The present invention provides a messenger system based on an active emoticon, which provides a completely new active emoticon and causes an additional interactive change that is different from an existing emoticon, thereby enabling a new interaction. In this regard, the messenger system based on an active emoticon, according to an aspect of the present invention, includes: an instant messenger server; and a user terminal that communicates with the instant messenger server and performs chatting, wherein the chatting is performed by using text or an emoticon and if a previously output emoticon is selected (including touching) from a chat window of any one chat room, the user terminal performs an input for selecting and changing the previously output emoticon or outputs the previously output emoticon by copying or changing the same on its chat window that has not yet been output.
H04L 51/04 - Real-time or near real-time messaging, e.g. instant messaging [IM]
H04L 51/52 - User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail for supporting social networking services
2.
ACTIVE AI MESSENGER SYSTEM AND METHOD FOR PROVIDING SERVICE THEREFOR
The present invention aims to provide an active AI messenger system that actively conducts a chat with a user rather than passively responding to the user's questions, and a method for providing a service therefor. An active AI messenger system, according to one aspect of the present invention, comprises: an instant messenger server; a user terminal communicating with the instant messenger server; and a large language model (LLM) server that transmits and receives data from the instant messenger server, wherein the instant messenger server primarily processes chat data and inputs same into a large language model, and adopts or secondarily processes answer data outputted by the large language model and transmits same to the user terminal.
G06Q 50/50 - Business processes related to the communications industry
H04L 51/02 - User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail using automatic reactions or user delegation, e.g. automatic replies or chatbot-generated messages
H04L 51/04 - Real-time or near real-time messaging, e.g. instant messaging [IM]
G06F 40/49 - Data-driven translation using very large corpora, e.g. the web
G06Q 50/00 - Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
3.
SURGICAL ROBOT SYSTEM, AND LAPAROSCOPE MANIPULATION METHOD AND BODY-SENSING SURGICAL IMAGE PROCESSING DEVICE AND METHOD THEREFOR
Disclosed are a robot system and a laparoscope manipulation method therefor. There is the advantage that the surgeon can control the position and the image-input angle of the laparoscope with just a gesture of intent to view a desired surgical site, by using a surgical robot comprising: an interface unit which fluidly moves with an orientation and magnitude corresponding to the orientation and magnitude of movement of the face of a surgeon who is connected thereto; a movement sensor unit for outputting sensing information corresponding to the orientation and magnitude with which the interface unit fluidly moves; and a manipulation-command-generating unit for generating and outputting a manipulation command relating to one or both of the position and image-input angle of a vision unit by using the sensing information.
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The present invention provides a bending device for use with an instrument for surgical operation which allows a distal end of the instrument to bend freely, an instrument for surgical operation having multiple functions, and a structure to actuate the instrument.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
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.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
Disclosed are a coupler for a robot arm for single port surgery, and a surgical robot comprising the same. The coupler for a robot arm for single port surgery, which is a coupler used in a surgical robot to be operated while surgical instruments are mounted to each of a plurality of robot arms, comprises: a body; coupling portions, which are formed in the body, and are coupled to the each end of a plurality of robot arms to enable the plurality of robot arms to be set in a preset state for single port surgery; and a plurality of throughholes for allowing each of a plurality of instruments to be penetrated so as to inserted into a single port perforated in the surgical site of a patient, perforated in the body. A general robot for laparoscopic surgery can also be used as a robot for single port surgery by connecting a plurality of robot arms one after another with the coupler for single port surgery.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
Disclosed are a surgical instrument, a coupling structure of the surgical instrument, and a method for adjusting the origin point. The surgical instrument comprises: a handle; a shaft detachably coupled to the handle and extended in one direction; a bending portion formed at a part of the shaft; a drive portion for producing a predetermined driving force, mounted on the handle; a location change portion for being transmitted with a driving force to change the location of one end of the shaft, thereby bending the shaft in the direction different from the extension direction, mounted on the handle; and a power transmission means for bending the bending portion by corresponding to the bent shaft. It is possible to conveniently and freely bend the shaft, to attach or detach the shaft to or from the handle, and to allow for a user to conveniently couple the shaft to the handle in case of attaching or detaching.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
8.
MASTER CONTROL DEVICE OF ROBOT, AND SURGICAL ROBOT USING SAME
Disclosed are a master control device of a robot, and a surgical robot using the same. The master control device for controlling a robot comprises: a gimbal controlled by a user; and a link portion which is rotatably combined to a robot and is operated to allow the gimbal to move to an arbitrary position in space. The link portion comprises: a SCARA link portion which is operated when the gimbal moves on a horizontal plane; and a parallel link portion which is operated when the gimbal moves vertically. A SCARA link is in charge of the horizontal control of the gimbal and a parallel link is in charge of the vertical control of the gimbal, which makes the link portion rotate by the self-weight of the gimbal, and thus downward falling of the gimbal is prevented and the gimbal can always be maintained to be horizontal.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 17/00 - Surgical instruments, devices or methods
9.
