Curved telescopic device

Abstract

The present invention includes: N sliding shells, each of which has one end stretchable or retractable while forming an arc and which are formed to have a curved telescopic structure stretchable or retractable in a curved shape; and a flexible member inserted into the N sliding shells and pushing or pulling at least one of the N sliding shells to stretch or retract the N sliding shells.

Description

Curved telescopic device

[0001] The present invention was made with the support of the Ministry of Science and ICT, the Ministry of Trade, Industry and Energy, the Ministry of Health and Welfare, and the Ministry of Food and Drug Safety, under the project identification number RS-2021-KD000001 and project number 1415184155. The research management specialized organization of the project is the Inter-Ministry Full-Cycle Medical Device Research and Development Project, the research project name is "Inter-Ministry Full-Cycle Medical Device Research and Development Project", the research project name is "Development of a medical device for active precision delivery of therapeutic substances based on microcarriers for knee cartilage regeneration", the main organization is the Korea Micro Medical Robot Research Institute, and the research period is from January 1, 2023 to December 31, 2023.

[0002] The present invention relates to a telescopic device, and more particularly, to a telescopic device utilizing a curved telescopic mechanism applicable to the medical field (treatment, surgery, examination, etc.).

[0003] Telescopic mechanisms consist of overlapping or sliding components that can move relative to one another. Because telescopic mechanisms enable linear motion with long strokes despite their compact folding structure, they have found wide application across a wide range of industries. Examples of telescopic mechanisms include antennas and hydraulic cylinders.

[0004] Conventional telescopic structures were limited to linear motion, limiting their use to gravity-defying lifting movements or simple forward-backward linear motion. Thus, existing telescopic structures were limited to linear motion, limiting their applications.

[0005] A curved rail system consists of a curved rail, which may include a circular arc, spiral curve, or complex curve, and a carriage equipped with wheels, rollers, or bearings that allows smooth movement along the curved rail. Curved rail structures offer excellent flexibility and are widely used in applications such as camera equipment, robotic arms, and material handling systems.

[0006] Because linear structures are vulnerable to impact, the internal and external structures of the human body, including the skeletal system, are curved. Current medical equipment primarily moves along curved rails to follow the curves of the human body. A prime example of a curved rail structure is the C-arm of an X-ray image intensifier.

[0007] When using a curved rail structure, the size of the medical equipment must be adjusted to the radius of the drive curve, which makes miniaturization of the device difficult, limits the external field of vision of the medical professional, and reduces the scope of intervention of the medical professional.

[0008] In this regard, Korean Patent No. 10-2020149 discloses a telescopic 6-axis vertical multi-joint robot capable of selectively expanding and contracting the robot's workspace to enable a single robot to perform various tasks. The prior art document allows the robot's workspace to be expanded or contracted through a first telescopic link and a second telescopic link, thereby enabling the robot to perform various tasks. However, the prior art document still uses a linear telescopic mechanism, not a curved one, and thus still suffers from the problems of linear telescopic structures.

[0009] Therefore, there is a demand for a curved telescopic device that adopts a curved structure while applying a telescopic mechanism to have the advantages of both a telescopic structure and a curved rail structure.

[0010] The present invention aims to provide a curved telescopic device that adopts a curved structure while applying a telescopic mechanism so as to have the advantages of both a telescopic structure and a curved rail structure.

[0011] In order to achieve the above object, the present invention is characterized by including N sliding shells formed as a curved telescopic structure that can extend or contract in a curved shape while drawing an arc at one end; and a flexible member inserted into the N sliding shells and extending or contracting the N sliding shells by pushing or pulling at least one of the N sliding shells.

[0012] Preferably, the N sliding shells may have an end effector connected to one end and a tilting part that enables fixation or tilting connected to the other end.

[0013] Preferably, the N sliding shells may further include a flexible member guide provided for each sliding shell to prevent the flexible member from coming off.

