Needle control device for interventional pain procedure

Abstract

In one embodiment, a needle control device for an interventional pain procedure comprises an angle adjustment module and an insertion module, wherein the angle adjustment module includes: a base link; a first link rotatably connected to the base link; a second link rotatably connected to the base link; a third link rotatably connected to the first link; a fourth link rotatably connected to the second link, and rotatably connected to the third link; a first actuator for rotating the first link with respect to the base link; and a second actuator for rotating the second link with respect to the base link, and the insertion module can be fixedly connected to the third link.

Description

Needle control device for pain intervention procedures

[0001] The following embodiment relates to a needle control device for pain intervention procedures.

[0002] In conventional pain intervention procedures, operators face the risk of continuous radiation exposure, and significant time and cost are required to train skilled practitioners to a level capable of stable procedures. Furthermore, large disparities in procedural quality across operators, regions, and hospitals make it difficult to universally provide high-quality medical services. To address these drawbacks, interventional assistance robots are being introduced. For example, when a user inputs a command, the interventional assistance robot can be configured to insert the needle used in the procedure into the patient's body.

[0003] The aforementioned background technology is one that the inventor possessed or acquired in the process of deriving the content of the disclosure of the present application, and it cannot be considered as prior art disclosed to the general public prior to the filing of this application.

[0004] The objective of one embodiment is to provide a needle control device capable of performing a pain intervention procedure remotely.

[0005] The objective of one embodiment is to provide a needle control device capable of remotely adjusting the angle of the needle, translating the needle, or rotating the needle.

[0006] In one embodiment, a needle control device for a pain intervention procedure comprises: an angle adjustment module configured to adjust the angle of a needle; and an insertion module connected to the angle adjustment module and configured to translate the needle, wherein the angle adjustment module comprises: a base link; a first link connected to the base link so as to be rotatable about a first axis with respect to the base link; a second link connected to the base link so as to be rotatable about a second axis with respect to the base link; a third link connected to the first link so as to be rotatable about a third axis with respect to the first link; a fourth link connected to the second link so as to be rotatable about a fourth axis with respect to the second link and connected to the third link so as to be rotatable about a fifth axis with respect to the third link; and a first actuator configured to rotate the first link about the first axis with respect to the base link. and includes a second actuator configured to rotate the second link around the second axis with respect to the base link, and the insertion module can be fixedly connected to the third link.

[0007] In one embodiment, the first axis, second axis, third axis, fourth axis, and fifth axis can all pass through a target point.

[0008] In one embodiment, the angle adjustment module may further include a first elastic member connected to the third axis to generate an elastic force between the first link and the third link; and a second elastic member connected to the fourth axis to generate an elastic force between the second link and the fourth link.

[0009] In one embodiment, the insertion module may include: a fixed frame fixedly connected to the third link; a sliding frame connected to the fixed frame so as to be slidable with respect to the fixed frame and on which the needle is positioned; and an output syringe comprising an output barrel fixedly connected to the fixed frame and an output plunger fixedly connected to the sliding frame.

[0010] In one embodiment, the needle control device further includes a control module for controlling the output syringe, and the control module may include an input syringe comprising an input barrel and an input plunger; a tube connecting the input syringe and the output syringe; and a third actuator configured to push or pull the input plunger against the input barrel.

[0011] In one embodiment, the control module may be located in a separate space from the angle adjustment module and the insertion module.

[0012] In one embodiment, at least a portion of the path of the tube may be formed along each link of the angle adjustment module.

[0013] In one embodiment, the insertion module may further include a needle holder fixedly connected to the fixed frame and having an opening for guiding the path of the needle.

[0014] In one embodiment, the needle control device may further include a camera for checking the status of a drug solution syringe connected to the needle.

[0015] In one embodiment, the needle control device further includes a rotation module for rotating the needle around the longitudinal direction, and the rotation module may include a first bevel gear connected to the sliding frame so as to be rotatable with respect to the sliding frame and rotatable together with the needle; and a second bevel gear engaged with the first bevel gear and connected to the sliding frame so as to be rotatable with respect to the sliding frame.

