KR101105280B1 - Surgical robot and sterile drape covering the same - Google Patents

Abstract

Surgical robots and sterile drape covering them are disclosed. A surgical robot covered by a sterile drape, wherein a sterile drape having a fixed portion is attached to the surgical robot, and the surgical robot has a first fixing means for attaching the sterile drape to a position corresponding to the fixed portion. Surgical robot, characterized in that formed, by specifying a portion to be fixed to the sterile drape in advance, or by allowing the user to determine the site to be fixed sterile drape, by fixing the sterile drape to the surgical robot in the correct position It is possible to easily mount a sterile adapter or clamp even when the sterile drape is covered by drilling an open hole in the sterile drape in advance. The equipped surgical robot can be draped at once.

Description

Surgical robot and sterile drape covering the same}

The present invention relates to a surgical robot and a sterile drape covering the same.

Medically, surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Surgical robot used in robot surgery consists of a master unit for generating and transmitting a signal by a doctor's operation, and a slave unit for receiving a signal from the master unit and performing an operation necessary for surgery on a patient. In this case, the master unit and the slave unit may be implemented in the form of an integrated robot or may be configured as separate devices and arranged in the operating room.

The surgical robot is equipped with a robot arm to perform various operations for surgery, and a surgical instrument is mounted at the tip of the robot arm, and the surgical robot is covered by a sterile drape during the surgery. It is used.

Conventionally, after the surgical robot is covered with a sterile drape, the sterile drape is fixed to the robot by winding a band or fastening a band at an appropriate site. However, this fixation method has a limitation that the sterile drape does not always ensure that the robot is covered in the correct position.

In addition, in the case of a robot provided with a plurality of robot arms, since the bands must be fastened after covering the sterile drape for each robot arm, there is a problem that the draping is difficult and complicated.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention, the sterile drape can be fixed to the surgical robot in the correct position, it is easy to mount a sterile adapter or clamp even when the sterile drape is covered, a surgical robot that can cover a plurality of robot arms at once and To provide a sterile drape.

According to an aspect of the present invention, a surgical robot covered by a sterile drape (sterile drape), a sterile drape having a fixed site is attached to the surgical robot, the surgical robot, in a position corresponding to the fixed site, There is provided a surgical robot, characterized in that a first fixing means is formed so that the sterile drape can be attached, and a sterile drape used to cover such a surgical robot.

The first fixing means includes a magnet, a snap button, a velcro, and the like, and a second fixing means corresponding to the first fixing means may be installed at the fixing portion. A first identification mark may be displayed on the first fixing means, and a second identification mark corresponding to the first identification mark may be displayed on the second fixing means.

On the other hand, the first fixing means may include a suction hole for forming a negative (-) pressure to adsorb the fixed portion, the suction hole may be operated to form a negative pressure corresponding to the contact with the fixed portion, the fixed portion It is operated in conjunction with an alternating switch in an ON state or an OFF state by the user's pressurization of the user, or in an ON state by the user's push operation. It may be operated in conjunction with a switch which is switched to the OFF state by the operation. In this case, the switch may include a pressure plate pressed by the user, and the suction hole may be formed at the center of the pressure plate.

In addition, the sterile drape may further include a blow means for blowing air into the sterile drape so that the draping shape in the drape process, the blow means may include a suction hole. When the switch is in the OFF state, the suction hole may perform a blow function to blow air into the sterilized drape so that the sterilized drape may have a three-dimensional shape in the drape process.

The surgical robot includes a robot arm having an instrument holder, the instrument holder is equipped with a sterile adapter, and the sterile drape can be perforated with an open hole corresponding to the position where the sterile adapter is mounted. In this case, an adhesive part may be formed on the outer circumferential portion of the opening to attach the sterile adapter. The sterile adapter may be provided with a light source that receives power from the first electrical contact and emits light, and the instrument holder may be provided with a second electrical contact for supplying power to the first electrical contact according to the state of the robot arm.

Alternatively, a guide member formed in a shape in which a surface opposite to the instrument holder may be mounted to the instrument holder and a surface opposite to the sterile adapter may be coupled to the open hole. In this case, the guide member may be provided with a light source that receives power from the first electrical contact and emits light, and the instrument holder may be provided with a second electrical contact for supplying power to the first electrical contact according to the state of the robot arm. have.

In addition, the surgical robot includes a robot arm on which the surgical instrument is mounted, the robot arm is provided with a clamp for supporting the instrument, and the sterile drape can be perforated with an opening corresponding to the position where the clamp is installed. In this case, an adhesive portion may be formed at the outer circumferential portion of the opening so that the sterile drape is attached to the robot arm. Alternatively, instead of drilling the open hole, an adhesive part may be formed as a whole in the open hole part.

