KR101700311B1 - Biopsy needle end-effector - Google Patents

Biopsy needle end-effector Download PDF

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Publication number
KR101700311B1
KR101700311B1 KR1020150055832A KR20150055832A KR101700311B1 KR 101700311 B1 KR101700311 B1 KR 101700311B1 KR 1020150055832 A KR1020150055832 A KR 1020150055832A KR 20150055832 A KR20150055832 A KR 20150055832A KR 101700311 B1 KR101700311 B1 KR 101700311B1
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South Korea
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biopsy needle
mover
coupled
firing
housing
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KR1020150055832A
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Korean (ko)
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KR20160125568A (en
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문영진
최재순
서준범
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울산대학교 산학협력단
재단법인 아산사회복지재단
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Priority to KR1020150055832A priority Critical patent/KR101700311B1/en
Priority to PCT/KR2016/004156 priority patent/WO2016171489A1/en
Publication of KR20160125568A publication Critical patent/KR20160125568A/en
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Publication of KR101700311B1 publication Critical patent/KR101700311B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments

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  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
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  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

The present disclosure relates to a biopsy needle end effector containing at least one biopsy needle, comprising: a firing unit coupled to at least one biopsy needle for firing a biopsy needle; a moving unit coupled to the firing unit to move the firing unit; And an actuating part disposed in a movement path of the launching part and loading and operating the launching part.

Description

Biopsy needle end effector {BIOPSY NEEDLE END-EFFECTOR}

This disclosure generally relates to a biopsy needle end effector, and more particularly to a biopsy needle end effector that triggers a biopsy needle by an elastic body.

Herein, the background art relating to the present disclosure is provided, and these are not necessarily meant to be known arts.

Usually, when a nodule or mass in a human body is suspected of being a cancer, the diseased tissue is collected and the pathological examination of the collected tissue is performed to confirm the disease. The biopsy taken from the lesion can be divided into a surgical biopsy to collect the tissue through surgery and a minimally invasive biopsy under the guidance of the latest imaging equipment. Because of the long recovery period, long hospital stay, pain, complications, and high risk of death, a minimally invasive biopsy performed under image guidance is becoming popular and is performed using a biopsy needle.

FIG. 1 is a view showing an example of a biopsy needle shown in U.S. Patent No. 5,236,334. The biopsy needle is composed of an inner stylet 10 and a sheath 20. The inner stylet 10 is composed of a hub 11, a body 12, a notch 13 and a distal end 14. The notch 13 is located between the distal end 14 and the body 12 and is a space in which the cut tissue is stored. The distal end (14) has a pointed shape for the function of passing through the living body. The sheath 20 is composed of a hub 21 and a cannula 22.

FIG. 2 is a view showing an example of a method of using the biopsy needle shown in FIG. 1, wherein an inner stylet and a sheath are inserted into the vicinity of the affected part tissue 30 that needs to be collected (see 40). Next, the notch 13 is inserted into the affected part tissue 30 by using the distal end portion 14 of the inner stylet (see 41). Next, the cannula 22 of the sheath is inserted into the ring tissue 30 (refer to 42) to cut the foreign body tissue that has entered the notch 13. The biopsy needle is pulled out from the living body in a state in which the cut off foreign body tissue is in the notch 13, and then the foreign body tissue contained in the notch 13 is used for the examination.

Fig. 3 is a view showing another example of a biopsy needle. This biopsy needle is commonly used and is known as a Chiba needle. The chiba needles are composed of a sheath 50 and an inner stylet 60. The sheath 50 is constituted by a hub 51 and a cannula 52. The inner stylet 60 is constituted by a hub 61, a body 62 and a distal end 63. 1 is different from the inner stethoscope 10 of the biopsy needle shown in Fig. 1 in that it does not have a notch 13, which is a space for collecting tissue and storing it.

