201208640 、發明說明： 【發明所屬之技術領域】 本發明係關於用於相對於 器之裝置。 一目標定位外科手術儀 【先前技術】 在現代技術的幫助之下 搦取和處理技術，像是 是電腦斷層掃描（Computed201208640, invention description: TECHNICAL FIELD OF THE INVENTION The present invention relates to an apparatus for use with respect to a device. A target positioning surgical instrument [Prior Art] With the help of modern technology, the extraction and processing techniques, such as computed tomography (Computed)
，尤其是電腦技術以及影像Especially computer technology and imaging
Spectroscopy，MRS)、超音波造影(Ultrasound 加叫㈣， US)等，最近一二十年來，外科手術過程已經有長足的 進步。更多的微創與非侵入式手術已經取代了傳統外科 手術，像是開放式手術。這對醫院與病患都有好處。大 量手術儀器或工具也已經開發出來，以幫助外科醫生更 佳進行微創或非侵入式手術。不過’大部分儀器都要由 外科醫生手動操作，因此不僅需要有經驗的外科醫生， 而且外科醫生也需要經過長期的儀器操作訓練。 一直到現今，還是只有一些電腦控制系統能夠用來 執行外科手術。例如Intuitive Surgical Inc.所生產的達文 ，（da Vinci)外科手術機器人。不過，達文西外科手術機 ，人為主從式系統，換言之，就是被動式機器人。此外， =有特殊設計的儀器可在手術室内搭配達文西外科手 ，系統一起使用。目前外科醫生使用的許多外科手術 态與工具都無法與達文西外科手術系統搭配使用，因丁此Spectroscopy, MRS), ultrasound imaging (Ultrasound (4), US), etc., the surgical procedure has made great progress in the last decade or two. More minimally invasive and non-invasive procedures have replaced traditional surgery, such as open surgery. This is good for both the hospital and the patient. A large number of surgical instruments or tools have also been developed to help surgeons perform minimally invasive or non-invasive procedures. However, most instruments are manually operated by a surgeon, so not only experienced surgeons, but also long-term instrumentation training. Until now, only a few computer control systems have been available to perform surgical procedures. For example, Dawen, (da Vinci) surgical robot produced by Intuitive Surgical Inc. However, the Da Vinci surgical machine is a master-slave system, in other words, a passive robot. In addition, = specially designed instruments can be used in conjunction with the Da Vinci surgical hand in the operating room. Many of the surgical procedures and tools currently used by surgeons are not compatible with the Da Vinci surgical system.
S 4 201208640 無法感受到此系統帶來的好處。 【發明内容】 本發明目標在於提供用於相對於一目標定位外科 手術儀器之裝置。 一般來說，本發明提出一種包括三個定位機構的裝 置。該三種定位機構更包括：一第一定位機構，配置成 沿著一軸「L」移動該外科手術儀器；一第二定位機構， 配置成繞著彼此垂直的至少兩轴（「γ」和「β」）旋轉該 第一定位機構；以及一第三定位機構，配置成繞著一軸 (「R」）旋轉該第二定位機構，並且另配置成沿著彼此垂 直的兩軸（「X」和「Υ」）移動該第二定位機構。這三種 定位機構能夠用更快速、更安全並且更精準的方式定位 該外科手術儀器。 尤其是，本發明的第一態樣為用於相對於一目標定 位外科手術儀器之裝置，該裝置包括：一第一定位機 構，配置成沿著一 L軸移動該外科手術儀器；一第二定 位機構，包括：一γ軸旋轉機構，配置成繞著與該L軸 垂直的一 γ軸旋轉該第一定位機構；以及一 β軸旋轉機 構，配置成繞著與該γ軸和該L軸垂直的一β軸旋轉該γ 軸旋轉機構；以及一第三定位機構，包括：一 R軸旋轉 機構，配置成繞著與該β軸平行的一 R轴旋轉該第二定 位機構；一 Υ軸移動機構，配置成沿著與該R軸平行的 一 Υ軸移動該R軸旋轉機構；以及一 X軸移動機構， 配置成沿著與該Υ軸垂直的一 X軸移動該Υ軸移動機 201208640 構0 該等裝置可用於醫院(例如手術室或診療 ^ 所或研究實驗室，並且可用於下列情況：’、門）、診 (a) 承載並定位一超音波探針，用於在一 與距離上獲取-組影像。在-個範例中，若這 2D影像，則從這些影像產生出3d立體影像。二〜像為 (b) 承載並定位一高強度聚焦超音波 intensive focus ultrasound，HIFU)探針，用於勃一/ /δ 何器官或疾病的非侵入式聚焦外科手術。、仃針對任 (c) 承載與定位一内視鏡外科手術儀器，用於 直腸肛門或大腸直腸外科手術。 、职^丁 (d) 承載與定位一泌尿外科手術儀器，用於執行泌 尿外科手術。 '' (e) 承載一切片活組織檢查裝置’用於執行病岸、體 内任何器官的標靶切片活組織檢查。 ~ (f) 承載與定位一腹腔鏡外科手術儀器，用於執行 微創外科手術。 (g) 承載與定位一近接治療儀，用於執行焦點治療。 (h) 承載與定位一電療儀，用於治療良性前列腺增 生症（Benign Prostatic Hyperplasia ’ BPH)或泌尿科癌症。 【實施方式】 本說明書將參考第一（a)圖至第十八(c)圖，來說明本 發明具體實施例的裝置100。裝置100用來相對於一目標 定位外科手術儀器。 6 201208640 裝置100的透視圖，而第—⑻圖至第一 、、骏置100的組件之透視圖。 一第所示，裝置刚包括形式為移動台102的 構Μ Μ —第二定位機 性切控制器以及形式為彈 著』:=多=102的透視圖。移動台102用於沿 儀写。ΐ間内的该目標的執道線，移動該外科手術 -個範例中，該移動台另用來迴心 道健能為選擇性。移動台-可由雙通 手術儀器的執道。4=:=對準該外科 t二ϊ常有用。在-個範例中，該執道線通過該2 2儀_-實際或虛擬中心軸。旋轉系統刚 通道伺服運動系統驅動。 問― 第一⑷圖為3D外科手術定位们〇6的透視圖 位臂來相躲目標，在預定範二=S 4 201208640 can't feel the benefits of this system. SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus for positioning a surgical instrument relative to a target. In general, the present invention provides a device that includes three positioning mechanisms. The three positioning mechanisms further include: a first positioning mechanism configured to move the surgical instrument along an axis "L"; and a second positioning mechanism configured to rotate at least two axes perpendicular to each other ("γ" and "β Rotating the first positioning mechanism; and a third positioning mechanism configured to rotate the second positioning mechanism about an axis ("R") and configured to be along two axes perpendicular to each other ("X" and " Υ") Move the second positioning mechanism. These three positioning mechanisms are capable of positioning the surgical instrument in a faster, safer and more precise manner. In particular, a first aspect of the present invention is a device for positioning a surgical instrument relative to a target, the device comprising: a first positioning mechanism configured to move the surgical instrument along an L axis; a second a positioning mechanism comprising: a gamma axis rotating mechanism configured to rotate the first positioning mechanism about a gamma axis perpendicular to the L axis; and a beta axis rotation mechanism configured to surround the gamma axis and the L axis a vertical β-axis rotating the γ-axis rotating mechanism; and a third positioning mechanism comprising: an R-axis rotating mechanism configured to rotate the second positioning mechanism about an R-axis parallel to the β-axis; a moving mechanism configured to move the R-axis rotating mechanism along a 平行 axis parallel to the R axis; and an X-axis moving mechanism configured to move the Υ axis moving machine 201208640 along an X axis perpendicular to the Υ axis 0 These devices can be used in hospitals (such as operating rooms or clinics or research laboratories, and can be used in the following cases: ', door), diagnosis (a) carrying and positioning an ultrasonic probe for use in a Get on the distance - group image. In the example, if the 2D image is used, a 3d stereo image is generated from these images. The second image is a (b) carrying and positioning a high-intensity focused ultrasound intensive focus ultrasound (HIFU) probe for non-invasive focused surgery of Boehm//δ for any organ or disease.仃 仃 (c) Carrying and positioning an endoscopic surgical instrument for rectal anus or rectal surgery. (d) Carrying and positioning a urological surgical instrument for performing urological surgery. '' (e) Carrying a section biopsy device' is used to perform a biopsy of the target section of the diseased shore, any organ in the body. ~ (f) Carrying and positioning a laparoscopic surgical instrument for performing minimally invasive surgery. (g) Carrying and positioning a proximity therapy device for performing focus therapy. (h) Carrying and positioning a electrotherapy device for the treatment of Benign Prostatic Hyperplasia 'BPH or urological cancer. [Embodiment] This specification will be described with reference to the first (a) through the eighteenth (c) drawings to illustrate the apparatus 100 of the specific embodiment of the present invention. Device 100 is used to position a surgical instrument relative to a target. 6 201208640 A perspective view of the device 100, and a perspective view of the components of the first (8) to the first, the Jun 100. As a first indication, the device has just included a configuration in the form of a mobile station 102 - a second positional servo controller and a perspective view in the form of a play: = more = 102. Mobile station 102 is used to write along the instrument. The obsessive line of the target in the daytime, moving the surgery - in one example, the mobile station is additionally used to return to the heart. Mobile station - can be obeyed by a two-way surgical instrument. 4=:= Aligning the surgery is often useful. In an example, the obey line passes through the 2 _ actual or virtual central axis. The rotary system is just driven by the channel servo motion system. Question - The first (4) picture is a perspective view of the 3D surgical positioning 〇6. The arm is used to hide the target, in the predetermined range ==