On the other hand, according to another aspect of the invention, the surgical robot having an instrument holder, the step of covering the sterile drape with the opening is perforated corresponding to the position where the sterile adapter is mounted, attaching the sterile adapter to the outer peripheral portion of the opening There is provided a surgical robot setting method comprising the steps of, mounting the sterile adapter to the instrument holder, the sterile drape is fixed to the surgical robot, and mounting the surgical instrument to the sterile adapter.

On the other hand, according to another aspect of the present invention, the step of attaching the sterile adapter to the outer peripheral portion of the opening hole in the sterile drape, the opening is perforated corresponding to the position where the sterile adapter is to be mounted, sterilized in the surgical robot having an instrument holder A surgical robot setting method is provided that includes covering a drape, mounting a sterile adapter to an instrument holder, allowing the sterile drape to be fixed to the surgical robot, and mounting a surgical instrument to the sterile adapter. .

On the other hand, according to another aspect of the present invention, a drape for covering a main body portion, a surgical robot including a plurality of robot arms coupled to the body portion, a drape, a body portion formed to cover the body portion, a plurality of Provided is a sterile drape, which includes a plurality of arm portions respectively formed to cover the robot arm, and a surgical robot covered by the sterile drape, characterized in that it covers the surgical robot at once.

The body part (and / or arm part) is manufactured in a form corresponding to the planar layout of the body part (and / or robot arm), and the body part (and / or arm part) is a body part (and / or robot arm). ) And the ends of the body (and / or arm) are joined to each other using locking means such as vinyl zippers, snap buttons, velcro, magnets, etc., so that the body (and / or arm) is joined to the body (and / or arm). Or robotic arms).

The arm part may emit light in accordance with the state of the robot arm covered by the arm part. The arm part includes an optical fiber, and the surgical robot is provided with a light source that emits light corresponding to the state of the robot arm. The light provided from the light can be received and emitted. Alternatively, the dark portion is coated with a light emitting material, the surgical robot is provided with a light source for emitting a light corresponding to the state of the robot arm, the light emitting material may receive light from the light source to emit light.

Alternatively, the arm may be provided with a light source that receives power from the first electrical contact and emits light, and the surgical robot may be provided with a second electrical contact for supplying power to the first electrical contact according to the state of the robot arm. have.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to a preferred embodiment of the present invention, the sterile drape can be fixed to the surgical robot in the correct position by designating a portion to be fixed in advance or allowing the user to determine the portion to be fixed to the sterile drape. In addition, since the opening is drilled in the sterile drape in advance, a sterile adapter or clamp can be easily mounted even when the sterile drape is covered, and a plurality of robot arms are provided by forming an arm to correspond to each of the plurality of robot arms. Surgical robots can be draped all at once.

In addition, by individually emitting the sterile drape portion covering the specific robot arm, there is no need to add an additional indicator to the robot arm or instrument, and according to the situation such as failure of the robot arm, replacement of the instrument, etc. Can direct cancer.

1 is a conceptual diagram showing a surgical robot and a sterile drape to cover the same according to an embodiment of the present invention.
Figure 2a is an enlarged view showing a suction hole according to an embodiment of the present invention.
Figure 2b is a cross-sectional view showing the operating state of the suction hole according to an embodiment of the present invention.
3 is a view showing a state in which a sterile adapter is attached to a sterile drape according to an embodiment of the present invention.
4 is a view showing a state in which the clamp is installed in the robot arm according to an embodiment of the present invention.
5 is a conceptual diagram showing a sterile drape according to an embodiment of the present invention.
Figure 6 is a use state showing a state covered with a sterile drape in a surgical robot according to an embodiment of the present invention.
7 is an enlarged view of 'A' of FIG. 6.
8 is a flow chart showing a surgical robot setting method according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

1 is a conceptual diagram showing a surgical robot and a sterile drape to cover the same according to an embodiment of the present invention. Referring to FIG. 1, a surgical robot 1, a sterile drape 20, a magnet 22, and an iron piece 23 are shown.

In this embodiment, a fixing means such as a magnet, a snap button, and a Velcro is pre-installed at a specific position of a sterile drape and a surgical robot, and the surgical robot is covered with a sterile drape 20 and then drape at the correct position. Characterized in that the structure 20 is fixed to the robot.

The sterile drape 20 according to this embodiment has a 'fixed position', the fixed portion may be a predetermined point on the sterile drape 20, which is selected by the user in the process of use of the sterile drape 20 It may be a point.

