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WO2019240453A1 - Structure de bras de robot et manipulateur de robot chirurgical la comprenant - Google Patents

Structure de bras de robot et manipulateur de robot chirurgical la comprenant Download PDF

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Publication number
WO2019240453A1
WO2019240453A1 PCT/KR2019/006975 KR2019006975W WO2019240453A1 WO 2019240453 A1 WO2019240453 A1 WO 2019240453A1 KR 2019006975 W KR2019006975 W KR 2019006975W WO 2019240453 A1 WO2019240453 A1 WO 2019240453A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
arm
joint
axis
robot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2019/006975
Other languages
English (en)
Korean (ko)
Inventor
임요안
최길환
심진아
정창길
김동수
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meere Co Inc
Original Assignee
Meere Co Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020190009232A external-priority patent/KR102206647B1/ko
Application filed by Meere Co Inc filed Critical Meere Co Inc
Priority to US17/251,611 priority Critical patent/US12167897B2/en
Priority to CN201980039516.8A priority patent/CN112423694B/zh
Publication of WO2019240453A1 publication Critical patent/WO2019240453A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

Definitions

  • the present invention relates to a robot arm structure applicable to a robotic device and a manipulator of a surgical robot.
  • Surgical robot refers to a robot having a function that can replace a surgical operation performed by a surgeon. Such a surgical robot has the advantage of being capable of accurate and precise operation and remote surgery compared to humans.
  • Surgical robots currently being developed worldwide include bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots.
  • Surgical robotic devices generally consist of a master console and a slave robot.
  • a steering lever for example, a handle
  • an instrument coupled to the robot arm of the slave robot or held by the robot arm is operated to perform surgery.
  • the background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the present application.
  • An object of the present invention is to provide a robot arm structure that is easy to operate, minimizes collision during driving, and improves safety, and a manipulator of a surgical robot including the same.
  • the first robot arm unit is provided with a plurality of first link arm, the first link arm A second joint portion mounted to the first joint arm for rotating the connected first link arm about a first axis, and installed in at least one of the plurality of first link arms, and adjusting a length of the first link arm.
  • the second robot arm unit includes a second link arm connected with the first link arm, and a third rotation axis having a length direction of the second link arm as a first rotation axis and rotating the second link arm. And a fourth joint part disposed at an end of the second link arm and rotating about a second axis of rotation perpendicular to the first axis of rotation.
  • the robot arm structure according to the invention and the manipulator of the surgical robot comprising the same allow for movement of the instrument mounted at the end.
  • the user can manipulate the robot arm structure to allow linear motion, yaw motion and pitch motion in the three-dimensional space of the instrument.
  • the attitude of the robot arm structure can be changed while the position of the instrument is fixed during driving.
  • the robotic arm structure is applied to a surgical robot, it is possible to reduce the possibility of collision by changing the posture of the active arm without changing the direction of the surgical tool during surgery.
  • the scope of the present invention is not limited by these effects.
  • FIG. 1 is a plan view showing an entire system of a surgical robot device according to an embodiment of the present invention.
  • FIG. 2 is a perspective view illustrating a manipulator of the surgical robot of FIG. 1.
  • FIG 3 is a view showing a robot arm structure according to an embodiment of the present invention.
  • FIG. 4 is a perspective view illustrating an instrument that may be mounted in FIG. 3.
  • FIG. 5 is a view showing a robot arm structure according to another embodiment of the present invention.
  • FIG. 6 illustrates a robot arm structure in accordance with another embodiment of the present invention.
  • FIG. 7 is a perspective view showing another embodiment of the manipulator of the surgical robot of FIG. 2.
  • One aspect of the present invention is a robot arm structure comprising a first robot arm unit and a second robot arm unit, wherein the first robot arm unit is provided with a plurality of first link arms and the first link arm.
  • a first joint portion mounted to rotate the connected first link arm about a first axis, and a second joint portion installed on at least one of the plurality of first link arms to adjust a length of the first link arm.
  • the second robot arm unit includes a second link arm connected to the first link arm, and a third joint part having a longitudinal direction of the second link arm as a first rotation axis and rotating the second link arm.
  • a fourth joint part disposed at an end of the second link arm to rotate about a second axis of rotation perpendicular to the first axis of rotation.
  • the apparatus may further include an instrument installed at an end of the second link arm and rotated by the fourth joint part, wherein the instrument maintains a fixed position of a predetermined Remote Center of Motion (RCM) point.
  • RCM Remote Center of Motion
  • extension line of the first rotation axis and the extension line of the second rotation axis may not pass through the RCM point.
  • the second robot arm unit drives the third joint part and the fourth joint part to set yaw motion and pitch motion of the instrument
  • the first robot arm unit is configured to perform the first joint part.
  • the second link arm may be connected to the first link arm such that the first rotation axis has an inclination angle with respect to the first axis.
  • the inclination angle may be greater than 0 degrees and less than 90 degrees.
  • one end of the first robot arm unit may be fixed in a three-dimensional space, and the other end may be connected to the second link arm.
  • At least one of the first joint portion to the fourth joint portion may provide a redundant degrees of freedom to the robot arm structure, thereby replacing the movement of another joint portion.
  • the margin of freedom may allow movement of a plurality of the first link arm or the second link arm without changing the position and direction of the instrument installed at the end of the second link arm.
  • any one of the plurality of first link arms may have a first portion extending in a direction parallel to the ground, and a second portion bent at the first portion to be parallel to the first axis.
  • the second joint part may include a first linear moving joint moving linearly along a second axis perpendicular to the first axis to move the second link arm, and linearly moving along the first axis to move the second link arm. It may have a second linear movement joint to move.
