WO2025116155A1 - Trigger module for end effector of biopsy needle manipulation robot device - Google Patents

Abstract

The present invention relates to a trigger module for an end effector, which manipulates a needle part (110) of a biopsy needle module of a biopsy system so that the needle part (110) of the biopsy needle module is inserted into a biopsy site of a patient to enable biopsy of sample tissues. In comparison to conventional trigger modules, the trigger module according to the present invention is, in a state in which loading has been completed outside the body, coupled to the needle part, which in this state is then inserted into a biopsy site, thus enabling a biopsy process to be completed through only one step of advancing an external needle carrier.

Description

Trigger module for end effector of biopsy needle manipulation robot device

The present invention relates to a trigger module, and more specifically, to a trigger module for an end effector of a biopsy needle manipulation robot device that is inserted into a biopsy site of a patient to biopsy a sample tissue.

A biopsy is a type of examination method that extracts a portion of tissue for pathological examination by inserting a hollow needle into an organ in the body without cutting the skin. A biopsy is performed before surgery to examine a suspected tumor area using ultrasound, computed tomography (CT), magnetic resonance imaging (MRI), etc. in the early diagnosis of cancer, and a tissue examination is performed based on the image.

When performing a biopsy using medical imaging such as CT or MR, the space inside the medical imaging equipment gantry where the patient is positioned is usually narrow, and a typical biopsy needle is long and straight, taking up a lot of space, making it difficult for the needle to enter the patient's tissue inside the narrow gantry of the medical imaging equipment.

To solve these problems, the applicant has applied for a registered patent, No. 10-2459424, “Biopsy needle manipulation robot device for real-time biopsy using medical imaging equipment,” which performs a biopsy on a patient while checking images in real time inside a gantry using a curved needle device.

Figure 1 is a schematic diagram schematically illustrating the biopsy process of the biopsy system (1) of the disclosed registered patent. As illustrated, the conventional biopsy system (1) is coupled to medical imaging equipment such as MRI, so that the operator can view the image in real time and insert a needle into the biopsy target location to accurately biopsy a biopsy sample.

A conventional biopsy system (1) includes a biopsy needle module (100) inserted into a patient's biopsy site, and a biopsy needle manipulation robot device (200) that adjusts the position of the biopsy needle module (100) so that it can be inserted into a biopsy target site. The biopsy needle manipulation robot device (200) includes an end effector (300) to which the biopsy needle module (100) is detachably coupled and which manipulates the biopsy needle module (100), and a position-adjusting robot (400) that adjusts the position of the end effector (300) so that the biopsy needle module (100) can be inserted into various biopsy target sites.

Figure 2 is an exploded perspective view illustrating the process of attaching a biopsy needle module (100) to a conventional end effector (300), and Figure 3 is an exemplary diagram illustrating the biopsy process of a conventional end effector (300) step by step.

The biopsy needle module (100) includes a needle portion (110), a needle bending frame (120) having a bent shape and coupled to the needle portion (110) with the tip of the needle portion (110) inserted therein, and a needle guide (130) that is coupled to the upper portion of the needle bending frame (120) so as to be movable along the bent shape of the needle bending frame (120) and supports the needle portion (110).

The needle part (110) is manipulated by the end effector (300) and inserted into the biopsy target site (T) to biopsy the sample tissue (S). The needle part (110) is arranged so that the inner needle (113) and the outer needle (111) overlap each other. The inner needle (113) is formed to be longer than the outer needle (111).

At the rear of the outer needle (111), an outer needle fixing rib (112) coupled to an end effector (300) is fixedly coupled, and a front guide coupling protrusion (not shown) coupled to a needle guide (130) is protruded and formed on the upper portion of the outer needle fixing rib (112).

The tip of the inner needle (113) is provided with a sharp tip (113a), and a biopsy groove (113b, see (c) of FIG. 11) is formed at the rear of the tip (113a) by being sunken from the plate surface and through which a sample tissue is biopsied. The rear of the inner needle (113) is exposed to a certain length outside the outer needle (111) and is connected to the inner needle fixing rib (114). The inner needle fixing rib (114) is connected to the end effector (300).

The end effector (300) comprises a casing part (310) that is vertically arranged on the side of the bed (11), a trigger module (320) that is horizontally movably coupled to the inside of the casing part (310) and into which the external needle fixing rib (112) and the internal needle fixing rib (114) of the breast biopsy needle module (100) are inserted and moves the breast biopsy needle module (100), a module transport drive part (330) that penetrates the trigger module (320) and is horizontally provided at the bottom of the casing part (310) to move the trigger module (320) forward and backward and to move the internal needle (113) and the external needle (111) forward or backward to the biopsy site, and a module transport drive part (330) that is provided in parallel with the module transport drive part (330) to move the external needle (111) forward or backward separately from the internal needle (113). It includes an external needle drive unit (340).

