KR101151738B1 - Tubular type manipulator with multi-articulated end-effector for surgical robot - Google Patents

Abstract

The present invention relates to a tubular surgical robot manipulator having a multiple articulated end-effector, and more particularly to a tubular surgical manipulator device having a multiple articulated end-effector composed of four or more channels for a surgical robot. It is about.
The present invention is a tubular surgical robot manipulator, the main end-effector for cutting and suturing tissue during surgery using a single incision path of the body, the secondary end-effector for removing the foreign body, injecting and sucking water , An end-effector portion consisting of an endoscope 130 for acquiring 3D images, a body portion formed in a tubular shape inherently in an axial configuration of the end-effector portion, and connected to the main end-effector portion and the end-effector portion. -The effector is characterized in that it comprises a drive for each independent wire drive.

Description

Tubular type manipulator with multi-articulated end-effector for surgical robot

The present invention relates to a tubular surgical robot manipulator having a multiple articulated end-effector, and more particularly to a tubular surgical manipulator device having a multiple articulated end-effector composed of four or more channels for a surgical robot. It is about.

Surgical robots are medical robots that perform surgery by assisting doctors. Surgical methods using robots are rapidly gaining much attention because they can rapidly recover patients by optimizing the removal area.

Minimally invasive surgery is a new concept of surgery that can minimize the damage to the body, improve the accuracy and safety of the surgery, and improve the survival rate and quality of life after surgery. In order to perform such minimally invasive surgery, various types of manipulators for use in surgical robots have been developed.

In the case of a conventional surgical robot for minimally invasive surgery, many incisions (4 to 6 passages) are required because several robot arms insert each end-effector or manipulator into the surgical site. Therefore, in order to minimize damage to the body, it is necessary to develop a manipulator using a minimum number of passages using a smaller number of passages than a conventional surgical robot, that is, a single arm for single point surgery is inserted into and injected into the surgical site. .

An object of the present invention is to enable the operation of all the general surgery (abdominal surgery, thoracic surgery, neurosurgery, urology surgery, obstetrics and gynecology surgery, neurosurgery, etc.) using a single passage to improve the shortcomings of the existing surgical robot The robot manipulator consists of a total of four or more channels to provide a tubular manipulator with a large number of articulated end-effectors.

Another object of the present invention is to provide a surgical robot that can minimize damage to the body.

The present invention is a tubular surgical robot manipulator, the main end-effector 110 for cutting and suturing the tissue during surgery using a single incision path of the body, and remove the foreign body incision, injecting and sucking water An end-effector unit 100 comprising a secondary end-effector 120 and an endoscope 130 for acquiring a 3D image; A body portion (200) formed in a tubular shape inherently in the axial configuration of the end-effector portion; And a driving unit 300 connected to the end-effector unit through the body to allow the main end-effector and the sub-end effector to independently drive the wires. Characterized in that it comprises a.

According to the present invention as described above, a number of end-effectors having forward-reverse, left-right bending rotation, up-down bending rotation, rotation about the axis (link), the degree of freedom of the grip (grip) structure at the end The tubular type allows minimally invasive surgery in a single passage, minimizing damage to the body, and thus speeds up recovery after surgery, increases the external satisfaction of the surgical site of the patient, and provides convenience for doctors to perform the procedure. It is effective.

1 is a perspective view of a tubular surgical robot manipulator according to an embodiment of the present invention.
2 is a perspective view of an end-effector of a rigid type according to an embodiment of the present invention;
Figure 3 is a perspective view of the flexible end-effector according to an embodiment of the present invention.
4 is a block diagram of a detailed configuration of a drive unit according to an embodiment of the present invention.

The present invention is a tubular surgical robot manipulator, the main end-effector 110 for cutting and suturing tissue during surgery using a single incision path of the body, removing the foreign body incision, injecting and sucking water The end-effector unit 100 comprises an end-effector 120 and an endoscope 130 for acquiring an image; A body portion (200) formed in a tubular shape inherently in the axial configuration of the end-effector portion; And a driving unit 300 connected to the end-effector unit through the body to allow the main end-effector and the sub-end effector to independently drive the wires. Characterized in that it comprises a.