  • first link arm is connected to the first link and the first link is installed, the first linear movable joint, a part bent along the second axis, the second linear movable joint is installed on the part
  • Two links may be provided, and the first joint part may be installed at both ends of the first link, or may be installed between the first link and the second link.
  • first link arm has a first portion in which the first linear movement joint is installed, and a second portion connected to the first portion and bent along the second axis so that the second linear movement joint is installed. can do.
  • a first rotary joint rotating about a first axis, a first link having one end connected to the first rotary joint, and a length of the first link installed inside the first link.
  • a first linear movable joint for controlling a second, a second rotary joint installed at the other end of the first link, rotating about the first axis, and a second link having one end connected to the second rotary joint;
  • a second linear movable joint installed inside the second link and moving along the first axis, connected to the other end of the second link, and extending to have an inclination angle with respect to the first axis;
  • a rolling joint installed inside the third link and rotating about a first rotation axis in a longitudinal direction of the third link, and a second rotation axis installed at an end of the third link to be different from the first rotation axis.
  • Third rotating It provides a robotic arm structure comprising a rotary joint.
  • the apparatus may further include an instrument installed at an end of the third link and rotated by the third rotary joint, wherein the instrument maintains a fixed position of a predetermined Remote Center of Motion (RCM) point.
  • RCM Remote Center of Motion
  • At least one of the first rotary joint, the second rotary joint, the first linear movable joint, the second linear movable joint, the rolling joint, and the third rotary joint may have a degree of freedom in the robot arm structure. By providing redundant degrees of freedom, it is possible to replace the movement of other joints.
  • the margin of freedom may allow movement of at least one of the first link, the second link and the third link without changing the position and direction of the instrument installed at the end of the third link.
  • Another aspect of the present invention includes a robot arm structure described above, and a passive arm structure connected to the robot arm structure, the robot arm structure being fixed when driven, wherein the passive arm structure extends along the first axis.
  • a manipulator of a surgical robot having a third arm, one end of which is connected to the fifth rotary joint.
  • the passive arm structure may further include a fourth linear movable joint installed on at least one of the second arm and the third arm to adjust the length.
  • the apparatus may further include an instrument installed at an end of the robot arm structure, wherein the instrument drives the passive arm structure to set a position of a remote center of motion (RCM) point, and drives the robot arm structure. While the RCM point is in a fixed position, it can yaw or pitch.
  • RCM remote center of motion
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from another.
  • the robot arm structure can be applied to various industrially available robots. It can be applied to various types of robot devices, robot systems such as industrial robots, medical robots, mobile robots, and the like.
  • the robot arm structure of the present invention is not limited to a specific shape, place or use, and may be applied to various structures in which a plurality of links or arms are connected. However, hereinafter, it will be described with respect to the case installed in the surgical robot for convenience of description.
  • FIG. 1 is a plan view showing the entire system of a surgical robot device 1 according to an embodiment of the present invention.
  • a surgical robot device 1 includes a manipulator 10 performing surgery on a patient S lying on an operating table 2, and a master console that allows an operator O to remotely control the manipulator 10. And 20.
  • the surgical robot device 1 may include a vision cart 30. Through the display unit 35 of the vision cart 30, the assistant A may check the progress of the surgery.
  • Manipulator 10 may include one or more robot arms 11.
  • a robot arm refers to a device having a function similar to that of a human arm and / or wrist and capable of attaching a predetermined tool to a wrist region.
  • the robot arm 11 may be defined as a concept encompassing all of the components such as upper and lower chests, wrists, and elbows, and surgical instruments coupled to the wrist region. As such, the robot arm 11 of the manipulator 10 may be implemented to be driven with multiple degrees of freedom.
  • the robot arm 11 may include, for example, an instrument 12 inserted into a surgical site of a patient S, a rocking drive unit for rotating the instrument 12 in the yaw direction according to a surgical position, and a rotational drive of the rocking drive unit.
  • the configuration of the robot arm 11 is not limited thereto, and it should be understood that this example does not limit the scope of the present invention.
  • the detailed description of the actual control process such as the robot arm 11 rotates, moves in the corresponding direction by the operator (O) by operating the operation lever is omitted.
  • Manipulator 10 may be used more than one to operate the patient (S), the instrument 12 for the surgical site is displayed as an image image through the display unit 35 is implemented as an independent manipulator 10 May be
  • embodiments of the present invention may be used universally in operations in which various surgical endoscopes (eg, thoracoscopic, arthroscopy, parenteral, etc.) other than laparoscopic are used.
  • Some of the robot arms 11 of the manipulator 10 may be applied to the robot arm structure 100.
  • the passive arm 50 may be applied to the other part. This will be described in detail below.
  • the master console 20 and the manipulator 10 do not necessarily need to be separated into separate devices that are physically independent, but may be integrated into one and be integrally formed. However, hereinafter, the description will be made mainly on the case where the master console 20 and the manipulator 10 are physically separated for convenience of description.
  • the master console 20 includes an operation lever (not shown) and a display member (not shown).
  • the master console 20 may further include an external display device 25 that can additionally display the state of the operator O on the outside.
  • the master console 20 is provided with an operation lever (not shown) so that the operator O can hold and operate in both hands, respectively.
  • the operation lever may be implemented with two or more handles, and an operation signal according to the operation of the handle of the operator O is transmitted to the manipulator 10 through a wired or wireless communication network so that the robot arm 11 is controlled. . That is, a surgical operation such as the position movement, rotation, and cutting operation of the robot arm 11 may be performed by the handle manipulation of the operator O.
  • the operator O can operate the slave robot arm 11, the instrument 12, or the like using a steering lever-shaped operation lever.
