WO2021162232A1 - Micro-robot pour chirurgie laparoscopique - Google Patents

Micro-robot pour chirurgie laparoscopique Download PDF

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Publication number
WO2021162232A1
WO2021162232A1 PCT/KR2020/018697 KR2020018697W WO2021162232A1 WO 2021162232 A1 WO2021162232 A1 WO 2021162232A1 KR 2020018697 W KR2020018697 W KR 2020018697W WO 2021162232 A1 WO2021162232 A1 WO 2021162232A1
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WIPO (PCT)
Prior art keywords
robot
plate
motors
surgical robot
control command
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PCT/KR2020/018697
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English (en)
Korean (ko)
Inventor
장익규
허영준
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재단법인 구미전자정보기술원
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Publication of WO2021162232A1 publication Critical patent/WO2021162232A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Definitions

  • the present invention relates to a surgical robot, and in particular, minimizes the inertia and size of laparoscopic surgical robot components, adds additional degrees of freedom for precise surgical operation and surgical tools, and minimizes the area of the underside of the surgical robot in contact with a patient's body part It is about a miniature laparoscopic surgical robot.
  • a mechanical device that performs a motion similar to that of a human using an electrical or magnetic action is called a robot.
  • the robot may be classified into a household robot, an exploration robot, a medical robot, etc. in addition to the industrial robot.
  • each link is called a joint, and the movement characteristics of the manipulator are determined according to the geometrical relationship between these links and joints.
  • a mathematical expression of this geometrical relationship is kinematics, and most manipulators have this kinematics characteristic to move a gripper (eg, an end effector) in a direction (target position) to perform a task. .
  • a medical robot is also called a surgical robot, and is applied to various medical fields including surgery.
  • the surgical robot may include a master device and a slave device remotely controlled by the master device.
  • the master device is provided with an input unit, and the user can remotely control the movement of the slave device by manipulating the input unit.
  • the slave device may include a robotic surgical tool provided with a surgical instrument, a robot arm provided with a robotic surgical tool, a body to which the robot arm is connected, and the like.
  • the robotic surgical tool may include a plurality of links, and a motor may be provided for each link and a portion (ie, joint) to which the link is connected.
  • the motor provided in the joint may be driven to follow the speed generated by the input unit of the master device.
  • FIG. 1 is a view of an embodiment of a general surgical robot.
  • FIG. 2 is a view illustrating a robotic surgical tool provided in a robot arm of a general surgical robot.
  • FIG. 3 is a configuration and enlarged view illustrating a case of surgery using general laparoscopic surgical tools, including a laparoscopic scissors 40, a laparoscopic camera 50, a laparoscopic forceps 60 and a display unit 70.
  • FIGS. 1 to 3 First, an embodiment of a general surgical robot will be schematically described with reference to FIGS. 1 to 3 .
  • the surgical robot may include a master device 100 and a slave device 200 .
  • the master device 100 may have a control function for the slave device 200 through a predetermined input unit.
  • the input unit may receive a command for selecting an operation mode of the surgical robot or a command for remotely manipulating the operation of the slave device 200 from the user.
  • the input unit may include at least one of a haptic device, a clutch pedal, a switch, and a button.
  • the haptic device may include at least one handle portion 141a and 141b.
  • the user can control the operation of the robotic surgical instrument provided at the tip of the robot arm by manipulating the handle portions 141a and 141b with both hands, respectively.
  • each of the handle units 141a and 141b may include a first end effector, a plurality of first links, a plurality of first joints, and a first detection unit.
  • the first end effector is a portion in contact with the user's hand, and may have a pencil shape or a stick shape so that the user can wrap his or her hand, or may have a scissors shape so that the user can insert at least one finger.
  • the first joint is a link and a connecting portion of the link, and may have one or more degrees of freedom.
  • the degree of freedom refers to a degree of freedom in kinematics or inverse kinematics.
  • the degree of freedom of the device refers to the number of independent motions of the device, or the number of variables that determine the independent motion of the relative position between each link.
