Surgical robot system and method of operating the same
A surgical robot system for a single port surgery includes: a first robot arm in which a joint-type instrument is installed and providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and a second robot arm pairing the first robot arm, in which a non-joint-type instrument is installed and providing a motion displacement to the non-joint-type instrument with respect to the RCM.
1. A surgical robot system for a single port surgery comprising:
a first robot arm including a joint-type instrument having an elbow joint portion, the first robot arm providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and
a second robot arm including a non-joint-type instrument without the elbow joint portion, the second robot arm pairing with the first robot arm when the elbow joint portion is bent such that the joint-type instrument and the non-joint-type instrument form a triangular structure, the second robot arm providing a motion displacement to the non-joint-type instrument with respect to the RCM.
2. The surgical robot system of claim 1 , further comprising:
a third robot arm including an endoscopic camera, the third robot arm providing a motion displacement to the endoscopic camera with respect to the RCM, wherein
the third robot arm is in an opposite direction of the first robot arm with respect to the second robot arm.
3. The surgical robot system of claim 1 , wherein the first robot arm and the second robot form a first arm module, and the surgical robot system further comprises:
a second arm module having a fourth robot arm and a fifth robot arm, the fourth robot arm including a joint-type instrument having an elbow joint portion and the fifth robot arm including a non-joint-type instrument without the elbow a joint portion, the second arm module being symmetrical with the first arm module.
4. The surgical robot system of claim 3 , wherein the second robot arm of the first arm module and the fifth robot arm of the second arm module are adjacent to each other.
5. The surgical robot system of claim 3 , further comprising:
a third robot arm including an endoscopic camera, the third robot arm providing an RCM displacement to the endoscopic camera, wherein
the third robot arm is between the first arm module and the second arm module.
6. The surgical robot system of claim 1 , wherein the non-joint-type instrument is a linear-type instrument.
7. A surgical robot system for a single port surgery comprising:
a first robot arm including a joint-type instrument having an elbow joint portion; and
a second robot arm including a non-joint-type instrument without the elbow joint portion, the second robot arm pairing with the first robot arm when the elbow joint portion is bent such that the joint-type instrument and the non-joint-type instrument form a triangular structure.
8. The surgical robot system of claim 7 , wherein the first robot arm and the second robot form a first arm module, and the surgical robot system further comprises:
a second arm module having a third robot arm including a joint-type instrument having an elbow joint portion, and a fourth robot arm including a non-joint-type instrument without the elbow joint portion, the second arm module being symmetrical with the first arm module.
9. The surgical robot system of claim 8 , wherein second robot arm of the first arm module and the fourth robot arm of the second arm module are adjacent to each other.
10. The surgical robot system of claim 7 , wherein the first robot arm and the second robot arm provide a motion displacement with respect to an RCM to the joint-type instrument and the non-joint-type instrument, respectively.
11. The surgical robot system of claim 7 , wherein the elbow joint portion comprises:
a shaft pivotally connect to at least one of a first portion and a second portion of the first robot arm;
an actuation rod connected to the first portion of the first robot arm; and
a joint link connected to the actuation rod and to the second portion of the first robot arm, wherein
when the actuation rod is pulled in a longitudinal direction with respect to the first portion of the first robot arm, the pulling force is transferred to the second portion of the first robot arm via the joint link.
12. The surgical robot system of claim 11 , wherein the joint link is formed of an elastic material.
13. The surgical robot system of claim 11 , wherein the joint link is formed of a rigid material.
14. A method of operating a surgical robot system for a single port surgery, the method comprising:
preparing a first robot arm providing a motion displacement to a joint-type instrument having an elbow joint portion with respect to a remote center of motion (RCM) and a second robot arm providing a motion displacement to a non-joint-type instrument not having a joint with respect to the RCM;
inserting the joint-type instrument and the non-joint-type instrument into a patient through a single port; and
bending the elbow joint portion of the joint-type instrument and forming a triangular structure using the joint-type instrument and the non-joint-type instrument.
15. The method of claim 14 , further comprising:
linearly moving the non-joint-type instrument in a lengthwise direction.
16. The method of claim 15 , further comprising:
pivoting the joint-type instrument with respect to the RCM and actuating the elbow joint portion.