Electrode apparatus for blocking or controlling nerve inside body and surgical robot using the electrode apparatus

Abstract

An electrode device according to one embodiment of the present invention is an electrode device for blocking or controlling nerves within the body, comprising: a main body including a shaft; an electrode part formed to be drawn out from one end of the shaft and blocking or controlling at least a portion of the nerves of a tube within the body; an electrode guide part coupled to at least a portion of the electrode part and guiding the electrode part to contact the tube within the body; an electrode driving part including a tension maintaining unit connected to the electrode part and causing the electrode part to move forward and backward and providing tension to the electrode part; an electrode guide driving part connected to the electrode guide and causing the electrode guide to move forward and backward; and a motor linkage part connected to the electrode driving part and the electrode guide driving part and transmitting a rotation amount generated through a plurality of motors to the electrode driving part and the electrode guide driving part. A surgical robot according to another embodiment of the present invention may include: an electrode device; a robot arm comprising a plurality of motors connected to the motor linkage unit and transmitting a rotation amount to the electrode driving unit and the electrode guide driving unit through the motor linkage unit; and a main body supporting the robot arm.

Description

Technology Field

[0001] The present invention relates to an electrode device for blocking or controlling nerves within the body and a surgical robot using the same. Background Technology

[0002] Nerve block refers to a procedure that damages specific nerves to control an autonomic nervous system that is abnormally and excessively activated. For example, renal denervation can treat hypertension and heart disease by damaging the renal sympathetic nerves leading to the kidneys, while pulmonary denervation can treat lung disease by damaging the parasympathetic nerves leading to the lungs.

[0003] Nerves typically line the outer walls of vessels such as blood vessels and bronchi, and it may be necessary to line these outer walls to measure nerve signals, deliver electrical stimulation to the nerve, or damage or destroy the nerve by delivering various forms of energy.

[0004] For example, when performing a procedure on the renal artery, the diameter of the main renal artery targeted for the procedure is 5 to 7 mm, and the accessory renal artery with a diameter of 1 to 2 mm may also be targeted. In addition, the size of the nerve-distributed vessels varies from person to person and differs depending on the location.

[0005] In performing such a procedure, it is important to precisely position the component containing the electrode formed at the tip of the catheter to wrap around the outer wall of the tube. Specifically, to effectively block or modulate the nerve, the outer wall of the tube containing the nerve must be wrapped around it in a circumferential direction, and the action of positioning the component with the electrode formed on it to wrap around the tube must be performed reliably and quickly. In particular, it is important to securely adhere the component with the electrode to the outer wall of the tube inside the body so as not to damage the tube inside the body, which can be easily damaged by external stimuli. Prior art literature

[0006] Republic of Korea Published Patent No. 10-2013-0108401 (Published Oct. 2, 2013) The problem to be solved

[0007] One objective of the present invention is to provide an electrode device having a configuration that guides the electrode to wrap around the circumference of a tube inside the body.

[0008] Another objective of the present invention is to provide an electrode device capable of maintaining tension by accurately adhering an electrode-formed component to the outer wall of a tube within the body without damaging a tube within the body that may be easily damaged by external stimuli.

[0009] Another objective of the present invention is to provide an electrode device capable of finely adjusting the tension of a component when the component having an electrode formed thereon is in close contact with the outer wall of a tube inside the body.

[0010] In addition, another objective of the present invention is to provide a surgical robot that can be used by combining an electrode device according to one embodiment of the present invention with a robot arm comprising a plurality of motors.

[0011] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by a person skilled in the art from the description below. means of solving the problem

[0012] An electrode device according to one embodiment of the present invention is an electrode device for blocking or controlling nerves in the body, comprising: a main body including a shaft; an electrode part formed to be drawn out from one end of the shaft and blocking or controlling nerves of at least a portion of a tube in the body; an electrode guide part coupled to at least a portion of the electrode part and guiding the electrode part to contact the tube in the body; an electrode driving part including a tension maintaining unit connected to the electrode part and causing the electrode part to move forward and backward and providing tension to the electrode part; an electrode guide driving part connected to the electrode guide and causing the electrode guide to move forward and backward; and a motor linkage part connected to the electrode driving part and the electrode guide driving part and transmitting a rotation amount generated through a plurality of motors to the electrode driving part and the electrode guide driving part, wherein the electrode driving part receives a rotation amount generated through a first motor and the electrode guide driving part receives a rotation amount generated through a second motor and a third motor.

[0013] The tension maintaining unit may include: an electrode connecting part connected to one end of the electrode part; an electrode tension adjustment block configured to move forward and backward by receiving the amount of rotation generated through the first motor through a first rotation shaft coupled to the motor linkage part; and a spring part connecting the electrode connecting part and the electrode tension adjustment block and providing tension to the electrode part.

[0014] The electrode guide section may include a plurality of segments and a wire connecting the plurality of segments to each other, and the electrode guide driving section may include a load block connected to the segments and configured to move forward and backward by receiving a rotation amount generated through the second motor through a second rotation axis coupled to the motor linkage section, and a wire block connected to the wire and configured to move forward and backward by receiving a rotation amount generated through the third motor through a third rotation axis coupled to the motor linkage section.

[0015] When the electrode guide drive unit moves forward and backward, the first rotational speed of the second rotational axis is set higher than the second rotational speed of the third rotational axis, so that the load block can move forward and backward more than the wire block.

