WO2015115809A1 - Surgical robot system for spine - Google Patents

Surgical robot system for spine Download PDF

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Publication number
WO2015115809A1
WO2015115809A1 PCT/KR2015/000928 KR2015000928W WO2015115809A1 WO 2015115809 A1 WO2015115809 A1 WO 2015115809A1 KR 2015000928 W KR2015000928 W KR 2015000928W WO 2015115809 A1 WO2015115809 A1 WO 2015115809A1
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WIPO (PCT)
Prior art keywords
tool
unit
surgical instrument
tool holder
surgical
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PCT/KR2015/000928
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French (fr)
Korean (ko)
Inventor
권영식
한승철
한정민
정재헌
Original Assignee
주식회사 고영테크놀러지
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Publication of WO2015115809A1 publication Critical patent/WO2015115809A1/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1613Component parts
    • A61B17/1626Control means; Display units
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34Trocars; Puncturing needles
    • A61B17/3472Trocars; Puncturing needles for bones, e.g. intraosseus injections
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2055Optical tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/39Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983Reference marker arrangements for use with image guided surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, 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
    • A61B90/50Supports for surgical instruments, e.g. articulated arms
    • A61B90/57Accessory clamps
    • A61B2090/571Accessory clamps for clamping a support arm to a bed or other supports

Definitions

  • the present invention relates to a spinal surgical robot system, and more particularly to a spinal surgical robot system that can prevent the risk of the patient.
  • the present invention is derived from a study conducted as part of the Ministry of Knowledge Economy's industrial source technology development project. [Project unique number: 10040097, Title: Minimally invasive surgical robot system for medical surgery robot image based otolaryngology and neurosurgery surgery. Technology development].
  • spinal surgery is to incision the skin of the patient's damaged spinal region, insert the pedicle screw into the vertebrae and fix it, connect it with a rod and then fasten the bolt to the pedicle screw to fix the rod, etc. Is carried out in the manner of.
  • Such spinal surgery has a problem that the pain of the patient is increased and the recovery is delayed because the invasive part of the patient is large. Accordingly, the surgical site is confirmed by using tools such as an endoscope or a microscope without cutting the entire surgical site recently. Minimally invasive methods of surgery were developed.
  • a surgical instrument for spine has recently been developed and utilized. After inserting a tube such as a cannula into the surgical site, a tool having a drill installed therein is inserted into the vertebral bone. The method of carrying out the drilling work is utilized.
  • a tube such as the cannula includes only a function of guiding the tool, it is inconvenient for a practitioner such as a doctor to use, and an abnormality or danger in the patient's body is caused. There is a problem that the operator is difficult to quickly and easily eliminate the risk.
  • the problem to be solved by the present invention is convenient to use, the risk can be quickly and easily eliminated if the patient's body is abnormal or dangerous state while performing drilling operation on the patient's spine To provide a surgical robot system for the spine.
  • the surgical robot system for a spine includes a surgical instrument, a drive unit, a power cutoff unit and a control unit.
  • the surgical tool is inserted into the patient's body and a tool for drilling the spine and a tool coupled with the tool to hold the tool, rotated together with the tool by a driving force and moving forward It includes a holder.
  • the drive unit provides the drive force to the tool and the tool holder.
  • the power cutoff unit blocks the driving force of the driving unit when at least one of the tool and the tool holder reaches a preset reference position.
  • the controller controls an operation of at least one of the surgical instrument and the driver.
  • the tool may include a tool body having a rod shape and a drill disposed at an end of the tool body to drill the spine.
  • the surgical instrument may further include a support that accommodates and supports at least a portion of the tool holder, and is mounted and fixed to a fixing mechanism provided from the outside.
  • the support part may include a support unit and a support unit disposed in the support body to allow the tool holder to pass therethrough and support the tool holder.
  • the surgical robot system for the spine may further include a robot arm for moving the surgical instrument to the first position and a fixing part installed on the robot arm to fix the surgical instrument.
  • the spinal surgical robot system may be installed on the robot arm is coupled to the fixed portion, and may further include a transfer unit for moving the surgical instrument from the first position to the second position.
  • the surgical robot system for the spine may further include a tracking unit for tracking the position of the surgical instrument using the position information, the surgical instrument, at least one of the tool and the tool holder Is formed in, the tracking unit may further include a marker for providing the location information.
  • the controller may generate a warning message to the operator or stop the driving unit when the tool and the tool holder reach a preset area according to the position information.
  • the present invention by providing a power cut-off portion that defines the insertion depth of the drill so that the tool no longer advances when the tool reaches the dangerous position, thereby preventing the risk of the patient and ensuring safety.
  • FIG. 1 is a conceptual diagram showing a surgical robot system for the spine according to an embodiment of the present invention.
  • Figure 2 is a perspective view showing an example of the surgical robot system for spinal column of FIG.
  • FIG. 3 is a side view showing a surgical instrument of the surgical robot system for spinal column of FIG.
  • Figure 4 is a side view showing an embodiment in which the support is coupled to the surgical instrument of FIG.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
  • FIG. 1 is a conceptual diagram showing a surgical robot system for the spine according to an embodiment of the present invention and Figure 2 is a perspective view showing an example of the surgical robot system for a spine of FIG.
  • the surgical robot system 100 for a spine may include a surgical instrument 110, a driver 120, a power cutoff 130, and a controller 140. It includes.
  • FIG. 3 is a side view showing a surgical instrument of the surgical robot system for spinal column of FIG.
  • the surgical instrument 110 includes a tool 112 and a tool holder 114.
  • the tool 112 is inserted into the patient's body to drill the spine.
  • the tool 112 may include a tool body 112a and a drill 112b.
  • the tool body 112a may have, for example, a rod shape. As shown in FIG. 3, the tool body 112a may be disposed through an internal space of the tool holder 114 to be described later.
