KR20230064310A - Driving Apparatus For Wire-Based Steerable Needle - Google Patents

Abstract

The present invention includes a driving module including a plurality of motors; a needle holder detachably coupled to the driving module; a needle combination coupled to the needle holder; and a wire having an end connected to the motor, and a hinge coupling is formed on the needle assembly so that the wire rotates the needle assembly according to driving of the motor to manipulate the direction in which the end of the needle assembly is directed. A steering needle driving device may be provided.

Description

Wire-Based Steerable Needle Driving Device {Driving Apparatus For Wire-Based Steerable Needle}

The present invention relates to a wire-based steering needle driving device combinable with a robot manipulator.

In recent years, as medical technology has been highly developed, surgical robots, which are cutting-edge surgical instruments, are used to more precisely treat areas that are difficult to reach by human hands and are hidden by bones or other surrounding areas, or for small scars and rapid recovery. Robotic surgery is being performed in various ways.

In general, a surgical robot used in robotic surgery includes a robot arm and a robot base. The robot arm is configured to operate according to the operator's manipulation, and the robot base supports the robot arm from the lower side. do. The robot arm has a multi-joint structure including a plurality of link arms connected to each other by a shaft. Among the link arms, a base link disposed on the basal side of the robot arm is responsible for rotational movement of the robot arm itself in the left and right directions. A motor and a reducer are used to drive the base link. A driving device for a base link including a motor and a reducer is installed in the lateral direction of the base link at a position adjacent to the base link.

Conventional robotic surgical devices have maintained an integral structure of a surgical tool and a robot platform. However, due to the nature of surgical instruments that must enter the inside of the patient's body, ease of sterilization and cleaning is required, and there are many types of surgical instruments used in actual surgery, so placing a robot manipulator into the operating room as much as that type causes space and cost constraints. There is a problem with doing

Accordingly, an object of the present invention is to provide a device capable of easily attaching and detaching a surgical tool by separating a surgical tool and a robot platform and improving the control precision of a steering needle.

In order to achieve the above object, the present invention includes a driving module including a plurality of motors; a needle holder detachably coupled to the driving module; a needle combination coupled to the needle holder; and a wire having both ends driven by the motor and penetrating the needle assembly, and a hinge coupling is formed at the needle assembly so that the wire rotates the needle assembly according to driving of the motor, thereby increasing the end of the needle assembly. A steering needle driving device capable of manipulating a direction in which a direction is directed is provided.

In addition, the motor of the present invention provides a steering needle drive device that is a linear motor.

In addition, a first guide portion protrudes from one surface of the driving module of the present invention, and the needle holder provides a steering needle driving device guided to the driving module through the first guide portion.

In addition, a second guide part protrudes from one surface of the driving module of the present invention, and the second guide part provides a steering needle driving device spaced apart from the first guide part by a predetermined distance.

In addition, a first sliding guide groove is formed on one side of the needle holder in the longitudinal direction of the present invention, and the first sliding guide groove provides a steering needle driving device including an inclined portion and a horizontal portion.

In addition, the inclined portion of the present invention provides a steering needle driving device in which a downward slope is formed toward the rear end of the needle holder and a step is formed between the inclined portion and the horizontal portion.

In addition, the needle steering driving device of the present invention further includes a knob including a support portion and a fixing member, wherein the fixing member is formed at an end of the upper limb support portion, and when the needle holder is coupled to the drive module, the needle holder Provided is a steering needle driving device capable of fixing the needle holder to the driving module by passing through the inclined portion and positioning the slider on the horizontal portion according to the movement of the steering needle.

In addition, the knob of the present invention further includes a first elastic member, and the first elastic member surrounds the support portion to provide a steering needle driving device.

In addition, the Sangri linear motor of the present invention includes a driving member capable of linearly driving according to the driving of the linear motor, the steering needle driving device further includes a coupler, and a second sliding along the longitudinal direction on one side of the needle holder. A guide groove is formed, the coupler is disposed in the second sliding guide groove, and the coupler connects the wire and the driving member to slide and move the second sliding guide groove according to the driving of the driving member. drive device is provided.

