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WO2011053029A2 - Structure de mâchoire d'un instrument chirurgical - Google Patents

Structure de mâchoire d'un instrument chirurgical Download PDF

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Publication number
WO2011053029A2
WO2011053029A2 PCT/KR2010/007498 KR2010007498W WO2011053029A2 WO 2011053029 A2 WO2011053029 A2 WO 2011053029A2 KR 2010007498 W KR2010007498 W KR 2010007498W WO 2011053029 A2 WO2011053029 A2 WO 2011053029A2
Authority
WO
WIPO (PCT)
Prior art keywords
jaw
elastic skin
surgical instrument
jaws
grip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2010/007498
Other languages
English (en)
Korean (ko)
Other versions
WO2011053029A3 (fr
Inventor
최승욱
이민규
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ETERNE Inc
Original Assignee
ETERNE Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020090107870A external-priority patent/KR20110047926A/ko
Application filed by ETERNE Inc filed Critical ETERNE Inc
Publication of WO2011053029A2 publication Critical patent/WO2011053029A2/fr
Publication of WO2011053029A3 publication Critical patent/WO2011053029A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/2812—Surgical forceps with a single pivotal connection
    • A61B17/282—Jaws
    • A61B2017/2825—Inserts of different material in jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

Definitions

  • the present invention relates to a jaw structure of a surgical instrument.
  • Surgical instruments may be mounted to the front end of the robot arm, looking at Figure 1, which is an instrument mounted to the surgical robot, and Figure 2, a general laparoscopic surgical tool that is held by a doctor, the instrument 54 is a housing (108) or effector 112 mounted to the handle 108, the shaft 102 extending therefrom, and the distal end 106 of the shaft 102 and inserted into the surgical site to perform the operations necessary for surgery. Is made of.
  • a pair of jaws may be used to perform a grip operation.
  • the instrument mounted on the surgical robot it is not operated by human force but by the driving force generated and transmitted from the robot, so the person who directly manipulates the reaction force applied to the jaw during the grip operation.
  • excessive force may be exerted more than necessary, which may cause injury or damage to the object being gripped by the jaw during surgery, that is, tissue of the human body.
  • the background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.
  • the object can be easily grasped during surgery, the object can be minimized even when excessive force is applied in the grip operation, and the reaction force applied to the jaw can be intuitively sensed similarly to a human feeling. It is to provide a jaw structure of the surgical instrument that can be.
  • a pair of jaws mounted on the distal end of the surgical instrument to grip (grip) and a pair of jaws are covered on opposite sides of the jaw, the grip operation of the jaw Therefore, the jaw structure of the surgical instrument including an elastic skin that is pressed and deformed by the object, and a sensing portion interposed between the jaw and the elastic skin to measure the reaction force applied to the jaw from the degree of deformation of the elastic skin.
  • the elastic skin can be detachably coupled to the jaw so that it can be replaced for single use in the course of use of the instrument, and the jaw, the sensing part and the elastic skin can also be joined together and made in one piece.
  • the sensing unit may include an array of force sensors that are arranged on the entire area of the elastic skin covering the jaw, and in this case, the sensing unit may further include a processor configured to receive a signal from the sensing unit.
  • the processor may receive a signal from a force sensor located at a site where the elastic skin is deformed to generate information about the object.
  • a pair of jaws mounted on the distal end of the surgical instrument and the grip is covered on the opposite surface of the pair of jaws, by the object in accordance with the grip operation of the jaw
  • a jaw structure of a surgical instrument is provided that includes an elastic skin that is pressed and deformed.
  • a reaction force including a base, an elastic skin covered by the base, and a sensing portion interposed between the base and the elastic skin to measure the reaction force applied to the base from the degree of deformation of the elastic skin.
  • a sensing structure is provided.
  • the grip surface of the pair of jaws by covering the grip surface of the pair of jaws with an elastic material, it is possible to easily grip the object during the operation process and to minimize the damage to the object even if excessive force is applied to the jaw during the grip operation
  • the force sensor array By arranging the force sensor array on the back side of the elastic skin, the reaction force applied to the jaw can be intuitively sensed similar to the human feel.
  • FIG. 1 and 2 are a perspective view showing a surgical instrument according to the prior art.
  • Figure 3 is a perspective view showing the jaw structure of the surgical instrument according to an embodiment of the present invention.
  • Figure 4 is a side view showing the jaw structure of the surgical instrument according to an embodiment of the present invention.
  • FIG. 5 is a conceptual diagram showing the jaw structure of the surgical instrument according to an embodiment of the present invention.
  • FIG. 6 is a view showing a state in which a force sensor according to an embodiment of the present invention is installed.
  • FIG. 7 is a graph showing the operating state of the force sensor according to an embodiment of the present invention.
  • FIG. 8 is a conceptual diagram showing the operation of the jaw structure of the surgical instrument according to an embodiment of the present invention.
