Surgical robotic 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, mucosa, and other tissues using medical devices to treat diseases. In particular, open surgeries such as laparotomy, which involves cutting open 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 acts performed by a surgeon. Such a surgical robot has the advantages of being able to perform more accurate and precise operations 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 cutting-edge surgical technique in which surgery is performed after making small incisions in the navel area and inserting a laparoscope, an endoscope used to view the inside of the abdomen. It is a field that is expected to see significant development in the future. Recent laparoscopes are equipped with computer chips, providing clearer and more magnified images than what can be seen with the naked eye. Furthermore, with the use of specially designed laparoscopic surgical instruments while viewing the screen on a monitor, virtually any surgery can be performed.

[0006] Furthermore, while laparoscopic surgery covers almost the same area as open surgery, it has fewer complications, allows treatment to begin much sooner after the procedure, and is superior in maintaining the patient's physical strength and immune function. For these reasons, in the United States and Europe, laparoscopic surgery is gradually becoming recognized as the standard surgical procedure for colorectal cancer and other conditions.

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

[0008] The aforementioned background technology is technical information that the inventor possessed for the purpose of deriving the present invention or acquired during the process of deriving the present invention, and is not necessarily publicly known technology that was made public before the filing of the present invention. [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] The present invention aims to provide a surgical robot arm in which the yaw axis of the active arm, which is rotatable relative to the setup arm, is formed from top to bottom and positioned at an angle to the roll axis of the surgical instrument, thereby preventing gimbal lock, allowing for various RCM settings, and enabling various entry angles relative to the RCM. [Means for solving the problem]

[0010] One embodiment of the present invention provides a surgical robot arm to which a surgical instrument is attached, comprising: a main body; a setup arm including 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 includes: a first link engaged with the setup arm by a first joint and formed to be yaw-rotatable with respect to the setup arm about a yaw axis; a second link engaged with the first link about a second joint; a third link rotatably axially engaged with the second link about a third joint; a fourth link rotatably axially engaged with the third link about a fourth joint; and a fifth link rotatably axially engaged with the fourth link about a fifth joint and formed to which the surgical instrument is attached, wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram whose vertices are the third, fourth, and fifth joints, and the first joint is positioned above the RCM.

[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, when the roll axis of the surgical instrument is positioned parallel to the horizontal plane, the yaw axis and the roll axis can be formed so that they are not parallel to each other but form a predetermined angle.

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

[0014] In the present invention, the setup link assembly may include a first setup link that is linearly movable along the height direction on the main body, a second setup link that rotatably engages the first setup link with a first axis around the rotation center axis, and a third setup link that rotatably engages the second setup link with a second axis different from the first axis around the 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 rotatably engaged with the third setup link about the yaw axis.

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

[0017] In the present invention, the setup link assembly may further include one or more setup links positioned between the second setup link and the third setup link, and 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 of the point through which 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, relative 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 configured to operate only during the setup in which the surgical robot arm is positioned on one side of the patient.

[0021] In the present invention, the RCM can be positioned on the extension 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 arranged 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 in a state where 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 so as to face downward in the Z-axis direction.

[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 a 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 a 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 maintaining RCM by the surgical instrument, thereby providing a surgical method using a surgical robot.

[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, the step of positioning the fifth link on the active arm to which the surgical instrument is attached in a substantially horizontal position can be performed such that at least some of the multiple links of the active arm overlap in the direction of extension of each link.

[0036] In the present invention, in the step of attaching the surgical instrument to the fifth link of the surgical robot arm, the links of the surgical robot arm do not need to be positioned 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 yaw-rotatable with respect to the setup arm about a yaw axis; a second link axially engaged with the first link about a second joint; a third link axially engaged with the second link about a third joint so as to be rotatable; a fourth link axially engaged with the third link about a fourth joint so as to be rotatable; and a fifth link axially engaged with the fourth link about a fifth joint so as to be rotatable, and formed to accommodate the surgical instrument, wherein a remote center of motion (RCM) is formed at the remaining vertex of a parallelogram whose vertices are the third, fourth, and fifth joints, and the first joint can be positioned 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, when the roll axis of the surgical instrument is positioned parallel to the horizontal plane, the yaw axis and the roll axis can be formed so that they are not parallel to each other but form a predetermined angle.

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

[0041] In the present invention, when the third link rotates around 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 to be 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 to be 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 to a certain extent in the direction of their rotation axis.

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

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

[0047] In the present invention, the link does not need to be positioned between the surgical instrument and the bed in the above state.

[0048] Other aspects, features, and advantages not mentioned above will become clear from the following drawings, claims, and detailed description of the invention. [Effects of the Invention]

[0049] This invention allows for the adjustment of the position of the setup arm to which the active arm engages, ensuring that the yaw axis maintains a constant angle with respect to the horizontal plane. This yaw axis is formed at a constant angle with respect to the roll axis of the surgical instrument, preventing gimbal lock and enabling the fifth link and the surgical instrument engaged with it to be positioned horizontally. Furthermore, it becomes possible to position the surgical instrument beyond the horizontal direction, facing downwards from above.

[0050] Furthermore, by positioning each link with a certain degree of offset, the rotational movement of one link does not restrict the movement of other links, and the instrument's range of motion is increased, such as by allowing the instrument's direction of movement to extend beyond the horizontal direction and point upwards. As a result, even in surgeries that are frequently performed and in which the instrument is positioned horizontally, gimbal lock does not occur, and the instrument can move within a sufficient range. [Brief explanation of the drawing]

[0051] [Figure 1] This is a perspective view showing a surgical robot arm according to a first embodiment of the present invention. [Figure 2] This diagram shows the operating state of the RCM mechanism in a link structure. [Figure 3] This diagram shows the operating state of the RCM mechanism in a belt structure. [Figure 4] Figure 1 is a side view showing the surgical robot arm. [Figure 5] Figure 4 is a plan view showing the surgical robot arm. [Figure 6] Figure 4 is a perspective view showing the RCM motion (first pitch movement) of the surgical robot arm at the center of the pitch axis. [Figure 7]Figure 4 is a side view showing the RCM motion (second pitch movement) of the surgical robot arm at the center of the pitch axis. [Figure 8] Figure 7 is a perspective view showing the surgical robot arm. [Figure 9] Figure 4 is a side view showing the RCM motion (third pitch movement) of the surgical robot arm at the center of the pitch axis. [Figure 10] Figure 9 is a perspective view showing the surgical robot arm. [Figure 11] This is a perspective view showing the RCM motion (first yaw motion) of the yaw axis center of a surgical robot arm according to the first embodiment of the present invention. [Figure 12] Figure 11 is a plan view showing the surgical robot arm. [Figure 13] This is a perspective view showing the RCM motion (second yaw motion) of the yaw axis center of a surgical robot arm according to the first embodiment of the present invention. [Figure 14] Figure 13 is a plan view showing the surgical robot arm. [Figure 15] This is a perspective view showing the RCM motion (third yaw motion) of the yaw axis center of a surgical robot arm according to the first embodiment of the present invention. [Figure 16] Figure 15 is a plan view showing the surgical robot arm. [Figure 17] This is a perspective view showing a surgical robot arm with surgical instruments positioned facing the main body. [Figure 18] Figure 17 is a side view showing the surgical robot arm. [Figure 19] Figure 17 is a plan view showing the surgical robot arm. [Figure 20] This is a perspective view showing the setup arm of a surgical robot arm according to the first embodiment of the present invention in a raised position on the main body. [Figure 21] Figure 20 is a side view showing the surgical robot arm. [Figure 22] This is a perspective view showing the setup arm of a surgical robot arm according to the first embodiment of the present invention in a lowered position on the main body. [Figure 23] Figure 22 is a side view showing the surgical robot arm. [Figure 24] This figure shows the first rotational state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 25] This figure shows the first rotational state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 26] This figure shows the first rotational state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 27] This figure shows the second rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 28] This figure shows the second rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 29] This figure shows the second rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 30] This figure shows the third rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 31] This figure shows the third rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 32] This figure shows the third rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention. [Figure 33] This figure shows an arbitrary first configuration of a surgical robot arm according to the first embodiment of the present invention. [Figure 34] This figure shows an arbitrary first configuration of a surgical robot arm according to the first embodiment of the present invention. [Figure 35] This figure shows an arbitrary first configuration of a surgical robot arm according to the first embodiment of the present invention. [Figure 36] This figure shows an arbitrary second configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 37] This figure shows an arbitrary second configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 38] This figure shows an arbitrary second configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 39] This figure shows an arbitrary third configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 40] This figure shows an arbitrary third configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 41] This figure shows an arbitrary third configuration of the surgical robot arm according to the first embodiment of the present invention. [Figure 42] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 43] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 44] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 45] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 46] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 47] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 48] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 49] This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 50]This figure shows the RCM motion of the pitch axis center at a certain angle of a surgical robot arm according to the first embodiment of the present invention. [Figure 51] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 52] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 53] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 54] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 55] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 56] This figure shows the RCM motion of the yaw axis center of a surgical robot arm at a certain angle according to the first embodiment of the present invention. [Figure 57] This figure shows the surgical robot arm in a moving state according to the first embodiment of the present invention. [Figure 58] This figure shows the surgical robot arm in a moving state according to the first embodiment of the present invention. [Figure 59] This figure shows the surgical robot arm in a moving state according to the first embodiment of the present invention. [Figure 60] This figure shows the surgical robot arm in a moving state according to the first embodiment of the present invention. [Figure 61] This figure shows a surgical robot arm according to the first embodiment of the present invention positioned near the surgical site of a patient, with the surgical instruments positioned to immediately face the patient. [Figure 62] This figure shows a surgical robot arm according to the first embodiment of the present invention positioned near the surgical site of a patient, with the surgical instruments positioned to immediately face the patient. [Figure 63] This figure shows a surgical robot arm according to the first embodiment of the present invention positioned near the surgical site of a patient, with the surgical instruments positioned to immediately face the patient. [Figure 64] This figure shows the first configuration of a surgical robot arm according to a second embodiment of the present invention. [Figure 65] This figure shows the first configuration of a surgical robot arm according to a second embodiment of the present invention. [Figure 66] This figure shows the first configuration of a surgical robot arm according to a second embodiment of the present invention. [Figure 67] This figure shows a second configuration of the surgical robot arm according to a second embodiment of the present invention. [Figure 68] This figure shows a second configuration of the surgical robot arm according to a second embodiment of the present invention. [Figure 69] This figure shows a second configuration of the surgical robot arm according to a second embodiment of the present invention. [Figure 70] This figure shows a third configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 71] This figure shows a third configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 72] This figure shows a third configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 73] This figure shows a fourth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 74] This figure shows a fourth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 75] This figure shows a fourth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 76] This figure shows a fifth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 77] This figure shows a fifth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 78] This figure shows a fifth configuration of the surgical robot arm according to the second embodiment of the present invention. [Figure 79] This figure shows the first configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 80] This figure shows the first configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 81] This figure shows the first configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 82] This figure shows a second configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 83] This figure shows a second configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 84] This figure shows a second configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 85] This figure shows the third configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 86] This figure shows a third configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 87] This figure shows a third configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 88] This figure shows a fourth configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 89] This figure shows a fourth configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 90] This figure shows a fourth configuration of the surgical robot arm according to the third embodiment of the present invention. [Figure 91] This is a diagram showing a surgical robotic arm. [Figure 92] This is a diagram showing a surgical robotic arm. [Modes for carrying out the invention]