For example, when the fixing means such as the iron piece 23 to the sterile drape 20 in advance, as shown in Figure 1 may be a fixed portion is attached to the fixing point, as shown in Figure 2a As shown in the drawing, when the sterile drape 20 does not have a special fixing means installed, and the drape 20 is close to the suction hole so that a specific point on the drape 20 is attached to the robot, it is contacted with the suction hole according to the user's selection. The point can be a fixed part. As such, the fixed portion of the sterile drape 20 according to the present embodiment refers to the point of attachment to the surgical robot (1).

In the surgical robot 1 according to the present embodiment, a fixing means is formed at a position corresponding to a fixed portion of the sterile drape 20, and the fixing means serves to allow the sterile drape 20 to be attached to the robot.

As shown in FIG. 1, a magnet 22 may be used as a fixing means according to the present embodiment, and correspondingly, an iron piece 23 may be attached to a fixing portion of the sterile drape 20. . As such, the surgical robot 1 and the sterile drape 20 are provided with a pair of fixing means that are correspondingly bound to each other, so that the sterilization drape using magnetic force in a position (fixed position) where the sterile drape 20 should be fixed. 20 can be fixed to the robot arm.

At this time, by displaying an identification mark such as a number or a letter on a fixed portion of the sterile drape 20 and a corresponding point of the robot in advance, it is easy to find a position to fix the sterile drape 20 to the robot. have. For example, assuming that there are 10 fixed parts of the sterile drape 20, that is, the points where the iron pieces 23 are attached, the numbers 1 to 10 are displayed on the points where the iron pieces 23 are attached, and each By displaying the numbers from 1 to 10 in 10 places where the magnets 22 are attached to the robot corresponding to the fixed part, the user matches each other without having to find the corresponding magnets 22 for each iron piece 23. Just find the number you want to attach and attach it.

As another example, a pair of magnets are installed on the surgical robot 1 so that the N poles and the sterile drape 20 face the S poles, respectively, so that the sterile drape 20 is mounted on the surgical robot 1. It can also be fixed and fixed.

Meanwhile, FIG. 1 shows an example in which magnets 22 and iron pieces 23 (or a pair of magnets) corresponding to each other are installed in the sterile drape 20 and the surgical robot 1, but are not limited thereto. It is not necessarily, by using a variety of fixing means, such as snap buttons or Velcro, the sterile drape 20 may be fixed and fixed to the robot.

Figure 2a is an enlarged view showing a suction hole according to an embodiment of the present invention, Figure 2b is a cross-sectional view showing the operating state of the suction hole according to an embodiment of the present invention. 2A and 2B, a surgical robot 1, a sterile drape 20, a suction hole 24, a switch 26, and a pressure plate 26a are illustrated.

In this embodiment, a specific position of the sterile drape 20 is attached to the robot by using the suction force of air, and a portion generating negative pressure on the robot arm corresponding to the fixed portion of the sterile drape 20 is shown. To make, the fixed part of the sterile drape 20 to bring the fixed part to the position to be fixed to the robot arm by the negative pressure.

That is, in the present embodiment, the surgical robot 1 may be formed with a suction hole 24 that generates negative pressure to adsorb the fixed portion of the sterile drape 20 as a fixing means. . The suction hole 24 is a hole connected to a negative pressure source, such as a suction line or a vacuum line, and serves to adsorb an object close to the periphery thereof. As a result, as the sterile drape 20 approaches the suction hole 24, the fixed portion is attached to the robot.

When the suction hole 24 is installed as the fixing means as in the present embodiment, the sterilization drape 20 has an advantage of not having to install a separate fixing means. However, the fixing means is not necessarily installed in the sterile drape 20 according to the present embodiment, and in order to make the suction hole 24 adsorbable well, the material of the fixing part is different or fixed to the adsorption plate of different material. It is also possible to install a separate fixing means such as attached to the site so that the sterile drape 20 is adsorbed to the suction hole (24).

Further, in the fixed portion of the sterile drape 20 according to the present embodiment, as in the above-described embodiment, the identification marks such as numbers and letters are displayed in advance to easily find a position for fixing the sterile drape 20 to the robot. You can do that.

On the other hand, the suction hole 24 according to the present embodiment may be operated to always generate a negative pressure, but if the suction hole 24 is operated before the sterile drape 20 is adsorbed, the sterile drape 20 is entirely in the robot. Since the sticking may occur, the suction hole 24 operates only when the fixed portion of the drape 20 is close to the suction hole 24, so that a negative pressure may be applied.