MOMENT BALANCING DEVICE AND AN ARM STRUCTURE OF A SURGICAL ROBOT USING THE SAME
The present invention relates to a moment balancing device and an arm structure of a surgical robot using the same. The moment balancing device has to balance the moment that is applied to the center point by a load acting on a rotary section in a parallel link, the rotary section rotating around a predetermined center point with respect to a reference; and comprises a plate cam, a cam follower and an elastic body, wherein the plate cam has a path determined by the function of a rotation angle of the rotary section with respect to the reference. A rotational moment generated by the load of the rotary section is offset by employing the elastic body and cam structure which apply tension, such that a uniform force may be applied in any direction when rotating the rotary section. The incorporation of such a moment balancing device into an arm structure of a surgical robot makes it possible to move the robot arms with a uniform force, independent of the influence of gravity.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 17/00 - Surgical instruments, devices or methods
10.
SURGICAL INSTRUMENT AND ADAPTER FOR SINGLE PORT SURGERY
Disclosed is a surgical instrument. The surgical instrument comprises: a tube-shaped shaft extended in the longitudinal direction; a guide tube coupled so as to be inserted into the shaft, of which the end is bent by a certain angle; and an effector for carrying out operation necessary for surgery, coupled to the end of the guide tube. The surgical instrument can implement wrist motion and gripping motion of the effector by inserting and drawing the guide tube and a torque cable into and from the shaft instead of using a known pulley wire method, and thus the shaft of the surgical instrument can be made slimmer and the instrument structure can be applied in case a wire cannot be used.
The present invention relates to a jaw structure for a surgical instrument. The surgical instrument jaw structure, comprises: a pair of jaws mounted at the end portion of the surgical instrument and used for a grip operation; an elastic skin applied to a surface facing the pair of jaws, the elastic skin being transformed when pressed by an object according to the grip operation of the jaws; and a sensing block interposed between the jaw and the elastic skin, for measuring a reaction force applied to the jaws based on the degree of transformation of the elastic skin. Since the grip surface of the pair of jaws is covered with an elastic material, it is easier to grip an object during a surgical operation, and damage to the object can be minimized even if the jaws are gripped with an excessive force. A force sensor array is arranged on the other side of the elastic skin to intuitively sense the reaction force applied to the jaws, in a manner similar to the way a human feels.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Disclosed are a surgical image processing device and a method therefor. The surgical image processing device comprises an image input unit for receiving input in the form of endoscopic images provided by a surgical endoscope, an image storage unit for storing modelling images relating to a surgical implement performing surgery on a surgical object being photographed by the surgical endoscope, an image matching unit for matching the endoscopic images and the modelling images with each other and generating output images, and a screen display unit for outputting output images comprising the endoscopic images and the modelling images; and the surgical image processing device makes smooth surgery possible by providing actual images and modelling images together during surgery.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances
13.
STERILE ADAPTER, FASTENING STRUCTURE OF WHEELS, AND FASTENING STRUCTURE OF SURGICAL INSTRUMENT
Disclosed is a sterile adapter. The sterile adapter is interposed between an instrument holder formed at a surgical robot arm and a surgical instrument mounted on the instrument holder, wherein the sterile adapter comprises: a body portion comprising a first surface facing the instrument holder, and a second surface facing the surgical instrument; a first wheel which is elastically supported in the body portion, is exposed to the first surface, and is fitted to a first drive wheel formed at the instrument holder; and a second wheel which is elastically supported in the body portion, is exposed to the second surface, and is fitted to a second drive wheel formed at the instrument. An elastic structure is applied to the sterile adapter to allow the wheels formed in the sterile adapter to be pushed in both directions, thereby enabling the easy and convenient mounting of a surgical instrument on a robot arm without applying a separate elastic structure to the instrument holder or the instrument.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
The present invention relates to a remote surgical robot system and to a method for controlling same, capable of simply detecting deformation, such as the bending of a surgical instrument mounted on a robot arm when contacting human tissue during endoscopic surgery using a laparoscope, etc., on the basis of an endoscopic image, and enabling that force to be felt through the means for controlling the robot arm, in order to assist in facilitating surgery by providing the surgeon with a similar feel to that of manually performing surgery. The surgical robot control method according to the present invention can calculate the displacement of instrument deformation during the insertion of the instrument into the human body during a surgical procedure, and can determine the force exerted on the instrument inside the human body on the basis of the displacement. In order to induce better deformation of the instrument and to facilitate the measurement of displacement, suitable materials can be used to change the amount of deformation at suitable locations on the shaft of an instrument in accordance with the targeted application.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The present invention relates to an operation device of a surgical robot, wherein the operation device of a surgical robot comprises: a first operation unit which comprises a shaft-type structure and generates a first operating power by rotation; a second operation unit which is provided at the surrounding of the first operation unit and generates a second operating power by rotation; and a summing and output unit which sums the operating power of the first operation unit and the operating power of the second operation unit to output the summed power, thereby diversifying the operation range of a surgical instrument through one operation device and thus providing convenience and diversity of surgical operation.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The present invention relates to a surgical operation apparatus, namely, robotic or hand-held surgery instruments; and more specifically, to structure of an instrument that is mounted to the surgical operation apparatus and placed near or inserted into a human tissue to execute a surgery. In particular, the present invention is directed to a multi-functional instrument of a surgical operation apparatus, wherein at least three surgical members are comprised in a single instrument to enable the implementation of plural surgical tools, thereby reducing surgical time including the instrument exchange time and simplifying a surgical procedure, (e.g. reducing the number of instruments to be inserted into the body). Further, in case of a surgical robot, the overall required configuration of the robot can be simplified as well.