[0052] The present invention can be subjected to various transformations and has various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to specific embodiments, but rather to include all transformations, equivalents, and substitutes that fall within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a specific description of the relevant prior art would hinder the essence of the invention, such detailed description will be omitted.

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

[0054] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “includes” or “having” specify the presence of features, figures, steps, actions, components, parts, or combinations thereof described herein, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0055] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. In describing these embodiments with reference to the attached drawings, the same drawing number will be assigned to identical or corresponding components, and redundant descriptions thereof will be omitted.

[0056] Furthermore, in describing the various embodiments of the present invention, it is not necessary to interpret or implement each embodiment independently. It should be understood that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments described individually.

[0057] The embodiments of the present invention will now be described with reference to the attached drawings.

[0058] Figure 91 shows a surgical robotic arm.

[0059] As shown in Figure 91, the surgical robot arm 3500 is generally configured such that one or more robot arms extend from a single tower.

[0060] In such a configuration, for surgeries where the surgical instrument 3200 should be inserted from a direction parallel to the plane of the operating table on which the patient lies, the tower 3510 was typically positioned opposite the patient's surgical site, with the surgical robotic arm 3500 extending from the tower 3510 to cover the upper part of the patient's body, and the surgical instrument 3200 positioned in the opposite direction so that it again faces the patient.

[0061] Therefore, it may have disadvantages such as multiple robotic arms being deployed over the patient, and increased vibration and reduced rigidity due to the shape of the surgical robotic arm 3500, which extends far from its support tower 3510.

[0062] To solve this problem, as shown in Figure 92, the robotic arm can be made modular, with multiple robotic arms positioned near the surgical site, and the instrument can be positioned to face the patient immediately.

[0063] However, as in the case of Figure 92, if one of the rotational axes that rotates the surgical instrument, namely the yaw axis, coincides with the roll axis of the instrument, which is an extension of the surgical instrument, a gimbal lock phenomenon may occur, making it impossible for the surgical instrument to perform the expected yaw motion when the aforementioned rotational axis (yaw axis) is rotated.

[0064] In particular, surgical instruments are frequently positioned horizontally during surgery, and if the yaw axis is also formed horizontally (or nearly horizontally), a situation corresponding to gimbal lock may occur frequently.

[0065] To solve these problems, the present invention features a design in which the yaw axis is positioned in a direction other than horizontal (for example, a direction inclined with respect to the horizontal plane) so that gimbal lock does not occur even when surgical instruments are arranged horizontally, thereby preventing gimbal lock even when the surgical instruments that are mainly used are arranged, and as a result the overall configuration of the surgical robot can be made more compact.

[0066] Furthermore, as shown in Figures 61 to 63, the present invention is characterized by being modular in which one surgical instrument is deployed from one surgical robot arm. It is also characterized by having a plurality of modular surgical robot arms, each to which one surgical instrument is attached. Each of these surgical robot arms is positioned near each of the patient's multiple ports, and by shortening the overall length of the deployed surgical robot arm, the effect of reduced vibration and increased rigidity can be obtained. In this specification, "port" refers to the position in which the trocar is inserted and the surgical instrument passes through.

[0067] A surgical robot arm according to an embodiment of the present invention, which is formed in a modular manner from which a single surgical instrument is deployed, will be described in detail later.

[0068] <First Embodiment of a Surgical Robot Arm>

[0069] The first embodiment of the present invention will now be described with reference to the attached drawings.

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

[0071] Referring to Figure 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 operated (manually) to position the surgical instrument 300 to fit the patient's affected area before the start of surgery, and may not actually move during the surgery. On the other hand, the active arm 100 may be a part that moves in real time by the doctor's operation during surgery.

[0073] A setup arm 200 according to one embodiment of the present invention may include a main body 201 and a setup link assembly comprising a plurality of setup links 210, 220, 230, 240, and 250.

[0074] Specifically, the setup arm 200 may 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. The setup arm 200 may also 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] An active arm 100 according to one embodiment of the present invention is to which a surgical instrument 300 is attached and can be connected to a setup arm 200, and may include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. The active arm 100 may also include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155. The trocar 400 and the surgical instrument 300 are engaged with the fifth link 150 of such a surgical robot arm 1.

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

[0077] Referring to Figure 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 has the fifth setup joint 255 as its center of rotation, and the axis of rotation can be formed parallel to the pitch axis P of the active arm 100. However, if the active arm 100 rotates to a certain extent around the yaw axis Y1, the axis of rotation of the fifth setup link 250 and the pitch axis P do not have to be parallel.

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

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

[0080] More specifically, the surgical robot (not shown) comprises one or more surgical robotic arms for surgical operations, with surgical instruments attached to the tips of the surgical robotic arms.

[0081] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist, and to which a predetermined tool can be attached to the wrist portion. In this specification, a robotic arm can be defined as a concept that encompasses all components such as the upper arm, lower arm, wrist, elbow, and surgical instruments that engage with the wrist portion. Such a surgical robotic arm can be implemented to have multiple degrees of freedom.

[0082] When surgical instruments are attached to the tip of a surgical robotic arm in this manner, the surgical instruments move along with the movement of the surgical robotic arm. This can cause partial perforation of the patient's skin, potentially leading to unnecessary damage to the skin during the insertion of the surgical instruments. Furthermore, in cases of large surgical sites, it may be necessary to incise the skin only along the path of the surgical instruments, or to perforate the skin at each surgical site, potentially negating the advantages of robotic surgery.

[0083] Therefore, a virtual center of rotation is set at a predetermined position on 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 of motion is called a "remote center" or "RCM (remote center of motion)." The RCM mechanism of the present invention will be described in more detail later.

[0084] The following describes in more detail each component of the surgical robot arm 1 according to the first embodiment of the present invention.

[0085] (Setup of surgical robot arm, operation of the arm)

[0086] Referring to Figures 1, 4, and 5, 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. The setup arm 200 is positioned outside the bed 500 on which the patient is placed and can be connected to the active arm 100.

[0087] Referring to Figure 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 is responsible for setting the position and orientation of the active arm 100 so that the surgical instrument 300, which is engaged with the active arm 100, is positioned in a suitable location for surgery. The setup arm 200 operates only in the pre-operative steps to set up the position, and once surgery begins, the setup arm 200 remains stationary and its position is fixed.

[0089] In other words, the setup arm 200 can be configured to operate only during the setup in which the surgical robot arm is positioned on one side of the patient.

[0090] The setup arm 200 can be manually operated and repositioned by users such as medical staff.

[0091] As an optional embodiment, the setup arm 200 may include a drive unit (not shown), and the user may change the position of the setup arm 200 from an external device such as a controller (not shown), allowing for various modifications to be implemented.

[0092] Referring to Figure 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 Figures 1 and 4, the setup arm 200 according to the first embodiment of the present invention may 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] Multiple setup joints 215, 225, 235, 245, and 255 can connect the main body 201 to any one of the multiple setup links, or connect multiple setup links to each other, to form a reference point for rotation and movement.

[0095] Referring to Figures 1 and 4, the main body 201 can serve as the base of the entire surgical robot arm 1. Movable means such as wheels (not indicated in the drawings) are formed on the lower surface of the main body 201, allowing the main body 201 to also function as a type of movable member.

[0096] In an optional embodiment, the main body 201 may be further provided with position-fixing means (not shown) to fix the position of the surgical robot arm 1, including the main body 201, during surgery.

[0097] However, the concept of the present invention is not limited thereto, and various modifications can be made, such as forming the main body 201 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 may 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. The setup arm 200 may also 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 to allow vertical movement (movement in the Z-axis direction in Figure 1) relative to the main body 201.

[0100] Specifically, referring to Figures 20 to 23, the first setup link 210 can move back and forth along a preset direction (up and down in Figure 20) on the main unit 201. This will be explained in more detail later.

[0101] Furthermore, the first setup joint 215 can rotate with respect to a rotational center axis formed alongside the Y-axis (see Figure 1) relative to the main body 201.

[0102] Referring to Figures 1 and 4, the second setup link 220 can be rotatably engaged with the first setup link 210 about the second setup joint 225 as its pivot point. Here, the second setup joint 225 may include one or more pulleys. Here, the second setup link 220 can rotate about an axis parallel to the Z-axis relative to the first setup link 210.

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

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

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

[0106] In other words, the rotational axis of the fifth setup link 250 relative to the fourth setup link 240 can be formed to be different from the rotational axis of the second setup link 220 relative to the first setup link 210. Specifically, the rotational axis of the fifth setup link 250 relative to the fourth setup link 240 can be positioned perpendicular to the rotational axis of the second setup link 220 relative to the first setup link 210.