[0016] When the electrode guide driving unit moves forward and backward, the electrode tension adjustment block can move forward and backward together.

[0017] The third rotational speed of the first rotational axis can be set lower than the first rotational speed of the second rotational axis.

[0018] After the electrode guide driving unit moves forward and then stops, the electrode tension adjustment block can move backward.

[0019] As the electrode tension control block moves backward, a preset tension is generated in the electrode part, after which the electrode tension control block can stop.

[0020] A surgical robot using an electrode device according to another embodiment of the present invention may include: an electrode device of claim 1; a robot arm comprising a plurality of motors connected to the motor linkage unit and transmitting a rotation amount to the electrode driving unit and the electrode guide driving unit through the motor linkage unit; and a main body supporting the robot arm.

[0021] The plurality of motors may include a first motor that generates a rotation amount to cause the electrode tension adjustment block to move forward and backward; a second motor that generates a rotation amount to cause the load block to move forward and backward; and a third motor that generates a rotation amount to cause the wire block to move forward and backward. Effects of the invention

[0022] An electrode device according to one embodiment of the present invention can safely attach a component on which an electrode is formed to the outer wall of a tube without damaging the tube inside the body, by positioning the electrode guide portion so as to be in close contact with the tube inside the body and then slowly attaching the electrode portion to the outer wall of the tube.

[0023] In addition, the electrode device can control the electrode so that it operates precisely when the electrode is in close contact with the outer wall of the tube through a motor linkage unit that transmits the amount of rotation to the electrode driving unit and the electrode guide driving unit, respectively, via a plurality of motors.

[0024] A surgical robot according to another embodiment of the present invention can be used by combining an electrode device with a robot arm comprising a plurality of motors that transmit a rotation amount through a motor linkage unit.

[0025] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0026] FIG. 1 is a perspective view of an electrode device according to one embodiment of the present invention. FIG. 2 is an internal perspective view of an electrode device according to one embodiment of the present invention. Figure 3 is a diagram illustrating a state in which the electrode guide portion is positioned to guide the electrode portion and surround the tube. FIG. 4 is a diagram showing the internal components of an electrode device according to one embodiment of the present invention. FIG. 5 is a diagram showing a motor linkage unit of an electrode device according to one embodiment of the present invention. FIGS. 6a to 6g are drawings illustrating the operation process of an electrode guide according to one embodiment of the present invention. FIGS. 7a to 7g are drawings illustrating the operation process of an electrode driving unit and an electrode guide driving unit according to an embodiment of the present invention. FIG. 8 is a perspective view showing a part of the node portion of an electrode device according to one embodiment of the present invention. FIG. 9 is a perspective view of a surgical robot using an electrode device according to another embodiment of the present invention. FIG. 10 is a drawing showing an electrode device coupled to a robotic arm of a surgical robot according to another embodiment of the present invention. Specific details for implementing the invention

[0027] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0028] Throughout the specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, throughout the specification, when a part is described as "connected" to another part, this includes not only cases where they are directly connected, but also cases where they are connected with an intermediate component interposed, and cases where they are electrically connected with an intermediate element. Moreover, throughout the specification, when a component is described as being "on" another component, this includes not only cases where a component is in contact with another component, but also cases where another component exists between the two components. Additionally, expressions such as "first," "second," etc., used in this specification may modify various components regardless of order and / or importance; they are used merely to distinguish one component from another and do not limit those components, nor do they necessarily refer to different components. For example, "first direction" and "second direction" may refer to the same direction or different directions.

[0029] FIG. 1 is a perspective view of an electrode device (10) according to an embodiment of the present invention, FIG. 2 is an internal perspective view of an electrode device (10) according to an embodiment of the present invention, FIG. 3 is a diagram showing the state in which an electrode guide part (300) is positioned to guide an electrode part (200) and surround a tube, FIG. 4 is a diagram showing internal components of an electrode device (10) according to an embodiment of the present invention, FIG. 5 is a diagram showing a motor linkage part (600) of an electrode device (10) according to an embodiment of the present invention, FIG. 6a to 6g are diagrams showing the operation process of an electrode guide according to an embodiment of the present invention, FIG. 7a to 7g are diagrams showing the operation process of an electrode driving part (400) and an electrode guide driving part (500) according to an embodiment of the present invention, FIG. 8 is a perspective view showing a part of a node part (310) of an electrode device (10) according to an embodiment of the present invention.

[0030] Referring to FIGS. 1 to 4, the electrode device (10) may include a main body (100), an electrode part (200), an electrode guide part (300), an electrode driving part (400), an electrode guide driving part (500), and a motor linkage part (600).

[0031] The main body (100) may include a shaft (110) that extends in one direction.

[0032] Elements for driving and controlling the electrode portion (200) and the electrode guide portion (300) may be arranged inside the main body (100). For example, an electrode driving portion (400) for driving and controlling the electrode portion (200) and an electrode guide driving portion (500) for driving and controlling the electrode guide portion (300) may be arranged inside the main body (100).

[0033] The electrode portion (200) is formed to be withdrawn from one end of the shaft (110) and is configured to block or control at least a portion of the nerves distributed in the tissue including the tube (V) inside the body according to the operator's manipulation, etc. The electrode portion (200) is received inside the shaft (110) and can be withdrawn to the outside by the electrode guide portion (300) described later when the electrode device is operated.