Preferably, the main end-effector 110 is formed in plural and is characterized in that it serves as a forceps corresponding to cutting and suturing the tissue during surgery.

Also preferably, the secondary end-effector 120 may include at least one end-effector for removing foreign substances cut through the primary end-effector 110 and injecting or inhaling water.

Also preferably, the endoscope 130 is a stereo endoscope for acquiring a 3D image.

In addition, the end-effector unit, characterized in that it further comprises a light emitting means for shining light on the affected part of the body.

Also preferably the main end-effector comprises: a main end-effector shaft 11 which enables forward-reverse and rotation; A joint (14) comprising a left and right rotation shaft (12) for rotating left and right in one end of the main end-effector shaft and an up and down rotation shaft (13) for rotating up and down; And a forceps (15) comprising a drive shaft for grip operation on one end of the joint.

Also preferably, the secondary end-effector may include a secondary end-effector shaft 21 for enabling forward-backward rotation and rotation; And an upper and lower rotary end 22 configured to rotate up and down at one end of the sub-end effector shaft.

Also preferably, each of the end-effector portions may be formed of a rigid type integrated type, a flexible type integrated type, and a rigid type and a flexible type mixed type.

In addition, the body portion, characterized in that formed in a rigid (rigid) type or flexible (flexible) type.

More preferably, the drive unit, a forward-reverse shaft drive module connected to the shaft of the main end-effector for forward-backward driving; A rotary shaft drive module connected to the shaft of the main end-effector for rotational drive; Joint left and right rotation drive modules connected to the left and right rotation shafts of the main end-effector joint to allow left-right bending rotational driving; Joint up and down rotation drive module connected to the vertical axis of rotation of the joint to drive up-down rotation rotation; And a tongs drive module connected to a drive shaft for driving a grip motion formed at one end of the joint to drive the tongs. It is characterized in that the drive independently connected to each of the plurality of the main end-effectors, including.

And preferably, the driving unit comprises: a second forward-reverse shaft drive module connected to the shaft of the sub-end effector to drive forward-backward; A second rotary shaft drive module connected to the secondary end-effector shaft to drive rotation; And a vertical rotation drive module connected to an up and down rotational end formed at one end of the sub-end effector shaft to vertically rotate.

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

Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, they can be replaced at the time of the present application It should be understood that there may be various equivalents and variations.

Hereinafter, with reference to the accompanying drawings as follows.

A tubular surgical robot manipulator having multiple articulated end-effectors according to an embodiment of the present invention, as shown in FIG. 1, includes an end-effector 100, a body 200, and a driver 300. It is composed.

First, the end-effector 100 performs a function of cutting and suturing tissue during surgery using a single incision passage of the body, removing foreign bodies, injecting and sucking water, and obtaining a 3D image. End-effector 100 for performing this function is composed of a main end-effector 110, a secondary end effector 120, a stereo endoscope 130.

Here, the main end-effector 110 is composed of two or more end-effectors that serve as forceps such as cutting and suturing tissue during surgery.

Secondary end-effector 120 is composed of one or more end-effectors that perform the function of removing foreign matter cut through the primary end-effector and injecting and sucking water.

The stereo endoscope 130 is composed of one stereo endoscope for acquiring a 3D image.

For reference, although not shown in the end-effector unit 100 of the tubular surgical robot manipulator having multiple articulated end-effectors according to the present embodiment, it may include a light emitting means for illuminating the affected part for the convenience of operation. Of course.

That is, the end-effector unit 100 serves to inject and suck two or more main end-effectors, incised foreign substances, and water, which serve as forceps such as incisions and sutures of tissues during surgery. One or more secondary end-effectors for suction or injection, and one stereo endoscope capable of acquiring 3D images.

The basic structural arrangement of the end-effector portion of the tubular surgical robot manipulator with multiple articulated end-effectors according to the present embodiment serves to sew and incision using needles in various surgical environments, as shown in FIG. 2. The main end-effector in charge of use is located in the left-right end channel at the end of the body portion 200 of the tubular manipulator, and the sub-end effector in charge of auxiliary function (suction, injection) The endoscope is positioned at the lower end of the body portion 200 end of the bladder manipulator, and the stereo endoscope is located at the top end of the body portion 200 end face which widens the direction of view and is less interfered with by the main end-effector operation.

