WO2014077439A1 - Articulating arm device, and ultrasonic medical device comprising same - Google Patents

Abstract

One embodiment of the present invention provides an articulating arm device comprising: a base; a post connected to the base such that the post is linearly movable; a first arm connected to the post such that the first arm is rotatable in the left and right directions about a vertical axis; a second arm connected to the first arm such that the second arm is rotatable in the left and right directions about the vertical axis; a head frame connected to the second arm such that the head frame is rotatable in the left and right directions about the vertical shaft and rotatable in the vertical direction about the horizontal axis; a supported object connection unit connected to the head frame such that the supported object connection unit is rotatable in the vertical direction about the horizontal direction; and a plurality of rotating units for enabling the linear movement and the rotation, wherein each of the plurality of rotating units includes a locking apparatus.

Description

Articulating arm device and ultrasonic medical device comprising the same

The present invention relates to an articulating arm device and an ultrasonic medical device comprising the same. More particularly, the present invention relates to an articulating arm device capable of controlling the movement or fixation of a treatment head for performing treatment by irradiating ultrasound to an affected part of a patient, and a medical device including the same.

The contents described in this section merely provide background information on the embodiments of the present invention and do not constitute a prior art.

High Intensity Focused Ultrasound HIFU is designed to locate a transducer with the target cancer tissue as a target and irradiate high intensity ultrasound energy to the cancer cells to be treated using imaging and control devices. It is a medical device to treat.

Currently, it is used for the treatment of liver cancer, breast cancer, uterine cancer, and so on. Because the cancer treatment using ultrasound is treated without surgical operation, the recovery speed is much faster than the incision of the skin and the skin does not hurt. Due to this, the demand in medical institutions is gradually increasing.

The structure of the HIFU apparatus is largely divided into a main body, a treatment head, and a support structure that is installed on the main body and supports the treatment head.

Among them, the supporting structure for supporting the treatment head generally constitutes an articulating arm structure, and the articulating arm device enables the treatment head to be quickly and easily moved in various directions such as horizontal, vertical and diagonal, It is possible to move the treated area to a location suitable for treatment.

However, it is cumbersome to move the treatment head attached to the articulating arm device to the treatment site and fix it in place.

Ultrasound medical devices also generally use weight balance to easily lift or lower the head. However, the head portion comprising the treatment head is generally heavy. Therefore, in order to install many weights, the space in which weights are built must be increased, which increases the size of the medical device and is problematic in appearance.

In addition, the treatment head in the ultrasonic medical device is constantly evolving with the development of the technology, it is necessary to replace the work. However, the replacement of an updated treatment head is not economical as the weight of the treatment head increases and the structure or design of the medical device must be changed accordingly.

In order to solve the above problems, there is a need for an articulating arm device having a new structure that can easily move a treatment head attached to an articulating arm device to a treatment site and can be easily fixed at that position.

There is also a need for an articulating arm device having a structure that makes it easy to lift, lift or stop a heavier head while maintaining an aesthetic design without increasing the size of the ultrasound medical device.

There is also a need for an articulating arm device having a structure that can accommodate a changed weight even if the weight is changed by replacement to update the treatment head.

One embodiment of the invention the base; A post linearly connected to the base; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; And a plurality of rotation parts for enabling the linear movement and the rotation, wherein each of the plurality of rotation parts includes a locking device.

One embodiment of the invention the base; A post which is linearly connected to the base; And a first arm, a second arm, a head frame, and a support connecting portion connected to the post, wherein the post includes a weight balance therein, the weight balance being connected to a spring balance installed in the main body by a cable. An articulating arm device is provided.

One embodiment of the invention the support; A pulley installed on the support; A cable that is hooked to the pulley and has a weight connected to one side and an object connected to the other side; And a spring balance coupled to the weight.

One embodiment of the present invention is a post, a first arm, a second arm, a head frame, a support body connecting portion sequentially connected to the main body and the main body; And a treatment head attached to the support member, wherein the post has a weight balance therein, and a spring balance connected to the weight balance on the body.

One embodiment of the invention the main body; A post linearly connected to the main body; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; A treatment head connected to the supported connector; And a plurality of rotating parts for enabling the linear movement and the rotation, wherein the plurality of rotating parts each include a locking device, and each of the locking devices is simultaneously unlocked through one switch electrically connected thereto. It provides an ultrasound medical device, characterized in that.

As described above, according to an embodiment of the present invention, when the transducer of the high intensity integrated ultrasound medical device (HIFU device) is placed on the affected part of the patient, the user can configure the articulating arm of the medical device to five axes or more. The transducer can be easily positioned at the treatment site.

