KR102194454B1 - A multi axis medical-operation robot and a master system - Google Patents

Abstract

The present invention relates to a multi-axis surgical robot and a master system, and more particularly, the end effector constituting the multi-axis surgical robot is composed of multiple axes, and the master system for remotely controlling the multi-axis end effector is ergonomically designed.
Accordingly, it is possible to increase the reliability of the operation by increasing the user's operation intuitiveness for minimally invasive surgery.
In addition, the master system operation method learning training time can be shortened, the operation time can be shortened, the size of the equipment can be reduced, thereby reducing the manufacturing cost and increasing the utilization of the installation space.

Description

A multi axis medical-operation robot and a master system}

The present invention relates to a multi-axis surgical robot and a master system, and more particularly, to a multi-axis surgical robot and a master system that can increase the user's operation intuitiveness for controlling the surgical robot and increase space utilization by slimming the surgical equipment.

The remote control device is a device including a master unit and a slave unit, and remotely controls a slave unit located at a remote location using the master unit.

At this time, the master unit remotely controls the operation of the slave unit based on various physical information such as force, touch, temperature, humidity, and illuminance detected by the slave unit.

Such remote control devices include surgical robots, dangerous goods handling robots, patrol robots, defense robots, and aerospace remote devices.

Among them, the surgical robot is a robot that treats or performs surgery on an affected area by moving a surgical tool according to a user's command, and includes a console corresponding to the master unit, a manipulator corresponding to the slave unit, and an end effector.

Surgery performed by such a surgical robot includes Minimal Invasive Surgery and Robotic Surgery to minimize the size of the incision of the affected area.

Here, the minimally invasive surgery is different from Open Surgery, in which the abdomen is completely opened, and a few small incisions are made and gas is filled in the abdomen to create an operating space, and then a laparoscope is performed through the incision. The surgical end effector is used to perform surgery while viewing the image in the abdominal cavity by inserting the surgical end effector.

This minimally invasive surgery has less pain after surgery, allows early recovery of bowel movements and early intake of food, short hospitalization period, quick return to normal state, and small incision range, thus excellent cosmetic effect.

For this reason, minimally invasive surgery is being used for gallbladder resection, prostate cancer surgery, and hernia correction, and the field is expanding more and more.

However, in minimally invasive surgery, it is difficult to adjust the surgical end effector, and it is difficult to move the surgical end effector through an incision.

In addition, minimally invasive surgery requires an experienced doctor and medical staff because the actual position in the abdominal cavity and the position displayed by the user through the image are inverted vertically and horizontally.

Overcoming the shortcomings of such minimally invasive surgery is surgery using the daVinci robot disclosed in FIG. 1.

Here, the Da Vinci robot delivers an enlarged 3D image of 10 to 15 times to the user without reversing left and right, and precisely transmits the user's movement to the manipulator and surgical end effector.

However, the conventional da Vinci robot for surgery has the following problems.

First, such a surgical robot does not have a force and tactile feedback function.

For this reason, there is a problem that the user (doctor) cannot know the force applied to the surgical end effector during the suture procedure.

For example, during a suture procedure, the thread may be pulled excessively and the thread may be broken, or excessive force may be applied to the organ tissue, causing a problem of damaging the organ tissue.

Second, the end effector 10 of FIG. 2 constituting the surgical robot has a problem in that there is a limitation in the surgical operation radius.

Of course, a plurality of robot arms 20 to which the end effector 10 is coupled are provided to move in multiple axes, so there is no problem in moving the position of the end effector 10, but the plurality of robot arms 20 There is a problem that several incisions must be performed on the patient's abdomen to respond.

This has a problem that slows patient recovery.

Third, due to the configuration of a plurality of robot arms 20, the scale of the surgical robot and the master system is large, and it is difficult to increase the utilization of the installation space, and it is difficult to lower the cost of manufacturing equipment, thereby reducing economic efficiency.

Furthermore, it is limited to large hospitals and there is a problem that the equipment is used.

