KR20150074449A - Microsurgical apparatus for high-dexterity: dexterous surgi-hand system - Google Patents

Abstract

The present invention relates to a micro-surgical device for enhancing precision, which is capable of preventing hand-shake and facilitating precise surgery by supporting the body of a practitioner. The micro-surgical device includes a main body and an arm and a wrist of the operator connected to the main body, And a support portion capable of imparting a degree of freedom to the arm and the wrist. Accordingly, it is possible to safely perform the high-precision micro-surgery by preventing the operator's hand-shake at the time of operation and preventing instantaneous positional deviation of the surgical tool.

Description

TECHNICAL FIELD [0001] The present invention relates to a microsurgical apparatus for improving precision,

The present invention relates to a surgical apparatus, and more particularly, to a microsurgical apparatus for enhancing the accuracy of a surgical operation apparatus, which is capable of supporting a body of a practitioner to prevent camera shake and facilitating an elaborate operation.

Although the development of a device for assisting the operation in the medical field has been actively developed recently, the final control of the surgical instrument is still performed by the physician and the like. Particularly, in the surgical field requiring fine manipulation of surgical instruments, the extent to which the practitioner can perform an operation in a sophisticated manner has a great influence on the success of surgery.

1 shows a conventional surgical assistant robot. The conventional surgical assistant robot 1 is provided on the ceiling of the operating room so as to allow the surgical tool 3 to approach the affected part of the patient. The three-axis translation movement of the XYZ of the surgical tool 3, Tilting and rotating. Accordingly, the operator places the surgical tool 3 on the patient and then performs the operation while translating, tilting, and rotating, as shown in FIG.

Since the conventional surgical assistant robot 1 can fix the surgical tool 3, it is possible to perform stable operation as compared with a state where the practitioner grasps the surgical tool 3 without any assistance. However, It is practically impossible to perform a high-precision micro-surgery because of the hand shake of the operator and the instantaneous displacement of the surgical tool.

US 2003-0131867 A1 (May 23, 2013)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a micro-surgical device for improving the accuracy of providing a degree of freedom while stably supporting an arm and a wrist of a practitioner.

The micro-surgical device for improving precision according to the present invention comprises a main body part and a supporting part connected to the main body part, the arm and wrist of the practitioner being seated and capable of imparting degrees of freedom to the arm and wrist of the operator, .

According to the micro-surgical device for improving the accuracy according to the embodiment of the present invention, it is possible to prevent the shaking of the operator during the operation and prevent instantaneous displacement of the surgical tool. Therefore, it helps the operator to perform high-precision microsurgery safely.

FIG. 1 is a block diagram of a conventional surgical assistant robot
Fig. 2 is a diagram showing the state of use of the conventional surgical assistant robot
3 is a cross-sectional view of a micro-
FIG. 4 is a cross-sectional view of a micro-
5 is a cross-sectional view showing another embodiment of the support of the micro-
FIG. 6 is a cross-sectional view showing another embodiment of a support portion of a micro-
7 to 9 are diagrams showing the state of use of the micro-surgical device for improving the accuracy according to the present invention

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a micro-surgical device for improving accuracy according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 3 illustrates a micro-surgical apparatus for improving accuracy according to the present invention.

The micro-surgical device for improving the precision according to the present invention includes a main body part 10 and a support part 20 connected to the main body part 10 and capable of imparting degrees of freedom to arms and wrists, .

The body portion 10 serves as a structure for positioning the support portion 20 at a proper height and is a component for supplying power to the support portion 20 when the support portion 20 is moved and rotated, (Not shown), and may further include components such as an actuator 14 for moving the link 12, a wheel 16 for ensuring mobility, and a weight 18 for counterbalancing .

The link 12 is a component that allows the support 20 to be positioned at an appropriate height and to be moved to a desired position. When the plurality of links 12 are coupled in a jointed structure, . The number of the links 12 may vary depending on the degree of freedom required of the body portion 10 and the number of the links 12 may be varied depending on the structure in which the joints 13 connect the links 12, May be configured to have a degree of freedom motion of one or more.

A damper (not shown) may be provided on the joint 13 connecting the link 12 to prevent the abrupt link 12 from moving. At this time, the damping strength of the damper can be variably set depending on the type of the damper as the fluid pressure, the frictional force, the elastic force, and the like are changed.

In addition, a locking device (not shown) may be provided on each joint 13 to limit the specific degree of freedom. For example, when locking all the joints 13, the support 20, which is connected to the end of the link 12, is in a fixed position, which, when the surgical site is restricted to a very narrow area, It is very useful in cases where a dangerous situation occurs when the surgical tool deviates from the surgical site. The joint 13 may be implemented to be switched between a locked state and an unlocked state by using pneumatic pressure, wire, electricity, or the like.

