Medical robot
By designing a medical robot including a basic module, a first roller module and a second roller module, the driving unit and a roller unit are used to achieve precise transfer of surgical tools, the problems of contamination and precision control of medical robots are solved, and hygiene and operational precision are improved.
Patent Information
- Application Number
- CN202510084843.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2018-04-19
- Filing Date
- 2019-04-19
- Publication Date
- 2025-03-21
AI Technical Summary
Existing medical robots are easily contaminated by the patient's human substance after repeated use, and cannot precisely control the transfer of catheters through wireless signals, which poses the problem of infection risk and difficulty in precision control.
A medical robot including a basic module, a first roller module and a second roller module is designed to realize the precision transfer of surgical tools through a driving unit and a roller unit. The rollers of the roller unit can form holes or grooves, the shafts independently combined and rotated by the drive unit to achieve control of the longitudinal travel, rotation and clamping degree of the surgical tool.
It is realized that the medical robot can replace the roller box after the operation is completed, which improves hygiene and can precisely control the transfer direction and clamping of the surgical tools, reducing the risk of infection and difficulty of operation.
Smart Images
Figure CN119655894A_ABST
Abstract
Description
[0001] This application is a divisional application of the invention patent application with application date of April 19, 2019, application number 201980026784.6, and invention name “Roller module for medical robot, drive device for medical robot and medical robot”. Technical Field
[0002] The invention relates to a roller module for a medical robot, equipment for the medical robot and a medical robot. Background Art
[0003] In medical surgery, there is a method of inserting a surgical tool (for example, a balloon catheter, etc.) into the body to treat a disease related to blood vessels (for example, cardiovascular coronary artery and peripheral artery interventional surgery).
[0004] During such a surgery, X-rays are required to determine the position of a balloon catheter or the like inserted into the body. In this case, the medical staff performing the surgery are at risk of being exposed to X-ray radiation.
[0005] In order to solve this problem, research on medical robots for transferring catheters is underway. Medical personnel can control the medical robots via wireless signals in a space separate from the surgical site, thereby protecting the medical personnel from the effects of X-ray radiation.
[0006] However, ordinary medical robots have the problem of being contaminated by the patient's body substances due to repeated use. Although the contaminated substances are removed by washing the medical robot, infection caused by the contaminated substances may occur if it is not completely washed.
[0007] Furthermore, a common medical robot has a problem of being unable to accurately move a catheter in accordance with wireless signals. Summary of the invention
[0008] Technical issues The problem to be solved by the present invention is to provide a medical robot that can hygienically and accurately transfer a catheter, a drive device installed in the medical robot, and a roller module installed in the drive device.
[0009] The problems to be solved by the present invention are not limited to the problems mentioned above, and a person skilled in the art will be able to clearly understand other problems not mentioned from the following description.
[0010] Technical Solution In order to solve the above-mentioned problems, a medical robot according to one aspect of the present invention includes: a base module; and a first roller module and a second roller module, wherein the distance between the first roller module and the second roller module is controlled by the base module, wherein each of the first roller module and the second roller module includes: a driving unit; and a roller unit, configured to rotate around a vertical axis and move in a vertical direction by means of the driving unit.
[0011] A surgical tool is clamped between the first roller module and the second roller module, wherein the roller unit of the first roller module and the roller unit of the second roller module are configured to rotate in relatively opposite directions or move vertically in relatively opposite directions to control the movement of the surgical tool.
[0012] The roller unit of the first roller module and the roller unit of the second roller module are configured to rotate in relatively opposite directions to allow a surgical tool clamped between the first roller module and the second roller module to move in a longitudinal direction.
[0013] The roller unit of the first roller module and the roller unit of the second roller module are configured to vertically move in relatively opposite directions to rotate a surgical tool clamped between the first roller module and the second roller module.
[0014] The roller unit of the first roller module and the roller unit of the second roller module are configured to be relatively close to or relatively far away from each other to control the clamping degree of the surgical tool clamped between the first roller module and the second roller module.
[0015] Rotation axes of the roller unit of the first roller module and the roller unit of the second roller module are parallel to each other.
[0016] Each of the roller units of the first roller module and the roller units of the second roller module is detachable in a box form.
[0017] The roller unit includes at least one roller and at least one shaft, wherein the at least one shaft is independently combined with the at least one roller of the roller unit and rotated by the driving unit, wherein the at least one roller of the roller unit has at least one hole or groove, and the at least one hole or the at least one groove is defined to independently receive at least a portion of the at least one shaft of the roller unit.
[0018] The driving unit includes a first driving motor, wherein a rotation axis of the first driving motor of the driving unit and a rotation axis of the at least one shaft of the roller unit are perpendicular to each other.