  • Such an operation lever may have various mechanical configurations according to its operation method, and includes a master handle for operating operations of the slave robot arm 11 and the instrument 12, and a master console for operating the functions of the entire system. It may be provided in various forms for operating the robot arm 11 and / or other surgical equipment of the manipulator 10, such as various input tools such as a joystick, a keypad, a trackball, and a touch screen added to the 20.
  • the manipulation lever is not limited to the shape of the handle, and may be applied without any limitation as long as it can control the operation of the robot arm 11 through a network such as a wired or wireless communication network.
  • the image captured by the instrument 12 is displayed as an image on the display member of the master console 20.
  • a predetermined virtual operation panel may be displayed on the display member together with an image captured by the instrument 12 or may be displayed independently.
  • the display member may be provided in various forms in which the operator O can check an image.
  • a display device may be installed to correspond to both eyes of the operator O.
  • it may be composed of one or more monitors, and each monitor may be individually displayed information necessary for the operation.
  • the quantity of the display member may be variously determined according to the type or type of information requiring display. A more detailed description of the master console 20 will be described later.
  • the vision cart 30 is installed on the manipulator 10 or the master console 20 to be spaced apart, and the progress of the surgery from the outside can be checked through the display unit 35.
  • the image displayed on the display unit 35 may be the same as the image displayed on the master console 20 of the operator O.
  • the assistant A may assist the surgical operation of the operator O while checking the image of the display unit 35.
  • the assistant A can replace the instrument 12 in the instrument cart 3 according to the progress of the surgery.
  • the central controller 40 is connected to the manipulator 10, the master console 20, and the vision cart 30 to transmit and receive respective signals.
  • the central controller 40 may be installed on any one of the manipulator 10, the master console 20, and the vision cart 30, or may be installed independently.
  • FIG. 2 is a perspective view illustrating the manipulator 10 of the surgical robot of FIG. 1.
  • the first axis i is defined as an axis substantially perpendicular to the ground.
  • the joint can rotate about the first axis i to adjust the position of the arm or link in space.
  • the first axis i is defined as an axis passing through the center of each rotary joint, and may be provided in plural numbers according to the number of rotary joints. That is, each of the rotary joints has a respective axis of rotation passing through the center of rotation, the axis of rotation being arranged parallel to each other according to the position of the rotary joint. Therefore, hereinafter, the first axis (i) is defined as including a plurality of rotation axes that are substantially perpendicular to the ground and arranged in parallel with each other, and is defined as a concept including axes parallel to each other.
  • the first rotary joint J1, the second rotary joint J3, the fourth rotary joint Jb and the fifth rotary joint Jc pass through their respective rotation centers and are parallel to each other. It may rotate about the first axis (i).
  • the second linear movement joint J4 and the third linear movement joint Ja may linearly move about the first axis i.
  • the manipulator 10 of the surgical robot may be divided into a passive area (P.A) and an active area (A.A).
  • the passive area P.A and the active area A.A are divided according to the area in which the surgical robot device 1 is driven during the surgery.
  • the passive arm 50 is installed in the passive area P. A and the passive arm 50 is driven before the operation. In this case, the active arm 100 is not driven.
  • the passive area PA is an area for setting the position of the surgical robot device 1 before performing the operation.
  • the operator O or the assistant A drives the passive arm 50 to operate the active arm 100. You can set the location.
  • the passive arm 50 may move the position of the active arm 100 to a desired position in preparation for surgery, but the position is fixed without operating during the surgery.
  • Passive arm 50 includes a plurality of joints and arms or links connecting the joints. Each joint is a rotational or prismatic movement, through which the overall movement of the passive arm 50 is generated.
  • the joint may include an actuator, a reducer, a sensor, a brake, a counterbalance, and the like.
  • An electric motor is mainly used, and may include a brushed DC (BDC) motor, a brushless DC (BLDC) motor, an AC motor, and the like.
  • the reducer may be implemented as a gear, such as a harmonic drive, a planetary gear, or the like.
  • the sensor may be an encoder or resolver that measures the movement of the joint, and includes a force / torque sensor that measures the force or torque applied to the link connected to each joint. can do.
  • the brake is a device that restricts the movement of the joint.
  • the main components are solenoids and springs.The brake is connected to the driver to restrict the movement of the driver, and the link is to restrict the movement of the link. Both forms of can be included.
  • Counterbalance is a device that compensates for the weight of the robot arm, which acts to offset the weight of the robot arm in a static state.
  • the passive arm 50 is arranged such that the first arm 51, the second arm 52, and the third arm 53 are connected to each other, and may have three joints.
  • the passive arm 50 may adjust the three links to three joints to move the passive arm 50 to a desired position in three-dimensional space.
  • the first arm 51 may extend along the first axis i.
  • a third linear movable joint Ja for adjusting the length of the first arm along the first axis i may be installed inside the first arm 51. That is, the first arm 51 may be installed in the vertical direction with respect to the ground, and the third linear movement joint Ja may be disposed therein to linearly move in the direction perpendicular to the ground. As a result, the passive arm 50 may adjust the height of the active arm 100.
  • a fourth rotary joint Jb that rotates about the first axis i may be installed at an end portion of the first arm 51.
  • the fourth rotary joint Jb connects the first arm 51 and the second arm 52, and the second arm 52 rotates about the first axis 51 with respect to the first arm 51. Let's do it.
  • the second arm 52 is rotatably connected with respect to the first arm 51 and is connected with the first arm 51.
  • the first arm 51 and the second arm 52 are substantially perpendicular, but are not limited thereto, and may have an angular range of +15 degrees to -15 degrees.
