KR101180659B1 - Surgical instrument and setting method thereof - Google Patents

Abstract

Surgical instruments and methods for setting the same are disclosed. According to an aspect of the present invention, the operator in contact with the surgical site, one end is coupled to the operator and the shaft extending in a predetermined length direction, coupled to the other end of the shaft, the driver for operating the operator, the operator, the shaft and Surgical instruments that are attached to any one of the driving unit to check the disinfection status of the surgical instrument to generate disinfection information, the surgical instrument is provided with a means to check the disinfection status to identify the user is convenient to use In addition, the number of use of the surgical instrument and the disinfection state is effective to check and display in conjunction with each other.

Surgical instruments, disinfection, reuse, number of uses.

Description

Surgical instrument and setting method

The present invention relates to a surgical instrument and its setting method.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, surgery or using a robot (robot), which is performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgical microscope, etc. by forming a predetermined hole in the skin, has been spotlighted as an alternative.

Surgical instruments operate an end effecter provided at one end of a shaft passing through a hole drilled in the skin by a doctor using a predetermined driving unit by hand or by using a robot arm. It is a tool for. The operator provided in the surgical instrument performs a rotation operation, a gripping operation, a cutting operation, and the like through a predetermined structure.

Such surgical instruments may be formed reusable after disinfection. According to the prior art, there is a disadvantage that the means for checking and identifying the disinfection state is not conveniently provided for the user to use the surgical instrument. Furthermore, according to the prior art, there is a disadvantage in that the number of use of the surgical instrument and the disinfection state are not linked to each other and checked and displayed.

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

The present invention is to provide a surgical instrument and a method for setting the same that is provided with a means for checking the disinfection state to enable identification.

In addition, the present invention is to provide a surgical instrument and a method of setting the surgical instrument is checked and displayed in conjunction with the number of times of use of the surgical instrument and disinfection.

Technical problems other than the present invention will be easily understood through the following description.

According to an aspect of the present invention, the operator in contact with the surgical site, one end is coupled to the operator and the shaft extending in a predetermined length direction, coupled to the other end of the shaft, the driver for operating the operator, the operator, the shaft and A surgical instrument is provided that includes a disinfection check unit attached to any one of the driving units to check disinfection status of the surgical instrument to generate disinfection information.

The disinfection check unit includes a temperature sensor unit for measuring the temperature of the surgical instrument, a disinfection information generation unit for generating disinfection information which checks the disinfection state by comparing the measured temperature of the surgical instrument with a predetermined reference temperature, and disinfection information. It may include a disinfection information storage for storing.

In addition, the disinfection information generation unit may store the disinfection information for checking the disinfection state in the disinfection state storage unit when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature.

In addition, the surgical instrument operates according to the user's operation only when the disinfection information is disinfected, and the reference temperature may be 100 degrees to 140 degrees.

In addition, the disinfection check unit may be formed of a shape memory alloy having a first shape when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature. In this case, the robot arm to which the surgical instrument is coupled includes a protrusion, and when the surgical instrument is coupled to the robot arm, the shape memory alloy may have a second shape by the protrusion.

Here, the shape memory alloy may be in the form of a film or rod.

In addition, the present embodiment further includes a usage record attached to one side of the surgical instrument is stored information about the surgical instrument, wherein the usage record may be an RFID tag.

In addition, the use recorder stores information on the history of the operation of the surgical instrument in accordance with the user's operation, the use recorder increases the number of use of the surgical instrument by 1 when the surgical instrument is operated, and check the disinfection status One disinfection information can be stored unsterilized.

In addition, according to another aspect of the present invention, the operator in contact with the surgical site is coupled to one end, the drive unit for operating the operator is coupled to the other end, the disinfection check unit and surgical instrument for checking the disinfection state is stored In the method of setting a surgical instrument with a usage record which is to be used, if the surgical instrument is operated, the number of use of the surgical instrument is increased by 1, and the disinfection information checked for disinfection status is stored in an undisinfected state. There is provided a method of setting a surgical instrument comprising the steps of storing and disinfecting information in the sterilized state when disinfecting the surgical instrument.

Here, the surgical instrument may operate according to the user's operation only when the disinfection information is disinfected, and the disinfecting state storage step may be performed by disinfecting the disinfection information when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature. You can save it as a state.

