KR20120010690A - Joint fixed equipment of robot arm with which medical equipment is equipped - Google Patents

Abstract

PURPOSE: An arthrodesis apparatus of a robot arm which is included in a medical device is provided to fix or lift joint parts at a time through the manipulation of a switch. CONSTITUTION: A top joint body(210) comprises a top fixing member(212) having a male fixing part(211), an operating space(213), and a lead-in space. An electromagnet(220) is magnetized by power which is provided from outside. A bottom turning member(230) is located in the operating space of the top joint body. The bottom turning member has a female fixing part(231) which is combined to the male fixing part. An elastic spring(240) makes maintain an interval between the male fixing part of the top fixing member and the female fixing part of the bottom turning member. A bottom joint body(250) has a penetration pole(251) which is projected on the upper side.

Description

Joint fixed equipment of robot arm with which medical equipment is equipped}

The present invention is to fix each of the joints provided in the medical device by performing the operation of the switch at one time through the operation of the switch to fix or release the joints between the support, the robot arm and the medical tool supported on the main body for the medical device Or a method for fixing a joint of a robot arm provided in a medical device that requires only a time for operating a single switch, regardless of the number of robot arms that are not only convenient to release, but also to fixation and release. will be.

In general, a medical device that can be equipped with a variety of medical instruments are used in the surgical operation to assist the doctor.

Such a medical device is connected to a robotic arm that provides a medical tool at a treatment (or diagnosis) site so that the operator can perform the procedure regardless of the position of the medical tool.

1 is a view showing a medical device provided with a robot arm, Figure 2 is a main portion of the conventional joint portion of the medical device provided with a robot arm.

As shown, the medical device with a robot arm includes a first robot arm 5, a second robot arm 7, and a medical tool 9 on a support 3 supported on a main body 1 for a medical device. The first joint part 10 and the second joint part 20 are connected between the support 3, the first robot arm 5, the second robot arm 7, and the medical tool 9 so as to be connected to each other. And through the third joint 30 is provided.

Here, the first joint 10, the second joint 20 and the third joint 30 is the first robot arm (5) so that the medical tool (9) is located at the surgical site to deviate as far as possible from the operator's treatment space. And both sides of the second robot arm 7 as much as possible to rotate.

Since the configuration of the first joint part 10, the second joint part 20 and the third joint part 30 are the same, the first joint part 10 will be described first, the handle 11 and the handle (above). 11) is fixedly connected to the rotating shaft 13, the threaded shaft 12 is formed on the outer periphery, and one side of the first robot arm 5 is inherently separated into the upper and lower so as not to be separated, the separated portion Receiving groove 14 is formed of a joint body 15 is formed.

As described above, when the medical tool 9 is to be positioned at the surgical site by using each of the conventional joints 10, 20, and 30 among the medical devices equipped with the robot arms 5 and 7, first, each joint part 10 The operator manually rotates the handles 11 provided at, 20, 30 to the upper side of the robot arm 5, 7 to be released.

Subsequently, in the state where the robot arms 5 and 7 are rotated and disposed at a desired position, the handles 11 provided at the joints 10, 20 and 30 are moved downward toward the robot arm 5 and 7 fixed positions. When the operator manually turns to move, the end of each pivot shaft 13 provided in each joint 10, 20, 30 is used by pressing and fixing both sides of each robot arm (5, 7).

As described above, each of the conventional joints 10, 20, and 30 of the medical apparatus equipped with the robot arms 5 and 7 directly changes the position of the robot arms 5 and 7 for the procedure. Holding the handle 11 provided in the, 20,30 to perform the fixing and unlocking, the operator takes a lot of time in accordance with the inconvenience of using the fixed and unlocking as well as the fixed and unlocking This is a problem that takes more proportionally depending on the number of robot arms (5, 7) provided.