FIG. 4 is a view showing an example of a method of using the biopsy needle shown in FIG. 3. First, the inner stilet 60 and the sheath 50 are joined (refer to 81) (See 82). Next, the inner stylet 60 is separated from the sheath 50 (see 82). Next, the syringe 70 is connected to the hub 51 of the sheath 50 (see 83). Next, a portion of the tissue 30 is collected using the suction force of the syringe 70. [ Various methods other than the injector 70 can be used as a method of using the suction force. A vacuum machine may also be used. 80, the state in which the inner stylet 60 and the sheath 50 are separated is shown.

5 is a view showing another example of a biopsy needle. The biopsy needle is composed of a sheath 90 and an inner stethoscope 100. The sheath 90 is composed of a cannula 91 and a hub 92. The inner stylet 100 is composed of a body 110, a hub 121, and a distal end 130. The distal end 130 has a pointed shape to pass through the tissue. The biopsy needle is inserted into the living body through the body 200 to which the sheath 90 and the inner stethoscope 100 are combined and inserted to the vicinity of the affected part tissue to be collected. Then, the inner stethoscope 100 is taken out, The needle can be inserted into the insertion hole of the needle as shown in FIG. This type of biopsy needle is called a coaxial needle in order to distinguish it from the biopsy needle for tissue sampling illustrated in FIGS. The coaxial needle is used as a path for inserting the sheath 90 into the biopsy needle after the inner stylet 100 is removed while the coaxial needle is inserted into the living body when the biopsy is required several times for the same tissue. This eliminates the need to insert the biopsy needle into the patient every time. The coaxial needle may be used as a passageway when the biopsy needle shown in Fig. 3 is inserted into a living body.

In general, minimally invasive biopsy is performed by intervention in which a biopsy needle is inserted into the body while observing the inside of the human body through an imaging device. In this case, the needle is inserted into the human body while looking at the inside of the human body through a radiographic device such as a fluoroscopic device or a CT, and radiation exposure of the patient and the operator due to repeated imaging is a problem. By using an interventional robot, medical personnel can be protected from radiation exposure.

Fig. 6 is a diagram showing an example of an arbitration procedure robot presented in U.S. Patent Application Publication No. 2010-0250000, in which an arbitration procedure robot called a da Vinci is presented. The interventional procedure robot has a plurality of robot arms (201, 202, 203, 204). Each arm 201, 202, 203, 204 has end effectors 211, 212, 213, 214. The end effectors 211, 213, and 214 are mainly in the form of a forceps for laparoscopic surgery, and the end effector 212 is an endoscope. A display 220 is also provided for indicating the affected area.

Fig. 7 is a diagram showing an example of an arbitration procedure robot presented in U.S. Patent Application Publication No. US2005 / 01522883, which shows an arbitration procedure robot called product name Sensei. The interventional procedure robot has a robot arm 301. The robot arm 301 has an end effector 311. The end effector 311 may be equipped with a catheter and used for intervention, human implantation, minimally invasive surgery, and the like. A master console 330 is provided as a user interface for manipulating the robot arm 301 and / or the end effector 311 and the robot arm 301 and / or the end effector 311, And a computer 340 for controlling the operation of the microprocessor. The patient is shown in the operating table 350.

The present disclosure seeks to provide a biopsy needle end effector to be used when a minimally invasive biopsy is performed by an interventional robot.

This will be described later in the Specification for Enforcement of the Invention.

SUMMARY OF THE INVENTION Herein, a general summary of the present disclosure is provided, which should not be construed as limiting the scope of the present disclosure. of its features).

According to one aspect of the present disclosure, there is provided a biopsy needle end effector containing at least one biopsy needle, the biopsy needle end effector comprising: at least one biopsy needle, part; A moving unit coupled to the launching unit to move the launching unit; And an actuating part disposed in a movement path of the launching part and loading and activating the launching part.

This will be described later in the Specification for Enforcement of the Invention.

