KR20200037637A - 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 thereof. More specifically, an 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 operation intuitiveness of a user for minimally invasive surgery, thereby increasing the reliability of the surgery. In addition, a training time for learning a master system operation method can be shortened, an operation time can be shortened, and the size of equipment can be reduced, thereby reducing a manufacturing cost and increasing the utilization of an 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 capable of increasing the user's operation intuition for controlling the surgical robot and slimming the surgical equipment to increase space utilization.

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

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 performs surgery or surgery on the affected area by moving a surgical tool according to a user's instruction, and includes a console corresponding to the master unit, a manipulator corresponding to the slave unit, and an end effector.

The surgery performed by the surgical robot includes Minimal InvasiveSurgery and Robotic surgery to minimize the size of the incision in the affected area.

Here, unlike minimally invasive surgery, Open Surgery, where the stomach is completely opened and operated, a few small incisions are made and gas is filled into the stomach to create a surgical space, and then a laparoscope is made through the incision. And putting the end effector for surgery while viewing the image in the abdominal cavity to perform the surgery using the end effector for surgery.

This minimally invasive surgery is less painful after surgery, early recovery of intestinal movements and early intake of food, short hospitalization, quick return to normal conditions, and small incision range have excellent cosmetic effects.

For this reason, minimally invasive surgery is used for cholecystectomy, prostate cancer surgery, hernia correction, etc., and the field is gradually expanding.

However, in minimally invasive surgery, it is difficult to adjust the surgical end effector and there is a difficulty in moving the surgical end effector through the incision.

In addition, minimally invasive surgery requires skilled doctors and medical staff because the actual position in the abdominal cavity and the position displayed by the user are reversed vertically.

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

Here, the Da Vinci robot delivers 10 to 15 times magnified stereoscopic image to the user without inverting left and right, and precisely transmits the user's movement to the manipulator and surgical end effector.

However, the conventional surgical da Vinci robot has the following problems.

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

Due to this, the user (doctor) had a problem in which the force applied to the surgical end effector during suture was unknown.

For example, during the suture procedure, the thread is excessively pulled, and the thread may be broken or excessive force may be applied to organ tissues to cause damage to the intestinal tissue.

Second, the end effector 10 of Figure 2 constituting the surgical robot, there is a problem that there is a limit to the radius of the surgical operation.

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

This has the problem of slowing patient recovery.

Third, the size of the surgical robot and the master system due to the configuration of the plurality of robot arms 20 is large, it is difficult to increase the utilization of the installation space, and it is difficult to lower the manufacturing cost of the equipment, resulting in poor economic efficiency.

Furthermore, there is a problem in that equipment is limited to large hospitals.

Electronic newspaper "New Year Planning Robot Revolution has already started." (2016-01-03) https://news.naver.com/main/read.nhn?oid=030&aid=0002435089

The present invention has been devised to solve the above-mentioned problems, and the object of the present invention is to construct a multi-axis end effector and multi-axis surgical robots and masters to increase the intuitiveness of end-effector manipulation through the 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 increase the economic efficiency by reducing the size of the entire surgical equipment, increasing space utilization and reducing manufacturing cost.

In order to achieve the above object, the present invention provides a multi-axis surgical robot and a master system including a multi-axis end effector constituting a surgical robot and a master system for remotely controlling the multi-axis end effector through user manipulation. The end effector includes a joint body having a plurality of nodes connected to each other through a plurality of rotating shafts; a gripper that is installed at the ends of the joint body and acts to be spread on both sides. The master system includes a horizontal plate and , A base composed of a vertical plate perpendicular to the horizontal plate; an arm rest portion that is axially rotatable on the vertical plate, and configured to allow a user's arm to be seated; in a direction perpendicular to the rotation axis of the arm arm portion on the arm rest portion A hand that is pivotally coupled and configured to seat the user's wrist Mounting portion; The finger rest is fixed to the wrist rest, the user's finger is mounted but interlocked according to the movement of the finger joint; installed on one side of the finger rest, the button unit is provided to push or pull and push operation can be performed: Included, the rotation angle of the rotating shaft is sensed through the position sensing means installed on each rotating shaft of the master system, and the rotational angle is synchronized with the rotating shaft of the multi-axis end effector, so that the motion of the joint of the multi-axis end effector according to the synchronization is synchronized. It provides a multi-axis surgical robot and a master system that can be achieved.

At this time, each joint constituting the multi-axis end effector, a first axis interlocked with the rotation of the arm rest of the master system; a second shaft interlocked with the rotation of the wrist rest; two of the user fingers of the finger rest A third axis and a fourth axis corresponding to the joint movement; a fifth axis interlocked with the operation of pushing or pulling the button part: a gripper configured to be rotatable and constituting the multi-axis end effector is a user of the finger rest part According to the movement of one of the remaining fingers of the joint, it is preferable that the sixth and seventh axes are rotated to one side or the other side of the joint body.