[0016] In one embodiment, the rotation module further includes a wire connected to the second bevel gear to wind the second bevel gear, and the needle control device may further include a fourth actuator configured to pull one end of the wire so that the second bevel gear rotates in a first rotational direction.

[0017] In one embodiment, the needle control device may further include a fifth actuator configured to pull the other end of the wire so that the second bevel gear rotates in a second rotational direction opposite to the first rotational direction.

[0018] In one embodiment, the rotation module may further include a third elastic member that generates an elastic force to return the wire to its original position.

[0019] In one embodiment, the needle control device may further include a robot arm for controlling the position and orientation of the base link.

[0020] By using a needle control device according to one embodiment, a pain intervention procedure can be performed remotely.

[0021] By using a needle control device according to one embodiment, the angle of the needle can be adjusted remotely, the needle can be translated, or the needle can be rotated.

[0022] Figure 1 is a perspective view of a needle control device.

[0023] Figures 2 and 3 are perspective views of the angle adjustment module.

[0024] Figure 4 is a perspective view of the insertion module.

[0025] Figures 5 and 6 are perspective views of a needle control device illustrating the operation of an insertion module.

[0026] FIG. 7 is a perspective view of a rotating module with the cover removed.

[0027] Hereinafter, embodiments are described in detail with reference to the attached drawings. However, various modifications may be made to the embodiments, and thus the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, and substitutions to the embodiments are included within the scope of the rights.

[0028] The terms used in the embodiments are for illustrative purposes only and should not be interpreted as intended to be limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate 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.

[0029] 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.

[0030] 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. When describing embodiments, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the embodiment, such detailed description is omitted.

[0031] In addition, 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 "connected" to another component, it should be understood that while the component may be directly connected or connected to the other component, another component may also be "connected," "combined," or "connected" between each component.

[0032] 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 description in any one embodiment may also apply to other embodiments, and specific descriptions shall be omitted to the extent of overlap.

[0033]

[0034] Figure 1 is a perspective view of a needle control device.

[0035] Referring to FIG. 1, a needle control device (1000) may be used to assist in a pain intervention procedure. The needle control device (1000) may be configured to control a needle (N) during a pain intervention procedure. The needle control device (1000) may be a remotely controlled robotic system for a pain intervention procedure. For example, during a pain intervention procedure, the operator may use a C-arm (not shown) to determine the location to insert the needle (N) and use the needle control device (1000) to insert the needle (N) into the patient's body. The needle (N) may be provided as a disposable item. A stylet (not shown) may be positioned inside the needle (N). The stylet may be removed after the needle (N) is inserted into the patient's body. After the stylet is removed, a drug syringe (not shown) may be connected to the needle (N). The operator can inject the drug from the drug syringe into the patient's body through the needle (N) inserted by the needle control device (1000).

[0036] A needle control device (1000) according to one embodiment may include an angle adjustment module (100), an insertion module (200), a rotation module (300), a control module (400), and a robot arm (500). The angle adjustment module (100), the insertion module (200), and the rotation module (300) may each be a part for controlling a needle (N). For example, the angle adjustment module (100) may be a part for adjusting the angle of the needle (N). For example, the insertion module (200) may be a part for translating the needle (N). For example, the rotation module (300) may be a part for rotating the needle (N).

[0037] In one embodiment, the angle adjustment module (100) may be connected to a robot arm (500). For example, the angle adjustment module (100) may be connected to the end of the robot arm (500) by a connecting member. While connected to the robot arm (500), the angle adjustment module (100) may be moved to a location adjacent to the position where the needle (N) is to be inserted by the movement of the robot arm (500). The needle (N) may be connected to the angle adjustment module (100). For example, an insertion module (200) may be connected to the angle adjustment module (100), and the needle (N) may be connected to one side of the insertion module (200). The angle adjustment module (100) may be configured to adjust the angle of the needle (N), for example, the orientation of the needle (N). The insertion module (200) may be configured to translate the needle (N). The rotation module (300) may be configured to rotate the needle (N) around its lengthwise direction. For example, the rotation module (300) may rotate the needle (N) during the process of inserting the needle (N) into the patient's body by the insertion module (200) and / or while it is inserted. The operation of the angle adjustment module (100), the insertion module (200), and the rotation module (300) may be controlled by the control module (400).