1 is a view showing an example of a biopsy needle shown in U.S. Patent No. 5,236,334,
Fig. 2 is a view showing an example of a method of using the biopsy needle shown in Fig. 1,
3 is a view showing another example of a biopsy needle,
Fig. 4 is a view showing an example of a method of using the biopsy needle shown in Fig. 3,
5 is a view showing still another example of a biopsy needle,
6 is a view showing an example of an arbitration procedure robot shown in U.S. Published Patent Application No. 2010-0250000,
7 is a view showing an example of an arbitration procedure robot shown in U.S. Published Patent Application No. 2011-0152883,
8 is a view showing an example of a biopsy needle end effector according to the present disclosure,
FIG. 9 is a view showing the inside of a biopsy needle end effector by removing a part of a cover of the biopsy needle end effector shown in FIG. 8;
10 is a view for explaining that a biopsy needle cartridge is detachably attached by a connecting portion,
FIG. 11 is a view showing only a moving part combined with a launching part and a launching part of the biopsy needle end effector shown in FIG. 8;
FIG. 12 is a view showing only the operating part of the biopsy needle end effector shown in FIG. 8,
13 is a view showing the biopsy needle cartridge of the biopsy needle end effector shown in FIG. 8 and the biopsy needle accommodated in the biopsy needle cartridge,
14 is a view for explaining an example of a launching part included in the biopsy needle cartridge according to the present disclosure in detail,
15 is a view for explaining an example of the first link of the moving part included in the biopsy needle cartridge according to the present disclosure in detail,
16 is a view for explaining an example of the movement of the operating portion,
17 is a diagram illustrating an example of a method for controlling a biopsy needle end effector according to the present disclosure,
FIG. 18 is a fragmentary view of the step of FIG. 17 (d)
Fig. 19 is a detailed view of the step of Fig. 17 (e); Fig.

The present disclosure will now be described in detail with reference to the accompanying drawings.

8 is a view showing an example of a biopsy needle end effector according to the present disclosure.

FIG. 8 shows a biopsy needle end effector 400 according to the present invention assembled. The biopsy needle end effector 400 is covered with a cover 401.

9 is a view showing the inside of a biopsy needle end effector by removing a part of a cover of the biopsy needle end effector shown in FIG.

 A biopsy needle end effector 400 according to the present disclosure includes a biopsy needle cartridge 410 containing at least one biopsy needle, at least one biopsy needle contained in the biopsy needle cartridge 410, A moving part 430 coupled to the launch part 420 to move the launch part 420 and an operation part 440 disposed in the moving path of the launch part 420 to load and operate the launch part 420, ). The launching unit 420 is not shown in Fig.

10 is a view for explaining that a biopsy needle cartridge is detachably attached by a connecting portion;

The biopsy needle cartridge 410 is detachable by the connection portion 402 of the biopsy needle end effector 400. The biopsy needle cartridge 410 is detached and attached to the biopsy needle end effector 400 while the protrusion 411 of the biopsy needle cartridge 410 is engaged with or disengaged from the groove (not shown) of the connection portion 402. The biopsy needle cartridge 410 can also be rotated about the Y axis by the gear 412. The Y axis and X axis in the biopsy needle end effector 400 are shown in FIG. The structure of the biopsy needle having the sheath and inner stylet accommodated in the biopsy needle cartridge 410 and the biopsy needle cartridge 410 will be described with reference to FIG.

FIG. 11 is a view showing only the launching part of the biopsy needle end effector shown in FIG. 8 and the moving part combined with the launching part.