[0019] The drive unit further comprises a first drive shaft, wherein a spur gear of the first drive motor of the drive unit meshes with a spur gear of the first drive shaft of the drive unit, wherein at least one bevel gear of at least one shaft of the roller unit independently meshes with at least one bevel gear of the first drive shaft of the drive unit.
[0020] The roller unit includes: a screw; and a nut engaged with the screw of the roller unit, wherein the screw of the roller unit is rotated by the driving unit, wherein the nut of the roller unit is moved along the vertical direction by the rotation of the screw of the roller unit.
[0021] The roller unit further includes a housing disposed at the nut of the roller unit, wherein the housing of the roller unit moves along the vertical direction by the nut of the roller unit.
[0022] The basic module includes: a basic body; a first nut, arranged on the basic body of the basic module and combined with the first roller module; a second nut, arranged on the basic body of the basic module and combined with the second roller module; a screw, engaged with the first nut of the basic module and the second nut of the basic module; and a first driving motor, which rotates the screw of the basic module, wherein the forward rotation or reverse rotation of the screw of the basic module allows the first nut of the basic module and the second nut of the basic module to move so that the distance between the first roller module and the second roller module is closer or farther.
[0023] A rotation direction of a spiral in which the lead screw of the base module and the first nut of the base module are engaged with each other is opposite to a rotation direction of a spiral in which the lead screw of the base module and the second nut of the base module are engaged with each other.
[0024] In order to solve the above-mentioned problems, a roller module for a medical robot according to one aspect of the present invention includes: a driving unit; and a roller unit, which is rotated with a vertical direction as an axis by the driving unit, wherein the roller unit includes one or more rollers and one or more axes, and the one or more axes are independently combined with the one or more rollers of the roller unit and rotated by the driving unit, and one or more holes or grooves can be formed in the one or more rollers of the roller unit, and at least a part of the one or more axes of the roller unit is independently arranged in the one or more holes or grooves.
[0025] One or more holes or grooves of one or more rollers of the roller unit extend in a vertical direction, and horizontal sections of the one or more holes or grooves of one or more rollers of the roller unit and horizontal sections of one or more axes of the roller unit may have corresponding shapes to each other.
[0026] The horizontal cross-sectional shape of the hole or groove of one or more rollers of the roller unit and the horizontal cross-sectional shape of one or more axes of the roller unit may extend in the first direction and the second direction on the horizontal plane and intersect vertically at the center point.
[0027] The driving unit includes a first driving motor, and a rotation axis of the first driving motor of the driving unit and rotation axes of one or more shafts of the roller unit may be perpendicular to each other.
[0028] The drive unit also includes a first drive shaft, the spur gear of the first drive motor of the drive unit is meshed with the spur gear of the first drive shaft of the drive unit, and one or more bevel gears of one or more axes of the roller unit can be independently meshed with one or more bevel gears of the first drive shaft of the drive unit.
[0029] The roller unit may be moved in a vertical direction by a driving unit.
[0030] The roller unit also includes: a screw; a nut engaged with the screw of the roller unit; and a shell arranged on the nut of the roller unit, wherein the screw of the roller unit is rotated by the driving unit, the nut of the roller unit is moved in a vertical direction by the rotation of the screw of the roller unit, and the shell of the roller unit can be moved in the vertical direction by the nut of the roller unit.
[0031] The housing of the roller unit may include a pivotally driven hook, and the nut of the roller unit may include a lever locked by or unlocked from the hook of the housing.
[0032] The driving unit includes a second driving motor, and a rotation axis of the second driving motor of the driving unit and a rotation axis of the lead screw of the roller unit may be perpendicular.
[0033] The driving unit further comprises a second driving shaft, the spur gear of the second driving motor of the driving unit meshes with the spur gear of the second driving shaft of the driving unit, and the bevel gear of the lead screw of the roller unit can mesh with the bevel gear of the second driving shaft of the driving unit.
[0034] In order to solve the above-mentioned problems, a driving device for a medical robot according to one aspect of the present invention includes: a basic module; a first roller module and a second roller module, the distance between which is controlled by the basic module, wherein at least one of the first roller module and the second roller module includes: a driving unit; a roller unit, which rotates with a vertical direction as an axis by the driving unit, and the roller unit includes one or more rollers and one or more axes, and the one or more axes are independently combined with the one or more rollers of the roller unit and rotated by the driving unit, and one or more holes or grooves can be formed on the one or more rollers of the roller unit, and at least a part of the one or more axes of the roller unit is independently arranged in the one or more holes or grooves.
[0035] At least one of a guide catheter, a guide wire and a balloon catheter is clamped between the first roller module and the second roller module, so as to be transferred by the rotation of the roller unit of the first roller module and the roller unit of the second roller module. The rotation axes of the roller unit of the first roller module and the roller unit of the second roller module can be parallel to each other, and the rotation directions are opposite to each other. The roller unit of the first roller module and the roller unit of the second roller module may be detachable in a box form.