[0107] The rotational axis of the third setup link 230 relative to the second setup link 220, and the rotational axis of the fourth setup link 240 relative to the third setup link 230, can be formed in parallel with the rotational axis of the second setup link 220 relative to the first setup link 210.

[0108] Figures 1, 4 to 41 show the state in which the fifth setup link 250 is rotated 20 degrees relative to the fourth setup link 240. That is, the angle between the horizontal plane and the fifth setup link 250 is 20 degrees.

[0109] Referring to Figures 1 and 4, the first link 110 of the active arm 100 described above can be engaged with the setup arm 200, specifically the fifth setup link 250, according to the first embodiment of the present invention.

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

[0111] Referring to Figures 1, 4 to 41, in this case, the first link 110 of the active arm 100 can engage perpendicularly with the setup arm 200, specifically the fifth setup link 250 which forms a 20-degree angle with the horizontal plane, and the yaw axis Y1, which is the rotational axis of the first link 110, forms a 70-degree angle with the horizontal plane.

[0112] In other words, the yaw axis Y1 and the roll axis R are formed differently from each other, and when the roll axis R of the surgical instrument 300 is positioned parallel to the horizontal plane, the yaw axis Y1 and the roll axis R are formed to be at a predetermined angle to each other, rather than parallel.

[0113] In other words, if the roll axis R of the surgical instrument 300 engaged with the fifth link 150 is positioned parallel to the horizontal plane, the yaw axis Y1 of the surgical robot arm 1 can be positioned at an angle of 70 degrees to the roll axis R.

[0114] This prevents gimbal lock, which can occur when the roll axis R and yaw axis Y1 are positioned parallel or nearly parallel to each other when the surgical instrument 300 is positioned parallel to the horizontal plane.

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

[0116] In other words, by rotating the multiple setup links 210, 220, 230, 240, and 250 and the yaw rotation of the active arm 100, the RCM can be positioned in various locations, the active arm 100 can be positioned in various locations and at various angles, and the entry angle of the surgical instrument 300 can be set in various ways.

[0117] To put this from another perspective, the presence of the setup arm 200 allows for a variety of adjustments to the distance between the main unit 201 and the surgical instrument 300.

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

[0119] This prevents the fifth link 150 from being located between the patient and the surgical instrument 300, and prevents interference between the active arms 100 of multiple different surgical robot arms 1 when multiple surgical robot arms are arranged around the bed 500 on which the patient is lying.

[0120] Referring to Figures 1 and 4, among the multiple setup links according to the first embodiment of the present invention, the setup links 210, 220, 230, and 240 that rotate around an axis parallel to the Z-axis can be positioned with a relatively higher height as they move away from the main body 201, that is, towards the active arm 100.

[0121] Specifically, the second setup link 220 can be rotatably engaged with the upper surface of the first setup link 210 (see Figure 4) around the second setup joint 225, the third setup link 230 can be rotatably engaged with the upper surface of the second setup link 220 around 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 around the fourth setup joint 245.

[0122] As a result, the fifth setup link 250, which rotates around an axis parallel to the X-axis, engages with the fourth setup link 240, which is positioned relatively higher than the first setup link 210, the second setup link 220, and the third setup link 230. The active arm 100, specifically the first link 110, is rotatably engaged with the fifth setup link 250 around the yaw axis Y1. As an RCM is formed on the opposite side of the active arm 100 that engages with the fifth setup link 250, the yaw axis Y1 can be formed from top to bottom (see Figure 1).

[0123] This results in the roll axis R and yaw axis Y1 of the surgical instrument 300, which engages with the active arm 100 described later, being formed with a relatively large angle of inclination, and has the effect of preventing gimbal lock, which can occur when the instrument is positioned horizontally or nearly horizontally.

[0124] In addition, the yaw axis Y1, which is positioned from top to bottom, and the roll axis R of the surgical instrument 300 form a predetermined angle, and the active arm 100 is positioned from top to bottom, thereby reducing the range of motion that the surgical robot arm 1 must move for a given operation.

[0125] Figure 20 is a perspective view showing the setup arm of a surgical robot arm according to the first embodiment of the present invention in a raised position on the main body. Figure 21 is a side view showing the surgical robot arm of Figure 20. Figure 22 is a perspective view showing the setup arm of a surgical robot arm according to the first embodiment of the present invention in a lowered position on the main body. Figure 23 is a side view showing the surgical robot arm of Figure 22.

[0126] Referring to Figure 20, the setup arm 200 according to the first embodiment of the present invention may 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 engages with the main body 201, specifically by a first setup joint 215. The first setup joint 215 can be formed to move vertically (movement in the Z-axis direction in Figure 20) relative to the main body 201.

[0128] Referring to Figure 20, the fifth setup link 250 is rotatable with respect to the fourth setup link 240 with respect to a rotational axis aligned with the X-axis, and can rotate relative to the fourth setup link 240 at a constant angle with respect to the horizontal plane.

[0129] Specifically, in Figure 4, the fifth setup link 250 is rotated 20 degrees relative to the fourth setup link 240 with respect to the horizontal plane.

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

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

[0132] In this case, since the angle of the fifth setup link 250 relative to the fourth setup link 240 is maintained at a constant angle, the position of the active arm 100 in the Z-axis direction can be changed while maintaining the angle that the yaw axis Y1, which is the rotational center axis of the first link 110 engaged with the fifth setup link 250, makes with the horizontal plane.

[0133] Referring to Figures 22 and 23, contrary to Figures 20 and 21, the first setup link 210 moves from the top to the bottom (see Figure 22) along direction A on the main body 201, and the angle that the yaw axis Y1 makes with the horizontal plane is maintained at this time as well.

[0134] Figures 24 to 26 show the first rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention.

[0135] Referring to Figure 24, the setup arm 200 according to the first embodiment of the present invention may 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 engages with the main body 201 by the first setup joint 215, the second setup link 220 axially engages with the first setup link 210 by the second setup joint 225, the third setup link 230 axially engages with the second setup link 220 by the third setup joint 235, the fourth setup link 240 axially engages with the third setup link 230 by the fourth setup joint 245, and the fifth setup link 250 axially engages with the fourth setup link 240 by the fifth setup joint 255.

[0137] The fifth setup link 250 is axially engaged with the fourth setup link 240 with its rotational center axis being the axis aligned with the pitch axis P of the active arm 100 (or the axis aligned with the X-axis). Referring to Figure 20, the fifth setup link 250 is engaged with the fourth setup link 240 at a certain angle, for example, 20 degrees. However, if the active arm 100 rotates to a certain extent around the yaw axis Y1, the rotational center axis of the fifth setup link 250 and the pitch axis P do not necessarily have to be aligned.

[0138] Figure 24 shows the second setup link 220, the third setup link 230, and the fourth setup link 240 rotated relative to the rotational center axis, allowing the RCM formed by the active arm 100 to move in parallel along a preset direction (the Y-axis in Figure 24).

[0139] In other words, in the same state as in Figure 5, when the second setup link 220 is rotated by a predetermined angle relative to the first setup link 210, the third setup link 230 is rotated by a predetermined angle relative to the second setup link 220, and the fourth setup link 240 is rotated by a predetermined angle relative to the third setup link 230, the surgical instrument 300 is positioned in the same direction as in Figure 5, and the position between the second setup link 220 and the third setup link 230 is adjusted, causing the RCM to move parallel along the Y axis, specifically towards the main body 201.

[0140] This allows the RCM to be positioned in various locations by rotating the multiple setup 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 varied while maintaining the RCM.

[0141] Figures 27 to 29 show the second rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention.

[0142] Figure 27 shows the state in which the angle of the fifth setup link 250 relative to the fourth setup link 240 is fixed at a constant angle of 20 degrees, as in Figure 5, while the second setup link 220, third setup link 230, and fourth setup link 240 are each rotated to a certain extent.

[0143] In Figures 27 to 29, the second setup link 220, the third setup link 230, and the fourth setup link 240 can be rotated while maintaining the RCM, and unlike in Figures 24 to 26, the orientation of the surgical instrument 300 can be changed.

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

[0145] This allows for a variety of instrument entry angles to be changed while maintaining the same position of the RCM by rotating the multiple setup links according to the first embodiment of the present invention.

[0146] 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 changed in a more diverse manner while maintaining the RCM.

[0147] Figures 30 to 32 show the third rotation state of the setup arm of the surgical robot arm according to the first embodiment of the present invention.

[0148] As shown in Figure 5, Figure 30 shows a state where the angle of the fifth setup link 250 relative to the fourth setup link 240 is fixed at a constant angle of 20 degrees, the second setup link 220, the third setup link 230, and the fourth setup link 240 are rotated to a certain extent, and in addition, the first link 110 of the active arm 100 is also rotated to a certain extent around the yaw axis Y1.

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

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

[0151] In other words, even if the user changes the position of the setup links 220, 230, and 240, they can drive the active arm 100 so that the surgical instrument 300 can enter the same RCM at the same angle as before the change.

[0152] In addition, when performing surgery on a patient using multiple different surgical robot arms, changing the distance between the main body 201 and the active arm 100 of any one of the surgical robot arms, or creating additional space, has the effect of creating space into which surgical instruments that engage with the active arms of other surgical robot arms can enter.

[0153] In addition, by rotating multiple setup links positioned 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 in order to create the aforementioned space, the time required to move surgical equipment such as the surgical robot arm 1 is eliminated, thereby shortening the surgical time.

[0154] Figures 33 to 35 show arbitrary first configurations of the surgical robot arm according to the first embodiment of the present invention. Figures 36 to 38 show arbitrary second configurations of the surgical robot arm according to the first embodiment of the present invention. Figures 39 to 41 show arbitrary third configurations of the surgical robot arm according to the first embodiment of the present invention.

[0155] Referring to Figures 33 to 41, in the surgical robot arm 1 according to the first embodiment of the present invention, 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 relative to the fourth setup link 240 is also fixed at a constant angle of 20 degrees.

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

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

[0158] As the position of the surgical instrument 300 is changed, the roll axis R of the surgical instrument 300 is changed, which allows the entry angle of the surgical instrument 300 to be changed, resulting in the effect of enabling various positions with any desired entry angle of the surgical instrument 300.

