WO2022225084A1 - Dispositif de support de traitement - Google Patents

Dispositif de support de traitement Download PDF

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Publication number
WO2022225084A1
WO2022225084A1 PCT/KR2021/005101 KR2021005101W WO2022225084A1 WO 2022225084 A1 WO2022225084 A1 WO 2022225084A1 KR 2021005101 W KR2021005101 W KR 2021005101W WO 2022225084 A1 WO2022225084 A1 WO 2022225084A1
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WO
WIPO (PCT)
Prior art keywords
ball
adapter
holding line
holder
arm
Prior art date
Application number
PCT/KR2021/005101
Other languages
English (en)
Korean (ko)
Inventor
고무생
Original Assignee
고무생
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 고무생 filed Critical 고무생
Priority to PCT/KR2021/005101 priority Critical patent/WO2022225084A1/fr
Priority to KR1020217014334A priority patent/KR102403114B1/ko
Publication of WO2022225084A1 publication Critical patent/WO2022225084A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A61B1/247—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth with means for viewing areas outside the direct line of sight, e.g. dentists' mirrors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A61C17/08—Aspiration nozzles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A61C17/12—Control devices, e.g. for suction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances

Definitions

  • the present invention relates to a treatment aid device capable of assisting a therapeutic action in a patient's treatment process.
  • Various medical devices may be used so that a doctor's treatment activity can be performed smoothly and efficiently during a general dental treatment process, surgical operation, or treatment.
  • medical devices such as an endoscope, a drill, a suction, and a mirror may be utilized.
  • a treatment auxiliary device includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and a first at one end
  • the adapter is coupled to move relative to each other, and the first adapter includes an adapter arm rotatably coupled to the other side of the first joint, wherein the first adapter includes a first ball tip coupled to the first joint;
  • the first ball holder is the first ball holder by transferring the attractive force generated by the operation of the driving unit through the first holding line to the first ball can be pressed in the direction of the flat portion of
  • the first ball includes a first through hole formed in a vertical direction with respect to the flat portion of the first ball, the first holding line is characterized in that the other side is connected to the driving unit through the first through hole can be done with
  • the diameter of the first through hole may be formed to gradually narrow from the flat portion of the first ball.
  • a second adapter is coupled to the other end of the adapter arm to move relative to each other, and the second adapter includes a second ball tip disposed to intersect the direction of the first ball tip, and connected to the second ball tip.
  • a second ball formed in a spherical shape, a second ball holder in contact with the surface of the second ball, and a second side connected to the second ball holder and pressing the second ball holder to the surface of the second ball It may include a holding line.
  • the other side of the second holding line is connected to the driving unit, and the second ball holder transfers the attractive force generated by the operation of the driving unit through the second holding line, thereby transferring the second ball holder to the second ball. It can be pressed to the surface.
  • the second ball holder may include a curved portion corresponding to the shape of the surface of the second ball.
  • one side of the second holding line may be formed of a plurality of strands, and may bypass the second ball and be connected to the second ball holder.
  • one side of the second holding line may be coupled to the second ball holder at equal intervals to uniformly press the second ball holder in the direction of the second ball.
  • the second holding line may be characterized in that the other side is connected to the driving unit through the first through hole.
  • the second ball may include a second through hole formed in the direction of the first through hole, and one side of the second holding line may be connected to the second ball holder through the second through hole.
  • the diameter of the second through-hole may be formed to be the largest on the surface of the second ball and narrow toward the center of the second ball.
  • the driving unit may be formed to apply an attractive force to the first holding line or the second holding line by fluid pressure, magnetic force, or electromagnetic force.
  • a treatment auxiliary device includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and one end of the A second adapter arm coupled to the other side of the first joint and to which a third adapter is coupled to the other end so as to be relatively movably coupled, and one end is coupled to the third adapter, and a fourth adapter is coupled to the other end so that relative motion is possible.
  • the third adapter includes a third ball tip coupled to the third adapter arm, a third ball connected to the third ball tip and having a spherical shape, and a surface of the third ball;
  • a third ball holder in contact, a third elastic body pressing the third ball holder toward the third ball, and one side are connected to the third ball holder, and the third ball holder is spaced apart from the third ball It may include 3 holding lines.
