Leg positioner and surgical assist robotic system

Abstract

The present invention relates to a leg positioner and a surgical assistance robotic system and, more particularly, to a leg positioner and a surgical assistance robotic system comprising: a base provided to be movable; a connecting joint having a robotic arm extending from the base and having at least one joint; and a leg rest that supports a patient's body, wherein the leg rest comprises a first rest and a second rest that support portions of the patient's body by allowing the portions to be placed thereon, and a leg joint that mediates joint movement between the first rest and the second rest. Accordingly, when a surgical operation is performed on the patient's body, the patient's body is supported on one side, and the base is fixed upright to the bed such that the base can provide additional support, and loads acting on the leg positioner are distributed through the base in addition to the bed legs, whereby the leg positioner and the surgical assistance robotic system are temporarily engaged with the bed and form a fixed point on the floor so as to provide stable support.

Description

Leg positioner and surgical assistance robotic system

[0001] The present invention relates to a leg positioner and a surgical assistance robotic system, and more particularly, to a leg positioner and a surgical assistance robotic system, comprising: a base provided to be movable; a connecting joint provided with a robot arm extending from the base and having at least one joint; and a leg support part for supporting a body of a patient, wherein the leg support part includes a first support part and a second support part for supporting a part of the body of the patient by placing it thereon; and a leg joint for mediating joint movement between the first support part and the second support part, thereby supporting the body of the patient from one side when performing a surgical operation on the body of the patient; and by fixing the base upright to a bed so that the base can provide additional support, the load acting on the leg positioner is distributed through the base in addition to the bed leg, and by forming a fixing point on the floor while being temporarily connected to the bed, the leg positioner and a surgical assistance robotic system capable of stable support.

[0002] In a remote robotic surgery procedure, a surgeon can perform surgery by remotely controlling the movement of surgical instruments at the surgical site from a location away from the patient, and a robot that performs part of the surgical activity on behalf of the surgeon can automatically approach the affected area or target point and perform the surgical activity.

[0003] Meanwhile, when performing a surgical operation such as artificial joint replacement, an assistant is needed to stabilize the patient's body, fix the target point where the operation is performed, change the patient's body position during the operation, or check the movement of the joint or body during the operation.

[0004] Even when performing a surgical procedure by immobilizing a patient's body part using a patient bed or a leg positioner as disclosed in US Pat. No. 4,526,355, approximately five assistants are typically involved to change the patient's position and stabilize the affected area. Aside from the surgeon, these assistants are primarily responsible for assistive activities such as delivering surgical equipment or instruments, stabilizing the patient's position, stabilizing the affected area, and monitoring the patient's condition. Activities that require long-term patient support or stabilizing the surgical site need to be improved to suit the surgical environment. In other words, it is necessary to minimize the number of assistants and utilize a surgical assistance system to perform assistive activities such as stabilizing the patient's position, maintaining the position, and stabilizing the surgical site.

[0005] For example, in the case of total hip arthroplasty, as illustrated in Figure 1, there are various surgical methods, and depending on the scope and method of the surgery, the patient's position before and during the surgery will change. During such surgical operations, the patient's position needs to be maintained or changed, and the patient's body, including the surgical site, must be fixed on the bed to prevent movement during the surgery. This presents a problem in that an assistant must continuously hold the patient. In particular, since the assistant must support the patient's body to maintain a specific position during the surgery, the physical burden on the assistant becomes heavier as the surgery progresses.

[0006] When performing artificial joint surgeries, such as ankle, knee, or hip replacement, the patient's leg must be immobilized. This necessitates an auxiliary system capable of immobilizing and supporting the patient's leg while minimizing the need for assistants. While conventional positioners, mounted on the surgical bed, offer the advantage of being versatile enough to cover the patient's arms, knees, and other areas, they are unable to support the patient's various lower body positions.

[0007] Furthermore, retractors are used during surgery to support the patient's posture or align the surgical site with the surgeon's field of vision. These retractors support the surgical site from both sides. As the surgery progresses, the retractors may wobble or rotate, requiring an assistant to continuously hold them during the procedure. A retractor holder that can stably secure the retractor while minimizing the need for assistants and adjust its movement under the surgeon's control is needed.

[0008] Furthermore, when performing minimally invasive procedures or minimizing the use of assistants, it can be difficult for the surgeon to monitor the patient's posture or the position of assistive devices while performing the procedure. Marking landmarks on the surgical site can cause adverse effects in some patients, and the visualization system must track changes in the patient's posture after marking the landmarks. Therefore, a visualization system that integrates with each assistive device is needed to monitor the patient's posture and physical condition.

[0009] Furthermore, it is required to achieve efficiency and optimization of the surgical process by integrating control of auxiliary devices such as body positioners, leg positioners, and retractor holders to support the patient's posture.

[0010] The present invention has been devised to solve the above problems.

[0011] An object of the present invention is to provide a body positioner for supporting a patient's body by being fixed at least temporarily on a bed or on one side of the bed, the body positioner comprising a plurality of posts having variable spacings on both sides of the body and supporting the patient and being installed or at least temporarily fixed within at least a certain range.

[0012] The purpose of the present invention is to provide a body positioner in which the post includes a position sensor that senses a relative positional relationship with a reference point of two-dimensional or three-dimensional coordinates defined in a bed or an operating room, and the position of the post or the distance of the post from a bed or plate is sensed by the position sensor in the post during movement of the post, so that the position at which the post supports a patient on the bed can be identified from the side of the surgeon.

[0013] The purpose of the present invention is to provide a body positioner that can determine whether a patient's body is in contact with the body positioner by further including a detection means for detecting whether the body of a patient is in contact with one side of the post, and can display the presence or absence of support on the terminal side of the surgery.

[0014] An object of the present invention is to provide a body positioner that can be installed on a bed without replacing an operating room bed for patient support, by having the body positioner include a plate overlapping the bed, and a plurality of posts that are at least temporarily fixed on the plate to support the body of a patient.

[0015] The purpose of the present invention is to provide a body positioner in which the plate includes a post receiving mechanism that allows the post to be fixed in position within a predetermined range of the plate, and the post can be positionally adjusted on the post receiving mechanism, either manually or by control, thereby changing the position at which the post is fixed in response to the body of a patient.

[0016] The purpose of the present invention is to provide a body positioner in which the post receiving mechanism is formed by a plurality of grooves formed at predetermined intervals on a plate, and the grooves are recessed with a length and width corresponding to the length and width of the post so that the post is fixed after being inserted, thereby enabling easy post manipulation.

[0017] The purpose of the present invention is to provide a body positioner that can precisely cover the body size that varies from patient to patient by having the post receiving mechanism including a platform formed as a space having a predetermined length and width inside a plate and a receptor that moves in the longitudinal or transverse direction within the platform, and the receptor receiving the post.

[0018] The purpose of the present invention is to provide a body positioner in which the receptor is provided to be movable or rotatable within a predetermined range in the longitudinal and transverse directions within the platform, thereby enabling free position change of the post.

[0019] The purpose of the present invention is to provide a body positioner capable of fixing a patient's body with modular elements, wherein the post-receiving mechanism includes a pit formed with a width or length greater than the post, and a fixing block for fixing the post within the pit, and when the post is received within the pit, the fixing block fills the pit to fix the post.

[0020] An object of the present invention is to provide a body positioner further including a guide slot formed on at least one side of the plate to ensure slide engagement of the plate.

[0021] The purpose of the present invention is to provide a mat-type body positioner by placing the plate on a bed and fastening the bed and the plate by a fixing means.

[0022] An object of the present invention is to provide a body positioner in which some of the posts are provided to be tilted by external force or automatically to accommodate relatively minor postural changes required during surgery.

[0023] The purpose of the present invention is to provide a body positioner including a connecting member connecting two or more posts, and in which, when the posts are connected, the angle formed by the connected posts and the length between the posts can be adjusted.

[0024] The purpose of the present invention is to provide a surgical assistance robotic system including a body positioner, a surgical terminal having a monitor for displaying the body positioner and patient information, a control system for transmitting and outputting data to the surgical terminal side and transmitting input control data, wherein the position of the post recognized through a position sensor is displayed on the monitor, and when the presence or absence of body contact with the patient is transmitted through a detection means of each post, a patient object is displayed on the monitor so that the surgeon can easily determine whether the patient's body is fixed.

[0025] The purpose of the present invention is to provide a surgical assistance robotic system in which the control system guides a posture to be taken by a patient from the patient's surgical information transmitted or stored to a surgical terminal in the form of text or an image, guides the position of a post of a body positioner to correspond to the guided posture, moves the posts of the body positioner within a predetermined range to support a part of the patient's body, and then at least temporarily fixes them, and during the movement of the posts, the position of the posts or the distance from the bed is sensed by a position sensor within the posts, and the position or movement of the posts is displayed on a monitor according to the positional relationship between the posts and the bed.

[0026] An object of the present invention is to provide a leg positioner including a base provided to be movable, a connecting joint provided with a robot arm extending from the base and having at least one joint, and a leg support part supporting a body of a patient, wherein the leg support part includes a first support part and a second support part for supporting a part of the body of a patient by placing it thereon, and a leg joint for mediating joint movement between the first support part and the second support part, so that the base can perform additional support, thereby allowing a load acting on the leg positioner to be distributed through the base in addition to the bed leg.

[0027] The purpose of the present invention is to provide a leg positioner in which the base includes a moving part having at least two wheels and a body connecting the wheels, a fastening part for at least temporarily fixing the base to a bed, and a connecting element provided between the moving part and the fastening part, and the connecting joint rotates around the connecting element so that the body load of a patient is transferred and distributed toward the base.

[0028] The purpose of the present invention is to provide a leg positioner that allows a surgeon to simply manipulate a part that supports a patient's body, wherein the first support part includes a first support part arm extending to one side, a first holder for placing a part of a patient's body thereon from one side of the first support part arm, and a first handle formed on at least one side of the first support part arm or the first holder, and the second support part includes a second support part arm extending to one side, a second holder for placing a part of a patient's body thereon from one side of the second support part arm, and a second handle formed on at least one side of the second support part arm or the second holder.

[0029] The purpose of the present invention is to provide a leg positioner in which the leg joint is provided as a ball-joint including a ball that is partially received in a first support arm, thereby enabling three degrees of freedom movement of the leg support.

[0030] The purpose of the present invention is to provide a leg positioner in which the leg support part operates a second support part formed on an end side of the leg positioner to release the constraint of a ball-joint restrained to a first support part, thereby reproducing the joint movement of the leg positioner, and includes a fluid pressure device that introduces fluid into an arm of the first support part or discharges fluid from inside the arm of the first support part, and a socket provided inside the arm of the first support part is provided to clamp the ball by the fluid flowing in and out of the arm of the first support part so that the rotation of the ball is restricted or the clamping of the ball is released so that the ball can rotate, thereby releasing the constraint of the ball-joint from the side of the second support part closer to the surgeon and allowing the leg support part to be operated.

[0031] An object of the present invention is to provide a leg positioner in which the leg support further includes a fluid pressure control element that selectively allows fluid to flow into the first arm or the fluid within the first arm to flow out, the fluid pressure control element being provided in the second support arm, the fluid pressure device including an inlet pipe and an outlet pipe through which fluid flows therein, the inlet pipe including a first portion having at least a portion extending into the second support arm and one end of which is in contact with one side of the fluid pressure control element, and a second portion extending from the other side of the fluid pressure control element to the inside of the first support arm, and the fluid pressure control element selectively has a first state in which the first portion and the second portion are not in fluid communication and a second state in which the first portion and the second portion are in fluid communication, thereby enabling a surgeon to manipulate the leg support while restraining or releasing the joint restraint of the leg support according to control.

[0032] The purpose of the present invention is to provide a leg positioner in which the fluid pressure control element blocks the inflow of fluid by fluidly connecting a discharge line provided on one side of the hydraulic control element and a discharge pipe on the other side of the fluid pressure control element in the first state, thereby discharging the fluid in the internal space to the outside.

[0033] The purpose of the present invention is to provide a leg positioner capable of controlling the inflow and outflow of fluid with a simple operation by having the fluid pressure control element include a switch having a through-hole formed from one side to the other, a guide guiding movement of the switch, and an elastic body provided on one side of the switch in the movement direction, wherein the switch moves inside the guide in a first state and pressurizes the elastic body to switch to a second state.

[0034] The purpose of the present invention is to provide a leg positioner in which the first support arm and the second support arm form a ball-joint and a ball-socket joint on both sides, the socket is provided so as to be able to move forward and backward or up and down within the first support arm and the second support arm, and a first state in which the ball-joint is clamped by the forward and backward movement or up and down movement of the socket to restrict the rotation of the ball-joint, and a second state in which the socket releases the clamping of the ball-joint so that the ball-joint can rotate in relation to the first support arm or the second support arm, thereby releasing the joint restriction and changing the body posture of a patient with a simple operation.

[0035] The purpose of the present invention is to provide a leg positioner capable of supporting a sole of a patient, the leg positioner further including an extension portion extending from a connecting joint or a first support portion to one side, and a plantar support portion having a support portion extending a predetermined length from one side of the extension portion and rotating with respect to the extension portion.

[0036] The purpose of the present invention is to provide a leg positioner capable of measuring changes in the length of a patient's leg before and after surgery by changing the length from one end or a part of the first support to the plantar support.

[0037] The purpose of the present invention is to provide a leg positioner in which the first and second stands include sensors that sense the positions of the first and second stands, whether the patient's legs are supported, and the angle formed by the first and second stands, and the sensors include a position sensor, a tilt sensor, and a detection means, thereby enabling a surgeon to easily determine the patient's body posture on the leg positioner along with whether the patient's body is supported.

[0038] The purpose of the present invention is to provide a surgical assistance robotic system including a leg positioner, a surgical terminal having a monitor for displaying information about the leg positioner and a patient, a control system for transmitting and outputting data to the surgical terminal side and transmitting input control data, and at least one of the positions and inclinations of the first and second stands recognized through the sensor is displayed on the monitor, and when the presence or absence of body contact with the patient is transmitted through a detection means, a patient object is displayed on the monitor, thereby enabling the surgeon to easily determine whether the patient's body is fixed.

[0039] The purpose of the present invention is to provide a surgical assistance robotic system in which the control system guides the posture to be taken by the patient from the surgical information transmitted or stored to the surgical terminal side as text or an image, guides the position of the post of the leg positioner to correspond to the guided posture, moves the post of the leg positioner within a predetermined range to support a part of the patient's body respectively, and then at least temporarily fixes it, and during the movement of the leg positioner, the position, inclination, and distance from the bed of the first and second stands are sensed by the sensors of the first and second stands, and the position or movement of the first and second stands is displayed on a monitor according to the positional relationship between the first and second stands and the bed.

[0040] The purpose of the present invention is to provide a retractor holder that includes a base, a connecting joint extending from the base and having at least one joint, a branch portion provided at an end of the connecting joint, and two or more grip portions branching from and extending from the branch portion, wherein the grip portion includes a holder for gripping a gripping object at an end thereof, so that a surgeon or a minimum of assistants can easily operate the retractor holder to assist with surgery.

[0041] The purpose of the present invention is to provide a retractor holder that supports a retractor that is provided to spread a surgical site from both sides through one auxiliary device, wherein two or more gripping parts branched from the branching part are provided so as to be able to adjust an angle at which each gripping object is gripped, and the gripping part further includes a rotating element that is provided to rotate with respect to the branching part, a rotating arm extending from the rotating element, a joint part provided on an end side of the rotating arm, and a holding arm that extends from the joint part and has the holder at an endpoint.

[0042] The purpose of the present invention is to provide a retractor holder in which the holding portion includes a switch provided on a holding arm or a rotating arm, and the holding of each holding portion is individually controlled by controlling the restraint of a rotating element and a joint portion through the switch.

[0043] The purpose of the present invention is to provide a retractor holder that allows a surgeon to control retractor holding for each grip section by controlling the holding of a gripping object of the holder through the switch.

[0044] The purpose of the present invention is to provide a retractor holder in which the switch is provided on the holding arm side and the joint part internally accommodates a drive line extending from the holding arm side to the rotation arm side, thereby allowing a surgeon to control the restraint of a grip part by driving the switch on the holding arm side close to the surgical site.

[0045] The purpose of the present invention is to provide a retractor holder in which two or more gripping portions branched from the branching portion are each provided so as to be able to adjust their lengths, and a rotating arm or a holding arm has a part thereof that is at least temporarily received in another part, or a part thereof is formed of a material having elasticity.

[0046] An object of the present invention is to provide a retractor holder in which the branch portion has a recess capable of restraining the rotating element accommodated therein, and in which three or more rotating elements are accommodated in the recess.

[0047] The purpose of the present invention is to provide a retractor holder or a retractor holder capable of detecting the position of a retractor at the terminal side of a surgery, wherein the holder includes a position sensor that senses a relative positional relationship formed with a reference point of two-dimensional or three-dimensional coordinates defined in a bed or an operating room.

[0048] The purpose of the present invention is to provide a retractor holder that further includes a detection means so that a surgeon can easily determine whether the retractor is held at the terminal side of the surgery.

[0049] The purpose of the present invention is to provide a retractor holder that is easy to store through miniaturization, in which the base is provided to accommodate a connecting joint, a branch portion, and a grip portion extending from the base in a space formed between opposing bodies.

[0050] The purpose of the present invention is to provide a retractor holder in which the base includes a connecting element that allows the connecting joint to rotate with respect to the base, the connecting joint includes a first arm extending from the connecting element, a first joint that mediates joint movement at one end of the first arm, and a second arm connected to the first joint, and a switch is provided on the first arm or the second arm so that the first joint and the connecting element are constrained or released from constraining according to the operation of the switch, thereby enabling one-touch control of the constraining of the joint through the switch of the connecting joint.

[0051] The purpose of the present invention is to provide a retractor holder in which at least one of the first arm and the second arm is provided so that the length thereof can be increased or decreased according to control, thereby minimizing interference with the surgical site during surgery.

[0052] The purpose of the present invention is to provide a posture control method for obtaining a posture sequence and guiding an assistive device so that a patient can assume various postures according to the posture sequence, the posture control method including a posture sequence information obtaining step for obtaining posture sequence information through a control system, a first posture control step for controlling at least one assistive device to change or move the patient's body to a guided posture, and a second posture control step for causing the patient to assume the next posture among the required posture sequences, thereby minimizing the number of assistants required to maintain and change the patient's posture and achieving efficiency and optimization of the surgical process.

[0053] The purpose of the present invention is to provide a posture control method capable of implementing a visualization system linked with each auxiliary device so that a surgeon can check the posture and physical condition of a patient, wherein the first posture control step includes a first posture guide step for guiding a required posture of a patient from an acquired posture sequence, and an auxiliary device movement step for moving or changing an auxiliary device according to the guided posture of the patient, and the movement or position of the auxiliary device is sensed by a sensor in the auxiliary device so that a relative positional relationship with the bed is calculated and displayed on a user terminal.

