KR20240001559A - Handling stabilizer for precision treatment - Google Patents

Abstract

According to the present invention, introduced is a handling stabilizer for precise surgery, which comprises: a multi-joint link mechanism composed of a number of links, and coupled to a surgical instrument at the end of the last link; a lifting part provided in the multi-joint link mechanism to provide traction for the last link of the link mechanism to rise; and a shoulder launching part of which one end is connected to the link mechanism, and the other end is caught on the body part of a syringe user, thereby limiting the elevation of the last link of the link mechanism by the lifting unit.

Description

Handling stabilizer for precision procedures {HANDLING STABILIZER FOR PRECISION TREATMENT}

The present invention relates to a handling stabilizer for precision surgery. More specifically, the present invention relates to a handling stabilizer for precision surgery, and more specifically, a surgical instrument is coupled to the end of a multi-joint link device to reduce surgical errors and make the procedure more convenient when performing a surgical operation. This is about a handling stabilizer for precision surgery.

During modern dermatological procedures, the weight of the surgical instruments has increased as various equipment has been attached to them to average out the extreme differences in treatment results due to differences in the operator's abilities. As a result, the weight of the surgical instruments has increased.

As the operator performs the procedure with a surgical instrument of increased weight, the operator feels physical fatigue in the hand performing the procedure, and there is a problem that the precision of the procedure is reduced due to this physical fatigue.

The matters described as background technology above are only for the purpose of improving understanding of the background of the present invention, and should not be taken as acknowledgment that they correspond to prior art already known to those skilled in the art.

KR 10-1440838 B1

The present invention has been proposed to solve this problem, and is provided with a link mechanism connected to the surgical instrument directed downward to reduce errors in the procedure and enable the procedure to be performed conveniently and quickly when performing dermal regeneration. The purpose is to provide a handling stabilizer for precision surgery that is coupled to a link mechanism and has a shoulder portion supported by a part of the user's body when using the device, thereby reducing user fatigue.

The handling stabilizer for precision surgery according to the present invention is composed of a plurality of links, and includes a multi-joint link mechanism in which a surgical instrument is coupled to the end of the last link; A lifting part provided in the multi-joint link mechanism to provide traction so that the last link of the multi-joint link mechanism is raised; and a shoulder portion, one end of which is connected to the multi-joint link mechanism, and the other end of which is caught by a body part of the syringe user, thereby restricting the elevation of the last link of the multi-joint link mechanism by the lifting portion.

The multi-joint link device includes a first link extending upward, a second link rotatably connected to the top of the first link, one end of which is rotatably connected to one end of the second link and extending downward, and a surgical instrument connected to the other end. A third link is included, and the leaf ring part is coupled to the second link to provide traction so that one end of the second link rises.

The lifting part is formed in the form of a weight and is coupled to the other end of the second link, and the second link is rotatably coupled to the upper end of the first link at a preset ratio point and seesaws to one end according to the weight of the lifting part. The unit can be rotated to face upward.

The shoulder portion may include a coupling portion to the multi-joint link mechanism and a locking portion that extends from the coupling portion and is supported by the user's armpit.

The coupling portion is formed to surround a portion of the outer peripheral surface of the multi-joint link mechanism and may be capable of being fastened to or disengaged from the multi-joint link mechanism.

The coupling portion may include an indentation that is indented in the circumferential direction on the inner surface.

The locking portion may include a first bent portion that is bent downward from the coupling portion and extends toward the user's armpit, and a second bent portion that is bent upward and extends from the first bent portion to face the user's back.

The shoulder portion may be connected to the multi-joint link mechanism above the user's armpit position.

The shoulder portion may be connected to the other end of the third link.

It may further include a connecting portion that connects the surgical instrument to the other end of the third link and is formed with a plurality of rotation axes so that the surgical instrument can rotate along the plurality of rotation axes while connected to the third link.

One end of the connection part is rotatably coupled to the other end of the third link, the other end is coupled to the surgical instrument, and three rotation axes that are rotatable in intersecting directions can be formed.

The handling stabilizer for precision surgery according to the present invention is provided with a multi-joint link mechanism to which the surgical instrument is connected and a lifting part that moves the last link of the multi-joint link mechanism upward so that the surgical instrument faces downward, so that the surgical operation can be performed using the surgical instrument. It reduces errors in the procedure and allows the procedure to be performed conveniently and quickly. It averages out extreme differences in the results of the procedure due to differences in the operator's abilities that occur during manual procedures, and improves the physical performance of the operator's operating hand when treating a large area. By relieving pain and reducing the procedure time, the patient's time in pain can be minimized.

