WO2023182739A1

WO2023182739A1 - Articulated bending device

Info

Publication number: WO2023182739A1
Application number: PCT/KR2023/003635
Authority: WO
Inventors: 김준기; 문영진; 최재순; 남궁정만; 현재호; 이관희; 오정민
Original assignee: 재단법인 아산사회복지재단; 울산대학교 산학협력단
Priority date: 2022-03-21
Filing date: 2023-03-20
Publication date: 2023-09-28
Also published as: KR20230137126A

Abstract

The present invention relates to an articulated bending device comprising: an arm in which a plurality of segments, each including a plurality of splinters divided along the circumference thereof, are connected in series; a joint protruding from the splinter of one from a pair of adjacent segments toward the splinter of the other one thereof; and a joint groove, which is recessed in the splinter of the other one from the pair of adjacent segments such that the joint is pivotably coupled thereto.

Description

multi-joint flexion device

The present invention relates to a multi-joint flexion mechanism.

Typically, during laparoscopic surgery, a rigid endoscope is used to check internal abdominal organs. Rigid endoscopes cannot be bent, so the surgical goal can be confirmed by lying down or standing up the rigid endoscope and changing the angle. If additional confirmation is difficult, the rigid endoscope can be replaced with one with a distal angle of 0 degrees, 30 degrees, or 45 degrees, and the surgery can be performed. Check your goals. The average rigid endoscope length is mostly 300 mm or more, and if the target position during surgery is close to the rigid endoscope, less than half of it will go into the abdomen and the rest will be outside the abdomen. An assist is provided during the surgery to check the camera angle and assist with surgery. You must hold it so that you can see inside the abdomen.

However, since rigid endoscopes cannot be bent, endoscopes that can be bent by applying multi-joint bending mechanisms are being developed.

Here, in the multi-joint flexion device, a plurality of segments forming a multi-joint are connected in series to form a straight line by a plurality of connecting wires.

This multi-joint bending mechanism steers the movement of multiple segments by manipulating the connecting wire connected to the actuator, and bends and deforms the multiple segments into various shapes to squeeze into long and narrow spaces, which cannot be solved with a rigid endoscope. You can perform a variety of tasks that are not available.

However, the conventional multi-joint bending device had a problem in that it was difficult to store it compactly because the size of each segment was very large.

In addition, the conventional multi-joint bending mechanism had a problem in that it was difficult to implement various bending movements as it was steered through a connecting wire.

The present invention was devised to solve the above-mentioned problems, and the object of the present invention is to form a plurality of segments connected in series to form an arm of a certain length, formed by a plurality of splitters along the circumference, and adjacent segments. By providing joints and joint grooves on opposing surfaces to pivotably connect adjacent segments, various bending movements can be realized by steering and bending the arm in various ways without using separate wires, and it can be stored compactly. The purpose is to provide a multi-joint bending mechanism that can easily replace damaged parts.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

A multi-joint flexion mechanism according to an embodiment of the present invention for solving the above-described problem includes an arm in which a plurality of segments including a plurality of splinters divided along the circumference are connected in series; a joint protruding from each splinter of one of a pair of adjacent segments toward each of the splinters of the other segment; and a joint groove that is recessed in each splinter of the other segment of the pair of adjacent segments and is pivotally coupled to the joint.

Additionally, a first magnetic member provided on one of the pair of splinters adjacent to form the segment; And a second magnetic member having a different polarity from the first magnetic member, provided on the other splinter of the pair of adjacent splinters to form the segment, and magnetically coupled to the first magnetic member. .

Additionally, a plurality of the splinters may be arranged along the circumference of the segment to form a passage inside the segment.

Additionally, the arm may be connected to a plurality of the segments of the same diameter.

Additionally, the arm may be connected to a plurality of segments of the same length, or may be connected by combining a plurality of segments of different lengths.

Additionally, a plurality of driving units each steering the plurality of arms; and a control unit that controls the plurality of driving units, wherein the control unit can control the plurality of driving units such that some of the plurality of arms are tensioned and other parts of the plurality of arms are pushed.