[0054] The purpose of the present invention is to provide a posture control method that minimizes an error in posture control caused by the weight of a patient, including a contact sensing step for detecting contact between a patient's body and an auxiliary device after the auxiliary device movement step, a position checking step for checking whether a part of each auxiliary device is in the correct position so that the patient's body assumes a guided posture, and an error guide step for guiding the movement of at least a part of the auxiliary device by the control system.

[0055] The purpose of the present invention is to provide a posture control method in which, when the patient's body comes into contact with one surface of an auxiliary device, the contact sensing step displays the fact that the patient's body has come into contact with each auxiliary device on a user terminal, thereby allowing the surgeon to easily know the patient's posture control status.

[0056] The purpose of the present invention is to provide a posture control method that can identify a patient's posture through an auxiliary device without the need to mark landmarks on the patient's body by calculating data on the patient's contact sensed by the control system and displaying the posture of the patient's body as an image.

[0057] The purpose of the present invention is to provide a method for displaying a patient's posture recognized by an assistive device on a surgical terminal, the method including a step of guiding the patient's posture, a step of guiding the assistive device to correspond to the patient's posture, a step of moving the assistive device to support a part of the patient's body and then at least temporarily fixing it, a step of displaying the position or movement of the assistive device on a user terminal while the assistive device is moving, a step of detecting contact between the patient's body and the assistive device by a detection means, and a step of displaying whether the patient's body is in contact or supported, thereby enabling a surgeon to confirm support of the patient through the assistive device.

[0058] The purpose of the present invention is to provide a method for displaying, on a surgical terminal, a posture of a patient recognized by an auxiliary device, in which the step of guiding the patient's posture displays, according to a posture sequence, a predetermined posture that the patient should take as text or an image on a surgical terminal, and the step of displaying whether the patient's body is in contact or supported displays, on a user terminal, the posture of the patient recognized by the auxiliary device, according to the auxiliary device, in a surgical terminal.

[0059] The purpose of the present invention is to provide a method for displaying the posture of a patient recognized by an auxiliary device on a surgical terminal, which enables the posture of a patient to be identified through an auxiliary device without the need to display landmarks on the patient's body by calculating data on the sensed patient's contact and displaying the posture of the patient's body as an image, in the step of displaying whether the patient's body is in contact or supported.

[0060] The purpose of the present invention is to provide a surgical assistance robotic system including a surgical terminal having a monitor and a controller, an auxiliary device for supporting a part of a patient's body, and a control system for transmitting data to the surgical terminal side for output or receiving input control data and transmitting it to auxiliary devices, wherein at least one of the auxiliary devices includes a position sensor, and the auxiliary device sensed by the position sensor is displayed on the surgical terminal side, thereby enabling the surgical environment to be identified by the position of the auxiliary device displayed on the surgical terminal side without the need to individually confirm the position of the auxiliary device.

[0061] The purpose of the present invention is to provide a surgical assistance robotic system in which the position sensor senses a relative positional relationship with a reference point of coordinates defined in a bed or an operating room, and the control system includes a sensing operation unit that operates information sensed by one or more auxiliary devices, and derives a patient's posture through the operation of the sensing operation unit.

[0062] The purpose of the present invention is to provide a surgical assistance robotic system in which a control system includes a guide operation unit that operates data to guide a patient's posture, and the guide operation unit guides the position of at least a part of an auxiliary device for posture guidance, thereby automatically guiding the posture that a patient should take.

[0063] The purpose of the present invention is to provide a surgical assistance robotic system in which the guide operation unit guides at least one of a movement distance, a direction, and a rotation angle to a second position so that the patient's body assumes a second position when at least a part of the auxiliary device is in a first position so that the patient's body assumes a first position, thereby enabling the patient to assume an accurate posture.

[0064] The purpose of the present invention is to provide a surgical assistance robotic system in which the control system further includes a data synthesis unit that determines the arrangement and display method of data expressed on the terminal of the surgical operation, the data synthesis unit processes and displays data calculated by the sensing operation unit and the guide operation unit, and displays a first posture guided by the guide operation unit and a current position of the patient's body or segment calculated by the sensing operation unit, thereby easily confirming the degree of change in the patient's posture required from the surgical side.

[0065] The purpose of the present invention is to provide a surgical assistance robotic system in which the data synthesis unit includes an overlap module that overlaps images according to the calculated data, and the overlap module overlaps and displays an image expressing guide data for a first posture and an image expressing the current body position of the patient calculated based on the sensed data, thereby improving the visualization of the required patient body movement.

[0066] The purpose of the present invention is to provide a surgical assistance robotic system that includes a surgical terminal having a monitor and a controller, a control system that transmits and outputs data to the surgical terminal side or receives input control data, and an auxiliary device that supports a part of a patient's body, wherein the auxiliary device includes a body positioner that is at least temporarily fixed on a bed or on one side of the bed to support the patient's body, and a leg positioner that supports the patient's lower body, thereby minimizing the number of assistants required to maintain and change the patient's posture before and during surgery and achieving efficiency and optimization of the surgical process.

[0067] The purpose of the present invention is to provide a surgical assistance robotic system in which the control system includes a guide operation unit for guiding a patient's posture, a control operation unit for operating a control input and transmitting the control input to an auxiliary device, wherein the guide operation unit guides the patient's posture and movement or change of the auxiliary device to the terminal side of the surgery in accordance with the patient's posture, and the control operation unit moves the auxiliary device to support a part of the patient's body according to the posture and then at least temporarily fixes it, thereby enabling the patient to assume a required posture under the control of a surgeon or automatically.

[0068] The purpose of the present invention is to provide a surgical assistance robotic system in which at least a portion of the auxiliary device is provided with a position sensor, and the control system displays the position or movement of the auxiliary device on a user terminal during movement of the auxiliary device, thereby allowing the surgeon to easily know the patient's posture control status.

[0069] The purpose of the present invention is to provide a surgical assistance robotic system in which the body positioner includes a plurality of posts that support a patient on a bed or on one side of the bed and are installed or at least temporarily fixed within a certain range, and the leg positioner includes a base that is provided to be movable, a connecting joint extending from the base, and a leg support portion that is provided to support the legs of the patient, so that the leg positioner maintains or changes the posture of the patient, and the body positioner does not move even when an external force is applied to the body of the patient on the bed.

[0070] The purpose of the present invention is to provide a surgical assistance robotic system in which the leg support and the post include a sensing means for detecting whether a patient's body has come into contact with one surface thereof, the control system includes a sensing operation unit for calculating information sensed by one or more of the auxiliary devices, and the sensing operation unit calculates data sensed through the auxiliary devices to derive the patient's posture, thereby allowing the surgeon to easily check the patient's posture.

[0071] The purpose of the present invention is to provide a surgical assistance robotic system that allows the surgeon to easily determine whether the patient's body is fixed and supported by displaying a patient object on a monitor when the presence or absence of body contact with the patient is transmitted through the detection means of the leg support and post.

[0072] The purpose of the present invention is to provide a surgical assistance robotic system capable of implementing a visualization system that is linked to each auxiliary device by guiding the posture that the patient should take from the surgical information of the patient that is transmitted or stored as text or an image on the surgical terminal side, guiding the position of the post of the body positioner and the position of the leg positioner to correspond to the guided posture, moving the post and the leg positioner of the body positioner within a predetermined range so as to support a part of the patient's body respectively and then at least temporarily fixing them, and during the movement of the post and the leg positioner, the position of the post and the leg positioner or the distance from the bed is sensed by the position sensor in the post and the leg positioner, and displaying the position or movement of the post and the leg positioner on a monitor according to the positional relationship between the post, the leg positioner and the bed.

[0073] An object of the present invention is to provide a surgical assistance robotic system capable of precisely measuring a patient's posture without marking landmarks on the patient's body, wherein each of the posts includes a position sensor, the leg support portion includes a first support portion and a second support portion that support a part of a patient's body, and a leg joint that mediates joint movement between the first support portion and the second support portion, the first support portion includes a first support portion formed so that a part of a patient's leg can be placed thereon, the second support portion includes a second support portion formed so that a part of a patient's leg can be placed thereon, and the first support portion and the second support portion include sensors that sense the positions of the first support portion and the second support portion.

[0074] The purpose of the present invention is to provide a surgical assistance robotic system that further includes a retractor holder having a base, a connecting joint extending from the base, and a gripping portion provided with a holder for gripping an object to be gripped, wherein the holder has a detection means so that when the object to be gripped is held, whether or not it is held is displayed on the surgical terminal side, thereby easily determining whether or not the surgical site is fixed.

[0075] The purpose of the present invention is to provide a surgical assistance robotic system that can identify a surgical site and display it on a monitor without marking landmarks on a patient's body, by including a position sensor that senses a relative positional relationship between the holder and a reference point of coordinates defined in a bed or an operating room.

[0076] The purpose of the present invention is to provide a surgical assistance robotic system in which the retractor holder includes a branch portion provided at an end of the connecting joint, two or more grip portions branching and extending from the branch portion, the grip portion includes a rotating element provided to rotate with respect to the branch portion, a rotating arm extended from the rotating element, a joint portion provided at an end side of the rotating arm, and a holding arm extending from the joint portion and having the holder at an endpoint, and the grip portion includes a switch provided on the holding arm or the rotating arm, and the restraint of the rotating element and the joint portion is controlled through the switch, so that the two or more grip portions can adjust an angle at which they each grip a gripping object.

[0077] In order to achieve the above-mentioned purpose, the present invention is implemented by an embodiment having the following configuration.

[0078] According to one embodiment of the present invention, the present invention is characterized in that a body positioner for supporting a body of a patient by being fixed at least temporarily on a bed or on one side of the bed includes a plurality of posts having variable spacing on both sides of the body and supporting the patient and being installed or at least temporarily fixed within at least a certain range.

[0079] According to one embodiment of the present invention, the post includes a position sensor that senses a relative positional relationship with a reference point of two-dimensional or three-dimensional coordinates defined within a bed or an operating room, and the position of the post, or the distance of the post from a bed or plate, is sensed by the position sensor within the post during movement of the post.

[0080] According to one embodiment of the present invention, the post is characterized in that it further includes a detection means for detecting whether a patient's body has come into contact with one side.

[0081] According to one embodiment of the present invention, the body positioner comprises a plate overlapping the bed, and a plurality of posts are at least temporarily fixed on the plate to support the body of a patient.

[0082] According to one embodiment of the present invention, the plate includes a post receiving mechanism that allows the post to be fixed in position within a predetermined range of the plate, and the post is characterized in that the position is adjusted manually or by control on the post receiving mechanism.

[0083] According to one embodiment of the present invention, the post receiving mechanism is formed with a plurality of grooves formed at predetermined intervals on a plate, and the grooves are characterized in that they are formed with a length and width corresponding to the length and width of the post so that the post is fixed after being inserted.

[0084] According to one embodiment of the present invention, the post receiving mechanism includes a platform formed as a space having a predetermined length and width inside a plate, and a receptor moving in the longitudinal direction or the width direction within the platform, wherein the receptor is characterized in that it receives a post.

[0085] According to one embodiment of the present invention, the receptor is characterized in that it is movable or rotatable within a predetermined range in the longitudinal and transverse directions within the platform.

[0086] According to one embodiment of the present invention, the post receiving mechanism includes a pit formed with a width or length greater than that of the post, and a fixing block for fixing the post within the pit, and when the post is received within the pit, the fixing block fills the pit, thereby fixing the post.

[0087] According to one embodiment of the present invention, the plate further comprises a guide slot formed on at least one side of the plate to ensure slide engagement of the plate.

[0088] According to one embodiment of the present invention, the plate is placed on a bed, and the bed and the plate are fastened by a fixing means.

[0089] According to one embodiment of the present invention, some of the posts are characterized in that they are capable of being tilted by an external force or automatically.

[0090] According to one embodiment of the present invention, the body positioner includes a connecting member connecting two or more posts, and is characterized in that, when the posts are connected, an angle formed by the connected posts and a length between the posts are adjusted.

[0091] According to one embodiment of the present invention, the present invention includes a surgical terminal having a body positioner, a monitor for displaying information on the body positioner and a patient, and a control system for transmitting and outputting data to the surgical terminal and transmitting input control data, wherein the position of the post recognized through a position sensor is displayed on the monitor, and when the presence or absence of physical contact with the patient is transmitted through a detection means of each post, a patient object is displayed on the monitor.

[0092] According to one embodiment of the present invention, the control system guides a posture to be taken by a patient from the patient's surgical information transmitted or stored to a surgical terminal side as text or an image, guides the position of a post of a body positioner to correspond to the guided posture, moves the posts of the body positioner within a predetermined range to support a part of the patient's body, and then at least temporarily fixes them, and during the movement of the posts, the position of the posts or the distance from the bed is sensed by a position sensor within the posts, and the position or movement of the posts is displayed on a monitor according to the positional relationship between the posts and the bed.

[0093] According to one embodiment of the present invention, the present invention comprises a base provided to be movable, a connecting joint provided as a robot arm extending from the base and having at least one joint, a leg support part supporting a body of a patient, wherein the leg support part comprises a first support part and a second support part for supporting a part of the body of the patient by placing it thereon, and a leg joint for mediating joint movement between the first support part and the second support part.

[0094] According to one embodiment of the present invention, the base includes a moving part having at least two wheels and a body connecting the wheels, a fastening part that at least temporarily fixes the base to a bed, and a connecting element provided between the moving part and the fastening part, and the connecting joint is characterized in that it rotates around the connecting element.

[0095] According to one embodiment of the present invention, the first support part includes a first support part arm extending to one side, a first holder for placing a body part of a patient thereon from one side of the first support part arm, and a first handle formed on at least one side of the first support part arm or the first holder, and the second support part includes a second support part arm extending to one side, a second holder for placing a body part of a patient thereon from one side of the second support part arm, and a second handle formed on at least one side of the second support part arm or the second holder.

[0096] According to one embodiment of the present invention, the leg joint is characterized in that a portion thereof is provided as a ball-joint including a ball received in the first support arm.

[0097] According to one embodiment of the present invention, the leg support unit is characterized in that it operates a second support unit formed on an end side of a leg positioner to release the constraint of a ball-joint restrained to a first support unit, thereby reproducing the joint movement of the leg positioner, and includes a fluid pressure device for introducing fluid into an arm of the first support unit or for discharging fluid from the inside of the first support unit arm, and a socket provided inside the arm of the first support unit is provided to clamp the ball by the fluid flowing in and out of the arm of the first support unit so that the rotation of the ball is restricted, or to release the clamping of the ball so that the ball can rotate.

[0098] According to one embodiment of the present invention, the leg support further includes a fluid pressure control element that selectively allows fluid to flow into the first arm or to flow out of the first arm, the fluid pressure control element is provided on the second support arm, the fluid pressure device includes an inlet pipe and an outlet pipe through which fluid flows therein, the inlet pipe includes a first portion that extends at least partially into the second support arm and has one end in contact with one side of the fluid pressure control element, and a second portion that extends from the other side of the fluid pressure control element to the inside of the first support arm, and the fluid pressure control element is characterized in that it selectively has a first state in which the first portion and the second portion are not in fluid communication and a second state in which the first portion and the second portion are in fluid communication.

[0099] According to one embodiment of the present invention, the fluid pressure control element is characterized in that, in the first state, at least a portion of the fluid pressure control element fluidly communicates a discharge line provided on one side of the hydraulic control element with a discharge pipe on the other side of the fluid pressure control element.

[0100] According to one embodiment of the present invention, the fluid pressure control element includes a switch having a through-hole formed from one side to the other, a guide guiding movement of the switch, and an elastic body provided on one side of the movement direction of the switch, wherein the switch is characterized in that it moves into the guide in a first state and pressurizes the elastic body to switch to a second state.

[0101] According to one embodiment of the present invention, the first support arm and the second support arm form a ball-joint and a ball-socket joint on both sides, and the socket is provided so as to be able to move forward and backward or up and down within the first support arm and the second support arm, and a first state in which the ball-joint is clamped by the forward and backward movement or up and down movement of the socket to restrict the rotation of the ball-joint and a second state in which the socket releases the clamping of the ball-joint so that the ball-joint can rotate in relation to the first support arm or the second support arm are achieved.

[0102] According to one embodiment of the present invention, the leg positioner is characterized in that it further includes a plantar support portion having an extension portion extending to one side from a connecting joint or a first support portion, and a support portion extending a predetermined length from one side of the extension portion and rotating with respect to the extension portion.

[0103] According to one embodiment of the present invention, the length from one end or part of the first support to the sole support portion is characterized by changing.

[0104] According to one embodiment of the present invention, the first and second stands include sensors that sense the positions of the first and second stands, whether the patient's legs are supported, and the angle formed by the first and second stands, and the sensors are characterized in that they include a position sensor, a tilt sensor, and a detection means.

[0105] According to one embodiment of the present invention, the present invention includes a surgical terminal having a leg positioner, a monitor for displaying information about the leg positioner and a patient, and a control system for transmitting and outputting data to the surgical terminal side and transmitting input control data, wherein at least one of the positions and inclinations of the first and second stands recognized through the sensor are displayed on the monitor, and when the presence or absence of physical contact with the patient is transmitted through a detection means, a patient object is displayed on the monitor.

[0106] According to one embodiment of the present invention, the control system guides a posture to be taken by a patient from the patient's surgical information transmitted or stored to a surgical terminal side as text or an image, guides the position of a post of a leg positioner to correspond to the guided posture, moves the posts of the leg positioners within a predetermined range to support a part of the patient's body respectively, and then at least temporarily fixes them, and during the movement of the leg positioner, the positions, inclinations, and distances from the bed of the first and second stands are sensed by sensors of the first and second stands, and the positions or movements of the first and second stands are displayed on a monitor according to the positional relationship between the first and second stands and the bed.

[0107] According to one embodiment of the present invention, the present invention is characterized in that it includes a base, a connecting joint extending from the base and having at least one joint, a branch portion provided at an end of the connecting joint, and two or more gripping portions branching from and extending from the branch portion, wherein the gripping portion includes a holder for gripping a gripping object at an end thereof.

[0108] According to one embodiment of the present invention, two or more gripping parts branched from the branching part are each provided so as to be able to adjust an angle at which the gripping object is gripped, and the gripping part is characterized in that it further includes a rotating element provided to rotate with respect to the branching part, a rotating arm extended from the rotating element, a joint part provided at an end side of the rotating arm, and a holding arm extended from the joint part and having the holder at an endpoint.

