Surgical robot system

Abstract

An embodiment of the present invention provides a surgical robot system comprising: a common port assembly including a first insertion path and a second insertion path that are spaced apart from each other; a first robot arm which supports and drives a first cannula guided along the first insertion path and a first surgical instrument arranged inside the first cannula; a second robot arm which supports and drives a second cannula guided along the second insertion path and a second surgical instrument arranged inside the second cannula; and a control unit which controls the first robot arm and the second robot arm, wherein the first surgical instrument is a flexible surgical instrument, and the second surgical instrument is a rigid surgical instrument.

Description

Surgical robot system

[0001] The present invention relates to a surgical robot system.

[0002] Recently, minimally invasive surgery using surgical robots has been gaining popularity, and research on single-port surgical systems is actively underway. Single-port surgery involves creating a single incision in the body wall of the patient and performing the surgery by inserting multiple surgical instruments and an endoscopic camera through that incision. This method has the advantage of reducing recovery time by minimizing the incision area.

[0003] However, in the case of single-port surgical systems, interference between instruments frequently occurs because multiple robotic arms and surgical instruments must be operated simultaneously through a single incision. In particular, flexible or articulated instruments provide high degrees of freedom, but their low structural rigidity leads to a problem of reduced grip or traction force at the distal end. On the other hand, rigid instruments have high rigidity and can exert high working force, but when multiple are inserted through a single port, there is a problem where the operating space is limited due to collisions between instruments.

[0004] Therefore, a new surgical robot system structure is required that can simultaneously secure sufficient traction and high dexterity while utilizing a narrow single passage.

[0005] The present invention aims to improve upon the aforementioned problems by providing a surgical robot system using curved surgical instruments and straight surgical instruments.

[0006] One embodiment of the present invention provides a surgical robot system comprising a common port assembly including a first insertion path and a second insertion path spaced apart from each other, a first robot arm that supports and drives a first cannula guided along the first insertion path and a first surgical instrument disposed inside the first cannula, a second robot arm that supports and drives a second cannula guided along the second insertion path and a second surgical instrument disposed inside the second cannula, and a control unit that controls the first robot arm and the second robot arm, wherein the first surgical instrument is a curved surgical instrument and the second surgical instrument is a straight surgical instrument.

[0007] According to an embodiment of the present invention, a surgical robot system is provided configured such that a curved surgical instrument and a straight surgical instrument can be simultaneously inserted into a patient's body cavity through a single port. Accordingly, the problems of insufficient traction and reduced tissue manipulation power that occurred when using only a curved surgical instrument in conventional single-port surgery can be improved, and at the same time, stable surgical operations can be performed by utilizing the high rigidity and propulsion power of the straight surgical instrument.

[0008] In addition, by forming the first and second insertion paths at different angles within the common port assembly, interference between surgical instruments within the body is minimized, and a wide working range and excellent degree of operational freedom can be secured in a confined space. This allows for more easy execution of delicate operations such as suturing, excision, and cutting in narrow surgical sites.

[0009] Furthermore, in some embodiments, the endoscopic camera is formed as a curved mechanism to prevent collisions between surgical instruments. By further including a third insertion path and a third robotic arm for the curved endoscopic camera, it becomes easier to secure a surgical field of view even in a single-port environment, and the placement and movement of surgical instruments can be performed more efficiently. In particular, since each insertion path is formed at a different angle to enable a triangular field of view configuration, precise field of view and depth perception are improved, and stable surgery can be performed while interference between instruments is suppressed.

[0010] Therefore, the surgical robot system according to the present invention provides the advantages of both curved and straight surgical instruments in a single-port surgical environment, thereby improving surgical efficiency compared to existing systems and contributing to reduced procedure time and improved patient recovery. In addition, by enabling the performance of complex surgeries while minimizing the skin incision area, it can reduce patient pain and scarring and increase ease of operation for medical staff.

[0011] However, these effects are exemplary and the effects of the present invention are not limited thereto.

[0012] FIG. 1 is a schematic diagram illustrating a surgical robot system according to one embodiment of the present invention.

[0013] Figure 2 is a diagram illustrating a state in which a part of the surgical robot system of Figure 1 is applied to a procedure.

[0014] Figure 3 is a drawing illustrating the state in which the first surgical instrument and the second surgical instrument are inserted into the body.