  • FIG. 9 is a view showing the operating state of the jaw structure of the surgical instrument according to an embodiment of the present invention with a graph.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • Figure 3 is a perspective view showing a jaw structure of the surgical instrument according to an embodiment of the present invention
  • Figure 4 is a side view showing a jaw structure of the surgical instrument according to an embodiment of the present invention
  • Figure 5 is a view of the present invention
  • Figure 6 is a view showing a state in which a force sensor according to an embodiment of the present invention is installed
  • Figure 7 is a force sensor according to an embodiment of the present invention This graph shows the operating status of. 3 to 7, the shaft 1, the jaw 10, the elastic skin 12, the force sensor 14, and the processor 16 are shown.
  • the present embodiment is characterized in that the jaw portion mounted to the tip of the surgical instrument is covered with an elastic material such as rubber or silicone, so that the grip operation can be effectively performed without precisely controlling the grip force of the jaw.
  • the conventional surgical instrument may have a case in which excessive force is applied to the jaw during the grip operation, the jaw structure according to the present embodiment of the pair of jaws 10 in the grip operation process It is designed to leave a small gap so that the surface, that is, the metal surface does not directly contact.
  • the jaws 10 may not be in contact with each other because of gaps between metal surfaces, and thus the jaws 10 may not be gripped.
  • the jaw structure according to the present embodiment may have a skin made of elastic material. It fills in the gap between the pair of jaws (10), and was able to grip properly.
  • the jaw structure according to the present embodiment is made of a structure in which the elastic skin 12 is covered on the surface of the pair of jaws 10 mounted on the distal end of the surgical instrument.
  • the pair of jaws 10 are grip effectors, which serve to hold tissues, organs, and blood vessels of the surgical patient in response to the movement of the doctor's finger in the surgery.
  • Elastic skin 12 is covered on the surface of the jaw (10), that is, opposite surfaces of the pair of jaws (10), the component that comes into contact with the object as the jaw (10) performs a grip operation, It is made of a material such as rubber or silicone that can be deformed by pressing the object according to the shape and strength of the.
  • the surfaces of the jaws 10 covered by the elastic skin 12, that is, the surfaces facing each other of the pair of jaws 10, will be described hereinafter as 'grip surfaces'.
  • the jaw structure according to the present embodiment has a structure in which a sensing unit is installed on the bottom surface of the elastic skin 12.
  • the sensing unit is a component installed between the bottom surface of the elastic skin 12 or the surface of the grip surface, that is, the grip surface and the elastic skin 12, and the jaw 10 may be deformed as the elastic skin 12 is deformed. It measures the reaction force exerted on).
  • a force sensor 14 may be installed.
  • the force sensor 14 senses a state and a degree of deformation of the elastic skin 12 in the grip process of the jaw 10, and therefrom. By measuring the reaction force by the object, it performs a function to determine the shape, strength and the like of the object.
  • the sensing unit Since the force sensor 14 senses the deformation degree of the elastic skin 12, in order to grasp the shape in which the elastic skin 12 is deformed by the object, the sensing unit according to the present embodiment is a force sensor arranged on the entire grip surface. (14) may be made of an array.
  • the force sensor array may be configured by arranging unit force sensors at predetermined intervals, and may use a force sensor array that covers a predetermined area and senses a force applied to a specific point, as shown in FIG.
  • the sensor array can be connected to the processor 16.
  • the processor 16 receives a signal from each force sensor, calculates a reaction force applied to a specific position, and may be embedded in the instrument as shown in FIG.
  • a force sensing resistor (FSR) array as the force sensor 14 according to the present embodiment, as the elastic skin is deformed due to the pressing of the object (see 'O' in Figure 7), that is, the force sensor array As a force is applied, a graph of resistance values generated in the force sensor array may be shown as shown in FIG. 7.
  • the force-resistance graph can be analyzed to determine the shape or strength of the object.
  • the elastic skin 12 may be integrally coupled to the jaw 10, it may be detachably coupled so that it can be replaced for one use at every use. That is, by making the skin covered on the jaw 10 with a disposable material that is disposable, only the body is disinfected for reuse of the instrument, and the jaw 10 does not need to be disinfected. Only replaceable.
  • the jaw structure according to the present embodiment may be implemented in a structure in which the force sensor 14 and the elastic skin 12 are integrally bonded to the jaw 10, for example, the force sensor 14 and the metal surface.
  • the jaw may be made of a material to which the elastic skin 12 is bonded.
  • the elastic skin 12 according to the present embodiment is not necessarily coupled to cover only the grip surface, and if necessary, such as when electrical insulation is required, the elastic skin to cover not only the grip surface but also the entire jaw 10. (12) may be combined.
  • FIG. 8 is a conceptual diagram showing the operation of the jaw structure of the surgical instrument according to an embodiment of the present invention
  • Figure 9 is shown with a graph showing the operating state of the jaw structure of the surgical instrument according to an embodiment of the present invention Drawing. 8 and 9, the shaft 1, the jaw 10, the elastic skin 12, the force sensor 14, and the processor 16 are shown.
