KR100719347B1 - 3-degree of freedom surgical cartesian robot for positioning surgical tool - Google Patents

Abstract

The present invention relates to a three degree of freedom orthogonal surgical robot for positioning the surgical tool, more specifically, by using a robot capable of automatic and manual operation can easily position the surgical tool on the patient's surgical site, the robot By reducing the width of the flow displacement to secure a sufficient surgical space, the three degree of freedom of orthogonal surgical robot for positioning the surgical tool to increase the precision and stability of the operation.

Three degree of freedom orthogonal surgical robot for positioning the surgical tool according to the present invention, a pair of Y-axis frame provided perpendicular to the base plate; An X-axis direction guide member provided between the Y-axis frames and moved up and down by a first moving means; An X-axis frame movably installed in the X-axis direction guide member and moved in a lateral direction of the Y-axis frame by a second moving means; A Z-axis direction guide member provided at right angles to one end of the X-axis frame; A Z-axis frame movably mounted to the Z-axis direction guide member and moved in a direction orthogonal to the X-axis frame by a third moving means; It is coupled to one end of the Z-axis frame is characterized in that it comprises a tool support for mounting surgical instruments or sensors.

Spine, Surgical Instruments, 3 DOF, Robot, Frame, Weight

Description

3 degree of freedom orthogonal surgical robot for positioning of surgical instruments {3-DEGREE OF FREEDOM SURGICAL CARTESIAN ROBOT FOR POSITIONING SURGICAL TOOL}

1 is a configuration diagram of a conventional surgical tool positioning robot;

Figure 2 is a perspective view of a three degree of freedom orthogonal surgery robot for positioning the surgical tool according to the present invention,

3 is a partially enlarged perspective view of FIG. 1;

4 is a cross-sectional view taken from "A-A" of FIG. 1,

5 is a cross-sectional view taken from "B-B" of FIG.

6 is a view showing another embodiment of the first moving means according to the present invention;

7 is a view showing another embodiment of the second moving means according to the present invention;

8 is a view showing another embodiment of the third moving means according to the present invention;

9 and 10 are views showing the operation of the X-axis and Z-axis frame in accordance with the present invention,

11 is a control block diagram of a three degree of freedom orthogonal surgery robot for positioning a surgical tool according to the present invention,

12 is an image photograph for setting the position of the surgical site according to the present invention,

13 is an image photograph where the K-wire is located at the treatment site according to the present invention;

Figure 14 is an image photograph of the surgical site is fixed screw according to the invention.

<Description of Symbols for Main Parts of Drawings>

100: base plate 110: wheels

200: Y-axis frame 210: top plate

300: X axis frame 330: X axis direction guide member

340: slider 400: Z-axis direction guide member

450: tool support 500: weight

510: support roller 520: wire

550: First brake 551: First screw shaft

552: first friction pad 560: second brake

561: second screw shaft 562: second friction pad

580: buffer member 581: support plate

582: elastic pad 583: spring

610: first pinion 611: first rack gear

620: second pinion 621: second rack gear

630: Third Pinion 631: Third Rack Gear

710: the first pulley 711: the first fixed wire

720: second pulley 721: second fixed wire

730: the third pulley 731: the third fixed wire

800: control unit 810: image display unit

820: Image capturing unit 830: Motor driving unit

840 sensor 900: K-wire

910: screw 1000: operating table

M1-1: 1-1 Drive Motor M1-2: 1-2 Drive Motor

M2-1: 2-1 driving motor M2-2: 2-2 driving motor

M3-1: 3-1 drive motor M3-2: 3-2 drive motor

H: Guide groove R: Roller

The present invention relates to a three degree of freedom orthogonal surgical robot for positioning the surgical tool, more specifically, by using a robot capable of automatic and manual operation can easily position the surgical tool on the patient's surgical site, the robot By reducing the width of the flow displacement to secure a sufficient surgical space, the three degree of freedom of orthogonal surgical robot for positioning the surgical tool to increase the precision and stability of the operation.

In general, a surgical robot that can be equipped with various medical instruments has been used to assist the surgeon in the surgical operation, the application field has recently been applied to spinal surgery, as an example An apparatus used to position a surgical instrument of 0018008 (published: March 4, 2003) is disclosed in FIG.

As shown in the figure, a device 2 capable of mounting a conventional surgical instrument includes a computer 5 and a robot control system 6 for receiving an instrument movement instruction generated by the computer 5. It is composed of.

In addition, the robot control system 6 is composed of a robot arm 8 which is provided at the end with a plate 10 on which the mechanism 4 is mounted and fixed to the fixed base 9.

The surgical instrument 4 movement instruction is interpreted by the robot control system 6 to move the robot arm 8 relative to the stationary base 9 with the instrument 4.

On the other hand, the robot arm 8 is composed of three or more joints to allow a sufficient degree of freedom of the plate 10, the plate 10 is provided with an instrument sensor 12 indicating the position of the instrument (4). .

