Device connecting module
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- KOHYOUNG TECH
- Filing Date
- 2025-12-29
- Publication Date
- 2026-07-30
Smart Images
Figure KR2025023008_30072026_PF_FP_ABST
Abstract
Description
Device connection module
[0001] The present disclosure relates to a device connection module.
[0002] A device for connecting the bed and the surgical robot may be used. Such a connecting device or module can firmly connect the bed and the surgical robot. That is, a rigid connection state can be maintained so that the relative position between the bed and the robot does not change.
[0003] Some embodiments of the present disclosure may provide, for example, a device connection module.
[0004] One aspect of the present disclosure provides embodiments of a device connection module for connecting a bed and a robot. A device connection module according to one embodiment includes a first connection unit comprising a first neck extending outwardly from the bed having an angle inclined with respect to a support portion of the bed and a first head connected to the tip of the first neck and including a recess formed on the bottom surface, and a second connection unit comprising a second neck extending outwardly from the robot having an angle corresponding to the angle inclined with respect to the first connection unit and a second head connected to the tip of the second neck and including an adapter protruding from the top surface, wherein the adapter is inserted into the recess and the first connection unit and the second connection unit are coupled to connect the bed and the robot.
[0005] In one embodiment, the adapter comprises an adapter body including a ball receiving portion formed on side walls facing each other, an adapter knob disposed on one side of the adapter body and rotating about a first axis, a post fixed to the adapter knob and extending toward the interior of the adapter body, and a fixing ball disposed on both sides of the post and seated in the ball receiving portion, wherein as the post is inserted into the interior of the adapter body, the fixing ball can move to the outside of the adapter body.
[0006] In one embodiment, the inner wall of the recess includes an inwardly curved seating surface having a curvature corresponding to the outer circumference of the fixing ball, and as the post is inserted into the interior of the adapter body, the fixing ball can be coupled to the seating surface.
[0007] In one embodiment, the post includes a tapered portion on its outer surface in which the diameter gradually increases along the longitudinal direction, and as the post moves into the interior of the adapter body, the tapered portion can press the fixing ball toward the recess.
[0008] In one embodiment, the adapter knob includes a plurality of ratchet teeth formed along the circumferential direction, and the adapter body includes a ratchet pawl protruding from a side facing the adapter knob, and the ratchet pawl can elastically engage with the ratchet teeth to allow rotation in the locking direction of the adapter knob and restrict rotation in the unlocking direction.
[0009] In one embodiment, when the adapter knob is pulled outward in the first axial direction, it can move to a position where the engagement between the ratchet tooth and the ratchet pawl is released and rotate in the release direction.
[0010] In one embodiment, the adapter knob includes a guide groove formed on the outer surface of the adapter knob, and the post includes a guide pin inserted into and guided by the guide groove, wherein rotation in the unwinding direction is restricted when the guide pin is positioned at a first position of the guide groove, and rotation in the unwinding direction is possible when the guide pin is positioned at a second position of the guide groove.
[0011] In one embodiment, the first neck includes at least one first indicator formed on a side, and the second neck may include a second indicator formed at a side position corresponding to the first indicator.
[0012] In one embodiment, the first connecting unit may further include a level placed on the first head.
[0013] In one embodiment, the second connecting unit may further include a position adjustment pin disposed on both sides of the adapter and formed to protrude from the upper surface of the second head.
[0014] According to some embodiments of the present disclosure, for example, a device connection module may be provided.
[0015] The problems that the present disclosure aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the detailed description below.
[0016] FIG. 1 illustrates a state in which a bed and a robot are connected by a device connection module according to one embodiment.
[0017] FIG. 2 illustrates a bed to which a device connection module is connected according to one embodiment.
[0018] FIG. 3 illustrates a state in which the head of a patient lying facing the ceiling is fixed to a first connection unit of a device connection module according to one embodiment.
[0019] FIG. 4 illustrates a state in which the head of a patient lying on their side is fixed to a first connection unit of a device connection module according to one embodiment.
[0020] FIG. 5 is a perspective view illustrating a surgical robot to which a device connection module according to one embodiment is connected.
[0021] FIG. 6 is a perspective view illustrating a first connection unit of a device connection module according to one embodiment.
[0022] FIG. 7 is a bottom view illustrating a first connection unit of a device connection module according to one embodiment.
[0023] FIG. 8 is a bottom perspective view illustrating a first connection unit of a device connection module according to one embodiment.
[0024] FIG. 9 is a perspective view illustrating a second connection unit of a device connection module according to one embodiment.
[0025] FIG. 10 is a perspective view illustrating the state before the first connection unit and the second connection unit of a device connection module according to one embodiment are combined.
[0026] FIG. 11 is a perspective view illustrating the combined state of a first connection unit and a second connection unit of a device connection module according to one embodiment.