[0159] (Movement of the active arm of a surgical robot arm)

[0160] Referring to Figures 1 and 4, the active arm 100 engages with the setup arm 200, and surgical instruments 300 and trocar 400 can be engaged with it. The active arm 100 engages with the end of the setup arm 20, which is positioned in a non-moving state during the pre-operative steps, and can be the part that moves in real time by the surgeon's manipulation during surgery.

[0161] In the first embodiment of the present invention, the surgical robot arm 1 sets a virtual pivot point at a predetermined position on the end of the surgical instrument 300, which is attached to an active arm 100 engaged with one end of a fixed setup arm 200, and controls the active arm 100 so that the surgical instrument 300 rotates around this point. This virtual pivot point is called the RCM.

[0162] Before explaining the Active Arm 100, we will briefly explain the mechanism of the RCM below.

[0163] (RCM Conceptual Diagram - Link Structure)

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

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

[0166] Furthermore, the active arm 100 may further include a third-first link 130-1 and a fourth-first link 140-1. The active arm 100 may also 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 Figure 2, when the third link 130 rotates around the third joint 135 relative to the second link 120, the links forming a parallelogram—the third link 130, the fourth link 140, and the 3-1 link 130-1—all rotate. In this case, the parallelogram shape is maintained even as the links rotate, and therefore, the third link 130 and the 3-1 link 130-1 remain parallel in any state of rotation.

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

[0169] In this case, even if the links rotate, the parallelogram shape is maintained, and therefore, the fourth link 140 and the 4-1 link 140-1 remain parallel in any state of rotation.

[0170] In this way, the fourth link 140 rotates in conjunction with the rotation of the third link 130 around the third joint 135, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 remain parallel.

[0171] Similarly, the rotation of the fourth link 140 relative to the third link 130 is linked to the rotation of the fifth link 150 relative to the fourth link 140, so that the third link 130 and the fifth link 150 remain parallel. As a result, the RCM is maintained at a constant value in all operating states.

[0172] (RCM conceptual diagram - belt structure)

[0173] As an example of the RCM mechanism of the present invention, a belt structure can be applied. Figure 3 shows 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 may include a first link 110, a second link 120, a third link 130, a fourth link 140, and a fifth link 150. Furthermore, the active arm 100 of the surgical robot arm 1 may include a first joint 115, a second joint 125, a third joint 135, a fourth joint 145, and a fifth joint 155.

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

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

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

[0178] Here, the first belt 181 can connect pulley 192 and pulley 193-1. The second belt 182 can connect pulley 193-2 and pulley 194-1. The third belt 183 can connect pulley 194-2 and pulley 195.

[0179] Referring to Figure 3, the rotating pulley, pulley 192, can be connected to a motor (not shown) and rotatably configured relative to the second link 120. Each pulley and the belt can then be assumed to be fixedly engaged at one or more points to prevent slippage.

[0180] First, the rotating pulley, pulley 193-1, is formed to be rotatable with respect to the second link 120, and is formed integrally 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, the fixed pulley, pulley 193-2, is formed integrally with the second link 120.

[0182] On the other hand, the rotating pulley 194-1 is formed to be rotatable with respect to the third link 130 and 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, the fixed pulley, pulley 194-2, is formed integrally with the third link 130.

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

[0185] In this case, the two pulleys bundled together by a single belt must have the same diameter for RCM to be maintained. 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}, and {the diameter of pulley 194-2 = the diameter of pulley 195}.

[0186] The operation of such a belt-structured RCM mechanism will be explained.

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

[0188] Then, as pulley 193-1 rotates, the third link 130, which is integrally formed with pulley 193-1, rotates relative to the second link 120.

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

[0190] Then, when the belt 182 rotates, the pulley 194-1 rotates relative to the third link 130, and when the pulley 194-1 rotates, the fourth link 140, which is integrated with the pulley 194-1, rotates relative to the third link 130.

[0191] In this way, the rotation of the third link 130 relative to the second link 120 is coordinated with the rotation of the fourth link 140 relative to the third link 130, and the extension line connecting the third joint 135 and the RCM and the fourth link 140 remain parallel.

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

[0193] Then, when the belt 183 rotates, the pulley 195 rotates relative to the fourth link 140, and when the pulley 195 rotates, the fifth link 150, which is integrated with the pulley 195, rotates relative to the fourth link 140.

[0194] In this way, the rotation of the fourth link 140 relative to the third link 130 is coordinated with the rotation of the fifth link 150 relative to the fourth link 140, so that the third link 130 and the fifth link 150 remain parallel.

[0195] As a result, RCM is maintained at a constant level in all operating conditions.

[0196] The following describes the active arm 100 of the surgical robot arm 1 according to the first embodiment of the present invention.

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

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

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

[0200] As a result, the position and orientation of the RCM relative to the fifth setup link 250 are kept constant, regardless of how much the first link 110 yaws relative to the fifth setup link 250.

[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 kept constant.

[0202] In this configuration, the second joint 125 may include a motor (not shown) and be connected to the third joint 135 by a belt, 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 diagram, various modifications are possible, such as the second joint 125 not including a motor, the third joint 135 including a motor, and the driving force of the third joint 135 being transmitted to the second joint 125.

[0204] The third link 130 is rotatably engaged with the second link 120 around the third joint 135, where the third joint 135 may include one or more pulleys.

[0205] The fourth link 140 is rotatably engaged with the third link 130 around the fourth joint 145, where the fourth joint 145 may include one or more pulleys.

[0206] The fifth link 150 is rotatably engaged with the fourth link 140 around the fifth joint 155, where the fifth joint 155 may include one or more pulleys.

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

[0208] Furthermore, the fifth link 150 can be formed to perform reciprocating linear motion along the roll axis R. Here, the roll axis R of the surgical instrument 300 that engages with the fifth link 150 is formed to pass through the RCM.

[0209] Referring to Figure 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 single parallelogram.

[0210] In this structure, once the surgical robot arm 1 operates the setup arm 200 (described later) and is set up, the RCM will always maintain its position. Furthermore, as each link rotates around the RCM, the parallelogram shape is maintained regardless of the position of each link.

[0211] To maintain the RCM in this manner, 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, by linking the rotation of the third joint 135 and the fourth joint 145 using a belt, when the third link 130 rotates relative to the second link 120, the fourth link 140 can be rotated relative to the third link 130.

[0213] Simultaneously, the belt links the rotation of the fourth joint 145 and the fifth joint 155, so that when the fourth link 140 rotates relative to the third link 130, the fifth link 150 can be rotated relative to the fourth link 140.

[0214] As a result of this configuration, the line segment connecting the third joint 135 and the fourth joint 145, and the line segment connecting the fifth joint 155 and the RCM, can always remain parallel. Furthermore, 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 also always remain parallel.

[0215] This section provides a more detailed explanation of the Active Arm 100, a surgical robotic arm.

[0216] Referring to Figure 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 relative to the fifth setup link 250. The second link 120 has one end fixedly engaged with the first link 110 and the other end engaged with the third link 130.

[0217] The first joint 115 engages the fifth setup link 250 with 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 yaws around a yaw axis Y1 formed to pass through the RCM. Although not shown in the figure, the first joint 115 may include a motor for rotating the first link 110.

[0218] Referring to Figures 1 and 4, the yaw axis Y1 can be formed in an oblique direction that is not parallel to the X / Y / Z axes (see Figure 1). Specifically, the extension line connecting the third joint 135 and the RCM can be positioned such that the yaw axis Y1 has the same angle with respect to the horizontal plane.

[0219] Referring to Figures 1 and 4, 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 central axis of rotation. As a result, the yaw axis Y1, which is the extension line connecting the first joint 115 and the RCM, can be formed extending from the top to the bottom when the patient is placed on the bed 500.

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

[0221] In other words, this can be expressed as the height of the yaw axis Y1 in the Z-axis direction at the proximal part of the active arm 100 being higher than the height of the yaw axis Y1 in the Z-axis direction 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 (particularly the fifth setup link 250) can be defined as the proximal end, and the end opposite the proximal end, for example, the RCM formed on the fifth link 150, can be defined as the distal end.

[0223] In other words, the longitudinal central axis or rotational central axis of the first link 110 is formed to be inclined at a predetermined angle with respect to the horizontal plane, and the central axis of the first link 110 is formed to coincide with the yaw axis Y1.

[0224] Referring to Figure 1, the first link 110 can be connected to the fifth setup link 250 by the first joint 115 so as to be rotatable about the yaw axis Y1, and as described above, the fifth setup link 250 can be engaged with the fourth setup link 240 so as to be rotatable relative to it.

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

[0226] For example, if the fifth setup link 250 is positioned at an angle of α degrees with respect to the fourth setup link 240, the rotational axis of the first link 110, i.e., the yaw axis Y1, which is rotatably engaged with the fifth setup link 250, is formed to be perpendicular to the fifth setup link 250 and to be at an angle of 90-α degrees with respect to the horizontal plane.

[0227] The first link 110 can be described as being formed with an inclination that makes a predetermined angle with respect to the horizontal plane, and the central axis of the first link 110 is formed to coincide with the yaw axis Y1.

[0228] As a result, even if the surgical instrument 300 engaged with the active arm 100 is positioned horizontally alongside the bed 500, i.e., the horizontal plane on which the patient is placed, the roll axis R formed along the horizontal direction and the yaw axis Y1 positioned at a certain degree of inclination form a certain angle with each other. Therefore, it is possible to prevent the gimbal lock phenomenon that occurs when the roll axis R of the surgical instrument 300 and the yaw axis Y1 of the active arm 100 coincide.

[0229] Referring to Figure 1, by forming the RCM to lie on the extension of the yaw axis Y1, the position and orientation of the RCM relative to the fifth setup link 250 can be kept constant, regardless of how much the first link 110 yaws relative to the fifth setup link 250.

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

[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 center axis of the first link 110. Also, the second link 120 can be formed substantially parallel to the fourth link 140. Or, 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. Or, 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 rotatably axially engaged with the third link 130 around the fourth joint 145, where the fourth joint 145 may include one or more pulleys.

