KR101780326B1 - Endoscopic robot - Google Patents

Abstract

The present invention relates to an endoscope robot which enables an unskilled medical personnel to conduct an endoscopic examination within a relatively reduced procedure time and is capable of reducing discomfort such as abdominal bloating felt by a patient. The endoscope robot comprises: a casing; a hand pump generating injection air by the press of a user; an air injection tube transferring the injection air to the inside of the casing; a porous tube having a tube installation hole which allows the air injection tube to be installed while connecting the cashing and the hand pump and a treatment hole to which a treatment tool is inserted; a tube member provided to be expanded in a direction opposite to the air injection direction by the injection air; a connector connecting a cylinder tube member and a cylinder, wherein the cylinder tube member is interlocked with the expansion of the tube member inside the casing to be able to move in a direction in which the expansion is performed; a support leg spreading outside the casing and supported by the cylinder to be able to move; and an elastic member elastically supporting the cylinder, such that the support leg is folded by an elastic restoring force generated when the user releases the pressure of the hand pump, and the tube member and the cylinder are moved to an initial position.

Description

Endoscopic Robot {ENDOSCOPIC ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an endoscopic robot, and more particularly, to an endoscopic robot that can be easily and conveniently used by a practitioner by applying a driving method using a hand pump.

In general, an endoscopic robot is a device for imaging the diseases existing in the esophagus, stomach, small intestine and large intestine.

The endoscope robot can also be used to observe a narrow space such as the inside of a machine in addition to the human body, by taking an image.

In this connection, Korean Patent Publication No. 2015-0056241 (Patent Document 1) has been disclosed as a prior art related to an endoscopic robot.

Patent Document 1 relates to an endoscope apparatus, and discloses a technique in which a refractive driving portion is provided adjacent to a probe to reduce the length of a conventional refractive wire, thereby alleviating the disconnection phenomenon and finely controlling the probe steering.

However, the conventional endoscope apparatus including Patent Document 1 is implemented in such a manner that the practitioner directly pushes the endoscope into the inside of the human body without a separate power source, and forcibly changes the shape of the long-term inner wall by using the dial of the control portion.

In this case, the conventional endoscope apparatus has a problem in that it causes wasting of the procedure time in self-endoscopic examination, which is not skilled, and inconvenience such as abdominal bloating feeling of the patient.

In addition, an excessive insertion attempt in the stenotic segment causes bleeding and perforation of the long-term inner wall

In addition, the conventional endoscope apparatus has a problem in that it can not simultaneously perform a biopsy test, a polyp removal operation, and the like, while performing an image diagnosis function.

Korea Patent Publication No. 2015-0056241

In order to overcome the above-described problems, an object of the present invention is to provide an operation method using a hand pump, which makes it possible for a practitioner to use the device more easily and intuitively, thereby shortening a procedure time for a self- And an object of the present invention is to provide an endoscope robot capable of reducing inconveniences such as an inconvenience.

It is also an object of the present invention to provide an endoscope robot which is easy to move in an intubation and stenotic region, thereby reducing bleeding and perforation of the internal wall of the organ.

It is another object of the present invention to provide an endoscopic robot capable of simultaneously performing a treatment action such as imaging, biopsy, polyp removal, and the like by facilitating the installation of a treatment instrument (treatment instrument).

An endoscope robot according to an embodiment of the present invention includes a casing, a hand pump for generating injection air by the pressure of a user, an air injection tube for transferring the injection air generated in the hand pump into the casing, a casing and a hand pump A porous tube provided with a tube installation hole in which an air injection tube is installed and having a treatment hole for inserting a treatment tool therein, a tube provided in the casing in such a manner as to be expandable in the direction opposite to the air injection direction by air injected from the hand pump, A cylinder provided in the casing so as to be movable in the expansion direction in conjunction with the expansion of the tube member in the casing, a connector interposed between the tube member and the cylinder to connect the tube member and the cylinder, A supporting leg which is supported by the cylinder and is movably provided after being extended to the outside of the casing, Is configured to include an elastic member for elastically supporting the cylinder to move the cooled after the supporting leg is in contact by an elastic restoring force to release the pressure of the hand pump tube member and the cylinder to its initial position.

