Patent ID: 9089352
Filing Date: 2015-07-28
Classification: A61B

Abstract:
1. A surgical robot system comprising, a plurality of robot arms; a surgery actuator, wherein the surgery actuator is controlled in a pitch direction and/or in a yaw direction by at least one of the plurality of robot arms, and wherein the surgery actuator comprises at least one tool for minimally invasive surgery, and wherein the at least one tool for minimally invasive surgery comprises a main shaft, a first actuating shaft, a second actuating shaft, an end effector and a handling part, and wherein the handling part controls the first actuating shaft, the second actuating shaft and the end effector; and a base, wherein the base comprises a vertical arm and a horizontal arm, and wherein the vertical arm operates in a surge direction and in a roll direction, and the horizontal arm operates in a pitch direction, and wherein the surgery actuator is further controlled in a surge direction and/or in a roll direction by at least one of the plurality of robot arms, and wherein the surgery actuator comprises at least two tools for minimally invasive surgery, and wherein the at least two tools for minimally invasive surgery are positioned in parallel to each other, and wherein the handling part comprises a plurality of drive pulleys, and wherein each of the plurality of drive pulleys is driven by a drive roller, and wherein the handling part further comprises a plurality of actuating pulleys, and wherein each of the plurality of actuating pulleys is driven by at least one of the plurality of drive pulleys, and wherein the plurality of actuating pulleys control the first actuating shaft, the second actuating shaft and/or the end effector, and wherein the at least one tool for minimally invasive surgery further comprises a first yaw actuating part connecting the main shaft and the first actuating shaft, a second yaw actuating part connecting the first actuating shaft and the second actuating shaft, and a pitch actuating part connecting the second actuating shaft and the end effector, and wherein the first yaw actuating part is connected to one of the plurality of actuating pulleys by a yaw cable, and wherein the pitch actuating part, the first yaw actuating part and the second yaw actuating part are connected to the rest of the plurality of actuating pulleys by a first pitch cable and a second pitch cable.