WO2024150945A1 - Appareil de fixation d'articulation pour bras artificiel - Google Patents

Appareil de fixation d'articulation pour bras artificiel Download PDF

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Publication number
WO2024150945A1
WO2024150945A1 PCT/KR2023/020659 KR2023020659W WO2024150945A1 WO 2024150945 A1 WO2024150945 A1 WO 2024150945A1 KR 2023020659 W KR2023020659 W KR 2023020659W WO 2024150945 A1 WO2024150945 A1 WO 2024150945A1
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WO
WIPO (PCT)
Prior art keywords
arm
ball
fluid
control element
pneumatic control
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PCT/KR2023/020659
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English (en)
Korean (ko)
Inventor
김정성
강여경
허연범
Original Assignee
주식회사 코렌텍
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Publication of WO2024150945A1 publication Critical patent/WO2024150945A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
    • A61B2017/00539—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated hydraulically
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
    • A61B2017/00544—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated pneumatically

Definitions

  • the present invention relates to a joint fixation device for an artificial arm, and more specifically, to a joint fixation device for an artificial arm, a first arm having an opening at one end, a ball partially accommodated in the first arm, and a joint portion having a ball pipe extending from a portion of the ball.
  • a second arm connected to the ball pipe, a pneumatic device that flows fluid into the first arm or flows fluid out from inside the first arm, is provided on the second arm and selectively allows fluid to flow into the first arm, or It includes a pneumatic control element that causes the fluid in the first arm to flow out, and the socket provided inside the first arm clamps the ball by the fluid flowing in and out of the first arm, thereby limiting the rotation of the ball.
  • the ball can rotate by releasing the clamping of the ball
  • the pneumatic device includes an inlet pipe and an outlet pipe through which fluid flows, wherein at least a portion of the inlet pipe extends inside the second arm and one end of the inlet pipe extends inside the second arm. It includes a first part in contact with one side of the pneumatic control element and a second part extending from the other side of the pneumatic control element to the inside of the first arm, wherein the pneumatic control element is not in fluid communication with the first part and the second part.
  • the surgeon operates the artificial arm by releasing the restraint on the joints of the artificial arm bound to the first arm from the side of the second arm nearby. This is about a joint fixation device for an artificial arm that allows this.
  • the artificial arm may be equipped with a manipulator, endoscope, surgical clamp, and similar instruments, and performs joint movements with a certain degree of freedom.
  • manual artificial arms Unlike automatic artificial arms that automatically perform joint movements through a control machine, manual artificial arms have been developed in which the user achieves joint movements of the artificial arm through hydraulic or pneumatic pressure.
  • An end effector that performs surgery may be provided at the end of the manual artificial arm, a retractor that assists surgery, or a retractor holder that fixes the retractor to the surgical site may be disposed.
  • a technology for controlling a ball-joint mechanism through hydraulic pressure to restrain or release joint movements of an artificial arm is disclosed in U.S. Patent Publication No. US5,104,103.
  • the joint movement of each positioning member is controlled through a hydraulic actuator.
  • hydraulic pressure must be injected by manipulating the positioning member to which the ball is restrained.
  • hydraulic pressure must be applied to the positioning member that restrains the joint through a fluid supply tube.
  • a restraining positioning member In order to apply hydraulic pressure or drive a hydraulic actuator, a restraining positioning member must be manipulated, and as a result, there are difficulties in having the surgeon leave his position or require an assistant to manipulate the positioning member (arm) that is relatively far from the surgeon. In order to improve the convenience of surgery and reduce the difficulty of operating machines in a limited surgical environment, a device that can reproduce the joint movements of the artificial arm at the distal side of the artificial arm, which is close to the surgeon, is required.
  • Patent Document 1 US Patent Publication No. US5,104,103 (April 14, 1992)
  • the present invention was devised to solve the above problems,
  • the object of the present invention is to include a first arm having an opening at one end, a joint having a ball partially accommodated in the first arm and a ball pipe extending from a portion of the ball, a second arm connected to the ball pipe, and a first arm. It includes a pneumatic device that introduces fluid into or outflows fluid from the inside of the first arm, and a socket provided inside the first arm clamps the ball by fluid flowing in and out of the first arm to rotate the ball. This is restricted or provided so that the ball can rotate by releasing the clamping of the ball so that the surgeon can operate the artificial arm by releasing the restraint on the joint of the artificial arm restrained by the first arm from the side of the second arm nearby.