[0015] FIG. 4 is a drawing illustrating a surgical robot system according to another embodiment of the present invention.

[0016] One embodiment of the present invention provides a surgical robot system comprising a common port assembly including a first insertion path and a second insertion path spaced apart from each other, a first robot arm that supports and drives a first cannula guided along the first insertion path and a first surgical instrument disposed inside the first cannula, a second robot arm that supports and drives a second cannula guided along the second insertion path and a second surgical instrument disposed inside the second cannula, and a control unit that controls the first robot arm and the second robot arm, wherein the first surgical instrument is a curved surgical instrument and the second surgical instrument is a straight surgical instrument.

[0017] In one embodiment of the present invention, the first insertion path and the second insertion path may be formed at different angles.

[0018] In one embodiment of the present invention, the common port assembly may further include a support member disposed on the first insertion path.

[0019] In one embodiment of the present invention, the common port assembly may further include a third insertion path different from the first insertion path and the second insertion path.

[0020] In one embodiment of the present invention, a third robot arm that supports and drives a third cannula guided along the third insertion path and a third surgical instrument disposed inside the third cannula may be further included.

[0021] In one embodiment of the present invention, the first insertion path, the second insertion path, and the third insertion path may be formed at different angles.

[0022] In one embodiment of the present invention, the third surgical instrument may be an endoscope camera.

[0023] In one embodiment of the present invention, the first surgical instrument may be an articulating surgical instrument and the second surgical instrument may be a non-articulating surgical instrument.

[0024] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention.

[0025] The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms.

[0026] In the following embodiments, terms such as first, second, etc. are used not in a limiting sense, but for the purpose of distinguishing one component from another component.

[0027] In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0028] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0029] In the following embodiments, when a part such as a film, region, or component is described as being on or above another part, it includes not only cases where it is directly on top of another part, but also cases where another film, region, or component is interposed in between.

[0030] In the following embodiments, terms such as "connect" or "combine" do not necessarily imply a direct and / or fixed connection or combination of two members unless the context clearly indicates otherwise, nor do they exclude the interposition of another member between the two members.

[0031] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is illustrated.

[0032] In this specification, "regions / parts correspond to each other" means "overlaps with each other" and is not limited to having the same area and / or the same shape.

[0033] In the following embodiments, the x-axis, y-axis, and z-axis are not limited to three axes in an orthogonal coordinate system and can be interpreted in a broader sense that includes them. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but they may also refer to different directions that are not orthogonal to each other.

[0034] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0035] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0036] FIG. 1 is a schematic diagram illustrating a surgical robot system (1) according to one embodiment of the present invention.

[0037] Referring to FIG. 1, a surgical robot system (1) according to one embodiment of the present invention includes a master console (10) that controls a robot arm (200) to perform surgery according to the operation of a surgeon, and a slave robot (20) that performs actual surgical operations on a patient lying on an operating table.

[0038] The master console (10) may be equipped with a master robot that is directly operated by the surgeon and a display device (103) that displays surgical images and system operation status. The surgeon may remotely control the slave robot (20) using one or more handles (101) that can be operated by hand.

[0039] At this time, when the surgeon operates the handle (101), the corresponding operation signal is transmitted to the slave robot (20) via a wired or wireless communication network, and the robot arm (200) of the slave robot (20) is driven to perform various surgical operations such as positional movement, rotation, and cutting corresponding to the surgeon's hand movements.

[0040] The display device (103) displays images captured through an endoscope camera mounted on the end of the slave robot (20), and can display the status of surgical tools or the patient's vital signs in addition to images of the surgical site, and can be composed of one or more monitors so that surgical images, system status, and operator information can be individually displayed on each monitor.

[0041] The slave robot (20) is a device that performs actual surgery according to the operation of the master console (10) and includes a plurality of robot arms (200), and various surgical tools can be mounted on the ends of each robot arm (200). The robot arms (200) have a multi-degree-of-freedom structure similar to a human arm and wrist, allowing for fine manipulation of the surgical site.

[0042] The robot arm (200) may include a translational drive unit that moves a surgical tool back and forth, a rotary drive unit that rotates the surgical tool, and a drive unit that controls the opening, closing, or cutting of the surgical tool. These drive units may be operated electrically, mechanically, or pneumatically.

