KR20220057791A - A system for driving a medical instrument - Google Patents

Abstract

A system for driving a surgical instrument according to one embodiment of the present invention comprises: an accommodating portion which accommodates a part of a surgical instrument inserted into the body, and which is capable of linearly moving; and a support portion which includes a plurality of first blocks, and which is disposed to be spaced apart from the accommodating portion. The plurality of first blocks are symmetrically arranged on both sides with respect to the surgical instrument along the longitudinal direction thereof, thereby being disposed to abut against each other while wrapping around the surgical instrument. When the accommodating portion is moved toward the support portion, a part of the first blocks may be moved to the outside of the surgical instrument.

Description

Treatment tool drive system {A SYSTEM FOR DRIVING A MEDICAL INSTRUMENT}

The following embodiments relate to a surgical tool drive system.

In order to treat cardiovascular, cerebrovascular, and peripheral blood vessels, an interventional procedure that inserts a stent using a catheter and a guide wire is widespread. The procedure generally uses a coronal angiogram (CAG) or magnetic resonance imaging (MRI), and most of these imaging devices use radiation.

That is, when the procedure is performed for a long time, the patient and the operator are excessively exposed to radiation, which may put a burden on the body.

To solve this problem, robotic equipment or robotic technologies are being developed that allow the operator to perform the procedure remotely away from the radiation equipment.

Japanese Patent Application Laid-Open No. 2015-50339 discloses a guide wire inserter for catheter treatment.

An object according to an embodiment is to provide a surgical tool driving system capable of preventing a phenomenon in which the surgical tool is bent in the process of inserting the surgical tool.

An object according to an embodiment is to provide a surgical tool driving system that can easily control the surgical tool in the process of inserting the surgical tool.

A surgical tool driving system according to an embodiment includes a receiving part and a plurality of first blocks that receive a portion of the surgical tool inserted into the body and can move linearly, and include a support part that is spaced apart from the receiving part , The plurality of first blocks are arranged symmetrically on both sides of the surgical tool along the longitudinal direction of the surgical tool and are arranged to abut against each other while surrounding the surgical tool, and when the receiving part is moved toward the support part, some The first block of may be moved to the outside of the surgical tool.

Among the plurality of first blocks, a first block not in contact with the receiving part applies the same force from both sides of the surgical tool to the surgical tool to support the surgical tool, so that the first block not in contact with the receiving part The bending of the part of the surgical tool wrapped by the block can be prevented.

At this time, a receiving element capable of accommodating the surgical tool may be formed on the side surfaces of the plurality of first blocks facing the surgical tool.

In addition, the operating tool driving system may further include a driving unit disposed below the support unit to drive the support unit.

The driving unit may include a plurality of second blocks disposed below the plurality of first blocks to move the plurality of first blocks, a frame disposed on both sides of the plurality of second blocks, and extending from the inside of the frame and may include a plurality of elastic members disposed to penetrate through each second block.

At this time, each elastic member includes a shaft inserted into the second block through a hole formed in the second block and a spring disposed in a shape surrounding the shaft, each second block is a lower surface of the first block An elastic force may be provided in a direction toward each other to the second blocks disposed to correspond to the lower side of each first block to support the second block respectively disposed on the left and right sides with respect to the surgical tool.

In addition, the accommodating unit includes a rotation block that accommodates a portion of the operation tool and rotates the operation tool, and a transfer block disposed below the rotation block to linearly move the rotation block, the When the transfer block is moved toward the driving unit and comes into contact with the second block, the second block in contact with the transfer block may be moved to the outside of the surgical tool by the force applied by the transfer block on the second block.

At this time, a chamfer shape is formed at each edge of the transport block at a preset angle, and the edge of the second block that can come into contact with the transport block according to the movement of the transport block corresponds to the chamfer shape formed in the transport block. A chamfer shape may be formed.

In addition, the plurality of first blocks may be detachable from the plurality of second blocks, and corresponding fastening elements may be formed on a lower surface of each first block and an upper surface of each second block.

