KR20100067846A - Bed mounted with surgical robot - Google Patents

Abstract

PURPOSE: A bed mounted robot for surgery is provided to combine a main body member mounted in a surgery bed with a support arm and then combine the support arm with a plurality of robot arms. CONSTITUTION: A main body member(10) is combined in a core unit(7) of a surgery bed(3). The main body member is combined in the core unit to a slide type. A table(9) laying down a patient is supported in the core unit. A support arm(11) is combined in the main body member in order to be rotatable. A robot arm(20) is combined in the support arm in order to be rotatable.

Description

Bed mounted with surgical robot

The present invention relates to a bed-mounted surgical robot.

Medically, surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Conventional surgical robots are composed of a master robot that generates and transmits a signal required by a doctor's operation, and a slave robot that receives a signal from a master robot and directly applies a manipulation required to a patient. The slave robot is installed in the operating room and the master robot is installed in the operating room, respectively, and the master robot and the slave robot are connected to each other in a wired or wireless manner to perform surgery remotely.

Among them, slave robots should be located close to the patient to be operated on, and not too much space for anesthesiologists, assistants, or nurses to access the patients. Must meet the following requirements:

To this end, conventionally, slave robots have been installed in various ways, each having advantages and disadvantages, such as being located near the patient or mounted on the ceiling of the operating room and down to the patient's location as needed. I can't.

In addition, the conventional surgical robot is not easy to accommodate, install and move the robot in the hospital as the volume thereof increases, so it is difficult to introduce the surgical robot in a small hospital.

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

The present invention provides a bed-integrated surgical robot that can be easily stored, installed and moved by reducing the size and weight of a surgical robot, and the area occupied by the robot can be utilized as a patient bed. .

According to an aspect of the present invention, a robot mounted on an operating bed and equipped with a surgical instrument at an end of the robot arm to operate a patient loaded on the operating bed, the main body coupled to the operating bed, A bed-mounted surgical robot is provided that includes a support arm rotatably coupled to the main body and at least one robot arm rotatably coupled to the support arm.

The operating bed includes a support portion, a core portion supported on the support portion, and a table supported on the core portion for laying down the patient, the main body portion being pivoted on the core portion so that the robot arm is proximate or spaced apart from the operating bed. Can be combined as possible. In this case, the main body portion is formed in the shape of an arc, and may be coupled to the core portion so as to be rotated about a predetermined point to be drawn or received from the core portion. It may also be coupled in a sliding manner to the core portion such that it is proximate or spaced apart from the core portion.

The support arm may include a major support arm coupled to the main body so as to be movable in one direction, and a minor support arm pivotally coupled to the major support arm. In this case, the major support arm is coupled to the main body portion in a sliding manner, and can move along the longitudinal direction of the main body portion, and the minor support arm can be coupled to the end of the major support arm in the SCARA manner.

The plurality of body parts are coupled to the operating bed, and the robot arm may be coupled to the plurality of body parts, respectively, to be manipulated toward a predetermined point on the operating bed. The main body portion is coupled to the operating bed to be detachable, and when the main body portion is separated from the operating bed, the main body portion may be formed in the shape of a tower column installed on the bottom of the operating room corresponding to the position of the operating bed.

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

According to a preferred embodiment of the present invention, by coupling the support arm to the main body mounted on the surgical bed and a plurality of robot arms coupled thereto, the surgical slave robot can be configured to have a compact, slim and excellent stability, the robot Since the arm is mounted on the bed, the relative position between the robot arm and the bed can be accurately determined without the need to input the bed position information separately during the installation of the robot arm. That is, it is possible to automatically set the position of the robot arm relative to the patient without the need to separately set the initial position of the robot arm in the surgical procedure.

In addition, when a plurality of body parts are coupled to the operating bed and the robot arm is mounted on each of the body parts, the size of each body part can be reduced so that the patient can be transported or draped while maintaining the advantages of the bed-mounted surgical robot. ), And when the main body is detachably combined from the operating bed, the main body can be composed of a separate structure that is supported on the floor of the operating room during the surgery process to overcome the shaking of the bed and more stable robot surgery Can be lost.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

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

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

1 is a conceptual diagram showing a bed-mounted surgical robot according to an embodiment of the present invention, Figure 2 is a perspective view showing a bed-mounted surgical robot according to an embodiment of the present invention. 1 and 2, the instrument 1, the surgical bed 3, the support 5, the core 7, the table 9, the main body 10, the support arm 11, and the major A support arm 12, minor support arm 14, robot arm 20, wheel 30 are shown.