[0014] Preferably, the N sliding shells may include at least one bearing provided in at least one sliding shell.

[0015] Preferably, the N sliding shells may include a rail provided on at least one side of each sliding shell to prevent path deviation; and a limit block to prevent the sliding shell from being sucked into an adjacent sliding shell during the shortening process.

[0016] Preferably, the flexible member is formed to be longer than the length when the N sliding shells are fully extended, and the remaining portion that is not combined with the N sliding shells can be positioned in a guide groove provided inside one of the N sliding shells.

[0017] Preferably, the flexible member may be formed of a spring steel material.

[0018] Preferably, the flexible member is connected to the outermost sliding shell among the N sliding shells, so that the N sliding shells can be sequentially extended or shortened.

[0019] Preferably, the N sliding shells may further include a driving unit that pushes the flexible member to extend the N sliding shells or pulls the flexible member to shorten the N sliding shells.

[0020] Preferably, the driving unit may further include a motor; a first gear gear connected to the motor to receive driving force; and a second gear gear meshing with the first gear gear to receive driving force and connected to a tensioner so that the distance from the pulley can be adjusted.

[0021] Preferably, the flexible member has a plurality of tooth grooves that can engage with the teeth of the second gear wheel, and can push or pull the N sliding shells by repeating the action of engaging with the tooth grooves by rotation of the second gear wheel.

[0022] The present invention has the advantage of securing a space in which external mechanical structures, cameras, and people can complementarily access each other when folded compactly.

[0023] Additionally, the present invention has the advantage of allowing easy access to areas within the body that are difficult to reach by utilizing a curved sliding shell.

[0024] In addition, the present invention has the advantage of being applicable to medical devices to improve the accuracy and stability of medical procedures, while relieving patient discomfort and improving outcomes.

[0025] Figure 1 shows a configuration diagram of a curved telescopic device according to an embodiment of the present invention.

[0026] FIG. 2 illustrates a folded curved telescopic device according to an embodiment of the present invention.

[0027] Figure 3 illustrates an unfolded curved telescopic device according to an embodiment of the present invention.

[0028] Fig. 4 shows N sliding shells according to an embodiment of the present invention, where Fig. 4 (a) shows a bottom view and Fig. 4 (b) shows a top view.

[0029] FIG. 5 is a flexible member according to an embodiment of the present invention, where (a) of FIG. 5 shows an unfolded state and (b) of FIG. 5 shows a folded state.

[0030] Fig. 6 is a configuration diagram of a driving unit according to an embodiment of the present invention, where (a) of Fig. 6 shows an exploded view, and (b) of Fig. 6 shows an assembled view.

[0031] Fig. 7 shows a knee treatment device with three degrees of freedom that utilizes a magnetic field device as an end effector according to an embodiment of the present invention.

[0032] FIG. 8 shows a brain surgery device with three degrees of freedom that utilizes a magnetic field device as an end effector according to an embodiment of the present invention.

[0033] N sliding shells formed as a curved telescopic structure that can extend or contract in a curved shape while drawing an arc; and

[0034] A flexible member inserted into the N sliding shells and pushing or pulling at least one of the N sliding shells to extend or contract the N sliding shells;

[0035] A curved telescopic device comprising:

[0036] Hereinafter, the present invention will be described in detail with reference to the contents described in the attached drawings. However, the present invention is not limited or restricted by the exemplary embodiments. The same reference numerals in each drawing indicate components that perform substantially the same functions.

[0037] The purpose and effects of the present invention can be naturally understood or made clearer by the following description, and the purpose and effects of the present invention are not limited solely by the following description. Furthermore, in describing the present invention, if a detailed description of known technologies related to the present invention is deemed to unnecessarily obscure the gist of the present invention, such detailed description will be omitted.

[0038] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the description of the invention, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0039] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0040] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0041] When interpreting components, even if there is no explicit description, it is interpreted as including the margin of error. When describing temporal relationships, for example, when temporal continuity is described with phrases such as "after," "following," "next to," or "before," this also includes cases where the relationship is not continuous, unless "immediately" or "directly" is used.