内移動—外科手術儀器。如第-(d)圖内所示，3D 卜=手術定位臂1〇6為小型設計。犯外科手術定位臂咖 了通道词服運mi峰，可移動—外科手術儀 病患身體的任何部位。 ° 201208640 第-⑷圖為機器人控制器⑽的透視 制器酬來控制移動台102、旋轉 手術定位臂1〇6的移動。機器人控物=科 統，可與裝置100的其他部分分離。^、主立為^式系 控制器108與裝置100的其他部分分離V，：舊；=人 線連接（透過第-_中未顯示的—m透過電 的其他部分通訊。第__為彈性置刚 圖。彈性支料丨_來較裝置⑽的透視 的平台。該平台包括下列任一去· — ^曰了細作裴置100 停駐裝置議，以進行外科手術盒’用於 腔鏡外科手術的手術台；底下是泌尿執行腹 術的手術台並且上面是開發外 儀卜科手 在該平台上，例如手術台或手術桌的兩^。，配置成爽 下文當中將參閱第二⑷圖至料 明移動台102、旋轉系統]〇4、3 —更洋細說 機器增J器觸和彈性支撐臂11〇针乎術疋位臂106、 第二⑻圖為移動台102的透視圖。第 ⑷圖為移動台呢的級件之透視圖。 （b)圖和第二 第一 口1⑽配置成沿著L軸移動該外科手蚀-僅 第-⑷圖所不。在—範例中，移動 ’τ儀器’如 =軸平行的S轴迴細外科手術儀^^配置成锋著 。亥外科手術儀器，如 、中5亥S車由诵 為選擇性。 ⑷圖内所示。不過㈣轉= 移動台1〇2包括配置成沿著L軸移動該外 竹予術儀 8 201208640 器的直線拉拔器202。在一範例外科手 為人的切，用來移動 == f病患身體上的傷口。在第二⑻圖顯示的=卜 =另儀包，一在迴轉機構2〇4，用於繞著該S軸轉動： 夕巧手術儀P在—範例外科手術當 ：助二亥 O / " 器通過範圍〇至360度的角 為直透視B n⑼圖 直線拉拔器202包括與該外科手術儀 前導螺，，使得當第一前導上：= =科，儀m軸移動。在如第三⑷圖和第三 312 :置直線拉拔器2°2另包括-轉接台 η其配置成當第一前導螺桿3〇6旋轉時沿著該l車由移 動，並且外科手術儀器與轉接台312鎖定，如此當第— ，導螺桿3G6轉動時沿著該L軸移動。在—個範例; 2台312配置成沿著長度與該L軸平行的直線引導314移 動。第一前導螺桿306另配置成支撐於軸承基座3〇8與 拔器基座310上。 、 、直線拉拔器202另包括一伺服馬達3〇2，該馬達配置 成與耦合元件304合作驅動第一前導螺桿3〇6。伺服馬達 3〇2配置成由一開關驅動，例如一按鈕開關322，然後該 開關配置成由一開關把手320操作。 直線拉拔器202另包括一鎖定轉軸316，該鎖定轉軸 316配置成當由把手318轉動時，將外科手術儀器與轉接 201208640 台3+12鎖定在一起。在一個範例中，配置儀器轉接器來 ，定該外科手術儀器，並且鎖定轉軸316配置成將該儀 ，轉接器與轉接台312鎖在一起，如此將該外科手術儀 f與轉接台312鎖在一起。在一個範例中，該儀器轉接 器為迴轉機構204。直線拉拔器2〇2也包括固定在拉拔器 基座310上的一馬達蓋324。 第四（a)圖為迴轉機構204的透視圖，並且第四（b)圖 至第四（c)圖為迴轉機構2〇4的剖面圖。 、迴轉機構2〇4包括一支撐塊416，其配置成與直線拉 拔器202的鎖定轉軸316卡在一起，以允許迴轉機構2〇4 與轉接台312鎖在一起。迴轉機構2〇4也包括一滑動環 418 ’其配置成固定一裝置轉接器，然後該裝置轉接器 配置成固定該外科手術儀器。 如第四（a)圖至第四（c)圖所示，迴轉機構2〇4另包括 配置成繞著該S軸旋轉的一第一蝸輪4〇4，以及配置成與 第一蝸輪404嚙合的一第一蝸桿4〇2，使得當第一蜗桿 402旋轉時，第一蝸輪4〇4跟著旋轉，並且當第一螞桿4〇2 靜止時，第一蝸輪4〇4鎖定在靜止位置。第一螞輪4〇4配 置在蝸輪基座408上，而第一蝸桿402則配置在蝸桿基座 406上。伺服馬達41〇和手輪412配置成分別驅動第一蝸 桿402，換言之，第一蝸桿4〇2可由伺服馬達41〇自動驅 動，或由手輪412手動驅動。迴轉機構204另包括與螞桿 基座406固定在一起的一馬達蓋414，該馬達蓋414接著 與蜗輪基座408固定在一起。 第五（a)圖為旋轉系統1〇4的透視圖，而第五(b)圖至 201208640 第五(C)圖為旋轉系統104的組件之透視圖。 如第五（a)圖所示，旋轉系統1〇4包括繞著與該L軸垂 ^的γ軸，旋轉移動台1〇2之一γ軸旋轉機構5〇2，以及繞 著與遠γ軸和該L軸垂直的β軸，旋轉γ軸旋轉機構5〇2之 軸旋轉機構504。旋轉系統1〇4另包括配置成支撐移 動台102的一支撐構件508。 在第五(a)圖所示的一個範例中，旋轉系統1〇4另包 括配置成繞著與該L軸平行的α軸，旋轉β軸旋轉機構5〇4 之一α軸旋轉機構506。不過’α軸旋轉機構5〇6為選擇性。 第五(b)圖至第五(d)圖分別為γ軸旋轉機構502、β軸 轉機構504以及α軸旋轉機構5〇6的透視圖。在一個範 利用三通道伺服運動系统，達成繞著三轴(以、卜 轉’/°底下所描述°該三通道伺服運動系統由機器 人控制器108輪流控制。 第六（a)圖為γ軸旋轉機構502的透視圖，而第六（b) 圖為γ軸旋轉機構502的剖面圖。 ㈣如第/λ⑷圖及第六⑻圖所示，γ軸旋轉機構502包括 酉己置成繞著該γ軸旋轉的―第二㈣綱，以及配置成與 第一蜗輪604嚙合的一第二蝸桿6〇2 =旋轉時，第二蜗輪⑽跟著旋轉，並且當第么-二 ^時，第一螞輪604鎖定在靜止位置。第二蝎桿602和 第二螞輪604都配置在一蜗桿基座_上。一舰馬達 6和一手輪608配置成分別驅動第二蝸桿602，換古 == 桿6〇2可由伺服馬達6〇6自動驅動，或由轉； 予輪608手動驅動。 μ 201208640 旋轉系統ι〇4的支樓構件簡己 ，轉’並w配置成支標移動細，使得移第動一= S第•一旋轉。在一個範例中，支撐構件508連 γ由疋機構5〇2與移動台102的直線拉拔 器202之 間。 γ軸旋轉機構502另包括—輕合構件，用於柄合你旋 ^機構502與卩㈣轉機構爾。_合構件包括一蜗桿 基座支撐件612以及支撐板614。 第七⑻圖為β轴旋轉機構5〇4的透視圖，第七⑻圖為 = 〇4的剖面圖並且第七⑷圖柳旋轉機構 504的侧視圖。 *港t Ϊ 3⑷圖至第七_所示，P軸旋轉機構504包括 ”該P軸旋轉的—第三蜗輪704，以及配置成與 合的—第三蜗桿702，使得當第三蜗桿 ，结-二蝸輪7〇4跟著旋轉，並且當第三螞桿702 ^ -车认^蜗輪7〇4鎖定在靜止位置。一飼服馬達706 和-：輪708輪流配置成分別驅動第三蝸桿7〇2，換言 第：704配置成可與第三堝桿观分離，使得 ^ ^可操作獨立於第三蜗桿702之外的移動。 置100 二蝸輪704與第三蝸桿702分離時，可由裝 第七⑷圖Γ自作員手動旋轉第三蝎輪704。在第七⑻圖至 709 ; 口丰回不的一個範例中，伺服馬達706、第三蝸桿 〇輪708都配置在螞桿基座710上，並且由兩插 201208640 銷712支撐，讓第二 -鎖定機構配置成與苐三螞輪7〇4分離。 分離，該鎖定機構2第二蜗輪7〇4與第三蜗桿702之 栓714的_!手螺—滑動检714以及用來操作滑動 鎖定該分離狀離當未手動旋轉第三蜗輪彻時， ”由旋轉機構2入三蝸輪7〇4維持在靜止位置。 堝輪取配^ Γ構件與Ρ純轉制5G4的第三 7〇4旋轉。在一個二:丄吏得丫軸旋轉機構506隨第三蝸輪 …固定在—起=中，堝桿基座支樓件612與支撐板 在一起。 μ支撐板614接著與第三蝸輪704固定 延伸Ϊ構5〇4另包括配置在蜗輪基座頂上的〜 軸旋轉機構5二，ί體實施例中，延伸臂718用來將β 施例中，並不需要It軸旋轉機構5G2。在另—具體實 將要輛方疋轉機構502，且延伸臂718用來 轉機構5〇作合至3D外科手術定位框細用表 (b)圖至旋轉機構506的透視圖，並且第八 ()圖為cx軸旋轉機構5〇6的剖面圖。 配置:轉 第四物〇4喃合η 輪8〇4,以及配置成與 802旋轉時，第四U第四蝸桿802，使得當第四蝸椁 、蝸輪804跟著旋轉，並且當第四螞桿8 ㈡二:二Τ鎖定在靜止位置。一舰馬達二 :輪8〇8輪流配置成分別驅動第四蜗桿8〇2，換， 8〇8手動四^旱802可由伺服馬達806自動驅動，或由手& 13 201208640 轉的轉機構5〇6另包括配置成隨著第四蝸輪804旋 =支撐塊814,支撐塊814用來耦合p軸旋 ’使得p轴旋轉機構5。4隨著第 mUTT 範例中，支撐塊814與第四蜗輪 口疋在一起，並且延伸臂718與支撐塊814固定在一 α軸旋轉機構5〇6另包括配置在基座812上的一蓋子 第九（a)圖為3D外科手術定位臂106的透視圖，而第 九（b)圖至第九（c)圖為3d外科手術定位臂1〇6的組件之 透視圖。 =第九(a)圖所示，3D外科手術定位臂1〇6包括配置 成、、堯著與5亥β軸平行的R軸，旋轉該旋轉系統1 之一 R 軸旋轉機構902、配置成沿著與該R軸平行的γ軸，移動 R軸旋轉機構902之一 Υ軸移動機構9〇4，以及配置成沿著 與該Υ軸垂直的X軸，移動γ軸移動機構9〇4之一χ軸移動 機構906。 第九(b)圖至第九(d)圖分別為R軸旋轉機構9〇2、γ軸 移動機構904以及X軸移動機構9〇6的透視圖。在一個範 例中，利用三通道伺服運動系統，達成沿著三軸(X、γ、 R)移動與繞著三軸(X、Y、R)旋轉，如底下所描述。該 三通道伺服運動系統由機器人控制器108輪流控制，用 於在立體空間内該外科手術儀器之定位。 第十（a)圖為R軸旋轉機構9〇2的透視圖、第十（b)圖 為R軸旋轉機構902的剖面圖，第十(c)圖為R軸旋轉機構 902的侧視圖。 201208640 R軸旋轉機構902包括配置成繞著R軸旋轉的一第五 蝸輪1004。一第五蝸桿1〇〇2配置成嚙合第五媧輪1004， 使得當第五蝸桿1002旋轉時，第五蝸輪1004旋轉，並且 當第五蜗桿1002靜止時，第五蝸輪1〇〇4鎖定在靜止位 置。一伺服馬達1006和一手輪1008輪流配置成分別驅動 第五堝桿1002，換言之，第五蝸桿1〇〇2可由伺服馬達 1006自動驅動，或由轉動手輪1〇〇8手動驅動。 第五蜗輪1004配置成可與第五蜗桿1〇〇2分離，使得 第五蝸輪1004可操作獨立於第五蝸桿1〇〇2之外的移 動。例如’當第五蝸輪1〇〇4與第五蝸桿1〇〇2分離時，可 由裝置100的操作員手動旋轉第五蝸輪1〇〇4。在第十（a) 圖至第十（c)圖顯示的一個範例中，R軸旋轉機構9〇2另包 括一轉軸1010，其與伺服馬達1006、手輪1〇〇8和第五蝸 桿1002配置在一起，讓第五媧桿1〇〇2可與第五蝸輪1〇〇4 分離。R軸旋轉機構9〇2另包括配置成將該第五蝸輪與該 第五蝸桿之分離鎖定的一鎖定元件，該鎖定元件包括— 滑動栓1012以及用來操作滑動栓1〇12的一手螺帽 =14。當未手動旋轉第五蝸輪1〇〇4時，鎖定該分離狀 態，讓第五蝸輪1004維持在靜止位置。 ，轉系統104由3D外科手術定位臂106承載，並且配 置成，著R轴旋轉機構9〇2的第五蝸輪1〇〇4旋轉。在一個 具體實軛例中，旋轉系統1〇4包括α軸旋轉機構5〇6，並 ，透過ot軸旋轉機構5〇6連接至3D外科手術定位臂丨。 一具體實施例中，_系統1〇4不包括a轴旋轉機構 ，並且透過β軸旋轉機構的延伸臂718連接至3d外科 15 201208640 手術定位臂l〇6。 咖It⑷圖為Y軸移動機構904的透視圖，而第十一 (b)圖為Υ軸移動機構9〇4的剖面圖。 904包⑷圖和第十—（b)圖所示，Υ軸移動機構 匕括與R軸旋轉機構9G2配置在—起的—第二前導螺 ^902^史传當第二前導螺桿1106轉動時，_旋轉機 1106*1者该Y轴移動。在一個範例巾，第二前導螺桿 日is 兩末端上的軸承支樓。軸承數量可為兩個。一 和—手輪1112配置成分別旋轉第二前導螺 I.。換言之’第二前導螺桿η〇6可由飼服馬達mo 自動知轉’或由轉動手輪1112手動旋轉。舰馬達1110 搭配一齒輪箱1108，旋轉第二前導螺桿11〇6。 Υ轴移動機構另包括配置成當第二前導螺桿1106轉 動時，沿著該γ軸移動的一支撐框架11〇2。在一個範例 中，支撐框架1102配置成沿著長度與該γ軸平行的一直 線引導1104移動。R軸旋轉機構9〇2配置成與支撐框架 1102鎖定在-起，如此允許其在當第二前^桿测轉 動時，沿著该γ軸移動。在一個範例中，伺服馬達111〇 透過齒輪箱1108與第二前導螺桿11〇6連接，來移動支撐 框架1102。 Υ軸移動機構904另包括配置在一基座1U8上的兩 個蓋子1114和1116。 第十二(a)圖為X軸移動機構906的透視圖，而第十 (b)圖為X轴移動機構906的剖面圖。 X軸移動機構906包括與γ軸移動機構9〇4配置在 16 201208640 導螺桿12G8 ’使得當第三前導螺桿1208轉 m ^機構904沿著該x軸移動。在一個範例中， 服d?n，12Q8由它的每個末端上的軸承支撐。-祠 一手輪1216配置成分別旋轉第三前導螺 ό β絲、。、之，第二刖導螺桿12〇8可由伺服馬達1206 π 或由轉動手輪1216手動旋轉。伺服馬達1206 、搭配—齒輪機構1210,以旋轉第三前導螺桿 1 zUo 0 動機構906另包括配置成當第三前導螺桿 狄 日、，沿著該X軸移動的一支撐組件1204。在一 例中’支撐纟且件12G4配置成沿著長度與該X轴平行 直線引導1202移動。γ軸移動機構9〇4配置成與支撐 、.且件12G4鎖定在―起，如此允許其在當第三前導螺桿 208轉動％，沿著該χ軸移動。在一個範例中，伺服馬 達1206透顧輪機構121G與第三前導螺桿1208連接，來 移動支撐組件1204。 =軸移動機構906另包括配置在一基座1214頂端上 的一蓋子1218，該基座包括兩孔洞12Ma、121仆和一把 手1212。在一個範例中，把手1212固定在χ軸移動機構 906的基座1214之上。 