KR102191882B1 - Hollow eye surgery apparatus - Google Patents

Abstract

A hollow eye surgery robot according to an embodiment includes a base having a receiving portion formed through the surgery axis; A microscope module connected to the upper side of the receiving part; One side has a hollow shape formed along the surgical axis and is rotatably installed with respect to the surgery axis from the lower side of the receiving portion, the other side is a first rotation arm module for holding a surgical tool; And a second rotary arm module having a hollow shape formed along the surgical axis and rotatably installed on the lower side of the first rotary arm module with respect to the surgical axis, and the other side holding the surgical tool.

Description

Hollow eye surgery device {HOLLOW EYE SURGERY APPARATUS}

The following description relates to a hollow eye surgery device.

Eye surgery is a surgery that deals with the retina, nerves, or blood vessels of a few micrometers or less. Since the use of a microscope is essential and requires the manipulation of very sophisticated surgical tools, the surgeon's hand shaking or surgical precision has a very large effect on the surgical outcome. I can go crazy.

Recently, attempts to enable precise surgery by introducing robot technology are increasing. However, as the existing eye surgery robot employs a complex joint rotation configuration to implement a robot arm that precisely moves the surgical tool to have various angles and positions, the surgical robot occupies an excessive volume on the main surface of the eyeball, causing the operator to The accessibility to the eyeball may be poor, and in particular, there may be a problem that the surgical robot interferes with the microscope or obstructs the view of the microscope, which hinders the combination of the microscope.

Therefore, there is a need to develop a surgical device having a compact structure that does not interfere with the field of view of the microscope while moving the surgical tool to an optimal angle and position that is easy for surgery according to the location of the lesion, such as the surface of the eye, cornea, and retina This is an increasing situation.

The above-described background technology is possessed or acquired by the inventor in the process of deriving the present invention, and is not necessarily a known technology disclosed to the general public prior to filing the present invention.

An object of an embodiment is to provide a hollow eye surgery device.

A hollow eye surgery robot according to an embodiment includes a base having a receiving portion formed through the surgery axis; And a first rotation arm module having a hollow shape formed along the surgical axis on one side and rotatably installed on the basis of the surgery axis from a lower side of the receiving portion, and holding the surgical tool on the other side.

The hollow eye surgery robot according to an embodiment may further include a microscope module connected to the upper side of the receiving part.

A hollow eye surgery robot according to an embodiment, one side has a hollow shape formed along the surgery axis, is rotatably installed with respect to the surgery axis from the lower side of the first rotary arm module, and the other side grips the surgical tool. It may further include a second rotation arm module.

A hollow eye surgery robot according to an embodiment includes a first rotation unit having a hollow formed along the surgery axis and installed inside the receiving unit to be connected to an upper side of the first rotation arm module; And a second rotating part having a hollow formed along the surgical axis and installed inside the hollow of the first rotating part and connected to the upper side of the second rotating arm module.

The first rotating part may include a first hollow shaft extending along the surgical axis and connected to the first rotating arm module downward; And a first drive gear formed on an outer circumferential surface of the first hollow shaft, wherein the second rotation unit extends along the surgical axis and passes through the hollow of the first hollow shaft to a lower side of the second rotation arm. A second hollow shaft connected to the module; And a second driving gear formed on an outer circumferential surface of a portion in which the second hollow shaft has passed upward through the hollow of the first hollow shaft, wherein the hollow eye surgery robot is installed inside the base It may further include a driving unit connected to each of the first driving gear and the second driving gear to individually rotate.

Each of the first rotary arm module and the second rotary arm module may include a pair of hollow arms having an upper hollow arm and a lower hollow arm having a hollow overlapping along the direction of the surgical axis; A pivot link connected by a hinge between the pair of hollow arms and rotated according to the spacing of the pair of hollow arms; And a surgical tool mount connected to the rotation link to mount the surgical tool.

A pair of hollow arms of each of the first rotation arm module and the second rotation arm module may be alternately disposed with each other.

The upper hollow arm and the lower hollow arm may be fixedly rotated relative to each other.

The upper hollow arms of each of the first rotary arm module and the second rotary arm module are rotatably fixed to each other based on a surgical axis, and the lower hollow arms of each of the first rotary arm module and the second rotary arm module are based on the surgical axis. The upper and lower hollow arms may be rotatably fixed to each other, and the rotational links of each of the first and second rotational arm modules along the surgical axis direction have the same angle with respect to the surgery axis. And can be rotated.