The device 2 is equipped with an optical detector 14, which has two or more independent receiving elements for receiving a signal generated by the instrument sensor 12 and monitoring the position of the sensor. It also includes a reference sensor 16 that can be fixed to the bone in the patient undergoing the surgical procedure.

The device 2 also includes a probe 18 used to register the position of the patient bone within a defined coordinate system in relation to the detector 14. Bone location registration is achieved by contacting the probe 18 with a standard marker implanted within the bone prior to scanning operations (especially X-rays or CT scans) for imaging the bone.

The marker is a reference sensor used in a surgical procedure, and may be a reference for associating a position of a patient bone in a coordinate system with an image of a previously generated bone, and the position of the markers through the computer 5. Each of the markers can be contacted in turn with each other so that the probe 18 can be attached, and by attaching the probe 18 to an arm on which the movement of the joint can be measured, mathematical monitoring is possible.

On the other hand, the robot control system sensor 20 indicating the true position of the robot control system 6 in the coordinate system can be installed in the fixed base 9, the robot control system sensor 20 also the instrument sensor ( 12) includes a plate in which a plurality of light emitting diodes are arranged.

The position change of the robot control system 6 is detected by the robot control system sensor 20 and transmitted to the computer 5, and the computer 5 operates the instrument 4 by the received detection signal. It can be operated to position properly.

However, the device 2 made as described above may move the surgical instrument 4 to a position to be treated through a plurality of sensors 12 and 20, a marker, a probe 18, and the like, but a plurality of sensors (12, 20), markers, probes 18 through the value of the parameters that must be processed in the computer (5) has been difficult to precisely control the surgical instrument (4), the surgical instrument ( There was a problem that it takes a long time to recalibrate to accurately position 4).

In addition, the robot arm 8 is connected by a joint, so that the robot arm 8 may be eccentrically fixed to the fixed base 9, and there is no separate weight compensator capable of supporting the robot arm 8 in a balanced manner. Eccentric load is concentrated on one side during operation of (8), so there is a possibility that a balanced operation cannot be expected or the robot arm 8 can be easily damaged.

In addition, the pedicle is at least 5 ~ 8mm, the screw is fixed to have a diameter of 3 ~ 5mm, the spine is usually inclined at a certain angle, pedicle screw procedure requires a high degree of precision. In the case of the robot arm 8, the structure is fixed to the fixed base 9 so that the force applied to the robot arm 8 during the process of pressing the surgical instrument 4 to form a screw hole in the bone It was not able to support smoothly, which caused fine flow in the joint portion, which was a factor of deteriorating the precision of the procedure.

In addition, the techniques proposed so far are merely a structure having a form of a robot connected by a joint, so that the robot arm 8 is relatively prevented from interfering with other surgical devices by the rotation of the joint during the operation. While there was a need to secure a lot of space, doctors had difficulty in performing the procedure in a relatively narrow space.

The present invention was devised to solve the above-mentioned problems, and an object of the present invention is to reduce the width of the displacement in which the robot flows, thereby providing a relatively large space for the surgeon and not interfering with other surgical devices. The three degrees of freedom for positioning the surgical instruments that can be operated is to provide an orthogonal surgical robot.

Another object of the present invention, by providing a weight compensation means that can support the operation of the robot to compensate for its own weight, can be automatically driven even using a small capacity drive motor, when the manual operation with a small force In addition to operating the robot, it is possible to omit the process of setting the position coordinates of the treatment site using the image data to facilitate the use.

Another object of the present invention is to prevent the robot from moving in the lateral direction by the external force during the procedure, while the movement of the body caused by the breathing of the patient and the flow of the up and down generated when forming a screw hole in the spine By configuring to follow, it is to improve the stability of the surgery.

The configuration of the three degree of freedom orthogonal surgical robot according to an embodiment of the present invention for achieving the above object, a pair of Y-axis frame provided perpendicular to the base plate; An X-axis direction guide member provided between the Y-axis frames and moved up and down by a first moving means; An X-axis frame movably installed in the X-axis direction guide member and moved in a lateral direction of the Y-axis frame by a second moving means; A Z-axis direction guide member provided at right angles to one end of the X-axis frame; A Z-axis frame movably mounted to the Z-axis direction guide member and moved in a direction orthogonal to the X-axis frame by a third moving means; It is coupled to one end of the Z-axis frame is characterized in that it comprises a tool support for mounting surgical instruments or sensors.

In addition, a plurality of support rollers mounted on the bottom of the upper plate for connecting the upper portion of the Y-axis frame; A plurality of wires connected to the X-axis direction guide member on one side thereof via the support roller; It is connected to the other side of the wire characterized in that it further comprises a weight compensation means consisting of a weight, which is raised, lowered along the Y-axis frame.