That is, the suction hole 24 according to the present embodiment may be configured to selectively operate only when the fixed portion of the sterile drape 20 is in contact.

To this end, a dedicated switch 26 may be installed in the surgical robot 1 to selectively turn on / off the operation of the suction hole 24. That is, when the user pressurizes, the switch is turned on, and when the user presses again, the switch 26 is installed to be turned off, and the suction hole 24 is interlocked with the operation of the switch 26. You can make this work.

As a result, the user brings the fixed part (see 'F' in FIG. 2A) to the suction hole 24 so that the facing (primary pressurized) suction hole 24 is activated to suck the fixed part to the suction hole 24. When pressing the fixing part again (secondary pressurization), the operation of the suction hole 24 may be stopped and the fixing part may be separated from the suction hole 24.

Furthermore, the switch 26 described above may be manufactured in the form of a push switch, and the suction hole 24 may be formed in the center of the pressing plate 26a of the push switch. In this case, as shown in (a) of FIG. 2B, a user brings a specific point (fixed position) of the sterile drape 20 to the suction hole 24, and as shown in (b) of FIG. 2B, When the button (pressing plate 26a) is pressed, a negative pressure is generated, and the sterile drape 20 is absorbed and fixed to the suction hole 24, and when the pressing plate 26a is pressed again, the negative pressure disappears. As shown in the sterile drape 20 fixed state is released.

Alternatively, when the user presses the sterile drape, that is, pushes it, it is ON, and when the user pulls out the sterile drape, that is, pulls it, it is turned OFF. It is also possible to install a switch to switch the / OFF state, and to operate the suction hole in conjunction with the switch.

Referring to FIG. 2B, the operation state of such a switch is described. As shown in FIG. 2B, a user brings a predetermined position (eg, a fixed portion) of the sterile drape 20 to the suction hole 24. When pressed, the pressure plate 26a is pressed to operate the suction hole 24 so that the sterile drape 20 is adsorbed to the suction hole 24, and the user holds the sterilization drape 20 as shown in FIG. 24, the pressure plate 26a is pulled out to stop the operation of the suction hole 24, and the sterile drape 20 falls from the suction hole 24.

In order to implement a switch in this manner, the pressure plate may be supported by an elastic body such as a spring. That is, when the pressing plate is pushed, the elastic body is pressed, but the pressing plate is kept in a pressed state by the suction force of the suction hole, and when the sterile drape is removed, the pressing plate is drawn out to its original position by the restoring force of the elastic body and the operation of the suction hole can be stopped. .

To this end, as the elastic body according to the present embodiment, when the operation of the suction hole is stopped, the pressure plate may be restored to its original position, but an elastic body having a smaller elastic force than the suction force of the suction hole may be used.

On the other hand, the surgical robot according to the present embodiment may be provided with a blow means for blowing air into the sterile drape during the drape process. For example, by forming a blow hole through which air is discharged at an appropriate position of the surgical robot, the air is blown into the sterile drape during the drape process so that the sterilized drape is not folded or attached to each other. This can make the draping easier.

The blow means according to the present embodiment may be implemented as a separate component (for example, a blow hole), and the suction hole described above may also function as a blow means. Another embodiment of the present invention will be described with reference to FIG. 2B. As shown in FIG. 2B, when the pressure plate 26a is pressed, the suction hole 24 is operated to suction air (suction function) to sterilize the drape 20. ) Is adsorbed and fixed to the suction hole 24, and when the pressure plate 26a is pressed again, the suction hole 24 is operated to blow air (blow function), that is, acted as a blow means, As shown in (a), the state in which the sterile drape 20 is adsorbed is released, and air is blown into the sterile drape 20 so that the sterile drape 20 is folded or unattached and exhibits a three-dimensional shape. have.

Alternatively, as shown in (b) of FIG. 2B, when the user brings the sterile drape 20 to the suction hole 24 and presses the pressure plate 26a, the suction hole 24 is operated to suck air to sterilize the sterile drape 20. When the temporary suction hole 24 is adsorbed to the suction hole 24 and the user grabs the sterile drape 20 and removes the suction hole 24 from the suction hole 24, the pressure plate 26a is pulled out and the suction hole 24 is air. It can be operated to blow, so that the sterile drape 20 is separated from the suction hole 24 to exhibit its three-dimensional shape.

3 is a view showing a state in which a sterile adapter is attached to a sterile drape according to an embodiment of the present invention, Figure 4 is a view showing a state in which the clamp is installed in the robot arm according to an embodiment of the present invention. 3 and 4, the robot arm 5, the instrument holder 7, the sterile adapter 9, the instrument 10, the clamp 12, the sterile drape 20, the opening holes 28, 29. Adhesions 30 and 31 are shown.