An imaginary line extending the surgical tool mount of each of the first rotation arm module and the second rotation arm module in the longitudinal direction may intersect on the surgery axis.

The hollow eye surgery robot according to an embodiment is a hollow guide that rotatably connects the hollow interior of the lower hollow arm of each of the first rotation arm module and the second rotation arm module, and has a hollow formed along the surgery axis May contain more wealth.

At least one module of the first rotation arm module and the second rotation arm module may include a guide rod passing through the upper hollow arm and the lower hollow arm in the direction of the surgery axis, and connected to the guide rod to change the length direction of the guide rod. Accordingly, it may further include an angle adjusting unit including a sliding driving unit for adjusting the gap between the upper hollow arm and the lower hollow arm.

Each of the first rotation arm module and the second rotation arm module is installed at a portion in which one side of the rotation link is connected to any one of the pair of hollow arms, so that one side of the rotation link is connected to the surgical shaft. It may further include a sliding unit that is slidably moved along a vertical direction, and the rotation links of each of the first rotation arm module and the second rotation arm module may be rotated to have the same angle with respect to the surgical axis.

Hollow eye surgery robot according to an embodiment, the base having a receiving portion formed through the surgery axis; One side is a first rotary arm module having a hollow shape formed along the surgical axis and rotatably installed based on the surgical axis; And a second rotation arm module having a hollow shape formed along the surgery axis and rotatably installed based on the surgery axis, and the postures of the first rotation arm module and the second rotation arm module may be changed at the same time. have.

At least one of the first rotation arm module and the second rotation arm module may include a four-fold link structure.

At least one of the first rotation arm module and the second rotation arm module may include an upper hollow arm having a hollow shape formed along the surgical axis; A lower hollow arm having a hollow shape formed along the surgical axis and spaced apart from the upper hollow arm; A sliding part slidably connected to one of the upper hollow arm and the lower hollow arm; And one end is rotatably connected to the other hollow arm of the upper hollow arm and the lower hollow arm, the other end may include a pivot link that is rotatably connected to the sliding portion.

According to the hollow eye surgery apparatus of an embodiment, since the field of view of the microscope is not obstructed, a smooth surgical environment can be provided to the operator.

The hollow eye surgery device of an embodiment can easily perform surgery that requires symmetrical manipulation around the eyeball because the two rotating arms rotate 360° with respect to the microscope center axis and can adjust the angle symmetrically. In addition, it is possible to insert a surgical tool at an optimal angle for easy surgery according to the location of the lesion of the eye.

1 is a perspective view of a hollow eye surgery apparatus according to an embodiment.
2 is a cross-sectional view of a hollow eye surgery apparatus according to an embodiment.
3 is a block diagram of a hollow eye surgery apparatus according to an embodiment.
4 is a perspective view showing a rotation operation of a hollow eye surgery apparatus according to an embodiment
5 and 6 are front views showing the angle adjustment operation of the hollow eye surgery apparatus according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, a detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment, terms such as first, second, A, B, (a) and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

Components included in one embodiment and components including common functions will be described using the same name in other embodiments. Unless otherwise stated, descriptions in one embodiment may be applied to other embodiments, and detailed descriptions in the overlapping range will be omitted.

1 is a perspective view of a hollow eye surgery device according to an embodiment, Figure 2 is a cross-sectional view of a hollow eye surgery device according to an embodiment, and Figure 3 is a block diagram of a hollow eye surgery device according to an embodiment 4 is a perspective view illustrating a rotation operation of the hollow eye surgery device according to an embodiment, and FIGS. 5 and 6 are front views showing an angle adjustment operation of the hollow eye surgery device according to an embodiment.

1 to 6, the hollow eye surgery robot 1 according to an embodiment can adjust the angle of the surgical tool at the same time as rotating the surgical tool with respect to the surgical axis, and in addition, the hollow eye along the surgical axis As it is formed and the optical axis of the microscope module 3 coincides with the surgical axis, the field of view of the microscope module 3 may not be obstructed.

For example, the hollow eye surgery robot (1) has a base (11), a microscope module (3), a first rotation part (13), a second rotation part (12), a first rotation arm module (15), a second rotation It may include an arm module 14, a hollow guide unit 16, a driving unit 17 and a control unit 18.