The actuator 14 is a component for moving the link 12 and can supply power to the joint 13 connecting the links 12 to change the angle of connection between the link 12 and the link 12. [ . Thus, in the case of the body portion 10 of the 1-link 12 structure without the joint 13, the actuator 14 is an excluded component. The actuator 12 can be moved by the actuator 14 and thus the spatial position of the support 20 connected to the end of the link 12 can be changed. The actuator 14 can be controlled to bring the link 12 to a desired position in accordance with a control signal of a control unit (not shown). For example, when a practitioner inputs coordinates on a space to which the support unit 20 is to be moved, the control unit calculates the position of each link 12 and transmits the corresponding control signal to the actuator 14, So that the link 12 can reach a desired position in a manner that performs an operation according to the control signal. Such an operation is performed by automatically moving the arm of the practitioner resting on the support portion 20 in accordance with the movement of the link 12, so that it can greatly reduce the fatigue of the practitioner.

The link 12 may follow the operator's arm movement according to the design of the control unit. For example, the operator may sense the speed at which the arm moves, so that the actuator 14 adjusts the speed of movement of the link 12 according to the sensed speed.

The wheel 16 is installed at a lower portion of the main body 10 to facilitate the movement of the micro-surgical device for improving the accuracy according to the present invention. Since the microsurgical device for improving the accuracy according to the present invention is moved to each operation room or there is a case in which movement is required even if it is a single operation, a wheel 16 is installed to improve the accuracy of the microsurgical device according to the present invention. It is necessary to give mobility. In this regard, a brake 17 for fixing the wheel 16 can be further provided. In this embodiment, the wheel 16 is used as the moving means. However, the present invention can be applied in various ways as long as it can provide mobility to the micro-surgical device for improving the precision according to the present invention.

The weight 18 is attached to one end of the link 12 to counterbalance (to keep the weight of both links about the joint about the joint so that the link can be moved with small force). The actuator 12 can be easily moved by the weight 18 when the actuator 14 is manually moved without the actuator 14, . Further, when the weight 18 is attached to the link 12, when the joint 13 is switched to the unlocked state, the link 12 does not abruptly descend or rise, so that the movement of the surgical tool or link becomes gentle, The possibility of an accident is significantly reduced.

Hereinafter, the supporting portion of the micro-surgical device for improving the precision will be described on the basis of various embodiments as shown in FIG. 4 to FIG.

The support portion 20 is connected to the end of the link to support the operator's arm and wrist while imparting degrees of freedom to each of the components. The support portion 20 includes a lower support 22 supporting the lower arm of the practitioner, a wrist support 24 supporting the wrist, (Not shown), an electric appliance 25 (see FIG. 5) and a surgical tool holder 28 (see FIG. 6), which are connected to the lower support 22 and the wrist support .

FIG. 4 illustrates a support of a micro-surgical device for improving accuracy according to the present invention.

The lower support 22 is a component for supporting the lower arm of the operator and is connected to the end of the link 12 and installed to be rotatable with respect to the link 12. [ The movement of the lower support 22 is thus effected by the movement of the link 12 and the rotation is by a connecting member such as a ball joint connecting the lower support 22 and the link 12. A damper is also provided on the linkage 26 connecting the lower support 22 and the link 12 to prevent sudden rotational movement of the lower support due to hand trembling or the like. 4, the lower support 22 is shown as an upper open type, but it may be formed as a cover type that can cover the lower arm. If it is formed as a lid type, it becomes easier to move the lower arm upward. In the case of the lid type, it is easy to insert the lower arm into the lower support 22 by connecting the two members vertically cut with the pipe by hinging.

Further, the lower support 22 may be formed in a cylindrical shape, and two cylinders may be disposed inside and outside to constrict or relax the inner cylinder, thereby fixing the operator's lower arm. In the case where the lower support 22 is formed in a cylindrical shape, a pad made of an elastic material such as a vibration pad or rubber may be formed to surround the inner surface of the lower support 22 so as to prevent impact and vibration of the portion contacting the arm. have.

In the case of a structure in which the lower support 22 can be contracted or relaxed by being supplied with power from an actuator (not shown), the lower support 22 can be contracted to fix the arm according to the automatic detection or input control command, If the operator wishes to remove his arm after the procedure or during the procedure, he or she can operate to relax in accordance with the automatic detection or input control command.

The lower support 22 is detachably attached to the link 12 to facilitate replacement, repair, and the like of the operator according to the size of the user's body. In addition, it is formed in a structure capable of restricting motion by fixing a ball joint or the like connecting the lower support 22 and the link 12. [

The wrist support 24 is connected to the lower support 22 by means of a linkage 26 and is mounted for rotation with respect to the lower support. The connection relationship between the wrist support 24 and the lower support 22 is the same as the connection between the lower support 22 and the link 12. [

The linkage 26 is a component that connects the lower support 22 and the wrist support 24 and may be a structure that connects the lower support 22 and the wrist support 24 with a ball joint. In general, since it is not easy for the wrist to translate in a state where the lower arm is fixed to the lower arm support 22, in most cases, the connection arm 26 may have the same structure as the ball joint, but the two connection members may be telescopically connected So as to be stretchable and contractible.

