCM and the third link maintain a parallel state in any operating state of the surgical robot arm, and the line segment 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.

[0025] In the present invention, the third link, the fourth link, and the fifth link can be formed so as to be offset by a certain degree in their respective rotational axis directions.

[0026] In the present invention, in the rotational axis direction of the third link, the fourth link can be disposed on one side of the third link.

[0027] In the present invention, in the yaw axis direction, at least a part of the third link and the fourth link can be formed so as to overlap each other.

[0028] In the present invention, in the yaw axis direction, at least a part of each of the fourth link and the fifth link can be formed so as to overlap each other.

[0029] In the present invention, the surgical instrument engaged with the fifth link is horizontal, and the first surface of the fifth link engaged with the surgical instrument is arranged to face downward in the Z-axis direction in a state where the end tool of the surgical instrument is arranged in a direction away from the main body.

[0030] In the present invention, in the above state, the surgical instrument can be arranged below the fifth link.

[0031] In the present invention, in the above state, the link may not be arranged between the surgical instrument and the bed.

[0032] In the present invention, the yaw axis and the longitudinal central axis of the fifth link can form a predetermined angle.

[0033] One embodiment of the present invention includes steps of arranging the main body of a modular surgical robot arm on one side of a port of a patient into which a surgical instrument is inserted, adjusting the position of a setup arm including the main body, arranging a fifth link to which the surgical instrument is attached in a substantially horizontal state in an active arm connected to the setup arm, attaching the surgical instrument to the fifth link of the active arm, moving the surgical instrument attached to the active arm so that the surgical instrument is inserted into the patient's body, and performing a surgery while the surgical instrument maintains an RCM. A surgical method using a surgical robot is provided.

[0034] In the present invention, the step of arranging the main body of the surgical robot arm on one side of the port of the patient into which the surgical instrument is inserted can be such that the main body of the surgical robot arm is arranged on the same side as the port of the patient with reference to the bed.

[0035] In the present invention, in the step where the fifth link to which the surgical instrument is attached by the active arm is disposed in a substantially horizontal state, at least a part of a plurality of links of the active arm can be formed so as to overlap in the extending direction of each link.

[0036] In the present invention, in the step where the surgical instrument is attached to the fifth link of the surgical robot arm, links of the surgical robot arm may not be disposed between the surgical instrument and the patient.

[0037] In the present invention, the active arm includes a first link engaged with the setup arm by a first joint and formed to be rotatable about a yaw axis with respect to the setup arm, a second link axially engaged with the first link about a second joint, a third link axially engaged with the second link so as to be rotatable about a third joint, a fourth link axially engaged with the third link so as to be rotatable about a fourth joint, and a fifth link axially engaged with the fourth link so as to be rotatable about a fifth joint and formed to attach the surgical instrument. An RCM (remote center of motion) is formed at the remaining one vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices, and the first joint can be disposed relatively above the RCM.

[0038] In the present invention, the yaw axis and the roll axis of the surgical instrument can be formed to be different from each other.

[0039] In the present invention, with the roll axis of the surgical instrument disposed parallel to the horizontal plane, the yaw axis and the roll axis can be formed not to be parallel to each other but to form a predetermined angle.

[0040] In the present invention, the RCM can be arranged on the extension line of the yaw axis.

[0041] In the present invention, when the third link rotates about the third joint, the line segment connecting the third link, the fifth joint, and the RCM rotates 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.

[0042] In the present invention, the height in the Z-axis direction of the point through which the yaw axis penetrates the setup arm can be formed higher than the height in the Z-axis direction of the RCM.

[0043] In the present invention, the height in the Z-axis direction at the proximal portion of the yaw axis can be formed higher than the height in the Z-axis direction at the distal portion of the yaw axis.

[0044] In the present invention, the third link and the fourth link can be formed so as to be offset by a certain degree in their respective rotational axis directions.

[0045] In the present invention, in a state where the surgical instrument engaged with the fifth link is horizontal and the end tool of the surgical instrument is arranged in a direction away from the main body, the first surface with which the surgical instrument is engaged by the fifth link can be arranged to face downward in the Z-axis direction.

[0046] In the present invention, in this state, the surgical instrument can be arranged below the fifth link.

[0047] In the present invention, in this state, the link may not be arranged between the surgical instrument and the bed.

[0048] Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

Advantages of the Invention

[0049] According to the present invention as described above, the position of the setup arm with which the active arm is engaged is adjusted so that the yaw axis can maintain a constant angle with respect to the horizontal plane. By forming such a yaw axis at a constant angle with the roll axis of the surgical instrument, the gimbal lock phenomenon does not occur, and the fifth link and the surgical instrument engaged therewith can be arranged in the horizontal direction. Furthermore, it becomes possible to arrange the surgical instrument so that it exceeds the horizontal direction and faces downward from above.

[0050] In addition, by arranging each link to be offset to a certain extent, the rotation of each link does not restrict the other links, and the movable range of the instrument is increased, such as making the advancing direction of the instrument face upward beyond the horizontal direction. As a result, even in the case of a surgery in which the instrument is arranged horizontally, which is frequently performed, the gimbal lock does not occur, and the effect of enabling the instrument to move within a sufficient range can be obtained.

Brief Description of the Drawings

[0051]

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Modes for Carrying Out the Invention

[0052] The present invention can be subjected to various transformations and can have various embodiments. Specific embodiments are illustrated in the drawings and will be described in detail below. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that the present invention includes all transformations, equivalents, and alternatives included in the spirit and technical scope of the present invention. When it is determined that a specific description of related known technologies may impede the gist of the present invention in the description of the present invention, the detailed description thereof will be omitted.

[0053] Terms such as first and second can be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0054] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "including" or "having" are used to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in this specification, and do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0055] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing 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.

[0056] Also, in describing various embodiments of the present invention, it should be understood that each embodiment need not be interpreted or implemented independently, and the technical ideas described in each embodiment can be combined with and interpreted or implemented with other embodiments described individually.

[0057] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings as follows.

[0058] FIG. 91 is a diagram showing a surgical robot arm.

[0059] As shown in FIG. 91, the surgical robot arm 3500 generally has a structure in which one or more robot arms extend from one tower.

[0060] In such a structure, in the case of a surgery where the surgical instrument 3200 is to be inserted from a direction horizontal to the plane of the operating table on which the patient lies, the tower 3510 is located on the opposite side of the patient's surgical site, and the surgical robot arm 3500 is deployed so as to extend from the tower 3510 so as to cover the upper part of the patient's body, and the surgical instrument 3200 is generally arranged in the opposite direction so as to face the patient again.

[0061] Therefore, it can have drawbacks such as a drawback that a plurality of robot arms are deployed over the patient, and a drawback that the vibration increases and the rigidity weakens due to the shape in which the surgical robot arm 3500 extends long from its support tower 3510.

[0062] To solve this problem, as shown in FIG. 92, the robot arm can be formed in a modular manner, a plurality of robot arms can be arranged near the surgical site, and the instrument can be formed so as to immediately face the patient.

[0063] However, as in the case of FIG. 92, when the rotation axis (yaw axis), which is one of the plurality of rotation axes for rotating the surgical instrument, coincides with the roll axis of the instrument that hits the extension line of the surgical instrument, a gimbal lock phenomenon may occur in which the operation (yaw operation) expected when the one rotation axis (yaw axis) is rotated becomes impossible for the surgical instrument.

[0064] In particular, during surgery, it frequently occurs that surgical instruments are placed horizontally. However, if the yaw axis is also formed horizontally (or nearly horizontally), situations corresponding to the gimbal lock phenomenon may frequently occur.

[0065] To solve such problems, the present invention arranges the yaw axis in a direction other than the horizontal direction (for example, a direction inclined with respect to the horizontal plane) so that the gimbal lock phenomenon does not occur even when the surgical instrument is placed horizontally, and also ensures that the gimbal lock does not occur in the arrangement state of the mainly used surgical instruments. As a result, the overall configuration of the surgical robot can be made more compact.

[0066] Also, as shown in FIGS. 61 to 63, in the present invention, it is characterized in that it is formed in a modular form in which one surgical instrument is deployed by one surgical robot arm. Further, it is characterized by including a plurality of modular surgical robot arms each having one surgical instrument attached thereto. And each such surgical robot arm is arranged near each of a plurality of ports of the patient, and by shortening the total length of the deployed surgical robot arm, an effect of reducing vibration and increasing rigidity can be obtained. In this specification, the "port" refers to the position where the trocar is inserted and the surgical instrument penetrates.

[0067] The surgical robot arm according to the embodiment of the present invention, which is formed in a modular form in which one surgical instrument is deployed, will be described in detail later.

[0068] <First Embodiment of Surgical Robot Arm>

[0069] Hereinafter, the first embodiment of the present invention will be described with reference to the accompanying drawings as follows.

[0070] FIG. 1 is a perspective view showing a surgical robot arm according to a first embodiment of the present invention. FIG. 2 is a diagram showing an operating state of an RCM mechanism having a link structure. FIG. 3 is a diagram showing an operating state of an RCM mechanism having a belt structure. FIG. 4 is a side view showing the surgical robot arm of FIG. 1. FIG. 5 is a plan view showing the surgical robot arm of FIG. 4. FIG. 6 is a perspective view showing an RCM motion (first pitch motion) about a pitch axis P of the surgical robot arm of FIG. 4. FIG. 7 is a side view showing an RCM motion (second pitch motion) about the pitch axis P of the surgical robot arm of FIG. 4. FIG. 8 is a perspective view showing the surgical robot arm of FIG. 7. FIG. 9 is a side view showing an RCM motion (third pitch motion) about the pitch axis P of the surgical robot arm of FIG. 4. FIG. 10 is a perspective view showing the surgical robot arm of FIG. 9. FIG. 11 is a perspective view showing an RCM motion (first yaw motion) about a yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 12 is a plan view showing the surgical robot arm of FIG. 11. FIG. 13 is a perspective view showing an RCM motion (second yaw motion) about the yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 14 is a plan view showing the surgical robot arm of FIG. 13. FIG. 15 is a perspective view showing an RCM motion (third yaw motion) about the yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 16 is a plan view showing the surgical robot arm of FIG. 15.

[0071] Referring to FIG. 1, the surgical robot arm 1 according to the first embodiment of the present invention may include an active arm 100 and a setup arm 200.

[0072] Here, the setup arm 200 is a part that is (manually) operated for the purpose of determining the position of the surgical instrument 300 so as to fit the affected part of the patient before the start of the operation, and may be a part that does not move during the actual operation. On the other hand, the active arm 100 may be a part that moves in real time by the operation of the doctor during the operation.

[0073] The setup arm 200 according to an embodiment of the present invention can include a main body 201 and a setup link assembly including a plurality of setup links 210, 220, 230, 240, 250.

[0074] Specifically, the setup arm 200 can include a first setup link 210, a second setup link 220, a third setup link 230, a fourth setup link 240, and a fifth setup link 250. Further, the setup arm 200 can include a first setup joint 215, a second setup joint 225, a third setup joint 235, a fourth setup joint 245, and a fifth setup joint 255.

[0075] The active arm 100 according to an embodiment of the present invention is for attaching a surgical instrument 300, can be connected to the setup arm 200, and can include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. Further, the active arm 100 can include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155. Then, a trocar 400 and a surgical instrument 300 are engaged with the fifth link 150 of such a surgical robot arm 1.

[0076] Referring to FIG. 1, the first link 110 is connected to the fifth setup link 250. Specifically, with the first joint 115 as the rotation center, the rotation center axis can form the yaw axis Y1 of the surgical robot arm 1.

[0077] Referring to FIG. 1, in the setup arm 200 of the surgical robot arm 1 according to the first embodiment of the present invention, the fifth setup link 250 rotates about the fifth setup joint 255, and the rotation center axis can be formed parallel to the pitch axis P of the active arm 100. However, when the active arm 100 rotates to a certain extent about the yaw axis Y1, the rotation center axis of the fifth setup link 250 and the pitch axis P do not have to be parallel.

[0078] Referring to FIG. 1, in the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention, the first link 110 is rotatable about the first joint 115 with respect to the fifth setup link 250. That is, the first link 110 is rotatable about the yaw axis Y1 passing through the rotation center of the first joint 115 with respect to the fifth setup link 250.

[0079] Here, the third link 130, the fourth link 140, and the fifth link 150 form a parallelogram and can constitute a kind of "RCM (remote center of motion)" mechanism.

[0080] Specifically, a surgical robot (not shown) includes one or more surgical robot arms for surgical operations, and a surgical instrument is attached to the tip of the surgical robot arm.

[0081] Generally, a robot arm has a function similar to that of a human arm and / or wrist, and means a device that can attach a predetermined tool to the wrist part. In this specification, a robot arm can be defined as a concept that includes all components such as the upper arm, forearm, wrist, elbow, and a surgical instrument engaged with the wrist part. Such a surgical robot arm can be embodied to have multiple degrees of freedom.

[0082] When performing surgery by attaching a surgical instrument to the tip of a surgical robot arm in this way, the surgical instrument moves together according to the movement of the surgical robot arm, which may cause unnecessary damage to the human skin during the process of partially piercing the patient's skin and inserting the surgical instrument there. Also, when the surgical site is large, there is a risk that the advantages of robotic surgery will be halved, such as incising only the skin along the path where the surgical instrument moves or piercing the skin for each surgical site.