In addition, by using a plurality of locking devices that can be locked and unlocked at the same time with one touch, it is convenient for the user to position and fix the transducer on the treatment area of the patient.

In addition, by applying the spring balance structure to the weight balance structure, even if the weight of the head including the treatment head is changed, it can be easily applied to the medical device, it takes up less space and has the effect of reducing the size and weight of the medical device. .

1 is a perspective view showing an articulating arm device according to the present embodiment.

2 is a cross-sectional view showing the articulating arm device according to the present embodiment.

3 is a view showing the structure of the spring balance.

4 is a conceptual diagram illustrating a state in which a weight balance and a spring balance are connected.

5 is a view showing the interior of the post.

FIG. 6 is a diagram illustrating an ultrasound medical apparatus including an attaculating arm apparatus.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a perspective view showing an articulating arm device according to the present embodiment. 2 is a cross-sectional view showing the articulating arm device according to the present embodiment. 3 is a diagram illustrating an example of a spring balance structure. 4 is a conceptual diagram illustrating a state in which a weight balance and a spring balance are connected. 5 is a view showing the interior of the post. FIG. 6 is a diagram illustrating an ultrasound medical apparatus including an attaculating arm apparatus.

In FIG. 1, R1 represents the direction of rotation from side to side, and R2 represents the direction of rotation up and down. In addition, X represents the direction of vertical movement of the post 20 up and down. 1 shows the state in which the support body 26 is attached to the articulating arm device 10. 2 shows a state in which the support body 26 is not attached.

The articulating arm device 10 of the present embodiment includes a base 15, a post 20 connected to the base 15 so as to be linearly movable, and a first arm rotatably connected to the post 20 about left and right about a vertical axis. (21), the second arm (22) connected to the first arm (21) so as to rotate left and right about a vertical axis, the second arm (22) is rotatable left and right about a vertical axis, and up and down about a horizontal axis. A head frame (24) rotatably connected to the support body (25), the support body (25) connected to the head frame (24) rotatably up and down about a horizontal axis; And a plurality of rotation parts 50 for enabling linear movement and the rotation, each of the plurality of rotation parts 50 including a locking device (not shown).

The support 26 may be, for example, a treatment head 26 including a transducer for generating ultrasound signals in an HIFU device to obtain an image signal, and for treating a treatment area of the human body.

In the present embodiment, the base 15 is provided with a support 35 and a post 20, the spring balance 40 is installed. The spring balance 40 is mentioned later.

The post 20 is connected to the upper end of the main body 61 in a vertically movable manner. The post 20 may have a cylindrical shape and includes a weight balance 30 therein.

The post 20 including the weight balance 30 will be described in more detail. The support 35 is located inside the post 20. The support 35 is fixed to the base 15 and the base 15 is installed in the main body 61. According to an embodiment, the base 15 may be installed inside the main body 61. The support 35 may be in the form of a rectangle. The post 20 is movable up and down based on the support 35. The weight balance 30 is inherent in the support 35. The weight balance 30 may include a weight 31, a weight container 32, a pulley 34, and a cable 33. The weight 31 may be contained in the weight container 32, and according to the embodiment, the weight container 32 may move up and down smoothly in the support 35 by the rotating wheel. The pulley 34 is positioned at the upper end of the support 35. The cable 33 is caught in the pulley 34. One end of the cable 33 is connected to one side of the weight container 32. The other end of the cable 33 is connected to the inner surface of the post 20 movably coupled to the support 35. When the post 20 moves upward or downward, the weight 31 and the weight container 32 move downward or upward by the action of the pulley 34.

The weight of the head portion connected to one end of the cable 33 caught by the pulley 34 and the weight 31 connected to the other end is preferably the same. In other words, it is desirable to balance the weight. For reference, in the present embodiment, the head portion includes a post 20, a first arm 21, a second arm 22, a head frame 24, a support body connecting portion 25, and a support body 26.

As a result of the weight balance, the post 20 can naturally stay in the required position and does not require a large force when moving the post 20 upwards, and is less affected by weight when moving downwards. .

In the present specification, the part including the pulley 34 positioned inside the post 20 and positioned on the support 35 is defined as the rotation part 50. The rotating unit 50 will be described later.

For example, the rail unit 39 may be installed between the post 20 and the support 35 so that the post 20 may be moved up and down based on the support 35. According to an exemplary embodiment, the rail unit 39 may be an LM Guide including an elongated frame 37 and a moving block 38 slidably connected to the frame 37. In this embodiment, the movable block 38 is installed on the inner wall of the post 20, and the frame 37 is installed on the outer wall of the support 35.