In addition, the X-axis direction guide member is provided in a tubular shape with both sides opened so that the X-axis frame is movably passed, and is moved along a plurality of guide grooves formed in the longitudinal direction of the X-axis frame therein. It is composed of a plurality of rollers, characterized in that connected to the Y-axis frame via a slider.

In addition, the Z-axis direction guide member is provided in a tubular shape with both sides opened so that the Z-axis frame is movably passed, and is moved along a plurality of guide grooves formed in the longitudinal direction of the Z-axis frame therein. It is characterized by consisting of a plurality of rollers.

In addition, it characterized in that it further comprises a first brake penetrates the X-axis direction guide member for pressing and fixing the X-axis frame.

The first brake may include a first screw shaft screwed to the X axis direction guide member; And a first friction pad provided at one end of the first screw shaft to selectively fix or release the X-axis frame.

In addition, a second brake penetrates the Z-axis direction guide member to pressurize and fix the Z-axis frame.

The second brake may include a second screw shaft screwed to the Z-axis direction guide member; A second friction pad is provided at one end of the second screw shaft to selectively fix or release the Z-axis frame.

In addition, a plurality of wheels is further provided on the bottom of the base plate.

In addition, provided on both sides of each of the X-axis and Z-axis frame is characterized in that it further comprises a shock absorbing member for absorbing the impact during the collision with the X-axis and Z-axis direction guide member.

In addition, the buffer member is characterized in that the spring is connected to one side and the elastic pad is connected to the support plate installed on both sides of each of the X-axis and Z-axis frame.

In addition, the first moving means, the first-drive motor is installed on one side of the X-axis direction guide member via a bracket; And a first rack gear installed along the Y-axis frame to engage with the first pinion provided on the rotation shaft of the first-first driving motor.

Also preferably, the first moving means may include: a 1-2 driving motor installed on one side of the X-axis direction guide member via a bracket; The first pulley and the predetermined portion provided on the rotating shaft of the 1-2 drive motor is characterized in that it is composed of a first fixed wire fixed to both sides of the Y-axis frame.

In addition, the second moving means, and the second-drive motor installed on the other side of the X-axis direction guide member via a bracket; And a second rack gear installed along the X-axis frame to engage with the second pinion provided on the rotation shaft of the second-first driving motor.

Also preferably, the second moving means may include a second-2 driving motor installed on the other side of the X-axis direction guide member via a bracket; The second pulley and the predetermined portion provided on the rotating shaft of the second driving motor 2-2 is characterized in that it is composed of a second fixed wire fixed to both sides of the X-axis frame.

In addition, the third moving means, and the third-drive motor installed on one side of the guide member in the Z-axis direction via the bracket; And a third rack gear installed along the Z-axis frame to engage with the third pinion provided on the rotation shaft of the 3-1 driving motor.

Also preferably, the third moving means may include: a third-2 driving motor installed on one side of the Z-axis direction guide member via a bracket; The third pulley and the predetermined portion provided on the rotating shaft of the 3-2 drive motor is wound, and both sides are characterized by consisting of a third fixed wire fixed to both sides of the Z-axis frame.

According to another aspect of the present invention, there is provided a configuration of a three degree of freedom orthogonal surgical robot comprising: a pair of Y-axis frames provided perpendicular to an upper portion of a base plate; An X-axis direction guide member provided between the Y-axis frames and moved up and down by a first moving means; An X-axis frame movably installed in the X-axis direction guide member and moved in a lateral direction of the Y-axis frame by a second moving means; A Z-axis direction guide member provided at right angles to one end of the X-axis frame; A Z-axis frame movably mounted to the Z-axis direction guide member and moved in a direction orthogonal to the X-axis frame by a third moving means; A tool support coupled to one end of the Z-axis frame and equipped with a surgical tool or a sensor; Control means for controlling the driving of the first, second, third moving means is characterized in that it is included.

In addition, the control means, comprising a laser generating unit and a laser receiving unit for taking a procedure in real time to take the image data to obtain the image data; A control unit configured to receive the image data obtained by the image capturing unit and set position coordinates of the surgical site through a stored algorithm; And a motor driving part for supplying power to each motor which is a driving source of the first, second, and third moving means by a control signal of the controller.

The apparatus may further include a sensor that detects a rotation range of the motor and transmits the detected signal to the controller.

In addition, the sensor is characterized in that the encoder sensor for detecting the rotation amount of the motor.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention in detail.

Figure 2 is a perspective view of a three degree of freedom orthogonal surgical robot for positioning a surgical tool according to the present invention, Figure 3 is a partially enlarged perspective view of Figure 1, Figure 4 is a cross-sectional view as seen from "AA" of Figure 1, Figure 5 Is a cross-sectional view as seen from " BB "

As shown in the figure, the three degree of freedom orthogonal surgical robot for positioning the surgical tool according to the present invention is largely provided on the base plate 100, the upper portion of the base plate 100 and the X-axis direction guide member ( The Y-axis frame 200 and the X-axis frame 300 installed to cross each other through the 330, and the Z-axis frame orthogonally installed through the X-axis frame 300 and the Z-axis direction guide member 430 ( 400), the first, second and third moving means for moving the Y-axis, X-axis, and Z-axis frames 200 and 300 400, respectively, and one end of the Z-axis frame 400, the surgical instrument or sensor The tool support 450 is mounted.