[0034] Referring to FIG. 3, the electrode portion (200) may include a base portion (210), an energy transfer portion (220), and a sensor portion (230). The electrode device (10) may have the electrode wrap around the outer surface of a tube (V) or a tube-shaped tissue inside the body and transfer energy through the energy transfer portion (220), and for this purpose, the base portion (210) may be a flexible circuit board.

[0035] The energy transfer section (220) may be composed of two electrodes extending parallel to each other on the base section (210). The base section (210) and the energy transfer section (220) may be configured to extend circumferentially and wrap around a tube (V), etc. inside the body.

[0036] The energy delivery unit (220) may be made of a material that is harmless to the human body and capable of transmitting electricity, such as stainless steel, gold, etc., in order to block or denervate or control or modulate nerves.

[0037] Additionally, the energy transfer unit (220) can transfer various types of energy from an energy source generator. For example, ratio-frequency (RF) energy, electric energy, laser energy, ultrasonic energy, high-intensity focused ultrasound energy, cryogenic energy, and other thermal energy may be used.

[0038] Additionally, the energy delivery unit (220) can be implemented with a flexible PCB for high-frequency energy delivery, a transducer for delivering ultrasonic energy, a metal electrode for delivering high-voltage energy, etc., to deliver energy to damage nerves.

[0039] Additionally, a sensor unit (230) may be formed on the base unit (210). For example, the sensor unit (230) may be a thermocouple that measures temperature by contacting a tube (V) or the like inside the body, and the sensor unit (230) may monitor the temperature of the surgical site when a nerve resection procedure is performed by the electrode device (10). Additionally, the sensor unit (230) may measure the signal of the nerve in the tube.

[0040] The sensor part (230) may be, for example, a thermocouple composed of copper and constantan pairs.

[0041] The electrode guide portion (300) can perform the function of bringing the electrode portion (200) into contact with the tube (V) inside the body.

[0042] The electrode guide portion (300) is combined with the electrode portion (200) and can guide the electrode portion (200) to be deformed into a winding state that contacts the tube (V) inside the body.

[0043] Referring to FIG. 3 and FIG. 6a to 6g, the electrode guide portion (300) may be provided with a plurality of segments (310). The plurality of segments (310) may form a curved winding path to wrap around the circumference of a tube (V) inside the body with the electrode portion (200) in between. Additionally, the state shown in FIG. 3 may be a state in which the plurality of segments (310) are fully drawn out and arranged along the curved winding path.

[0044] Referring to FIGS. 6a through 6g, the electrode guide portion (300) may further include a tip joint (330) and a wire (320). The tip joint (330) supports the electrode portion (200) and may be coupled to the end of a plurality of sequentially connected segments (310).

[0045] The tip joint (330) can be withdrawn from one end of the shaft (110) before the plurality of segments (310). For example, the tip joint (330) can be positioned close to the tube (V) inside the body and may have a tapered shape that becomes thinner towards the end to prevent interference with the electrode portion (200) or to maximize the surface area covering the tube (V) inside the body. The end of the electrode portion (200) can be fastened and fixed to the tip joint (330).

[0046] The wire (320) can be formed to sequentially penetrate a plurality of nodes (310).

[0047] Referring to FIG. 8, a wire hole (315) may be formed in the longitudinal direction in the node portion (310) for the passage of a wire (320).

[0048] The ends of the wires (320) that sequentially pass through the wire holes (315) can be connected to and fixed to the tip joint (330), and the wires (320) can be slidable in the longitudinal direction for each segment (310) within the wire holes (315).

[0049] Accordingly, the wire (320) can guide the plurality of nodes (310) and tip joints (330) to be placed on the winding path and provide a force to pull the plurality of nodes (310) and tip joints (330) in the direction of winding the tube.

[0050] The wire (320) can be operated to protrude from one end of the shaft (110) together with a plurality of nodes (310). At this time, the wire (320) can be designed so that the amount of protrusion is smaller than the amount of protrusion of the nodes (310), thereby providing a force that pulls the plurality of nodes (310) to have a curved path.

[0051] The joint portion (310) may be provided with a hinge portion (311) and a winding support portion (313). The hinge portion (311) is configured for a rotatable connection with an adjacent joint and may be formed on one or both sides in the longitudinal direction in which the joint portion (310) is connected parallel to each other.

[0052] As shown in FIG. 8, the hinge portion (311) can be connected to the hinge portion (311) of an adjacent joint portion (310) by forming a rotation axis in a direction intersecting the longitudinal direction. A hinge pin can be inserted into each hinge portion (311) in the direction in which the rotation axis is formed to be fastened.

[0053] The winding support member (313) is configured to support a plurality of node members (310) on the winding path and can be formed on one or both sides in the longitudinal direction so as to support each other with adjacent node members (310).

[0054] As shown in FIGS. 3 and 8, the winding support (313) may be formed in a position adjacent to the hinge portion (311) in the inner direction of the electrode guide.

[0055] The winding support member (313) may, for example, be formed of a surface having a predetermined angle and area, and by being supported by surface contact with an adjacent winding support member (313), the wound shape of the electrode guide member (300) can be fixed.