[0027] FIG. 12 is a cross-sectional view taken along line II' of FIG. 11, showing the state before the post advances.
[0028] FIG. 13 is a cross-sectional view taken along line II' of FIG. 11, showing the state where the post is advanced.
[0029] FIG. 14 is a top view illustrating the state before and after the adapter knob advances according to one embodiment.
[0030] FIG. 15 is a side view illustrating the state before and after the adapter knob advances according to one embodiment.
[0031] FIG. 16 is a top view illustrating the state in which the adapter knob is pulled according to one embodiment.
[0032] FIG. 17 is a perspective view illustrating a head frame according to one embodiment.
[0033] FIG. 18 is a perspective view showing a head frame according to one embodiment mounted on a head frame adapter of a first connection unit.
[0034] FIG. 19 is an exploded perspective view illustrating the state of a head frame according to one embodiment before it is mounted on the head frame adapter of the first connection unit.
[0035] FIG. 20 is a cross-sectional view taken along the line II-II' of FIG. 18.
[0036] FIG. 21 is a perspective view illustrating a state in which a marker frame is mounted on a head frame according to one embodiment.
[0037] FIG. 22 is an exploded perspective view illustrating the state before a marker frame is mounted on a head frame according to one embodiment.
[0038] FIG. 23 is a cross-sectional view taken along the line III-III' of FIG. 21.
[0039] The embodiments of the present disclosure are illustrative for the purpose of explaining the technical concept of the present disclosure. The scope of rights according to the present disclosure is not limited to the embodiments presented below or the specific description thereof.
[0040] All technical and scientific terms used in this disclosure, unless otherwise defined, have the meaning generally understood by those skilled in the art to which this disclosure pertains. All terms used in this disclosure are selected for the purpose of further clarifying this disclosure and are not selected to limit the scope of the rights under this disclosure.
[0041] Expressions such as “comprising,” “comprising,” “having,” etc. used in this disclosure should be understood as open-ended terms implying the possibility of including other embodiments, unless otherwise stated in the phrase or sentence containing such expressions.
[0042] Unless otherwise stated, singular expressions described in this disclosure may include a plural meaning, and this applies likewise to singular expressions described in the claims.
[0043] Expressions such as "first," "second," etc. used in this disclosure are used to distinguish multiple components from one another and do not limit the order or importance of said components.
[0044] In the present disclosure, where it is stated that a component is "connected" or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, or connected or connected through a new component.
[0045] In the present disclosure, expressions such as "front" or "front" should be understood as referring to a direction or part along the +X axis of the coordinate axes shown in the drawings.
[0046] In the present disclosure, expressions such as "rear" or "rear side" should be understood as referring to a direction or part along the -X-axis of the coordinate axes shown in the drawings.
[0047] In the present disclosure, expressions such as "side," "lateral," or "side" should be understood to refer to a direction or part along the +Y-axis or -Y-axis of the coordinate axes shown in the drawings.
[0048] In this disclosure, expressions such as "upper surface," "upward," "vertical direction," or "upper side" should be understood to refer to a direction or part along the +Z axis of the coordinate axes shown in the drawings.
[0049] In this disclosure, expressions such as "bottom," "bottom," "downward," or "lower side" should be understood as referring to a direction or part along the -Z axis of the coordinate axes shown in the drawings.
[0050] The dimensions and numbers described in this disclosure are not limited to the stated dimensions and numbers. Unless otherwise specified, such dimensions and numbers may be understood to mean the stated values and equivalent ranges including them.
[0051] Embodiments of the present disclosure will be described below with reference to the attached drawings. In the attached drawings, identical or corresponding components are given the same reference numerals. Furthermore, in the description of the embodiments below, the description of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.
[0052] FIG. 1 illustrates a state in which a bed (10) and a surgical robot (20) are connected by a device connection module (1) according to one embodiment.
[0053] In one embodiment, the bed (10) is a structure on which a patient can lie and may be designed for fixing and positioning the patient. The bed (10) includes a frame (11) and a mattress (12), and the frame (11) may include a part of a device connection module (1) for connecting and coupling with a surgical robot (20) (e.g., a first connection unit (100)). The frame (11) of the bed (10) may include various parts such as rails and fixing modules necessary for fixing the patient and coupling with various surgical equipment, and additionally, a head frame (300) for fixing the patient's head to the bed (10) may be installed.