[0083] Therefore, a virtual rotation center point 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 surgical instrument rotates around this point. Such a virtual center point is called the "remote center" or "RCM (remote center of motion)". The RCM mechanism of the present invention will be described in more detail later.

[0084] Hereinafter, each component of the surgical robot arm 1 according to the first embodiment of the present invention will be described in more detail.

[0085] (Operation of Setup Arm of Surgical Robot Arm)

[0086] Referring to FIGS. 1, 4, and 5, the surgical robot arm 1 according to the first embodiment of the present invention can include an active arm 100 and a setup arm 200. The setup arm 200 is arranged outside the bed 500 on which the patient is placed and can be connected to the active arm 100.

[0087] Referring to FIG. 1, in this embodiment, for convenience, the width direction of the bed 500 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.

[0088] The setup arm 200 serves to set the position and orientation of the active arm 100 so that the surgical instrument 300 engaged with the active arm 100 is placed in a position suitable for surgery. It operates only in the preoperative steps to set up the position, and when the surgery starts, the position of the setup arm 200 is fixed without moving.

[0089] That is, the setup arm 200 can be formed to be operable only during the setup in which the surgical robot arm is placed on one side of the patient.

[0090] The setup arm 200 can be manually operated by a user such as medical staff to change the position.

[0091] As an alternative embodiment, the setup arm 200 can include a drive unit (not shown), and various modifications can be made such that the user can change the position of the setup arm 200 with a device (not shown) such as a controller from the outside.

[0092] Referring to FIG. 1, the active arm 100 can be rotatably and movably connected to one side of the setup arm 200. The active arm 100 will be described in detail later.

[0093] Referring to FIGS. 1 and 4, the setup arm 200 according to the first embodiment of the present invention can include a main body 201, a setup link assembly including a plurality of setup links, and a plurality of setup joints 215, 225, 235, 245, 255.

[0094] The plurality of setup joints 215, 225, 235, 245, 255 can connect the main body 201 to any one of the plurality of setup links or connect the plurality of setup links to each other to form a reference point for rotation and movement.

[0095] Referring to FIGS. 1 and 4, the main body 201 can serve as the base of the entire surgical robot arm 1. On the lower surface of the main body 201, moving means such as wheels (not shown in the drawings) are formed, and the main body 201 can also serve as a kind of moving member.

[0096] As a selective embodiment, the main body 201 is further formed with position fixing means (not shown), and the position of the surgical robot arm 1 including the main body 201 during surgery can be fixed.

[0097] However, the idea of the present invention is not limited to this, and various modified implementations are possible, such as the main body 201 being formed in a shape that can be detachably attached to the bed 500 or in a shape that can be detachably attached to the wall surface.

[0098] The setup link assembly can include a first setup link 210, a second setup link 220, a third setup link 230, a fourth setup link 240, and a fifth setup link 250. Also, the setup arm 200 can include a first setup joint 215, a second setup joint 225, a third setup joint 235, a fourth setup joint 245, and a fifth setup joint 255.

[0099] The first setup joint 215 can be formed so as to be able to move up and down (movement in the Z-axis direction in FIG. 1) with respect to the main body 201.

[0100] Specifically referring to FIGS. 20 to 23, on the main body 201, the first setup link 210 can reciprocate along a preset direction (the up and down direction in FIG. 20). This will be described in more detail later.

[0101] Also, the first setup joint 215 can rotate around a rotation center axis formed parallel to the Y-axis (see FIG. 1) with respect to the main body 201.

[0102] Referring to FIGS. 1 and 4, the second set-up link 220 can be rotatably engaged with respect to the first set-up link 210 about the second set-up joint 225 as the center of rotation. Here, the second set-up joint 225 can include one or more pulleys. Here, the second set-up link 220 can rotate about an axis parallel to the Z-axis with respect to the first set-up link 210.

[0103] The third set-up link 230 can be rotatably engaged with respect to the second set-up link 220 about the third set-up joint 235 as the center. Here, the third set-up joint 235 can include one or more pulleys. Here, the third set-up link 230 can rotate about an axis parallel to the Z-axis with respect to the second set-up link 220.

[0104] The fourth set-up link 240 can be rotatably engaged with respect to the third set-up link 230 about the fourth set-up joint 245 as the center. Here, the fourth set-up joint 245 can include one or more pulleys. Here, the fourth set-up link 240 can rotate about an axis parallel to the Z-axis with respect to the third set-up link 230.

[0105] The fifth set-up link 250 can be rotatably engaged with respect to the fourth set-up link 240 about the fifth set-up joint 255 as the center. Here, the fifth set-up joint 255 can include one or more pulleys. Here, the fifth set-up link 250 can rotate about an axis parallel to the X-axis with respect to the fourth set-up link 240.

[0106] That is, the rotation center axis of the fifth set-up link 250 with respect to the fourth set-up link 240 can be formed to be different from the rotation center axis of the second set-up link 220 with respect to the first set-up link 210. Specifically, the rotation center axis of the fifth set-up link 250 with respect to the fourth set-up link 240 can be arranged perpendicular to the rotation center axis of the second set-up link 220 with respect to the first set-up link 210.

[0107] The rotation center axis of the third set-up link 230 with respect to the second set-up link 220 and the rotation center axis of the fourth set-up link 240 with respect to the third set-up link 230 can be formed side by side with the rotation center axis of the second set-up link 220 with respect to the first set-up link 210.

[0108] FIGS. 1, 4 to 41 are diagrams showing a state in which the fifth set-up link 250 is rotated 20 degrees with respect to the fourth set-up link 240. That is, it is a state in which the angle formed by the horizontal plane and the fifth set-up link 250 is 20 degrees.

[0109] Referring to FIGS. 1 and 4, the first link 110 of the active arm 100 according to the first embodiment of the present invention, specifically, the fifth set-up link 250 can be engaged with the above-described fifth set-up link 250.

[0110] The first joint 115 can rotatably engage the fifth set-up link 250 and the first link 110. Here, the first link 110 can be formed to be rotatable about the yaw axis Y1 with respect to the fifth set-up link 250.

[0111] Referring to FIGS. 1, 4 to 41, in this case, the first link 110 of the active arm 100 can be engaged perpendicular to the fifth set-up link 250 that forms a 20-degree angle with the horizontal plane, specifically, the set-up arm 200. The yaw axis Y1, which is the rotation center axis of the first link 110, forms a 70-degree angle with the horizontal plane.

[0112] That is, the yaw axis Y1 and the roll axis R are formed to be different from each other, and in a state where the roll axis R of the surgical instrument 300 is arranged parallel to the horizontal plane, the yaw axis Y1 and the roll axis R are formed to form a predetermined angle rather than being parallel to each other.

[0113] That is, when the roll axis R of the surgical instrument 300 engaged with the fifth link 150 is arranged side by side with the horizontal plane, the yaw axis Y1 of the surgical robot arm 1 can be arranged to be inclined at an angle of 70 degrees with the roll axis R.

[0114] Thereby, when the surgical instrument 300 is arranged parallel to the horizontal plane, it is possible to prevent the gimbal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are arranged parallel or in close proximity to each other.

[0115] The surgical robot arm 1 according to the first embodiment of the present invention can position the RCM at various positions by the setup arm 200 including a plurality of set-up links 210, 220, 230, 240, 250, and can arrange the surgical instrument 300 at various arbitrary angles.

[0116] That is, by the rotation of the plurality of set-up links 210, 220, 230, 240, 250 and the yaw rotation of the active arm 100, the RCM can be positioned at various positions, the active arm 100 can be arranged at various positions at various angles, and the entry angle of the surgical instrument 300 can be arranged in various ways.

[0117] Expressing this from another perspective, the presence of the setup arm 200 will make it possible to variously adjust the distance between the main body 201 and the surgical instrument 300.

[0118] Referring to FIGS. 1 and 4, the surgical instrument 300 connected to the fifth link 150 can be disposed closer to the patient than the fifth link 150 of the active arm 100.

[0119] Thereby, the fifth link 150 is not positioned between the patient and the surgical instrument 300, and when a plurality of surgical robot arms are arranged surrounding the bed 500 on which the patient lies, interference between the active arms 100 provided on the plurality of different surgical robot arms 1 can be prevented.

[0120] Referring to FIGS. 1 and 4, among the plurality of setup links according to the first embodiment of the present invention, the setup links 210, 220, 230, 240 that rotate about an axis parallel to the Z axis can be arranged such that the height is relatively higher in the direction away from the main body 201, that is, in the direction of the active arm 100 side.

[0121] Specifically, the second setup link 220 is rotatably engaged with the upper surface of the first setup link 210 (see FIG. 4) about the second setup joint 225, the third setup link 230 is rotatably engaged with the upper surface of the second setup link 220 about the third setup joint 235, and the fourth setup link 240 can be rotatably engaged with the upper surface of the third setup link 230 about the fourth setup joint 245.

[0122] Thereby, as the fifth setup link 250 that rotates about an axis parallel to the X axis is engaged with the fourth setup link 240 that is disposed relatively higher than the first setup link 210, the second setup link 220, and the third setup link 230, and the active arm 100, specifically the first link 110, is rotatably engaged with the fifth setup link 250 about the yaw axis Y1, the yaw axis Y1 can be formed from the upper side to the lower side (see FIG. 1) as the RCM is formed on the other side opposite to one side of the active arm 100 engaged with the fifth setup link 250.

[0123] As a result, the roll axis R and the yaw axis Y1 of the surgical instrument 300 engaged with the active arm 100 described later are inclined at a relatively large angle with respect to each other, and the gimbal lock phenomenon that may occur due to being arranged at a horizontal or nearly horizontal position can be prevented.

[0124] In addition to this, the yaw axis Y1 arranged from top to bottom and the roll axis R of the surgical instrument 300 form a predetermined angle, and since the active arm 100 is arranged from top to bottom, the driving range in which the surgical robot arm 1 has to move for a predetermined operation can be reduced.

[0125] FIG. 20 is a perspective view showing a state in which the setup arm of the surgical robot arm according to the first embodiment of the present invention has risen on the main body. FIG. 21 is a side view showing the surgical robot arm of FIG. 20. FIG. 22 is a perspective view showing a state in which the setup arm of the surgical robot arm according to the first embodiment of the present invention has descended on the main body. FIG. 23 is a side view showing the surgical robot arm of FIG. 22.

[0126] Referring to FIG. 20, the setup arm 200 according to the first embodiment of the present invention can include a main body 201, a first setup link 210, a second setup link 220, a third setup link 230, a fourth setup link 240, and a fifth setup link 250.

[0127] The first setup link 210 is engaged with the main body 201, and specifically, it can be engaged by a first setup joint 215. The first setup joint 215 can be formed so as to be able to move up and down with respect to the main body 201 (movement in the Z-axis direction in FIG. 20).

[0128] Referring to FIG. 20, the fifth set-up link 250 is rotatable about a rotation center axis parallel to the X-axis with respect to the fourth set-up link 240, and can rotate with respect to the fourth set-up link 240 so as to form a certain angle with respect to the horizontal plane.

[0129] Specifically, in FIG. 4, the fifth set-up link 250 is in a state of being rotated by 20 degrees with respect to the fourth set-up link 240 with reference to the horizontal plane.

[0130] Although not shown in the figure, the main body 201 can be provided with a lifting motor (not shown), and the lifting motor is connected to the first set-up joint 215. When the lifting motor is driven, the first set-up joint 215 and the first set-up link 210 connected thereto can move up or down along the Z-axis direction.

[0131] Referring to FIGS. 20 and 21, as the first set-up link 210 rises, the second set-up link 220 connected to the first set-up link 210, the third set-up link 230 connected to the second set-up link 220, the fourth set-up link 240 connected to the third set-up link 230, the fifth set-up link 250 connected to the fourth set-up link 240, and the active arm 100 connected to the fifth set-up link 250 can move upward along the Z-axis direction (see FIG. 20).

[0132] In this case, since the angle of the fifth set-up link 250 with respect to the fourth set-up link 240 is maintained at a certain angle, the angle formed by the yaw axis Y1, which is the rotation center axis of the first link 110 engaged with the fifth set-up link 250, and the horizontal plane is maintained, and the position of the active arm 100 in the Z-axis direction can be changed.

[0133] Referring to FIGS. 22 and 23, contrary to FIGS. 20 and 21, on the main body 201, the first setup link 210 moves from the upper side to the lower side (see FIG. 22) along the A direction, and at this time, the angle formed by the yaw axis Y1 with the horizontal plane is also maintained.

[0134] FIGS. 24 to 26 are diagrams showing the first rotational state of the setup arm of the surgical robot arm according to the first embodiment of the present invention.

[0135] Referring to FIG. 24, the setup arm 200 according to the first embodiment of the present invention can include a main body 201, a first setup link 210, a second setup link 220, a third setup link 230, a fourth setup link 240, and a fifth setup link 250.

[0136] The first setup link 210 is engaged with the main body 201 by a first setup joint 215, the second setup link 220 is axially engaged with the first setup link 210 by a second setup joint 225, the third setup link 230 is axially engaged with the second setup link 220 by a third setup joint 235, the fourth setup link 240 is axially engaged with the third setup link 230 by a fourth setup joint 245, and the fifth setup link 250 is axially engaged with the fourth setup link 240 by a fifth setup joint 255.

