WO2016171489A1

WO2016171489A1 - Biopsy needle end-effector and method of controlling same

Info

Publication number: WO2016171489A1
Application number: PCT/KR2016/004156
Authority: WO
Inventors: 문영진; 최재순; 서준범
Original assignee: 재단법인 아산사회복지재단; 울산대학교산학협력단
Priority date: 2015-04-21
Filing date: 2016-04-21
Publication date: 2016-10-27

Abstract

The present disclosure, with respect to a method of controlling a biopsy needle end-effector comprising a coaxial needle including a sheath and an inner stylet, a biopsy needle cartridge housing at least one biopsy needle, and a moving part for moving the coaxial needle and at least one biopsy needle, relates to a method of controlling a biopsy needle end-effector and a biopsy needle end-effector. The method is characterized by comprising the steps of: inserting the coaxial needle, by means of the moving part, into an affected area; withdrawing the inner stylet of the coaxial needle by means of the moving part; rotating the biopsy needle cartridge and replacing the coaxial needle with the biopsy needle; inserting the biopsy needle, by means of the moving part, through the sheath of the coaxial needle into the affected area; extracting tissue with the biopsy needle from the affected area; and withdrawing the biopsy needle by means of the moving part.

Description

Biopsy needle end effector and control method thereof

The present disclosure generally relates to a biopsy needle end effector and a control method thereof, and more particularly, to a biopsy needle end effector for triggering a biopsy needle by an elastic body and a control method thereof. It also relates to an adapter located between the end effector and the robot arm.

This section provides background information related to the present disclosure which is not necessarily prior art.

In general, when a nodule or a mass in the human body is suspected to be cancer, the disease is confirmed by collecting the diseased tissue and pathological examination of the collected diseased tissue. Biopsies for collecting tissues can be divided into surgical biopsies for resecting the human body through surgery and minimally invasive biopsies under the guidance of the latest image-guided equipment. There is a long recovery period, long hospital stay, high risk of pain and complications, and even death. Recently, minimally invasive biopsies under imaging guidance are prevalent, using biopsy needles.

1 is a view showing an example of a biopsy needle shown in US Patent No. 5,236,334, the biopsy needle is composed of an inner stylet (10) and sheath (Sheath, 20). The inner stylet 10 is composed of a hub 11, a body 12, a notch 13, and a distal end 14. The notch 13 is located between the distal end 14 and the body 12 and is a space in which the cut tissue is stored. Distal end 14 has a pointed shape for the function to allow the passage through the living body. The sheath 20 is composed of a hub 21 and a cannula 22.

FIG. 2 is a view showing an example of a method of using the biopsy needle shown in FIG. 1, first inserting an inner stylet and a sheath near the affected tissue 30 to be collected (see 40). Next, the notch 13 is inserted into the affected tissue 30 using the distal end 14 of the inner stylet (see 41). Next, the cannula 22 of the sheath is inserted into the affected tissue 30 to cut off the affected tissue that has entered the notch 13 (see 42). Although not shown in the figure, the biopsy needle is removed from the living body with the cut tissue in the notch 13, and the tissue in the notch 13 is used for examination.

3 is a view showing another example of a biopsy needle, which is commonly used and is known as a Chiba needle. The Chiba needle is composed of a sheath 50 and an inner stylet 60. The sheath 50 is composed of a hub 51 and a cannula 52, and the inner stylet 60 is composed of a hub 61, a body 62, and a distal end 63. A significant difference from the inner stylet 10 of the biopsy needle shown in Figure 1 is that it does not have a notch 13, which is a space for storing the tissue after collecting it.

4 is a view showing an example of a method of using the biopsy needle shown in Figure 3, first combining the inner stylet 60 and the sheath 50 (see 81) and then to the tissue 30 to be collected Insert (see 82). Next, the inner stylet 60 is removed from the sheath 50 (see 82). Next, the syringe 70 is coupled to the hub 51 of the sheath 50 (see 83). Next, a part of the tissue 30 is collected using the suction force of the syringe 70. As a method of using the suction force, various methods other than the syringe 70 may be used. It is also possible to use a vacuum machine. In the case of 80, the inner stylet 60 and the sheath 50 are in a separated state.

5 is a view showing another example of a biopsy needle, which is composed of a sheath 90 and an inner stylet 100. The sheath 90 is composed of a cannula 91 and a hub 92, and the inner stylet 100 is composed of a body 110, a hub 121, and a distal end 130. Distal end 130 has a pointed shape to be able to penetrate the tissue. The biopsy needle is inserted into the living body in the form 200 in which the sheath 90 and the inner stylet 100 are combined, and then is inserted near the affected tissue that needs to be collected, and then the inner stylet 100 is removed and the inner stylet 100 is removed. It may be used in the form of inserting the biopsy needle shown in Figure 1 in place. This type of biopsy needle is specifically referred to as a coaxial needle to distinguish it from the tissue collection biopsy needle illustrated in FIGS. 1 and 3. The coaxial needle is mainly used as a passage for inserting the sheath 90 into the biopsy needle after removing the inner stylet 100 while the coaxial needle is inserted into the living body when multiple biopsies are required for the same tissue. This eliminates the need to insert a biopsy needle into the patient each time. The coaxial needle may be used as a passage when the biopsy needle shown in FIG. 3 is inserted into a living body.

In general, minimally invasive biopsy is performed by an interventional procedure in which a biopsy needle is inserted into the body while observing the inside of a human body through an imaging device. In this case, the needle is inserted into the human body while looking at the inside of the human body through a radiographic apparatus such as a fluoroscopy device or a CT, and radiation exposure of the patient and the operator by repeated imaging is problematic. By using an interventional robot, medical personnel can be protected from radiation exposure.