  • the object is to provide a joint fixation device for an artificial arm.
  • the object of the present invention is to further include a pneumatic control element that selectively allows fluid to flow into or out of the first arm, so that the joint can be restrained and released according to the manipulation of the pneumatic control element.
  • the object is to provide a joint fixation device for an artificial arm that provides a joint fixation device for an arm.
  • the object of the present invention is that the pneumatic control element is provided in the second arm, and the pneumatic device includes an inlet pipe and an outlet pipe through which fluid flows, and at least a portion of the inlet pipe extends inside the second arm.
  • One end includes a first part in contact with one side of the pneumatic control element, and a second part extending from the other side of the pneumatic control element to the inside of the first arm, and the pneumatic control element has the first part and the second part in fluid communication.
  • the object of the present invention is that in the first state, the pneumatic control element blocks the inflow of fluid by fluidly communicating the discharge line provided on one side of the pneumatic control element with the discharge pipe on the other side of the pneumatic control element.
  • the object is to provide a joint fixation device for an artificial arm through which fluid is discharged to the outside.
  • the object of the present invention is that the pneumatic control element includes a switch having a through passage formed from one side to the other, a guide for guiding the movement of the switch, and an elastic body provided on one side in the moving direction of the switch, and the switch is a first
  • the object is to provide a joint fixation device for an artificial arm that controls the inflow and outflow of fluid with a simple operation by moving from this state into the guide and pressing the elastic body to change it to the second state.
  • the object of the present invention is that the guide is provided to fix at least a part of the inlet pipe and the outlet pipe in contact with the switch or to connect the end of the inlet pipe and the outlet pipe and the through passage, so as to stably allow fluid to flow in and out.
  • the purpose is to provide a joint fixation device for cancer.
  • the purpose of the present invention is to have at least a portion of the switch protrude outside the second arm, and the guide and the elastic body to be accommodated inside the second arm so as to control whether or not the joint is constrained by a simple operation from outside the second arm.
  • the goal is to provide a fixing device.
  • the object of the present invention is that the first arm includes a shaft that rises and falls according to the inflow and outflow of fluid, and a socket connected to the shaft to clamp or release the clamping of the ball, and the inlet pipe and the outlet pipe are connected to the first arm.
  • the object is to provide a joint fixation device for an artificial arm that extends across the joint portion and the second arm.
  • the object of the present invention is that the first arm further includes a fixing element that surrounds the shaft and is fixed inside the first arm, and a flange extending from the shaft to block the inside of the first arm and having an inlet pipe and an outlet pipe connected to one side.
  • An internal space is formed between the fixing element and the flange, and the flange has at least two through holes for fluidly communicating between the internal space and the inlet pipe and for fluidly communicating between the internal space and the outlet pipe to open the socket according to the inflow and outflow of the fluid.
  • the object is to provide a joint fixation device for an artificial arm that can be raised and lowered.
  • An object of the present invention is to provide a joint fixation device for an artificial arm that is provided with an elastic body between the socket and the fixing element, and that allows the elastic body to be compressed in a second state and restored in a first state, thereby enabling rapid recovery during joint restraint control.
  • An object of the present invention includes a first cartridge for injecting fluid through the inflow pipe and a second cartridge for flowing out fluid through the outflow pipe, and at least one of the first cartridge and the second cartridge is the first cartridge.
  • the aim is to provide a joint fixation device for an artificial arm that is placed on the arm side so that surgical instruments at the end can be easily manipulated.
  • the present invention is implemented by an embodiment having the following configuration.
  • the present invention includes a first arm having an opening at one end, a joint having a ball partially accommodated in the first arm and a ball pipe extending from a portion of the ball, and a joint portion connected to the ball pipe. It includes a pneumatic device that introduces fluid into the second arm and the first arm or causes fluid to flow out from the inside of the first arm, and a socket provided inside the first arm is operated by fluid flowing in and out of the first arm. It is characterized in that the rotation of the ball is restricted by clamping the ball, or the ball is provided to rotate by releasing the clamping of the ball.