[0054] A surgical robot (20) according to one embodiment may include a movable main body (21), a column (22), and a robot arm (23). The surgical robot (20) illustrated in FIG. 1 is positioned outside the bed (10) and can move in various directions via the column (22) and the robot arm (23), and can directly access a work table or a surgical site. Based on this structure, in order for the surgical robot (20) to accurately target the location of the patient's surgical site, the bed (10) and the surgical robot (20) must first be firmly connected. To this end, a device connection module (1) may be used. The device connection module (1) integrates the bed (10) and the surgical robot (20) so that shaking or misalignment of the connection part does not occur. In addition, in order for the surgical robot (20) to accurately target the surgical site, a structure that firmly connects the surgical site to the bed (10) may be required. To this end, a head frame (300) may be installed on the bed (10). The head frame (300) can accurately fix the patient's head or specific body parts at various angles and positions, and can support the repeated and precise placement of the affected area at the working position of the surgical robot (20). Below, a device connection module (1) that firmly connects the bed (10) and the surgical robot (20) and a head frame (300) that firmly connects the affected area to the bed (10) will be described in detail as a structure for fixing the patient's position relative to the surgical robot (20).
[0055] Referring to FIG. 1, the device connection module (1) is installed on the bed (10) and the surgical robot (20), respectively, to securely fix the bed (10) and the surgical robot (20). The device connection module (1) may include a first connection unit (100) installed on the side of the bed (10) and a second connection unit (200) installed on the side of the surgical robot (20). Specifically, the first connection unit (100) of the device connection module (1) may be installed on the head side of the bed (10) to extend outward from the bed (10) at an angle inclined with respect to the frame (11). The second connection unit (200) of the device connection module (1) may be installed on the upper part of the console of the surgical robot (20) to extend outward from the surgical robot (20) at an angle inclined. The inclined angles of the first connecting unit (100) and the second connecting unit (200) may correspond to each other. For example, the first connecting unit (100) and the second connecting unit (200) may be installed to have the same inclined angles to each other, so that the two units can be formed to interlock accurately. According to this structure, when the bed (10) and the surgical robot (20) are connected, the rigidity and safety of the connecting part are greatly ensured, and shaking or malfunction of the connecting part can be minimized.
[0056] FIG. 2 illustrates a bed (10) to which a device connection module (1) according to one embodiment is connected.
[0057] Referring to FIG. 2, the bed (10) may include a frame (11) and a mat (12). A patient may lie on the mat (12) with their head facing the head frame (300). A first connecting unit (100) may be installed at the end of the bed (10) facing the head frame (300) as part of a device connecting module (1). The first connecting unit (100) may be positioned to extend outward at an inclined angle to the head-side frame (11) of the bed (10). A head frame (300) is positioned above the first connecting unit (100) to firmly secure the head of a patient lying on the bed (10). The first connecting unit (100) and the head frame (300) will be described in detail below.
[0058] FIG. 3 illustrates a state in which the head of a patient lying facing the ceiling is fixed to the first connection unit (100) of a device connection module (1) according to one embodiment. FIG. 4 illustrates a state in which the head of a patient lying facing the side is fixed to the first connection unit (100) of a device connection module (1) according to one embodiment.
[0059] Referring to FIGS. 3 and 4, the head frame (300) may be in the form of a circular ring extending circumferentially around the head axis (HA). The head frame (300) may be rotatably mounted to the first connecting unit (100) around the head axis (HA). Through this structure, the patient's head can be fixed at various angles. The inclined arrangement of the first connecting unit (100) with respect to the frame (11) of the bed (10) can enable various patient positions during surgery. For example, the head frame (300) can fix the position of the patient's head (the position of the head and the direction in which the face is facing) relative to the bed (10). Specifically, the head frame (300) can maintain the patient's face facing the ceiling (see FIG. 3) or the patient's face facing the side (see FIG. 4). This fixing structure can significantly improve the stability of the patient's position in high-precision surgeries, such as stereotactic surgery. Below, the structure of the first connection unit (100) is described in detail.
[0060] FIG. 5 is a perspective view illustrating a surgical robot (20) to which a device connection module (1) according to one embodiment is connected.
[0061] Referring to FIG. 5, the surgical robot (20) may include a main body (21), a column (22), and a robot arm (23). The main body (21) may be responsible for the movement and control of the surgical robot (20). The column (22) is positioned on the upper part of the main body (21) and can move up and down in the vertical direction (Z-axis direction) to adjust the driving height and position of the robot arm (23). The robot arm (23) may be attached to one end of the column (22). The robot arm (23) can move a surgical tool to a position close to the affected area (e.g., the patient's head) of a patient lying on a bed. A second connecting unit (200) extending outward from the surgical robot (20) may be positioned on the upper part of the main body (21). The second connecting unit (200) can be combined with the first connecting unit (e.g., the first connecting unit (100) of FIG. 2) of the bed (e.g., the bed (10) of FIG. 2) to firmly connect the bed (10) and the surgical robot (20). Hereinafter, the first connecting unit (100) of the bed (10) and the second connecting unit (200) of the surgical robot (20) in the device connecting module (1) will be described in order.