FIG. 6 is a view illustrating an example of an interventional robot shown in US Patent Application Publication No. 2010-0250000, in which an interventional robot called a product name da Vinci is shown. The interventional robot has a plurality of

robot arms

201, 202, 203 and 204. Each

arm

201, 202, 203, 204 has

end effectors

211, 212, 213, 214. The

end effectors

211, 213, 214 are mainly in the shape of a forceps for laparoscopic surgery, and the end effector 212 is an endoscope. There is also a display 220 for indicating lesions.

FIG. 7 is a diagram illustrating an example of an interventional robot shown in US Patent Application Publication No. 2011-0152883. An interventional robot called a product name Sensei is shown. The interventional robot has a robotic arm 301. The robot arm 301 has an end effector 311. By attaching a catheter as the end effector 311, it can be used for interventional procedures, human implants, minimally invasive surgery, and the like. As a user interface for manipulating the robot arm 301 and / or the end effector 311, a master console 330 is provided, and the master console 330 and the robot arm 301 and / or the end effector 311 are provided. A computer 340 is provided for controlling the operation of the computer. The patient is shown on operating table 350.

The present disclosure seeks to provide a biopsy needle end effector and method of control thereof when minimally invasive biopsy is made by an interventional robot.

In addition, in order to cope with breathing or other patient movement in the procedure by the interventional robot, the interventional robot shown in FIGS. 3 and 4 monitors the breathing using an imaging device or other device and directly uses the robot arm. The movement of the end effector was controlled. However, this approach requires extra complicated equipment to monitor breathing or other patient movement. In addition, it was not possible to precisely control the movement of the end effector according to breathing or other patient movement by directly controlling the movement of the end effector using a robot arm. Furthermore, the needle insertion path needs to be corrected if there is an error with the reference path established at the procedure planning stage. The present disclosure precisely controls the movement of the end effector according to breathing or other patient movement without using a robot arm, and simultaneously corrects the needle insertion path when an error occurs with the reference path set at the procedure planning stage. To provide a hybrid adapter that can be.

This will be described later in the section titled 'Details of the Invention.'

According to one aspect of the present disclosure, an according needle comprising a sheath and an inner stylet and a biopsy needle cartridge and a coaxial needle and at least one biopsy containing at least one biopsy needle A biopsy needle end effector control method comprising a moving part for moving a needle, the method comprising: inserting a coaxial needle into an affected part by a moving part; Recovering the inner stylet of the coaxial needle by the moving unit; Rotating the biopsy needle cartridge to replace the coaxial needle with the biopsy needle; Inserting the biopsy needle through the sheath of the coaxial needle into the affected area by the moving portion; The biopsy needle collecting the tissue of the affected area; And, the biopsy needle is recovered by the moving unit; there is provided a biopsy needle end effector control method comprising a.

According to another aspect of the present disclosure, in a biopsy needle end effector containing at least one biopsy needle, combined with at least one biopsy needle, a biopsy needle is launched. A firing unit; A moving unit coupled to the launch unit to move the launch unit; And, the biopsy needle end effector is provided, comprising; an operation unit disposed in the movement path of the launch unit, to load and operate the launch unit.

According to another aspect of the present disclosure (According to still another aspect of the present disclosure), an adapter positioned between the robot arm and an end effector for receiving a surgical instrument for interventional procedures, wherein the agent is coupled to the end effector. 1 body; A second body coupled with the robot arm; And a connector connecting the first body and the second body, wherein the connector is provided with a passive part; and an active part.

This will be described later in the section on Embodiments of the Invention.

1 is a view showing an example of a biopsy needle shown in US Patent No. 5,236,334,

2 is a view showing an example of a method of using the biopsy needle shown in FIG.

3 shows another example of a biopsy needle,

4 is a view showing an example of a method of using the biopsy needle shown in FIG.

5 shows another example of a biopsy needle,

6 is a view showing an example of the interventional robot presented in US Patent Publication No. 2010-0250000;

7 is a view showing an example of the interventional robot shown in US Patent Publication No. 2011-0152883,

8 shows an example of a biopsy needle end effector in accordance with the present disclosure;

9 is a view showing the inside of the biopsy needle end effector by removing a portion of the cover of the biopsy needle end effector shown in FIG. 8;

10 is a view explaining that the biopsy needle cartridge is detached by a connecting portion,

FIG. 11 is a view showing only the launch unit and the moving unit coupled to the launch unit of the biopsy needle end effector shown in FIG. 8;

12 is a view showing only the operating portion of the biopsy needle end effector shown in FIG.

FIG. 13 shows a biopsy needle cartridge and a biopsy needle housed in the biopsy needle cartridge of the biopsy needle end effector shown in FIG. 8;

14 is a view illustrating in detail an example of a launch unit included in a biopsy needle cartridge according to the present disclosure;

15 is a view illustrating in detail an example of a first link of a moving part included in a biopsy needle cartridge according to the present disclosure;

16 is a view for explaining an example of the movement of the operation unit;

17 is a view illustrating an example of a method for controlling a biopsy needle end effector according to the present disclosure;

18 is a view showing the granularity of the step (d) of FIG.

19 is a view showing the granularity of the step (e) of FIG.