第十三（a)圖為機器人控制器1〇8的透視圖、第十三 (b)圖為機β人控制器1〇8的切開透視圖，並且第十三(c) 圖至第十三(d)圖為機器人控制器1〇8的剖面圖。 機器人控制器108包括用於接收使用者輸入的一整 合式使用者裝置介面。該整合式使用者t置介面包括一 17 201208640 或夕個進卩白圖形使用者介面（graphic user interface， =111)、一觸控板控制器、一語音控制器以及一無線控制 器。，。用於提供一個對使用者友善的作業系統。機器人控 制器1〇8另包括一個多通道伺服控制系統13〇2，用來控 制移動台102、旋轉系統1〇4以及3D外科手術定位系統 106的移動。機器人控制器108也包括一控制電腦1310， 用來控制多通道伺服控制系統丨3 〇 2。控制電腦】3丨〇可為 平板PC的形式，並且可安裝在一機器人控制器機箱1312 的表面上。在一個範例中，應用程式已經預先載入控制 電腦1310，並且根據接收的使用者輸入來執行。該等應 用程式可根據一或多種成像技術或人工智慧技術，並且 根據來自該等應用程式的該等輸出來控制多通道伺服 控制系統1302。裝置1〇〇也可運用網路技術，透過控制 電腦1310連接至一較高階控制系統。 機器人控制器108另包括USB訊框抓取器1304形式 的一影像獲取與處理系統，用於從外科手術成像系統擷 取影像信號。在一個範例中，該等應用程式根據接收的 使用者輸入以及擷取的影像信號來執行。 另外’機器人控制器108包括一影像輸入配接卡 1306、一 DC電源供應器1308以及一電子資料擷取 (Electric Data Capture ’ EDP)系統，用於記錄其中使用該 外科手術儀器的外科手術程序。此記錄可用於後續病患 評估，或幫助稍後重製該外科手術程序。 第十四（a)圖為彈性支撐臂11 〇的透視圖，而第十四 (b)圖和第十四（c)圖分別為彈性支撐臂11〇的侧視圖和後 201208640 視圖。彈性支撐臂110當成固定機構，用於將裝置1〇〇固 定至一平台’例如可為手術台或手術桌的側邊轨道。 如第十四（a)圖至第十四（C)圖所示，彈性支撐臂11〇 包括快速管失1402形式的一夾制機構。在一個範^列中， 快速管夾1402配置成利用轉動一鎖定螺絲14〇4爽一 平台上。 彈性支撐臂110另包括配置成耦合該夾制機構與χ 軸移動機構906的一支撐臂1408。在一個範例中，使'用 兩側邊支撐板1410a和1410b執行此耦合，這兩支撐板配 置成穿過X軸移動機構906的孔洞1214a和1214b。支严臂 1408配置成用不同設置與快速管失14〇2連接在 一個範例中有三種不同設置）。 彈性支撐臂110另包括配置成耦合支撐臂14〇8盘 速管夾1402的一擺動支樓件1406。在一個範例中，去^ 臂1408配置成繞著—螺帽1414 (#成旋轉 : 1402連接（5又置如第十四⑷圖所示，並且其 ===1414順時鐘和逆時鐘旋_度的“复 他5又置末自苐十四⑻圖所示之設置）。彈性支 = 包括配置錢快速管夾14G2、擺動支 = 1408彼此固定的—鎖定螺帽㈣。 叫支按臂 第十五⑷圖至第十五(d)圖例示如 臂n〇固定裝置刚（機器人㈣㈣ 台的四個範例。 刀雕）至一平 第十五(a)圖為第-範例，其中裝置1〇〇固定在手術 201208640Internal movement - surgical instruments. As shown in the figure - (d), the 3D bu = surgical positioning arm 1 〇 6 is a small design. Surgical positioning of the arm is a channel word service mi peak, removable - surgical instrument any part of the patient's body. ° 201208640 The picture of (4) is the perspective of the robot controller (10) to control the movement of the mobile station 102 and the rotary positioning arm 1〇6. The robot control = science can be separated from the rest of the device 100. ^, the main system is the system controller 108 and the other parts of the device 100 separate V,: old; = human line connection (through the -_ not shown - m through the other parts of the communication. The __ is elastic The rigid support 丨 _ is compared to the see-through platform of the device (10). The platform includes any of the following: — 曰 细 细 100 , , , , , , , , , 外科 外科 外科 外科 外科 外科 外科The operating table of the operation; the bottom is the operating table for urinary abdominal surgery and the above is the development of the external instrument on the platform, such as the operating table or the operating table of the two ^., configured as cool, will refer to the second (4) To the mobile station 102, the rotating system] 〇 4, 3 - the details of the machine and the elastic support arm 11 , the second arm (8) is a perspective view of the mobile station 102. Figure (4) is a perspective view of the stage of the mobile station. (b) The figure and the second first port 1 (10) are configured to move the surgical handclip along the L axis - only the - (4) figure. In the example, Move the 'τ instrument' such as the = axis parallel S-axis resurgical instrument ^ ^ configured into a front. For example, the medium 5 hai S car is optional by 诵. (4) The figure is shown. However, (4) turn = mobile station 1 〇 2 includes a straight line pull configured to move the outer bamboo to the instrument 8 201208640 along the L axis The extractor 202. The cut of a sample surgical hand is used to move the wound on the body of the patient who is == f. In the second (8) figure, the =b = another instrument package, and the other is in the slewing mechanism 2〇4, Rotating around the S axis: 夕 手术 手术 在 — 范例 范例 范例 范例 范例 范例 范例 范例 范例 范例 范例 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助 助The surgical instrument leads the snail, so that when the first preamble is on: = = section, the instrument m axis moves. In the third (4) diagram and the third 312: the linear puller 2 ° 2 additionally includes - the adapter η It is configured to move along the 1 when the first lead screw 3〇6 rotates, and the surgical instrument is locked with the adapter 312, so that when the first lead screw 3G6 rotates, it moves along the L axis. An example; 2 sets 312 are configured to move along a linear guide 314 whose length is parallel to the L-axis. The first lead screw 306 is additionally configured to be supported on a bearing base. The base 3〇8 and the puller base 310. The linear puller 202 further includes a servo motor 3〇2 configured to cooperate with the coupling element 304 to drive the first lead screw 3〇6. The servo motor 3〇 2 is configured to be driven by a switch, such as a push button switch 322, which is then configured to be operated by a switch handle 320. The linear puller 202 further includes a locking spindle 316 that is configured to be rotated by the handle 318 The surgical instrument is locked with the relay 201208640 3+12. In one example, the instrument adapter is configured to position the surgical instrument and the locking shaft 316 is configured to move the instrument, the adapter, and the adapter The docks 312 are locked together such that the surgical instrument f is locked with the docking station 312. In one example, the instrument adapter is a swing mechanism 204. The linear puller 2〇2 also includes a motor cover 324 that is secured to the puller base 310. The fourth (a) is a perspective view of the swing mechanism 204, and the fourth (b) to fourth (c) are sectional views of the swing mechanism 2〇4. The slewing mechanism 2〇4 includes a support block 416 that is configured to be engaged with the locking shaft 316 of the linear puller 202 to allow the slewing mechanism 2〇4 to lock with the adapter 312. The slewing mechanism 2〇4 also includes a slip ring 418' configured to secure a device adapter, which is then configured to secure the surgical instrument. As shown in the fourth (a) to fourth (c), the slewing mechanism 2 〇 4 further includes a first worm wheel 4 〇 4 configured to rotate about the S axis, and is configured to mesh with the first worm wheel 404 a first worm 4〇2 such that when the first worm 402 rotates, the first worm wheel 4〇4 rotates, and when the first amp 4 〇2 is stationary, the first worm wheel 4〇4 is locked in the rest position. . The first wheel 4 〇 4 is disposed on the worm base 408 and the first worm 402 is disposed on the worm base 406. The servo motor 41A and the hand wheel 412 are configured to drive the first worm 402, respectively, in other words, the first worm 4〇2 can be automatically driven by the servo motor 41〇 or manually by the hand wheel 412. The slewing mechanism 204 further includes a motor cover 414 that is secured to the pedestal base 406, which is then secured to the worm base 408. The fifth (a) diagram is a perspective view of the rotating system 