# US 2014/0194699 A1 · Single port surgical robot and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0194699 A1 - Document ID: US20140194699A1 - Status: Published application - Kind: A1 - Application number: 13/935,841 - Filed: 2013-07-05 - Published: 2014-07-10 - Earliest claimed: 2013-01-08 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Se-Gon ROH; Young-Do Kwon; Youn-Baek Lee; Yong-Jae Kim; Jeong-Hun Kim; Kyung-Shik Roh; Kyung-won Moon; Tae-Jun Sang; Jong-Won Lee; Byung-June Choi; Tae-Sin Ha - Web page: https://patentgrep.com/patent/US20140194699A1 ## CPC - A61B 17/34: Trocars; Puncturing needles - A61B 34/30: Surgical robots - A61B 90/13: guided by light, e.g. laser pointers - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A single port surgical robot capable of setting the location of a remote center motion (RCM) point, and a control method thereof includes: a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure; a second link connected to the upper end of the first link by a second joint, the second link having a curved structure; a third link connected to the upper end of the second link by a third joint, the third link having a cylindrical structure; a plurality of light-emitting units arranged on the lower end of the third link along the circumference of the third link, and configured to emit light toward a remote center motion (RCM) point; and a controller configured to adjust the location of the RCM point. ## Claims ### Claim 1 A single port surgical robot comprising: a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure; a second link connected to an upper end of the first link by a second joint, the second link having a curved structure; a third link connected to an upper end of the second link by a third joint, the third link having a cylindrical structure; a plurality of light-emitting units arranged on a lower end of the third link along the circumference of the third link, and configured to emit light toward a remote center motion (RCM) point; and a controller configured to adjust the location of the RCM point. ### Claim 2 (depends on 1) The single port surgical robot according to claim 1, further comprising a manipulation unit, wherein the manipulation unit comprises a first manipulation unit configured to set a motion mode of a surgical instrument assembly connected to an upper part of the third link to a translation mode or a rotation mode, and a second manipulation unit configured to receive a command for translating the surgical instrument assembly or a command for rotating the surgical instrument assembly based on the RCM point. ### Claim 3 (depends on 2) The single port surgical robot according to claim 2, wherein the second manipulation unit includes a force/torque (F/T) sensor for sensing a force applied by an operator, and the controller adjusts the location of the RCM point according to a command input through the second manipulation unit. ### Claim 4 (depends on 2) The single port surgical robot according to claim 2, wherein the manipulation unit is separated from the single port surgical robot. ### Claim 5 (depends on 1) The single port surgical robot according to claim 1, wherein the plurality of light-emitting units emit different colors of light. ### Claim 6 (depends on 1) The single port surgical robot according to claim 1, wherein a plurality of filters having different shapes of holes are provided in front of the respective light-emitting units. ### Claim 7 (depends on 1) The single port surgical robot according to claim 1, further comprising a photographing unit disposed on the lower end of the third link, and configured to photograph an image corresponding to a photographing area, wherein the photographed image includes the RCM point, a trocar inserted into a patient's incision point, and at least one among a plurality of light-emitting points created by the plurality of light-emitting units. ### Claim 8 (depends on 7) The single port surgical robot according to claim 7, wherein the controller detects at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image, and automatically adjusts the location of the RCM point based on the result of the detection. ### Claim 9 (depends on 8) The single port surgical robot according to claim 8, wherein if the detected light-emitting points are located outside the trocar, the controller adjusts at least one of the x and y coordinates of the RCM point. ### Claim 10 (depends on 8) The single port surgical robot according to claim 8, wherein the controller adjusts the z coordinate of the RCM point, according to the results of comparison between the detected light-emitting points and the locations of the light-emitting units. ### Claim 11 A control method of a single port surgical robot, comprising: operating a plurality of light-emitting units arranged along the circumference of a cylindrical link, and configured to emit light toward a remote center motion (RCM) point; and adjusting the location of the RCM point. ### Claim 12 (depends on 11) The control method according to claim 11, further comprising receiving a command for setting a motion mode of a surgical instrument assembly connected to an upper part of the link to a translation mode, from a first manipulation unit. ### Claim 13 (depends on 12) The control method according to claim 12, wherein the adjusting of the location of the RCM point comprises translating the surgical instrument assembly according to a command input through a second manipulation unit, to thus adjust the location of the RCM point, the second manipulation unit including a force/torque (F/T) sensor for sensing a force applied by an operator. ### Claim 14 (depends on 11) The control method according to claim 11, further comprising photographing an image corresponding to a photographing area using a photographing unit disposed on the lower end of the link, wherein the photographed image includes at least one among the RCM point, a trocar inserted into a patient's incision point, and a plurality of light-emitting points created by the plurality of light-emitting units. ### Claim 15 (depends on 14) The control method according to claim 14, wherein the adjusting of the location of the RCM point comprises: detecting at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image; and automatically adjusting the location of the RCM point based on the results of the detection. ### Claim 16 A single port surgical robot comprising: a plurality of light-emitting units emitting highly linear beams and configured such that the beams emitted from the plurality of light-emitting units intersect with each other at the RCM point; and a controller configured to adjust the location of the RCM point. ### Claim 17 (depends on 16) The single port surgical robot according to claim 16, further comprising: a first link connected to a body by a first joint in a direction perpendicular to the body, the first link having a linear structure; a second link connected to an upper end of the first link by a second joint, the second link having a curved structure; and a third link connected to an upper end of the second link by a third joint, the third link having a cylindrical structure, wherein the plurality of light-emitting units are arranged on a lower end of the third link along the circumference of the third link. ### Claim 18 (depends on 16) The single port surgical robot according to claim 16, further comprising a manipulation unit, wherein the manipulation unit is configured to adjust the location of the RCM point based on a command input by an operator. ### Claim 19 (depends on 16) The single port surgical robot according to claim 16, further comprising a photographing unit configured to photograph an image corresponding to a photographing area, wherein the photographed image includes the RCM point, a trocar inserted into a patient's incision point, and at least one among a plurality of light points created by the plurality of light-emitting units. ### Claim 20 (depends on 19) The single port surgical robot according to claim 19, wherein the controller detects at least one among the trocar, the plurality of light-emitting points, and the RCM point from the photographed image, and automatically adjusts the location of the RCM point based on the result of the detection.