In addition, the splinter located at the distal end of the plurality of arms is coupled and may further include an end cap on which an imaging unit is provided.

Other specific details of the invention are included in the detailed description and drawings.

A multi-joint flexion device according to an embodiment of the present invention is formed by a splinter in which a plurality of segments connected in series to form an arm of a certain length are divided into a plurality of segments along the circumference, and joints are formed on mutually opposing surfaces of adjacent segments. By providing a joint groove and pivotably connecting adjacent segments, various bending movements can be realized by steering and bending the arm in various ways without using separate wires, and it can be stored compactly, and damaged parts can be easily replaced. There is a possible effect.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

Figure 1 is a perspective view showing a multi-joint flexion mechanism according to an embodiment of the present invention.

Figure 2 is a perspective view showing a state in which the arm and end cap of the multi-joint bending device according to an embodiment of the present invention are separated.

Figure 3 is a perspective view showing an example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention.

Figure 4 is an exploded perspective view showing an example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention.

Figure 5 is a perspective view showing another example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention.

Figure 6 is an exploded perspective view showing another example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention.

Figure 7 is a cross-sectional view showing a segment of a multi-joint flexion device according to an embodiment of the present invention.

Figure 8 is a perspective view showing a multi-joint flexion mechanism spaced apart for each splinter connected in series according to an embodiment of the present invention.

9 to 12 are operational diagrams illustrating an example of a multi-joint bending device forming a bend according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to provide a general understanding of the technical field to which the present invention pertains. It is provided to fully inform the skilled person of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terminology used herein is for describing embodiments and is not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other elements in addition to the mentioned elements. Like reference numerals refer to like elements throughout the specification, and “and/or” includes each and every combination of one or more of the referenced elements. Although “first”, “second”, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

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

Figure 1 is a perspective view showing a multi-joint flexion mechanism according to an embodiment of the present invention, and Figure 2 is a perspective view showing the arm and end cap of the multi-joint flexion mechanism according to an embodiment of the present invention in a separated state. 3 is a perspective view showing an example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention, and Figure 4 is an example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention. is an exploded perspective view showing, Figure 5 is a perspective view showing another example of a pair of splinters of a multi-joint flexion mechanism according to an embodiment of the present invention, and Figure 6 is a perspective view of a multi-joint flexion mechanism according to an embodiment of the present invention. It is an exploded perspective view showing another example of a pair of splinters, and Figure 7 is a cross-sectional view showing a segment of a multi-joint flexion mechanism according to an embodiment of the present invention.

As shown in FIGS. 1 to 7 , the multi-joint flexion mechanism according to an embodiment of the present invention may include an arm 100, a joint 120, and a joint groove 130.

The arm 100 may be comprised of a plurality of segments 110 including a plurality of splinters 115 divided along the circumference, connected in series. Here, the plurality of segmented splinters 115 are connected in series to the length of the arm 100. They can be connected in series along any direction.

The arm 100 may be connected to a plurality of segments 110 of the same diameter. Here, the segment 110 may have a circular cross-sectional shape. Additionally, the plurality of splinters 115 may have a fan-shaped cross-sectional shape as they are divided into a plurality of segments 110 having a circular cross-sectional shape.

The arm 100 may be connected by a plurality of segments 110 of the same length or by combining a plurality of segments 110 of different lengths.

Here, a case where a plurality of segments 110 of different lengths are combined and connected will be described in detail.

Referring to FIG. 1, the arm 100 may be composed of a plurality of segments 110 having a relatively small thickness and a plurality of segments 110 having a relatively large thickness, where the plurality of segments 110 having a relatively large thickness The segment 110 may be placed in the center of the arm 100. Therefore, when the arm 100 is bent, the plurality of segments 110 having a relatively large thickness limit the bending angle of the arm 100, thereby preventing damage due to excessive bending of the arm 100. there is. In particular, when the arm 100 is inserted into the body, the plurality of segments 110 having a relatively large thickness limit the bending angle of the arm 100, thereby causing excessive bending of the arm 100, causing damage to the internal organs of the body. It can prevent damage to the.