1〇4, and the fifth (b) diagram to the 201208640 fifth (C) diagram is a perspective view of the components of the rotating system 104. As shown in the fifth (a) diagram, the rotating system 1〇4 includes a γ-axis rotating mechanism 5〇2 around the γ-axis that rotates with the L-axis, and a γ-axis rotating mechanism 5〇2 around The shaft and the β-axis perpendicular to the L-axis rotate the shaft rotation mechanism 504 of the γ-axis rotation mechanism 5〇2. The rotating system 1 4 further includes a support member 508 configured to support the mobile station 102. In an example shown in the fifth (a) diagram, the rotating system 1 另 4 further includes an α-axis rotating mechanism 506 configured to rotate the β-axis rotating mechanism 5〇4 around the α-axis parallel to the L-axis. However, the 'α-axis rotation mechanism 5〇6 is selective. The fifth (b) to fifth (d) drawings are perspective views of the γ-axis rotating mechanism 502, the β-axis rotating mechanism 504, and the α-axis rotating mechanism 5〇6, respectively. In a class using a three-channel servo motion system, the three-channel servo motion system is controlled by the robot controller 108 in turn around the three axes (the following is described in the following paragraphs.) The sixth (a) diagram is the γ-axis. A perspective view of the rotating mechanism 502, and a sixth (b) view is a cross-sectional view of the γ-axis rotating mechanism 502. (D) As shown in the / λ (4) and sixth (8), the γ-axis rotating mechanism 502 includes a 酉 置The second (fourth) axis of the gamma axis rotation, and a second worm 6〇2 that is configured to mesh with the first worm wheel 604 = rotate, the second worm wheel (10) follows the rotation, and when the first - two ^, the first The wheel 604 is locked in a rest position. The second mast 602 and the second wheel 604 are both disposed on a worm base _. A ship motor 6 and a hand wheel 608 are configured to drive the second worm 602, respectively. = Rod 6〇2 can be automatically driven by servo motor 6〇6, or by rotation; pre-wheel 608 is manually driven. μ 201208640 Rotating system 〇4's branch building is simple, turn 'and w is configured to move the branch fine, so that Move the first first one rotation. In one example, the support member 508 is connected to the γ by the mechanism 5〇2 Between the linear puller 202 of the mobile station 102. The γ-axis rotating mechanism 502 further includes a light-fitting member for arranging the rotary mechanism 502 and the cymbal (four) rotary mechanism. The y-member includes a worm base The support member 612 and the support plate 614. The seventh (8) diagram is a perspective view of the β-axis rotation mechanism 5〇4, the seventh (8) diagram is a sectional view of = 〇4, and the seventh (4) side view of the Liu rotation mechanism 504. t Ϊ 3 (4) to seventh _, the P-axis rotating mechanism 504 includes "the P-axis rotating - the third worm wheel 704, and the third worm 702 configured to be combined, so that when the third worm, the knot - The second worm wheel 7 〇 4 is rotated, and when the third amp 702 ^ - the worm wheel 7 〇 4 is locked in the rest position, a feeding motor 706 and a - wheel 708 are alternately configured to drive the third worm 7 分别, respectively. 2. In other words, the first: 704 is configured to be separable from the third mast view such that the operation is independent of movement outside the third worm 702. When the second worm gear 704 is separated from the third worm 702, Seven (4) Figure Γ Self-operator manually rotates the third wheel 704. In the seventh (8) to 709; The motor 706 and the third worm wheel 708 are both disposed on the blade base 710 and supported by two plugs 201208640 pins 712, so that the second-locking mechanism is configured to be separated from the third wheel 7〇4. The second worm gear 7〇4 of the mechanism 2 and the _! hand screw-sliding detection 714 of the plug 714 of the third worm 702 and the sliding sliding detection 714 for operating the sliding lock when the third worm wheel is not manually rotated, "by the rotating mechanism 2 The three worm gears 7〇4 are maintained in the rest position. The 埚 wheel is equipped with the Γ member and the third 7〇4 rotation of the 转 purely converted 5G4. In a second: the 丫 shaft rotating mechanism 506 is fixed with the third worm gear, the mast base member 612 is attached to the support plate. The μ support plate 614 is then fixed to the third worm gear 704. The extension mechanism 5〇4 further includes a ~-axis rotation mechanism 5 disposed on the top of the worm wheel base. In the embodiment, the extension arm 718 is used to apply the β. It does not require the It axis rotation mechanism 5G2. In another embodiment, the vehicle rotation mechanism 502 is used, and the extension arm 718 is used to rotate the mechanism 5 to the perspective view of the 3D surgical positioning frame (b) to the rotation mechanism 506, and the eighth ( The figure is a cross-sectional view of the cx axis rotation mechanism 5〇6. Configuration: the fourth object 4 is tuned to the η wheel 8〇4, and when configured to rotate with the 802, the fourth U fourth worm 802, such that when the fourth worm, the worm wheel 804 is rotated, and when the fourth amp 8 (2) 2: The second file is locked in the rest position. One ship motor two: wheel 8〇8 turns to drive to drive the fourth worm 8〇2, change, 8〇8 manual four ^ drought 802 can be automatically driven by the servo motor 806, or by the hand & 13 201208640 turn mechanism 5〇6 further includes a support block 814 for coupling with the fourth worm gear 804 = support block 814 for coupling the p-axis rotation so that the p-axis rotation mechanism is 5. 4 with the mUTT example, the support block 814 and the fourth The worm wheel ports are twisted together, and the extension arm 718 and the support block 814 are fixed to an α-axis rotation mechanism 5〇6 and further includes a cover disposed on the base 812. The ninth (a) is a perspective view of the 3D surgical positioning arm 106. Figures, and Figures 9(b) through 9(c) are perspective views of the components of the 3d surgical positioning arm 1〇6. = ninth (a) figure, the 3D surgical positioning arm 1 包括 6 includes an R-axis configured to be parallel to the 5-axis β-axis, rotating one of the rotating-system 1 R-axis rotating mechanisms 902, and configured Moving along one of the y-axis parallel to the R-axis, one of the y-axis moving mechanisms 9〇4 of the R-axis rotating mechanism 902, and being arranged to move the γ-axis moving mechanism 9〇4 along the X-axis perpendicular to the Υ-axis A shaft moving mechanism 906. The ninth (b) to ninth (d) drawings are perspective views of the R-axis rotating mechanism 9〇2, the γ-axis moving mechanism 904, and the X-axis moving mechanism 