[0036] The basic module includes: a basic body; a first nut, arranged on the basic body of the basic module and combined with the first roller module; a second nut, arranged on the basic body of the basic module and combined with the second roller module; a screw, meshing with the first nut of the basic module and the second nut of the basic module; a first driving motor, which rotates the screw of the basic module, and the first nut of the basic module and the second nut of the basic module can be moved by the forward and reverse rotation of the screw of the basic module, so that the distance between the first roller module and the second roller module is closer or farther.
[0037] The driving unit of the first roller module includes: a shell; a first driving motor and a first driving shaft, which are arranged inside the shell of the driving unit of the first roller module and rotate the roller unit of the first roller module; a second driving motor and a second driving shaft, which are arranged inside the shell of the driving unit of the first roller module and move the roller unit of the first roller module in a vertical direction, and the driving unit of the second roller module includes: a shell; a first driving motor and a first driving shaft, which are arranged inside the shell of the driving unit of the second roller module and rotate the roller unit of the second roller module; a second driving motor and a second driving shaft, which are arranged inside the shell of the driving unit of the second roller module and move the roller unit of the second roller module in a vertical direction, the shell of the driving unit of the first roller module is supported by the first nut of the base module, and the shell of the driving unit of the second roller module can be supported by the second nut of the base module.
[0038] A gearbox may be arranged between the first drive motor of the base module and the spindle of the base module.
[0039] The basic module also includes: a second drive motor; a belt connecting the spur gear of the first drive motor of the basic module and the spur gear of the second drive motor of the basic module, and the rotation of the first drive motor of the basic module and the rotation of the second drive motor of the basic module can be linked by the belt of the basic module.
[0040] A rotation direction of a spiral in which the lead screw of the base module and the first nut of the base module are engaged may be opposite to a rotation direction of a spiral in which the lead screw of the base module and the second nut of the base module are engaged.
[0041] In order to solve the above-mentioned problems, a medical robot according to one aspect of the present invention includes: a first drive device, a second drive device and a third drive device, which transfer a guide catheter, a guide wire and a balloon catheter, wherein at least one of the first drive device, the second drive device and the third drive device includes: a basic module: a first roller module and a second roller module, the distance between which is controlled by the basic module, wherein at least one of the first roller module and the second roller module includes: a drive unit; and a roller unit, which is rotated with a vertical direction as an axis by the drive unit, and the roller unit includes more than one roller and more than one roller. Axis, one or more of the axes are independently combined with one or more rollers of the roller unit and rotated by the driving unit, one or more holes or grooves are formed on the one or more rollers of the roller unit, at least a part of the one or more axes of the roller unit are independently arranged, at least one of the guide catheter, guide wire and balloon catheter is clamped between the first roller module and the second roller module, so as to be transferred by the rotation of the roller unit of the first roller module and the roller unit of the second roller module, and the rotation axes of the roller unit of the first roller module and the roller unit of the second roller module can be parallel to each other, and the rotation directions are opposite to each other.
[0042] The first driving device clamps the guide catheter, the second driving device clamps the guide wire, and the third driving device clamps the balloon catheter. The guide catheter can accommodate the guide wire and the balloon catheter.
[0043] The moving direction of the first driving device and the moving direction of the second driving device are located on the same straight line, and the moving direction of the first driving device and the moving direction of the third driving device may be arranged obliquely.
[0044] Also included is a first connector disposed between the first drive device and the second drive device while supporting the guide catheter, the guide wire, and the balloon catheter, wherein the first connector is movable along a moving direction of the first drive device and the second drive device.
[0045] The first connector may include: a first connector body, fixing the guide catheter, the guide wire and the balloon catheter; and a first connector support platform, extending downward from the first connector body.
[0046] The moving direction of the first driving device and the moving direction of the second driving device are arranged obliquely, the moving direction of the first driving device and the moving direction of the third driving device are arranged obliquely, and the moving direction of the second driving device and the moving direction of the third driving device may be arranged obliquely.
[0047] The moving direction of the first driving device, the moving direction of the second driving device, and the moving direction of the third driving device may intersect at one intersection.
[0048] It also includes a second connector, forming an intersection of the transfer directions of the first drive device, the second drive device and the third drive device, wherein the second connector includes a first receiving portion, a second receiving portion and a third receiving portion, the first receiving portion receiving the guide catheter, the second receiving portion receiving the guide wire, and the third receiving portion receiving the balloon catheter, and the first receiving portion of the second connector can be connected to the second receiving portion of the second connector and the third receiving portion of the second connector.