In addition, the usage recorder is an RFID tag, and may store information about a history of operating the surgical instrument according to a user's operation.

Further, according to another aspect of the present invention, the operator in contact with the surgical site at one end, the drive unit for operating the operator is coupled to the other end, the information about the disinfection check unit and the surgical instrument for checking the disinfection state A method of setting a surgical instrument having a stored usage record attached thereto, the method comprising: checking whether a unique number of a surgical instrument exists in a pre-stored available tool list, and a unique number of the surgical instrument is stored in a pre-stored available tool list. If present, operating the surgical instrument according to the user's operation, and if the unique number of the surgical instrument is not present in the list of pre-stored available tools, use the disinfection information that checks the number of use of the surgical instrument and the disinfection status. Operation of surgical instruments This step and the surgical instrument is operatively state when connection method surgical instrument set for the tool comprises the step of registering the serial number of the instrument for surgery, the list is provided for determining the.

The operation determining step may include comparing the number of times of use of the surgical instrument with a preset maximum number of times of use, checking whether the disinfection information checked for disinfection is disinfected and the number of times of use of the surgical instrument is less than or equal to the maximum number of times of use. And, if the disinfection information is in a disinfected state may include determining the surgical instrument as an operable state.

In addition, the present embodiment may include the step of increasing the number of times of use of the surgical instrument when the surgical instrument is in an operable state by one, and storing the disinfection information checked the disinfection state in a non-sterile state Can be.

In addition, according to another aspect of the present invention, a program of instructions that can be executed by a digital processing apparatus for performing the above-described method for setting a surgical instrument is tangibly embodied and can be read by the digital processing apparatus. A recording medium recording the above is provided.

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

Surgical instrument and its setting method according to the present invention is provided with a means to check the disinfection status to identify the user can be used conveniently, the number of use of the surgical instrument and the disinfection state is linked to each other check and display It works.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

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

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

1A is a conceptual diagram schematically showing a structure of a surgical instrument according to an embodiment of the present invention. The robot arm 12, the RFID reader 14, the surgical instrument (shaft 20, the driver 23, the operator 25), the RFID tag 22, and the disinfection checker 24 are shown.

In this embodiment, the disinfection check unit 24 is attached to the reusable surgical instrument 20 to check the disinfection status of the surgical instrument 20, and the surgical instrument using the disinfection information generated after the check There is a feature that can determine whether the operation of the (20). In addition, the present embodiment has the advantage that by operating the disinfection check unit 24 and the use record unit (for example, RFID tag 22) to ensure the disinfection state and the number of times of use to safely operate.

Surgical instrument according to the present embodiment is coupled to the operator 25 in contact with the surgical site, one end is coupled to the operator 25 and the shaft 20 extending in a predetermined length direction, the other end of the shaft 20, The driver 23 for operating the operator 25, and attached to one side of the surgical instrument includes a disinfection check unit 24 for checking the disinfection state of the surgical instrument.

Disinfection check unit 24 according to the present embodiment may include a temperature sensor. The disinfection check unit 24 generates a predetermined disinfection information by checking the disinfection state when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature, in this case, the disinfection information may be stored in a 'disinfected state'. The disinfection check unit 24 may change the disinfection information by measuring the temperature of the surgical instrument (including its own temperature or ambient temperature) when the surgical instrument is sterilized at a high temperature.

Disinfection information is information generated after checking the disinfection status of the surgical instrument, this embodiment can determine the disinfection status and operability of the surgical instrument using this information. The disinfection information may be generated as predetermined digital information, and the technology for changing the measured temperature data into digital information is obvious to the person skilled in the present embodiment, and thus detailed description thereof will be omitted.

Disinfection information can be divided into 'sterile' or 'unsterile'. This information is a set value, the actual data can be stored and utilized as 0 or 1, or yes or no. For example, when the disinfection information is 1 or yes, the surgical instrument may be operated normally. When the disinfection information is 0 or no, the surgical instrument may not be normally operated.