[0056] The winding support (313) and the wire hole (315) may be formed at a position spaced inward toward the tube (V) inside the body from the center of rotation of the hinge (311).

[0057] When the wire (320) is pulled backward relative to the electrode guide portion (300) (when the length of the wire (320) drawn out from the shaft (110) is smaller than the node portion (310), tension may be applied to the wire (320) in the direction of winding the electrode guide portion (300). On the other hand, the winding support portion (313) provides a force that supports the node portions (310) in a direction that inhibits the electrode guide portion (300) from winding. By balancing the forces of the wire (320) and the winding support portion (313) in opposite directions, the electrode guide portion (300) can be fixed on the winding path.

[0058] Additionally, the electrode guide portion (300) may include a first segment group (317) and a second segment group (319). That is, the plurality of segment portions (310) may be divided into a first segment group (317) and a second segment group (319) having different lengths.

[0059] Depending on the difference in length, the first group of nodes (317) may form a first radius of curvature, and the second group of nodes (319) may form a second radius of curvature larger than the first radius of curvature. For example, nodes with relatively short lengths (first group of nodes) may form a small radius of curvature, and nodes with long lengths (second group of nodes) may form a large radius of curvature.

[0060] By forming a path with a smaller radius of curvature by the segments (310) positioned on the side close to the tip joint (330), a path can be created through which the tip joint (330) enters the space between the tube (V) and the shaft (110) inside the body. Additionally, the electrode guide (300) including the segments (310) can have an overall spiral shape.

[0061] Referring to FIGS. 6a to 6g, the electrode guide portion (300) is received inside the shaft (110) together with the electrode portion (200) and can be protruded from one end toward the front while forming a curved winding path for the procedure.

[0062] For example, multiple nodes (310) can be sequentially drawn out and moved along a curved winding path due to the difference in displacement with the wire (320) to wrap around the tube completely.

[0063] In addition, the electrode guide portion (300) is positioned spaced apart from the outer surface of the tube, and the electrode portion (200) positioned on the wound inner side of the electrode guide portion (300) can be in close contact with the outer surface of the tube.

[0064] A plurality of segments (310) can be wound in a direction that wraps around the tube while being pulled out from the shaft (110) by the electrode guide driving unit (500). Accordingly, the space in which the electrode guide unit (300) operates can be minimized, and the operation of blocking or controlling the nerve can be performed safely and accurately even in a confined space.

[0065] Meanwhile, the electrode portion (200) can be withdrawn from the shaft (110) by the electrode driving portion (400) and wound in a direction that wraps around the tube by the electrode guide portion (300). Specifically, the electrode portion (200) advances along a curved winding path together with the electrode guide portion (300), and when it is completely withdrawn from the shaft (110) and positioned, it can be gradually brought into close contact with the tube (V) inside the body by the control of the electrode driving portion (400). Accordingly, the electrode portion (200) can stably come into close contact with the tube (V) inside the body without damaging the tube (V) inside the body, thereby enabling the operation of blocking or controlling nerves.

[0066] Referring to FIGS. 4 and FIGS. 7a to 7g, the electrode driving unit (400) may be configured to move the electrode unit (200) forward and backward by being connected to a motor linkage unit (600) that transmits the amount of rotation generated through a plurality of motors. In FIG. 4, the electrode unit (200) and the electrode guide unit (300) are omitted from the illustration.

[0067] The electrode driving unit (400) may include a tension maintaining unit (410) that provides tension to the electrode unit (200), and the tension maintaining unit (410) may include an electrode connecting unit (411), a first support frame (417), an electrode tension adjustment block (413), a spring unit (415), and a force sensor (not shown).

[0068] As shown in FIG. 4, one end of the electrode connection part (411) is connected to the electrode part (200), and the other end of the electrode connection part (411) can be connected to the electrode tension adjustment block (413) and the spring part (415). More specifically, a through hole may be formed in the electrode connection part (411) so that one end of the electrode tension adjustment block (413) can be inserted, and a first locking groove (not shown) may be formed so that it protrudes outwardly and can be connected to one end of the spring part (415).

[0069] The first support frame (417) can be installed to be fixed inside the main body (100), and an electrode tension adjustment block (413) can be inserted and slide along the outer surface of the first support frame (417).

[0070] As the electrode tension adjustment block (413) is inserted into the first support frame (417), the electrode tension adjustment block (413) is prevented from moving outward and the direction of movement of the electrode tension adjustment block (413) can be fixed.

[0071] The electrode tension adjustment block (413) may be configured to move forward and backward through a first rotation axis (610) coupled with a motor linkage unit (600). Here, the first rotation axis (610) is positioned to extend in the front-rear direction at a height distance from the first support frame (417), and may have a screw thread formed thereon.

[0072] The electrode tension adjustment block (413) can be moved forward and backward by engaging with the screw thread of the first rotation axis (610).

[0073] One end of the electrode tension control block (413) may be formed to protrude so as to be inserted into the through hole of the electrode connection part (411). At this time, the one end of the electrode tension control block (413) may be formed to protrude to a length such that the one end of the electrode tension control block (413) does not detach from the through hole when the distance between the electrode tension control block (413) and the electrode connection part (411) increases in order for the electrode tension control block (413) to provide tension to the electrode part (200), and a stopper may be further formed at the end of the electrode tension control block (413) to prevent the electrode connection part (411) from detaching.