  • the drill 112b is disposed at the end of the tool body 112a and provided for drilling the spine.
  • the drill 112b may be provided integrally coupled with the tool body 112a, or alternatively, the drill 112b may be coupled to the tool body 112a so as to be detachable.
  • the insertion procedure may be performed by replacing the pedicle screw instead of the drill 112b and coupling the pedicle screw to the tool body 112a.
  • the tool holder 114 is coupled with the tool 112 to hold the tool 112 and to rotate forward with the tool 112 by a driving force.
  • the tool holder 114 may have a cylindrical shape. As shown in FIG. 3, the tool body 112a may be disposed through the tool holder 114, and the tool holder 114 may define an internal space of the tool support 116 which will be described later. Can be placed through.
  • Figure 4 is a side view showing an embodiment in which the support is coupled to the surgical instrument of FIG.
  • the surgical instrument 110 may further include a support 116.
  • the support part 116 accommodates and supports at least a part of the tool holder, and is mounted and fixed to a fixing mechanism provided from the outside, for example, the fixing part 160 (see FIG. 2) described later.
  • the support 116 may include a support body 116a and a support unit 116b.
  • the support body 116a may have a cylindrical shape, for example, and may receive at least a portion of the tool holder guide 130.
  • the support unit 116b is disposed in the support body 142 to penetrate the tool holder 114 and to support the penetrated tool holder 114.
  • the support unit 116b may include a bearing capable of supporting the rotation of the tool holder 114.
  • the surgical instrument 110 may further include a marker 118.
  • the marker 118 is formed on at least one of the tool 112 and the tool holder 114, and provides location information to an external, for example, tracking unit 180 (see FIG. 2) described later. 3 and 4, in one embodiment, the marker 118 is formed at the distal end of the tool 112.
  • the driving unit 120 provides the driving force to the tool 112 and the tool holder 114.
  • the drive unit 120 may include a drill motor.
  • the drill motor is formed to surround the support body 116a and is coupled with the tool holder 114 disposed inside the support body 116a and the tool holder 114. By driving the drill motion (drill motion) including the rotation and advancement of the tool 112 can be performed.
  • the tool 112 and the tool holder 114 rotate integrally and move forwards (corresponding to the lower left side in FIG. 2). Accordingly, the drilling operation can be performed on the spine of the patient.
  • the operator can stop or move the drill motor rearward (corresponding to the upper right side in FIG. 2) by manipulation.
  • the power cutoff unit 130 blocks the driving force of the driving unit 120 when at least one of the tool 112 and the tool holder 114 reaches a preset reference position.
  • the power cutoff unit 130 may include a limit sensor.
  • the limit sensor is correlated with the operator's operation by changing from an electrical off state to an electrical on state when at least one of the tool 112 and the tool holder 114 reaches the reference position. The driving force can be blocked without.
  • the power cutoff 130 may prevent the tool 112 and the tool holder 114 from moving further when the tool 112 reaches a dangerous position, thereby improving patient safety. It can be secured. That is, the power cutout 130 may limit the insertion depth of the drill 112b with respect to the advancement of the tool 112 according to the drill motion, thereby preventing a patient's risk.
  • the controller 140 controls the operation of at least one of the surgical instrument 110 and the driver 120.
  • the controller 140 may include a computer, and may control generation and blocking of the driving force provided from the driving unit 120 by a user input.
  • the spinal surgical robot system 100 may further include a robot arm 150 and the fixing unit 160.
  • the robot arm 150 moves the surgical instrument 110 to a first position.
  • the robot arm 150 may be installed at, for example, a treatment table 10 on which a patient is positioned, and the surgical arm 110 is a predetermined position on a three-dimensional spatial coordinate system suitable for treating the patient. Can be moved to one position.
  • the fixing part 160 is installed on the robot arm 150 to fix the surgical instrument 110.
  • the support part 116 (see FIG. 4) of the surgical instrument 110 may be mounted and fixed to the fixing part 160.
  • the spinal surgical robot system 100 may further include a transfer unit 170.
  • the transfer unit 170 is installed on the robot arm 150 and coupled to the fixing unit 160 to move the surgical instrument 110 from the first position to the second position. Specifically, after the surgical instrument 110 is moved to the first position by the robot arm 150, the operator using the transfer unit 170, the surgical instrument 110 more precisely the second Can be moved to a location.
  • the robot arm 150 and / or the transfer unit 170 may be controlled by the controller 140.
  • the spinal surgical robot system 100 may further include a tracking (180).
  • the tracking unit 180 tracks the position of the surgical instrument 110 by using the position information, and receives the position information from the marker 118 of the surgical instrument 110.
  • the controller 140 may generate a warning message or stop the driving unit 120 when the tool 112 and the tool holder 114 reach a preset area according to the position information. .
  • the marker 118 is mounted on the tool 112 to perform registration with a three-dimensional image, such as a CT or MRI, to be photographed to position the tool 112 in the patient's body.
  • a three-dimensional image such as a CT or MRI
  • the tool 112 may be located relative to the preset danger area.

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Abstract

A surgical robot system for the spine comprises: a surgical instrument; a drive unit; a power interruption unit; and a control unit. The surgical instrument comprises: a tool which is inserted into the patient's body and drills into the spine; and a tool holder which is coupled to the tool so as to hold the tool, and advances forwards while being rotated together with the tool by means of a drive force. The drive unit provides the drive force to the tool and the tool holder. The power interruption unit interrupts the drive force of the drive unit when at least one out of the tool and the tool holder reaches a predetermined reference position. The control unit controls the action of at least one out of the surgical instrument and the drive unit. Consequently, risk to the patient during surgery can be prevented.

Description

척추용 수술로봇 시스템Spinal Surgery Robot System
본 발명은 척추용 수술로봇 시스템에 관한 것으로, 더욱 상세하게는 환자의 위험을 방지할 수 있는 척추용 수술로봇 시스템에 관한 것이다.The present invention relates to a spinal surgical robot system, and more particularly to a spinal surgical robot system that can prevent the risk of the patient.