[0038]

[0039] Figures 2 and 3 are perspective views of the angle adjustment module.

[0040] Referring to FIGS. 2 and FIGS. 3, an angle adjustment module (100) according to one embodiment may include a link structure (110), an actuator (140), and an elastic member (150).

[0041] In describing the angle adjustment module (100) below, the orientation of the part may be understood to mean the position and / or orientation of the part. For example, the link structure (110) of FIG. 2 and the link structure (110) of FIG. 3 may be understood to have different orientations.

[0042] In one embodiment, the link structure (110) may include a base link (111), a first link (112), a second link (113), a third link (114), and a fourth link (115). The base link (111) may be a part for direct connection to the robot arm (500). For example, the base link (111) may be fixedly connected to the robot arm (500) by a connecting member. The first link (112) may be connected to the base link (111) so as to be rotatable about a first axis (121) with respect to the base link (111). The second link (113) may be connected to the base link (111) so as to be rotatable about a second axis (122) with respect to the base link (111). The third link (114) may be connected to the first link (112) so as to be rotatable about the third axis (123) with respect to the first link (112). The fourth link (115) may be connected to the second link (113) so as to be rotatable about the fourth axis (124) with respect to the second link (113). The fourth link (115) may be connected to the third link (114) so ​​as to be rotatable about the fifth axis (125) with respect to the third link (114). In other words, the base link (111), the first link (112), the third link (114), the fourth link (115), and the second link (113) may be connected in succession to form a single closed curve. However, this is exemplary, and the number of links of the link structure (110) is not limited thereto.

[0043] In one embodiment, the actuator (140) may be configured to change the orientation of the link structure (110). The actuator (140) may include a first actuator (141) and a second actuator (142). The first actuator (141) may be configured to rotate the first link (112) about a first axis (121) with respect to the base link (111). The second actuator (142) may be configured to rotate the second link (113) about a second axis (122) with respect to the base link (111). By the operation of the first actuator (141) and / or the second actuator (142), the orientation of the first link (112) and / or the second link (113) may be changed. As the posture of the first link (112) and / or the second link (113) changes, the posture of the third link (114) and / or the fourth link (115) may change. In other words, the posture of the third link (114) and / or the fourth link (115) may be determined according to the operation of the first actuator (141) and / or the second actuator (142). For example, from the link structure (110) of the posture of FIG. 2, the link structure (110) of the posture of FIG. 3 may be obtained as the first link (112) is rotated in direction A by the first actuator (141) and the second link (113) is rotated in direction B by the second actuator (142). At this time, the first link (112) and the second link (113) may be rotated within a specified range.

[0044] In one embodiment, the axis (120) of the angle adjustment module (100) may pass through a common point. The axis (120) may include a first axis (121), a second axis (122), a third axis (123), a fourth axis (124), and a fifth axis (125). For example, the first axis (121), the second axis (122), the third axis (123), the fourth axis (124), and the fifth axis (125) may pass through a target point (P). If the axis (120) of the angle adjustment module (100) passes through the target point (P) while the link structure (110) is in one position, the axis (120) of the angle adjustment module (100) may pass through the target point (P) even while the link structure (110) is in another position different from the one position.

[0045] In one embodiment, an insertion module (200) may be connected to a third link (114). For example, the insertion module (200) may be fixedly connected to the third link (114). While the position of the third link (114) is changed, the position of the insertion module (200) connected to the third link (114) may also be changed. Although the insertion module (200) is shown as being connected to the third link (114) in FIG. 2, it would also be possible for the insertion module (200) to be connected to a fourth link (115).