[0042] Hereinafter, the technical configuration of the present invention will be described in detail with reference to the attached drawings.

[0043] FIG. 1 illustrates a configuration diagram of a curved telescopic device (1000) according to an embodiment of the present invention. FIG. 2 illustrates a folded curved telescopic device (1000) according to an embodiment of the present invention. FIG. 3 illustrates an unfolded curved telescopic device (1000) according to an embodiment of the present invention. Referring to FIGS. 1 to 3, the curved telescopic device (1000) may include N sliding shells (100), a flexible member (200), a tilting member (300), an end effector (400), a driving member (500), and a guide groove (600). The curved telescopic device (1000) may adopt a curved structure while applying a telescopic mechanism so as to have the advantages of both a telescopic structure and a curved rail structure.

[0044] The curved telescopic device (1000) can freely expand or contract as needed. Therefore, when the curved telescopic device (1000) is compactly folded, it can secure a space for complementary access by external mechanical structures, cameras, or people. The curved telescopic device (1000) can be applied to the medical field to promote collaboration between surgical robots and medical professionals, and can expand the range of observation and confirmation. The curved telescopic device (1000) has excellent visualization performance by enabling an imaging device to reach difficult-to-reach areas within the body through curved telescopic mechanisms.

[0045] The curved telescopic device (1000) can assist medical professionals in their medical practice by removing elements that may obstruct the field of vision through the movement of the sliding shells in a curved shape. Medical professionals can perform procedures more precisely and accurately using the curved telescopic device (1000) according to an embodiment of the present invention, thereby minimizing patient discomfort and enabling optimal medical practice. The curved telescopic device (1000) enables imaging devices to reach areas that are difficult to reach, thereby enabling clearer visualization of the target area to be observed and avoiding unintended contact with sensitive tissue, thereby reducing the risk of accidental injury or damage to surrounding tissues or structures.

[0046] Referring to FIG. 1, a curved telescopic device (1000) has N sliding shells sequentially connected, and an end effector can be connected to the innermost shell (movable shell). The curved telescopic device (1000) can have a tilting part that is fixed to the main body and can be tilted connected to the outermost shell (fixed shell). The entire N sliding shells can move smoothly by repeating a folded state and an unfolded state.

[0047] As can be seen in Fig. 1, the curved telescopic device (1000) has a large difference in the space it occupies between extension and contraction. The curved telescopic device (1000) can maintain a contracted state when not in use, thereby minimizing restrictions on the actions of a medical professional. The curved telescopic device (1000) can maintain an extended state when use is required, and can adjust the extension length as needed. That is, when the end effector (400) of the curved telescopic device (1000) is an imaging device, the N sliding shells (100) can be extended only to the desired area to be photographed.

[0048] FIG. 4 shows N sliding shells (100) according to an embodiment of the present invention, (a) of FIG. 4 shows a bottom view, and (b) of FIG. 4 shows a plan view.

[0049] The N sliding shells (100) can be formed as a curved telescopic structure that can extend or contract in a curved shape while drawing an arc at one end. Conventional telescopic structures have limitations in terms of space utilization and durability due to their linear structure. The N sliding shells (100) according to the present invention can overcome the limitations of conventional linear telescopic structures through their curved telescopic structure.

[0050] N sliding shells (100) can move smoothly by repeating the folding and unfolding states centered on the same radius. N sliding shells (100) can be composed of multiple sliding shells, and preferably, the value of N is 2 or more. The value of N can be appropriately selected depending on the environment in which it is used and the needs of the user, and is not limited to a specific value.

[0051] Hereinafter, in explaining the present invention, when the value of N is 5, it can be understood that the sliding shells are arranged in the order of 1 to 5, and the 1st sliding shell is a part where the end effector (400) is connected, and the 5th sliding shell is a part where the tilting part (300) or the driving part (500) is connected.