  • three degrees of freedom position on each axis
  • the spatial orientation of the object are determined. It has one or more degrees of freedom out of the three degrees of freedom (angle of rotation about each axis) to determine.
  • the object may be understood as having six degrees of freedom.
  • a first detection unit (not shown) may be provided in the first joint to detect information related to the state of the first joint.
  • the first detection unit may include a first position detection unit for detecting the position of the first joint, and the first position detection unit may detect the position (rotation angle) of the first joint.
  • a potentiometer, an encoder (Encoder) may be implemented as a position sensor.
  • the master device 100 may form a network with the slave device 200 .
  • the master device 100 connected to the slave device 200 may transmit a control signal to the slave device 200 .
  • the master device 100 may receive a feedback from the slave device 200 a force applied to the robotic surgical tool.
  • the slave device 200 may move according to a control signal received from the master device 100 .
  • the slave device 200 may include a body and a plurality of robot arms connected to the body.
  • Each robot arm may include a plurality of links 21 and a plurality of joints 22 .
  • the joint 22 of the robot arm connects the link 21 and the link 21 of the robot arm, and may have one or more degrees of freedom.
  • a driving unit (not shown) driven according to a control signal of the master device 100 may be provided at each joint 22 of the robot arm.
  • the user may control the movement of the robot arm by using the master device 100 .
  • a robotic surgical tool may be provided at the end of the robot arm.
  • a robotic surgical tool is inserted into the patient P's body.
  • the robot arm is positioned outside the body of the patient (P), and serves to support the robotic surgical tool inserted into the body of the patient (P).
  • Each robotic surgical tool 23 may include a second end effector 203 , 204 , a plurality of second links 201 , and a plurality of second joints 202 , as illustrated in FIG. 2 . have.
  • the second end effectors 203 and 204 are provided at the ends of the link, and may include an endoscope 204 and a surgical tool 203 .
  • the surgical tool 203 may include at least one of a tool for resecting, cutting, coagulating, and cleaning human tissue, and a tool for holding human tissue.
  • the second joint 202 is a fixed joint, a revolute joint that rotates along an axis designated among x, y, and z axes, and a linear joint that moves along an axis designated among the x, y, and z axes ( prismatic joint).
  • the second joint 202 may have one or more degrees of freedom, and a second driving unit (not shown) may be provided.
  • the second driving unit 280 may provide a driving force to the second joint 202 according to a control signal received from the master device 100 .
  • the second driving unit may be implemented as, for example, one of a motor, a vacuum pump, and a hydraulic pump.
  • the surgical robot may be implemented as a multi-port system or a single-port system.
  • the multi-port system refers to the entry of a plurality of robotic surgical tools 23 into the abdominal cavity of the patient P through individual invasive sites.
  • the single port system refers to the entry of a plurality of robotic surgical tools 23 into the abdominal cavity of the patient P through one invasive site.
  • a guide tube 205 may be used to introduce a plurality of robotic surgical tools 23 into the abdominal cavity of a patient P. As shown in FIG. 2 , in the single port system, a guide tube 205 may be used to introduce a plurality of robotic surgical tools 23 into the abdominal cavity of a patient P. As shown in FIG. 2 , in the single port system, a guide tube 205 may be used to introduce a plurality of robotic surgical tools 23 into the abdominal cavity of a patient P. As shown in FIG.
  • the movement of the guide tube 205 may be actively controlled using an actuator.
  • the guide tube 205 is first introduced into the abdominal cavity of the patient P, and then the movement of the guide tube 205 is fixed, and the robotic surgical tool 23 is inserted into the guide tube 205 .
  • the second end effectors 203 , 204 may reach the target site.
  • the guide tube 205 may be introduced into the abdominal cavity of the patient P in this state.
  • the guide tube 205 when the guide tube 205 reaches the target site, the movement of the guide tube 205 is stopped, and the second end effect of the robotic surgical tool 23 inserted in the guide tube 205, that is, The surgical tool 203 or the endoscope 204 may protrude out of the guide tube 205 .