  • the device further includes a pneumatic control element that selectively allows fluid to flow into the first arm or fluid to flow out of the first arm.
  • the pneumatic control element is provided in the second arm, and the pneumatic device includes an inlet pipe and an outlet pipe through which fluid flows, and at least a portion of the inlet pipe is connected to the second arm. It includes a first part extending inward, one end of which is in contact with one side of the pneumatic control element, and a second part extending from the other side of the pneumatic control element to the inside of the first arm, and the pneumatic control element includes the first part and the second part. It is characterized by selectively having a first state in which the parts are not in fluid communication and a second state in which the first part and the second part are in fluid communication.
  • the pneumatic control element is characterized in that in the first state, at least a portion of the discharge line provided on one side of the pneumatic control element is in fluid communication with an outlet pipe on the other side of the pneumatic control element.
  • the pneumatic control element includes a switch having a through passage formed from one side to the other side, a guide for guiding the movement of the switch, and an elastic body provided on one side in the moving direction of the switch,
  • the switch is characterized in that it moves inside the guide in the first state and switches to the second state by pressing the elastic body.
  • the guide is provided to fix at least a portion of the inlet pipe and the outlet pipe to be in contact with the switch or to connect the ends of the inlet pipe and the outlet pipe and the through passage. do.
  • At least a portion of the switch protrudes outside the second arm, and the guide and the elastic body are accommodated inside the second arm.
  • the first arm includes a shaft that rises and falls according to the inflow and outflow of fluid, a socket connected to the shaft to clamp or release the clamping of the ball, and the inlet pipe and the outlet pipe. It is characterized by extending across the first arm, the joint, and the second arm.
  • the first arm is a fixing element that surrounds the shaft and is fixed inside the first arm, extends from the shaft to block the inside of the first arm, and has an inlet pipe and an outlet pipe connected to one side. It further includes a flange, and an internal space is formed between the fixing element and the flange, and the flange has at least two or more through holes for fluidly communicating between the internal space and the inlet pipe and for fluidly communicating between the internal space and the outlet pipe. do.
  • an elastic body is provided between the socket and the fixing element, and the elastic body is compressed in a second state and restored in a first state.
  • the present invention includes a first cartridge for injecting fluid through the inlet pipe, a second cartridge for flowing out fluid through the outlet pipe, and at least one of the first cartridge and the second cartridge. is characterized in that it is disposed on the first arm side.
  • the present invention can achieve the following effects by combining the above-mentioned embodiment with the configuration, combination, and use relationship described below.
  • the present invention relates to a first arm having an opening at one end, a joint having a ball partially accommodated in the first arm and a ball pipe extending from a portion of the ball, a second arm connected to the ball pipe, and a joint into the first arm.
  • It includes a pneumatic device that introduces fluid or flows out fluid from the inside of the first arm, and a socket provided inside the first arm clamps the ball by fluid flowing in and out of the first arm, thereby causing the ball to rotate. It is provided so that the ball can rotate by releasing the clamping of the ball so that the surgeon can operate the artificial arm by releasing the restraint of the joint of the artificial arm restrained by the first arm from the side of the second arm nearby.
  • the present invention further includes a pneumatic control element that selectively allows fluid to flow into or out of the first arm, and the pneumatic control element is provided on the second arm so that the surgeon can control the fluid from the surgeon.
  • the joint constraints of the first arm can be controlled through a pneumatic control element provided on the nearby second arm.
  • a pneumatic device includes an inlet pipe and an outlet pipe through which a fluid flows, wherein the inlet pipe has at least a portion extending inside the second arm and one end of which is in contact with one side of the pneumatic control element; and a second part extending from the other side of the pneumatic control element to the inside of the first arm, wherein the pneumatic control element has a first state in which the first part and the second part are not in fluid communication and the first part and the second part.
  • the pneumatic control element blocks the inflow of fluid by fluidly communicating with the discharge line provided on one side of the pneumatic control element and the outlet pipe on the other side of the pneumatic control element, thereby blocking the fluid in the internal space. This has the effect of being discharged to the outside.