본 발명은 지식경제부의 산업원천기술개발사업의 일환으로 수행한 연구로부터 도출된 것이다[과제고유번호:10040097, 과제명: 의료수술로봇영상기반 이비인후과 및 신경외과 수술용 최소침습 다자유도 수술로봇 시스템 기술 개발].The present invention is derived from a study conducted as part of the Ministry of Knowledge Economy's industrial source technology development project. [Project unique number: 10040097, Title: Minimally invasive surgical robot system for medical surgery robot image based otolaryngology and neurosurgery surgery. Technology development].
일반적으로, 척추수술은 환자의 손상된 척추 부위의 피부를 절개하고, 척추경 나사못을 척추뼈에 삽입하여 고정하고, 로드(rod)로 연결한 후 볼트를 척추경 나사못에 체결하여 로드를 고정하는 등의 방식으로 수행된다.In general, spinal surgery is to incision the skin of the patient's damaged spinal region, insert the pedicle screw into the vertebrae and fix it, connect it with a rod and then fasten the bolt to the pedicle screw to fix the rod, etc. Is carried out in the manner of.
이러한 척추수술은 환자의 침습 부위가 크기 때문에 환자의 고통이 가중되고 회복이 지연되는 문제가 있으며, 이에 따라 최근에는 수술 부위 전체를 절개하지 않고 내시경이나 수술현미경 등의 도구를 이용하여 수술 부위를 확인하면서 수술을 진행하는 최소침습(minimally invasive) 방식이 개발되었다.Such spinal surgery has a problem that the pain of the patient is increased and the recovery is delayed because the invasive part of the patient is large. Accordingly, the surgical site is confirmed by using tools such as an endoscope or a microscope without cutting the entire surgical site recently. Minimally invasive methods of surgery were developed.
이러한 최소침습 방식을 채용하기 위해, 최근에는 척추용 수술기구가 개발되어 활용되고 있는데, 수술 부위로 캐뉼러(cannula)와 같은 관을 삽입한 후, 여기에 드릴이 설치된 툴을 삽입하여 척추뼈에 대한 드릴링 작업을 수행하는 방식이 활용된다.In order to adopt such a minimally invasive method, a surgical instrument for spine has recently been developed and utilized. After inserting a tube such as a cannula into the surgical site, a tool having a drill installed therein is inserted into the vertebral bone. The method of carrying out the drilling work is utilized.
그러나, 이러한 방식의 경우, 상기 캐뉼러와 같은 관이 상기 툴을 가이드하는 정도의 기능만을 포함하므로, 의사와 같은 시술자가 사용하기에 불편하고, 환자의 몸에 이상이 생기거나 위험 상태가 되는 경우 시술자가 상기 위험을 신속하고 용이하게 제거하기 어려운 문제가 있다.However, in this case, since a tube such as the cannula includes only a function of guiding the tool, it is inconvenient for a practitioner such as a doctor to use, and an abnormality or danger in the patient's body is caused. There is a problem that the operator is difficult to quickly and easily eliminate the risk.
따라서, 본 발명이 해결하고자 하는 과제는 사용하기에 편리하고, 환자의 척추에 드릴링 작업을 수행하는 중에 환자의 몸에 이상이 생기거나 위험 상태가 되는 경우 상기 위험이 신속하고 용이하게 제거될 수 있는 척추용 수술로봇 시스템을 제공하는 것이다. Therefore, the problem to be solved by the present invention is convenient to use, the risk can be quickly and easily eliminated if the patient's body is abnormal or dangerous state while performing drilling operation on the patient's spine To provide a surgical robot system for the spine.
본 발명의 예시적인 일 실시예에 따른 척추용 수술로봇 시스템은 수술기구, 구동부, 동력차단부 및 제어부를 포함한다. 상기 수술기구는 환자의 체내에 삽입되어 척추를 드릴링(drilling)하는 툴(tool) 및 상기 툴과 결합되어 상기 툴을 홀딩(holding)하고, 구동력에 의해 상기 툴과 함께 회전되며 전방으로 전진하는 툴 홀더(holder)를 포함한다. 상기 구동부는 상기 툴 및 상기 툴 홀더에 상기 구동력을 제공한다. 상기 동력차단부는 상기 툴 및 툴 홀더 중 적어도 하나가 기 설정된 기준 위치에 도달하는 경우 상기 구동부의 구동력을 차단한다. 상기 제어부는 상기 수술기구 및 상기 구동부 중 적어도 하나의 동작을 제어한다.The surgical robot system for a spine according to an exemplary embodiment of the present invention includes a surgical instrument, a drive unit, a power cutoff unit and a control unit. The surgical tool is inserted into the patient's body and a tool for drilling the spine and a tool coupled with the tool to hold the tool, rotated together with the tool by a driving force and moving forward It includes a holder. The drive unit provides the drive force to the tool and the tool holder. The power cutoff unit blocks the driving force of the driving unit when at least one of the tool and the tool holder reaches a preset reference position. The controller controls an operation of at least one of the surgical instrument and the driver.
일 실시예로, 상기 툴은, 로드(rod) 형상을 갖는 툴 바디(body) 및 상기 툴 바디의 단부에 배치되어 상기 척추를 드릴링하는 드릴을 포함할 수 있다.In one embodiment, the tool may include a tool body having a rod shape and a drill disposed at an end of the tool body to drill the spine.
일 실시예로, 상기 수술기구는, 상기 툴 홀더의 적어도 일부를 수용하여 지지하며, 외부로부터 제공되는 고정기구에 장착되어 고정되는 지지부를 더 포함할 수 있다. 상기 지지부는, 지지부 몸체 및 상기 지지부 몸체 내에 배치되어 상기 툴 홀더가 관통되며, 상기 관통된 툴 홀더를 지지하는 지지유닛을 포함할 수 있다.In one embodiment, the surgical instrument may further include a support that accommodates and supports at least a portion of the tool holder, and is mounted and fixed to a fixing mechanism provided from the outside. The support part may include a support unit and a support unit disposed in the support body to allow the tool holder to pass therethrough and support the tool holder.
