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Pub. No.:    WO/2011/149260    International Application No.:    PCT/KR2011/003817
Publication Date: 01.12.2011 International Filing Date: 25.05.2011
A61B 19/00 (2006.01), B25J 9/04 (2006.01), B25J 9/06 (2006.01), B25J 18/00 (2006.01)
Applicants: ETERNE INC. [KR/KR]; 7F KyungDong Bldg., 4-4 Sunae-dong, Bundang-gu Seongnam-si, Gyeonggi-do 463-020 (KR) (For All Designated States Except US).
CHOI, Seung Wook [KR/KR]; (KR) (For US Only).
WON, Jong Seok [KR/KR]; (KR) (For US Only)
Inventors: CHOI, Seung Wook; (KR).
WON, Jong Seok; (KR)
Agent: AHN, Tae Hyun; Suite 1123 Anamtower Bldg. 702-10 Yeoksam-dong, Gangnam-gu Seoul 135-080 (KR)
Priority Data:
10-2010-0050681 28.05.2010 KR
10-2010-0076924 10.08.2010 KR
(KO) 수술용 로봇 암의 RCM 구조
Abstract: front page image
(EN)The present invention relates to a remote center of motion (RCM) structure for a surgical robot arm. The RCM structure for a surgical robot arm is configured such that an end of the robot arm is equipped with a surgical instrument such that the surgical instrument is rotatable about a point of an RCM. The RCM structure for a surgical robot arm comprises: a base; a first link unit coupled to the base such that the first link unit is rotatable in both directions about the virtual line interconnecting the base and the RCM point; and a second link unit which is rotatably coupled to the first link, and the end of which is equipped with the surgical instrument. The first and second link units are rotatable by 360 degrees with respect to the base so as to significantly increase the range in which the surgical instrument rotates about the RCM point, thereby enabling the surgical robot arm to operate in a wider range while maintaining the RCM.
(FR)La présente invention porte sur une structure à centre de mouvement déporté (RCM) pour bras de robot chirurgical. La structure à RCM pour bras de robot chirurgical est configurée de telle sorte qu'une extrémité du bras de robot est équipée d'un instrument chirurgical de telle sorte que l'instrument chirurgical peut tourner autour d'un point du RCM. La structure à RCM pour bras de robot chirurgical comprend : une base; une première unité d'articulation couplée à la base de telle sorte que la première unité d'articulation peut tourner dans les deux sens autour d'une ligne virtuelle qui relie la base au point de RCM; et une seconde unité d'articulation qui est couplée de façon rotative à la première articulation et dont l'extrémité est équipée de l'instrument chirurgical. Les première et seconde unités d'articulation peuvent tourner de 360 degrés par rapport à la base de manière à agrandir significativement la plage dans laquelle l'instrument chirurgical tourne autour du point de RCM, permettant ainsi au bras de robot chirurgical de travailler dans une plus large plage tout en conservant le RCM.
(KO)수술용 로봇 암의 RCM 구조가 개시된다. 로봇 암의 단부에 수술용 인스트루먼트를 장착하여, 인스트루먼트가 원격의 RCM(remote center of motion) 포인트를 중심으로 회전하도록 작동되는 수술용 로봇 암의 RCM 구조로서, 베이스(base)와, 베이스와 RCM 포인트를 연결한 가상의 선을 기준으로 일측과 타측으로 모두 회전가능하도록 베이스에 결합되는 제1 링크부와, 제1 링크부에 회전가능하도록 결합되며, 그 단부에 인스트루먼트가 장착되는 제2 링크부를 포함하는 수술용 로봇 암의 RCM 구조는, 베이스에 대해 360도 회전가능한 구조로 링크부를 구성함으로써, 수술용 인스트루먼트가 RCM 포인트를 중심으로 회전할 수 있는 범위를 대폭 향상시킬 수 있으며, 이에 따라 수술용 로봇 암이 RCM을 유지하면서 보다 넓은 범위에서 작동되도록 할 수 있다.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
Publication Language: Korean (KO)
Filing Language: Korean (KO)