[0049] Effects of the Invention In the medical robot of the present invention, surgical tools (balloon catheters, etc.) are transferred by means of roller modules, and the rollers of the roller unit can be manufactured in the form of replaceable boxes. Therefore, after a surgery, the contaminated roller box can be replaced with a new roller box, and it can be used more hygienically than ordinary robot units.
[0050] Furthermore, in the medical robot of the present invention, the degree of clamping of the surgical tool can be controlled by adjusting the distance between the first roller module and the second roller module facing each other, thereby precisely controlling the moving direction of the surgical tool, and the moving direction of the surgical tool can be precisely controlled by vertically driving the first roller module and the second roller module facing each other.
[0051] Furthermore, the present invention provides a medical robot driving device constituting the medical robot and a medical robot roller module constituting the medical robot driving device.
[0052] The effects of the present invention are not limited to the effects mentioned above, and a person skilled in the art can clearly understand other effects not mentioned through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0053] Figure 1 It is a perspective view showing the medical robot of the present invention.
[0054] Figure 2 1 is a schematic diagram showing a medical robot equipped with the first connector of the present invention performing rolling drive and clamping drive.
[0055] Figure 3 1 is a schematic diagram showing a medical robot equipped with the second connector of the present invention performing rolling drive and clamping drive.
[0056] Figure 41 is a perspective view showing a first connector and a second connector of the medical robot of the present invention.
[0057] Figure 5 It is a schematic diagram showing a situation where the first driving device of the medical robot of the present invention performs vertical driving.
[0058] Figure 6 It is a perspective view showing a state where the first driving device of the medical robot of the present invention performs vertical driving.
[0059] Figure 7 is a perspective view showing a first driving device of the present invention.
[0060] Figure 8 1 is a perspective view showing a first roller module according to the present invention.
[0061] Fig. 9 This is a perspective view showing a state in which grooves or holes are formed in the roller of the first roller module of the present invention.
[0062] Fig.10 It is a perspective view showing a state where the first roller module of the present invention is driven to roll.
[0063] Fig.11 It is a perspective view showing a state where the first roller module and the second roller module of the present invention are driven by clamping.
[0064] Fig.12 It is a perspective view showing a state where the first roller module of the present invention is vertically driven.
[0065] Fig.13 This is a perspective view showing a state where the roller unit of the first roller module of the present invention is separated in a box form. DETAILED DESCRIPTION
[0066] The advantages, features and methods for achieving the advantages, features and methods of the present invention can be clearly understood by referring to the embodiments described in detail below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and can be implemented in various different forms. The present embodiments are provided only to complete the disclosure of the present invention and to fully inform the ordinary technicians in the technical field to which the present invention belongs. The present invention is only defined by the scope of the claims.
[0067] The terms used in this specification are for the purpose of illustrating embodiments and are not intended to limit the present invention. In this specification, unless otherwise mentioned, the singular includes the plural. "Comprises" and / or "comprising" used in the specification do not exclude the existence or addition of one or more other constituent elements other than the mentioned constituent elements. Throughout the specification, the same figure mark refers to the same constituent element, and "and / or" includes each of the mentioned constituent elements and all combinations of more than one. Although "first", "second" and the like are used to describe a variety of constituent elements, these constituent elements are obviously not limited by these terms. These terms are only used to distinguish one constituent element from other constituent elements. Therefore, the first constituent element mentioned below can obviously be a second constituent element within the technical idea of the present invention.
[0068] Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with the meanings commonly understood by those skilled in the art in the technical field to which the present invention belongs. In addition, for terms defined in commonly used dictionaries, unless otherwise clearly and specifically defined, they should not be idealized or over-interpreted.
[0069] As spatially relative terms, "below", "beneath", "lower", "above", "above", "upper", etc. can be used to easily describe the correlation between one component and another component as shown in the figure. Spatially relative terms should be understood as terms that include different directions of components when used or operated in addition to the directions shown in the drawings. For example, in the case of flipping the components shown in the drawings, a component described as being "below" or "beneath" another component may be located "above" another component. Therefore, "below" as an exemplary term can include both the directions of below and above. The components can also be configured in other directions, and accordingly, the spatially relative terms can be interpreted according to their configuration direction.
[0070] Hereinafter, the "vertical direction" may refer to the up-down direction in the figure. Furthermore, the "vertical direction" may be parallel to the rotation axis of the "roller drive". That is, the rotation axis of the roller unit may be parallel to the "vertical direction".
[0071] Hereinafter, the medical robot 1 of the present invention will be described with reference to the accompanying drawings. The medical robot 1 of the present invention can transfer a guide catheter 61, a guide wire 62, and a balloon catheter 63 for surgery. In this case, the surgery can be a cardiovascular coronary artery and peripheral artery interventional surgery. The interventional surgery introduces the balloon catheter 63 into the cardiovascular system to artificially widen the blocked blood vessels, thereby treating heart disease.