[0137] The fifth setup link 250 is axially engaged with the fourth setup link 240 with an axis parallel to the pitch axis P of the active arm 100 (or an axis parallel to the X axis) as the rotation central axis. Referring to FIG. 20, the fifth setup link 250 is engaged with the fourth setup link 240 at a certain angle, for example, 20 degrees. However, when the active arm 100 rotates to a certain extent around the yaw axis Y1, the rotation central axis of the fifth setup link 250 and the pitch axis P may not be parallel.

[0138] FIG. 24 shows a state in which the second set-up link 220, the third set-up link 230, and the fourth set-up link 240 are rotated with respect to the rotation center axis, and the RCM formed by the active arm 100 can be translated along a preset direction (Y-axis in FIG. 24).

[0139] That is, in a state similar to FIG. 5, the second set-up link 220 is rotated with respect to the first set-up link 210 at a predetermined angle, the third set-up link 230 is rotated with respect to the second set-up link 220 at a predetermined angle, and the fourth set-up link 240 is rotated with respect to the third set-up link 230 at a predetermined angle. Then, the surgical instrument 300 is arranged in the same direction as in FIG. 5, and the position between the second set-up link 220 and the third set-up link 230 is adjusted, so that the RCM is translated along the Y-axis, specifically, it moves toward the main body 201 side.

[0140] Thereby, the RCM can be arranged at various positions by rotating a plurality of set-up links according to the first embodiment of the present invention. In addition, by rotating the first link 110 of the active arm 100 around the yaw axis Y1, the entry angle of the surgical instrument 300 can be variously changed while maintaining the RCM.

[0141] FIGS. 27 to 29 are diagrams showing a second rotation state of the set-up arm of the surgical robot arm according to the first embodiment of the present invention.

[0142] FIG. 27 shows a state in which the second set-up link 220, the third set-up link 230, and the fourth set-up link 240 are each rotated to a certain extent with the angle of the fifth set-up link 250 with respect to the fourth set-up link 240 fixed at a constant angle of 20 degrees as in FIG. 5.

[0143] In FIGS. 27 to 29, the second set-up link 220, the third set-up link 230, and the fourth set-up link 240 can rotate while maintaining the RCM, and different from FIGS. 24 to 26, the direction of the surgical instrument 300 can be changed.

[0144] Referring to FIG. 29, as the position of the active arm 100 is changed, the position of the surgical instrument 300 can be changed. Therefore, compared with FIG. 26, the position of the RCM is the same, but the entry angle of the surgical instrument 300 can be changed.

[0145] Thereby, while maintaining the position of the RCM in the same manner by the rotation of the plurality of set-up links according to the first embodiment of the present invention, the entry angle of the instrument can be variously changed.

[0146] In addition to this, by rotating the first link 110 of the active arm 100 about the yaw axis Y1, the entry angle of the surgical instrument 300 can be further variously changed while maintaining the RCM.

[0147] FIGS. 30 to 32 are diagrams showing a third rotation state of the set-up arm of the surgical robot arm according to the first embodiment of the present invention.

[0148] As shown in FIG. 30, as shown in FIG. 5, the second set-up link 220, the third set-up link 230, and the fourth set-up link 240 are rotated to a certain extent with the angle of the fourth set-up link 240 with respect to the fifth set-up link 250 fixed at a constant angle of 20 degrees, and in addition, the first link 110 of the active arm 100 is also rotated to a certain extent about the yaw axis Y1.

[0149] Referring to FIGS. 30 to 32, a plurality of setup links 220, 230, 240 can be rotated while maintaining the RCM, and as the plurality of setup links 220, 230, 240 rotate relative to each other, the positions of the plurality of links 110, 120, 130, 140, 150 of the active arm 100 engaged with the fifth setup link 250 can be changed.

[0150] At this time, the user can rotate the first link 110 of the active arm 100 rotatably connected to the fifth setup link 250 about the yaw axis Y1 to change the entry angle of the surgical instrument 300 to be the same as the entry angle before the change.

[0151] That is, even if the user changes the positions of the setup links 220, 230, 240, the active arm 100 can be driven so that the surgical instrument 300 can enter at the same angle with respect to the same RCM as before the change.

[0152] In addition, when performing surgery on a patient with a plurality of different surgical robotic arms, by changing the distance between the main body 201 of any one surgical robotic arm and the active arm 100 or additionally forming a space, there is an effect of creating a space into which the surgical instrument engaged with the active arm of another surgical robotic arm can enter.

[0153] In addition, by rotating a plurality of setup links arranged between the main body 201 and the active arm 100 without having to move the setup arm 200, specifically the main body 201, to another position to generate the space, there is an effect of eliminating the movement time of surgical equipment such as the surgical robotic arm 1 and shortening the surgical time.

[0154] Figs. 33 to 35 are diagrams showing an arbitrary first arrangement state of the surgical robot arm according to the first embodiment of the present invention. Figs. 36 to 38 are diagrams showing an arbitrary second arrangement state of the surgical robot arm according to the first embodiment of the present invention. Figs. 39 to 41 are diagrams showing an arbitrary third arrangement state of the surgical robot arm according to the first embodiment of the present invention.

[0155] Referring to Figs. 33 to 41, the surgical robot arm 1 according to the first embodiment of the present invention is in a state where the position of the first setup link 210 on the main body 201 is fixed, that is, the height of the setup arm 200 in the Z-axis direction is fixed, and the rotation angle of the fifth setup link 250 with respect to the fourth setup link 240 is also fixed at a constant angle of 20 degrees.

[0156] At this time, by rotating the second setup link 220 at a predetermined angle with respect to the first setup link 210, rotating the third setup link 230 at a predetermined angle with respect to the second setup link 220, and rotating the fourth setup link 240 at a predetermined angle with respect to the third setup link 230, the position of the RCM can be changed in various ways.

[0157] In addition, by rotating the active arm 100 engaged with the setup arm 200, specifically, the first link 110 engaged with the fifth setup link 250 with the yaw axis Y1 as the rotation center, as described above, with the third joint 135, the fourth joint 145, and the fifth joint 155 maintaining a parallelogram, the position of the surgical instrument 300 can be changed while the position of the RCM is fixed.

[0158] As the position of the surgical instrument 300 is changed, the roll axis R of the surgical instrument 300 is changed, and the entry angle of the surgical instrument 300 can be changed, resulting in the effect that various arrangements are possible at any entry angle of the surgical instrument 300.

[0159] (Operation of Active Arm of Surgical Robot Arm)

[0160] Referring to FIGS. 1 and 4, the active arm 100 is engaged with the setup arm 200, and the surgical instrument 300 and the trocar 400 can be engaged. The active arm 100 is adjusted in position in the preoperative step and engaged with the end of the setup arm 20 that is fixed and not moved, and can be a part that moves in real time by the operation of the doctor during the operation.

[0161] The surgical robot arm 1 according to the first embodiment of the present invention is attached to the active arm 100 engaged with one end of the setup arm 200 with a fixed position, and a virtual rotation center point is set at a predetermined position at the end of the surgical instrument 300. The active arm 100 is controlled so that the surgical instrument 300 rotates around this point, and such a virtual rotation center point is the RCM.

[0162] Before explaining the active arm 100, the RCM mechanism will be briefly explained below.

[0163] (RCM Concept Diagram - Link Structure)

[0164] As an example of the RCM mechanism of the present invention, a link structure can be applied. FIG. 2 is a diagram showing the operating state of the RCM mechanism of the link structure. FIG. 4 is a diagram showing an example in which the RCM mechanism of the link structure is applied to the surgical robot arm of FIG. 1.

[0165] In the case of such a link structure, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention can include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150.

[0166] Furthermore, the active arm 100 can further include a third - 1 link 130 - 1 and a fourth - 1 link 140 - 1. Also, the active arm 100 can include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155.

[0167] Referring to FIG. 2, when the third link 130 rotates with respect to the second link 120 about the third joint 135, the third link 130, the fourth link 140, and the third - 1 link 130 - 1, which are links forming a parallelogram, all rotate together. At this time, even when the links rotate, the parallelogram is maintained. Therefore, the third link 130 and the third - 1 link 130 - 1 will maintain parallelism in any rotational state.

[0168] On the other hand, when the fourth link 140 rotates with respect to the third link 130 about the fourth joint 145, the third link 130, the fourth link 140, the fifth link 150, and the fourth - 1 link 140 - 1, which form a parallelogram, all rotate together.

[0169] At this time, even when the links rotate, the parallelogram is maintained. Therefore, the fourth link 140 and the fourth - 1 link 140 - 1 will maintain parallelism in any rotational state.

[0170] In this way, in cooperation with the rotation of the third link 130 about the third joint 135, the fourth link 140 will also rotate with respect to the third link 130, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 will maintain a parallel state.

[0171] Similarly, in cooperation with the rotation of the fourth link 140 with respect to the third link 130, the fifth link 150 will also rotate with respect to the fourth link 140, and the third link 130 and the fifth link 150 will maintain a parallel state. As a result, the RCM will be maintained constantly in any operating state.

[0172] (RCM Concept Diagram - Belt Structure)

[0173] As an example of the RCM mechanism of the present invention, a belt structure can be applied. FIG. 3 is a diagram showing the operating state of the RCM mechanism of the belt structure.

[0174] In the case of such a belt structure, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention can include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. Further, the active arm 100 of the surgical robot arm 1 can include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155.

[0175] Here, the second joint 125 can include a pulley 192, the third joint 135 can include a pulley 193-1 and a pulley 193-2, the fourth joint 145 can include a pulley 194-1 and a pulley 194-2, and the fifth joint 155 can include a pulley 195.

[0176] Here, the pulley 192, the pulley 193-1, the pulley 194-1, and the pulley 195 can be rotating pulleys that rotate about their central axes. On the other hand, the pulley 193-2 and the pulley 194-2 can be fixed pulleys that do not rotate.

[0177] Further, the active arm 100 of the surgical robot arm 1 can further include a first belt 181, a second belt 182, and a third belt 183.

[0178] 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.

[0179] Referring to FIG. 3, pulley 192, which is a rotating pulley, can be connected to a motor (not shown) and formed to be rotatable with respect to the second link 120. And it can be assumed that each pulley and the belt are fixedly engaged at one or more points so that no slip occurs.

[0180] First, pulley 193-1, which is a rotating pulley, is formed to be rotatable with respect to the second link 120 and is integrally formed with the third link 130. Therefore, when pulley 193-1 rotates with respect to the second link 120, the third link 130, which is integral with pulley 193-1, rotates with respect to the second link 120.

[0181] On the other hand, pulley 193-2, which is a fixed pulley, is integrally formed with the second link 120.

[0182] On the other hand, pulley 194-1, which is a rotating pulley, is formed to be rotatable with respect to the third link 130 and is integrally formed with the fourth link 140. Therefore, when pulley 194-1 rotates with respect to the third link 130, the fourth link 140, which is integral with pulley 194-1, rotates with respect to the third link 130.

[0183] On the other hand, pulley 194-2, which is a fixed pulley, is integrally formed with the third link 130.

[0184] On the other hand, pulley 195, which is a rotating pulley, is formed to be rotatable with respect to the fourth link 140 and is integrally formed with the fifth link 150. Therefore, when pulley 195 rotates with respect to the fourth link 140, the fifth link 150, which is integral with pulley 195, rotates with respect to the fourth link 140.

[0185] At this time, for two pulleys bundled by one belt, the RCM cannot be maintained unless their diameters are necessarily the same. That is, {the diameter of pulley 192 = the diameter of pulley 193-1}, {the diameter of pulley 193-2 = the diameter of pulley 194-1}, {the diameter of pulley 194-2 = the diameter of pulley 195} must hold.

[0186] The operation of such a belt structure RCM mechanism will be described.

[0187] First, when the pulley 192 connected to a motor (not shown) rotates, the pulley 193-1 connected to the pulley 192 via the belt 181 also rotates.

[0188] Then, when the pulley 193-1 rotates, the third link 130 integrally formed with the pulley 193-1 rotates with respect to the second link 120.

[0189] At this time, with the pulley 193-2 fixed with respect to the second link 120 and the third link 130 rotating with respect to the second link 120, the belt 182 rotates relative to the pulley 193-2.

[0190] Then, when the belt 182 rotates, the pulley 194-1 rotates with respect to the third link 130, and when the pulley 194-1 rotates, the fourth link 140 integral with the pulley 194-1 rotates with respect to the third link 130.

[0191] In this way, in cooperation with the rotation of the third link 130 with respect to the second link 120, the fourth link 140 also rotates with respect to the third link 130, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 will maintain a parallel state.

[0192] Then, with the pulley 194-2 fixed with respect to the third link 130 and the fourth link 140 rotating with respect to the third link 130, the belt 183 rotates relative to the pulley 194-2.

[0193] Then, when the belt 183 rotates, the pulley 195 rotates with respect to the fourth link 140, and when the pulley 195 rotates, the fifth link 150 integral with the pulley 195 rotates with respect to the fourth link 140.

[0194] In this way, in cooperation with the rotation of the fourth link 140 with respect to the third link 130, the fifth link 150 also rotates with respect to the fourth link 140, and the third link 130 and the fifth link 150 maintain a parallel state.