In this case, it is preferable that the tube member is composed of a bellows tube.

The cylinder includes a first cylinder which is connected through a pipe member and a connector and which has an engagement groove formed on an outer peripheral surface of the cylinder so as to engage with one end of the support leg, and a hinge pin which receives the first cylinder and rotates the support leg And a second cylinder having a leg slit provided on the outer circumferential surface so that the support leg penetrates and protrudes outward.

In this case, the support leg is a retaining piece accommodated in the retaining groove of the first cylinder and configured to be hooked on the inner side wall of the retaining member, and a support piece formed to extend outwardly through the leg slit of the second cylinder, As shown in FIG.

In this case, it is preferable that the supporting leg is provided with a receiving hole which is interposed between the holding piece and the supporting piece so that the hinge pin provided on the second cylinder is received and axially rotatable.

On the other hand, the elastic member is preferably composed of an elastic spring.

In addition, the casing is provided with a space in which the tube member, the cylinder, and the elastic member are accommodated and installed, and the support leg is inserted through the outer circumferential surface of the support member so that the support leg is extended or collapsed. An air injection tube installed in the tube installation hole through which the tube passes, and a tube through hole for inserting a treatment instrument inserted through the treatment hole into the inside of the body. A second cap disposed at an end of the body, a second cap on which a tube member is seated and installed, and a treatment hole is provided so that the treatment instrument is inserted to the outside of the body, And a head cover having a treatment port through hole formed therein so that the treatment port is projected outwardly.

As described above, the endoscope robot according to the present invention employs a driving method using a hand pump, thereby making it easier for a practitioner to use the device more easily and intuitively, thereby shortening the procedure time for a selfoscopic examination other than skill, Thereby reducing the inconvenience.

Further, the endoscope robot according to the present invention is easy to move in the intubation and stenosis portions, thereby reducing the occurrence of hemorrhage and perforation of the inner wall of the organ.

In addition, the endoscope robot according to the present invention facilitates the installation of a treatment instrument (treatment instrument), thereby enabling simultaneous treatment actions such as imaging, biopsy, and polyp removal.

1 is an exploded perspective view of an endoscope robot according to an embodiment of the present invention.
2 is an assembled perspective view of the endoscope robot shown in Fig.
3 is an enlarged perspective view of the cylinder and support leg shown in Fig.
4 is an assembled perspective view of the cylinder and support leg shown in Fig.
5 is an assembled cross-sectional view of the cylinder and support leg shown in Fig.
6 is a sectional view showing the operation of the endoscope robot shown in Fig.

The accompanying drawings in the present invention may be exaggerated for clarity, clarity, and descriptive convenience. In addition, since the following terms are defined in consideration of the functions of the present invention, they may vary depending on the intention or custom of the user or the operator, and therefore the definition of these terms should be based on the technical contents throughout this specification will be. On the contrary, the embodiments are merely illustrative of the constituent elements set forth in the claims of the present invention and do not limit the scope of the present invention, and the scope of the rights should be interpreted on the basis of technical ideas throughout the specification of the present invention .

Fig. 1 is an exploded perspective view of an endoscope robot according to an embodiment of the present invention, Fig. 2 is an assembled perspective view of the endoscope robot shown in Fig. 1, Fig. 3 is an enlarged perspective view of the cylinder and the support leg shown in Fig. 4 is an assembled perspective view of the cylinder and the support leg shown in Fig. 3, Fig. 5 is an assembled cross-sectional view of the cylinder and the support leg shown in Fig. 4, and Fig. 6 is a sectional view showing the operation of the endoscope robot shown in Fig.

1 to 6, an endoscope robot according to an embodiment of the present invention includes a casing 100, a hand pump 200, an air injection tube 300, a tube 400, a tube member 500, A cylinder 700, a support leg 800, and an elastic member 900. The elastic member 900 is made of a synthetic resin.

The casing 100 defines a space in which the tube member 500, the cylinder 700, and the elastic member 900 to be described later are accommodated.

In this case, the casing 100 may include the body 110, the first cap 120, and the second cap 130. In addition, the casing 100 may further include a head cover 140.