  • the jaw structure according to the present embodiment may be connected to a processor 16 that receives a sensing signal from the force sensor 14 array and calculates a reaction force. That is, when a predetermined portion of the elastic skin 12 is deformed according to the grip operation of the jaw 10, a sensing signal is generated from the force sensors 14 positioned at the deformed portion, and according to the present embodiment 16 receives the signals generated from the force sensors 14 to calculate the reaction force that deforms the elastic skin 12 and as a result information about the object (see 'O' in FIG. 8), for example The shape and strength of the object can be grasped.
  • the reaction force applied to the jaw 10 due to the grip of the object is reduced from the deformed degree of the elastic skin 12. It can be measured indirectly.
  • FSR is a polymer film device whose resistance value decreases as the pressure applied to the surface of the sensor increases.
  • the FSR is used for human touch control of electronic devices such as automotive electronic systems, medical systems, and industrial PCs. It may have a force sensitivity optimized for use.
  • FSR has similar characteristics to load cells and strain gauges, but can be used more appropriately for qualitative measurements than for sophisticated measurements.
  • the object gripped by the jaw presses a specific point of the force sensor array installed on the grip surface, thereby measuring the reaction force directly from the force sensor located at the point. It can only measure the reaction force at the point where the object touches the grip surface, so that information about the shape of the object cannot be measured.
  • the force sensor measures the reaction force while the object is somewhat deformed by the grip action of the jaw, so that the object may be damaged, as well as the object. The measurement results regarding the shape and strength of the may not be accurate.
  • the jaw structure according to the present embodiment is not a method of measuring the reaction force applied to the jaw 'directly' so that the force sensor array mounted on the grip surface directly touches the object by the grip operation, but not the force sensor ( 14)
  • the grip operation is performed while the array is wrapped with the elastic skin 12, thereby measuring the reaction force applied to the jaw 10 'indirectly' from the extent to which the elastic skin 12 is pressed and deformed by the object. It is adopted.
  • the elastic skin 12 will be pressed a lot (instead of the object deformed) in the protruding portion of the object, depending on the shape of the object, the elastic skin 12 is less in the less protruding portion Since it will be pressed, not only the strength of the object can be measured properly, but also the information on the shape of the object can be grasped more accurately.
  • the force sensor array of the portion where the elastic skin is pressed by the rounded portion of the object is compared to the 'force-resistance graph 1'.
  • the resistance value of the same distribution can be output, and the force sensor array of the portion where the elastic skin is pressed by the pointed portion of the object can output the resistance value of the same distribution as the 'force-resistance graph 2'.
  • the force sensor 14 array on the grip surface of the jaw 10 and covering the elastic material thereon, as in the case of holding an object with a human finger, It is possible to detect whether the object is a hard object, a soft object, or some form of object, similar to what a person feels.
  • the present embodiment implements a jaw structure in which the force sensor 14 and the elastic skin 12 are coupled to a metal surface, so that the reaction force applied to the jaw 10 may be felt as if a person feels it. Intuitive sensing is possible.
  • FSR which is a method using a resistance that changes according to reaction force
  • the present invention is not limited thereto, and a piezoelectric element, a conductive rubber, a piezo film, and a capacitance are described.
  • a force measuring sensor of various methods such as using.
  • the present invention is not limited thereto and may be applied to general component materials for measuring force. That is, the present invention is to be implemented in the form of a reaction force sensing structure consisting of a structure covering the elastic skin on the base, and a sensing unit for measuring the reaction force applied to the base from the degree of deformation of the elastic skin between the base and the elastic skin. It may be.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (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)
  • Ophthalmology & Optometry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne une structure de mâchoire d'un instrument chirurgical. Cette structure de mâchoire comprend une paire de mors installée au niveau de la partie terminale de l'instrument chirurgical et utilisée pour une opération de préhension; un revêtement élastique appliqué sur une surface orientée face à la paire de mors, ce revêtement se transformant lorsqu'il est comprimé par un objet suite à l'opération de préhension des mors; et un bloc de détection intercalé entre le mors et le revêtement élastique, servant à mesurer une force de réaction appliquée aux mors en fonction du niveau de transformation du revêtement élastique. Étant donné que la surface de préhension de la paire de mors est recouverte d'un matériau élastique, il est plus facile de saisir un objet pendant une intervention chirurgicale et la détérioration de l'objet peut être réduite même si les mors sont saisis avec une force excessive. Un réseau de capteurs de force est disposé sur l'autre côté du revêtement élastique afin de détecter intuitivement la force de réaction appliquée aux mors, d'une manière similaire aux sensations d'un être humain.
PCT/KR2010/007498 2009-10-30 2010-10-29 Structure de mâchoire d'un instrument chirurgical Ceased WO2011053029A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090104374 2009-10-30
KR10-2009-0104374 2009-10-30
KR1020090107870A KR20110047926A (ko) 2009-10-30 2009-11-10 수술용 인스트루먼트의 죠 구조
KR10-2009-0107870 2009-11-10

