Soft end-effector for liquid transport

Abstract

A soft end-effector device for liquid transport according to one embodiment may include: a case having a case space inside and a shape that is open in one direction; a device arm provided on the inner side of the case; a first body supported by the device arm and closing the opening of the case; a second body supported by the device arm, connected to the first body, and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts according to the size of the pump space.

Description

Technology Field

[0001] The present disclosure relates to a soft end-effector device for liquid transport. Background Technology

[0002] With recent advancements in medical science, the development of robot-assisted minimally invasive surgical techniques is actively underway. However, since robot technologies based on various rigid materials can cause various injuries when operating within the human body, which possesses weak rigidity, there is a demand for medical robot technology capable of performing delicate and gentle functions. As a solution to this problem, soft surgical robots utilizing soft materials are being proposed. Robots made of soft materials can possess high adaptability because they can naturally deform and operate in accordance with the external environment. The problem to be solved

[0003] An object according to one embodiment relates to a soft end-effector device for liquid transport having liquid transport technology as a new mechanism for the soft surgical robot market. means of solving the problem

[0004] A soft end-effector device for liquid transport according to one embodiment may include: a case having a case space inside and a shape that is open in one direction; a device arm provided on the inner side of the case; a first body supported by the device arm and closing the opening of the case; a second body supported by the device arm, connected to the first body, and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts according to the size of the pump space.

[0005] In one embodiment, the first body includes a first body arm supported by the device arm and a first body head connected to the first body arm and having a convex shape, and the second body may include a second body arm supported by the device arm and overlapping with the first body arm, and a second body head connected to the second body arm and having a convex shape.

[0006] In one embodiment, the first body head may have a convex shape in a direction away from the bottom surface of the case, and the second body head may have a convex shape in a direction toward the bottom surface of the case.

[0007] In one embodiment, the size of the first body head may be larger than the size of the second body head.

[0008] In one embodiment, the thickness of the first body head may be greater than the thickness of the second body head.

[0009] In one embodiment, while the pressure in the case space of the case increases, the size of the pump space decreases, and the body hole is opened so that the pump space can be exposed to the outside.

[0010] In one embodiment, while the pressure in the case space of the case increases, the shape of the second body head may change.

[0011] A soft end-effector device for liquid transport according to one embodiment may include: a first body; a second body connected to the first body and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts depending on the size of the pump space.

[0012] In one embodiment, it may include a second body connected to the first body and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts depending on the size of the pump space.

[0013] In one embodiment, the first body includes a first body arm and a first body head connected to the first body arm and having a convex shape, and the second body may include a second body arm that overlaps the first body arm and a second body head connected to the second body arm and having a convex shape.

[0014] In one embodiment, the first body head may have a convex shape in a first direction, and the second body head may have a convex shape in a second direction opposite to the first direction. Effects of the invention

[0015] According to one embodiment, a soft end-effector device for liquid transport performs the functions of liquid transport and specimen transport, and is easily combined with pneumatically driven devices that are most commonly developed in the field of soft surgical robots.

[0016] According to one embodiment, a soft end-effector device for liquid transport comprises a new-net chamber that transmits externally supplied pneumatic pressure and a spherical end that stores and discharges the liquid for transport. It performs the function of retaining the liquid below a specific supply pressure and rapidly expelling the internal liquid to the outside through a snap-through operation above a specific pressure. Additionally, after discharging the internal liquid, it can perform the function of collecting and storing the external liquid by performing a snap-back operation through the removal of pressure.

