WO2020218678A1

WO2020218678A1 - Master device for surgical robot

Info

Publication number: WO2020218678A1
Application number: PCT/KR2019/009059
Authority: WO
Inventors: Byung Sik CHEON
Original assignee: Easyendo Surgical, Inc.
Priority date: 2019-04-23
Filing date: 2019-07-23
Publication date: 2020-10-29
Also published as: KR102235895B9; KR102235895B1; KR20200124034A

Abstract

Provided is a master device for a surgical robot, the master device including a guide rail, a slider configured to slide along the guide rail, a yaw link rotatably connected to the slider, a connection link connected to the yaw link to rotate about a first rotation axis, a pitch link connected to the connection link to rotate about a second rotation axis spaced apart from the first rotation axis, and a handle connected to the pitch link.

Description

MASTER DEVICE FOR SURGICAL ROBOT

Embodiments relate to a master device for a surgical robot.

A surgery is a procedure of treating a disease by cutting, incising, or applying a manipulation to the skin, moles, or other tissues using a medical machine. In particular, laparotomy which incises and opens the skin of a surgical site and treats, restores or reconstructs, or removes an organ in an abdominal cavity has issues such as bleeding, side effects, pain, and/or scars of a patient. Thus, in recent years, surgeries using a robot are emerging as an alternative.

A surgical robot may include a master device which generates and transmits a required signal in response to a manipulation of a surgeon, and a slave device which receives the signal from the master device and applies a manipulation required for a surgery directly to a patient. The master device and the slave device may be integrated, or configured as separate devices and disposed at an operating room. Meanwhile, the master device and the slave device may be disposed apart from each other. The surgeon may operate the slave device disposed at a distant location through the master device. In addition, a single master device may selectively interoperate with one of a plurality of slave devices.

The surgeon may conduct a surgical procedure by manipulating the slave device through the master device. However, although the master device is used, a long surgery may cause a strain on a wrist joint of the surgeon. Accordingly, there is a demand for a master device that may generate various motion signals without causing a strain on a wrist joint of a surgeon even when the surgeon conducts a surgery for a long period of time.

An aspect provides a master device for a surgical robot that may be gripped through an internal precision grip, and perform various motions without causing a strain on a wrist joint of a user.

According to an aspect, there is provided a master device for a surgical robot, the master device including a guide rail, a slider configured to slide along the guide rail, a yaw link rotatably connected to the slider, a connection link connected to the yaw link to rotate about a first rotation axis, a pitch link connected to the connection link to rotate about a second rotation axis spaced apart from the first rotation axis, and a handle connected to the pitch link.

The master device may further include a coupling member configured to connect the yaw link and the pitch link such that the connection link and the pitch link may perform a 1-degree of freedom (1DOF) motion.

The coupling member may be configured to connect the yaw link and the pitch link in a manner of enclosing at least a portion of each of the yaw link and the pitch link.

The handle may be connected to the pitch link to perform a 1DOF rotation about a third rotation axis intersecting with the second rotation axis.

The handle may include a handle head rotatably connected to the pitch link, and a handle grip extending from the handle head.

The handle may further include an interface provided on a top surface of the handle grip, and configured to slide in a longitudinal direction of the handle grip.

The handle may further include a button provided at a front end portion of the handle grip.

The master device may further include a guide support member configured to rotatably support the guide rail.

A rotation axis of the guide rail may be parallel with a rotation axis of the yaw link.

According to an aspect, there is provided a master device for a surgical robot, the master device including a yaw link, a connection link connected to the yaw link to rotate about a first rotation axis, a pitch link connected to the connection link to rotate about a second rotation axis spaced apart from the first rotation axis, and a handle connected to the pitch link to rotate about a third rotation axis intersecting with the second rotation axis.

The handle may be configured to perform a 2DOF motion with respect to the yaw link.

The master device may further include a coupling member configured to connect the connection link and the pitch link such that the connection link and the pitch link may perform a 1DOF motion.

The master device may further include a slider configured to rotatably support the yaw link, and a guide rail configured to guide sliding of the slider.

The handle may further include an interface provided on a top surface of the handle grip, and configured to slide along the handle grip.