That is, the surgical robot guides the surgical tool to be accurately positioned on a specific part of the human body to be treated, and at the same time, it is desirable to reduce the elements that may interfere with the surrounding environment of the operating room and the doctor's procedure. In order to reduce the width of the flow space and to reduce the width of the flow space, the three-degree of freedom orthogonal robot can be used to move the surgical tool quickly.

The base plate 100 may be provided in a fixed type fixed to the floor in order to maintain a stable operation of the robot, in the present invention is equipped with a wheel 110 in the lower portion so that the surgical tool can be easily located at the surgical site It is preferable to be provided in a fluid type.

The Y-axis frame 200 is provided in a pair perpendicular to the base plate 100, the X-axis direction guide member (up and down) by the first moving means between the Y-axis frame 200 ( 330 is installed.

More specifically, the upper and lower sides of the X-axis direction guide member 330 are installed on the Y-axis frame 200 so as to be movable through the slider 340, and the slider 340 is the Y-axis. It is moved along the guide groove (H) of the frame (200).

The X-axis direction guide member 330 is provided in a tubular shape with both sides opened so that the X-axis frame 300 is movably passed, and formed inside the X-axis frame 300 in the longitudinal direction of the X-axis frame 300. A plurality of rollers R moving along the plurality of guide grooves H are provided.

The Z-axis direction guide member 430 is connected orthogonally to the left end of the X-axis frame 300, which is provided in a tubular shape with both sides opened so that the Z-axis frame 400 is movably passed. The inside thereof is provided with a plurality of rollers R moving along a plurality of guide grooves H formed in the longitudinal direction of the Z-axis frame 400.

That is, the X- and Z-axis direction guide members 330 and 430 support the X-axis and Z-axis frames 300 and 400, respectively, and perform a role of guiding the linear movement in the horizontal direction.

On the other hand, the Z-axis direction guide member 430 is a structure in which the eccentric load of the X-axis and Z-axis frame (300, 400) is concentrated, so that the X-axis direction guide member 330 supporting it is lowered by its own weight or , It is difficult to maintain the horizontal by the eccentric load, the present invention preferably further comprises a weight compensation means for maintaining the balance of the load by compensating the weight of the X-axis direction guide member 330.

The weight compensating means includes a plurality of support rollers 510 mounted on the bottom of the upper plate 210 connecting the top of the Y-axis frame 200, and the support rollers 510 to one side of the X. It is composed of a plurality of wires 520 connected to the axial guide member 330, and the weight 500 is connected to the other side of the wire 520, up and down along the Y-axis frame 200.

That is, the X-axis direction guide member 330 is positioned in a state in which the X-axis direction guide member 330 is horizontally maintained at a predetermined height of the Y-axis frame 200 by the weight compensation means, and an external force is applied or the first moving means is driven. If it is, the center of gravity can be lifted and lowered along the Y-axis frame 200.

Also, in order to control the movement of the X and Z axis frames 300 and 400, the X and Z axis frames 300 and 400 are penetrated through the X and Z axis direction guide members 330 and 430, respectively. It is preferable that the first and second brakes 550 and 560 for pressing and fixing are further included.

The first brake 550 is provided on a first screw shaft 551 that is screwed to the X-axis direction guide member 330 and one end of the first screw shaft 551 to the X-axis frame 300. ) Is composed of a friction pad 552 for selectively fixing or releasing, the second brake 560 is a second screw shaft 561 screwed to the Z-axis direction guide member 430, and the second A second friction pad 562 is provided at one end of the screw shaft 561 to selectively fix or release the Z-axis frame 400.

The three degree of freedom orthogonal surgical robot according to the present invention has a structure that can be automatically and manually operated, the first in the state of converting the drive source of the first, second, third moving means to the free movement mode during manual operation of the robot When releasing the fixing force of the two brakes 550 and 560, the user can freely move the X-axis and Z-axis frames 300 and 400 even with a small force, thereby facilitating the tool support 450 to the surgical site of the patient. After the position is set, the first and second brakes 550 and 560 may be operated to fix the X and Z axis frames 300 and 400.

Here, the Y-axis frame 200 is a structure that can be flowed slightly in accordance with the fine movement of the upper and lower sides according to the breathing of the patient does not have a separate fixing means, it is possible to achieve the stability of the procedure.

In addition, the X-axis and Z-axis frame (300, 400) to move the X-axis and Z-axis frame (300, 400) to absorb the shock generated when the impact on the guide member (330, 430) in the X-axis and Z-axis ( It is preferable that the buffer member 580 is further provided on both sides of the 300 and 400, respectively.