The conventional trigger module (320) includes a module body (321) and an external needle carrier (325) that is movably coupled to the upper portion of the module body (321) and coupled with an external needle fixing rib (112). In addition, an internal needle rib insertion groove (321-1) coupled with an internal needle fixing rib (114) of an internal needle (113) is provided on the upper portion of the module body (321). In the conventional trigger module (320), only the external needle (111) can be moved back and forth by the external needle driving unit (340).

Figure 3 is an example diagram illustrating a biopsy process step by step using a conventional end effector (300) and trigger module (320).

As shown in (a) of Fig. 3, the needle part (110) is not mounted on the end effector (300), and as shown in (b) of Fig. 3, the needle part (110) is mounted. When the needle part (110) is mounted, the trigger module (320) is advanced by the module transport drive part (330) so that the needle part (110) is inserted into the biopsy site.

When the needle part (110) is inserted into the biopsy site, as shown in (c) of FIG. 3, the external needle drive part (340) is driven to move the external needle carrier (325) backward and the module transport drive part (330) forward to perform a loading process to advance the internal needle (113) to the target site. When loading is completed, the external needle drive part (340) is operated as shown in (d) of FIG. 3, and the external needle carrier (325) is shot forward as shown in (e) of FIG. 3, thereby completing the biopsy.

However, since the operation of the conventional trigger module (320) is such that only the external needle carrier (650) is operated by the external needle drive (340) and the position of the internal needle (113) is controlled by the module transfer drive (330), as shown in (b) of FIG. 3, after the needle part (110) is inserted into the biopsy site, the loading process is performed as shown in (c) of FIG. 3. That is, after the needle part (110) is inserted into the body, a first time is required for loading, and a second time, which is the same as the first time, is required to advance the loaded external needle drive (340), and then shooting is performed. That is, the time required for the biopsy after the needle part (110) is inserted and until shooting is performed is the combined time of the first time and the second time, which causes pain to the patient and causes inconvenience in manipulating the trigger module (320).

The purpose of the present invention is to solve the above-described problem, and to provide a trigger module for an end effector which is coupled to a needle portion in a loaded state, and which starts the shooting process immediately after the needle portion is inserted into the body, thereby reducing the time required for a biopsy by half compared to the conventional method.

The above objects and various advantages of the present invention will become more apparent to those skilled in the art from the preferred embodiments of the present invention.

The above-described purpose of the present invention can be achieved by a trigger module for an end effector that operates the needle portion (110) of the biopsy needle module of the biopsy system so that the needle portion (110) of the biopsy needle module is inserted into a biopsy site of a patient to biopsy a sample tissue. Here, the needle part (110) of the biopsy needle module is provided with an outer needle (111) and an inner needle (113) overlapping each other, and includes an inner needle fixing rib (114) fixedly connected to the rear end of the inner needle (113), and an outer needle fixing rib (112) provided in front of the inner needle fixing rib (114) and fixedly connected to the rear end of the outer needle (111), and the trigger module for the end effector of the present invention comprises a module body (610) coupled to be moved back and forth by the module transfer drive unit (330) of the end effector and having a carrier movement path (611) formed at the upper end with a predetermined length; An internal needle carrier (640) which is coupled to the upper part of the module body (610) so as to be movable forward and backward along the carrier movement path (611) and has an internal needle rib insertion groove (641) and an external needle carrier movement path (645) formed on the upper surface, in which the internal needle fixing rib (114) is coupled; An external needle carrier (650) which is coupled to be movable forward and backward along the external needle carrier movement path (645) and has an external needle rib insertion groove (651) formed on the upper surface, in which the external needle fixing rib (112) is coupled, and has a locking block (655) provided on the lower surface; A handle transfer screw pipe (660) which is coupled to the external needle drive unit (340) of the end effector and rotates forward and backward and has an external screw thread (661) formed along the longitudinal direction on the outer circumference; A handle (670) having an internal screw thread (671) formed on the inner surface to be screw-connected with the external screw thread (661) and to move linearly back and forth in conjunction with the forward and reverse rotation of the handle transfer screw pipe (660), and having a carrier pressurizing rib (673) that is fixedly connected to the external needle carrier (650) on one side to pressurize the external needle carrier (650) so that they move back and forth together; an elastic member support shaft (680) that penetrates the interior of the module body (610) and is inserted into the internal needle carrier (640) and the external needle carrier (650), and to which an elastic member (681) is coupled along the path; It is preferable to include a hinge (690) that is fixedly connected to the front lower part of the module body (610) and restricts the movement of the external needle carrier (650) so that when the handle (670) moves backward, the internal needle carrier (640) and the external needle carrier (650) move backward together, and when the handle (670) moves forward, only the internal needle carrier (640) moves forward.

According to one embodiment, an inner needle carrier elastic shaft insertion ring (643) through which the elastic member support shaft (680) is inserted is provided at the lower portion of the inner needle carrier (640), an outer needle carrier elastic shaft insertion ring (653) through which the elastic member support shaft (680) is inserted is provided coaxially with the inner needle carrier elastic shaft insertion ring (643) at the lower portion of the outer needle carrier (650), and the elastic member (681) can be arranged between the outer needle carrier elastic shaft insertion ring (653) and the rear wall of the module body (610).

