WO2014077439A1 - Dispositif à bras articulé et dispositif médical à ultrasons le comprenant - Google Patents

Dispositif à bras articulé et dispositif médical à ultrasons le comprenant Download PDF

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Publication number
WO2014077439A1
WO2014077439A1 PCT/KR2012/009771 KR2012009771W WO2014077439A1 WO 2014077439 A1 WO2014077439 A1 WO 2014077439A1 KR 2012009771 W KR2012009771 W KR 2012009771W WO 2014077439 A1 WO2014077439 A1 WO 2014077439A1
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WO
WIPO (PCT)
Prior art keywords
arm
post
weight
balance
support
Prior art date
Application number
PCT/KR2012/009771
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English (en)
Korean (ko)
Inventor
박현수
박경모
Original Assignee
알피니언메디칼시스템 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 알피니언메디칼시스템 주식회사 filed Critical 알피니언메디칼시스템 주식회사
Priority to KR1020157010445A priority Critical patent/KR101646724B1/ko
Priority to PCT/KR2012/009771 priority patent/WO2014077439A1/fr
Publication of WO2014077439A1 publication Critical patent/WO2014077439A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • A61B2090/504—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism with a counterweight
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy

Definitions

  • the present invention relates to an articulating arm device and an ultrasonic medical device comprising the same. More particularly, the present invention relates to an articulating arm device capable of controlling the movement or fixation of a treatment head for performing treatment by irradiating ultrasound to an affected part of a patient, and a medical device including the same.
  • High Intensity Focused Ultrasound HIFU is designed to locate a transducer with the target cancer tissue as a target and irradiate high intensity ultrasound energy to the cancer cells to be treated using imaging and control devices. It is a medical device to treat.
  • Ultrasound medical devices also generally use weight balance to easily lift or lower the head.
  • the head portion comprising the treatment head is generally heavy. Therefore, in order to install many weights, the space in which weights are built must be increased, which increases the size of the medical device and is problematic in appearance.
  • the treatment head in the ultrasonic medical device is constantly evolving with the development of the technology, it is necessary to replace the work.
  • the replacement of an updated treatment head is not economical as the weight of the treatment head increases and the structure or design of the medical device must be changed accordingly.
  • an articulating arm device having a new structure that can easily move a treatment head attached to an articulating arm device to a treatment site and can be easily fixed at that position.
  • One embodiment of the invention the base; A post linearly connected to the base; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; And a plurality of rotation parts for enabling the linear movement and the rotation, wherein each of the plurality of rotation parts includes a locking device.
  • One embodiment of the invention the base; A post which is linearly connected to the base; And a first arm, a second arm, a head frame, and a support connecting portion connected to the post, wherein the post includes a weight balance therein, the weight balance being connected to a spring balance installed in the main body by a cable.
  • An articulating arm device is provided.
  • One embodiment of the invention the support; A pulley installed on the support; A cable that is hooked to the pulley and has a weight connected to one side and an object connected to the other side; And a spring balance coupled to the weight.
  • One embodiment of the present invention is a post, a first arm, a second arm, a head frame, a support body connecting portion sequentially connected to the main body and the main body; And a treatment head attached to the support member, wherein the post has a weight balance therein, and a spring balance connected to the weight balance on the body.
  • One embodiment of the invention the main body; A post linearly connected to the main body; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; A treatment head connected to the supported connector; And a plurality of rotating parts for enabling the linear movement and the rotation, wherein the plurality of rotating parts each include a locking device, and each of the locking devices is simultaneously unlocked through one switch electrically connected thereto. It provides an ultrasound medical device, characterized in that.
  • the transducer of the high intensity integrated ultrasound medical device when the transducer of the high intensity integrated ultrasound medical device (HIFU device) is placed on the affected part of the patient, the user can configure the articulating arm of the medical device to five axes or more.
