KR102557020B1 - Surgical robot apparatus - Google Patents

Abstract

The surgical robot device according to an embodiment of the present invention includes a clutch unit capable of selectively connecting or disconnecting a plurality of wires to one wire control unit, so that when pulling or pushing a wire for a predetermined operation of surgery, It may have a structure capable of selectively pulling or pushing a plurality of wires necessary for a surgical operation among a plurality of wires at once.

Description

Surgical robot device {SURGICAL ROBOT APPARATUS}

The present invention relates to a surgical robot device having a flexible joint, and when the surgical robot device according to the present invention is used, natural opening endoscopic surgery such as laparoscopic and intraoral surgery is possible.

Conventionally, open surgery performed in a state in which the stomach is incised and opened for intra-abdominal surgery has been common. However, with the introduction of laparoscopic surgery using a laparoscope and small surgical tools, laparoscopic surgery tends to be generalized in the case of relatively simple surgery such as cholecystectomy.

Laparoscopic surgery is a field of minimally invasive surgery, and by performing the procedure through a number of small incisions (invasive points), damage to surrounding organs or tissues can be minimized and the hospitalization period can be greatly shortened. Furthermore, with the introduction of the concept of non-invasive surgery without incision, natural orifice transluminal endoscopic surgery is attracting attention as a next-generation surgical method.

In natural opening endoscopic surgery, a flexible overtube is inserted through a natural opening (mouth, anus, or vagina) to access the surgical site, and then the necessary procedures are performed by manipulating an internal robot provided in the overtube.

Korean Patent Publication No. 10-2018-0102082 (published on September 14, 2018) as a conventional technology related to a robot device for endoscopic surgery with a natural opening discloses a "surgical device" (hereinafter referred to as 'prior art'). do.

1 is a view showing a surgical device according to the prior art, and FIG. 2 is a cross-sectional view of one of the surgical instruments of FIG. 1 .

1 and 2, a surgical device 1 according to the prior art includes an insertion unit 2 provided at a distal end of the surgical device, and a manipulation unit 3 located at a proximal end of the insertion unit 2. do.

The insertion part 2 is a part inserted into the surgical site during surgery. The insertion part 2 consists of a flexible tube in which a surgical instrument 4 for use in a surgical operation is placed.

The surgical instrument 4 is located in the hollow passage formed in the insertion part 2 . In the surgical device 1, four passages are provided in the insertion part 2, and four surgical instruments 4 are positioned in each passage.

Two of the four surgical instruments are distal effectors (5) with forceps (13). Various surgical operations can be performed using these surgical instruments. Various other types of surgical elements may be used, including blades, suturing units, needles, and the like. One of the other two surgical instruments is the imaging unit 6 which captures images of the distal end and the other is the lumen unit 7 with a working channel inside which various other surgical instruments can be inserted. .

These surgical instruments 4 protruding from the distal end of the insertion portion 2 can be bent by movement of a plurality of wires.

An operating portion 3 is provided at the proximal end of the insertion portion 2 and is configured to manipulate the insertion portion 2 and/or surgical instruments 4 . The distal end of the manipulation portion 3 is connected to the proximal end of the insertion portion 2, and a driving portion is provided in the manipulation portion 10.

The surgical instrument 4 comprises a steerable member 8 at its bendable distal end, the steerable member 8 having a plurality of bending segments 9 with hollow channels connected together.

A flexible member 10 comprising a flexible material is provided at the proximal end of the steerable member 8 . The flexible member 10 is composed of a hollow tube in which various types of wire members connected from the distal end of the surgical instrument 4 are located.

A distal effector 5 is provided at the distal end of the steerable member 8, the distal effector 5 is actuated by an effector operating wire 11, and each bending segment 9 of the steerable member 8 is connected to adjacent bending segments in a manner allowing a hinged motion and is bent by the bending actuating wires 12 .

The bending actuation wires 12 are positioned to pass through the steerable member 8 and the flexible member 10, the distal ends of the bending actuation wires 12 being connected to the steerable member 8 and the proximal ends of the wires The ends are mechanically connected to the manipulator (3).

The configuration of the surgical device 1 according to the prior art having the above configuration can be applied to a schematic configuration of a conventional surgical robot device having a flexible joint.

Korean Patent Publication No. 10-2018-0102082 (published date: 2018. 9. 14)

The present invention provides a surgical robot device capable of selectively driving a plurality of wires using a single wire control unit.

