KR102576237B1 - Multi-degree of freedom ultra-precision operation device - Google Patents

Abstract

The present invention includes a manipulator that assists a microsurgery process, wherein the manipulator includes a housing, a first and second operating unit accommodated inside the housing, and is connected to a lower side of the first and second operating units. It includes a third operating unit, a surgical tool connected to a lower part of the third operating unit, and adjacent to an object, wherein the first operating unit and the second operating unit move the surgical tool along the axial direction of the housing. adjusts the distance and angle between the object and the end of the surgical tool, and the third operation unit moves the surgical tool along the radial direction of the housing, allowing the surgical tool to move to the object with high precision. Provides an operating device.
According to the multi-degree-of-freedom ultra-precision manipulation device according to the present invention, first and second operating units equipped with first and second motors that adjust the distance between the object and the end of the surgical tool are connected to the lower side of the first and second operating units. and a third operating unit including a third motor that moves the surgical tool along the radial direction of the housing to adjust the angle formed between the object and the surgical tool, compared to the conventional method of controlling the manipulator with one degree of freedom. can be controlled with three degrees of freedom, and precise control is possible despite the user's hand tremor, and the distance between the end of the object and the surgical tool and the angle between the object and the surgical tool can be optimally adjusted to suit the purpose.
In addition, according to the present invention, the manipulator can be manufactured in a size that can be held in the hand when the user wants to use it, thereby improving the user's work convenience.
In addition, according to the present invention, the surgical tool is operated through a light source unit that irradiates a laser to an object through a surgical tool and a control unit that receives data from an imaging unit that photographs the object and the manipulator and controls the first, second, and third motors. It is possible to calculate the coordinates of the end of the surgical tool based on the insertion destination point of the object, and it is possible to accurately determine the distance that the surgical tool and the object must be moved.
Therefore, according to the multi-degree-of-freedom ultra-precision manipulation device according to the present invention, the user's hand tremor phenomenon is reduced, the distance between the end of the object and the surgical tool and the angle between the object and the surgical tool are freely adjusted, and the surgical tool moves from the object. It is possible to accurately determine the distance that should be made, providing convenience to the user when working.

Description

{Multi-degree of freedom ultra-precision operation device}

The present invention relates to a multi-degree-of-freedom ultra-precision manipulation device, and more specifically, to a multi-degree-of-freedom ultra-precision manipulation device that is inserted into the retina of the eye and injects a substance into a desired retinal layer.

In general, optical coherence tomography (OCT) is used for the evaluation of retinal and choroidal diseases and early diagnosis of glaucoma by showing high-resolution tomographic cross-sections of the retina, optic nerve head, and nerve fiber layer in the macula and periphery of the macula. This is the technique used.

After such optical coherence tomography, the surgical tool provided in the manipulation device is inserted into the retina and the material is injected into the desired retinal layer. At this time, when the surgical tool is inserted into the retina, the surgical tool rarely forms an angle of 90 degrees to the surface of the retina, and most cases involve injection at an acute angle.

However, according to the conventional operating device, the operation of injecting material into the retinal layer without accurately knowing the angle between the surface of the retina and the surgical tool causes the user to experience severe hand tremor while working, resulting in severe errors. The number of cases increases, and the rate of retinal damage increases accordingly.

Republic of Korea Patent No. 10-2076907 (Title of invention: Robot manipulator)

The present invention was created to solve the above problems, and its purpose is to provide a multi-degree-of-freedom, ultra-precision operating device that reduces hand tremors and enables precise control when the user uses the operating device. .

The present invention includes a manipulator that assists a microsurgery process, wherein the manipulator includes a housing, a first operating unit and a second operating unit accommodated inside the housing, and the first operating unit and the second operating unit. It includes a third operating part connected to the lower side and a surgical tool connected to the lower part of the third operating part and adjacent to the object, wherein the first operating part and the second operating part move the surgical tool in the axial direction of the housing. By moving it along, the distance and angle between the object and the end of the surgical tool are adjusted, and the third operation unit moves the surgical tool along the radial direction of the housing so that the surgical tool is moved to the object. Provides a high-precision manipulation device with a high degree of freedom.