  • the pneumatic control element includes a switch having a penetrating passage formed from one side to the other side, a guide for guiding the movement of the switch, and an elastic body provided on one side in the moving direction of the switch, and the switch is in a first state. It moves inside the guide and pressurizes the elastic body to switch to the second state, thereby obtaining the effect of controlling the inflow and outflow of fluid with a simple operation.
  • the guide is provided to fix at least a portion of the inlet pipe and the outlet pipe in contact with the switch or to connect the ends of the inlet pipe and the outlet pipe and the through passage, thereby providing the effect of stably flowing in and out of fluid.
  • the switch protrudes outside the second arm, and the guide and elastic body are accommodated inside the second arm, so that the effect of controlling whether or not the joint is constrained can be obtained by simple operation from outside the second arm. .
  • the first arm includes a shaft that rises and falls according to the inflow and outflow of fluid, and a socket connected to the shaft to clamp or release the clamping of the ball, and the inlet and outlet pipes include the first arm, It has the effect of providing a joint fixation device for the artificial arm that extends across the joint and the second arm.
  • the first arm further includes a fixing element that surrounds the shaft and is fixed inside the first arm, and a flange extending from the shaft to close the inside of the first arm and having an inlet pipe and an outlet pipe connected to one side, , an internal space is formed between the fixing element and the flange, and the flange fluidly communicates the internal space and the inlet pipe, and has at least two or more through holes to fluidly communicate the internal space and the outlet pipe, thereby lifting the socket according to the inflow and outflow of the fluid. It has a downward effect.
  • an elastic body is provided between the socket and the fixing element, and the elastic body is compressed in the second state and restored in the first state, thereby enabling rapid recovery during joint restraint control.
  • the present invention includes a first cartridge for injecting fluid through the inflow pipe and a second cartridge for flowing out fluid through the outflow pipe, and at least one of the first cartridge and the second cartridge is used to control the first arm. By placing it on the side, it is convenient to operate the surgical instrument at the end.
  • FIG. 1 is a perspective view of a joint fixation device for an artificial arm according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view of the joint fixation device for the artificial arm in the first state.
  • Figure 3 is a cross-sectional view of the joint fixation device for the artificial arm in the second state.
  • Figure 4 is a cross-sectional view of a joint fixation device for an artificial arm according to another embodiment of the present invention.
  • Figure 1 is a perspective view of a joint fixation device 1 for an artificial arm according to an embodiment of the present invention.
  • the joint fixation device 1 for an artificial arm has a surgical instrument, an end effector, or a device assisting surgery at one end, and the other end may be connected to an operating table, a connection device, or another part of the artificial arm.
  • the joint fixation device 1 for an artificial arm according to an embodiment of the present invention may include a first arm 10, a joint portion 20, a second arm 30, and a pneumatic device 40.
  • a surgical instrument, an end effector, or a device to assist surgery may be provided at one end of the second arm 30, so that a surgeon can perform surgery or assist surgery through an instrument provided at one end of the second arm 30. The action can be reproduced.
  • the surgeon performs the surgery on the side of the second arm closest to the instrument, and does not manipulate the relatively distant first arm, but rather manipulates the relatively close second arm to remove the joints of the artificial arm restrained by the first arm. By releasing the restraints, the joint movements of the artificial arm can be reproduced.
  • the fluid may be a liquid such as oil or a gas such as compressed gas.
  • the first and second arms can be operated with pneumatic pressure applied through compressed gas.
  • the first arm 10 may extend in a substantially cylindrical shape, and may have a shape other than a hollow cylindrical shape.
  • the first arm 10 has an opening at one end and can accommodate and at least temporarily restrain at least a portion of the joint portion 20.
  • the pneumatic device 40 can introduce fluid into the first arm or allow fluid to flow out of the first arm, and the joint movement is restricted by the fluid flowing in and out of the first arm. It can be done.
  • the first arm 10 may include a first housing 11, a shaft 13, a socket 14, a flange 15, a fixing element 16, an elastic body 17, and an internal space 18. there is.
  • the first housing 11 forms the outer shape of the first arm 10.
  • the first housing 11 may be hollow and extend up and down to have a cylindrical shape.
  • An opening 11a is formed at the end of the first housing 11 and may have a ring shape to accommodate at least a portion of the joint 20.
  • the end of the housing 11 may be tapered with a predetermined curvature so that the end of the housing 11 does not fall off while accommodating the ball 21, which is at least partially spherical.