Electronic newspaper "New Year's planning robot revolution has already begun." (2016-01-03) https://news.naver.com/main/read.nhn?oid=030&aid=0002435089

The present invention was conceived to solve the above problems, and an object of the present invention is a multi-axis surgical robot and a master to configure an end effector and increase the intuitiveness of the end effector operation through an ergonomic design of the master system. It was intended to provide a system.

Another object of the present invention is to provide a multi-axis surgical robot and a master system that can reduce the size of the entire surgical equipment, increase space utilization, and reduce manufacturing costs, thereby increasing economic efficiency.

In order to achieve the above object, the present invention provides a multi-axis surgical robot and a master system comprising a multi-axis end effector constituting a surgical robot and a master system for remotely controlling the multi-axis end effector through a user's manipulation, the multi-axis The end effector includes a joint body in which a plurality of nodes are connected to each other through a plurality of rotation axes; A gripper installed at the end of the joint body and having a function of opening and closing to both sides, wherein the master system includes: a base consisting of a horizontal plate and a vertical plate perpendicular to the horizontal plate; An armrest part rotatably coupled on the vertical plate and configured to allow a user's arm to be seated; A wrist support unit that is axially coupled to be rotatable in a direction perpendicular to the rotation axis of the arm holder unit on the arm holder unit, and is configured to seat the user's wrist; A finger holder fixed to the wrist holder and on which a user's finger is placed and interlocked according to the movement of the finger joint; A button part installed on one side of the finger rest part and provided to perform a pushing, pulling, or pressing operation, and the rotation angle of the rotation shaft is sensed through a position sensing means installed on each rotation shaft of the master system, and the rotation thereof The angle is synchronized with the rotation axis of the multi-axis end effector, so that the joint body movement of the multi-axis end effector can be performed according to the synchronization, but each joint body constituting the multi-axis end effector is linked to the rotation of the arm holder of the master system. The first axis; A second shaft interlocked with the rotation of the wrist rest; A third axis and a fourth axis corresponding to two joint movements of the user's finger among the finger rest portions; The fifth axis linked to the manipulation of pushing or pulling the button part: is configured to be rotatable, and the gripper constituting the multi-axis end effector, according to the movement of one other finger of the user among the finger rest, It provides a multi-axis surgical robot and a master system, characterized in that it is configured to be rotatable with a sixth axis and a seventh axis rotated to one side or the other side.

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At this time, it is preferable that the gripper is closed or opened by the pressing operation of the button part.

In addition, the first and fifth axes are installed to rotate within a range of 0 degrees to 360 degrees, and the second to fourth axes are installed to rotate within a range of 0 degrees to 180 degrees, and the sixth and seventh axes Each of the shafts is preferably installed so as to rotate within a range of 0 degrees to 45 degrees with respect to the rotation axis of the fifth shaft.

In addition, it is preferable that the position sensing means is a potentiometer sensor.

The multi-axis surgical robot and the master system according to the present invention have the following effects.

First, it is possible to increase the intuitiveness of operating the surgical robot through the ergonomic design of the master system.

Accordingly, there is an effect of increasing the medical quality of surgery.

In addition, it is possible to reduce the skill time of the surgical robot, and the time reduction effect can be obtained even during actual surgery.

Second, by reducing the weight and slimness of the master system and the surgical robot, there is an effect of reducing the manufacturing cost and increasing the utilization of the surgical equipment installation space.

Third, by configuring the end effector remotely controlled by the master system into multiple axes, it is possible to minimize the incisional procedure on the patient's abdomen.

Accordingly, after the operation, there is an effect of improving the recovery rate of the patient.