[0072] The guide catheter 61 may be a hollow tube that accommodates the guide wire 62 and the balloon catheter 63. The guide wire 62 is a wire having a length, and may perform the function of supporting and pulling the balloon catheter 63.
[0073] like Figure 1 As shown, the medical robot 1 of the present invention may include a first driving device 10 , a second driving device 20 , a third driving device 30 , a first connector 40 and a support plate 50 .
[0074] The first driving device 10, the second driving device 20 and the third driving device 30 can transfer the guide catheter 61, the guide wire 62 and the balloon catheter 63. In this case, the first driving device 10 can hold the guide catheter 61, the second driving device 20 can hold the guide wire 62, and the third driving device 30 can hold the balloon catheter 63.
[0075] The first driving device 10 , the second driving device 20 , and the third driving device 30 can perform “rolling drive”, “clamping drive”, and “vertical drive” in order to transfer the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 .
[0076] Reference Figure 2 and Figure 3 The “rolling drive” may be a drive in which the roller units of the first driving device 10 , the second driving device 20 , and the third driving device 30 rotate to move the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 in the length direction.
[0077] And, refer to Figure 2 and Figure 3 The “clamping drive” may be a drive in which the roller units of the first drive device 10 , the second drive device 20 , and the third drive device 30 facing each other move closer or farther away to control the clamping degree of the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 .
[0078] In addition, refer to Figure 5 and Figure 6"Vertical drive" is the drive in which the rollers of the first drive device 10, the second drive device 20 and the third drive device 30 move in the vertical direction and rotate the guide catheter 61, the guide wire 62 and the balloon catheter 63 with bent ends, thereby determining the transfer direction of the guide catheter 61, the guide wire 62 and the balloon catheter 63.
[0079] The medical robot 1 of the present invention is characterized in that the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 are accurately transferred by the above-mentioned three types of driving.
[0080] Furthermore, the roller unit of the medical robot 1 of the present invention is manufactured in a box form so as to be replaceable, and thus surgery can be performed hygienically.
[0081] Furthermore, the first driving device 10 , the second driving device 20 , and the third driving device 30 of the medical robot 1 of the present invention may have two arrangement forms.
[0082] First, refer to Figure 2 The first arrangement form is described as follows: the moving direction of the first driving device 10 and the moving direction of the second driving device 20 may be located on the same straight line, and the moving direction of the first driving device 10 and the moving direction of the third driving device 30 may be arranged obliquely.
[0083] In this case, the first connector 40 may be used. The first connector 40 may be disposed between the first driving device 10 and the second driving device 20 while supporting the guide catheter 61, the guide wire 62, and the balloon catheter 63.
[0084] Further, the first connector 40 may be movable along the transfer direction of the first driving device 10 and the second driving device 20 in order to stably support the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 .
[0085] To this end, the first connector 40 may include: a first connector body 41 that fixes the guide catheter 61 , the guide wire 62 , and the balloon catheter 63 ; and a first connector support 42 that extends downward from the first connector body 41 .
[0086] Furthermore, a support plate guide rail 51 for guiding the movement of the first connector support platform 42 of the first connector 40 may be formed on the support plate 50 .
[0087] Below, refer to Figure 3The second arrangement form is described as follows: the moving direction of the first drive device 10 and the moving direction of the second drive device 20 can be arranged obliquely, the moving direction of the first drive device 10 and the moving direction of the third drive device 30 can be arranged obliquely, and the moving direction of the second drive device 20 and the moving direction of the third drive device 30 can be arranged obliquely. Further, the moving directions of the first drive device 10, the second drive device 20, and the third drive device 30 can intersect at an intersection.
[0088] In this case, the second connector 40 - 1 may be used. The second connector 40 - 1 is a “Y-shaped connector” that may form an intersection of the transfer directions of the first drive device 10 , the second drive device 20 , and the third drive device 30 .
[0089] The second connector 40 - 1 may include: a second connector body 41 - 1 ; and a second connector support platform 42 - 1 extending downward from the second connector body 41 - 1 to support the second connector body 41 - 1 .
[0090] In addition, the second connector body 41-1 may include: a first receiving portion 41-2 for receiving the guide catheter 61; a second receiving portion 41-3 for receiving the guide wire 62; and a third receiving portion 41-4 for receiving the balloon catheter 63. In this case, the first receiving portion 41-2 of the second connector 40-1 may be connected to both the second receiving portion 41-3 of the second connector 40-1 and the third receiving portion 41-4 of the second connector 40-1.
[0091] Hereinafter, the first driving device 10 of the medical robot 1 of the present invention will be described with reference to the accompanying drawings. In addition, the second driving device 20 and the third driving device 30 can be analogically applied to the first driving device 10. That is, the first driving device 10, the second driving device 20 and the third driving device 30 can have substantially the same technical concept.