In addition, the needle combination of the present invention includes a needle accommodating part, a needle body part, a needle part, and a hinge member, the needle accommodating part is coupled to the needle holder, and the needle body part is coupled to the needle accommodating part, The needle unit provides a steering needle driving device connected to the needle body unit through a hinge member.

In addition, the needle body part of the present invention provides a steering needle drive device in which a first hinge connection is formed with the hinge member, and the needle part is formed with a second hinge connection with the hinge member.

In addition, the steering needle driving device is provided with a guide groove formed along the length of the needle body.

In addition, an asymmetrical insertion hole is formed at an end of the needle holder, an asymmetrical portion is formed in the needle accommodating portion along a longitudinal direction, and the needle accommodating portion is a steering needle capable of being inserted into the needle holder through the insertion hole. drive device is provided.

As another embodiment of the present invention, the steering needle driving device provides a surgical robot combined with a robot manipulator.

In the present invention, since the needle holder is easily attached and detachable, surgical tools can be quickly replaced when a surgical tool needs to be replaced during surgery using a robot. can be washed

In addition, according to the present invention, the length of the wire controlling the steering needle can always be kept constant, and the alignment between parts can be kept constant through an asymmetrical structure, so that the control precision of the steering needle can be improved.

In addition, the present invention can reduce unnecessary parts by using a linear motor instead of a rotary motor, and through this, a surgical robot with improved economic efficiency can be manufactured because the design is simplified.

1 shows the appearance of a wire-based steering needle drive device according to the present invention.
2 shows a frame of a driving module without a linear motor according to the present invention.
3 shows a state of the wire-based steering needle driving device in which the frame of the driving module is removed according to the present invention.
Figure 4 shows the appearance of the needle holder of the present invention.
Figure 5 shows the appearance of the needle receiving portion of the present invention.
6 shows the appearances of the needle body, needle, and hinge member of the present invention, respectively.
7 shows a state in which the needle body, the needle, the hinge member, the coupler, and the wire of the present invention are combined.
8 shows the appearance of the knob of the present invention.
9 shows a method in which the needle part, the hinge member, the needle body part, and the wire of the present invention are coupled.
10 shows a state in which a wire-based steering needle driving device according to the present invention is coupled to a robot manipulator.

Since the invention to be described below can have various changes and various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the invention described below to specific embodiments, and it should be understood to include all modifications, equivalents, or substitutes included in the spirit and scope of the technology described below.

1 shows a view of a wire-based steering needle drive device according to the present invention. Referring to FIG. 1 , a steering needle driving device 10 according to the present invention may include a driving module 100 , a needle holder 200 , a needle assembly 300 and a knob 400 .

A plurality of motors may be included inside the driving module 100, and a first guide part 120 and a second guide part 130 may be formed on the first surface.

The motor may be a linear motor 110 .

The linear motor 110 may include a driving member 111 coupled to protrude from the linear motor 110, and the driving member 111 may linearly reciprocate along a protruding direction as the linear motor 110 is driven. can As the linear motor 100 is driven, the end of the wire 500 may be driven in the same direction as the driving member 111 .

The driving member 111 can enter and exit through the entrance hole 140 formed on one surface of the driving module 100 according to the driving of the linear motor 110 .

Referring to FIG. 2, the first guide part 120 protrudes from one surface of the drive module 100, and when the needle holder 200 is coupled with the drive module 100, the coupling portion of the drive module 100. (150). The needle holder 200 can be moved by sliding the first guide part 120 .

A magnetic material may be disposed in the coupling part 150, and preferably, the magnetic material may be a magnet or a neodymium magnet.

A plurality of first guide parts 120 may be formed, and the plurality of first guide parts 120 may be spaced apart from each other by a predetermined distance and radially arranged around the coupling part 150 . The arrangement of the plurality of first guide parts 120 is such that the plurality of first guide parts 120 contact the outer surface of the needle holder 200 coupled to the driving module 100, and the needle holder 200 ) can be effectively supported.