[0109] According to one embodiment of the present invention, the gripping portion includes a switch provided on a holding arm or a rotating arm, and is characterized in that the restraint of the rotating element and the joint portion is controlled through the switch.

[0110] According to one embodiment of the present invention, the holding of the gripping object of the holder is controlled through the switch.

[0111] According to one embodiment of the present invention, the switch is provided on the holding arm side, and the joint portion is characterized in that it houses a drive line extending from the holding arm side to the rotation arm side therein.

[0112] According to one embodiment of the present invention, two or more gripping portions branched from the branching portion are each provided so as to be able to adjust their lengths, and the rotating arm or the holding arm is characterized in that a part thereof is at least temporarily received in another part thereof, or a part thereof is formed of a material having elasticity.

[0113] According to one embodiment of the present invention, the branch portion is characterized in that it has a recess capable of restraining the rotating element accommodated therein, and three or more rotating elements are accommodated in the recess.

[0114] According to one embodiment of the present invention, the holder is characterized by including a position sensor that senses a relative positional relationship with a reference point of two-dimensional or three-dimensional coordinates defined within a bed or an operating room.

[0115] According to one embodiment of the present invention, the holder is characterized in that it further includes a detection means.

[0116] According to one embodiment of the present invention, the base is characterized in that it is provided to accommodate a connecting joint, a branch portion, and a grip portion extending from the base in a space formed between opposing bodies.

[0117] According to one embodiment of the present invention, the base includes a connecting element that allows the connecting joint to rotate with respect to the base, and the connecting joint includes a first arm extending from the connecting element, a first joint that mediates joint movement at one end of the first arm, and a second arm connected to the first joint, and a switch is provided on the first arm or the second arm such that the first joint and the connecting element are restrained or the restraint of the first joint and the connecting element is released depending on the operation of the switch.

[0118] According to one embodiment of the present invention, at least one of the first arm and the second arm is characterized in that its length can be increased or decreased according to control.

[0119] According to one embodiment of the present invention, the present invention is characterized in that the present invention comprises a posture control method for obtaining a posture sequence and guiding an assistive device so that a patient can assume various postures according to the posture sequence, the posture sequence information obtaining step for obtaining posture sequence information through a control system, a first posture control step for controlling at least one assistive device to change or move the patient's body to a guided posture, and a second posture control step for causing the patient to assume the next posture among the required posture sequences.

[0120] According to one embodiment of the present invention, the first posture control step includes a first posture guide step for guiding a required posture of a patient from an acquired posture sequence, and an auxiliary device movement step for moving or changing an auxiliary device according to the guided posture of the patient, and is characterized in that the movement or position of the auxiliary device is sensed by a sensor within the auxiliary device, and a relative positional relationship with the bed is calculated and displayed on a user terminal.

[0121] According to one embodiment of the present invention, after the step of moving the auxiliary device, the method comprises a contact sensing step of detecting contact between the patient's body and the auxiliary device, a position checking step of checking whether a part of each auxiliary device is in the correct position so that the patient's body assumes a guided posture, and an error guide step of guiding movement of at least a part of the auxiliary device by the control system.

[0122] According to one embodiment of the present invention, the contact sensing step is characterized in that, when the patient's body comes into contact with one surface of the auxiliary device, the fact that the patient's body has come into contact with each auxiliary device is displayed on the user terminal for each auxiliary device.

[0123] According to one embodiment of the present invention, the control system is characterized in that it calculates data on the patient's contact sensed by the control system and displays the posture of the patient's body as an image.

[0124] According to one embodiment of the present invention, the present invention is a method for displaying a patient's posture recognized by an auxiliary device on a surgical terminal, the method comprising: a step of guiding the patient's posture; a step of guiding the auxiliary device to correspond to the patient's posture; a step of moving the auxiliary device to support a part of the patient's body and then at least temporarily fixing it; a step of displaying the position or movement of the auxiliary device on a user terminal while the auxiliary device is moving; a step of detecting contact between the patient's body and the auxiliary device by a detection means; and a step of displaying whether the patient's body is in contact or supported.

[0125] According to one embodiment of the present invention, the step of guiding the patient's posture is characterized in that, according to the posture sequence, a predetermined posture to be taken by the patient is displayed as text or an image on the surgical terminal side, and the step of indicating whether the patient's body is in contact or supported is characterized in that, for each auxiliary device, the patient's body is in contact and is displayed on the user terminal.

[0126] According to one embodiment of the present invention, the step of indicating whether the patient's body is in contact or supported is characterized by calculating data on the sensed patient's contact and displaying the posture of the patient's body as an image.

[0127] According to one embodiment of the present invention, a surgical terminal having a monitor and a controller, an auxiliary device supporting a part of a patient's body, and a control system for transmitting data to the surgical terminal and outputting it or receiving input control data and transmitting it to auxiliary devices, wherein at least one of the auxiliary devices includes a position sensor, and an auxiliary device sensed by the position sensor is displayed on the surgical terminal.

[0128] According to one embodiment of the present invention, the position sensor senses a relative positional relationship with a reference point of coordinates defined within a bed or an operating room, and the control system includes a sensing operation unit that operates information sensed by one or more auxiliary devices, and derives the patient's posture through an operation of the sensing operation unit.

[0129] According to one embodiment of the present invention, the control system includes a guide operation unit that operates on data to guide a patient's posture, and the guide operation unit is characterized in that it guides the position of at least a part of an auxiliary device for posture guidance.

[0130] According to one embodiment of the present invention, the guide operation unit is characterized in that, when at least a part of the auxiliary device is in a first position so that the patient's body assumes a first posture, it guides at least one of a movement distance, a direction, and a rotation angle to a second position so that the patient's body assumes a second posture.

[0131] According to one embodiment of the present invention, the control system further includes a data synthesis unit that determines the arrangement and display method of data expressed on the terminal of the surgery, and the data synthesis unit processes and displays data calculated by the sensing operation unit and the guide operation unit, and is characterized in that it displays a first posture guided by the guide operation unit and a current position of the patient's body or segment calculated by the sensing operation unit.

[0132] According to one embodiment of the present invention, the data synthesis unit includes an overlap module that overlaps images according to the calculated data, and the overlap module is characterized in that it overlaps and displays an image expressing guide data for a first posture and an image expressing the current body position of the patient calculated based on the sensed data.

[0133] According to one embodiment of the present invention, the present invention includes a surgical terminal having a monitor and a controller, a control system for transmitting and outputting data to the surgical terminal side or receiving input control data, and an auxiliary device for supporting a part of a patient's body, wherein the auxiliary device is characterized by including a body positioner that is at least temporarily fixed on a bed or on one side of the bed to support the patient's body, and a leg positioner that supports the patient's lower body.

[0134] According to one embodiment of the present invention, the control system includes a guide operation unit for guiding a patient's posture, and a control operation unit for operating a control input and transmitting the control input to an auxiliary device, wherein the guide operation unit guides the patient's posture and movement or change of the auxiliary device to correspond to the patient's posture to the terminal side of the surgery, and the control operation unit moves the auxiliary device to support a part of the patient's body according to the posture and then at least temporarily fixes it.

[0135] According to one embodiment of the present invention, at least a portion of the auxiliary device is provided with a position sensor, and the control system is characterized in that it displays the position or movement of the auxiliary device to a user terminal during movement of the auxiliary device.

[0136] According to one embodiment of the present invention, the body positioner includes a plurality of posts that support a patient on a bed or on one side of the bed and are installed or at least temporarily fixed within at least a certain range, and the leg positioner includes a base that is provided to be movable, a connecting joint extending from the base, and a leg support portion that is provided to support the patient's legs.

[0137] According to one embodiment of the present invention, the leg support and the post include a sensing means for detecting whether a patient's body is in contact with one surface thereof, and the control system includes a sensing operation unit for calculating information sensed by one or more of the auxiliary devices, and the sensing operation unit is characterized in that it calculates the patient's posture by calculating data sensed through the auxiliary devices.

[0138] According to one embodiment of the present invention, when the presence or absence of a patient's body contact is transmitted through the detection means of the leg support and the post, the patient object is displayed on the monitor.

[0139] According to one embodiment of the present invention, the control system guides a posture to be taken by a patient from the patient's surgical information transmitted or stored to a surgical terminal side as text or an image, guides the position of a post of a body positioner and a position of a leg positioner to correspond to the guided posture, moves the post and the leg positioner of the body positioner within a predetermined range so as to support a part of the patient's body, and then at least temporarily fixes them, and during the movement of the post and the leg positioner, the position of the post and the leg positioner or the distance from a bed is sensed by a position sensor in the post and the leg positioner, and the position or movement of the post and the leg positioner is displayed on a monitor according to the positional relationship between the post, the leg positioner and the bed.

[0140] According to one embodiment of the present invention, each of the posts includes a position sensor, the leg support portion includes a first support portion and a second support portion that support a part of a patient's body, and a leg joint that mediates joint movement between the first support portion and the second support portion, the first support portion includes a first support portion formed so that a part of a patient's leg can be placed thereon, the second support portion includes a second support portion formed so that a part of a patient's leg can be placed thereon, and the first support portion and the second support portion are characterized in that they include sensors that sense positions of the first support portion and the second support portion.

[0141] According to one embodiment of the present invention, a retractor holder further includes a base, a connecting joint extending from the base, and a gripping portion provided with a holder for gripping an object to be gripped, wherein the holder has a detection means to indicate whether or not the object to be gripped is held on a surgical terminal side when the object to be gripped is held.

[0142] According to one embodiment of the present invention, the holder is characterized by including a position sensor that senses a relative positional relationship with a reference point of coordinates defined within a bed or an operating room.

[0143] According to one embodiment of the present invention, the retractor holder includes a branch portion provided at an end of the connecting joint, two or more grip portions branching and extending from the branch portion, and the grip portions include a rotating element provided to rotate with respect to the branch portion, a rotating arm extended from the rotating element, a joint portion provided at an end side of the rotating arm, and a holding arm extending from the joint portion and having the holder at an endpoint.

[0144] According to one embodiment of the present invention, the gripping portion includes a switch provided on a holding arm or a rotating arm, and controls the restraint of the rotating element and the joint portion through the switch to adjust the angle at which two or more gripping portions each grip the gripping object.

[0145] The present invention can obtain the following effects through the combination and use of the configuration described below with the previously described embodiment.

[0146] The present invention provides a body positioner that supports the body of a patient by being fixed at least temporarily on a bed or on one side of the bed, the body positioner including a plurality of posts that have variable spacing on both sides of the body and support the patient and are installed or fixed at least temporarily within a certain range.

[0147] The present invention includes a position sensor that senses the relative positional relationship between the post and a reference point of two-dimensional or three-dimensional coordinates defined within the bed or operating room, and the position of the post or the distance between the post and the bed or plate is sensed by the position sensor within the post during movement of the post, so that the position at which the post supports the patient on the bed can be identified from the surgical side.

[0148] The present invention further includes a detection means for detecting whether the body of a patient has come into contact with one side of the post, so that it can determine whether the body of a patient has come into contact with the body positioner, and display the presence or absence of support on the terminal side of the surgery.

[0149] The present invention provides a body positioner comprising a plate overlapping a bed, and a plurality of posts being at least temporarily fixed on the plate to support a patient's body, thereby enabling the body positioner to be installed on a bed without replacing the operating room bed for patient support.

[0150] The present invention comprises a post receiving mechanism in which the plate is fixed in position within a predetermined range of the plate, and the post is positioned manually or by control on the post receiving mechanism, so that the position at which the post is fixed relative to the patient's body can be changed.

[0151] In the present invention, the post receiving mechanism is formed by a plurality of grooves formed at predetermined intervals on a plate, and the grooves are formed with a length and width corresponding to the length and width of the post so that the post is fixed after being inserted, thereby enabling easy post manipulation.

[0152] The present invention comprises a post receiving mechanism including a platform formed as a space having a predetermined length and width inside a plate and a receptor moving in the longitudinal or transverse direction within the platform, and the receptor can precisely cover the body size that varies from patient to patient by receiving the post.

[0153] In the present invention, the receptor is provided to be able to move or rotate within a predetermined range in the longitudinal and transverse directions within the platform, thereby enabling free change of the position of the post.

[0154] The present invention comprises a post receiving mechanism having a pit formed with a width or length greater than that of the post, and a fixing block for fixing the post within the pit, and when the post is received within the pit, the fixing block fills the pit to fix the post, thereby enabling fixation of the patient's body using a modular element.

[0155] The present invention provides a body positioner further including a guide slot formed on at least one side of the plate to ensure slide engagement of the plate.

[0156] The present invention provides a mat-type body positioner by placing the plate on a bed and fastening the bed and the plate by a fixing means.

[0157] The present invention is provided such that some of the posts can be tilted by external force or automatically to accommodate relatively minor changes in posture required during surgery.

[0158] The present invention comprises a body positioner including a connecting member connecting two or more posts, and when the posts are connected, the angle formed by the connected posts and the length between the posts can be adjusted.

[0159] The present invention provides a surgical assistance robotic system including a body positioner, a surgical terminal having a monitor for displaying the body positioner and patient information, a control system for transmitting and outputting data to the surgical terminal side and transmitting input control data, and the position of the post recognized through a position sensor is displayed on the monitor, and when the presence or absence of body contact with the patient is transmitted through a detection means of each post, the patient object is displayed on the monitor, thereby enabling the surgeon to easily determine whether the patient's body is fixed.

[0160] The present invention provides a surgical assistance robotic system in which the control system guides a posture to be taken by a patient from the patient's surgical information transmitted or stored to a surgical terminal in the form of text or an image, guides the position of a post of a body positioner to correspond to the guided posture, moves the post of the body positioner within a predetermined range to support a part of the patient's body, and then at least temporarily fixes the post, and during the movement of the post, the position of the post or the distance from the bed is sensed by a position sensor within the post, and the position or movement of the post is displayed on a monitor according to the positional relationship between the post and the bed.

[0161] Figure 1 is a diagram showing various surgical methods for total hip replacement (THR).

[0162] Figures 2 and 3 are conceptual diagrams of a surgical assistance robotic system (1) according to one embodiment of the present invention.

[0163] Figure 4 is a perspective view of a bed (10) according to one embodiment of the present invention.

[0164] Figure 5 is a drawing showing a plurality of posts (31a) and a connecting member (32) according to one embodiment of the present invention.

[0165] Figure 6 is a drawing showing multiple posts arranged on an operating table.

[0166] Figure 7 is a drawing showing the positional relationship with the bed being measured by the position sensor and detection means of the post.

[0167] Figure 8 is a drawing of a body positioner according to one embodiment of the present invention.

[0168] Figures 9a to 9c are drawings showing a post (31b) being received in a post receiving mechanism according to embodiments of the present invention.

[0169] FIG. 10 is a drawing showing a plate (33) fixed on an operating table (11) according to another embodiment of the present invention.

[0170] Fig. 11 is a drawing showing that the patient's support status by multiple posts (31) is displayed on the surgical terminal (60).

[0171] FIG. 12 is a diagram illustrating a step (S31) of displaying a patient's posture recognized by an auxiliary device according to one embodiment of the present invention on a surgical terminal.

[0172] Figure 13 is a side view of a leg positioner (40) according to one embodiment of the present invention.

[0173] Figure 14 is a drawing showing a part of the leg positioner (40)

[0174] Fig. 15 is an exploded perspective view of a connecting joint (43) according to one embodiment.

[0175] Fig. 16 is a drawing showing a leg support part (45) according to one embodiment.

[0176] Figures 17 and 18 are cross-sectional views of the leg support part (45) in the first state and the second state.

[0177] Figure 19 is a drawing showing a leg support part (45) according to another embodiment of the present invention.

[0178] Fig. 20 is a drawing showing the patient's support status by the leg positioner (40) displayed on the surgical terminal (60).

[0179] Fig. 21 is a perspective view of a retractor holder (50) according to one embodiment.

[0180] Fig. 22 is an exploded perspective view of a base (51) and a connecting joint (53) according to one embodiment.

[0181] Fig. 23 is an exploded perspective view of a branch section (54) and a grip section (55) according to one embodiment.

[0182] Fig. 24 is a drawing showing a plurality of rotating elements (551) being accommodated in a branch section (54) according to another embodiment.

[0183] Fig. 25 is a drawing showing a gripper (55) gripping a retractor (R) according to one embodiment.

[0184] Fig. 26 is a cross-sectional view of a portion of a gripper (55) according to one embodiment.

[0185] Figures 27a and 27b are drawings showing a holder (555) holding a retractor (R) according to top holding.

[0186] Figures 28a and 28b are drawings showing a holder (555) holding a retractor (R) according to side holding.

[0187] Figure 29 is a perspective view of a surgical terminal (60) according to one embodiment of the present invention.

[0188] Figure 30 is a drawing showing an information tab (611) displayed on a monitor (61).

[0189] Figure 31 is a drawing showing an auxiliary device installation tab (612) displayed on a monitor (61).

[0190] Fig. 32 is a drawing showing a detail tab (613) displayed on a monitor (61).

[0191] Figure 33 is a drawing showing a measurement tab (614) displayed on a monitor (61).

[0192] Figure 34 is a block diagram of a control system (70) according to one embodiment of the present invention.

[0193] Fig. 35 is a block diagram of the data synthesis unit (75).

[0194] Figure 36 is a flowchart of a posture control method (S4) for controlling a patient's posture according to surgical information.

[0195] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. In the following description of the present invention, if a detailed description of a known function or configuration is determined to unnecessarily obscure the gist of the present invention, such detailed description will be omitted. Unless otherwise defined, all terms in this specification have the same general meaning as those skilled in the art to which the present invention pertains. If there is a conflict between the meaning of a term used in this specification and the meaning of the term, the definition used in this specification shall prevail.

[0196] In this specification, the fluid may be a liquid, such as oil, or a gas, such as compressed gas. Fluid pressure may refer to operating an object using hydraulic or pneumatic pressure, and a fluid pressure device may be a device that uses hydraulic or pneumatic pressure through a fluid containing a liquid or gas.

[0197] Throughout the specification, when a part is said to "include" a component, this does not exclude other components unless specifically stated otherwise, and means that other components may also be included. Terms such as "part" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software. When a component is said to be "connected" to another component, it may be directly connected, but does not exclude a connection via another component, and may also include the concept of data being transmitted via wireless communication. Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings.