The base 11 may rotatably accommodate a pair of rotating arm modules 14 and 15 for holding a surgical tool. The base 11 may include a receiving portion 111 formed through the surgical axis and a fixed bearing 112 for guiding the rotation of the pair of rotary arm modules 14 and 15.

The receiving portion 111 may be a hollow formed through the base 11 along the surgical axis. For example, as shown in FIG. 1, the upper end of the receiving unit 111 may be connected to the microscope module 3, and the lower end of the receiving unit 111 may be connected to a pair of rotating arm modules 14 and 15. . For example, the rotating parts 12 and 13 and the driving part 17 for rotating the pair of rotating arm modules 14 and 15 may be accommodated in the receiving part 111.

The microscope module 3 may be installed on the upper end of the receiving part 111, and the surgical site may be observed along the receiving part 111 downward. For example, the optical axis of the microscope module 3 may be located on the same line as the surgical axis. For example, the microscope module 3 may include an objective lens that forms a focus on an eyeball of a subject to be operated among the lenses of the microscope.

The first rotating part 13 may rotate the first rotating arm module 15. For example, the first rotating part 13 may be installed in the receiving part 111 and connected to the first rotating arm module 15 downward. The first rotating part 13 may include a first hollow shaft 131 and a first driving gear 132.

The first hollow shaft 131 may be a hollow shaft extending inside the receiving part 111 along the surgical axis direction. The upper side of the first hollow shaft 131 may be connected to the first driving gear 132, and the lower side may be connected to the first rotating arm module 15.

For example, the first hollow shaft 131 may be rotatably supported from the fixed bearing 112 of the receiving portion 111, so that the first hollow shaft 131 is relative to the base 11 with respect to the surgical axis. Can be rotated relatively.

The first drive gear 132 may be a gear formed along the outer circumferential surface of the first hollow shaft 131.

The second rotating part 12 may be installed inside the hollow of the first hollow shaft 131 and connected to the second rotating arm module 14 downward. For example, the second rotation unit 12 may include a second hollow shaft 121 and a second drive gear 122.

The second hollow shaft 121 may be a hollow shaft extending inside the hollow of the first hollow shaft 131 along the surgical axis direction. For example, the upper side of the second hollow shaft 121 may be connected to the second drive gear 122, and the lower side may be connected to the second rotary arm module 14.

For example, the second hollow shaft 121 may have a shape extending longer than the first hollow shaft 131. For example, the lower end of the second hollow shaft 121 may protrude downward from the hollow lower end of the first hollow shaft 131.

For example, the second hollow shaft 121 may be installed to be relatively rotatable with respect to the first hollow shaft 131. In this case, a bearing for guiding mutual rotational motion may be additionally installed between the outer peripheral surface of the second hollow shaft 121 and the inner peripheral surface of the first hollow shaft.

The second drive gear 122 may be a gear formed along an outer circumferential surface of a portion of the second hollow shaft 121, in which the second hollow shaft 121 protrudes upward of the first hollow shaft 131. .

The first rotating arm module 15 may be connected to the lower side of the first rotating part 13 and rotated, and may hold a surgical tool. For example, the first rotation arm module 15 may change its posture through a four-fold link structure. Hereinafter, a four-section link structure consisting of three pivoting link structures 151, 152, and 155 and one sliding link structure 154 will be exemplarily described, but, unlike this, various methods such as consisting of four pivoting link structures It should be noted that the link structure of can be applied to the present invention.

For example, the first rotation arm module 15, the first upper hollow arm 151, the first lower hollow arm 152, the first rotation link 155, the first sliding part 154, the first It may include an angle adjustment unit 19 and a first surgical tool mount 156.

The first upper hollow arm 151 is connected to the lower side of the first rotating part 13 and formed through the first upper disk 1511 along the operation axis, and one direction perpendicular to the operation axis from the first upper disk 1511 A first upper protrusion 1512 protruding along the line may be included.

The first lower hollow arm 152 is connected to the lower side of the first upper hollow arm 151 and is formed through the first lower disk 1521 along the operation axis, and is perpendicular to the operation axis from the first lower disk 1521 It may include a first lower protrusion 1522 protruding along one direction. For example, the first lower hollow arm 152 may be translatable with respect to the first upper hollow arm 151 along the surgical axis direction.