1 is a photograph showing a da Vinci surgical robot and a master system according to the prior art
FIG. 2 is an enlarged photograph of part A of FIG. 1, and a photograph showing the end effector of the da Vinci surgical robot
3 is a view showing a multi-axis surgical robot according to a preferred embodiment of the present invention and a multi-axis end effector of the multi-axis surgical robot of the master system
4 is a perspective view showing a master system of a multi-axis surgical robot and a master system according to a preferred embodiment of the present invention
5A to 5C are conceptual diagrams showing the movement of a gripper through manipulation of a finger holding part of a multi-axis surgical robot and a master system according to a preferred embodiment of the present invention.
Figure 6 is a perspective view of the main part showing the finger rest of the multi-axis surgical robot and the master system according to a preferred embodiment of the present invention.

Terms and words used in the present specification and claims are not limited to the usual or dictionary meanings, and the inventor is based on the principle that the concept of terms can be appropriately defined in order to explain his or her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

Hereinafter, a multi-axis surgical robot and a master system according to a preferred embodiment of the present invention will be described with reference to FIGS. 3 to 6.

First, let's explain the multi-axis surgical robot.

The multi-axis surgical robot serves to treat the affected area through the multi-axis end effector 100 that rotates multi-axis through the manipulation of the master system.

As shown in FIG. 4, the multi-axis end effector 100 is rotatably connected to each node by a plurality of rotation axes, thereby maximizing a motion radius.

Accordingly, during laparoscopic surgery, it is possible to minimize the incision without having to perform multiple incisions on the patient's abdomen.

The multi-axis end effector 100 is preferably composed of a joint body 110 and a gripper 120, as shown in FIG. 3.

The joint body 110 is composed of a plurality of nodes, and the nodes are axially coupled to each other by a rotation axis.

It is preferable that the node has a cylindrical shape.

At this time, in the present invention, a plurality of nodes are connected by a plurality of rotation axes, and the nodes constituting the joint body 110 are connected by five rotation axes.

The first axis (A1) is axially coupled between the first node (111) and the second node (112), and the first axis (A1) has the first node (111) and the second node (112) at 0 degrees. It is installed so that it can be rotated within the range of 360.

The second axis A2 is axially coupled between the second node 112 and the third node 113, and the second axis A2 forms an axis in a direction perpendicular to the first axis A1.

The second shaft A2 is installed so that the second node 112 and the third node 113 can rotate within a range of 0 degrees to 180 degrees to each other.

The third axis A3 is axially coupled between the third node 113 and the fourth node 114, and the third axis A3 forms an axis in the same direction as the second axis A2.

Like the second axis A2, the third axis A3 is also installed so that the third and fourth nodes 113 and 114 can rotate within a range of 0 to 180 degrees from each other.

The fourth axis (A4) is axially coupled between the fourth node (114) and the fifth node (115), and the fourth axis (A4) is in the same direction as the second axis (A2) and the third axis (A3). Form an axis.

The 4th axis (A4) is installed so that the 4th (114) and 5th (115) segments can be rotated within the range of 0 to 180 degrees from each other, like the 2nd axis (A2) and the 3rd axis (A3). do.

The fifth axis A5 is axially coupled between the fifth node 115 and the sixth node 116, and the fifth axis A5 forms an axis in the same direction as the first axis A1.

Like the first axis A1, the fifth axis A5 is installed so that the fifth and sixth nodes 115 and 116 can rotate within a range of 0 to 360 degrees from each other.

In this way, the joint body 110 composed of five axes can be closely approached toward the affected part through the rotation of the first to fifth axes A1 to A5.

Accordingly, it is less restricted by the location and number of incisions entering the abdomen, and it is possible to closely access the affected area through various movements of the articular body 110 within the abdomen.

Next, when the gripper 120 reaches the affected part through the movement of the joint body 110, the gripper 120 serves to cut the affected part or grip the cut affected part and pull it out.

The gripper 120 is composed of tongs, and is axially coupled to the sixth node 116 as shown in FIG. 3.

The gripper 120 is composed of a pair of rotating units 121 as shown in FIG. 3, and each of the rotating units 121 is axially coupled to the sixth node 116, respectively.