[0074] In the electrode tension adjustment block (413), a second locking groove (not shown) may be formed so as to be connected to the other end of the spring part (415) at a position opposite to the first locking groove.

[0075] The spring part (415) connects the electrode connection part (411) and the electrode tension control block (413) and can provide tension to the electrode part (200).

[0076] Specifically, the spring portion (415) is connected to the first locking groove of the electrode connection portion (411) and the second locking groove of the electrode tension adjustment block (413), and can provide tension to the electrode portion (200) when the electrode tension adjustment block (413) is retracted through the first rotation shaft (610) coupled with the motor linkage portion (600).

[0077] The force sensor can detect the tension generated in the spring part (415). Specifically, when the electrode tension adjustment block (413) is retracted through the first rotation axis (610) coupled with the motor linkage part (600), tension is generated in the spring part (415), and the force sensor can detect the tension generated in the spring part (415).

[0078] The force sensor can also detect the restoring force of the spring part (415) after tension is generated. That is, the force sensor can detect the tension or restoring force generated when the electrode tension adjustment block (413) moves in the forward and backward directions.

[0079] Meanwhile, as shown in FIG. 4, the electrode guide driving unit (500) may be connected to the electrode guide and configured to move the electrode guide forward and backward, and may include a second support frame (511), a third support frame (521), a load block (510), and a wire block (520).

[0080] The second support frame (511) can be installed to be fixed inside the main body (100), and a load block (510) can be inserted and slide along the outer surface of the second support frame (511).

[0081] As the load block (510) is inserted into the second support frame (511), the load block (510) is prevented from moving outward and the direction of movement of the load block (510) can be fixed.

[0082] The third support frame (521) can be installed to be fixed inside the main body (100), and a wire block (520) can be inserted and slide along the outer surface of the third support frame (521).

[0083] As the wire block (520) is inserted into the third support frame (521), the wire block (520) is prevented from moving outward and the direction of movement of the wire block (520) can be fixed.

[0084] The load block (510) can be configured to move forward and backward through a second rotation axis (620) connected to the joint (310) and coupled to the motor linkage unit (600). Here, the second rotation axis (620) is positioned to extend in the forward and backward direction at a height distance from the second support frame (511), and a screw thread may be formed.

[0085] The load block (510) can be moved forward and backward by engaging with the threads of the second rotation axis (620).

[0086] The wire block (520) can be configured to move forward and backward through a third rotation axis (630) connected to the wire (320) and coupled to the motor linkage unit (600). At this time, the third rotation axis (630) is positioned to extend in the forward and backward direction at a height distance from the third support frame (521), and a screw thread may be formed.

[0087] The wire block (520) can be moved forward and backward by engaging with the threads of the third rotation axis (630).

[0088] Meanwhile, the motor linkage unit (600) is connected to the electrode driving unit (400) and the electrode guide driving unit (500) and can transmit the amount of rotation generated through a plurality of motors to the electrode driving unit (400) and the electrode guide driving unit (500).

[0089] Here, the plurality of motors may include a first motor that generates a rotation amount to cause the electrode tension adjustment block (413) to move forward and backward, a second motor that generates a rotation amount to cause the load block (510) to move forward and backward, and a third motor that generates a rotation amount to cause the wire block (520) to move forward and backward.

[0090] For example, as shown in FIGS. 4 and 5, a first motor (not shown) is connected to a first motor pulley (611) formed in a motor linkage unit (600), and a first rotation shaft pulley (613) is formed at one end of a first rotation shaft (610), and the first motor pulley (611) and the first rotation shaft pulley (613) can be connected by a first pulley connecting member (615). Accordingly, when the first motor (not shown) operates, the rotational force of the first motor is transmitted to the first rotation shaft (610) through the first motor pulley (611), the first pulley connecting member (615), and the first rotation shaft pulley (613), so that the electrode tension block can advance and retract.

[0091] Additionally, the second motor (not shown) is connected to a second motor pulley (621) formed in the motor linkage unit (600), and a second rotation shaft pulley (623) is formed at one end of the second rotation shaft (620), and the second motor pulley (621) and the second rotation shaft pulley (623) can be connected by a second pulley connecting member (625). Accordingly, when the second motor (not shown) operates, the rotational force of the second motor is transmitted to the second rotation shaft (620) through the second motor pulley (621), the second pulley connecting member (625), and the second rotation shaft pulley (623), so that the load block (510) can move forward and backward.

[0092] Additionally, the third motor (not shown) is connected to the third motor pulley (631) formed in the motor linkage unit (600), and the third rotation shaft pulley (633) is formed at one end of the third rotation shaft (630), and the third motor pulley (631) and the third rotation shaft pulley (633) can be connected by the third pulley connecting member (635). Accordingly, when the third motor (not shown) operates, the rotational force of the third motor is transmitted to the third rotation shaft (630) through the third motor pulley (631), the third pulley connecting member (635), and the third rotation shaft pulley (633), so that the wire block (520) can move forward and backward.

[0093] In this way, as the electrode tension control block (413), load block (510), and wire block (520) are advanced and retracted by their respective motors (not shown), the electrode part (200) can be operated precisely when it comes into close contact with the outer wall of the tube.