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

In addition, the first and fifth axes are installed to rotate within a range of 0 to 360 degrees, and the second to fourth axes are installed to rotate within a range of 0 to 180 degrees, and the sixth and seventh axes The shafts are preferably installed to rotate within a range of 0 to 45 degrees, respectively, based on the rotation axis of the fifth axis.

In addition, the position detecting means is preferably a potentiometer sensor.

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

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

Accordingly, it is possible to increase the medical quality of surgery.

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

Second, by making the master system and the surgical robot lighter and slimmer, it is possible to reduce the production cost and increase the utilization of the surgical equipment installation space.

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

Accordingly, after surgery, there is an effect that can improve the patient recovery rate.

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 shows the end effector of the da Vinci surgical robot.
3 is a view showing a multi-axis end effector of a multi-axis surgical robot of a multi-axis surgical robot and a master system according to a preferred embodiment of the present invention
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 views showing the movement of a gripper through manipulation of a finger mount 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 a main portion showing the finger placement of the multi-axis surgical robot and the master system according to a preferred embodiment of the present invention.

The terms or words used in the specification and claims are not to be construed as being limited to ordinary or lexical meanings, and the inventor is based on the principle that the concept of terms can be properly defined in order to best describe his or her invention. It should be interpreted in a sense 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, the multi-axis surgical robot will be described.

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

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

 Accordingly, it is possible to minimize the incision procedure without having to perform multiple incision in the patient abdomen during laparoscopic surgery.

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

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

The node is preferably made of a cylindrical shape.

At this time, in the present invention, a plurality of nodes are connected by a plurality of rotating shafts, but the nodes constituting the joint body 110 are connected by five rotating shafts.

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 0 degrees from each other. It is installed so that it can be rotated within a range of 360 degrees.

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 be rotated within a range of 0 to 180 degrees from 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 such that the third node 113 and the fourth node 114 can be rotated 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 fourth axis (A4), such as the second axis (A2) and the third axis (A3), is installed so that the fourth node 114 and the fifth node 115 can be rotated within a range of 0 to 180 degrees from each other 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.

The fifth axis (A5), like the first axis (A1), is installed so that the fifth node 115 and the sixth node 116 can be rotated within a range of 0 to 360 degrees from each other.

The joint body 110 composed of five axes can be closely approached to the affected area through the rotation of the first axis A1 to the fifth axis A5.

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

Next, when the gripper 120 reaches the affected part through the movement of the joint body 110, it cuts the affected part or grips the cut affected part and pulls it out.

The gripper 120 is composed of forceps, 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 Figure 3, each of the rotating unit 121 is axially coupled to the sixth node 116, respectively.

The axis coupled between the rotation unit 121 and the sixth node 116 is called 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 where 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.

The master system will be described with reference to FIG. 4.

The master system 200 remotely controls the multi-axis end effector 100 described above, and serves to allow the multi-axis end effector 100 to undergo surgery.

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

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

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

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

The base 210 is provided with respective components 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.

As shown in FIG. 4, the base 210 is provided with a control unit C.

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

4, the support member 221 is preferably formed to have a curvature that can wrap the arm.

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

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

Next, the wrist rest portion 230 is configured to be interlocked with the second shaft A2 of the multi-axis end effector 100, and is axially coupled to be rotated on the arm rest portion 220.

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

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

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

At this time, when the user rotates the wrist rest 230 while the fixed shaft 231 is gripped, the second joint 112 and the third joint 113 of the multi-end effector 100 have a second shaft ( A2) is used to rotate.

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

Finger mount 240 is provided to be able to respond to the movement of the user's finger joint, it is installed on the upper end of the fixed shaft (231).

At this time, it is preferable that the finger for manipulating the finger holder 240 is the user's index finger.

That is, since the index finger in the state of holding the fixed shaft 231 can flexibly correspond to the finger mounting portion 240 installed at the upper end of the fixed shaft 231, it is preferable that the finger fixed to the finger mounting portion 240 is the index finger. will be.

The index finger is made up of three joints, and the finger holder 240 constitutes three rotational shafts to correspond to each joint of the index finger.

That is, since the index finger is fixed to the finger mounting portion 240, the finger mounting portion 240 moves as it follows the movement of the index finger joint.

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

The two pivots 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 two joint shafts are operated by moving the index joint, the third joint 113 and the fourth joint 114 of the multi-end effector 100 are pivoted around the third shaft A3. Then, the fourth bar 114 and the fifth bar 115 rotate about the fourth axis A4.

Of the finger mounting portions 240, the other rotation axis, that is, the rotation axis corresponding to the other joint of the index finger is interlocked with the sixth axis (A6) and the seventh axis (A7) of the multi-end effector (100). do.

According to the movement of the most distal joint of the index finger, the rotation axis of the finger mounting portion 240 corresponding to the distal joint is to interlock the sixth axis (A6) and the seventh axis (A7).

That is, when the rotation joints of the finger mounting portion 240 are operated by moving the joints of the index joints on both sides, the sixth axis (A6) and the seventh axis (A7) are on both sides based on the sixth section (116), respectively. As it is rotated, the gripper 120 can be rotated to both sides of the sixth node 116.