  • the third ball holder is the third ball holder by transferring the attractive force generated by the operation of the driving unit through the third holding line to the third ball can be separated from
  • the fourth adapter includes a fourth ball tip disposed to cross the direction of the third ball tip, a fourth ball connected to the fourth ball tip and formed in a spherical shape, and a surface of the fourth ball in contact with A fourth ball holder, a fourth elastic body that presses the fourth ball holder toward the fourth ball, and one side are connected to the fourth ball holder, and a fourth holding that separates the fourth ball holder from the fourth ball It may contain lines.
  • the third ball includes a third through-hole formed to pass through the third ball tip and the third ball, and the fourth holding line passes through the third through-hole and is connected to the driving unit. can do.
  • the diameter of the third through hole may be constant within the tip of the third ball, and may gradually become narrower within the third ball.
  • the driving unit may be formed to apply an attractive force to the third holding line or the fourth holding line by fluid pressure, magnetic force, or electromagnetic force.
  • one side of the third holding line is formed of a plurality of strands, and may be coupled to the third ball holder at equal intervals to uniformly press the third ball holder toward the third elastic body.
  • the treatment assisting device can easily move a medical device required in a treatment process to a user's desired position, and can quickly fix the position of the medical device.
  • the treatment auxiliary device can be used by attaching to a treatment device such as an existing medical chair, or by being coupled to a movable body to be universally used in various treatment environments.
  • FIG. 1 is a perspective view of an auxiliary treatment device according to an embodiment of the present invention, illustrating an adapter arm.
  • FIG. 2 is a view showing a treatment auxiliary device according to an embodiment of the present invention from another angle.
  • Figure 3 (a) is an exploded view of the adapter arm according to an embodiment of the present invention
  • Figure 3 (b) is a perspective view showing the adapter arm is assembled.
  • Fig. 4 (a) is an exploded view of an adapter arm according to another embodiment of the present invention
  • Fig. 4 (b) is a perspective view showing an assembled state of the adapter arm.
  • FIG. 5 is a perspective view of a treatment assisting device according to another embodiment of the present invention, and is a view exemplarily showing a second adapter arm and a third adapter arm.
  • FIG. 6A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention
  • FIG. 6B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
  • FIG. 7A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention
  • FIG. 7B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
  • FIGS. 8 to 9 are diagrams illustrating an auxiliary treatment device in which the number of joints is increased according to various embodiments of the present invention.
  • 10 to 12 are views illustrating a sensor of a treatment auxiliary device according to an embodiment of the present invention.
  • FIG. 13 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
  • FIG. 14 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
  • 15 is a diagram illustrating a medical device used by being mounted on a treatment auxiliary device according to an embodiment of the present invention.
  • 16 is a view showing another medical device mounted and utilized in a treatment auxiliary device according to an embodiment of the present invention.
  • expressions such as “A or B” or “at least one of A and/or B” may include all possible combinations of items listed together. Expressions such as “first,” “second,” “first,” or “second,” can modify the corresponding elements, regardless of order or importance, and to distinguish one element from another element. It is used only and does not limit the corresponding components. Also, the singular expression may include the plural expression unless the context clearly dictates otherwise.
  • FIG. 1 is a perspective view of an auxiliary treatment device 100 according to an embodiment of the present invention, illustrating an adapter arm 140
  • FIG. 2 is a first joint 130 and a second joint 131 . This is a view from a different angle.
  • the treatment assistance device 100 may include a base 110 , a first joint 130 , and an adapter arm 140 .
  • the treatment auxiliary device 100 of FIGS. 1 to 2 is attached to the base 110 of a movable form and shows an example in which it is utilized.
  • the base 110 is equipped with a moving means such as a wheel for easy movement, and the treatment auxiliary device 100 according to an embodiment of the present invention is mounted and operated to provide a stable base so as not to fall. This can be used without restrictions. For example, a triangular or square-shaped support or box shape may be used.