 The shock absorbing member 580 may include a spring 583 having one side connected to the support plates 581 provided on both sides of the X-axis and Z-axis frames 300 and 400, and the elastic pads 582 connected to the other side. Can be. However, the present invention is, of course, not limited to the above-described embodiment, and any configuration may be used, as long as it can absorb shocks.

As shown in FIG. 3, the first embodiment of the first moving unit according to the present invention is configured to lift and lower the X-axis direction guide member 330 along the Y-axis frame 200. Specifically, the first-first driving motor M1-1 installed on one side of the X-axis direction guide member 330 via a bracket and the rotary shaft of the first-first driving motor M1-1 are provided. It is composed of a first rack gear 611 installed along the Y-axis frame 200 to engage the first pinion 610.

A second embodiment of the first moving means according to the invention is also shown in FIG. 6. As shown in the drawing, the first moving means includes a first-second driving motor M1-2 installed on one side of the X-axis direction guide member 330 via a bracket, and the first-second driving. A predetermined portion is wound around the first pulley 710 provided on the rotation shaft of the motor M1-2, and both sides are configured of first fixing wires 711 fixed to both sides of the Y-axis frame 200.

That is, the X-axis direction guide member 330 lifts along the Y-axis frame 200 by the linear force generated while the first pulley 710 winds up the first fixing wire 711. To descend.

As shown in FIG. 3, the first embodiment of the second moving unit according to the present invention is configured to move the X-axis frame 300 left and right along the X-axis direction guide member 330. Specifically, the 2-1th driving motor M2-1 installed on the other side of the X-axis direction guide member 330 via a bracket and the rotation shaft of the 2-1th driving motor M2-1 are provided. A second rack gear 621 is installed along the X-axis frame 300 to be engaged with the second pinion 620.

In addition, a second embodiment of the second moving means according to the present invention is shown in FIG. As shown in the figure, the second moving means includes a second-2 driving motor M2-2 installed on the other side of the X-axis direction guide member 330 via a bracket, and the second-2 driving. The second pulley 720 provided on the rotating shaft of the motor M2-2 and a predetermined portion are wound, and both sides are composed of second fixing wires 721 fixed to both sides of the X-axis frame 300.

As shown in FIG. 2, the first embodiment of the third moving unit according to the present invention is configured to move the Z-axis frame 400 left and right along the Z-axis direction guide member 430. More specifically, the 3-1 driving motor (M3-1) and the 3-1 driving motor (M3-1) provided on one side of the Z-axis direction guide member 430 via a bracket provided on the rotation shaft And a third rack gear 631 provided along the Z-axis frame 400 so as to be engaged with the third pinion 630.

A second embodiment of the third moving means according to the invention is also shown in FIG. 8. As shown in the drawing, the third moving means includes a third driving motor M3-2 installed on one side of the Z-axis direction guide member 430 via a bracket, and the third driving. The third pulley 730 provided on the rotating shaft of the motor M3-2 and a predetermined portion are wound, and both sides are composed of third fixing wires 731 fixed to both sides of the Z-axis frame 400.

In the present invention, as shown in Figure 11 may be further included a control means for driving a three degree of freedom orthogonal surgical robot.

The control unit includes a laser (x-ray) generating unit and a laser (x-ray) receiving unit, an image capturing unit 820 for capturing a procedure in real time to obtain image data, and the image capturing unit 820 Control unit 800 for setting the position coordinates of the surgical site through a predetermined algorithm and receiving the image data obtained from the control unit; and the Y-axis, X-axis, and Z-axis frames 200, It consists of a motor driving unit 830 for supplying power to the drive motors to move 300,400.

That is, when external power is supplied through the motor driving unit 830 by the control signal of the controller 800 to drive each of the driving motors, the Y-axis, X-axis, and Z-axis frames 200, 300, and 400 are operated. This operation is the tool support 450 is positioned to the position coordinates of the surgical site input to the control unit 800.

Whether the tool support 450 has been moved to the position of the surgical site and whether the surgical tool is correctly positioned at the surgical site includes the image data transmitted from the image capturing unit 820 by the image display unit 810. By being displayed, the doctor can visually confirm.

Meanwhile, a sensor 840 is further provided to detect the rotation amounts of the motors 140 and 410 and transmit the detected signal to the controller 800. The detection signal of the sensor 840 is transmitted to the controller 800. When the tool support 450 is accurately positioned at the position to be treated by repeatedly controlling the rotation range of each driving motor through a feedback interpreted by a predetermined algorithm stored in the controller 800, It becomes possible.

Here, the sensor 840 is preferably provided as an encoder sensor that can detect the amount of rotation of each drive motor.

The operation of the present invention configured as described above will be described based on the operation process of the three degree of freedom orthogonal surgical robot according to the pedicle screw procedure.