일 실시예로, 상기 척추용 수술로봇 시스템은 상기 수술기구를 제1 위치로 이동시키는 로봇암 및 상기 로봇암에 설치되어 상기 수술기구를 고정하는 고정부를 더 포함할 수 있다. 또한, 상기 척추용 수술로봇 시스템은 상기 로봇암에 설치되어 상기 고정부에 결합되며, 상기 수술기구를 상기 제1 위치로부터 제2 위치로 이동시키는 이송부를 더 포함할 수 있다. In one embodiment, the surgical robot system for the spine may further include a robot arm for moving the surgical instrument to the first position and a fixing part installed on the robot arm to fix the surgical instrument. In addition, the spinal surgical robot system may be installed on the robot arm is coupled to the fixed portion, and may further include a transfer unit for moving the surgical instrument from the first position to the second position.
일 실시예로, 상기 척추용 수술로봇 시스템은 위치정보를 이용하여 상기 수술기구의 위치를 추적하는 트래킹(tracking)부를 더 포함할 수 있고, 상기 수술기구는, 상기 툴 및 상기 툴 홀더 중 적어도 하나에 형성되며, 상기 트래킹부에 상기 위치정보를 제공하는 마커(marker)를 더 포함할 수 있다. 상기 제어부는, 상기 위치정보에 따라 상기 툴 및 상기 툴 홀더가 기 설정된 영역에 도달할 때 시술자에게 경고 메시지를 발생시키거나 상기 구동부를 정지시킬 수 있다.In one embodiment, the surgical robot system for the spine may further include a tracking unit for tracking the position of the surgical instrument using the position information, the surgical instrument, at least one of the tool and the tool holder Is formed in, the tracking unit may further include a marker for providing the location information. The controller may generate a warning message to the operator or stop the driving unit when the tool and the tool holder reach a preset area according to the position information.
본 발명에 따르면, 툴이 위험 위치에 도달할 때 상기 툴이 더 이상 전진하지 못하도록 드릴의 삽입 깊이를 한정하는 동력차단부가 제공됨으로써, 환자의 위험을 방지하고 안전을 확보할 수 있다. According to the present invention, by providing a power cut-off portion that defines the insertion depth of the drill so that the tool no longer advances when the tool reaches the dangerous position, thereby preventing the risk of the patient and ensuring safety.
또한, 마커에 의해 제공되는 위치정보에 따라 상기 툴이 기 설정된 영역에 도달할 때 시술자에게 경고 메시지를 발생시키거나 상기 구동부를 정지시키도록 함으로써, 상기 툴이 위험 영역에 도달할 때 시술자에게 이를 경고하거나 상기 툴이 더 이상 동작하지 못하도록 상기 구동력을 차단하고, 이에 따라 환자의 위험을 방지하고 환자의 안전을 확보할 수 있다. In addition, by alerting the operator when the tool reaches the danger zone by generating a warning message or by stopping the driving unit when the tool reaches a preset area according to the position information provided by the marker. Or block the driving force so that the tool can no longer operate, thereby preventing the patient's risk and ensuring patient safety.
도 1은 본 발명의 일 실시예에 의한 척추용 수술로봇 시스템을 도시한 개념도이다.1 is a conceptual diagram showing a surgical robot system for the spine according to an embodiment of the present invention.
도 2는 도 1의 척추용 수술로봇 시스템의 일 예를 도시한 사시도이다.Figure 2 is a perspective view showing an example of the surgical robot system for spinal column of FIG.
도 3은 도 2의 척추용 수술로봇 시스템의 수술기구를 도시한 측면도이다.3 is a side view showing a surgical instrument of the surgical robot system for spinal column of FIG.
도 4는 도 3의 수술기구에 지지부가 결합된 일 실시예를 도시한 측면도이다.Figure 4 is a side view showing an embodiment in which the support is coupled to the surgical instrument of FIG.
본 발명은 다양한 변경을 가할 수 있고 여러 가지 형태를 가질 수 있는 바, 특정 실시예들을 도면에 예시하고 본문에 상세하게 설명하고자 한다. 그러나, 이는 본 발명을 특정한 개시 형태에 대해 한정하려는 것이 아니며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다.As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.
제1, 제2 등의 용어는 다양한 구성 요소들을 설명하는데 사용될 수 있지만, 상기 구성 요소들은 상기 용어들에 의해 한정되어서는 안 된다. 상기 용어들은 하나의 구성 요소를 다른 구성 요소로부터 구별하는 목적으로만 사용된다. 예를 들어, 본 발명의 권리 범위를 벗어나지 않으면서 제1 구성 요소는 제2 구성 요소로 명명될 수 있고, 유사하게 제2 구성 요소도 제1 구성 요소로 명명될 수 있다. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
본 출원에서 사용한 용어는 단지 특정한 실시예들을 설명하기 위해 사용된 것으로, 본 발명을 한정하려는 의도가 아니다. 단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다. 본 출원에서, "포함하다" 또는 "가지다" 등의 용어는 명세서에 기재된 특징, 숫자, 단계, 동작, 구성 요소, 부분품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성 요소, 부분품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and that one or more other features It should be understood that it does not exclude in advance the possibility of the presence or addition of numbers, steps, actions, components, parts or combinations thereof.
다르게 정의되지 않는 한, 기술적이거나 과학적인 용어를 포함해서 여기서 사용되는 모든 용어들은 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에 의해 일반적으로 이해되는 것과 동일한 의미를 갖는다.Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.