In the present embodiment, when constructing a surgical robot, by mounting the main body to the operating bed and the structure of the support arm and the plurality of robot arm is sequentially coupled to the main body, the surgical robot can be structurally stable implemented In addition, the relative position between the robot arm and the patient can be accurately identified.

Surgical robots must satisfy contradictory conditions. That is, while it should be operated in close proximity to the patient, while a clinical staff or the like should be able to access the patient without interference from the robot, it should be located above the patient's body and operated, while the patient is concerned about infection. Sterilization should be ensured so that no

In addition, while having sufficient strength, accuracy, and dexterity for operation, it must be small in size, slim and light in weight, while the robot must be rigidly mounted while being free to move and operating room The area occupied should be small. Furthermore, both the patient and the robot should be free to prepare for surgery.

Pros and cons of ceiling mount, table mount, floor mount, patient mount, tower style, etc. Various installation methods have been devised.

In this embodiment, by combining the base of the tower robot to the operating bed (3) it can be referred to as the so-called 'bed mounted' taking only the advantages of 'operating table attached' and 'tower type'.

That is, the surgical robot according to the present embodiment is to make a structure under the operating bed (3) and to move the tower-shaped body closer or farther away from the bed. Several robot arms 20 may be coupled from the tower body via the support arms 11.

As shown in Figure 1, the surgical robot is a structure that is mounted on the operating bed (3), the end of the surgical arm (instrument) (instrument 1) to the end of the robot arm 20, the surgical bed (3) It is a slave robot used to operate on a patient lying on the stomach.

The surgical robot according to the present embodiment has a main structure, a support arm 11 coupled to the main body, and a robot arm 20 coupled to the support arm 11, and the main body includes a surgical bed. It is characterized by being coupled to (3). When the operation bed (3) is in contact with the bottom portion (5), the patient lying down the table (9), the core portion as shown in Figure 1 between the base portion 5 and the table (9) (7) is installed and the main body of the surgical robot is coupled thereto.

The body portion coupled to the core portion 7 of the surgical bed 3 can be rotated to be spaced apart from the surgical bed 3 or in proximity to the surgical bed 3 by various mechanisms. An example of the detailed structure of the rotation mechanism of a main body part is mentioned later with reference to FIG.

The robot arm 20 is coupled to the main body via the support arm 11, and the robot arm 20 is stretched and / or rotated from the main body to lie on the table 9 by driving the support arm 11. The operation required for surgery is set toward the affected part of the patient. For the expansion and contraction of the robot arm 20, a telescopic mechanism such as slide or telescope may be applied, and a variety of telescopic and rotational mechanisms may be applied, such as a rotational mechanism such as a rotating shaft and a link, for the movement of a position. Can be.

When the robot arm 20 is used for surgery, the robot arm 20 is driven so that the surgical instrument 1 whose main body part is rotated and extended from the operating bed 3 and coupled to its tip is directed to the surgical site of the patient. do. When the robot arm 20 is not used for surgery, the main body may be contracted and rotated to be accommodated in the surgery bed 3.

1 and 3, since the surgical robot according to the present embodiment is mounted on the surgical bed 3, the origin of the driving coordinates of the robot arm 20 corresponds to a predetermined position of the bed. Therefore, when operating the robot arm 20 for surgery, even if the information on the positional relationship between the robot and the bed or the positional relationship between the robot and the patient does not need to be input as in the prior art, the point mounted on the bed may be used as the coordinate origin. It is possible to precisely manipulate the instrument 1 to face a predetermined position on the table 9 or a predetermined position of the patient lying in bed.

The base 5 of the operating bed 3 may be provided with a moving means for moving the bed such as a wheel or a roller. Even if the bed is moved by the moving means, the driving coordinate system of the robot does not change as described above. Therefore, robot surgery can be performed as if the bed is stationary.

In addition, even when the height of the table 9 of the operating bed 3 is adjusted, the height of the robot is adjusted in conjunction with the height of the table 9, or the information about the degree to which the height of the table 9 is adjusted immediately. Since the robot can be delivered to the surgical robot, the robot arm 20 may be manipulated based on the same or corresponding coordinate system regardless of height adjustment.

As such, since the surgical robot according to the present embodiment is configured to be mounted on the bed, the stability of the installation can be increased, and the relative position between the bed and the surgical robot can be accurately determined. In this case, the robot arm 20 may be automatically moved to a designated position by loading preset information according to the type of surgery.