[0198] FIGS. 2 and 3 are conceptual diagrams of a surgical assistance robotic system (1) according to one embodiment of the present invention. Referring to FIGS. 2 and 3, the surgical assistance robotic system (1) can minimize the need for assistant personnel such as nurses and perform assistive activities such as fixing a patient's position, maintaining the position, and fixing the surgical site, and the surgeon can perform the surgery more easily with the help of the surgical assistance robotic system (1) before and during the surgical operation. The surgeon can use or adjust the auxiliary devices that make up the surgical assistance robotic system (1) manually or automatically on one side of the patient, sequentially or simultaneously. The surgical assistance robotic system (1) can recognize the patient's position, position, and affected area and display them on the surgical terminal (60), and the surgeon can perform accurate surgical work with a small number of assistant personnel through an improved preoperative or intraoperative information system. The surgical assistance robotic system (1) includes a bed (10), a body positioner (30), a leg positioner (40), a retractor holder (50), a surgical terminal (60), and a control system (70). In this specification, the term "restraint" may be understood as a state in which rotation is impossible at a joint or hinge. The term "release of restraint" may be understood as a state in which rotation is possible at a joint or hinge.

[0199] The surgical assistance robotic system (1) can support total hip replacement (THR) and total knee replacement (TKR), and can be suitably used for surgery on the left and right legs of a patient, and can have a predetermined configuration in case of malfunction of each auxiliary device and the surgical terminal (60) or control system (70). Each auxiliary device can operate within a range that does not infringe on the path of the surgeon (S) and assistant personnel and the surgical site, and can be minimized in size after the surgery is finished or when not in use. The surgical assistance robotic system (1) can be used in conjunction with robot-assisted surgery or robotic surgery.

[0200] First, referring to FIG. 4, the surgical bed (10) is a configuration provided inside an operating room, and a patient is positioned on the bed (10) and a surgeon (S) can perform a surgical operation on the patient positioned on the bed (10). For the surgical operation, the patient (P) can be positioned on the bed (10) before or during the operation. The patient can assume various positions on the bed (10), and the position can be maintained or changed by auxiliary devices such as a body positioner (30), a leg positioner (40), and a retractor holder (50) described below.

[0201] The bed (10) may have a mat formed on one side so that a patient can be placed thereon. It may also be a hard surgical table, or an appropriate fixture may be used to place a patient thereon and perform a surgical operation. The bed (10) may be equipped to enable relative position recognition in relation to an auxiliary device. In addition, the bed (10) may have an appropriate reference position to position the patient at a designated position on the bed (10). The bed (10) may include an operating table (11), a rail (13), a substructure (15), and a bed sensor (17).

[0202] The above-described operating table (11) allows a patient to be positioned substantially thereon and assume a required posture before and during surgery. Auxiliary devices such as a body positioner (30), a leg positioner (40), and a retractor holder (50) may be used to ensure that the patient assumes the required posture. The operating table (11) may be substantially a single plate, but may also have a partially bent shape, and the bending of the partial bending may be controlled manually or automatically.

[0203] At least one rail (13a, 13b) may be provided on at least one side of the operating table (11). The auxiliary device may be coupled or fastened to a fixture such as the operating table (11) or the rail (13a, 13b). The auxiliary device may also slide along the fixture such as the operating table or the rail.

[0204] The above-mentioned substructure (15) is provided to support the operating table (11). The substructure (15) can be connected to the operating table (11) from the lower side. The substructure (15) can be a single column or multiple legs. In one embodiment, the substructure (15) can be controlled to change or maintain the inclination, height, position, etc. of the operating table (11).

[0205] The bed sensor (17) is a sensor placed on a bed or an operating table, and may be provided to identify, display, or control the relative positional relationship between the bed (10) and the auxiliary device. In one embodiment, the bed sensor (17) can recognize the position of the bed (10) or the operating table (11) in an operating room. A designated point on the operating table can be set as a reference point (O) of two-dimensional or three-dimensional coordinates. In addition, when a point in the operating room is set as a reference point, a point on the bed (10) or the operating table (11) can be displayed or calculated as a two-dimensional or three-dimensional coordinate. The bed sensor (17), in relation to the auxiliary devices described below, senses at what position the auxiliary device is with respect to the bed (10) and at what angle it is aligned with respect to the reference direction of the operating table, through communication or interaction between a sensor in the auxiliary device and the bed sensor (17) at least temporarily. In one embodiment, the reference direction of the operating table may be the direction in which the operating table extends, and the patient may be positioned on the operating table along the direction in which the operating table extends.

[0206] The auxiliary device may include a body positioner (30), a leg positioner (40), a retractor holder (50), etc. Each auxiliary device can be installed on an operating table (11) or a rail, and can be easily fixed after being moved or installed. Each auxiliary device can be adapted to the patient's body size, and can automatically and / or manually perform the patient's position change and fine adjustment of the position as needed during surgery. Each auxiliary device can support a part of the patient's body, including the affected area, and in particular, the retractor holder (50) can stably support the retractor (R) when fixing the surgical site. It can be formed of an appropriate material so that the patient's skin is not damaged during the support process. Each auxiliary device can easily fix a part of the patient's body, and the body part can be easily attached to and detached from the auxiliary device.

[0207] At least some assistive devices may be provided to allow for femur distraction, high knee flexion, and knee rotation in relation to changes in the patient's body position.

[0208] At least some of the auxiliary devices can be stored in other auxiliary devices, and the auxiliary devices can be moved while attached to the bed (10) or other auxiliary devices.

[0209] Referring to FIGS. 5 to 11, the body positioner (30) is an auxiliary device that assists surgery and maintains the posture of a patient positioned on an operating table (11). The body positioner (30) supports a part of the patient's body on at least one side, preferably on both sides, so that the patient's posture is maintained on the bed (10). In surgical operations such as artificial knee joint replacement or artificial hip joint replacement, it is preferable that the body positioner (30) supports and fixes the patient's upper body. The body positioner (30) is fixed on the bed (10) or at least temporarily on one side of the bed (10) to support the patient's body. Since the body size of each patient is different, the body positioner (30) can support the patient at a variable interval on both sides of the patient's body so as to cover the body size that varies from patient to patient. In one embodiment, the body positioner (30) comprises a plurality of posts (31) that are installed or at least temporarily fixed within at least a certain range, and may additionally comprise a plate (33) and a guide slot (35). The body positioner (30) is a lightweight and easy-to-install independent module, and can be attached or at least temporarily coupled to a bed (10) or an operating table (11).

[0210] Referring to the top view illustrated in Fig. 5, a plurality of posts (31a) support the patient by making contact with a portion of the patient's body on both sides. The patient may lie face up or face sideways on the operating table (11) or plate (33). The patient may also lie in other directions. The plurality of posts (31a) support the patient positioned on the operating table (11) or plate (33) from both sides. For support, the posts may make contact with at least a portion of the patient's body. Furthermore, some of the posts may be positioned on one side of the patient's body, and others may be positioned on the other side of the patient's body.

[0211] Two or more of the above posts (31) can be interconnected. When the posts are connected, the angle formed by the connected posts (31) and the length between the posts can be adjusted. To this end, a bendable and / or length-adjustable connecting member (32) may be provided between the posts (31).

[0212] The connecting member (32) is provided as a flexible tube and can connect the posts. The connecting member (32) can also be formed by connecting two length-adjustable rods by hinges. The connecting member (32) can also be formed as another member that can adjust the length between the posts (31) and change the angle formed by the two posts within a predetermined range.

[0213] Some of the posts (31a) among the plurality of posts may be provided to tilt or incline by an external force or automatically. In one embodiment, the plurality of posts may support at least the back of the head, chest, and the Anterior and Superior Iliac Spine (ASIS) region of the patient (P). To provide flexible support according to changes in the surgeon's posture during the surgery, the posts (31a) positioned to support the ASIS region of the patient may tilt left and right or in the width direction of the posts. When the surgeon tilts at least part of the patient positioned on the operating table or plate (33) during the surgery, some of the posts may tilt along with the tilt of the patient's body. The posts may tilt when an external force is applied to the posts or under control, and may be restored when the external force is removed or under control. To provide appropriate incline, the lower portion of the posts (31a) may be formed of an elastic material such as rubber. To provide structural tilting, the post (31a) may be provided with a spring on its lower side. The spring may be provided inside the post (31a) to provide tilting within a critical angle of 5 degrees, 10 degrees, 15 degrees, or the like.

[0214] In one embodiment, when the patient is lying on the side on the bed or plate, the posts (31a, 31b) on the bed or plate can fix the patient's posture by at least partially contacting or supporting the back of the head, chest, and ASIS (Anterior and Superior Iliac Spine) area of ​​the patient.

[0215] In another embodiment, when a patient is lying face down on a bed or plate, the posts (31a, 31b) on the bed or plate can fix the patient's posture by at least partially contacting or supporting the patient's head on both sides and the torso on both sides between the sides and the armpits. In addition, the posts (31a, 31b) can also fix the patient's posture by supporting a portion of the patient's lower body.

[0216] As illustrated in FIG. 6, the plurality of posts may be placed on an operating table (11). The post (31a) may be moved on the operating table (11) and then at least temporarily fixed. The post (31a) may be moved to an appropriate position to support the patient's body and then fixed to the operating table (11) by a fastening means that fixes the post to the operating table. While the post is fixed to the operating table, it may be tilted or recovered from the tilted state by an external force or by control. The fastening means for fixing the post (31a) to the operating table (11) may be a means for typically fixing an object to another object, such as a clamp or a chain. The post (31a) may be moved on the operating table (11) by a signal transmitted through the control system (70). The operating table (11) may include an electromagnetic or physical means that can move the post (31a) according to the control signal.

[0217] Referring to FIG. 7, the post (31) may include a position sensor (311) and a detection means (313). The position sensor (311) is provided to sense the relative positional relationship between the post (31) and a reference point (O) of a two-dimensional or three-dimensional coordinate defined in the bed (10) or the operating room. When a point on the operating table (11) or a point in the operating room is set as the reference point (O), the position sensor (311) can detect the distance between the post (31) and the operating table or bed, or recognize a position that can be expressed as a two-dimensional or three-dimensional coordinate of the post (31). That is, in one embodiment, when the width direction of the operating table (11) is set as the x-axis, the length direction as the y-axis, and the height direction as the z-axis, the position sensor (311) recognizes the three-dimensional position of the post (31) and displays it on the surgical terminal (60) described later.

[0218] The above detection means (313) is a sensor that detects whether a patient's body has come into contact with one surface of the post. By detecting the contact of the patient's body with the detection means (313), it can be determined whether the patient's body is supported. Each of the plurality of posts (31) is provided with a position sensor (311) and a detection means (313), so that the position at which each post is adjusted and whether it is in contact with the patient's body can be sensed, and data on the position of the post and data on the contact with the patient's body can be transmitted to the control system (70). The detection means (313) may be a pressure sensor.

[0219] As illustrated in FIG. 8, the body positioner (30) may include a plate (33) that overlaps a bed or operating table (11). The plate (33) may be connected to the operating table (11) in a mat-like manner, or may be at least temporarily connected to the operating table (11) in a sliding manner. In one embodiment, the plate (33) may be connected to the operating table (11) or a rail (13) in a sliding manner. A plurality of posts (31b) may be at least temporarily fixed on the plate (33) to support the patient's body.

[0220] In order to ensure the slide engagement of the plate (33), a guide slot (35) may be formed on at least one side of the plate. In one embodiment, the guide slots (35a, 35b) are provided to at least partially surround both sides of the operating table (11) so that the plate (33) slides along the operating table (11) and overlaps the operating table (11). The guide slots (35a, 35b) extend a predetermined distance to one side along the edge from the lower side of the plate (33) and then are bent toward the center so that the operating table (11) is accommodated between the plate (33) and the guide slots (35a, 35b).

[0221] By a signal transmitted through the control system (70), the post (31b) can be moved on the plate (33). The plate (33) may include electromagnetic and physical means capable of moving the post (31b) according to the control signal.

[0222] When guide slots (35a, 35b) are provided on both sides of the plate to guide both sides of the operating table, the plate (33) can slide in the longitudinal direction in which the guide slots extend. When the guide slots (35a) are provided on one side of the plate, the plate (33) can slide in the width direction, and the guide slots (35a) can function as a stopper to prevent excessive sliding by coming into contact with the operating table (11).

[0223] Figures 9 (a) to (c) are cross-sectional views taken along line AA' of Figure 7. Referring to Figure 9, the plate (33) is formed to accommodate and at least temporarily secure a plurality of posts (31b). At this time, the plate (33) may have a post-accommodating mechanism (331, 332, 333, 334) so ​​that the plurality of posts (31b) can be secured at different positions depending on the patient.

[0224] The above post receiving mechanism allows the post (31b) to be fixed after its position has been adjusted within a predetermined range of the plate (33). The post (31b) can be fixed after its position has been adjusted to suit the patient's body support, either manually or by control, on the post receiving mechanism.

[0225] In one embodiment, the post-receiving mechanism may be a plurality of grooves (331) formed at predetermined intervals on the plate. The grooves (331) may be formed with a length and width corresponding to the length and width of the post (31b) so that the post (31b) is fixed after being inserted. The post (31b) may be fitted, press-fitted, or tapered-fitted into the grooves (331). The grooves (331) may be formed at equal intervals on the plate.

[0226] In one embodiment, the post receiving mechanism may be composed of a platform (332), which is a space having a predetermined length and width within a plate (33), and a receptor (333) that moves longitudinally or transversely within the platform (332). The receptor (333) receives a post (31b), and the post (31b) may be fitted, press-fitted, or tapered-fitted to the receptor (333). The receptor (333) may move within a predetermined range in the longitudinal or transverse direction within the platform (332), or may rotate to adjust the direction in which one side of the post (31b) faces. The post (31b) may be tilted by the rotation of the receptor (333). Since the range of movement of the receptor (333) is limited by the platform (332), the post (31b) can only move within a designated range.

[0227] In one embodiment, the post receiving mechanism may be comprised of a pit (334) formed with a width or length greater than that of the post (31b), and a fixing block (334a) that fixes the post (31b) within the pit. When the post (31b) is received within the pit (334), the fixing block fills the pit (334), thereby fixing the post (31b). The post (31b) moves within the portion where the pit (334) is formed, and its position is fixed by the fixing block (334a). The fixing block (334a) has a height lower than that of the post (31b), and a plurality of fixing blocks may be provided as modules. It is preferable that the fixing block (334a) have a height corresponding to the depression depth of the pit.

[0228] In one embodiment illustrated in Fig. 10, the plate (33) may be provided in a mat shape. The plate (33) is placed on a bed or operating table (11), and the plate (33) may be fastened to the bed or operating table (11) by a fixing means (36) such as a clamp. The fixing means (36) does not exclude other conventional fixing members in addition to the clamp.

[0229] In one embodiment, the plate (33) may include a sensor provided to detect, display, or control the relative positional relationship between the plate (33) and the auxiliary device. The sensor (plate sensor) provided on the plate may be used instead of the bed sensor (17) in an embodiment in which the plate overlaps the bed. In one embodiment, the plate sensor may recognize the position of the plate (33) within an operating room and set a designated point as a reference point (O) of two-dimensional or three-dimensional coordinates, and the plate sensor may perform the same function as the bed sensor (17).

[0230] Referring to Fig. 11, the patient's support status by a plurality of posts (31) can be displayed on the surgical terminal (60). The position of each post recognized by the post position sensor (311) can be expressed as a post object (6131) on the monitor (61). When the presence or absence of physical contact with the patient is transmitted through the detection means (313) of each post (31), a patient object can be displayed on the monitor (61). The patient object displayed between the post objects (6131) can be displayed through information such as the patient's height and body size transmitted through the EMR server, or through information measured by a photographing device provided in the operating room, and the posture taken by the patient can be displayed through surgical information entered into the EMR server or database or information measured by the photographing device.

[0231] First, the posture that the patient (P) should take on the bed or plate can be guided to the surgical terminal side from the patient's surgical information transmitted from the EMR server through the control system (70) or stored in the database (S311). The patient's body size can be extracted from the patient's information, and even when the patient's body size is not provided, the position of the posts (31a, 31b) of the body positioner can be guided to contact or support the patient's body according to the posture that the patient should take (S312). By the surgeon's control or the control system, the posts (31a, 31b) of the body positioner can be moved within a predetermined range to support a part of the patient's body, and then at least temporarily fixed (S313).

[0232] During the movement of the post, the position of the post or the distance from the bed or plate can be sensed by the position sensor (311) within the post. Depending on the positional relationship between the sensed post and the bed or plate, the position and / or movement of the post can be displayed on the monitor (61) (S314). Contact between the patient's body and the post can be detected by the detection means (313) (S315). Depending on the position of the post and the guided posture of the patient, the part of the patient's body supported by the post can be identified. Whether each post is in contact with or supports the patient's body can be displayed on the monitor (61) (S316).

[0233] As illustrated in FIG. 12, a patient's posture recognized by a post or another auxiliary device instead of a post may be displayed on a surgical terminal. A method (S31) for displaying a patient's posture recognized by an auxiliary device on a surgical terminal may include a step of guiding the patient's posture (S311), a step of guiding the auxiliary device to correspond to the patient's posture (S312), a step of moving the auxiliary device to support a part of the patient's body by a surgeon's control or a control system and then at least temporarily fixing it (S313), a step of displaying the position and / or movement of the auxiliary device on a user terminal while the auxiliary device is moving (S314), a step of detecting contact between the patient's body and the auxiliary device by a detection means (S315), and a step of displaying whether the patient's body is in contact or supported (S316).

[0234] The patient posture guidance step (S311) is a process of displaying the patient's required posture as text or images on the surgical terminal, according to the sequence of postures required for the surgical procedure. The guided patient posture can be the initial posture to be assumed during the surgical procedure, or it can be the next posture during the surgical procedure.

[0235] Step (S312) of guiding the assistive device to conform to the patient's posture is a process of guiding the movement and rotation, including changes, of the assistive device so that the patient's body assumes the guided posture. Based on patient information, including the patient's body size, the movement and / or changes of the assistive device can be guided to suit the patient's body.

[0236] In the step (S313) of moving the auxiliary device to support a part of the patient's body by the control of the surgeon or the control system and then at least temporarily fixing it, a medium for fixation such as a strap is prepared, and the patient's body can be at least temporarily fixed to the auxiliary device using the medium for fixation.

[0237] In the step (S314) of displaying the position and / or movement of the auxiliary device on the user terminal while the auxiliary device is moving, the movement or position of the auxiliary device is sensed by a sensor in the auxiliary device, and the relative positional relationship with the bed (10) can be calculated in the control system (70). The calculated position and / or movement of the auxiliary device can be displayed on the monitor (61) of the user terminal, and can be displayed in an appropriate tab and position with an appropriate image so that the surgeon can easily observe and judge.

[0238] In the step (S315) of detecting contact between the patient's body and the auxiliary device by a detection means, when the patient's body comes into contact with one surface of the auxiliary device, the contact is sensed by a pressure sensor or the like.

[0239] In the step (S316) of indicating whether the patient's body is in contact or supported, the contact of the patient's body with each auxiliary device can be displayed on the monitor (61) of the user terminal for each auxiliary device. The contact can be displayed in a suitable location using text, an image, or an icon. In addition, the sensing operation unit (73) of the control system (70) can calculate data on the sensed contact of the patient and display the posture of the patient's body as an image.