The surgical robot device according to an embodiment of the present invention includes a clutch unit capable of selectively connecting or disconnecting a plurality of wires to one wire control unit, so that when pulling or pushing a wire for a predetermined operation of surgery, It may have a structure capable of selectively pulling or pushing a plurality of wires necessary for a surgical operation among a plurality of wires at once.

The surgical robot device according to an embodiment of the present invention includes a clutch unit capable of selectively connecting or disconnecting a plurality of wires to one wire control unit, so that when pulling or pushing a wire for a predetermined operation of surgery, It may have a structure capable of selectively pulling or pushing a plurality of wires necessary for a surgical operation among a plurality of wires at once.

The effects according to the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims and detailed description. You will be able to.

1 is a view showing a surgical device according to the prior art,
2 is a cross-sectional view of one of the surgical instruments of FIG. 1;
3 is a schematic configuration diagram of a surgical robot device according to an embodiment of the present invention;
4 is a view schematically showing a control unit of a conventional surgical robot device;
5 is a view schematically showing a manipulation unit of a surgical robot apparatus according to an embodiment of the present invention;
6 is a view showing a clutch unit according to an embodiment of the present invention,
7 is a view showing a main gear;
8 is a view showing an attached gear;
9 and 10 are schematic plan views of the clutch unit according to an embodiment of the present invention, FIG. 9 is a schematic plan view showing a state in which the auxiliary gear member is not connected to the main gear member, and FIG. 10 is a schematic plan view of the main gear member It is a schematic plan view showing a state in which a wire is manually operated in a state in which one of the attached gear members is connected.

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

While the present invention is susceptible to various modifications and variations, specific embodiments thereof are illustrated and shown in the drawings and will be described in detail below. However, it is not intended to limit the present invention to the particular form disclosed, but rather the present invention includes all modifications, equivalents and substitutions consistent with the spirit of the present invention as defined by the claims.

Also, in the accompanying drawings, the thickness and size are exaggerated for clarity of the specification, and therefore the present invention is not limited by the relative size or thickness shown in the accompanying drawings.

3 is a schematic configuration diagram of a surgical robot device according to an embodiment of the present invention, FIG. 4 is a schematic view of a control unit of a conventional surgical robot device, and FIG. 5 is a diagram according to an embodiment of the present invention. It is a diagram schematically showing the control unit of the surgical robot device.

Referring to FIGS. 3 to 5 , the surgical robot device 100 according to an embodiment of the present invention includes an insertion unit 102 inserted into a surgical site made of a flexible hollow tube, and an end portion of the insertion unit 102 A flexible joint part 104 that is connected and includes a plurality of bending segments, a surgical tool 105 provided at an end of the flexible joint part 104, a bending wire 107 for bending the flexible joint part 104, and the operation of the surgical tool 105 It may include an operating wire 109 for and a manipulation unit 110 for manipulating the robot device 100.

The control unit 110 may include a wire control unit 120 for controlling a plurality of wires 123 such as a bending wire 107 and an operating wire 109, and the wire control unit 120 is in the form of a handle. It consists of a manual control unit or an automatic control unit in the form of a motor, and can control operations such as pulling or pushing a wire.

The bending wire 107 is for bending the flexible joint part 104 and may be made of a plurality of wires.

In addition, the surgical tool 105 is a tool for performing surgery, and various types of tools such as forceps and scissors may be used, and a plurality of surgical tools 105 may be provided at the end of the flexible joint part 104. there is. Accordingly, the operating wire 109 for operating the surgical tool 105 may be composed of a plurality of wires.

Accordingly, the plurality of wires 123 controlled by the wire controller 120 may be a plurality of wires including at least one of the bending wire 107 and the operating wire 109, and the present invention is limited thereto. I never do that.

Meanwhile, as shown in FIG. 4 , the control unit 121 of the conventional robot device includes as many wire control units 125 as the number of wires for controlling each of the plurality of wires 123 .

For this reason, in a conventional robot device, when trying to pull or push two or more wires at the same time, the wire controller 120 corresponding to each of the two or more wires must be operated.

For example, when the wire control unit 120 is a manual control unit in the form of a handle, in order to operate the three wires, a corresponding operation, for example, while gripping the handle, requires an operation such as bending or turning the wrist. do.

In general, there may be surgeries requiring various motions during surgery, but only predetermined motions may be performed for specific surgeries. However, in the case of a conventional robot device, there may be cases in which three or more are pulled or pushed in a wire-connected state even if the motion is determined.