[0052] N sliding shells (100) may include a floor module (121), a body module (122), and a rail (123). The outermost shell (fixed shell) among the N sliding shells (100) may not include a rail (123). The outermost shell (fixed shell) is fixed and does not have a structure that is inserted into and contracted into another shell, so it does not include a rail (123).

[0053] The floor module (121) is located at the bottom of the body module (122) and can prevent another sliding shell (100) inserted into the body module (122) from coming off. The floor module (121) can be formed in a curved shape, and the radius of curvature can be the same as that of the body module (122) and the rail (123).

[0054] The floor module (121) may have a first flexible member groove (124) and a flexible member guide (110) at the bottom.

[0055] The flexible member guide (110) has a second flexible member groove (111) formed therein, which is connected to the first flexible member groove (124). The second flexible member groove (111) is not completely open to the outside, so that the flexible member (200) does not come out to the outside. That is, the flexible member (200) is fixed between the first flexible member groove (124) and the second flexible member groove (111). A detailed description of the flexible member guide (110) will be described again below.

[0056] The body module (122) may be positioned between the rail (123) and the floor module (121). The body module (122) may have a space into which another sliding shell may be inserted. The internal space of the body module (122) may have a convex-concave shape. The convex-concave internal space may be divided into a wide space and a narrow space based on a central horizontal line, and the narrow space may be a space through which a rail passes. The body module (122) may be formed in a curved shape, and the radius of curvature may be the same as that of the floor module (121) and the rail (123).

[0057] A bearing (120) may be positioned at the end of the body module (122) (where it comes into contact with the N+1 sliding shell). The bearing (120) may be positioned so that when another sliding shell is inserted into the internal space of the body module (122), it can be inserted smoothly with low friction.

[0058] N sliding shells (100) can have an end effector (400) connected to one end and a tilting part (300) that enables fixation or tilting connected to the other end.

[0059] An end effector (400) is a general term for a suitable device installed at the end of the arm of a robot that only extends to the wrist. End effectors (400) include tools (e.g., electric screwdrivers), forceps, or grippers. The end effector (400) according to an embodiment of the present invention may refer to an imaging device or surgical tool that can be used by a medical professional. Furthermore, the aforementioned examples of end effectors (400) are merely exemplary and are not limiting.

[0060] The end effector (400) is connected to one end of N sliding shells (100), has a joint structure so that it can be adjusted to a certain angle in all directions, and has a pivot function so that it can be configured to rotate 360 ​​degrees.

[0061] The end effector (400) according to an embodiment of the present invention can move along the same curved radius around a center point based on a curved telescopic mechanism. Since the end effector (400) moves along the same curved radius around the center point, it has the characteristic of exerting the same distance and influence in the same direction (center point) even if its position changes. Accordingly, utilizing a magnetic device as the end effector (400) can be more effective.

[0062] The N sliding shells (100) may include a flexible member guide (110), a bearing (120), a rail (123), and a limit block (130).

[0063] A flexible member guide (110) is provided for each sliding shell and can prevent the flexible member (200) from coming off.

[0064] The flexible member guide (110) has a second flexible member groove (111) formed therein, which is connected to the first flexible member groove (124). The second flexible member groove (111) is not completely open to the outside, so that the flexible member (200) does not come off to the outside. That is, the flexible member (200) is fixed between the first flexible member groove (124) and the second flexible member groove (111). The flexible member guide (110) is provided only in the 1st to N-1th sliding shells. That is, the outermost shell (fixed shell) among the N sliding shells (100) may not include the flexible member guide (110). The outermost shell (fixed shell) has a driving unit (500), so that it can be fixed directly between the second gear toothed wheel (530) and the pulley (550) without a separate flexible member guide (110).