The launching portion 420 of the biopsy needle end effector 400 according to the present disclosure includes a housing 421, a first mover 422 disposed inside the housing 421 and coupled to the sheath of the biopsy needle, A second mover 423 disposed on the first mover 422 and coupled to the inner stylet of the biopsy needle, and an elastic body 424 disposed between the first mover 422 and the second mover 423. The elastic body 424 is preferably a spring. One of the first mover 422 and the second mover 423 may be fixedly coupled to the housing 421 and the other may be movably coupled within the housing 421. [ It is preferable that the second mover 423, which engages with the inner stylet of the biopsy needle, is movably coupled within the housing 421. The second mover 423 may include a trigger 425. The housing 421 may include a projection 426 that contacts the actuating portion 440 on its outer side. The structure of the launching unit 420 will be described in detail with reference to FIG. The moving part 430 of the biopsy needle end effector 400 according to the present disclosure includes a first link 450 coupled with the firing part 420 and a second link 460 coupled with the first link 450 . Since the moving unit 430 includes the plurality of links 450 and 460, the Y-axis moving distance of the link can be reduced, and the Y-axis length of the entire end effector can be reduced. The structure of the first link 450 coupled with the launching unit 420 will be described in detail with reference to FIG. The second link 460 includes a wire cable 461, a pulley 462, and a drive motor 463 coupled with the first link 450 to move the first link 450 in the Y-axis direction .

12 is a view showing only the operating portion of the biopsy needle end effector shown in FIG.

The operation part 440 of the biopsy needle end effector 400 according to the present disclosure includes a rotating body 470 rotating on the Y axis, a blade 471 connected to the rotating body 470 and contacting the firing part 420, . The rotating body 470 may be a cam. A link 480 that includes a roller 481 that moves in conjunction with the cam when the rotating body 470 is a cam, and a drive motor 490 that moves the link 480 in the Y axis direction. 12B is an enlarged view of the rotating body 470 and shows a part of the link 480 including the rotating body 470, the wing 471, the roller 481 and the roller 481 in detail. The operation principle of the operation portion is described in detail in Fig.

FIG. 13 is a view showing the biopsy needle cartridge of the biopsy needle end effector shown in FIG. 8 and the biopsy needle accommodated in the biopsy needle cartridge.

FIG. 13 (a) shows an example of a biopsy needle 500 that is accommodated in a biopsy needle cartridge of the biopsy needle end effector according to the present disclosure. The biopsy needle 500 includes a sheath 510 forming an outer body and an inner stylet 520 forming an inner body. The sheath 510 and the inner stylet 520 each have a hub 511 A hub 521 is provided. Since the hub 510 and the inner stylet 520 are formed as very thin as the needle rather than having a special meaning in the name of the hub 511 and the hub 521, And may be used to determine the position between them, and may have various forms as the names commonly used in the art. Fig. 13 (a) illustrates the cochlear needle shown in Fig. 5 as an example of the biopsy needle. However, the biopsy needle for tissue sampling, which includes the sheath and inner stethoscope described in Figs. 1 and 3, Can be accommodated in the biopsy needle cartridge 410. However, it is preferable that the biopsy needle accommodated in the biopsy needle cartridge 410 according to the present disclosure has a hub structure of a suitable type for engaging with the mover. It is also preferable that the hubs 511 and 521 are provided with teeth so as to be guided and rotated by the inner rod 419 of the biopsy needle cartridge 410 described in Fig. 13 (b). In the biopsy needle cartridge 410 shown in Fig. 13 (b), a guide hole 413 is formed to accommodate a biopsy needle. The biopsy needle cartridge 410 may have the upper cap 414 and the lower cap 415 separately or integrally. The lower cap 415 is provided with an outlet 416, 417 of a biopsy needle. The outlet (416) is formed larger than the outlet (417). The hub 511 of the sheath 510 can be moved through the outlet 416 when the biopsy needle 500 as shown in Figure 13 (a) is used. A projection 418 serving as a rotation axis of the biopsy needle cartridge 410 is provided below the biopsy needle cartridge 410. Inside the biopsy needle cartridge 410, a rod 419 guides the movement of the biopsy needle. Preferably, teeth are provided to guide and rotate the biopsy needle.

FIG. 14 is a detailed view illustrating an example of a launching part included in the biopsy needle cartridge according to the present disclosure; FIG.