The body 110 may be formed in a hollow cylindrical shape, and a support leg 800, which will be described later, is installed to extend outwardly along the outer circumferential surface of the body 110. The support leg 800 supports the support leg 800 to guide the movement of the support leg 800, A plurality of leg slits 111 may be provided.

The first cap 120 is installed with an elastic member 900 to be described later and the tube 400 to be described later penetrates the air introducing tube 300 and the treatment hole 401 And a tube through hole 121 through which a treatment instrument (not shown) inserted through the body 110 is inserted into the body 110 and installed at one end of the body 110.

The second cap 130 is provided with a treatment hole 131 through which a tubular member 500 to be described later is mounted and a treatment instrument is inserted and is installed outside the body 110 again.

The first cap 120, the second cap 130, the connector 600 described later, and the first cylinder 710, which will be described later, may be further provided with installation holes for installing video means such as a camera. A detailed description will be omitted for the sake of simplicity of the present invention.

The head cover 140 is provided at an end portion of the second cap to form a spherical end portion, and a treatment instrument through hole 141 is provided so that the treatment instrument is projected outward. This is to prevent damage to the long-term inner wall of the person to be trained during the endoscopic examination.

The hand pump 200 generates the injection air by the pressure of the user.

The injection air generated through the hand pump 200 becomes a power source of the endoscope robot according to the embodiment of the present invention.

The hand pump 200 may be made of an elastic material such as urethane or silicone rubber.

The air injection tube 300 forms a flow path for transferring the injection air generated in the hand pump 200 into the casing 100.

The air injection tube 300 is installed in the tube installation hole 402 of the tube 400 and connected to the inside of the tube member 500 from the hand pump 200.

The air injection tube 300 may be made of a medical plastic material.

The tube 400 includes a treatment hole 401 for inserting a treatment tool and includes a tube 400 mounting hole for connecting the casing 100 and the hand pump 200, Is a porous tubular member.

The tube 400 may be made of a medical plastic material.

The tubular member 500 is provided to be expandable in the direction opposite to the direction of air injection by the air injected from the hand pump 200 in the casing 100.

That is, one end of the tubular member 500 is seated on the second cap 130, and the other end is configured to expand by the injection of air.

In this case, the tubular member 500 is preferably composed of a bellows tube.

The tubular member 500 is formed at the center thereof with a hollow portion so that a treatment instrument provided on the treatment hole 401 of the tube 400 is inserted into the treatment hole 131 of the second cap 130 and the head cover 140 Through hole 141 of the endoscopic robot to form a space in which the treatment instrument can be positioned at the head side of the endoscope in the traveling direction of the endoscope robot.

The tubular member 500 may be made of an elastic material such as PTFE, urethane, or silicone rubber.

The connector 600 is interposed between the tubular member 500 and the cylinder 700 and serves to connect the tubular member 500 and the cylinder 700.

The connector 600 is provided with a treatment hole 601 through which the insertion path of the treatment tool can be formed. The connector 600 may be provided with a tube hole 602 through which the air injection tube 300 is inserted into the tubular member 500.

On the other hand, while the instrument hole 601 of the connector 600, the tube through-hole 121 of the first cap 120, and the instrument hole 131 of the second cap 130 are communicated with each other, A treatment crown 610 may be further provided.

The cylinder 700 is provided in the casing 100 so as to be movable in the expansion direction in conjunction with the expansion of the tubular member 500.

At this time, the cylinder 700 may include the first cylinder 710 and the second cylinder 720.

The first cylinder 710 is connected to the tubular member 500 via the connector 600 and has an engagement groove 711 formed on an outer circumferential surface thereof so as to engage one end of a support leg 800 described later.

The first cylinder 710 may be provided with a tube hole 713 through which the air injection tube 300 is inserted into the tubular member 500 and the treatment or treatment crown 610 A treatment hole 712 may be provided.

The second cylinder 720 accommodates the first cylinder 710 and is provided with a hinge pin 721 for pivoting the support leg 800 to be described later. The support leg 800 protrudes outward A leg slit 722 is provided.