20 illustrates an example of a hybrid adapter according to the present disclosure;

21 is a view illustrating an example of a connector of the hybrid adapter disclosed in FIG. 20;

22 is a view illustrating an example of a connection method between an active part and a passive part of a connector according to the present disclosure;

23 is a view illustrating another example of a connection method between an active part and a passive part according to the present disclosure;

24 is a view illustrating still another example of a connection method between an active part and a passive part according to the present disclosure;

25 is a view showing an example in which a hybrid adapter according to the present disclosure is used,

26 illustrates another example of a hybrid adapter according to the present disclosure;

27 illustrates another example of a hybrid adapter according to the present disclosure;

28 illustrates another example of a hybrid adapter according to the present disclosure;

29 shows another example of a hybrid adapter according to the present disclosure.

The present disclosure will now be described in detail with reference to the accompanying drawing (s).

8 is a view showing an example of a biopsy needle end effector according to the present disclosure.

8 shows an assembled biopsy needle end effector 400 according to the present disclosure. Biopsy needle end effector 400 is covered with a cover 401.

FIG. 9 is a view illustrating the inside of the biopsy needle end effector by removing a portion of the cover of the biopsy needle end effector shown in FIG. 8.

The biopsy needle end effector 400 according to the present disclosure is coupled to a biopsy needle cartridge 410 containing at least one biopsy needle and at least one biopsy needle housed in the biopsy needle cartridge 410 to launch a biopsy needle. An operation unit 440 coupled to the launch unit 420 and the launch unit 420 to be disposed in the moving unit 430 for moving the launch unit 420 and the moving path of the launch unit 420 to load and operate the launch unit. ) Is included. Launch unit 420 is not shown in FIG. 9.

10 is a view for explaining that the biopsy needle cartridge is detachable by the connecting portion.

Biopsy needle cartridge 410 is removable by the connection portion 402 of the biopsy needle end effector 400. As the protrusion 411 of the biopsy needle cartridge 410 is coupled to or separated from the groove (not shown) of the connection portion 402, the biopsy needle cartridge 410 is detached from the biopsy needle end effector 400. The biopsy needle cartridge 410 may also be rotated about the Y axis by the gear 412. The Y and X axes in the biopsy needle end effector 400 are shown in FIG. 8. The structure of the biopsy needle with the sheath and the inner stylet housed in the biopsy needle cartridge 410 and the biopsy needle cartridge 410 is described in FIG.

FIG. 11 is a view illustrating only the launch unit and the moving unit coupled to the launch unit of the biopsy needle end effector illustrated in FIG. 8.

The launch unit 420 of the biopsy needle end effector 400 according to the present disclosure is disposed inside the housing 421 and the housing 421 to be coupled to the sheath of the biopsy needle, and inside the housing 421. And a second mover 423 disposed at and coupled to the inner stylet of the biopsy needle, and an elastic body 424 disposed between the first mover 422 and the second mover 423. The elastic body 424 is preferably a spring. One of the first mover 422 and the second mover 423 may be fixedly coupled to the housing 421, and the other may be coupled to be movable within the housing 421. The second mover 423 that engages the inner stylet of the biopsy needle is preferably coupled to move within the housing 421. The second mover 423 can include a trigger 425. The housing 421 may include a protrusion 426 contacting the operation unit 440 on an outer side surface thereof. The structure of the launch unit 420 will be described in detail with reference to FIG. 14. In addition, the moving part 430 of the biopsy needle end effector 400 according to the present disclosure is a first link 450 coupled to the launch unit 420, the second link 460 coupled to the first link 450 It is included. Since the moving unit 430 includes a plurality of

links

450 and 460, the Y-axis moving distance of the link can be reduced, thereby reducing the Y-axis length of all the end effectors. The structure of the first link 450 coupled to the launch unit 420 will be described in detail with reference to FIG. 15. The second link 460 is coupled to the first link 450 and includes a wire cable 461, a pulley 462, and a driving motor 463 for moving the first link 450 in the Y-axis direction. .

FIG. 12 is a view showing only the operating part of the biopsy needle end effector shown in FIG. 8.

The operating part 440 of the biopsy needle end effector 400 according to the present disclosure is connected to the rotating body 470 and the rotating body 470 rotating about the Y axis, and wings 471 contacting the launching part 420. It includes. Rotating body 470 may be a cam. When the rotating body 470 is a cam, it may include a link 480 including a roller 481 moving in conjunction with the cam and a drive motor 490 for moving the link 480 in the Y-axis direction. 12 (b) is an enlarged view of the rotating body 470, and shows in detail a part of the link 480 including the rotating body 470, the blade 471, the roller 481, and the roller 481. The operation principle of the operation unit will be described in detail with reference to FIG.

FIG. 13 illustrates a biopsy needle cartridge and a biopsy needle housed in the biopsy needle cartridge of the biopsy needle end effector shown in FIG. 8.

FIG. 13A shows an example of a biopsy needle 500 housed in a biopsy needle cartridge of a biopsy needle end effector in accordance with the present disclosure. The biopsy needle 500 is composed of a sheath 510 forming an outer body and an inner stylet 520 forming an inner body, and a hub 511 and one end of each of the sheath 510 and the inner stylet 520. Hub 521 is provided. The hubs 511 and hubs 521 have no special meaning in their names, but the sheath 510 and inner stylet 520 are very thin as needles, providing a volume to them for easy transport. It may be used to determine the position between the two, and may have various forms with names generally used in the art. Although FIG. 13 (a) illustrates the coaxial needle described in FIG. 5 among the biopsy needles as an example, the biopsy needle for tissue collection including the sheath and the inner stylet described in FIGS. 1 and 3 is also disclosed in the present disclosure. According to the biopsy needle cartridge (410). However, the biopsy needle accommodated in the biopsy needle cartridge 410 according to the present disclosure preferably has a hub structure of a suitable shape for engaging with the mover. In addition, the