  • the transducer can be easily positioned at the treatment site.
  • FIG. 1 is a perspective view showing an articulating arm device according to the present embodiment.
  • FIG. 2 is a cross-sectional view showing the articulating arm device according to the present embodiment.
  • 5 is a view showing the interior of the post.
  • R1 represents the direction of rotation from side to side
  • R2 represents the direction of rotation up and down
  • X represents the direction of vertical movement of the post 20 up and down.
  • 1 shows the state in which the support body 26 is attached to the articulating arm device 10.
  • 2 shows a state in which the support body 26 is not attached.
  • the articulating arm device 10 of the present embodiment includes a base 15, a post 20 connected to the base 15 so as to be linearly movable, and a first arm rotatably connected to the post 20 about left and right about a vertical axis. (21), the second arm (22) connected to the first arm (21) so as to rotate left and right about a vertical axis, the second arm (22) is rotatable left and right about a vertical axis, and up and down about a horizontal axis.
  • a head frame (24) rotatably connected to the support body (25), the support body (25) connected to the head frame (24) rotatably up and down about a horizontal axis; And a plurality of rotation parts 50 for enabling linear movement and the rotation, each of the plurality of rotation parts 50 including a locking device (not shown).
  • the support 26 may be, for example, a treatment head 26 including a transducer for generating ultrasound signals in an HIFU device to obtain an image signal, and for treating a treatment area of the human body.
  • the post 20 is connected to the upper end of the main body 61 in a vertically movable manner.
  • the post 20 may have a cylindrical shape and includes a weight balance 30 therein.
  • the cable 33 is caught in the pulley 34.
  • One end of the cable 33 is connected to one side of the weight container 32.
  • the other end of the cable 33 is connected to the inner surface of the post 20 movably coupled to the support 35.
  • the head portion includes a post 20, a first arm 21, a second arm 22, a head frame 24, a support body connecting portion 25, and a support body 26.
  • the part including the pulley 34 positioned inside the post 20 and positioned on the support 35 is defined as the rotation part 50.
  • the rotating unit 50 will be described later.
  • the rail unit 39 may be installed between the post 20 and the support 35 so that the post 20 may be moved up and down based on the support 35.
  • the rail unit 39 may be an LM Guide including an elongated frame 37 and a moving block 38 slidably connected to the frame 37.
  • the movable block 38 is installed on the inner wall of the post 20, and the frame 37 is installed on the outer wall of the support 35.
  • the main body 61 is provided with a spring balance 40 at regular intervals from the post 20.
  • the base 15 is installed at the upper end or the inside of the main body 61, and the support 35 and the spring balance 40 supporting the post 20 are installed at the base 15.
  • the spring balance 40 is wound around the case 41, the drum 42 internally installed inside the case 41, the cable 33a wound on the drum 42, and the drum 42 to restore the restoring force. It includes a spring spring 43 to provide.
  • the inner diameter of the drum 42 is tapered to extend from one side to the other side, and forms a helical recess 44 in which the cable 33a is wound on its outer circumferential surface.
  • the drum 42 is coupled to the rotating shaft 45 in a rotatable structure inside the case 41.
  • Spring balance 40 is capable of tension adjustment and is provided with a tension control device (not shown) to adjust the tension.
  • the drum 42 is rotated in the release direction of the cable 33a to wind the spring spring 43.
  • the pulling force of the cable 33a acts regardless of the distance. This is because there is a difference in the inner diameter in the process in which the wound cable 33a is separated from the recess 44 of the tapered drum 42. That is, since the cross-sectional area of the cable 33a released from the recess 44 of the drum 42 becomes small in proportion to the force from which the cable 33a is pulled, the heavy material can be supported while maintaining a constant tension at all times.
  • the weight balance 30 is connected to the spring balance 40 and the cable 33a.
  • the weight balance 30 in order to balance the weight of the head part which is a heavy object, the weight 31 is needed a lot. Since the space inside the post 20 is narrow, the weight 31 cannot be stored much. To store a lot of weight 31, the volume of the post 20 must be large, which is not good in appearance. Therefore, by connecting the spring balance 40 to the weight balance 30, while the weight balance 30 takes less weight, the spring balance 40 takes the remaining weight to balance the weight with the weight.