[0046] In one embodiment, an elastic member (150) may be connected to a link structure (110). The elastic member (150) may include a first elastic member (151) and a second elastic member (152). The first elastic member (151) may be connected between a first link (112) and a third link (114). For example, the first elastic member (151) may be connected to a third axis (123) to generate a preload (e.g., elastic force) between the first link (112) and the third link (114). The second elastic member (152) may be connected between a second link (113) and a fourth link (115). For example, the second elastic member (152) may be connected to a fourth axis (124) to generate a preload (e.g., elastic force) between the second link (113) and the fourth link (115). The first elastic member (151) and the second elastic member (152) may be torsion springs. As the position of the link structure (110) changes, a preload (e.g., elastic force) may be applied to the link structure (110) by the elastic member (150). By connecting the elastic member (150), the stability of the link structure (110) may be improved even when using a link structure (110) of light weight. At this time, the actuator (140) may require a driving force stronger than the elastic force applied by the elastic member (150) to maintain the position of the link structure (110).

[0047]

[0048] FIG. 4 is a perspective view of the insertion module. FIG. 5 and FIG. 6 are perspective views of a needle control device illustrating the operation of the insertion module.

[0049] Referring to FIGS. 4 to 6, an insertion module (200) according to one embodiment may include a fixed frame (210), a sliding frame (220), an output syringe (230), a cover (240), and a needle holder (250).

[0050] In one embodiment, the fixed frame (210) and the sliding frame (220) may be connected so as to be sliding relative to each other. For example, the fixed frame (210) may be fixedly connected to the third link (114). For example, the sliding frame (220) may be connected to the fixed frame (210) so as to be sliding relative to the fixed frame (210). A needle (N) may be positioned on one side of the sliding frame (220). By this structure, the needle (N) may be translationally movable relative to the angle adjustment module (100) together with the sliding frame (220). At this time, a target point (e.g., P in FIG. 2) may be positioned on the translational path of the needle (N). By this structure, even if the orientation of the link structure (e.g., 110 in FIG. 2) changes, the insertion module (200) may translate the needle (N) so as to pass through the target point (P). The target point (P) may be a point for inserting the needle (N) or a point adjacent thereto.

[0051] In one embodiment, the output syringe (230) may include an output barrel (231) and an output plunger (232). The output barrel (231) and the output plunger (232) may be connected to each other so as to be sliding. The output barrel (231) may be fixedly connected to a fixed frame (210). The output plunger (232) may be fixedly connected to a sliding frame (220). By this structure, as the output barrel (231) slides relative to the output plunger (232), the sliding frame (220) may slide relative to the fixed frame (210) in the same direction as the direction of movement of the output barrel (231). As described below, the operation of the output syringe (230) may be controlled by a control module (400).

[0052] In one embodiment, a cover (240) may be connected to a sliding frame (220). The cover (240) may be detachably connected to the sliding frame (220). The cover (240) may be a part for preventing interference between a rotating module (e.g., 300 in FIG. 7) and other parts. An opening (241) may be formed in the cover (240) for a wire (e.g., 330 in FIG. 7) to pass through.

[0053] In one embodiment, a needle holder (250) may be connected to a fixed frame (210). The needle holder (250) may be a part for guiding the path of a needle (N). The needle holder (250) may include an opening (251). For example, the opening (251) may be formed by penetrating the needle holder (250) along a direction parallel to the sliding direction of the sliding frame (220). While the sliding frame (220) is sliding against the fixed frame (210) with the needle (N) connected to the sliding frame (220), the path of the needle (N) may be guided by the opening (251) of the needle holder (250). By this structure, buckling of the needle (N) that may occur while the needle (N) is translationally moving may be reduced or prevented.

[0054]

[0055] Referring again to FIGS. 5 and 6, a control module (400) according to one embodiment may include an input syringe (410), a tube (420), and a third actuator (430).

[0056] In one embodiment, the input syringe (410) may include an input barrel (411) and an input plunger (412). The input barrel (411) and the input plunger (412) may be connected so as to be slidingly connected to each other.

