Robotized laparoscopic system
View Patent ↗A robotized laparoscopic system capable of executing commands of an operating surgeon is provided. The laparoscopic system includes a cylindrical tube inserted through an incision. A small-sized camera is attached to one end of the tube to capture the images of the surgical site. A bending portion is adapted to bend the tip of the tube in any direction. A driving unit controls a bending direction and a bending angle of the bending portion. A movement device moves the tube forward or backward in a longitudinal direction. A control unit independently controls the driving unit and the movement device. An input unit receives commands from the surgeon. A conversion unit converts the command input from the surgeon into digital signals and transmits the digital signals to the control unit. A support unit supports the weight of the movement device by being connected to an operating table or the floor.
1. A robotized laparoscopic system for a surgery, comprising:
a cylindrical tube adapted to be inserted through an incision on abdominal walls and having a tip on one end;
a bending portion for connecting the cylindrical tube and the tip and for changing a bending direction of the tip;
a driving unit for controlling the bending direction and a bending angle of the bending portion;
a movement device for moving the tube in a longitudinal direction; and
a control unit for controlling the driving unit and the movement device independently;
wherein the control unit calculates a rotation angle θ 2 -θ 1 of the bending portion during a longitudinal displacement D 2 -D 1 of the movement device using the following Equations, to compensate for the change in viewing angle by either enlargement or reduction command:
d
θ
1
(
1
-
cos
θ
1
)
+
(
l
0
+
l
1
)
sin
θ
1
=
d
θ
2
(
1
-
cos
θ
2
)
+
(
l
0
+
l
2
)
sin
θ
2
d
θ
1
sin
θ
1
+
(
l
0
+
l
1
)
cos
θ
1
+
D
1
=
d
θ
2
sin
θ
2
+
(
l
0
+
l
2
)
cos
θ
2
+
D
2
where d is a length of the bending portion, I 0 is a distance between a front surface of the tube and the bending portion, θ 1 is a bending angle of the bending portion before moving, I 1 is a distance between an end of the tube and a surgical site of interest before moving, D 1 is a position of the tube before moving, θ 2 is a bending angle of the bending portion after moving, I 2 is a distance between the tip of the tube and the surgical site after moving, and D 2 is a position of the tube after moving.