Patent ID: 7435216

Claim:
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.