According to embodiments, a master device for a surgical robot may not cause a strain on a wrist joint of a user. For example, when a rear end of a handle of the master device is lifted, a front end thereof may be lifted together. Thus, even when the user performs a pitch rotation of the handle while gripping the handle using an internal precision grip, the wrist joint of the user may form a relatively small angle.

According to embodiments, a master device for a surgical robot may allow a user to perform various motions in a comfortable position.

The accompanying drawings illustrate preferred embodiments of the present invention, and are provided together with the detailed description for better understanding of the technical idea of the present invention. Therefore, the present invention should not be construed as being limited to the embodiments set forth in the drawings.

FIG. 1 illustrates a rotation of a wrist joint in a state in which a longitudinal member is gripped using an external precision grip.

FIG. 2a illustrates carpal bones when a user folds a right hand in a direction of a thumb.

FIG. 2b illustrates carpal bones when a user folds a right hand in a direction of a little finger.

FIG. 3 is a perspective view illustrating a master device for a surgical robot according to an embodiment.

FIG. 4 is a plan view illustrating a master device for a surgical robot according to an embodiment.

FIG. 5 is a plan view illustrating a roll rotation of a handle in the master device of FIG. 4.

FIG. 6 is a side view illustrating a master device for a surgical robot according to an embodiment.

FIG. 7 is a side view illustrating a pitch rotation of a handle with respect to a connection link in one direction in FIG. 6.

FIG. 8 is a side view illustrating a pitch rotation of a handle with respect to a connection link in an opposite direction in FIG. 6.

FIG. 9 is a plan view illustrating a master device for a surgical robot according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the illustrative drawings. In denoting reference numerals to constituent elements of the respective drawings, it should be noted that the same constituent elements will be designated by the same reference numerals, if possible, even though the constituent elements are illustrated in different drawings. Further, in the following description of the present embodiments, a detailed description of publicly known configurations or functions incorporated herein will be omitted when it is determined that the detailed description obscures the subject matters of the present embodiments.

In addition, the terms first, second, A, B, (a), and (b) may be used to describe constituent elements of the embodiments. These terms are used only for the purpose of discriminating one constituent element from another constituent element, and the nature, the sequences, or the orders of the constituent elements are not limited by the terms. When one constituent element is described as being "connected", "coupled", or "attached" to another constituent element, it should be understood that one constituent element can be connected or attached directly to another constituent element, and an intervening constituent element can also be "connected", "coupled", or "attached" to the constituent elements.

The constituent element, which has the same common function as the constituent element included in any one embodiment, will be described by using the same name in other embodiments. Unless disclosed to the contrary, the configuration disclosed in any one embodiment may be applied to other embodiments, and the specific description of the repeated configuration will be omitted.

FIG. 1 illustrates a rotation of a wrist joint in a state in which a longitudinal member is gripped using an external precision grip, FIG. 2a illustrates carpal bones when a user folds a right hand in a direction of a thumb, and FIG. 2b illustrates the carpal bones when the user folds the right hand in a direction of a little finger. In a state in which a user grips a longitudinal member using an external precision grip, a wrist joint of the user may move at a great angle of motion in a pitch rotation direction. Meanwhile, in a state in which the user grips the longitudinal member using an internal precision grip, the wrist joint of the user may have a relatively small angle of motion in the pitch rotation direction. That is because the angle is restricted by carpal bones C. The carpal bones C include lower carpal bones C1 and upper carpal bones C2. For example, when the user fully folds the hand toward a thumb, the upper carpal bones C2 may form a first angle Θ1 from the lower carpal bones C1, and the lower carpal bones C1 may be separated from the radius r and form a second angle Θ2 with the radius r. Meanwhile, when the user fully folds the hand toward a little finger, the upper carpal bones C2 may contact the lower carpal bones C1 (Θ1=0), and the lower carpal bones C1 may contact the radius r (Θ2=0). Due to the interference in the carpal bones C and the interference with the radius r, the angle of motion in the pitch rotation direction when the user grips the longitudinal member using the internal precision grip may be formed to be relatively small.

Although the internal precision grip is easier than the external precision grip and may be maintained for a relatively long time, the carpal bones have a restricted rotation angle and thus, the angle of motion in the pitch rotation direction is relatively small. Further, the internal precision grip allows the thumb to move relatively freely. A master device 1 for a surgical robot, which will be described in detail hereinafter, may reduce a change in the angle of the wrist joint in the pitch rotation direction, through a structure of moving a front end of a handle together while a rear end of the handle is moved upward.