The actuator (not shown) is a component for moving the lower support 22 and the wrist support 24 and includes a joint 13 connecting the lower support 22 and the link 12, Thereby imparting rotational force to the lower support 22 and the wrist support 24. The actuators provided in the support portion 20 are operated by the same mechanism as the actuator 14 provided in the main body portion 10, and thus repeated description will be omitted.

FIG. 5 illustrates another embodiment of a support of a micro-surgical device for improving accuracy according to the present invention. The support portion 20 shown in FIG. 5 further includes an electric device 25 that can be used by connecting a surgical tool such as a drill bit or a soldering iron. At this time, the electric device 25 may be viewed as being formed on the wrist support 24, or as an alternative to the wrist support 24. The wrist support 24 or the electric device 25 on which the electric device 25 is formed is detachably attached to the lower support 22. The electric device 25 shown in Fig. 5 is provided with an operation button B at the thumb position of the operator and can drive a surgical tool connected to the electric device 25 according to the operation of the operation button B. For example, when the drill bit is inserted into the electric device 25 and the operation button B is pressed, the drill bit can be rotated.

6 shows another embodiment of the support of the micro-surgical device for improving the accuracy according to the present invention. The support portion 20 shown in Fig. 6 further comprises a surgical tool holder 28. Fig. The surgical tool holder 28 is a component that literally holds the surgical instrument and is connected to the wrist support 24 by a ball joint 29. In addition to the pipe type shown in Fig. 6, in addition to the pipe type shown in Fig. 6, the surgical tool holder 28 may include a pair of clamping members that are connected to each other via a spring so as to be closed when there is no external force, Shaped, hollow truncated cone shape, and can be mounted on a surgical instrument. In addition, the wrist support 24 shown in Fig. 6 is formed in an annular shape so that the wrist can be inserted. The operation tool holder 28 may also be provided with an operation button for electrically operating the surgical tool similarly to the support portion shown in FIG.

FIGS. 7 to 9 illustrate the use of the micro-surgical device for improving the accuracy according to the present invention.

FIG. 7 is a view illustrating the state of use of the micro-surgical device for improving the accuracy shown in FIG. 4, in which a simple surgical tool such as a tweezers and a scissors is used without a surgical tool holder or an electric appliance.

FIG. 8 is a state of use of the micro-surgical device for improving the precision shown in FIG. 5, in which the electric device 25 is connected to the end of the wrist support 24 so that the wrist support 24, And the device 25 is operated.

7 and 8, the degree of freedom of the wrist is given by the connecting block 26 in the case of the micro-surgical device for improving the precision.

FIG. 9 is a view showing the state of use of the micro-surgical device for improving the precision shown in FIG. 6, in which the surgical tool holder 28 is connected to the wrist support 24 so that a surgical tool fixed to the surgical tool holder 28 FIG.

9, the degree of freedom of the wrist is imparted by the connecting rod 26 and the degree of freedom of the finger is imparted by the ball joint 29 in the case of the micro-surgical device for improving the precision shown in FIG.

The embodiments of the micro-surgical device for improving the precision according to the present invention described above commonly provide the degree of freedom while supporting the arm and wrist of the practitioner. Therefore, the operator can safely perform the high-precision microsurgery.

10 Body part 12 Link
13 Joint 14 Actuator
16 wheels 17 breaks
18 weight 20 support
22 lower support 24 wrist support
25 Electrical equipment 26 Connecting rod
28 Surgical Tool Holder 29 Ball Joint

Claims (12)

The body portion
And a support portion connected to the main body portion and having an arm and a wrist of a practitioner seated thereon and capable of imparting degrees of freedom to the arm and the wrist of the operator.
The method according to claim 1,
Wherein the main body includes a plurality of links and a joint connecting the plurality of links.
The method of claim 2,
And a damper is installed on the joint.
The method of claim 2,
Wherein the main body further comprises an actuator for moving the plurality of links.
The method according to claim 1,
Wherein the main body further includes a wheel installed at a lower portion thereof.
The method of claim 5,
Wherein the main body further comprises a brake for fixing the wheel.
The method of claim 2,
Wherein the main body further comprises a weight attached to one end of the link.
The method according to claim 1,
Wherein the support portion includes a lower support for supporting a lower arm of a practitioner, a wrist support for supporting a wrist of a practitioner, and a connecting rod connecting the lower support and the wrist support.
The method of claim 8,
And a damper is installed on the connecting block.
The method of claim 8,
Wherein the support portion further comprises an electric device.
The method of claim 8,
Wherein the support portion further comprises a surgical tool holder.
The method of claim 11,
And the surgical tool holder is connected to the wrist support by a ball joint.

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