A surgical arm is provided with a robot arm 5, an instrument holder 7 is formed on the robot arm 5, and a sterile adapter 9 and a surgical instrument 10 are mounted on the instrument holder 7 to install the robot. Surgery will be performed. Since the sterile drape covers the surgical robot, part of the sterile drape must be perforated to mount the (sterile adapter 9 and) instrument 10 to the surgical robot.

To this end, the sterile drape 20 according to the present embodiment is perforated with an opening hole 28 corresponding to the position where the sterile adapter 9 is to be mounted. That is, when covering the sterile drape 20 on the surgical robot 1, the portion covering the instrument holder 7 is a position where the sterile adapter 9 is to be mounted, and a predetermined hole (opening hole 28 in this portion). Covering the sterile drape 20 after the perforation)) is exposed to the opening portion 28 of the instrument holder (7). Therefore, the sterile drape 20 according to the present embodiment can be put on the robot and the sterile adapter 9 can be mounted to the instrument holder 7 through the perforated hole.

On the other hand, by attaching the sterile adapter 9 to the opening hole 28 of the sterile drape 20 in advance and attaching the sterile adapter 9 to the instrument holder 7, the sterile adapter 9 and the instrument holder 7 The opening hole 28 can be accurately positioned between the two holes, thereby allowing the opening hole 28 to be completely sealed by mounting the sterile adapter 9.

To this end, in the sterile drape 20 according to the present embodiment, the sterile adapter 9 is formed by forming an adhesive part 30 such as a sticker on the surface of the outer circumferential portion of the opening 28, which is a portion to which the sterile adapter 9 is to be attached. It can be in close contact with the fixed position.

On the other hand, in order to attach the sterile adapter to the sterile drape, it is not necessary to form the adhesive portion 30 in the outer peripheral portion of the opening 28, one side is a shape that can be fitted with the sterile adapter (9), the other side of the instrument holder A plastic molded article or the like molded into a shape that can be fitted into (7) may be used as the guide member to be coupled to the opening hole 28.

That is, when the above-described guide member is coupled to the opening hole 28 according to the present embodiment, the sterile adapter can be attached to the sterile drape by attaching the sterile adapter to the guide member, thereby inserting the guide member into the instrument holder. The sterile adapter mounted to the guide member can be easily mounted to the instrument holder.

On the other hand, in the case of the surgical robot (1) equipped with a plurality of robot arms (5), the failure of the robot arm (5) or instruments mounted on each robot arm (5), or to replace the instruments, etc. According to various situations, it is necessary to instruct a particular robot arm 5 and / or an instrument mounted thereon, for example, to the main body 3 of the robot or to each robot arm 5 or each robot arm 5. An LED light source or the like may be attached to an instrument to be mounted as an indicator so that the indicator of the instrument emits light when the instrument needs to be replaced.

In order to instruct the specific robot arm 5 according to the robot arm 5 and / or the instrument state in the sterile adapter 9 according to the present embodiment, a light emitting element such as an LED is mounted as a light source and each robot arm is mounted. (5) and / or added an indicator function for the instrument.

That is, it is necessary to install a light source and a first electrical contact connected thereto in the sterile adapter 9, and install a second electrical contact in the instrument holder 7 so as to be connected to the first electrical contact, thereby instructing a specific robot arm. In this case, by controlling the power to be supplied to the light source through the second electrical contact, the light source can be emitted from the sterile adapter mounted on the robot arm to be instructed.

Alternatively, a light source may be installed on a portion of the plastic molding attached to the opening hole 28 of the sterile drape 20 to mount the above-described guide member, that is, the sterile adapter 9 so as to indicate a specific robot arm and / or instrument. It may be.

To this end, a light source and a first electrical contact connected thereto are installed in the guide member, and a second electrical contact is installed in the instrument holder so as to be connected to the first electrical contact. By controlling the power to be supplied to the light source through the contact, the light source can be emitted from the guide member coupled to the robot arm to be instructed.

Meanwhile, FIG. 8 shows a method for setting a surgical robot using the sterile drape and sterile adapter described above. That is, first, the sterile drape cover on the surgical robot (S10), the sterile adapter is attached to the outer periphery of the opening opening perforated in the sterile drape in accordance with the position to be mounted sterile adapter (S20).

8 illustrates a step of attaching a sterile adapter after covering the sterile drape, but is not necessarily limited thereto. First, after attaching the sterile adapter to the sterile drape (S20), the sterile drape having the sterile adapter attached thereto is illustrated. The cover may also be a surgical robot (S10).