  • One end of the second arm 52 is connected to the fourth rotary joint Jb. Since the second arm 52 is connected to the first arm 51 by the fourth rotary joint Jb, the second arm 52 may rotate about the first arm 51 about the first axis i. In one embodiment, since the second arm 52 extends in a direction parallel to the ground, the second arm 52 is disposed substantially perpendicular to the first arm 51.
  • the third arm 53 is rotatably connected with respect to the second arm 52 and is connected with the second arm 52.
  • the second arm 52 and the third arm 53 may be disposed substantially parallel to each other, but are not limited thereto and may have an angle range of +15 degrees to -15 degrees.
  • One end of the third arm 53 is connected to the fifth rotary joint Jc. Since the third arm 53 is connected to the second arm 52 by the fifth rotary joint Jc, the third arm 53 may rotate about the second arm 52 about the first axis i. In one embodiment, the third arm 53 is arranged side by side with respect to the ground as the second arm 52.
  • the active arm 100 is provided in the active area A.A.
  • the instrument 12 may perform surgery with a plurality of degrees of freedom. That is, the active area A.A is a portion that is driven during the surgery process, and the operator O may drive the instrument 12 by operating the master console. At this time, the instrument 12 may perform a yaw movement, a pitch movement, and a roll movement while maintaining a fixed state at a predetermined remote center of motion (RCM) point.
  • RCM remote center of motion
  • the active arm 100 is equipped with an instrument 12 or an endoscope (not shown) at the distal end, and the instrument 12 or the endoscope may move in the patient's body by driving each joint of the active arm 100 during surgery.
  • the active arm 100 includes a plurality of joints and arms or links connecting the joints. Each joint is a rotational or prismatic movement, through which the overall movement of the active arm 100 is generated.
  • the joint may include an actuator, a reducer, a sensor, a brake, a counterbalance, and the like.
  • the configuration of each joint is substantially the same as the joint of the passive arm 50 described above, and the operation according to the arrangement is different, which will be described in detail below.
  • FIG. 3 shows a robot arm structure 100 according to one embodiment of the invention
  • FIG. 4 is a perspective view showing an instrument 12 that may be mounted in FIG. 3.
  • the robot arm structure 100 of the present invention may be installed in the active area A.A. Therefore, the robot arm structure 100 may be applied as an active arm when used in a surgical robot device. Therefore, hereinafter, the robot arm structure and the active arm will be used interchangeably.
  • the robot arm structure 100 is provided with a plurality of links and joints, the end of the robot arm structure 100 cannula holder 120, slider guide 130, cannula 140 may be installed.
  • the robot arm structure 100 may be defined by only a plurality of links and joints, or may include a cannula holder 120, a slider guide 130, and a cannula 140.
  • the plurality of links may include a first link 111, a second link 112, and a third link 113.
  • the plurality of links may have an angle range of +15 degrees to -15 degrees.
  • the plurality of links may include a first rotary joint J1, a first linear joint J2, a second rotary joint J3, a second linear joint J4, a rolling joint J5, and a third rotary joint J6. ) Can be connected.
  • the first link 111 has one end 111a and the other end 111b connected to the first linear movement joint J2. One end 111a of the first link 111 is connected to the first rotary joint J1.
  • the first rotary joint J1 may rotate about the first axis i. Since the first rotary joint J1 is connected to the fixed link 101, the first link 111 may rotate about the first axis i with respect to the fixed link 101.
  • the fixed link 101 is a portion where the position is fixed in the three-dimensional space is not limited to a specific name and position.
  • the fixed link 101 may be the third arm 53 of the passive arm 50.
  • the fixed link 101 will be described based on the case of the third arm 53.
  • the first linear movable joint J2 may be installed inside the first link 111 to adjust the length of the first link 111.
  • One end 111a of the first link 111 and the other end 111b of the first link 111 may be length-adjusted by the first linear movement joint J2.
  • the first linear movement joint J2 may perform a linear movement.
  • the length of the first link 111 may be adjusted by adjusting the first linear movement joint J2.
  • a second rotary joint J3 may be installed at the other end 111b of the first link 111 to rotate about the first axis i.
  • the second rotary joint J3 connects the first link 111 and the second link 112 so that the first link 111 and the second link 112 can rotate about the first axis i. Can be.
  • the second link 112 has a first end 112a, a middle portion 112b and a second end 112c.
  • the second link 112 may be connected to the first link 111 by a second rotary joint J3, and a second linear movable joint J4 may be installed therein to adjust the length in the height direction.
  • the first end 112a may be connected to the second rotary joint J3 to rotate about the first axis i.
  • the middle portion 112b is bent from the first end 112a in the direction of the first axis i.
  • the middle portion 112b extends in the direction of the first axis i, and a second linear movement joint J4 is installed therein, and may linearly move in the direction of the first axis i.
  • the second end 112c may be connected to the second linear movement joint J4 and may be connected to the third link 113.
  • the second link 112 is bent such that the first end 112a and the middle portion 112b are substantially vertical.
  • the second linear movement joint J4 may be installed in the middle portion 112b to move along the first axis i to adjust the height of the instrument 12.
  • the third link 113 is connected to the other end of the second link 112, that is, the second end 112c, and extends to have an inclination angle ⁇ with respect to the first axis i.
  • the third link 113 forms one body with the second end 112c and is bent at the second link 112. Since the second end portion 112c extends along the direction of the first axis i, the first axis of rotation j in the longitudinal direction of the third link 113 and the first axis in the longitudinal direction of the second end 112c ( i) may have an inclination angle ⁇ .
  • the inclination angle ⁇ may be greater than 0 degrees and less than 90 degrees.