[0094] In addition, a plurality of motors for joint manipulation equipped in the existing surgical robot (1) can be linked to the motor linkage unit (600), so that it can be combined with various surgical robots (1) without changing the structure of the electrode device (10).

[0095] Hereinafter, with reference to FIGS. 7a to 7g, we will examine the driving of the electrode section (200) and the electrode guide section (300) by the electrode driving section (400) and the electrode guide driving section (500). FIGS. 7a to 7g may be states corresponding to the states of FIGS. 6a to 6g.

[0096] The electrode driving unit (400) and the electrode guide driving unit (500) of FIG. 7a may be immediately before starting forward movement or immediately after finishing backward movement. Accordingly, as shown in FIG. 6a, the electrode unit (200) and the electrode guide unit (300) may be immediately before wrapping around the circumference of the tube (V) inside the body or immediately after moving back to the state before wrapping after wrapping around the circumference of the tube (V) inside the body. That is, it may be immediately before or immediately after a nerve resection procedure is performed by the electrode device (10).

[0097] Here, the initial distance between the load block (510) and the wire block (520) may be, for example, 'D1', and the initial distance between the load block (510) and the electrode connection part (411) may be, for example, 'd0'. Also, the length of the spring part (415) may be, for example, 'L1', in a state where there is no change in the length of the spring part (415), and the force (F) measured through the force sensor may also be '0'.

[0098] Referring to FIG. 7b, the electrode guide drive unit (500) is connected to the motor linkage unit (600) and can move forward via the motor, and when the electrode guide drive unit (500) moves forward, the electrode tension adjustment block (413) can also move forward together.

[0099] By advancing the electrode guide driving unit (500) and the electrode tension adjustment block (413), as shown in FIG. 6b, the electrode unit (200) and the electrode guide unit (300) can be drawn forward from the shaft (110) and deformed into a winding state to wrap around the circumference of the tube (V) inside the body.

[0100] Specifically, the electrode tension adjustment block (413) can move forward via a first rotation axis (610) connected to a first motor (not shown) according to a path provided by the first support frame (417), the load block (510) can move forward via a second rotation axis (620) connected to a second motor according to a path provided by the second support frame (511), and the wire block (520) can move forward via a third rotation axis (630) connected to a third motor according to a path provided by the third support frame (521).

[0101] Accordingly, the electrode guide part (300) connected to the electrode guide driving part (500) is withdrawn forward from the shaft (110), and the electrode part (200) connected to one end of the electrode connecting part (411) can also be withdrawn from the shaft (110).

[0102] When the electrode guide drive unit (500) advances, the first rotational speed of the second rotational axis (620) is set higher than the second rotational speed of the third rotational axis (630), so that the load block (510) can advance further than the wire block (520).

[0103] For example, as shown in FIG. 6b, by setting the rotation amount of the second motor to be greater than the rotation amount of the third motor, the distance between the load block (510), which moves forward by the first rotation of the second rotation axis (620) connected to the second motor (not shown), and the wire block (520), which moves forward by the second rotation of the third rotation axis (630) connected to the third motor, can be increased to 'D2'.

[0104] Additionally, as the third rotational speed of the first rotational axis (610) is set lower than the second rotational speed of the third rotational axis (630), when the electrode drive unit (400) and the electrode guide drive unit (500) advance, the forward distance of the electrode tension adjustment block (413), the load block (510), and the wire block (520) may differ.

[0105] For example, as shown in FIG. 6a and 6b, the rotation amount of the third motor is set to be greater than the rotation amount of the first motor, and as described above, the first rotation number of the second rotation axis (620) is set higher than the second rotation number of the third rotation axis (630). Therefore, the distance between the electrode connection part (411) connected by a spring part (415) to the electrode tension adjustment block (413) which moves forward by the first rotation number of the second rotation axis (620) connected to the second motor (not shown) and the electrode connection part (411) which moves forward by the third rotation number of the first rotation axis (610) connected to the first motor can be increased to 'd1'.

[0106] Additionally, the length of the spring part (415) may be 'L1', for example, in a state where there is no change in the length of the spring part (415), and the force (F) measured through the force sensor (not shown) may also be '0'.

[0107] Referring to FIG. 7c, the electrode guide drive unit (500) remains stationary, and the electrode tension adjustment block (413) can be moved backward through the first rotation axis (610) connected to the first motor.

[0108] Here, the distance between the load block (510) and the wire block (520) can be 'D2' as the load block (510) remains stationary in the forward position. Additionally, since the load block (510) remains stationary and the electrode tension adjustment block (413) can be moved backward via the first rotation axis (610) connected to the first motor, the distance between the load block (510) and the electrode connection part (411) connected to the electrode tension adjustment block (413) by the spring part (415) can be increased to 'd2'. Here, the increased distance, 'd2', can be inversely proportional to the diameter of the tube in contact with the electrode part (200).

[0109] Additionally, the length of the spring part (415) may be 'L1', a state where there is no change in the length of the spring part (415), and the force (F) measured through the force sensor may also be '0'.

[0110] As shown in FIG. 6c by the increased distance 'd2', the electrode part (200) can come into contact with the tube (V) inside the body without any change in the length of the spring part (415).