[0092] The first driving device 10 may include: a first roller module 100 , a second roller module 200 and a base module 300 .
[0093] The roller units 110 of the first roller module 100 and 210 of the second roller module 200 may be arranged opposite to each other, and their rotation axes may be parallel to each other and their rotation directions may be opposite to each other.
[0094] The “rolling drive” of the first driving device 10 may be achieved by the roller unit 110 of the first roller module 100 and the roller unit 210 of the second roller module 200 rotating in opposite directions to each other.
[0095] The “clamping drive” of the first driving device 10 can be realized by the roller unit 110 of the first roller module 100 and the roller unit 210 of the second roller module 200 approaching each other or moving away from each other.
[0096] The “vertical driving” of the first driving device 10 may be achieved by moving the roller unit 110 of the first roller module 100 and the roller unit 210 of the second roller module 200 in opposite directions in the vertical direction.
[0097] Furthermore, the roller unit 110 of the first roller module 100 and the roller unit 210 of the second roller module 200 may be replaced in a box form.
[0098] First, the first roller module 100 is described. In addition, the second roller module 200 can be analogically applied to the first roller module 100. That is, the first roller module 100 and the second roller module 200 can have substantially the same technical concept.
[0099] As in Figure 8 As shown, the first roller module 100 may include a roller unit 110 and a driving unit 120 .
[0100] The roller unit 110 may include: one or more rollers 111 ; and one or more shafts 114 which may be independently combined with the one or more rollers 111 of the roller unit 110 and rotated by the driving unit 120 .
[0101] like Fig. 9 As shown, one or more holes or grooves 111 - 1 for independently arranging at least a portion of one or more shafts 114 of the roller unit 110 may be formed on the one or more rollers 111 of the roller unit 110 .
[0102] The results, such as Fig.13 As shown, one or more rollers 111 of the roller unit 110 can be installed or separated by sliding in a vertical direction from one or more shafts 114 of the roller unit 110 (replaceable box form). In this case, the housing 112 of the roller unit 110 can also be installed or separated together with the one or more rollers 111 of the roller unit 110. To this end, the hook 112-1 of the housing 112 can be locked or unlocked. In addition, the one or more rollers 111 are rotatably coupled to the housing 112, and one or more holes or grooves corresponding to the holes or grooves 111-1 of the roller 111 can be formed in the housing 112. The hole or groove of the housing 112 can be formed on the lower surface of the housing 112 and can extend to the upper surface of the housing 112. According to this structure, the one or more rollers 111 of the roller unit 110 can be installed and separated together in a state of being accommodated in the housing 112 of the roller unit 110.
[0103] Further, in order to simplify installation and separation, one or more holes or grooves 111-1 of one or more rollers 111 of the roller unit 110 may extend in the vertical direction. Also, the horizontal cross-section of the one or more holes or grooves 111-1 of the one or more rollers 111 of the roller unit 110 and the horizontal cross-section of the one or more shafts 114 of the roller unit 110 may have corresponding shapes to each other.
[0104] Furthermore, in order to securely install and separate, the horizontal cross-sectional shape of the hole or groove 111-1 of one or more rollers 111 of the roller unit 110 and the horizontal cross-sectional shape of one or more axes 114 of the roller unit 110 can be a shape extending in the first direction and the second direction on the horizontal plane and vertically intersecting at the center point.
[0105] The roller unit 110 can be rotated about the “vertical direction” as an axis by the driving unit 120 (roller drive).
[0106] Reference Fig.10 To this end, the driving unit 120 may include a first driving motor 122. In addition, the rotation axis of the first driving motor 122 of the driving unit 120 and the rotation axes of the one or more shafts 114 of the roller unit 110 may be perpendicular to each other.
[0107] This can be achieved by means of bevel gears. The drive unit 120 can also include a first drive shaft 123. The spur gear 122-1 of the first drive motor 122 of the drive unit 120 can be meshed with the spur gear 123-1 of the first drive shaft 123 of the drive unit 120. The one or more bevel gears 114-1 of one or more shafts 114 of the roller unit 110 can be independently meshed with one or more bevel gears 123-2 of the first drive shaft 123 of the drive unit 120.
[0108] That is, the driving force of the first driving motor 122 can be transmitted to the first driving shaft 123 through the spur gear 122-1 of the first driving motor 122 and the spur gear 123-1 of the first driving shaft 123. Further, the driving force of the first driving shaft 123 can be transmitted to the one or more shafts 114 of the roller unit 110 through the one or more bevel gears 123-2 of the first driving shaft 123 and the bevel gears 114-1 of the one or more shafts 114 of the roller unit 110.
[0109] The roller unit 110 of the first roller module 100 and the roller unit 210 of the second roller module 200 can be moved by the base module 300 to be closer or farther apart (clamping drive).