  • the rolling joint J5 may be installed in the third link 113.
  • the rolling joint J5 may rotate with the longitudinal direction of the third link 113 as the first rotation axis j. Since the third link 113 is bent at the second link 112, the first rotation axis j may form the first axis i and the inclination angle ⁇ .
  • the rolling joint J5 may form a roll motion of the third link 113.
  • the roll motion of the rolling joint J5 may form the yaw motion of the instrument 12.
  • the inclination angle ⁇ may be arranged in a direction similar to the yaw axis Y of the instrument 12 to generate the yaw motion of the instrument 12. That is, when the rolling joint J5 is rotated, the instrument 12 can rotate about the yaw axis Y. As shown in FIG. However, at this time, since the extension line of the first rotary shaft j does not pass through the RCM point, when the rolling joint J5 rotates, the position of the instrument 12 may be changed. However, the position of the instrument 12 can be corrected by driving another joint, so that the instrument 12 can maintain the RCM point. This will be described in detail below.
  • a third rotary joint J6 may be installed at the end of the third link 113.
  • the third rotary joint J6 rotates about the second rotary shaft k, and the second rotary shaft k is perpendicular to the first rotary shaft j in three-dimensional space.
  • the pitch movement of the instrument 12 can be formed.
  • the second axis of rotation k may be disposed in a direction similar to the pitch axis P of the instrument 12, thereby generating a pitch motion of the instrument 12. That is, when the third rotary joint J6 rotates, the instrument 12 may rotate around the pitch axis P. FIG. However, at this time, since the extension line of the second rotary shaft k does not pass through the RCM point, when the rolling joint J5 rotates, the position of the instrument 12 may be changed. However, the position of the instrument 12 can be corrected by driving another joint, so that the instrument 12 can maintain the RCM point. This will be described in detail below.
  • the robot arm structure 100 may perform a yaw movement or a pitch movement while the instrument 12 maintains a fixed position of a predetermined Remote Center of Motion (RCM) point.
  • the robot arm structure 100 may be a software instrument 12 to maintain the position of the RCM point.
  • the instrument 12 may perform yaw motion, pitch motion, and rolling motion while maintaining a constant position at the RCM point.
  • Instrument 12 may have at least five degrees of freedom. To this end, at least five joints of the plurality of joints may be driven.
  • the instrument 12 may have linear motion in three directions, yaw motion, and pitch motion.
  • At least one of a first rotary joint J1, a first linear movable joint J2, a second rotary joint J3, a second linear movable joint J4, a rolling joint J5, and a third rotary joint J6 Provides redundant degrees of freedom to the robotic arm structure, replacing the movement of other joints.
  • the robot arm structure 100 uses five joints to implement five degrees of freedom, and the remaining one joint forms a degree of freedom.
  • the margin of freedom is at least one of the first link 111, the second link 112, and the third link 113 without changing the position and direction of the instrument 12 installed at the end of the third link 113.
  • One exercise can be allowed.
  • one of the links of the robot arm structure 100 can move, thereby preventing the robot arms from interfering with each other in space.
  • the cannula holder 120 is installed at the end of the third link 113, and the cannula 140 may be mounted.
  • the slider guide 130 may also be installed at the end of the third link 113 to guide the linear movement of the instrument 12.
  • the instrument 12 is inserted into the cannula 140 and mounted to the robot arm structure 100.
  • the instrument 12 may perform yaw motion, pitch motion, and roll motion while maintaining a fixed position at a predetermined Remote Center of Motion (RCM) point during surgery.
  • RCM Remote Center of Motion
  • the RCM point is fixed in position during surgery and placed in the incision of the patient. Since the RCM point is placed at the incision point of the patient, surgery can be performed with minimal invasion.
  • the RCM point is marked by a marker M on the outside of the cannula 140, so that the operator O or the assistant A can easily recognize and set the surgical robot device 1 for surgery.
  • the instrument 12 may perform yaw motion, pitch motion, and roll at a fixed RCM point.
  • the roll motion may be operated by performing a roll motion in the instrument 12, but the yaw motion and the pitch motion are operated by the driving of the robot arm structure 100.
  • the instrument 12 may move the position in the three-dimensional space, the position can be moved to the RCM point. Motions in the X, Y, and Z axis directions of the instrument 12 are also driven by the robot arm structure 100.
  • the X-axis linear motion, the Y-axis linear motion, the Z-axis linear motion, the yaw motion, and the pitch motion of the instrument 12 are driven by the robot arm structure 100. .
  • the robot arm structure 100 may be divided into a first robot arm unit 100a and a second robot arm unit 100b based on an area affecting the operation of the instrument 12.
  • the first robot arm unit 100a includes a first link arm, a first joint part, and a second joint part
  • the second robot arm unit 100b includes a second link arm, a third joint part, and a fourth joint part.
  • One end of the first robot arm unit 100a is fixed in a three-dimensional space, and the other end is connected to a second link arm of the second robot arm unit 100b.
  • the first link arm is provided in plurality, and includes a first link 111 and a second link 112.
  • the first link 111 is provided with a first linear movable joint J2
  • the second link 112 is connected to the first link 111
  • a part of the first link 111 has a second axis perpendicular to the first axis i. It is bent along, a second linear movable joint (J4) may be installed in some.
  • One of the first link arms may have a first portion extending in a direction parallel to the ground, and a second portion bent at the first portion to be parallel to the first axis i. That is, the first end 112a of the second link 112 extends in parallel with the ground, and the middle portion 112b and the second end 112c of the second link 112 may extend the first axis i. Can be extended accordingly.
  • the first joint portion is disposed between the first link arms to rotate the connected first link arms about the first axis i.
