WO2024135977A1

WO2024135977A1 - Semi-autonomous laparoscopic device using ict

Info

Publication number: WO2024135977A1
Application number: PCT/KR2023/010951
Authority: WO
Inventors: 문진희; 강신원; 김재혁; 박광진; 서주환; 이미소; 조문환
Original assignee: 주식회사 밀알
Priority date: 2022-12-22
Filing date: 2023-07-27
Publication date: 2024-06-27

Abstract

The present invention relates to a semi-autonomous laparoscopic device using ICT, and the purpose of the present invention is to provide a laparoscopic device which comprises: a wire fixing member which can be moved forward and backward by receiving a control signal transmitted from a control module; a plurality of wires each of which is connected at one end thereof to the wire fixing member and is connected at the other end thereof to an image capture unit; a connection fixing unit which is fixed in a clip form to a patient's abdomen; a cover unit which accommodates an optical module; and a wearable device which can remotely control operations of the wire fixing member, whereby not only an operator's convenience can be increased and a patient's pain can be minimized, but also quick recovery can be achieved.

Description

Semi-autonomous laparoscopic device using ICT

The present invention relates to a semi-autonomous laparoscopic device using ICT, and more specifically, to enable forward and backward movement, angle adjustment, and rotation of the optical module within the laparoscope by remotely operating the driving unit through a wearable device worn on the operator's body, thereby allowing the operator to It is possible to change the position or imaging angle of the optical module according to the intention, or to remove blood, body fluid, tissue, or impurities located on the front of the optical module, and the driving part is provided outside the human body rather than a laparoscope that enters the human body, so it can be used to enter the human body. By minimizing the size of the laparoscope to be entered, the resection for laparoscopic insertion is minimized, enabling rapid recovery of the patient, and the location of the optical module during laparoscopic surgery can be adjusted through the joint fixation part that can be fixed in the form of a clip to the patient's abdomen. It minimizes the patient's pain that may occur during adjustment, and the operator does not need to exert effort to fix the position of the optical module, resulting in high convenience for the operator. Furthermore, an artificial intelligence algorithm operates at the operator's request. This relates to a semi-autonomous laparoscopic device using ICT that can learn the progress and stages of laparoscopic surgery through modules and operate the driving unit based on the acquired information.

In general, laparoscopic surgery refers to drilling a hole with a diameter of 1cm to 2cm (up to 4cm for a single hole) in the navel area of the human body to minimize surgical scars, inserting a laparoscope to take intra-abdominal images, and then inserting a laparoscope to take intra-abdominal images. It refers to a method of operating on an organ.

Recently, laparoscopic surgery has developed to the point where it can replace open surgery, and laparoscopic surgery has the advantage of reducing the risks and stress associated with open surgery and shortening the recovery period after surgery.

At this time, the laparoscopic device used by the doctor is equipped with an optical module inside to acquire images of the inside of the abdominal cavity, and the images acquired through the optical module are transmitted and output wirelessly or wired to the monitor, so that the doctor can see the images output on the monitor. Surgery can now be performed based on images.

Such laparoscopic surgery can relatively reduce changes in the patient's metabolic process that occur after surgery, thereby helping to shorten the patient's recovery period. Therefore, by applying minimally invasive surgery, the patient's hospitalization period after surgery is shortened, and the pain felt by the patient can be reduced through minimally invasive surgery, while also reducing scars left on the patient after surgery.

However, conventional laparoscopic surgical tools are connected to a hard and long frame, which not only has the disadvantage of making it difficult to perform the delicate movements required for surgery. In addition, by inserting the optical module into the abdominal cavity and pulling it like a lever, the optical module pushes against the inner wall of the abdomen and rises. A view looking down from above (cobra view or sky view) must be taken, which causes discomfort to the patient by irritating the patient's abdominal wall, and the operator must continue to apply force, so the operator must exert a lot of force during long-term surgery. A problem occurred.

In addition, the angle adjustment of the optical module is impossible or complicated, making access to the surgical site difficult and operation difficult, and blood, body fluids, tissues, or impurities generated during laparoscopic surgery are located in the lens of the optical module, prolonging the surgery time and ensuring accurate operation. There was a problem that made the procedure difficult.

Meanwhile, during laparoscopic surgery, the operator often does not have both hands free, so an assistant is needed to control the laparoscopic device according to the operator's requests. However, it is difficult for the assistant to immediately respond to the manipulation desired by the operator.

Therefore, there is a need for a laparoscopic device utilizing ICT that remotely controls the laparoscopic device through the operator's motion or voice, or semi-autonomously controls the position and angle of the optical module and cleans the optical module through an artificial intelligence algorithm module. This is the situation.