An entrance hole 140 may be disposed in a space spaced apart from the first guide unit 120 and another first guide unit 120 . The driving member 111 can enter and exit through the entrance hole 140, and rectilinearly reciprocates in a space spaced apart between the first guide part 120 and the other first guide part 120.

The second guide part 130 protrudes from one surface of the driving module 100, is spaced apart from the first guide part 120 by a predetermined interval, and may be disposed to surround the first guide part 120.

A plurality of second guide parts 130 may be formed, and the plurality of second guide parts 130 may be spaced apart from each other by a predetermined distance and radially arranged around the coupling part 150 .

An entrance hole 140 may be disposed in a space spaced apart from the second guide unit 130 and another second guide unit 130 .

A first guide hole 121 is formed on one side of the first guide part 120, and a second guide hole 131 is formed on one side of the second guide part 130, and the first guide hole 121 and the second guide hole 131 may be disposed such that central axes perpendicular to the respective holes coincide with each other.

Referring to FIGS. 3 and 4 , the needle holder 200 is coupled to the needle assembly 300 and may be detachably formed from the driving module 100 .

A hollow is formed inside the needle holder 200, and an insertion hole 260 into which the needle combination 300 is introduced may be formed at a front end of the needle holder 200.

A first sliding guide groove 220 and a second sliding guide groove 230 may be formed on one side of the needle holder 200 along the longitudinal direction.

The first sliding guide groove 220 and the second sliding guide groove 230 may be formed in plurality, respectively, and the first sliding guide groove 220 and the second sliding guide groove 230 along the circumference of the needle holder 200 can be arranged alternately.

The plurality of first sliding guide grooves 220 may be symmetrically arranged with respect to the vertical central axis of the needle holder 200 .

A plurality of second sliding guide grooves 230 may be arranged to be opposed to each other with respect to the vertical central axis of the needle holder 200 .

The first sliding guide groove 220 may include an inclined portion 221 and a horizontal portion 222, the horizontal portion 222 may be disposed in front of the needle holder 200 than the inclined portion 221.

The horizontal portion 222 may be a groove formed in the longitudinal direction of the needle holder 200 without inclination, and the inclined portion 221 may be a groove formed with a downward slope toward the rear end of the needle holder 200 . A step may be formed between the horizontal portion 222 and the inclined portion 221 .

The inclined portion 221 moves while sliding the first guide portion 120 so that the needle holder 200 is coupled to the driving module 100, the knob 400 slides the inclined portion 221, and the needle holder When the 200 is coupled to and fixed to the driving module 100, the knob 400 is inserted into the horizontal portion 222 through the step difference between the inclined portion 221 and the horizontal portion 222, and the needle holder 200 Fixation can be strengthened.

A magnetic material may be disposed at the rear end of the needle holder 200, and the magnetic material may preferably be a magnet or a neodymium magnet. The magnetic material at the rear end of the needle holder 200 is combined with the magnetic material disposed in the coupling part 140 to strengthen the bonding force between the needle holder 200 and the driving module 100 .

A coupler 240 and a plurality of buffer springs 250 may be disposed in the second sliding guide groove 230 to transfer the linear reciprocating drive of the driving module 111 of the linear motor 110 to the needle combination 300. there is.

The cross section of the second sliding guide groove 230 may be formed in a circular or rectangular shape, for example, but is not limited thereto.

The coupler 240 may be a member for transferring driving of the linear motor 110 to the wire 500 by connecting the driving member 111 of the linear motor 110 and the wire 500 . The coupler 240 may include a slider 241 and a second coupler 243 .

The slider 241 is formed in a shape corresponding to the cross-sectional shape of the second sliding guide groove 230 and can move while sliding the second sliding guide groove 230 .

A through hole 242 may be formed along the length of the slider 241 .

A plurality of buffer springs 250 are disposed in the second sliding guide groove 230, and the slider 241 is positioned between the plurality of buffer springs 250 so that the slider 241 moves in the second sliding guide groove 230. Restoring force may be provided from the buffer spring 250 so that the driving member 111 moves in one direction and then returns to the original position.