[0195] As a result, the RCM is maintained constant in any operating state.

[0196] Hereinafter, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention will be described.

[0197] Referring to FIGS. 1, 4 to 17, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention can include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150.

[0198] Further, the active arm 100 can include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155.

[0199] Referring to FIGS. 1 and 4, the first joint 115 rotatably engages the fifth setup link 250 and the first link 110. The first joint 115 is formed such that the first link 110 rotates about a yaw axis Y1 formed to pass through the RCM (Remote Center of Motion).

[0200] As a result, regardless of how much the first link 110 yaw-rotates with respect to the fifth setup link 250, the position and direction of the RCM with respect to the fifth setup link 250 are maintained constant.

[0201] The second joint 125 connects the first link 110 and the second link 120. In this case, the first link 110 and the second link 120 are fixedly engaged, and the relative position of the second link 120 with respect to the first link 110 can be formed to be constant.

[0202] At this time, the second joint 125 can include a motor (not shown) and can be connected to the third joint 135 by a belt, a wire, or the like. Therefore, the driving force of the second joint 125 can be transmitted to the third joint 135.

[0203] Although not shown in the figure, the second joint 125 can be configured not to include a motor, the third joint 135 can include a motor, and various modifications can be made such that the driving force of the third joint 135 can be transmitted to the second joint 125.

[0204] The third link 130 is rotatably engaged with the second link 120 about the third joint 135. Here, the third joint 135 can include one or more pulleys.

[0205] The fourth link 140 is rotatably engaged with the third link 130 about the fourth joint 145. Here, the fourth joint 145 can include one or more pulleys.

[0206] The fifth link 150 is rotatably engaged with the fourth link 140 about the fifth joint 155. Here, the fifth joint 155 can include one or more pulleys.

[0207] Referring to FIGS. 1 and 4, a surgical instrument 300 is engaged with the fifth link 150. At this time, at least a part of the surgical instrument 300 can be formed to be rotatable about a roll axis R (i.e., a shaft axis).

[0208] Also, it can be formed so as to be capable of reciprocating linearly along the roll axis R with respect to the fifth link 150. Here, the roll axis R of the surgical instrument 300 engaged with the fifth link 150 is formed to pass through the RCM.

[0209] Referring to FIG. 4, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM can be the four vertices of a parallelogram. That is, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM can form a parallelogram.

[0210] With such a structure, the surgical robot arm 1 operates the setup arm 200 described later. Once set up, the RCM will always maintain its position. And when each link rotates around the RCM, a parallelogram will be maintained no matter where each link is.

[0211] So that the RCM is maintained, the fourth joint 145 and the fifth joint 155 are rotatably connected to the third joint 135. Various power transmission devices such as belts, wires, and links can be used to connect the third joint 135, the fourth joint 145, and the fifth joint 155.

[0212] For example, when the rotation of the third joint 135 and the fourth joint 145 is coordinated by a belt and the third link 130 rotates with respect to the second link 120, the fourth link 140 can be rotated with respect to the third link 130.

[0213] At the same time, when the rotation of the fourth joint 145 and the fifth joint 155 is coordinated by a belt and the fourth link 140 rotates with respect to the third link 130, the fifth link 150 can be rotated with respect to the fourth link 140.

[0214] With such a configuration, as a result, the line segment connecting the third joint 135 and the fourth joint 145 and the line segment connecting the fifth joint 155 and the RCM can always maintain parallelism. Also, the line segment connecting the third joint 135 and the RCM and the line segment connecting the fourth joint 145 and the fifth joint 155 can always maintain parallelism.

[0215] The active arm 100 of the surgical robot arm will be described in more detail.

[0216] Referring to FIG. 1, the first link 110 can be connected to the fifth setup link 250 by the first joint 115, and is formed to be yaw-rotatable about the yaw axis Y1 with respect to the fifth setup link 250. One end of the second link 120 is fixedly engaged with the first link 110, and the other end is engaged with the third link 130.

[0217] The first joint 115 engages the fifth setup link 250 and the first link 110 so that the fifth setup link 250 and the first link 110 can rotate relative to each other. Specifically, the first joint 115 is formed so that the first link 110 yaw-rotates about the yaw axis Y1 formed to pass through the RCM. Although not shown in the figure, the first joint 115 can include a motor for rotating the first link 110.

[0218] Referring to FIGS. 1 and 4, the yaw axis Y1 can be formed in an oblique direction that is not parallel to the X-axis / Y-axis / Z-axis (see FIG. 1). Specifically, it can be arranged so that the extension line connecting the third joint 135 and the RCM and the yaw axis Y1 have the same angle with respect to the horizontal plane.

[0219] Referring to FIGS. 1 and 4, when the first link 110 is rotatably engaged with the fifth setup link 250, which is one end of the setup arm 200, by the first joint 115 with the yaw axis Y1 as the rotation center axis, the yaw axis Y1, which is the extension line connecting the first joint 115 and the RCM, can be formed to extend from the upper side to the lower side with respect to the patient placed on the bed 500.

[0220] In other words, it can be expressed that the height in the Z-axis direction of the point where the Y-axis Y1 penetrates in the fifth setup link 250 and the first link 110 (i.e., the first joint 115) is formed higher than the height in the Z-axis direction of the RCM.

[0221] In other words, it can be expressed that the height in the Z-axis direction of the Y-axis Y1 at the proximal part of the active arm 100 is formed higher than the height in the Z-axis direction of the Y-axis Y1 at the distal part of the active arm 100.

[0222] Here, in relation to the position of the active arm 100 of the surgical robot arm 1, the region connected to the setup arm 200 (especially the fifth setup link 250) is defined as the proximal end, and the end on the opposite side of the proximal end, for example, the RCM formed on the fifth link 150, can be defined as the distal end.

[0223] In other words, it can also be expressed that the longitudinal central axis or the rotation central axis of the first link 110 is inclined to form a predetermined angle with respect to the horizontal plane, and the central axis of the first link 110 is formed to coincide with the Y-axis Y1.

[0224] Referring to FIG. 1, the first link 110 can be connected by the first joint 115 to be rotatable about the Y-axis Y1 with respect to the fifth setup link 250. As described above, the fifth setup link 250 can be engaged to be relatively rotatable with respect to the fourth setup link 240.

[0225] The fifth setup link 250 can be connected at a certain angle with respect to the fourth setup link 240. The fourth setup link 240 can be arranged parallel to the horizontal plane, and the angle formed by the fifth setup link 250 and the fourth setup link 240 can be formed to be the same as the angle formed by the fifth setup link 250 and the horizontal plane.

[0226] For example, when the fifth setup uplink 250 is arranged to have an angle of α degrees with respect to the fourth setup uplink 240, the rotation center axis of the first link 110 that is rotatably engaged with the fifth setup uplink 250, that is, the yaw axis Y1, is formed to be perpendicular to the fifth setup uplink 250 and to have an angle of 90 - α degrees with the horizontal plane.

[0227] The first link 110 can be expressed as being inclined to form a predetermined angle with respect to the horizontal plane and being formed such that the central axis of the first link 110 coincides with the yaw axis Y1.

[0228] Thereby, even if the surgical instrument 300 engaged with the active arm 100 is arranged horizontally along the horizontal plane on which the bed 500, that is, the patient is placed, the roll axis R formed along the horizontal direction and the yaw axis Y1 arranged at a certain inclination with respect to each other form a certain angle with each other. Therefore, there is an effect of preventing the gimbal lock phenomenon caused by the coincidence of the roll axis R of the surgical instrument 300 and the yaw axis Y1 of the active arm 100.

[0229] Referring to FIG. 1, by forming the RCM to be located on the extension line of the yaw axis Y1, regardless of how much the first link 110 yaw - rotates with respect to the fifth setup uplink 250, the position and direction of the RCM with respect to the fifth setup uplink 250 can be maintained constant.

[0230] Here, when the first link 110 rotates about the yaw axis Y1 with respect to the fifth setup uplink 250, the second link 120, the third link 130, the fourth link 140, the fifth link 150 connected to the first link 110, and the surgical instrument 300 connected to the fifth link 150 rotate about the yaw axis Y1 together with the first link 110.

[0231] As a result, the coordinate systems of each link and the surgical instrument 300 are not fixed and continue to change relatively according to the rotation of the first link 110.

[0232] On the other hand, the second joint 125 connects the first link 110 and the second link 120. In this case, the first link 110 and the second link 120 are fixedly engaged, and the relative position of the second link 120 with respect to the first link 110 can be formed to be constant.

[0233] That is, the first link 110 and the second link 120 can operate together integrally. Here, in the drawings, the first link 110 and the second link 120 are shown as being formed of separate members and fixedly engaged, but the idea of the present invention is not limited to this, and the first link 110 and the second link 120 can also function as an integral yaw drive assembly (not shown in the drawings).

[0234] Here, the second link 120 of the first embodiment of the present invention can be formed parallel to the yaw axis Y1 of the active arm 100 of the surgical robot arm 1, which is the rotation central axis of the first link 110. Further, the second link 120 can be formed substantially parallel to the fourth link 140. Alternatively, the second link 120 can be arranged on the extension line of the third joint 135 and the RCM or parallel to the extension line.

[0235] At this time, the second joint 125 can include a motor and can be connected to the third joint 135 by a belt, a wire, or the like. Therefore, the driving force of the second joint 125 can be transmitted to the third joint 135. Alternatively, the second joint 125 may not include a motor, and the third joint 135 may be formed to include a motor.

[0236] The third link 130 is axially engaged with the second link 120 so as to be rotatable about the third joint 135. Here, the third joint 135 can include one or more pulleys.

[0237] The fourth link 140 is axially engaged with the third link 130 so as to be rotatable about the fourth joint 145. Here, the fourth joint 145 can include one or more pulleys.

[0238] The fifth link 150 is axially engaged with the fourth link 140 so as to be rotatable about the fifth joint 155. Here, the fifth joint 155 can include one or more pulleys.

[0239] The surgical instrument 300 is engaged with the fifth link 150. At this time, at least a part of the surgical instrument 300 is formed to be rotatable about the roll axis R (i.e., the shaft axis), and is formed to be able to reciprocate linearly along the roll axis R with respect to the fifth link 150. Here, the roll axis R of the surgical instrument 300 is formed to pass through the RCM.

[0240] On the other hand, although not shown in the drawings, an instrument mounting portion (not shown) and a guide rail (not shown) are formed on the fifth link 150, which is the link to which the surgical instrument 300 is attached. With the surgical instrument 300 attached to the instrument mounting portion, the instrument mounting portion can reciprocate linearly along the guide rail formed in the direction of the roll axis R. In order to implement such a linear motion, the instrument mounting portion (not shown) can be provided with a driving portion such as a linear actuator (not shown). And the surgical instrument 300 can be attached to the instrument mounting portion (not shown) formed on the fifth link 150 of such an active arm 100.

[0241] On the other hand, an interface portion (not shown) for engaging with the surgical instrument 300 to control the movement of the surgical instrument 300 can be further formed on the instrument mounting portion (not shown).

[0242] The interface part (not shown) can include components for engaging with the driving part of the surgical instrument 300 and a motor for transmitting the driving force from the surgical robot arm to the surgical instrument 300. With this interface part (not shown), the end tool of the surgical instrument 300 can perform pitch, yaw, and actuation movements. Further, with this interface part (not shown), the shaft and the end tool of the surgical instrument 300 can perform a roll movement about the roll axis R.

[0243] On the other hand, the trocar 400, which serves as an insertion passage for the surgical instrument 300 to be inserted into the patient's body, can be engaged with the fifth link 150, which is a mounting link to which the surgical instrument 300 is attached. With the trocar 400 inserted into the body, the surgical instrument 300 can be inserted into the patient's body through the trocar 400. And an RCM can be formed at a predetermined position on such a trocar 400.

[0244] And as described above, the yaw axis Y1, which is the rotation center axis of the first link 110 rotatably engaged with the fifth setup link 250, can be formed to pass through such an RCM.

[0245] Also, the surgical instrument 300 can further include a driving part (not shown). In the driving part (not shown), components for engaging with the interface part (not shown) and a driving wheel that meshes with the motor to operate can be formed. In this way, corresponding engaging means and driving transmission means are respectively formed in the interface part (not shown) and the driving part (not shown), whereby the surgical instrument 300 is attached to the fifth link 150 and is driven by the driving force transmitted from the surgical robot arm 1, specifically the active arm 100, to operate.

[0246] Here, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM can be the four vertices of a parallelogram. That is, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM can form a single parallelogram.

[0247] Specifically, when there are three vertices of the third joint 135, the fourth joint 145, and the fifth joint 155, the position of the remaining point (RCM) of the parallelogram including these three vertices will be automatically determined.

[0248] Then, when the third link 130 rotates about the third joint 135 with the position of the third joint 135 fixed, by the RCM mechanism such as a link / belt described later, the third link 130 and the fifth link 150 rotate while maintaining a parallel state in any operating state of the surgical robot arm 1, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 also rotate while maintaining a parallel state in any operating state of the surgical robot arm 1. Therefore, regardless of the rotation angle of the third link 130 with respect to the second link 120, the position of the RCM can be maintained constant. Referring to FIG. 4, the fact that the third link 130 and the fifth link 150 maintain a parallel state means that the third link and the "line segment connecting the fifth joint 155 and the RCM" maintain a parallel state.