In addition, when the user uses the surgical device, the shoulder portion coupled to the multi-joint link device is attached to a part of the user's body and limits the rise of the last link of the multi-joint link device by the lifting part, allowing the user to support the multi-joint link device. By eliminating the fatigue felt, the precision and safety of the user's surgical work can be improved.

1 is a perspective view of a handling stabilizer for precision surgery according to an embodiment of the present invention;
Figure 2 is an enlarged view of a handling stabilizer for precision surgery according to an embodiment of the present invention;
Figure 3 is a perspective view showing the rotation of a link included in the syringe operating system according to an embodiment of the present invention;
Figure 4 is a diagram illustrating the use of a syringe actuating field system according to an embodiment of the present invention;
Figure 5 is a side view of the shoulder portion included in the handling stabilizer for precision surgery according to an embodiment of the present invention;
Figure 6 is a front view of the shoulder portion included in the handling stabilizer for precision surgery according to an embodiment of the present invention;
Figure 7 is a plan view of the shoulder portion included in the handling stabilizer for precision surgery according to an embodiment of the present invention;
Figure 8 is a diagram showing various embodiments of the coupling positions of the shoulder portion included in the handling stabilizer for precision surgery according to an embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted.

The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

In describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

A controller is a communication device that communicates with other controllers or sensors to control the function it is in charge of, a memory that stores the operating system, logic commands, input/output information, etc., and a device that performs the judgments, calculations, and decisions necessary to control the function it is in charge of. It may include more than one processor.

Figure 1 is a perspective view of the handling stabilizer 1 for precision surgery according to an embodiment of the present invention, Figure 2 is an enlarged view of the handling stabilizer 1 for precision surgery according to an embodiment of the present invention, and Figure 3 is an enlarged view of the handling stabilizer 1 for precision surgery according to an embodiment of the present invention. A perspective view showing the rotation of a link included in the syringe 11 operating system according to an embodiment of the present invention, Figure 4 shows the use of the syringe 11 operating system according to an embodiment of the present invention. Drawing, Figure 5 is a side view of the shoulder portion 40 included in the handling stabilizer 1 for precision surgery according to an embodiment of the present invention, and Figure 6 is a handling stabilizer for precision surgery according to an embodiment of the present invention. A front view of the shoulder portion 40 included in (1), and Figure 7 is a plan view of the shoulder portion 40 included in the handling stabilizer 1 for precision surgery according to an embodiment of the present invention.

Let's look at a preferred embodiment of the handling stabilizer 1 for precision surgery according to the present invention with reference to FIGS. 1 to 7.

The handling stabilizer (1) for precision surgery according to the present invention is specifically composed of a plurality of links, and includes a multi-joint link mechanism (20) in which a surgical instrument is coupled to the end of the last link; A lifting part (30) provided on the multi-joint link mechanism (20) to provide traction so that the last link of the multi-joint link mechanism (20) is raised; and a dog that has one end connected to the multi-joint link mechanism 20 and the other end of which is caught on a body part of the user of the syringe 11, thereby limiting the rise of the last link of the multi-joint link mechanism 20 by the lifting unit 30. Includes attachment (40).

As shown in FIG. 1, as an embodiment of the surgical instrument 10, the surgical instrument 10 was proposed to improve the problems that occurred when the surgical procedure was performed by manually manipulating the syringe 11. (11) is mounted on the main body (12) and the dermal regeneration procedure is performed by discharging the fluid filled in the syringe (11) through the motor provided in the main body (12). This dermal regeneration procedure is performed by using the needle of the syringe (11). Since the procedure is carried out by invading the human skin, high precision and safety are required, so the main body 12 can be stably fixed without shaking during the procedure. For this purpose, a certain area is provided in the lower front of the main body 12 and is curved to be placed on a part of the finger, and a certain area is formed in the lower rear of the main body 12 that is curved to be placed at a point between the thumb and index finger on the back of the hand. It can be.

Depending on the shape of the main body 12, the main body 12 can be held stably without shaking during the procedure, thereby improving the precision and safety of the procedure.

The weight of the motor of the surgical instrument 10 causes user fatigue. To solve this problem, a multi-joint link mechanism 20 that holds the surgical instrument 10 may be provided.

At this time, the multi-joint link mechanism 20 may be formed of a plurality of links, and the surgical instrument 10 is connected to the end of the last link of the multi-joint link mechanism 20, and the provided lifting device of the multi-joint link mechanism 20 The unit 30 may apply a traction force so that the last link of the surgical instrument 10 moves upward so that the syringe 11 of the surgical instrument 10 faces downward.