[0110] Reference Fig.11To this end, the basic module 300 may include: a first basic body 310; a first nut 340, arranged on the first basic body 310 of the basic module 300 and combined with the first roller module 100; a second nut 350, arranged on the first basic body 310 of the basic module 300 and combined with the second roller module 200; a lead screw 330, engaged with the first nut 340 of the basic module 300 and the second nut 350 of the basic module 300; and a first driving motor 320, which rotates the lead screw 330 of the basic module 300.
[0111] In addition, a gear box 330 - 1 is disposed between the first driving motor 320 of the base module 300 and the lead screw 330 of the base module 300 , so that the rotation speed and torque of the lead screw 330 of the base module 300 can be adjusted.
[0112] In this case, the screw 330 of the base module 300, the first nut 340 of the base module 300, and the second nut 350 of the base module 300 can be like a "guide screw" or a "ball screw", and the first nut 340 of the base module 300 and the second nut 350 of the base module 300 can move along the screw 330 of the base module 300 by rotating the screw 330 of the base module 300.
[0113] That is, by the forward and reverse rotation of the lead screw 330 of the base module 300 , the first nut 340 and the second nut 350 of the base module 300 can move to make the first roller module 100 and the second roller module 200 closer or farther apart.
[0114] To this end, the rotation direction 330-2 of the screw 330 of the base module 300 and the first nut 340 of the base module 300 and the rotation direction 330-3 of the screw 330 of the base module 300 and the second nut 350 of the base module 300 may be opposite to each other (refer to Fig.11 of (1)).
[0115] In addition, in order to precisely control the rotation of the first drive motor 320, the base module 300 may further include a second drive motor 320-1 and a belt 320-4, wherein the belt 320-4 connects the spur gear 320-2 of the first drive motor 320 of the base module 300 and the spur gear 320-3 of the second drive motor 320-1 of the base module 300, and the rotation of the first drive motor 320 of the base module 300 and the rotation of the second drive motor 320-1 of the base module 300 may be linked by the belt 320-4 of the base module 300 (refer to Fig.11 of (2)).
[0116] The roller unit 110 can be moved in a “vertical direction” (vertical drive) by the driving unit 120 .
[0117] Reference Fig.12 To this end, the roller unit 110 may further include: a screw 115; a nut 116 engaged with the screw 115 of the roller unit 110; and a housing 112 disposed on the nut 116 of the roller unit 110.
[0118] In this case, the lead screw 115 of the roller unit 110 may be rotated by the driving unit 120 , and the nut 116 of the roller unit 110 may be moved in a vertical direction by the rotation of the lead screw 115 of the roller unit 110 .
[0119] That is, the screw 115 of the roller unit 110 and the nut 116 of the roller unit 110 may be like a “guide screw” or a “ball screw”, and the nut 116 of the roller unit 110 may move along the screw 115 of the roller unit 110 by the rotation of the screw 115 of the roller unit 110 .
[0120] In this case, the housing 112 of the roller unit 110 may be moved in the vertical direction by the nut 116 of the roller unit 110. Furthermore, at least one roller 111 of the roller unit 110 may be moved in the vertical direction together with the housing 112 of the roller unit 110.
[0121] In addition, in order to stably support the housing 112 of the roller unit 110 when moving in the vertical direction, the housing 112 of the roller unit 110 may include a pivotally driven hook 112-1, and the nut 116 of the roller unit 110 may include a rod 116-1 that is locked by or unlocked from the hook 112-1 of the housing 112 (see Fig.13 ).
[0122] In this case, the number of hooks 112 - 1 of the housing 112 of the roller unit 110 may be two, and the hooks 112 - 1 may be disposed at both ends of the rod 116 - 1 of the nut 116 , respectively.
[0123] In addition, in order to transmit driving force to the screw 115 of the roller unit 110, the driving unit 120 may include a second driving motor 124, and the rotation axis of the second driving motor 124 of the driving unit 120 and the rotation axis of the screw 115 of the roller unit 110 may be perpendicular.
[0124] This can be achieved by means of bevel gears. The drive unit 120 can also include a second drive shaft 125. The spur gear 124-1 of the second drive motor 124 of the drive unit 120 can be meshed with the spur gear 125-1 of the second drive shaft 125 of the drive unit 120, and the bevel gear 115-1 of the screw 115 of the roller unit 110 can be meshed with the bevel gear 125-2 of the second drive shaft 125 of the drive unit 120.
[0125] That is, the driving force of the second driving motor 124 can be transmitted to the second driving shaft 125 through the spur gear 124-1 of the second driving motor 124 and the spur gear 125-1 of the second driving shaft 125. Further, the driving force of the second driving shaft 125 can be transmitted to the lead screw 115 of the roller unit 110 through the bevel gear 125-2 of the second driving shaft 125 and the bevel gear 115-1 of the lead screw 115 of the roller unit 110.