The support arm 11 is rotatably coupled to the main body portion according to the present embodiment, and the robot arm 20 is coupled to the end of the support arm 11. That is, in constructing a surgical robot, by coupling the support arm 11 to the body portion and at least one robot arm 20 to the end of the support arm 11, to realize a compact and slim surgical robot as a whole It is.

When the main body is configured for each of the robot arms 20, the volume is large, the mobility is low, and the operation may be complicated. However, as shown in this embodiment, the support arm 11 is coupled to the support arm 11 to the support arm 11. By combining one or a plurality of robot arms 20, a robot that is slim and easy to move and operate can be implemented.

The support arm 11 according to the present exemplary embodiment may include a major support arm 12 coupled to the main body and a minor support arm 14 coupled to an end of the major support arm 12. By driving the two support arms 11 to move the robot arm 20 to the position required for surgery.

In order to drive the support arm 11, the support arm 11 may be coupled to the main body 10 in various coupling methods such as a slide method and a SCARA method. Here, the case where the major support arm 12 is coupled to the main body 10 by the slide movement method, and the case where the minor support arm 14 is coupled to the major support arm 12 by the SCARA (Selective Compliance Assembly Robot Arm) method are described. An example will be described.

However, the coupling method of each support arm 11 is just one example, and various robot driving methods for moving the robot arm 20 to a desired position may be applied. That is, the major support arm 12 may be coupled to the main body portion 10 by the slide method or the SCARA method, and the minor support arm 14 may also be coupled to the major support arm 12 by the slide method or the SCARA method. .

That is, by coupling the major support arm 12 to the main body 10 so as to be movable in one direction, and the minor support arm 14 to be rotatable to the major support arm 12, the robot arm 20 is required. You can move it to a location.

One or a plurality of robot arms 20 are rotatably coupled to an end of the minor support arm 14 so that the operator moves the robot arm to a required position by driving the major / minor support arms 12 and 14 ( 20) to operate the robot surgery. The end of the robot arm 20 is equipped with various instruments 1 necessary for surgery, such as a laparoscope, a skin holder, a suction line or an effector, to perform the surgery.

As such, instead of directly mounting the robot arm 20 to the main body 10, the robot arm 20 is manufactured in a small size and concentrated at the end of the support arm 11, so that the surgical robot according to the present embodiment is a conventional robot. It can be manufactured in a much more compact form than the structure, ie size and weight that can be mounted on a bed.

On the other hand, the surgical robot is to perform a so-called draping operation to cover the robot arm 20 with a cover such as sterilized vinyl to protect the surgical patient from secondary infection, the conventional robot is each robot Whereas the arms 20 must be individually draped, the robot according to the present embodiment can drape the entire robot arm 20 all at once by simply covering the support arms 11 to easily and quickly prepare before surgery. Can be.

The main body of the surgical robot according to the present embodiment is coupled to the surgical bed 3 so as to be spaced apart from the operating bed 3, the support arm 11 extends from the main body and the robot performs an operation necessary for surgery at the end thereof. Arm 20 is coupled to one or a plurality, the operation is performed by operating the robot arm 20 directly above the patient.

The support arm 14 serves to extend the robot arm 20 from the body portion to the position of the patient, so that the robot arm 20 can move to any point in the three-dimensional space according to the operator's operation. The support arm 12 and the minor support arm 14 are rotatably coupled to the body portion 10.

2 shows an example in which the major support arm 12 is coupled to the main body 10 in a sliding manner. That is, the major support arm 12 slides along the longitudinal direction of the main body 10 so that the components coupled to the major support arm 12, that is, the minor support arm 14 and the robot arm 20, can be moved. It serves to extend a predetermined length in the dimensional space.

The minor support arm 14 is coupled to the major support arm 12 in a SCARA manner, and serves to freely move the robot arm 20 coupled to the minor support arm 14 by a predetermined length.

As a result, the robot arm 20 is moved to a predetermined position in the three-dimensional space, for example, the position of the patient's surgical site in response to the driving of the major support arm 12 and the minor support arm 14. By operating the robot arm 20 to operate the robot surgery to proceed. Accordingly, the surgical robot according to the present embodiment can maintain the strength, accuracy and agility required for the surgery while being compactly manufactured.

In this embodiment, although the major support arm 12 is coupled to the main body portion 10 in a sliding manner, the minor support arm 14 is coupled to the major support arm 12 in the SCARA method, but the present invention is shown. The support arm 11 is not limited to the coupling method, and various robot driving methods such as a slide structure and a SCARA structure can be applied.