[0065] A bearing (120) may be provided on at least one sliding shell to reduce frictional force of the sliding shell during the process of the sliding shell expanding or contracting. Preferably, two bearings (120) may be provided. Since there are two places where force is applied during the movement of the curved shell, two bearings (120) may be provided at the end of shell N-1. However, this is only one example and is not limited to the positions and number of bearings mentioned above.

[0066] A rail (123) is provided on at least one side of each sliding shell and can prevent deviation from the path. In one embodiment, the rail (123) can be located on the upper side of the body module (122). The rail (123) can prevent deviation from the path and vibration of the sliding shell. The rail (123) can be provided with a limit block (130) on the upper side to further enhance the effect of preventing deviation from the path of the sliding shell. The rail (123) can be formed in a curved shape, and the radius of curvature can be the same as that of the bottom module (121) and the body module (122).

[0067] The limit block (130) can prevent the sliding shell from being sucked into the inside of an adjacent sliding shell during the shortening process. The telescopic structure causes expansion or contraction when one sliding shell is inserted into another sliding shell and then removed again. At this time, if one sliding shell is completely inserted into another sliding shell during the insertion process, it may cause difficulty in removing the inserted sliding shell or cause a malfunction. Therefore, the limit block (130) is provided at the front part of the sliding shell to prevent the sliding shell from being completely inserted into another sliding shell.

[0068] In one embodiment, the limit block (130) may be positioned on top of the rail (123) and may be formed in a circular shape. There may be one limit block (130) per sliding shell. However, this is only one embodiment, and the position, shape, or number of the limit blocks (130) are not limited thereto.

[0069] The flexible member (200) is inserted into N sliding shells (100), and can extend or contract the N sliding shells (100) by pushing or pulling at least one of the N sliding shells (100). The flexible member (200) can be used as a means for transmitting a driving force to extend or contract the sliding shells (100). That is, the flexible member (200) can extend or contract the N sliding shells (100) by pushing or pulling the N sliding shells (100) with the driving force transmitted from the motor (510).

[0070] The flexible member (200) can extend or contract N sliding shells (100) by utilizing changes in length. At this time, the length of the flexible member (200) required when the N sliding shells (100) are in a fully extended state and a fully contracted state is different. Therefore, how to handle the difference in length of the flexible member (200) in a fully extended state and a fully contracted state may be problematic.

[0071] FIG. 5 shows a flexible member (200) according to an embodiment of the present invention. FIG. 5 (a) shows an unfolding state, and FIG. 5 (b) shows a folding state. Referring to FIG. 5 (a), the flexible member (200) can form a semicircular shape when fully extended, i.e., fully unfolded. In this case, since the length of the semicircle formed by N sliding shells (100) and the length of the flexible member (200) do not differ greatly, handling the residual length does not pose a significant problem.

[0072] Referring to (b) of FIG. 5, the flexible member (200) is in a partially extended state. At this time, the flexible member (200) can be used to extend and support N sliding shells (100) by a length from A to B. The flexible member (200) can be positioned on the driving unit (500) by a length from B to C and used to provide driving force. The length from C to D of the flexible member (200) is the remaining length for additionally extending N sliding shells (100).

[0073] The flexible member (200) is formed to be longer than the length when the N sliding shells (100) are fully extended, and the remaining portion that is not combined with the N sliding shells (100) can be positioned in a guide groove (600) provided inside any one of the N sliding shells (100).

[0074] The flexible member (200) can receive driving force from the driving unit (500) to contract the N sliding shells (100) even after the N sliding shells (100) are fully extended. Therefore, the flexible member (200) can be formed to be longer than the length of the semicircle formed by the N fully extended sliding shells (100) and can extend to the driving unit (500).

[0075] As can be seen in Fig. 5, the flexible member (200) can be stored in the guide groove (600) for a remaining length (the length between C and D). The remaining length of the flexible member (200) stored in the guide groove (600) can be flexibly changed during the process of extending or contracting the N sliding shells (100). In a compact state where the mode sliding shells are completely folded, the flexible member (200) can be rolled in a spiral shape along the guide groove (600).