The present invention is to solve the problems of the prior art, an object of the present invention is to fix or release the fixing of the respective joints to rotate the omnidirectional between the support, one robot arm and the medical tool supported on the main body for the medical device. By performing the switch at once, it is convenient not only to fix or unlock each joint part provided in the medical device, but also to operate the switch once regardless of the number of robot arms provided. It is to provide a joint fixing device of the robot arm provided in the medical device that takes only about a time.

In the technical concept for achieving the present invention, the joint fixing device of the robot arm provided in the medical device of the present invention, the support body, the medical tool, which is provided in the main body for the medical device, at least one robot connected between the support and the medical tool A medical device having an arm, wherein the support body, the at least one robot arm, and the medical tool are pivoted in all directions, and include joints having the same configuration. An upper joint body having a structure in which a fixing member is fixed inside the upper side, and an operating space is formed directly under the numerator, and a lower portion thereof is opened to form an inlet space, wherein the inlet space and the operating space are in communication with each other; An electromagnet which is inserted and fixed to the upper fixing member and magnetized when power is supplied from the outside; Located in the operating space of the upper articulated body, the upper surface is provided with a female fixing portion to the bite fixing portion, the lower rotating member of a metal material formed on the lower surface and the upper guide groove; The hollow is formed in the upper joint body or the electromagnet, and is inherent in the formed hollow, one side is placed on the inner upper side of the upper joint body, the other side is placed on the lower pivot member, the upper fixing member by the elastic force An elastic spring for dropping between the male fixing part of the female fixing part and the female fixing part of the lower rotating member; And a lower joint body protruding from the upper surface of the upper articulated body through the inlet space, the entrance end of which is protruded into the upper and lower guide grooves of the lower pivot member.

The present invention is to perform the locking or unlocking of each joint portion for pivoting between the support body, the robot arm and the medical tool supported by the main body for the medical device at a time through the operation of the switch of each joint portion provided in the medical device Not only is it convenient to fix or release, but also the time required for fixing and releasing also has the effect of requiring only one time to operate a single switch regardless of the number of robot arms provided.

1 is a perspective view showing a medical device equipped with a robot arm,
Figure 2 is a main part of the conventional joint portion of the medical device provided with a robot arm,
Figure 3 is a perspective view showing a medical device equipped with a robot arm to which the joint fixing device of the present invention,
Figure 4 is a cross-sectional view showing the joint fixing device of the present invention applied to a medical device equipped with a robot arm;
Figure 5 is an exploded perspective view of the main part showing the upper fixing member and the lower rotating member of the joint fixing device of the present invention applied to a medical device equipped with a robot arm,
6 and 7 is a state diagram used in the joint fixing device of the present invention applied to a medical device equipped with a robot arm.

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the embodiment of the present invention will be described in detail.

As shown in the above-mentioned drawings, the joint fixing device of the present invention is provided with a support 3, a medical tool 9, provided between the support 3 and the medical tool 9 provided in the main body 1 for the medical device In a medical device having a first robot arm (5) and a second robot arm (7) connected to the apparatus, the support (3), the first robot arm (5), the second robot arm (7) and the medical tool connected thereto. (9) comprises a first joint part 100, a second joint part 200, and a third joint part 300, which rotate between them in all directions.

The medical device main body 1 is a device for providing and controlling a variety of surgical information required for performing a procedure, and is provided with a means for outputting various information related to the procedure and various input means. And a control means for controlling the medical tool 9 and a power supply means for supplying power together with an input means.

Here, the laser treatment device is a surgical laser that is largely used for the purpose of micro incision and bleeding prevention during surgery, pain relief and treatment of arthritis patients, auxiliary treatment for the treatment of fractures, dermatitis, especially athlete's foot treatment, acne or It is a medical device utilized as a physical therapy device for the treatment of burns.

The medical device main body 1 has various types according to the medical field. In the present invention, for example, the laser treatment device is illustrated, and accordingly, the medical tool 9 also shows a probe provided in the laser treatment device. The number of arms is also shown in two of the first robot arm (5) and the second robot arm (7), the medical device (9) in the case of applying a different medical device in place of the laser treatment device as the main body for the medical device (1) In addition, the number of robotic arms is also increased and applied as required by the medical device.