On the other hand, the main body 10 may be formed in a size that can accommodate the major support arm 12, in this case, by moving the major support arm 12 in the longitudinal direction of the main body, the main body 10 ) Can be stored inside and withdrawn from the main body 10 as needed.

As such, by sliding the major support arm 12 to the main body 10 so as to be stored and withdrawn, the surgical robot can be configured to be slimmer, and if necessary, the robot arm 20 can be drawn out to a desired length. It can be reached to the surgical site, thereby maintaining the agility needed for the surgery.

In addition, the major support arm 12 according to the present embodiment may be coupled to the main body 10 so as to be tiltable, and further, the minor support arm 14 may also be tilted to the major support arm 12. Can be combined. That is, the major support arm 12 and / or minor support arm 14 are axially coupled to the main body 10 or the major support arm 12, or the major support arm 12 and / or minor support arm 14 By interposing the hinge axis in the middle portion of the), the major support arm 12 and / or minor support arm 14 can be rotated about the engagement axis or the hinge axis to enable the tilting operation.

As such, when implementing the tilting operation on the support arm 11, even if the support arm 11 is slightly rotated, the robot arm 20 coupled to the end of the support arm 11 is moved by a considerable distance. 20) can be easily moved to the desired position.

Meanwhile, as shown by a dotted line in FIG. 1, the wheel 30 may be coupled to the main body so that the surgical robot may be supported on the floor of the operating room while being connected to the operating bed 3. The configuration and operation of the wheel 30 will be described later in the description of FIG. 5.

Figure 3 is a front view showing a bed-mounted surgical robot according to an embodiment of the present invention. Referring to FIG. 3, the instrument 1, the surgery bed 3, the support 5, the core 7, the table 9, the main body 10, the support arm 11, and the robot arm 20 ) Is shown.

In order to be spaced apart from the bed while the surgical robot is mounted on the bed, as shown in FIG. 3, an arc-shaped structure is formed in the core part 7 of the surgical bed 3 and the main body part is drawn out accordingly. Can be.

In this case, the main body portion is also formed in an arc shape so that the main body portion can be accommodated in the core portion 7, and the main body portion can be drawn out from the core portion 7 while rotating about the center point of the circular arc. In addition, the body portion may be accommodated in the core portion 7 while rotating about the center point of the arc. Figure 3 illustrates one of the ways in which the body portion of the surgical robot is accommodated in, pulled out of the bed, other storage structures that are not illustrated may be applied.

On the other hand, the main body portion according to the present embodiment is coupled to the core portion 7 of the operating bed 3 in a sliding manner, can be moved away from the operating bed (3), or moved close to the surgical bed (3) as needed. It is configured to be. The storage, take-out structure and slide coupling structure between the core portions 7 of the main body portion may be applied separately or in parallel.

Drive mechanisms such as a motor, a hydraulic jack, a gear, a link, and the like may be further installed to operate the main body to be received, withdrawn from, or close to or separated from the operating bed 3, and a detailed description of such a driving mechanism is omitted. do.

Figure 4 is a conceptual diagram showing a bed-mounted surgical robot according to another embodiment of the present invention. Referring to FIG. 4, the instrument 1, the surgical bed 3, the support 5, the core 7, the table 9, the main body 10, the support arm 11, and the robot arm 20 ) Is shown.

The present embodiment is a case in which a plurality of the main body portion is coupled to the operating bed (3), and when the plurality of main body portions are used in this way, the size of each main body portion can be made smaller, so that the surgical robot can be more slimmed. The bed itself equipped with a surgical robot can also be used for the purpose of patient transport, and there is an advantage in that it is possible to solve the inconveniences of draping work.

That is, in the concept of a tower-type robot, as a case of making a plurality of the main body (tower) itself and mounted on the operating bed (3), each tower may be equipped with one or more robot arms 20 as described above.

Even when a plurality of main body parts are mounted, the robot arm 20 coupled to each main body part, like the plurality of robot arms 20 coupled to one main body part, has a predetermined point, for example, on the operating bed 3. It is coupled to each body to be manipulated toward the surgical site of the patient.

5 is a conceptual diagram showing a bed-mounted surgical robot according to another embodiment of the present invention. Referring to FIG. 5, the instrument 1, the surgical bed 3, the support 5, the core 7, the table 9, the main body 10, the support arm 11, and the robot arm 20 ), Wheel 30, and stopper 32 are shown.

In this embodiment, the surgical robot is detachably coupled to the surgical bed 3, and the main body is separated from the core 7 so that it can be used as an independent device. When the main body part is separated from the surgical bed 3, the main body part serves as a main body part of the tower robot, that is, as a tower column, and is installed and fixed at a position corresponding to the position of the surgical bed 3.