Here, ICT (Information & Communication Technology) is a compound word of Information Technology (IT) and Communication Technology (CT), which refers to the hardware of information devices and the software technologies required to operate and manage information. It refers to all methods of collecting, producing, processing, preserving, transmitting, and utilizing information.

Meanwhile, as a related conventional patent document, Republic of Korea Patent No. 10-1652417 (name: Laparoscopic device) includes a laparoscopic housing forming an optical path inside, a lens mounted on the distal end of the housing, and an upper part of the lens. A technology for a laparoscopic device including an installed heating unit, a lens cap mounted to surround the lens, and a conductive wire for connecting the heating unit to a power source is disclosed.

However, in the above patent document, the surgical time can be shortened by securing the field of view for laparoscopic surgery by vaporizing moisture, body fluids, etc. that may be generated or attached to the surface of the laparoscopic lens, or preventing fogging, etc., but the optical module is physically The characteristic configurations related to the cleaning configuration, the configuration for adjusting the imaging angle of the optical module, and the technology for remotely controlling the laparoscopic device are not disclosed at all, making it impossible to solve the problems of the prior art.

Here, as another related conventional patent document, Republic of Korea Patent No. 10-1447266 (name: Laparoscopic surgical device), a first joint and a second joint that can be bent are formed on both sides of the middle portion, and the first joint is A case that is bent at a predetermined angle and in which the second joint is bent in the same direction as the first joint is bent back and forth; a gripping portion rotatably coupled to the extended end of the first joint portion of the case, and having the first gripping portion and the second gripping portion having a scissor structure; A grip portion in which a second joint portion of the case is rotatably coupled to an extended end, and a first grip and a second grip for holding or cutting the surgical site within the abdominal cavity are coupled in a scissors structure; a first wire that connects the first gripping portion of the gripping portion and the first grip to allow the first grip to move in the same direction as the first gripping portion moves; A connection part that connects the grip part and the grip part to each other, so that the grip part rotates in the same direction as the grip part is rotated; As the operator grasps the grip part and moves it back and forth or rotates it, the grip part moves in the same direction. By being rotated, the grip part moves in the same direction as the operator's movement, making it easier to operate, enabling intuitive operation. Not only is it easy for beginners to use, but a technology has been launched that allows laparoscopic surgery to be performed safely without medical accidents. It is done.

However, in the case of the prior patent, a comfortable treatment environment can be provided to the operator through a bendable case, but the optical module can be moved forward and backward, angle adjusted, and rotated, so the position or imaging angle of the optical module can be changed to suit the operator's intention. or to remove blood, body fluids, tissues or impurities located on the front of the optical module, and to learn the progress and stages of laparoscopic surgery through an artificial intelligence algorithm module that operates at the request of the operator, and to share the acquired information. Since there is no disclosure at all about a configuration that can operate the driving unit based on the above, the conventional problems cannot be solved.

Therefore, by remotely operating the driving unit through a wearable device worn on the operator's body, it is possible to move forward and backward, adjust the angle, and rotate the optical module within the laparoscope, thereby changing the position or imaging angle of the optical module or adjusting the optical module to suit the operator's intention. Blood, body fluids, tissues, or impurities located on the front of the device can be removed, and the driving part is provided outside the human body rather than a laparoscope that goes inside the human body, thereby minimizing the size of the laparoscope that enters the human body and consequently minimizing the resection for laparoscopic insertion. This enables a quick recovery for the patient, minimizes the patient's pain that may occur when adjusting the position of the optical module during laparoscopic surgery through a connection fixer that can be fixed to the patient's abdomen in the form of a clip, and allows the operator to control the optical module. There is no need to exert effort to fix the position, resulting in high convenience for the operator. Furthermore, the progress and stages of laparoscopic surgery are learned and learned through an artificial intelligence algorithm module that operates at the operator's request. There is a need for a semi-autonomous laparoscopic device using ICT that can operate the driving unit based on the information provided.

[Prior art literature]

[Patent Document]

(Patent Document 1) Korean Patent No. 10-1652417 (Title of invention: Laparoscopic device)

(Patent Document 2) Korean Patent No. 10-1447266 (Title of invention: Laparoscopic surgical device)

The present invention was created to solve the above-mentioned problems, and the purpose of the present invention is to enable forward and backward movement, angle adjustment, and rotation of the optical module within the laparoscope by remotely operating the driving unit through a wearable device worn on the operator's body. The aim is to provide a semi-autonomous laparoscopic device using ICT that changes the position or imaging angle of the optical module according to the operator's intention or removes blood, body fluid, tissue, or impurities located on the front of the optical module.