[0238] The fifth link 150 is rotatably axially engaged with the fourth link 140 around the fifth joint 155, where the fifth joint 155 may include one or more pulleys.

[0239] A surgical instrument 300 is engaged with the fifth link 150. At least a portion of the surgical instrument 300 is formed to be rotatable about a roll axis R (i.e., a shaft axis) and to be able to reciprocate linearly along the roll axis R relative 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, the fifth link 150, to which the surgical instrument 300 is attached, has an instrument mounting portion (not shown) and a guide rail (not shown) formed thereon. 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. To realize such linear motion, the instrument mounting portion (not shown) may be equipped with a drive unit such as a linear actuator (not shown). The surgical instrument 300 can then 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) can be further formed in the instrument mounting portion (not shown) for engaging with the surgical instrument 300 and controlling the movement of the surgical instrument 300.

[0242] The interface section (not shown) may include components for engaging with the drive unit of the surgical instrument 300 and a motor for transmitting driving force from the surgical robot arm to the surgical instrument 300. This interface section (not shown) allows the end tool of the surgical instrument 300 to perform pitch, yaw, and actuation movements. Furthermore, this interface section (not shown) allows the shaft and end tool of the surgical instrument 300 to perform roll movements around 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 via the trocar 400. Then, an RCM can be formed at a predetermined position on such a trocar 400.

[0244] As mentioned above, the yaw axis Y1, which is the rotational axis of the first link 110 rotatably engaged with the fifth setup link 250, can be formed to pass through such an RCM.

[0245] Furthermore, the surgical instrument 300 may further include a drive unit (not shown). The drive unit (not shown) may have components for engagement with the interface unit (not shown) and a drive wheel that meshes with the motor to operate. In this way, the interface unit (not shown) and the drive unit (not shown) are each formed with corresponding engagement means and drive transmission means, respectively, so that the surgical instrument 300 operates by receiving driving force from the surgical robot arm 1, specifically the active arm 100, while attached to the fifth link 150.

[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] In detail, if there are three vertices at the third joint 135, the fourth joint 145, and the fifth joint 155, the position of the remaining point (RCM) of the parallelogram containing these three vertices will be automatically determined.

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

[0249] In this structure, once the surgical robot arm 1 is set up, the RCM will always maintain its position. Furthermore, as each link rotates around the RCM, the parallelogram shape is maintained regardless of the position of each link.

[0250] In other words, during the setup process, the position of the setup arm 200 is determined, the positions of the main body 201 and the multiple setup links 210, 220, 230, 240, and 250 sequentially connected to the main body 201 are fixed, and with the setup link, specifically the first link 110 which engages with the fifth setup link 250, fixed, the position of the RCM remains unchanged regardless of the position of the third link 130 to the fifth link 150, and the third joint 135, fourth joint 145, fifth joint 155 and the RCM maintain a parallelogram shape.

[0251] To maintain the RCM in this manner, 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.

[0252] For example, by linking the rotation of the third joint 135 and the fourth joint 145 using a belt, when the third link 130 rotates relative to the second link 120, the fourth link 140 can be rotated relative to the third link 130. Simultaneously, by linking the rotation of the fourth joint 145 and the fifth joint 155 using a belt, when the fourth link 140 rotates relative to the third link 130, the fifth link 150 can be rotated relative to the fourth link 140.

[0253] As a result of this configuration, the line segment connecting the third joint 135 and the fourth joint 145, and the line segment connecting the fifth joint 155 and the RCM can always remain parallel.

[0254] Furthermore, 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 remain parallel.

[0255] Although not shown in the figure, 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, it 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, along the rotation center axis of the fifth joint 155 where the fourth link 140 and the fifth link 150 are engaged, they are arranged on the same plane perpendicular to the rotation center axis, but it 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 so 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] In detail, referring to Figure 19, a plan view of a surgical robot arm 1 according to one embodiment of the present invention, when viewed on the XY plane, at least a portion of the second link 120, the third link 130, and the fourth link 140 are formed to be offset to a certain extent in the direction of their rotation axis (i.e., the Y axis).

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

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

[0265] Within this technical framework, the second link 120, third link 130, fourth link 140, and fifth link 150 can be connected to each other on one side along the axis of rotation (i.e., the Y-axis direction). This eliminates the limitations on the rotational range of the third link 130, fourth link 140, and fifth link 150, allowing them to rotate freely.

[0266] On the other hand, to rephrase this, since each link is formed so as not to interfere with the rotation of the other links, it can be said that at least a portion of each link can overlap with each other in the yaw axis Y1 direction. That is, as shown in Figure 19, when the active arm 100 of the surgical robot arm 1 is folded to a certain extent, the second link 120 and the third link 130 are arranged to overlap to a certain extent in the yaw axis Y1 direction, and the third link 130 and the fourth link 140 can be arranged to overlap to a certain extent.

[0267] Referring to Figure 19, in the first embodiment of the present invention, the active arm 100 has the fourth link 140 and the fifth link 150 arranged side by side on the same plane and rotatably engaged, but is not limited to this, and various modifications can be implemented, such as arranging them side by side on any other plane along the axis of rotation between the fourth link 140 and the fifth link 150.

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

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

[0270] As shown in Figures 4 to 6, when a motor (not shown) is driven, the active arm 100, specifically the first link 110, which engages with the setup arm 200, specifically the fifth setup link 250, rotates around the yaw axis Y1 relative to the fifth setup link 250. At this time, since the yaw axis Y1 passes through the RCM, the RCM remains constant regardless of the angle by which the first link 110 rotates relative 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 rotated by a predetermined angle (for example, 20 degrees) relative to the fourth setup link 240 with respect to the horizontal plane. The active arm 100, specifically the first link 110, can be rotatably engaged with the fifth setup link 250, and the rotational 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 positioned at a certain angle, specifically perpendicular, to the fifth setup link 250, thereby allowing the yaw axis Y1 to be positioned at a predetermined angle (e.g., 70 degrees) to the horizontal plane. The RCM is positioned on the yaw axis Y1, and the second link 120, which engages with the first link 110, is also positioned alongside the yaw axis Y1. An extension line connecting the RCM to the third joint 135, to which the second link 120 and the third link 130 are axially engaged, can also be positioned alongside the yaw axis Y1.

[0273] In other words, the extension line connecting the third joint 135 and the RCM is positioned parallel to the yaw axis Y1, and the yaw axis Y1 is positioned at a certain angle and inclined with respect to the roll axis R of the surgical instrument 300 connected to the fifth link. This prevents the gimbal lock phenomenon that can occur when the surgical instrument 300 is positioned parallel to the horizontal plane and the roll axis R and yaw axis Y1 are parallel or positioned in close proximity to each other.

[0274] Referring to Figures 4, 5, and 6, multiple setup links are axially engaged with each other, and the setup links are positioned at a relatively higher position as they move away from the main body 201 in the Z-axis direction. As a result, the yaw axis Y1 of the surgical robot arm 1 can be formed to point from top to bottom, and the yaw axis Y1 can be formed at a certain angle inclination with the horizontal plane. When the surgical instrument 300 is positioned horizontally, the yaw axis Y1 can be formed at a certain angle inclination with the roll axis R of the surgical instrument 300. This has the effect of preventing gimbal lock, which can 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 positioned parallel to each other.

[0275] Figure 7 is a side view showing the RCM motion (second pitch movement) of the surgical robot arm at the pitch axis P of Figure 4. Figure 8 is a perspective view showing the surgical robot arm of Figure 7.

[0276] Referring to Figures 7 and 8, in the first pitch operation state shown in Figure 6, the active arm 100 has rotated to a certain extent around the pitch axis P.

[0277] In other words, the position of the RCM is fixed, and the angle of the fifth setup link 250 relative to the fourth setup link 240 is also fixed, allowing the third link 130, fourth link 140, and fifth link 150 to rotate and perform the pitch movement of the surgical robot arm 1.

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

[0279] Referring to Figures 7 and 8, the surgical instrument 300 is designed to enter from above to below with respect to the Z-axis direction.

[0280] Referring to Figure 7, the yaw axis Y1 is formed identically, and the angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 is relatively reduced compared to Figures 4 to 6. However, the yaw axis Y1 and the roll axis R can still be formed with a constant angle of inclination, which has the effect of preventing gimbal lock, a phenomenon that can 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 parallel to each other.

[0281] Figure 9 is a side view showing the RCM motion (third pitch movement) of the surgical robot arm at the pitch axis P of Figure 4. Figure 10 is a perspective view showing the surgical robot arm of Figure 9.

[0282] Referring to Figure 9, in the first pitch operation state shown in Figure 6, the active arm 100 has rotated to a certain extent around the pitch axis P.

[0283] In other words, Figure 9 shows the state in which the pitch axis P is rotated in the opposite direction to that in Figure 7, the position of the RCM is fixed, the angle of the fifth setup link 250 relative to the fourth setup link 240 is the same, and the pitch movement of the surgical robot arm 1 is performed by rotating the third link 130, the fourth link 140, and the fifth link 150.

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

[0285] Referring to Figure 9, the yaw axis Y1 is formed identically, but rotated around the pitch axis P in the opposite direction to that in Figure 7. The angle between the yaw axis Y1 and the roll axis R of the surgical instrument 300 is relatively larger, allowing the surgical instrument 300 to enter from below to above with respect to the Z-axis direction.

[0286] Furthermore, the yaw axis Y1 and the roll axis R can be formed with a constant angle of inclination, which has the effect of preventing gimbal lock, a phenomenon that can 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 parallel to each other.

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

[0288] As explained in Figures 5 and 6, the yaw axis Y1 of the surgical robot arm 1 is formed along the direction from top to bottom, and the yaw axis Y1 is formed at an angle with respect to the roll axis R of the surgical instrument 300, which is 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 from the top to the bottom, and the yaw axis Y1 can be formed at a certain angle inclined with respect to the horizontal plane. When the surgical instrument 300 is positioned horizontally, the yaw axis Y1 can be formed at a certain angle inclined with respect to

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

[0291] Referring to Figure 13, in the first yaw motion state shown in Figure 11, the active arm 100 is rotated to a certain extent around the yaw axis Y1.