The axes coupled between the rotating unit 121 and the sixth node 116 are referred to as a sixth axis A6 and a seventh axis A7, respectively.

The sixth axis A6 and the seventh axis A7 form an axis in the same direction as the second axis 112 to the fourth axis 114.

At this time, the angle of the gripper 120 in a state in which the pair of rotating units 121 are separated from each other is preferably 90 degrees.

In this configuration, the axial direction of the fifth axis A5 and the angle of each rotation unit 121 are always maintained at 45 degrees.

With reference to FIG. 4, the master system will be described.

The master system 200 serves to remotely control the multi-axis end effector 100 described above, so that the multi-axis end effector 100 can perform surgery.

The master system 200 is directly operated by a user, that is, a doctor, and is provided through an ergonomic design.

The master system 200 is provided to be manipulated using an arm and a hand among a human body.

In the present specification, in order to facilitate understanding of the description, a configuration capable of operating the master system 200 using a person's right arm and hand is exemplified.

The master system 200 includes a base 210, an arm holder 220, a wrist holder 230, a finger holder 240, and a button portion 250, as shown in FIG. 4 do.

The base 210 is provided with each component for manipulation, and includes a horizontal plate 211 and a vertical plate 212.

The vertical plate 212 is preferably formed perpendicular to the end of the horizontal plate 211.

The base 210 is equipped with a control unit C as shown in FIG. 4.

The arm holder 220 is configured to be interlocked with the first axis A1 of the multi-axis end effector 100, and is axially coupled to be horizontally rotated on the vertical plate 212.

The arm holder 220 is installed to protrude from the vertical plate 212 so that the arm can be mounted, and at the end of the arm holder 220, a support member 221 to which the user's arm can be stably seated is preferably installed. Do.

It is preferable that the support member 221 is formed to have a curvature capable of wrapping an arm, as shown in FIG. 4.

With such a configuration, the user can easily rotate the arm holder 220 to both sides while the arm is mounted on the arm holder 220.

The first node 111 and the second node 112 of the multi-end effector 100 rotate around the first axis A1 through the rotational operation of the arm holder 220.

Next, the wrist holder 230 is a configuration that is interlocked with the second axis A2 of the multi-axis end effector 100, and is axially coupled to be rotated on the arm holder 220.

The axial direction of the wrist holder 230 is provided in a direction perpendicular to the axial direction of the arm holder 220.

The wrist cradle 230 forms a fixed shaft 231 extending upward to grip the wrist cradle 230.

Due to such a configuration, the user can naturally grip the fixed shaft 231 while the arm is seated on the support member 221 of the arm holder 220.

At this time, when the user rotates the wrist holder 230 while gripping the fixed shaft 231, the second and third nodes 112 and 113 of the multi-end effector 100 become the second axis ( It rotates around A2).

Next, the finger mounting portion 240 is the third axis (A3) and the fourth axis (A4) of the multi-axis end effector 100, the sixth axis (A6) and the seventh axis (A7) of the gripper 120 It is a configuration that works with

The finger mounting part 240 is provided to correspond to the movement of the user's finger joint, and is installed at the upper end of the fixed shaft 231.

At this time, the finger for manipulating the finger holder 240 is preferably the index finger of the user.

That is, while holding the fixed shaft 231, the index finger can flexibly correspond to the finger holding part 240 installed on the upper end of the fixed shaft 231, so that the finger fixed to the finger holding part 240 is preferably an index finger. will be.

The index finger consists of three joints, and the finger holder 240 constitutes three rotation axes to correspond to each joint of the index finger.

That is, since the index finger is fixed to the finger holder 240, the finger holder 240 moves as it is in accordance with the movement of the index finger joint.

At this time, of the three rotation shafts of the finger holder 240, two rotation shafts are interlocked with the third axis A3 and the fourth axis A4 of the multi-end effector 100.

The two rotation axes correspond to the two joints of the index finger, and the two joints of the index finger refer to the two joints closest to the palm.