[0057] In one embodiment, the tube (420) can connect the output syringe (230) and the input syringe (410). For example, one end of the tube (420) may be connected to the output barrel (231) of the output syringe (230), and the other end of the tube (420) may be connected to the input barrel (411) of the input syringe (410). With the output syringe (230) and the input syringe (410) connected by the tube (420), the output plunger (232) may slide against the output barrel (231) as the input plunger (412) slides against the input barrel (411). At this time, the sliding frame (220) connected to the output plunger (232) may slide against the fixed frame (210) connected to the output barrel (231). The input syringe (410) may further include a rubber packing (not shown) inside the input barrel (411) to maintain a seal between the input barrel (411) and the input plunger (412). The output syringe (230) may further include a rubber packing (not shown) inside the output barrel (231) to maintain a seal between the output barrel (231) and the output plunger (232).

[0058] In one embodiment, the third actuator (430) may be configured to push or pull the input plunger (412) against the input barrel (411). For example, at least a portion of the third actuator (430) may be connected to the input plunger (412) by a connecting block (not shown). As the third actuator (430) pushes or pulls the input plunger (412) against the input barrel (411), the output plunger (232) may slide against the output barrel (231).

[0059] In one embodiment, the control module (400) may be located in a separate space from the angle adjustment module (100) and the insertion module (200). For example, the control module (400) may be located on the robot arm (500). Since the control module (400) is located in a separate space, the task of connecting a liquid syringe (not shown) to the needle (N) can be easily performed. Since the control module (400) is not directly provided on the angle adjustment module (100) and the insertion module (200) but is located in a separate space, the weight of the parts suspended from the robot arm (500) (e.g., the angle adjustment module (100) and the insertion module (200)) can be relatively light. Accordingly, control convenience and ease of control can be improved, and the stability of the needle control device (1000) can be improved.

[0060] In one embodiment, at least a portion of the path of the tube (420) may be formed along each of the links of the angle adjustment module (100). For example, at least a portion of the path of the tube (420) may be formed along the first link (112) and the third link (114). For example, at least a portion of the path of the tube (420) may be connected to the first link (112) and the third link (114) by a fixing member (not shown), for example, a cable tie. As at least a portion of the path of the tube (420) is formed along each of the links of the angle adjustment module (100), the output syringe (230) can be controlled by the input syringe (410) even if the position of the link structure (e.g., 110 in FIG. 2) is changed. Additionally, the tube (420) can be prevented from interfering with other parts of the needle control device (1000). In FIGS. 5 and 6, at least part of the path of the tube (420) is shown as being formed along the first link (112) and the third link (114), but it would also be possible for at least part of the path of the tube (420) to be formed along the second link (113) and the fourth link (115).

[0061]

[0062] FIG. 7 is a perspective view of a rotating module with the cover removed.

[0063] A rotating module (300) according to one embodiment may include a first bevel gear (310), a second bevel gear (320), and a wire (330).

[0064] In one embodiment, the first bevel gear (310) and the second bevel gear (320) may be connected to the sliding frame (220). The first bevel gear (310) may be connected to the sliding frame (220) so as to be rotatable with respect to the sliding frame (220). The first bevel gear (310) and the needle (N) may be rotatable together. For example, the axis of rotation of the first bevel gear (310) may be located collinear with the longitudinal direction of the needle (N). The second bevel gear (320) may be connected to the sliding frame (220) so as to be rotatable with respect to the sliding frame (220). The first bevel gear (310) and the second bevel gear (320) may mesh with each other. For example, the axis of rotation of the first bevel gear (310) may be perpendicular to the axis of rotation of the second bevel gear (320). When the first bevel gear (310) and the second bevel gear (320) are engaged, rotating the second bevel gear (320) causes the first bevel gear (310) to rotate, and the needle (N) connected to the first bevel gear (310) can be rotated around the length direction of the needle (N).