Another object of the present invention is to minimize the size of the laparoscope entering the human body by installing the driving part outside the human body rather than the laparoscope entering the human body, and as a result, to minimize the resection for laparoscopic insertion, thereby enabling rapid recovery of the patient. The aim is to provide a semi-autonomous laparoscopic device using.

Another object of the present invention is to minimize the patient's pain that may occur when adjusting the position of the optical module during laparoscopic surgery through a connection fixer that can be fixed to the patient's abdomen in the form of a clip, and to allow the operator to control the position of the optical module. The goal is to provide a semi-autonomous laparoscopic device using ICT that provides high convenience to the operator as there is no need to exert force to fix it.

Another purpose of the present invention is a semi-autonomous laparoscopic device using ICT that learns the progress and stage of laparoscopic surgery through an artificial intelligence algorithm module operated at the request of the operator and operates the driving unit based on the acquired information. It is about providing.

A semi-autonomous laparoscopic device using ICT related to an example of the present invention for realizing the above-described problem first includes an internal memory, a communication module 110 capable of wired or wireless communication with an external device, and controls the operation of the laparoscopic device. A control module 120 that receives a control signal from the control module 120 and a wire fixing member 130 that can move forward and backward, one end of which is connected to the wire fixing member 130, and the other end of the wire fixing member 130. A plurality of wires 140 that are connected to the imaging unit 300 and enable the wire fixing member 130 to move forward and backward, resulting in the imaging unit 300 moving forward and backward, and a casing for the wires 140. It includes a driving unit 100 including a guide spring 150.

Here, one end is connected to the driving unit 100, and a receiving space for accommodating the wire 140 is provided inside, and can be fixed to the patient's abdomen in the form of a clip through a C- or U-shaped shape. It includes a connection fixing part (200).

In addition, an optical module 310 connected to the other end of the connection fixing unit 200 to photograph the affected area, and an image transmission module 340 for transmitting information captured from the optical module 310 to the driving unit 100. It includes; the photographing unit 300 including a.

Here, a cover part 400 coupled to the end of the photographing unit 300 to accommodate the optical module 310 therein; and connected to the driving unit 100 by wire or wirelessly to capture the photographing unit ( A screen providing unit 500 that displays images captured through 300); and a wearable device 600 connected to the driving unit 100 by wire or wirelessly to remotely control the operation of the wire fixing member 130.

At this time, the wearable device 600 includes a motion detection module 610 that is worn on a part of the operator's body to detect the operator's movement, and the operator's motion information transmitted from the motion detection module 610 to the wire fixing member 130. ) a signal conversion module 620 that converts the control signal into a control signal for operating the signal, a signal transmission module 630 that transfers the control signal converted from the signal conversion module 620 to the control module 120, and the signal It is provided with a switch module 640 that turns on/off the operation of the transmission module 630.

Meanwhile, the wire 140 includes a plurality of first plurality of firsts that are spaced apart from each other by a certain angle in the radial direction of the center of the circle of the optical module 310 and are combined to adjust the forward and backward movement and the shooting angle of the optical module 310. It is provided with a wire 141 and a second wire 142 coupled to the center of the circle of the optical module 310 to enable forward and backward movement and rotation of the optical module 310.

Therefore, when both the first wire 141 and the second wire 142 are moved forward and backward, the optical module 310 moves forward and backward, and any one or more of the plurality of first wires 141 When moving the first wire 141 back and forth, the angle of the optical module 310 is adjusted by pushing or pulling one side off the center of the circle of the optical module 310, and the second wire ( When rotating 142), the optical module 310 is rotated to remove blood, body fluid, tissue, or impurities located on the front of the optical module 310.

Here, the wire fixing member 130 includes a plurality of first wire fixing members 131 respectively coupled to the plurality of first wires 141 and a second wire fixing member coupled to the second wire 142 ( 132), wherein the first wire fixing member 131 and the second wire fixing member 132 are moved forward and backward inside the driving unit 100 so that they can move forward and backward by the operation of the control module 120. It is coupled so as to slide, and the second wire fixing member 132 is further provided with a rotation module for rotating the second wire 142.

Here, the photographing unit 300 is connected to a coupling member 320, one end of which is connected to the connection fixing part 200, and the other end of the coupling member 320, so that the angle of the optical module 310 is It includes a multi-joint member 330 that can easily respond to the positional movement of the optical module 310 that may occur when adjusted, and the multi-joint member 330 is formed by combining a plurality of overlapping links 331. is formed, and the overlapping link 331 is further provided with a plurality of through holes through which the plurality of first wires 141 can respectively pass, so that the optical module 310 is moved forward and backward through the forward and backward movement of the first wire 141. When the angle of ) is adjusted, the optical module 310 and the plurality of overlapping links 331 move together, thereby corresponding to the positional movement of the optical module 310 through the multi-joint member 330. It is done.