In this case, when the first cylinder 710 of the cylinder 700 is expanded in the expansion direction of the tubular member 500 when the tube member 500 expands, the support leg 800 described later is unfolded, The first cylinder 710, the second cylinder 720, and the support leg 800 are configured to move together.

The support leg 800 is extended to the outside of the casing 100 as the cylinder 700 moves in the expansion direction of the tubular member 500 and is movably supported by the cylinder 700.

In this case, the support leg 800 includes a retaining piece 810 accommodated in the retaining groove 711 of the first cylinder 710 so as to be engaged with the inner side wall thereof, And a support piece 820 protruding outwardly through the leg slits 722 of the two cylinders 720 and 700.

At this time, the supporting leg 800 receives the hinge pin 721 installed in the second cylinder 720 in the receiving hole 830 interposed between the engaging piece 810 and the supporting piece 820, .

The support leg 800 is configured to extend through the leg slit 722 of the second cylinder 720 and the support leg slit 111 of the body 110 of the casing 100 to extend outwardly of the casing 100.

The support legs 800 may be provided in a plurality of radial shapes, and the support legs 800 may be formed in various numbers depending on the intended use of the user or the manufacturer.

The support legs 800 may be made of a biocompatible metal material and may be coated with an elastomeric material for medical use so as not to cause scratches in the organ.

The support leg 820 of the support leg 800 may further include a protection piece 821 that is elastically foldable on the support piece 820 in order to elastically hold the long-term inner wall.

The support leg 800 is supported by the inner wall of the engagement groove 711 of the first cylinder 710 and the bottom wall of the leg slit 722 of the second cylinder 720 during the expansion movement of the pipe member 500, .

The elastic member 900 may be configured to move the tubular member 500 and the cylinder 700 to the initial position after the supporting leg 800 is folded by the elastic restoring force when the user releases the pressure of the hand pump 200 Thereby elastically supporting the cylinder 700.

In this case, one end of the elastic member 900 may be mounted on the first cap 120 of the casing 100, and the other end may be installed to elastically support the bottom surface of the first cylinder 710.

On the other hand, the elastic member 900 is preferably composed of an elastic spring. This is to allow the treatment instrument and the air injection tube 400 to be inserted into the tubular member 500 through the hollow portion at the center of the elastic spring.

Hereinafter, the operation of the endoscope robot according to the embodiment of the present invention will be described with reference to FIG.

Air is injected into the tubular member 500 through the air injection tube 300 so that the volume of the tubular member 500 is reduced by the amount Thereby expanding.

In this case, the expansion of the tube member 500 causes the first cylinders 710 and 700 to move integrally in the expansion direction. When the movement of the first cylinders 710 and 700 is started, first, the retaining pieces 810 of the support legs 800 The support legs 820 are unfolded while the support legs 800 are rotated after being caught by the engagement grooves 711 of the cylinder 710. (See FIG. 6B)

In this case, the protective piece 821 provided on the unfolded support piece 820 is held on the long-term inner wall of the to-be-treated person and then the first cylinder 710, the second cylinder 720, and the support leg 800 Thereby moving integrally in the expansion direction of the tubular member 500. (See Fig. 6C)

In this case, the support leg 800 is supported on the inner wall of the engagement groove 711 of the first cylinder 710 and the bottom wall of the leg slit 722 of the second cylinder 720 to maintain the unfolded state.

Such movement causes the advancing movement of the endoscope robot according to the embodiment of the present invention in terms of the inner wall of the organ.

Thereafter, when the practitioner releases the pressing force applied to the hand pump 200, the elastic member 900 moves the tubular member 500 and the cylinder 700 to the initial position by the elastic restoring force.

At this time, when the elastic member 900 presses the first cylinder 710, the retaining piece 810 of the support leg 800 separates from the bottom wall of the leg slit 722 of the second cylinder 720, 710 is released from the support state with the inner wall of the retaining groove 711, the support leg 800 is folded. (See FIG. 6D)

Then, the supporting leg 800 is moved to the initial position of the tubular member 500 and the cylinder 700 in a folded state, and the endoscopic robot according to the embodiment of the present invention ends the forward movement of one cycle from the viewpoint of the inner wall of the organ.