Next, by mounting the sterile adapter to the instrument holder, as described above, the open hole 28 is completely attached to the periphery of the instrument holder, so that the sterile drape is fixed to the surgical robot (S30).

By covering the surgical robot using a sterile drape and a sterile adapter according to the present embodiment, the sterile drape can be easily fixed to the surgical robot. By mounting the instrument (S40), it is possible to set the surgical robot.

On the other hand, the surgical robot arm 5 may be provided with a clamp 12 to support the instrument mounted on the robot arm 5, the clamping function in the case of covering the sterile drape after installing the clamp 12 Constraints may occur or the sterile drape may be damaged in the clamp 12 portion.

The sterile drape 20 according to the present embodiment drills the opening hole 29 corresponding to the position where the clamp 12 is to be installed, and covers the sterile drape 20 and then clamps the opening through the drilled opening hole 29 ( 12) characterized in that to connect.

That is, when covering the sterile drape 20 to the surgical robot (1) by drilling a predetermined hole (opening hole 29) at the position where the clamp 12 is to be installed, as it covers the sterile drape 20 The position at which the clamp 12 is to be installed may be exposed through the opening hole 29. Thus, the sterile drape 20 according to the present embodiment can be put on the robot and the clamp 12 can be mounted to the robot arm 5 through the perforated holes.

Furthermore, the sterile drape 20 according to the present embodiment is an adhesive part such as a sticker on the rear surface of the outer circumference of the opening hole 29 so that the part of the opening hole 29 drilled for mounting the clamp 12 is completely sealed. 31 can be formed. After covering the robot with the sterile drape 20 having the adhesive part 31 formed on the rear surface, attaching the opening hole 29 to the robot, while exposing the position where the clamp 12 is to be installed through the opening hole 29, The opening hole 29 may be sealed to prevent foreign substances from coming and going.

As such, the sterile drape 20 having the adhesive part 31 formed on the opening hole 29 is covered on the robot and the opening hole 29 is adhered to the robot to be sealed, and then the position exposed through the opening hole 29. To the clamp 12.

On the other hand, it is not necessary to puncture the opening hole in the sterile drape to engage the clamp, it is also possible to make a predetermined position of the sterile drape by drilling the clamp in a state in which the sterile drape is covered without puncturing the opening. In this case, the adhesive part described above may be formed entirely at the position where the clamp is to be coupled, not the outer circumferential part of the opening hole.

Figure 5 is a conceptual diagram showing a sterile drape according to an embodiment of the present invention, Figure 6 is a state diagram showing the state used to cover the sterile drape according to an embodiment of the present invention in the surgical robot, Figure 7 ' This is an enlarged view of A '. 6 and 7, the main body 3, the robot arm 5, the sterile drape 20, the body 32, the arm 34, the optical fiber 36, and the light source 38 are shown. have.

The sterile drape according to the present embodiment is characterized in that it is configured to drape a surgical robot equipped with a plurality of robot arms at once.

That is, in order to cover the surgical robot in which the plurality of robot arms 5 are coupled to the main body 3, the main body 3 and each robot arm may be draped, respectively, but the entire robot may be draped with one drape at once. Draping may be simpler, for this purpose, the sterile drape 20 according to the present embodiment, as shown in Figure 5, the body portion 32 covering the body portion 3 of the robot, and a plurality of robots It consists of a plurality of arm portions 34 covering each of the arms 5.

In the sterile drape 20 illustrated in FIG. 5, a plurality of fixed portions ('F' in FIG. 5) are distributed throughout the sterile drape, and the sterile drape is fixed to the robot by contacting and attaching each fixed portion to the robot. It is possible to easily find a position for fixing the sterile drape 20 to the robot by displaying an identification mark such as a number or a letter on each fixed portion in advance.

In addition, each of the arm portions 34 respectively covering the plurality of robot arms 5 may be formed with an opening hole 28 and an adhesive portion 30 corresponding to the position where the sterile adapter 9 is to be mounted, and the clamp 12 As described above, the opening hole 29 and the adhesive part 31 may be formed in correspondence with the position to be installed.

In this embodiment, the sterile drape 20 includes a plurality of arms to cover the surgical robot 1 equipped with a plurality of robot arms 5 at once, as shown in FIG. 5) A plurality of arm portions 34 are formed in the drape 20 so as to correspond to each of the plurality of robot arms 5 at a time.

The sterile drape 20 according to this embodiment can be used to cover all or part of the surgical robot 1. That is, in order to cover the surgical robot 1 with the sterile drape 20, it may be to wrap the entire robot as shown in Figure 1, it may be to wrap only the robot arm portion as shown in FIG.