According to one embodiment, a pair of side projections (693) protruding upward are provided on both sides of the rear end of the hinge (690), a rib insertion slope (695) inserted downwardly is provided between the pair of side projections (693), a catch projection (655a) is provided protruding outward on both sides of the locking block (655) of the external needle carrier (650), and a hinge pressing end (675) is provided in a shape corresponding to the rib insertion slope (695) in front of the carrier pressing rib (673) of the handle (670), and when the external needle carrier (650) and the internal needle carrier (640) move backward together by the reverse rotation of the handle (670), the catch projection (655a) is caught by the pair of side projections (693) and the When the movement of the external needle carrier (650) is restricted and the external needle carrier (650) is moved forward by the forward rotation of the handle (670), the elastic member (681) is gradually compressed, the hinge pressing end (675) is inserted into the rib insertion slope (695), and when the rib insertion slope (695) is pressed downward, the engaging state of the pair of side projections (693) is released from the engaging projection (655a), and the external needle carrier (650) can be shot forward by the elastic force of the elastic member (681).

Compared to conventional trigger modules, the trigger module according to the present invention is coupled to a needle portion in a state where loading is completed outside the body, and then inserted into a biopsy site in that state, and then the external needle carrier advances, so that the biopsy process can be completed in just one step.

This can shorten the procedure time, make it easier for the operator to operate, and reduce the burden of biopsy on the patient.

Figure 1 is an example diagram showing a state in which a biopsy procedure is performed using a conventional biopsy system.

Figure 2 is an example diagram showing the process of combining a conventional end effector and a needle portion.

Figure 3 is an example diagram showing each process in which a biopsy needle module is operated by a conventional end effector.

Figure 4 is an exploded perspective view showing the process of combining a trigger module according to the present invention with an end effector and a biopsy needle module.

Figure 5 is a perspective view showing the configuration of the loaded state of the trigger module according to the present invention.

Figures 6 and 7 are exploded perspective views showing the configuration of the trigger module of the present invention from different directions.

Figure 8 is an internal perspective view showing the internal configuration of the trigger module of the present invention in a loaded state.

Figure 9 is a perspective view showing the state before the needle part of the trigger module of the present invention is combined and the state immediately before shooting.

Figure 10 is a cross-sectional example showing the cross-sectional state of each process during a biopsy of the trigger module of the present invention.

Figure 11 is an example diagram showing each process in which a biopsy needle module is operated by an end effector equipped with a trigger module of the present invention.

Fig. 12 is an exemplary diagram showing the position of a needle portion by an end effector equipped with a trigger module of the present invention.

In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. The present embodiments are provided to more completely explain the present invention to those with average knowledge in the art. Therefore, the shapes of elements in the drawings may be exaggerated to emphasize a clearer description. It should be noted that in each drawing, the same parts are sometimes illustrated with the same reference numerals. Detailed descriptions of well-known functions and configurations that are judged to unnecessarily obscure the gist of the present invention are omitted.

FIG. 4 is an exploded perspective view illustrating the process of coupling a trigger module according to the present invention to an end effector and a biopsy needle module, and FIG. 5 is a perspective view illustrating the configuration of a trigger module in a loaded state.

The trigger module (600) according to the present invention is coupled to the end effector (300) as shown in FIG. 4, and then coupled to the biopsy needle module (100) to operate the needle portion (110) of the biopsy needle module (100) to move forward or backward so that the needle portion (110) can be inserted into the biopsy target position to biopsy a biopsy sample.

Here, the remaining configuration of the biopsy system (1) excluding the trigger module (600) according to the present invention is all identical to that of the registered patent no. 10-2459424, “Biopsy needle manipulation robot device for real-time biopsy using medical imaging equipment.” Accordingly, a detailed description of the remaining configuration excluding the trigger module (600) is omitted.

The trigger module (600) according to the present invention is accommodated in the casing part (310) of the end effector (300) and includes a module body (610) that moves forward and backward by a module transfer drive part (330), a rear block (620) that is coupled to the rear of the module body (610), a front block (630) that is coupled to the front of the module body (610), an internal needle carrier (640) that is provided on the upper surface of the module body (610) so as to be able to move forward and backward and to which an internal needle fixing rib (114) of the needle part (110) is coupled, an external needle carrier (650) that is provided on the internal needle carrier (640) so as to be able to move forward and backward and to which an external needle fixing rib (112) of the needle part (110) is coupled, and a module body (610) that is provided on the side and is coupled to an external needle drive shaft (343) so as to rotate forward and backward. It includes a handle transport screw pipe (660), a handle (670) that is screw-connected to the outer surface of the handle transport screw pipe (660) and moves forward and backward according to the forward and reverse rotation of the handle transport screw pipe (660) and moves the internal needle carrier (640), an elastic member support shaft (680) that supports an elastic member (681) that elastically supports the external needle carrier (650), and a hinge (690) that is fixedly connected to the lower part of the module body (610) and controls the forward and backward movement of the external needle carrier (650).