[0062] FIG. 6 is a perspective view illustrating a first connection unit (100) of a device connection module (1) according to one embodiment. FIG. 7 is a bottom view illustrating a first connection unit (100) of a device connection module (1) according to one embodiment. FIG. 8 is a bottom perspective view illustrating a first connection unit (100) of a device connection module (1) according to one embodiment.
[0063] Referring to FIGS. 6 through 8, the first connecting unit (100) is positioned on the side of the bed (10) of the present invention and can be firmly coupled with the surgical robot (20). The first connecting unit (100) may include a first neck (110), a first head (120), a head frame adapter (130), and a spirit level (140). The first neck (110) may be connected to the bed (10) and extend outward from the bed (10). Specifically, the first neck (110) may have one end (e.g., the rear end (110b)) connected to the side of the bed (10), and the inclined first neck (110) may extend outward from the bed (10). The first head (120) may be positioned on the front end (110a) of the first neck (110). The first neck (110) and the first head (120) may be formed as a single unit. The first head (120) may include a recess (121) formed in the center of the bottom surface. The recess (121) is a part into which an adapter (e.g., adapter (222) of FIG. 8) on the side of the robot (e.g., surgical robot (20) of FIG. 5) is inserted and connected. The inner wall surface of the recess (121) may include a seating surface (122) having a curvature so that a fixing ball (e.g., fixing ball (226) of FIG. 9) of the adapter (222) can be closely attached.
[0064] Referring to FIG. 6, a head frame adapter (130) may be positioned on the upper part of a first head (120). The head frame adapter (130) is an intermediary structure that allows a head frame (300) for fixing a patient's head to be coupled to a first connecting unit (100), so that the head frame (300) can be mounted at various angles to suit the patient's fixation position and surgical requirements. The head frame adapter (130) may include a first adapter block (131), a second adapter block (132), and a block knob (133). The first adapter block (131) may be fixedly positioned on the upper surface of the first head (120). The first adapter block (131) may include a first adapter groove (1311). The second adapter block (132) may be positioned to engage with the side of the first adapter block (131). The second adapter block (132) may include a second adapter groove (1321). The second adapter block (132) can be moved in the longitudinal direction (Y-axis direction) relative to the first adapter block (131) by rotating the block knob (133). With the second adapter block (132) moved away in the longitudinal direction (Y-axis direction) relative to the first adapter block (131), the head frame (300) is positioned between the first adapter groove (1311) and the second adapter groove (1321), and by rotating the block knob (133) to adjust the distance between the second adapter block (132) and the first adapter block (131) to be close, the head frame (300) can be firmly fixed to the head frame adapter (130). The method of fixing the head frame (300) will be described in detail below.
[0065] Referring to FIG. 6, a first connecting unit (100) according to one embodiment may include a level (140) formed on a first head (120). The level (140) can provide a visual reference to check in real time whether the installation angle and posture of the bed (10) and the surgical robot (20) are accurately aligned. The user can quickly determine whether the bed is properly aligned with respect to a plane through the level (140). This allows for further improvement in the positional accuracy and safety of the entire system during the docking process of the surgical robot (20) or during precision surgery after the patient is fixed.
[0066] FIG. 9 is a perspective view illustrating a second connection unit (200) of a device connection module (1) according to one embodiment.
[0067] Referring to FIG. 9, the second connecting unit (200) may be positioned outside the main body (21) of the surgical robot (20). The second connecting unit (200) may function as a component of a device connecting module (1) for connecting the surgical robot (20) and the bed (10). The second connecting unit (200) may include a second neck (210) protruding from the main body (21), and the second neck (210) may be formed with a predetermined thickness to ensure structural rigidity. A second head (220) may be positioned at the tip (210a) of the second neck (210). The second head (220) may include a second head body (221) and an adapter (222) protruding from the upper surface of the second head body (221).
[0068] An adapter (222) according to one embodiment may be inserted into a recess (121) of a first connection unit (e.g., the first connection unit (100) of FIG. 6) when a first connection unit (100) and a second connection unit (200) are combined, thereby enabling a rigid connection and positional alignment of the device connection module (1). The adapter (222) may include an adapter body (223), an adapter knob (224), and a fixing ball (226). The adapter body (223) may be formed as a structural support of the entire adapter (222) and may have a ball receiving portion inside so that the fixing ball (226) can be seated on a side wall. The adapter knob (224) is positioned on one side of the adapter body (223) and can rotate about a first axis. When operated, the adapter knob (224) moves together with a post to move the fixing ball (226) to the outside of the adapter body (223). The fixing ball (226) moves according to the operation of the adapter knob (224) and, when combined with the first connecting unit (100), engages with the seating surface (122) of the recess (121) to provide solid support and connection force.