  • the endoscope 204 coming out of the guide tube 205 may photograph a surgical site, and the surgical tool 203 coming out of the guide tube 205 may perform an operation such as picking up or excising human tissue. have.
  • a plurality of surgical tools such as laparoscopic scissors 40 , laparoscopic camera 50 , and laparoscopic forceps 60 enter the abdominal cavity of the patient P through three individual invasive sites, respectively. Therefore, it corresponds to a multi-port system.
  • the delta robot is an intelligent robot that picks up an object on the conveyor by its own detection function and moves it to another conveyor or other place.
  • delta robots are driven by continuously synchronizing three or more axes.
  • SMT Surface Mount Technology
  • an upper plate and a lower plate are provided, they are connected by a three-point rod arm, and a motor for driving the rod arm is formed on the upper plate or the lower plate.
  • a gripper for rotating the picked-up article is formed on the lower part of the lower plate.
  • the basic components of such a delta robot consist of mechanical parts such as a platform, a base, a crank, a link arm, and a universal joint.
  • the parallel type manipulator refers to a closed type mechanism in which a movable end effector is connected to a fixed lower plate by at least two series accessory mechanisms.
  • the characteristic of the parallel type manipulator is that the actuator is connected in parallel and the load is shared among several links, and only the axial load, not the moment, is applied to each actuator by the load of the manipulator itself and the external load, so a large load can be driven. .
  • Parallel manipulators are widely used in manufacturing industries that require high-speed operation and precise work, and are used in a wide range of fields such as medical robots, virtual machines, and airplane simulations.
  • Positional accuracy is one of the most important measures to evaluate the performance of a robot.
  • a representative study in this field is kinematic calibration, which aims to find out the exact relationship between the position of the robot end-effector and each joint drive command.
  • parallel-type delta robots are widely used in many industries to improve productivity and reduce costs based on high speed, flexibility, and high reliability.
  • the present inventors minimize the inertia and size of the components of the laparoscopic surgical robot, add additional degrees of freedom for precise surgical operation and surgical tools, and among the bottom surfaces of the surgical robot, only the almost line-like bottom surface is in contact with the patient's body part. It led to the invention of the laparoscopic surgical robot.
  • the micro-laparoscopic surgical robot of the present invention for achieving the above object includes: a surgical tool for transmitting a control command according to a user's direct instruction, and performing a motion while moving in 5 degrees of freedom according to the control command; and a delta robot having a plurality of motors, receiving the transmitted control command, providing a driving force for driving the plurality of motors, and having a lower surface in contact with a body part of a patient; It is characterized in that it is provided.
  • the surgical tool of the micro-laparoscopic surgical robot of the present invention for achieving the above object is provided with a button, the first end effector for transmitting the control command; a second end effector operating in response to the transmitted control command using the provided driving force; and a guide rod having one end connected to the first end effector and the other end connected to the second end effector to move in 5 degrees of freedom according to the transmitted control command. It is characterized in that it includes.
  • the delta robot of the miniature laparoscopic surgical robot of the present invention for achieving the above object has a triangular plate shape, a polygon having an upper plate for mounting each of the plurality of motors on an upper surface adjacent to a triangular side, and a first through hole a lower plate having a plate shape, an upper surface attached to a lower surface of the upper plate, and a lower dome having a lower surface in contact with a body part of a patient; a plurality of lower links connected to a ball joint provided on an upper surface adjacent to the central portion of the triangular side of the lower plate and rotating around the central portion of the triangular side as the motor angle is changed by the operation of the plurality of motors; an upper plate having a triangular plate shape positioned in the upper region of the lower plate, and having a ball joint mounted at each of a plurality of vertices; In the form of a pair, a pair of lower portions is connected to the plurality of lower links, and a center point of the upper portion of the pair is
  • the second through-hole through which the guide rod penetrates in the central portion has a larger diameter than the first through-hole, and the first through-hole and the central axis are It is characterized in that it is provided in common.