Figures 6 and 7 are exploded perspective views showing the configuration of the trigger module (600) from different angles.

As shown in Fig. 4, the module body (610) is accommodated in the casing part (310) of the end effector (300) and moves back and forth by the module transport drive part (330) to allow the needle part (110) to be inserted into or discharged from the biopsy site.

As shown in FIGS. 6 and 7, a carrier movement path (611) is formed on the upper surface of the module body (610) through which the internal needle carrier (640) moves back and forth, an elastic shaft insertion hole (612) into which an elastic member support shaft (680) is inserted is formed through the rear surface of the module body (610), a module transfer shaft insertion hole (613) into which a module transfer shaft (333) of a module transfer drive unit (330) is inserted is provided on one side of the module body (610), a first needle receiving groove (614) is formed on the upper surface of the front and rear of the module body (610) to receive a needle portion (110) by being sunken to a certain depth toward the bottom, and an external needle drive shaft (343) of an external needle drive unit (340) is inserted on the other side of the module body (610). An external needle drive shaft insertion hole (615) is formed, and a screw pipe joint groove (616) is formed by cutting a predetermined area coaxially with the external needle drive shaft insertion hole (615) and in which a handle transfer screw pipe (660) is arranged.

A carrier movement path (611) is formed along the longitudinal direction of the upper surface of the module body (610) so that an internal needle carrier (640) can be accommodated therein so that it can move back and forth. When the internal needle carrier (640) moves back and forth by the handle transfer screw pipe (660), it is guided along the carrier movement path (611) and moves back and forth.

The elastic shaft insertion hole (612) is formed through the rear of the module body (610) to allow the elastic member support shaft (680) to be inserted into the module body (610). As shown in FIG. 5, the elastic member support shaft (680) inserted through the elastic shaft insertion hole (612) is inserted through the inner needle carrier elastic shaft insertion ring (643) of the inner needle carrier (640) and the outer needle carrier elastic shaft insertion ring (653) of the outer needle carrier (650), and then is coupled to the front of the module body (610).

The module transfer shaft insertion hole (613) inserts the module transfer shaft (333) of the module transfer drive unit (330) into the module body (610) as illustrated in FIG. 4. The module transfer shaft insertion hole (613) penetrates the front and rear of the module body (610) so that the module transfer shaft (333) is inserted therethrough. As a result, the module body (610) moves back and forth along the module transfer shaft (333). When the module body (610) moves forward, the needle part (110) is inserted into the patient's biopsy site, and when the module body (610) moves backward, the needle part (110) is discharged from the patient's biopsy site to the outside.

The first needle receiving groove (614) is sunk to a certain depth toward the bottom on the front and rear sides of the upper surface of the module body (610) to receive the needle portion (110). As shown in (a) of FIG. 11, when the needle portion (110) is coupled to the trigger module (600), the external needle fixing rib (112) is coupled to the external needle carrier (650), and the internal needle fixing rib (114) is coupled to the internal needle carrier (640), the external needle (111) overlapping the internal needle (113) is received in the first needle receiving groove (614).

The first needle receiving groove (614) is also formed in the external needle carrier (650) and the internal needle carrier (640) to receive the needle portion (110) without interfering with the forward and backward movement of the external needle carrier (650) and the internal needle carrier (640).

The external needle drive shaft insertion hole (615) is formed in a direction opposite to the module transfer shaft insertion hole (613) in the module body (610), and the external needle drive shaft (343) of the external needle drive part (340) is inserted therein. As illustrated in FIG. 7, the external needle drive shaft (343) passes through the screw pipe joint hole (621) of the rear block (620) and the interior of the handle (670), and then passes through the handle transfer screw pipe (660) to be rotatably coupled to the external needle drive shaft insertion hole (615) at the front of the module body (610).

The external needle drive shaft (343) rotates forward and backward and causes the handle transfer screw pipe (660) to rotate forward and backward, thereby moving the handle (670) coupled with the internal needle carrier (640) back and forth. As a result, the external needle carrier (650) can be moved back and forth in conjunction with the handle (670).

The screw pipe coupling groove (616) is formed by cutting a certain area of the rear module body (610) of the external needle drive shaft insertion hole (615). A handle transport screw pipe (660) coupled to the external needle drive shaft (343) is arranged in the screw pipe coupling groove (616). Since a handle (670) must be coupled to the outer surface of the handle transport screw pipe (660) so as to be able to move back and forth, the screw pipe coupling groove (616) is cut so that the handle transport screw pipe (660) and the handle (670) can be accommodated.

The rear block (620) is coupled to the rear of the module body (610). As shown in Fig. 5, the rear block (620) is coupled to the rear of the module body (610) and covers the rear of the handle transfer screw pipe (660) coupled to the screw pipe coupling groove (616) to fix the position.

As shown in Fig. 6, the plate surface of the rear block (620) is provided with a screw pipe joint hole (621) into which the rear end of the handle transfer screw pipe (660) is joined, a module transfer shaft through hole (623) into which the module transfer shaft (333) is inserted through, and an elastic support shaft joint groove (622) into which the rear end of the elastic member support shaft (680) is joined.