FIG. 3 is a perspective view illustrating a master device for a surgical robot according to an embodiment, FIG. 4 is a plan view illustrating the master device, and FIG. 5 is a plan view illustrating a roll rotation of a handle in the master device of FIG. 4.

Referring to FIGS. 3 through 5, the master device 1 may operate a slave device disposed at a distant location. Here, the slave device may be, for example, an endoscope device including a tube body that performs a translation, a roll rotation, and a bending motion, and a tip (for example, a basket or a laser crusher) that moves forward or backward in a longitudinal direction of an internal space of the tube body. Although not shown in the drawings, the master device 1 may include a controller that receives relative motion information of the constituent elements and transmits a motion instruction to the slave device.

The master device 1 may include a guide rail 11, a yaw link 12, a connection link 13, a pitch link 14, a handle 15, a coupling member 10, and a slider 16. The handle 15 of the master device 1 may not rotate about a fixed rotation axis, but may rotate about a rotation axis A2 that moves along with the handle 15. For example, a user may lift a rear end of the handle 15 while moving a front end of the handle 15 upward, and lower the rear end of the handle 15 while moving the front end of the handle 15 downward. By the above structure, the user may maintain a change in an angle of a wrist to be relatively small in a state in which the user grips the handle 15 using an internal precision grip and thus, may control the handle 15 more easily.

The guide rail 11 may guide sliding of the yaw link 12. The guide rail 11 may be in a rectilinearly extending shape. The guide rail 11 may include a plurality of sensors, for example, touch sensors or infrared sensors, to sense a position of the yaw link 12 along a longitudinal direction thereof. For example, the controller may sense a sliding distance of the yaw link 12 by receiving signals from at least one of the plurality of sensors. The controller may transmit a control signal to the slave device based on the sensed sliding distance. For example, the slave device may move a surgical device forward based on the received control signal. Although not shown in the drawings, a front end of the guide rail 11 may be rotatably fixed to another structure installed. That is, the guide rail 11 may rotate about a single rotation axis. For example, the rotation axis of the guide rail 11 may be parallel with a rotation axis of a yaw link frame 122 which will be described later.

The yaw link 12 may slide along the guide rail 11. For example, the yaw link 12 may include a displacement sensor. The controller may sense the sliding distance of the yaw link 12 by receiving a signal from the displacement sensor included in the yaw link 12. The yaw link 12 may include a yaw link base 121 and the yaw link frame 122.

The yaw link base 121 may connect the slider 16 and the yaw link frame 122. For example, the yaw link base 121 and the yaw link frame 122 may be connected to each other through a bearing that reduces friction.

The yaw link frame 122 may be connected to the slider 16 through the yaw link base 121 to rotate about a rotation axis A4 perpendicular to the guide rail 11. The yaw link frame 122 may perform a 2-degree of freedom (DOF) motion with respect to the guide rail 11. The yaw link frame 122 may slide along the guide rail 11 in response to the sliding of the slider 16, and also rotate with respect to the slider 16. The rotation of the yaw link frame 122 may provide a redundant DOF to the master device 1. When the user uses the master device 1, the yaw link frame 122 may allow the user to rotate the wrist freely in a yaw direction, thereby reducing a strain of the wrist. Here, the yaw direction refers to a direction in which the wrist rotates about an axis perpendicular to the ground. For example, when the user performs a motion of pushing or pulling the handle 15, the wrist of the user may be folded in the yaw direction. In this example, the yaw link frame 122 may rotate with respect to the slider 16, thereby assisting with maintaining an angle of the wrist to be comfortable for the user. The yaw link frame 122 may be rotatably connected directly to the slider 16, without the yaw link base 121.

The yaw link frame 122 may include a yaw link head 123 to rotatably support the connection link 13.

The connection link 13 may be connected to the yaw link 12 to rotate about a first rotation axis A1. The connection link 13 may include a rear end portion 131 rotatably connected to the yaw link head 123, a center portion 132 extending from the rear end portion 131 in a direction perpendicular to the first rotation axis A1, and a front end portion 133 formed at an end of the center portion 132 and rotatably connected to the pitch link 14.