[0249] In such a structure, once the surgical robot arm 1 is set up, the RCM will always maintain its position. And when each link rotates about the RCM, a parallelogram will be maintained regardless of the position of each link.

[0250] That is, in the set-up process, the position of the set-up arm 200 is determined, and the positions of the plurality of set-up links 210, 220, 230, 240, 250 that are sequentially connected to the main body 201 and the main body 201 are fixed. With the first link 110 engaged with the set-up link, specifically the fifth set-up link 250, fixed, the position of the RCM remains unchanged regardless of the positions of the third link 130 to the fifth link 150. Also, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM will maintain a parallelogram shape.

[0251] To maintain the RCM in this way, the fourth joint 145 and the fifth joint 155 are rotatably connected to the third joint 135. To connect the third joint 135, the fourth joint 145, and the fifth joint 155, various power transmission devices such as belts, wires, and links can be used.

[0252] For example, when the rotation of the third joint 135 and the fourth joint 145 is coordinated by a belt and the third link 130 rotates with respect to the second link 120, the fourth link 140 can be rotated with respect to the third link 130. At the same time, when the rotation of the fourth joint 145 and the fifth joint 155 is coordinated by a belt and the fourth link 140 rotates with respect to the third link 130, the fifth link 150 can be rotated with respect to the fourth link 140.

[0253] With such a configuration, as a result, the line segment connecting the third joint 135 and the fourth joint 145 and the line segment connecting the fifth joint 155 and the RCM can always maintain parallelism.

[0254] Also, the line segment connecting the third joint 135 and the RCN and the line segment connecting the fourth joint 145 and the fifth joint 155 can always maintain parallelism.

[0255] Although not shown in the figures, as an alternative embodiment, a configuration is possible in which the second link 120 and the third joint 135 are not provided, and the first link 110 and the third link 130 are directly connected by the second joint 125.

[0256] On the other hand, in the first embodiment of the present invention, some of the links, particularly the second link 120, the third link 130, the fourth link 140, and the fifth link 150, can be arranged on other planes so as not to intersect each other.

[0257] That is, along the rotation center axis of the third joint 135 where the second link 120 and the third link 130 are engaged, the second link 120 and the third link 130 can be arranged on any different planes perpendicular to the rotation center axis.

[0258] Also, along the rotation center axis of the fourth joint 145 where the third link 130 and the fourth link 140 are engaged, the third link 130 and the fourth link 140 can be arranged on any different planes perpendicular to the rotation center axis.

[0259] However, the present invention is not limited to this, and various modifications are possible, such as the second link 120, the third link 130, and the fourth link 140 being arranged on the same plane perpendicular to the rotation center axis within the technical idea of being arranged side by side without overlapping each other.

[0260] On the other hand, in FIG. 1, the fourth link 140 and the fifth link 150 are arranged on the same plane perpendicular to the rotation center axis along the rotation center axis of the fifth joint 155 where they are engaged, but the present invention is not limited to this, and various modifications are possible, such as being arranged on different planes.

[0261] Therefore, the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention is formed such that no collision occurs when any link rotates with respect to another link, and any link does not interfere with the rotation of another link, and the driving range of each link is widened.

[0262] Specifically, referring to FIG. 19, which is a plan view of the surgical robot arm 1 according to an embodiment of the present invention, when viewed on the XY plane, at least a part of the second link 120, the third link 130, and the fourth link 140 are formed so as to be offset to a certain extent in their rotational axis directions (i.e., the Y-axis direction).

[0263] In other words, in the Y-axis direction, the third link 130 can be disposed on one side of the second link 120, and the fourth link 140 can be disposed on one side of the third link 130.

[0264] Referring to FIG. 18, the yaw axis Y1, which is the rotational center axis of the first link 110 rotatably engaged with the fifth setup link 250, and the roll axis R of the surgical instrument 300 can intersect at the RCM.

[0265] In such a technical concept, the second link 120, the third link 130, the fourth link 140, and the fifth link 150 can be connected to each other on one side along the rotational axis direction (i.e., the Y-axis direction). As a result, the rotation ranges of the third link 130, the fourth link 140, and the fifth link 150 are not restricted, and there is an effect that they can rotate freely.

[0266] On the other hand, in other words, since each link is formed so as not to interfere with the rotation of the other link, at least a part of each link can be expressed as being able to overlap with each other in the yaw axis Y1 direction. That is, when the active arm 100 of the surgical robot arm 1 is folded to a certain extent as shown in FIG. 19, the second link 120 and the third link 130 are arranged to overlap with each other to a certain extent in the yaw axis Y1 direction, and the third link 130 and the fourth link 140 can be arranged to overlap with each other to a certain extent.

[0267] Referring to FIG. 19, in the active arm 100 according to the first embodiment of the present invention, the fourth link 140 and the fifth link 150 are arranged side by side on the same plane and are rotatably engaged, but are not limited thereto. Various modifications are possible, such as being arranged side by side on any other plane along the direction of the rotation center axis between the fourth link 140 and the fifth link 150.

[0268] On the other hand, in the fifth link 150 according to the first embodiment of the present invention, the first surface (the upper surface in FIG. 1) is rotatably engaged with the fourth link 140, and the surgical instrument 300 can be engaged with the second surface (the lower surface in FIG. 1) facing the first surface.

[0269] Hereinafter, the operation of the active arm of the surgical robot arm according to the first embodiment of the present invention will be described.

[0270] As shown in FIGS. 4 to 6, when a motor (not shown) is driven, the active arm 100, specifically the first link 110 engaged with the fifth setup link 250 of the setup arm 200, rotates about the yaw axis Y1 with respect to the fifth setup link 250. At this time, since the yaw axis Y1 passes through the RCM, the RCM is maintained constant regardless of the angle at which the first link 110 rotates with respect to the fifth setup link 250.

[0271] Specifically, in the setup step of the surgical robot arm 1 before surgery, the fifth setup link 250 is in a state of rotating by a predetermined angle (for example, 20 degrees) with respect to the fourth setup link 240 with reference to the horizontal plane. And the active arm 100, specifically the first link 110, can be rotatably engaged with the fifth setup link 250, and the rotation center axis of the first link 110 can be set to the yaw axis Y1 of the surgical robot arm 1.

[0272] The yaw axis Y1 can be arranged at a certain angle, specifically perpendicular, to the fifth set-up link 250, so that the yaw axis Y1 can be arranged at a predetermined angle (e.g., 70 degrees) with respect to the horizontal plane. An RCM is arranged on the yaw axis Y1, and a second link 120 engaged with the first link 110 is also arranged alongside the yaw axis Y1. An extension line connecting the third joint 135 where the second link 120 and the third link 130 are axially engaged and the RCM can be arranged alongside the yaw axis Y1.

[0273] That is, an extension line connecting the third joint 135 and the RCM is arranged alongside the yaw axis Y1. The yaw axis Y1 is inclined at a certain angle with respect to the roll axis R of the surgical instrument 300 connected to the fifth link, so that when the surgical instrument 300 is arranged parallel to the horizontal plane, the gimbal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are parallel or arranged close to parallel can be prevented.

[0274] Referring to FIGS. 4, 5, and 6, since a plurality of set-up links are axially engaged with each other and the set-up links are arranged at relatively higher positions as they are separated from the main body 201 in the Z-axis direction, the yaw axis Y1 of the surgical robot arm 1 can be formed to face from the upper side to the lower side, the yaw axis Y1 can be formed to be inclined at a certain angle with respect to the horizontal plane, and when the surgical instrument 300 is arranged horizontally, it can be formed to be inclined at a certain angle with respect to the roll axis R of the surgical instrument 300, and there is an effect of preventing the gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0275] FIG. 7 is a side view showing the RCM motion (second pitch motion) centered on the pitch axis P of the surgical robot arm in FIG. 4. FIG. 8 is a perspective view showing the surgical robot arm in FIG. 7.

[0276] Referring to FIGS. 7 and 8, in the first pitch motion state shown in FIG. 6, the active arm 100 is in a state of rotating to a certain extent about the pitch axis P.

[0277] That is, the position of the RCM is fixed, and the angle of the fifth set-up uplink 250 with respect to the fourth set-up uplink 240 is also the same. The third link 130, the fourth link 140, and the fifth link 150 can be rotated to perform the pitch operation of the surgical robot arm 1.

[0278] At this time, the position of the second link 120 is fixed, and since the positions of the third joint 135 and the RCM are fixed, the third link 130, the fourth link 140, and the fifth link 150 can move while the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM form a parallelogram.

[0279] Referring to FIGS. 7 and 8, the surgical instrument 300 is allowed to enter from the upper side to the lower side with reference to the Z-axis direction.

[0280] Referring to FIG. 7, the yaw axis Y1 is identically formed, and compared with FIGS. 4 to 6, the angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 relatively decreases. However, the yaw axis Y1 and the roll axis R can still be formed with a certain angle inclination, and there is an effect of preventing the gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0281] FIG. 9 is a side view showing the RCM motion (third pitch operation) centered on the pitch axis P of the surgical robot arm in FIG. 4. FIG. 10 is a perspective view showing the surgical robot arm in FIG. 9.

[0282] Referring to FIG. 9, in the first pitch operation state shown in FIG. 6, the active arm 100 is in a state of rotating to a certain extent about the pitch axis P.

[0283] That is, FIG. 9 shows a state in which the pitch axis P is rotated in the direction opposite to that of FIG. 7, the position of the RCM is fixed, the angle of the fifth setup link 250 with respect to the fourth setup link 240 is the same, and the third link 130, the fourth link 140, and the fifth link 150 are rotated to perform the pitch operation of the surgical robot arm 1.

[0284] At this time, the position of the second link 120 is fixed, and since the positions of the third joint 135 and the RCM are fixed, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM form a parallelogram while the third link 130, the fourth link 140, and the fifth link 150 can move.

[0285] Referring to FIG. 9, the yaw axis Y1 is formed identically and is rotated about the pitch axis P in the direction opposite to that of FIG. 7, and the angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 is relatively large, allowing the surgical instrument 300 to enter from the lower side to the upper side with respect to the Z-axis direction.

[0286] In addition, the yaw axis Y1 and the roll axis R can be formed to be inclined at a certain angle, and there is an effect of preventing the gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or when the yaw axis Y1 and the roll axis R are arranged in parallel.

[0287] FIG. 11 is a perspective view showing the RCM motion (first yaw operation) about the yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 12 is a plan view showing the surgical robot arm of FIG. 11.

[0288] As described with reference to FIGS. 5 and 6, the yaw axis Y1 of the surgical robot arm 1 is formed along the direction from the upper side to the lower side, and the yaw axis Y1 is inclined at a certain angle with respect to the roll axis R of the surgical instrument 300 arranged parallel to the horizontal plane.

[0289] As described above, the yaw axis Y1 of the surgical robot arm 1 can be formed to face downward from above, can be formed with a yaw axis Y1 inclined at a certain angle with respect to the horizontal plane, and when the surgical instrument 300 is horizontally arranged, it can be formed at a certain angle with respect to the roll axis R of the surgical instrument 300, and there is an effect of preventing a gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0290] FIG. 13 is a perspective view showing an RCM motion (second yaw motion) centered on the yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 14 is a plan view showing the surgical robot arm of FIG. 13. FIG. 15 is a perspective view showing an RCM motion (third yaw motion) centered on the yaw axis Y1 of the surgical robot arm according to the first embodiment of the present invention. FIG. 16 is a plan view showing the surgical robot arm of FIG. 15.

[0291] Referring to FIG. 13, in the first yaw operation state shown in FIG. 11, the active arm 100 is in a state of rotating to a certain extent about the yaw axis Y1.

[0292] That is, the position of the RCM is fixed, and the angle of the fifth setup link 250 with respect to the fourth setup link 240 is also the same. The first link 110 engaged with the fifth setup link 250 can be rotated to perform a yaw operation of the surgical robot arm 1.

[0293] At this time, since the position of the second link 120 is fixed and the positions of the third joint 135 and the RCM are fixed, the state in which the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM form a parallelogram can be maintained.

[0294] Referring to FIGS. 13 and 14, when the first joint 115 rotates counterclockwise (see FIG. 13) about the yaw axis Y1, the first link 110 rotates counterclockwise about the yaw axis Y1 with respect to the fifth setup link 250. Since the yaw axis Y1 is maintained constant, the RCM disposed on the yaw axis Y1 can also be maintained constant while the active arm 100 rotates.

[0295] Referring to FIG. 14, the entry path can be changed so that the surgical instrument 300 can enter relatively on the left side (see FIG. 14) compared to FIG. 12.

[0296] Referring to FIG. 15, in the first yaw operation state shown in FIG. 11, the active arm 100 is in a state of rotating a certain degree about the yaw axis Y1. Here, the active arm 100 rotated in the direction opposite to the rotation direction during the second yaw operation in FIG. 13.

[0297] That is, the position of the RCM is fixed, the angle of the fifth setup link 250 with respect to the fourth setup link 240 is also the same, and the first link 110 engaged with the fifth setup link 250 can be rotated to perform the yaw operation of the surgical robot arm 1.