The front block (630) is coupled to the front of the module body (610). As shown in FIGS. 6 and 7, the front block (630) is coupled to cover the module transfer shaft insertion hole (613) of the module body (610), and a front module transfer shaft insertion tube (631) of a predetermined length is provided coaxially with the module transfer shaft insertion hole (613) on the plate surface.

As shown in Fig. 5, the internal needle carrier (640) is placed in the carrier movement path (611) of the module body (610), and the internal needle fixing rib (114) of the needle part (110) is detachably coupled and moved back and forth along the carrier movement path (611) by the module transfer shaft (333). The internal needle (113) is inserted into the biopsy site or discharged out of the body in conjunction with the back and forth movement of the internal needle carrier (640).

As shown in FIGS. 6 and 7, the inner needle carrier (640) is formed with an inner needle rib insertion groove (641) into which an inner needle fixing rib (114) is inserted at the rear. In addition, a second needle receiving groove (642) in which an inner needle (113) is received is formed at the front of the inner needle carrier (640) and at the front of the inner needle rib insertion groove (641). An outer needle carrier moving path (645) through which an outer needle carrier (650) moves back and forth is formed at the inside of the inner needle carrier (640), and an inner needle carrier elastic shaft insertion ring (643) into which an elastic member support shaft (680) is inserted is provided at the front lower portion of the inner needle carrier (640).

Fig. 8 is a perspective view showing the internal configuration of the trigger module (600) in a loaded state. As shown, an external needle carrier (650) is accommodated inside the internal needle carrier (640) so as to be able to move back and forth. At this time, an elastic member support shaft (680) is inserted through an internal needle carrier elastic shaft insertion ring (643) provided at the lower portion of the internal needle carrier (640), and the elastic member support shaft (680) is inserted into an external needle carrier elastic shaft insertion ring (653) at the lower portion of the external needle carrier (650) and then fixed to the front of the module body (610).

Meanwhile, a handle coupling projection (647) is formed to protrude downward at the bottom of the internal needle carrier elastic shaft insertion ring (643) of the internal needle carrier (640). The handle coupling projection (647) is coupled to the projection insertion hole (673a) of the carrier pressure rib (673) of the handle (670) to support the movement of the internal needle carrier (640) in conjunction with the forward and backward movement of the handle (670).

The external needle carrier (650) is coupled with the external needle fixing rib (112) of the needle portion (110), and moves forward and backward in conjunction with the forward and backward movement of the external needle carrier (650) along the external needle carrier movement path (645) of the internal needle carrier (640), thereby supporting the forward and backward movement of the external needle (111).

As shown in FIGS. 6 and 7, the external needle carrier (650) is formed with a sunken external needle rib insertion groove (651) on the upper surface for receiving an external needle fixing rib (112). A third needle receiving groove (652) for receiving a needle portion (110) is formed on the upper portion of the external needle carrier (650).

In addition, an external needle carrier elastic shaft insertion ring (653) is provided at the bottom of the external needle carrier (650) through which an elastic member support shaft (680) is inserted. As shown in Fig. 8, the external needle carrier elastic shaft insertion ring (653) is positioned coaxially with the internal needle carrier elastic shaft insertion ring (643) and the elastic member support shaft (680) is inserted.

At this time, an elastic member (681) is provided between the external needle carrier elastic shaft insertion ring (653) of the elastic member support shaft (680) and the rear of the module body (610).

In addition, a locking block (655) is provided at the bottom of the external needle carrier elastic shaft insertion ring (653) to contact the hinge (690) and control the position of the external needle carrier (650). As shown in an enlarged view in Fig. 7, a locking projection (655a) protrudes from both sides of the locking block (655) and can be engaged with or disengaged from the hinge (690).

That is, as shown in Fig. 8, when the inner needle carrier (640) and the outer needle carrier (650) move backwards by the rotation of the module transfer shaft (333), the catch (655a) of the outer needle carrier (650) is supported by contact with a pair of side projections (693) of the hinge (690), and the outer needle carrier (650) is locked in a position where it cannot move backward any further.

The handle transfer screw pipe (660) is connected to the external needle drive shaft (343) and rotates forward and backward in conjunction with the forward and reverse rotation of the external needle drive shaft (343) and supports the handle (670) that is screw-coupled externally to move linearly in the forward and backward directions.

Inside the handle transfer screw pipe (660), a needle drive shaft receiving passage (662) is formed into which an external needle drive shaft (343) is inserted. At this time, the cross-sectional shape of the needle drive shaft receiving passage (662) is provided in a rectangular shape corresponding to the external needle drive shaft (343), so that the handle transfer screw pipe (660) can rotate together with the rotation of the external needle drive shaft (343).

An external screw thread (661) is formed along the longitudinal direction on the outer surface of the handle transfer screw pipe (660). A handle (670) is screw-connected to the external screw thread (661), so that the handle (670) moves linearly back and forth according to the forward and reverse rotation of the handle transfer screw pipe (660).