[0069] In one embodiment, the second connecting unit (200) may further include a position adjustment pin (227) that is positioned on both sides of the adapter (222) and formed to protrude from the upper surface of the second head body (221). The position adjustment pin (227) may be inserted into a position adjustment groove (e.g., the position adjustment groove (123) of FIG. 7) formed on the lower surface of the first head (120) when the first connecting unit (100) and the second connecting unit (200) are combined. The alignment of the first connecting unit (100) and the second connecting unit (200) can be further improved by the interaction between the position adjustment groove (123) and the position adjustment pin (227).
[0070] FIG. 10 is a perspective view illustrating the state before the first connection unit (100) and the second connection unit (200) of the device connection module (1) according to one embodiment are combined. FIG. 11 is a perspective view illustrating the state in which the first connection unit (100) and the second connection unit (200) of the device connection module (1) according to one embodiment are combined.
[0071] Referring to FIG. 10, before the first connecting unit (100) and the second connecting unit (200) are combined, a recess (121) provided in the center of the bottom surface of the first head (120) of the first connecting unit (100) is open downward, and an adapter (222) for connection may be positioned protruding from the upper surface of the second head (220) of the second connecting unit (200). At this time, the necks (110, 210) of each connecting unit (100, 200) are arranged to have corresponding inclined angles, so that the connecting parts can be precisely interlocked when combined.
[0072] In one embodiment, for the connection of the first connection unit (100) and the second connection unit (200), the user can move the second connection unit (200) toward the first connection unit (100) and insert the adapter (222) into the recess (121) of the first head (120). In this process, the external shape of the adapter (222) and the seating surface (122) inside the recess (121) are formed to be mutually compatible, so that position alignment can be easily achieved from the beginning when connecting. During the process of inserting the adapter (222) into the recess (121), the position adjustment pin (227) is inserted together into the position adjustment groove (e.g., the position adjustment groove (123) of FIG. 7), thereby further enhancing mechanical mutual contact.
[0073] In the process of combining the first connecting unit (100) and the second connecting unit (200) according to one embodiment, by rotating or advancing the adapter knob (224), the internal post (e.g., the post (225) of FIG. 12) and the fixing ball (226) can move within the adapter. The fixing ball (226) can be pushed outward from the adapter body (223) by the mechanical operation of the adapter knob (224) and the post (225) while seated on the side wall of the adapter body (223). The fixing ball (226) can be strongly pressed against the inside of the recess (121) of the first head (120), i.e., the seating surface (122), thereby ensuring the rigidity of the connection. After the connection is completed, the first connecting unit (100) and the second connecting unit (200) of the device connecting module (1) can form a single integrated structure.
[0074] Referring to FIG. 11, when the first connecting unit (100) and the second connecting unit (200) are connected, the adapter (222) is held firmly inside the recess (121), and the fixing ball (226) is pressed against the seating surface (122), so that shaking or play in the connection area can be minimized. This connection method can maintain connection strength and durability even during repeated use, and can prevent malfunction or incomplete connection during surgery.
[0075] Referring to FIG. 11, a device connection module (1) according to one embodiment may include a first indicator (111) formed on the side wall of the first neck (110) of a first connection unit (100) and a second indicator (211) formed on the side wall of the second neck (210) of a second connection unit (200). The first indicator (111) and the second indicator (211) may be designed so that when each connection unit (100, 200) is connected by being accurately aligned at a predetermined reference position, the two indicators form a straight line or a predetermined positional relationship that is identifiable at a glance. Through this, the user can immediately recognize that the necks are misaligned, such as by an angle misalignment or slip, during the docking process, thereby preventing coupling malfunctions in advance and significantly improving the positional precision and safety of the system as a whole.
[0076] FIG. 12 is a cross-sectional perspective view taken along line II' of FIG. 11, showing the state before the post advances. FIG. 13 is a cross-sectional perspective view taken along line II' of FIG. 11, showing the state after the post has advanced. Below, the coupling mechanism of the adapter (222) and the recess (121) will be explained with reference to FIG. 12 and FIG. 13.
[0077] In one embodiment, the adapter (222) may be inserted into the bottom recess (121) of the first head (120) of the first connection unit (100) in a form protruding from the second head (220) of the second connection unit (200). Referring to FIG. 12, at this stage, the fixing ball (226) of the adapter (222) may be positioned in the ball receiving portion (223a) inside the adapter body (223) so that the fixing ball (226) does not come into direct contact with the seating surface (122) of the recess (121). That is, the adapter (222) and the recess (121) may move relatively freely in the ready state for coupling between the first connection unit (100) and the second connection unit (200).