In the present embodiment, the main body 61 is provided with a spring balance 40 at regular intervals from the post 20. Specifically, the base 15 is installed at the upper end or the inside of the main body 61, and the support 35 and the spring balance 40 supporting the post 20 are installed at the base 15. The spring balance 40 is wound around the case 41, the drum 42 internally installed inside the case 41, the cable 33a wound on the drum 42, and the drum 42 to restore the restoring force. It includes a spring spring 43 to provide. The inner diameter of the drum 42 is tapered to extend from one side to the other side, and forms a helical recess 44 in which the cable 33a is wound on its outer circumferential surface. The drum 42 is coupled to the rotating shaft 45 in a rotatable structure inside the case 41. Spring balance 40 is capable of tension adjustment and is provided with a tension control device (not shown) to adjust the tension.

The operation of the spring balance 40 will be described. When the cable 33a on which the heavy material is supported is pulled, the drum 42 is rotated in the release direction of the cable 33a to wind the spring spring 43. The pulling force of the cable 33a acts regardless of the distance. This is because there is a difference in the inner diameter in the process in which the wound cable 33a is separated from the recess 44 of the tapered drum 42. That is, since the cross-sectional area of the cable 33a released from the recess 44 of the drum 42 becomes small in proportion to the force from which the cable 33a is pulled, the heavy material can be supported while maintaining a constant tension at all times.

According to the present embodiment, the weight balance 30 is connected to the spring balance 40 and the cable 33a. In the weight balance 30, in order to balance the weight of the head part which is a heavy object, the weight 31 is needed a lot. Since the space inside the post 20 is narrow, the weight 31 cannot be stored much. To store a lot of weight 31, the volume of the post 20 must be large, which is not good in appearance. Therefore, by connecting the spring balance 40 to the weight balance 30, while the weight balance 30 takes less weight, the spring balance 40 takes the remaining weight to balance the weight with the weight.

In addition, the advantage of the structure of connecting the spring balance 40 to the weight balance 30 is to replace the treatment head 26 in the HIFU device to change the weight of the head portion prior art inside the post 20 In order to readjust the weight 31, it is troublesome to disassemble the device or to change the structure or design of the HIFU device.

However, according to the embodiment of the present invention, since the tension of the spring balance 40 can be easily adjusted by the tension adjusting device installed in the spring balance 40, even if the treatment head 26 is replaced with another type, the structure or design of the device There is no need to change.

One end of the first arm 21 is rotatably connected to the left and right of the post 20 about a vertical axis. In the present specification, the portion in which the first arm 21 and the post 20 are connected is defined as the rotating unit 50. The vertical shaft 51 is coupled to the upper end of the post 20 constituting the rotating part 50, and the bearing 52 is fitted to the circumferential surface of the shaft 51. One end of the first arm 21 has a hole formed therein, in which the bearing 52 and the shaft 51 are inserted into the post 20 and the first arm 21 are connected. This structure is different from the rotating part 50 including the pulley 34 described above, but both the rotating parts 50 include the locking device of the same structure. The structure of the locking device will be described later.

The other end of the first arm 21 is connected to one end of the second arm 22. The portion where the first arm 21 and the second arm 22 are connected has the same structure as the portion where the first arm 21 and the post 20 are connected. In the present specification, the portion where the first arm 21 and the second arm 22 are connected is also defined as the rotating unit 50.

The other end of the second arm 22 is hinged through the head frame 24 and the hinge portion 27. The head frame 24 is a shape in which a bar is bent to surround the support body 26. A second hinge connector 24a is formed in the center of the upper end of the head frame 24. The hinge portion 27 includes a first hinge connecting portion 23 and a second hinge connecting portion 24a, and the first hinge connecting portion 23 and the second hinge connecting portion 24a are connected by hinge pins. One end of the first hinge connecting portion 23 is rotatably connected to the other end of the second arm 22, which also has a structure and a rotating part 50 to which the post 20 and the first arm 21 are connected. Is the same. Therefore, the part where one end of the first hinge connection part 23 and the other end of the second arm 22 are connected is also defined as the rotation part 50 in the present specification. In addition, the head frame 24 can be rotated up and down about the hinge pin of the horizontal axis. Therefore, the structure in which the head frame 24 and the first hinge connector 23 are also connected is the same as that of the rotating part 50, which is a part to which the post 20 and the first arm 21 are connected. Therefore, the part in which the head frame 24 and the first hinge connection part 23 are connected is also defined as the rotation part 50. As a result, the head frame 24 is not only rotated left and right (R1) but also vertically rotated (R2) through two rotation parts 50.