The handle (670) is screw-connected to the outer periphery of the handle transfer screw pipe (660) to move back and forth, and pulls the internal needle carrier (640) to move back and forth together. A carrier pressure rib (673) is provided on one side of the handle (670) to protrude toward the internal needle carrier elastic shaft insertion ring (643) and pressurize the internal needle carrier (640).

A projection insertion hole (673a) is formed through the plate surface of the carrier pressurized rib (673), and a handle engaging projection (647) of the internal needle carrier (640) is inserted into the projection insertion hole (673a).

As shown in Fig. 8, a handle engaging projection (647) is inserted into a projection insertion hole (673a) of a carrier pressurizing rib (673), and the internal needle carrier (640) moves forward and backward in conjunction with the forward and backward movement of the handle (670).

Meanwhile, a hinge pressurizing member (675) is provided in front of the carrier pressurizing rib (673). The hinge pressurizing member (675) is provided with a horizontal upper surface and an inclined lower surface, so that the handle (670) moves forward and is inserted into the upper surface of the rib insertion slope (695) of the hinge (690) and presses the rib insertion slope (695) downward. As a result, the external needle carrier (650) that is inserted between the hinges (690) and whose position is constrained is separated from the hinge (690). That is, as shown in (c) of Fig. 10, when the carrier pressurizing rib (673) moves forward along the rib insertion slope (695) and presses the rib insertion slope (695) downward, a pair of side projections (693) are also pressed downward, and the external needle carrier (650) is pulled out from the pair of side projections (693) and shot forward by the elastic force of the elastic member (681).

As shown in FIGS. 5 and 8, the elastic member support shaft (680) is connected at both ends to the front and rear of the module body (610) via the inner needle carrier elastic shaft insertion ring (643) of the inner needle carrier (640) and the outer needle carrier elastic shaft insertion ring (653) of the outer needle carrier (650).

An elastic member (681) is coupled along the longitudinal direction to the outer surface of the elastic member support shaft (680). The elastic member (681) is compressed and stretched according to the forward and backward movement of the external needle carrier (650). The elastic member (681) is compressed in the loaded state, causing the external needle carrier (650) to shoot forward, thereby allowing a sample tissue biopsy to be performed.

The hinge (690) is connected to the front lower portion of the module body (610) to control the position of the external needle carrier (650). The hinge (690) is formed horizontally to a certain length as shown in Fig. 7. A body connection section (691) is formed in the front of the hinge (690) to be bent downward and fixed to the lower portion of the module body (610).

On both sides of the rear of the hinge (690), as shown in an enlarged view in Fig. 7, a pair of side projections (693) are provided that protrude upwardly and engage with the engaging projections (655a) of the external needle carrier (650) to control the position of the external needle carrier (650).

In addition, a rib insertion slope (695) formed to be inclined downward is provided at the rear of the hinge (690). The rib insertion slope (695) is pressed downward when the hinge pressing end (675) of the handle (670) is inserted. When the rib insertion slope (695) is pressed downward, a pair of side projections (693) are also pressed downward, and the engaging state of the external needle carrier (650) caught between the pair of side projections (693) is released, so that the external needle carrier (650) can be shot forward.

The operation process of the trigger module (600) according to the present invention having such a configuration is described with reference to FIGS. 1 to 12.

First, the trigger module (600) of the present invention is coupled to the end effector (300) as shown in (a) of Fig. 9. A module transfer shaft (333) is inserted through the module transfer shaft insertion hole (613) of the module body (610) of the trigger module (600), and an external needle drive shaft (343) is coupled to the external needle drive shaft insertion hole (615).

At this time, as shown in (a) of Fig. 10, the inner needle carrier (640) is positioned in front of the carrier movement path (611) of the module body (610), and the outer needle carrier (650) is positioned in front of the outer needle carrier movement path (645).

In this state, the operator moves the internal needle carrier (640) backward by operating the external needle drive motor (341) in the reverse direction. When the external needle drive motor (341) rotates in the reverse direction, the handle transfer screw pipe (660) rotates in the same reverse direction, and the handle (670) screw-coupled to the handle transfer screw pipe (660) moves backward. The internal needle carrier (640) coupled to the handle (670) by the carrier pressure rib (673) also moves backward.

When the inner needle carrier (640) moves backward, the outer needle carrier (650) located in front of the inner needle carrier (640) is also pulled by the inner needle carrier (640) and moves backward together. Here, as shown in (a) of Fig. 10, in the initial state, the initial length (L1) of the elastic member (681) between the inner needle carrier (640) and the outer needle carrier (650) is compressed together with the backward movement of the outer needle carrier (650) (L1'<L1)

As shown in FIG. 5, FIG. 8, and FIG. 10 (b), when the inner needle carrier (640) moves backward until it touches the rear of the module body (610), the outer needle carrier (650) moves backward along the upper surface of the hinge (690), and the engaging projection (655a) of the locking block (655) comes into contact with a pair of side projections (693), and movement is restricted.