Here, the end of the cover portion 400 is composed of a plurality of radial covers 410 made of elastic material and an open space not covered by the plurality of radial covers 410, and at the center of the radial cover 410 is the The optical module 310 can acquire an image, and according to the operation of the control module 120, the optical lens surface of the front of the optical module 310 penetrates the outside of the plurality of radial covers 410. It is provided with a sealing cap hole 420 that allows it to exit or re-enter the inside of the radial cover 410.

In addition, at the rear of the radial cover 410, the optical module 310 is moved forward through the first wire 141 and the second wire 142 to form an optical lens, which is the front of the optical module 310. The surface is brought into contact with the back of the plurality of radial covers 410, and then the optical module 310 is rotated through the second wire 142, so that the optical module is in contact with the back of the radial cover 410. A friction pad for cleaning the optical lens surface, which is the front of 310, is further provided.

Meanwhile, the driving unit 100 acquires information about the current progress or stage of laparoscopic surgery based on the image information received from the imaging unit 300 or the operator's voice information, and the driving unit 100 An artificial intelligence algorithm that operates the wire fixing member 130 based on information acquired when setting the control module 120 to a semi-autonomous mode, resulting in forward and backward movement, angle adjustment, and rotation of the optical module 310. More modules are provided.

On the other hand, the driving part 100 is further provided with a fixing part 700 fixed to the surgical bed so that the driving part 100 can be fixed in the air, and the fixing part 700 is attached to the driving part 100. It is provided with a connection frame 710 to which one end is coupled, and a fixing member 720 to be coupled to the other end of the connection frame 710 and fixed to the surgical bed.

According to the semi-autonomous laparoscopic device using ICT according to the present invention,

First, by remotely operating the driving unit through a wearable device worn on the operator's body, it is possible to move forward and backward, adjust the angle, and rotate the optical module within the laparoscope, thereby changing the position or imaging angle of the optical module or adjusting the optical module to suit the operator's intention. It can remove blood, body fluids, tissue, or impurities located on the front side of the device.

Second, since the driving part is provided outside the human body rather than the laparoscope entering inside the human body, the size of the laparoscope entering inside the human body is minimized and consequently the resection for laparoscopic insertion is minimized, enabling rapid recovery of the patient.

Third, the patient's pain that may occur when adjusting the position of the optical module during laparoscopic surgery is minimized through a connection fixer that can be fixed to the patient's abdomen in the form of a clip, and the operator uses force to fix the position of the optical module. As there is no need to use it, it provides high convenience to the operator.

Fourth, the progress and stages of laparoscopic surgery are learned through an artificial intelligence algorithm module that operates and learns at the request of the operator, and operates the driving unit based on the acquired information to move the front and back of the optical module without the operator's operation. It can be moved, angle adjusted and rotated.

Meanwhile, the effects that can be obtained from 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. You will be able to.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.

Figure 1 is a diagram showing the configuration of a driving unit of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figure 2 is a diagram showing the connection and fixing part of the semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention being fixed to the patient's abdomen.

Figure 3 is a diagram showing the configuration of an imaging unit of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figure 4 is a diagram showing the configuration of a screen providing unit of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figure 5 is a diagram showing the configuration of a wearable device of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figures 6 and 7 are diagrams showing the wire configuration of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figure 8 is a diagram showing the configuration of a wire fixing member of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

9 to 12 are diagrams showing the configuration of a multi-joint member of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figures 13 and 14 are diagrams showing the configuration of a radial cover of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Figure 15 is a diagram showing the configuration of a fixing part of a semi-autonomous laparoscopic device using ICT according to a preferred embodiment of the present invention.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed in this specification are merely illustrative for the purpose of explaining the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention are It may be implemented in various forms and is not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention can make various changes and have various forms, the embodiments will be illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all changes, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Accordingly, the present invention relates to a semi-autonomous laparoscopic device using ICT, and more specifically, to a semi-autonomous laparoscopic device using ICT, and more specifically, to operate the driving unit remotely through a wearable device worn on the operator's body to move the front and back of the optical module in the laparoscope. Movement, angle adjustment, and rotation are possible to change the position or imaging angle of the optical module according to the operator's intention, or to remove blood, body fluid, tissue, or impurities located on the front of the optical module, and the laparoscope with the driving part entering the inside of the human body. Instead, by being provided outside the human body, it minimizes the size of the laparoscope entering the human body and consequently minimizes the resection for laparoscopic insertion, enabling a quick recovery for the patient. It also has a connection fixing part that can be fixed to the patient's abdomen in the form of a clip. Through this, the patient's pain that may occur when adjusting the position of the optical module during laparoscopic surgery is minimized, and the operator does not need to exert additional effort to fix the position of the optical module, resulting in high convenience for the operator. , a drawing of a semi-autonomous laparoscopic device using ICT that can learn the progress and stages of laparoscopic surgery through an artificial intelligence algorithm module that operates at the request of the operator and operate the driving unit based on the acquired information. It will be explained below for reference.