For example, the first upper hollow arm 151 and the first lower hollow arm 152 may be referred to as a pair of first hollow arms 151 and 152.

For example, the hollow of the first upper disk 1511 and the hollow of the first lower disk 1521 may overlap each other along the surgical axis, and the first upper protrusion 1512 and the first lower protrusion 1522 are each The direction protruding from the pair of disks 1511 and 1521 may be the same.

The first rotation link 155 is connected by a hinge between the first upper hollow arm 151 and the first lower hollow arm 152 and rotates according to the interval between the pair of first hollow arms 151 and 152 Can be. For example, the first rotation link 155 may be installed between the first upper protrusion 1512 and the first lower protrusion 1522. For example, when viewed from the side, the rotation axis of the first rotation link 155 may be formed perpendicular to the operation axis.

For example, as shown in FIGS. 1 to 6, the first rotation link 155 may have an inclined shape so as to be closer to the surgical axis toward the lower side. For example, the first rotation link 155 may be formed of a plurality of links that are segmented and rotated in plurality.

In the first sliding part 154, one side of the first rotation link 155 is attached to the first hollow arm 151, 152 of any one of the first upper hollow arm 151 and the first lower hollow arm 152 It is installed at the connected part, and one side of the first rotation link 155 may be slidably moved along a direction perpendicular to the surgery axis.

For example, the first sliding part 154 may be installed at the protruding end portion of the first lower protruding part 1522 as shown in FIG. 2. For example, the first sliding part 154 is formed in a direction perpendicular to the surgical axis at the end of the first lower protrusion 1522, that is, a first sliding part formed along the direction in which the first lower protrusion 1522 protrudes. A guide 1541 may include a first slider 1542 fixed at one side to the first sliding guide 1541 and hinged to the lower end of the first pivot link 155 at the other side.

The first angle adjustment part 19 may adjust a distance between the first upper protrusion 1512 and the first lower protrusion 1522. For example, the first angle adjustment part 19 includes a first guide rod 192 passing between the first upper protrusion 1512 and the first lower protrusion 1522 along a direction parallel to the operation axis, and the A first sliding drive part 191 connected to the first guide rod 192 to adjust the distance between the first upper protrusion 1512 and the first lower protrusion 1522 along the length direction of the first guide rod 192 It may include.

For example, the upper side of the first guide rod 192 may be fixed to the first upper protrusion 1512, and the lower side may pass through the first lower protrusion 1522. For example, the first guide rod 192 prevents the first upper hollow arm 151 and the first lower hollow arm 152 from rotating with respect to each other with respect to the surgical axis, and at the same time, the first upper hollow arm ( 151) and the first lower hollow arm 152 may guide the translational movement performed along the direction of the surgery axis.

For example, the first sliding drive part 191 may be installed on the first lower protrusion 1522 to accommodate the first guide rod 192 passing through the first lower protrusion 1522. For example, the first sliding drive unit 191 may slide in the direction of the surgery axis while gripping the first guide rod 192, and through this, the first lower hollow arm 152 may be formed with the first upper hollow arm ( 151) can be moved along the axial direction of the surgery.

The first surgical tool mount 156 may be connected to the first rotation link 155 to mount a surgical tool. For example, since the first surgical tool mount 156 is connected along the length direction of the first rotation link 155, the first rotation link 155 forms the same angle as the inclined angle with respect to the surgery axis. can do.

According to the first rotating arm module 15, the first upper hollow arm 151 and the first lower hollow arm 152 can secure a field of view of the microscope module 3 through a hollow formed along the axis of the surgery. , According to the rotation of the first rotating part 13, it is possible to rotate based on the surgical axis, and also, the first rotation by adjusting the mutual gap between the first upper hollow arm 151 and the first lower hollow arm 152 As the link 155 is rotated, it is possible to adjust the angle of the surgical tool.

The second rotation arm module 14 may be connected to the lower side of the second rotation part 12 to be rotated, and may hold a surgical tool.

For example, the second rotation arm module 14 includes a second upper hollow arm 141, a second lower hollow arm 142, a second rotation link 145, a second sliding part 144, and a second angle. It may include an adjustment unit 19 and a second surgical tool mount 146.

The second upper hollow arm 141 is connected to the lower side of the second rotating part 12 and formed through the second upper disk 1411 along the operation axis, and one direction perpendicular to the operation axis from the second upper disk 1411 A second upper protrusion 1412 protruding along the line may be included.