First, the patient is placed on the operating table 1000, and the three degree of freedom orthogonal surgical robot is positioned parallel to the longitudinal direction of the operating table 1000.

Subsequently, two-dimensional images of the surgical site are extracted through the imaging unit 820 including a laser (x-ray) generating device and a receiving device to treat the injured part of the spine (see the image photograph of FIG. 12). After setting the position coordinates of the surgical site through the algorithm stored in the control unit 800 based on the image, and transmits a control signal to the motor drive unit 830 of the robot by pressing an operation button (not shown), this control signal Each drive motor is driven by the Y-axis, X-axis and Z-axis frame (200, 300, 400) is operated so that the tool support 450 is positioned on the surgical site.

In more detail, when the first-first driving motor M1-1 is driven by a control signal from the controller 800, the first pinion 610 is provided in the longitudinal direction of the Y-axis frame 200. As the first rack gear 611 rotates, the X-axis direction guide member 330 is moved up or down to adjust the height of the surgical robot.

At this time, the X-axis direction guide member 330 by the weight (500) connected by the X-axis direction guide member 330 and the wire 520 can be raised and lowered while maintaining a balance.

At the same time, the 2-1 driving motor (M2-1) is driven so that the second pinion 620 is engaged with the second rack gear 621 provided in the X-axis frame 300 to rotate the X-axis frame ( 300 is moved left and right along the X-axis direction guide member 330, and the 3-1 driving motor M3-1 is driven so that the third pinion 630 is provided on the Z-axis frame 400. The Z-axis frame 400 is moved left and right along the Z-axis direction guide member 430 while being engaged with the third rack gear 631, thereby allowing the tool support 450 to be moved to one side of the operating table 1000. Through this can be advanced in the longitudinal direction.

This operation is performed simultaneously or sequentially or in reverse order on the Y-axis, X-axis, and Z-axis frames 200, 300, and 400.

As the structural feature of the three degree of freedom orthogonal surgical robot that can move in three directions of the X-axis, Y-axis, Z-axis as described above, the movable table 1000 is moved around the Y-axis frame 200 It is possible to effectively reduce the movement range of the X-axis and Z-axis frame (300, 400). Therefore, the tool support 450 can be approached to the surgical site of the patient without interfering with the surgeon and the other surgical instruments around, while providing a relatively large surgical space to the doctor.

The moving ranges of the Y, X, and Z axis frames 200, 300, and 400 are detected by the sensor 840 that detects the rotation amount of each of the driving motors, and the detected output value is transmitted to the controller 800. When the procedure position with respect to the spine of the patient and the actual position of the tool support 450 are different from each other by the stored algorithm, each of the driving motors is driven again through feedback to perform the procedure position and the tool support ( The compensation process of exactly matching the position of 450 is repeatedly performed.

Thereafter, the X and Z axis frames 300 and 400 are pressurized and fixed using the first and second brakes 550 and 560 to flow the X and Z axis frames 300 and 400 by an external force. Will be prevented.

When the position of the tool support 450 coincides with the coordinate value input to the coordinate system of the controller 800 by the above-described process, the doctor slightly cuts the patient's skin, and the tool support 450 After inserting the K-wire (K-wire) through the close contact with the spine, the small / medium / large diameter expansion tube (not shown) with different internal diameters are sequentially inserted, and then the small / medium diameter expansion again A space is obtained by expanding the incision by pulling the tube out of the large diameter expansion tube.

Subsequently, a screw driver is inserted into the large diameter expansion tube to form a screw hole in the spine, and then a screw 910 is fastened to the screw hole and fixed. The position of the tool supporter 450 and the process of fixing the K-wire 900 and the screw 910 are monitored through the image display unit 810 as shown in FIGS. 13 and 14 so that the doctor can check it at any time.

As described above, surgical tools such as the K-wire 900, an extension tube, a screw guide, etc. can be precisely positioned on the spinal part to be treated by the tool support 450 during the procedure, so that the skin of the patient is slightly incised. Even if the procedure is possible.

In addition, since the X-axis and Z-axis frames 300 and 400 are fixed by the first and second brakes 550 and 560, the tool support is applied to the pressing force generated when a screw hole is formed in the spine with a screw guide. The 450 does not flow in the lateral direction, and the X-axis direction guide member 330 moves up and down along the Y-axis frame 200 in accordance with the minute movement of the body according to the breathing of the patient, thereby causing the patient to breathe. Can follow the movement of the body.

Here, the pedicle is at least 5 to 8mm, and the screw fixed thereto has a diameter of 3 to 5mm, and the process of forming the screw hole according to the tilt of the pedicle with the screw driver is highly accurate in pedicle surgery. This is inevitably required, through the structure of the robot and the structure that can follow the movement of the body by the breathing of the patient according to the present invention to ensure the stability and precision of pedicle surgery.

