公开(公告)号：US20110022060A1

公开(公告)日：2011-01-27

申请号：US12673725

申请日：2009-03-18

申请人： Jong Seok Won ,  Seung Wook Choi ,  Kwang Ha

发明人： Jong Seok Won ,  Seung Wook Choi ,  Kwang Ha

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/50

摘要： A surgical robot is disclosed, which includes: a handle unit; a main body connected to the handle unit; a robot arm connected to the main body and configured to operate in correspondence with a first manipulation on the handle unit; an instrument mounted on a front end of the robot arm; and a manipulation unit coupled to a far end of the instrument and configured to perform an action required for surgery in correspondence with a second manipulation on the handle unit, wherein the main body is coupled to a support unit. The surgical robot can be constructed with a simpler, slimmer structure, by having the arms of the surgical robot moved and rotated manually and having the instruments manipulated by the robot. Thus, the surgical robot can be installed in a narrow space, and the costs for manufacturing and installing the robot can be reduced. In particular, in the case of simple surgical procedures, the operator may readily manipulate the surgical robot next to the patient, for improved applicability and reliability.

摘要翻译： 公开了一种手术机器人，其包括：手柄单元; 连接到手柄单元的主体; 机器人臂，其连接到所述主体并且被配置为与所述手柄单元上的第一操纵相对应地操作; 安装在机器人手臂前端的仪器; 以及操作单元，其耦合到所述仪器的远端并且被配置为执行与所述手柄单元上的第二操纵相对应的手术所需的动作，其中所述主体联接到支撑单元。 外科手术机器人可以通过使手术机器人的手臂手动移动和旋转并且具有由机器人操纵的器械而以更简单，更细的结构构造。 因此，外科手术机器人可以安装在狭窄的空间中，并且可以减少制造和安装机器人的成本。 特别地，在简单的外科手术的情况下，操作者可以容易地操纵患者旁边的外科手术机器人，以提高适用性和可靠性。

公开(公告)号：US20110022229A1

公开(公告)日：2011-01-27

申请号：US12922608

申请日：2009-03-18

申请人： Bae Sang Jang ,  Seung Wook Choi ,  Dong Myung Min ,  Jong Seok Won ,  Kwang Ha

发明人： Bae Sang Jang ,  Seung Wook Choi ,  Dong Myung Min ,  Jong Seok Won ,  Kwang Ha

IPC分类号： B25J13/02 ,  B25J9/04

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/742 ,  A61B2090/506 ,  B25J3/04 ,  B25J13/02

摘要： A master interface and a driving method for a surgical robot are disclosed. The master interface is mounted on a master robot, to manipulate a slave robot connected with the master robot, and includes: a main handle coupled to the master robot; a sub-handle coupled to the main handle; a first processor configured to generate a first signal in correspondence with user manipulation on the main handle; and a second processor configured to generate a second signal in correspondence with user manipulation on the sub-handle, where the first signal and the second signal are transmitted to the slave robot independently. As the interface for the surgical master robot includes not only the handle (main handle) for manipulating the robot arm, but also an additional controller (sub-handle) for a laparoscope, etc., the operator is able to simultaneously manipulate the laparoscope, etc., while manipulating the handle, without having to stop manipulating the handle or perform an additional action separately. The sub-handle may be detachably coupled to the main handle, so that the laparoscope, etc., may be manipulated separately by an assistant when necessary.

摘要翻译： 公开了一种用于外科手术机器人的主界面和驱动方法。 主接口安装在主机器人上，以操纵与主机器人连接的从机器人，并且包括：与主机器人耦合的主手柄; 连接到主把手的子手柄; 第一处理器，被配置为产生与所述主手柄上的用户操纵相对应的第一信号; 以及第二处理器，其被配置为产生与所述子手柄上的用户操纵相对应的第二信号，其中所述第一信号和所述第二信号被独立地发送到所述从机器。 由于手术主机器人的界面不仅包括用于操纵机器人手臂的手柄（主手柄），还包括用于腹腔镜等的附加控制器（子手柄），操作者能够同时操作腹腔镜， 等等，同时操纵手柄，而不必停止操纵手柄或单独执行附加动作。 子把手可以可拆卸地联接到主把手，使得腹腔镜等可以在需要时由助手单独操纵。