hubs

511 and 521 are preferably provided with teeth so as to be guided and rotated by the inner rod 419 of the biopsy needle cartridge 410 described in FIG. 13 (b). In the biopsy needle cartridge 410 illustrated in FIG. 13B, a guide hole 413 is formed to receive the biopsy needle. The biopsy needle cartridge 410 may be provided separately or integrally with the upper cap 414 and the lower cap 415. The lower cap 415 has

outlets

416 and 417 of the biopsy needle. The outlet 416 is formed larger than the outlet 417. If a biopsy needle 500 such as shown in FIG. 13A is used, the hub 511 of the sheath 510 may enter and exit through the outlet 416. The lower portion of the biopsy needle cartridge 410 is provided with a projection 418 that functions as a rotation axis of the biopsy needle cartridge 410. The rod 419 inside the biopsy needle cartridge 410 guides the movement of the biopsy needle. Preferably a tooth is provided to guide and rotate the biopsy needle.

14 is a diagram illustrating an example of a launch unit included in a biopsy needle cartridge according to the present disclosure in detail.

In FIG. 14A, the launch unit 420 is disposed inside the housing 421 and the housing 421 to be disposed within the first mover 422 and the housing 421 coupled to the sheath of the biopsy needle. A second mover 423 coupled with the inner stylet, an elastic body 424 disposed between the first mover 422 and the second mover 423, a trigger 425, and an outer side 427 of the housing 421. And shows the projection 426 in contact with the actuator. FIG. 14B shows the launch unit 420 in a state where the elastic body 424 is compressed and loaded. When the launch unit 420 is triggered, since the first mover 422 and the housing 421 move, and the second mover 423 is fixed to the mover 430 and does not move, the trigger 425 is second. It is preferably coupled to the mover 423.

15 is a view illustrating in detail an example of the first link of the moving part included in the biopsy needle cartridge according to the present disclosure.

The first link 450 is coupled with the guide rail 451 and the launch unit 420 to move along the guide rail 451, and is coupled with the connector 452 to connect the connector 452 to the guide rail ( A wire cable 453 moving along the 452 and a pulley 454 interlocking with the wire cable 453 are included. The manner of operation of the first link 450 is generally known to those skilled in the art as a wire cable system. In addition to the wire cable system, a link structure that is easy for those skilled in the art to move the launch unit 420 may be included in the scope of the present disclosure. For example, the timing belt system can also be the first link.

16 is a view for explaining the movement of the operating unit.

FIG. 16A shows the position of the blade 471 of the rotary body 470 when the link 480 including the roller 481 is at the bottom. FIG. 16B shows the position of the blade 471 of the rotating body 470 when the link 480 including the roller 481 is at the top. 16 (a) and 16 (b), when the link 480 including the roller 481 moves along the Y axis, the rotation body 470 rotates about the Y axis so that the blade 471 is rotated. You can see it moving. The rotation about the Y axis is an example, and it is also possible to rotate about the axis other than the Y axis. The principle of compressing and decompressing the elastic body 424 of the launch unit 420 by the movement of the operating unit 440 will be described with reference to FIGS. 18 and 19. 18 and 19, in the present disclosure, as shown in FIG. 16B, the wing 471 of the actuating unit 440 is positioned in the movement path of the launching unit 420 as shown in FIG. 16B. The housing 421 of the 420 is not moved to compress the elastic body 424 of the launch unit 420 or to decompress the elastic body 424. Therefore, the housing 421 of the launch unit 420 is prevented from moving by being located in the movement path of the launch unit 420 to compress the elastic body 424 of the launch unit 420 or to decompress the elastic body 424. Those skilled in the art can easily be included within the scope of the present disclosure.

17 is a diagram illustrating an example of a method of controlling a biopsy needle end effector according to the present disclosure.

For convenience of explanation, the biopsy needle, the launching unit, the moving unit, and the operating unit are briefly shown. In particular, the biopsy needle is housed in the biopsy needle cartridge, but for convenience of explanation the biopsy needle cartridge is omitted. In addition, the coaxial needle was described separately from the biopsy needle for tissue collection.

First, the coaxial needle 600 is inserted near the affected part 700 using the moving part 430 as shown in FIG. 17 (a). Thereafter, only the inner stylet 620 of the coaxial needle 600 is recovered using the moving unit 430 as shown in FIG. Thereafter, as shown in FIG. 17C, the biopsy needle cartridge rotates to replace the coaxial needle 600 with the biopsy needle 800. The biopsy needle 800 in FIG. 17 (c) is a biopsy needle 800 for tissue collection, and the inner stylet 820 includes a notch 821. The method by which the biopsy needle cartridge is rotated is described in FIG. 10. Thereafter, the biopsy needle 800 is moved to the affected part 700 through the sheath 610 of the coaxial needle 600 using the moving part 430 as shown in FIG. 17 (d). An inner stylet 820 including a notch 821 is inserted into the affected part 700. Inserting the biopsy needle 800 into the affected part 700 through the sheath 610 of the coaxial needle 600 using the moving part 430 will be described in detail with reference to FIG. 18. Thereafter, the sheath 810 of the biopsy needle 800 moves as shown in FIG. 17 (e) to collect tissue of the affected part 700. In the sheath 810 of the biopsy needle 800, the first mover 422 of the launch unit 420 is launched and moved by the elastic body 424. As the sheath 810 of the biopsy needle 800 is moved by the first mover 422 of the launch unit 420, the step of collecting the tissue of the affected part 700 will be described in detail with reference to FIG. 19. Thereafter, the biopsy needle 800 is recovered using the moving unit 430 as shown in FIG. 17 (f). If additional biopsies are needed, the biopsy needle can be further replaced by rotating the biopsy needle cartridge. In addition, when the biopsy is performed a plurality of times, the number of biopsies may be set in advance, and when the biopsy is completed according to the setting of the number of biopsies, biopsy completion may be indicated. The biopsy completion indication can be displayed visually using LEDs or audible by sounding an alarm.