The second lower hollow arm 142 is connected to the lower side of the second upper hollow arm 141 and is perpendicular to the surgery axis from the second lower disk 1421 and the second lower disk 1421 formed through the surgery axis. A second lower protrusion 1422 protruding along one direction may be included. For example, the second lower hollow arm 142 may be translatable with respect to the second upper hollow arm 141 along the surgical axis direction.

For example, the second upper hollow arm 141 and the second lower hollow arm 142 may be referred to as a pair of second hollow arms 141 and 142.

For example, the hollow of the second upper disk 1411 and the hollow of the second lower disk 1421 may overlap each other along the surgical axis, and the second upper protrusion 1412 and the second lower protrusion 1422 are each The direction protruding from the pair of disks 1411 and 1421 may be the same.

For example, as shown in FIG. 2, the first upper hollow arm 151, the second upper hollow arm 141, the first lower hollow arm 152 and the second in the downward direction of the receiving portion 111 along the operation axis. The lower hollow arms 142 may be alternately disposed. For example, the first rotating part 13, the second rotating part 12, the first upper disk 1511, the first lower disk 1521, the second upper disk 1411, the second lower disk 1421, and The central axis and the rotation axis of each of the hollow guide unit 16 may be the same as the surgical axis.

In this case, the first upper disk 1511 and the second upper disk 1411 may be respectively connected to the first rotating part 13 and the second rotating part 12 to be individually rotatable with respect to the surgical axis. Meanwhile, each of the first lower disk 1521 and the second lower disk 1421 may be rotatably connected to a hollow guide unit 16 to be described later, and may be individually rotatably installed.

The second rotation link 145 is connected by a hinge between the second upper hollow arm 141 and the second lower hollow arm 142 and rotates according to the interval between the pair of second hollow arms 141 and 142 Can be. For example, the second rotation link 145 may be installed between the second upper protrusion 1412 and the second lower protrusion 1422. For example, the rotation axis of the second rotation link 145 may be formed perpendicular to the surgical axis when viewed from the side.

For example, as shown in FIGS. 1 to 6, the second rotation link 145 may have an inclined shape so as to be closer to the surgical axis toward the lower side. For example, the second rotation link 145 may be formed of a plurality of links that are segmented and rotated in plurality.

In the second sliding part 144, one side of the second rotating link 145 is attached to the second hollow arm 141, 142 of any one of the second upper hollow arm 141 and the second lower hollow arm 142. It is installed at the connected part, and one side of the second rotation link 145 may be slidably moved along a direction perpendicular to the surgery axis.

For example, the second sliding part 144 may be installed at the protruding end portion of the second lower protruding part 1422 as shown in FIG. 2. For example, the second sliding part 144 is formed in a direction perpendicular to the surgical axis at the end of the second lower protrusion 1422, that is, a second sliding part formed along the direction in which the second lower protrusion 1422 protrudes. A guide 1441 may include a second slider 1442 that is fixed to the second sliding guide 1441 at one side and hinged to the lower end of the second rotation link 145 at the other side.

The second angle adjustment unit 19 may adjust a distance between the second upper protrusion 1412 and the second lower protrusion 1422. For example, the second angle adjustment unit 19 includes a second guide rod 192 passing between the second upper protrusion 1412 and the second lower protrusion 1422 along a direction parallel to the operation axis, and the A second sliding drive unit 191 connected to the second guide rod 192 to adjust the distance between the second upper protrusion 1412 and the second lower protrusion 1422 along the length direction of the second guide rod 192 It may include.

For example, the upper side of the second guide rod 192 may be fixed to the second upper protrusion 1412, and the lower side may pass through the second lower protrusion 1422. For example, the second guide rod 192 prevents the second upper hollow arm 141 and the second lower hollow arm 142 from rotating relative to each other with respect to the surgical axis, and at the same time, the second upper hollow arm ( 141) and the second lower hollow arm 142 may guide the translational movement performed along the direction of the surgery axis.

For example, the second sliding drive unit 191 may be installed on the second lower protrusion 1422 to accommodate the second guide rod 192 passing through the second lower protrusion 1422. For example, the second sliding drive unit 191 may slide in the direction of the surgery axis while gripping the second guide rod 192, and through this, the second lower hollow arm 142 is a second upper hollow arm ( 141) can be moved along the surgical axis direction. For example, it should be noted that only one of the first angle adjustment unit 19 and the second angle adjustment unit 19 may be provided.