  • Each of the plurality of lower links of the miniature laparoscopic surgical robot of the present invention for achieving the above object has one side connected to the ball joint and the other side is connected to each of the lower pairs of the plurality of upper links by a ball joint, the lower plate It is characterized in that the relative position is adjusted in association with the .
  • the upper plate of the micro-laparoscopic surgical robot of the present invention for achieving the above object is provided with a third through-hole through which the guide rod passes in common with the first through-hole and the central axis in the central portion, pitching the guide rod It is characterized in that the motion, roll motion, yaw motion and translation motion are made.
  • Each of the plurality of upper links of the micro laparoscopic surgical robot of the present invention for achieving the above object has one side connected to the other side of each of the plurality of lower links and the other side is connected to the plurality of vertices of the upper plate by a ball joint. , characterized in that the relative position is adjusted in conjunction with the plurality of lower links.
  • the lower plate of the miniature laparoscopic surgical robot of the present invention for achieving the above object is an encoder for outputting a motor angle command to detect the rotation angle of the joint of the delta robot; a motor receiving the motor angle command and providing the driving force; a gear rotating in response to the provided driving force; a clutch and a brake for receiving the direct instruction through the rotational movement and receiving a stop or release command using the button to control operation or stop of the second end effector; a motor bracket for operating or stopping the second end effector in response to the control of the operation or stop; and an absolute encoder that finds the angular origin of the motor when the encoder does not operate. It is characterized in that it is provided with a plurality of actuators on the upper surface comprising a.
  • the lower dome of the lower plate of the micro-laparoscopic surgical robot of the present invention for achieving the above object is characterized in that only the lower surface of the lower dome of the polygonal shape except for the first through hole formed in the center is in contact with the body part of the patient. do.
  • the second end effector of the ultra-small laparoscopic surgical robot of the present invention for achieving the above object is characterized in that any one of capturing or releasing, photographing, excision, incision, coagulation and washing of human tissue in the abdominal cavity of the patient is performed. do.
  • the translational operation of the guide rod of the miniature laparoscopic surgical robot of the present invention for achieving the above object is equipped with a surgical tool movement control unit having a pair of drive motors and a pair of rollers in the upper region of the upper plate, the As the pair of rollers operate in association with the operation of the pair of driving motors, the guide rod positioned in close contact with the inner side of the pair of rollers is characterized in that it moves up and down.
  • the micro-laparoscopic surgical robot of the present invention for achieving the above object includes: a surgical tool for transmitting a control command according to a user's direct instruction, and performing a motion while moving in 5 degrees of freedom according to the control command; and a delta robot having a plurality of motors, receiving the transmitted control command, providing a driving force for driving the plurality of motors, and having a lower surface in contact with a body part of a patient; Including, wherein the delta robot has a triangular plate shape, the lower plate for mounting each of the plurality of motors on the upper surface adjacent to the triangular side; and an upper plate having a triangular plate shape positioned in an upper region of the lower plate, each of which has a ball joint mounted at a plurality of vertices, and having a coordinate system in the same direction as that of the lower plate; It is characterized in that it includes.
  • the inertia of the moving components is minimized, and the size of the supporting components is minimized, so that the surgical robot can be manufactured in a miniature size.
  • the rigidity is higher than that of the serial-type type and the precision is improved in the operation of surgical tools.
  • FIG. 1 is a view of an embodiment of a general surgical robot.
  • FIG. 2 is a view illustrating a robotic surgical tool provided in a robot arm of a general surgical robot.
  • FIG. 3 is a configuration diagram and an enlarged view illustrating a case of surgery using general laparoscopic surgical tools.
  • FIG. 4 is a perspective view illustrating a scene of surgery using a miniature laparoscopic surgical robot according to an embodiment of the present invention.