Disinfection method according to the present embodiment may be applied to sterilization using an autoclave. In general, steam sterilization is a method of sterilization by boiling for about 20 minutes at 135 degrees, 2 atm. Since the present embodiment measures whether or not the surgical instrument is disinfected by measuring a change in temperature when performing the disinfection method, the temperature applied to the disinfection method may be set to the above-mentioned reference temperature. That is, the disinfection check unit 24 may store the disinfection information in a 'disinfected state' when the measurement temperature during the disinfection of the surgical instrument is higher than a predetermined reference temperature. The predetermined reference temperature may be 100 degrees to 140 degrees.

In addition, only when the disinfection information is in a 'disinfected state' can the surgical instrument operate according to the user's operation. Here, whether or not the operation of the surgical instrument can be determined by controlling the driving unit 23, the operator 25 or a coupling relationship thereof. For example, when the disinfection information is in a 'non-sterile state', a predetermined latch may interfere with the rotation of the driving wheel of the driving unit 23, and when the disinfection information is in the 'sterilized state', the release latch may be released to It can rotate smoothly. The operation of the latch may be determined by a controller of the surgical robot that controls the movement of the latch in response to the disinfection information. In addition, the movement of the wires connecting the operator 25 or the driver 23 and the operator 25 to control the surgical instrument to operate according to the user's operation only when the disinfection information is 'disinfected state'. Other methods, such as a method of controlling, a method of electronically processing by software in the controller of the surgical robot that controls the operation of the surgical robot, may be applied to the present invention.

The surgical instrument according to the present embodiment described above can be used for robotic surgery or manual surgery. In the former case, the surgical instrument is mounted to the distal end of the surgical robot arm equipped with an actuator, and receives a driving force from the actuator to operate a driving wheel provided in the driving unit 23, and is connected to the driving wheel and into the body of the surgical patient. The operator 25 to be inserted performs the operation by performing a predetermined operation. The driving wheel is formed in a disc shape, and may be clutched to the actuator to receive the driving force. In addition, the number of driving wheels may be determined corresponding to the number of objects to be controlled, and the description of such driving wheels will be apparent to those skilled in the art related to surgical instruments, and thus detailed description thereof will be omitted.

In addition, in the latter case, the driving unit is provided with an interface that can be directly manipulated by a doctor, for example, a stick shape, a button shape, a tong shape, a lever shape, and the like, and when the doctor controls the drive, the driving unit is connected to the corresponding interface and operated by the doctor. The operator 25 inserted into the body performs a predetermined operation to perform the surgery. In the present specification, the description will be focused on the former.

The surgical robot according to the present embodiment consists of a master robot that generates and transmits a signal required by a doctor's operation, and a robot arm 12 that receives a signal from the master robot and directly applies a manipulation necessary to a patient. , The robot arm 12 is connected to the master robot in a wired, wireless manner to proceed with the surgery remotely.

In addition, the present embodiment is provided with a use recording unit as described above may be recorded a variety of information about the surgical instrument, such as the number of uses. The usage record may be an RFID tag 22 or a chip having a predetermined memory capacity. When the usage record is the RFID tag 22, the corresponding information may be read by the RFID reader 14 coupled to a predetermined position or necessary information may be stored in the RFID tag 22. The RFID reader 14 may be directly coupled to or in close proximity to the surgical instrument.

 In addition, when the usage record is implemented as a chip, when the surgical instrument is coupled to the robot arm 12, the information is read from the memory of the chip provided in the surgical instrument using a predetermined electrical contact or changed according to an operation. It may be provided with a control device such as a separate microcomputer to update. The following description will focus on the former.

RFID tag 22 is attached to one side of the surgical instrument is stored information about the surgical instrument. Here, the information about the surgical instrument may be, for example, a serial number, the number of uses, a hospital used, a unique number of the mounted surgical robot, and the like.

RFID technology is a technology that recognizes a target object by collecting and storing information from a tag attached to an object using radio waves. Recently, as RFID chip prices decrease, various industries including distribution and logistics It is actively spread in the present embodiment, this embodiment may employ such RFID technology.

RFID tag 22 according to the present embodiment by storing the data about the use history of the surgical instrument, such as the number of the surgical instrument used, the surgical robot equipped with the surgical instrument, the number of use, such as surgical As the instrument is mounted on the robot arm 12, it can be seen how many times it has been mounted on which robot in which hospital.