14A, the launching unit 420 includes a housing 421, a first mover 422 disposed inside the housing 421 and coupled with the sheath of the biopsy needle, a second mover 422 disposed inside the housing 421, An elastic body 424 disposed between the first mover 422 and the second mover 423, a trigger 425 and an outer side 427 of the housing 421. The second mover 423 is coupled with the inner stylet, And the protrusion 426 is in contact with the operation part. 14 (b) shows the launching unit 420 in a state where the elastic body 424 is compressed and loaded. Since the first mover 422 and the housing 421 move when the launching part 420 is triggered and the second mover 423 is fixed to the moving part 430 and does not move, It is preferable to be coupled to the mover 423.

FIG. 15 is a detailed view illustrating an example of the first link of the moving part included in the biopsy needle cartridge according to the present disclosure; FIG.

The first link 450 includes a connector 452 coupled to the guide rail 451 and the firing unit 420 and moving along the guide rail 451 and a connector 452 coupled to the connector 452 to connect the connector 452 to the guide rail 451. [ 452, and a pulley 454 interlocked with the wire cable 453. The wire 453 is connected to the wire 453, The manner in which the first link 450 operates is generally known to those skilled in the art as a wire cable system. In addition to the wire cable system, a link structure that is readily accessible to those skilled in the art of moving the firing portion 420 may be included within the scope of this disclosure. For example, the timing belt system can also be the first link.

FIG. 16 is a view for explaining an example of the movement of the operating portion. FIG.

16 (a) shows the position of the blade 471 of the rotating body 470 when the link 480 including the roller 481 is at the lower end. 16 (b) shows the position of the wing 471 of the rotating body 470 when the link 480 including the roller 481 is at the top. 16 (a) and 16 (b), when the link 480 including the roller 481 moves along the Y axis, the rotating body 470 rotates about the Y axis, You can see moving. The rotation about the Y axis is an example, and it is also possible to rotate about the axis other than the Y axis. The principle of compressing and releasing the elastic body 424 of the launching part 420 by the movement of the operating part 440 will be described with reference to FIGS. 18 and 19. FIG. 18 and 19, in the present embodiment, the operating portion 440 is configured such that the wing 471 of the operating portion 440 is positioned in the moving path of the firing portion 420 and the firing portion 420 to prevent the housing 421 from moving, compressing the elastic body 424 of the firing part 420 or decompressing the elastic body 424. Therefore, the housing 421 of the firing unit 420 can not be moved by being positioned on the movement path of the firing unit 420, thereby compressing the elastic body 424 of the firing unit 420 or decompressing the elastic body 424 It is within the scope of the present disclosure that those skilled in the art can easily make changes.

17 is a diagram illustrating an example of a method for controlling a biopsy needle end effector according to the present disclosure.

For convenience of explanation, a biopsy needle, a launching part, a moving part, and an operating part are briefly shown. In particular, the biopsy needle is accommodated in the biopsy needle cartridge, but the biopsy needle cartridge is omitted for convenience of explanation. In addition, coaxial needles were separated from tissue biopsy needles.