[0240] Referring to FIGS. 13 to 20, a leg positioner (40) is an auxiliary device that assists in maintaining a patient's posture for the convenience of assistants and surgeons when performing surgical operations on the patient's legs. When performing surgical operations on artificial hip joints, artificial knee joints, ankle joints, or feet, the patient's legs must be raised and then maintained or adjusted in a predetermined posture. The leg positioner (40) can support the patient's lower body at various angles. The leg positioner (40) allows the surgeon to more easily manipulate the knee bending, position, and height when placing the patient's legs. The leg positioner (40) includes a movable base (41), a connecting joint (43), a leg support (45), a joint control means (47), and a gravity compensation mechanism (48). The connecting joint (43) or leg support (45) of the leg positioner (40) for positioning the patient's legs can be easily positioned using a passive mechanism, and can relatively easily accommodate heavy movements through gravity compensation. The leg positioner (40) can be equipped to compare the difference in leg length before and after surgery, or to measure the leg length before and after surgery.

[0241] The above base (41) is the lower structure of the leg positioner and is formed to be movable to facilitate support of the patient's lower body. The base (41) can be moved in the operating room and can be at least temporarily connected to a bed or plate. The base (41) can be fixed to support the patient's legs during surgery. The base (41) includes a moving part (411), a connecting part (413), a sensor (414), and a connecting element (415).

[0242] The above-described moving part (411) may have at least two wheels and a body connecting the wheels so as to be movable within the operating room. The above-described fastening part (413) is configured to at least temporarily fasten the base (41) to a bed or plate, and as illustrated in FIG. 14, the bed or plate may be clamped, or the base (41) may be fixed by another fastening method. When the position of the patient's legs is changed during surgery, the fastening between the base (41) and the bed or plate may be released, and the base may be moved to a predetermined position and then fastened again. When the base is fixed to the bed by the fastening part (413), the wheels of the moving part (411) may also be fixed.

[0243] The above-mentioned fastening part (413) is provided to fix the leg positioner (40) to the bed (10), and fastens the base (41) on the operating table (11) or the plate (33). The above-mentioned fastening part (413) may be a fixing means such as a clamp, and other typical fixing members are not excluded. The load caused by the patient's legs is concentrated on the leg positioner, but in the case of a leg positioner that is typically attached to a bed, there is a problem that the legs of the bed have difficulty withstanding the load concentrated on one side, and thus it has been difficult to support various lower body positions of the patient. The present invention enables the base (41) to perform additional support by fixing the base upright to the bed (10) through the fastening part (413), thereby distributing the load acting on the leg positioner through the base in addition to the bed legs, and forming a fixing point on the floor while temporarily fastening to the bed, thereby enabling stable support.

[0244] The above sensor (414) is provided on the base to sense the state of the base (41). The sensor (414) includes a position sensor to recognize the relative positional relationship with the bed or plate, and can indicate the position of the leg positioner (40) on the monitor (61) before or during surgery. The sensor (414) senses the restraint state of the connecting joint (43) described below, and can display the restraint status on a display provided on one side of the base or on a monitor (61) that can be viewed by the surgeon.

[0245] The above connecting element (415) is provided to connect the connecting joint (43) and the leg support part (45) for supporting the patient's legs to the base (41). The connecting element (415) may be provided on the upper side of the moving part (411) and the lower side of the fastening part (413). That is, the connecting element (415) is provided between the moving part (411) and the fastening part (413), and the connecting joint (43) can rotate around the connecting element (415). The load caused by the patient's legs is transmitted and distributed to the base (41) and the bed (10) through the connecting joint (43), so that improved support can be achieved compared to a conventional positioner that is detachably installed on the bed.

[0246] In one embodiment, the rotational direction and rotational range of the connecting joint (43) can be restricted by the connecting element (415). In another embodiment, the rotational direction and rotational range of the connecting joint (43) can be free. In yet another embodiment, the connecting element (415) can rise or fall along a slit formed vertically, and one end of the connecting joint (43) can rise or fall along the connecting element (415).

[0247] Referring to Fig. 15, the connecting joint (43) extends from the base and is configured to assist the natural movement of the leg support portion (45), and may be a robot arm having at least one joint. The movement of the connecting joint (43) may be controlled manually or automatically, and depending on the control, the joint may be constrained to fix the connecting joint or the constrain may be released to allow the connecting joint to move. The connecting joint (43) may include a first arm (431), a first joint (432), a second arm (433), a second joint (434), and a third arm (435).

[0248] The first arm (431) can have one end connected to the base connecting element (415) and the other end connected to the first joint (432). The first joint (432) mediates joint movement between the first arm (431) and the second arm (433), and the second arm (433) has one end connected to the first joint (432) and the other end connected to the second joint (434). The second joint mediates joint movement between the second arm (433) and the third arm (435), and the third arm (435) has one end connected to the second joint (434) and the other end connected to the leg support (45).

[0249] The first joint (432) and the second joint (434) can be controlled to constrain rotation so that each arm (431, 433, 435) does not rotate, or the constraints can be released so that each arm (431, 433, 435) can rotate around the first joint (432) and the second joint (434).

[0250] In one embodiment, the first joint (432) has one degree of freedom (DOF 1) and can rotate. The second joint (434) has three degrees of freedom (DOF 3) and can rotate freely. In this embodiment, the first joint (432) connects by penetrating a fastening hole (431a) formed in the first arm (431) and a fastening hole (433a) formed in the second arm, and can hinge-couple the first and second arms. The second joint (434) may include a ball (4341) at least partially accommodated in an end (4331) of the second arm to mediate free rotation, and a pipe (4343) connected to the third arm.

[0251] At least one of the first to third arms (431, 433, 435) can have its length increased or decreased depending on the control.

[0252] In another embodiment, the first joint and the second joint can rotate with different degrees of freedom (DOF).

[0253] In another embodiment, a robot arm having one joint and two arms may be used as the connecting joint (43), and a multi-joint robot arm having more than one joint may be used as the connecting joint (43). For the rotation of each joint, a conventional joint mechanism (not shown) may be used. In addition, a multi-joint arm such as that disclosed in US8,376,934 may be used.

[0254] Referring to Fig. 16, the leg support (45) is provided so as to be able to substantially support the patient's legs, and the patient's legs are placed on the leg support. It is preferable that the leg support (45) be provided so as to cover the position of the legs whose range of motion varies according to various movements of the patient's lower body. As movements of the patient's lower body, movements of the hip joint including hip flexion, hip extension, hip abduction, hip adduction, internal and external rotation within a predetermined angle, and knee joint movements including knee flexion and knee extension can be performed. The leg support (45) may have a range of motion so as to cover the position of the patient's legs according to the movement of the patient's lower body. The leg support (45) may include two or more support parts (451, 453), and a leg joint (452) for realizing joint movements of each support part may be placed between the first support part (451) and the second support part (453).

[0255] The first support portion (451) is configured to support a portion of a patient's leg by placing it thereon. In a preferred embodiment, the first support portion (451) can support a portion of a patient's calf. The first support portion (451) may include a first support portion arm (4511), a first stand (4513), and a first handle (4515).

[0256] The first support arm (4511) has a roughly cylindrical shape and can be extended to one side. It may also have a shape other than a hollow cylinder. The first support arm (4511) can accommodate various components for performing joint movement within it. The first support arm (4511) can be connected to the third arm (435) of the connecting joint.

[0257] The first support (4513) is formed on one side of the first support arm (4511) so that a portion of the patient's leg can be placed thereon. The first support (4513) may be a plate that extends to one side with a predetermined curvature or extends to one side without a curvature. The first support (4513) may also have other shapes that allow a portion of the leg to be placed thereon. The surgeon may secure a portion of the patient's leg to the first support using a tool such as a bandage.

[0258] The first handle (4515) is formed on one or both sides of the first support arm (4511) or the first cradle (4513) so that the surgeon can easily move the support by holding the handle. The surgeon can lift, rotate, or move the first support unit (451) by holding the handle.

[0259] The leg joint (452) is a component that mediates joint movement between the first support member (451) and the second support member (453). Compared to the patient's knee joint, which can only flex and extend and thus has one degree of freedom (DOF 1), the leg joint (452) can rotate with three degrees of freedom (DOF 3). When the patient's leg is supported while lying in an upright position, one degree of freedom may be sufficient. However, when performing a surgical operation on the patient's leg, the patient may assume various positions, such as lying sideways on a bed (10) or a plate (33). Accordingly, flexion and extension of the patient's knee joint can also be performed in various directions, including the up-and-down direction. Since the first support member (451) and the second support member (453) support the patient's thigh and calf from the lower part of the patient's leg, it is desirable for the leg joint (452) to ensure free rotation. In one embodiment, the leg joint may be provided as a ball joint. The ball joint (452) according to one embodiment may include a ball (4521) and a ball pipe (4523), and the joint movement by the ball (4521) and the ball pipe (4523) will be described later.

[0260] The second support portion (453) is formed at the end of the leg positioner and can support a portion of a patient's leg by placing it thereon, and can support a portion of the patient's thigh. The second support portion (4533) may include a second support portion arm (4531), a second stand (4533), and a second handle (4535).

[0261] The second support arm (4531) has a roughly cylindrical shape and can be extended to one side. It may also have a shape other than a hollow cylinder. The second support arm (4531) can accommodate various components for performing joint movements within it.

[0262] The second support (4533) is formed on one side of the second support arm (4531) to support a portion of the patient's body thereon, preferably a thigh portion. The second support (4533) may be a plate that extends to one side with a predetermined curvature, or extends to one side without a curvature. The second support (4533) may also have other shapes that allow a portion of the patient's leg to be secured thereon. The surgeon may use a tool such as a bandage to secure a portion of the patient's leg to the second support.

[0263] The second handle (4535) is formed on one or both sides of the second support arm (4531) or the second cradle (4533) so that the surgeon can hold the handle and easily move the support. The surgeon can hold the handle to lift, rotate, or move the position of the second support arm (4533).

[0264] In one embodiment, the surgeon can perform the surgery from the second support member (453). At this time, the surgeon can manipulate the second support member, which is relatively close, without manipulating the first support member (451), thereby releasing the constraint of the ball-joint bound to the first support member, thereby reproducing the joint movement of the leg positioner. In one embodiment, the first support member (451) and the second support member (453) can be manipulated by fluid pressure including liquid or gas, and a fluid pressure device (454) can be used for this purpose.

[0265] Referring to FIGS. 17 and 18, joint motion between a first support arm (4511) and a ball-joint (452) and a second support arm (4513) according to one embodiment can be described. The first support arm (4511) has an opening at one end to receive at least a portion of the ball-joint (452) and at least temporarily restrain it. A fluid pressure device (454) can cause gas to flow into the first support arm or cause gas to flow out of the first support arm, and the joint motion can be restrained or performed by the gas flowing in and out of the first support arm. The first support arm (4511) can include a shaft (45113), a socket (45114), a flange (45115), a fixing element (45116), an elastic body (45117), and an internal space (45118).

[0266] An opening may be formed at the end of the first support arm (4511) and may have a ring shape to accommodate at least a portion of the ball-joint (452). The end of the first support arm (4511) may be tapered with a predetermined curvature so as to accommodate a ball (4521) having at least a portion of a spherical shape and not fall out.

[0267] The above shaft (45113) extends from the inside of the first support arm (4511) in the direction in which the first support arm (4511) extends. The shaft (45113) can receive an inlet pipe (4542) and an outlet pipe (4543) that will be described later. The shaft is coaxially aligned with the first support arm (4511) and can be raised and lowered by a fluid flowing into and out of the first support arm.

[0268] The above socket (45114) is connected to the shaft (45113) and is provided so as to be able to move up and down together with the shaft according to the inflow and outflow of fluid within the first support arm (4511). The socket (45114) clamps or compresses a portion of a ball (4521) accommodated within the first support arm to restrict the rotation of the ball (4521), and the rotation of the ball can be restricted as the socket (45114) clamps or compresses a portion of the ball (4521). If the socket (45114) does not clamp or compress a portion of the ball, the ball rotates and the joint movement between the second support arm (4531) and the first support arm (4511) can be reproduced. In a first state where the socket (45114) clamps or compresses a part of the ball (4521) to restrict rotation of the ball, when fluid flows in, the clamping or compressing of the ball is released to switch to a second state where the ball can rotate, and when fluid flows out again, the socket (45114) can return to the first state where the socket (45114) clamps or compresses a part of the ball (4521) to restrict rotation of the ball.

[0269] The above flange (45115) is configured to extend from one side of the shaft (45113) to close the inside of the first support arm, and can extend horizontally from the shaft to close the first support arm (4511). The flange can be connected to an inlet pipe (4542) and an outlet pipe (4543) described later on one side to allow fluid to flow into an internal space (45118) formed on the other side. To this end, the flange has at least two or more openings (45115a). The openings (45115a) allow fluid communication between the internal space (45118) described later and the inlet pipe (4542), and between the internal space (45118) and the outlet pipe (4543).

[0270] The shaft (45113), socket (45114), and flange (45115) are connected or coupled as one body and can be simultaneously raised and lowered within the first support arm by hydraulic pressure or pneumatic pressure. Before the shaft (45113), socket (45114), and flange (45115) are lowered, in a first state where the socket (45114) clamps or presses a portion of the ball (4521), when fluid is introduced into the internal space of the first support arm by a fluid pressure device (454) described later, the shaft (45113), socket (45114), and flange (45115) are lowered to a second state. When the fluid flows out from the first support arm, the shaft (45113), socket (45114), and flange (45115) are raised again to return to the first state.

[0271] The above-described fixing element (45116) may be provided to surround the shaft (45113) and be fixed within the first support arm. In one embodiment, the fixing element (45116) may be connected or coupled to the first support arm (4511) between the socket (45114) and the flange (45115). The fixing element (45116) may be a ring having a predetermined thickness so as to surround the shaft (45113) and block the first support arm (4511) that is not occupied by the shaft. The fixing element (45116) may be integrally coupled or coupled to the first support arm (4511).

[0272] An elastic body (45117) may be provided between the above-described fixed element (45116) and the socket (45114). The elastic body is compressed between the socket and the fixed element as the socket (45114) descends in the second state, and is restored as the first state in which hydraulic or pneumatic pressure flows out from the first support arm returns. When transitioning from the second state to the first state, the socket (45114), the shaft (45113), and the flange (45115) can be restored smoothly and quickly by the restoring force of the compressed elastic body (45117). The elastic body may be a wave washer, but other elastic bodies such as springs other than the wave washer may also be used.

[0273] An internal space (45118) may be formed between the fixed element (45116) and the flange (45115). The internal space (45118) receives a fluid so that the shaft (45113) and the flange (45115) can function as a hydraulic or pneumatic actuator or a fluid pressure actuator depending on hydraulic pressure or pneumatic pressure. The internal space (45118) may be formed by the fixed element (45116), the shaft (45113), and the flange (45115) as shown in FIGS. 17 and 18. The internal space (45118) may be in fluid communication with the inlet pipe (4542) and the outlet pipe (4543) through a through hole (45115a) formed in the flange.

[0274] From the first state as in Fig. 17, when fluid flows into the internal space (45118) through the inlet pipe (4542) and the opening (45115a) of the flange, the fixed element (45116) is fixed to the first support arm (4511), so that the flange (45115) is lowered by hydraulic pressure or pneumatic pressure, and the shaft (45113) and the socket (45114) connected to the flange (45115) are also lowered, thereby releasing the clamping or compression of the ball as in Fig. 18, thereby entering the second state. When the fluid in the internal space (45118) flows out through the opening (45115a) of the flange and the outlet pipe (4543), the shaft (45113), the socket (45114), and the flange (45115) rise again, thereby transitioning to the first state.

[0275] The ball joint (452) may be at least partially accommodated in the first support arm (4511) and may be connected at one end to the second support arm (4531). The joint movement of the ball joint (452) is limited by the constraint of the first support arm in a first state, and the joint movement may be reproduced in a second state in which fluid is introduced into the internal space (45118) of the first support arm by control through a fluid pressure control element (45312) on the side of the second support arm (4531).

[0276] The ball (4521) may be accommodated in the first support arm (4511) while at least part of the ball has a spherical shape. The ball (4521) may rotate within the first support arm (4511) to reproduce joint movement. The ball (4521) may be compressed or clamped by the socket (45114) in a first state to limit rotation, but may be provided so that the compression or clamping is released in a second state to enable rotation.

[0277] The ball pipe (4523) extends from a portion of the ball and can be connected to the second support arm (4531). The ball pipe can be formed of a flexible material to be stretchable. In another embodiment, the ball pipe can be formed of an inflexible material.

[0278] The ball (4521) and the ball pipe (4523) may receive an inlet pipe (4542) and an outlet pipe (4543) therein so that the inlet pipe (4542) and the outlet pipe (4543) may extend at least partially from the first support arm (4511) to the second support arm (4531) or from the second support arm (4531) to the first support arm (4511). That is, the inlet pipe (4542) and the outlet pipe (4543) extend at least partially from the first support arm (4511) to the second support arm (4531) or from the second support arm (4531) to the first support arm (4511) via the ball (4521) and the ball pipe (4523).

[0279] Continuing with reference to FIGS. 17 and 18, the second support arm (4531) may be connected to a ball pipe (4523) at one end. The surgeon may manipulate a fluid pressure control element (45312) provided on the second support arm (4531) to introduce fluid into the first support arm (4511) or to drain fluid from the first support arm. The second support arm (4531) may be tapered at least partially to connect to the ball pipe.

[0280] The fluid pressure control element (45312) is provided in the second support arm (4531), and at least a portion thereof is exposed to the outside of the second support arm (4531) so that an external user can operate the fluid pressure control element (45312). The fluid pressure control element (45312) is provided in the second support arm so that a user can selectively cause a fluid to flow into the first support arm or a fluid to flow out from the first support arm from the second support arm side. The fluid pressure control element (45312) may be in contact with a first portion (45421) of an inlet pipe on one side and may be in contact with a second portion (45423) of the inlet pipe on the other side. In addition, the fluid pressure control element (45312) may be in contact with a discharge line (4544) on one side and may be in contact with an outlet pipe (45423) on the other side.

[0281] The fluid pressure control element (45312) may have a first state in which the fluid is substantially introduced into the first support arm (4511), and a second state in which the fluid is substantially discharged from the first arm. The fluid pressure control element (45312) may selectively have the first state and the second state. In the first state, the fluid pressure control element (45312) may allow the outlet pipe (4543) to be in fluid communication with the outlet line (4544) connected to the outside of the second support arm, and may prevent the first part (45421) and the second part (45423) of the inlet pipe from being in fluid communication, and in the second state, the first part (45421) and the second part (45423) of the inlet pipe from being in fluid communication with the outlet pipe (4543) from being in fluid communication with the outlet line (4544) connected to the outside of the second support arm.