  • the base 110 itself moves and provides a support base, but the base 110 is formed separately to provide a support base. It may be replaced with a form attached to other components. As the movement of the treatment auxiliary device 100 becomes free through the base 110 , the utilization of the treatment auxiliary device 100 may be increased by moving one treatment auxiliary device 100 and using it in various places.
  • the base 110 of the form having a movable and self-supporting base is illustrated, but the present invention is not limited thereto.
  • the base 110 is used by being mounted on a medical chair on which a patient can sit in the course of a doctor's treatment. may be In this case, since the treatment auxiliary device 100 can be additionally mounted to a medical device such as a previously used medical chair or a surrounding facility, it is economical and has the advantage of being universally utilized.
  • the first arm 120 and the adapter arm 140 are connected by a first joint 130 to be rotatably connected to each other.
  • One end of the first arm 120 may be coupled to the base 110 .
  • the first arm 120 and the base 110 may be connected by a second joint 131 to be rotatably connected to each other.
  • the first joint 130 may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 1 .
  • the rotation of the first joint 130 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
  • the second joint 131 may also be the same as or similar to the first joint 130 .
  • the second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the illustrated state of FIG. 1 .
  • the treatment auxiliary device 100 may operate as a multi-joint robot arm.
  • the degree of freedom of motion of the first joint 130 and the second joint 131 may be increased or decreased along any one axis defining a three-dimensional space.
  • the first arm 120 and the adapter arm 140 may have a bar shape having a predetermined length, and may have a shell shape including a space therein, and the shape of the cross-section may vary. can be formed.
  • the first arm 120 and the adapter arm 140 will be mainly described, but the present invention is not limited thereto. .
  • a plurality of adapter arms 140 may be attached in parallel to the first arm 120 , and a second arm (not shown) may be connected to the first arm 120 and the base 110 . ), it is also possible to increase the number of joints of the robot arm.
  • the treatment assisting device 100 can be utilized by mounting a medical device to be described later along with FIGS. 15 to 16 on the distal adapter arm 140 .
  • the treatment auxiliary device 100 according to an embodiment of the present invention can be fixed by moving the medical device to a position desired by the user quickly and easily.
  • a first adapter 160 and a second adapter 170 that can freely move relative to each other in the form of a ball joint and can be easily fixed through a wire are provided.
  • Positioning and fixing of the medical device can be simplified by positioning. More details will be described later in conjunction with the drawings.
  • FIG. 3 is a diagram illustrating an adapter arm 140 of the treatment assistance device 100 according to an embodiment of the present invention. Specifically, FIG. 3A is an exploded view of the adapter arm 140 , and FIG. 3B is a perspective view showing the adapter arm 140 assembled.
  • the adapter arm 140 may include a first adapter 160 coupled to one end for relative motion and a second adapter 170 coupled to the other end for relative motion.
  • the first adapter 160 may include a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 .
  • the first ball tip 161 may be coupled to the first joint 130 so that the adapter arm 140 moves together according to the movement of the first joint 130 .
  • the first ball tip 161 may be applied without limitation as long as it can be rigidly coupled to the first joint 130 , for example, screw coupling may be performed.
  • the first ball 163 may be connected to the first ball tip 161 and may be formed in a spherical shape as a whole. Since the first ball 163 is formed in a spherical shape, free relative movement may be possible at one end of the adapter arm 140 . More specifically, within a range where the open portion of one end of the adapter arm 140 and the first ball tip 161 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible.
  • the first ball 163 may include a flat portion 163a formed at least in part.
  • the flat portion 163a may be formed at a position such that the extending direction of the first ball tip 161 is perpendicular to the flat portion 163a. That is, it may be formed in a direction opposite to the first ball tip 161 with respect to the center of the first ball 163 . Through this, the influence on the free relative motion of the first ball tip 161 can be minimized.
  • the first ball 163 may include a first through hole 164 .
  • the first through hole 164 may be formed to be perpendicular to the flat portion 163a and may be formed to pass through the first ball 163 and the first ball tip 161 .