  • the first joint part may include a first rotary joint J1 and a second rotary joint J3 respectively installed at both ends of the first link 111.
  • the second joint part may be installed on at least one of the plurality of first link arms, and adjust the length of the first link arm.
  • the second joint part may include a first linear movement joint J2 and a second linear movement joint J4 that linearly move in different directions.
  • the first linear movement joint J2 moves the second link arm by moving linearly along a second axis perpendicular to the first axis i, and the second linear movement joint J4 along the first axis i. Linear movement moves the second link arm.
  • the first robot arm unit 100a functions to drive the first joint part and the second joint part to set the position in the three-dimensional space of the instrument 12, and to correct the yaw motion and the pitch motion of the instrument 12.
  • the instrument 12 may change the position of the three-dimensional space. Can be. Therefore, the first joint portion and the second joint portion can be driven to change the position of the instrument 12 in space.
  • first joint part and the second joint part may be driven to maintain the RCM point while the instrument 12 performs the yaw motion and the pitch motion.
  • the position of the instrument 12 may be corrected by driving the first joint part and the second joint part. have.
  • the second robot arm unit 100b is connected to the first robot arm unit 100a and an instrument 12 may be mounted at an end thereof.
  • the instrument 12 is installed at the end of the second link arm and can rotate by the fourth joint portion.
  • the second link arm is connected to the first link arm and corresponds to the third link 113.
  • the second link arm may have an inclination angle ⁇ with respect to the first axis i of the first axis of rotation j extending in the longitudinal direction.
  • the third joint portion may have a longitudinal direction of the second link arm as the first rotation axis, and may rotate the second link arm.
  • the third joint part may correspond to the rolling joint J5, and the third joint part may rotate about the first rotation axis j.
  • the fourth joint portion may be disposed at an end portion of the second link arm to rotate about the second rotation axis k perpendicular to the first rotation axis j.
  • the fourth joint part corresponds to the third rotation joint J6 and may rotate about the second rotation axis k perpendicular to the first rotation axis j and the first axis i.
  • the second robot arm unit 100b has a function of setting the yaw motion and the pitch motion of the instrument by driving the third joint part and the fourth joint part, and correcting the position in the three-dimensional space of the instrument 12.
  • the first axis of rotation j has a direction parallel to the yaw axis Y of the instrument 12, when the rolling joint J5 rotates along the first axis of rotation j, the instrument 12 performs yaw motion. Can be. However, since the first axis of rotation j does not pass through the RCM point, even if the rolling joint J5 of the third link 113 is driven, the position of the instrument 12 changes in three-dimensional space. That is, the rolling joint J5 forms the yaw motion of the instrument 12 as its main function, but at the same time changes its position on the three-dimensional space of the instrument 12 as a sub function.
  • the second rotary shaft k has a direction parallel to the pitch axis P of the instrument 12, when the third rotary joint J6 rotates along the second rotary shaft k, the instrument 12 moves in a pitch motion. can do. However, since the second rotary shaft k does not pass through the RCM point, the position of the instrument 12 changes in three-dimensional space even when the third rotary joint J6 is driven. That is, the third rotary joint J6 forms the pitch motion of the instrument 12 as its main function, but simultaneously changes its position on the three-dimensional space of the instrument 12 as a sub function.
  • the position change caused by the driving of the third joint part and the fourth joint part of the second robot arm unit may be driven by correcting the position by driving the first joint part and the second joint part of the first robot arm unit.
  • the instrument 12 may perform yaw motion or pitch motion while maintaining a fixed position at a predetermined RCM point.
  • the robot arm structure 100 may have a redundant degrees of freedom. At least one of the first to fourth joints may provide a margin of freedom in the other joint to replace movement of the other joint. That is, the margin of freedom may allow the movement of the plurality of first link arms or the second link arms without changing the position and direction of the instrument 12 installed at the end of the second link arm.
  • the robot arm structure 100 Since the robot arm structure 100 has a degree of freedom, it is easy to place the robot arm during surgery. Since one of the links is allowed to move by the degree of freedom, the position of the link can be moved during surgery, thereby overcoming the space limitation.
  • the robot arm structure 100 and the manipulator 10 of the surgical robot comprising the same allow for the movement of the instrument 12 mounted at the end.
  • the user may manipulate the robot arm structure 100 to allow linear movement, yaw movement, and pitch movement in the three-dimensional space of the instrument 12.
  • the robot arm structure 100 may change the posture of the robot arm structure 100 while the position of the instrument is fixed during driving. .
  • the robot arm structure 100 is applied to the surgical robot, it is possible to reduce the possibility of collision by changing the posture of the active arm without changing the direction of the surgical tool during surgery.
  • FIG. 5 is a diagram illustrating a robot arm structure 200 according to another embodiment of the present invention.
  • the robot arm structure 200 may include a plurality of links and joints, and may allow movement of an instrument 12 mounted at an end thereof. Compared with the robot arm structure 100 according to the above-described embodiment, there is a difference in reducing the number of joints and changing the shape of the link. Hereinafter will be described based on the difference.
  • the robot arm structure 200 may include a first robot arm unit 200a and a second robot arm unit 200b.
  • the first robot arm unit 200a may include a first link arm 211, a first joint part J1a, and a second joint part.
  • the first robot arm unit 200a has one bent link, one rotary joint and two linear movable joints.
  • the first link arm 211 has a first end 211a, a first middle end 211b, a second middle end 211c and a second end 211d.
  • the first end 211a is connected to the fixed link 201 by the first joint part J1a.
  • the first end 211a and the first middle end 211b are connected by the first linear movement joint J2a.