FIG. 18 is a view showing the subdivision of step (d) of FIG. 17.

FIG. 18A illustrates a step in which the first mover 422 and the second mover 423 of the launch unit 420 engage with the sheath 810 and the inner stylet 820 of the biopsy needle 800. FIG. 18B illustrates a step in which the elastic body 424 of the launch unit 420 is compressed by contacting the launch unit 420 and the operating unit 440 when the launch unit 420 moves in the direction of the affected part 700. Shows. That is, the protrusion 426 of the housing 421 of the launch unit 420 and the wing 471 of the operation unit 440 contact each other, so that the housing 421 of the launch unit 420 does not move in the direction of the affected part 700. can not do it. When the vane 471 of the actuating part 440 is in the position of FIG. 16 (b), the vane 471 of the actuating part 440 contacts the protrusion 426 of the housing 421. The first mover 422 is fixed to the housing 421 and thus cannot move in the direction of the annular portion 700. However, the second mover 423 may move inside the housing 421. Since the moving part 430 moves in the direction of the annular part 700 even when the first moving part 422 does not move, the second moving part fixed to the moving part 430 and movable inside the housing 421 ( 423 moves in the direction of affected part 700. Accordingly, the spring 424 may be compressed between the second mover 423 and the first mover 422. 18 (c) shows that the wing 471 of the actuating part 440 is in the position of FIG. 16 (a), so that the contact between the wing 471 of the actuating part 440 and the protrusion 426 of the housing 421 is maintained. It is shown that the launch unit 420 moves to the affected part through the sheath 610 of the coaxial needle 600.

FIG. 19 is a detailed view of step (e) of FIG. 17.

19 (a) shows that the wing 471 of the operation unit 440 is in the position of FIG. 16 (b), and the wing 471 activates the trigger 425 of the launch unit 420 to launch the launch unit 420. Decompressing the compressed elastic body 424. As the elastic body 424 is decompressed, the sheath 810 of the biopsy needle 800 cuts the tissue of the affected part 700 to collect the tissue. The principle in which the sheath cuts tissue in the biopsy needle 800 is illustrated in FIG. 2. 19 (b) shows a state in which the compression is released. 19 (a) and 19 (b) are performed simultaneously.

20 is a diagram illustrating an example of a hybrid adapter according to the present disclosure.

The hybrid adapter 900 according to the present disclosure includes a first body 910 coupled with an end effector (not shown), a second body 920 coupled with a robot arm (not shown), and a first body 910. It includes a connector 1000 for connecting the second body 920. The end effector may be the biopsy needle end effector described in FIG. 8.

The basic structure of the hybrid adapter disclosed in FIG. 20 is known as the stewart plalform. Conventional Stewart platform includes only the active part in the connector, but in the present disclosure includes a passive part in addition to the active part. In addition, the present disclosure is not limited to the Stuart platform, but includes a connector including an active part and a passive part, which may be easily changed by those skilled in the art. For example, a change in the number of connectors on a Stewart plalform is included in the scope of the present disclosure.

FIG. 21 is a diagram illustrating an example of a connector of the hybrid adapter disclosed in FIG. 20.

The connector 1000 according to the present disclosure includes a housing 1010, a moving part 1020, an active part 1030, and a passive part 1040. The active unit 1030 operates in connection with a driving motor (not shown). The active unit 1030 includes a passive mode and an active mode. When the active mode is activated, the active unit 1030 is operated by a drive motor, and when the passive mode is activated, it operates only in response to an external force as in the passive unit 1040. The active unit 1030 may include a stator 1031 and a mover 1032. The mover 1032 moves in the active mode and the passive mode. The passive part 1040 may be an elastic body. The elastic body is preferably a spring. Furthermore, passive part 1040 may be semi-active. For example, when the passive part 1040 serves as a spring, the spring constant may be changed. Spring constants can be changed by the user and can be changed automatically by the program.

22 is a diagram illustrating an example of a connection method between an active part and a passive part of a connector according to the present disclosure.

In FIG. 22, the active part 1030 and the passive part 1040 are arranged in series. In response to patient breathing or other patient movement, the active portion 1030 may be activated in a passive mode. Alternatively, the mover 1032 of the active unit 1030 may be fixed and not move. When modifying the insertion path of the needle, the active portion 1030 is activated in the active mode. In particular, when the passive part 1040 has a semi-active characteristic, the precision of the insertion path correction may be improved by minimizing the movement by the external force of the passive part 1040 in the active mode of the active part 1030. For example, when the passive part 1040 serves as a spring, it is possible to minimize the spring movement by the external force by increasing the spring constant.

23 is a view illustrating another example of a connection method between an active part and a passive part according to the present disclosure.

In FIG. 23, the mover 1032 of the active portion 1030 is disposed inside the passive portion 1040. In response to patient breathing or other patient movement, the active portion 1030 may be activated in a passive mode. However, unlike FIG. 22, in this case, the mover 1032 of the active part 1030 should not be fixed. When modifying the insertion path of the needle, the active portion 1030 is activated in the active mode. In particular, when the passive portion 1040 has a semi-active characteristic, the passive portion 1040 in the active mode of the active portion 1030 to move well by the external force. The precision of insertion path correction can be improved. For example, when the passive part 1040 serves as a spring, it is possible to maximize the spring movement by the external force by reducing the spring constant.