일반적으로 사용되는 사전에 정의되어 있는 것과 같은 용어들은 관련 기술의 문맥상 가지는 의미와 일치하는 의미를 갖는 것으로 해석되어야 하며, 본 출원에서 명백하게 정의하지 않는 한, 이상적이거나 과도하게 형식적인 의미로 해석되지 않는다.Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.
이하, 첨부한 도면들을 참조하여, 본 발명의 바람직한 실시예들을 보다 상세하게 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 일 실시예에 의한 척추용 수술로봇 시스템을 도시한 개념도이고 도 2는 도 1의 척추용 수술로봇 시스템의 일 예를 도시한 사시도이다.1 is a conceptual diagram showing a surgical robot system for the spine according to an embodiment of the present invention and Figure 2 is a perspective view showing an example of the surgical robot system for a spine of FIG.
도 1 및 도 2를 참조하면, 본 발명의 예시적인 일 실시예에 따른 척추용 수술로봇 시스템(100)은 수술기구(110), 구동부(120), 동력차단부(130) 및 제어부(140)를 포함한다. 1 and 2, the surgical robot system 100 for a spine according to an exemplary embodiment of the present invention may include a surgical instrument 110, a driver 120, a power cutoff 130, and a controller 140. It includes.
도 3은 도 2의 척추용 수술로봇 시스템의 수술기구를 도시한 측면도이다.3 is a side view showing a surgical instrument of the surgical robot system for spinal column of FIG.
도 3을 참조하면, 상기 수술기구(110)는 툴(tool)(112) 및 툴 홀더(holder)(114)를 포함한다.Referring to FIG. 3, the surgical instrument 110 includes a tool 112 and a tool holder 114.
상기 툴(112)은 환자의 체내에 삽입되어 척추를 드릴링(drilling)한다.The tool 112 is inserted into the patient's body to drill the spine.
일 실시예로, 상기 툴(112)은 툴 바디(body)(112a) 및 드릴(112b)을 포함할 수 있다.In one embodiment, the tool 112 may include a tool body 112a and a drill 112b.
상기 툴 바디(112a)는, 예를 들면, 로드(rod) 형상을 가질 수 있다. 상기 툴 바디(112a)는, 도 3에 도시된 바와 같이, 후술되는 툴 홀더(114)의 내부 공간을 관통하여 배치될 수 있다.The tool body 112a may have, for example, a rod shape. As shown in FIG. 3, the tool body 112a may be disposed through an internal space of the tool holder 114 to be described later.
상기 드릴(112b)은 상기 툴 바디(112a)의 단부에 배치되어 상기 척추를 드릴링하기 위하여 제공된다. 상기 드릴(112b)은 상기 툴 바디(112a)와 일체로 결합되어 제공될 수도 있고, 이와는 다르게 상기 드릴(112b)이 상기 툴 바디(112a)와 탈착 가능하도록 결합될 수도 있다.The drill 112b is disposed at the end of the tool body 112a and provided for drilling the spine. The drill 112b may be provided integrally coupled with the tool body 112a, or alternatively, the drill 112b may be coupled to the tool body 112a so as to be detachable.
이에 따라, 상기 드릴(112b)을 이용한 드릴링 작업이 끝난 후, 드릴된 위치에 척추경 나사못을 삽입하는 시술을 수행할 때, 척추경 나사못이 설치된 툴을 이용하여 상기 삽입 시술을 수행할 수 있고, 이와는 다르게 상기 드릴(112b) 대신 척추경 나사못으로 교체하고 상기 척추경 나사못을 상기 툴 바디(112a)에 결합하여 상기 삽입 시술을 수행할 수도 있다.Accordingly, after the drilling operation using the drill (112b) is finished, when performing the procedure to insert the pedicle screw in the drilled position, it is possible to perform the insertion using a tool installed with a pedicle screw, Alternatively, the insertion procedure may be performed by replacing the pedicle screw instead of the drill 112b and coupling the pedicle screw to the tool body 112a.
상기 툴 홀더(114)는 상기 툴(112)과 결합되어 상기 툴(112)을 홀딩(holding)하고, 구동력에 의해 상기 툴(112)과 함께 회전되며 전방으로 전진한다. The tool holder 114 is coupled with the tool 112 to hold the tool 112 and to rotate forward with the tool 112 by a driving force.
예를 들면, 상기 툴 홀더(114)는 실린더 형상을 가질 수 있다. 상기 툴 홀더(114)의 내부에는, 도 3에 도시된 바와 같이, 상기 툴 바디(112a)가 관통하여 배치될 수 있고, 상기 툴 홀더(114)는 후술되는 툴 지지부(116)의 내부 공간을 관통하여 배치될 수 있다.For example, the tool holder 114 may have a cylindrical shape. As shown in FIG. 3, the tool body 112a may be disposed through the tool holder 114, and the tool holder 114 may define an internal space of the tool support 116 which will be described later. Can be placed through.
도 4는 도 3의 수술기구에 지지부가 결합된 일 실시예를 도시한 측면도이다.Figure 4 is a side view showing an embodiment in which the support is coupled to the surgical instrument of FIG.
도 4를 참조하면, 상기 수술기구(110)는 지지부(116)를 더 포함할 수 있다.Referring to FIG. 4, the surgical instrument 110 may further include a support 116.
상기 지지부(116)는 상기 툴 홀더의 적어도 일부를 수용하여 지지하며, 외부로부터 제공되는 고정기구, 예를 들면 후술되는 고정부(160, 도 2 참조)에 장착되어 고정된다.The support part 116 accommodates and supports at least a part of the tool holder, and is mounted and fixed to a fixing mechanism provided from the outside, for example, the fixing part 160 (see FIG. 2) described later.
일 실시예로, 상기 지지부(116)는 지지부 몸체(116a) 및 지지유닛(116b)을 포함할 수 있다. In one embodiment, the support 116 may include a support body 116a and a support unit 116b.