For reference, in a specific surgical environment, such as brain surgery, since the process of tearing tissue and sucking foreign substances is a lot, the main end-effector acting as a forceps and the secondary end-effector acting as a suction are the ends of the body part 200. Repositioning to the left and right ends of the cross section allows for a wider use of the workspace. That is, although the basic structural arrangement of the end-effector part according to the present embodiment is set as described above, the present invention is not limited thereto, and the channel rearrangement of the end-effectors is possible, and of course, the rearrangement according to the surgical environment. It is effective to make wide use of the work space.

The end-effector 100 according to the present embodiment will be described in detail as follows.

First, the main end-effector 110 is composed of a first main end-effector 111 and a second main end-effector 112 having five or more degrees of freedom to enable various movements such as cutting and suturing tissue. .

Among the first main end-effector 111 and the second main end-effector 112 having five degrees of freedom, the structure of the first main end-effector will be described as follows. Since the structure of the second main end-effector is the same as that of the first main end-effector, the description thereof will be omitted.

A main end-effector shaft 11 which allows the main end-effector to be forward-reverse (first degree of freedom) and rotation (second degree of freedom), a left-right bending rotation at one end of the main end-effector axis A joint 14 consisting of a left and right rotation shaft 12 to allow a three degrees of freedom) and a vertical rotation shaft 13 to be rotated up and down (fourth degrees of freedom), and a grip operation is driven at one end of the joint. And a tong 15 configured with a drive shaft to allow a (5th degree of freedom).

The secondary end-effector 120 according to the present embodiment has a structure having three degrees of freedom. Specifically, the secondary end-effector 120 allows the secondary end-effector to be forward-backward (first degree of freedom) and rotation (second degree of freedom). The secondary end-effector shaft 21, one end of the secondary end-effector shaft, is formed with an up-and-down rotational end 22 to enable up-down bending rotation (third degree of freedom).

The end-effector 100 may be formed in a rigid type and a flexible type, and may be modified in various shapes and configurations according to the surgical site and the target, and each of the end-effector parts may have a rigid body type. It can be configured as a flexible type integrated type, a rigid type and a flexible type mixed type.

Next, the body portion 200 is characterized in that formed in a tubular shape inherent in the shaft configuration of the end-effector portion. The body part is formed of a rigid type and a flexible type, and may be deformed into various shapes and configurations according to the surgical site and the target.

Next, the driving unit 300 is connected to the end-effector through the body to perform the function of enabling the independent driving of each of the end-effector.

The driving unit is characterized in that the driving through the wire by mounting all drive actuators connected to the tendon wire driving mechanism, that is, the end-effector to enable independent driving, respectively.

Here, the driving unit according to the present embodiment is composed of at least 13 driving (actuator) modules, where the structure of the second main end-effector is the same structure as that of the first main end-effector, and thus, a description of the connection relationship of the driving unit. Will be omitted.

As shown in FIG. 4, when the driving module is connected to the first main end-effector, the first forward-reverse shaft driving module 301 is connected to the first main end-effector shaft to drive forward-backward. A first rotary shaft drive module 302 connected to the first main end-effector shaft for rotational drive, and a joint left / right rotation drive for a left-right bending rotational drive connected to a left-right rotational axis of the first main end-effector joint; Module 303, the joint up and down rotation drive module 304, which is connected to the vertical axis of rotation of the first main end-effector joint for up-and-down rotational driving, the grip motion formed at one end of the first main end-effector joint It is composed of a forceps drive module 305 is connected to the drive shaft to drive to drive the forceps.

In addition, referring to the driving module connected to the secondary end-effector 120, the second forward-reverse shaft driving module 306 connected to the secondary end-effector shaft for forward-backward driving and connected to the secondary end-effector shaft The second rotary shaft drive module 307 for driving the rotation, and the vertical rotation drive module 308 is connected to the vertical rotation end formed on one end of the secondary end-effector shaft to drive up-down rotation.