[0017] According to one embodiment, in the case of a soft end-effector device for liquid transport, a shell structure made of a soft material performs a snap-through motion in which it is deformed by an external force (such as pneumatic pressure) to transform into an inverted shape with the inside and outside flipped. Depending on the geometric shape of the shell, this snap-through motion may exhibit monostable, returning to its original shape when the pressure is removed, or bistable, maintaining the inverted shape even after the pressure is removed. Due to these deformation characteristics, it is easy to combine with a pneu-net device that can also be driven using pneumatic pressure, and through this combination, it can perform more complex functions. Brief explanation of the drawing

[0018] The above-described and other aspects, features, and advantages of specific embodiments of the present disclosure will become apparent from the following detailed description with reference to the accompanying drawings. FIG. 1 is a schematic diagram illustrating a system in which a soft end-effector device for liquid transport according to one embodiment is connected to a pneumatic device. FIG. 2 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 3 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 4 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 5 is a cross-sectional view illustrating a liquid filled inside a soft end-effector device for liquid transport according to one embodiment. FIG. 6 is a cross-sectional view illustrating a liquid filled inside a soft end-effector device for liquid transport according to one embodiment. Specific details for implementing the invention

[0019] Hereinafter, embodiments are described in detail with reference to the attached drawings. The following description is one of several aspects of the embodiments, and the description below forms part of the detailed description of the embodiments. In describing one embodiment, specific descriptions regarding known functions or configurations are omitted to clarify the gist of the invention.

[0020] However, since various modifications may be made to the embodiments, the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, or substitutions to the embodiments are included within the scope of the rights.

[0021] In addition, terms or words used in this specification and claims should not be interpreted in their ordinary or dictionary senses, and based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention, they should be interpreted in a sense and concept consistent with the technical spirit of the invention according to one embodiment.

[0022] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0023] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the embodiments pertain. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0024] In addition, when describing with reference to the attached drawings, identical components are assigned the same reference numeral regardless of drawing symbols, and redundant descriptions thereof are omitted. In describing the embodiments, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the embodiments, such detailed description is omitted.

[0025] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments. These terms are intended merely to distinguish the components from other components, and the nature, order, or sequence of the components is not limited by these terms. Where it is stated that a component is "connected," "combined," or "joined" to another component, it should be understood that the component may be directly connected or joined to the other component, but that another component may also be "connected," "combined," or "joined" between each component.

[0026] Components included in any one embodiment and components having common functions shall be described using the same names in other embodiments. Unless otherwise stated, the descriptions given in any one embodiment may also apply to other embodiments, and specific descriptions shall be omitted to the extent of overlap.

[0027] FIG. 1 is a schematic diagram illustrating a system in which a soft end-effector device for liquid transport according to one embodiment is connected to a pneumatic device.

[0028] Referring to FIG. 1, the present invention relates to a soft liquid transport and specimen device for minimally invasive surgery. The soft liquid transport and specimen device may be referred to as a "soft liquid transport and specimen device." The soft device comprises a nucleus chamber that transmits externally supplied pneumatic pressure and a spherical end that stores and discharges a transport liquid. It performs the function of retaining the liquid below a specific supply pressure and rapidly spraying the internal liquid to the outside through a snap-through action above a specific pressure. Additionally, after discharging the internal liquid, it performs the function of collecting and storing the external liquid through a snap-back action by removing the pressure.

[0029] A shell structure made of a soft material performs a snap-through motion in which it deforms into an inverted shape with the inside and outside flipped by an external force (such as pneumatic pressure). Depending on the geometry of the shell, this snap-through motion can exhibit monostable, returning to its original shape when pressure is removed, or bistable, maintaining the inverted shape even after pressure is removed. Due to these deformation characteristics, it is easy to combine with a pneu-net device that can also be driven by pneumatic pressure, and through this combination, it can perform more complex functions.

[0030] The present invention is configured such that a spherical end formed by combining two shells (an upper dome and a lower dome) of the aforementioned hemispherical dome structure to face each other serves as the core device, and in response to externally supplied pressure, it compresses the internal space through a snap-through operation of the lower dome at a specific pressure. Through this, it is possible to perform the operation of various types of New-Net devices below a specific pressure and the independent function of liquid injection above a specific pressure, even through single-channel pneumatic control rather than multi-channel pneumatic control.