First, as shown in FIG. 1, an internal memory, a communication module 110 capable of wired or wireless communication with an external device, a control module 120 that controls the operation of the laparoscopic device, and A wire fixing member 130 capable of receiving a control signal and moving forward and backward, one end of which is connected to the wire fixing member 130, and the other end connected to the imaging unit 300, so that the wire fixing member 130 It includes a driving unit 100 including a plurality of wires 140 capable of moving the imaging unit 300 forward and backward by moving forward and backward, and a guide spring 150 casing the wire 140. .

At this time, the guide spring 150 may casing all of the plurality of wires 140, or, if necessary, casing only some of the wires 140 among the plurality of wires 140.

Here, the guide spring 150 may casing the wire 140 partially, rather than entirely, from one end to the other end. When the plurality of wires 140 rotate or move forward and backward through the guide spring 150, the wires 140 can be easily guided, and are located in the inner space of the multi-joint member 330, which will be described later, to form a multi-joint member. When 330 operates, the bearing capacity of the multi-joint member 330 can be improved.

At this time, as shown in FIG. 2, one end is connected to the driving unit 100, and a receiving space for accommodating the wire 140 is provided inside, and is attached to the patient's abdomen through a C- or U-shape. It includes a connection fixing part 200 that can be fixed in the form of a clip.

Through the connection fixing part, the patient's pain that may occur when adjusting the position of the optical module during laparoscopic surgery is minimized, and the operator (doctor) does not need to exert effort to fix the position of the optical module, resulting in a high level of safety for the operator. It provides convenience. At this time, it is preferable that the connection fixing part is provided with a hinge or an elastic body.

Meanwhile, due to the nature of the connection fixing part, which is provided in a C- or U-shape as shown in FIG. 2, the direction of the arrow in the first direction 10 should be viewed forward.

In addition, as shown in FIG. 3, an optical module 310 is connected to the other end of the connection fixing unit 200 to photograph the affected area, and information captured from the optical module 310 is transmitted to the driving unit 100. It includes the photographing unit 300, which includes an image transmission module 340, and a cover part 400 that is coupled to the end of the imaging unit 300 to accommodate the optical module 310 therein. .

At this time, the optical module 310, especially the optical lens surface, must not have foreign substances on the surface in order to provide a clear image, so it can be formed as an inclined or hemispherical fisheye lens.

Meanwhile, as shown in FIG. 4, it includes a screen providing unit 500 that is connected to the driving unit 100 by wire or wirelessly and displays an image captured through the photographing unit 300.

Here, as shown in FIG. 5, it includes a wearable device 600 connected to the driving unit 100 by wire or wirelessly to remotely manipulate the operation of the wire fixing member 130.

At this time, the wearable device 600 includes a motion detection module 610 that is worn on a part of the operator's body to detect the operator's movement, and the operator's motion information transmitted from the motion detection module 610 to the wire fixing member 130. ) a signal conversion module 620 that converts the control signal into a control signal for operating the signal, a signal transmission module 630 that transfers the control signal converted from the signal conversion module 620 to the control module 120, and the signal It is preferably provided with a switch module 640 that turns on/off the operation of the transmission module 630.

For example, the wearable device may be a hair band-type device worn on the operator's head, and the switch module may be provided as a clutch pedal. At this time, when the operator looks to the left, the wire fixing member is moved forward so that the optical module moves forward, and when the operator looks to the right, the wire fixing member is moved backward so that the optical module moves backward, or when the operator looks up. As you can see, the rotation module provided on the wire fixing member operates to rotate the optical module.

Meanwhile, the wearable device may be provided in various types of wearable devices, such as a type worn on the operator's wrist or a type worn on the head, and the switch module may be provided as various types of switches rather than a clutch pedal type switch. You can.

This remote operation is preferably used by converting to a remote control mode by operating the clutch pedal once, or is provided so that remote control is possible only when the clutch pedal is depressed.

Meanwhile, as shown in FIG. 6, the wires 140 are spaced apart from each other by a certain angle in the radial direction of the center of the circle of the optical module 310 to adjust the forward and backward movement and shooting angle of the optical module 310. It is provided with a plurality of first wires 141 that are coupled together, and a second wire 142 that is coupled to the center of the circle of the optical module 310 to enable forward and backward movement and rotation of the optical module 310. desirable.