This embodiment can manage such use times in conjunction with disinfection information. That is, the RFID tag 22 increases the number of times of use of the surgical instrument by 1 when the surgical instrument operates according to the user's operation, and disinfects the disinfection information in which the sterilization state is checked as described above. Can be stored as The number of times of use and disinfection information may be stored in the RFID tag 22 and read by the RFID reader 14 to be used for the use of surgical instruments. That is, a surgical instrument that is used for a predetermined maximum number of times, for example, 10 or more times, or a surgical instrument that is in a microtoxin state, can be hygienic and safe by limiting its use.

Here, the function of limiting the use of a surgical instrument that is used more than the maximum number of times or is in a microtoxic state may be performed in the controller of the surgical robot in software. For example, as described above, operation of the surgical instrument may be determined by controlling the driving unit 23, the operator 25, or a coupling relationship thereof, and whether the operation is performed using the number of times of use and disinfection information. You can decide. In addition, various methods of determining whether the surgical instrument is operated using the number of times of use and disinfection information may be applied to the present invention.

The operator 25 is coupled to one end of the shaft 20 and inserted into the body of the surgical patient. The operator 25 is a member in contact with the surgical site during the actual surgery. The operator 25 of the surgical instrument may include a pair of jaws coupled to the distal end of the rotating unit 140 to perform a gripping operation or a cutting operation.

In this case, the driving wheel of the driving unit 23 described above may be coupled to the pair of jaws and pulleys. The drive wheel and the pair of jaws can be coupled to one another in various ways, for example, a pair of wires to each jaw, a pair of wires to a pair of jaws, etc. Can be. Referring to the latter case, as the drive wheel rotates, the driving force is transmitted through the wire, so that the pair of jaws perform the tong or cutting operation. In order to move a pair of jaws through a pair of pulley wires, a pair of jaws are connected to each other by gears, and a pulley wire is coupled to one of a pair of jaws or a pair of jaws combined to drive force. Can be passed. In addition, a variety of mechanisms can be applied to use a pair of pulleys to force a pair of jaws to move the tongs.

Figure 1b is a block diagram of the disinfection check unit coupled to the surgical instrument according to an embodiment of the present invention. Referring to FIG. 1B, the disinfection check unit 24, the temperature sensor unit 241, the disinfection information generator 242, the disinfection information storage unit 243, the disinfection information extraction unit 26, and the operation determination unit 27 ) Is shown.

The disinfection check unit 24 may include a temperature sensor unit 241, a disinfection information generation unit 242, and a disinfection information storage unit 243. The temperature sensor unit 241 measures the temperature of the surgical instrument, the disinfection information generation unit 242 generates the above-described disinfection information in a 'disinfected state' when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature Alternatively, it may be changed and stored in the disinfection information storage unit 243. That is, the temperature sensor unit 241 measures the ambient temperature, and the disinfection information generation unit 242 compares the measured temperature with the reference temperature to correspond to the operation result as described above in accordance with the 'disinfected state' or 'smile' The disinfection information of the poison state 'is generated, and the disinfection information storage unit 243 may store the disinfection information as a predetermined memory.

The disinfection information extraction unit 26 extracts the disinfection information described above from the disinfection information storage unit 243 at the start of operation of the surgical instrument of the present embodiment, and the operation determination unit 27 is based on the extracted disinfection information. Determine if the surgical instrument is operational. That is, the operation determining unit 27 determines that normal operation is possible when the disinfection information is in the 'disinfected state', and determines that normal operation is impossible when the disinfection information is in the 'non-sterile state'. The determination result is transmitted to the controller of the surgical robot of the present embodiment, and when the surgical instrument is mounted on the robot arm 12 described above, it is possible to determine whether the operation is possible.

The disinfection information extraction unit 26 and the operation determination unit 27 may not be included in the disinfection check unit 24 as shown in FIG. 1B, but according to another embodiment, the disinfection information extraction unit 26 may be The operation determining unit 27 is also included in the disinfection check unit 24, the operation determining unit 27 may determine whether the operation of the surgical instrument of the present embodiment in conjunction with the controller of the surgical robot described above. .