[0111] Referring to FIG. 7d, the electrode guide drive unit (500) remains in a stationary state, and the electrode tension adjustment block (413) is moved further backward through the first rotation axis (610) connected to the first motor so that the length of the spring unit (415) can be extended.

[0112] Specifically, the distance between the load block (510) and the wire block (520) may be 'D2' because they remain stationary in the advanced position. Additionally, since the electrode connection part (411) is connected to the electrode part (200) that is in contact with the tube (V) inside the body and remains stationary, the distance between the load block (510) and the electrode connection part (411) may be 'd2'.

[0113] Additionally, the electrode tension adjustment block (413) can be moved further backward through the first rotation axis (610) connected to the first motor, and the length of the spring part (415) connecting the electrode connection part (411) and the electrode tension adjustment block (413) can be increased.

[0114] The length of the spring part (415) may be in an increased state, for example, 'L2', and a force measured through a force sensor may be generated.

[0115] The force measured by the force sensor may be the tension generated as the length of the spring part (415) increases by a certain distance.

[0116] In this way, the electrode guide driving unit (500) remains in a stationary state and the electrode tension adjustment block (413) moves further backward so that the length of the spring unit (415) is extended, and the electrode unit (200), which is in close contact with the tube (V) inside the body with a certain tension, can transmit energy to damage the nerve and perform a nerve resection procedure.

[0117] Afterwards, referring to FIG. 7e, the electrode guide drive unit (500) remains in a stationary state, and the electrode tension adjustment block (413) is moved forward by the amount moved backward in FIG. 7d through the first rotation axis (610) connected to the first motor, thereby restoring the state of the spring unit (415).

[0118] Specifically, the distance between the load block (510) and the wire block (520) may be 'D2' as it remains stationary in the forward-moved position, and the distance between the load block (510) and the electrode connection part (411) may be 'd2' as it remains stationary. Additionally, the electrode tension adjustment block (413) may be moved forward by the aforementioned backward movement through the first rotation axis (610) connected to the first motor, thereby reducing the length of the spring part (415) back to a certain length.

[0119] Accordingly, the tension generated in the spring portion (415) is reduced, and as shown in FIG. 6e, the electrode portion (200) can come into contact with the tube (V) inside the body without any change in the length of the spring portion (415). Therefore, the length of the spring portion (415) can be 'L1', the state without any change in the length of the spring portion (415), and the force (F) measured through the force sensor can also be '0'.

[0120] Referring to FIG. 7f, the electrode guide drive unit (500) remains stationary, and the electrode tension adjustment block (413) can be moved forward by the amount moved backward in FIG. 7c through the first rotation axis (610) connected to the first motor.

[0121] Specifically, the distance between the load block (510) and the wire block (520) can be 'D2' as it remains stationary in the forward-moved position, and the distance between the load block (510) and the electrode connection part (411) connected to the electrode tension adjustment block (413) by the spring part (415) can be returned to 'd1'. The length of the spring part (415) can be 'L1', a state where there is no change in the length of the spring part (415), and the force (F) measured through the force sensor can also be '0'.

[0122] In addition, the electrode part (200), which was spaced apart from the electrode guide part (300) and in close contact with the tube (V) inside the body, can be brought into close contact with the electrode guide part (300) again.

[0123] When the backward movement of the electrode driving unit (400) and the electrode guide driving unit (500) is completed, as shown in FIG. 7g, the distance between the load block (510) and the wire block (520) may be 'D1', and the distance between the load block (510) and the electrode connection unit (411) may be 'd0'. Additionally, the length of the spring unit (415) may be 'L1', a state where there is no change in the length of the spring unit (415), and the force (F) measured through the force sensor may also be '0'.

[0124] At this time, in the same state as in FIG. 7a, the electrode driving unit (400) and the electrode guide driving unit (500) may be just before starting forward movement or immediately after finishing backward movement. Accordingly, as shown in FIG. 6g, the electrode unit (200) and the electrode guide unit (300) may be just before wrapping around the circumference of the tube (V) inside the body or immediately after moving to the state before wrapping after wrapping around the circumference of the tube (V) inside the body. That is, it may be just before or immediately after a nerve resection procedure is performed by the electrode device (10).

[0125] FIG. 9 is a perspective view of a surgical robot (1) using an electrode device (10) according to another embodiment of the present invention, and FIG. 10 is a drawing showing an electrode device (10) coupled to a robot arm (20) of a surgical robot (1) according to another embodiment of the present invention.

[0126] As illustrated in FIGS. 9 and 10, a surgical robot (1) using an electrode device (10) according to one embodiment of the present invention may include an electrode device (10), a robot arm (20), and a main body (30) that supports the robot arm (20).

[0127] The robot arm (20) may include a plurality of motors that transmit a rotation amount to the electrode drive unit (400) and the electrode guide drive unit (500) through the motor linkage unit (600).

[0128] A plurality of motors may include a first motor (not shown) that generates a rotation amount to cause the electrode tension adjustment block (413) to move forward and backward, a second motor (not shown) that generates a rotation amount to cause the load block (510) to move forward and backward, and a third motor (not shown) that generates a rotation amount to cause the wire block (520) to move forward and backward.

[0129] The surgical robot (1) may further include a control unit.

[0130] The control unit may include a display for displaying an image of the surgical site, a first joystick for controlling the operation of the robot arm (20), a pair of handles for controlling the operation of the electrode device (10), and a pair of pedals for controlling the operation of the electrode device (10).