  • FIG. 5 is a perspective view of forceps for laparoscopic surgery using a miniature laparoscopic surgical robot according to an embodiment of the present invention.
  • FIG. 6 is an external perspective view (a) and an internal perspective view (b) of the lower plate 322 according to the prior art with respect to the lower plate 322 in the laparoscopic forceps shown in FIG. 5 and an embodiment of the present invention It is a view comparing the external perspective view (c) and the internal perspective view (d) of the lower plate 322 according to the following.
  • FIG. 7 is a transparent perspective view of the operation in which the lower plate 322 and the trocar 700 in the laparoscopic forceps shown in FIG. 5 cooperate with the guide rod 330 .
  • FIG. 8 is a downward perspective view of area 'A' shown in FIG. 7 .
  • FIG. 9 is a downward perspective view of area 'B' shown in FIG. 5 .
  • FIG. 10 is a schematic partial perspective view for explaining the kinematics and inverse kinematics mechanism with respect to the delta robot of the surgical robot of the present invention shown in FIG.
  • FIG. 11 is a partial perspective view modeling the partial perspective view shown in FIG. 10 .
  • FIG. 12 is a top view of the top plate 321 in the partial perspective view shown in FIG. 11 .
  • FIG. 13 is a top view of the lower plate 322 in the partial perspective view shown in FIG. 11 .
  • FIG. 14 is a schematic configuration diagram of an actuator mechanism for direct teaching of the surgical robot of the present invention shown in FIG. 5 .
  • the component when it is described that a certain component is "exists in or connected to" of another component, the component may be directly connected to or installed in contact with the other component.
  • they may be installed spaced apart from each other by a certain distance, and in the case where they are installed spaced apart by a certain distance, there may be a third component or means for fixing or connecting the corresponding component to another component. .
  • one component is a different component. It is used so that it can be clearly distinguished from the element.
  • FIG. 4 is a perspective view illustrating a scene of surgery using a miniature laparoscopic surgical robot according to an embodiment of the present invention.
  • FIG. 5 is a perspective view of a laparoscopic surgical forceps using a miniature laparoscopic delta robot according to an embodiment of the present invention, and includes a surgical tool 300 and a delta robot 320 .
  • the surgical tool 300 includes a first end effector 310 , a guide rod 330 , and a second end effector 340
  • the delta robot 320 includes an upper plate 321 , a lower plate 322 , and a plurality of It has an upper link 323 of dogs, a plurality of lower links 324 , a trocar 700 and a surgical tool movement control unit 800 .
  • the lower plate 322 is a combination of a polygonal plate-shaped upper plate 322H and a polygonal plate-shaped lower dome 322D, and has a first through hole 322H1 in the center of the lower dome 322D, , a second through-hole 322H2 having a larger diameter than the first through-hole 322H1 is provided in the central portion of the upper plate 322H.
  • the shapes of the upper plate 322H and the lower dome 322D are exemplified as a polygonal plate shape and a polygonal plate shape, respectively, but a disk shape and a circular plate shape are also possible.
  • the trocar 700 is a combination of a ring-shaped head 710 and a cylindrical lower pipe 720, the lower plate 322, the first through-hole 322H1 of the lower dome 322D, and the upper plate ( The second through hole 322H2 of 322H is passed through.
  • the surgical tool motion control unit 900 includes a driving plate 910 , a pair of driving motors 920 , and a pair of rollers 930 .
  • the surgical tool 300 transmits a control command according to the user's direct instruction, and performs an operation while moving in 5 degrees of freedom according to the control command.
  • the delta robot 320 has a plurality of motors, receives a control command transmitted from the surgical tool 300 to provide a driving force to drive the plurality of motors, and the lower surface is in contact with the body part of the patient.
  • FIG. 6 is an external perspective view (a) and an internal perspective view (b) of the lower plate 322 according to the prior art with respect to the lower plate 322 in the laparoscopic forceps shown in FIG. 5 and an embodiment of the present invention It is a view comparing the external perspective view (c) and the internal perspective view (d) of the lower plate 322 according to the following.