A plurality of splinters 115 may be arranged along the circumference of the segment 110 to form a passage inside the segment 110. This passage is not particularly limited, but a wire (not shown) for supplying power to the camera may be stored. Here, the arms 100 may be composed of a plurality of arms, each of the plurality of arms 100 may have a plurality of splinters 115 connected in series, and the plurality of arms 100 may be arranged radially. Details will be described later.

The joint 120 may protrude from the splinter 115 of the segment 110 located relatively rearward among a pair of adjacent segments 110 toward the segment 110 located relatively forward. For example, the joint 120 may have a spherical shape.

The joint groove 130 is depressed in the opposing surface opposite to the segment 110 located relatively behind the splinter 115 of the segment 110 located relatively forward among a pair of adjacent segments 110. , the joint 120 may be pivotably coupled. For example, the joint groove 130 may have a cone shape.

That is, the joint 120 may be provided in front of the splinter 115 of each segment 110, and the joint groove 130 may be provided in the rear of the splinter 115 of each segment 110. This example is shown in the drawing. However, the present invention is not limited to this, and the joint 120 may be provided at the rear of the splinter 115 of each segment 110, and the joint groove 130 may be provided at the rear of the splinter 115 of each segment 110. It may be provided at the front.

Conventionally, as the arm 100 was provided with a plurality of segments 110 connected in series, compact storage was difficult.

On the other hand, in the multi-joint bending device according to an embodiment of the present invention, the arm 100 is provided with a plurality of splinters 115 divided into a plurality of segments 110, so that compact storage is possible.

In addition, one segment in this embodiment is shown as being divided into four parts along its circumference and composed of four splinters, but the present invention is not limited to this, and one segment may be divided into two or more parts along its circumference. , the number of splinters corresponding to the number of divisions is arranged to form a perimeter and may form one segment.

Meanwhile, the multi-joint bending mechanism according to an embodiment of the present invention further includes a first magnetic member 210, a second magnetic member 220, a driving unit (not shown), a control unit (not shown), and an end cap 300. It can be included.

The first magnetic member 210 may be provided on one of a pair of adjacent splinters 115 to form a segment 110.

The second magnetic member has a different polarity from the first magnetic member 210 and is provided on the other splinter 115 of a pair of adjacent splinters 115 to form the segment 110, so that the first magnetic member 210 ) can be magnetically combined.

In summary, in the plurality of splinters 115 forming one segment 110, a first magnetic member 210 and a second magnetic member 220 are provided in each pair of adjacent segments 110. , an attractive force is generated in a pair of adjacent segments 110 and they are pulled together. Accordingly, the plurality of splinters 115 forming one segment 110 can be prevented from being spaced apart from each other.

As described above, the arms 100 may be composed of a plurality of arms, each of the plurality of arms 100 may be a plurality of splinters 115 connected in series, and the plurality of arms 100 may be arranged radially. .

The plurality of driving units each serve to steer the plurality of arms 100. For example, the driving unit is not particularly limited, but an actuator or driving motor may be used. In addition, the plurality of driving units may steer the plurality of arms 100 by selectively pulling or pushing the splinter located at the rear end of the plurality of arms 100, respectively.

The control unit may control a plurality of driving units so that some of the plurality of arms 100 are tensioned and other parts are pushed. For example, the control unit may form a bend in the plurality of arms 100 by controlling a plurality of driving units such that some of the plurality of arms 100 are tensioned and other parts are pushed. Details on this will be described later. Do this.

The end cap 300 is coupled to the splinters 115 located at the distal ends of the plurality of arms 100, and may be provided with an imaging unit. A cap groove 310 to which the joint 120 of the splinter 115 is pivotably coupled may be formed in the end cap 300. Additionally, an endoscopic camera may be used in the imaging unit.

Hereinafter, an example in which a multi-joint bending device according to an embodiment of the present invention forms a bend will be described.