In addition, a series of surgical procedures, such as whether the tool support 450 and various surgical tools are correctly positioned at the site to be treated, can be visually confirmed through the image display unit 810 to maximize the precision of the surgery. .

When the pedicle screw procedure is completed, the doctor sutures the incision site and presses the operation button to return the surgical robot to the initial state.

The method of driving the robot has been described with reference to the structure of the drive motor, pinion, and rack gear which are one embodiment of the first, second, and third moving means. Therefore, detailed description thereof will be omitted.

On the other hand, in the present invention, apart from automatically driving the Y-axis, X-axis and Z-axis frame (200, 300, 400) by the first, second, third moving means, the power supplied to each drive motor It is also possible to manually block the doctor to hold one side of the frame by hand and position directly on the surgical site.

That is, since each drive motor does not include a reducer such as a harmonic drive, a planetary gear, and the like, which are generally used to obtain a large torque, when the power supply to each drive motor is cut off and converted into an automatic movement mode, Manual operation is possible.

At this time, the X-axis direction guide member 330 is a structure that can compensate for the weight of the robot by the weight 500 connected by a wire 520, when the doctor manually manipulates the robot due to the weight of the robot Since the burden can be minimized, the Y-axis, X-axis, and Z-axis frames 200, 300, and 400 can be moved with little force, respectively.

Thereafter, after placing the tool support 450 on the spine to be treated, the procedure is performed while fixing the X and Z axis frames 300 and 400 with the first and second brakes 550 and 560. do.

As described above, when the robot is manually operated, the procedure of setting the position coordinates of the surgical site using the image data can be omitted, thereby reducing the operation time.

As described above, the three degree of freedom orthogonal surgical robot according to the present invention is structurally capable of moving the frames in the X-axis, Y-axis, and Z-axis directions without interfering with other surgical instruments or doctors in a narrow space. It can be precisely positioned on the part of the body to be treated, and in particular, it can follow the movement of the body caused by the breathing of the patient and the flow of the up and down direction generated when forming a screw hole in the spine, thereby improving the precision and stability of the surgery. In addition to being able to reduce the burden on surgery to patients, it will be said to be a very useful invention in medical robots.

As described above, according to the present invention, the three degree of freedom orthogonal surgical robot is operated in a narrower area than the conventional surgical robot by a structural feature capable of moving the frames in the X-axis, Y-axis, and Z-axis directions. By doing so, it is possible to prevent medical accidents caused by interference with other surgical instruments in advance, and to provide a relatively wide treatment space to the doctor performing the procedure, thereby increasing the stability of the surgery.

In addition, a weight compensation means for compensating the weight of the X-axis and Z-axis frame, etc. is provided to smoothly support the operation of the frame, and can be driven by a small capacity drive motor, and has little intention in manual operation. The robot can be operated by force, and the process of setting the position coordinates of the treatment site using the image data can be omitted, thereby improving convenience in use.

In addition, the X-axis guide member is raised and lowered according to the flow of the body due to the breathing of the patient and the flow of the upper and lower directions generated when forming a screw hole in the spine, it can be smoothly supported by the weight compensation means The operation reliability of the robot can be improved, and in particular, the automatic and manual operation of the robot enables the robot to operate properly even if the driving device is not operated due to an unavoidable accident. It is effective to prevent accidents.

Claims (21)