[0131] However, such a control unit is not limited to being able to operate the robot arm (20) and electrode device (10) according to the user's will, and its configuration can be changed in various ways.

[0132] As described above, according to the electrode device (10) of one embodiment of the present invention, by positioning the electrode guide portion (300) so as to be in close contact with the tube (V) inside the body and then gradually attaching the electrode portion (200) to the outer wall of the tube, the electrode-formed component can be safely attached to the outer wall of the tube without damaging the tube (V) inside the body, which can be easily damaged by external stimuli.

[0133] In addition, the electrode device (10) can be operated precisely when the electrode part (200) is in close contact with the outer wall of the tube through a motor linkage part (600) that transmits a rotation amount to the electrode driving part (400) and the electrode guide driving part (500) respectively through a plurality of motors (not shown), and can be used by combining it with a joint operation motor provided in various surgical robots (1) without changing the structure of the electrode device (10).

[0134] The description of the present invention given above is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0135] In addition, the scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0136] V: Tube or tissue 1 : Surgical robot 10: Electrode device 20: Robotic arm 30 : Main body 100 : Main body 110 : Shaft 200 : Electrode part 210 : Base section 220 : Energy transfer unit 230 : Sensor section 300 : Electrode guide section 310 : Node section 311 : Hinge part 313 : Winding support 315: Wire hole 317: 1st Segment Group 319: 2nd Segment Group 320 : Wire 330 : Tip joint 400 : Electrode driving unit 410: Tension maintaining unit 411: Electrode connection part 413 : Electrode tension control block 415 : Spring part 500 : Electrode guide driving unit 510 : Road Block 520 : Wire Block 600 : Motor linkage unit 610: 1st rotation axis 611: 1st motor pulley 613: First rotation shaft pulley 615 : First pulley connecting member 620: Second rotation axis 621: Second motor pulley 623: Second rotating shaft pulley 625 : Second pulley connecting member 630: Third rotation axis 631: 3rd motor pulley 633: Third rotating shaft pulley 635 : Third pulley connecting member

Claims

Claim 1 An electrode device for blocking or controlling nerves within the body, comprising: a main body including a shaft; an electrode part formed to be drawn out from one end of the shaft and blocking or controlling nerves of at least a portion of a tube within the body; an electrode guide part coupled to at least a portion of the electrode part and guiding the electrode part to contact the tube within the body; an electrode driving part including a tension maintaining unit connected to the electrode part and causing the electrode part to move forward and backward and providing tension to the electrode part; an electrode guide driving part connected to the electrode guide and causing the electrode guide to move forward and backward; and a motor linkage part connected to the electrode driving part and the electrode guide driving part and transmitting a rotation amount generated through a plurality of motors to the electrode driving part and the electrode guide driving part, wherein the electrode driving part receives a rotation amount generated through a first motor and the electrode guide driving part receives a rotation amount generated through a second motor and a third motor. Claim 2 The electrode device according to claim 1, wherein the tension maintaining unit comprises: an electrode connecting part connected to one end of the electrode part; an electrode tension adjustment block configured to move forward and backward by receiving a rotation amount generated through the first motor through a first rotation shaft coupled to the motor linkage part; and a spring part connecting the electrode connecting part and the electrode tension adjustment block and providing tension to the electrode part. Claim 3 The electrode device according to claim 2, wherein the electrode guide part comprises a plurality of node parts and a wire connecting the plurality of node parts to each other, and the electrode guide driving part comprises a load block connected to the node part and configured to move forward and backward by receiving a rotation amount generated through the second motor through a second rotation axis coupled to the motor linkage part, and a wire block connected to the wire and configured to move forward and backward by receiving a rotation amount generated through the third motor through a third rotation axis coupled to the motor linkage part. Claim 4 An electrode device according to claim 3, wherein when the electrode guide driving unit moves forward and backward, the first rotational speed of the second rotational axis is set higher than the second rotational speed of the third rotational axis, so that the load block moves forward and backward more than the wire block. Claim 5 An electrode device according to claim 3, wherein when the electrode guide driving unit moves forward and backward, the electrode tension adjustment block moves forward and backward together. Claim 6 An electrode device according to claim 5, wherein the third rotational speed of the first rotational axis is set lower than the first rotational speed of the second rotational axis. Claim 7 An electrode device according to claim 2, wherein the electrode guide driving unit moves forward and then stops, and the electrode tension adjustment block moves backward. Claim 8 An electrode device according to claim 7, wherein, as the electrode tension adjustment block moves backward, a preset tension is generated in the electrode portion, and then the electrode tension adjustment block stops. Claim 9 A surgical robot using an electrode device for blocking or controlling nerves within the body, comprising: the electrode device of claim 1; a robot arm including a plurality of motors connected to the motor linkage unit and transmitting a rotation amount to the electrode driving unit and the electrode guide driving unit through the motor linkage unit; and a main body supporting the robot arm. Claim 10 A surgical robot according to claim 9, wherein the plurality of motors comprises: a first motor that generates a rotation amount to cause an electrode tension adjustment block to move forward and backward; a second motor that generates a rotation amount to cause a load block to move forward and backward; and a third motor that generates a rotation amount to cause a wire block to move forward and backward.

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