  • the first through hole 164 may be formed to have the largest diameter in the planar portion 163a and to decrease in diameter while extending in the direction of the first ball tip 161 . That is, the first through hole 164 may be formed in a cone shape.
  • the first ball holder 165 may be formed to contact the flat portion 163a of the first ball 163 .
  • the first ball holder 165 may be formed to be larger than the area of the flat portion 163a, and may press the flat portion 163a according to the action of the first holding line 167 to be described later.
  • the first holding line 167 may have one side connected to the first ball holder 165 and the other side connected to the driving unit 190 .
  • the driving unit 190 may be variously applied as long as it has a configuration capable of applying attractive force to the first holding line 167 , and for example, may be in the form of winding the first holding line 167 through a motor.
  • One side of the first holding line 167 may pass through the first through hole 164 of the first ball 163 to be connected to the first ball holder 165 .
  • the driving unit 190 operates in this state to wind the first holding line 167 , the attractive force is transferred to the first ball holder 165 and presses the flat portion 163a of the first ball 163 to make the first 1
  • the movement of the ball 163 can be fixed.
  • the tension acting on the first holding line 167 is released, so that the first ball holder 165 presses the flat portion 163a of the first ball 163 . lose the power to At this time, the first ball 163 can freely move relative again.
  • the first through hole 164 of the first ball 163 is formed to have a large diameter on the side of the flat portion 163a, so that the first holding line 167 unintentionally restricts the movement of the first ball 163. can be prevented
  • the second adapter 170 may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 .
  • the second ball tip 171 may be combined with a medical device to be described later.
  • the second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device.
  • the formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 3 , it may be disposed to be vertical.
  • the second ball 173 is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed.
  • the second ball holder 175 may be formed to contact at least a portion of the surface of the second ball 173 .
  • the second ball holder 175 may include a curved portion 175a corresponding to the surface shape of the second ball 173 .
  • the surface of the second ball 173 may be evenly pressed through the curved portion 175a. .
  • the second holding line 177 has one side connected to the second ball holder 175 and the other side passing through the first through hole 164 of the first ball 163 to form a driving unit 190 and can be connected
  • the driving unit 190 can be variously applied as long as it has a configuration that can apply an attractive force to the second holding line 177 like the first holding line 167 , and for example, winds the second holding line 177 through a motor. It may be in the form it takes.
  • the driving unit 190 may be respectively disposed on the first holding line 167 and the second holding line 177 , or may be connected to one driving unit 190 .
  • One side of the second holding line 177 may be formed of a plurality of strands, and may bypass the second ball 173 and be connected to the second ball holder 175 .
  • the plurality of strands formed on one side of the second holding line 177 transmits a uniform force to the second ball holder 175 to uniformly press the second ball 173 with the second ball holder 175 and can be combined.
  • the second ball 173 may be coupled at equal intervals with respect to the contact surface of the second ball holder 175 .
  • FIG. 4 is a view exemplarily showing the adapter arm 140 of the treatment assisting device 100 according to another embodiment of the present invention. Specifically, FIG. 4A is an exploded view of the adapter arm 140 , and FIG. 4B is a perspective view showing the adapter arm 140 assembled.
  • the adapter arm 140 of the treatment assistance device 100 includes a first adapter 160 coupled to one end to move relative to one end and a second adapter arm coupled to the other end to move relative to the other end, as in FIG. 3 .
  • Two adapters 170 may be included, and the first adapter 160 includes a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 . can do.
  • the second adapter 170 may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 .
  • the second ball tip 171 may be combined with a medical device to be described later.
  • the second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device.
  • the formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 4 , it may be arranged to be vertical.
  • the second ball 173 is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible.
  • the second ball 173 according to another embodiment may include a second through hole 174 . The second through hole 174 may be formed to cross the direction of the second ball tip 171 .
  • the second through hole 174 may be formed to have the largest diameter in the flat portion 173a and to decrease and then increase again while extending in the center direction of the second ball 173 . That is, the second through hole 174 may be formed in a shape such as a mortar.
  • the second ball holder 175 may be formed to contact the flat portion 173a of the second ball 173 .