[0126] In addition, the driving unit 120 may include a box-shaped external component 121 , and a first driving motor 122 , a first driving shaft 123 , a second driving motor 124 , and a second driving shaft 125 may be arranged inside the external component 121 of the driving unit 120 .
[0127] Furthermore, lower portions of one or more shafts 114 of the roller unit 110 may be disposed inside the external component 121 of the driving unit 120 .
[0128] Furthermore, the external component 121 of the driving unit 120 is supported by the first nut 340 of the basic module 300 , and during clamping driving, the driving unit 120 and the roller unit 110 can be pulled and moved by the first nut 340 .
[0129] The embodiments of the present invention are described above with reference to the accompanying drawings, but it is understood by those skilled in the art that the present invention can be implemented in other specific forms without changing the technical concept or essential features of the present invention. Therefore, the embodiments described above should be understood to be exemplary in all aspects, rather than restrictive.
Claims
1. A medical robot, comprising: Basic modules; as well as A first roller module and a second roller module, wherein the distance between the first roller module and the second roller module is controlled by the base module, Wherein, each of the first roller module and the second roller module comprises: a drive unit; and The roller unit is configured to rotate around a vertical axis and move along a vertical direction by the driving unit.
2. The medical robot according to claim 1, wherein: The surgical tool is clamped between the first roller module and the second roller module. Wherein, the roller unit of the first roller module and the roller unit of the second roller module are configured to rotate in relatively opposite directions or move vertically in relatively opposite directions to control the movement of the surgical tool.
3. The medical robot according to claim 1, wherein: The roller unit of the first roller module and the roller unit of the second roller module are configured to rotate in relatively opposite directions to allow a surgical tool clamped between the first roller module and the second roller module to move in a longitudinal direction.
4. The medical robot according to claim 1, wherein: The roller unit of the first roller module and the roller unit of the second roller module are configured to vertically move in relatively opposite directions to rotate a surgical tool clamped between the first roller module and the second roller module.
5. The medical robot according to claim 1, wherein: The roller unit of the first roller module and the roller unit of the second roller module are configured to be relatively close to or relatively far away from each other to control the clamping degree of the surgical tool clamped between the first roller module and the second roller module.
6. The medical robot according to claim 1, wherein: Rotation axes of the roller unit of the first roller module and the roller unit of the second roller module are parallel to each other.
7. The medical robot according to claim 1, wherein: Each of the roller units of the first roller module and the roller units of the second roller module is detachable in a box form.
8. The medical robot according to claim 1, wherein: The roller unit includes at least one roller and at least one shaft, wherein the at least one shaft is independently combined with the at least one roller of the roller unit and rotated by the driving unit. Wherein, at least one roller of the roller unit has at least one hole or groove, and the at least one hole or the at least one groove is defined to independently receive at least a portion of the at least one shaft of the roller unit.
9. The medical robot according to claim 8, wherein: The driving unit comprises a first driving motor, Wherein, a rotation axis of the first driving motor of the driving unit and a rotation axis of the at least one shaft of the roller unit are perpendicular to each other.
10. The medical robot according to claim 9, wherein: The drive unit further comprises a first drive shaft, wherein the spur gear of the first driving motor of the driving unit is meshed with the spur gear of the first driving shaft of the driving unit, Wherein, at least one bevel gear of at least one shaft of the roller unit is independently meshed with at least one bevel gear of the first drive shaft of the drive unit.
11. The medical robot according to claim 1, wherein: The roller unit comprises: Lead screw; and a nut, engaged with the lead screw of the roller unit, wherein the lead screw of the roller unit is rotated by the driving unit, Wherein, the nut of the roller unit moves along the vertical direction through the rotation of the lead screw of the roller unit.
12. The medical robot according to claim 11, wherein: The roller unit further comprises a housing arranged on the nut of the roller unit, Wherein, the housing of the roller unit moves along the vertical direction by means of the nut of the roller unit.
13. The medical robot according to claim 1, wherein: The basic module includes: Basic subject; A first nut, arranged on the basic body of the basic module and combined with the first roller module; A second nut, arranged on the base body of the base module and combined with the second roller module; a lead screw engaged with the first nut of the base module and the second nut of the base module; and A first drive motor rotates the lead screw of the base module, The forward rotation or reverse rotation of the lead screw of the base module allows the first nut of the base module and the second nut of the base module to move, so that the distance between the first roller module and the second roller module is closer or farther.
14. The medical robot according to claim 13, wherein: A rotation direction of a spiral in which the lead screw of the base module and the first nut of the base module are engaged with each other is opposite to a rotation direction of a spiral in which the lead screw of the base module and the second nut of the base module are engaged with each other.