The endoscopic robot according to the embodiment of the present invention may be used as a robot for navigating industrial pipes such as a fuel gas pipe, a water pipe, a communication cable pipe, a reactor coolant pipe, and the like.

As described above, the endoscope robot according to the present invention makes it easier and more convenient for the operator to use, thereby shortening the procedure time at the endoscopic examination, which is not skillful, reducing inconveniences such as abdominal bloating, Thereby reducing the occurrence of hemorrhage and perforation of the eye, and enabling simultaneous imaging and treatment.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, the true technical protection scope of the present invention should be determined based on the specific contents of the above-mentioned invention in accordance with the claims to be described below.

The present invention relates to an endoscopic robot, and is applicable to a medical robot field and a cadaveric robot field.

100: casing 110: body
111: Support leg slit 120: First cap
121: tube through hole 130: second cap
131: treatment port hole 140: head cover
141: Through hole
200: Hand pump
300: air injection tube
400: Tube 401: Treatment ball
402: tube mounting hole
500: tube member
600: connector 601:
602: tube hole 610: treated crown tube
700: cylinder 710: first cylinder
711: Retaining groove 712: Treatment hole
713: Tube ball 720: Second cylinder
721: Hinge pin 722: Leg slit
800: Support leg 810:
820: Support piece 821: Protective piece
830: receiving hole
900: elastic member

Claims (7)

Casing;
A hand pump for generating injection air by pressurization of a user;
An air injection tube for transferring the injection air generated in the hand pump into the casing;
A porous tube provided with a tube installation hole for connecting the casing and the hand pump, in which the air injection tube is installed, and a treatment hole into which a treatment instrument is inserted;
A pipe member provided inside the casing so as to be inflatable in a direction opposite to a direction of air injection by air injected from the hand pump;
A cylinder provided in the casing so as to be movable in the expansion direction in conjunction with the expansion of the tube member;
A connector interposed between the tubular member and the cylinder to connect the tubular member and the cylinder;
A support leg which is extended to the outside of the casing as the cylinder moves in the expansion direction of the tubular member and is movably supported by the cylinder; And
An elastic member elastically supporting the cylinder to move the tubular member and the cylinder to an initial position after the support leg is folded by an elastic restoring force when the user releases the pressing of the hand pump;
And an endoscope. The apparatus according to claim 1,
And a bellows tube. The apparatus as claimed in claim 1,
A first cylinder connected to the tubular member through the connector and having an outer circumferential surface formed with an engagement groove configured to receive one end of the support leg; And
A second cylinder in which the first cylinder is accommodated, a hinge pin is installed to rotate the support leg, and a leg slit is provided on an outer circumferential surface of the support cylinder so as to protrude outwardly;
And an endoscopic robot. [4] The apparatus of claim 3,
A retaining piece accommodated in the retaining groove of the first cylinder and configured to be engaged with the inner side wall thereof; And
A support piece formed by bending and extending on the retaining piece and projecting outwardly through a leg slit of the second cylinder;
And an endoscopic robot. 5. The straddle-type vehicle according to claim 4,
Wherein the hinge pin provided on the second cylinder is received in a receiving hole interposed between the holding piece and the holding piece so as to be rotatable about an axis. The elastic member according to claim 1,
And an elastic spring. The apparatus according to claim 1,
The support member is provided with a space through which the tubular member, the cylinder, and the elastic member are accommodated, and the support leg is pierced to the outside along the outer circumferential surface thereof to guide the movement and the movement of the support leg when the support leg is opened or collapsed A body having a plurality of support leg slits;
Wherein the elastic member is installed and installed with an air inlet tube provided in the tube installation hole through which the tube passes and a tube through hole through which the treatment instrument inserted through the treatment hole is inserted into the body, A first cap installed at one end of the body;
A second cap on which the tubular member is seated, a second cap on which the treatment instrument is inserted so that the treatment instrument is inserted to the outside of the body; And
A head cover provided at an end of the second cap to form a spherical end portion and having a treatment tool through hole so that the treatment tool is projected outward;
And an endoscope.

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