  • the advantage of the structure of connecting the spring balance 40 to the weight balance 30 is to replace the treatment head 26 in the HIFU device to change the weight of the head portion prior art inside the post 20 In order to readjust the weight 31, it is troublesome to disassemble the device or to change the structure or design of the HIFU device.
  • the tension of the spring balance 40 can be easily adjusted by the tension adjusting device installed in the spring balance 40, even if the treatment head 26 is replaced with another type, the structure or design of the device There is no need to change.
  • One end of the first arm 21 is rotatably connected to the left and right of the post 20 about a vertical axis.
  • the portion in which the first arm 21 and the post 20 are connected is defined as the rotating unit 50.
  • the vertical shaft 51 is coupled to the upper end of the post 20 constituting the rotating part 50, and the bearing 52 is fitted to the circumferential surface of the shaft 51.
  • One end of the first arm 21 has a hole formed therein, in which the bearing 52 and the shaft 51 are inserted into the post 20 and the first arm 21 are connected.
  • This structure is different from the rotating part 50 including the pulley 34 described above, but both the rotating parts 50 include the locking device of the same structure. The structure of the locking device will be described later.
  • the other end of the first arm 21 is connected to one end of the second arm 22.
  • the portion where the first arm 21 and the second arm 22 are connected has the same structure as the portion where the first arm 21 and the post 20 are connected. In the present specification, the portion where the first arm 21 and the second arm 22 are connected is also defined as the rotating unit 50.
  • the other end of the second arm 22 is hinged through the head frame 24 and the hinge portion 27.
  • the head frame 24 is a shape in which a bar is bent to surround the support body 26.
  • a second hinge connector 24a is formed in the center of the upper end of the head frame 24.
  • the hinge portion 27 includes a first hinge connecting portion 23 and a second hinge connecting portion 24a, and the first hinge connecting portion 23 and the second hinge connecting portion 24a are connected by hinge pins.
  • One end of the first hinge connecting portion 23 is rotatably connected to the other end of the second arm 22, which also has a structure and a rotating part 50 to which the post 20 and the first arm 21 are connected. Is the same.
  • the part where one end of the first hinge connection part 23 and the other end of the second arm 22 are connected is also defined as the rotation part 50 in the present specification.
  • the head frame 24 can be rotated up and down about the hinge pin of the horizontal axis. Therefore, the structure in which the head frame 24 and the first hinge connector 23 are also connected is the same as that of the rotating part 50, which is a part to which the post 20 and the first arm 21 are connected. Therefore, the part in which the head frame 24 and the first hinge connection part 23 are connected is also defined as the rotation part 50.
  • the head frame 24 is not only rotated left and right (R1) but also vertically rotated (R2) through two rotation parts 50.
  • the support body connecting portion 25 is rotatably connected up and down about the vertical axis at both ends of the head frame 24.
  • Support body connection portion 25 is in the shape of a ring and one side and the other side is connected to both ends of the head frame 24, respectively.
  • the connection here is also similar in structure to the rotating part 50 to which the above-described post 20 and the first arm 21 are connected.
  • the portion to which the support body connecting portion 25 and the head frame 24 are connected is also defined as the rotating portion 50.
  • the supported member 26 is connected to the supported member 26. Both sides of the support body 26 are connected to the same position as the rotating unit 50 in which the support body connecting portion 25 is connected to the head frame 24.
  • the ring shape of the support body connecting portion 25 may serve as a handle.
  • the support body connection part 25 and the support body 26 are mutually restrained and rotate up and down about the same axis together. Therefore, when the support body connecting portion 25 is rotated up and down, the support body 26 is also rotated up and down together.
  • rotating parts 50 are provided, and the rotating parts 50 allow linear movement of the posts 20 and rotation of devices connected to the posts 20.
  • the rotating part 50 all includes a locking device.