[0292] In other words, the position of the RCM is fixed, the angle of the fifth setup link 250 relative to the fourth setup link 240 is also the same, and the first link 110, which is engaged with the fifth setup link 250, can be rotated to perform yaw motion 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 RCM are fixed, the third joint 135, the fourth joint 145, the fifth joint 155, and RCM can maintain a state in which they form a parallelogram.

[0294] Referring to Figures 13 and 14, when the first joint 115 rotates counterclockwise around the yaw axis Y1 (see Figure 13), the first link 110 rotates counterclockwise around the yaw axis Y1 as the axis of rotation relative to the fifth setup link 250. Since the yaw axis Y1 is kept constant, the active arm 100 can rotate while the RCM positioned on the yaw axis Y1 is also kept constant.

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

[0296] Referring to Figure 15, in the first yaw motion state shown in Figure 11, the active arm 100 has rotated to a certain extent around the yaw axis Y1. Here, the active arm 100 rotated in the opposite direction to the rotation direction during the second yaw motion shown in Figure 13.

[0297] In other words, the position of the RCM is fixed, the angle of the fifth setup link 250 relative to the fourth setup link 240 is also the same, and the first link 110, which is engaged with the fifth setup link 250, can be rotated to perform yaw motion of the surgical robot arm 1.

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

[0299] Referring to Figures 15 and 16, when the first joint 115 rotates clockwise around the yaw axis Y1 (see Figure 13), the first link 110 rotates clockwise around the yaw axis Y1 as the axis of rotation relative to the fifth setup link 250. Since the yaw axis Y1 is kept constant, the RCM positioned on the yaw axis Y1 is also kept constant, allowing the active arm 100 to rotate.

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

[0301] Referring to Figures 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 constant angle of inclination. This has the effect of preventing gimbal lock, which can 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 parallel to each other.

[0302] Figure 17 is a perspective view showing the surgical robot arm with surgical instruments positioned facing the main body. Figure 18 is a side view of the surgical robot arm shown in Figure 17. Figure 19 is a top view of the surgical robot arm shown in Figure 17.

[0303] Referring to Figure 17, compared to Figure 4, in which the end tool 310 of the surgical instrument 300 is facing away from the main body 201 of the setup arm 200, Figure 17 shows a state in which the end tool 310 of the surgical instrument 300 is positioned toward the main body 201.

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

[0305] The first link 110 can rotate 180 degrees around the yaw axis Y1, as shown in Figure 6. At this time, since the yaw axis Y1 passes through the RCM, the RCM remains constant even though the first link 110 rotates relative to the fifth setup link 250.

[0306] Figure 17, similar to Figure 6, shows the fifth link 150 of the active arm 100 of the surgical robot arm 1 and the surgical instrument 300 engaged with it, positioned parallel to the horizontal plane (or XY plane).

[0307] Referring to Figure 17, the fifth setup link 250 is rotatable with respect to the fourth setup link 240 with respect to a rotational axis aligned with the X-axis, and can rotate relative to the fourth setup link 240 at a constant angle with respect to the horizontal plane.

[0308] Referring to Figure 17, similar to Figure 6, the fifth setup link 250 is rotated relative to the fourth setup link 240 by a predetermined angle (for example, 20 degrees) with respect to the horizontal plane. The active arm 100, specifically the first link 110, can be rotatably engaged with the fifth setup link 250, and the rotational 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 positioned at a fixed angle, specifically 90 degrees, with respect to the fifth setup link 250, thereby allowing the yaw axis Y1 to be positioned at a predetermined angle (for example, 70 degrees) in the horizontal plane. The RCM is positioned on the yaw axis Y1, and the second link 120, which engages with the first link 110, is also positioned alongside the yaw axis Y1. An extension line connecting the RCM to the third joint 135, to which the second link 120 and the third link 130 are axially engaged, can also be positioned alongside the yaw axis Y1.

[0310] In Figure 17, the fifth link 150, to which the surgical instrument 300 engages, is positioned on the same side as the setup arm 200, specifically the main body 201, relative to the RCM, compared to Figure 6. Therefore, the end tool 310 of the surgical instrument 300, which engages with the fifth link 150, can be positioned facing the main body 201, relative to the RCM.

[0311] This eliminates the need to move the surgical robot arm 1 and other surgical equipment, and thus shortens the operating time. For example, when operating on a patient, if the surgical robot arm 1 is positioned on one side of the bed 500 and the surgical instrument 300 needs to be moved or brought in from another direction, the entire main unit 201 does not need to move. Instead, 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 based on the RCM, which is kept in the same position.

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

[0313] Referring to Figures 17 to 19, the yaw axis Y1 of the surgical robot arm 1 can be formed to point from the top to the bottom, and the yaw axis Y1 can be formed at a certain angle inclined with the horizontal plane. When the surgical instrument 300 is positioned horizontally, the yaw axis Y1 can be formed at a certain angle inclined with the roll axis R of the surgical instrument 300, which has the effect of preventing gimbal lock, which can 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 positioned parallel to each other.

[0314] Figures 42 to 50 show the RCM motion of the pitch axis P center at a certain angle of a surgical robot arm according to the first embodiment of the present invention.

[0315] Referring to Figure 42, unlike Figure 4 which shows the fifth setup link 250 forming a constant angle of 20 degrees with respect to the fourth setup link 240, Figure 42 shows the fifth setup link 250 forming a different constant angle of 45 degrees with respect to the fourth setup link 240.

[0316] In other words, the angle that the fifth setup link 250 makes with respect to the horizontal plane is 45 degrees, and the yaw axis Y1, which is the rotational axis of the first link 110 of the active arm 100 that is rotatably engaged with the fifth setup link 250, also makes a 45-degree angle with respect to the horizontal plane.

[0317] Referring to Figure 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 RCM mechanism described above.

[0318] Referring to Figure 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 positioned on the yaw axis Y1.

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

[0320] In this configuration, the yaw axis Y1 of the surgical robot arm 1 can be formed to face downwards from above, and can be formed at a constant angle of 45 degrees with respect to the horizontal plane. When the surgical instrument 300 is positioned perpendicular to the horizontal plane, the yaw axis Y1 can be formed at an angle with respect to the roll axis R of the surgical instrument 300. This has the effect of preventing gimbal lock, which can 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 positioned parallel to each other.

[0321] Referring to Figures 45 and 46, in Figure 43, the third link 130 receives driving force from a motor (not shown) in the second link 120 and rotates in the first direction (counterclockwise in Figure 45), causing the fourth link 140 and the fifth link 150 to rotate. At this time, the RCM mechanism forms a parallelogram between the third joint 135, the fourth joint 145, and the fifth joint 155, and with the RCM maintained, the active arm 100 of the surgical robot arm 1 can perform pitch movements.

[0322] In other words, the pitch movement can be performed in a direction that reduces the angle between the roll axis R and the yaw axis Y1 around the pitch axis P. Even in this case, the yaw axis Y1 and roll axis R of the surgical robot arm 1 are still tilted, which helps to prevent gimbal lock.

[0323] Referring to Figures 47 and 48, in Figure 43, the third link 130 receives driving force from a motor (not shown) in the second link 120 and rotates in the second direction (clockwise in Figure 45), causing the fourth link 140 and the fifth link 150 to rotate. At this time, the RCM mechanism forms a parallelogram between the third joint 135, the fourth joint 145, and the fifth joint 155, and with the RCM maintained, the active arm 100 of the surgical robot arm 1 can perform a pitch movement in the opposite direction to that shown in Figure 45.

[0324] In other words, pitch movement can be performed in a direction that increases the angle between the roll axis R and the yaw axis Y1 around the pitch axis P. Even in this case, the yaw axis Y1 and roll axis R of the surgical robot arm 1 are still tilted, which has the effect of preventing gimbal lock.

[0325] Referring to Figures 49 and 50, as the third link 130, fourth link 140, and fifth link 150 are rotated, the end tool 310 of the surgical instrument 300 is positioned to face the main body 201.

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

[0327] The fifth setup link 250 is at a constant angle of 45 degrees with respect to the fourth setup link 240, and the yaw axis Y1, which is the rotational axis of the first link 110 that is rotatably engaged with the fifth setup link 250, is at a constant angle of 45 degrees with respect to the horizontal plane.

[0328] At this time, the third link 130 rotates around the pitch axis P as the center of rotation in a direction away from the main body 201 relative to the second link 120, causing the fourth link 140 connected to the third link 130 and the fifth link 150 connected to the fourth link 140 to rotate, so that the end tool 310 of the surgical instrument 300 can be positioned to face the main body 201.

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

[0330] Referring to Figures 49 and 50, in the first embodiment of the present invention, the yaw axis Y1 of the surgical robot arm 1 is formed to be inclined at a constant angle of 45 degrees to the horizontal plane from the top to the bottom, allowing the surgical instrument 300 to enter parallel to the horizontal plane.

[0331] In addition, by positioning the yaw axis Y1 at a constant angle with the roll axis R of the surgical instrument 300 connected to the fifth link, it is possible to prevent gimbal lock, which may occur when the surgical instrument 300 is positioned parallel to or nearly parallel to the yaw axis Y1 when it is positioned parallel to the horizontal plane.

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

[0333] Referring to Figure 51, the fifth setup link 250 is shown to be at a constant angle of 45 degrees with respect to the fourth setup link 240.

[0334] In other words, the angle that the fifth setup link 250 makes with respect to the horizontal plane is 45 degrees, and the yaw axis Y1, which is the rotational axis of the first link 110 of the active arm 100 that is rotatably engaged with the fifth setup link 250, also makes a 45-degree angle with respect to the horizontal plane.

[0335] Referring to Figure 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 Figure 51, 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 positioned on the yaw axis Y1.