Figure 8 is a perspective view showing a multi-joint flexion mechanism according to an embodiment of the present invention spaced apart for each splinter connected in series, and Figures 9 to 12 show a multi-joint flexion mechanism according to an embodiment of the present invention flexing. This is an operation diagram showing an example of formation.

Hereinafter, for convenience of explanation, the plurality of arms 100 will be defined as the first arm 100a, the second arm 100b, the third arm 100c, and the fourth arm 100d. Specifically, based on FIG. 8, the distal end of the first arm 100a is pivotably coupled to the upper left side of the end cap 300, and the distal end of the second arm 100b is pivotably coupled to the upper right side of the end cap. The front end of the third arm 100c is pivotably coupled to the lower right side of the end cap 300, and the front end of the fourth arm 100d is pivotable to the lower left side of the end cap 300. Let's define it as possibly combined. In addition, the plurality of driving units are defined as pulling or pushing the rear end of the first arm 100a to the rear end of the fourth arm 100d, respectively.

Referring to FIG. 9, when the front end of the arm 100 is bent upward, the control unit tensions the rear end of the first arm 100a and the rear end of the second arm 100b and adjusts the rear end of the third arm 100c. A plurality of driving units can be controlled so that the end and the rear end of the fourth arm 100d are pushed.

Referring to FIG. 10, when the front end of the arm 100 is bent downward, the control unit pushes the rear end of the first arm 100a and the rear end of the second arm 100b and pushes the rear end of the third arm 100c. A plurality of driving units can be controlled so that the end and the rear end of the fourth arm 100d are tensioned.

Referring to FIG. 11, when the distal end of the arm 100 is bent to the left, the control unit tensions the rear end of the first arm 100a and the rear end of the fourth arm 100d, and stretches the rear end of the second arm 100b and the fourth arm 100d. A plurality of driving units can be controlled so that the rear end of the three arms 100c is pushed.

Referring to FIG. 12, when the front end of the arm 100 is bent to the right, the control unit pushes the rear end of the first arm 100a and the rear end of the fourth arm 100d and pushes the rear end of the second arm 100b and the fourth arm 100d. A plurality of driving units can be controlled so that the rear end of the three arms 100c is tensioned.

According to the present invention, the multi-joint flexion device according to an embodiment of the present invention includes a splinter 115 in which a plurality of segments 110 connected in series to form an arm 100 of a certain length are divided into a plurality along the circumference. It is formed by providing a joint 120 and a joint groove 130 on the mutually opposing surfaces of the adjacent segments 110 to pivotably couple the adjacent segments 110 to form an arm without using a separate wire. It can be steered and bent in various ways to achieve various bending movements, can be stored compactly, and damaged parts can be easily replaced.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

Claims

An arm having a plurality of segments connected in series, including a plurality of split splinters along the circumference;

a joint protruding from each splinter of one of a pair of adjacent segments toward each of the splinters of the other segment; and

A multi-joint flexion mechanism comprising a joint groove recessed in each of the splinters of another segment of the pair of adjacent segments to pivotably engage the joint.
According to paragraph 1,

a first magnetic member provided on one of the pair of splinters adjacent to form the segment; and

A multi-joint joint further comprising a second magnetic member having a polarity different from that of the first magnetic member, provided on the other splinter of the pair of adjacent splinters to form the segment, and magnetically coupled to the first magnetic member. Bending mechanism.
According to paragraph 1,

A plurality of the splinters are disposed along the perimeter of the segment to form a passageway within the segment.
According to paragraph 1,

The arm is connected to a plurality of the segments of equal diameter.
According to paragraph 4,

The arm is connected by a plurality of the segments of the same length or by a combination of a plurality of the segments of different lengths.
According to paragraph 2,

a plurality of driving units that respectively steer the plurality of arms; and

Further comprising a control unit that controls a plurality of the driving units,

The multi-joint flexion mechanism wherein the control unit controls the plurality of driving units so that some of the plurality of arms are tensioned and other parts are pushed.
According to paragraph 3,

A multi-joint flexion device to which the splinters located at the distal ends of the plurality of arms are coupled and further includes an end cap on which an imaging unit is provided.