[0031] According to one embodiment, a soft liquid transport and sample system (100) may include a soft liquid transport and sample device (1), a nozzle (4) connected thereto, a hose (8) for supplying fluid to the soft liquid transport and sample device (1) through the nozzle (4), a pressure gauge (6) for measuring the pressure of the fluid flowing along the hose (8), a plurality of valves (7) for selectively blocking the flow, a fluid tank (9) connected to the hose (8), and a camera (5) for monitoring the soft liquid transport and sample device (1) in real time.

[0032] The soft liquid transport and sample device (1) may include a case (11), a device arm (12), a first body (13), a second body (14), and a body hole (15).

[0033] The case (11) may have a case space inside and a shape that is open to one side. The device arm (12) may be provided on the inner side of the case (11). The first body (13) is supported by the device arm (12) and may close the opening of the case (11). The second body (14) is supported by the device arm (12), is connected to the first body (13), and may have a pump space together with the first body (13). The body hole (15) is formed through the first body (13) and may have a shape that expands or contracts depending on the size of the pump space. The size of the first body (13) may be larger than that of the second body (14).

[0034] FIG. 2 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 3 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 4 is a cross-sectional view of a soft end-effector device for liquid transport according to one embodiment. FIG. 5 is a cross-sectional view showing the inside of a soft end-effector device for liquid transport according to one embodiment filled with liquid.

[0035] Referring to FIGS. 2 to 5, the soft liquid transport and sample device (1) may include a case (11) corresponding to a new-net chamber connected to an external pneumatic pump, a second body (14) corresponding to a lower dome that pushes out internal liquid through a snap-through operation, a body hole (15) corresponding to a central narrow slit valve (passive valve), and a first body (13) corresponding to an upper dome that sprays liquid through the body hole (15).

[0036] The soft device of the present invention performs two main operations. First, it performs the operation of the new-net chamber when the pressure is below a specific pressure Psnap. Subsequently, when the supply pressure reaches Psnap, it simultaneously performs the snap-through operation of the lower shell and sprays the internal transport liquid through the slit valve of the upper dome. In this snap-through state, when it comes into contact with the external liquid and performs the snap-back operation by releasing the pressure, it likewise draws in the external liquid through the slit valve of the upper dome and stores it internally.

[0037] At this time, the New-Net chamber can be manufactured and combined to perform various movements such as stretching, bending, contraction, and twisting, depending on the purpose. The thickness and material of the lower dome are designed according to the target threshold pressure, and it is designed to have a monostable structure so that it can automatically return to its original state via snap-back upon the removal of the applied pressure. Since the limit of the usable New-Net pressure is determined by the magnitude of the lower dome's threshold pressure, it is important to have a sufficiently high threshold pressure. Similarly, the upper dome must be designed to retain the internal liquid well without the slit valve opening up to the corresponding pressure; therefore, it is manufactured with a thick thickness using a material of relatively high rigidity to ensure a rigid structure.

[0038] In particular, the design of the operating pressure of the lower and upper domes is important for improving the performance of the present invention. The slit valve of the upper dome is manually operated and is always open to the outside, but the size of the slit is adjusted according to the internal pressure of the upper dome corresponding to the liquid being transported. That is, it maintains a nearly closed state when the pressure applied to the liquid is low, but as the pressure applied to the liquid increases, the upper dome is pushed upward, causing the slit valve to open. This implies that if the opening and closing of the slit valve is not properly controlled through the structural and rigidity design of the upper dome, the slit valve may open before the snap-through operation is performed, causing the internal liquid to leak. Therefore, the key technology is to ensure that the liquid can be transported to the target point without leakage through the proper design of the leakage pressure of the upper dome's slit valve and the snap-through pressure of the lower dome.

[0039] This invention is a technology that can be utilized as an additional device for soft surgical robots, which are currently being developed in various ways, and includes a mechanism capable of performing a liquid transport function that did not exist before. Through this, it presents a new field for soft surgical robots, which are currently limited to implementing simple movements. In particular, as a soft technology corresponding to the liquid transport devices (such as syringes) of existing solid-based surgical robots, it has the advantage of being able to replace existing materials with high rigidity with elastic materials that are biocompatible. Furthermore, unlike injection-type surgical instruments that require delivering liquid from the outside through a long tube to the end, this invention stores a certain volume of liquid internally and sprays a predetermined amount at the target point, thereby reducing the relative amount of wasted liquid.