First, as shown in FIG. 17 (a), the coaxial needle 600 is inserted into the vicinity of the affected part 700 using the moving part 430. Then, only the inner stylet 620 of the coaxial needle 600 is retrieved by using the moving unit 430 as shown in FIG. 17 (b). Thereafter, as shown in FIG. 17C, the biopsy needle cartridge rotates to replace the coaxial needle 600 with the biopsy needle 800. The biopsy needle 800 shown in FIG. 17 (c) is a biopsy needle 800 for tissue sampling. The inner stylet 820 includes a notch 821. The manner in which the biopsy needle cartridge is rotated is described in Fig. The biopsy needle 800 is moved to the affected part 700 through the sheath 610 of the coaxial needle 600 by using the moving part 430 as shown in Fig. 17 (d). The inner stylet 820 including the notch 821 is inserted into the annular portion 700. The step of inserting the biopsy needle 800 into the foreign body 700 through the sheath 610 of the coaxial needle 600 using the moving part 430 will be described in detail with reference to FIG. 17 (e), the sheath 810 of the biopsy needle 800 is moved to collect the tissue of the affected part 700. [ The sheath 810 of the biopsy needle 800 is fired by the elastic body 424 and moved by the first mover 422 of the launching part 420. [ The step of collecting tissue of the affected part 700 as the sheath 810 of the biopsy needle 800 is moved and moved by the first mover 422 of the launching part 420 is described in detail in Fig. Thereafter, the biopsy needle 800 is recovered using the moving part 430 as shown in FIG. 17 (f). If additional biopsies are needed, the biopsy needle cartridge can be rotated to further replace the biopsy needle. When biopsy is performed a plurality of times, the number of times of biopsy can be set in advance, and when the biopsy is completed according to the number of biopsies, completion of biopsy can be displayed. The biopsy completion indicator can be visually displayed using an LED or audible by an audible alarm.

Fig. 18 is a fragmented view of the step of Fig. 17 (d).

18A shows a step in which the first mover 422 and the second mover 423 of the launching unit 420 are engaged with the sheath 810 and the inner stylet 820 of the biopsy needle 800. Fig. 18B shows a state in which the launching part 420 and the actuating part 440 are in contact with each other and the elastic body 424 of the launching part 420 is compressed when the launching part 420 moves in the direction of the ring 700 Show. The protrusion 426 of the housing 421 of the launching part 420 and the wing 471 of the actuating part 440 are brought into contact with each other so that the housing 421 of the launching part 420 does not move in the direction of the annular part 700 can not do it. The wings 471 of the actuating part 440 come into contact with the protrusions 426 of the housing 421 when the wings 471 of the actuating part 440 are in the position of Fig. 16 (b). The first mover 422 is fixed to the housing 421 and can not move in the direction of the ring 700. [ However, the second mover 423 can move inside the housing 421. [ Since the moving part 430 moves in the direction of the ring part 700 even when the first moving part 422 does not move, the second moving part 430 fixed to the moving part 430 and movable inside the housing 421 423 move in the direction of the affected part 700. Therefore, the spring 424 can be compressed between the second mover 423 and the first mover 422. 18 (c) shows a state in which the blade 471 of the operating portion 440 is in the position of Fig. 16 (a), and the contact between the blade 471 of the operating portion 440 and the projection 426 of the housing 421 And the firing unit 420 is moved to the affected part through the sheath 610 of the coaxial needle 600. [

Fig. 19 is a detailed view of the step of Fig. 17 (e).

19A shows that the blade 471 of the actuating part 440 is in the position of FIG. 16B and the blade 471 operates the trigger 425 of the launching part 420, Lt; RTI ID = 0.0 > 424 < / RTI > As the elastic body 424 is released from compression, the sheath 810 of the biopsy needle 800 cuts the tissue of the affected part 700 and collects the tissue. The principle of cutting the tissue by the biopsy needle 800 is described in FIG. Fig. 19 (b) shows the decompressed state. 19 (a) and 19 (b) are performed at the same time.

Various embodiments of the present disclosure will be described below.

(1) A biopsy needle end effector containing at least one biopsy needle, the biopsy needle end effector comprising: a firing unit coupled to at least one biopsy needle to firing a biopsy needle; A moving unit coupled to the launching unit to move the launching unit; And an actuating part disposed in a moving path of the launching part and loading and operating the launching part.

(2) The biopsy needle is composed of a sheath forming an outer body and an inner stylet inserted into the outer body to form an inner body. Each of the sheath and inner stylet is provided with a hub at one end thereof. Wherein the biopsy needle end effector is coupled to a hub on one end of each of the stylets.

(3) the launching portion comprises a housing; A first mover disposed within the housing and coupled with a hub of the sheath; A second mover disposed inside the housing and coupled with the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover.