The pitch link 14 may be rotatably connected to the connection link 13. The pitch link 14 may be connected to the connection link 13 to rotate about the second rotation axis A2. The second rotation axis A2 may be spaced apart from the first rotation axis A1. For example, the second rotation axis A2 may be parallel with the first rotation axis A1. The pitch link 14 may include a pitch head 141 rotatably inserted into the connection link 13, and a pitch body 142 extending from the pitch head 141. The pitch head 141 and the yaw link head 123 may protrude in the same direction with respect to the connection link 13.

The connection link 13 and the pitch link 14 may assist with a pitch rotation of the handle 15. While the user performs a pitch rotation of the handle 15, the pitch link 14 may rotate with respect to the connection link 13, and the connection link 13 may rotate with respect to the yaw link 12.

The coupling member 10 may connect the yaw link 12 and the pitch link 14 such that the connection link 13 and the pitch link 14 may perform a 1DOF motion. For example, the coupling member 10 may connect the yaw link 12 and the pitch link 14 in a manner of enclosing at least a portion of each of the yaw link 12 and the pitch link 14. For example, the coupling member 10 may be a wire or a belt that encloses at least a portion of each of the pitch link 14 and the yaw link 12 with a strong tensile force, or may be a chain that engages with the pitch link 14 and the yaw link 12. The coupling member 10 may be wound over the pitch head 141 and the yaw link head 123. By the coupling member 10, the rotation of the pitch link 14 with respect to the connection link 13 may be mutually coupled to the rotation of the connection link 13 with respect to the yaw link 12. For example, while the pitch link 14 rotates with respect to the connection link 13, the connection link 13 may receive power through the coupling member 10 and rotate with respect to the yaw link 12.

A direction in which the pitch link 14 rotates with respect to the connection link 13 may be opposite to a direction in which the connection link 13 rotates with respect to the yaw link 12. For example, when the pitch link 14 rotates clockwise with respect to the connection link 13, the connection link 13 may rotate counterclockwise with respect to the yaw link 12.

While the user lifts or lowers a rear portion of the handle 15, the front end and the rear end of the handle 15 may move upward, and a rotation angle of the pitch link 14 with respect to the connection link 13 and a rotation angle of the connection link 13 with respect to the yaw link 12 may change. The controller may transmit a control signal to the slave device based on the rotation angle of the pitch link 14 with respect to the connection link 13 and/or the rotation angle of the connection link 13 with respect to the yaw link 12. The slave device may bend a tip of the surgical device in a pitch direction based on the received control signal.

A gear ratio may be adjusted by changing a shape of a portion of the pitch link 14 supporting the coupling member 10 and a shape of a portion of the yaw link 12 supporting the coupling member 10. For example, when the shape of the portion of the pitch link 14 supporting the coupling member 10 is identical to the shape of the portion of the yaw link 12 supporting the coupling member 10, the rotation angle of the pitch link 14 with respect to the connection link 13 may be identical to the rotation angle of the connection link 13 with respect to the yaw link 12. Meanwhile, when the shape of the portion of the pitch link 14 supporting the coupling member 10 is bigger than the shape of the portion of the yaw link 12 supporting the coupling member 10, the rotation angle of the pitch link 14 with respect to the connection link 13 may be less than the rotation angle of the connection link 13 with respect to the yaw link 12. For example, a gear ratio adjusting head may be detachably provided in the pitch head 141 and/or the yaw link head 123 to adjust the gear ratio based on a preference or a body size of the user. The user may select a gear ratio appropriate for the user by replacing at least one of the gear ratio adjusting head of the pitch head 141 and the gear ratio adjusting head of the yaw link head 123.

The handle 15 may be connected to the pitch link 14. The handle 15 may perform a 1DOF rotation about a third rotation axis A3 with respect to the pitch link 14. The user may perform a roll rotation of the handle 15, and the controller may receive roll rotation information of the handle 15. For example, a sensor may be provided in the handle 15 to transmit rotation information of the handle 15 to the controller. The controller may transmit a control signal to operate the slave device based on the rotation information of the handle 15. The slave device may perform a roll rotation of the tip of the surgical device based on the control signal received from the controller. The handle 15 may include a handle head 151, a handle grip 152, an interface 153, and a button 154.