  • FIG. 7 is a transparent perspective view of the operation in which the lower plate 322 and the trocar 700 in the laparoscopic forceps shown in FIG. 5 cooperate with the guide rod 330 .
  • the lower plate 322 includes an upper plate 322H, a first spherical bearing 325 and a lower dome 322D, and the trocar 700 has a head portion 710 and a lower pipe 720 .
  • FIG. 8 is a downward perspective view of region 'A' shown in FIG. 7 , a second through hole 322H2 , a first spherical bearing 325 , a guide rod 330 , a head portion 710 , and a lower pipe 720 . ) is included.
  • FIG. 9 is a downward perspective view of region 'B' shown in FIG. 5 , and includes an upper plate 321 , a third through hole 321H, a plurality of upper links 323 , and a second spherical bearing 326 . .
  • the robot shape is determined as a delta robot.
  • the handle which is the first end effector 310, has a shape of scissors that can fit at least one finger, has a button 315 at a predetermined portion of the lower portion of the handle, and transmits a control command according to a direct instruction of the user's hand. 2 As the end effector 340 operates the tongs, the force applied to the tongs is fed back.
  • the delta robot 320 receives a control command transmitted from the first end effector 310 and provides a driving force for driving a plurality of motors provided on the upper surface of the lower plate 322 .
  • the plurality of lower links 324 and the plurality of upper links 323 are linked in response to the driving force provided from the plurality of motors to adjust the relative positions.
  • the plurality of lower links 324 includes a plurality of motors attached to the upper surface of the lower plate 322 , to the center of the triangular side of the upper plate 321 .
  • the rotational motion of the plurality of motors is transmitted, respectively.
  • the plurality of upper links 323 are translated or rotated in association with the rotational movement of the lower plate 322 , and the guide rod 330 mounted through the third through hole 321H of the upper plate 321 . ) to move with 5 degrees of freedom.
  • the second end effector 340 is transmitted from the handle, which is the first end effector 310, through a plurality of connection lines built into the guide rod 330 using the driving force provided by the delta robot 320. It operates in response to a control command according to the direct teaching of
  • the distal end of the forceps is opened and closed to capture or release the human tissue.
  • the second end effector 340 in the surgical tool 300 is exemplified as a forceps, but for photographing, resecting, cutting, coagulating, washing human tissue in the patient's abdominal cavity. at least one of the surgical tools.
  • the guide rod 330 in the surgical tool 300 has one side connected to the first end effector 310 and the other side connected to the second end effector 340, and is transmitted from the first end effector 310 of the user.
  • the lower plate 322 , the plurality of lower links 324 , the plurality of upper links 323 , and the upper plate 321 sequentially controlled according to the direct teaching, 5 degrees of freedom moves.
  • the guide rod 330 in the surgical tool 300 penetrates the first spherical bearing 325 provided in the second through hole formed in the center of the upper surface of the lower plate 322.
  • a pitch operation, a roll operation, and a yaw operation are performed according to the movement of the first spherical bearing 325 .
  • the guide rod 330 penetrates the second spherical bearing 326 provided in the third through hole formed in the central portion of the upper surface of the upper plate 321 and interlocks with the motion of the first spherical bearing 325 .
  • a pitch operation, a roll operation, and a yaw operation are performed according to the motion of the spherical bearing 326 .
  • the pair of rollers 930 operates in conjunction with the operation of the pair of driving motors 920 in the surgical tool motion control unit 900 , the pair of rollers 930
  • the guide rod 330 located in close contact with the inside performs a translational operation to move up and down.
  • a trocar is a laparoscopic surgical instrument composed of a puncture device positioned inside a tube, and widens the hole from the skin to the surgical site so that the surgical tool can enter, removing fluid such as air or blood from the body cavity It is a tool to do
  • the shape of the bottom of the lower plate lower dome 322D is illustrated as a polygonal regular hexagonal shape, but a circular shape is also possible.