9〇6, respectively. In one example, a three-channel servo motion system is used to effect movement along three axes (X, γ, R) and around three axes (X, Y, R), as described below. The three-channel servo motion system is in turn controlled by the robot controller 108 for positioning the surgical instrument in a three-dimensional space. Tenth (a) is a perspective view of the R-axis rotating mechanism 9〇2, tenth (b) is a cross-sectional view of the R-axis rotating mechanism 902, and tenth (c) is a side view of the R-axis rotating mechanism 902. The 201208640 R-axis rotation mechanism 902 includes a fifth worm gear 1004 that is configured to rotate about the R-axis. A fifth worm 1〇〇2 is configured to engage the fifth cymbal 1004 such that when the fifth worm 1002 rotates, the fifth worm gear 1004 rotates, and when the fifth worm 1002 is stationary, the fifth worm gear 1〇〇4 locks In the rest position. A servo motor 1006 and a hand wheel 1008 are alternately configured to drive the fifth mast 1002, respectively, in other words, the fifth worm 1 〇〇 2 can be automatically driven by the servo motor 1006 or manually by the rotating hand wheel 1 〇〇 8. The fifth worm gear 1004 is configured to be separable from the fifth worm 1〇〇2 such that the fifth worm gear 1004 is operable to move independently of the fifth worm 1〇〇2. For example, when the fifth worm wheel 1〇〇4 is separated from the fifth worm 1〇〇2, the fifth worm wheel 1〇〇4 can be manually rotated by the operator of the apparatus 100. In an example shown in the tenth (a)th to tenth (c)th drawings, the R-axis rotating mechanism 9〇2 further includes a rotating shaft 1010 coupled to the servo motor 1006, the hand wheel 1〇〇8, and the fifth worm 1002. Configured together, the fifth mast 1〇〇2 can be separated from the fifth worm gear 1〇〇4. The R-axis rotating mechanism 9〇2 further includes a locking member configured to lock the fifth worm wheel separately from the fifth worm, the locking member including a sliding bolt 1012 and a hand nut for operating the sliding bolt 1〇12 =14. When the fifth worm wheel 1〇〇4 is not manually rotated, the separated state is locked, and the fifth worm wheel 1004 is maintained in the rest position. The turning system 104 is carried by the 3D surgical positioning arm 106 and is configured to rotate with the fifth worm wheel 1〇〇4 of the R-axis rotating mechanism 9〇2. In a specific embodiment, the rotation system 1〇4 includes an α-axis rotation mechanism 5〇6 and is coupled to the 3D surgical positioning arm through the ot-axis rotation mechanism 5〇6. In one embodiment, the system 1〇4 does not include an a-axis rotation mechanism and is coupled to the 3d surgical 15 201208640 surgical positioning arm 16 via the extension arm 718 of the beta-axis rotation mechanism. The Fig. (4) diagram is a perspective view of the Y-axis moving mechanism 904, and the eleventh (b) is a cross-sectional view of the cymbal moving mechanism 9〇4. In the 904-pack (4) and the tenth-(b), the cymbal moving mechanism includes the R-axis rotating mechanism 9G2, and the second leading screw 902 is passed through when the second lead screw 1106 is rotated. , _ Rotary machine 1106 * 1 the Y axis moves. In a sample towel, the second lead screw is the bearing branch on both ends of the day. The number of bearings can be two. A and - hand wheel 1112 are configured to rotate the second lead screw I., respectively. In other words, the second lead screw η 〇 6 can be automatically rotated by the feeding motor mo or manually rotated by the turning hand wheel 1112. The ship motor 1110 is coupled to a gearbox 1108 to rotate the second lead screw 11〇6. The cymbal moving mechanism further includes a support frame 11〇2 configured to move along the γ axis when the second lead screw 1106 is rotated. In one example, the support frame 1102 is configured to move along a line guide 1104 having a length parallel to the gamma axis. The R-axis rotating mechanism 9〇2 is configured to be locked with the support frame 1102, thus allowing it to move along the γ-axis when the second front-rod is rotated. In one example, the servo motor 111 is coupled to the second lead screw 11A through the gearbox 1108 to move the support frame 1102. The x-axis moving mechanism 904 further includes two covers 1114 and 1116 disposed on a base 1U8. The twelfth (a) is a perspective view of the X-axis moving mechanism 906, and the tenth (b) is a cross-sectional view of the X-axis moving mechanism 906. The X-axis moving mechanism 906 includes a y-axis moving mechanism 9〇4 disposed at 16 201208640 lead screw 12G8' such that when the third lead screw 1208 is rotated, the mechanism 904 moves along the x-axis. In one example, the service d?n, 12Q8 is supported by bearings on each of its ends. - 祠 One hand wheel 1216 is configured to rotate the third lead screw ό β wire, respectively. The second lead screw 12〇8 can be manually rotated by the servo motor 1206 π or by the turning hand wheel 1216. The servo motor 1206, the collocation-gear mechanism 1210, to rotate the third lead screw 1 zUo 0 moving mechanism 906 further includes a support assembly 1204 configured to move along the X-axis as the third lead screw. In one example, the support member 12G4 is configured to move along the length parallel to the X-axis in a straight line guide 1202. The gamma axis shifting mechanism 9〇4 is configured to be locked with the support, and the member 12G4, thus allowing it to move along the yaw axis when the third lead screw 208 is rotated by %. In one example, the servo motor 1206 is coupled to the third lead screw 1208 by the wheel mechanism 121G to move the support assembly 1204. The shaft shifting mechanism 906 further includes a cover 1218 disposed on the top end of the base 1214, the base including two holes 12Ma, 121 and a hand 1212. In one example, the handle 1212 is secured over the base 1214 of the cymbal movement mechanism 906. The thirteenth (a) is a perspective view of the robot controller 1〇8, the thirteenth (b) is a cutaway perspective view of the machine β human controller 1〇8, and the thirteenth (c)th to the tenth The third (d) diagram is a cross-sectional view of the robot controller 1〇8. The robot controller 108 includes an integrated user device interface for receiving user input. The integrated user t interface includes a 17 201208640 or a graphical user interface (=111), a touchpad controller, a voice controller, and a wireless controller. ,. Used to provide a user-friendly operating system. The robot controller 1 8 further includes a multi-channel servo control system 13 〇 2 for controlling the movement of the mobile station 102, the rotary system 1 〇 4, and the 3D surgical positioning system 106. The robot controller 108 also includes a control computer 1310 for