[0298] At this time, the position of the second link 120 is fixed, and since the positions of the third joint 135 and the RCM are fixed, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM can maintain the state of forming a parallelogram.

[0299] Referring to FIGS. 15 and 16, when the first joint 115 rotates clockwise (see FIG. 13) about the yaw axis Y1, the first link 110 rotates clockwise about the yaw axis Y1 with respect to the fifth setup link 250. Since the yaw axis Y1 is maintained constant, the RCM disposed on the yaw axis Y1 can also be maintained constant while the active arm 100 rotates.

[0300] Referring to FIG. 15, the entry path can be changed so that the surgical instrument 300 can enter relatively on the left side (see FIG. 14) compared to FIG. 12.

[0301] Referring to FIGS. 13 and 15, the yaw axis Y1 is formed identically, and the yaw axis Y1 and the roll axis R can be formed at a certain angle of inclination. There is an effect of preventing the gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0302] FIG. 17 is a perspective view showing a state in which a surgical instrument is arranged facing the main body on a surgical robot arm. FIG. 18 is a side view showing the surgical robot arm of FIG. 17. FIG. 19 is a plan view showing the surgical robot arm of FIG. 17.

[0303] Referring to FIG. 17, compared to FIG. 4 in which the end tool 310 of the surgical instrument 300 faces away from the main body 201 of the setup arm 200, a state is shown in which the end tool 310 of the surgical instrument 300 is arranged in a direction facing the main body 201 side.

[0304] As shown in FIG. 17, when a motor (not shown) is driven, the setup arm 200, specifically the active arm 100 engaged with the fifth setup link 250, specifically the first link 110, rotates about the yaw axis Y1 with respect to the fifth setup link 250.

[0305] The first link 110 can rotate 180 degrees about the yaw axis Y1 compared to FIG. 6. At this time, since the yaw axis Y1 passes through the RCM, the RCM is maintained constant despite the rotation of the first link 110 with respect to the fifth setup link 250.

[0306] FIG. 17, similar to FIG. 6, shows a state in which the fifth link 150 of the active arm 100 of the surgical robot arm 1 and the surgical instrument 300 engaged therewith are arranged parallel to the horizontal plane (or the XY plane).

[0307] Referring to FIG. 17, the fifth setup link 250 is rotatable about a rotation center axis aligned with the X-axis with respect to the fourth setup link 240 and can rotate with respect to the fourth setup link 240 so as to form a certain angle with respect to the horizontal plane.

[0308] Referring to FIG. 17, similar to FIG. 6, the fifth setup link 250 is in a state of being rotated by a predetermined angle (for example, 20 degrees) with respect to the fourth setup link 240 with reference to the horizontal plane. And the active arm 100, specifically the first link 110, can be rotatably engaged with the fifth setup link 250, and the rotation center axis of the first link 110 can be set to the yaw axis Y1 of the surgical robot arm 1.

[0309] The yaw axis Y1 can be arranged at a certain angle, specifically 90 degrees, with respect to the fifth setup link 250, whereby the yaw axis Y1 can be arranged at a predetermined angle (for example, 70 degrees) with respect to the horizontal plane. The RCM is arranged on the yaw axis Y1, the second link 120 engaged with the first link 110 is also arranged along the yaw axis Y1, and an extension line connecting the third joint 135 where the second link 120 and the third link 130 are axially engaged and the RCM can be arranged along the yaw axis Y1.

[0310] As compared with FIG. 6 in which the fifth link 150 engaged with the surgical instrument 300 is disposed on the same side as the setup arm 200, specifically the main body 201, with reference to the RCM, in FIG. 17, the fifth link 150 engaged with the surgical instrument 300 is positioned on the opposite side of the setup arm 200, specifically the main body 201, with reference to the RCM. Therefore, the end tool 310 of the surgical instrument 300 engaged with the fifth link 150 can be disposed in the direction facing the main body 201.

[0311] Thereby, when operating on a patient, after positioning the surgical robot arm 1 on one side of the bed 500, if it is necessary to move and enter the surgical instrument 300 in other directions, it is not necessary for the entire main body 201 to move. Only the active arm 100 connected to the setup arm 200 is driven, and the fifth link 150 and the surgical instrument 300 connected to the fifth link 150 are moved to the opposite side with reference to the RCM that is maintained the same, eliminating the movement time of surgical equipment such as the surgical robot arm 1 and having the effect of shortening the surgical time.

[0312] In addition, an extension line connecting the third joint 135 and the RCM is arranged parallel to the yaw axis Y1, and the yaw axis Y1 is inclined at a certain angle with the roll axis R of the surgical instrument 300 connected to the fifth link 150, thereby preventing the gimbal lock phenomenon that may occur when the roll axis R and the yaw axis Y1 are parallel or arranged in close proximity when the surgical instrument 300 is arranged parallel to the horizontal plane.

[0313] Referring to FIGS. 17 to 19, the yaw axis Y1 of the surgical robot arm 1 can be formed to face downward from above, the yaw axis Y1 can be formed to be inclined at a certain angle with respect to the horizontal plane, and when the surgical instrument 300 is horizontally arranged, it can be formed to be inclined at a certain angle with respect to the roll axis R of the surgical instrument 300, and there is an effect that it is possible to prevent a gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0314] FIGS. 42 to 50 are diagrams showing the RCM motion centered on the pitch axis P at a certain angle of the surgical robot arm according to the first embodiment of the present invention.

[0315] Referring to FIG. 42, unlike FIG. 4 showing a state in which the fifth set-up link 250 forms an angle of 20 degrees, which is a certain angle, with respect to the fourth set-up link 240, a state in which the fifth set-up link 250 forms an angle of 45 degrees, which is a different certain angle, with respect to the fourth set-up link 240 is shown.

[0316] That is, the angle formed by the fifth set-up link 250 with respect to the horizontal plane is 45 degrees, and the yaw axis Y1, which is the rotation center axis of the first link 110 of the active arm 100 rotatably engaged with the fifth set-up link 250, forms an angle of 45 degrees with respect to the horizontal plane.

[0317] Referring to FIG. 42, the positions of the first link 110 and the second link 120 in the active arm 100 are fixed, and as the third link 130, the fourth link 140, and the fifth link 150 rotate, the RCM can be maintained by the above-described RCM mechanism.

[0318] Referring to FIG. 42, the second link 120, the third link 130, and the fourth link 140 are arranged so as to partially overlap, and the third joint 135, the fourth joint 145, and the fifth joint 155 can be arranged on the yaw axis Y1.

[0319] Referring to FIGS. 42 and 44, by rotating the fifth link 150 relative to the fourth link 140, the longitudinal central axis of the fifth link 150 can be formed parallel to the Z-axis. That is, the roll axis R of the surgical instrument 300 can have a state perpendicular to the bed 500 or the horizontal plane.

[0320] At this time, the yaw axis Y1 of the surgical robot arm 1 can be formed to face from the upper side to the lower side, and the yaw axis Y1 can be formed to be inclined at a constant angle of 45 degrees with the horizontal plane. When the surgical instrument 300 is arranged perpendicular to the horizontal plane, it can be formed inclined with the roll axis R of the surgical instrument 300, and there is an effect of preventing the gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0321] Referring to FIGS. 45 and 46, in FIG. 43, when the third link 130 is driven by a motor (not shown) in the second link 120 and rotated in the first direction (counterclockwise in FIG. 45), the fourth link 140 and the fifth link 150 rotate. At this time, the third joint 135, the fourth joint 145, and the fifth joint 155 form a parallelogram by the RCM mechanism, and the active arm 100 of the surgical robot arm 1 can perform a pitching operation while the RCM is maintained.

[0322] That is, a pitching operation can be performed in a direction in which the angle between the roll axis R and the yaw axis Y1 becomes smaller around the pitch axis P. Also in this case, there is an effect of preventing the gimbal lock phenomenon due to the inclined arrangement of the yaw axis Y1 and the roll axis R of the surgical robot arm 1.

[0323] Referring to FIGS. 47 and 48, in FIG. 43, the third link 130 is driven by a motor (not shown) within the second link 120 to transmit a driving force and is rotated in the second direction (clockwise in FIG. 45), whereby the fourth link 140 and the fifth link 150 are rotated. At this time, the third joint 135, the fourth joint 145, and the fifth joint 155 form a parallelogram by the RCM mechanism, and the active arm 100 of the surgical robot arm 1 can perform a pitching operation in the direction opposite to that in FIG. 45 while the RCM is maintained.

[0324] That is, a pitching operation can be performed in the direction in which the angle between the roll axis R and the yaw axis Y1 increases about the pitch axis P. Also in this case, since the yaw axis Y1 and the roll axis R of the surgical robot arm 1 are inclined, there is an effect of preventing the gimbal lock phenomenon.

[0325] Referring to FIGS. 49 and 50, as the third link 130, the fourth link 140, and the fifth link 150 are rotated, a state is shown in which the end tool 310 of the surgical instrument 300 is arranged in the direction facing the main body 201 side.

[0326] Referring to FIG. 49, the fifth link 150 of the active arm 100 of the surgical robot arm 1 and the surgical instrument 300 engaged therewith can be arranged parallel to the horizontal plane (or the XY plane).

[0327] The fifth setup link 250 forms an angle of 45 degrees, which is a fixed angle with respect to the fourth setup link 240, and the yaw axis Y1, which is the rotation center axis of the first link 110 rotatably engaged with the fifth setup link 250, forms an angle of 45 degrees, which is a fixed angle with respect to the horizontal plane.

[0328] At this time, the third link 130 rotates about the pitch axis P in a direction away from the main body 201 with respect to the second link 120, and the fourth link 140 connected to the third link 130 and the fifth link 150 connected to the fourth link 140 rotate, so that the end tool 310 of the surgical instrument 300 can be arranged to face the main body 201 side.

[0329] At this time, the position of the third joint 135 is fixed, and since the positions of the first link 110 and the second link 120 are fixed, the yaw axis Y1 can be maintained, and the RCM arranged on the yaw axis Y1 can be maintained.

[0330] Referring to FIGS. 49 and 50, in a state where the yaw axis Y1 of the surgical robot arm 1 according to the first embodiment of the present invention is inclined at a constant angle of 45 degrees in the horizontal plane from the upper side to the lower side, the surgical instrument 300 can enter parallel to the horizontal plane.

[0331] In addition, since the yaw axis Y1 is inclined at a certain angle with the roll axis R of the surgical instrument 300 connected to the fifth link, when the surgical instrument 300 is arranged parallel to the horizontal plane, the gimbal lock phenomenon that may occur by being arranged parallel or close to parallel to the yaw axis Y1 can be prevented.

[0332] FIGS. 51 to 56 are views showing the RCM motion centered on the yaw axis Y1 at a certain angle of the surgical robot arm according to the first embodiment of the present invention.

[0333] Referring to FIG. 51, a state is shown in which the fifth setup link 250 forms an angle of 45 degrees, which is a certain angle, with respect to the fourth setup link 240.

[0334] That is, the angle formed by the fifth setup link 250 with respect to the horizontal plane is 45 degrees, and the yaw axis Y1, which is the rotation center axis of the first link 110 of the active arm 100 rotatably engaged with the fifth setup link 250, forms an angle of 45 degrees with respect to the horizontal plane.

[0335] Referring to FIG. 51, the positions of the first link 110 and the second link 120 in the active arm 100 are fixed, and as the third link 130, the fourth link 140, and the fifth link 150 rotate, the RCM can be maintained by the RCM mechanism described above.

[0336] Referring to FIG. 51, the second link 120, the third link 130, and the fourth link 140 can be arranged so as to partially overlap, and the third joint 135, the fourth joint 145, and the fifth joint 155 can be arranged on the yaw axis Y1.

[0337] Referring to FIGS. 51 and 52, by rotating the fifth link 150 with respect to the fourth link 140, the longitudinal central axis of the fifth link 150 can be formed parallel to the Z axis. That is, the roll axis R of the surgical instrument 300 can be in a state perpendicular to the bed 500 or the horizontal plane.

[0338] At this time, the yaw axis Y1 of the surgical robot arm 1 can be formed so as to face from the upper side to the lower side, can be inclined at an angle of 45 degrees, which is a certain angle with the horizontal plane, to form the yaw axis Y1, and when the surgical instrument 300 is arranged perpendicular to the horizontal plane, it can be formed inclined with the roll axis R of the surgical instrument 300, and there is an effect of preventing a gimbal lock phenomenon that may occur when the angle between the yaw axis Y1 and the roll axis R is small or the yaw axis Y1 and the roll axis R are arranged in parallel.

[0339] Referring to FIGS. 53 and 54, as the first link 110 rotatably engaged with the fifth setup link 250 in FIG. 51 rotates about the yaw axis Y1 in the first direction (clockwise in FIG. 53), the second link 120, the third link 130, the fourth link 140, and the fifth link 150 that are directly or indirectly connected to the first link 110 can be rotated.

[0340] In this case, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM form a parallelogram, and the active arm 100 can perform a yaw operation while the RCM is kept constant.

[0341] Referring to FIGS. 55 and 56, as the first link 110 rotatably engaged with the fifth setup link 250 in FIG. 51 rotates about the yaw axis Y1 in the second direction (counterclockwise in FIG. 55), the second link 120, the third link 130, the fourth link 140, and the fifth link 150 that are directly or indirectly connected to the first link 110 can be rotated.