The first joint part 100, the second joint part 200, and the third joint part 300 are members rotatable 360 ° in an omnidirectional manner so that the medical tool 9 can be positioned at the surgical site while maximally deviating from the operator's treatment space. , The configuration of these joints (100, 200, 300) is the same.

For this reason, when the configuration is described through the second joint part 200, it is connected to the first robot arm 5 integrally, and the upper fixing member 212 provided with the male fixing part 211 on the lower surface is located inside the upper side. It is fixed, the working space 213 is formed directly below the male fixing part 211, the lower portion is opened to form a drawing space 214, the drawing space 214 and the working space 213 is formed in communication with the structure An upper articulating body (210) having; An electromagnet 220 which is inserted and fixed to the upper fixing member 220 and is hollowed at a central portion thereof to be magnetized when power is supplied from the outside; It is located in the operating space 213 of the upper joint body 210, the upper surface is provided with a female fixing portion 231 to be bitten by the male fixing portion 211, the lower side of the metal material formed with the upper and lower guide grooves 232 on the lower surface A rotating member 230; It is inherent in the hollow 221 formed in the electromagnet 220, one side is placed on the inner upper side of the upper joint body 210, the other side is placed on the lower pivot member 230, the upper fixing member 212 by the elastic force An elastic spring 240 for dropping between the male fixing part 211 and the female fixing part 231 of the lower pivot member 230; It is connected integrally with the second robot arm (7), the entrance through the inlet space 214 of the upper articulated body 210, the entrance end is introduced into the vertical guide groove 232 of the lower pivot member 230 251 has a lower joint body 250 protruding from the upper surface.

Among these, the male fixing portion 211 of the upper fixing member 212 and the female fixing portion 231 of the lower rotating member 230 use a tooth that radially protrudes from the center, or as shown in the drawing. Although not shown in the figure, irregularities may be used, and the male and female parts 211 and the female fixing part 231 are left and right when the upper fixing member 212 and the lower rotating member 230 are stuck by the magnetization of the electromagnet 220. It can be implemented by applying a variety of members to perform the function of fixing without being rotated to.

And the electromagnet 220 is supplied with power through the power supply means provided in the main body for medical device (1) mentioned above, at this time, the conductor so that the operator can control the on / off of the power supply means for supplying power A power on / off switch (not shown) is connected and provided between the electromagnet 220 and the power supply means connected to each other.

In addition, the hollow 221 formed on the electromagnet 220 may be formed on the upper fixing member 212 instead of the electromagnet 220, and when the hollow 221 is formed on the upper fixing member 212, the lower fixing member ( The upper surface of the 230 is formed with a ring-shaped plane in accordance with the rotational trajectory of the hollow 221.

In addition, the magnetic force of the electromagnet 220 is greater than the elastic force of the elastic spring 240, when the power is supplied to pull the lower rotating member 230 of the metal material, due to this, the elastic spring 240 is squeezed by the number of the fixing part 211 ) And the female fixing part 231 are engaged, and the upper joint body 210 and the lower joint body 250 are provided to be fixed in contact.

And between the entrance space 214 of the outer and upper articulation body 210 of the access table 251 of the lower articulation body 250 so that the lower articulation body 250 can be smoothly rotated, the upper articulation body 210 It is preferable to provide by installing the ball bearings (401, 403) between the lower surface and the lower articulation body (250).

The above has described the configuration through the second joint part 200, and the configuration of the remaining first joint part 100 or the third joint part 300 is the same as that of the second joint part 200, but only the first joint part 100 is referred to. The lower articular body constituting is fixedly connected to the support 3, the lower articular body constituting the third joint portion 300 is different only in the part is fixedly connected to the medical tool (9).

The operation of the joint fixing device of the present invention applied to a medical device having a robot arm having the above configuration will be described in detail with reference to the accompanying drawings.