公开(公告)号：US20100224022A1

公开(公告)日：2010-09-09

申请号：US12676852

申请日：2009-07-23

申请人： Seung Wook Choi ,  Jong Seok Won

发明人： Seung Wook Choi ,  Jong Seok Won

IPC分类号： A61B17/00

CPC分类号： A61B34/73 ,  A61B34/30 ,  A61B34/37 ,  Y10T74/20305

摘要： A surgical slave robot is disclosed. The surgical slave robot, for performing a surgical operation with a surgical instrument installed on an end portion of a robot arm, can include: a main body; a major support arm that is coupled to the main body such that the major support arm is movable along one direction; a minor support arm rotatably coupled to the major support arm; and a plurality of the robot arms rotatably coupled to the minor support arm. By coupling a twofold support arm of a major and minor support arm to a tower-shaped main body and coupling multiple robot arms to the support arms, the surgical slave robot may be constructed with a compact and slim size that occupies a small amount of space, making it possible to position the surgical robot close to the patient while providing space for the surgeon to access the patient.

摘要翻译： 公开了一种手术从机器人。 用于通过安装在机器人手臂的端部上的外科器械执行外科手术的外科从属机器人可以包括：主体; 主支撑臂，其联接到主体，使得主支撑臂可沿着一个方向移动; 可旋转地联接到主支撑臂的小支撑臂; 以及可旋转地联接到次要支撑臂的多个机器人手臂。 通过将主支撑臂和次支撑臂的双重支撑臂联接到塔形主体并将多个机器人臂联接到支撑臂上，外科从机器人可以被构造成具有紧凑且纤薄的尺寸，占据少量空间 ，使得可以将外科手术机器人靠近患者，同时为外科医生提供空间以访问患者。

公开(公告)号：US20110264113A1

公开(公告)日：2011-10-27

申请号：US13176414

申请日：2011-07-05

申请人： Seung Wook CHOI ,  Jong Seok Won ,  Jae Sun Lee

发明人： Seung Wook CHOI ,  Jong Seok Won ,  Jae Sun Lee

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/301 ,  A61B2034/742

摘要： A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.

公开(公告)号：US20110276058A1

公开(公告)日：2011-11-10

申请号：US13144427

申请日：2010-02-08

申请人： Seung Wook Choi ,  Jong Seok Won ,  Min kyu Lee ,  Bae Sang Jang ,  Woo Jyoung Lee

发明人： Seung Wook Choi ,  Jong Seok Won ,  Min kyu Lee ,  Bae Sang Jang ,  Woo Jyoung Lee

IPC分类号： A61B19/00

CPC分类号： B25J9/1689 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B2090/372 ,  B25J9/1671 ,  G05B2219/39389 ,  G05B2219/40168 ,  G05B2219/40195 ,  G05B2219/45123

摘要： A master interface for a surgical robot, mounted on a master robot for controlling a slave robot, may include two or more robot arms each having a mounted surgical instrument. The master interface may include: a screen display unit configured to display an on-screen image corresponding to a picture signal inputted from a surgical endoscope; two or more arm manipulation units equipped for controlling the two or more robot arms, respectively; and a control unit configured to provide control such that the on-screen image is rotated or mirrored in a pre-designated direction according to a user manipulation, and configured to provide control such that control conditions for the robot arm are renewed to match the rotated or mirrored on-screen image. Thus, the display screen on a surgical monitor can be suitably controlled according to the intent of the surgeon, to remove the non-intuitiveness of a surgical procedure.