2 is a conceptual diagram schematically showing a structure of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 2, the robot arm 12, the RFID reader 14, the protrusion 16, the shape memory alloy 17, the surgical instrument (shaft 20, the driver 23, the operator 25), RFID tag 22 is shown. The differences from the above will be explained mainly.

This embodiment is characterized in that it is possible to check the disinfection of the surgical instrument using the shape memory alloy as the above-described disinfection check unit. That is, in the present embodiment, the user can conveniently determine whether the surgical instrument is disinfected by using the shape memory alloy 17 which is deformed by a predetermined means during surgery and restored at a predetermined temperature or more during disinfection. There is a characteristic to make.

The robot arm 12 to which the surgical instrument engages includes a protrusion 16 at its tip. The protrusion 16 may be inserted into a predetermined hole in which the shape memory alloy 17 provided in the surgical instrument is located. When the shape memory alloy 17 is in the form of a membrane, when the surgical instrument is coupled to the robot arm 12, the shape memory alloy 17 is crushed into the hole (second shape). That is, the shape memory alloy 17 may be formed in the form of a film that blocks the hole punched in the surgical instrument.

Thereafter, when the surgical instrument is sterilized in a predetermined temperature or more, the shape memory alloy 17 is unfolded into a membrane shape (first shape) again, and the user can confirm that the surgical instrument is disinfected.

The shape memory alloy 17 has been described above in the form of a membrane, but in other forms, for example, it extends in a straight or curved line, and spreads (or bends) to a first shape during disinfection, and surgical instruments and robots. When the arm 12 is coupled, it can be implemented in the form of a rod that can be bent (or unfolded) into a second shape, of course.

3 is a flow chart illustrating a method of setting a surgical instrument according to an embodiment of the present invention.

The flowchart according to the present embodiment is described with reference to a method of updating the number of times of use and disinfection information during operation of the surgical instrument. Such a method may be a method of setting a surgical instrument using a temperature sensor in the above-described embodiment.

In step S310, the number of times of use of the first surgical instrument (count) is set to zero, and the above-described disinfection information is set to 'sterile state (YES)'. As described above, since the information '0' and 'disinfected state' may be managed and stored in the above-described usage record by being replaced by separate parameters, information according to other expressions may be applied to the present invention. . In addition, such initial disinfection information may be stored as initial settings in the manufacture of the surgical instrument.

In step S320, the number of use of the surgical instrument (count) is compared with the maximum number of times of use, and after confirming that the disinfection information is 'disinfected state (YES)' as a result that the number of use (count) is less than the maximum number of times of use or disinfection information is In the case of the 'non-disinfected state (NO)', in step S330, the state of the surgical instrument is set to an inoperable state. That is, the surgical instrument is operated only according to the user's operation when the disinfection information is disinfected. The operation of the surgical instrument may be determined by controlling the driving unit 23, the operator 25, or a coupling relationship thereof using the disinfection information as described above. In addition, even when the number of times of use is more than a predetermined maximum number of times as described above, the operation of the surgical instrument according to the present embodiment may be limited.

In step S340, when the use count is less than or equal to the maximum number of uses and the disinfection information is in the 'sterile state YES', the state of the surgical instrument is set to an operable state.

Thereafter, in operation S350 before or during surgery, the number of use of the surgical instrument is increased by 1, and the disinfection information checked for disinfection is changed to 'non-sterile state (NO)' and stored.

In step S360, surgery is performed using an operable surgical instrument, and in step S370, the reusable surgical instrument of this embodiment is sterilized by various devices and methods, such as an autoclave, as described above.

In step S380, the sterilized surgical instrument is changed by the disinfection check unit back to the disinfection state (YES), and is placed in the standby state again in step S320. Therefore, the surgical instrument of the present embodiment is disinfected and conquered 'disinfected state', and may be set to enable the operation if the number of times is less than the maximum number of times of use.

Figure 4 is a flow chart illustrating a method of setting a surgical instrument according to another embodiment of the present invention.

The flowchart according to the present embodiment is described based on a method of updating the number of times of use and disinfection information during operation of the surgical instrument, and particularly, a method of detaching the surgical instrument several times in one operation. The differences from the above will be explained mainly.