The handle head 151 may be rotatably mounted on the pitch link 14. For example, the pitch link 14 may include a receiver to receive the handle head 151. The handle head 151 and the pitch link 14 may engage with each other and be prevented from being separated.

The handle grip 152 may extend from the handle head 151. The handle grip 152 may have a shape suitable for the user to grip using an internal precision grip. The handle grip 152 may include a connection part 1521 connected to the handle head 151, a manipulation part 1522 connected to the connection part 1521, and a support part 1523 extending from the manipulation part 1522. For example, the connection part 1521 and the manipulation part 1522 may extend along the third rotation axis A3, and the support part 1523 may extend along a path inclined from the manipulation part 1522 for the wearability of the user. The manipulation part 1522 may have a relatively thicker shape than the support part 1523. The user may enclose the support part 1523 with a palm, a middle finger, a ring finger, and a little finger and support the manipulation part 1522 with tips of a thumb and an index finger. The manipulation part 1522 may include a guide 1522a to guide sliding of the interface 153. The handle grip 152 may be detachable from the handle head 151. The user may easily replace and/or repair the handle grip 152 by separating the handle grip 152 from the handle head 151.

The interface 153 may be provided on a top surface of the handle grip 152, and slide in a longitudinal direction of the handle grip 152. Here, the longitudinal direction of the handle grip 152 is a direction parallel with the third rotation axis A3 which is the rotation axis of the handle 15. The user may translate the tip of the slave device forward or backward by sliding the interface 153 forward or backward. As described above, the user may move the surgical device forward or backward by sliding the slider 16 along the guide rail 11, and move only the tip of the surgical device forward or backward through the interface 153.

The button 154 may be provided at a front end portion of the handle grip 152. For example, when the tip of the surgical device is a laser, the user may emit a laser beam by pressing the button 154.

The slider 16 may slide along the guide rail 11.

FIG. 6 is a side view illustrating a master device for a surgical robot according to an embodiment, FIG. 7 is a side view illustrating a pitch rotation of a handle with respect to a connection link in one direction in FIG. 6, and FIG. 8 is a side view illustrating a pitch rotation of the handle with respect to the connection link in an opposite direction in FIG. 6.

Referring to FIGS. 6 through 8, the pitch link 14 and the connection link 13 may perform a 1DOF motion.

Hereinafter, for ease of description, it is assumed that the master device 1 of FIG. 6 is in an initial state. In the initial state, an angle of the connection link 13 with respect to the yaw link 12 is indicated as a first connection angle Θ11, and an angle of the pitch link 14 with respect to the connection link 13 is indicated as a first pitch angle Θ21. FIG. 7 illustrates a state in which the handle 15 in the initial state is lifted. In this example, an angle of the connection link 13 with respect to the yaw link 12 is indicated as a second connection angle Θ12, and an angle of the pitch link 14 with respect to the connection link 13 is indicated as a second pitch angle Θ22. FIG. 8 illustrates a state in which the handle 15 in the initial state is lowered. In this example, an angle of the connection link 13 with respect to the yaw link 12 is indicated as a third connection angle Θ13, and an angle of the pitch link 14 with respect to the connection link 13 is indicated as a third pitch angle Θ23.

Referring to FIGS. 6 and 7, when the user lifts the rear portion of the handle 15 to implement a bending motion of the tip of the surgical device, the pitch link 14 may rotate counterclockwise with respect to the connection link 13, and the connection link 13 may rotate clockwise with respect to the yaw link 12 by means of the coupling member 10. By the above structure, while the rear portion of the handle 15 is lifted, the front portion of the handle 15 may be lifted together. As a result, a change in a slope of the handle 15 with respect to the guide rail 11 may be relatively slight. Thus, the user may sufficiently lift the handle 15 without changing the angle of the wrist greatly.

Referring to FIGS. 6 and 8, when the user lowers the rear portion of the handle 15 to implement a pitch rotation of the tip of the surgical device, the pitch link 14 may rotate clockwise with respect to the connection link 13, and the connection link 13 may rotate counterclockwise with respect to the yaw link 12 by means of the coupling member 10. By the above structure, while the rear portion of the handle 15 is lowered, the front portion of the handle 15 may be lowered together. As a result, a change in a slope of the handle 15 with respect to the guide rail 11 may be relatively slight. Thus, the user may sufficiently lower the handle 15 without changing the angle of the wrist greatly.