The first operating unit and the second operating unit are disposed along the radial direction of the housing.

The first operating unit includes a first motor, a first moving member movably installed on the first motor along the axial direction of the housing, and rotatably installed at a lower end of the first moving member, the lower end of which is It includes a first link member connected to the third operating unit, wherein the second operating unit includes a second motor disposed adjacent to the first motor, and the second motor capable of moving along the axial direction of the housing. It is installed and includes a second moving member spaced apart from the first moving member, rotatably installed at a lower end of the second moving member, and spaced apart from the first link member, and the lower end is connected to the third operating part. It includes a second link member that is connected.

The third operating unit includes a third motor connected to the lower end of the surgical tool, the lower ends of the first link member and the second link member are rotatably installed at both ends, and the third motor is movable. Includes installed support members.

The manipulator further includes a first angle sensor that measures the degree to which the housing is tilted with respect to the direction of gravity, and a second angle sensor that measures the degree to which the surgical tool is tilted with respect to the direction of gravity.

The first angle sensor is installed above the first and second operating units, and the second angle sensor is installed adjacent to the third operating unit and driven simultaneously with the third operating unit.

A light source unit that irradiates a laser to an object through the surgical tool and measures the distance between the object and the surgical tool through a laser reflected from the object, a photographing unit that photographs the object and the manipulator, and It further includes a control unit that receives data and controls the first to third operating units based on the received data.

The control unit calculates the coordinates of the end of the surgical tool based on the insertion destination point of the object into which the surgical tool is to be inserted.

According to the multi-degree-of-freedom ultra-precision manipulation device according to the present invention, first and second operating units equipped with first and second motors that adjust the distance between the object and the end of the surgical tool are connected to the lower side of the first and second operating units. and a third operating unit including a third motor that moves the surgical tool along the radial direction of the housing to adjust the angle formed between the object and the surgical tool, compared to the conventional method of controlling the manipulator with one degree of freedom. It can be controlled with three degrees of freedom, and precise control is possible despite the user's hand tremor, and the distance between the end of the object and the surgical tool and the angle between the object and the surgical tool can be optimally adjusted to suit the purpose.

In addition, according to the present invention, the manipulator can be manufactured in a size that can be held in the hand when the user wants to use it, thereby improving the user's work convenience.

In addition, according to the present invention, the surgical tool is operated through a light source unit that irradiates a laser to an object through a surgical tool and a control unit that receives data from an imaging unit that photographs the object and the manipulator and controls the first, second, and third motors. It is possible to calculate the coordinates of the end of the surgical tool based on the insertion destination point of the object, and it is possible to accurately determine the distance that the surgical tool and the object must be moved.

Therefore, according to the multi-degree-of-freedom ultra-precision manipulation device according to the present invention, the user's hand tremor phenomenon is reduced, the distance between the end of the object and the surgical tool and the angle between the object and the surgical tool are freely adjusted, and the surgical tool moves from the object. It is possible to accurately determine the distance that should be made, providing convenience to the user when working.

1 is a diagram showing a multi-degree-of-freedom ultra-precision manipulation device according to the present invention.
FIG. 2 is a diagram showing the manipulator shown in FIG. 1.
Figure 3 is a diagram showing a shape for calculating the coordinates of the end of a surgical tool based on the insertion destination point of the object of Figure 1.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached claims.

Referring to Figures 1 to 3, the multi-degree-of-freedom ultra-precision manipulation device 100 according to the present invention includes a manipulator 110, a surgical tool 120, a first operation unit 130 and a second operation unit 140, and a second operation unit 140. 3Includes an operating unit (150).

The manipulator 110 injects a substance (not shown) into the object 114.

Here, the object 114 and the material may be a human retina or a material injected into the human retina, but are not necessarily limited thereto.

In addition, the manipulator 110 is placed at a certain distance from the object 114 and is manufactured to a size that the user can hold in his hand, thereby improving the user's work convenience.

The surgical tool 120 is movably installed inside the housing 111 of the manipulator 110 and allows the material to be sucked and injected into the object 114.

The first and second operating units 130 and 140 are disposed along the radial direction inside the housing 111 and move the surgical tool 120 along the axial direction of the housing 111 to move the surgical tool 120 along the axial direction of the housing 111 and the object 114. Adjust the distance and angle with the end of the surgical tool 120.