As shown in FIG. 4, when using the surgical instrument 10, the user must maintain the force that supports the traction force of the lifting unit 30 while holding the surgical instrument 10. As a result, the user feels fatigued as he or she maintains the force supporting the traction force when using the surgical instrument 10.

In order to solve the user's fatigue, a shoulder portion 40 may be provided that is coupled to the multi-joint link mechanism 20 and extends toward the user, and the shoulder portion 40 may be attached to or caught by a part of the user's body. there is.

Through this, when the user uses the surgical instrument 10, the shoulder portion 40 adheres to a part of the user's body and limits the rise of the last link of the multi-joint link mechanism 20 by the lifting portion 30, thereby allowing the user to lift. By maintaining the force supporting the traction force of the unit 30, the fatigue felt can be eliminated, thereby improving the precision and safety of the user's surgical work.

Referring further to FIGS. 1 and 3 as an embodiment of the multi-joint link mechanism 20, the multi-joint link mechanism 20 includes a first link 21 extending upward, at the top of the first link 21. A second link 22 is rotatably connected and a third link 23, one end of which is rotatably connected to one end of the second link 22 and extending downward, the other end of which is connected to the surgical instrument 10, is included. , the lifting unit 30 may be coupled to the second link 22 to provide traction so that one end of the second link 22 rises.

The first link 21 is shaped to extend upward, the second link 22 is rotatably coupled to the top of the first link 21, and the third link 23 is of the second link 22. It can be rotatably coupled at one end.

The last link of the multi-joint link mechanism 20 may be the third link 23, and the lifting part 30 is coupled to the second link 22 so that one end of the second link 22 is directed upward. The second link 22 can be rotated based on the portion where the second link 22 is rotatably coupled to the first link 21, and through this, the third link 23 can be directed upward. You can.

As the third link 23 is positioned to face upward, the needle of the syringe 11 of the surgical instrument 10 connected to the other end of the third link 23 may be directed downward.

The lifting part 30 may be formed of an elastic body such as a spring or a means such as a weight that generates a traction force to move one end of the second link 22 upward. In addition to these means, the lifting part 30 may be formed in various forms. It can be formed as

As shown in Figures 1 and 3, the lifting part 30 is formed in the form of a weight and is coupled to the other end of the second link 22, and the second link 22 is connected to the first link at a point of a preset ratio. It is rotatably coupled to the upper end of (21) and can be rotated so that one end faces upward through a seesaw action according to the weight of the lifting part (30).

The lifting part 30 formed of a weight is coupled to the other end of the second link 22 and rotates the other end downward based on the part where the second link 22 is coupled to the first link 21 by gravity. and, accordingly, one end of the second link 22 can be rotated upward.

Through this seesaw action, as one end of the second link 22 rotates upward, the third link 23 can face upward, and at the same time, the syringe 11 of the surgical instrument 10 connected to the third link 23 can point downward.

At this time, the portion where the second link 22 is rotatably coupled to the first link 21 is proportional to the weight of the third link 23 and the surgical instrument 10 and the weight of the lifting unit 30, which is a weight. By being coupled to the set position, one end of the second link 22 can always face upward.

Through this, the lifting unit 30 shown in FIG. 1 can direct the third link 23 and the surgical instrument 10 toward the ground when there is no external force.

The shoulder portion 40 may include a coupling portion 42 in the multi-joint link mechanism 20 and a locking portion 41 that extends from the coupling portion 42 and is supported by the user's armpit.

As shown in FIGS. 1 to 2 and 5, the shoulder portion 40 extends from the engaging portion 42 and the engaging portion 42 coupled to the multi-joint link mechanism 20 to the user's armpit. It can be held together by being caught in between.

As shown in FIG. 4, when a user uses the surgical instrument 10, the third link 23 may move downward and the second link 22 may rotate. At this time, the user can insert the locking part 41 between the user's armpits and hold it, and through this, the lifting part 30 can support the traction force that moves one end of the second link 22 upward.

Through this, the user can improve the stability and accuracy of the procedure by supporting the traction force of the lifting part 30 through the locking part 41 and using the surgical instrument 10.

The coupling portion 42 is formed to surround a portion of the outer peripheral surface of the multi-joint link mechanism 20 and can be fastened to or disengaged from the multi-joint link mechanism 20.