controlling the multi-channel servo control system 丨3 〇 2. The control computer can be in the form of a tablet PC and can be mounted on the surface of a robot controller chassis 1312. In one example, the application has been preloaded into the control computer 1310 and executed in accordance with the received user input. The applications can control the multi-channel servo control system 1302 based on one or more imaging techniques or artificial intelligence techniques and based on the outputs from the applications. The device 1 can also be connected to a higher order control system via the control computer 1310 using network technology. The robot controller 108 further includes an image acquisition and processing system in the form of a USB frame grabber 1304 for capturing image signals from the surgical imaging system. In one example, the applications are executed based on the received user input and the captured image signal. Further, the robot controller 108 includes an image input adapter card 1306, a DC power supply 1308, and an Electronic Data Capture (EPP) system for recording a surgical procedure in which the surgical instrument is used. This record can be used for follow-up patient assessment or to help reproduce the surgical procedure later. The fourteenth (a) is a perspective view of the elastic support arm 11 ,, and the fourteenth (b) and fourteenth (c) are respectively a side view of the elastic support arm 11 和 and a rear view of the 201208640 view. The resilient support arm 110 acts as a securing mechanism for securing the device 1 to a platform' such as a side track of an operating table or surgical table. As shown in Figures 14(a) through 14(C), the resilient support arm 11A includes a clamping mechanism in the form of a quick tube loss 1402. In a single column, the quick tube clamp 1402 is configured to rotate a locking screw 14 to a platform. The resilient support arm 110 further includes a support arm 1408 that is configured to couple the clamping mechanism with the yaw shaft moving mechanism 906. In one example, this coupling is performed with the side support plates 1410a and 1410b, which are configured to pass through the holes 1214a and 1214b of the X-axis moving mechanism 906. The arms 1408 are configured to be connected to the quick tube loss 14〇2 with different settings. There are three different settings in one example). The resilient support arm 110 further includes a swinging abutment member 1406 configured to couple the support arms 14〇8 of the speed tube clamp 1402. In one example, the arm 1408 is configured to be wound around the nut 1414 (# is rotated: 1402 is connected (5 is again shown as shown in the fourteenth (4) figure, and its ===1414 clockwise and counterclockwise _ The degree of "complex 5 is set to the end of the fourteen (8) diagram.) The elastic support = including the configuration of the quick pipe clamp 14G2, the swinging branch = 1408 fixed to each other - the locking nut (four). The fifteen (4) to fifteenth (d) diagrams illustrate four examples of the arm n〇 fixing device (the robot (four) (four) table. The knife carving) to the first fifteenth (a) is the first example, where the device 1〇 〇 fixed in surgery 201208640
台1502上’用於腹腔鏡外科手術的床頭 術，像是雜鏡外科手術或耳鼻喉科手術平躺手 圖内’裝置⑽固定在手術台1502的右側\°十五= 也可固定在手術台1502的左側。 衣置1UU 第十五(b)圖為第二範例，其中裝置100固定在手術 台1504上，用於泌尿外科手術、大腸直腸外科手 科外科手術的床尾放低或平料術。在 巧刪固定在手術台1綱的左側，不)也 定在手術台1504的右側。 & 卓五⑷圖為第三範例，其中裝置丨_定在手術 W〇6上’用於在實驗室内研發外科手術儀号。 二車二為第四範例，其中裝置100固定在行動 σ車1508上，可用於行動手術系統。 過也控制器1〇8只顯示在第十五⑷圖中，不 裝置_其他部五、外第：五⑻圖或第十五⑷圖中 ιηΠ6. # '邛刀另外，機态人控制器108可與裝置 100的其他丄部分連結，達成可構式手術系統。 =十二圖至第十八圖顯示裝置100的應用範例。 w十六（a)圖至第十六（c)圖分別為其中裝置100用 於攜帶與定位—雙平面超音波探針16G2,來獲得-組可 用於=成3D立體影像的2D影像之範例透視圖、側視圖 以及刖視圖。在一個範例中，超音波探針16〇2為A1〇ka 超音波糸統。 第十七（a)圖至第十七（c)圖分別為其中裝置100用 於搞帶與處理一内視鏡外科手術儀器1702用於執行大On the table 1502, the bedside technique for laparoscopic surgery, such as miscellaneous surgery or otolaryngology surgery, is placed on the right side of the operating table 150. The device (10) is fixed on the right side of the operating table 150. The left side of the operating table 1502. Clothing 1UU Figure 15 (b) is a second example in which the device 100 is attached to the operating table 1504 for urological surgery, bed tail surgery for colorectal surgery, or flat surgery. It is fixed to the left side of the operating table 1 and is not fixed to the right side of the operating table 1504. & Zhuo Wu (4) is a third example in which the device is set on the surgery W〇6 for developing a surgical instrument number in the laboratory. The second car 2 is a fourth example in which the device 100 is fixed to the action σ car 1508 and can be used in a mobile surgical system. Also, the controller 1〇8 is only displayed in the fifteenth (4) diagram, not the device_other part five, the outer part: five (8) picture or the fifteenth (4) figure of ιηΠ6. # '邛刀 additionally, the state controller 108 can be coupled to other ankle portions of device 100 to achieve a constructable surgical system. = Twelve Diagrams to Eighteenth Diagrams show an application example of the apparatus 100. W16(a) to 16(c) are examples of 2D images in which the device 100 is used for carrying and positioning-biplane ultrasonic probe 16G2 to obtain a set of 2D images that can be used for 3D stereoscopic images. Perspective, side view, and 刖 view. In one example, the ultrasonic probe 16〇2 is an A1〇ka ultrasonic system. Sections 17(a) through 17(c) are diagrams in which the apparatus 100 is used to engage and process an endoscopic surgical instrument 1702 for performing large
S 20 201208640 腸直腸外科手術的範例之透視圖、俯視圖以及前視圖。 在一個範例中，内視鏡外科手術儀器17〇2屬於〇lympus 内視鏡系統。 第十八(a)圖至第十八(C)圖分別為其中裝置1〇〇配 置成與向強度聚焦超音波(HIFU)系統1802整合，來進 订治j蔡前列腺癌的非侵入式聚焦療法的範例之透視 圖、刖視圖以及側視圖。在—個範例中，HIFU系統18〇2 用來獲取景彡像的—Aloka超音波系統，以及用於進 行前列腺癌治療的Biobot外科手術11吓1；切除刀。 裝置100提供下列優點。 且心-二用途並不受限於特殊料的外科手術工 具’像是腹腔鏡外科手# *先進外科手術儀器或工 手術、大腸亩視鏡外科手術、泌尿外科 n大~直腸外科手術等的儀哭^ t ΛΛ . ^ ^ 並操控二維(2D)超音波探針:。裝£…也可 立體影像的一組2D影像：又可用來形成二維（3D) 另外’裝置100可者.一飞此 機構，裝置100可簡單 β间式系統。運用該固定 低或床頭抬高的情況下人床上’用於在床尾放 任何外科手術，而與要‘二，如此裝置100適用於 關。裝置100也可固定到I 手術的病患身體部位無 或手術方面的研究。 、 用於執行外科手術儀器 三種定位機構(移動台 科手術定位系統106)提供 疋轉系統104和3D外 允許裂置100做為小型儀' ，度給裝置100 ’這樣 心放置平台’不僅符合基本要 21 201208640 求，也符合有限空間與雜亂環境内進行 步需求。如此裝置100可用於許多外科手V乎術的進一 外科手術、胸腔鏡外科手術、耳鼻喉科t包括頭部 外科手術、非尋常外科手術、泌尿外 乎術、婦科 外科手術等。 竹于術、大腸直腸 裝置1G 0可在手術㈣達成外料術 =位’這比手動定位外科手術儀器與U達到f自 控制電腦内之應用程式，當成主動系：3器的 式機器人)來操作。相較於先前技術系統當； 擬外科醫生手部動作來操縱外科手術 I狀、搞 =可降低人為失誤造成的不精準，因此達到 ^此外’裝置_可同時定位傳統或先進的外科=術 用更快速並且更安全的方式運用在複雜的外科i 如此’ U 100提供基本智慧型數位外科手術平A (intelligent dlgital surgical platf〇rm，iDsp)，讓外科二 得到必要的數位技術協助。換言之，裝置1〇〇提供一美 代技術整合至醫療產業，彌補先進技術^ 病所執行外科手術之間的縫隙。因此讓許多 22 201208640 【圖式簡單說明】 本說明書中將只為了範例而參考下列附圖，來說明 本發明的具體實施例，其中： 第一（a)圖為根據本發明一具體實施例的裝置之透 視圖。 第一（b)圖至第一（f)圖為第一（a)圖裝置的組件之透 視圖。 第二(a)圖為第一（a)圖裝置的移動台之透視圖。 第二(b)圖至第二（c)圖為第二(a)圖移動台的組件之 透視圖。 