The third operating unit 150 is connected to the lower side of the first and second operating units 130 and 140 and is coupled to the surgical tool 120 for injecting a substance into the object 114.

Here, the third operation unit 150 moves the surgical tool 120 along the radial direction of the housing 111, and serves to move the surgical tool 120 to the object 114. .

Hereinafter, the first operating unit 130 and the second operating unit 140 are disposed in the housing 111 to adjust the distance between the object 114 and the end of the surgical tool 120, The shape of the third operating unit 150, which adjusts the angle formed between the object 114 and the surgical tool 120, will be described in more detail.

The first operating unit 130 includes a first motor 131 disposed inside the housing 111, and a first motor 131 installed to be movable along the axial direction of the housing 111. It includes a first moving member 132 and a first link member 133 that is rotatably installed at the lower end of the first moving member 132 and whose lower end is connected to the third operating unit 150.

The second operating unit 140 includes a second motor 141 disposed adjacent to the first motor 131 and the second motor 141 to enable movement along the axial direction of the housing 111. A second moving member 142 is installed and spaced apart from the first moving member 132, and is rotatably installed at the bottom of the second moving member 142, and the first link member 133 and It includes a second link member 143 that is spaced apart and whose lower end is connected to the third operating unit 150.

And the third operating unit 150 connected to the lower side of the first and second operating units 130 and 140 includes a third motor 151 connected to the lower end of the surgical tool 120, and the first and second operating units 150 and 150 respectively. The lower ends of the link members 133 and 143 are rotatably installed at each end, and the third motor 151 includes a support member 152 that is movably installed.

At this time, the first and second moving members 132 and 142 and the support member 152 may be provided in a rectangular bar shape as shown in the drawing, and the first, second and third motors 131, 141 and 151 may be linear motors and rotary motors. It may be provided as any one of the above, but of course, it is not necessarily limited to this.

Additionally, the upper side of the first and second operating units 130 and 140 and the third operating unit 150 are coupled to the inside of the housing 111 of the manipulator 110 with respect to the direction of gravity. It further includes a first angle sensor 112 and a second angle sensor 113 to measure the degree of tilt.

That is, since the first motor 131 to the third motor 151 are used in the first operating unit 130, the second operating unit 140, and the third operating unit 150, It can be controlled with 3 degrees of freedom, allowing precise control despite the user's hand shaking when using it. In addition, the degree of inclination of the housing 111 with respect to the direction of gravity is measured inside the housing 111 of the manipulator 110 through the first and second angle sensors 112 and 113. In the manipulator 110, the appropriate distance between the object 114 and the end of the surgical tool 120 and the angle between the object 114 and the surgical tool 120 are optimally adjusted to suit the purpose. .

Therefore, when a user wants to inject a substance into the object 114 from the manipulator 110, precise work is possible.

Meanwhile, the multi-degree-of-freedom ultra-precision manipulation device 100 according to the present invention includes a light source unit 160, an imaging unit 170, and a control unit 180 for adjusting the appropriate distance between the surgical tool 120 and the object 114. It further includes.

The light source unit 160 irradiates a laser to the object 114 through the surgical tool 120, and emits a laser beam between the object 114 and the surgical tool 120 through the laser reflected from the object 114. Measure the distance.

Here, the laser of the light source unit 160 uses a swept source of 1060 nm or more and 1310 nm or less.

The photographing unit 170 photographs the object 114 and the manipulator 110.

The control unit 180 receives data from the light source unit 160 and the photographing unit 170, and controls the third operation unit 150 based on the received data.

Here, the control unit 180 calculates the coordinates T of the end of the surgical tool 120 based on the insertion destination point of the object 114 into which the surgical tool 120 is to be inserted.

Figure 3 shows the process by which the control unit 180 calculates the coordinates (T) of the end of the surgical tool 120.