[0065] In one embodiment, the wire (330) may be configured to rotate the second bevel gear (320). For example, the wire (330) may be connected to the second bevel gear (320) to wind the second bevel gear (320). As described below, with the wire (330) connected to the second bevel gear (320), the end of the wire (330) may be pulled. As the end of the wire (330) is pulled, the second bevel gear (320) may be rotated in the direction in which the wire (330) is wound by friction between the second bevel gear (320) and the wire (330). The wire (330) may be connected to pass through an opening (e.g., 241 in FIG. 4) of a cover (e.g., 240 in FIG. 4). For convenience, it may be understood that the wire (330) is not shown in the drawings of FIGS. 1 to 6.

[0066] In one embodiment, the operation of the rotation module (300) can be controlled by a control module (400). A control module (400) according to one embodiment may further include a fourth actuator (440) and a fifth actuator (not shown).

[0067] In one embodiment, the fourth actuator (440) and the fifth actuator (not shown) may each be configured to pull the wire (330). For example, the fourth actuator (440) may be configured to pull one end of the wire (330) so that the second bevel gear (320) rotates in a first rotational direction. For example, the fifth actuator may be configured to pull the other end of the wire (330) so that the second bevel gear (320) rotates in a second direction opposite to the first rotational direction.

[0068] In one embodiment, the rotation module (300) may further include a third elastic member (not shown). The third elastic member may generate an elastic force to return the wire (330) to its original position. For example, the third elastic member may generate an elastic force to rotate the second bevel gear (320) in a second rotational direction while the second bevel gear (320) is rotated in a first rotational direction by the wire (330). For example, the third elastic member (not shown) may generate an elastic force to rotate the second bevel gear (320) in a second rotational direction while the second bevel gear (320) is rotated in a first rotational direction by the wire (330). For example, the third elastic member may be a torsion spring connected to the rotation axis of the second bevel gear (320). For example, the third elastic member may be an extension spring or a compression spring connected along the longitudinal direction of the wire (330). When a third elastic member is connected, it may be possible to rotate the second bevel gear (320) in both the first rotational direction and the second rotational direction opposite to the first rotational direction using only the fourth actuator (440).

[0069] In one embodiment, the fourth actuator (440) and the fifth actuator (not shown) may be located in a separate space from the angle adjustment module (100) and the rotation module (300). For example, the fourth actuator (440) and the fifth actuator may be located on the robot arm (500). The rotation module (300) may further include a guide tube (not shown) for guiding the path of the wire (330). For example, the wire (330) may be moved within the guide tube along the longitudinal direction of the guide tube.

[0070]

[0071] Referring again to FIGS. 1 to 7, the operation of the needle control device (1000) will be explained.

[0072] In one embodiment, the angle adjustment module (100) may be positioned and / or oriented by a robot arm (500). For example, the robot arm (500) may move the angle adjustment module (100) so that the target point (P) corresponds to the position where the needle (N) is to be inserted.

[0073] In one embodiment, the angle of the needle (N) can be adjusted by an angle adjustment module (100). For example, the first link (112) can be rotated relative to the base link (111) by a first actuator (141). For example, the second link (113) can be rotated relative to the base link (111) by a second actuator (142). As the first link (112) and / or the second link (113) are rotated, the orientation of the insertion module (200) connected to the third link (114) can be changed. At this time, even if the orientation of the link structure (110) is changed, the needle (N) connected to the needle control device (1000) can be directed toward the target point (P). As described above. The target point (P) may be a point for insertion of the needle (N) or a point adjacent thereto.

[0074] In one embodiment, the insertion module (200) can translate the needle (N) with respect to the angle adjustment module (100). In other words, the needle (N) can be moved back and forth along the longitudinal direction. At this time, the needle (N) can pass through a target point (P). If the target point (P) is the patient's skin, the needle (N) can be inserted into the body by penetrating the patient's skin. The needle (N) can be inserted until it reaches a target location within the patient's body. With the needle (N) inserted into the patient's body, the angle of the needle (N) can be adjusted by the angle adjustment module (100).