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

In a state in which the index finger is straight, the opening angle of the gripper 120 maintains a straight line based on the sixth node 116 as shown in FIG. 5A.

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

 At this time, the sixth axis (A6) and the seventh axis (A7) are rotated respectively to rotate the rotation unit 121 to one side of the sixth node 116, at this time, the angle of the pair of rotation units 121 is opened Will maintain 90 degrees.

Afterwards, when the end joint of the index finger is moved to the other side and the rotation axis of the finger mounting portion 240 is operated to the other side, as shown in FIG. 5C, the gripper 120 based on the sixth 116 is a sixth node ( 116) to the other side.

At this time, the sixth axis (A6) and the seventh axis (A7) are rotated, respectively, while rotating the rotation unit 121 to the other side of the sixth node 116, at this time, a pair of rotation units 121 at an angle Will maintain 90 degrees.

Next, the button unit 250 serves to interlock the fifth shaft A5 and the gripper 120.

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

Accordingly, the button unit 250 is preferably operated through the thumb of the user.

At this time, the button unit 250 is preferably installed to be inclined to one side, as shown in Figure 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 operation of pushing or pulling the button unit 250, the sixth node 116 can rotate on both sides around the fifth axis A5.

In addition, a pressing operation may be performed on the button unit 250, 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 are rotated around the sixth axis A6 and the seventh axis A7 to retract the gripper 120, respectively. When the user presses the button unit 250 again while the 120 is closed, the pair of rotation units 121 are rotated around the sixth axis A6 and the seventh axis A7, respectively, and the gripper 120 ).

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

On the other hand, the movement of each component according to the operation of the master system 200 is interlocked with the movement of the multi-axis end effector 100 as described above, such interlocking action is a position sensing means installed on each axis of the master system 200 Is done through

At this time, 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 having the above-described configuration will be described.

The incision is operated on the abdomen of the patient, and the multi-axis end effector 100 of the surgical robot is inserted into the incision.

Meanwhile, the user mounts the arm on the arm rest 220 of the master system 200 and fixes the index finger to the finger mount 240 while holding the fixed shaft 231.

Subsequently, as each component of the master system 200 is operated, the potentiometer sensor P installed on the rotation shaft connecting the respective 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 this series of procedures, 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 have an end effector composed of 7 axes, and the master system for controlling it is ergonomically designed and lightweight.

Accordingly, it is possible to increase convenience and intuition for operation of the surgical robot and reduce the size of the equipment to increase the efficiency of the installation space.

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

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

Claims (5)

In the multi-axis surgical robot and a master system comprising a multi-axis end effector constituting the surgical robot, and a master system for remotely controlling the multi-axis end effector through user manipulation,
The multi-axis end effector,
A joint body in which a plurality of nodes are connected to each other through a plurality of rotating shafts;
It is installed at the end of the joint, and the gripper acts as a swelling that spreads on both sides.
The master system,
A base composed of a horizontal plate and a vertical plate perpendicular to the horizontal plate;
An arm rest portion axially coupled to the vertical plate and configured to seat a user's arm;
A wrist rest portion that is axially coupled to the arm rest portion so as to be rotatable in a direction perpendicular to the rotation axis of the arm rest portion, and configured to allow a user's wrist to be seated;
A finger rest part fixed to the wrist rest part and mounted with a user's finger but interlocked according to movement of a finger joint;
It is installed on one side of the finger mounting portion, the push or pull and a button portion provided to perform a pressing operation: includes,
The rotation angle of the rotation axis is sensed through the position sensing means installed in each rotation axis of the master system, and the rotation angle is synchronized to the rotation axis of the multi-axis end effector so that the joint motion of the multi-axis end effector can be achieved according to the synchronization. One multi-axis surgical robot and master system. According to claim 1,
Each joint constituting the multi-axis end effector,
A first axis interlocked with the rotation of the arm part of the master system;
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 finger among the finger rests;
The fifth axis is linked to the operation of pushing or pulling the button portion is configured to be rotatable,
The gripper constituting the multi-axis end effector,
Multi-axis surgical robot and a master system, characterized in that it is configured to be rotatable with the sixth and seventh axes: which are rotated to one side or the other side of the joint body according to the movement of one of the remaining fingers of the user of the finger rest. According to claim 2,
Multi-axis surgical robot and the master system, characterized in that the gripper is opened or opened by the pressing operation of the button portion. The method of claim 2 or 3,
The first and fifth axes are installed to rotate within a range of 0 to 360 degrees,
The second to fourth axes are installed to rotate within a range of 0 to 180 degrees,
The sixth axis and the seventh axis, respectively, is a multi-axis surgical robot and a master system, characterized in that installed to rotate within a range of 0 to 45 degrees relative to the rotation axis of the fifth axis. The method according to any one of claims 1 to 3,
The position sensing means is a multi-axis surgical robot and a master system, characterized in that the potentiometer sensor.

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