[0078] When the user rotates the adapter knob (224) to advance it, the post (225) inside the adapter can move toward the inside of the adapter body (223). The post (225) may have a shape that extends in the direction of the first axis (A1) and may include a tapered portion (2251) in which the diameter gradually increases along the direction of the first axis (A1). As the post (225) moves toward the inside of the adapter body (223), the tapered portion (2251) gradually pushes the fixing ball (226) toward the outside of the post (225), so that the fixing ball (226) can move toward the outside of the adapter body (223). Referring to FIG. 13, at this stage, the fixing ball (226) is pushed out toward the outside of the adapter body (223) and comes into direct contact with the seating surface (122) of the recess (121). At this time, the seating surface (122) is designed to correspond to the curvature of the fixing ball (226), so that the compressive force and bonding rigidity can be optimized. Finally, when the fixing ball (226) is bonded to the seating surface (122) of the recess (121) and the physical operation of the adapter knob (224) is completed, the first connecting unit (100) and the second connecting unit (200) can be firmly bonded. This bonding mechanism can maintain a relatively strong bonding force by utilizing mechanical expansion and a bonding structure through knob operation, rather than a simple insertion or forced fit method, and can increase safety by preventing accidental separation without specific rotation or pulling operation. In addition, by minimizing the minute gap between the ball and the seating surface, structural durability and precision can be ensured even in situations of repeated bonding and separation.
[0079] FIG. 14 is a top view illustrating the state of the adapter knob (224) before it is advanced and after it is advanced according to one embodiment. FIG. 15 is a side view illustrating the state of the adapter knob (224) before it is advanced and after it is advanced according to one embodiment. FIG. 16 is a top view illustrating the state of the adapter knob (224) being pulled according to one embodiment.
[0080] Referring to FIG. 14, the adapter knob (224) may include a plurality of ratchet teeth (2241) formed circumferentially around the end facing the adapter body (223). The adapter body (223) may include a ratchet pawl (2231) corresponding to the ratchet teeth (2241) of the adapter knob (224). The ratchet pawl (2231) may be formed protruding from the side wall of the adapter body (223) in a direction toward the adapter knob (224). When the knob is rotated in the locking direction (in the direction of the arrow in FIG. 14), the ratchet teeth (2241) and the ratchet pawl (2231) elastically engage to allow movement, but in the unlocking direction, which is opposite to the locking direction, the ratchet pawl (2231) may catch on the ratchet teeth (2241) to restrict rotation. In other words, it is possible to prevent the adapter knob (224) from being loosened due to any external force or vibration.
[0081] Referring to FIG. 15, the ratchet pawl (2231) may be formed asymmetrically to have a contact surface inclined to the side wall of the adapter body (223) and a locking surface nearly perpendicular to the side wall of the adapter body (223). Due to this structure, when the adapter knob (224) rotates in the locking direction (in the direction of the arrow in FIG. 15), the ratchet tooth (2241) can rotate smoothly over the inclined surface of the ratchet pawl (2231). On the other hand, when rotating in the unlocking direction (in the opposite direction of the arrow in FIG. 15), the ratchet tooth (2241) is blocked by the locking surface of the ratchet pawl (2231), and rotation can be immediately restricted. This unidirectional rotation mechanism effectively prevents the coupling from being released by vibration or external impact unless the user intentionally pulls the adapter knob (224) to release the engagement of the ratchet.
[0082] Referring to FIG. 16, the adapter knob (224) may include a guide groove (2242) formed on the outer surface of the adapter knob (224). The guide groove (2242) may include an axial portion (2242a) formed along the axial direction of the knob and a circumferential portion (2242b) extending circumferentially from the end of the axial portion (2242b). Additionally, the post (225) may include a first guide pin (2252) extending in a direction perpendicular to the first axis (A1). The first guide pin (2252) is inserted into the guide groove (2242) and can move along the guide groove (2242). The first guide pin (2252) may be elastically supported by a spring or the like.
[0083] Referring to FIG. 14, in a locked state where the adapter (222) is inserted into the recess (121) and fixed, the first guide pin (2252) may be positioned at the outer end (first position) of the axial portion (2242a) of the guide groove (2242). When the first guide pin (2252) is positioned at the first position of the guide groove (2242), the ratchet pawl (2231) and the ratchet tooth (2241) are engaged, thereby restricting rotation in the release direction.
[0084] In one embodiment, referring to FIG. 16, as the adapter knob (224) is pulled outward by the user in the first axial direction, the first guide pin (2252) moves along the axial portion (2242a) of the guide groove (2242), thereby disengaging the ratchet pawl (2231) and the ratchet tooth (2241). The adapter knob (224) and the post (225) are connected by an elastic member (228), so that when the user pulls the adapter knob (224) outward in the first axial direction, a force greater than the elastic force of the elastic member (228) must be applied to the adapter knob (224). Only when the adapter knob (224) is fully withdrawn and the first guide pin (2252) reaches the starting point (second position) of the circumferential portion (2242b) can the adapter knob (224) be rotated. Subsequently, when the user turns the adapter knob (224) in the release direction, the first guide pin (2252) moves along the circumferential portion (2242b) of the guide groove (2242) and retracts the post (225), thereby finally releasing the connection.