[0342] In this case, the third joint 135, the fourth joint 145, the fifth joint 155, and the RCM form a parallelogram, and the active arm 100 can perform a yaw operation while the RCM is kept constant.

[0343] Referring to FIGS. 53 to 56, when the active arm 100 performs a yaw operation, the yaw axis Y1 and the roll axis R of the surgical instrument 300 are inclined at a certain angle. When the surgical instrument 300 is arranged parallel to the horizontal plane, the gimbal lock phenomenon that may occur due to being parallel to or being arranged in close proximity to the yaw axis Y1 can be prevented.

[0344] FIGS. 57 to 60 are diagrams showing the deployed states of the respective links during the movement of the surgical robot arm according to the first embodiment of the present invention.

[0345] The surgical robot arm 1 can include a setup arm 200 and an active arm 100. The setup arm 200 can include a plurality of setup arm links. Further, the setup arm 200 can include a plurality of setup joints.

[0346] Specifically, the second setup link 220 is axially engaged with the first setup link 210 via the second setup joint 225 and can rotate relative to the first setup link 210. The third setup link 230 is axially engaged with the second setup link 220 via the third setup joint 235 and can rotate relative to the second setup link 220.

[0347] The fourth setup link 240 can rotate relative to the third setup link 230 via the fourth setup joint 245. The fifth setup link 250 can rotate relative to the fourth setup link 240 via the fifth setup joint 255.

[0348] Referring to FIGS. 57 to 60, the first setup link 210, the second setup link 220, the third setup link 230, and the fourth setup link 240 can be engaged so that their heights increase relatively along the Z-axis direction, which is the height direction.

[0349] Thereby, when the first setup link 210, the second setup link 220, the third setup link 230, and the fourth setup link 240 rotate, interference and collision caused by the arrangement of other setup links on the rotation path can be prevented, and there is an effect that they can rotate freely without limitation in the rotation range.

[0350] In addition, since there is no restriction on the rotation range of the plurality of setup links, the first setup link 210, the second setup link 220, the third setup link 230, and the fourth setup link 240 are arranged so as to overlap along the height direction, and there is an effect that the area occupied by the setup arm 200 can be minimized.

[0351] On the other hand, the fifth setup link 250 is rotatably engaged with the fourth setup link 240. Specifically, it is rotatably engaged with the fourth setup link 240 with the fifth setup joint 255 as the rotation center, and the pitch axis P formed along the X axis (see FIG. 57) is used as the rotation center axis.

[0352] At this time, when the fifth setup link 250 is rotated with respect to the fourth setup link 240 so as to be arranged side by side on the same plane as the fourth setup link 240, the yaw axis Y1, which is the rotation center axis of the first link 110 engaged with the fifth setup link 250, forms a 90-degree angle with respect to the horizontal plane.

[0353] At this time, the motor can be driven to rotate the third link 130, the fourth link 140, and the fifth link 150, and the third link 130, the fourth link 140, and the fifth link 150 overlap each other, and there is an effect that the area occupied by the active arm 100 can be minimized.

[0354] Referring to FIGS. 57 to 60, it is possible to minimize the area occupied by the plurality of setup links and the active arm 100 connected to the main body 201, that is, to minimize the occupied area when the surgical robot arm 1 is not in use, facilitating movement and storage.

[0355] FIGS. 61 to 63 are diagrams showing a state in which the surgical robot arm according to the first embodiment of the present invention is arranged near the surgical site of a patient and the surgical instrument is arranged so as to immediately face the patient.

[0356] Referring to FIGS. 61 to 63, a patient is lying on the bed 500, and a plurality of surgical robot arms can be arranged around the bed 500. Each active arm 100 of the plurality of surgical robot arms, specifically the fifth link 150, can be engaged with a surgical instrument 300 and a trocar 400 respectively, and surgeries can be performed by forming different points on the patient's body as RCMs.

[0357] The plurality of surgical robot arms 1 arranged outside the bed 500 enable a user such as a medical staff to change the position of the active arm 100 through the rotation between the setup arms 200, specifically between a plurality of setup links. Without moving the main body 201, by changing the positions of the plurality of setup links 210, 220, 230, 240, 250 provided on the setup arm 200 and the active arm 100 respectively, and the plurality of links 110, 120, 130, 140, 150, the surgical space can be used efficiently, and the movement of surgical equipment such as the main body 201 can be minimized, thereby shortening the surgical time.

[0358] <Surgical Method Using Surgical Robot>

[0359] Hereinafter, a surgical method using a surgical robot including a surgical robot arm according to the first embodiment of the present invention will be described. Here, the position where the trocar 400 is inserted and the surgical instrument 300 penetrates is called a port.

[0360] The surgical method using the surgical robot arm of the present invention can include the steps of: arranging the main body of the modular surgical robot arm on one side of the patient port into which the surgical instrument is inserted; adjusting the setup arm including the main body; in the active arm, arranging the fifth link to which the surgical instrument is attached in a substantially horizontal state; attaching the surgical instrument to the fifth link of the active arm; moving the surgical instrument attached to the active arm so that the surgical instrument is inserted into the patient's body; and performing the surgery while the surgical instrument maintains the RCM.

[0361] To explain this in more detail, it is as follows.

[0362] Referring to FIGS. 1 and 4, the modular surgical robot arm 1 is arranged on one side of the bed 500 on which the patient can be placed. At this time, the main body 201 of the surgical robot arm 1 can be arranged on the same side as the surgical instrument 300 with reference to the patient port (the insertion position of the trocar 400). Or, as shown in FIGS. 17 to 19, the main body 201 can also be arranged opposite to the surgical instrument 300 with reference to the patient port.

[0363] Next, in the step of adjusting the setup arm 200, the positions of the ends of the active arm 100 engaged with the fifth setup link 250 can be determined by adjusting the plurality of setup links 210, 220, 230, 240, 250 that are movable in a preset direction on the main body 201.

[0364] Referring to FIGS. 20 to 23, a first set-up link 210 movably engaged on the main body 201 is movable in a preset direction (vertical direction in FIG. 20), a second set-up link 220 is rotatably axially engaged with the first set-up link 210, a third set-up link 230 is rotatably axially engaged with the second set-up link 220, and a fourth set-up link 240 is rotatably axially engaged with the third set-up link 230.

[0365] Referring to FIG. 1, a fifth set-up link 250 is rotatably engaged with the fourth set-up link 240 with reference to a rotation center axis arranged along the pitch axis P.

[0366] Referring to FIG. 1, the second set-up link 220, the third set-up link 230, and the fourth set-up link 240 are connected to each other so as to rotate relative to each other with reference to a rotation center axis arranged along the Z axis (see FIG. 1) along the height direction of the set-up arm 200. Therefore, the positions of the set-up arm 200 can be determined by rotating the second set-up link 220, the third set-up link 230, the fourth set-up link 240, and the fifth set-up link.

[0367] After the step of adjusting the set-up arm 200, the position of the active arm 100 engaged with the fifth set-up link 250, specifically, a plurality of links can be adjusted. The plurality of links are not in a long deployed state, and two or more links can be arranged to be folded and overlapped with each other.

[0368] Next, a surgical instrument 300 is attached to the fifth link 150 of the active arm 100. At this time, no components such as links are arranged between the surgical instrument 300 and the patient. That is, as described above, when the surgical instrument 300 is attached to the fifth link 150, the position of the surgical instrument 300 can be configured to be attached downward (that is, in the direction where the link is located when all the links are folded) instead of upward.

[0369] In other words, the surgical instrument 300 engaged with the fifth link 150 is arranged so as to face the inside of the surgical robot arm 1. That is, the surgical instrument 300 engaged with the fifth link 150 is horizontal, and the surface with which the surgical instrument 300 is engaged is arranged to face downward in a state where its end tool 310 is arranged in a direction away from the main body 201. In other words, the surgical instrument 300 engaged with one surface of the fifth link 150 is arranged below the fifth link 150.

[0370] With such a configuration, even when the modular surgical robot arm 1 is horizontally arranged adjacent to the patient's port, the fifth link 150 to which the surgical instrument 300 is attached does not come into direct contact with the patient, and it is possible to have the advantages of reduced vibration and improved rigidity.

[0371] Next, the surgical instrument 300 attached to the fifth link 150 is linearly moved to insert the end tool 310 of the surgical instrument 300 into the patient's body. Next, the surgery is performed while the surgical instrument 300 maintains the RCM.

[0372] Thus, the present invention is formed such that the extension line connecting the third joint 135 and the RCM and the yaw axis Y1 are the same or arranged side by side, and is inclined with respect to the roll axis R of the surgical instrument 300 engaged with the fifth link 150.

[0373] Thereby, the roll axis R and the yaw axis Y1 formed in a state where the surgical instrument 300 is arranged parallel to the bed 500 on which the patient lies or the horizontal plane are inclined at a certain angle, so that the angle between the yaw axis Y1 and the roll axis R is small, or the gimbal lock phenomenon that may occur when the yaw axis Y1 and the roll axis R are arranged in parallel can be prevented.

[0374] In addition, the yaw axis Y1, which is the rotation center axis of the active arm 100, specifically the first link 110, rotatably connected to the setup arm 200, specifically the fifth setup link 250, is formed in the upper to lower direction (see FIG. 1). As a result, the movement range between the plurality of links becomes relatively small, and there is an effect that the space utilization efficiency can be improved.

[0375] In addition, when a plurality of surgical robot arms are arranged outside the bed 500 on which the patient lies, since the driving range of each surgical robot arm is formed to be relatively small, it is possible to prevent interference from occurring between the plurality of surgical robot arms, and there is an effect that it becomes easier to arrange the plurality of surgical robot arms accordingly.

[0376] In other words, when each such surgical robot arm is arranged near each of the plurality of ports of the patient and the total length of the deployed surgical robot arm becomes short, it is possible to obtain an effect that the vibration becomes small and the rigidity becomes large.

[0377] In addition, in the present invention, the surgical instrument is engaged with the fifth setup link 250, which is the end of the setup arm 200 where the active arm 100 is arranged on the upper side with the surgical instruments arranged in parallel. By arranging the yaw axis Y1 to face downward from the upper side, one surface of the fifth link 150 with which the surgical instrument 300 is engaged is arranged to face downward. At this time, no components such as links are positioned between the surgical instrument 300 and the patient.

[0378] With such a configuration, it is possible to have an effect of reducing the vibration and improving the rigidity of the surgical robot arm.

[0379] <Second Embodiment of Surgical Robot Arm>

[0380] Hereinafter, the surgical robot arm according to the second embodiment of the present invention will be described. Here, the surgical robot arm according to the second embodiment of the present invention is characterized by a different configuration of the setup link compared to the surgical robot arm 1 according to the first embodiment of the present invention described above. Such a configuration different from the first embodiment will be described in detail later.

[0381] Figs. 64 to 66 are views showing a first arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0382] The surgical robot arm 2 according to the second embodiment of the present invention can include a setup arm 600 and an active arm 100. The setup arm 600 is engaged with the active arm 100 rotatably, and can include a main body 601, a first setup link 610, a second setup link 620, a third setup link 630, and a fourth setup link 640.

[0383] The surgical robot arm 2 according to the second embodiment of the present invention is related to the configuration of the setup arm 600, and includes a third setup link 630 as an integrated configuration in which the third setup link 230 and the fourth setup link 240 of the surgical robot arm 1 according to the first embodiment of the present invention are integrated. Except that the degree of freedom is reduced by one, the configuration, operation principle, and effects of the main body 201, a plurality of setup links, and the active arm 100 are the same, so detailed descriptions in the overlapping range are omitted.

[0384] Figs. 67 to 69 show a second arrangement state of the surgical robot arm 2 according to the second embodiment of the present invention, in which the second setup link 620 and the third setup link 630 are rotated compared to the first arrangement state described above.

[0385] By rotating the second set-up link 620 and the third set-up link 630, the distance between the main body 601 and the active arm 100, that is, the distance in the Y-axis direction, is reduced, and the RCM can be translated parallel along the Y-axis direction.

[0386] Also, as the active arm 100, specifically the first link 110, which is rotatably engaged with the fourth set-up link 640, rotates about the yaw axis Y1, the position of the surgical instrument 300 can be changed while the RCM is maintained constant. That is, there is an effect that the entry angle of the surgical instrument 300 into the RCM and the roll axis R can be set differently.

[0387] Figs. 70 to 72 are views showing a third arrangement state of the surgical robot arm according to the second embodiment of the present invention.

[0388] Referring to Fig. 70, compared with the first arrangement state of the surgical robot arm 2 according to the second embodiment of the present invention shown in Fig. 64, the second set-up link 620 and the third set-up link 630 can be rotated, and the active arm 100, specifically the first link 110, can be rotated about the yaw axis Y1 with respect to the fourth set-up link 640.

[0389] Referring to Fig. 72, by rotating the second set-up link 620 and the third set-up link 630, the RCM can be translated parallel along the Y-axis direction. At this time, the active arm 100, specifically the first link 110, is rotated about the yaw axis Y1 as the rotation center axis with respect to the fourth set-up link 640, and the RCM entry angle in the state before rotating the second set-up link 620 and the third set-up link 630 is maintained, and there is an effect that only the RCM can be translated parallel along the Y-axis direction.