In step S410, the number of times of use of the first surgical instrument (count) is set to zero, and the above-described disinfection information is set to 'sterile state (YES)'. As described above, since the information '0' and 'disinfected state' may be managed and stored in the above-described usage record by being replaced by separate parameters, information according to other expressions may be applied to the present invention. . In addition, such initial disinfection information may be stored as initial settings in the manufacture of the surgical instrument.

In step S415, a list of available tools, which is a list of surgical instruments available for surgery start and surgery, is initialized. The list of available tools is a list of tools that can be used during surgery to allow the removal of surgical instruments multiple times in a single operation. The list of available tools is accessible to the controller of the surgical robot for controlling the operation of the surgical robot described above, and may be stored in a storage unit (not shown) provided in the surgical robot. The list of available tools is initially initialized. Repeatedly used surgical instruments can be used for surgery by being registered in the list of available tools.

In step S420, the surgical instrument is mounted on the robot arm, and in step S425, the surgical robot checks whether a unique number of the mounted surgical instrument exists in the list of available tools. The unique number of the surgical instrument is an identifier for distinguishing the surgical instrument, the surgical instrument may have a different unique number. If a unique number of the mounted surgical instrument does not exist in the list of available tools, the surgical robot determines whether the operation is possible by determining the number of use of the surgical instrument and whether it is disinfected.

In step S430, if a unique number of the mounted surgical instrument does not exist in the list of available tools, the surgical robot compares the number of use of the surgical instrument with the maximum number of use, and if the number of use of the surgical instrument is If the maximum number of times of use is exceeded, in step S435, the number of times of use warning is notified and no further progress is made, and the use of the present surgical instrument is terminated. The usage count warning may be a warning signal that the user sends out, such as a sound signal, an optical output signal, a vibration signal, and the like, and the transmitting agent may be a surgical instrument and / or a surgical robot.

On the other hand, if the number of times of use of the surgical instrument is less than the maximum number of uses, in step S440, as a result of confirming that the disinfection information is 'sterilized state (YES)', if the disinfection information is 'unsterile state (NO)', in step S445 In this case, the instrument is not used anymore, and the use of this surgical instrument is terminated. That is, the surgical instrument is operated only according to the user's operation when the disinfection information is disinfected. In this case, whether or not the operation of the surgical instrument can be determined by controlling the driving unit 23, the operator 25, or a coupling relationship thereof using disinfection information as described above.

If the disinfection information is 'sterile state (YES)', in step S450, the number of use of the surgical instrument (count) is increased by 1, and the disinfection information which has been checked for disinfection is changed to 'non-sterilization state (NO)'. Change it and save it. In addition, by registering the unique number of the surgical instrument described above in the list of available tools, the surgical instrument can be detached several times with one change of information in the ongoing operation.

If the unique number of the surgical instrument is present in the list of available tools, in step S455, the operation is performed using the mounted surgical instrument, and in step S460, the surgical instrument is removed from the robot arm.

In step S465, when the surgical instrument is reused, the surgical instrument is again mounted on the robot arm in step S420. In step S470, after the operation is finished, in step S475, the reusable surgical instrument of the present embodiment is sterilized by various devices and methods such as an autoclave as described above.

In step S480, the sterilized surgical instrument is changed to the disinfected state (YES) by the disinfection check unit again. Therefore, the surgical instrument of the present embodiment may be set to enable its operation when the disinfection information is 'disinfected state' and the number of times of use is less than the maximum number of times of use.

In addition to the specific size, shape of the surgical instrument according to an embodiment of the present invention and a detailed description of the common platform technology such as the embedded system of the surgical robot, O / S and communication standard, interface standardization technology such as I / O interface, etc. As it is obvious to those skilled in the art, the present invention will be omitted.

The method for setting a surgical instrument according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. That is, the recording medium may be a computer-readable recording medium having recorded thereon a program for causing a computer to execute the steps described above.

The computer readable medium may include a program command, a data file, a data structure, etc. alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as a hard disk, a floppy disk and a magnetic tape, optical recording media such as CD-ROM and DVD, magnetic recording media such as a floppy disk Optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

In the above, the surgical instrument and the setting method according to an embodiment of the present invention described the configuration of the disinfection check unit and the usage record according to an embodiment, but is not necessarily limited thereto, the disinfection check unit and And / or other combinations may be included in the scope of the present invention if there is no difference in the overall operation and effect even if the location of the use record is combined, implementation manners, and the like. It will be understood that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as set forth in the claims.