As shown in FIG. 7, the coupling portion 42 is formed in a shape that surrounds a portion of the outer peripheral surface of the multi-joint link mechanism 20, and is formed so that both sides are symmetrical with respect to the center of the link portion, and the multi-joint link mechanism 20 It may be possible to combine and release with .

The joint part 42 is a portion that does not surround the multi-joint link mechanism 20, and the multi-joint link mechanism 20 can be inserted into the coupling part 42 to be coupled or separated to be uncoupled.

Through this, the shoulder portion 40 can be applied to the handling stabilizer 1 for precision surgery that has not been provided with the shoulder portion 40 in the past, and the shoulder portion 40 can be easily replaced when damaged, resulting in an economical effect. There is.

In addition, since the joint position of the coupling portion 42 can be moved in the longitudinal direction in which the multi-joint link mechanism 20 is extended, the position of the shoulder portion 40 can be adjusted according to the user's physical condition.

The coupling portion 42 may include an indented portion 43 that is indented in the circumferential direction on the inner surface.

The coupling portion 42 is formed to be capable of being coupled to and separated from the multi-joint link mechanism 20. When coupled or separated, the coupling portion 42 opens and can be coupled to the multi-joint link mechanism 20. The coupling portion 42 may be made of elastic rubber or synthetic resin, and is preferably made of synthetic resin considering manufacturing cost.

Synthetic resin materials can open due to elasticity, but there is a risk of damage when excessive external force occurs.

To solve this problem, as shown in FIG. 7, a recessed portion 43 is formed on the inner surface of the coupling portion 42 to assist in opening the coupling portion 42 when coupled or separated.

This has the effect of reducing the probability that the coupling portion 42 will be damaged when coupled to or separated from the multi-joint link mechanism 20.

The locking portion 41 has a first bent portion 41a bent downward from the coupling portion 42 and extended toward the user's armpit, and a first bent portion 41a bent upward toward the user's back. A second bent portion 41b may be included.

As shown in FIG. 5, the first bent portion 41a is bent and extended downward from the coupling portion 42, and the second bent portion 41b can be bent upward from the end of the first bent portion 41a. It can be bent at a preset angle on the ground and extend in the back direction of the user.

Through this, the catching portion 41 is formed of the first bent portion 41a and the second bent portion 41b, so that the user's armpit is caught between the first bent portion and the second bent portion, so that the shoulder portion 40 is held when attached to the shoulder. It can be prevented from easily falling out between the user's armpits.

The shoulder portion 40 may be connected to the multi-joint link mechanism 20 above the user's armpit position.

As shown in Figures 1 to 4, the multi-joint link mechanism 20 is formed so that one end of the second link 22 is directed upward by the lifting part 30 when no external force is applied, and the shoulder portion 40 ) is attached to the user's armpit and in order to support the traction force of the lifting unit 30, the shoulder unit 40 may be positioned at a higher position than the user's armpit when coupled to the multi-joint link mechanism 20.

Afterwards, when the user uses the surgical instrument 10, the user lowers the shoulder portion 40 by hand, places it between the armpits, and attaches it to the shoulder, before using the surgical instrument 10.

The shoulder portion 40 may be connected to the other end of the third link 23.

Figure 8 is a diagram showing various embodiments of the coupling positions of the shoulder portion included in the handling stabilizer for precision surgery according to an embodiment of the present invention.

Referring further to FIG. 8, the shoulder portion 40 is coupled to the other end of the third link 23, so that when the shoulder portion 40 attaches to a part of the user's body, it is positioned between the surgical instrument 10 and the shoulder portion 40. By minimizing the distance, the user can hold the surgical instrument 10 and perform the surgical operation stably.

As shown in FIG. 8, the shoulder portion 40 can be coupled to various positions at the other end of the third link 23, and is coupled to positions 1, 2, 3, and 4 of FIG. 8 to be placed between the user's armpits. It can be maintained.

A connection portion is formed to connect the surgical instrument 10 to the other end of the third link 23, and a plurality of rotation axes are formed so that the surgical instrument 10 can rotate along the plurality of rotation axes while connected to the third link 23 ( 50); may further be included.

As shown in FIGS. 2 to 4, the connection portion 50 connecting the surgical instrument 10 and the other end of the third link 23 may be provided with a plurality of rotation axes.

The connection unit 50 formed of a plurality of rotating axes is connected by the connection unit 50 while the user supports the traction force of the lifting unit 30 by fixing the link mechanism 20 across the shoulder portion 40 between the armpits. Since the movement of the instrument 10 can be freely performed, the accuracy of the surgical procedure can be improved.