Accordingly, when the index finger joint is moved to manipulate the two rotation axes, the third joint 113 and the fourth joint 114 of the multiple end effector 100 perform a rotational action around the third axis A3. And, the fourth node 114 and the fifth node 115 perform a rotational action around the fourth axis A4.

Among the finger holders 240, the other rotation axis, that is, the rotation axis corresponding to the other joint of the index finger, is linked to the sixth axis A6 and the seventh axis A7 of the multi-end effector 100. do.

According to the movement of the most proximal joint of the index finger, the rotation axis of the finger holder 240 corresponding to the proximal joint connects the sixth axis A6 and the seventh axis A7.

That is, if the tip joint of the index finger is moved to both sides to manipulate the rotational axis of the finger holder 240, the sixth axis A6 and the seventh axis A7 are respectively moved to both sides based on the sixth joint 116. While rotating, the gripper 120 can be rotated to both sides of the sixth node 116.

This will be described in more detail with reference to FIGS. 5A to 5C.

In the state where the index finger is straightened, as shown in FIG. 5A, the opened angle of the gripper 120 maintains a straight line with respect to the sixth node 116.

Thereafter, when the tip joint of the index finger is moved to one side and the rotation axis of the finger holder 240 is manipulated to one side, the gripper 120 based on the sixth node 116 as shown in FIG. 5B is the sixth node ( 116).

At this time, the sixth axis (A6) and the seventh axis (A7) rotate each of the rotating unit 121 to one side of the sixth joint (116), at this time, the angle of the pair of rotating units 121 Is maintained at 90 degrees.

Thereafter, when the tip joint of the index finger is moved to the other side and the rotational axis of the finger holder 240 is manipulated to the other side, the gripper 120 based on the sixth node 116 as shown in FIG. 5C is the sixth node ( 116) to the other side.

At this time, the sixth axis (A6) and the seventh axis (A7) rotate each of the rotating unit 121 to the other side of the sixth joint (116), at this time, the angle of the pair of rotating units (121) Is maintained at 90 degrees.

Next, the button unit 250 serves to link the fifth axis A5 and the gripper 120.

The button part 250 is installed on one side of the finger mounting part 240, and when the index finger is fixed to the finger mounting part 240, the thumb naturally corresponds to the button part 250.

Accordingly, it is preferable that the button unit 250 is operated through the user's thumb.

In this case, the button unit 250 is preferably installed inclined to one side as shown in FIG. 6 so as to flexibly correspond to the thumb.

The button unit 250 rotates the fifth axis A5 through a push or pull operation.

That is, through the manipulation of pushing or pulling the button unit 250, the sixth node 116 can perform a rotational action toward both sides around the fifth axis A5.

In addition, the button unit 250 may be pressed, and the gripper 120 may be opened or closed through a pressing operation.

That is, when the user presses the button unit 250 once, the pair of rotation units 121 rotate around the sixth axis A6 and the seventh axis A7, respectively, to close the gripper 120, and When the user presses the button unit 250 again while the 120 is retracted, the pair of rotation units 121 rotate around the sixth axis A6 and the seventh axis A7, respectively, and the gripper 120 ) To open.

This action is performed by the gripper 120 to remove or grip the affected part.

Meanwhile, the movement of each component according to the manipulation of the master system 200 is interlocked with the movement of the multi-axis end effector 100 as described above, and this interlocking action is a position sensing means installed on each axis of the master system 200 Through

In this case, the position sensing means is preferably a potentiometer sensor (P).

That is, the movement angle of each axis of the master system 200 is sensed through the potentiometer sensor P, which is transmitted to the control unit C. As the controller C transmits the movement of each axis to an external computer (not shown), the external computer operates the multi-axis end effector 100.

Hereinafter, the operation of the multi-axis surgical robot and the master system configured as described above will be described.

An incision is performed on the patient's abdomen, and the multi-axis end effector 100 of the surgical robot is inserted into the incision.