상기 지지부 몸체(116a)는, 예를 들면, 실린더 형상을 가질 수 있으며, 상기 툴 홀더 가이드(130)의 적어도 일부를 수용할 수 있다.The support body 116a may have a cylindrical shape, for example, and may receive at least a portion of the tool holder guide 130.
상기 지지유닛(116b)은 상기 지지부 몸체(142) 내에 배치되어 상기 툴 홀더(114)가 관통되며, 상기 관통된 툴 홀더(114)를 지지한다. 예를 들면, 상기 지지유닛(116b)은 상기 툴 홀더(114)의 회전이 가능하도록 지지할 수 있는 베어링을 포함할 수 있다.The support unit 116b is disposed in the support body 142 to penetrate the tool holder 114 and to support the penetrated tool holder 114. For example, the support unit 116b may include a bearing capable of supporting the rotation of the tool holder 114.
상기 수술기구(110)는 마커(marker)(118)를 더 포함할 수 있다.The surgical instrument 110 may further include a marker 118.
상기 마커(118)는 상기 툴(112) 및 상기 툴 홀더(114) 중 적어도 하나에 형성되며 외부, 예를 들면 후술되는 트래킹부(180, 도 2참조)에 위치정보를 제공한다. 도 3 및 도 4에서는 일 실시예로, 상기 마커(118)가 상기 툴(112)의 말단에 형성되어 있다.The marker 118 is formed on at least one of the tool 112 and the tool holder 114, and provides location information to an external, for example, tracking unit 180 (see FIG. 2) described later. 3 and 4, in one embodiment, the marker 118 is formed at the distal end of the tool 112.
다시 도 1 및 도 2를 참조하면, 상기 구동부(120)는 상기 툴(112) 및 상기 툴 홀더(114)에 상기 구동력을 제공한다. Referring again to FIGS. 1 and 2, the driving unit 120 provides the driving force to the tool 112 and the tool holder 114.
일 시예로, 상기 구동부(120)는 드릴 모터(drill motor)를 포함할 수 있다. 일 실시예로 도 2에서, 상기 드릴 모터는 상기 지지부 몸체(116a)를 감싸는 형태로 형성되어 상기 지지부 몸체(116a) 내부에 배치된 상기 툴 홀더(114)와 결합되며, 상기 툴 홀더(114)를 구동시킴으로써 상기 툴(112)의 회전 및 전진을 포함하는 드릴 모션(drill motion)을 수행할 수 있다.In one embodiment, the drive unit 120 may include a drill motor. In an embodiment, in FIG. 2, the drill motor is formed to surround the support body 116a and is coupled with the tool holder 114 disposed inside the support body 116a and the tool holder 114. By driving the drill motion (drill motion) including the rotation and advancement of the tool 112 can be performed.
구체적으로, 시술자의 조작에 의해 상기 드릴 모터를 구동하면, 상기 툴(112) 및 상기 툴 홀더(114)가 일체로 회전하며 전방(도 2에서 좌측 하방에 해당)으로 전진한다. 이에 따라, 환자의 척추에 드릴링 작업을 수행할 수 있다. 또한, 시술자는 조작에 의해 상기 드릴 모터를 정지시키거나 후방(도 2에서 우측 상방에 해당)으로 이동시킬 수 있다.Specifically, when the drill motor is driven by the operator's operation, the tool 112 and the tool holder 114 rotate integrally and move forwards (corresponding to the lower left side in FIG. 2). Accordingly, the drilling operation can be performed on the spine of the patient. In addition, the operator can stop or move the drill motor rearward (corresponding to the upper right side in FIG. 2) by manipulation.
상기 동력차단부(130)는 상기 툴(112) 및 툴 홀더(114) 중 적어도 하나가 기 설정된 기준 위치에 도달하는 경우 상기 구동부(120)의 구동력을 차단한다.The power cutoff unit 130 blocks the driving force of the driving unit 120 when at least one of the tool 112 and the tool holder 114 reaches a preset reference position.
예를 들면, 상기 동력차단부(130)는 리미트 센서(limit sensor)를 포함할 수 있다. 상기 리미트 센서는, 상기 툴(112) 및 툴 홀더(114) 중 적어도 하나가 상기 기준 위치에 도달하는 경우에, 전기적 오프(off) 상태에서 전기적 온(on) 상태로 변화됨으로써 시술자의 조작에 상관없이 상기 구동력을 차단할 수 있다.For example, the power cutoff unit 130 may include a limit sensor. The limit sensor is correlated with the operator's operation by changing from an electrical off state to an electrical on state when at least one of the tool 112 and the tool holder 114 reaches the reference position. The driving force can be blocked without.
이에 따라, 상기 동력차단부(130)는 상기 툴(112)이 위험 위치에 도달할 때 상기 툴(112) 및 상기 툴 홀더(114)가 더 이상 전진하지 못하도록 할 수 있으며, 이로써 환자의 안전을 확보할 수 있다. 즉, 상기 동력차단부(130)가 상기 드릴 모션에 따른 상기 툴(112)의 전진에 대해서 상기 드릴(112b)의 삽입 깊이를 한정할 수 있으므로, 환자의 위험을 방지할 수 있다.Accordingly, the power cutoff 130 may prevent the tool 112 and the tool holder 114 from moving further when the tool 112 reaches a dangerous position, thereby improving patient safety. It can be secured. That is, the power cutout 130 may limit the insertion depth of the drill 112b with respect to the advancement of the tool 112 according to the drill motion, thereby preventing a patient's risk.
상기 제어부(140)는 상기 수술기구(110) 및 상기 구동부(120) 중 적어도 하나의 동작을 제어한다.The controller 140 controls the operation of at least one of the surgical instrument 110 and the driver 120.