  • FIG. 10 is a schematic partial perspective view for explaining the kinematics and inverse kinematics mechanism with respect to the delta robot 320 of the surgical robot of the present invention shown in FIG. 5, an upper plate 321, a lower plate 322, a plurality of It has a lower link (L 1 , L 2 , L 3 ), a plurality of upper links ( l 1 , l 2 , l 3 ), and a plurality of motors (M 1 , M 2 , M 3 ).
  • FIG. 11 is a partial perspective view modeling the partial perspective view shown in FIG. 10 , an upper plate 321 , a lower plate 322 , a plurality of lower links L 1 , L 2 , L 3 , and a plurality of upper links l 1 , l 2 , l 3 ).
  • FIG. 12 is a top view of the top plate 321 in the partial perspective view shown in FIG. 11 .
  • FIG. 13 is a top view of the lower plate 322 in the partial perspective view shown in FIG. 11 .
  • Kinematics is also referred to as forward kinematics, and is a dynamic that calculates the center point of the lower plate 322 using rotation angles of a plurality of motors.
  • the position of the surgical tool (End effector) located at the center point of the lower plate 322 may be known.
  • Inverse kinematics is a dynamic that calculates rotation angles of a plurality of motors using the center point of the lower plate 322 .
  • the lower plate 322 is fixed as a triangular plate-shaped base, and the operating point is flexible as the central point of the lower plate 322 .
  • a plurality of lower links (L 1 , L 2 , L 3 ) are one straight link connected to a ball joint that is a revolute joint of the lower plate 322 , and the central part of the triangular side of the lower plate 322 (B)
  • the plurality of lower links (L 1 , L 2 , L 3 ) is a triangular side It rotates around the central part (B 1 , B 2 , B 3 ).
  • the base coordinate system of the lower plate 322 and the plate coordinate system of the upper plate 321 always move in parallel as they always have the same direction.
  • a plurality of upper links (l 1 , l 2 , l 3 ) is a pair connecting the upper link lower surface center point (A 1 , A 2 , A 3 ) and the upper plate vertex (P 1 , P 2 , P 3 ), respectively As a link in the form of a ball joint, the upper link lower surface center point (A 1 , A 2 , A 3 ) and the upper plate vertex (P 1 , P 2 , P 3 ) are respectively equipped with a ball joint.
  • the upper plate 321 has a triangular plate shape, and the distance between the center point and one side of the upper plate 321 (w P ) and the distance between the center point and the vertex from the length of one side (S P ) using Equation 1 below ( u P ) is calculated.
  • the lower plate 322 has a triangular plate shape, and the distance between the center point and one side of the lower plate 322 (w B ) and the distance between the center point and the vertex from the length of one side (S B ) using Equation 2 below ( u B ) is calculated.
  • the motors M 1 , M 2 , M 3 are attached to each of the three sides of the lower plate 322 at intervals of 120 degrees, and the motor (M 1 , M 2 , M 3 ) and a plurality of lower links (L 1 , L 2 , L 3 ) 3 are in direct contact.
  • Each of the plurality of lower links (L 1 , L 2 , L 3 ) has one side connected to a plurality of upper links (l 1 , l 2 , l 3 ) and a ball joint, and the other side is a motor (M 1 , M 2 , M 3 ) is connected.
  • a second through-hole 322H2 through which the guide rod 330 can pass is formed in the central portion of the upper plate 322H in the lower plate 322 . It is provided in common with the first through hole 322H1 of the lower dome 322D in the 322 and the central axis.
  • a plurality of lower links (L 1 , L 2 , L 3 ) are in direct contact with the motors (M 1 , M 2 , M 3 ) and have high safety.
  • the actuator mechanism for direct teaching of the laparoscopic surgical robot in the present invention is configured as follows.
  • FIG. 14 is a schematic configuration diagram of an actuator mechanism for direct teaching of the surgical robot of the present invention shown in FIG. 5 , an encoder 810 , a motor 820 , a gear 830 , a clutch and a brake 840 , a motor A bracket 850 and an absolute encoder 860 are provided.