[0085] According to one embodiment, the interaction between the L-shaped guide groove (2242) and the first guide pin (2252) can physically restrict the movement of the adapter knob (224) so that it can rotate only when it is fully pulled out in the direction of the first axis (A1). This two-stage release method can double-prevent loosening of the connection part due to vibrations that may occur during surgery or operator negligence, thereby improving the overall safety and reliability of the device connection module (1).
[0086] FIG. 17 is a perspective view illustrating a head frame (300) according to one embodiment. FIG. 18 is a perspective view illustrating a state in which a head frame (300) according to one embodiment is mounted on a head frame adapter (130) of a first connection unit (100). FIG. 19 is an exploded perspective view illustrating a state in which a head frame (300) according to one embodiment is not mounted on a head frame adapter (130) of a first connection unit (100). FIG. 20 is a cross-sectional view taken along the line II-II' of FIG. 18. Hereinafter, a head frame (300) positioned on the upper part of the first connection unit (100) will be described with reference to FIG. 17 to FIG. 20.
[0087] In one embodiment, the head frame (300) serves to firmly fix the head of a patient lying on the bed (10) in a specific position and posture. As illustrated in FIG. 17, the head frame (300) may be composed of a main frame (310) mainly in the shape of a circular ring and a plurality of sub-frames (320) mounted on the main frame (310) to directly fix the patient's head. Due to the structure of the head frame (300) as described above, it is possible to suppress minute movements of the patient in a medical environment requiring high precision, such as stereotactic surgery, and to maintain a constant relative position of the affected area to the surgical robot (20).
[0088] Referring to FIG. 18, the head frame (300) can be detachably mounted to a head frame adapter (130) provided on the upper part of the first connecting unit (100). This increases ease of use by allowing the head frame (300) to be applied to the patient first during the surgical preparation process and then easily connected to the first connecting unit (100) on the bed (10) side. In addition, it facilitates maintenance and repair by replacing or separating various head frames (300). When the head frame (300) is connected to the head frame adapter (130), the head frame (300) can be firmly connected to the head frame adapter (130) through the interaction between the frame groove (311) formed on the inner circumference of the main frame (310) and the adapter blocks (131, 132) of the head frame adapter (130).
[0089] Referring to FIGS. 19 and 20, the head frame adapter (130) may include a first adapter block (131), a second adapter block (132), and a block knob (133). The first adapter block (131) may be fixedly positioned on the upper surface of the first head (120). The first adapter block (131) may include a first adapter groove (1311). The second adapter block (132) may be positioned to engage with the side of the first adapter block (131). The second adapter block (132) may include a second adapter groove (1321). The second adapter block (132) may be moved in the longitudinal direction (Y-axis direction) relative to the first adapter block (131) by rotation of the block knob (133). With the second adapter block (132) positioned far from the first adapter block (131) in the longitudinal direction (Y-axis direction), the head frame (300) is positioned between the first adapter groove (1311) and the second adapter groove (1321), and by rotating the block knob (133) to adjust the distance between the second adapter block (132) and the first adapter block (131) to be close, the head frame (300) can be firmly fixed to the head frame adapter (130).
[0090] Referring to FIG. 19, a frame groove (311) having a specific cross-sectional shape along the entire circumference may be formed on the inner surface of the main frame (310). The frame groove (311) is intended to engage with the clamping portion of the head frame adapter (130) and may have a cross-section that prevents vertical displacement, such as a dovetail shape. Accordingly, the head frame adapter (130) may include a first adapter block (131) and a second adapter block (132). The first adapter block (131) and the second adapter block (132) each have a jaw portion protruding upward, and the cross-section of this jaw portion is formed in an inverted dovetail shape that can be precisely inserted into the frame groove (311) of the head frame (300). The first adapter block (131) is fixed to the head frame adapter (130), and the second adapter block (132) can move toward or away from the first adapter block (131) depending on the operation of the block knob (133).
[0091] Referring to FIG. 20, in order to mount the head frame (300), the frame groove (311) is first positioned over the jaws of the adapter blocks (131, 132). Then, when the user turns the block knob (133), the second adapter block (132) moves toward the first adapter block (131) by means of a screw connection or similar principle, and the gap between the two blocks can be narrowed. During this process, the jaws of the first adapter block (131) and the second adapter block (132) press against the inner wall of the frame groove (311), thereby firmly securing the head frame (300) to the head frame adapter (130). The dovetail joint method effectively restricts all movements in the vertical and horizontal directions, providing high rigidity such that there is almost no twisting of the joint part even under external impact or load.