That is, when both the first wire 141 and the second wire 142 are moved forward and backward as shown in (a) of FIG. 6, the optical module 310 moves forward and backward, and the plurality of When moving one or more of the first wires 141 back and forth, one side that is off-center of the circle of the optical module 310 is pushed or pulled, resulting in the optical module 310 When the angle is adjusted and the second wire 142 is rotated as shown in (b) of FIG. 6, the optical module 310 is rotated to remove the blood located on the front of the optical module 310. , to remove body fluids, tissue, or impurities.

Here, as shown in FIG. 7, the optical module 310 may be provided with a module body 311 capable of capturing images and a module casing 312 that surrounds the outer peripheral surface of the module body 311. At this time, the module body 311 and the module casing 312 may be spaced apart from each other at a predetermined interval that does not affect the imaging angle of the module body 311.

At this time, it is preferable that the second wire 142 is coupled to the module body 311 and the first wire 141 is coupled to the module casing 312. That is, when the second wire 142 rotates to clean the optical module 310, only the module body 311 can rotate, thereby preventing twisting of the first wire 141. .

Here, as shown in FIG. 8, the wire fixing member 130 includes a plurality of first wire fixing members 131 each coupled to the plurality of first wires 141, and the second wire 142. It is provided with a second wire fixing member 132 coupled with, wherein the first wire fixing member 131 and the second wire fixing member 132 are moved forward and backward by the operation of the control module 120. It is coupled so that it can slide back and forth inside the driving unit 100, and the second wire fixing member 132 is further provided with a rotation module for rotating the second wire 142. At this time, it is preferable that the driving unit 100 is provided with a motor for operating the wire fixing member 130.

Meanwhile, as shown in FIGS. 9 to 12, the photographing unit 300 is connected to a coupling member 320 whose one end is connected to the connection fixing part 200, and to the other end of the coupling member 320. It includes a multi-joint member 330 that can easily respond to the positional movement of the optical module 310 that may occur when the angle of the optical module 310 is adjusted, and as shown in FIG. 11, the multi-joint member 330 is formed by combining a plurality of overlapping links 331, and the overlapping link 331 is further provided with a plurality of through holes through which the plurality of first wires 141 can each pass.

That is, when the angle of the optical module 310 is adjusted through the forward and backward movement of the first wire 141, the optical module 310 and the plurality of overlapping links 331 move together, resulting in the It is possible to respond to the positional movement of the optical module 310 through the multi-joint member 330.

At this time, the multi-joint member 330 can not only respond to angle adjustment of the optical module 310 according to the forward and backward movement of the first wire 141, but also rotates as the second wire 142 rotates. It is also possible to respond to movement of the optical module 310.

Meanwhile, the second wire 142 is coupled to the module body 311, and the first wire 141 is coupled to the module casing 312, and the second wire 142 rotates. When cleaning the optical module 310, only the module body 311 rotates, so the multi-joint member 330 is fixed.

On the other hand, as shown in FIGS. 13 and 14, the end of the cover portion 400 is composed of a plurality of radial covers 410 made of elastic material and an open space not covered by the plurality of radial covers 410, At the center of the radial cover 410, an optical module 310 can acquire an image, and according to the operation of the control module 120, the optical lens surface, which is the front of the optical module 310, is divided into the plurality of It is desirable to provide a sealing cap hole 420 that allows the device to pass through the outside of the radial cover 410 or re-enter the inside of the radial cover 410.

At this time, when the optical lens surface, which is the front of the optical module 310, penetrates the outside of the plurality of radial covers 410, the surface of the optical lens surface is in contact with the plurality of radial covers 410 and is cleaned. Effects can be expected.

At this time, the optical module 310 is moved forward through the first wire 141 and the second wire 142 on the rear side of the radial cover 410 to form an optical lens, which is the front of the optical module 310. The surface is brought into contact with the back of the plurality of radial covers 410, and then the optical module 310 is rotated through the second wire 142, so that the optical module is in contact with the back of the radial cover 410. It is preferable that a friction pad for cleaning the optical lens surface, which is the front of 310, is further provided.

At this time, the friction pad may be provided with a cleaning coating so that the inside of the friction pad has hydrophobic characteristics and the outside has hydrophilic characteristics. At this time, the hydrophilic characteristic film layer and the hydrophobic characteristic film layer may be formed by alternately arranging them in the longitudinal direction.

Here, the hydrophilic film layer and the hydrophobic film layer may each be arranged to form a predetermined pattern. For example, the hydrophilic film layer and the hydrophobic film layer may be arranged in a grid pattern or may be arranged to overlap each other at different angles.