[0337] Referring to Figures 51 and 52, the rotation of the fifth link 150 relative to the fourth link 140 allows the longitudinal central axis of the fifth link 150 to be formed parallel to the Z-axis. That is, the roll axis R of the surgical instrument 300 can be perpendicular to the bed 500 or the horizontal plane.

[0338] In this configuration, the yaw axis Y1 of the surgical robot arm 1 can be formed to face downwards from above, and can be formed at a constant angle of 45 degrees with respect to the horizontal plane. When the surgical instrument 300 is positioned perpendicular to the horizontal plane, the yaw axis Y1 can be formed at an angle with respect to the roll axis R of the surgical instrument 300. This has the effect of preventing gimbal lock, which can 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 positioned parallel to each other.

[0339] Referring to Figures 53 and 54, as the first link 110, which is rotatably engaged with the fifth setup link 250 in Figure 51, rotates in the first direction (clockwise in Figure 53) with the yaw axis Y1 as the axis of rotation, the second link 120, third link 130, fourth link 140, and fifth link 150, which are directly or indirectly connected to the first link 110, can rotate.

[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 yaw motion while the RCM is kept constant.

[0341] Referring to Figures 55 and 56, as the first link 110, which is rotatably engaged with the fifth setup link 250 in Figure 51, rotates in a second direction (counterclockwise in Figure 55) with the yaw axis Y1 as the axis of rotation, the second link 120, third link 130, fourth link 140, and fifth link 150, which are directly or indirectly connected to the first link 110, can rotate.

[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 yaw motion while the RCM is kept constant.

[0343] Referring to Figures 53 to 56, when the active arm 100 performs a yaw motion, the yaw axis Y1 and the roll axis R of the surgical instrument 300 are positioned at a certain angle, thereby preventing the gimbal lock phenomenon that may occur when the surgical instrument 300 is positioned parallel to the horizontal plane, either parallel to or nearly parallel to the yaw axis Y1.

[0344] Figures 57 to 60 show the unfolded state of each link during movement of a surgical robot arm according to the first embodiment of the present invention.

[0345] The surgical robot arm 1 may include a setup arm 200 and an active arm 100. The setup arm 200 may include multiple setup arm links. Furthermore, the setup arm 200 may include multiple 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 is capable of relative rotation 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 is capable of relative rotation to the second setup link 220.

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

[0348] Referring to Figures 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 such that their relative heights increase along the Z-axis direction, which is the height direction.

[0349] This prevents interference and collisions caused by other setup links being positioned on the rotation path when the first setup link 210, second setup link 220, third setup link 230, and fourth setup link 240 rotate relative to each other, and has the effect of allowing them to rotate freely without restrictions on the range of rotation.

[0350] In addition, because there are no restrictions on the rotation range of the multiple 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 to overlap along the height direction, which has the effect of minimizing the area occupied by the setup arm 200.

[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 center of rotation, and the pitch axis P, which is formed alongside the X axis (see Figure 57), is the axis of rotation.

[0352] At this time, if the fifth setup link 250 is rotated relative to the fourth setup link 240 so that it is positioned on the same plane as the fourth setup link 240, the yaw axis Y1, which is the rotational axis of the first link 110 that engages with the fifth setup link 250, will be at a 90-degree angle to the horizontal plane.

[0353] In this configuration, the motor can be driven to rotate the third link 130, the fourth link 140, and the fifth link 150, causing the third link 130, the fourth link 140, and the fifth link 150 to overlap with each other, which has the effect of minimizing the area occupied by the active arm 100.

[0354] Referring to Figures 57 to 60, the area occupied by the multiple setup links connected to the main body 201 and the active arm 100 can be minimized, thereby minimizing the area occupied by the surgical robot arm 1. In other words, the area occupied when the surgical robot arm 1 is not in use is minimized, which has the effect of facilitating movement and storage.

[0355] Figures 61 to 63 show a surgical robot arm according to the first embodiment of the present invention positioned near the surgical site of a patient, with the surgical instruments positioned to be immediately facing the patient.

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

[0357] Multiple surgical robot arms 1 positioned outside the bed 500 allow users such as medical professionals to change the position of the active arm 100 through the rotation of the setup arm 200, specifically the multiple setup links. This allows for efficient use of the surgical space by changing the positions of the multiple setup links 210, 220, 230, 240, 250 and multiple links 110, 120, 130, 140, 150 on the setup arm 200 and active arm 100, respectively, without moving the main unit 201. This minimizes the movement of surgical equipment such as the main unit 201, thereby shortening surgical time.

[0358] <Surgical methods using surgical robots>

[0359] The following describes a surgical method using a surgical robot including a surgical robot arm according to the first embodiment of the present invention. Here, the position where the trocar 400 is inserted and the surgical instrument 300 passes through is called a port.

[0360] The surgical method using the surgical robot arm of the present invention may include the steps of: positioning the main body of a modular surgical robot arm on one side of a patient's port into which a surgical instrument is to be inserted; adjusting a setup arm including the main body; positioning a fifth link on the active arm to which a surgical instrument is attached in a substantially horizontal position; 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 surgery while the surgical instrument maintains RCM.

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

[0362] Referring to Figures 1 and 4, the modular surgical robot arm 1 is positioned on one side of the bed 500 where the patient may be placed. In this case, the main body 201 of the surgical robot arm 1 can be positioned on the same side as the surgical instrument 300 with respect to the patient's port (the insertion position of the trocar 400). Alternatively, as shown in Figures 17 to 19, the main body 201 can be positioned opposite the surgical instrument 300 with respect to the patient's port.

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

[0364] Referring to Figures 20 to 23, the first setup link 210, which is movably engaged on the main body 201, is movable in a preset direction (up and down in Figure 20), the second setup link 220 is rotatably axially engaged with the first setup link 210, the third setup link 230 is rotatably axially engaged with the second setup link 220, and the fourth setup link 240 is rotatably axially engaged with the third setup link 230.

[0365] Referring to Figure 1, the fifth setup link 250 is rotatably engaged with the fourth setup link 240 with respect to a rotational center axis aligned with the pitch axis P.

[0366] Referring to Figure 1, the second setup link 220, the third setup link 230, and the fourth setup link 240 are connected to each other so as to rotate relative to a rotational axis aligned along the Z-axis (see Figure 1) in the height direction of the setup arm 200. Therefore, the position of the setup arm 200 can be determined by rotating the second setup link 220, the third setup link 230, the fourth setup link 240, and the fifth setup link.

[0367] After the step of adjusting the setup arm 200, the position of the active arm 100, specifically the multiple links, which engage with the fifth setup link 250, can be adjusted. The multiple links can be arranged so that two or more links are folded and overlapping each other, rather than being in a fully extended state.

[0368] Next, the surgical instrument 300 is attached to the fifth link 150 of the active arm 100. At this time, no parts such as links are placed between the surgical instrument 300 and the patient. In other words, 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 downwards rather than upwards (i.e., in the direction in which the links were positioned when all the links were folded).

[0369] In other words, the surgical instrument 300 engaged with the fifth link 150 is positioned so that it faces inward towards the surgical robot arm 1. That is, the surgical instrument 300 engaged with the fifth link 150 is positioned horizontally, with its end tool 310 positioned away from the main body 201, and the surface to which the surgical instrument 300 is engaged faces downward. In other words, the surgical instrument 300 engaged with one surface of the fifth link 150 is positioned below the fifth link 150.

[0370] With this configuration, even when the modular surgical robot arm 1 is positioned horizontally 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, resulting in reduced vibration and improved rigidity.

[0371] Next, the surgical instrument 300 attached to the fifth link 150 is moved linearly to insert the end tool 310 of the surgical instrument 300 into the patient's body. Then, 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 aligned, and are formed inclined with the roll axis R of the surgical instrument 300 that engages with the fifth link 150.

[0373] As a result, when the surgical instrument 300 is positioned parallel to the bed 500 or horizontal plane on which the patient is lying, the roll axis R and yaw axis Y1 are formed at a constant angle, which prevents the gimbal lock phenomenon that can 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 positioned parallel to each other.

[0374] In addition, the yaw axis Y1, which is the rotational axis of the active arm 100, specifically the first link 110, that is rotatably connected to the setup arm 200, specifically the fifth setup link 250, is formed from the top to the bottom (see Figure 1). This has the effect of relatively reducing the range of movement between multiple links and improving the efficiency of space utilization.

[0375] In addition, when multiple surgical robot arms are positioned outside the bed 500 on which the patient lies, the range of motion of each surgical robot arm is relatively small, which prevents interference between multiple surgical robot arms and makes it easier to position multiple surgical robot arms.

[0376] In other words, by positioning each of these surgical robotic arms near one of the patient's multiple ports, and by shortening the overall length of the deployed surgical robotic arm, it is possible to achieve the effect of reduced vibration and increased rigidity.

[0377] In addition, in the present invention, with the surgical instruments arranged in parallel, the active arm 100 engages with the fifth setup link 250, which is the end of the setup arm 200 positioned above it, and the yaw axis Y1 is positioned to face downwards. As a result, one surface of the fifth link 150, with which the surgical instrument 300 engages, faces downwards, and in this case, no parts such as links are positioned between the surgical instrument 300 and the patient.

[0378] This configuration can reduce vibrations in the surgical robot arm and improve its rigidity.

[0379] <Second Embodiment of Surgical Robot Arm>

[0380] The following describes a surgical robot arm according to a second embodiment of the present invention. Here, the surgical robot arm according to the second embodiment of the present invention differs significantly from the surgical robot arm 1 according to the first embodiment of the present invention described above in its setup link configuration. This configuration, which differs from the first embodiment, will be explained in detail later.

[0381] Figures 64 to 66 show the first configuration of a surgical robot arm according to a second embodiment of the present invention.

[0382] A surgical robot arm 2 according to a second embodiment of the present invention may include a setup arm 600 and an active arm 100. The setup arm 600 is rotatably engaged with the active arm 100 and may include a 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, relating to the configuration of the setup arm 600, includes a third setup link 630 as a single configuration in which the third setup link 230 and fourth setup link 240 of the surgical robot arm 1 according to the first embodiment of the present invention are integrated. Since the configuration of the main body 201, the multiple setup links, the active arm 100, the operating principle, and the effects are the same, except that there is one less degree of freedom, a detailed explanation to the extent that it overlaps with the present invention will be omitted.