  • the locking device enables the linear movement of the post 20 and the rotation of the first arm 21, the second arm 22, the head frame 24 and the support body connecting portion 25 or the linear movement and the rotation. You can restrain.
  • the structure of the locking device may be a structure of a magnetic clutch, or may have a structure of a solenoid valve according to an embodiment. Magnetic clutch is a device that restrains rotation.
  • the structure may include, for example, a shaft, a first disk and a second disk fitted to the shaft.
  • the first disk may be fixed in movement
  • the second disk may be fixed in the pulley 34.
  • each of the six rotating parts 50 includes a locking device, which includes the structure of the above-described magnetic clutch, and is electrically connected to one switch operating part.
  • the electrical connection may be considered to be connected by wires, depending on the embodiment.
  • the switch operation unit may be installed in the support body connecting portion 25 according to the embodiment. A plurality of locking devices can be unlocked at the same time through the switch operation unit.
  • the user can lock or unlock the arms with a single switch operation through the magnetic clutch.
  • the support 26 may be moved to a desired position after holding the support 25 and releasing the locking state of the locking device in the rotating unit 50 through a switch operation unit installed on the support 25.
  • the support member 26 can be fixed by returning the lock to the locked state by placing the retarder 26 in a desired position and operating the switch again.
  • the switching between the locked state and the unlocked state can be achieved by one touch of the switch operation unit.
  • Such drive and position control is very convenient for moving and positioning the transducer in order to focus ultrasound on a target area of a patient to be treated, for example, cancer tissue, in a medical device such as a HIFU device.
  • the spring balance 40 is connected to the weight 31 by a cable 33a.
  • the spring balance 40 is capable of adjusting the tension, it may be provided with a tension control device for adjusting the tension.
  • the object 36 is linearly connected to the support 35.
  • the object 36 is a head part including the treatment head 26 and the first arm 21, the second arm 22, the head frame 24, and the post 20 of the HIFU apparatus, but the embodiment is not limited thereto. It is not limited.
  • the post 20 may be movably connected to the support 35 via, for example, an EL guide.
  • Ultrasound medical device 60 is the post 20, the first arm 21, the second arm 22, the head frame 24 sequentially connected to the main body 61 and the main body 61 And a treatment head 26 attached to the support connecting portion 25 and the support connecting portion 25, wherein the post 20 has a weight balance 30 installed therein and the weight balance outside thereof. And a spring balance 40 connected to 30.
  • the main body 61 may include, for example, a control unit for processing a signal obtained from the support body 26 and a driving unit for operating the articulating arm device 10.
  • the base 15 may be installed at the top or inside of the main body 61, and the support 15 and the spring balance 40 may be installed at the base 15.
  • the inside of the support 35 has a weight balance 30, and the outside is surrounded by a post 20.
  • Ultrasound medical device 60 is the main body 61, the first post 20, which is linearly connected to the main body 61, the first to the post 20 is rotatably connected to the left and right about a vertical axis
  • the second arm 22 and the second arm 22 rotatably connected to the arm 21 and the first arm 21 about the vertical axis are rotatable left and right about the vertical axis and about the horizontal axis.
  • a head frame 24 rotatably connected up and down, a support connector 25 rotatably connected up and down about a horizontal axis to the head frame 24, a treatment head 26 connected to the support connector 25, and It includes a plurality of rotating parts 50 for enabling linear movement and the rotation.
  • Each of the plurality of rotating parts 50 includes a pulley 34 inside the post 20, a connecting portion of the post 20 and the first arm 21, the first arm 21 and the second arm 22. Connecting portion of the second arm 22 and the first hinge connecting portion 23, connecting portion of the first hinge connecting portion 23 and the second hinge connecting portion 24a on the head frame 24, head frame ( 24) refers to the connecting portion of the support portion connecting portion (25).
  • Each of the plurality of rotating parts 50 includes a locking device, and each of the locking devices may be unlocked at the same time through one switch electrically connected.
  • any device having an articulating arm structure that allows a user to freely control the position of a treatment head equipped with a transducer for irradiating ultrasonic waves. Applicable