Meanwhile, the driving unit 100 acquires information about the current progress or stage of laparoscopic surgery based on the image information received from the imaging unit 300 or the operator's voice information, and the driving unit 100 An artificial intelligence algorithm that operates the wire fixing member 130 based on information acquired when setting the control module 120 to a semi-autonomous mode, resulting in forward and backward movement, angle adjustment, and rotation of the optical module 310. It is possible for more modules to be provided.

That is, when the operator sets the driving unit to semi-autonomous mode, the artificial intelligence algorithm module can operate the wire fixing member 130 through image information received from the imaging unit 300 or the operator's voice information.

For example, when set to semi-autonomous mode, the artificial intelligence algorithm module determines that the lens surface of the current optical module needs to be cleaned through the image information received from the photographing unit 300, and the wire fixing member 130 ) to allow the optical module to rotate.

For another example, the artificial intelligence algorithm module may be further equipped with a voice recognition module to recognize the operator's voice command. At this time, when the operator says “lens cleaning,” the wire fixing member 130 is operated to allow the optical module to rotate, and when the operator says “forward cleaning,” the wire fixing member 130 is operated to rotate the optical module. It is desirable for the module to be able to rotate while in contact with the friction pad.

For another example, in the laparoscopic surgery stage, if it is right before the resection stage that is judged to be of high importance, the wire fixing member 130 is operated to provide a high-resolution image to the operator before the ablation stage. By rotating the module, it is possible to clean the lens surface of the optical module in advance before the ablation procedure.

As shown in Figure 15, the driving unit 100 is further provided with a fixing part 700 that is fixed to the surgical bed so that the driving part 100 can be fixed in the air, and the fixing part 700 is the driving part ( It is preferably provided with a connection frame 710, one end of which is coupled to 100, and a fixing member 720, which is coupled to the other end of the connection frame 710 and is fixed to the surgical bed. The length of the connection frame can be adjusted through the operator's manipulation, so it can be used on surgical beds of various shapes or sizes.

The present invention has been described above through a preferred embodiment, but the above-described embodiment is merely an illustrative explanation of the technical idea of the present invention, and various changes are possible without departing from the technical idea of the present invention. Anyone with ordinary knowledge will be able to understand. Therefore, the scope of protection of the present invention should be interpreted based on the matters stated in the patent claims, not the specific embodiments, and all technical ideas within the scope corresponding thereto should be interpreted as being included in the scope of rights of the present invention.

(Explanation of symbols)

100 ... driving part

110 ... communication module

120 ... control module

130 ... wire fixing member

131 ... first wire fixing member

132 ... second wire fixing member

140 ... wire

141 ... 1st wire

142 ... 2nd wire

200 ... connection fixing part

300 ... Filming Department

310 ... optical module

320 ... coupling member

330 ... multi-joint member

331 ... nested link

340 ... video transmission module

400 ... cover part

410 ... radial cover

420 ... sealing cap hole

500 ... Screen provision department

600 ... wearable device

700 ... fixed part

710 ... connection frame

720 ... fixing member

This study was conducted with support from the Chungcheongbuk-do Advanced Medical Technology Value Creation Project, which is implemented by the Osong Advanced Medical Industry Promotion Foundation with contributions from Chungcheongbuk-do and Cheongju City.

Claims

An internal memory, a communication module 110 capable of wired or wireless communication with an external device, a control module 120 that controls the operation of the laparoscopic device, and a device that receives control signals from the control module 120 and moves forward and backward. A wire fixing member 130 that can be used, one end of which is connected to the wire fixing member 130, and the other end of which is connected to the imaging unit 300, so that the wire fixing member 130 moves forward and backward, resulting in the imaging. A driving unit 100 including a plurality of wires 140 capable of moving the unit 300 forward and backward, and a guide spring 150 casing the wires 140;

A connector that has one end connected to the driving unit 100, has a receiving space inside to accommodate the wire 140, and can be fixed to the patient's abdomen in the form of a clip through a C- or U-shaped shape. Government (200);

It includes an optical module 310 connected to the other end of the connection fixing unit 200 to photograph the affected area, and an image transmission module 340 that transmits information captured from the optical module 310 to the driving unit 100. The photographing unit 300;

A cover part 400 coupled to the end of the photographing part 300 to accommodate the optical module 310 therein;

a screen providing unit 500 that is connected to the driving unit 100 by wire or wirelessly and displays an image captured through the photographing unit 300; and

A wearable device 600 connected to the drive unit 100 by wire or wirelessly to remotely control the operation of the wire fixing member 130.