摘要翻译： 安装在用于控制从机器人的主机器人上的外科手术机器人的主界面可以包括两个或更多个机器人臂，每个机械臂具有安装的手术器械。 主界面可以包括：屏幕显示单元，被配置为显示与从外科用内窥镜输入的图像信号相对应的屏幕图像; 两个或更多个臂操纵单元分别配备用于控制两个或更多个机器人手臂; 以及控制单元，被配置为提供控制，使得屏幕上的图像根据用户操纵以预先指定的方向旋转或镜像，并且被配置为提供控制，使得更新机器人手臂的控制条件以匹配旋转的 或镜像的屏幕图像。 因此，可以根据外科医生的意图适当地控制手术监视器上的显示屏，以消除外科手术的非直观性。

公开(公告)号：US20110238084A1

公开(公告)日：2011-09-29

申请号：US13156878

申请日：2011-06-09

申请人： Seung Wook CHOI ,  Jong Seok Won ,  Jae Sun Lee

发明人： Seung Wook CHOI ,  Jong Seok Won ,  Jae Sun Lee

IPC分类号： A61B17/34 ,  A61B17/00 ,  A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/301 ,  A61B2034/742

摘要： A surgical instrument is discussed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.

摘要翻译： 讨论一种手术器械。 具有接合到一端的用于接合手术部位的效应器和用于操作连接到另一端的效应器的驱动部件的外科器械包括：第一轴，其一端与驱动部分连接，并且延伸 沿第一长度方向; 以及第二轴，其沿着与所述第一轴形成特定角度的第二长度方向延伸，并且所述第二轴具有与所述第一轴的另一端接合的一端，使得所述第二轴可以围绕所述第二纵向方向的轴线旋转 方向。 因此，可以使用几种这样的手术器械进行手术而不会使器械彼此阻塞，并且可以根据设定的长度使手术器械具有不同的使用模式。

公开(公告)号：US20120004648A1

公开(公告)日：2012-01-05

申请号：US13254679

申请日：2010-03-03

申请人： Seung Wook Choi ,  Jong Seok Won ,  Hyung Ho Kim

发明人： Seung Wook Choi ,  Jong Seok Won ,  Hyung Ho Kim

IPC分类号： A61B17/00

CPC分类号： A61B17/29 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/0023 ,  A61B2017/003 ,  A61B2017/00327 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/2925 ,  A61B2017/2927 ,  A61B2017/2929

摘要： A surgical instrument is disclosed that includes: a handle; a shaft coupled to the handle and extending in one direction; a bending part formed on a portion of the shaft; a driving part mounted on the handle and configured to generate a particular driving power; and a power transmission mechanism configured to transmit the driving power generated by the driving part to the bending part such that the bending part is bent. By mounting a driving part onto the surgical instrument and enabling the shaft to bend by a simple manipulation on a controller, it is possible to readily change the direction of the effector even when holding the instrument in one hand. Also, since the shaft is bent while the instrument is held, the reaction force applied on the effector when changing the direction of the effect can be felt by the user, providing a “haptic feedback”.

摘要翻译： 公开了一种手术器械，其包括：把手; 联接到手柄并沿一个方向延伸的轴; 形成在所述轴的一部分上的弯曲部; 安装在所述手柄上并构造成产生特定驱动力的驱动部件; 以及动力传递机构，其构造成将由所述驱动部产生的驱动力传递到所述弯曲部，使得所述弯曲部弯曲。 通过将驱动部件安装到手术器械上并且能够通过对控制器的简单操作使轴弯曲，即使在一只手中握持仪器时也可以容易地改变效果器的方向。 此外，由于在保持仪器时轴被弯曲，所以当改变效果的方向时施加在效果器上的反作用力可以由用户感觉到，提供“触觉反馈”。

公开(公告)号：US20110306986A1

公开(公告)日：2011-12-15

申请号：US13203180

申请日：2010-03-22

申请人： Min Kyu Lee ,  Seung Wook Choi ,  Jong Seok Won ,  Sung Kwan Hong

发明人： Min Kyu Lee ,  Seung Wook Choi ,  Jong Seok Won ,  Sung Kwan Hong

IPC分类号： A61B19/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/742 ,  A61B2090/365 ,  G05B2219/45171

摘要： Disclosed are a surgical robot system using augmented reality or history information and a control method thereof. A master interface for a surgical robot is provided, where the master interface is configured to be mounted on a master robot, which is configured to control a slave robot having a robot arm. The interface includes: a screen display unit configured to display an endoscope picture corresponding to a picture signal provided from a surgical endoscope; one or more arm manipulation unit for respectively controlling the robot arm; and an augmented reality implementer unit configured to generate virtual surgical tool information according to a user manipulation on the arm manipulation unit for displaying a virtual surgical tool through the screen display unit. This makes it possible to display an actual surgical tool and a virtual surgical tool together using augmented reality and thus enables surgery in a facilitated manner.