(4) A biopsy needle end effector, wherein one of the first mover and the second mover is fixed to the housing and the other is movably coupled within the housing.

(5) a trigger coupled to the second mover.

(6) A biopsy needle end effector, wherein the elastic body is a spring.

(7) The biopsy needle end effector as claimed in any one of the preceding claims, wherein the housing comprises projections on the outer side.

(8) The moving part includes: a first link coupled to the firing part; And a second link coupled to the first link.

(9) the first link comprises a guide rail; A connector coupled to the firing portion and moving along the guide rail; A wire cable coupled to the connector to move the connector along the guide rail; And a pulley interlocking with the wire cable.

(10) The launching unit comprises a housing; A first mover disposed within the housing and coupled with a hub of the sheath; A second mover disposed inside the housing and coupled with the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover, wherein the connector is coupled with the second mover.

(11) the actuating part comprises: a rotating body rotating about the Y axis; And a blade connected to the rotating body to contact the firing portion.

(12) A biopsy needle end effector characterized in that the rotating body is a cam.

(13) the operating portion includes a link including a roller that moves in association with the cam; And a drive motor for moving the link in the Y-axis direction.

According to the biopsy needle end effector of the present disclosure, it is possible to reduce the radiation dose of the practitioner by automating the biopsy intervention procedure.

According to the biopsy needle end effector of the present disclosure, the structure of loading and operating the biopsy needle can be simplified to simplify the structure of the biopsy needle end effector.

Biopsy needle end effector: 400
Launch department: 420
Moving part: 430
Operation part: 440

Claims (13)

A biopsy needle end effector containing at least one biopsy needle,
A firing unit coupled with at least one biopsy needle to firing a biopsy needle;
A moving unit coupled to the launching unit to move the launching unit; And,
And an operating portion disposed in a moving path of the firing portion and brought into contact with the firing portion to load and operate the firing portion,
The biopsy needle consists of a sheath forming an outer body and an inner stylet inserted in the outer body to form an inner body,
Each of the sheath and inner stylet has a hub at one end thereof,
The launching portion is coupled with the hub at one end of each of the sheath and inner stylet,
Launch department:
A first mover coupled with a hub of the sheath;
A second mover coupled with the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover,
Wherein the elastic part disposed between the first mover and the second mover is compressed by the operating part to load the firing part. delete The method according to claim 1,
Wherein the launching portion comprises a housing in which a first mover and a second mover are disposed. The method of claim 3,
Wherein one of the first mover and the second mover is fixed to the housing and the other is movably coupled within the housing. The method of claim 3,
And a trigger coupled to the second mover. The method of claim 3,
Wherein the elastic body is a spring. The method of claim 3,
And the housing includes a projection on an outer side thereof. The method according to claim 1,
The moving part includes a first link coupled to the firing part; And a second link coupled to the first link. The method of claim 8,
The first link includes a guide rail; A connector coupled to the firing portion and moving along the guide rail; A wire cable coupled to the connector to move the connector along the guide rail; And a pulley interlocking with the wire cable. The method of claim 9,
The firing portion includes a housing; A first mover disposed within the housing and coupled with a hub of the sheath; A second mover disposed inside the housing and coupled with the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover,
And the connector is coupled to the second mover. The method according to claim 1,
The actuating part includes: a rotating body that rotates about the Y axis; And a blade connected to the rotating body to contact the firing portion. The method of claim 11,
Wherein the rotating body is a cam. The method of claim 12,
The actuating portion includes a link including a roller moving in conjunction with the cam; And a drive motor for moving the link in the Y-axis direction.
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KR102459424B1 (en) * 2022-03-28 2022-10-27 주식회사 큐어인 A real-time Biopsy manipulation robot device using a medical imaging equipment
KR102653500B1 (en) * 2023-11-27 2024-04-02 주식회사 큐어인 Trigger Module for End Effector of Biopsy Manipulation Robot Device

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