[0076] The flexible member (200) is connected to the N sliding shells (100) located at the outermost side, and the N sliding shells (100) can be sequentially extended or shortened. That is, the shell that actively moves by the driving force directly transmitted from the driving unit (500) may be the sliding shell (movable shell) located at the outermost side. The remaining sliding shells can passively move according to the movement of the sliding shell (movable shell) located at the outermost side. Each sliding shell has a step at the end, so that a specific sliding shell into which another sliding shell is inserted can no longer extend and can be caught by the step when it extends beyond a certain length.

[0077] As an example of the elongation process, assuming there are five sliding shells, during the elongation process, the first sliding shell connected to the flexible member (200) is pushed by the flexible member (200), and when the first sliding shell is pushed to the end, the second sliding shell is pulled together by the movement of the first sliding shell. Similarly, when the second sliding shell is pushed to the end, the third sliding shell is pulled together by the movement of the second sliding shell, and when the third sliding shell is pushed to the end, the third sliding shell is pulled together by the movement of the fourth sliding shell. Since the fifth sliding shell is fixed, it is not pulled together by the fourth sliding shell. In this way, the first sliding shell moves actively, and the second to fourth sliding shells move passively. In this manner, the slide shells are sequentially elongated from the first to the fourth slide shells.

[0078] As an example of the shrinkage process, assuming there are five sliding shells, during the shrinkage process, the first sliding shell connected to the flexible member (200) is pulled by the flexible member (200), and when the first sliding shell is pulled to the end, the second sliding shell is pulled together by the movement of the first sliding shell. Similarly, when the second sliding shell is pulled to the end, the third sliding shell is pulled together by the movement of the second sliding shell, and when the third sliding shell is pulled to the end, the third sliding shell is pulled together by the movement of the fourth sliding shell. Since the fifth sliding shell is fixed, it is not pulled together by the fourth sliding shell. In this way, the first sliding shell moves actively, and the second to fourth sliding shells move passively. In this manner, the slide shells are sequentially shortened from the first to the fourth slide shells.

[0079] The flexible member (200) may be formed of a spring steel material. The flexible member (200) may be formed of a spring steel material having high strength, resistance to deformation, and the ability to return to its original shape. Preferably, the flexible member (200) may be formed of a spring steel plate. The material used for the flexible member (200) may have grades such as 55, 65, 70, 75, 85, 65Mn, 60Si2Mn, and 50CrVA, depending on the steel type.

[0080] The flexible member (200) can be inserted into the second flexible member guide (110) having a second flexible member groove (111) formed therein. The flexible member (200) can be prevented from being detached to the outside due to the shape of the second flexible member groove (111) that is not completely open to the outer leg. That is, the flexible member (200) can be fixed between the first flexible member groove (124) and the second flexible member groove (111).

[0081] Fig. 6 is a block diagram of a driving unit according to an embodiment of the present invention, where (a) of Fig. 6 shows an exploded view, and (b) of Fig. 6 shows an assembled view. Referring to (a) and (b) of Figs. 6, the driving unit (500) may include a motor (510), a first gear gear (520), and a second gear gear (530).

[0082] The driving unit (500) can push the flexible member (200) to extend the N sliding shells (100), or pull the flexible member (200) to shorten the N sliding shells (100).

[0083] Referring to (a) of FIG. 6, a motor (510) may be connected to a first gear gear (520). The motor (510) generates a rotational force that rotates 360 degrees, and transmits the generated rotational force to the first gear gear (520) to rotate the first gear gear (520). The motor (510) may be stored inside a case (Case) to be protected from external impact. The case (Case) may be fixed to the outermost shell (fixed shell).

[0084] The motor (510) can be configured as a high-torque motor and can secure sufficient power to push or pull N sliding shells (100) using dual gears.