Specifically, the connection part 50 has one end rotatably coupled to the other end of the third link 23, the other end is coupled to the surgical instrument 30, and a rotation axis rotatable in three mutually intersecting directions is formed. You can.

The plurality of rotation axes of the connection part 50 may be formed of three rotation axes, and each rotation axis is perpendicular to each other and is formed into x, y, and z axes to rotate in three rotation directions, and the connection part 50 ) is rotatably connected to the third link 23, so that the surgical instrument 10 can be rotated in a total of four directions in the third link 23. Accordingly, the surgical instrument 10 can be rotated in the direction desired by the user while the link mechanism 20 is fixed by the shoulder portion 40.

It may further include a controller 60 that controls the movement of the piston of the syringe 11 through a motor.

The main body 12 of the surgical instrument 10 may be filled with the fluid injected into the syringe 11, and may be provided with a piston for injecting the injected fluid into the syringe 11 and a motor for operating the piston, and may be connected to the motor. The operation of the motor can be controlled.

In addition, the controller 60 is connected to an input unit (not shown) through which the user's intention to operate is input, and controls the operation of the connected motor when the user's intention to operate is input through the input unit, allowing the user to operate the surgical instrument 10. there is.

Although the invention has been shown and described in relation to specific embodiments, it is commonly known in the art that the present invention can be modified and changed in various ways without departing from the technical spirit of the invention as provided by the following claims. It will be self-evident to those with knowledge.

1: Handling stabilizer for precision surgery
10: Treatment equipment
11: Syringe
12: main body
20: Multi-joint link mechanism
21: first link
22: Second link
23: Third link
30: lifting part
40: Shoulder part
41: catching part
41a: first bent portion
41b: second bent portion
42: coupling part
43: indentation
50: connection part
60: controller

Claims (11)

A multi-joint link mechanism consisting of a plurality of links, where the surgical instrument is coupled to the end of the last link;
A lifting part provided in the multi-joint link mechanism to provide traction so that the last link of the multi-joint link mechanism is raised; and
A handling stabilizer for precision surgery including a shoulder portion that has one end connected to the multi-joint link mechanism and the other end that catches the body part of the user of the syringe, thus restricting the elevation of the last link of the multi-joint link mechanism by the lifting portion.
In claim 1,
The multi-joint link device includes a first link extending upward, a second link rotatably connected at the top of the first link, one end rotatably connected to one end of the second link and extending downward, and a surgical instrument at the other end. Includes a connecting third link,
A handling stabilizer for precision surgery, wherein the leaf ring part is coupled to the second link and provides traction so that one end of the second link rises.
In claim 2,
The leaf ring portion is formed in the shape of a weight and is coupled to the other end of the second link,
A handling stabilizer for precision surgery, characterized in that the second link is rotatably coupled to the upper end of the first link at a preset ratio point and rotates so that one end faces upward through a seesaw action according to the weight of the lifting part.
In claim 1,
A handling stabilizer for precision surgery, characterized in that the shoulder portion includes a joint portion in a multi-joint link mechanism and a locking portion that extends from the joint portion and is supported by the user's armpit.
In claim 4,
A handling stabilizer for precision surgery, wherein the coupling portion is formed to surround a portion of the outer peripheral surface of the multi-joint link mechanism and can be fastened to or disengaged from the multi-joint link mechanism.
In claim 5,
A handling stabilizer for precision surgery, characterized in that the coupling part includes an indentation indented in the circumferential direction from the inner surface.
In claim 4,
The locking portion is for precision surgery, characterized in that it includes a first bent portion bent downward from the coupling portion and extending toward the user's armpit, and a second bent portion bent upward and extending from the first bent portion toward the user's back. Handling stabilizer.
In claim 1,
A handling stabilizer for precision surgery, characterized in that the shoulder portion is connected to a multi-joint link mechanism above the user's armpit position.
In claim 2,
A handling stabilizer for precision surgery, characterized in that the shoulder portion is connected to the other end of the third link.
In claim 2,
Handling for precision surgery, further comprising: a connection portion that connects the surgical instrument to the other end of the third link and is formed with a plurality of rotation axes so that the surgical instrument can rotate along the plurality of rotation axes while connected to the third link; Stabilizer.
In claim 10,
A handling stabilizer for precision surgery, wherein one end of the connection part is rotatably coupled to the other end of the third link, the other end is coupled to a surgical instrument, and a rotation axis rotatable in three intersecting directions is formed.