[0390] Referring to FIGS. 73 to 78, it shows the fourth and fifth arrangement states of the surgical robot arm 2 according to the second embodiment of the present invention. While maintaining the same angle formed by the fourth set-up link 640 with respect to the third set-up link 630, the second set-up link 620 and the third set-up link 630 can be rotated respectively to change the position of the RCM.

[0391] That is, by maintaining the same angle formed by the fourth set-up link 640 with respect to the third set-up link 630, the angle formed by the yaw axis Y1, which is the rotation center axis of the active arm 100, specifically the first link 110, with the horizontal plane is also maintained, and the position of the RCM can be changed in various ways. Once the position of the RCM is determined, by rotating the first link 110 rotatably engaged with the fourth set-up link 640 around the yaw axis Y1 as the rotation center axis, the roll axis R of the surgical instrument 300 engaged with the active arm 100, specifically the fifth link 150, can be changed, and there is an effect that the entry angle to the RCM can be changed in various ways.

[0392] The surgical robot arm 2 according to the second embodiment of the present invention has the same configuration, operating principle, and effects of the main body 601 and the active arm 100 as those of the surgical robot arm 1 according to the first embodiment, except that the number of set-up links is reduced by one. Therefore, detailed descriptions in the overlapping range are omitted.

[0393] <Third Embodiment of the Surgical Robot Arm>

[0394] Hereinafter, the surgical robot arm according to the third embodiment of the present invention will be described. Here, the surgical robot arm according to the third embodiment of the present invention is characteristically different in the configuration of the set-up link compared to the surgical robot arm 1 according to the first embodiment of the present invention described above. Such a changed configuration compared to the first embodiment will be described in detail later.

[0395] FIGS. 79 to 81 are diagrams showing the first arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0396] The surgical robot arm 3 according to the third embodiment of the present invention can include a setup arm 700 and an active arm 100. The setup arm 700 is engaged with the active arm 100 rotatably, and can include a main body 701, a first setup link 710, a second setup link 720, and a third setup link 730.

[0397] The rotation center axis of the second setup link 720 with respect to the first setup link 710 and the rotation center axis of the third setup link 730 with respect to the second setup link 720 can be formed side by side. Specifically, the rotation center axis can be formed parallel to the Z axis.

[0398] The active arm 100, specifically the first link 110, is rotatably engaged with the third setup link 730. At this time, the yaw axis Y1, which is the rotation center axis of the first link 110 rotatably engaged with the third setup link 730, can be arranged at a fixed angle with respect to the third setup link 730.

[0399] Referring to FIG. 79, the first link 110 is engaged with the third setup link 730 such that the yaw axis Y1, which is the rotation center axis of the first link 110, forms a certain angle, for example, 90 degrees, with the horizontal plane. That is, the surgical robot arm 3 according to the third embodiment is formed such that the angle formed by the yaw axis Y1 of the active arm 100 with the horizontal plane is constant.

[0400] The surgical robot arm 3 according to the third embodiment of the present invention is related to the configuration of the setup arm 700. It is a configuration in which the third setup link 230, the fourth setup link 240, and the fifth setup link 250 of the surgical robot arm 1 according to the first embodiment of the present invention are integrated. Except that the degree of freedom is reduced by two including the third setup link 730 and the angle formed by the yaw axis Y1 of the active arm 100 with the horizontal plane is constant, the configuration, operating principle, and effects of the main body 701, the plurality of setup links, and the active arm 100 are the same as those of the surgical robot arm 1 according to the first embodiment. Therefore, detailed descriptions in the overlapping range are omitted.

[0401] Figures 82 to 84 show the second arrangement state of the surgical robot arm 3 according to the third embodiment of the present invention. Compared with the above-described first arrangement state, the active arm 100, specifically the first link 110, is rotated relative to the third setup link 730 about the yaw axis Y1 (i.e., yaw rotation).

[0402] Since the positions of the second setup link 720 and the third setup link 730 are the same, the RCM is maintained constant. At this time, the third link 130, the fourth link 140, and the fifth link 150 of the active arm 100 are rotated so that the end tool 310 of the surgical instrument 300 faces the main body 701, and the entry angle of the surgical instrument 300 can have the opposite direction compared with the first arrangement state shown in Fig. 79.

[0403] Figures 85 to 87 are diagrams showing the third arrangement state of the surgical robot arm according to the third embodiment of the present invention.

[0404] Referring to Fig. 85, compared with the first arrangement state of the surgical robot arm 3 according to the third embodiment of the present invention shown in Fig. 79, the second setup link 720 and the third setup link 730 are rotated, and the active arm 100, specifically the first link 110, can be rotated about the yaw axis Y1 with respect to the third setup link 740.

[0405] As the second setup link 720 and the third setup link 730 rotate, the RCM will move parallel to a certain extent along the Y-axis direction. As the third setup link 730 rotates, if the first link 110 rotatably engaged with the third setup link 730 does not rotate about the yaw axis Y1, the position of the surgical instrument 300 will be changed, that is, the roll axis R and the entry angle of the surgical instrument 300 can be changed.

[0406] At this time, by rotating the active arm 100, specifically the first link 110, about the yaw axis Y1, even when the second setup link 720 and the third setup link 730 rotate, the entry angle of the surgical instrument 300 can be kept constant while only the RCM is moved parallel to a certain extent along the Y-axis direction.

[0407] The surgical robot arm 3 according to the third embodiment of the present invention has the same configuration, operating principle, and effects of the body 701 and the active arm 100 as those of the surgical robot arm 1 according to the first embodiment, except that the number of setup links is reduced by two. Therefore, detailed descriptions in the overlapping range are omitted.

[0408] As described above, the present invention has been described with reference to one embodiment shown in the drawings, which is merely exemplary, and those skilled in the art will understand that various modifications and changes in the embodiments are possible from this. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the appended claims.

Industrial Applicability

[0409] The present invention relates to a surgical robot arm and can be used for a minimally invasive surgical robot arm formed in a modular manner for use in laparoscopic surgery or various surgeries.

Claims

1. In a surgical robot arm to which a surgical instrument is attached, a setup arm including a main body and a setup link assembly movably disposed on the main body, and an active arm rotatably engaged with one end of the setup arm, wherein the active arm is engaged with the setup arm by a first joint and is formed to be yaw (yaw) rotatable about a yaw axis with respect to the setup arm, a first link; a second link engaged with the first link about a second joint; a third link axially engaged with the second link to be rotatable about a third joint; a fourth link axially engaged with the third link to be rotatable about a fourth joint; and a fifth link axially engaged with the fourth link to be rotatable about a fifth joint and formed to attach the surgical instrument, a remote center of motion (RCM) is formed at the remaining one vertex of a parallelogram having the third joint, the fourth joint, and the fifth joint as vertices, and the first joint is disposed relatively above the RCM. The surgical robot arm is characterized by this.

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

3. The surgical robot arm according to claim 2, wherein the yaw axis and the roll axis are formed to form a predetermined angle with each other rather than being parallel to each other in a state where the roll axis of the surgical instrument is arranged parallel to the horizontal plane.

4. The setup link assembly connects the main body and the active arm and includes one or more setup links formed to be rotatable about a Z axis with respect to the main body. The surgical robot arm according to claim 1 is characterized by this.

5. The setup link assembly includes a first setup link linearly movable along the height direction on the main body, and a second setup link axially engaged with the first setup link to be rotatable about a first axis as a rotation center axis. The surgical robot arm according to claim 1, further comprising a third setup link that is pivotally engaged with the second setup link about a second axis different from the first axis as a rotation center axis.

6. The surgical robot arm according to claim 5, wherein the yaw axis is formed perpendicular to one surface of the third setup link, and the first link is pivotally engaged with the third setup link so as to be rotatable about the yaw axis.

7. The surgical robot arm according to claim 5, wherein the second axis is arranged perpendicular to the first axis.

8. The surgical robot arm according to claim 5, wherein the setup link assembly is disposed between the second setup link and the third setup link, and further includes one or more setup links that are rotatable about an axis substantially parallel to the first axis.

9. The surgical robot arm according to claim 1, wherein a height in the Z-axis direction at a position where the yaw axis penetrates the setup arm is formed higher than a height in the Z-axis direction of the RCM.

10. The surgical robot arm according to claim 1, wherein a height in the Z-axis direction at a proximal portion of the yaw axis with reference to the first joint is formed higher than a height in the Z-axis direction at a distal portion of the yaw axis.

11. The surgical robot arm according to claim 1, wherein the setup arm is formed to be operable only during a setup in which the surgical robot arm is disposed on one side of a patient.

12. The surgical robot arm according to claim 1, wherein the RCM is located on an extension line of the yaw axis.

13. The surgical robot arm according to claim 1, wherein when the third link rotates about the third joint, the fourth link rotates while maintaining a parallel state with a line segment connecting the third joint and the RCM, and the third link rotates while maintaining a parallel state with a line segment connecting the fifth joint and the RCM.

14. The surgical robot arm according to claim 1, wherein the position of the RCM is maintained constant regardless of the rotation of the third link.

15. The line segment connecting the fifth joint and the RCM and the third link maintain a parallel state in any operating state of the surgical robot arm. The surgical robot arm according to claim 1, wherein a line segment connecting the third joint and the RCM and the fourth link maintain a parallel state in any operating state of the surgical robot arm.

16. 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 extent in the direction of their rotation axes, respectively.

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

18. In the yaw axis direction, The surgical robot arm according to claim 1, wherein at least a part of the third link and the fourth link are formed so as to be able to overlap each other.

19. In the yaw axis direction, The surgical robot arm according to claim 1, wherein at least a part of each of the fourth link and the fifth link are formed so as to be able to overlap each other.

20. With the surgical instrument engaged with the fifth link being horizontal and the end tool of the surgical instrument being disposed in a direction away from the main body, The surgical robot arm according to claim 1, wherein a first surface of the fifth link where the surgical instrument is engaged is disposed to face downward in the Z-axis direction.

21. In the state, The surgical robot arm according to claim 20, wherein the surgical instrument is disposed below the fifth link.

22. In the state, The surgical robot arm according to claim 20, wherein no link is disposed between the surgical instrument and the bed.

23. The surgical robot arm according to claim 1, wherein the yaw axis and the longitudinal central axis of the fifth link form a predetermined angle.

24. A step of disposing the main body of the modular surgical robot arm on one side of a port of a patient into which a surgical instrument is inserted; A step of adjusting the position of the setup arm including the main body; In the active arm connected to the setup arm, a step of arranging a fifth link to which the surgical instrument is attached in a substantially horizontal state; A step of attaching the surgical instrument to the fifth link of the active arm; A step of moving the surgical instrument attached to the active arm so that the surgical instrument is inserted into the patient's body; A surgical method using a surgical robot, comprising a step of performing surgery while the surgical instrument maintains RCM.

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

26. In the active arm, the step of arranging a fifth link to which the surgical instrument is attached in a substantially horizontal state is A surgical method using the surgical robot according to claim 24, characterized in that at least a part of the plurality of links of the active arm is formed so as to overlap in the extending direction of each link.

27. In the step of attaching the surgical instrument to the fifth link of the surgical robot arm, A surgical method using the surgical robot according to claim 24, characterized in that no link of the surgical robot arm is arranged between the surgical instrument and the patient.

28. The active arm is A first link engaged with the setup arm by a first joint and formed to be yaw-rotatable about a yaw axis with respect to the setup arm; A second link axially engaged with the first link about a second joint; A third link axially engaged with the second link so as to be rotatable about a third joint; A fourth link axially engaged with the third link so as to be rotatable about a fourth joint; And a fifth link axially engaged with the fourth link so as to be rotatable about a fifth joint and formed so that the surgical instrument can be attached. An RCM (remote center of motion) is formed at the remaining one vertex of the parallelogram with the third joint, the fourth joint, and the fifth joint as vertices. The first joint is arranged relatively above the RCM. The surgical method using the surgical robot according to claim 24 is characterized in this.

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

30. With the roll axis of the surgical instrument arranged parallel to the horizontal plane, the yaw axis and the roll axis are formed to form a predetermined angle rather than being parallel to each other. The surgical method using the surgical robot according to claim 28 is characterized in this.

31. The RCM is located on the extension line of the yaw axis. The surgical method using the surgical robot according to claim 28 is characterized in this.

32. When the third link rotates about the third joint, the line segment connecting the third link, the fifth joint, and the RCM rotates while maintaining a parallel state, and the extension line connecting the third joint and the RCM and the fourth link rotate while maintaining a parallel state. The surgical method using the surgical robot according to claim 28 is characterized in this.

33. In the setup arm, the height in the Z-axis direction at the position where the yaw axis penetrates is formed to be higher than the height in the Z-axis direction of the RCM. The surgical method using the surgical robot according to claim 28 is characterized in this.

34. The height in the Z-axis direction at the proximal part of the yaw axis is formed to be higher than the height in the Z-axis direction at the distal part of the yaw axis. The surgical method using the surgical robot according to claim 28 is characterized in this.

35. The third link and the fourth link are formed to be offset by a certain degree in their respective rotation axis directions. The surgical method using the surgical robot according to claim 28 is characterized in this.

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

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

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

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