Figure 1a is a conceptual diagram schematically showing the structure of a surgical instrument according to an embodiment of the present invention.

Figure 1b is a block diagram of the disinfection check unit coupled to the surgical instrument according to an embodiment of the present invention.

2 is a conceptual view schematically showing the structure of a surgical instrument according to another embodiment of the present invention.

3 is a flow chart showing a setting method of the surgical instrument according to an embodiment of the present invention.

Figure 4 is a flow chart showing a setting method of the surgical instrument according to another embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

12: robot arm 14: RFID reader

16: protrusion 17: shape memory alloy

20: shaft 22: RFID tag

23: drive unit 24: disinfection check unit

241: temperature sensor unit 242: disinfection information generation unit

243: disinfection information storage unit 25: the operator

26: disinfection information extraction unit 27: operation determination unit

Claims (20)

An operator in contact with the surgical site; A shaft having one end coupled to the operator and extending in a predetermined length direction; A driving unit coupled to the other end of the shaft and operating the operator; Is attached to any one of the operator, the shaft and the drive unit includes a disinfection check unit for generating disinfection information by checking the disinfection status of the surgical instrument, The disinfection check unit, A temperature sensor unit for measuring a temperature of the surgical instrument; A disinfection information generation unit configured to generate disinfection information in which the disinfection state is checked by comparing the measured temperature of the surgical instrument with a predetermined reference temperature; Surgical instrument comprising a disinfection information storage unit for storing the disinfection information. delete The method of claim 1, And the disinfection information generation unit stores the disinfection information in which the disinfection state is checked in the disinfection state when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature in the disinfection state storage unit. The method of claim 1, Surgical instrument operating the surgical instrument according to the user's operation only when the disinfection information is disinfected. The method of claim 1, The reference temperature is a surgical instrument, characterized in that from 100 to 140 degrees. The method of claim 1, The disinfection check unit is a surgical instrument is formed of a shape memory alloy having a first shape when the measurement temperature of the surgical instrument is higher than a predetermined reference temperature. The method of claim 6, The robot arm to which the surgical instrument is coupled comprises a protrusion, And the shape memory alloy has a second shape by the protrusion when the surgical instrument is coupled to the robot arm. The method of claim 6, The shape memory alloy is a surgical instrument, characterized in that the membrane form or rod shape. The method of claim 1, Surgical instrument attached to one side of the surgical instrument further comprises a usage record for storing information about the surgical instrument. 10. The method of claim 9, The use record is a surgical instrument RFID tag. 10. The method of claim 9, And the usage recorder stores information on a history of operating the surgical instrument according to a user's operation. 12. The method of claim 11, The use recorder is a surgical instrument for increasing the number of times of use of the surgical instrument when the surgical instrument is operated by one, and to store the disinfection information checked the disinfection state in a non-sterile state. A surgical instrument coupled with an operator contacting the surgical site at one end, a drive unit operating the operator at the other end, a surgical instrument with a disinfection check unit for checking disinfection status and a usage record storing information about the surgical instrument. In the setting method of, Increasing the number of times the surgical instrument is used by one when the surgical instrument is operated, and storing disinfection information in which the disinfection state is checked in an undisinfected state; And Storing the disinfection information in a disinfected state when disinfecting the surgical instrument; The surgical instrument setting method, characterized in that the surgical instrument operates only in accordance with the user's operation when the disinfection information is disinfected. delete 14. The method of claim 13, The disinfection state storage step, And setting the disinfection information in a sterilized state when the measured temperature of the surgical instrument is higher than a predetermined reference temperature. 14. The method of claim 13, The usage recording unit is an RFID tag, the setting method of the surgical instrument for storing information on the history of the operation of the surgical instrument in accordance with the user's operation. delete delete delete A program of instructions that can be executed by a digital processing apparatus for performing the setting method of the surgical instrument according to any one of claims 13 and 15 to 16 is tangibly implemented and read by the digital processing apparatus. Recording medium that records the program.

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