On the other hand, the user mounts the arm on the arm holder 220 of the master system 200 and fixes the index finger to the finger holder 240 while holding the fixed shaft 231.

Thereafter, as each component of the master system 200 is manipulated, the potentiometer sensor P installed on the rotation shaft connecting the components transmits the rotation angle of the rotation shaft to the control unit C, and the control unit C Allows an external computer to control the multi-axis end effector 100.

Through such a series of processes, minimally invasive surgery can be performed in detail and easily.

As described so far, the multi-axis surgical robot and the master system according to the present invention consist of 7 axes of end effectors, and the master system for controlling them is ergonomically designed and lightweight.

Accordingly, it is possible to increase the convenience and intuitiveness for operating the surgical robot, and increase the efficiency of the installation space by reducing the size of the equipment.

In the above, the present invention has been described in detail with respect to the described embodiments, but it is obvious to those skilled in the art that various modifications and modifications are possible within the scope of the technical idea of the present invention, and it is natural that such modifications and modifications fall within the scope of the appended claims.

100: multi-axis end effector 110: joint
111: first bar 112: second bar
113: bar 3 114: bar 4
115: bar 5 116: bar 6
10: gripper 121: rotating unit
200: master system 210: base
211: horizontal plate 212: vertical plate
220: arm cradle 221: support member
230: wrist rest 231: fixed shaft
240: finger mounting part 250: button part
A1 ~ A7: 1st axis ~ 7th axis C: Control unit
P: Potentiometer sensor

Claims (5)

In a multi-axis surgical robot and a master system comprising a multi-axis end effector constituting a surgical robot and a master system for remotely controlling the multi-axis end effector through a user's manipulation,
The multi-axis end effector,
A joint body in which a plurality of nodes are connected to each other through a plurality of rotation shafts;
It is installed at the end of the joint body, a gripper that acts to open and close to both sides: including,
The master system,
A base composed of a horizontal plate and a vertical plate perpendicular to the horizontal plate;
An armrest part rotatably coupled on the vertical plate and configured to allow a user's arm to be seated;
A wrist support unit that is axially coupled to be rotatable in a direction perpendicular to a rotation axis of the arm holder unit on the arm holder unit, and configured to seat a user's wrist;
A finger holder fixed to the wrist holder and on which a user's finger is placed and interlocked according to the movement of the finger joint;
It is installed on one side of the finger rest, a button portion provided to perform a pushing or pulling and pressing operation: includes,
The rotation angle of the rotation axis is sensed through the position sensing means installed on each rotation axis of the master system, and the rotation angle is synchronized with the rotation axis of the multi-axis end effector so that the joint movement of the multi-axis end effector can be made according to the synchronization. But,
Each joint body constituting the multi-axis end effector,
A first shaft interlocked with the rotation of the arm holder of the master system;
A second shaft interlocked with the rotation of the wrist rest;
A third axis and a fourth axis corresponding to movement of two joints of the user's finger among the finger rest portions;
The fifth axis linked to the operation of pushing or pulling the button part: is configured to be rotatable,
The gripper constituting the multi-axis end effector,
A multi-axis surgical robot and a master system, characterized in that it is configured to be rotatable with a sixth axis and a seventh axis that are rotated to one side or the other side of the joint body according to the movement of one of the other fingers of the finger holder. delete The method of claim 1,
A multi-axis surgical robot and a master system, characterized in that the gripper is closed or opened by the pressing operation of the button part. The method of claim 1 or 3,
The first and fifth axes are installed to rotate within a range of 0 degrees to 360 degrees,
The second to fourth axes are installed to rotate within a range of 0 degrees to 180 degrees,
Each of the sixth and seventh axes is a multi-axis surgical robot and a master system, characterized in that they are installed to rotate within a range of 0 degrees to 45 degrees with respect to the rotation axis of the fifth axis. The method of claim 1 or 3,
The position sensing means is a multi-axis surgical robot and master system, characterized in that the potentiometer sensor.

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