  • the shaft 13 extends inside the first housing 11 in the direction in which the first housing 11 extends.
  • the shaft 13 can penetrate and accommodate the inlet pipe 42 and the outlet pipe 43, which will be described later.
  • the shaft is coaxially aligned with the first housing 11 and can be raised and lowered by fluid flowing into and out of the first arm.
  • the socket 14 is connected to the shaft 13 and is provided to rise and fall together with the shaft in accordance with the inflow and outflow of fluid within the first housing 11.
  • the socket 14 restricts the rotation of the ball 21 by clamping or compressing a portion of the ball 21 accommodated inside the first arm, and as the socket 14 clamps or compresses a portion of the ball 21. Ball rotation may be restricted.
  • the socket 14 does not clamp or compress a portion of the ball, the ball rotates and the joint movement between the second arm 30 and the first arm 10 can be reproduced.
  • the socket 14 In the first state in which the socket 14 clamps or compresses a portion of the ball 21 to limit the rotation of the ball, when fluid flows in, the clamping or compression of the ball is released and the ball is converted to a second state in which the ball can rotate. And, when the fluid flows out again, the socket 14 may clamp or compress a portion of the ball 21 and return to the first state in which the rotation of the ball is restricted.
  • the flange 15 extends from one side of the shaft 13 to block the inside of the first arm, and may extend horizontally from the shaft to block the first housing 11.
  • the flange is connected to an inlet pipe 42 and an outlet pipe 43, which will be described later, on one side, allowing fluid to flow into the internal space 18 formed on the other side.
  • the flange has at least two through holes 15a.
  • the through hole 15a allows fluid communication between the internal space 18 and the inflow pipe 42, and the internal space 18 and the outflow pipe 43, which will be described later.
  • the shaft 13, socket 14, and flange 15 are integrally connected or combined and can be simultaneously raised and lowered within the first arm by hydraulic or pneumatic pressure.
  • the first pressure is applied by the pneumatic device 40 to be described later.
  • the shaft 13, socket 14, and flange 15 descend to enter the second state.
  • the shaft 13, socket 14, and flange 15 rise again and return to the first state.
  • the fixing element 16 surrounds the shaft 13 and may be provided in a fixed state inside the first arm.
  • the fixing element 16 may be connected or coupled to the first housing 11 between the socket 14 and the flange 15.
  • the fixing element 16 may be a ring having a predetermined thickness so as to surround the shaft 13 and close the first housing 11 not occupied by the shaft.
  • the fixing element 16 may be integrally coupled or connected to the first housing 11 or the first arm 10.
  • An elastic body 17 may be provided between the fixing element 16 and the socket 14.
  • the elastic body is compressed between the socket and the fixing element as the socket 14 is lowered in the second state, and is restored as the hydraulic or pneumatic pressure returns to the first state flowing out from the first arm.
  • the socket 14, shaft 13, and flange 15 can be restored smoothly and quickly due to the restoring force of the compressed elastic body 17.
  • the elastic body may be a wave washer, but other elastic bodies such as springs other than a wave washer may be used.
  • An internal space 18 may be formed between the fixing element 16 and the flange 15.
  • the internal space 18 receives fluid and allows the shaft 13 and flange 15 to function as hydraulic or pneumatic actuators depending on hydraulic or pneumatic pressure.
  • the internal space 18 may be formed by the fixing element 16, shaft 13, and flange 15 as shown in FIGS. 2 and 3.
  • the internal space 18 may be in fluid communication with the inlet pipe 42 and the outlet pipe 43 through the through hole 15a formed in the flange.
  • the joint portion 20 is configured to reproduce joint movement between the first arm 10 and the second arm 30. At least a portion of the joint portion 20 is accommodated in the first arm 10 and one end is connected to the second arm 30. connected. The joint movement of the joint portion 20 is limited by the first arm in the first state, and fluid is controlled through the pneumatic control element 32 on the second arm 30 side to enter the internal space 18 of the first arm. Joint movements can be reproduced in the second state flowing into.
  • the joint portion 20 may include a ball 21 and a ball pipe 23.
  • At least a portion of the ball 21 has a spherical shape and is accommodated in the first housing 11 of the first arm.