When the main body is mounted on the operating bed 3, the driving coordinates of the robot are automatically linked to the position of the operating bed 3, as in the present embodiment, when the main body is separated from the surgical bed 3 and installed and fixed The information on the positional relationship between the robot and the bed may be separately input or may be detachable within a range having the association in the driving coordinates without being completely separated from the bed.

For example, by connecting the main body and the operating bed 3 with a wire or a cable ('C' in FIG. 5), even if the main body is separated from the operating bed 3, the tension or electric signal transmitted through the wire or the cable is transmitted. The position of the main body portion can be determined.

When the robot is mounted on the operating bed 3, the robot arm 20 may be shaken accordingly when the bed is shaken. However, the surgical robot is physically separated from the operating bed 3 so that the robot is installed and fixed at a separate position. In this case, since the robot functions as a separate structure, it can overcome the shaking of the bed that may occur during the surgical procedure.

The main body portion may be provided with a wheel 30 and a stopper 32 adjacent to the wheel 30 so that the surgical robot is separated from the bed and installed and fixed at a specific position. The wheel 30 serves to allow the main body to be freely moved to a predetermined position by being separated from the bed, and the stopper 32 restrains the rotation so that the wheel 30 does not rotate after the robot moves to a desired position. It may serve as a brake for fixing.

In addition, as the crane vehicle or the like normally moves with wheels and works, the stopper 32 is formed in the form of a support leg mounted around the wheel 30, as the support leg installed around the wheel fixes the vehicle to the floor. In this case, when the main body 10 is to be fixed, the support legs may be pulled out so that the main body 10 does not move.

On the other hand, as shown by a dotted line ('R' of Figure 5) in Figure 5, the surgical robot according to the present embodiment may be coupled to the bed is provided with a plurality, such as disposed radially around the bed, As described above, the plurality of robots may be accommodated in, extracted from, or installed separately from the bed.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1 is a conceptual diagram showing a bed-mounted surgical robot according to an embodiment of the present invention.

Figure 2 is a perspective view of a bed-mounted surgical robot according to an embodiment of the present invention.

Figure 3 is a front view showing a bed-mounted surgical robot according to an embodiment of the present invention.

Figure 4 is a conceptual diagram showing a bed-mounted surgical robot according to another embodiment of the present invention.

5 is a conceptual view showing a bed-mounted surgical robot according to another embodiment of the present invention.

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

1: instrument 3: surgical bed

5: supporting part 7: core part

9: table 10: main body

11: support arm 12: major support arm

14: minor support arm 20: robot arm

30: wheel 32: stopper

Claims (9)

A robot mounted on an operating bed and equipped with a surgical instrument at an end of the robot arm to operate on a patient loaded on the operating bed, A main body coupled to the surgery bed; A support arm rotatably coupled to the main body; A bed-mounted surgical robot comprising one or more of said robot arms rotatably coupled to said support arm. The method of claim 1, wherein the operating bed, A support part; A core part supported by the support part; Supported by the core portion, and includes a table for lying down the patient, The body portion, the bed-mounted surgical robot, characterized in that coupled to the rotatable core portion so that the robot arm is close to or spaced apart from the operating bed. The method of claim 2, The main body portion is formed in the shape of an arc, the bed-mounted surgical robot, characterized in that coupled to the core portion to be pulled out or received from the core portion to rotate around a predetermined point. The method of claim 2, The main body, a bed-mounted surgical robot, characterized in that coupled to the core portion in a sliding manner so as to approach or spaced apart. The method of claim 1, The support arm may include a major support arm coupled to the main body so as to be movable in one direction, and a minor support arm coupled to the major support arm in a rotatable manner. Bed-mounted surgical robot. The method of claim 5, The major support arm is coupled to the main body in a sliding manner, the bed-mounted surgical robot, characterized in that moving along the longitudinal direction of the main body. The method of claim 5, And said minor support arm is coupled to an end of said major support arm in a SCARA manner. The method of claim 1, And a plurality of the main body parts are coupled to the operating bed, and the robot arm is coupled to the plurality of main body parts so as to be manipulated toward a predetermined point on the operating bed. The method of claim 1, The main body portion is coupled to the operating bed to be detachable, and when the main body portion is separated from the operating bed, the main body portion is formed in the shape of a tower-shaped column installed on the floor of the operating room corresponding to the position of the operating bed Bed-mounted surgical robot.

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