24 is a view illustrating still another example of a connection method between an active part and a passive part according to the present disclosure.

In FIG. 24, the active unit 1030 and the passive unit 1040 are arranged in parallel. In response to patient breathing or other patient movement, the active portion 1030 may be activated in a passive mode. However, unlike FIG. 22, it is not preferable that the mover 1032 of the active unit 1030 is fixed. When modifying the insertion path of the needle, the active portion 1030 is activated in the active mode. In particular, when the passive portion 1040 has a semi-active characteristic, the passive portion 1040 in the active mode of the active portion 1030 to move well by the external force. The precision of insertion path correction can be improved. For example, when the passive part 1040 serves as a spring, it is possible to maximize the spring movement by the external force by reducing the spring constant.

25 is a diagram illustrating an example in which a hybrid adapter according to the present disclosure is used.

It is shown briefly for convenience of explanation. Needle implanted interventional robot 1100 includes an end effector 1110, a robot arm 1120, and a hybrid adapter 1130 according to the present disclosure disposed between the end effector 1110 and the robot arm 1120. . 25 (a) shows that when an external force is applied to the end effector 1110 due to the breathing of the patient 1140 or the movement of the other patient, the hybrid adapter 1130 is activated only with the passive part or with the passive mode of the active part with the end effector. 1110 shows that the patient moves in compliance without resisting external force caused by the breathing of the patient 1140. The robot arm 1120 may control the movement of the end effector 1110 with the hybrid adapter 1130 without being fixed and moving. When the planned insertion path 1150 deviated from the dotted line in FIG. 25 (b) is shown, the active part of the hybrid adapter 1130 is activated in an active mode to show that the insertion path is modified. In addition, the robot arm 1120 is fixed and may not move and control the movement of the end effector 1110 with the hybrid adapter 1130.

26 is a diagram illustrating another example of a hybrid adapter according to the present disclosure.

The hybrid adapter 1200 according to the present disclosure may include a first body 1210 coupled with an end effector (not shown), a second body 1220 coupled with a robot arm (not shown), and a first body 1210 and a first body 1210. And a connector 1230 for connecting the two bodies 1220. The connector 1230 includes an active part 1231 and a passive part 1232. The active part 1231 is connected to a driving motor (not shown) to operate. The active unit 1231 includes a passive mode and an active mode. When the active mode is activated, the active unit 1231 is operated by a driving motor, and when the passive mode is activated, it operates only in response to an external force like the passive unit 1232. The features of the active part 1231 and the passive part 1232 may be the same as the connector disclosed in FIG. 21. The hybrid adapter 1200 according to the present disclosure enables three degrees of freedom control of the end effector. The connection between the active part 1231 and the passive part 1232 corresponds to the parallel method described with reference to FIG. 24.

27 is a diagram illustrating another example of a hybrid adapter according to the present disclosure.

The hybrid adapter 1300 according to the present disclosure includes a first body 1310 coupled with an end effector (not shown), a second body 1320 coupled with a robot arm (not shown), and a first body 1310 and a first body 1310. And a connector 1400 for connecting the two bodies 1320. The connector 1400 includes a plurality of bodies 1410. The body 1410 includes an active part 1411 and a passive part 1412, and the plurality of bodies 1410 are connected to each other by the active part 1411 and the passive part 1412. The active unit 1411 is connected to a drive motor (not shown) to operate. The active part 1411 may be a wire. The active unit 1411 includes a passive mode and an active mode. When the active mode is activated, the active unit 1411 operates by adjusting the tension of the wire by the driving motor. When the passive mode is activated, the active unit 1411 operates only in response to an external force, such as the passive unit 1412. The features of the active portion 1411 and the passive portion 1412 may be the same as the connector disclosed in FIG. 21. The hybrid adapter 1300 according to the present disclosure enables control of the degree of freedom of the end effector. The connection method between the active part 1411 and the passive part 1412 is a hybrid method in which the serial method and the parallel method described in FIGS. 22 and 24 are mixed.

28 illustrates another example of a hybrid adapter according to the present disclosure.

Hybrid adapter 1500 according to the present disclosure is a hybrid of that disclosed in FIG. 21 and that disclosed in FIG. 26. That is, the hybrid adapter 1500 according to the present disclosure includes a first body 1510 coupled with an end effector (not shown), a second body 1520 coupled with a robot arm (not shown), and a first body 1510. And a connector 1530 for connecting the second body 1520. The connector 1530 includes a first connector 1531 for controlling planar motion and a second connector 1532 for controlling linear motion. The first connector 1531 is described in FIG. 26. The second connector 1532 is described in FIG. 21. The hybrid adapter 1500 according to the present disclosure enables four degrees of freedom control of the end effector.

29 is a diagram illustrating another example of a hybrid adapter according to the present disclosure.

The hybrid adapter 1600 according to the present disclosure includes a first body 1610 coupled with an end effector (not shown), a second body 1620 coupled with a robot arm (not shown), and a first body 1610 and a first body. And a connector 1630 for connecting the two bodies 1620. The connector 1630 includes an active portion 1631 and a passive portion 1632. FIG. 29 (b) illustrates the principle of the joint portion indicated by the dotted line in which the active portion 1631 and the passive portion 1632 are included. Passive portion 1632 is preferably a torsion spring (Torsion spring). The active part 1631 disposed inside the passive part 1632 may rotate by the driving motor. Methods of operating the active portion 1631 and the passive portion 1632 disclosed in FIG. 29 (b) are well known to those skilled in the art. Three degrees of freedom control of the end effector is possible by the hybrid adapter 1600 according to the present disclosure. The connection method between the active part 1631 and the passive part 1632 is an internal coupling method described with reference to FIG. 23.