  • the second ball holder 175 may be formed to be larger than the size of the second through hole 174, and the flat portion 173a of the second ball 173 may be formed according to the action of the second holding line 177 to be described later. can be pressurized.
  • the second holding line 177 may have one side connected to the second ball holder 175 and the other side connected to the driving unit 190 through the first through hole 164 .
  • One side of the second holding line 177 may pass through the second through hole 174 of the second ball 173 to be connected to the second ball holder 175 .
  • the second through hole 174 has a large diameter at the surface portion of the second ball 173 to prevent the second holding line 177 from limiting the movement of the second ball 173 unintentionally. can do.
  • Tension may be simultaneously applied to the first holding line 167 and the second holding line 177 according to another embodiment, or tension may be applied at this time.
  • FIG. 5 is a perspective view of the treatment assisting device 200 according to another embodiment of the present invention, and is a view exemplarily showing movements of the second adapter arm 240 and the third adapter arm 250 .
  • the treatment auxiliary device 200 may include a base 270 , a first joint 230 , a second adapter arm 240 , and a third adapter arm 250 .
  • the first arm 120 and the second adapter arm 240 are connected by a first joint 230
  • the third adapter arm 250 is the third adapter.
  • the second adapter arm 240 and the second adapter arm 240 may be connected relative to each other by a 260 .
  • One end of the first arm 120 may be coupled to the base 270 .
  • they may be connected by the second joint 131 to be rotatably connected to each other.
  • the first joint 230 according to another embodiment may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 5 .
  • the rotation of the first joint 230 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
  • the second joint 131 may also be the same as or similar to the first joint 230 .
  • the second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the state illustrated in FIG. 5 .
  • the third adapter 260 may connect the second adapter arm 240 and the third adapter arm 250 to be movable relative to each other.
  • the third adapter arm 250 may be capable of pitching, yawing, and rolling motions with respect to the longitudinal axis of the second adapter arm 240 .
  • the treatment assisting device 200 may operate as a multi-joint robot arm.
  • the degree of freedom of motion of the first joint 230 and the second joint 131 may be increased or decreased along any one axis defining a three-dimensional space.
  • the first arm 120 , the second adapter arm 240 , and the third adapter arm 250 have a bar shape having a predetermined length, and include a space therein. ) shape, and the shape of the cross-section may be formed in various ways.
  • the first arm 220 , the second adapter arm 240 , and the third adapter arm 250 are each one in order to help the understanding of the invention. The description is focused on cases, but is not limited thereto.
  • a plurality of second adapter arms 240 and third adapter arms 250 may be attached in parallel with respect to the first arm 220 , and a second arm (not shown) may be attached.
  • the number of joints of the robot arm may be increased.
  • FIG. 6 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 200 according to another embodiment of the present invention.
  • FIG. 6A is an exploded view of the second adapter arm 240 and the third adapter arm 250
  • FIG. 6B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
  • One end of the second adapter arm 240 may be coupled to the first joint 230 , and the third adapter 260 may be coupled to the other end to allow relative movement.
  • the second adapter arm 240 may move together with the movement of the first joint 230 .
  • the third adapter 260 connects the third ball tip 261 , the third ball 263 , the third ball holder 265 , the third elastic body 269 and the third holding line 267 .
  • the third ball tip 261 may be coupled to one end of the third adapter arm 250 .
  • the third ball tip 261 can be applied without limitation as long as it can be rigidly coupled to the third adapter arm 250 , and for example, screw coupling can be performed.
  • a portion to which the third ball tip 261 and one end of the third adapter arm 250 are coupled may be wrapped with a bellows tube 262 or the like so as not to be directly exposed.
  • the third ball 263 is connected to the third ball tip 261 and may be formed in a spherical shape as a whole. Since the third ball 263 is formed in a spherical shape, free relative movement may be possible at the other end of the second adapter arm 240 . More specifically, within a range where the open portion of the other end of the second adapter arm 240 and the third ball tip 261 do not interfere with each other, various types of relative motion can be performed. For example, pitching, yawing, and rolling are possible with respect to the longitudinal axis of the second adapter arm 240 . Accordingly, pitching, yawing, and rolling of the third adapter arm 250 with respect to the longitudinal axis of the second adapter arm 240 are possible.