A second coupling portion 243 is formed on one side of the slider 241, and a connecting member 245 coupled to the driving member 111 is coupled to the second coupling portion 243. It can be.

A coupling groove 244 is formed in the second coupling portion 243 so that the connecting member 245 can be coupled to the coupling groove 244 through an interference fit. The coupler 240 connected to the driving member 111 through the connecting member 245 may slide and move the second sliding guide groove 230 according to the driving of the linear motor 110 .

An end of a wire 500 is attached or coupled to one side of the slider 241, and the wire 500 penetrates the needle portion 330 from one side of the slider 241 to which it is attached or coupled to provide symmetry of the slider 241. An end of the wire 500 may be attached or coupled so as to be connected to one side of another slider 241 disposed at the position.

Referring to FIGS. 5 to 7 , the needle combination 300 is inserted into the needle holder 200 and fixed to the needle holder 200, and the needle combination 300 includes a needle accommodating portion 310 and a needle body portion. 320, a needle portion 330 and a joint portion 340 may be included.

The needle accommodating portion 310 may be inserted into and fixed to the insertion hole 260 formed in the center of the needle holder 200 .

The cross section of the insertion hole 260 may be formed in an asymmetric shape by combining a figure formed at the center of the needle holder 200 and another figure eccentric from the center.

An asymmetrical portion 312 is formed in the needle accommodating portion 310 along the longitudinal direction so that a cross section of the outer surface of the needle accommodating portion 310 may be formed in a shape corresponding to the shape of the insertion hole 260, and the needle accommodating portion ( 300) is coupled to the needle holder 200, the coupling direction of the needle accommodating portion 310 and the needle holder 200 is always kept constant, and the needle accommodating portion 310 while the linear motor 110 is driven. It is possible to improve control precision of the needle part 330 by preventing even a small rotation within the needle holder 200 .

A plurality of wire holes 311 may be formed in the needle accommodating portion 310 in the longitudinal direction. The wire hole 311 is the wire 500 coupled to the coupler 240 It can be introduced into the guide groove 322 of the needle body 320 through the wire hole 311 .

A needle body portion 320 may be inserted into and fixed to the needle accommodating portion 310, and the cross-sectional shape of the inner surface of the needle accommodating portion 310 is formed in a figure shape similar to the cross-sectional shape of the outer surface, and the needle body portion 320 A first protrusion 321 may be formed on at least a portion of the outer surface along the longitudinal direction. The first protrusion 321 may maintain a constant direction in which the needle body 320 is inserted into the needle accommodating portion 310 .

A plurality of guide grooves 322 may be formed on the outer surface of the needle body 320 along the longitudinal direction, and the plurality of guide grooves 322 may be symmetrically disposed. The guide groove 322 may guide the wire 500 to be disposed along the longitudinal direction of the needle body 320 .

Since the length of the needle body portion 320 is longer than the length of the needle accommodating portion 310, even when the needle body portion 320 is inserted into the needle accommodating portion 310, a portion may protrude from the needle accommodating portion 310. .

A first hinge coupling portion 323 is formed at one end of the needle body portion 320, and one end of the hinge member 340 is inserted into the first hinge coupling portion 323 to form a first hinge coupling. can As the linear motor 110 drives, the needle part 330 may be rotated and steered around the first hinge coupling.

A plurality of protrusion holes 324 may be formed on the outer surface of the needle body portion 320, and the protrusion holes 324 prevent the wire 500 disposed in the guide groove 322 from escaping from the guide groove 322. It can be prevented, and the wire 500 can be brought into close contact with the induction groove 322.

A second hinge coupling part 331 is formed at one end of the needle part 330, and a needle 332 or a surgical tool shape may be formed at the other end.

A second hinge coupling may be formed by inserting the other end of the hinge member 340 into the second hinge coupling portion 331 . As the linear motor 110 drives, the needle part 330 may be rotated and steered around the second hinge coupling. An angle between the axis of rotation of the first hinge and the axis of rotation of the second hinge may be 90°.