摘要翻译： 公开了使用增强现实或历史信息的手术机器人系统及其控制方法。 提供了一种用于外科手术机器人的主界面，其中主界面被配置为安装在主机器人上，主机器人被配置为控制具有机器人臂的从机器人。 该界面包括：屏幕显示单元，被配置为显示与从外科用内窥镜提供的图像信号相对应的内窥镜图像; 用于分别控制所述机器人臂的一个或多个臂操纵单元; 以及增强现实实施器单元，被配置为根据用户操纵在所述手臂操纵单元上生成虚拟外科手术工具信息，用于通过所述屏幕显示单元显示虚拟手术工具。 这使得可以使用增强现实将实际的手术工具和虚拟外科手术工具一起显示，从而以便利的方式进行手术。

公开(公告)号：US20100249694A1

公开(公告)日：2010-09-30

申请号：US12712008

申请日：2010-02-24

申请人： Seung Wook CHOI ,  Jong Seok Won ,  Bae Sang Jang

发明人： Seung Wook CHOI ,  Jong Seok Won ,  Bae Sang Jang

IPC分类号： A61B17/34 ,  A61M37/00

CPC分类号： A61B17/3423 ,  A61B17/0293 ,  A61B17/3462 ,  A61B17/3474 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3466 ,  A61B2218/008

摘要： Provided is a trocar for a single port surgery installed on a skin puncture site of a patient to provide a pathway for insertion of a plurality of surgical instruments. The trocar includes an upper part; a plurality of inserting holes configured to be positioned on the upper part, the plurality of the surgical instruments being inserted thereto; and a lower part configured to be formed in a tubular shape to connect to the upper part, the lower part being formed in an elastic material so that the lower part is bent when being inserted into the skin puncture site and is straightened after being introduced into the skin puncture site, wherein the trocar provides an open interior space in which the inserting holes are connected with one another so that changing locations of the plurality of the surgical instruments is possible after the surgical instruments are inserted into the plurality of the inserting holes.

摘要翻译： 本发明提供一种安装在患者的皮肤穿刺部位上的单口手术套管针，以提供用于插入多个外科器械的通路。 套管针包括上部; 多个插入孔，其构造成定位在所述上部上，所述多个外科器械插入其中; 以及下部，其形成为与上部连接的管状，下部形成为弹性材料，使得下部在插入皮肤穿刺部位时弯曲并且在被引入到皮肤穿刺部之后被拉直 所述皮肤穿刺部位，其中所述套针针提供开放的内部空间，在所述开放的内部空间中所述插入孔彼此连接，使得在所述外科器械插入到所述多个插入孔中之后，所述多个外科器械的改变位置是可能的。

公开(公告)号：US20110264136A1

公开(公告)日：2011-10-27

申请号：US13129334

申请日：2009-12-08

申请人： Seung Wook Choi ,  Jong Seok Won ,  Jae Sun Lee

发明人： Seung Wook Choi ,  Jong Seok Won ,  Jae Sun Lee

IPC分类号： A61B17/28

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/301 ,  A61B2034/742

摘要： A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.

摘要翻译： 公开了一种外科器械。 具有接合到一端的用于接合手术部位的效应器和用于操作连接到另一端的效应器的驱动部件的外科器械包括：第一轴，其一端与驱动部分连接，并且延伸 沿第一长度方向; 以及第二轴，其沿着与所述第一轴形成特定角度的第二纵向方向延伸，并且所述第二轴具有与所述第一轴的另一端接合的一端，使得所述第二轴可以围绕所述第二纵向方向的轴线旋转 方向。 因此，可以使用几种这样的手术器械进行手术而不会使器械彼此阻塞，并且可以根据设定的长度使手术器械具有不同的使用模式。