  • the third middle end 211c is bent in the direction of the first axis i from the second middle end 211b.
  • a second linear moving joint J3a may be installed between the third middle end 211c and the second end 211d.
  • the second robot arm unit 200b may include a second link arm 232, a third joint part J4a, and a fourth joint part J5a. Since the second robot arm unit 200b is substantially the same as the second robot arm unit 100b of the above-described embodiment, a detailed description thereof will be omitted.
  • the robot arm structure 200 allows the movement of the instrument 12 mounted at the end.
  • the user may manipulate the robot arm structure 200 to allow linear movement, yaw movement, and pitch movement in the three-dimensional space of the instrument 12.
  • FIG. 6 illustrates a robot arm structure 300 according to another embodiment of the present invention.
  • the robot arm structure 300 may include a plurality of links and joints, and may allow movement of an instrument 12 mounted at an end thereof. Compared with the robot arm structure 100 according to the above-described embodiment, there is a difference in reducing the number of joints and changing the shape of the link. Hereinafter will be described based on the difference.
  • the robot arm structure 300 may include a first robot arm unit 300a and a second robot arm unit 300b.
  • the first robot arm unit 300a may include a first link arm, a first joint part J2b, and a second joint part.
  • the first robot arm unit 300a has a plurality of links, one rotating joint and two linear moving joints.
  • the first link arm may have a first link 311 extending in one direction and a second link 312 bent from the first link 311.
  • the first link 311 may have one end 311a connected to the external structure and the other end 311b connected to the first joint part J2b.
  • one end 311a is fixed to an end of the passive arm 50.
  • the first linear movement joint J1b may connect between one end 311a and the other end 311b and adjust a length thereof.
  • the second link 112312 has a first end 312a, a middle portion 312b and a second end 312c.
  • the first end 312a is connected to the first link 311, and the middle part 312b is provided with a second linear movable joint J3b to adjust the height of the instrument 12.
  • the second end 312c may be connected with the second link arm 313.
  • the second link 312 is substantially the same as the second link 112 of one embodiment described above.
  • the second robot arm unit 300b may include a second link arm 313, a third joint part J4b, and a fourth joint part J5b. Since the second robot arm unit 300b is substantially the same as the second robot arm unit 100b of the above-described embodiment, a detailed description thereof will be omitted.
  • the robot arm structure 300 allows the movement of the instrument 12 mounted at the end.
  • the user may manipulate the robot arm structure 300 to allow linear movement, yaw movement, and pitch movement in the three-dimensional space of the instrument 12.
  • FIG. 7 is a perspective view showing another embodiment of the manipulator 10 'of the surgical robot of FIG.
  • the passive arm 50 ′ of the manipulator 10 ′ of the surgical robot may have a degree of freedom.
  • the manipulator 10 ' includes a passive arm 50' and an active arm, and the robot arm structures 100, 200, and 300 described above may be applied to the active arm.
  • the passive arm 50 ' is arranged such that the first arm 51', the second arm 52 ', and the third arm 53' are connected to each other, and may have four joints.
  • the first arm 51 ′ may extend along the first axis i.
  • a third linear movement joint Ja 'for adjusting the length of the first arm 51' along the first axis i may be installed inside the first arm 51 '. That is, the first arm 51 ′ is installed in a vertical direction with respect to the ground, and a third linear movement joint Ja ′ is disposed therein so as to linearly move in a direction perpendicular to the ground. As a result, the passive arm 50 ′ may adjust the height of the active arm 100.
  • a fourth rotary joint Jb ′ that rotates about the first axis i may be installed.
  • the fourth rotary joint Jb ' connects the first arm 51' and the second arm 52 'and rotates about the first axis i.
  • the second arm 52 ' is rotatably connected to the first arm 51' and is connected to the first arm 51 '.
  • the first arm 51 'and the second arm 52' are substantially vertical, but are not limited thereto, and may have an angle range of +15 degrees to -15 degrees.
  • One end of the second arm 52 ' is connected to the fourth rotary joint Jb'. Since the second arm 52 'is connected to the first arm 51' by the fourth rotary joint Jb ', the second arm 52' may rotate about the first arm 51 'about the first axis i. . In one embodiment, the second arm 52 'extends in a direction parallel to the ground, so that the second arm 52' is substantially perpendicular to the first arm 51 '.
  • a fourth linear movement joint Jc 'for adjusting the length may be installed inside the second arm 52'.
  • the fourth linear movement joint Jc ' may adjust the length of the second arm 52'.
  • the third arm 53 ' is rotatably connected to the second arm 52' and is connected to the second arm 52 '.
  • the second arm 52 'and the third arm 53' may be disposed substantially parallel to each other, but are not limited thereto and may have an angle range of +15 degrees to -15 degrees.
  • One end of the third arm 53 ' is connected to the fifth rotary joint Jd'. Since the third arm 53 'is connected to the second arm 52' by the fifth rotary joint Jd ', the third arm 53' may rotate about the second arm 52 'with respect to the first axis i. . In one embodiment, the third arm 53 'is arranged side by side with respect to the ground as the second arm 52'.
  • the fourth linear movement joint Jc ' may be installed on the third arm 53'.
  • the fourth linear movement joint Jc ' may adjust the length of the third arm 53'.
  • the robot arm structure 100 and the manipulator 10 ′ of the surgical robot including the same allow for the movement of the instrument 12 mounted at the end.
  • the user may manipulate the robot arm structure 100 to allow linear movement, yaw movement, and pitch movement in the three-dimensional space of the instrument 12.
  • the robot arm structure 100 may have a posture of the robot arm structure 100 in a fixed state while driving. Can be changed.