Disclosed are a hybrid surgical robot system and a method for controlling a surgical robot. The hybrid surgical robot system comprises: a robot arm; an instrument mounted on the robot arm such that the instrument operates by the driving force delivered by the robot arm; and a handle which applies a driving force to the instrument by user manipulation, wherein said instrument performs surgical tasks by the driving force delivered by the robot arm and/or by the driving force delivered by the handle. The hybrid surgical robot system of the present invention has said manual handle mounted on the surgical robot having the instrument, thus efficiently conducting surgery through the cooperation between a surgeon and the robot, and the surgeon near the patient can directly and manually manipulate the handle to conduct surgery upon the occurrence of emergency during the performance of a remote surgical procedure using the surgical robot.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
Disclosed is a surgical instrument. According to one aspect of the present invention, the surgical instrument of which one end is combined with an operator in contact with a surgical site and of which the other end is combined with a drive unit which operates the operator, comprises a shaft of which one end is combined with the drive unit and which is extended in a certain longitudinal direction, a fixing unit which is fixed and combined to the other end of the shaft, and a rotation unit of which one end is combined with the operator and of which the other end is combined with the fixing unit to enable rotation along the outer circumference surface of the fixing unit. The surgical instrument is provided with the operator which can perform precise and accurate rotation through the use of more various structures, and can be operated directly by the hands of a surgeon or a robot arm.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
Disclosed is a coupling structure for a surgical instrument. The coupling structure for mounting a surgical instrument onto an adapter arranged at the front end of a robot arm comprises: a housing formed into a tablet shape with a predetermined thickness and mounted on the front end of the robot arm; an interface unit formed in the thickness portion of the housing and coupled to the adapter; a plurality of drivers mounted on the interface unit to be actuated by the driving force transmitted by the adapter; a shaft coupled to the housing and accommodating a power transmission means, which is connected to the drivers, therein; and an effector coupled to the end of the shaft and connected to the power transmission means to perform operations required for surgery in accordance with the operation of the drivers. The housing of the instrument is formed into a slim tablet shape and the interface unit is formed in the thickness portion of the housing, to thereby minimize collisions or interference among instruments even when the instruments are mounted on the respective robot arms.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A surgical robot system using augmented reality, and a method for controlling same are disclosed. A master interface for a surgical robot, which is mounted on a master robot for controlling a slave robot having robot arms, comprises: an image display unit which displays endoscopic images corresponding to the video signal provided by a surgical endoscope; one or more arm-operating units for controlling the respective robot arms; and an augmented reality implementation unit which generates virtual surgical tool information according to the user operation performed using the arm-operating units, so as to display virtual surgical tools via the image display unit. The master interface displays both actual surgical tools and virtual surgical tools together using augmented reality to enable a surgeon to smoothly perform a surgical operation.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A surgical instrument is disclosed. The surgical instrument comprises: a handle; a shaft coupled to the handle and extending in one direction; a bendable portion formed at a portion of the shaft; a driving unit mounted on the handle to generate a predetermined driving force; and power transmission means for transmitting the driving force generated by the driving unit to the bendable portion to bend the bendable portion. The surgical instrument is provided with a driving unit such as a motor or the like, and the shaft is bent by simply operating a controller such as a joystick or the like, thereby enabling a user to easily change the direction of an effector even when the user holds the instrument with one hand. Further, as the shaft is bent when the instrument is held by the user, the user can feel a significant portion of the reaction force applied to the effector during a change in the direction of the effector, thereby providing haptic feedback to the user.