The second surgical tool mount 146 may be connected to the second rotation link 145 to mount a surgical tool different from the surgical tool mounted on the first surgical tool mount 156. For example, since the second surgical tool mount 146 is connected along the longitudinal direction of the second rotational link 145, the second rotational link 145 forms the same angle as the inclined angle with respect to the surgery axis. can do.

According to the second rotary arm module 14, the second upper hollow arm 141 and the second lower hollow arm 142 can secure a field of view of the microscope module 3 through a hollow formed along the axis of the surgery. , According to the rotation of the second rotation unit 12, it is possible to rotate based on the surgical axis, and also, the second rotation by adjusting the mutual gap between the second upper hollow arm 141 and the second lower hollow arm 142 As the link 145 is rotated, it is possible to adjust the angle of the surgical tool.

When the spaced apart distance between the first upper hollow arm 151 and the first lower hollow arm 152 and the spaced apart distance between the second upper hollow arm 141 and the second lower hollow arm 142 are the same, The first rotation link 155 and the second rotation link 145 may form the same angle with respect to the surgical axis.

The hollow guide unit 16 may be a hollow member connecting between the hollow of the first lower disk 1521 and the hollow of the second lower disk 1421. For example, the central axis of the hollow of the hollow guide unit 16 may be located on the same line as the surgical axis. For example, each of the first lower disk 1521 and the second lower disk 1421 may be individually rotatable with respect to the hollow guide unit 16.

For example, the hollow guide portion 16 connects the hollow of the first lower disk 1521 and the hollow of the second lower disk 1421, and has a hollow connection portion 161 having a hollow formed through the operation axis, The first guide bearing 162 installed between the outer circumferential surface of the hollow connection part 161 and the inner circumferential surface of the first lower disk 1521, and the outer circumferential surface of the hollow connection 161 and the second lower disk 1421 It may include a second guide bearing 163 installed between the inner peripheral surface.

According to the hollow guide unit 16, the lower portion of any one of the first lower hollow arm 152 and the second lower hollow arm 142 by the first angle adjusting unit 19 or the second angle adjusting unit 19 When the hollow arm 142 or 152 moves along the direction of the surgery axis, the other lower hollow arm 142 or 152 may also move.

Therefore, the spaced apart distance between the first upper hollow arm 151 and the first lower hollow arm 152 is always the same as the spaced apart distance between the second upper hollow arm 141 and the second lower hollow arm 142 Can be maintained, and as a result, a pair of each of the first rotating arm module 15 or the second rotating arm module 14 by driving the first angle adjusting part 19 or the second angle adjusting part 19 When the interval between the hollow arms 141, 142 or 151, 152 is adjusted, each of the first and second rotation links 155 and 145 may be rotated at the same angle while having the same angle.

In addition, since the first and second rotational links 155 and 145 can be rotated and slid by the first and second sliding parts 154 and 144 connected to one side of each. , Each of the pair of first hollow arms 151 and 152 and the pair of second hollow arms 141 and 142 may maintain a state in which each rotation axis and the central axis of the hollow are always aligned with the surgical axis.

For example, the first surgical tool mount 156 and the second surgical tool mount 146 may form the same angle with respect to the surgical axis. It can also be located at the same point on the surgical axis.

In other words, as shown in FIGS. 5 and 6, in each of the first rotating arm module 15 and the second rotating arm module 14, the first surgical tool mount 156 and the second surgical tool inclined toward the surgical axis Each imaginary line extending along the length direction of the mount 146 may intersect at one point on the surgical axis.

According to the above structure, even if at least one of the rotation arm modules 14, 15 of the first rotation arm module 15 and the second rotation arm module 14 rotates with respect to the base 11 based on the axis of surgery, each Since the surgical tools mounted on the rotating arm modules 14 and 15 of the can always achieve the same angle with respect to the axis of surgery, the surface is radially identical to the tissue of the eye such as the retina or cornea having a circular or spherical shape. Provides an advantage to be able to perform.

In addition, since the angle of the surgical tools mounted on each of the first rotation arm module 15 and the second rotation arm module 14 can be equally adjusted at the same time, the angle of two or more surgical tools can be adjusted according to the position of the lesion of the eyeball. By adjusting the same, the precision of surgery can be greatly improved.