[0085] The first gear gear (520) can be connected to the motor (510) to receive driving force. The teeth of the first gear gear (520) can mesh with the teeth of the second gear gear (530). Therefore, the first gear gear (520) can transmit the rotational force received from the motor (510) to the second gear gear (530) by meshing with the teeth of the first gear gear (520), thereby causing the second gear gear (530) to rotate. In this way, the embodiment according to the present invention can secure sufficient power by using a dual gear.

[0086] The second gear gear (530) is meshed with the first gear gear (520) to receive driving force, and is connected to a tensioner (540) so that the distance from the pulley (550) can be adjusted.

[0087] The teeth of the second gear (530) may mesh with the teeth of the first gear (520). Therefore, the second gear (530) may receive rotational power from the motor (510) through the first gear (520) by meshing with the teeth of the first gear (520), thereby allowing the second gear (530) to rotate. In this way, the embodiment according to the present invention can secure sufficient power by using a dual gear.

[0088] The flexible member (200) has a plurality of tooth grooves (210) that can engage with the teeth of the second gear (530), and can push or pull N sliding shells (100) by repeating the action of engaging with the tooth grooves (210) by rotation of the second gear.

[0089] A curved telescopic device (1000) according to an embodiment of the present invention may be provided with a tensioner (540) and a tooth groove (210) to prevent backlash. Backlash refers to a gap that occurs between gear teeth when the gears are rotated in the opposite direction in a structure in which the teeth of another gear mesh with each other and rotate. Backlash is an important factor that determines precision in precision machine control. An appropriate amount of backlash is also necessary for the smooth rotation of a pair of gears. In other words, if the backlash is too small, lubrication tends to be insufficient, which increases friction between the gear teeth. In addition, if the backlash is too large, the gear meshing deteriorates, making the gears prone to damage.

[0090] The tensioner (540) can prevent backlash by adjusting the distance between the second gear toothed wheel (530) and the pulley (550). In addition, since the tooth groove (210) meshes with the second gear toothed wheel (530) and operates, backlash can be prevented. In addition, the tooth groove (210) can be effectively used to calculate the position of the end effector through an encoder. For example, if the distance between the tooth grooves (210) is measured in advance, the number of tooth grooves (210) that have passed is calculated, and the position of the initial end effector (400) is known, the position of the end effector (400) can be easily calculated.

[0091] Figure 7 illustrates a knee treatment device with three degrees of freedom utilizing a magnetic field device as an end effector according to an embodiment of the present invention. Referring to Figure 7, the knee treatment device may include a fixed frame, a curved telescopic device (1000), and a leg support.

[0092] The fixed frame can support the knee treatment device so that it can stand on the floor. The fixed frame can be connected to a curved telescopic device (1000) via a tilting member (300). The fixed frame can be connected to a leg support on a different axis from the curved telescopic device (1000).

[0093] The curved telescopic device (1000) used in the knee treatment device is the same as described above. However, a magnetic field device may be used as the end effector (400). That is, the knee treatment device can capture images of areas that are generally difficult to capture by using the curved telescopic device (1000) that uses a magnetic field device as the end effector (400), which is advantageous for image visualization.

[0094] The leg rest is a portion where the patient's legs are supported and can be moved up and down in an arc. The leg rest provides a comfortable environment for the patient undergoing imaging and can also stabilize the knees, facilitating smooth imaging using the curved telescopic device (1000).

[0095] The knee treatment device can have a total of three degrees of freedom through rotation (1 degree of freedom) of a curved telescopic device (1000) through a tilting part (300), extension and contraction (1 degree of freedom) of N sliding shells, and up-and-down movement (1 degree of freedom) of a leg support.

[0096] FIG. 8 illustrates a three-degree-of-freedom brain surgery device utilizing a magnetic field device as an end effector according to an embodiment of the present invention. Referring to FIG. 8, the brain surgery device may include a bed, a curved telescopic device (1000), and a stand.