The operating tool driving system may further include a chamber capable of accommodating and aligning a plurality of first blocks, and guiding the plurality of first blocks to predetermined positions above the plurality of second blocks.

The chamber is formed on the inner surface of the chamber to guide the position of each first block, a plurality of guide lines formed on the inner upper surface of the chamber to engage with the groove formed on the upper surface of each first block It may include a first protrusion and a second protrusion which is formed to protrude downward from the lower surface of the chamber and engages with the groove formed on the upper surface of the frame.

In addition, the chamber further comprises a hole that is formed on the front and rear outer surfaces and can be aligned in a straight line with the through hole formed on each first block, and a fixing element that can extend through the hole and the through hole, , The fixing element may be detachable from the chamber and the first block.

The operating tool driving system according to an embodiment can effectively prevent the bending of the surgical tool in the process of inserting the surgical tool.

The surgical tool driving system according to an embodiment can easily control the surgical tool in the process of inserting the surgical tool.

1 and 2 show a surgical tool driving system according to an embodiment.
3 shows a chamber of a surgical tool drive system according to an embodiment.
4 shows a state in which the first block of the support unit is aligned in the chamber of the operating tool driving system according to an embodiment.
5A, 5B and 6 show an operating state of the operating tool driving system according to an embodiment.
7 is a flowchart illustrating an operation sequence of a surgical tool driving system according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents or substitutes for the embodiments are included in the scope of the rights.

The terms used in the examples are used for the purpose of description only, and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of addition or existence of numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In describing the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. When it is described that a component is "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to the other component, but another component is between each component. It will be understood that may also be "connected", "coupled" or "connected".

Components included in one embodiment and components having a common function will be described using the same names in other embodiments. Unless otherwise stated, descriptions described in one embodiment may be applied to other embodiments as well, and detailed descriptions within the overlapping range will be omitted.

1 and 2 show a surgical tool driving system according to an embodiment, and Fig. 3 shows a chamber of the surgical tool driving system according to an embodiment. Figure 4 shows a state in which the first block of the support is aligned in the chamber of the operating tool drive system according to an embodiment, Figures 5a, 5b and 6 show the operating state of the operating tool drive system according to an embodiment . 7 is a flowchart illustrating an operation sequence of a surgical tool driving system according to an embodiment.

When performing an interventional procedure, it is not easy to control a thin surgical tool (W), for example, a wire. This is because when a force is applied to the surgical tool in the longitudinal direction, a portion of the surgical tool may be bent. This bending phenomenon occurs due to the frictional force generated between the surgical tool and the body tissue, and the greater the distance between the point of application of the force and the point of application of the frictional force in the operating tool drive system, the greater the bending phenomenon is likely to occur. When such a bending phenomenon occurs, it is difficult to apply a force to the surgical tool in the longitudinal direction, so that it is difficult for the user to control the surgical tool as intended.

A surgical tool driving system to be described later can improve such a problem.

Specifically, referring to FIGS. 1 and 2 , the operating tool driving system according to an embodiment includes a receiving part 100 capable of accommodating a portion of a surgical tool inserted into the body and linearly movable, a plurality of first blocks ( 210) and receiving and aligning the support part 200, which is disposed spaced apart from the receiving part 100, the driving part 300 and the plurality of first blocks disposed under the support 200 to drive the support part, and aligning the plurality of It may include a chamber 400 capable of guiding the first blocks of the driving unit 300 to a preset position on the upper side of the plurality of second blocks 310 .

The surgical tool driving system including such a configuration can prevent the bending of the surgical tool part wrapped by the first block by individually controlling the operation of the first block surrounding the surgical tool. At this time, the number of the first blocks may be selectively adjusted in consideration of the overall length of the surgical tool, and through this, the possible distance to prevent the bending phenomenon of the surgical tool may be selectively adjusted.