First, referring to (a) of FIG. 3, the control unit 180 determines the insertion destination point of the surgical tool 120 into the object 114, that is, the Z-axis perpendicular to the origin (O). The point where the internal parts of the manipulator 110 meet, the point where the second moving member 142 and the second link member 143 meet (D), the second link member 143 and the support member 152 ) are met, and the foot of the perpendicular line drawn from the point D to the central axis of the housing 110 is connected to form a virtual polygon inside the manipulator 110.

Next, referring to (b) of FIG. 3, the control unit 180 measures the angle measured by the first angle sensor 112. value measured by the second angle sensor 113. using values Calculate the value.

Next, referring to (c) and (d) of FIGS. 3, the control unit 180 determines the coordinates of point D based on the origin (D') newly set based on the data captured by the photographing unit 170. Calculate . And the control unit 180 calculates the coordinates (T) of the end of the surgical tool 120 using the coordinates of point D.

As described above, the multi-degree-of-freedom ultra-precision manipulation device 100 according to the present invention can be controlled with three degrees of freedom, enabling precise control despite hand tremor when used by the user, thereby controlling the object 114 and the surgery. The distance from the end of the tool 120 and the angle between the object 114 and the surgical tool 120 are adjusted optimally to suit the purpose, and the surgical tool 120 must be moved from the object 114. It provides convenience to users by accurately determining the distance.

100: Multi-degree-of-freedom ultra-precision manipulation device 110: Manipulator
111: Housing 112: First angle sensor
113: second angle sensor 114: object
120: surgical tool 130: first operating unit
131: first motor 132: first moving member
133: first link member 140: second operating unit
141: second motor 142: second moving member
143: second link member 150: third operating unit 151: third motor 152: support member
160: light source unit 170: photography unit
180: control unit

Claims (8)

Including a manipulator that assists in microsurgical procedures,
The manipulator is,
housing,
A first operating unit and a second operating unit accommodated inside the housing,
A third operating unit rotatably connected to the lower side of the first and second operating units,
It is connected to the lower part of the third operating unit and includes a surgical tool adjacent to the object,
The first operating unit and the second operating unit move the surgical tool along the axial direction of the housing to adjust the distance and angle between the object and the end of the surgical tool,
The third operating unit is a multi-degree-of-freedom ultra-precision manipulation device that moves the surgical tool along the radial direction of the housing to move the surgical tool to the object. In claim 1,
A multi-degree-of-freedom ultra-precision manipulation device wherein the first operating unit and the second operating unit are disposed along a radial direction of the housing. In claim 1,
The first operating unit,
A first motor,
A first moving member installed on the first motor to be movable along the axial direction of the housing,
It is rotatably installed at the lower end of the first moving member and includes a first link member whose lower end is connected to the third operating unit,
The second operating unit,
a second motor disposed adjacent to the first motor,
a second moving member that is installed on the second motor to be movable along the axial direction of the housing and is spaced apart from the first moving member;
A multi-degree-of-freedom ultra-precision manipulation device comprising a second link member rotatably installed at a lower end of the second moving member, spaced apart from the first link member, and a lower end connected to the third operation unit. In claim 3,
The third operating unit,
A third motor connected to the bottom of the surgical tool,
A multi-degree-of-freedom ultra-precision manipulation device including a support member on which lower ends of the first link member and the second link member are rotatably installed at each end, and the third motor is movably installed. In claim 1,
The manipulator is,
A first angle sensor that measures the degree to which the housing is tilted with respect to the direction of gravity;
A multi-degree-of-freedom ultra-precision manipulation device further comprising a second angle sensor that measures the degree to which the surgical tool is tilted with respect to the direction of gravity. In claim 5,
The first angle sensor is installed above the first and second operating units,
The second angle sensor is installed adjacent to the third operation unit and driven simultaneously with the third operation unit. In claim 1,
A light source unit that irradiates a laser beam to an object through the surgical tool and measures the distance between the object and an end of the surgical tool using a laser reflected from the object;
a photographing unit for photographing an object and the manipulator;
A multi-degree-of-freedom ultra-precision manipulation device further comprising a control unit that receives data from the light source unit and the imaging unit and controls the first to third operation units based on the received data. In claim 7,
The control unit is a multi-degree-of-freedom ultra-precision manipulation device that calculates the coordinates of the end of the surgical tool based on the insertion destination point of the object into which the surgical tool is to be inserted.

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