As shown in (a) of Fig. 11, in a loaded state where both the inner needle carrier (640) and the outer needle carrier (650) are moved backwards, the operator attaches the biopsy needle module (100) to the trigger module (600) as shown in (b) of Fig. 11. The inner needle fixing rib (114) is inserted into the inner needle rib insertion groove (641) of the inner needle carrier (640), and the outer needle fixing rib (112) is inserted into the outer needle rib insertion groove (651) of the outer needle carrier (650) to secure them.

With the biopsy needle module (100) inserted into the trigger module (600), the operator drives the module transport drive (330) forward to advance the needle portion (110) into the biopsy site. As shown in (b) of FIG. 12, when the needle portion (110) enters the biopsy site, the operator rotates the external needle drive shaft (343) in the forward direction to cause the handle (670) and the internal needle carrier (640) to move forward toward the external needle carrier (650), as shown in (b) of FIG. 9.

In this state, when the external needle drive shaft (343) rotates forward and the internal needle carrier (640) moves forward together with the handle (670) as shown in (b) of FIG. 9, the carrier pressure rib (673) of the handle (670) enters the rib insertion slope (695) of the hinge (690) and presses the rib insertion slope (695) downward, and the external needle carrier (650) that was caught and supported between a pair of side projections (693) comes out of the pair of side projections (693) and is shot forward by the elastic force of the elastic member (681) that was compressed. Accordingly, the external needle carrier (650) moves forward as shown in (d) of FIG. 10.

In this process, when the inner needle carrier (640) is gradually advanced by the advancement of the handle (670), the inner needle (113) enters the target biopsy site (T) and the biopsy groove (113b) is opened, as shown in (c) of FIG. 11 and (c) of FIG. 12. Then, when the carrier pressure rib (673) presses the rib insertion slope (695) and the outer needle carrier (650) is shot, the outer needle (111) covers the inner needle (113) and advances, as shown in (d) of FIG. 11 and (d) of FIG. 12. The outer needle (111) is shot by the elastic force of the elastic member (681) and advances by the same length as the inner needle (113) has advanced, and the cutting surface formed at the tip of the outer needle (111) cuts the biopsy tissue (S).

In this process, the sample tissue (S) is received in the biopsy groove (113b) and covered by the external needle (111), thereby completing the biopsy process. The needle portion (110) on which the biopsy has been completed is separated from the patient's biopsy site by the reverse driving of the module transport motor (331) as the trigger module (600) moves backward.

As shown in (a) and (b) of FIG. 11, the trigger module (600) of the present invention is coupled to the biopsy needle module (100) in a fully loaded state, and after the needle part (110) penetrates the surgical site, shooting occurs immediately and the biopsy process is completed only by the forward movement of the internal needle carrier (640) by the forward operation of the external needle driving part (340).

That is, compared to the conventional biopsy process illustrated in FIG. 3, the conventional trigger module (320) requires two steps: loading after the needle part (110) penetrates the surgical site and the external needle carrier (325) advances, whereas the trigger module (600) of the present invention completes the biopsy process in just one step: penetrating the surgical site, the internal needle carrier (650) advances, and the external needle carrier (640) is pressurized.

Accordingly, there are advantages in that the procedure time can be shortened, the operator's operation is easy, and the patient's burden can be reduced.

As described above, the trigger module according to the present invention, compared to a conventional trigger module, is combined with a needle portion in a state where loading is completed outside the body, and then the biopsy process can be completed in just one step of inserting it into the biopsy site and then advancing the external needle carrier.

This can shorten the procedure time, make it easier for the operator to operate, and reduce the burden of biopsy on the patient.

The trigger module embodiment of the present invention described above is merely exemplary, and those skilled in the art will readily appreciate that various modifications and equivalent other embodiments are possible. Therefore, it will be readily understood that the present invention is not limited to the forms mentioned in the detailed description above. Accordingly, the true technical protection scope of the present invention should be determined by the technical idea of the appended claims. In addition, the present invention should be understood to include all modifications, equivalents, and substitutes within the spirit and scope of the present invention defined by the appended claims.

<Explanation of symbols>

1: Biopsy system 10: Medical imaging equipment

11: Bed 13: Gantry

100: Biopsy needle module 110: Needle part

111: External needle 112: External needle fixing rib

113: Inner needle 113a: Tip

113b: Biopsy groove 114: Internal needle fixation rib

120: Needle bending frame 130: Needle guide

150: Locking member 151: Locking button

153: Button support arm 200: Biopsy needle manipulation robot device

300: End effector 310: Casing part

330: Module transfer drive 331: Module transfer motor

333: Module transfer shaft 340: External needle drive unit

341: External needle drive motor 343: External needle drive shaft

400: Position control robot 500: Position control fixing jig

600: Trigger module 610: Module body

611: Carrier movement path 612: Elastic shaft insertion hole

613: Module transfer shaft insertion hole 614: Needle receiving groove

615: External needle drive shaft insertion hole 616: Screw pipe joint groove

620: Rear block 621: Screw pipe joint

622: Elastic support shaft coupling groove 623: Module transfer shaft through hole