  • the third ball holder 265 may be formed to contact the surface of the third ball 263 . More specifically, the third ball holder 265 may be located in the opposite direction of the third ball tip 261 with respect to the third ball 263 . The third ball holder 265 may press the surface of the third ball 263 according to the action of the third elastic body 269 to be described later, and the third ball 263 according to the action of the third holding line 267 . ) can be separated from the surface of
  • the third elastic body 269 may press the third ball holder 265 toward the surface of the third ball 263 .
  • the elastic force of the third elastic body 269 is sufficient if it is large enough to fix the movement of the third adapter 260 .
  • the third elastic body 269 may be, for example, a spring, and in addition to this, if it is configured to press the third ball holder 265 toward the surface of the third ball 263, it may be freely applied.
  • the third holding line 267 may have one side connected to the third ball holder 265 and the other side connected to the driving unit 290 .
  • the driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the third holding line 267 , and for example, may be in the form of winding the third holding line 267 through a motor.
  • the driving unit 290 operates to wind the third holding line 267 , the tension is transmitted to the third ball holder 265 , and the third ball holder 265 compresses the third elastic body 269 to make the third It is possible to reduce the pressing force of the surface of the ball 263 .
  • the tension acting on the third holding line 267 is released and the force for compressing the third elastic body 269 is lost. Accordingly, the elastic force of the third elastic body 269 may press the third ball holder 265 toward the surface of the third ball 263 , and the third ball 263 may be fixed.
  • the driving unit 290 may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the third holding line 267 .
  • the third elastic body ( 269) can be adjusted. In this case, even if the third adapter 260 and the fourth adapter 270 are released to adjust the position of the medical device, sudden sagging due to the load of the third adapter arm 250 and the medical device can be prevented. It is possible to reduce the burden caused by the load in the process of moving the medical device.
  • One side of the third holding line 267 may be formed of a plurality of strands.
  • the plurality of strands formed on one side of the third holding line 267 transmits a uniform force to the third ball holder 265 to uniformly press the third elastic body 269 with the third ball holder 265 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the third ball 263 .
  • One end of the third adapter arm 250 may be coupled to the third ball tip 261, and the other end may be coupled to the fourth adapter 270 for relative movement.
  • the fourth adapter 270 includes the fourth ball tip 271 , the fourth ball 273 , the fourth ball holder 275 , the fourth elastic body 279 and the fourth holding line 277 . may include
  • the fourth ball tip 271 may be combined with a medical device to be described later.
  • the fourth ball tip 271 may be applied without limitation as long as it is a form that can be rigidly coupled to a medical device.
  • the formation direction of the fourth ball tip 271 may be formed to cross each other rather than parallel to the formation direction of the fourth ball tip 271 . For example, as shown in FIG. 6 , it may be disposed to be vertical.
  • the fourth ball 273 may be connected to the fourth ball tip 271 and may be formed in a spherical shape as a whole. Since the fourth ball 273 is formed in a spherical shape, free relative movement may be possible at the other end of the third adapter arm 250 . More specifically, within a range where the open portion of the other end of the third adapter arm 250 and the fourth ball tip 271 do not interfere with each other, various types of relative motion can be performed.
  • the fourth ball holder 275 may be formed to contact the surface of the fourth ball 273 .
  • the fourth ball holder 275 can press the surface of the fourth ball 273 according to the action of the fourth elastic body 279 to be described later, and the fourth ball 273 according to the action of the fourth holding line 277 . ) can be spaced apart from the surface of
  • the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 .
  • the elastic force of the fourth elastic body 279 is sufficient if it is large enough to fix the movement of the fourth adapter 270 .
  • the fourth elastic body 279 may be, for example, a spring, and in addition to this, if it is configured to press the fourth ball holder 275 toward the surface of the fourth ball 273, it may be freely applied.
  • the fourth holding line 277 may have one side connected to the fourth ball holder 275 and the other side connected to the driving unit 290 .