  • the encoder 810 outputs a motor angle command to detect the rotation angle of the joint of the delta robot 320 .
  • the motor 820 is attached to the three outer surfaces of the triangular plate-shaped upper plate 321, respectively, and receives a motor angle command from the encoder 810 to provide a driving force, and the upper plate for the lower link (L 1 ) ( 321) to adjust the relative position.
  • the motor 820 uses a DC motor having a torque of 0.2 Nm or more.
  • the gear 830 rotates in response to a driving force provided from the motor 820 .
  • the gear 830 uses a gear having a high reduction ratio in order to reduce the size of the motor 820 .
  • the clutch and brake 840 allows the user to operate or stop the second end effector 340 in the surgical tool 300 by using the button 315 provided on the first end effector 310 in the surgical tool 300 .
  • a command for remote control that is, a direct teaching is input as a stop or release command and transferred to the motor 820 connected to the lower link L 1 .
  • the motor bracket 850 operates or stops the second end effector 340 in the surgical tool 300 in response to control of operation or stopping from the clutch and brake 840 .
  • the absolute encoder 860 finds the angular origin of the motor 820 by supplementing that the encoder does not operate when the user directly teaches it.
  • a plurality of the components implementing the actuator mechanism for direct teaching of the surgical robot of the present invention are mounted on the upper surface of the lower plate 322 by the number of actuators and operate.
  • the delta robot 320 can directly drive the operation transmitted from the surgical tool 300. do.
  • the plurality of motors 820 can be directly operated in a state in which the clutch and brake 840 are released, so that a user can directly perform a laparoscopic surgery operation using the surgical tool 300 .
  • the clutch and brake 840 when the clutch and brake 840 are turned on, the current operating state is maintained, and the user stops or releases (stop) through the button 315 provided on the first end effector 310 in the surgical tool 300 . release) command, the clutch and brake 840 operate in response thereto, thereby helping to stop the surgical operation and perform another operation.
  • the present invention manufactures the robot shape as a delta robot in order to minimize the inertia and size of the components of the laparoscopic surgical robot and implements the parallel manipulator principle for precise operation and addition of additional degrees of freedom of surgical tools.
  • a miniature laparoscopic surgical robot used.
  • the delta robot since the delta robot is used, the inertia of the moving components is minimized, and the size of the supporting components is minimized, so that the surgical robot can be manufactured in a miniature size.
  • the rigidity is higher than that of the serial-type type and the precision is improved in the operation of surgical tools.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un micro-robot pour chirurgie laparoscopique. Ce dispositif comprend : un instrument chirurgical destiné à transmettre une commande de contrôle sur la base de l'instruction directe d'un utilisateur et opérer tout en se mouvant avec cinq degrés de liberté en fonction de la commande de contrôle ; et un robot delta comprenant de multiples moteurs et recevant la commande de contrôle transmise afin de fournir une force d'entraînement pour entraîner les multiples moteurs, la surface inférieure du robot delta entrant en contact avec une partie du corps d'un patient. Selon la présente invention, l'inertie d'éléments mobiles du robot chirurgical est réduite au minimum, et la taille des éléments de support de celui-ci est réduite au minimum. En outre, le robot a une rigidité élevée, la précision de manipulation de l'instrument chirurgical est améliorée, et la zone d'une partie de la surface inférieure du robot chirurgical, qui vient en contact avec l'abdomen d'un patient, est réduite au minimum.
PCT/KR2020/018697 2020-02-10 2020-12-18 Micro-robot pour chirurgie laparoscopique WO2021162232A1 (fr)

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KR1020200015823A KR102129337B1 (ko) 2020-02-10 2020-02-10 초소형 복강경 수술 로봇

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KR102617080B1 (ko) * 2021-11-16 2023-12-27 주식회사 로엔서지컬 수술용 로봇의 이중 델타 구조

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