Hereinafter, various embodiments of the present disclosure will be described.

(1) a biopsy needle end effector control method comprising a coaxial needle comprising a sheath and an inner stylet, a biopsy needle cartridge containing at least one biopsy needle, and a moving portion for moving the coaxial needle and the at least one biopsy needle Inserting the coaxial needle into the affected part by the moving part; Recovering the inner stylet of the coaxial needle by the moving unit; Rotating the biopsy needle cartridge to replace the coaxial needle with the biopsy needle; Inserting the biopsy needle through the sheath of the coaxial needle into the affected area by the moving portion; The biopsy needle collecting the tissue of the affected area; And recovering the biopsy needle by the moving unit.

(2) the biopsy needle cartridge is rotated to further replace the biopsy needle; And displaying the completion of biopsy according to the number of biopsy settings.

(3) collecting the coaxial needle by the moving unit after the completion of the biopsy is displayed; biopsy needle end effector control method comprising a.

(4) the step of inserting the biopsy needle into the affected part through the sheath of the coaxial needle by the moving part comprises: engaging a plurality of movers of the launch part with the biopsy needle; Moving the launch unit by the moving unit; And compressing the elastic body of the launch unit by contacting the launch unit and the actuating unit.

(5) In the step in which the plurality of movers of the launch unit is engaged with the biopsy needle, the first mover is coupled to the sheath of the biopsy needle, and the second mover is coupled to the inner stylet of the biopsy needle. Control method.

(6) A biopsy needle end effector control method, wherein the second mover is fixed to the moving part.

(7) The biopsy needle end effector control method, wherein in the step of moving the launching unit by the moving unit, the moving unit moves the launching unit using a plurality of links.

(8) Biopsy needle end effector control method, characterized in that the operating part is rotated about the Y axis in contact with the launch unit in the step of compressing the elastic body of the launch unit in contact with the launch unit and the operating unit.

(9) the step of extracting the tissue of the affected area by the biopsy needle, the actuator decompresses the compressed elastic body of the launch unit; biopsy needle end effector control method comprising a.

(10) The biopsy needle end effector control method, wherein in the actuating unit decompresses the compressed elastic body of the launching unit, the actuating unit rotates about the Y axis to decompress the launching unit.

(11) A biopsy needle end effector containing at least one biopsy needle, comprising: a launch unit coupled with at least one biopsy needle to launch a biopsy needle; A moving unit coupled to the launch unit to move the launch unit; And, the biopsy needle end effector, characterized in that it is disposed in the movement path, the operating unit for loading and operating the launch unit.

(12) The biopsy needle is composed of a sheath forming an outer body and an inner stylet inserted into the outer body to form an inner body, wherein a hub is provided at one end of each of the sheath and the inner stylet, and the launch unit is a sheath and an inner A biopsy needle end effector coupled to a hub at one end of each stylet.

(13) the launching unit; A first mover disposed within the housing and coupled to the hub of the sheath; A second mover disposed inside the housing and coupled to the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover.

(14) A biopsy needle end effector, wherein one of the first mover and the second mover is fixed to the housing and the other is movably coupled within the housing.

(15) a trigger coupled with the second mover; biopsy needle end effector comprising a.

(16) A biopsy needle end effector, wherein the elastic body is a spring.

(17) The biopsy needle end effector comprising a; projections on the outer side.

(18) the moving unit comprises a first link coupled with the launch unit; And a second link coupled with the first link.

19, the first link is a guide rail; A connector coupled to the launch unit and moving along the guide rail; A wire cable coupled with the connector to move the connector along the guide rail; And a pulley cooperating with the wire cable.

20, the launch unit is a housing; A first mover disposed within the housing and coupled to the hub of the sheath; A second mover disposed inside the housing and coupled to the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover, wherein the connector is coupled to the second mover.

(21) the operating unit rotates about the Y axis rotation body; And a wing connected to the rotatable body and in contact with the launcher, the biopsy needle end effector comprising: a blade;

(22) Biopsy needle end effector, characterized in that the rotating body is a cam.

(23) the actuating portion includes a link including a roller moving in association with the cam; And a drive motor for moving the link in the Y-axis direction.

24. An adapter positioned between the robot arm and an end effector for receiving a surgical instrument for interventional procedures, comprising: a first body coupled with the end effector; A second body coupled with the robot arm; And a connector connecting the first body and the second body, wherein the connector includes a passive part and an active part.

(25) A hybrid adapter, wherein the passive portion is an elastic body.

(26) A hybrid adapter, wherein the active unit includes an active mode and a passive mode.

(27) A hybrid adapter characterized in that the passive part and the active part are connected in series.

(28) the active portion of the stator; And a mover coupled to the stator so as to be movable.

(29) A hybrid adapter characterized in that the mover is disposed inside the passive part.

(30) A hybrid adapter characterized in that the passive part and the active part are connected in parallel.

(31) A hybrid adapter, wherein the elastic body is a spring.

(32) A hybrid adapter, wherein the active mode is activated when adjusting the position of the end effector.

(33) A hybrid adapter, characterized in that the passive mode is activated when the end effector moves freely according to the patient's breath.