In the claims and drawings of the present application, the hollow eye surgery robot 1 is disclosed as having two rotating arm modules 14 and 15, but the number of rotating arm modules is additionally configured as a rotating part and a rotating arm module. It will be readily understood by syntactic technicians that can be composed of three, four, or more.

The driving unit 17 may individually rotate each of the first and second rotation units 13 and 12. For example, the driving unit 17 may include a first rotation driving unit 171 and a second rotation driving unit 172 for rotating the first rotation unit 13. For example, the first rotation driving unit 171 and the second rotation driving unit 172 may be accommodated in the base 11.

The first rotation drive unit 171 may include a first rotation gear 1712 meshing with the first driving gear 132 and a first driving source 1711 rotating the first rotation gear 1712.

The second rotation driving unit 172 may include a second rotation gear 1722 meshed with the second driving gear 122 and a second driving source 1721 rotating the second rotation gear 1722.

By driving the first rotation driving unit 171 and the second rotation driving unit 172, the first rotation unit 13 and the second rotation unit 12 connected therefrom may be individually rotated, and accordingly, as shown in FIG. 4, The first rotation arm module 15 and the second rotation arm module 14 connected to each of the rotation parts 12 and 13 may be individually rotated with respect to the base 11 based on the surgical axis.

The control unit 18 rotates at least one of the first rotation arm module 15 or the second rotation arm module 14 with respect to the surgical axis through the driving of the driving unit 17. I can.

In addition, the control unit 18 drives any one of the first angle adjustment unit 19 and the second angle adjustment unit 19 to drive the first rotation arm module 15 and the second rotation arm. Module 14 By adjusting the spacing between each pair of hollow arms (141, 142 or 151, 152), two surgical instruments mounted on each of the rotary arm modules (14, 15) are formed with respect to the surgical axis You can adjust the angle at the same time.

As shown in Figure 5, when the control unit 18 decreases the gap between the pair of hollow arms 141, 142 or 151, 152, the first rotation arm module 15 and the second rotation arm module 14, respectively The surgical tool mounts 146 and 156 of the can be rotated to increase the angle formed with respect to the surgical axis.

On the contrary, as shown in FIG. 6, when the control unit 18 increases the gap between the pair of hollow arms 141, 142 or 151, 152, the first rotation arm module 15 and the second rotation arm module 14 ) Each of the surgical tool mounts 146 and 156 may be rotated so that the angle formed with respect to the surgical axis is reduced.

As described above, although the embodiments have been described by the limited drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as the described structure, device, etc. are combined or combined in a form different from the described method, or in other components or equivalents. Even if substituted or substituted by, appropriate results can be achieved.

Claims (16)