第三（a)圖為第二（a)圖移動台的直線拉拔器之透視 圖。 第三(b)圖為第三(a)圖直線拉拔器的剖面圖。 第四（a)圖為第二(a)圖移動台的迴轉機構之透視圖。 第四（b)圖至第四（c)圖為第四（a)圖迴轉機構的剖面 圖。 第五(a)圖為第一（a)圖裝置的旋轉系統之透視圖。 第五(b)圖至第五(d)圖為第五（a)圖旋轉系統的組件 之透視圖。 第六（a)圖為第五(a)圖旋轉系統的γ軸旋轉機構之透 視圖。 第六(b)圖為第六（a)圖γ軸旋轉機構的剖面圖。 第七（a)圖為第五(a)圖旋轉系統的β軸旋轉機構之透 視圖。 第七(b)圖為第七（a)圖β軸旋轉機構的剖面圖。 23 201208640 第七（C)圖為第七（a)圖β軸旋轉機構的側視圖。 第八(a)圖為第五(a)圖旋轉系統的α軸旋轉機構之透 視圖。 第八(b)圖至第八(c)圖為第八(a)圖α軸旋轉機構的 剖面圖。 第九（a)圖為第一（a)圖裝置的3D外科手術定位臂之 透視圖。 第九(b)圖至第九(d)圖為第九(a)圖3D外科手術定位 臂的組件之透視圖。 第十（a)圖為第九（a)圖3D外科手術定位臂的R軸旋 轉機構之透視圖。 第十（b)圖至第十（c)圖為第十（a)圖R軸旋轉機構的 剖面圖。 第十一（a)圖為第九（a)圖3D外科手術定位臂的Y軸 移動機構之透視圖。 第十一（b)圖為第十一（a)圖Y軸移動機構的剖面圖。 第十二（a)圖為第九（a)圖3D外科手術定位臂的X軸 移動機構之透視圖。 第十二(b)圖為第十二(a)圖X軸移動機構的剖面圖。 第十三（a)圖為第一（a)圖裝置的機器人控制器之透 視圖。 第十三（b)圖為第十三（a)圖機器人控制器的切開透 視圖。 第十三（c)圖至第十三（d)圖為第十三（a)圖機器人控 制器的剖面圖。S 20 201208640 Perspective, top view and front view of an example of a bowel surgery. In one example, the endoscopic surgical instrument 17〇2 belongs to the 〇lympus endoscope system. The eighteenth (a) to eighteenth (c) diagrams respectively illustrate that the device 1〇〇 is configured to be integrated with the intensity focused ultrasound (HIFU) system 1802 to tailor the non-invasive focus of the prostate cancer. Perspective, squatting, and side views of an example of therapy. In one example, the HIFU system 18〇2 is used to acquire the image of the Aloka ultrasound system, as well as the Biobot surgery for prostate cancer treatment. Device 100 provides the following advantages. And the heart-two uses are not limited to special materials of surgical tools 'like laparoscopic surgery hands # * advanced surgical instruments or surgery, large intestine surgery, urology n large ~ rectal surgery, etc. ICry ^ t ΛΛ . ^ ^ and manipulate the two-dimensional (2D) ultrasonic probe:. A set of 2D images can also be used for stereoscopic images: it can also be used to form two-dimensional (3D) and the device 100 can be used. The device 100 can be a simple inter-beta system. The use of the fixed low or bed lift in the human bed is used to place any surgery at the end of the bed, and with the second, such a device 100 is suitable for use. The device 100 can also be fixed to a patient's body part of the I procedure without surgery or surgical research. Three positioning mechanisms for performing surgical instruments (Mobile Desk Surgery Positioning System 106) provide the twisting system 104 and the 3D externally allowing the splitting 100 as a small instrument', and the device 100' so that the heart placement platform not only conforms to the basic To 21 201208640, it is also in line with the limited space and chaotic environment. Such a device 100 can be used in many surgical procedures, thoracoscopic surgery, otolaryngology, including head surgery, unusual surgery, urology, gynecological surgery, and the like. Bamboo surgery, colorectal rectal device 1G 0 can be achieved in surgery (4) external material = position 'this is more than manual positioning of surgical instruments and U to achieve f self-control computer applications, as active: 3 robots) operating. Compared with the prior art system; the surgeon's hand movements to manipulate the surgical operation, can reduce the inaccuracy caused by human error, so reach the 'device' can simultaneously locate traditional or advanced surgery = surgery A faster and safer way to use in complex surgery i so the 'U 100 provides basic intelligent dlgital surgical platf rm (iDsp), so that Surgical II gets the necessary digital assistance. In other words, Device 1 provides a fusion of US technology into the medical industry to bridge the gap between surgical procedures performed by advanced technologies. Therefore, a number of 22 201208640 [Simplified Description of the Drawings] In the present specification, specific embodiments of the present invention will be described by way of example only with reference to the accompanying drawings in which: FIG. Perspective view of the device. The first (b) to the first (f) are perspective views of the components of the first (a) diagram device. The second (a) is a perspective view of the mobile station of the first (a) diagram device. Figures 2(b) through 2(c) are perspective views of the components of the mobile station of the second (a) diagram. The third (a) is a perspective view of the linear puller of the mobile station of the second (a) diagram. The third (b) is a cross-sectional view of the linear puller of the third (a) drawing. The fourth (a) is a perspective view of the slewing mechanism of the mobile station of the second (a) diagram. The fourth (b) to fourth (c) drawings are cross-sectional views of the fourth (a) slewing mechanism. The fifth (a) diagram is a perspective view of the rotation system of the first (a) diagram device. Figures 5(b) through 5(d) are perspective views of the components of the fifth (a) rotating system. The sixth (a) diagram is a perspective view of the γ-axis rotating mechanism of the fifth (a) rotating system. Fig. 6(b) is a cross-sectional view showing the γ-axis rotation mechanism of the sixth (a) diagram. The seventh (a) diagram is a perspective view of the β-axis rotation mechanism of the fifth (a) rotation system. Figure 7(b) is a cross-sectional view of the β-axis rotation mechanism of the seventh (a) diagram. 23 201208640 The seventh (C) diagram is a side view of the β-axis rotation mechanism of the seventh (a) diagram. The eighth (a) diagram is a perspective view of the α-axis rotation mechanism of the fifth (a) rotation system. Figures 8(b) through 8(c) are cross-sectional views of the alpha-axis rotation mechanism of the eighth (a) diagram. Figure 9 (a) is a perspective view of the 3D surgical positioning arm of the first (a) device. Figures 9(b) through 9(d) are perspective views of the components of the ninth (a) Figure 3D surgical positioning arm. Figure 10 (a) is a perspective view of the R-axis rotation mechanism of the surgical positioning arm of the ninth (a) Figure 3D. Figures 10(b) through 10(c) are cross-sectional views of the R-axis rotating mechanism of the tenth (a). Figure 11 (a) is a perspective view of the Y-axis moving mechanism of the surgical positioning arm of the ninth (a) Figure 3D. The eleventh (b) is a cross-sectional view of the Y-axis moving mechanism of the eleventh (a). Figure 12 (a) is a perspective view of the X-axis moving mechanism of the surgical positioning arm of the ninth (a) Figure 3D. Figure 12(b) is a cross-sectional view of the X-axis moving mechanism of the twelfth (a). Figure 13 (a) is a perspective view of the robot controller of the first (a) diagram device. The thirteenth (b) is a cut-through view of the robot controller of the thirteenth (a) diagram. Figures 13(c) through 13(d) are cross-sectional views of the robot controller of the thirteenth (a) diagram.