A first steering hole 333 penetrating one side may be formed on one side of the needle part 330, and a second steering hole 334 perpendicular to the first steering hole 333 may be formed on the other side. The first steering hole 333 and the second steering hole 334 may be connected to communicate with each other.

One end of the hinge member 340 may form a first hinge coupling with the first hinge coupling portion 323 and a second hinge coupling with the other end of the second hinge coupling portion 331 .

The hinge member 340 may be formed in the shape of two rings coupled to form a predetermined angle. Each ring may be hinged to the first hinge coupling portion 323 and the second hinge coupling portion 331 .

The angle formed by combining the two rings of the hinge member 340 is not limited thereto, but may be, for example, 30°, 45°, 60°, or 90°.

1 and 8, the knob 400 passes through the first guide hole 121 and the second guide hole 131, and the needle holder 200 and the needle holder 200 on the first sliding guide groove 220. The coupling force of the driving module 100 may be strengthened, and may include a support part 410 , a fixing member 420 and a first elastic member 430 .

The support part 410 is formed in a column shape to pass through the first guide hole 121 and the second guide hole 131 , and a first elastic member 430 may be disposed in the support part 410 .

The first elastic member 430 is not limited thereto, but may be, for example, a spring.

The fixing member 420 is formed at the end of the support part 410 and may have a shape corresponding to the shape of the horizontal part 222 so that it can be inserted into and fixed to the horizontal part 222 .

When the needle holder 200 is inserted into the first guide part 120, while the fixing member 420 of the knob 400 slides up the inclined part 221 of the first guide hole 121, the first elastic member 430 can be gradually compressed, and when the fixing member 420 passes through the inclined portion 221 and reaches the horizontal portion 222, due to the step formed between the inclined portion 221 and the horizontal portion 222, 1 The elastic member 430 may be restored by elastic force as much as the height of the step. When the fixing member 420 is inserted into the horizontal part 222, the needle holder 200 is fixed to the first guide part 120 so that the first guide part 120 can no longer slide.

The needle holder 200 may be separated from the first guide unit 120 after holding the knob 400 and pulling the knob 400 so that the height of the fixing member 420 is higher than the height of the step.

The wire 500 may be configured to steer the needle unit 330 by driving the linear motor 110 .

One end of the wire 500 is coupled to and fixed to the slider 241 disposed in the second sliding guide groove 230, and the other end of the second sliding guide groove 230 is formed in a symmetrical position. It may be coupled and fixed to the slider 241 disposed in the guide groove 230.

The wire 500 passes from the slider 241 through the guide groove 322 and the steering holes 333 and 334 to another guide groove 322 formed at a position symmetrical to the guide groove 322 and the slider 241. It may be connected to another slider 241 disposed in a symmetrical position.

The wire 500 may include a first wire 510 and a second wire 520 . Each end of each wire may be driven by a linear motor 110 .

Referring to FIG. 9 , the first wire 510 is disposed to penetrate or pass through the first steering hole 333, and the second wire 520 is disposed to penetrate or pass through the second steering hole 334. It can be.

The two linear motors 110 driving both ends of the first wire 510 act complementary to each other, and when one of the linear motors 100 drives the driving member 111 in the first direction, the other one The linear motor 100 may drive the driving member 111 in a direction opposite to the first direction, and rotate the needle part 330 around the first axis to steer. The first axis may be a rotational axis formed in the first hinge coupling part 323 .

Like the driving of the first wire 510, the two linear motors 110 driving both ends of the second wire 520 act complementary to each other, and one of the linear motors 100 drives the driving member 111 ) in the first direction, the other linear motor 100 drives the driving member 111 in the opposite direction to the first direction, and moves the needle part 330 around a second axis perpendicular to the first axis. It can be rotated and steered. The second axis may be a rotational axis formed in the second hinge coupling part 331 .

All four linear motors driving the first wire 510 and the second wire 520 may be simultaneously driven, and through this, the needle unit 330 may be precisely steered.