The support body connecting portion 25 is rotatably connected up and down about the vertical axis at both ends of the head frame 24. Support body connection portion 25 is in the shape of a ring and one side and the other side is connected to both ends of the head frame 24, respectively. The connection here is also similar in structure to the rotating part 50 to which the above-described post 20 and the first arm 21 are connected. In the present specification, the portion to which the support body connecting portion 25 and the head frame 24 are connected is also defined as the rotating portion 50.

The supported member 26 is connected to the supported member 26. Both sides of the support body 26 are connected to the same position as the rotating unit 50 in which the support body connecting portion 25 is connected to the head frame 24. The ring shape of the support body connecting portion 25 may serve as a handle. The support body connection part 25 and the support body 26 are mutually restrained and rotate up and down about the same axis together. Therefore, when the support body connecting portion 25 is rotated up and down, the support body 26 is also rotated up and down together.

In this embodiment, six rotating parts 50 are provided, and the rotating parts 50 allow linear movement of the posts 20 and rotation of devices connected to the posts 20.

The rotating part 50 all includes a locking device. The locking device enables the linear movement of the post 20 and the rotation of the first arm 21, the second arm 22, the head frame 24 and the support body connecting portion 25 or the linear movement and the rotation. You can restrain. The structure of the locking device may be a structure of a magnetic clutch, or may have a structure of a solenoid valve according to an embodiment. Magnetic clutch is a device that restrains rotation. The structure may include, for example, a shaft, a first disk and a second disk fitted to the shaft. For example, in relation to the pulley 34 installed on the upper end of the support, the first disk may be fixed in movement, and the second disk may be fixed in the pulley 34. In relation to the post 20 and the first arm 21, the first disk may be fixed to the post 20, and the second disk may be fixed to the first arm 21. The magnetic clutch is electrically connected to the power supply and the controller, and is driven and controlled by receiving a current from the power supply. The magnetic clutch has a magnetic force in the initial state, and the first and second disks are stuck together so that relative rotation is constrained and locked. However, when the current flows, the first disc and the second disc lose their magnetism, and the locked state is released to allow relative rotation. In the above-described example, since the pulley 34 is fixed in the locked state, the shankdong of the post 20 is constrained, and the left and right rotation of the first arm 21 is constrained on the post 20.

In the present embodiment, each of the six rotating parts 50 includes a locking device, which includes the structure of the above-described magnetic clutch, and is electrically connected to one switch operating part. The electrical connection may be considered to be connected by wires, depending on the embodiment. The switch operation unit may be installed in the support body connecting portion 25 according to the embodiment. A plurality of locking devices can be unlocked at the same time through the switch operation unit.

According to the present embodiment, the user can lock or unlock the arms with a single switch operation through the magnetic clutch. For example, the support 26 may be moved to a desired position after holding the support 25 and releasing the locking state of the locking device in the rotating unit 50 through a switch operation unit installed on the support 25. The support member 26 can be fixed by returning the lock to the locked state by placing the retarder 26 in a desired position and operating the switch again. The switching between the locked state and the unlocked state can be achieved by one touch of the switch operation unit. Such drive and position control is very convenient for moving and positioning the transducer in order to focus ultrasound on a target area of a patient to be treated, for example, cancer tissue, in a medical device such as a HIFU device.

Lift device according to an embodiment of the present invention is supported on the support 35, the pulley 34 installed on the support 35, the pulley 34, the weight 31 is connected to one side, the object 36 is the other side It includes a cable 33 that can be connected and a spring balance 40 connected to the weight 31. It should be noted that the object 36 is different from the support 26 described above.

In this embodiment, the spring balance 40 is connected to the weight 31 by a cable 33a. The spring balance 40 is capable of adjusting the tension, it may be provided with a tension control device for adjusting the tension. Here, the object 36 is linearly connected to the support 35. In the present embodiment, the object 36 is a head part including the treatment head 26 and the first arm 21, the second arm 22, the head frame 24, and the post 20 of the HIFU apparatus, but the embodiment is not limited thereto. It is not limited. The post 20 may be movably connected to the support 35 via, for example, an EL guide.

Ultrasound medical device 60 according to an embodiment of the present invention is the post 20, the first arm 21, the second arm 22, the head frame 24 sequentially connected to the main body 61 and the main body 61 And a treatment head 26 attached to the support connecting portion 25 and the support connecting portion 25, wherein the post 20 has a weight balance 30 installed therein and the weight balance outside thereof. And a spring balance 40 connected to 30.