Semi-autonomous laparoscopic device using ICT.
According to claim 1,

The wearable device 600,

A motion detection module 610 that is worn on a part of the operator's body and detects the operator's movement, and converts the operator's motion information transmitted from the motion detection module 610 into a control signal for operating the wire fixing member 130. A signal conversion module 620 that transmits the control signal converted from the signal conversion module 620 to the control module 120, and a signal transmission module 630 that turns on the operation of the signal transmission module 630. Characterized in that it is provided with a switch module 640 for /OFF,

Semi-autonomous laparoscopic device using ICT.
According to claim 2,

The wire 140 is,

a plurality of first wires 141 that are coupled and spaced apart from each other at a certain angle in the radial direction of the center of the circle of the optical module 310 to adjust the forward and backward movement and shooting angle of the optical module 310, and the optical It is provided with a second wire 142 coupled to the center of the circle of the optical module 310 to enable forward and backward movement and rotation of the module 310,

When both the first wire 141 and the second wire 142 are moved forward and backward, the optical module 310 moves forward and backward,

When moving one or more of the plurality of first wires 141 forward and backward, one side that is off-center of the circle of the optical module 310 is pushed or pulled, resulting in the optical module 310 The angle of (310) is adjusted,

When rotating the second wire 142, the optical module 310 is rotated to remove blood, body fluid, tissue, or impurities located on the front of the optical module 310.

Semi-autonomous laparoscopic device using ICT.
According to claim 3,

The wire fixing member 130 is,

A plurality of first wire fixing members 131 each coupled to the plurality of first wires 141,

It is provided with a second wire fixing member 132 coupled to the second wire 142,

The first wire fixing member 131 and the second wire fixing member 132,

It is coupled to slide forward and backward inside the driving unit 100 so that it can move forward and backward by the operation of the control module 120,

In the second wire fixing member 132,

Characterized in that a rotation module for rotating the second wire 142 is further provided.

Semi-autonomous laparoscopic device using ICT.
According to claim 4,

The photographing unit 300,

A coupling member 320 whose one end is connected to the connection fixing part 200,

It includes a multi-joint member 330 that is connected to the other end of the coupling member 320 and can easily respond to the positional movement of the optical module 310 that may occur when the angle of the optical module 310 is adjusted. ,

The multi-joint member 330 is,

Formed through the combination of a plurality of overlapping links 331,

In the overlapping link 331,

A plurality of through holes through which the plurality of first wires 141 can each pass are further provided, and when the angle of the optical module 310 is adjusted through forward and backward movement of the first wire 141, the optical Characterized in that the module 310 and the plurality of overlapping links 331 move together, consequently corresponding to the positional movement of the optical module 310 through the multi-joint member 330.

Semi-autonomous laparoscopic device using ICT.
According to claim 5,

The end of the cover part 400 is,

It consists of a plurality of radial covers 410 made of elastic material and an open space not covered by the plurality of radial covers 410,

At the center of the radial cover 410,

In between, the optical module 310 can acquire an image, and according to the operation of the control module 120, the optical lens surface, which is the front of the optical module 310, penetrates the outside of the plurality of radial covers 410. Characterized in that it is provided with a sealing cap hole 420 that allows the user to exit or re-enter the interior of the radial cover 410.

Semi-autonomous laparoscopic device using ICT.
According to claim 6,

At the rear of the radial cover 410,

The optical module 310 is moved forward through the first wire 141 and the second wire 142 so that the optical lens surface, which is the front of the optical module 310, is aligned with the plurality of radial covers 410. Make contact with the rear,

Then, the optical module 310 is rotated through the second wire 142 to form a friction pad that cleans the optical lens surface of the front of the optical module 310 in contact with the rear of the radial cover 410. Characterized by being provided,

Semi-autonomous laparoscopic device using ICT.
According to claim 7,

In the driving unit 100,

Information on the current progress or stage of laparoscopic surgery is acquired based on the image information received from the imaging unit 300 or the operator's voice information, and the driving unit 100 semi-autonomously operates the control module 120. When set to the mode, an artificial intelligence algorithm module is further provided that operates the wire fixing member 130 based on the information acquired, resulting in forward and backward movement, angle adjustment, and rotation of the optical module 310. doing,

Semi-autonomous laparoscopic device using ICT.
According to claim 8,

In the driving unit 100,

A fixing part 700 fixed to the surgical bed is further provided so that the driving part 100 can be fixed in the air,

The fixing part 700 is,

A connection frame 710, one end of which is coupled to the driving unit 100,

Characterized in that it is provided with a fixing member 720 that is coupled to the other end of the connecting frame 710 and fixed to the surgical bed.

Semi-autonomous laparoscopic device using ICT.