That is, the plurality of first blocks 210 are arranged symmetrically on both sides of the surgical tool along the longitudinal direction of the surgical tool to abut against each other in a state that surrounds the surgical tool (W), and the receiving part 100 is the support part. When the first block 210 is moved to the (200) side and is in contact with the receiving unit 100, the first block 210 in contact with the receiving unit 100 may be moved to the outside of the surgical tool (W).

At this time, the receiving element 220 that can accommodate the surgical tool (W) may be formed on the side of the plurality of first blocks 210 facing the surgical tool. At this time, the size of the receiving element may be changed according to the physical properties of the surgical tool.

Through such a structure, the first block not in contact with the receiving part 100 among the plurality of first blocks 210 applies the same force in the direction toward the surgical tool from both sides of the surgical tool to support the surgical tool, thereby receiving A phenomenon in which the portion of the surgical tool wrapped by the first block not in contact with the part is bent can be prevented.

On the other hand, in the case of the first block disposed close to the accommodating part 100, the movement of the accommodating part may not be restricted by moving to the outside of the surgical tool.

In this case, the support unit 200 may be substantially driven by the driving unit 300 . In addition, the accommodating unit 100 is disposed below the rotation block 110 and the rotation block capable of accommodating a portion of the operation tool (W) and rotating the operation tool and a transfer block capable of linearly moving the rotation block. (120) may be included. Furthermore, the transfer block 120 may be driven by a linear ball screw 350 .

The driving unit 300 includes a plurality of second blocks 310 disposed below the plurality of first blocks 210 to move the plurality of first blocks, and a frame 320 disposed on both sides of the plurality of second blocks. ) and extending from the inside of the frame and may include a plurality of elastic members 330 disposed to penetrate through each second block.

At this time, each elastic member includes a shaft 331 inserted into the second block through a hole formed in the second block and a spring 332 disposed in a shape surrounding the shaft, and each second block 310 ) is disposed to correspond to the lower side of each first block to support the lower surface of the first block, and elastic force may be provided to the second blocks respectively disposed on the left and right with respect to the surgical tool in a direction toward each other. Accordingly, the second block not in contact with the transfer block 120 is moved from both sides of the surgical tool in the direction toward the surgical tool, and accordingly, the first block disposed on the upper side of the second block also faces the surgical tool. can be moved to touch each other.

On the other hand, a chamfer shape is formed at each edge of the transport block 120 at a preset angle, and the chamfer shape formed in the transport block also at the edge of the second block 310 that can come into contact with the transport block according to the movement of the transport block. A corresponding chamfer shape can be formed. As such, when the transfer block 120 is moved toward the driving unit and comes into contact with the second block due to the chamfer structure corresponding to each other, the force applied on the second block by the linear motion of the transfer block 120 is the second block in contact with the transfer block. 2 Blocks can be moved to the outside of the treatment tool. Accordingly, the first block disposed on the upper side of the second block may also be moved in a direction toward the outside of the surgical tool.

That is, the second block 310 of the driving unit 300 is always subjected to a force in the direction toward the surgical tool by the elastic member, and when the transfer block 120 is in surface contact with a part of the second block, the transfer block 120 ) is applied, and the resultant force applied on the second block acts in an outward direction of the surgical tool. Accordingly, the second block in contact with the transfer block 120 is moved in the outer direction of the surgical tool. At this time, in consideration of the possibility of wear due to contact between the second block and the transfer block, the material of these components should be made of a material having low wear and friction properties.

In this case, the lower surface of the second block may be assembled with the rail 340 , and the first block may be seated on the upper surface of the second block. In addition, the first block may be detachable from the second block, and corresponding fastening elements may be formed on the lower surface of each first block and the upper surface of each second block. As an example, two magnets and two grooves may be formed on the upper surface of the second block, and this configuration is a portion in which the first block may be seated. Also, holes passing through both sides of the second block may be formed, and the elastic member 330 may pass through the holes formed in the second block. Furthermore, each groove may be formed on the upper surface of the frame, which may be engaged with the protrusion formed on the lower surface of the chamber, which will be described later. This is a configuration for effectively guiding the chamber to a preset position on the frame 320 of the driving unit.