  • the ball 21 can rotate within the first housing 11 to reproduce joint movement.
  • the ball 21 is compressed or clamped by the socket 14 in the first state so that its rotation is restricted, but in the second state, the compression or clamping is released and the ball 21 can rotate.
  • the ball pipe 23 extends from a portion of the ball and may be connected to the second housing 31 of the second arm 30.
  • One end of the ball pipe (23) is connected to the ball (21), and the other end extends to the second arm (30), connecting the first arm and the second arm, and the second arm (30) is connected to the first arm (10). Allows you to perform joint movements.
  • the ball pipe may be made of a flexible material and be stretchable. In another embodiment, the ball pipe may be formed of a non-essential material.
  • the ball 21 and the ball pipe 23 receive an inlet pipe 42 and an outlet pipe 43 therein so that the inlet pipe 42 and the outlet pipe 43 are separated from the first arm 10. It can be at least partially extended from the second arm 30 or the second arm 30 to the first arm 10. That is, the inlet pipe 42 and the outlet pipe 43 pass through the ball 21 and the ball pipe 23 from the first arm 10 to the second arm 30 or from the second arm 30 to the first arm ( 10) is at least partially extended.
  • the second arm 30 may extend in a substantially cylindrical shape, and may have a shape other than a hollow cylindrical shape.
  • the second arm 30 may be connected to the ball pipe 23 at one end and may be provided with an end effector, an instrument assisting surgery, or a surgical instrument 37 at the other end.
  • the surgeon can manipulate the pneumatic control element 32 provided on the second arm 30 to allow fluid to flow into the first arm 10 or to cause fluid to flow out of the first arm 10.
  • the second arm 30 includes a second housing 31 and a pneumatic control element 32.
  • the second housing 31 forms the outer shape of the second arm 30.
  • the second housing 31 may be hollow and extend to at least one side to have a cylindrical shape.
  • a ball pipe 23 is connected to one end of the second housing 11, and at least a portion of the second housing 11 may be tapered for connection to the ball pipe.
  • the inlet pipe 42 and the outlet pipe 43 extend at least partially.
  • the pneumatic control element 32 is located within the second housing 31, and at least a portion is exposed to the outside of the second housing so that an external user can operate the pneumatic control element 32.
  • the pneumatic control element 32 is provided on the second arm and allows the user to selectively allow fluid to flow into or out of the first arm from the second arm 30.
  • the pneumatic control element 32 may be in contact with the first part 421 of the inlet pipe on one side, and may be in contact with the second part 423 of the inflow pipe on the other side. Additionally, the pneumatic control element 32 may contact the discharge line 44 on one side and the outlet pipe 423 on the other side.
  • the pneumatic control element 32 may have a first state in which fluid is substantially introduced into the first arm 10 and a second state in which fluid is substantially discharged from the first arm 10.
  • the pneumatic control element 32 can optionally have a first state and a second state.
  • the pneumatic control element 32 In the first state, the pneumatic control element 32 is in fluid communication with the discharge line 44, where the outlet pipe 43 is connected to the outside of the second arm, and the first part 421 and the second part 423 of the inlet pipe are connected to each other.
  • the first part 421 and the second part 423 of the inlet pipe are in fluid communication and the outlet pipe 43 is a discharge line connected to the outside of the second arm ( 44) can be prevented from communicating with the fluid.
  • the pneumatic control element 32 includes a guide 33, a switch 35, and an elastic body 36.
  • the guide 33 is accommodated inside the second arm and guides the movement of the switch 35. Additionally, the guide 33 may guide or fix the inlet pipe 42 and the outlet pipe 43 so that the inlet pipe 42 and the outlet pipe 43 are connected to or in contact with the switch.
  • the guide 33 is configured to fix at least a portion of the inlet pipe and the outlet pipe in contact with the switch 35 or to connect the ends of the inlet pipe and the outlet pipe with the through passage 35a formed in the switch 35. It can be provided.
  • the switch 35 is configured so that at least a portion of it is exposed or protrudes to the outside of the second arm 30 and the first and second states of the pneumatic control element 32 are determined depending on the position or movement of the switch.
  • the switch 35 can enter or retreat into the second arm 30 according to the guidance of the guide 33 by an external user's operation.