For example, in the case of endoscopy, in order to smoothly insert the probe when using the endoscope, the user secures the direction through the yaw and pitch movements of the endoscope and uses it in the form of pushing it from behind. In this case, various accessories formed at the end of the endoscope In order to operate, it must be operated by pulling or pushing a wire connected in advance. In this case, the number of wires increases for each number of front tools to be operated, and the number of rear tools, that is, wire controllers 120 to control them, also increases. there is. In the actual surgical field, when the user cannot afford to do this, several users accompany and help the control.

The present invention is to solve the above problems, and as shown in FIG. 5, the robot device 100 according to an embodiment of the present invention has one wire controller 120 for controlling the wires 123. A clutch unit 130 for unifying and controlling the plurality of wires 123 using one wire control unit 120 may be further included.

That is, the robot device 100 according to an embodiment of the present invention includes a clutch unit 130 capable of selectively connecting at least one or more of the plurality of wires 123 to the wire controller 120 to operate. can do.

The clutch unit 130 is a component that connects or separates each of the plurality of wires 123 or at the same time to the one wire control unit 120 .

Therefore, the robot device 10 according to the present invention may have a structure capable of selectively pulling or pushing a wire necessary for a surgical operation among a plurality of wires 123 at one time when pulling or pushing a wire for a predetermined operation of surgery. there is.

For example, if there are 4 wires to control and the number of wires that the user can pull at once is 1, conventionally, the wire controller 120 for controlling each wire to pull each wire should be provided as much as the number of wires. , The robot device 100 according to the present invention operates by connecting or disconnecting each of the plurality of wires 123 according to the surgical operation situation even if only one wire control unit 120 is operated using the clutch unit 130. can make it

For example, if there are 4 wires to control and the number of wires that the user can pull at one time is 2, the robot device 100 according to the present invention uses the clutch unit 120 to select 2 necessary wires out of the 4 wires. Two wires may be connected to the wire controller 120 to operate the two wires at once.

Therefore, even if the number of wires increases, only desired wires can be operated, and wires that are not operated can be held and stopped if necessary. Through this, one person can operate a variety of surgeries that were previously assisted by several people. Surgery corresponding to this can be applied to oral surgery (larynx, thyroid, prostate, head and neck surgery, etc.).

The clutch unit 130 according to an embodiment of the present invention may be formed of a bevel gear type mechanism in order to minimize mechanical space.

To implement this, the type of pulling the wire does not use an external motor, selects it through a bevel gear and rotates the whole, the main bevel gear rotates through the rotating force, and through this, additionally connected bevel gears are connected. , The pulley connected thereto may have a structure in which the wire is pulled or released while rotating.

In addition, in order to connect each selected bevel gear to the main bevel gear, a switch can be placed at the operating end so that they can be connected.

Hereinafter, the configuration of the clutch unit according to an embodiment of the present invention will be described in detail with reference to the drawings.

6 is a view showing a clutch unit according to an embodiment of the present invention, FIG. 7 is a view showing a main gear, and FIG. 8 is a view showing an accessory gear.

6 to 8, the clutch unit 130 according to an embodiment of the present invention includes a main gear member 140 connected to a wire control unit 120 composed of one motor, and a main gear member 140. It may include a plurality of auxiliary gear members 150 that are selectively connected to and separated from.

The main gear member 140 is connected to the wire control unit 12 made of a motor and rotates along with the rotation of the motor, and is provided at an end of the main rotation shaft 142 to rotate the main rotation shaft 142 It may include a main bevel gear 143 that rotates along with the rotation of.

The accessory gear member 150 includes an accessory rotation shaft 152, a button portion 153 provided at one end of the accessory rotation shaft 152, a spring 154 provided on the button portion 153, and an accessory rotation shaft 152. An attached bevel gear 155 provided at the other end and engaged with the main bevel gear 143 when the button part 153 is pressed, provided between the button part 153 and the attached bevel gear 155, and a plurality of wires ( 123) may include a pulley 157 to which any one is connected.

Therefore, when the button portion 152 of the attached gear member 150 is pressed, the attached bevel gear 155 and the main bevel gear 143 are engaged, and the attached bevel gear 155 and the main bevel gear 143 are engaged. When the motor of the wire controller 120 is operated in the engaged state, the main bevel gear 143 rotates and the attached bevel gear 155 rotates, so the wire connected to the pulley 157 of the auxiliary gear member 150 Operation such as winding or unwinding can be performed.