[0040] It should be noted that the body arm is omitted in FIGS. 2 to 5.

[0041] The first body (13) may include a first body arm (131) supported by a device arm and a first body head (132) connected to the first body arm and having a convex shape. The second body (14) may include a second body arm (141) supported by a device arm and overlapping with the first body arm (131), and a second body head (142) connected to the second body arm (141) and having a convex shape.

[0042] The first body head (132) may have a convex shape in a direction away from the bottom surface of the case (11). The second body head (142) may have a convex shape in a direction toward the bottom surface of the case (11).

[0043] FIG. 6 is a cross-sectional view illustrating a liquid filled inside a soft end-effector device for liquid transport according to one embodiment.

[0044] Referring to FIG. 6, the soft liquid transport and sample device (2) may include a first body (23), a second body (24), and a body hole (not shown). The body hole may be formed through the first body (23).

[0045] The first body (23) may include a first body arm (231) supported by a device arm and a second body head (242) connected to the second body arm and having a convex shape. The second body (24) may include a second body arm (241) supported by a device arm and overlapping with the first body arm (231), and a second body head (242) connected to the second body arm (241) and having a convex shape. The size of the first body head (232) may be larger than the size of the second body head (242). The width of the first body head (232) may be larger than the width of the second body head (242).

[0046] As described above, the embodiments have been explained with specific details such as specific components, limited embodiments, and drawings, but this is provided to aid in the overall understanding. Furthermore, the present invention is not limited to the embodiments described above, and various modifications and variations are possible from this description by those skilled in the art. Therefore, the scope of the present invention should not be limited to the embodiments described above, and all things equivalent to or having equivalent variations to the claims described below, as well as the claims themselves, shall be considered to fall within the scope of the concept of the present invention.

Claims

Claim 1 A soft end-effector device for liquid transport, comprising: a case having a case space inside and a shape that is open in one direction; a device arm provided on the inner side of the case; a first body supported by the device arm and closing the opening of the case; a second body supported by the device arm, connected to the first body, and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts according to the size of the pump space; wherein the first body includes a first body arm supported by the device arm and a first body head connected to the first body arm and having a convex shape, and the second body includes a second body arm supported by the device arm and overlapping with the first body arm, and a second body head connected to the second body arm and having a convex shape. Claim 2 delete Claim 3 A soft end-effector device for liquid transport according to claim 1, wherein the first body head has a convex shape in a direction away from the bottom surface of the case, and the second body head has a convex shape in a direction toward the bottom surface of the case. Claim 4 A soft end-effector device for liquid transport, wherein, in claim 3, the size of the first body head is larger than the size of the second body head. Claim 5 In claim 3, a soft end-effector device for liquid transport, wherein the thickness of the first body head is greater than the thickness of the second body head. Claim 6 A soft end-effector device for liquid transport according to claim 3, wherein while the pressure of the case space of the case increases, the size of the pump space decreases and the body hole is opened so that the pump space is exposed to the outside. Claim 7 A soft end-effector device for liquid transport according to claim 6, wherein the shape of the second body head changes while the pressure in the case space of the case increases. Claim 8 A soft end-effector device for liquid transport, comprising: a first body; a second body connected to the first body and having a pump space together with the first body; and a body hole formed through the first body and having a shape that expands or contracts according to the size of the pump space; wherein the first body includes a first body arm and a first body head connected to the first body arm and having a convex shape, and the second body includes a second body arm that overlaps the first body arm and a second body head connected to the second body arm and having a convex shape. Claim 9 delete Claim 10 A soft end-effector device for liquid transport, wherein, in claim 8, the first body head has a convex shape in a first direction, and the second body head has a convex shape in a second direction opposite to the first direction.

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