[0282] The above fluid pressure control element (45312) may include a guide (45313), a switch (45315), and an elastic body (45316).

[0283] The above guide (45313) is configured to be accommodated inside the second support arm and guide the movement of the switch (45315). In addition, the guide (45313) can guide or fix the inlet pipe (4542) and the outlet pipe (4543) so that the inlet pipe (4542) and the outlet pipe (4543) are connected to or in contact with the switch. The guide (45313) can be provided to fix at least a portion of the inlet pipe and the outlet pipe so that they are in contact with the switch (45315) or to connect the ends of the inlet pipe and the outlet pipe and a through-hole (45315a) formed within the switch (45315).

[0284] The switch (45315) is configured such that at least a portion of the switch is exposed or protruded outside the second support arm (4531) so that the first state and the second state of the fluid pressure control element (45312) are determined according to the position or movement of the switch. The switch (45315) can be moved into or out of the second support arm (45311) according to the guidance of the guide (45313) by an operation of an external user. The switch (45315) has a penetration passage (45315a) formed penetrating from one side to the other side. According to one embodiment, in the first state of the fluid pressure control element (45312), the penetration passage (45315a) fluidly connects the outlet pipe (4543) and the discharge line (4544). In the second state of the fluid pressure control element (45312), the penetration passage (45315a) fluidly connects the first part (45421) and the second part (45423) of the inlet pipe.

[0285] The above elastic body (45316) is provided on one side of the movement direction of the switch and is configured to be accommodated inside the second support arm to restore the switch (45315). When the switch (45315) is pressed, the elastic body (45316) is compressed, and when the pressure applied to the switch is removed, the elastic body (45316) can return the switch (45315) to the first state through the restoring force.

[0286] In one embodiment, the surgeon presses the switch (45315) to place the fluid pressure control element (45312) in a second state that fluidically connects the first portion (45421) and the second portion (45423) of the inlet tube. At this time, the switch moves from the first state into the guide (45313) to pressurize the elastic body and place it in the second state. In the second state, an incompressible fluid is introduced into the internal space (45118) through the inlet tube (4542), the clamping or compression of the ball (4521) is released, and the user can move the second support arm (4531) relative to the first support arm (4511). When the user removes the pressure applied to the switch (45315), the switch (45315) is restored by the restoring force of the elastic body (45316).

[0287] In addition, in another embodiment, the switch (45315) is provided as a push button type, so that the user can switch between the first state and the second state of the fluid pressure control element (45312) by pressing the switch. In the first state, when the user presses the switch, the switch moves forward inside the second support arm, thereby switching the fluid pressure control element (45312) to the second state, and when the user presses the switch (45315) once more, the switch returns to its original position, thereby switching the fluid pressure control element (45312) to the first state.

[0288] In another embodiment, the guide (45313) only guides the direction of movement of the switch (45315), and a portion of the inlet pipe (4542) and the outlet pipe (4543) may be in direct contact with or connected to the switch (45315).

[0289] Continuing with reference to FIGS. 17 and 18, the fluid pressure device (454) is configured to introduce fluid into the first support arm (4511) or to discharge fluid from the interior of the first support arm, and may preferably be arranged across the first support arm (4511), the ball-joint (452), and the second support arm (4531). The fluid pressure device (454) may be controlled by a fluid pressure control element (45312) or a switch (45315) to introduce an incompressible fluid into the interior space (45118) of the first support arm or discharge an incompressible fluid from the interior space (45118). The fluid pressure device may include a first cartridge (4541), an inlet pipe (4542) and an outlet pipe (4543) through which fluid flows, a discharge line (4544), and a second cartridge (4545).

[0290] The first cartridge (4541) above is configured to store fluid and supply fluid through an inlet pipe (4542), and the fluid may be an incompressible fluid. The first cartridge may be a cartridge for air injection or a cartridge for liquid injection.

[0291] The above inlet pipe (4542) is configured to introduce fluid from the first cartridge (4541) into the internal space of the first support arm, and may extend across the first support arm (4511), the ball-joint (452), and the second support arm (4531). The inlet pipe (4542) may have a first portion (45421) extending from the first cartridge (4541) to a fluid pressure control element (45312) in the second support arm, and a second portion (45423) extending from the fluid pressure control element (45312) to a flange (45115) in the first support arm.

[0292] The first portion (45421) extends from the first cartridge (4541) to one side of the fluid pressure control element (45312) with at least a portion extending into the inside of the second support arm and one end contacting one side of the fluid pressure control element. The first portion (45421) is fixed by a guide (45313) or is connected to the guide, so that the fluid transported from the first cartridge in the second state can be transmitted to the internal space through the second portion.

[0293] The second part (45423) is configured to extend from the other side of the fluid pressure control element to the inside of the first support arm, and extends from the other side of the fluid pressure control element (45312) to one side of the flange (45115). The second part is in fluid communication with the first part through the through-hole (45315a) of the switch in the second state, and transfers the fluid transferred from the first part to the internal space (45118) through the through-hole (45115a) formed in the flange. In the first state, the first part (45421) and the second part (45423) are not in fluid communication by the switch, and in the second state, they are in fluid communication through the through-hole (45315a) formed in the switch.

[0294] The above-mentioned outlet pipe (4543) is configured to discharge fluid from the internal space (45118) of the first support arm to the outside, and may extend across the first support arm (4511), the ball-joint (452), and the second support arm (4531). The outlet pipe (4543) may be in fluid communication with the discharge line (4544) to discharge the fluid to the outside second cartridge (4545). The outlet pipe (4543) and the discharge line (4544) may be in fluid communication in the first state, and may not be in fluid communication in the second state. The outlet pipe (4543) may have one end connected to one side of the flange (45115) and the other end may be in contact with or connected to one side of the fluid pressure control element (45312). The above fluid pressure control element (45312) can fluidly communicate the outlet pipe (4543) on one side of the fluid pressure control element with the discharge line (4544) on the other side of the fluid pressure control element in the first state.

[0295] The above discharge line (4544) is configured to transfer fluid transferred through the discharge line to a second cartridge (4545) positioned outside the first support arm or the second support arm while in fluid communication with the discharge pipe (4543), and at least a portion of the discharge line may be provided on one side of the fluid pressure control element (45312). In the first state, the discharge pipe (4543) and the discharge line (4544) may be in fluid communication with each other through the through-hole (45315a) of the switch (45315).

[0296] The second cartridge (4545) is configured to store fluid and receive fluid discharged through the discharge line (4544), and the fluid may be an incompressible fluid. The second cartridge may be an air injection cartridge or a liquid injection cartridge.

[0297] The present invention can be more suitably used when one cartridge for introducing fluid into an artificial arm and another cartridge for discharging fluid within the artificial arm are used, without using a mechanism for simultaneously introducing and discharging fluid.

[0298] In another embodiment, the second cartridge (45) may be placed on the side of the first support arm (4511). To this end, a discharge line (4544) may extend from the second support arm (4531) through the ball pipe (4523) and the ball (4521) of the ball-joint to the inside of the first support arm (4511). At this time, both the first cartridge (4541) and the second cartridge (4545) may be provided on the side of the first support arm. Both the first cartridge (4541) and the second cartridge (4545) are provided on the side of the connecting joint (43) or the base (41), and both the inlet pipe (4542) and the outlet pipe (4544) extend along the inside or outside of the connecting joint (43) and can be connected to the first cartridge (4541) and the second cartridge (4545) provided on the side of the connecting joint (43) or the base (41).

[0299] In another embodiment illustrated in FIG. 19, the first support arm (4516) and the second support arm (4536) may form a ball-socket joint with the ball-joint (452) on both sides. One end of the first support arm (4511) may receive at least a portion of the ball-joint (452), and one end of the second support arm (4536) may receive at least a portion of the ball-joint (452), so that the ball-socket joint may be formed on both sides. In this embodiment, a socket for clamping the ball-joint (452) may be provided within the first support arm (4516), and a socket for clamping the ball-joint (452) may also be provided within the second support arm (4536). The socket is provided so as to be able to move forward and backward or up and down within the first support arm (4516) and the second support arm (4536), and a first state in which the ball joint (452) is clamped by the forward and backward movement or up and down movement of the socket to restrict the rotation of the ball joint (452) and a second state in which the socket releases the clamping of the ball joint so that the ball joint can rotate in relation to the first support arm (4516) and / or the second support arm (4536) can be achieved. That is, in one embodiment, the socket within the first support arm (4516) can assume a first state in which it clamps the ball joint (452) while at the same time the socket within the second support arm (4536) can assume a second state in which it releases the clamping of the ball joint (452), and vice versa. Additionally, it is possible for both the socket in the first support arm (4516) and the socket in the second support arm (4536) to have a state of clamping or releasing the ball joint (452).

[0300] The clamping or unclamping of the ball joint (452) by the sockets in the first support arm (4516) and the second support arm (4536) can be achieved by switches (4516a, 4536a) provided in the first support arm (4516) and the second support arm (4536). In one embodiment, the surgeon can release the clamping by pressing the switch (4516a) provided in the first support arm (4516). Alternatively, the surgeon can release the clamping by operating the switch (4536a) provided in the second support arm (4536). The surgeon can also release the clamping on both sides by operating the switches (4516a, 4536a) provided in both support arms (4516, 4536). In one embodiment, pressing the switch releases the clamping to reproduce the joint motion, and returning the switch causes the internal sockets of the first support arm (4516) and the second support arm (4536) to clamp the ball-joint (452).

[0301] In an additional embodiment, the constraint of an adjacent joint may be released by pressing a switch (4516a) provided on the first supporting arm (4516). That is, when the surgeon controls the switch (4516a) provided on the first supporting arm (4516), the rotation constraint of the ball joint (452) by the first supporting arm (4516) is released, and at the same time, the constraint of the second joint (434) of the connecting joint may be released. This can be understood as releasing the constraint of the joint connected to the most distal arm corresponding to the third arm of the connecting joint (43). Moving the socket forward and backward or up and down by operating the switch can be achieved through a fluid pressure device or a hydraulic actuator, and can also be achieved electrically. A known, conventional method for moving the socket in the robot arm forward and down or forward and down by operating the switch can be used.

[0302] In the above embodiments, the joint movement of the first support member (451) and the second support member (453) has been described with the leg joint (452) being a ball-joint, but the leg joint (452) may be another joint that performs three degrees of freedom movement. The leg joint (452) and the connecting joint (43) may be another joint structure that allows the first support member (451) and the second support member (453) to have six or more degrees of freedom. Other joint structures, such as the joint structure disclosed in US 6,436,107, may be used.

[0303] Referring back to FIG. 13, the leg positioner (40) may include a constraint control element (47). The constraint control element (47) may constrain or release the joint movement of the connecting joint (43). By the surgeon controlling the constraint control element (47), the connecting joint (43) may be switched from a first state in which rotation of the joint between the arms in the connecting joint is impossible to a second state in which joint movement of the connecting joint is possible. The constraint control element (47) may be a pedal, and when the surgeon presses the pedal, an electrical signal is transmitted to the connecting joint (43), thereby releasing the rotational constraint of the joint (432, 434), and when the surgeon returns the pedal to its original state, the rotation of the joint (432, 434) may be constrained again.

[0304] Referring to FIG. 15, the leg positioner (40) may further include a gravity compensation mechanism (48). The gravity compensation mechanism (48) may be configured to absorb the impact caused by the weight of the patient's legs. The gravity compensation mechanism (48) may be applied to the gravity compensation mechanism disclosed in US 8,794,099 or the gravity compensation mechanism disclosed in US 2013 / 0180353.

[0305] Referring again to FIGS. 16 and 19, the first holder (4513) and the second holder (4533) may include sensors (4513a, 4533a). The sensors (4513a, 4533a) are provided in the first holder (4513) and the second holder (4533), respectively, and may sense the positions of the first holder (4513) and the second holder (4533), whether the patient's legs are supported, and the angle formed by the first holder (4513) and the second holder (4533). The sensors (4513a, 4533a) may include at least one of a position sensor, a tilt sensor, and a detection means.

[0306] Among the sensors (4513a, 4533a), the position sensor is provided to sense the relative positional relationship between the first stand (4513) and the second stand (4533) and the bed (10), the plate (33), or the reference point (O) of the two-dimensional or three-dimensional coordinates defined in the operating room. When a point on the operating table (11) or a point in the operating room is set as the reference point (O), the position sensor can detect the distance to the operating table, the bed, or the plate, or recognize the position that can be expressed as the two-dimensional or three-dimensional coordinates of the first stand (4513) and the second stand (4533). That is, in one embodiment, when the width direction of the operating table (11) is set to the x-axis, the length direction to the y-axis, and the height direction to the z-axis, the position sensor recognizes the three-dimensional positions of the first stand (4513) and the second stand (4533), and displays them on the surgical terminal (60) described later.

[0307] Among the sensors (4513a, 4533a), the pressure sensor is a sensor that detects whether the patient's body is in contact with one surface of the stand. By detecting the patient's body contact with the pressure sensor, it is possible to determine whether the patient's body is supported.

[0308] Among the sensors (4513a, 4533a), the tilt sensor can sense the angle at which the stand is tilted. The tilt sensor can sense the tilt of the stand (4511, 4513), including the tilt of the stand (4511, 4513) in the extended direction and the tilt in the direction perpendicular to the extended direction. Accordingly, the sensors (4513a, 4533a) can transmit data on the position and tilt of the stand and data on contact with the patient's body to the control system (70).

[0309] In one embodiment, such as FIG. 19, the leg positioner (40) may further include a plantar support portion (46). The plantar support portion (46) is configured to support the sole of the foot of the patient's lower body, and may include an extension portion (461), a joint portion (462), and a support portion (463).

[0310] The above extension portion (461) may extend to one side from the third arm (435) of the connecting joint. It is preferable that the extension portion (461) extends in the direction in which the first support arm (4511) is provided. The extension portion (461) is extended to a predetermined length so that the patient's calf can be placed on one side of the first support arm (4513) and the plantar portion can touch the support portion (463) described later.

[0311] The above joint portion (462) is provided to move the support portion (463) in response to the patient's ankle movement at one end of the extension portion (461). The joint portion (462) can implement a two-degree-of-freedom rotation as illustrated. The 46x-directional rotation can be implemented to support the plantar surface along the flexion and extension of the ankle, and the 46y-directional rotation can be implemented to respond to the direction of the foot that changes according to the rotation of the patient's calf resting on the first support portion (451). The above joint portion (462) can use a conventional joint structure as described above to implement the two-degree-of-freedom rotation.

[0312] The above-mentioned support portion (463) supports the patient's plantar portion and may be a plate that extends a predetermined length corresponding to the length of the patient's plantar portion from one side of the extension portion. By the rotation of the joint portion (462), the support portion (463) connected to the joint portion (462) can rotate with respect to the extension portion (461). A fixing medium, such as a strap, may be prepared to fix the patient's plantar portion to the support portion (463).

[0313] In one embodiment, the connected length of the third arm (435) and the first support arm (4511) can be changed by receiving at least a portion of the third arm into the first support arm (4511) or by receiving at least a portion of the first support arm (4511) into the third arm (435). Alternatively, the length from one end or a portion of the first support member (4513) to the plantar support member (46) can be changed. In artificial knee joint or artificial ankle joint surgery, the leg length can be changed depending on the insertion of the artificial joint, and the range can be from several millimeters to several centimeters. In order to achieve support of the plantar portion corresponding to the change in the patient's leg length, the distance of the plantar support member (46) with respect to the first support member (4513) can be adjusted.

[0314] In one embodiment not shown, the plantar support portion (46) may extend from the first support portion (451). In this embodiment, the extension portion (461) of the plantar support portion (46) may extend from the first support portion arm (4511) in a direction parallel to the first support portion arm (4511) or at a direction having a predetermined angle that is not perpendicular to the first support portion arm (4511). To accommodate changes in leg length before and after surgery, the length from one end of the extension portion (461) to the joint portion (462) may be adjusted. The extension portion (461) may be provided so that a portion thereof can be accommodated within the first support portion arm (4511), or the position of the joint portion (462) on the extension portion (461) may be adjusted so that the length adjustment from one end of the extension portion (461) to the joint portion (462) may be achieved.

[0315] In view of the change in leg length as described above, the position of the second support member (4533) on the second support member (453) may also be provided to be changed. Since the second support member (453) has a free end, the length of the second support member arm (4531) does not change, and the position of the second support member (4533) on the second support member arm (4531) can be adjusted. The position of the second support member (4533) can be adjusted by a predetermined length in the direction in which the second support member arm (4531) extends. The change in the position of the second support member (4533) can be measured by a sensor (4533a) and transmitted through a control system (70).

[0316] Referring to Fig. 20, the patient's support status by the leg positioner (40) can be displayed on the surgical terminal (60) (S31). The positions and inclinations of the first stand (4513) and the second stand (4533) recognized through sensors (4513a, 4533a) can be expressed as stand objects (61451, 61453) on the monitor (61). When the patient's physical contact is transmitted through the detection means of each stand, a patient object can be displayed on the monitor (61). The displayed patient object can be displayed through information such as the patient's height and body size transmitted through the EMR server, or through information measured by a photographing device provided in the operating room, and the posture taken by the patient can be displayed through surgical information entered into the EMR server or database or information measured by the photographing device.

[0317] First, the posture that the patient (P) should assume on the bed or plate can be guided from the patient's surgical information transmitted from the EMR server or stored in the database (S311). The patient's body size can be extracted from the patient's information, and even if the patient's body size is not provided, the position and inclination of the leg positioner's holder can be guided to contact or support the patient's body according to the posture that the patient should assume (S312). Under the control of the surgeon or the control system, the holders (4513, 4533) of the leg positioner can be moved within a predetermined range to support a portion of the patient's leg, and then at least temporarily fixed (S313).

[0318] During the movement of the leg positioner, the position, inclination, and distance from the bed or plate of the holder can be sensed by the sensors of the holder (4513, 4533). Depending on the positional relationship between the sensed first and second holders and the bed or plate, the position and / or movement of the holder or the leg positioner can be displayed on the monitor (61) (S314). Contact between the patient's body and the holder can be detected by the detection means (S315). Depending on the position of the leg positioner or holder and the guided posture of the patient, the body part of the patient supported by the post can be identified. Whether the holder and the patient's body are in contact or supported can be displayed on the monitor (61) (S316). At this time, the movement of the patient's lower body sensed by the leg positioner (40) or the holder (4513, 4533) can be displayed. As for the exercise of the patient's lower body, hip joint exercise including hip flexion, hip extension, hip abduction, hip adduction, internal and external rotation within a certain angle, and knee joint exercise including knee flexion and knee extension can be performed, and the angle of the exercise can be displayed as in Fig. 20.