[0075] In one embodiment, the rotation module (300) can rotate the needle (N). For example, the rotation module (300) can rotate the needle (N) around the longitudinal direction. Thus, the position of the needle (N) within the patient's body may not change while the needle (N) is being rotated.

[0076] In one embodiment, a drug solution may be injected into the patient's body through a drug solution syringe (not shown) connected to a needle (N). At this time, the needle control device (1000) may further include a camera (not shown) for checking the status of the drug solution syringe. The injection of the drug solution through the drug solution syringe may be performed directly by the operator. However, this is exemplary, and the needle control device (1000) according to one embodiment may further include a separate actuator for injecting the drug solution.

[0077]

[0078] Although the embodiments described above have been explained with reference to limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0079] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In a needle control device for pain intervention procedures, An angle adjustment module configured to adjust the angle of the needle; and It includes an insertion module connected to the angle adjustment module and configured to translate the needle, and The above angle adjustment module is, Base link; A first link connected to the base link so as to be rotatable about a first axis with respect to the base link; A second link connected to the base link so as to be rotatable about a second axis with respect to the base link; A third link connected to the first link so as to be rotatable about a third axis with respect to the first link; A fourth link connected to the second link so as to be rotatable about a fourth axis with respect to the second link, and connected to the third link so as to be rotatable about a fifth axis with respect to the third link; A first actuator configured to rotate the first link about the first axis with respect to the base link; and It includes a second actuator configured to rotate the second link around the second axis with respect to the base link, and The above insertion module is a needle control device fixedly connected to the above third link.

2. In Paragraph 1, A needle control device in which the first, second, third, fourth, and fifth axes commonly pass through a target point.

3. In Paragraph 1, The above angle adjustment module is, A first elastic member connected to the third axis to generate an elastic force between the first link and the third link; and A needle control device further comprising a second elastic member connected to the fourth axis to generate an elastic force between the second link and the fourth link.

4. In Paragraph 1, The above insertion module is, A fixed frame fixedly connected to the third link above; A sliding frame connected to the fixed frame so as to be slidable with respect to the fixed frame, and on which the needle is positioned; and A needle control device comprising an output syringe including an output barrel fixedly connected to the fixed frame and an output plunger fixedly connected to the sliding frame.

5. In Paragraph 4, It further includes a control module for controlling the above-mentioned output syringe, and The above control module is, An input syringe comprising an input barrel and an input plunger; A tube connecting the input syringe and the output syringe; and A needle control device comprising a third actuator configured to push or pull the input plunger with respect to the input barrel.

6. In Paragraph 5, The above control module is a needle control device located in a separate space from the angle adjustment module and the insertion module.

7. In Paragraph 6, A needle control device in which at least a portion of the path of the above tube is formed along each link of the above angle adjustment module.

8. In Paragraph 4, A needle control device comprising a needle holder that is fixedly connected to the fixed frame and includes an opening for guiding the path of the needle.

9. In Paragraph 1, A needle control device further comprising a camera for checking the status of a drug solution syringe connected to the above needle.

10. In Paragraph 4, It further includes a rotation module for rotating the above needle around the longitudinal direction, and The above-mentioned rotating module is, A first bevel gear connected to the sliding frame so as to be rotatable with respect to the sliding frame and rotatable together with the needle; and A needle control device comprising a second bevel gear that meshes with the first bevel gear and is connected to the sliding frame so as to be rotatable with respect to the sliding frame.

11. In Paragraph 10, The above-described rotation module further includes a wire connected to the second bevel gear to wind the second bevel gear, and The needle control device further comprises a fourth actuator configured to pull one end of the wire so that the second bevel gear rotates in a first rotational direction.

12. In Paragraph 11, A needle control device further comprising a fifth actuator configured to pull the other end of the wire so that the second bevel gear rotates in a second rotational direction opposite to the first rotational direction.

13. In Paragraph 11, The above-described rotation module further comprises a third elastic member that generates an elastic force to return the wire to its original position, a needle control device.

14. In Paragraph 1, A needle control device further comprising a robot arm for controlling the position and orientation of the base link.

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