630: Front block 631: Front module transfer shaft insertion tube

635: Lower cover 640: Internal needle carrier

641: Inner needle rib insertion groove 642: Second needle receiving groove

643: Internal needle carrier elastic shaft insertion ring 645: External needle carrier moving path

647: Handle coupling protrusion 650: External needle carrier

651: External needle rib insertion groove 652: Third needle receiving groove

653: External needle carrier elastic shaft insertion ring 655: Locking block

655a: stumbling block 660: handle transfer screw pipe

661: External screw thread 662: Needle drive shaft housing

670 : Handle 671 : Internal thread

673: Carrier pressurized rib 673a: Protrusion insertion hole

675: Hinge pressurizing section 680: Elastic member support shaft

681: Elastic member 690: Hinge

691: Body joint 693: Side projection

695: Rib insertion slope

A: Patient

M: Biopsy site

T: Target location

S: Sample tissue

Claims (3)

In a trigger module for an end effector that operates the needle part (110) of the biopsy needle module of the biopsy system so that the needle part (110) of the biopsy needle module is inserted into the biopsy site of the patient to biopsy the sample tissue, The needle part (110) of the above biopsy needle module is provided with an outer needle (111) and an inner needle (113) overlapping each other, and includes an inner needle fixing rib (114) fixedly connected to the rear end of the inner needle (113), and an outer needle fixing rib (112) provided in front of the inner needle fixing rib (114) and fixedly connected to the rear end of the outer needle (111). A module body (610) coupled to move back and forth by the module transfer drive unit (330) of the above end effector and having a carrier movement path (611) formed at the upper portion with a predetermined length; An internal needle carrier (640) which is coupled to the upper part of the module body (610) so as to be able to move forward and backward along the carrier movement path (611) and has an internal needle rib insertion groove (641) and an external needle carrier movement path (645) formed on the upper surface, to which the internal needle fixing rib (114) is coupled; An external needle carrier (650) that is coupled so as to be able to move forward and backward along the external needle carrier movement path (645) and has an external needle rib insertion groove (651) formed on the upper surface to which the external needle fixing rib (112) is coupled and a locking block (655) provided on the lower surface; A handle transfer screw pipe (660) coupled to the external needle drive unit (340) of the above end effector and capable of rotating in the forward and reverse directions and having an external screw thread (661) formed along the longitudinal direction on the outer surface; A handle (670) having an internal screw thread (671) formed on the inner surface that is screw-connected with the external screw thread (661) and moves linearly back and forth in conjunction with the forward and reverse rotation of the handle transfer screw pipe (660), and having a carrier pressure rib (673) that is fixedly connected to the external needle carrier (650) on one side and pressurizes the external needle carrier (650) so that they move back and forth together; An elastic member support shaft (680) that penetrates the interior of the module body (610) and is inserted into the inner needle carrier (640) and the outer needle carrier (650), and to which an elastic member (681) is coupled along the path; A trigger module for an end effector, characterized in that it includes a hinge (690) that is fixedly connected to the front lower portion of the module body (610), and limits the movement of the external needle carrier (650) so that when the handle (670) moves backward, the internal needle carrier (640) and the external needle carrier (650) move backward together, and when the handle (670) moves forward, only the internal needle carrier (640) moves forward. In the first paragraph, The lower part of the above internal needle carrier (640) is provided with an internal needle carrier elastic shaft insertion ring (643) through which the above elastic member support shaft (680) is inserted. At the lower part of the above external needle carrier (650), an external needle carrier elastic shaft insertion ring (653) through which the above elastic member support shaft (680) is inserted is provided coaxially with the above internal needle carrier elastic shaft insertion ring (643). A trigger module for an end effector, characterized in that the elastic member (681) is arranged between the external needle carrier elastic shaft insertion ring (653) and the rear wall of the module body (610). In the second paragraph, On both sides of the rear end of the above hinge (690), a pair of side projections (693) protruding upward are provided, and a rib insertion slope (695) inserted downwardly is provided between the pair of side projections (693). On both sides of the locking block (655) of the external needle carrier (650), a catch (655a) is provided to protrude outward. In front of the carrier pressurizing rib (673) of the handle (670), a hinge pressurizing member (675) is provided in a shape corresponding to the rib insertion slope (695). When the external needle carrier (650) and the internal needle carrier (640) move backward together by the reverse rotation of the handle (670), the catch (655a) is caught on the pair of side projections (693), thereby restricting the movement of the external needle carrier (650). A trigger module for an end effector, characterized in that when the external needle carrier (650) is moved forward by the forward rotation of the handle (670), the elastic member (681) is gradually compressed, the hinge pressing end (675) is inserted into the rib insertion slope (695), and when the rib insertion slope (695) is pressed downward, the engaging state of the pair of side projections (693) is released from the engaging projection (655a) and the external needle carrier (650) shoots forward by the elastic force of the elastic member (681).

Images