[0319] Referring to FIGS. 21 to 28, a retractor holder (50) as an auxiliary device can support or grip a retractor that fixes a surgical site, thereby minimizing the amount of assistant personnel required to fix the surgical site while spreading it. The retractor holder (50) can be fixed on the opposite side of the surgeon with respect to the bed (10) so as not to obstruct the surgeon's view. The retractor holder (50) can be easily operated by the surgeon or a minimum of assistant personnel through two or more holders that are individually adjusted to the endpoints. The retractor holder (50) includes a base (51), a connecting joint (53), a branch portion (54), and a grip portion (55). The retractor holder (50) can be easily positioned with a passive mechanism, and is compatible with a commonly used retractor (R).

[0320] The above base (51) is a lower structure of the retractor holder, and can accommodate a connecting joint (53), a branch portion (54), and a grip portion (55) therein for easy storage, and can be attached to and detached from the bed (10). The base (51) can be attached, fixed, or fastened to the operating table (11) or the plate (33) by the attachment portion (511). In order for the connecting joint (53) and the grip portion (55) not to obstruct the surgeon's view, the base (51) can be attached to the opposite side of the surgeon with respect to the bed. A display portion (513) for indicating the attachment status or power of the base is provided on one side of the base (51), and a means for indicating, such as an LED, can be used. A connecting element (515) is provided on one side of the base (51), and the connecting joint (53) can extend from the connecting element (515) toward the surgical site. The connecting element (515) is provided to be rotatable with respect to a point within the base, so that the connecting joint can rotate, including pivoting, with respect to the base (51) through the connecting element.

[0321] Referring to Fig. 22, the base (51) can be more easily accommodated in the terminal (60) of the surgery described later by accommodating the connecting joint (53), the branch portion (54), and the grip portion extending from the base (51) in the space formed between the opposing bodies. The surgeon or an assistant can fold the connecting joint (53) and rotate the connecting element (515) so that the connecting joint faces the space formed between the opposing bodies.

[0322] In another embodiment, the connecting joint (53), the branch portion (54) and the grip portion (55) may not be accommodated inside the base (51), and the absence of an accommodation space formed inside the base (51) is not excluded from the scope of the right.

[0323] The above-described connecting joint (53) may be a part of a robot arm having at least one joint. The movement of the connecting joint (53) may be controlled manually or automatically, and depending on the control, the joint may be constrained to fix the connecting joint or released to move the connecting joint. The connecting joint (53) may include a first arm (531), a first joint (532), and a second arm (533), and may further include additional joints and arms as needed.

[0324] The first arm (531) can have one end connected to a connecting element (515) and the other end connected to a first joint (532). The first joint (532) mediates joint movement between the first arm (531) and the second arm (533), and the second arm (533) has one end connected to the first joint (532) and the other end connected to a branch portion (54).

[0325] The first joint (532) can be controlled to constrain rotation so that each arm (531, 433) does not rotate, or can be released from the constraint so that each arm (531, 533) can rotate around the first joint (532).

[0326] In one embodiment, the first joint (532) can rotate with three degrees of freedom (DOF 3). To this end, the first joint (532) may include a first rotating body (5321) that rotates about an axis in the extension direction of the first arm at the end side of the first arm (531), a first hinge (5323) that is driven in conjunction with the first rotating body and connected to a second rotating body (5325), a second rotating body (5325) that rotates about another axis that is perpendicular to the rotation axis of the first rotating body, and a second hinge (5327) that rotates about another axis that is perpendicular to the rotation axes of the second rotating body and the first rotating body. The second rotating body (5325) may include a first part (5325a) that is connected to the first hinge (5323), and a second part (5325b) that is connected to the second hinge (5327). A second arm (533) may be extended from the end of the second hinge (5327). In addition to the illustrated embodiment, other joint configurations capable of implementing three degrees of freedom rotation may be used.

[0327] At least one of the first and second arms (531, 533) can be lengthened or shortened under control. As shown in Fig. 22, the second arm (533) can include a first rod (5331) and a second rod (5333) for length adjustment, and one of the first rod (5331) and the second rod (5333) can be partially accommodated in the other under control, thereby adjusting the length.

[0328] In one embodiment, the second arm (533) may be equipped with a switch (533a), and depending on the operation of the switch (533a), the first joint (532) and the connecting element (515) may be constrained or released from the constraints of the first joint (532) and the connecting element (515). For the connecting joint (53) in a state where the three degrees of freedom rotation is constrained and the connecting element (515) in a state where the hinge rotation is constrained, the surgeon or an assistant can release the constraints by pressing the switch (533a). While the switch (533a) is pressed, the first arm (531) and the second arm (533) can be set to a structure suitable for the patient's posture. Releasing the restraint of the first joint (532) and the connecting element (515) by pressing the switch (533a) can be achieved by a conventional electrical or hydraulic or pneumatic method, or by a method for releasing restraint of other joints disclosed herein.

[0329] In other embodiments, the first joint can rotate with different degrees of freedom (DOF).

[0330] In another embodiment, a multi-joint robot arm having two or more joints may be used as the connecting joint (53). For rotation of each joint, a conventional joint mechanism (not shown) may be used. Additionally, a multi-joint arm such as that disclosed in US Pat. No. 8,376,934 may be used.

[0331] Referring to Fig. 23, a branch portion (54) may be provided at the end of the connecting joint (53) or the end side of the second rod (5333) of the second arm. Two or more grip portions (55) are connected to the branch portion (54), and the grip portions (55) can rotate or pivot about a portion of the branch portion. The branch portion (54) includes a rotating body (541) and a connecting element (543).

[0332] The above-mentioned rotating body (541) is configured to rotate about an axis in the direction in which the end of the connecting joint (53) extends. In one embodiment in which the second arm is the end of the connecting joint (53), the rotating body (541) can rotate about an axis in the direction in which the second arm extends. As the rotating body (541) rotates, the connecting element (543) and the grip portion (55) arranged at one end of the rotating body can rotate in the axial direction in which the connecting joint extends. The connecting element (543) is configured to connect the branch portion (54) and the grip portion (55), and accommodates a rotating element between the opposingly extending connecting elements so that the grip portion (55) can perform a rotational motion or a pivotal motion about the connecting element (543).

[0333] As illustrated in FIG. 23, when the gripping member performs a pivotal movement with one degree of freedom about the connecting element (543), a pivot pin penetrating the connecting element (543) and the rotating element (551) for the pivotal movement can be accommodated. The gripping member can also perform a rotational movement with two or more degrees of freedom about the connecting element (543). For example, as illustrated in FIG. 24, a recess is formed in the connecting element (543) that can restrain a rotating element (551) accommodated therein, and three or more rotating elements (551) provided as ball joints can be accommodated in the recess.

[0334] Referring to FIGS. 23 and 25, the gripping portion (55) is provided to grip a retractor (R) that spreads the surgical site (I). The gripping portion (55) may be branched from a branching portion (54) in two or more directions to perform a pivotal motion. When the retractors (R) are arranged so that three or more retractors spread the surgical site (I) in three or more directions on both sides of the surgical site (I), three or more gripping portions (55) may be applied. The gripping portion (55) may include a rotating element (551), a rotating arm (552), a joint portion (553), a holding arm (554), and a holder (555).

[0335] The above-mentioned rotation element (551) is provided so as to be able to rotate around the connecting element (543) of the branch section. The rotation element (551) can pivot with respect to the connecting element (543) or be provided with a ball joint to perform rotational movement with two or more degrees of freedom.

[0336] The above-described rotary arm (552) is an arm extending from the rotary element (551), and one end may be connected to the rotary element (551) and the other end may be connected to the joint portion (553). The rotary arm (552) may have an actuator (5521) and a restraining element (5523) driven by a switch (554a) provided on the holding arm (554) therein. By the operation of the switch (554a), a driving line (554b) connected to the switch (554a) may drive the actuator (5521) and the restraining element (5523) to release the restraint of the rotary element (551).

[0337] The joint part (553) may be provided to relatively freely move the holding arm (554) and the holder (555) provided at the end thereof so as to be applicable to various patient postures and physical characteristics. The joint part (553) may be provided at the end side of the rotation arm (552) and may implement two-degree-of-freedom or three-degree-of-freedom rotation. The joint part (553) may use a ball-joint or a conventional joint structure as described above to implement two-degree-of-freedom or three-degree-of-freedom rotation. As illustrated in FIG. 26, the joint part (553) may accommodate therein a drive line (554b) extending from the holding arm (554) side to the rotation arm (552) side. The joint part (553) can be rotated by a restraining element (5543) provided on the side of the holding arm (554), and the restraint can be released by pressing a switch (554a) placed on the holding arm (554).

[0338] The holding arm (554) extends from the joint portion (553) and has a holder (555) at its endpoint. The holding arm (554) can be controlled by a switch (554a). The surgeon can release the retractor hold of the holder (555) by pressing the switch (554a) located at a relatively distal side of the retractor holder (50), or release the restraints of the joint portion (553) and the rotation portion (551), and then move the grip portion (555) in a direction convenient for the surgery. Thereafter, the switch can be returned to restrain the joint portion (553) and the rotation portion (551) again, and the holder (555) can hold the retractor (R). The release of the holder (555) and the release of the restraints of the joint portion (553) and the rotation portion (551) can be performed simultaneously by pressing the switch (554a).

[0339] The holding arm (554) includes an actuator (5541), a restraining element (5543), and a holding control element (5545) for controlling holding of the holder (555) inside, and may be provided with a switch (554a) at least partially exposed to the outside of the holding arm (554). The holding arm (554) may be provided with an actuator (5541) and a restraining element (5543) for restraining or releasing the joint portion (553) toward the joint portion (553) based on the portion where the switch (554a) is provided inside, and may be provided with a holding control element (5545) for releasing or tightening the holder (555) toward the holder (555).

[0340] Additionally, a drive line (554b) connected from the switch (554a) can extend from the holding arm (554) through the joint portion (553) into the inside of the rotary arm (552). By pressing the switch (554a), the surgeon can release the constraints on the rotary portion (551) and the joint portion (553). This allows the rotary arm (552) to be rotated relative to the rotary portion (551), and the holding arm (554) to be rotated relative to the joint portion (553). At the same time, the holder (555) can be released by pressing the switch. Afterwards, the switch (554a) can be returned to its original state to restrain the rotary portion (551) and the joint portion (553) again. Additionally, the actuator (5541), restraint element (5543) and holding control element (5545) arranged within the holding arm (554) may be connected to the switch (554a) via a drive line or may be mechanically connected.

[0341] In another embodiment not shown, the switch (554a) may be provided on the rotary arm (552). In this case, an actuator and a restraining element that control the restraint of the rotary element inside the rotary arm (552) may be driven by the switch, and an actuator and a restraining element that control the restraint of the joint portion that are provided inside the rotary arm (552) or the holding arm (554) may be driven by the switch. The driving line (554b) may extend from the rotary arm (552) side to the holding arm (554) side. The holding control element (5545) controls the holding of the holder (555) by the drive line (554b), so that by pressing the switch (554a), the restraint of the rotating element (551) and the joint part (553) and the holding of the holder (555) can be released, and by restoring the switch (554a), the rotating element (551) and the joint part (553) can be restrained again, and the holder (555) can hold the object to be gripped.

[0342] The length of the rotary arm (552) or the holding arm (554) can be adjusted by having a portion thereof at least temporarily accommodated in another portion, or by having a portion thereof formed of a material having elasticity. Since the rotary arm (552) can rotate or pivot about the branch portion (54) about the rotation element (551), and the holding arm (554) can rotate or pivot about the rotary arm (552) about the joint element (553), each gripping portion (55) branched from the branch portion (54) can individually adjust the angle or length at which it grips the gripping object.

[0343] Referring to FIGS. 25 to 28, the holder (555) is provided to hold a retractor (R), which is a gripping object. The holder (555) can control the holding and release of the retractor (R) by a holding control element (5545) within a holding arm (554). The holder (555) includes a stationary fixed element (5551) and a holding element (5553) having relative movement.

[0344] The fixing element (5551) can serve as a reference for holding the retractor while stationary on the holder (555). The fixing element (5551) can serve as a reference in the positional relationship with the retractor so that the retractor does not deviate from the fixed position during the holding process. The fixing element (5551) extends from the inner side of the holding arm (554) to one side, and at least a portion of the extended end can be bent and extended. The holding element (5553) has a configuration that moves relative to the fixing element (5551) to actually hold the retractor, and one or two holding elements can be provided. The holding element (5553) can hold the retractor from both sides, or can hold the retractor by moving from one side while having one side of the retractor facing the fixing element.

[0345] In the top-holding illustrated in Fig. 27, the retractor is placed in the center of the fixed element (5551), and the holding elements (5553) can be moved on both sides to control holding and release. In the side-holding illustrated in Fig. 28, the retractor (R) can be held by bringing one side of the retractor into contact with one side of the fixed element (5551), and then moving the holding element (5553) in the opposite direction.

[0346] The holder (555) may have a position sensor. The position sensor is provided to sense the relative positional relationship between the holder (555) and a reference point (O) of a two-dimensional or three-dimensional coordinate defined in the bed (10) or the operating room. When a point on the operating table (11) or a point in the operating room is set as the reference point (O), the position sensor can detect the distance between the holder (555) and the operating table or bed, or recognize a position that can be expressed in two-dimensional or three-dimensional coordinates of the holder. That is, in one embodiment, when the width direction of the operating table (11) is set as the x-axis, the length direction as the y-axis, and the height direction as the z-axis, the position sensor can recognize the three-dimensional position of the post holder and display the position of the holder (555) on the monitor (61) before or during surgery.

[0347] The above holder (555) has a detection means and can recognize when it holds a retractor, which is a target object, and display whether the retractor is held on the surgical terminal (60).

[0348] Referring to FIGS. 29 to 35, a surgical terminal (60) and a control system (70) are described. The surgical terminal (60) may be a console, device, or control mechanism used by a surgeon (S) when the surgeon (S) performs a surgical operation with the assistance of a minimum of assistant personnel. The surgical terminal (60) may display, on the surgeon (S) side, at least one image or other information about the surgical site, in addition to the positions of auxiliary devices including a body positioner (30), a leg positioner (40), and a retractor holder (50), the patient's posture recognized by the auxiliary device or recognized by a photographing device, and patient information transmitted from an EMR server, etc. In addition, control of the auxiliary devices may be input from the surgeon (S) side through the surgical terminal (60) and transmitted to the auxiliary devices including the body positioner (30), the leg positioner (40), and the retractor holder (50) through the control system (70). The surgical terminal (60) may include a monitor (61), a controller (63), a storage unit (65), and a driving unit (67).

[0349] The monitor (61) displays other information including patient information. The information displayed on the monitor (61) includes the positions of auxiliary devices including the body positioner (30), the leg positioner (40), and the retractor holder (50), the patient's posture recognized by the auxiliary devices or recognized by the photographing device, patient information transmitted from the EMR server, and at least one image or other information about the surgical site. An interface for controlling the patient's posture may be displayed on the monitor (61). The patient's information may be transmitted and displayed automatically and / or by input from the EMR server (81) or database (83). The monitor (61) may be provided with a screen or interface as illustrated in FIGS. 30 to 33, and may also be provided with another interface not illustrated.

[0350] The position information of auxiliary devices including a body positioner, a leg positioner, a retractor holder, and a retractor can be provided through the above monitor (61), and the relative positional relationship with the bed (10) or the operating table (11), the patient's body sensed by each auxiliary device, and the patient's posture can be displayed on the monitor (61). As feedback thereon, the surgeon can move each auxiliary device by operating the controller (63).

[0351] Multiple tabs may be displayed on the monitor to display patient information, patient position information, and surgical procedures. The surgeon can activate each tab (611 to 614) by tapping or clicking on the monitor.

[0352] Referring to Fig. 30, surgery information including patient information may be displayed on the monitor (61). The surgery information including patient information may be transmitted from the EMR server (81) or database (83). When the surgeon (S) activates the information tab (611) on the monitor, at least one of the surgery schedule and type, the number of people performing the surgery, and patient information may be displayed on one side as an interface (UI) displayed on the monitor (611a). An image of the patient's body including the surgery site may be displayed on the other side (611b). The image of the surgery site may include an X-ray, CT, MRI, etc.

[0353] Referring to FIG. 31, the surgeon can activate the auxiliary device installation tab (612) on the monitor to display patient posture guides and the status of auxiliary devices for the surgery according to the surgical process on the monitor. The patient's posture required for the surgery can be guided for each surgical process according to the surgical information transmitted from the EMR server (81) or database (83) (612a). The posture guide display portion (612a) can display the next or previous posture by swiping in at least one direction or clicking a portion to display the patient posture according to the process. On one side, whether an auxiliary device to assist the surgery is connected can be displayed. In one embodiment, the data connection of at least one of the retractor holder (50), the leg positioner (40), and the body positioner (30) and whether it is installed on the bed (10) are displayed.

[0354] Referring to FIG. 32, the surgeon can activate the posture tab (613) on the monitor to guide the patient's required posture on the monitor, and display the patient's body recognized by an auxiliary device or a photographing device along with the guided patient posture. Through the data displayed on the posture tab (613), the surgeon can monitor the surgical process, receive step-by-step information on the surgery, and obtain information such as the angles of each body segment when the patient's posture changes. On one side of the monitor (61), the patient's posture to be taken according to the surgical process, i.e., the posture sequence, can be displayed (613a). For each process, the posture guide part (613a) can display body segments along with the guided posture (613aa, 613ab). The segments can be indicated by dots for the hip joint, knee, and ankle, and lines for the femur and tibia. On the other side, the patient's body can be displayed for the currently performed surgical process or the selected surgical process (613b). The patient body display portion (613b) may display the guided or recognized patient posture (613ba) and the patient's body segments (613bb). The patient's body displayed as segments may be expressed as a movement trajectory so as to track the posture change according to the surgical procedure and monitor the angle change. In addition, the patient's body displayed as segments may also display the posture change from the patient's current posture recognized by the auxiliary device to the guided patient posture. A portion of the monitor screen may display the rotation and angle for each segment with respect to a preset reference according to the guided posture or the recognized patient posture. The surgeon may refer to the patient's body displayed on the monitor (61) and the guided patient posture and operate the controller (63) to align the patient's body with the guided patient posture.