A ratio between changes in the connection angle and the pitch angle may be determined based on the shape of the portion supporting the coupling member 10. For example, as shown in FIGS. 6 through 8, when the shape of the pitch link 14 supporting the coupling member 10 is identical to the shape of the yaw link 12 supporting the coupling member 10, Θ11-Θ12 which is a difference between the first connection angle Θ11 and the second connection angle Θ12 may be equal to Θ21-Θ22 which is a difference between the first pitch angle Θ21 and the second pitch angle Θ22. Similarly, Θ13-Θ11 which is a difference between the first connection angle Θ11 and the third connection angle Θ13 may be equal to Θ23-Θ21 which is a difference between the first pitch angle Θ21 and the third pitch angle Θ23. Meanwhile, when the shape of the pitch link 14 supporting the coupling member 10 is different from the shape of the yaw link 12 supporting the coupling member 10, the angle differences may change.

Referring to FIG. 9, the master device 1 may further include a guide support member 19 that rotatably supports the guide rail 11. The guide rail 11 may rotate about a rotation axis A5 perpendicular to a longitudinal direction of the guide rail 11. The rotation axis A5 of the guide rail 11 may be parallel with the rotation axis A4 of the yaw link 12.

As described above, although embodiments have been described by limited drawings, those skilled in the art may apply various technical modifications and changes based on the above description. For example, even when the above-described techniques are performed by different order from the described method and/or components such as the system, the structure, the device, and the circuit described above are coupled or combined in a different manner from the described method or replaced or substituted with other components or equivalents, the appropriate results can be achieved.

Claims

A master device for a surgical robot, the master device comprising:

a guide rail;

a slider configured to slide along the guide rail;

a yaw link rotatably connected to the slider;

a connection link connected to the yaw link to rotate about a first rotation axis;

a pitch link connected to the connection link to rotate about a second rotation axis spaced apart from the first rotation axis; and

a handle connected to the pitch link.
The master device of claim 1, further comprising:

a coupling member configured to connect the yaw link and the pitch link such that the connection link and the pitch link perform a 1-degree of freedom (1DOF) motion.
The master device of claim 2, wherein the coupling member is configured to connect the yaw link and the pitch link in a manner of enclosing at least a portion of each of the yaw link and the pitch link.
The master device of claim 2, wherein the handle is connected to the pitch link to perform a 1DOF rotation about a third rotation axis intersecting with the second rotation axis.
The master device of claim 4, wherein the handle comprises:

a handle head rotatably connected to the pitch link; and

a handle grip extending from the handle head.
The master device of claim 5, wherein the handle further comprises:

an interface provided on a top surface of the handle grip, and configured to slide in a longitudinal direction of the handle grip.
The master device of claim 5, wherein the handle further comprises:

a button provided at a front end portion of the handle grip.
The master device of claim 1, further comprising:

a guide support member configured to rotatably support the guide rail.
The master device of claim 8, wherein a rotation axis of the guide rail is parallel with a rotation axis of the yaw link.
A master device for a surgical robot, the master device comprising:

a yaw link;

a connection link connected to the yaw link to rotate about a first rotation axis;

a pitch link connected to the connection link to rotate about a second rotation axis spaced apart from the first rotation axis; and

a handle connected to the pitch link to rotate about a third rotation axis intersecting with the second rotation axis.
The master device of claim 10, wherein the handle is configured to perform a 2-degree of freedom (2DOF) motion with respect to the yaw link.
The master device of claim 11, further comprising:

a coupling member configured to connect the connection link and the pitch link such that the connection link and the pitch link perform a 1DOF motion.
The master device of claim 10, further comprising:

a slider configured to rotatably support the yaw link; and

a guide rail configured to guide sliding of the slider.
The master device of claim 10, wherein the handle comprises:

a handle head rotatably connected to the pitch link; and

a handle grip extending from the handle head.
The master device of claim 14, wherein the handle further comprises:

an interface provided on a top surface of the handle grip, and configured to slide along the handle grip.
The master device of claim 14, wherein the handle further comprises:

a button provided at a front end portion of the handle grip.