예를 들면, 상기 제어부(140)는 컴퓨터를 포함할 수 있고, 사용자의 입력에 의해 상기 구동부(120)로부터 제공되는 상기 구동력의 발생 및 차단 등을 제어할 수 있다. For example, the controller 140 may include a computer, and may control generation and blocking of the driving force provided from the driving unit 120 by a user input.
일 실시예로, 상기 척추용 수술로봇 시스템(100)은 로봇암(150) 및 고정부(160)를 더 포함할 수 있다. In one embodiment, the spinal surgical robot system 100 may further include a robot arm 150 and the fixing unit 160.
상기 로봇암(150)은 상기 수술기구(110)를 제1 위치로 이동시킨다. 상기 로봇암(150)은, 예를 들면, 환자가 위치하는 시술대(10)에 설치될 수 있으며, 상기 수술기구(110)를 환자를 시술하기에 적절한 3차원 공간좌표계 상의 소정 위치인 상기 제1 위치로 이동시킬 수 있다.The robot arm 150 moves the surgical instrument 110 to a first position. The robot arm 150 may be installed at, for example, a treatment table 10 on which a patient is positioned, and the surgical arm 110 is a predetermined position on a three-dimensional spatial coordinate system suitable for treating the patient. Can be moved to one position.
상기 고정부(160)는 상기 로봇암(150)에 설치되어 상기 수술기구(110)를 고정한다. 예를 들면, 상기 수술기구(110)의 지지부(116, 도 4 참조)는 상기 고정부(160)에 장착되어 고정될 수 있다.The fixing part 160 is installed on the robot arm 150 to fix the surgical instrument 110. For example, the support part 116 (see FIG. 4) of the surgical instrument 110 may be mounted and fixed to the fixing part 160.
일 실시예로, 상기 척추용 수술로봇 시스템(100)은 이송부(170)를 더 포함할 수 있다.In one embodiment, the spinal surgical robot system 100 may further include a transfer unit 170.
상기 이송부(170)는 상기 로봇암(150)에 설치되어 상기 고정부(160)에 결합되며, 상기 수술기구(110)를 상기 제1 위치로부터 제2 위치로 이동시킨다. 구체적으로, 상기 수술기구(110)가 상기 로봇암(150)에 의해 상기 제1 위치로 이동된 후, 시술자는 상기 이송부(170)를 이용하여 상기 수술기구(110)를 보다 정밀하게 상기 제2 위치로 이동시킬 수 있다.The transfer unit 170 is installed on the robot arm 150 and coupled to the fixing unit 160 to move the surgical instrument 110 from the first position to the second position. Specifically, after the surgical instrument 110 is moved to the first position by the robot arm 150, the operator using the transfer unit 170, the surgical instrument 110 more precisely the second Can be moved to a location.
한편, 상기 로봇암(150) 및/또는 상기 이송부(170)는 상기 제어부(140)에 의해 제어될 수 있다.The robot arm 150 and / or the transfer unit 170 may be controlled by the controller 140.
일 실시예로, 상기 척추용 수술로봇 시스템(100)은 트래킹(tracking)부(180)를 더 포함할 수 있다. In one embodiment, the spinal surgical robot system 100 may further include a tracking (180).
상기 트래킹부(180)는 위치정보를 이용하여 상기 수술기구(110)의 위치를 추적하며, 상기 수술기구(110)의 마커(118)로부터 상기 위치정보를 제공받는다.The tracking unit 180 tracks the position of the surgical instrument 110 by using the position information, and receives the position information from the marker 118 of the surgical instrument 110.
상기 제어부(140)는, 상기 위치정보에 따라 상기 툴(112) 및 상기 툴 홀더(114)가 기 설정된 영역에 도달할 때 시술자에게 경고 메시지를 발생시키거나 상기 구동부(120)를 정지시킬 수 있다. The controller 140 may generate a warning message or stop the driving unit 120 when the tool 112 and the tool holder 114 reach a preset area according to the position information. .
일 실시예로, 상기 마커(118)는 상기 툴(112)에 장착되어 기 촬영된 CT 혹은 MRI와 같은 3차원 영상과 정합(registration)을 실시하여 환자의 체내에서 상기 툴(112)의 위치를 추적할 수 있으며, 이에 따라 상기 툴(112)이 기 설정된 위험 영역에 대하여 상대적으로 어느 위치에 있는지 파악할 수 있다. In one embodiment, the marker 118 is mounted on the tool 112 to perform registration with a three-dimensional image, such as a CT or MRI, to be photographed to position the tool 112 in the patient's body. In this case, the tool 112 may be located relative to the preset danger area.
이에 따라, 상기 툴(112)이 위험 영역에 도달할 때 시술자에게 이를 경고하거나 상기 툴(112) 및 상기 툴 홀더(114)가 더 이상 동작하지 못하도록 상기 구동력을 차단함으로써, 환자의 위험을 방지하고 환자의 안전을 확보할 수 있다.This prevents the patient's risk by warning the operator when the tool 112 reaches the danger zone or by blocking the drive force so that the tool 112 and the tool holder 114 no longer operate. Patient safety can be ensured.
상기와 같은 본 발명에 따르면, 툴이 위험 위치에 도달할 때 상기 툴이 더 이상 전진하지 못하도록 드릴의 삽입 깊이를 한정하는 동력차단부가 제공됨으로써, 환자의 위험을 방지하고 안전을 확보할 수 있다. According to the present invention as described above, by providing a power cutoff portion that defines the insertion depth of the drill to prevent the tool from moving forward when the tool reaches the dangerous position, it is possible to prevent the risk of the patient and ensure safety.
또한, 마커에 의해 제공되는 위치정보에 따라 상기 툴이 기 설정된 영역에 도달할 때 시술자에게 경고 메시지를 발생시키거나 상기 구동부를 정지시키도록 함으로써, 상기 툴이 위험 영역에 도달할 때 시술자에게 이를 경고하거나 상기 툴이 더 이상 동작하지 못하도록 상기 구동력을 차단하고, 이에 따라 환자의 위험을 방지하고 환자의 안전을 확보할 수 있다.In addition, by alerting the operator when the tool reaches the danger zone by generating a warning message or by stopping the driving unit when the tool reaches a preset area according to the position information provided by the marker. Or block the driving force so that the tool can no longer operate, thereby preventing the patient's risk and ensuring patient safety.