Each joint portion 100, 200, 300 constituting the joint fixing device (see FIG. 4) of the present invention before operation is subjected to the elastic force of the elastic spring 240 placed between the inner upper and lower pivot members 230 of the upper joint body 210. Thereby, the male government 211 and the female government 231 is separated.

In such a state, in order to position the medical tool 9 at the surgical site using each joint part 100, 200, 300, first, the first robot arm 5 and the second robot arm connected through each joint part 100, 200, 300 ( When the first robot arm 5 is rotated while holding the first robot arm 5, the first robot arm 5 rotates about the support 3, thereby rotating the first robot arm 5 at a desired position.

Thereafter, when the second robot arm 7 is rotated while holding, the second robot arm 7 rotates about the second joint part 200 as an axis. Then, when the second robot arm 7 is rotated while holding the medical tool 9, the medical tool ( 9) and the lower joint body constituting the third joint portion 300 is fixedly pivoted around the upper joint body constituting the third joint portion 300, the pivoting the medical tool (9) to the desired position The medical device 9 is manipulated to be disposed at an optimal position through the joint parts 100, 200, and 300 (see FIG. 6).

As such, the manipulation of each joint part 100, 200, 300 may be operated by the operator at the same time holding the first robot arm 5 and the second robot arm 7 can be manipulated by various operation methods according to the operator's accident. have.

As such, when the power on / off switch is operated in a state in which the medical tool 9 is operated to be optimally positioned through each joint part 100, 200, 300, the power supply means supplies power to the electromagnet 220.

As a result, the electromagnet 220 is magnetized to attract the lower pivot member 230 of the metal material located in the working space 213. As a result, the elastic spring 240 is squeezed, and the upper and lower parts 211 and the female level are compressed. The government 231 is engaged so that the upper articulated body 210 and the lower articulated body 250 are contact fixed.

For this reason, even when the operator grabs and rotates the first robot arm 5 or the second robot arm 7, each joint part 100, 200, 300 is maintained without being rotated, thereby providing a medical procedure.

1: Main body for medical device 3: Support
5,7: Robot Arm 9: Medical Tool
10,20,30,100,200,300: joint portion 210: upper joint body
211: male part 212: upper fixing member
213: operating space 214: entry space
220: electromagnet 221: hollow
230: lower rotating member 231: Amgo government
232: up and down guide groove 240: elastic spring
250: lower articulated body 251: entry platform
401,403: Ball Bearing

Claims (1)

A medical device having a support 3, a medical tool 9, and at least one robotic arm 5, 7 connected between the support 3 and the medical tool 9 provided in the medical device main body 1. To
Rotating between the support 3, the at least one robot arm (5, 7) and the medical tool (9) connected in all directions, including joints (100, 200, 300) of the same configuration,
The joint part 200,
An upper fixing member 212 having a male fixing unit 211 on its lower surface is fixed inside the upper side, and an operating space 213 is formed directly under the male fixing unit 211, and a lower portion thereof is opened to draw in an inlet space 214. An upper articulation body 210 having a structure in which the inlet space 214 and the operation space 213 are formed to communicate with each other;
An electromagnet 220 that is inserted and fixed to the upper fixing member 220 and magnetized when power is supplied from the outside;
It is located in the operating space 213 of the upper articulated body 210, the upper surface is provided with a female fixing portion 231 to be bitten by the male fixing portion 211, the upper and lower guide grooves 232 of the metal material A lower rotating member 230;
The hollow joint 221 is formed in the upper joint body 210 or the electromagnet 220, and is embedded in the formed hollow 221, and one side is placed on the inner upper side of the upper joint body 210 and the other side. An elastic spring 240 placed on the lower pivot member 230 to drop between the male fixing part 211 of the upper fixing member 212 and the female fixing part 231 of the lower rotating member 230 by an elastic force. )and;
The lower joint body protruding through the inlet space 214 of the upper articulation body 210 so that the entry end 251 is protruded into the upper and lower guide grooves 232 of the lower pivot member 230. 250); Joint fixing device of the robot arm provided in the medical device comprising a.

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