A tubular surgical robot manipulator with multiple articulated end-effectors according to an embodiment of the present invention is a minimally invasive tubular type and is easy to be applied for medical use in surgery. According to the present invention, if the articulated manipulator with four or more channels is invaded into the abdominal cavity, the articulated manipulator with four or more channels uses a single passage, thereby minimizing damage to the body so that the recovery speed after surgery is high. Surgical site can increase the external satisfaction, and has the effect of providing convenience when performing the procedure. This is the basis for the favorable conditions given the characteristics of medical robots requiring precise control and the safety and preferences of patients.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

100: end-effector 110: main end-effector
111: first major end-effector 112: second primary end-effector
120: end end-effector 130: endoscope
200: body 300: drive
11: main end-effector shaft 12: left and right rotation shaft
13: vertical axis of rotation 14: joint
15: tongs 21: minor end-effector shaft
22: up and down rotary stage

Claims (11)

In the tubular surgical robot manipulator,
Primary end-effector 110 for cutting and suturing tissue during surgery using a single incision passage of the body, secondary end-effector 120 for removing and removing incised foreign bodies, injecting and sucking water, and obtaining an image. End-effector 100 made of an endoscope 130 to the;
A body portion (200) formed in a tubular shape inherently in the shaft configuration of the end-effector portion; And
A driving unit 300 connected to the end-effector unit through the body to allow the main end-effector and the sub-end effector to independently drive the wires; Including;
The body portion
A tubular surgical robot manipulator with multiple articulated end-effectors, characterized in that it is formed of a rigid type or a flexible type. The method of claim 1,
The main end-effector 110,
A tubular surgical robot manipulator having multiple articulated end-effectors, which is formed of a plurality and serves as a forceps corresponding to incision and suture of tissue during surgery. The method of claim 1,
The secondary end-effector 120,
A tubular surgical robot manipulator with multiple articulated end-effectors, characterized in that it comprises at least one end-effector for removing foreign matter cut through the main end-effector 110 and injecting or suctioning water. . The method of claim 1,
The endoscope 130,
A tubular surgical robot manipulator with multiple articulated end-effectors, characterized in that it is a stereo endoscope that acquires 3D images. The method of claim 1,
The end-effector unit,
Tubular-type surgical robot manipulator having a multiple articulated end-effector further comprises a light emitting means for shining light on the affected part of the body. The method of claim 1,
The main end-effector is
A main end-effector shaft 11 which enables forward-backward rotation and rotation;
A joint (14) comprising a left and right rotation shaft (12) for rotating left and right in one end of the main end-effector shaft and an up and down rotation shaft (13) for rotating up and down; And
A tubular surgical robot manipulator having a multiple articulated end-effector, comprising: a forceps (15) configured with a drive shaft to grip at one end of the joint. The method of claim 1,
The secondary end-effector is
A secondary end-effector shaft 21 for enabling forward-backward rotation and rotation; And
A tubular surgical robot manipulator having multiple articulated end-effectors, characterized in that the upper and lower rotary ends (22) to rotate up and down at one end of the secondary end-effector shaft. The method of claim 1,
Each configuration of the end-effector portion,
A tubular surgical robot manipulator with a multiple articulated end-effector, comprising a rigid type integrated type, a flexible type integrated type, and a rigid type and a flexible type mixed type. delete 7. The method according to claim 1 or 6,
The driving unit,
A forward-reverse shaft drive module connected to the shaft of the main end-effector to drive forward-backward;
A rotary shaft drive module connected to the shaft of the main end-effector for rotational drive;
Joint left and right rotation drive modules connected to the left and right rotation shafts of the main end-effector joint to allow left-right bending rotational driving;
Joint up and down rotation drive module connected to the vertical axis of rotation of the joint to drive up-down rotation rotation; And
A tongs drive module connected to a drive shaft for driving a grip motion formed at one end of the joint to drive the tongs; A tubular surgical robot manipulator having a plurality of articulated end-effectors connected to each of the plurality of main end-effectors and independently driven. The method according to claim 1 or 7,
The driving unit,
A second forward-reverse shaft drive module connected to the shaft of the sub-end effector to drive forward-backward;
A second rotary shaft drive module connected to the secondary end-effector shaft to drive rotation; And
A tubular surgical robot manipulator having a plurality of articulated end-effectors, comprising: a vertical rotation drive module connected to an upper and lower rotational end formed at one end of the secondary end-effector shaft and configured to rotate up and down.

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