[0043] The master console (10) and the slave robot (20) are connected through a control unit. The control unit transmits operation signals generated from the master console (10) to the slave robot (20) in real time and transmits video and status information from the slave robot (20) back to the master console (10), thereby enabling the surgeon to remotely simulate their hand movements and perform precise surgery. Such a surgical robot system can be applied to various endoscope-based minimally invasive surgeries, such as laparoscopic, thoracoscopic, and arthroscopic surgeries, and has the advantage of reducing the burden of patient recovery by inserting surgical tools through small incisions.

[0044] FIG. 2 is a drawing showing a state in which a part of the surgical robot system of FIG. 1 is applied to a procedure, and FIG. 3 is a drawing for explaining a state in which a first surgical instrument and a second surgical instrument are inserted into the body.

[0045] Referring to FIGS. 2 and FIGS. 3, a surgical robot system (1) according to one embodiment of the present invention may include a common port assembly (300), a first robot arm (210), and a second robot arm (220).

[0046] The common port assembly (300) may include a first insertion path (301) and a second insertion path (302) spaced apart from each other. By providing a plurality of insertion paths, the common port assembly (300) enables a plurality of surgical tool shafts and endoscope shafts to be guided into the body simultaneously through a single incision. For example, the common port assembly (300) may include a first insertion path (301) and a second insertion path (302), and each insertion path may be composed of an individual channel or bore formed to allow a corresponding cannula to be inserted.

[0047] At this time, the first insertion path (301) and the second insertion path (302) are positioned apart from each other so that different surgical tools do not interfere with each other. In other words, the common port assembly (300) mounted on a single incision provides multiple physically separated passages (the first insertion path (301), the second insertion path (302), etc.) internally, thereby allowing different surgical tools to share the same incision of the covering tissue while having independent instrument insertion axes within the common port assembly (300). The common port assembly (300) enables the simultaneous use of multiple tools in single-port surgery.

[0048] The common port assembly (300) may include a first insertion path (301) and a second insertion path (302) spaced apart from each other, and each insertion path is formed through the thickness direction of the common port assembly (300). At this time, the first insertion path (301) and the second insertion path (302) may be formed at different angles.

[0049] For example, the first insertion path (301) and the second insertion path (302) may be set to have different inclinations relative to the upper surface of the common port assembly (300) so that the user can form a triangulated workspace for the target surgical site inside the body cavity. Thus, even if two surgical instruments are inserted into a single port, collision between the instruments is suppressed and the degree of freedom of operation within the body can be improved by moving and manipulating them along sufficiently separated paths within the body.

[0050] Additionally, the common port assembly (300) may further include a support member (310) outside or around the first insertion path (301). The support member (310) stably supports the first cannula (211) while the common port assembly (300) is inserted into the patient's body wall and helps to stably maintain the position and posture of the cannula (211) when the first surgical instrument (213) is manipulated inside the body.

[0051] The support member (310) can be formed from a material that provides a certain degree of flexibility, such as silicone, TPU (Thermoplastic Polyurethane), or medical elastomer, thereby allowing for fine angle adjustment and elastic deformation of the cannula (211), which can smoothly support delicate surgical movements.

[0052] According to this configuration, the common port assembly (300) can provide two or more insertion paths, and by ensuring that each insertion path is maintained at a certain interval and direction, it is possible to achieve independent operation of multiple surgical instruments through a single insertion part and minimize mutual interference.

[0053] Additionally, the common port assembly (300) is formed of medical silicone or a flexible polymer material so that when the cannula (211, 221) is tilted at various angles, the port body can follow it while elastically deforming, allowing for free manipulation of the surgical instrument (213, 223) and preventing pressure loss within the body cavity.

[0054] The first robot arm (210) is configured to support and drive a first cannula (211) guided along a first insertion path (301) and a first surgical instrument (213) placed inside it. The second robot arm (220) is configured to support and drive a second cannula (221) guided along a second insertion path (302) and a second surgical instrument (223) placed inside it. Each robot arm (210, 220) is hinge-coupled to a robot body and may have a multi-degree-of-freedom (6 DOF or more) structure including a plurality of rotary joints and sliding joints.