A base having a receiving portion formed through the surgical axis;
One side has a hollow shape formed along the surgical axis and is rotatably installed with respect to the surgery axis from the lower side of the receiving portion, the other side is a first rotation arm module for holding a surgical tool; And
One side has a hollow shape formed along the surgery axis and is rotatably installed with respect to the surgery axis from a lower side of the first rotation arm module, and the other side includes a second rotation arm module for holding a surgical tool,
Each of the first rotation arm module and the second rotation arm module,
A pair of hollow arms having an upper hollow arm and a lower hollow arm having a hollow overlapping along the direction of the surgical axis;
A pivot link connected by a hinge between the pair of hollow arms and rotated according to the spacing of the pair of hollow arms; And
A hollow eye surgery robot comprising a surgical tool mount connected to the rotation link to mount the surgical tool.
The method of claim 1,
Hollow eye surgery robot further comprising a microscope module connected to the upper side of the receiving portion.
delete The method of claim 1,
A first rotating part having a hollow formed along the surgical axis and installed inside the receiving part to be connected to an upper side of the first rotating arm module; And
A hollow eye surgery robot further comprising a second rotation unit having a hollow formed along the surgery axis and installed inside the hollow of the first rotation unit and connected to the upper side of the second rotation arm module.
In the hollow eye surgery robot,
A base having a receiving portion formed through the surgical axis;
One side has a hollow shape formed along the surgical axis and is rotatably installed with respect to the surgery axis from the lower side of the receiving portion, the other side is a first rotation arm module for holding a surgical tool;
A second rotary arm module having a hollow shape formed along the surgical axis and rotatably installed on the lower side of the first rotary arm module with respect to the surgical axis, and the other side holding the surgical tool;
A first rotating part having a hollow formed along the surgical axis and installed inside the receiving part to be connected to an upper side of the first rotating arm module; And
And a second rotating part having a hollow formed along the surgical axis and installed inside the hollow of the first rotating part and connected to an upper side of the second rotating arm module,
The first rotating part,
A first hollow shaft extending along the surgical axis and connected to the first rotary arm module downward; And
And a first drive gear formed on an outer circumferential surface of the first hollow shaft,
The second rotating part,
A second hollow shaft extending along the surgical axis, passing through the hollow of the first hollow shaft and downwardly connected to the second rotary arm module; And
And a second drive gear formed on an outer circumferential surface of a portion in which the second hollow shaft has passed upward through the hollow of the first hollow shaft,
The hollow eye surgery robot,
A hollow eye surgery robot further comprising a driving unit installed inside the base and connected to each of the first driving gear and the second driving gear to individually rotate.
The method of claim 5,
Each of the first rotation arm module and the second rotation arm module,
A pair of hollow arms having an upper hollow arm and a lower hollow arm having a hollow overlapping along the direction of the surgical axis;
A pivot link connected by a hinge between the pair of hollow arms and rotated according to the spacing of the pair of hollow arms; And
A hollow eye surgery robot comprising a surgical tool mount connected to the rotation link to mount the surgical tool.
The method of claim 1,
A hollow eye surgery robot in which a pair of hollow arms of each of the first rotation arm module and the second rotation arm module are alternately disposed with each other.
The method of claim 7,
The upper hollow arm and the lower hollow arm is a hollow eye surgery robot, characterized in that the rotation is fixed relative to each other.
The method of claim 7,
The upper hollow arms of each of the first rotary arm module and the second rotary arm module are rotatably fixed to each other based on a surgical axis, and the lower hollow arms of each of the first rotary arm module and the second rotary arm module are based on the surgical axis. Are fixed to be rotatable with each other
A hollow eyeball, characterized in that the upper and lower hollow arms are rotated at the same angle with respect to the surgical axis along the rotational link of the first and second rotational arm modules along the surgical axis direction. Surgical robot.
The method of claim 9,
A hollow eye surgery robot, characterized in that a virtual line extending the surgical tool mount of each of the first rotation arm module and the second rotation arm module in the longitudinal direction intersects on the surgery axis.
The method of claim 7,
Hollow eye surgery robot further comprising a hollow guide unit having a hollow formed along the axis of the first rotary arm module and the hollow of the lower hollow arm of each of the second rotary arm module rotatably connected to each other.
The method of claim 11,
At least one module of the first rotation arm module and the second rotation arm module,
A guide rod passing through the upper hollow arm and the lower hollow arm in the axial direction of the surgery, and a sliding driving part connected to the guide rod to adjust the distance between the upper hollow arm and the lower hollow arm along the length direction of the guide rod Hollow eye surgery robot further comprising an angle adjustment unit.
The method of claim 7,
Each of the first rotation arm module and the second rotation arm module,
One side of the pivoting link is installed at a portion connected to any one of the pair of hollow arms, further comprising a sliding part for slidably moving one side of the pivoting link along a direction perpendicular to the surgery axis, ,
A hollow eye surgery robot, characterized in that the rotation link of each of the first rotation arm module and the second rotation arm module rotates to have the same angle with respect to the surgery axis.
A base having a receiving portion formed through the surgical axis;
One side has a hollow shape formed along the surgical axis and a first rotation arm module that is rotatably installed based on the surgical axis; And
One side includes a second rotary arm module having a hollow shape formed along the surgical axis and rotatably installed based on the surgical axis,
The postures of the first rotation arm module and the second rotation arm module can be changed at the same time,
At least one module of the first rotation arm module and the second rotation arm module,
An upper hollow arm having a hollow shape formed along the surgical axis;
A lower hollow arm having a hollow shape formed along the surgical axis and spaced apart from the upper hollow arm;
A sliding part slidably connected to one of the upper hollow arm and the lower hollow arm; And
One end is rotatably connected to the other hollow arm of the upper hollow arm and the lower hollow arm, the other end is a hollow eye surgery robot comprising a rotation link rotatably connected to the sliding portion.
The method of claim 14,
At least one of the first rotation arm module and the second rotation arm module is a hollow eye surgery robot comprising a four-fold link structure.
delete

Images