Referring to FIG. 10, the wire-based steering needle driving device 10 according to the present invention can be combined with a surgical robot manipulator, and drives the steering needle by driving the needle holder 200 when a surgical tool needs to be replaced during surgery. Separating from the device 10 and combining the needle holder 200 combined with other surgical tools with the steering needle driving device 10, surgery can be performed quickly.

Although the present technology has been described through the above embodiments, the present technology is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present technology, and those skilled in the art will understand that such modifications and changes also belong to the present technology.

10: needle steering drive device 100: drive module
110: linear motor 111: driving member
120: first guide part 121: first guide hole
130: second guide portion 131: second guide hole
140: coupling part 150: entrance hole
200: needle holder 220: first sliding guide groove
221: inclined portion 222: horizontal portion
230: second sliding guide groove 240: coupler
241: slider 242: through hole
243: second coupling part 244: coupling groove
245: connecting member 250: buffer spring
260: insertion hole 300: needle combination
310: needle accommodating part 320: needle body part
321: first protrusion 322: guide groove
323: first hinge coupling part 324: protruding hole
330: needle part 331: second hinge coupling part
332: needle 333: first steering hole
334: second steering hole 340: hinge member
400: knob 410: support
420: high material member 430: first elastic member
500: wire 510: first wire
520: second wire

Claims (14)

A driving module including a plurality of motors;
a needle holder detachably coupled to the driving module;
a needle combination coupled to the needle holder; and
Both ends are driven by the motor and include a wire passing through the needle assembly,
A steering needle driving device in which a hinge is formed in the needle assembly so that the wire can rotate the needle assembly according to driving of the motor to manipulate the direction in which the end of the needle assembly is directed. According to claim 1,
The motor is a linear motor steering needle drive device. According to claim 1,
A first guide part protrudes from one surface of the driving module,
The steering needle driving device wherein the needle holder is guided to the driving module through the first guide part. According to claim 1,
A second guide part protrudes from one surface of the driving module,
The second guide part is spaced apart from the first guide part by a predetermined distance. According to claim 1,
A first sliding guide groove is formed along the longitudinal direction on one side of the needle holder,
The steering needle driving device includes an inclined portion and a horizontal portion in the first sliding guide groove. According to claim 5,
The inclined portion is inclined downward toward the rear end of the needle holder,
A steering needle drive device in which a step is formed between the inclined portion and the horizontal portion. According to claim 6,
The needle steering drive device further includes a knob including a support portion and a fixing member,
The fixing member is formed at an end of the upper limb support,
When the needle holder is coupled to the driving module, as the needle holder moves, the slider passes through the inclined portion and is positioned on the horizontal portion to fix the needle holder to the driving module. According to claim 7,
The knob further includes a first elastic member,
The steering needle driving device of claim 1 , wherein the first elastic member surrounds the support portion. According to claim 2,
The Sangri linear motor includes a driving member capable of linearly driving according to the driving of the linear motor,
The steering needle driving device further includes a coupler,
A second sliding guide groove is formed on one side of the needle holder along the longitudinal direction,
The coupler is disposed in the second sliding guide groove,
The coupler connects the wire and the driving member to slide and move the second sliding guide groove according to the driving of the driving member. According to claim 1,
The needle combination includes a needle accommodating portion, a needle body portion, a needle portion, and a hinge member,
The needle accommodating portion is coupled to the needle holder,
The needle body part is coupled to the needle accommodating part,
The needle unit is connected to the needle body through a hinge member. According to claim 10,
The needle body portion is formed with the hinge member and a first hinge coupling,
The steering needle driving device in which the needle part is formed with the hinge member and the second hinge coupling. According to claim 10,
A steering needle driving device in which a guide groove is formed in the needle body in a longitudinal direction. According to claim 10,
An asymmetrical insertion hole is formed at the end of the needle holder,
An asymmetrical portion is formed in the needle receiving portion along the longitudinal direction,
The steering needle driving device wherein the needle accommodating portion can be inserted into the needle holder through the insertion hole. According to any one of claims 1 to 13,
The steering needle driving device is a surgical robot coupled with a robot manipulator.

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