[0097] A bed can provide an environment in which a patient can lie down for brain surgery or imaging. A bed is a medical bed, and can be a general term for a bed typically used on an operating table. The bed can be connected to a curved telescopic device (1000) via a tilting member (300).

[0098] The curved telescopic device (1000) used in brain surgery equipment is the same as described above. However, a magnetic field device may be used as the end effector (400). That is, brain surgery equipment can utilize the curved telescopic device (1000) that uses a magnetic field device as the end effector (400), enabling imaging of areas that are generally difficult to image, thereby facilitating image visualization.

[0099] The stand can be positioned to support the sliding shell portion of the curved telescopic device (1000) when the curved telescopic device (1000) extends beyond the bed.

[0100] While the present invention has been described in detail through representative examples above, those skilled in the art will understand that various modifications to the above-described embodiments are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the claims described below but also by all changes or modifications derived from the claims and equivalent concepts.

[0101] [Explanation of symbols]

[0102] 100: N sliding shells 110: Flexible member guide

[0103] 111: Second flexible member groove 120: Bearing

[0104] 121: Floor module 122: Body module

[0105] 123: Rail 124: First flexible member groove

[0106] 130: Limit block 200: Flexible member

[0107] 210: Gear groove 300: Tilting part

[0108] 400: End effector 500: Drive unit

[0109] 510: Motor 520: First gear gear

[0110] 530: Second gear sprocket 540: Tensioner

[0111] 550: Pulley 600: Guide groove

[0112] 1000: Curved telescopic device

[0113] The present invention aims to provide a curved telescopic device that adopts a curved structure while applying a telescopic mechanism so as to have the advantages of both a telescopic structure and a curved rail structure.

Claims

1. N sliding shells formed as a curved telescopic structure that can be extended or contracted in a curved shape while drawing an arc; and A flexible member inserted into the N sliding shells and configured to push or pull at least one of the N sliding shells to extend or contract the N sliding shells; A curved telescopic device comprising:

2. In paragraph 1, The above N sliding shells are, A curved telescopic device characterized in that an end effector is connected at one end and a tilting part that enables fixation or tilting is connected at the other end.

3. In paragraph 1, The above N sliding shells are, A curved telescopic device characterized in that it further includes a flexible member guide provided for each sliding shell and preventing detachment of the flexible member.

4. In paragraph 1, The above N sliding shells are, A curved telescopic device characterized by including at least one bearing provided on at least one sliding shell to reduce frictional force of the sliding shell during the process of extension or contraction of the sliding shell.

5. In paragraph 1, The above N sliding shells are, A curved telescopic device characterized in that it comprises: a rail provided on at least one side of each sliding shell and preventing path deviation; and a limit block preventing the sliding shell from being sucked into the inside of an adjacent sliding shell during the shortening process.

6. In paragraph 1, The above flexible member is, A curved telescopic device characterized in that the N sliding shells are formed longer than the length when fully extended, and the remaining portion that is not combined with the N sliding shells is located in a guide groove provided inside one of the N sliding shells.

7. In paragraph 1, The above flexible member is, A curved telescopic device characterized by being formed of spring steel material.

8. In paragraph 1, The above flexible member is, A curved telescopic device characterized in that it is connected to the outermost sliding shell among the N sliding shells and sequentially extends or shortens the N sliding shells.

9. In paragraph 1, A curved telescopic device further comprising a driving unit for pushing the flexible member to extend the N sliding shells or for pulling the flexible member to shorten the N sliding shells.

10. In paragraph 9, The above driving part, motor; A first gear gear connected to the above motor and transmitting driving force; and A curved telescopic device characterized by including a second gear gear that meshes with the first gear gear to receive driving force and is connected to a tensioner so that the distance from the pulley can be adjusted.

11. In paragraph 10, The above flexible member is, A curved telescopic device having a plurality of gear grooves that can engage with the teeth of the second gear wheel, and characterized in that the N sliding shells are pushed or pulled by repeated engagement with the gear grooves by rotation of the second gear wheel.

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