  • the switch 35 has a through passage 35a extending from one side to the other side. According to a preferred embodiment, in the first state of the pneumatic control element 32, the through passage 35a brings the outlet pipe 43 and the discharge line 44 into fluid communication. In the second state of the pneumatic control element 32, the through passage 35a brings the first part 421 and the second part 423 of the inlet pipe into fluid communication.
  • the elastic body 36 is provided on one side of the switch in the moving direction and is accommodated inside the second arm to restore the switch 35.
  • the elastic body 36 is compressed, and when the pressure applied to the switch is removed, the elastic body 36 can return the switch 35 to the first state through restoring force.
  • the user presses the switch 35 to switch the pneumatic control element 32 to a second state that brings the first portion 421 and the second portion 423 of the inlet pipe into fluid communication.
  • the switch moves inside the guide 33 from the first state and presses the elastic body to switch to the second state.
  • the incompressible fluid flows into the internal space (18) through the inlet pipe (42), the clamping or compression of the ball (21) is released, and the user attaches the second arm (30) to the first arm (10). can move about.
  • the switch 35 is restored by the restoring force of the elastic body 36.
  • the switch 35 is provided in a push button type so that the user can switch between the first state and the second state of the pneumatic control element 32 by pressing the switch.
  • the switch In the first state, the user presses the switch and the switch advances into the second arm 30, thereby converting the pneumatic control element 32 to the second state. Then, the user presses the switch 35 once more to return the switch to the original position. Upon returning, the pneumatic control element 32 may be switched to the first state.
  • the guide 33 guides only the moving direction of the switch 35, and parts of the inlet pipe 42 and the outlet pipe 43 may be in direct contact with or connected to the switch 35.
  • the pneumatic device 40 is configured to introduce fluid into the first arm 10 or to drain fluid from the inside of the first arm, preferably the first arm (10). 10) and may be disposed over the joint portion 20 and the second arm 30.
  • the pneumatic device 40 is controlled by a pneumatic control element 32 or a switch 35 to allow incompressible fluid to flow into the inner space 18 of the first arm or to drain the incompressible fluid from the inner space 18.
  • the pneumatic device may include a first cartridge 41, an inlet pipe 42 and an outlet pipe 43 through which fluid flows, a discharge line 44, and a second cartridge 45.
  • the first cartridge 41 stores fluid and supplies the fluid through the inlet pipe 42, and the fluid may be an incompressible fluid.
  • the first cartridge may be a cartridge for air injection or a cartridge for liquid injection.
  • the inflow pipe 42 is configured to introduce fluid from the first cartridge 41 into the internal space of the first arm, and extends across the first arm 10, the joint portion 20, and the second arm 30. You can.
  • the inlet pipe 42 has a first part 421 extending from the first cartridge 41 to the pneumatic control element 32 in the second arm, and a first part 421 extending from the pneumatic control element 32 to the flange 15 in the first arm. It may have a second part 423.
  • the first part 421 extends at least partially inside the second arm and has one end in contact with one side of the pneumatic control element, extending from the first cartridge 41 to one side of the pneumatic control element 32.
  • the first part 421 is fixed by or connected to the guide 33, so that the fluid transferred from the first cartridge in the second state can be delivered to the internal space through the second part.
  • the second part 423 extends from the other side of the pneumatic control element to the inside of the first arm, and extends from the other side of the pneumatic control element 32 to one side of the flange 15.
  • the second part is in fluid communication with the first part through the through passage 35a of the switch in the second state, and transfers the fluid transferred from the first part to the internal space 18 through the through hole 15a formed in the flange. .
  • the first part 421 and the second part 423 are not in fluid communication through the switch, and in the second state, they are in fluid communication through the through passage 35a formed in the switch.
  • the outflow pipe 43 is configured to drain fluid from the internal space 18 of the first arm to the outside, and may extend across the first arm 10, the joint portion 20, and the second arm 30. .
  • the outlet pipe 43 is in fluid communication with the discharge line 44 and can discharge fluid to the external second cartridge 45.
  • the outlet pipe 43 and the discharge line 44 may be in fluid communication in the first state and may not be in fluid communication in the second state.