[0355] Referring to Fig. 33, the surgeon can check the condition of the patient after the surgery by activating the measurement tab (614). The surgeon can check the ROM (range of motion) of the surgical site or the patient's body. In addition, the surgical site before and after the surgery can be compared through X-ray, CT, and MRI images. On one side of the measurement tab (614), the ROM of the patient's joints can be checked to check whether the patient's body moves normally (614a). The surgeon can adjust the patient's body manually with an assistive device or with an assistant, and measure the ROM of the patient's body through a sensor or photographing device equipped in the assistive device and check the allowable range of the ROM. The user can swipe the ROM checking part (614a) in at least one direction or click a part to display another rotation or ROM check of another body part. One side of the measurement tab (614) may display an image (614b) of the patient's body including the surgical site before surgery, and the other side may display an image (614c) of the patient's body including the surgical site after surgery. The image of the patient's body may be an image captured by X-ray, CT, MRI, or another method capable of confirming an implant inserted into the patient's body.

[0356] In addition to the above, other methods of displaying surgical information and other information including patient information sensed by one or more auxiliary devices, transmitted from an EMR server (81) or database (83) can be displayed to the surgeon through the monitor (61).

[0357] Referring again to FIG. 29, the controller (63) is provided to input control of the surgeon (S) to the control system (70) while the surgeon (S) is performing the surgery. The controller (63) may include one or more input devices, including a joystick, a keyboard, an operation controller, a voice recognition device, a foot pedal, and a hand grip, to achieve the control input of the surgeon (S). The surgeon (S) can move the auxiliary devices (30, 40, 50) and the body of the patient that is at least temporarily supported or fixed to the auxiliary devices by manipulating the controller (63). Through the controller (63), the movements of the body positioner (30) and the leg positioner (40) can be controlled, and the movement of the retractor holder (50) can be controlled in six axes.

[0358] The above storage unit (65) is configured to store at least a portion of the auxiliary device inside. In one embodiment, the storage unit (65) may be provided with a storage space above the driving unit (67). The post (31) of the body positioner and the retractor holder (50) may be stored in the storage unit (65).

[0359] The above driving unit (67) may have at least two wheels and a body connecting the wheels so that it can move within the operating room. If the driving unit is located near the surgeon (S), the wheels may be fixed so that the surgeon (S) can easily observe and control them.

[0360] Referring to FIGS. 34 and 35, the control system (70) is provided to transmit data to the surgical terminal (60) and output it, or to receive input control data and transmit it to auxiliary devices. The control system (70) can output data to the monitor (61) of the surgical terminal in a format including text, images, videos, and signals, and can calculate the control input input from the controller (63) and output it to auxiliary devices including the body positioner (30), the leg positioner (40), and the retractor holder (50).

[0361] The control system (70) may receive data from a plurality of different configurations or provide data to different configurations. Typically, the control system (70) may receive data including patient information, patient body images including surgical sites, or surgical information from an EMR server (81) or a database (83), or provide data such as surgical results and the patient's condition after surgery. The control system (70) may receive data sensed from an auxiliary device and transmit data regarding control output to the auxiliary device. In addition, the control system (70) may transmit data regarding data output to the surgical terminal (60) and receive control input through the surgeon's controller (63). The control system (70) may individually or integratedly operate various data, including data sensed by an auxiliary device, data regarding surgical information, and data regarding the control of an auxiliary device input from the surgeon. The above control system (70) may include a processor (71), an information input unit (72), a sensing operation unit (73), a guide operation unit (74), a data synthesis unit (75), and a control operation unit (77).

[0362] The above processor (71) is a controller that performs the role of a CPU and controls input / output and internal operations related to each component of a device connected to the processor (71). The processor (71) transmits various commands and signals to connected components including an information input unit (72), a sensing operation unit (73), a guide operation unit (74), a data synthesis unit (75), a control operation unit (77), a user terminal (60), and auxiliary devices, thereby enabling each component to perform a function including surgical assistance according to the present invention.

[0363] In one embodiment, the data may be transmitted and implemented according to Health Level Seven or HL7 standards. The data may be processed according to, for example, Version 2.x messaging standards (Interoperability Specifications for Health and Medical Transactions), Version 3 messaging standards (Interoperability Specifications for Health and Medical Transactions), Clinical Document Architecture (CDA, a clinical document exchange model based on HL7 Version 3), Continuity of Care Document (CCD, a specification for the exchange of medical summaries based on CDA), Structured Product Labeling (SPL, information published with pharmaceutical products based on HL7 Version 3), Clinical Context Object Workgroup (CCOW), or other HL7 standards.

[0364] The above information input unit (72) may receive data including patient information and surgical information from another configuration including an EMR server (81) or a database (83). The database (83) may be a database stored within the control system (70). The received data may include information about the patient's condition, the patient's body size, disease, surgery required for the patient, surgical information, information about the number of surgeons performing the surgery, the duration of the surgery, images of the patient, etc.

[0365] The sensing operation unit (73) can calculate information sensed by one or more auxiliary devices. The sensing operation unit (73) can calculate the position of the bed (10) and / or each auxiliary device, the pressure exerted by the patient's body touching at least a portion of the auxiliary device, the inclination, rotation, movement, etc. of at least a portion of the auxiliary device. The sensing operation unit (73) can calculate the relative positional relationship or distance between the bed (10) or the operating table (11) and the auxiliary device by calculating the sensed data of the bed sensor (17) and the sensors in the auxiliary device. The sensing operation unit (73) can derive the patient's posture by calculating the data sensed through the auxiliary device.

[0366] The above guide calculation unit (74) can calculate data to guide the patient's posture. It can calculate patient information including the patient's body size, posture sequence required for surgery, sensing data sensed from auxiliary equipment, data on the patient's current posture calculated by the sensing calculation unit (73), etc. When guiding the patient's posture required for surgery, the guide calculation unit (74) can guide the position of the auxiliary devices so that the patient takes a posture suitable for the patient's body. The guide calculation unit (74) can guide the positions of auxiliary devices suitable for posture guidance and the positions of at least a part of the auxiliary devices through calculation, and when at least a part of each auxiliary device is in a first position so that the patient's body takes a first posture, it can guide the movement distance, direction, rotation angle, etc. to the second position so that the patient's body takes a second posture.

[0367] The above data synthesis unit (75) can determine the arrangement and display method of data displayed on the monitor (61) of the surgical terminal. The data synthesis unit (75) can overlap and synthesize the calculated text and image data and output them on the monitor (61). By the data synthesis unit (75), the data calculated by the sensing operation unit (73) and the guide operation unit (74) can be processed and displayed. In one embodiment, as displayed in the posture tab (613) of FIG. 32, the position of the patient's body in the first posture suitable for surgery guided by the guide operation unit (74) and the position of the current patient's body or segment calculated by the sensing operation unit (73) can be overlapped and displayed on the same screen. The data synthesis unit (75) can include an image determination module (751), a region determination module (753), and an overlap module (755).

[0368] Referring to FIG. 35, the image determination module (751) determines an image to be displayed on the monitor (61) from the calculated data. The image determination module (751) can determine whether to display the calculated data as a segment representing a part of the patient's body, a body image, an image such as a CT or MRI transmitted from an EMR server (81) or a database (83), or whether to output the data as text rather than as an image.

[0369] The above area determination module (753) is configured to determine in which area or tab on the monitor the text or image to be displayed is to be displayed, and can align or arrange the text and image so that the surgeon (S) can easily recognize the patient's posture and information about the surgery.

[0370] The overlap module (755) can overlap images based on the calculated data. In one embodiment, the overlap module (755) can overlap an image representing guide data for the first posture the patient's body should assume with an image representing the patient's current body position calculated based on the sensed data. This allows the surgeon to easily control the patient's body into a posture suitable for surgery.

[0371] The above control operation unit (77) calculates control inputs to the controller (63) and transmits them to auxiliary devices including the body positioner (30), the leg positioner (40), and the retractor holder (50). As described above, there may be various operating methods of the controller (63) operated by the surgeon, and the control operation unit (77) calculates control inputs transmitted through the controller (63) and transmits control outputs to the auxiliary devices so that each auxiliary device can move.

[0372] In one embodiment, the control operation unit (77) calculates the required movement distance, rotation angle, etc. from the relative positional relationship between the bed (10) and each auxiliary device, whether the patient's body contacts a part of the auxiliary device, and the guided posture of the patient, and controls the auxiliary devices without operating the controller (63). The control operation unit (77) can infer the required change in the position and angle of the auxiliary device from the data transmitted from the information input unit (72), the sensing operation unit (73), and the guide operation unit (74), and transmit an appropriate control output to each auxiliary device. That is, the control operation unit (77) can calculate the change in the auxiliary device necessary for the patient to assume the guided posture from data including patient information including the patient's body size, disease, and surgical schedule, surgical information, the relative positional relationship between the bed (10) and the auxiliary device sensed from one or more auxiliary devices, the patient's body position sensed from one or more auxiliary devices, and the posture guided from the surgical information, and transmit a control output for changing the position, angle, etc. of the auxiliary device to each auxiliary device.

[0373] The EMR server (81) stores information about patients. Information about patients admitted to the hospital, including their medical history, prescriptions, body size, and surgeries performed on them, is stored in the EMR server (81). Appropriate treatment prescribed to patients is recorded in the EMR server (81), and actions to be performed on patients can be recorded or stored accordingly. Data including information about patients in the operating room and surgery information can be transmitted from the EMR server (81) to the control system (70).

[0374] The database (83) may store information about patients, surgery, and components of the surgical assistance robotic system (1), such as those stored in the EMR server. Data including information about patients in the operating room, surgery, and auxiliary devices may be transmitted to the control system (70). The database (83) may also be provided within the control system (70).

[0375] In one embodiment, a posture control method (S4) for controlling a patient's posture according to surgical information, as illustrated in FIG. 36, may be performed by a surgical assistance robotic system (1). The posture control method (S4) may acquire a posture sequence according to a surgical procedure and guide an assistive device so that the patient can assume various postures according to the posture sequence. The posture control method (S4) may include a posture sequence information acquisition step (S41), a first posture control step (S42), and a second posture control step (S42).

[0376] First, in the posture sequence information acquisition step (S41), the surgical terminal (60) can acquire the patient's posture sequence information required for the surgery from the EMR server (81) or database (83) through the control system (70). In order to guide the surgery, the acquired posture sequence information can be displayed on the surgical terminal (60) side as an image or text. In one embodiment, a posture sequence according to the surgical process can be displayed on the posture guide part (613a) on one side of the posture tab (613) illustrated in FIG. 32, and body segments can be displayed together with the posture of the patient being guided (613aa, 613ab).

[0377] In the first posture control step (S42), at least one auxiliary device can be controlled to change or move the patient's body into a guided posture. The first posture control step (S42) can be achieved by control by the surgeon's controller (63), but the control of the auxiliary device can also be achieved automatically by the control operation unit (77). The first posture control step (S422) can include a first posture guide step (S421), an auxiliary device movement step (S422), a contact sensing step (S423), a position check step (S424), and an error guide step (S425).

[0378] The first posture guide step (S421) is a process of guiding the patient's posture required for the surgical procedure from the acquired posture sequence. The first posture that the patient (P) should assume on the bed or plate can be guided from the patient's surgical information transmitted from the EMR server or stored in the database. The patient's body size can be extracted from the patient's information, and even if the patient's body size is not provided, an auxiliary device can be guided to contact or support the patient's body according to the posture that the patient should assume. Depending on the guided patient's posture, the movement and rotation of the auxiliary device can be guided to allow the patient's body to assume the posture. Depending on the patient information including the patient's body size, the movement or change of the auxiliary device can be guided to suit the patient's body.

[0379] The auxiliary device movement step (S422) is a process of moving or changing the auxiliary device according to the guided patient's posture and the movement or change of the auxiliary device, and can be achieved by the control of the controller (63) of the surgeon or through control by the control operation unit (77). In this process, the movement or position of the auxiliary device is sensed by a sensor in the auxiliary device, and the relative positional relationship with the bed (10) can be calculated in the control system (70). The calculated position and / or movement of the auxiliary device can be displayed on the monitor (61) of the user terminal, and can be displayed in an appropriate tab and position as an appropriate image so that the surgeon can easily observe and judge.

[0380] The above contact sensing step (S423) may be a step of detecting contact between the patient's body and the assistive device using a sensing means. When the patient's body comes into contact with one surface of the assistive device, the contact is sensed by a pressure sensor or the like.

[0381] The above-described correct position check step (S424) is a process of checking whether a part of each auxiliary device is in the correct position so that the patient's body assumes a guided posture. Based on the relative positional relationship between the bed (10) and the auxiliary device calculated by the sensing operation unit (73) or measured by the sensor within the auxiliary device, and the presence or degree of contact or support of the patient's body measured by the detection means within the auxiliary device, the posture of the patient's body can be calculated. By comparing this with the position and angle of the auxiliary device guided in the first posture guide step (S421), it can be checked whether the auxiliary device has the correct position.

[0382] The above error guide step (S425) may cause an error between the first posture guided by external factors such as the patient's body weight and the inertia of each auxiliary device and the current posture of the patient. In this case, the guide calculation unit (74) may guide the movement distance, direction, rotation angle, etc. of at least a portion of each auxiliary device to a position that allows the patient's body to assume the correct posture.

[0383] After a certain degree of required actions are performed in the first position, a second position control step (S43) can be performed so that the patient assumes the next position among the position sequences required for the surgical procedure. In the second position control step (S43), the next position of the first position currently assumed by the patient among the position sequences of the surgical procedure is guided, and the auxiliary device movement step, contact sensing step, position check step, and error guide step described in the first position control step (S42) described above can be repeatedly performed.

[0384] The detailed description above is illustrative of the present invention. Furthermore, the above description illustrates and describes preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. In other words, changes or modifications are possible within the scope of the inventive concept disclosed in this specification, the scope equivalent to the written disclosure, and / or the scope of technology or knowledge in the art. The written embodiments illustrate the best possible state for implementing the technical idea of ​​the present invention, and various modifications required for specific application fields and uses of the present invention are also possible. Therefore, the detailed description of the invention above is not intended to limit the present invention to the disclosed embodiments. Furthermore, the appended claims should be construed to include other embodiments.

Claims

1. A robot device comprising a base that is provided to be movable, a connecting joint that is provided with a robot arm that extends from the base and has at least one joint, and a leg support that supports the body of a patient. A leg positioner characterized in that the leg support part includes a first support part and a second support part for supporting a part of a patient's body by placing it thereon, and a leg joint for mediating joint movement between the first support part and the second support part.

2. In the first paragraph, the base includes a moving part having at least two wheels and a body connecting the wheels, a fastening part that at least temporarily fixes the base to the bed, and a connecting element provided on the base. A leg positioner characterized in that the above connecting joint rotates around the connecting element.

3. In the first paragraph, the first support part includes a first support part arm extending to one side, a first holder for holding a part of the patient's body thereon on one side of the first support part arm, and a first handle formed on at least one side of the first support part arm or the first holder. A leg positioner characterized in that the second support part includes a second support part arm extending to one side, a second holder for placing a part of a patient's body thereon on one side of the second support part arm, and a second handle formed on at least one side of the second support part arm or the second holder.

4. A leg positioner according to claim 3, characterized in that the leg joint is provided as a ball-joint including a ball that is accommodated in a first support arm.

5. In the fourth paragraph, the leg support part operates the second support part formed on the end side of the leg positioner to release the constraint of the ball joint constrained to the first support part, thereby reproducing the joint movement of the leg positioner. A pneumatic device for introducing fluid into the first support arm or for discharging fluid from the inside of the first support arm, A leg positioner characterized in that a socket provided inside a first support arm is provided to clamp the ball by a fluid flowing into and out of the first support arm, thereby restricting the rotation of the ball, or to release the clamping of the ball, thereby allowing the ball to rotate.

6. In the fifth paragraph, the leg support part further includes a pneumatic control element that selectively allows fluid to flow into the first arm or allows fluid to flow out of the first arm. The above pneumatic control element is provided on the second support arm, and the pneumatic device includes an inlet pipe and an outlet pipe through which a fluid flows inside, The inlet pipe includes a first portion extending at least partially into the interior of the second support arm and having one end in contact with one side of the pneumatic control element, and a second portion extending from the other side of the pneumatic control element to the interior of the first support arm, A leg positioner characterized in that the above pneumatic control element selectively has a first state in which the first part and the second part are not in fluid communication and a second state in which the first part and the second part are in fluid communication.

7. In the 6th paragraph, the pneumatic control element is characterized in that, in the first state, at least a portion of the pneumatic control element fluidly connects the discharge line provided on one side of the hydraulic control element with the discharge pipe on the other side of the pneumatic control element.

8. In the 7th paragraph, the pneumatic control element includes a switch having a through-hole formed from one side to the other, a guide guiding movement of the switch, and an elastic body provided on one side of the movement direction of the switch. A leg positioner characterized in that the switch moves inside the guide in the first state to pressurize the elastic body and switch to the second state.

9. In the fourth paragraph, the first support arm and the second support arm form a ball-joint and a ball-socket joint on both sides, and the socket is provided so as to be able to move forward and backward or up and down within the first support arm and the second support arm. A leg positioner characterized in that a first state in which the rotation of the ball joint is restricted by clamping the ball joint by the forward / backward movement or the elevation / lowering of the socket, and a second state in which the ball joint is rotatable in relation to the first support arm or the second support arm by releasing the clamping of the ball joint by the socket are achieved.

10. In the third paragraph, the leg positioner, A leg positioner characterized by further comprising an extension portion extending from a connecting joint or a first support portion to one side, and a plantar support portion having a support portion extending from one side of the extension portion by a predetermined length and rotating with respect to the extension portion.

11. A leg positioner according to claim 10, characterized in that the length from one end or a part of the first support to the sole support portion changes.

12. In any one of paragraphs 3, 8, and 9, the first and second holders, A leg positioner comprising a sensor for sensing the positions of the first and second stands, whether the patient's legs are supported, and the angle formed by the first and second stands, wherein the sensor comprises a position sensor, an inclination sensor, and a detection means.

13. A leg positioner according to Article 12, a surgical terminal having a monitor displaying information on the leg positioner and the patient, and a control system transmitting and outputting data to the surgical terminal side and transmitting input control data. A surgical assistance robotic system characterized in that at least one of the positions and inclinations of the first and second stands recognized through the sensor is displayed on the monitor, and when the presence or absence of physical contact with the patient is transmitted through the detection means, the system displays a patient object on the monitor.

14. In paragraph 13, the control system guides the patient's posture to be taken to the surgical terminal side as text or image from the patient's surgical information transmitted or stored, Guide the position of the leg positioner's post to correspond to the guided posture, The above posts of the leg positioner are moved within a predetermined range to support a part of the patient's body, and then fixed at least temporarily. During the movement of the leg positioner, the position, inclination, and distance from the bed of the first and second stands are sensed by the sensors of the first and second stands, A surgical assistance robotic system characterized in that the position or movement of the first and second stands is displayed on a monitor according to the positional relationship between the first and second stands and the bed.

Images