According to the biopsy needle end effector control method according to the present disclosure, it is possible to reduce the radiation exposure of the operator by automating the minimally invasive biopsy with the interventional robot.

According to the biopsy needle end effector control method according to the present disclosure, it is possible to improve the convenience of the operator when the minimally invasive biopsy proceeds to the interventional robot.

According to the biopsy needle end effector according to the present disclosure, it is possible to reduce the radiation exposure of the operator by automating the biopsy intervention procedure.

According to the biopsy needle end effector according to the present disclosure, it is possible to simplify the structure of the biopsy needle end effector by simplifying the structure for loading and operating the launch unit.

According to the hybrid adapter according to the present disclosure, it is possible to precisely control the movement of the end effector with respect to the breathing and other movements of the patient.

According to the hybrid adapter according to the present disclosure, the insertion path of the needle can be precisely modified without moving the robot arm.

According to the hybrid adapter according to the present disclosure, one adapter can be used to control the movement of the end effector with respect to the breathing and other movements of the patient while simultaneously correcting the insertion path of the needle without moving the robot arm.

Claims

A biopsy needle end effector control method comprising a coaxial needle comprising a sheath and an inner stylet and a biopsy needle cartridge containing at least one biopsy needle and a moving portion for moving the coaxial needle and the at least one biopsy needle,

Inserting the coaxial needle into the affected part by the moving part;

Recovering the inner stylet of the coaxial needle by the moving unit;

Rotating the biopsy needle cartridge to replace the coaxial needle with the biopsy needle;

Inserting the biopsy needle through the sheath of the coaxial needle into the affected area by the moving portion;

The biopsy needle collecting the tissue of the affected area; And,

Recovering the biopsy needle by the moving unit; Biopsy needle end effector control method comprising a.
The method according to claim 1,

Rotating the biopsy needle cartridge to further replace the biopsy needle; And

Biopsy needle end effector control method comprising the; biopsy completion is displayed according to the number of biopsy setting.
The method according to claim 2,

Biopsy needle end effector control method comprising the; step of recovering the coaxial needle by the moving unit after the completion of the biopsy is displayed.
The method according to claim 1,

The step of inserting the biopsy needle into the affected part through the sheath of the coaxial needle by the moving part

Engaging a plurality of movers of the launch unit with the biopsy needle;

Moving the launch unit by the moving unit; And,

And compressing the elastic body of the launch unit by contacting the launch unit and the actuating unit.
The method according to claim 4,

And wherein the first mover is coupled to the sheath of the biopsy needle and the second mover is coupled to the inner stylet of the biopsy needle, in the step of combining the plurality of movers of the launch unit with the biopsy needle.
The method according to claim 5,

And a second mover is secured to the moving part.
The method according to claim 4,

In the step of moving the launch unit by the moving unit, the moving unit using a plurality of links to move the launch unit biopsy needle end effector control method.
The method according to claim 4,

Biocompress needle end effector control method, characterized in that the actuator is in contact with the launch unit in the step of compressing the elastic member of the launch unit in contact with the launch unit.
The method according to claim 1,

The biopsy needle takes the tissue from the affected part

And an actuating unit decompressing the compressed elastic body of the launching unit.
The method according to claim 9,

And the actuator decompresses the compressed elastic body of the launch unit, wherein the actuator rotates about the Y axis to decompress the launch unit.
A biopsy needle end effector containing at least one biopsy needle,

A launch unit coupled with at least one biopsy needle to launch the biopsy needle;

A moving unit coupled to the launch unit to move the launch unit; And,

A biopsy needle end effector, comprising: an actuating part disposed in a moving path of the launch unit to load and operate the launch unit.
The method according to claim 11,

The biopsy needle consists of a sheath forming an outer body and an inner stylet inserted into the outer body to form an inner body,

A hub is provided at one end of each of the sheath and the inner stylet,

The launch unit is combined with a hub on one end of each of the sheath and the inner stylet biopsy needle end effector.
The method according to claim 12,

The launch unit comprises a housing; A first mover disposed within the housing and coupled to the hub of the sheath; A second mover disposed inside the housing and coupled to the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover.
The method according to claim 13,

One of the first mover and the second mover is secured to the housing, and the other is biopsy needle end effector coupled to move within the housing.
The method according to claim 13,

Trigger coupled to the second mover; Biopsy needle end effector comprising a.
The method according to claim 13,

Biopsy needle end effector, characterized in that the elastic body is a spring.
The method according to claim 13,

The housing has a protrusion on the outer side; biopsy needle end effector comprising a.
The method according to claim 11,

The moving unit includes a first link coupled to the launch unit; And a second link coupled with the first link.
The method according to claim 18,

The first link comprises a guide rail; A connector coupled to the launch unit and moving along the guide rail; A wire cable coupled with the connector to move the connector along the guide rail; And a pulley cooperating with the wire cable.
The method according to claim 19,

The launch unit comprises a housing; A first mover disposed within the housing and coupled to the hub of the sheath; A second mover disposed inside the housing and coupled to the hub of the inner stylet; And an elastic body disposed between the first mover and the second mover.

The connector is coupled to the second mover biopsy needle end effector.
The method according to claim 11,

The actuating unit rotates about the Y axis; And a wing connected to the rotatable body and in contact with the launcher, the biopsy needle end effector comprising: a blade;
The method according to claim 21,

Biopsy needle end effector, characterized in that the rotating body is a cam.
The method according to claim 22,

The actuating unit includes a link including a roller moving in association with the cam; And a drive motor for moving the link in the Y-axis direction.