In addition, the operating tool driving system may further include an opening/closing unit 500 . Such an opening and closing unit 500 can be operated in an emergency situation, when inserting and extracting a surgical tool, and the opening and closing block 540 is spread to the left and right by the push block 520 and forcibly pushes the second block 310 . play a role

That is, the opening/closing unit 500 is operated to forcibly move the second block and the first block to the outside of the surgical tool when the surgical tool is inserted and extracted. When the ball screw 530 rotates, the push block 520 ) may push the opening/closing block 510 as it moves inward. As an example, the two push blocks 520 have a symmetrical structure, and when the ball screw 530 rotates, they can move in opposite directions.

3 and 4, the operating tool driving system may further include a chamber 400, the chamber 400 is formed on the inner surface of the chamber to guide the position of each first block (210) guideline 410, a plurality of first protrusions 420 that are formed on the inner upper surface of the chamber and engage with the grooves formed on the upper surface of each first block, and are formed to protrude downward from the lower surface of the chamber to form the frame The second protrusion 430 may be engaged with the groove formed on the upper surface.

In addition, the chamber 400 is formed on the front and rear outer surfaces and passes through a hole 440 that can be aligned with a through hole formed on each first block and a through hole formed on the hole and the first block. It further includes a fixing element 450 that can be extended, the fixing element 450 can be detachable from the chamber and the first block.

Through such a configuration of the chamber, the plurality of first blocks may be disposed in the chamber according to a predetermined arrangement and then the first block may be temporarily held in the chamber by using the fixing element 450 . In this state, when the chamber is disposed at a preset position on the upper side of the driving unit, each of the plurality of first blocks may be seated on an upper side of each of the second blocks disposed at a corresponding position. Thereafter, when the fixing element 450 is removed and the chamber is moved upward to separate it from the first block, the plurality of first blocks can be effectively installed above the plurality of second blocks. As an example, the first block may be formed in a 'L' shape, which is to improve space efficiency.

5A, 5B and 6 , when the transfer block 120 capable of linear movement is moved toward the driving unit and comes into contact with some second blocks among the plurality of second blocks 310, the first block in contact with the transfer block It is moved to the outside of the 2 block surgical tool. Accordingly, as the first block disposed on the upper side of the second block also moves to the outside of the treatment tool, it may be spaced apart from the treatment tool. Through such a structure, the linear movement of the transport block and the rotation block can be autonomously moved without being interfered with by the first block or the second block.

On the other hand, the second blocks not in contact with the transfer block 120 still receive an elastic force in the direction toward the surgical tool, and accordingly, the second blocks not in contact with the transfer block face each other in the direction toward the surgical tool. there is. As a result, the first blocks disposed on the upper side of the second blocks also move in the direction toward the treatment tool, and the first blocks disposed on both sides of the treatment tool abut each other and accommodate a portion of the treatment tool. do. Through such a structure, it is possible to prevent a bending phenomenon from occurring on a portion of the surgical tool wrapped by the first blocks.

Referring to Figure 7, to describe the operation sequence of the operating tool drive system according to an embodiment, assemble the first block of the chamber and the support, and assemble the rotation block and the transfer block of the receiving unit.

After that, the opening and closing part is opened, the surgical tool is inserted on the rotating block, and the first block is closed. After that, the rotating block is to grip the surgical tool. Then, it is possible to control the linear motion of the surgical tool. At this time, the bending phenomenon of a portion of the surgical tool can be prevented by the first block.

After that, when replacement of the surgical tool is required, the grip of the rotating block may be removed, and the transfer block may be moved to the initial position. Alternatively, when it is desired to terminate the operation of the operating tool driving system, the opening and closing part may be opened and the operating tool may be removed.

