WO2015115809A1

WO2015115809A1 - Surgical robot system for spine

Info

Publication number: WO2015115809A1
Application number: PCT/KR2015/000928
Authority: WO
Inventors: 권영식; 한승철; 한정민; 정재헌
Original assignee: 주식회사 고영테크놀러지
Priority date: 2014-01-28
Filing date: 2015-01-28
Publication date: 2015-08-06
Also published as: KR101506486B1

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

Spinal Surgery Robot System

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].

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

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.

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.

Referring to FIG. 3, 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.

In one embodiment, 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.

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.

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.

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.

Referring to FIG. 4, 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.

In one embodiment, 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. For example, 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.

Referring again to FIGS. 1 and 2, the driving unit 120 provides the driving force to the tool 112 and the tool holder 114.

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.

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.

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.

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.

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.

The controller 140 controls the operation of at least one of the surgical instrument 110 and the driver 120.

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.

In one embodiment, 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. For example, the support part 116 (see FIG. 4) of the surgical instrument 110 may be mounted and fixed to the fixing part 160.

In one embodiment, 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.

In one embodiment, 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. .

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.

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.

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.

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

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;

A driving unit providing the driving force to the tool and the tool holder;

A 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

Surgical robot system comprising a control unit for controlling the operation of at least one of the surgical instrument and the drive unit.
The method of claim 1, wherein the tool,

A tool body having a rod shape; And

And a drill disposed at an end of the tool body to drill the spine.
The method of claim 1, wherein the surgical instrument,

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.
The method of claim 3, wherein the support portion,

Support body; And

And a support unit disposed in the support body to allow the tool holder to penetrate and support the penetrated tool holder.
The method of claim 1,

A robotic arm for moving the surgical instrument to a first position; And

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.
The method of claim 5,

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.
The method of claim 1,

Further comprising a tracking unit for tracking the position of the surgical instrument using location information,

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.
The method of claim 7, wherein the control unit,

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.