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

Un mode de réalisation de la présente invention concerne un dispositif à bras articulé comprenant : une base ; un montant relié à la base de sorte que le montant peut être déplacé de manière linéaire ; un premier bras relié au montant de sorte que le premier bras peut être mis en rotation vers la gauche et vers la droite autour d'un axe vertical ; un second bras relié au premier bras de sorte que le second bras peut être mis en rotation vers la gauche et vers la droite autour de l'axe vertical ; un montant de tête relié au second bras de sorte que le montant de tête peut être mis en rotation vers la gauche et vers la droite autour de la tige verticale et peut être mis en rotation dans la direction verticale autour de l'axe horizontal ; une unité de liaison d'objet supporté reliée au montant de tête de sorte que l'unité de liaison d'objet supporté peut être mise en rotation dans la direction verticale autour de la direction horizontale ; et une pluralité d'unités rotatives autorisant le mouvement linéaire et la rotation, chacune des unités parmi la pluralité d'unités rotatives comprenant un dispositif de verrouillage.
PCT/KR2012/009771 2012-11-19 2012-11-19 Dispositif à bras articulé et dispositif médical à ultrasons le comprenant WO2014077439A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020157010445A KR101646724B1 (ko) 2012-11-19 2012-11-19 아티큘레이팅 아암 장치 및 그를 포함하는 초음파 의료장치
PCT/KR2012/009771 WO2014077439A1 (fr) 2012-11-19 2012-11-19 Dispositif à bras articulé et dispositif médical à ultrasons le comprenant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2012/009771 WO2014077439A1 (fr) 2012-11-19 2012-11-19 Dispositif à bras articulé et dispositif médical à ultrasons le comprenant

Publications (1)

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WO2014077439A1 true WO2014077439A1 (fr) 2014-05-22

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104688268A (zh) * 2015-02-11 2015-06-10 戴守平 超声检查辅助装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018026038A1 (fr) * 2016-08-05 2018-02-08 알버트 장우주 Dispositif hifu pour contrôler la position d'un transducteur hifu comprenant un ensemble bras de robot
KR102503568B1 (ko) * 2020-12-30 2023-02-24 (주)미래컴퍼니 수술 로봇 장치

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EP0189483B1 (fr) * 1984-06-18 1989-12-20 Fanuc Ltd. Robot industriel pourvu d'un compensateur de gravite pour le bras
US5642392A (en) * 1994-04-12 1997-06-24 J. Morita Manufacturing Corporation Medical radiographic apparatus and patient's head fixing device
KR101031013B1 (ko) * 2009-11-30 2011-04-25 삼성메디슨 주식회사 잠금장치 및 이를 구비하는 의료장치
KR101093734B1 (ko) * 2009-05-08 2011-12-19 알피니언메디칼시스템 주식회사 초음파 치료기용 헤드, 초음파 치료기 및 초음파 치료기의 동작 방법
JP2012501866A (ja) * 2008-09-12 2012-01-26 アキュレイ インコーポレイテッド 少なくとも１つの冗長関節を有する７つ以上の自由度ロボットマニピュレータ

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JPH03106359A (ja) * 1989-09-20 1991-05-02 Shiyouwakai Ota Kinen Biyouin 医療用三次元定位装置
CN1169588C (zh) * 2001-11-05 2004-10-06 北京源德生物医学工程股份有限公司 体外高能聚焦超声波治疗机
JP2012005646A (ja) * 2010-06-24 2012-01-12 Natl Inst Of Radiological Sciences アーム装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0189483B1 (fr) * 1984-06-18 1989-12-20 Fanuc Ltd. Robot industriel pourvu d'un compensateur de gravite pour le bras
US5642392A (en) * 1994-04-12 1997-06-24 J. Morita Manufacturing Corporation Medical radiographic apparatus and patient's head fixing device
JP2012501866A (ja) * 2008-09-12 2012-01-26 アキュレイ インコーポレイテッド 少なくとも１つの冗長関節を有する７つ以上の自由度ロボットマニピュレータ
KR101093734B1 (ko) * 2009-05-08 2011-12-19 알피니언메디칼시스템 주식회사 초음파 치료기용 헤드, 초음파 치료기 및 초음파 치료기의 동작 방법
KR101031013B1 (ko) * 2009-11-30 2011-04-25 삼성메디슨 주식회사 잠금장치 및 이를 구비하는 의료장치

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104688268A (zh) * 2015-02-11 2015-06-10 戴守平 超声检查辅助装置

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KR101646724B1 (ko) 2016-08-12
KR20150077418A (ko) 2015-07-07

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