A surgical robot system and a method for controlling same are disclosed. A master interface for a surgical robot is mounted on a master robot that controls a slave robot having two or more robot arms equipped with respective surgical tools, wherein said master interface comprises: a screen display unit which displays images corresponding to the image signal inputted from a surgical endoscope; two or more arm-operating units which control said two or more robot arms, respectively; and a control unit which controls images in accordance with a user control such that the images can be displayed after being rotated in a predetermined direction, and which controls robot arm control conditions such that the conditions are updated to suit the rotated images. The master interface of the present invention enables the image displayed on a laparoscopic surgery monitor to be controlled in accordance with the intention of an operating surgeon during laparoscopic surgery, thereby preventing a lack of intuitiveness during surgery.
A surgical navigation apparatus and a method for same are disclosed. The surgical navigation apparatus according to the present invention comprises: a first matching unit which matches the position of a patient and reference image data, using the reference image data of the patient photographed prior to a surgery and patient position data; a second matching unit which matches, on a real-time basis, the patient position data and comparative image data received from a photographing unit; and an image-processing unit which matches, on a real-time basis, the comparative image data and the reference image data using the patient position data. The apparatus of the present invention enables images photographed during the surgery to be provided on a real-time basis, and to be compared with the images photographed prior to the surgery, and enables the provided images, including the current position of an endoscope and peripheral structure, to be outputted in a 3D format, thus increasing convenience for a surgeon.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 17/00 - Surgical instruments, devices or methods
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
Disclosed is a surgical robot for liposuction. The surgical robot for liposuction comprises: a control unit; a robot arm which operates in accordance with a predetermined control signal received from the control unit; a cannula which is mounted on the robot arm and which extends in one direction; and a suction unit which is formed at one end of the cannula and which is inserted into the part of the body to be operated upon to suck body fat. The surgical robot of the present invention has the robot arm on which the cannula for liposuction is mounted, and moves the cannula by driving the robot arm, thereby enabling a surgeon to perform liposuction in a convenient manner without labor. Further, the robot of the present invention can be automatically controlled by a tactile sensor, an angle sensor or the like, and the range of operation can be automatically set through the analysis of image information acquired by a vision unit. The cannula has a front end on which a camera is mounted, and the image information acquired by the camera is analyzed to automatically control the operation of the suction unit, thereby performing liposuction in a convenient, accurate, and safe manner.
A61B 17/50 - Instruments for removing foreign bodies from the human body
A61B 17/22 - Implements for squeezing-off ulcers or the like on inner organs of the bodyImplements for scraping-out cavities of body organs, e.g. bonesSurgical instruments, devices or methods for invasive removal or destruction of calculus using mechanical vibrationsSurgical instruments, devices or methods for removing obstructions in blood vessels, not otherwise provided for
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61M 1/00 - Suction or pumping devices for medical purposesDevices for carrying-off, for treatment of, or for carrying-over, body-liquidsDrainage systems
A61B 17/00 - Surgical instruments, devices or methods
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.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
26.
SURGICAL INSTRUMENT AND COUPLING STRUCTURE FOR SURGICAL ROBOT
Disclosed are a surgical instrument and a coupling structure for a surgical robot. The surgical instrument, which may be mounted on a surgical robot for operation, and which may perform a maneuver required for surgery by moving and rotating an effector joined to one end of the surgical instrument, may include: a first driving component that rotates about a first axis, a second driving component joined to the first driving component that rotates the first driving component about a second axis which intersects the first axis, a third driving component joined to the second driving component that rotates the second driving component about a third axis which intersects the second axis, a shaft joined to the third driving component that extends in one direction and has the effector joined to one end, and a housing that holds the first driving component, the second driving component, and the third driving component. As the driving components for moving the effector can be provided in a systematically connected form, instead of having each of the driving components arranged independently, the size of the surgical instrument may be reduced. Also, by forming the driving components as a 3-dimensional structure instead of using 2-dimensional pulleys, the transfer of forces required for the complex movements of the effector can be implemented simultaneously. Embodiments of the present invention can also readily be applied to a snake type surgical instrument.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A surgical robot is disclosed. A bed mount surgical robot, for performing a surgical procedure on a patient lying on an operating bed using a surgical instrument mounted on an end portion of a robot arm, can include: a main unit joined to the operating bed, a support arm rotatably joined to the main unit, and one or more robot arms rotatably joined to the support arm. Since multiple robot arms may be joined to a support arm, which itself may be joined to a main unit mounted on the operating bed, the surgical slave robot can have a slim, compact form as well as greater stability. Also, as the robot arms may be mounted onto the bed, the relative positions of the robot arms with respect to the bed can be accurately identified without having to separately input the position information of the bed when installing the robot arms.
A61B 17/00 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
patents