  • the robot arm structure 100 is applied to the surgical robot, it is possible to reduce the possibility of collision by changing the posture of the active arm without changing the direction of the surgical tool during surgery.
  • the robot arm structure can be applied to various industrially available robotic devices. It can be applied to various types of robot devices, robot systems such as industrial robots, medical robots, mobile robots, and the like.
  • embodiments of the present invention can be applied to a manipulator of an industrially available medical surgical robot.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une structure de bras de robot et un manipulateur de robot chirurgical la comprenant. La présente invention concerne une structure de bras de robot ayant une première unité de bras de robot et une seconde unité de bras de robot, la première unité de bras de robot comprenant : une pluralité de premiers bras de liaison; une première partie d'articulation montée sur le premier bras de liaison de façon à faire tourner les premiers bras de liaison reliés autour d'un premier axe; et une seconde partie d'articulation disposée sur au moins l'un de la pluralité de premiers bras de liaison de façon à ajuster la longueur des premiers bras de liaison, et la seconde unité de bras de robot comprend : un second bras de liaison relié au premier bras de liaison; une troisième partie d'articulation ayant la direction longitudinale du second bras de liaison en tant que premier axe de rotation et faisant tourner le second bras de liaison; et une quatrième partie d'articulation disposée au niveau de la partie d'extrémité du second bras de liaison de façon à tourner autour d'un second axe de rotation qui est vertical par rapport au premier axe de rotation.
PCT/KR2019/006975 2018-06-12 2019-06-11 Structure de bras de robot et manipulateur de robot chirurgical la comprenant Ceased WO2019240453A1 (fr)

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US17/251,611 US12167897B2 (en) 2018-06-12 2019-06-11 Robot arm structure and surgical robot manipulator including same
CN201980039516.8A CN112423694B (zh) 2018-06-12 2019-06-11 机器人手臂结构和包括该机器人手臂结构的手术机器人的机械手

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KR10-2018-0067532 2018-06-12
KR20180067532 2018-06-12
KR1020190009232A KR102206647B1 (ko) 2018-06-12 2019-01-24 로봇 암 구조물 및 이를 포함하는 수술 로봇의 매니퓰레이터
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CN114098954A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人
CN114767273A (zh) * 2022-03-23 2022-07-22 宁波睿达医疗器械有限公司 操纵臂及手术机器人
CN114869481A (zh) * 2022-05-12 2022-08-09 重庆金山医疗机器人有限公司 手术机器人及保持位姿形态的主手机械臂
CN116058972A (zh) * 2023-02-17 2023-05-05 杭州键嘉医疗科技股份有限公司 一种骨科手术专用型机械臂
WO2023085879A1 (fr) * 2021-11-12 2023-05-19 주식회사 리브스메드 Bras de robot chirurgical
CN117398188A (zh) * 2023-11-22 2024-01-16 北京柏惠维康科技股份有限公司 一种机械臂构型、机械臂及手术机器人
WO2024032745A1 (fr) * 2022-08-11 2024-02-15 科弛医疗科技(北京)有限公司 Structure de bras robotique et son procédé de commande, et robot chirurgical et son procédé de commande
WO2024187959A1 (fr) * 2023-03-16 2024-09-19 深圳康诺思腾科技有限公司 Bras porte-instruments et robot chirurgical
CN120439259A (zh) * 2025-05-30 2025-08-08 青岛格瑞思智能科技有限公司 一种工业加工的多自由度机械手

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Cited By (15)

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Publication number Priority date Publication date Assignee Title
CN113100947A (zh) * 2021-03-31 2021-07-13 山东省千佛山医院 一种用于微创手术机器人执行机械臂位姿调整的机构
CN114098954A (zh) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人
EP4431040A4 (fr) * 2021-11-11 2025-11-12 Shenzhen Edge Medical Co Ltd Bras mécanique, appareil d'actionnement esclave et robot chirurgical
CN114098954B (zh) * 2021-11-11 2023-06-16 深圳市精锋医疗科技股份有限公司 机械臂、从操作设备、手术机器人
JP2024544535A (ja) * 2021-11-12 2024-12-03 リブスメド インコーポレーテッド 手術用ロボットアーム
WO2023085879A1 (fr) * 2021-11-12 2023-05-19 주식회사 리브스메드 Bras de robot chirurgical
JP7737183B2 (ja) 2021-11-12 2025-09-10 リブスメド インコーポレーテッド 手術用ロボットアーム
CN114767273A (zh) * 2022-03-23 2022-07-22 宁波睿达医疗器械有限公司 操纵臂及手术机器人
CN114869481A (zh) * 2022-05-12 2022-08-09 重庆金山医疗机器人有限公司 手术机器人及保持位姿形态的主手机械臂
CN114869481B (zh) * 2022-05-12 2024-01-12 重庆金山医疗机器人有限公司 手术机器人及保持位姿形态的主手机械臂
WO2024032745A1 (fr) * 2022-08-11 2024-02-15 科弛医疗科技(北京)有限公司 Structure de bras robotique et son procédé de commande, et robot chirurgical et son procédé de commande
CN116058972A (zh) * 2023-02-17 2023-05-05 杭州键嘉医疗科技股份有限公司 一种骨科手术专用型机械臂
WO2024187959A1 (fr) * 2023-03-16 2024-09-19 深圳康诺思腾科技有限公司 Bras porte-instruments et robot chirurgical
CN117398188A (zh) * 2023-11-22 2024-01-16 北京柏惠维康科技股份有限公司 一种机械臂构型、机械臂及手术机器人
CN120439259A (zh) * 2025-05-30 2025-08-08 青岛格瑞思智能科技有限公司 一种工业加工的多自由度机械手

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