The surgical tool driving system according to an embodiment including the above-described configurations can effectively prevent the surgical tool from being bent in the process of inserting the surgical tool, and furthermore, it facilitates the surgical tool in the process of inserting the surgical tool can be controlled

As described above, although the embodiments have been described with reference to the limited drawings, those skilled in the art may apply various technical modifications and variations based on the above. For example, the described techniques are performed in an order different from the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100: receptacle
200: support
300: drive unit
400: chamber

Claims (10)

A receiving part that accommodates a portion of the surgical tool to be inserted into the body and can move linearly; and
a support portion including a plurality of first blocks and disposed spaced apart from the receiving portion;
including,
The plurality of first blocks are arranged symmetrically on both sides of the surgical tool along the longitudinal direction of the surgical tool, and are arranged to abut against each other in a state of surrounding the surgical tool,

When the receiving part is moved toward the support part, some of the first blocks can be moved to the outside of the surgical tool,
The operating tool drive system.
According to claim 1,
Among the plurality of first blocks, the first block not in contact with the receiving part applies the same force from both sides of the surgical tool to the surgical tool to support the surgical tool, so that the first block not in contact with the receiving part The bending of the part of the surgical tool wrapped by the block can be prevented,
The operating tool drive system.
3. The method of claim 2,
A receiving element capable of accommodating the surgical tool is formed on the side of the plurality of first blocks facing the surgical tool,
The operating tool drive system.
4. The method of claim 3,
a driving part disposed under the support part to drive the support part;
further comprising,
The driving unit,
a plurality of second blocks disposed below the plurality of first blocks to move the plurality of first blocks;
Frames disposed on both sides of the plurality of second blocks; and
a plurality of elastic members extending from the inside of the frame and disposed to penetrate each second block;
containing,
The operating tool drive system.
5. The method of claim 4,
Each elastic member,
a shaft inserted into the second block through a hole formed in the second block; and
a spring disposed in a shape surrounding the shaft;
including,
Each second block is disposed to correspond to the lower side of each first block to support the lower surface of the first block,
An elastic force is provided in the direction toward each other to the second blocks respectively disposed on the left and right with respect to the surgical tool,
The operating tool drive system.
6. The method of claim 5,
The receiving unit,
a rotating block for accommodating a portion of the treatment tool and rotating the treatment tool; and
a transfer block disposed below the rotary block to linearly move the rotary block;
including,
When the transport block is moved toward the driving unit and comes into contact with the second block, the second block in contact with the transport block by the force applied on the second block by the transport block can be moved to the outside of the surgical tool,
The operating tool drive system.
7. The method of claim 6,
A chamfer shape is formed at each corner of the transport block at a preset angle,
A chamfer shape corresponding to the chamfer shape formed in the transport block is formed at the edge of the second block that can be in contact with the transport block according to the movement of the transport block,
The operating tool drive system.
5. The method of claim 4,
The plurality of first blocks may be detachable from the plurality of second blocks,
Fastening elements corresponding to each other can be formed on the lower surface of each first block and the upper surface of each second block,
The operating tool drive system.
9. The method of claim 8,
a chamber capable of accommodating and aligning a plurality of first blocks, and guiding the plurality of first blocks to predetermined positions above the plurality of second blocks;
further comprising,
The chamber is
a guide line formed on the inner surface of the chamber to guide the position of each first block;
a plurality of first protrusions formed on the inner upper surface of the chamber and engageable with the grooves formed on the upper surface of each first block; and
a second protrusion formed to protrude downward from the lower surface of the chamber and engageable with the groove formed on the upper surface of the frame;
containing,
The operating tool drive system.
10. The method of claim 9,
The chamber is
Holes that are formed on the front and rear outer surfaces and can be aligned in a straight line with the through holes formed on each first block; and
a fixing element extending through the hole and the through hole;
further comprising,
The fixing element is detachable from the chamber and the first block,
The operating tool drive system.

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