9 and 10 are schematic plan views of the clutch unit according to an embodiment of the present invention, FIG. 9 is a schematic plan view showing a state in which the auxiliary gear member is not connected to the main gear member, and FIG. 10 is a schematic plan view of the main gear member It is a schematic plan view showing a state in which a wire is manually operated in a state in which one of the attached gear members is connected.

As shown in FIG. 9, in the clutch unit 130 according to an embodiment of the present invention, the main gear member 140 is located in the center before operation, and approximately 4 It may have a substantially cross shape on a plane, where the number of auxiliary gear members 150 are located.

As shown in FIG. 10, when the button 153 of any one of the attached gear members 150 is pressed during operation, the attached bevel gear 157 and the main bevel gear 143 are engaged, so that any one of the attached gear members 150 and the main gear member 140 are connected. Of course, it is also possible that two or more accessory gear members 150 are connected to the main gear member 140 at the same time.

In the above state, when the automatic control unit, that is, the motor, of the wire control unit 120 is operated, the main gear member 140 rotates and the auxiliary gear member 150 rotates, and then any one of the auxiliary gear members 150 As the accessory rotation shaft 152 rotates, the pulley 157 connected to the accessory rotation shaft 152 rotates, and the wire connected to the pulley 157 can be wound or pulled.

10 is a view showing a state in which the wire connected to the pulley 157 operates in the case of a manual control unit rather than an automatic control unit. As shown in FIG. 10, one of the auxiliary gear members 150 is the main gear member 140 ) When the manual control unit is operated in the connected state, the entire clutch unit 130 in the shape of a cross rotates, and at this time, the wire connected to the pulley 157 provided in the auxiliary gear member 150 connected to the main gear member 140 can only be wound or pulled.

As described above, the present invention relates to a surgical Rorot device having a clutch unit capable of selectively connecting or separating a plurality of wires to one wire control unit, the embodiment of which can be changed into various forms something to do. Therefore, the present invention is not limited by the embodiments disclosed herein, and all forms changeable by those skilled in the art will also fall within the scope of the present invention.

100: surgical robot device 120: wire control unit
130: clutch part 140: main gear member
150: attached gear member

Claims (8)

delete An insertion unit inserted into the surgical site;
a flexible joint part connected to an end of the insertion part and including a plurality of bending segments;
a surgical tool provided at the end of the flexible joint;
a plurality of wires including a bending wire for bending the flexible joint and an operating wire for operating the surgical tool;
a wire controller controlling the plurality of wires; and
A clutch unit selectively connecting at least one of the plurality of wires to the wire control unit;
The surgical robot device according to claim 1 , wherein the clutch unit includes a main gear member connected to the wire controller and a plurality of auxiliary gear members selectively connected to and separated from the main gear member. According to claim 2,
The main gear member includes a main rotational shaft rotated by the wire control unit and a main bevel gear provided at an end of the main rotational shaft and rotating together according to the rotation of the main rotational shaft. According to claim 3,
The accessory gear member includes an accessory rotation shaft, a button portion provided at one end of the accessory rotation shaft, an accessory bevel gear provided at the other end of the accessory rotation shaft and engaged with the main bevel gear when the button portion is pressed, the button portion and the accessory gear member. A surgical robot device comprising a pulley provided between the attached bevel gears and to which one of the plurality of wires is connected. According to claim 4,
Surgical robot device, characterized in that the button portion is provided with a spring. According to claim 2,
The surgical robot device according to claim 1 , wherein the clutch unit has a cross shape on a plane, in which the main gear member is located at the center and four auxiliary gear members are located around the main gear member. An insertion unit inserted into the surgical site;
Surgical tools provided at the distal end of the insertion portion;
A plurality of operating wires for operating the surgical tool;
a wire controller controlling the plurality of operating wires; and
A clutch unit selectively connecting at least one of the plurality of operating wires to the wire control unit; includes,
The surgical robot device according to claim 1 , wherein the clutch unit includes a main gear member connected to the wire controller and a plurality of auxiliary gear members selectively connected to and separated from the main gear member. An insertion unit inserted into the surgical site;
a flexible joint part connected to an end of the insertion part and including a plurality of bending segments;
a plurality of bending wires for bending the flexible joint;
a wire controller controlling the plurality of bending wires; and
A clutch unit selectively connecting at least one of the plurality of bending wires to the wire control unit; includes,
The surgical robot device according to claim 1 , wherein the clutch unit includes a main gear member connected to the wire controller and a plurality of auxiliary gear members selectively connected to and separated from the main gear member.