KR-20260067335-A - Surgical robot system

KR20260067335AKR 20260067335 AKR20260067335 AKR 20260067335AKR-20260067335-A

Abstract

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.

Inventors

김보욱

Assignees

의료법인 성광의료재단

Dates

Publication Date: 20260512
Application Date: 20251031
Priority Date: 20241105

Claims (8)

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.
In Article 1, A surgical robot system in which the first insertion path and the second insertion path are formed at different angles.
In Article 2, A surgical robot system, wherein the above common port assembly further comprises a support member disposed on the first insertion path.
In Article 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.
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.
In Article 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.
In Article 5, The above-mentioned third surgical instrument is an endoscope camera, a surgical robot system.
In Article 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.

Description

Surgical robot system The present invention relates to a surgical robot system. 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. 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. Therefore, a new surgical robot system structure is required that can simultaneously secure sufficient traction and high dexterity while utilizing a narrow single passage. FIG. 1 is a schematic diagram illustrating a surgical robot system according to one embodiment of the present invention. 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. Figure 3 is a drawing illustrating the state in which the first surgical instrument and the second surgical instrument are inserted into the body. FIG. 4 is a drawing illustrating a surgical robot system according to another embodiment of the present invention. 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. 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. In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise. 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. 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. 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. 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. 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. 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. 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. 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. FIG. 1 is a schematic diagram illustrating a surgical robot system (1) according to one embodiment of the present invent