A pair of Y-axis frames provided vertically on the base plate; An X-axis direction guide member provided between the Y-axis frames and moved up and down by a first moving means; An X-axis frame movably installed in the X-axis direction guide member and moved in a lateral direction of the Y-axis frame by a second moving means; A Z-axis direction guide member provided at right angles to one end of the X-axis frame; A Z-axis frame movably mounted to the Z-axis direction guide member and moved in a direction orthogonal to the X-axis frame by a third moving means; The three degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that coupled to one end of the Z-axis frame and includes a tool support to which the surgical tool or sensor is mounted. The method of claim 1, A plurality of support rollers mounted on the bottom of the top plate connecting the top of the Y-axis frame; A plurality of wires connected to the X-axis direction guide member on one side thereof via the support roller; 3 degrees of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that further comprising a weight compensation means consisting of a weight that is connected to the other side of the wire, the weight going up, down along the Y-axis frame. The method of claim 1, wherein the X-axis direction guide member, It is provided with a tubular shape of which both sides are opened so that the X-axis frame is movably passed, and consists of a plurality of rollers moved along a plurality of guide grooves formed in the longitudinal direction of the X-axis frame therein, the Y Three degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that connected via a slider to the axis frame. The method of claim 1, wherein the Z-axis direction guide member, It is provided in a tubular shape with both sides opened so that the Z-axis frame is movably passed, characterized in that consisting of a plurality of rollers moved along a plurality of guide grooves formed in the longitudinal direction of the Z-axis frame therein. Three degree of freedom orthogonal surgery robot for positioning surgical tools. The method according to any one of claims 1 to 4, The three degree of freedom orthogonal surgical robot for positioning the surgical tool further comprises a first brake penetrating the X-axis direction guide member for pressing and fixing the X-axis frame. The method of claim 5, wherein the first brake, A first screw shaft screwed to the X axis direction guide member; A three degree of freedom orthogonal surgical robot for positioning a surgical tool, characterized in that it comprises a first friction pad provided at one end of the first screw shaft to selectively fix or release the X-axis frame. The method according to any one of claims 1 to 4, The three degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that it further comprises a second brake penetrates the Z-axis direction guide member for pressing and fixing the Z-axis frame. The method of claim 7, wherein the second brake, A second screw shaft screwed to the Z-axis direction guide member; A three degree of freedom orthogonal surgical robot for position setting of the surgical tool, characterized in that the second friction pad is provided on one end of the second screw shaft to selectively fix or release the Z-axis frame. The method according to any one of claims 1 to 4, 3 degrees of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that the bottom of the base plate is further provided with a plurality of wheels. The method according to any one of claims 1 to 4, The three degree of freedom orthogonal type for surgical tool positioning, characterized in that it further comprises a shock absorbing member which is provided on both sides of each of the X-axis and Z-axis frame to absorb the impact when the collision with the X-axis and Z-axis direction guide member Surgical Robot. The method of claim 10, wherein the buffer member, Three degrees of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that the spring is connected to the support plate installed on both sides of the X-axis and Z-axis frame and the elastic pad is connected to the other side. The method of claim 1, wherein the first moving means, A first-first driving motor installed on one side of the X-axis direction guide member via a bracket; A three degree of freedom orthogonal surgical robot for positioning a surgical tool, characterized in that it comprises a first rack gear installed along the Y-axis frame to mesh with a first pinion provided on a rotation shaft of the first-first driving motor. The method of claim 1, wherein the first moving means, A first and second driving motors installed on one side of the X-axis direction guide member through a bracket; 3 degree of freedom orthogonal surgery for positioning the surgical tool, characterized in that it comprises a first fixing wire wound on the first pulley provided on the rotating shaft of the 1-2 driving motor and fixed to both sides of the Y-axis frame robot. The method of claim 1, wherein the second moving means, A 2-1 driving motor installed on the other side of the X-axis direction guide member via a bracket; 3rd degree of freedom orthogonal surgical robot for positioning a surgical tool, characterized in that the second rack gear installed along the X-axis frame to be engaged with the second pinion provided on the rotating shaft of the 2-1 driving motor. The method of claim 1, wherein the second moving means, A 2-2 driving motor installed on the other side of the X-axis direction guide member via a bracket; 3 degrees of freedom orthogonal surgery for positioning the surgical tool, characterized in that the second pulley is wound on the second pulley provided on the rotating shaft of the 2-2 drive motor fixed on both sides of the X-axis frame robot. The method of claim 1, wherein the third moving means, A 3-1 driving motor installed on one side of the Z-axis direction guide member via a bracket; 3rd degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that consisting of a third rack gear installed along the Z-axis frame to engage with the third pinion provided on the rotation axis of the 3-1 drive motor. The method of claim 1, wherein the third moving means, A third-2 driving motor installed on one side of the Z-axis direction guide member via a bracket; Three degree of freedom orthogonal surgery for positioning the surgical tool, characterized in that consisting of a third fixed wire wound on the third pulley provided on the rotating shaft of the third-2 drive motor fixed to both sides of the Z-axis frame robot. A pair of Y-axis frames provided vertically on the base plate; An X-axis direction guide member provided between the Y-axis frames and moved up and down by a first moving means; An X-axis frame movably installed in the X-axis direction guide member and moved in a lateral direction of the Y-axis frame by a second moving means; A Z-axis direction guide member provided at right angles to one end of the X-axis frame; A Z-axis frame movably mounted to the Z-axis direction guide member and moved in a direction orthogonal to the X-axis frame by a third moving means; A tool supporter coupled to one end of the Z-axis frame and equipped with a surgical tool or a sensor; Three degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that it comprises a control means for controlling the drive of the first, second, third moving means. The method of claim 18, wherein the control means, An image taking unit comprising a laser generating unit and a laser receiving unit to obtain an image data by capturing a procedure in real time; A control unit configured to receive the image data obtained by the image capturing unit and set position coordinates of the surgical site through a stored algorithm; 3 or 3 degrees orthogonal surgery robot for positioning the surgical tool, characterized in that it comprises a motor driving unit for supplying power to each motor that is the driving source of the first, second, third moving means by the control signal of the control unit. The method of claim 18 or 19, The three degree of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that it further comprises a sensor for detecting the rotation range of the motor to transmit the signal detected by the control unit. The method of claim 20, wherein the sensor, 3 degrees of freedom orthogonal surgical robot for positioning the surgical tool, characterized in that the encoder sensor for detecting the amount of rotation of the motor.

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