[0055] The first robot arm (210) is for mounting a curved (multi-jointed) surgical instrument (213) and may include a plurality of servo motors, drive cables, or electro-hydraulic actuators to precisely control the bending and rotational movements of the joints.

[0056] The first robot arm (210) can be used for tasks requiring delicate movements, such as fine manipulation, suturing, and tissue resection, and continuously controls the bending angle and the posture of the end portion according to commands transmitted from the control unit.

[0057] The second robot arm (220) is configured to provide relatively strong thrust and linear motion precision, and is intended to mount a linear (rigid) surgical instrument (223). The second robot arm (220) may include a linear actuator or ball screw mechanism that performs longitudinal transfer, axial rotation, and linear reciprocating drive, and is designed to be suitable for high-load operations such as incision, cutting, and traction.

[0058] The first robot arm (210) and the second robot arm (220) can be asymmetrically positioned on the same robot body. That is, the reference axes of the two robot arms are not parallel to each other, and by being offset at different heights or forward and backward positions, interference near the common port assembly (300) can be suppressed.

[0059] At this time, the distal ends of the first robot arm (210) and the second robot arm (220) enter along the first insertion path (301) and the second insertion path (302), respectively, and can be spread out in different angle directions within the body to form a cooperative workspace.

[0060] The first robot arm (210) and the second robot arm (220) are rotatably coupled to the robot body and may include multiple joint actuators to enable the insertion, forward and backward movement, rotation, and tilting of the cannula (211, 221). This allows for minimizing collisions between surgical instruments and providing sufficient freedom of movement within the body, even when multiple surgical instruments are inserted through a single port.

[0061] The first cannula (211) and the second cannula (221) are inserted into the patient's body cavity through a common port assembly (300) and serve as guide passages for surgical instruments (213, 223) placed inside. The cannulas (211, 221) may be, for example, rigid or semi-elastic medical tubes and may be supported by robotic arms (210, 220) to secure a stable insertion path for the surgical instruments.

[0062] The first surgical instrument (213) may be a curved surgical instrument that includes a bendable or multi-joint structure. Such an articulated instrument may include an elbow or wrist joint actuator and performs micro-rotation, flexion, and multi-degree-of-freedom manipulation within the body, thereby enabling precise tissue manipulation and suturing operations in a narrow surgical space.

[0063] On the other hand, the second surgical instrument (223) may be a linear instrument with a non-articulated structure and may be configured to be suitable for high-load operations such as resection, traction, and tissue fixation by having high rigidity and transmission power. Since the linear instrument eliminates the joint structure compared to the curved instrument, it has excellent force transmission efficiency and allows for stable operation during tissue traction and incision operations.

[0064] Therefore, the system can improve surgical efficiency and flexibility in single-port surgery by simultaneously providing high-degree-of-freedom precision manipulation capabilities of the curved surgical instrument (213) and high-rigidity working capabilities of the straight surgical instrument (223) in a single surgical environment.

[0065] FIG. 4 is a drawing illustrating a surgical robot system (1) according to another embodiment of the present invention. The surgical robot system (1) according to another embodiment of the present invention further includes a third robot arm (230) equipped with an endoscope in addition to the first robot arm (210) and the second robot arm (220), and redundant descriptions are omitted.

[0066] Referring to FIG. 4, the surgical robot system (1) according to the present embodiment may include a common port assembly (300), a first robot arm (210), a second robot arm (220), and a third robot arm (230).

[0067] The common port assembly (300) may include a third insertion path (303) in addition to the first insertion path (301) and the second insertion path (302), and each insertion path may be composed of an individual channel formed by penetrating the thickness direction of the common port assembly (300).

[0068] The third insertion path (303) provides a passage for inserting an endoscope camera into the body, and a third cannula (not shown) may be positioned along the third insertion path (303). The third robotic arm (230) is configured to support and drive the third cannula and a third surgical instrument (233) inserted into the cannula. The third surgical instrument (233) may be an endoscope camera. The third robotic arm (230) may include a multi-degree-of-freedom joint structure capable of controlling the insertion depth, tilt, rotation, and observation direction of the endoscope camera. The endoscope camera may be formed as a curved instrument to prevent collision between surgical instruments.