[0384] Figures 67 to 69 show a second configuration 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 configuration described above.

[0385] By rotating the second setup link 620 and the third setup link 630, the distance between the main body 601 and the active arm 100, i.e., the distance in the Y-axis direction, is reduced, allowing the RCM to be translated along the Y-axis direction.

[0386] Furthermore, as the active arm 100, specifically the first link 110, which is rotatably engaged with the fourth setup link 640, rotates with respect to the yaw axis Y1, the position of the surgical instrument 300 can be changed while the RCM remains constant. In other words, this has the effect of allowing the entry angle of the surgical instrument 300 into the RCM and the roll axis R to be set to different values.

[0387] Figures 70 to 72 show the third configuration of the surgical robot arm according to the second embodiment of the present invention.

[0388] Referring to Figure 70, compared to the first configuration of the surgical robot arm 2 according to the second embodiment of the present invention shown in Figure 64, the second setup link 620 and the third setup link 630 can be rotated, and the active arm 100, specifically the first link 110, can be rotated around the yaw axis Y1 relative to the fourth setup link 640.

[0389] Referring to Figure 72, the rotation of the second setup link 620 and the third setup link 630 allows the RCM to be translated along the Y-axis. At this time, the active arm 100, specifically the first link 110, is rotated with respect to the fourth setup link 640 using the yaw axis Y1 as the rotational axis. This maintains the same RCM entry angle as before the rotation of the second setup link 620 and the third setup link 630, and has the effect of allowing only the RCM to be translated along the Y-axis.

[0390] Referring to Figures 73 to 78, the fourth and fifth arrangement states of the surgical robot arm 2 according to the second embodiment of the present invention are shown. While maintaining the same angle between the fourth setup link 640 and the third setup link 630, the position of the RCM can be changed by rotating the second setup link 620 and the third setup link 630, respectively.

[0391] In other words, by maintaining the same angle between the fourth setup link 640 and the third setup link 630, the angle between the yaw axis Y1, which is the rotational axis of the active arm 100, specifically the first link 110, and the horizontal plane is maintained, allowing the position of the RCM to be changed in various ways. Once the position of the RCM is determined, by rotating the first link 110, which is rotatably engaged with the fourth setup link 640, around the yaw axis Y1 as the rotational axis, the roll axis R of the surgical instrument 300 engaged with the active arm 100, specifically the fifth link 150, can be changed, thereby allowing the entry angle into the RCM to be changed in various ways.

[0392] The surgical robot arm 2 according to the second embodiment of the present invention has the same configuration of the main body 601 and active arm 100, as well as the operating principle and effect, as the surgical robot arm 1 according to the first embodiment, except that there is one less setup link. Therefore, a detailed explanation to the extent that it overlaps with the first embodiment will be omitted.

[0393] <Third embodiment of a surgical robotic arm>

[0394] The following describes a surgical robot arm according to a third embodiment of the present invention. Here, the surgical robot arm according to the third embodiment of the present invention differs significantly from the surgical robot arm 1 according to the first embodiment of the present invention described above in its setup link configuration. This configuration, which differs from the first embodiment, will be explained in detail later.

[0395] Figures 79 to 81 show the first configuration of a surgical robot arm according to the third embodiment of the present invention.

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

[0397] The rotational axis of the second setup link 720 relative to the first setup link 710 and the rotational axis of the third setup link 730 relative to the second setup link 720 can be formed side by side. Specifically, the rotational axes 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. In this case, the yaw axis Y1, which is the rotational axis of the first link 110 rotatably engaged with the third setup link 730, can be positioned at a fixed angle with respect to the third setup link 730.

[0399] Referring to Figure 79, the yaw axis Y1, which is the rotational axis of the first link 110, is engaged with the third setup link 730 such that it makes a constant angle, for example 90 degrees, with the horizontal plane. In other words, the surgical robot arm 3 according to the third embodiment is formed such that the angle between the yaw axis Y1 of the active arm 100 and the horizontal plane is constant.

[0400] The surgical robot arm 3 according to the third embodiment of the present invention, in relation to the configuration of the setup arm 700, integrates the third setup link 230, fourth setup link 240, and fifth setup link 250 of the surgical robot arm 1 according to the first embodiment of the present invention into a single configuration. Except for the fact that the number of degrees of freedom is reduced by two, including the third setup link 730, and the angle that the yaw axis Y1 of the active arm 100 makes with the horizontal plane is constant, the configuration of the main body 701, the multiple setup links, the active arm 100, the operating principle, and the effect are the same as those of the surgical robot arm 1 according to the first embodiment, so a detailed explanation will be omitted to the extent that it overlaps with the above.

[0401] Figures 82 to 84 show the second configuration of the surgical robot arm 3 according to the third embodiment of the present invention, in which the active arm 100, specifically the first link 110, is rotated relative to the third setup link 730 around the yaw axis Y1 (i.e., yaw rotation) compared to the first configuration described above.

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

[0403] Figures 85 to 87 show the third configuration of the surgical robot arm according to the third embodiment of the present invention.

[0404] Referring to Figure 85, compared to the first configuration of the surgical robot arm 3 according to the third embodiment of the present invention shown in Figure 79, the second setup link 720 and the third setup link 730 can be rotated, and the active arm 100, specifically the first link 110, can be rotated around the yaw axis Y1 relative to the third setup link 740.

[0405] As the second setup link 720 and the third setup link 730 rotate, the RCM will be translated by a certain amount along the Y-axis. As the third setup link 730 rotates, if the first link 110, which is rotatably engaged with the third setup link 730, does not rotate around the yaw axis Y1, the position of the surgical instrument 300 will be changed, that is, the roll axis R and entry angle of the surgical instrument 300 will be changed.

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

[0407] The surgical robot arm 3 according to the third embodiment of the present invention has the same configuration of the main body 701 and active arm 100, as well as the operating principle and effect, as the surgical robot arm 1 according to the first embodiment, except that it has two fewer setup links compared to the first embodiment. Therefore, a detailed explanation to the extent that it overlaps with the first embodiment will be omitted.

[0408] Thus, the present invention has been described with reference to one embodiment shown in the figures, but this is merely illustrative, and a person with ordinary skill in the art will understand that various modifications and changes to the embodiments are possible. Therefore, the true scope of technical protection 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 robotic arm, which can be used in a minimally invasive surgical robotic arm that is modularly formed for use in laparoscopic surgery or various other surgical procedures.

Claims

1. In a surgical robot arm to which surgical instruments are attached, A setup arm including a main body and a setup link assembly that is movably disposed on the main body, The setup arm includes an active arm that is rotatably engaged with one end of the setup arm, The aforementioned active arm is A first link is engaged with the setup arm by a first joint and is formed to be yaw-rotatable about the yaw axis relative to the setup arm, A second link extends substantially parallel to the extension direction of the yaw axis and is fixedly engaged with the first link around the second joint, A third link is axially engaged with the second link so as to be rotatable around the third joint, A fourth link is axially engaged with the third link so as to be rotatable around the fourth joint, The system includes a fifth link that is axially engaged with the fourth link so as to be rotatable around a fifth joint, and is formed to which the surgical instrument is attached, An RCM (remote center of motion) is formed at the remaining vertex of the parallelogram whose vertices are the third joint, the fourth joint, and the fifth joint. The RCM is located on the extension of the yaw axis, the first joint is positioned relatively above the RCM, and the third joint is fixed in a position in the extension direction of the yaw axis between the first joint and the RCM. A surgical robot arm characterized in that, when the third link rotates around 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 rotate while maintaining a parallel state.

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

3. The surgical robot arm according to claim 2, characterized in that, when the roll axis of the surgical instrument is positioned parallel to the horizontal plane, the yaw axis and the roll axis are not parallel to each other but are formed at a predetermined angle.

4. The aforementioned setup link assembly is The surgical robot arm according to claim 1, characterized in that it includes one or more setup links that connect the main body and the active arm and are formed to be rotatable about the Z-axis relative to the main body.

5. The aforementioned setup link assembly is A first setup link that can move linearly along the height direction on the main body, A second setup link is axially engaged with the first setup link so that the first shaft can rotate around the rotational center axis, The surgical robot arm according to claim 1, further comprising a third setup link which is axially engaged with the second axis, which is different from the first axis, so as to be rotatable with respect to the rotational center axis, the second setup link.

6. The surgical robot arm according to claim 5, characterized in that the yaw axis is formed perpendicular to one surface of the third setup link, and the first link is rotatably engaged with the third setup link about the yaw axis.

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

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

9. The surgical robot arm according to claim 1, characterized in that the height in the Z-axis direction at the position through which the yaw axis passes in the setup arm is formed to be higher than the height in the Z-axis direction of the RCM.

10. The surgical robot arm according to claim 1, characterized in that, in the yaw axis, the height in the Z-axis direction at the proximal part, which is relatively close to the first joint, is formed to be higher than the height in the Z-axis direction at the distal part, which is relatively far from the first joint.

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

12. The surgical robot arm according to claim 1, characterized in that the position of the RCM is maintained constant regardless of the rotation of the third link.

13. 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, characterized in that the 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.

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

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

16. In the yaw axis direction, The surgical robot arm according to claim 1, characterized in that at least a portion of the third link and the fourth link are formed to overlap each other.

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

18. With the surgical instrument engaged with the fifth link in a horizontal position and the end tool of the surgical instrument positioned away from the main body, The surgical robot arm according to claim 1, characterized in that the first surface of the fifth link, with which the surgical instrument is engaged, is positioned to face downward in the Z-axis direction.

19. In the aforementioned state, The surgical robot arm according to claim 18, characterized in that the surgical instrument is positioned below the fifth link.

20. In the aforementioned state, The surgical robot arm according to claim 18, characterized in that the link is not positioned between the surgical instrument and the bed.

21. The surgical robot arm according to claim 1, characterized in that the yaw axis and the longitudinal central axis of the fifth link form a predetermined angle.

Images