The main body 61 may include, for example, a control unit for processing a signal obtained from the support body 26 and a driving unit for operating the articulating arm device 10.

In addition, in the present embodiment, the base 15 may be installed at the top or inside of the main body 61, and the support 15 and the spring balance 40 may be installed at the base 15. The inside of the support 35 has a weight balance 30, and the outside is surrounded by a post 20.

Ultrasound medical device 60 according to an embodiment of the present invention is the main body 61, the first post 20, which is linearly connected to the main body 61, the first to the post 20 is rotatably connected to the left and right about a vertical axis The second arm 22 and the second arm 22 rotatably connected to the arm 21 and the first arm 21 about the vertical axis are rotatable left and right about the vertical axis and about the horizontal axis. A head frame 24 rotatably connected up and down, a support connector 25 rotatably connected up and down about a horizontal axis to the head frame 24, a treatment head 26 connected to the support connector 25, and It includes a plurality of rotating parts 50 for enabling linear movement and the rotation. Each of the plurality of rotating parts 50 includes a pulley 34 inside the post 20, a connecting portion of the post 20 and the first arm 21, the first arm 21 and the second arm 22. Connecting portion of the second arm 22 and the first hinge connecting portion 23, connecting portion of the first hinge connecting portion 23 and the second hinge connecting portion 24a on the head frame 24, head frame ( 24) refers to the connecting portion of the support portion connecting portion (25). Each of the plurality of rotating parts 50 includes a locking device, and each of the locking devices may be unlocked at the same time through one switch electrically connected.

In another embodiment of the ultrasonic medical apparatus 60 according to the present invention, the weight balance 30 is installed inside the post 20 in the aforementioned ultrasonic medical apparatus 60, and the weight balance 30 is externally provided. A spring balance 40 to be connected may be installed.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

In one embodiment of the present invention, in an ultrasonic medical device such as a HIFU device, any device having an articulating arm structure that allows a user to freely control the position of a treatment head equipped with a transducer for irradiating ultrasonic waves. Applicable

Claims (16)

Base; A post linearly connected to the base; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; And And a plurality of rotations for enabling the linear movement and the rotation, wherein each of the plurality of rotations includes a locking device. The method of claim 1, And the plurality of locks enable the linear movement and the rotation or constrain the linear movement and the rotation. The method of claim 1, An articulating arm device, further comprising a switch operation unit capable of simultaneously unlocking the plurality of locking devices. The method of claim 3, And the switch operation portion is electrically connected to the plurality of locking devices. The method of claim 3, And the plurality of locking devices includes a magnetic clutch structure. The method of claim 3, And the switch operating portion is attached on the support body connecting portion. The method of claim 1, And the post has a weight balance therein, and the weight balance is connected to a spring balance. The method of claim 7, wherein The spring balance is capable of adjusting the tension, Articulating arm device characterized in that it comprises a tension adjusting device for adjusting the tension. Base; A post which is linearly connected to the base; And And a first arm, a second arm, a head frame, and a support connecting portion connected to the post, wherein the post includes a weight balance therein, and the weight balance is connected to a spring balance installed on the main body by a cable. An articulating arm device. support fixture; A pulley installed on the support; A cable that is hooked to the pulley and has a weight connected to one side and an object connected to the other side; And A spring balance connected to the weight Lift apparatus comprising a. The method of claim 10, The spring balance is lift device, characterized in that connected to the weight by a cable. The method of claim 11, The spring balance is capable of adjusting the tension, characterized in that provided with a tension adjusting device for adjusting the tension. The method of claim 10, The object is a lift device, characterized in that connected to the support linearly movable. A post, a first arm, a second arm, a head frame, and a support body connected to the main body and the main body sequentially; And And a treatment head attached to the support member, wherein the post has a weight balance therein, and a spring balance connected to the weight balance on the body. main body; A post linearly connected to the main body; A first arm rotatably connected to the post from side to side about a vertical axis; A second arm rotatably connected to the first arm from side to side about a vertical axis; A head frame rotatable from side to side about a vertical axis and rotatably up and down about a horizontal axis to the second arm; A support body connecting portion connected to the head frame to be rotatable up and down about a horizontal axis; A treatment head connected to the supported connector; And A plurality of rotations for enabling the linear movement and the rotation, the plurality of rotations each including a locking device, wherein each of the locking devices can be unlocked at the same time through one electrically connected switch. Ultrasonic medical device, characterized in that. The method of claim 15, The post is provided with a weight balance therein, the main body ultrasonic medical device, characterized in that the spring balance is connected to the weight balance is installed.

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