  • One end of the outlet pipe 43 may be connected to one side of the flange 15 and the other end may be in contact with or connected to one side of the pneumatic control element 32.
  • the pneumatic control element 32 may allow the outlet pipe 43 on one side of the pneumatic control element to be in fluid communication with the discharge line 44 on the other side of the pneumatic control element.
  • the discharge line 44 is in fluid communication with the outflow pipe 43 and is configured to transfer the fluid transferred through the outflow pipe to the second cartridge 45 disposed outside the first arm or the second arm, at least Some may be provided on one side of the pneumatic control element 32.
  • the outlet pipe 43 and the discharge line 44 may be in fluid communication through the through passage 35a of the switch 35.
  • the second cartridge 45 stores fluid and receives fluid discharged through the discharge line 44, and the fluid may be an incompressible fluid.
  • the second cartridge may be a cartridge for air injection or a cartridge for liquid injection.
  • the present invention can be used more suitably when using one cartridge for introducing fluid into an artificial arm and another cartridge for discharging fluid within an artificial arm, without using a mechanism that simultaneously inflows and discharges fluid. .
  • the second cartridge 45 may be placed on the side of the first arm 10.
  • the discharge line 44 may extend from the second arm 30 through the ball pipe 23 and ball 21 of the joint portion 20 to the inside of the first arm 10.
  • both the first cartridge 41 and the second cartridge 45 are provided on the first arm side, so that the end effector or surgical instrument 37 provided at the end of the second arm 30 can move more freely.

Landscapes

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

Abstract

La présente invention concerne un appareil de fixation d'articulation pour un bras artificiel, l'appareil de fixation d'articulation comprenant : un premier bras possédant une ouverture à l'une de ses extrémités ; une partie articulation comportant une bille, dont une partie est reçue dans le premier bras, et un tube à bille qui s'étend à partir d'une partie de la bille ; un second bras relié au tube à bille ; un dispositif pneumatique qui introduit un fluide dans le premier bras et l'en évacue ; et un élément de commande pneumatique disposé sur le second bras et introduisant et évacuant de façon sélective le fluide, le bras artificiel pouvant être manipulé par blocage ou libération sélective de la bille au moyen du fluide introduit dans le premier bras et évacué hors de celui-ci.
PCT/KR2023/020659 2023-01-10 2023-12-14 Appareil de fixation d'articulation pour bras artificiel WO2024150945A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020230003625A KR20240111597A (ko) 2023-01-10 2023-01-10 인공 암의 관절고정장치
KR10-2023-0003625 2023-01-10

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WO2024150945A1 true WO2024150945A1 (fr) 2024-07-18

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KR (1) KR20240111597A (fr)
WO (1) WO2024150945A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170139555A (ko) * 2015-03-27 2017-12-19 소니트랙 시스템즈, 인코포레이티드 신속하게 재위치 설정 가능한 동력식 지지 아암
CN108095824A (zh) * 2018-02-08 2018-06-01 哈尔滨工业大学深圳研究生院 一种中心通气模块化气动锁紧操作臂
KR102204159B1 (ko) * 2020-08-19 2021-01-18 고무생 치료 보조 기구
WO2022051637A1 (fr) * 2020-09-03 2022-03-10 InnoMed Five, LLC Dispositif médical pour la santé reproductive féminine et procédé d'utilisation
KR102403114B1 (ko) * 2021-04-22 2022-05-30 고무생 치료 보조 기구

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4807618A (en) 1987-01-23 1989-02-28 Andronic Devices, Ltd. Patient limb positioning apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170139555A (ko) * 2015-03-27 2017-12-19 소니트랙 시스템즈, 인코포레이티드 신속하게 재위치 설정 가능한 동력식 지지 아암
CN108095824A (zh) * 2018-02-08 2018-06-01 哈尔滨工业大学深圳研究生院 一种中心通气模块化气动锁紧操作臂
KR102204159B1 (ko) * 2020-08-19 2021-01-18 고무생 치료 보조 기구
WO2022051637A1 (fr) * 2020-09-03 2022-03-10 InnoMed Five, LLC Dispositif médical pour la santé reproductive féminine et procédé d'utilisation
KR102403114B1 (ko) * 2021-04-22 2022-05-30 고무생 치료 보조 기구

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