앞서 설명한 본 발명의 상세한 설명에서는 본 발명의 바람직한 실시예들을 참조하여 설명하였지만, 해당 기술분야의 숙련된 당업자 또는 해당 기술분야에 통상의 지식을 갖는 자라면 후술될 특허청구범위에 기재된 본 발명의 사상 및 기술 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경시킬 수 있을 것이다.  따라서, 전술한 설명 및 아래의 도면은 본 발명의 기술사상을 한정하는 것이 아닌 본 발명을 예시하는 것으로 해석되어야 한다.In the detailed description of the present invention described above with reference to the preferred embodiments of the present invention, those skilled in the art or those skilled in the art having ordinary skill in the art will be described in the claims to be described later And various modifications and variations of the present invention without departing from the scope of the art. Therefore, the above description and the drawings below should be construed as illustrating the present invention, not limiting the technical spirit of the present invention.

Claims (8)

  1. 환자의 체내에 삽입되어 척추를 드릴링(drilling)하는 툴(tool) 및 상기 툴과 결합되어 상기 툴을 홀딩(holding)하고, 구동력에 의해 상기 툴과 함께 회전되며 전방으로 전진하는 툴 홀더(holder)를 포함하는 수술기구;A tool inserted into the patient's body to drill the spine and a tool holder coupled with the tool to hold the tool and rotated with the tool by a driving force and moving forward Surgical instruments comprising a;
    상기 툴 및 상기 툴 홀더에 상기 구동력을 제공하는 구동부;A driving unit providing the driving force to the tool and the tool holder;
    상기 툴 및 툴 홀더 중 적어도 하나가 기 설정된 기준 위치에 도달하는 경우 상기 구동부의 구동력을 차단하는 동력차단부; 및A power cut-off unit which blocks driving force of the driving unit when at least one of the tool and the tool holder reaches a preset reference position; And
    상기 수술기구 및 상기 구동부 중 적어도 하나의 동작을 제어하는 제어부를 포함하는 척추용 수술로봇 시스템.Surgical robot system comprising a control unit for controlling the operation of at least one of the surgical instrument and the drive unit.
  2. 제1항에 있어서, 상기 툴은,The method of claim 1, wherein the tool,
    로드(rod) 형상을 갖는 툴 바디(body); 및A tool body having a rod shape; And
    상기 툴 바디의 단부에 배치되어 상기 척추를 드릴링하는 드릴을 포함하는 것을 특징으로 하는 척추용 수술로봇 시스템.And a drill disposed at an end of the tool body to drill the spine.
  3. 제1항에 있어서, 상기 수술기구는,The method of claim 1, wherein the surgical instrument,
    상기 툴 홀더의 적어도 일부를 수용하여 지지하며, 외부로부터 제공되는 고정기구에 장착되어 고정되는 지지부를 더 포함하는 것을 특징으로 하는 척추용 수술로봇 시스템.And a support part for receiving and supporting at least a portion of the tool holder, the support being mounted and fixed to a fixing mechanism provided from the outside.
  4. 제3항에 있어서, 상기 지지부는,The method of claim 3, wherein the support portion,
    지지부 몸체; 및Support body; And
    상기 지지부 몸체 내에 배치되어 상기 툴 홀더가 관통되며, 상기 관통된 툴 홀더를 지지하는 지지유닛을 포함하는 것을 특징으로 하는 척추용 수술로봇 시스템.And a support unit disposed in the support body to allow the tool holder to penetrate and support the penetrated tool holder.
  5. 제1항에 있어서, The method of claim 1,
    상기 수술기구를 제1 위치로 이동시키는 로봇암; 및A robotic arm for moving the surgical instrument to a first position; And
    상기 로봇암에 설치되어 상기 수술기구를 고정하는 고정부를 더 포함하는 것을 특징으로 하는 척추용 수술로봇 시스템.The surgical robot system for spinal spine, characterized in that it further comprises a fixing part installed on the robot arm to fix the surgical instrument.
  6. 제5항에 있어서, The method of claim 5,
    상기 로봇암에 설치되어 상기 고정부에 결합되며, 상기 수술기구를 상기 제1 위치로부터 제2 위치로 이동시키는 이송부를 더 포함하는 것을 특징으로 하는 수술로봇 시스템.Is installed on the robot arm is coupled to the fixed portion, surgical robot system further comprising a transfer unit for moving the surgical instrument from the first position to the second position.
  7. 제1항에 있어서, The method of claim 1,
    위치정보를 이용하여 상기 수술기구의 위치를 추적하는 트래킹(tracking)부를 더 포함하고,Further comprising a tracking unit for tracking the position of the surgical instrument using location information,
    상기 수술기구는, 상기 툴 및 상기 툴 홀더 중 적어도 하나에 형성되며, 상기 트래킹부에 상기 위치정보를 제공하는 마커(marker)를 더 포함하는 것을 특징으로 하는 척추용 수술로봇 시스템.The surgical instrument is formed on at least one of the tool and the tool holder, and further comprising a marker (marker) for providing the position information to the tracking unit.
  8. 제7항에 있어서, 상기 제어부는,The method of claim 7, wherein the control unit,
    상기 위치정보에 따라 상기 툴 및 상기 툴 홀더가 기 설정된 영역에 도달할 때 시술자에게 경고 메시지를 발생시키거나 상기 구동부를 정지시키는 것을 특징으로 하는 척추용 수술로봇 시스템.And a warning message to an operator or stopping the driving unit when the tool and the tool holder reach a preset area according to the position information.
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