Furthermore, the sterile drape 20 does not necessarily have to be manufactured in a shape that fits snugly with the body 3 or the robot arm 5 of the robot. For example, the sterile drape 20 may be made sufficiently large to produce a plurality of robot arms. It is also possible to fabricate the robot so as to easily cover the robot even when (5) is separated from each other.

Alternatively, the sterile drape 20 may be manufactured to correspond to the layout of the main body 3 and the robot arm 5 of the robot on a plane, and the robot may be wrapped around the sterile drape 20 from the bottom of the robot. Wrap), and then draped the fixing part by attaching and fixing it to each part of the robot.

That is, the body part 32 covering the robot body part 3 of the robot is manufactured in a 'magnetic form', so that the body part is wrapped up from the bottom of the body part 3, and then the main body part is fixed and bonded. (3) can be draped, and the arm portion 34 covering the robot arm 5 is made in a crepe shape to wrap the arm portion 34 from the bottom of the robot arm 5 and then fixed and joined. The robot arm 5 can be draped in such a way.

Alternatively, the arm portions 34 covering the robot arms 5 are each manufactured in a 'pocket form', and the body portions 32 covering the robot body portion 3 are made in a crepe shape, and each robot arm ( 5) the bag-shaped arm portion 34 is individually covered, and the main body portion 3 may be drape the entire robot by folding up the body portion 32 in the form of a crepe.

After wrapping the robot with a crepe-shaped drape, it is necessary to join the ends together to seal the drape. To do this, locking means such as vinyl zippers, snap buttons, velcro and magnets can be used at the ends of the drape. have.

On the other hand, in the case of the surgical robot (1) equipped with a plurality of robot arms (5), the failure of the robot arm (5) or instruments mounted on each robot arm (5), or to replace the instruments, etc. According to various situations, it is necessary to instruct a particular robot arm 5 and / or an instrument mounted thereon, for example, to the main body 3 of the robot or to each robot arm 5 or each robot arm 5. An LED light source or the like may be attached to an instrument to be mounted as an indicator so that the indicator of the instrument emits light when the instrument needs to be replaced.

The sterile drape 20 according to the present embodiment is an indicator on each arm 34 of the sterile drape 20 in order to instruct the specific robot arm 5 according to the robot arm 5 and / or the instrument state. It is characterized by adding a function.

That is, each of the plurality of arm portions 34 provided in the sterile drape 20 can be made to emit light according to the state of the robot arm 5 (and / or an instrument mounted thereto) covered by each arm portion 34. .

To this end, a light source 38 is installed in the surgical robot, that is, the robot arm 5 or the main body 3, and the optical fiber 36 is planted in the sterile drape 20, and the end of the optical fiber 36 is a light source ( 38 to receive light from the light source 38 corresponding to the robot arm 5 when the robot arm 5 is to be directed in a surgical procedure, thereby causing the robot arm 5 to emit light. The arm part 34 of the sterile drape 20 covering the light emits light, so that the indicated robot arm 5 can be identified.

Alternatively, a light source 38 may be provided on each robot arm 5 or the main body 3, and the inside of the sterile drape 20 may be coated with a material that receives and reflects light from the light source 38 or emits light. In this case, in order to indicate a specific robot arm (5) in the surgical procedure, by causing the light from the light source 38 corresponding to the robot arm (5), by sterilizing covering the robot arm (5) The drape 20 itself becomes an optical path to emit light, thereby identifying the indicated robot arm 5.

Alternatively, a light emitting device such as an LED may be mounted or built into the sterile drape itself as a light source to emit light. To this end, a light source and a first electrical contact connected thereto are installed at each arm 34 of the sterile drape 20, and each robot arm 5 or main body 3 is connected to a first electrical contact. If it is necessary to install a contact point and instruct a specific robot arm, the second light source may be controlled to provide power to the light source, so that the light source may emit light at an arm portion covering the robot arm to be instructed.

Herein, an embodiment in which a sterile drape emits light by each arm part by using an optical fiber or a light emitting material coating or by installing a light emitting device for each arm part is described. Of course, it is not limited to.