S 24 201208640 第十四（a)圖為第一（a)圖裝置的彈性支撙臂之透視 圖。 第十四（b)圖為第十四（a)圖彈性支撐臂的側視圖。 第十四（c)圖為第十四（a)圖彈性支撐臂的後視圖。 第十五（a)圖至第十五(d)圖例示如何使用第十四（a) 圖的彈性支撐臂固定第一（a)圖的裝置至一平台的四個 範例。 第十六（a)圖至第十六(c)圖分別為第一（a)圖裝置用 於攜帶與定位一雙平面超音波探針的範例之透視圖、側 視圖以及前視圖。 第十七（a)圖至第十七（c)圖分別為第一（a)圖裝置用 於攜帶與處理一内視鏡外科手術儀器的範例之透視 圖、俯視圖以及前視圖。 第十八(a)圖至第十八(c)圖分別為第一（a)圖裝置配 置成與高強度聚焦超音波(HIFU)系統整合的範例之透 視圖、前視圖以及側視圖。 【主要元件符號說明】 204 :迴轉機構 302 :伺服馬達 304 :耦合元件 306 :第一前導螺桿 3 0 8 :軸承基座 310 :拉拔器基座 312 :轉接台 100 :裝置 102 :移動台 104 :旋轉系統 106: 3D外科手術定位臂 108 :機器人控制器 110 :彈性支撐臂 202 :直線拉拔器 25 201208640 314 ： 316 ： 318 ： 320 ： 322 ： 324 ： 402 ： 404 ： 406 408 410 412 414 416 418 502 504 506 508 602 604 606 608 610 612 直線引導 614 ： 支撐板 鎖定轉軸 702 ： 第三蝸桿 把手 704 ： 第三媧輪 開關把手 706 ： 伺服馬達 按紐開關 708 ： 手輪 馬達蓋 710 ： 蝸桿基 第一蝸桿 712 ： 插銷 第一媧輪 714 ： 滑動栓 蝸桿基座 716 : 手螺帽 蜗輪基座 718 : 延伸臂 伺服馬達 720 ： 蜗輪基座 手輪 802 ： 第四蜗桿 馬達蓋 804 ： 第四媧輪 支撐塊 806 ： 伺服馬達 滑動環 808 ： 手輪 :γ軸旋轉機構 810 ： 蓋子 :β軸旋轉機構 812 ： 基座 :α軸旋轉機構 814 ： 支撐塊 :支撐構件 902 ： R轴旋轉機構 :第二蝸桿 904 ： Υ軸移動機構 :第二蝸輪 906 ： X軸移動機構 :伺服馬達 1002 :第五蝸桿 :手輪 1004 :第五蝸輪 :媧桿基座 1006 :伺服馬達 :蜗桿基座支樓件 1008 :手輪 s 26 201208640 1010 :轉軸 1012 :滑動栓 1014 :手螺帽 1102 :支撐框架 1104 :直線引導 1106 :第二前導螺桿 1108 :齒輪箱 1110 :伺服馬達 1112 :手輪 1114、1116 :蓋子 1118 :基座 1202 :直線引導 1204 :支撐組件 1206 :伺服馬達 1208 :第三前導螺桿 1210 :齒輪機構 1212 :把手 1214 :基座 1214a、1214b :孔洞 1216 :手輪 1218 :蓋子 1302:多通道伺服控制系 統 1304 : USB訊框抓取器 1306 :影像輸入配接卡 1308 : DC電源供應器 1310 :控制電腦 1312:機器人控制器機箱 1402 :快速管夾 1404 :轉動鎖定螺絲 1406 :擺動支撐件 1408 :支撐臂 1410a、1410b :側邊支撐 板 1412 :鎖定螺帽 1414 :螺帽 1502、1504 :手術台 1506 :手術桌 1508 :行動台車 1602 :超音波探針 1702:内視鏡外科手術儀 器 1802:高強度聚焦超音波 (HIFU)系統 27S 24 201208640 The fourteenth (a) is a perspective view of the elastic support arm of the first (a) diagram device. Figure 14(b) is a side view of the elastic support arm of the fourteenth (a) figure. Figure 14 (c) is a rear view of the elastic support arm of the fourteenth (a) figure. The fifteenth (a)th to fifteenth (d)th illustrations illustrate how the four (a) diagram of the apparatus of the first (a) to a platform can be fixed using the elastic support arm of the fourteenth (a) diagram. Figures 16(a) through 16(c) are perspective, side and front views, respectively, of an example of a first (a) diagram device for carrying and positioning a dual plane ultrasonic probe. Figures 17(a) through 17(c) are perspective, top and front views, respectively, of an example of a first (a) diagram device for carrying and processing an endoscopic surgical instrument. Figures 18(a) through 18(c) are perspective, front and side views, respectively, of an example of the first (a) diagram device configured to integrate with a high intensity focused ultrasound (HIFU) system. [Main component symbol description] 204: Swing mechanism 302: Servo motor 304: Coupling element 306: First lead screw 3 0 8 : Bearing base 310: Puller base 312: Adapter 100: Device 102: Mobile station 104: Rotation system 106: 3D surgical positioning arm 108: Robot controller 110: Elastic support arm 202: Linear puller 25 201208640 314: 316: 318: 320: 322: 324: 402: 404: 406 408 410 412 414 416 418 502 504 506 508 602 604 606 608 610 612 Linear guidance 614: Support plate locking shaft 702: Third worm handle 704: Third wheel switch handle 706: Servo motor button switch 708: Handwheel motor cover 710: Worm Base first worm 712: pin first wheel 714: sliding pin worm base 716: hand nut worm base 718: extension arm servo motor 720: worm wheel base hand 802: fourth worm motor cover 804: Four-wheel support block 806 : Servo motor slip ring 808 : Handwheel: γ-axis rotation mechanism 810 : Cover: β-axis rotation mechanism 812 : Base: α-axis rotary machine 814: support block: support member 902: R-axis rotation mechanism: second worm 904: Υ-axis movement mechanism: second worm wheel 906: X-axis movement mechanism: servo motor 1002: fifth worm: hand wheel 1004: fifth worm wheel: Mast base 1006: Servo motor: worm base support member 1008: hand wheel s 26 201208640 1010: shaft 1012: sliding bolt 1014: hand nut 1102: support frame 1104: linear guide 1106: second lead screw 1108 : Gearbox 1110 : Servo motor 1112 : Handwheel 1114 , 1116 : Cover 1118 : Base 1202 : Linear guide 1204 : Support assembly 1206 : Servo motor 1208 : Third lead screw 1210 : Gear mechanism 1212 : Handle 1214 : Base 1214a 1214b: Hole 1216: Handwheel 1218: Cover 1302: Multi-channel servo control system 1304: USB frame grabber 1306: Image input adapter card 1308: DC power supply 1310: Control computer 1312: Robot controller chassis 1402 : Quick Pipe Clamp 1404 : Turning Locking Screw 1406 : Swinging Support 1408 : Supporting Arms 1410a , 1410b : Side Support Plate 1412 : Locking Nut 1414 : Nuts 1502 , 1504 : Operating Table 1506 : Operating Table 1508: Mobile Trolley 1602: Ultrasonic Probe 1702: Endoscopic Surgical Instrument 1802: High Intensity Focused Ultrasonic (HIFU) System 27