[0069] Additionally, the first insertion path (301), the second insertion path (302), and the third insertion path (303) may be formed at different angles. That is, each insertion path may be positioned to have a different inclination relative to the upper surface of the common port assembly (300), thereby allowing the first surgical instrument (213), the second surgical instrument (223), and the third surgical instrument (233) to be deployed in directions separated from each other within the body. This configuration reduces interference between instruments within a narrow body cavity and enables the securing of a triangular field of view during surgery and the free manipulation of the surgical instruments.

[0070] The first robotic arm (210) is configured to support and drive a first cannula (211) guided along a first insertion path (301) and a curved (multi-jointed) surgical instrument (213) placed therein. The curved surgical instrument (213) may include a bendable joint, thereby enabling precision operations such as micro-suturing and excision to be performed inside the body.

[0071] The second robot arm (220) is configured to support and drive a second cannula (221) guided along the second insertion path (302) and a linear (non-articulated) surgical instrument (223) placed inside it. The linear surgical instrument (223) is configured to have high rigidity and is suitable for performing high-load operations such as traction and cutting.

[0072] The third robot arm (230) may be positioned between or near the first robot arm (210) and the second robot arm (220), and is positioned so that an endoscope camera can stably observe the operating area of ​​the surgical instrument. This allows the surgeon to accurately visualize the target area inside the body and provides a stable observation and operation environment even in a single-port environment.

[0073] Accordingly, according to the present embodiment, a curved surgical instrument, a straight surgical instrument, and an endoscopic camera are simultaneously inserted into the body through a single incision, and by arranging each insertion path at different angles, improved operational freedom, improved visibility, and collision prevention effects can be obtained in single-port surgery.

[0074] As such, the present invention has been described with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims.

[0075] The specific practices described in the embodiments are examples and do not limit the scope of the embodiments in any way. Furthermore, unless specifically stated as "essential," "importantly," etc., components may not be strictly necessary for the application of the present invention.

[0076] In the specification of the embodiments (particularly in the claims), the use of the term "above" and similar descriptive terms may be in both singular and plural. Furthermore, where a range is described in the embodiments, it is considered to include the invention with respect to individual values ​​within said range (unless otherwise stated), and is equivalent to describing each individual value constituting said range in the detailed description. Finally, regarding the steps constituting the method according to the embodiments, unless explicitly stated in order or otherwise stated, said steps may be performed in a suitable order. The embodiments are not necessarily limited by the order in which said steps are described. The use of any examples or exemplary terms in the embodiments is merely for the purpose of describing the embodiments in detail, and the scope of the embodiments is not limited by said examples or exemplary terms unless limited by the claims. Furthermore, those skilled in the art will understand that various modifications, combinations, and changes may be made according to design conditions and factors within the scope of the claims or equivalents to which they are added.

[0077] The present invention relates to a surgical robot system and can be applied to technologies utilizing surgical robots, such as laparoscopic surgery.

Claims

1. In surgical robot systems, A common port assembly including a first insertion path and a second insertion path spaced apart from each other; A first cannula guided along the first insertion path, and a first robot arm that supports and drives a first surgical instrument disposed inside the first cannula; A second robot arm that supports and drives a second cannula guided along the second insertion path and a second surgical instrument disposed inside the second cannula; and A control unit for controlling the first robot arm and the second robot arm; comprising The first surgical instrument mentioned above is a curved surgical instrument, and The above-mentioned second surgical instrument is a linear surgical instrument, a surgical robot system.

2. In Paragraph 1, A surgical robot system in which the first insertion path and the second insertion path are formed at different angles.

3. In Paragraph 2, A surgical robot system, wherein the above common port assembly further comprises a support member disposed on the first insertion path.

4. In Paragraph 1, A surgical robot system in which the above common port assembly further includes the first insertion path, the second insertion path, and a third insertion path different from the above.

5. In Paragraph 4, A surgical robot system further comprising: a third cannula guided along the third insertion path; and a third robot arm that supports and drives a third surgical instrument disposed inside the third cannula.

6. In Paragraph 5, A surgical robot system in which the first insertion path, the second insertion path, and the third insertion path are formed at different angles.

7. In Paragraph 5, The above-mentioned third surgical instrument is an endoscope camera, a surgical robot system.

8. In Paragraph 1, The above-mentioned first surgical instrument is an articular surgical instrument, and The above-mentioned second surgical instrument is a surgical robot system that is a non-articulated surgical instrument.

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