Furthermore, the unit for causing the sterile drape to partially emit light does not necessarily have to be each arm unit, and if it is necessary to indicate a specific part of the surgical robot, the corresponding part of the sterilized drape may emit light. Of course.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1: surgical robot 3: main body
5: robot arm 7: instrument holder
9: sterile adapter 10: instrument
12: clamp 20: sterile drape
22: magnet 23: iron piece
24: suction hole 26: switch
26a: pressure plate 28, 29: opening hole
30, 31: bonding portion 32: body portion
34: arm 36: optical fiber
38: light source

Claims (20)

delete delete A surgical robot covered by a sterile drape,
The sterile drape having a fixed portion is attached to the surgical robot,
The surgical robot, the first fixing means is formed so that the sterile drape is attached to a position corresponding to the fixed portion,
The first fixing means includes at least one selected from the group consisting of a magnet, a snap button and a velcro, and the fixing portion is provided with second fixing means corresponding to the first fixing means,
A first identification mark is displayed on the first fixing means, and a second identification mark corresponding to the first identification mark is displayed on the second fixing means.
A surgical robot covered by a sterile drape,
The sterile drape having a fixed portion is attached to the surgical robot,
The surgical robot, the first fixing means is formed so that the sterile drape is attached to a position corresponding to the fixed portion,
The first fixing means is a surgical robot, characterized in that it comprises a suction hole for forming a negative (-) pressure to adsorb the fixed portion.
The method of claim 4, wherein
The suction hole is operable to operate to form a sound pressure corresponding to the contact with the fixed portion.
The method of claim 5,
The suction hole is a surgical robot, characterized in that operated in conjunction with the switch alternately in the ON (ON) state or OFF (OFF) state by the user's pressure on the fixed portion.
The method of claim 5,
The suction hole is operated in conjunction with a switch that is turned on by a user's push operation and is switched off by a user's pull operation. .
The method according to claim 6 or 7,
The switch includes a pressure plate that is pressed by the user, the suction hole is a surgical robot, characterized in that formed in the center of the pressure plate.
The method according to claim 6 or 7,
The suction hole, when the switch is off (OFF), the sterile drape is characterized in that the blow (blow) function to blow air into the sterile drape so that the three-dimensional shape in the draping process Dragon robot.
The method of claim 4, wherein
And a blow means for blowing air into the sterile drape so that the sterile drape may have a three-dimensional shape in the drape process.
The method of claim 10,
The blow means is a surgical robot comprising the suction hole.
A surgical robot covered by a sterile drape,
The sterile drape having a fixed portion is attached to the surgical robot,
The surgical robot, the first fixing means is formed so that the sterile drape is attached to a position corresponding to the fixed portion,
The surgical robot includes a robot arm having an instrument holder,
The instrument holder is equipped with a sterile adapter,
Surgery robot, characterized in that the opening is drilled in the sterile drape corresponding to the position where the sterile adapter is mounted.
The method of claim 12,
Surgical robot, characterized in that the adhesive portion is formed so that the sterile adapter is attached to the outer peripheral portion of the opening.
The method of claim 12,
The sterile adapter is provided with a light source that receives power from the first electrical contact and emits light,
The instrument holder, a surgical robot, characterized in that the second electrical contact for providing power to the first electrical contact corresponding to the state of the robot arm is installed.
The method of claim 12,
The opening hole, the surface opposite to the instrument holder is a shape that can be mounted to the instrument holder, the surface opposite to the sterile adapter is coupled to the guide member is formed in a shape that can be mounted to the sterile adapter Surgical robot characterized in that.
16. The method of claim 15,
The guide member is provided with a light source that receives power from the first electrical contact and emits light.
The instrument holder, a surgical robot, characterized in that the second electrical contact for providing power to the first electrical contact corresponding to the state of the robot arm is installed.
A surgical robot covered by a sterile drape,
The sterile drape having a fixed portion is attached to the surgical robot,
The surgical robot, the first fixing means is formed so that the sterile drape is attached to a position corresponding to the fixed portion,
The surgical robot includes a robot arm on which the surgical instrument is mounted,
The robot arm is provided with a clamp for supporting the instrument,
Surgery robot, characterized in that the opening is drilled in the sterile drape corresponding to the position where the clamp is installed.
The method of claim 17,
Surgical robot, characterized in that the adhesive portion is formed on the outer peripheral portion of the opening, the sterile drape is attached to the robot arm.
A surgical robot covered by a sterile drape,
The sterile drape having a fixed portion is attached to the surgical robot,
The surgical robot, the first fixing means is formed so that the sterile drape is attached to a position corresponding to the fixed portion,
The surgical robot includes a robot arm on which the surgical instrument is mounted,
The robot arm is provided with a clamp for supporting the instrument,
The sterile drape, the surgical robot, characterized in that the adhesive portion is formed so that the sterile drape is attached to the robot arm corresponding to the position where the clamp is installed.
A sterile drape used to cover the surgical robot of any one of claims 3 to 7 and 10 to 19.

Images