Publications (2)

Publication Number Publication Date
WO2011053029A2 true WO2011053029A2 (fr) 2011-05-05
WO2011053029A3 WO2011053029A3 (fr) 2011-11-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/007498 Ceased WO2011053029A2 (fr) 2009-10-30 2010-10-29 Structure de mâchoire d'un instrument chirurgical

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230142708A1 (en) * 2014-05-05 2023-05-11 Vicarious Surgical Inc. End-effectors for surgical robotic systems

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3756556B2 (ja) * 1995-10-06 2006-03-15 オリンパス株式会社 把持鉗子
AU2004220635A1 (en) * 2003-03-06 2004-09-23 Applied Medical Resources Corporation Spring clip and method for assembling same
US7784663B2 (en) * 2005-03-17 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
US7651017B2 (en) * 2005-11-23 2010-01-26 Ethicon Endo-Surgery, Inc. Surgical stapler with a bendable end effector

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230142708A1 (en) * 2014-05-05 2023-05-11 Vicarious Surgical Inc. End-effectors for surgical robotic systems
US12370003B2 (en) 2014-05-05 2025-07-29 Vicarious Surgical Inc. Robotic arms of a surgical robotic system
US12376924B2 (en) 2014-05-05 2025-08-05 Vicarious Surgical Inc. Surgical robotic systems

Also Published As

Publication number Publication date
WO2011053029A3 (fr) 2011-11-03

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