  • the driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the fourth holding line 277 , and for example, may be in the form of winding the fourth holding line 277 through a motor.
  • the driving unit 290 operates to wind the fourth holding line 277 , the tension is transferred to the fourth ball holder 275 and the fourth ball holder 275 compresses the fourth elastic body 279 to thereby compress the fourth ball. It is possible to reduce the pressing force of the surface of (273).
  • the tension acting on the fourth holding line 277 is released and the force for compressing the fourth elastic body 279 is lost. Accordingly, the elastic force of the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 , and the fourth ball 273 may be fixed.
  • the driving unit 290 may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the fourth holding line 277 .
  • the force for compressing the fourth elastic body 279 is adjusted so that only the minimum force capable of supporting it is transmitted to the fourth ball 273 . can In this case, even if the fixing of the fourth adapter 270 is released to adjust the position of the medical device, it is possible to prevent sudden sagging due to the load of the medical device, and to reduce the burden caused by the load in the process of moving the medical device. have.
  • One side of the fourth holding line 277 may be formed of a plurality of strands.
  • a plurality of strands formed on one side of the fourth holding line 277 transmits a uniform force to the fourth ball holder 275 so that the fourth elastic body 279 can be uniformly pressed with the fourth ball holder 275 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the fourth ball 273 .
  • Tension may be simultaneously applied to the third holding line 267 and the fourth holding line 277 according to an embodiment, or tension may be applied at this time.
  • FIG. 7 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 100 according to another embodiment of the present invention.
  • FIG. 7A is an exploded view of the second adapter arm 240 and the third adapter arm 250
  • FIG. 7B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
  • the treatment auxiliary device 200 shown in FIG. 7 has a form in which the third holding line 267 is combined with the third ball holder 265 and the fourth holding line compared to the treatment auxiliary device 200 shown in FIG. 6 . There is a difference in the form in which the 277 is combined with the fourth ball holder 275 .
  • the third ball 263 may be connected to the third ball tip 261 and formed in a spherical shape as a whole.
  • the third ball 263 according to another embodiment may include a third through hole 264 .
  • the third through hole 264 may be formed to pass through the third ball 263 and the third ball tip 261 .
  • the third through hole 264 may be formed to have the largest diameter on the surface of the third ball 263 and to decrease in diameter while extending in the direction of the third ball tip 261 . That is, the third through hole 264 may be formed in a cone shape.
  • the third holding line 267 may be connected to the center of the third ball holder 265 as a single strand. However, like the third holding line 267 of FIG. 6 , it may be formed of a plurality of strands.
  • the fourth holding line 277 may have one side connected to the fourth ball holder 275 and the other end connected to the driving unit 290 through the third through hole 264 .
  • One side of the fourth holding line 277 may be connected to the fourth ball holder 275 .
  • the fourth holding line 277 may be connected to the fourth ball holder 275 as a single strand, or may be formed of a plurality of strands like the fourth holding line 277 of FIG. 6 .
  • FIGS. 8 to 9 are diagrams illustrating the auxiliary treatment device 200 in which the number of joints is increased according to various embodiments of the present invention.
  • the treatment auxiliary device 200 illustrated in FIG. 8 is different from the treatment auxiliary apparatus 200 illustrated in FIG. 6 in that the number of joints is increased.
  • the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
  • the treatment auxiliary device 200 shown in FIG. 9 is different from the treatment auxiliary device 200 shown in FIG. 7 in that the number of joints is increased.
  • the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
  • the movement of the medical device becomes more flexible and it can be easily moved to a desired position.
  • 10 to 12 are views showing the sensor 510 disposed on the headrest (H) of the treatment assisting device 100, 200 according to an embodiment of the present invention.
  • the sensor 510 may include an infrared sensor that detects whether an object is interfering on a predetermined path. 10 to 12 , a light emitting unit 511 and a light receiving unit 513 of the sensor 510 may be disposed on both sides of the headrest, respectively.
  • the light emitting unit 511 and the light receiving unit 513 of the sensor 510 may be disposed to be adjustable in height with respect to the surface of the headrest H.
  • the light emitting unit 511 and the light receiving unit 513 may be respectively disposed at the ends of the telescopic rod 515 to enable height adjustment.
  • the height of the sensor 510 may be adjusted to a limit position in which the light emitting unit 511 and the light receiving unit 513 do not interfere with transmitting and receiving signals in response to the height of the patient's head seated on the headrest H.
  • the first adapter 160 according to various embodiments of the present invention in order to prevent injury to the patient due to the fixed medical device.
  • the fixing of the to fourth adapters 270 may be released.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • a separate switch may be disposed to release the fixing of the first adapter 160 to the fourth adapter 270 by a user's manipulation.
  • the switch may be disposed at any position on the surface of the adapter arm body, or may be formed in the form of a pedal (not shown) so that the user can operate it with his or her feet. In other words, it can be made to act as an emergency button.
  • FIG. 13 is a diagram illustrating a sensor 520 of the treatment assisting devices 100 and 200 according to another embodiment of the present invention.
  • the sensor shown in FIG. 13 may be similar to the sensor of FIGS. 10 to 12 in its overall structure.
  • a touch sensor may be applied as a sensor for detecting the movement of the patient's head.
  • a telescopic rod 515 is disposed on both sides of the headrest to enable height adjustment with respect to the surface of the headrest H, and a band connecting both ends may be detachably disposed.
  • a first adapter according to various embodiments of the present invention is arranged in the center of the band to detect the movement of the patient's head as the patient's head comes into contact by arranging a touch-type sensor, and to prevent injury to the patient due to the fixed medical device. (160) to the fourth adapter 270 may be released.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • FIG. 14 is a diagram illustrating the sensor 530 of the treatment assistance devices 100 and 200 according to another embodiment of the present invention.
  • the first adapter 160 to the fourth adapter 270 may be released in order to prevent injury to the patient due to the fixed medical device.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • 15 to 16 are diagrams illustrating medical devices 400 and 500 used by being mounted on the treatment auxiliary devices 100 and 200 according to an embodiment of the present invention.
  • a mirror 400 for observing a patient's teeth or a suction tip 500 that can be used in a patient's treatment process can be used by coupling the second adapter 170 to the fourth adapter 270 .
  • the medical devices 400 and 500 shown in FIGS. 15 to 16 are exemplary, and in addition to these, various medical devices may be attached and utilized.

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  • Health & Medical Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
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  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de support de traitement comprenant : une base ; un premier bras ayant une partie d'extrémité couplée à la base ; un premier joint ayant un côté couplé de façon rotative à l'autre partie d'extrémité du premier bras ; et un bras d'adaptateur ayant une partie d'extrémité à laquelle un premier adaptateur est couplé pour se déplacer par rapport à celui-ci, et permettant au premier adaptateur d'être couplé de manière rotative à l'autre côté du premier joint, le premier adaptateur comprenant : une première pointe de bille couplée au premier joint ; une première bille, qui est reliée à la première pointe de bille, est sphérique et comprend une partie plate sur au moins une partie de celle-ci ; un premier support de bille venant en contact avec la partie plate de la première bille ; et une première ligne de maintien ayant un côté relié au premier support de bille et pressant le premier support de bille vers la partie plate de la première bille.
PCT/KR2021/005101 2021-04-22 2021-04-22 Dispositif de support de traitement WO2022225084A1 (fr)

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PCT/KR2021/005101 WO2022225084A1 (fr) 2021-04-22 2021-04-22 Dispositif de support de traitement
KR1020217014334A KR102403114B1 (ko) 2021-04-22 2021-04-22 치료 보조 기구

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JP6829248B2 (ja) * 2015-08-21 2021-02-10 ニィンブロボット エスアーエス 関節を有するロボットアーム
US20190125469A1 (en) * 2017-11-02 2019-05-02 National Chiao Tung University Minimally invasive surgical instruments with terminal steerable mechanism
KR20190140787A (ko) * 2018-06-12 2019-12-20 오대금속 주식회사 자동화 모발 이식기 전용 다관절 아암기구
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