[0092] Additionally, referring to FIG. 20, the head frame (300) may include a groove-shaped frame guide (312) formed along the circumferential direction on the upper surface or side of the main frame (310). The head frame adapter (130) may include a second guide pin (134) that engages with the frame guide (312). The second guide pin (134) may be elastically supported by a spring or the like. When the head frame (300) rotates relative to the head frame adapter (130) due to the structure of the frame guide (312) and the second guide pin (134), tactile feedback (a sensation of engaging at a set angle) is provided, thereby facilitating precise angle adjustment. Furthermore, by the second guide pin (134) engaging with the frame guide (312), unintended rotation is prevented, and the stability and reliability of the entire coupling structure can be enhanced by creating synergy with the dovetail coupling structure.
[0093] FIG. 21 is a perspective view showing a state in which a marker frame (330) is mounted on a head frame (300) according to one embodiment. FIG. 22 is an exploded perspective view showing a state in which a marker frame (330) is not mounted on a head frame (300) according to one embodiment. FIG. 23 is a cross-sectional view taken along the line III-III' of FIG. 21.
[0094] A marker frame (330) with a marker (400) attached thereto, which enables the surgical robot (20) to precisely recognize the patient's position, may be additionally mounted on the head frame (300). The marker frame (330) can be selectively and firmly fixed at any location on the outer surface of the main frame (310) of the head frame (300). Referring to FIG. 21, the marker frame (330) can be freely positioned at a desired location along the circumference of the main frame (310), providing flexibility to install the marker (400) at an optimal location while avoiding interference with the surgical site or other equipment. This allows for securing a stable reference point.
[0095] According to one embodiment, the method of joining the marker frame (330) and the main frame (310) may be a dovetail clamping method. This joining method can secure very high joining rigidity. Referring to FIGS. 21 and 22, a frame groove (311) having a specific cross-sectional shape along the entire circumference may be formed on the inner surface of the main frame (310). Correspondingly, the marker frame (330) may include a first marker frame (331), a second marker frame (332), and a marker knob (333). The first marker frame (331) may include a first marker jaw (3311), and the second marker frame (332) may include a second marker jaw (3321). The first marker jaw (3311) and the second marker jaw (3321) may be inserted into the frame groove (311) of the main frame (310). With the first marker jaw (3311) and the second marker jaw (3321) inserted into the frame groove (311), the marker knob (333) rotates to narrow the gap between the first marker frame (331) and the second marker frame (332), thereby allowing the marker frame (330) and the main frame (310) to be firmly joined. Referring to FIG. 23, the combined cross-section of the first marker jaw (3311) and the second marker jaw (3321) may have an inverted dovetail cross-section corresponding to the shape of the frame groove (311) of the main frame (310). When a user operates the marker knob (333) attached to the marker frame (330), the movable part of the clamp moves toward the fixed part and can press against the outer surface of the main frame (310).
[0096] Referring to FIGS. 21 through 23, this dovetail clamping method allows the marker frame (330) to restrict movement in the up-down, left-right, and rotational directions relative to the main frame (310). This enables the marker frame (330) and the head frame (300) with the patient fixed to it to function as if they were a single rigid body. Since the stability of the reference point provided by the marker (400) is directly related to the overall accuracy of the surgical robot system, a robust fixation that remains stable even under external shocks or vibrations is very important. In conclusion, the mounting structure of the marker frame (330) simultaneously satisfies two requirements: flexibility of positioning and rigidity of connection. The stable reference point secured through the dovetail structure can maintain a high level of surgical precision.
[0097] Although the technical concept of the present disclosure has been described by some embodiments and examples illustrated in the accompanying drawings, it should be understood that various substitutions, modifications, and changes may be made without departing from the technical concept and scope of the present disclosure as understood by those skilled in the art to which the present disclosure pertains. Furthermore, such substitutions, modifications, and changes should be considered to fall within the scope of the appended claims.
Claims
1. In a device connection module for connecting a bed and a robot, A first connecting unit comprising a first neck having an inclined angle with respect to a support portion of the bed and extending outwardly toward the bed, and a first head connected to the tip of the first neck and including a recess formed on its bottom surface; and The robot comprises a second connecting unit including a second neck extending outwardly from the robot to have an angle corresponding to the inclined angle of the first connecting unit, and a second head including an adapter connected to the tip of the second neck and protruding from the upper surface. The adapter is inserted into the recess, and the first connecting unit and the second connecting unit are combined to connect the bed and the robot. Device connection module.
2. In Paragraph 1, The above adapter is, Adapter body including ball receiving portions formed on side walls facing each other; An adapter knob disposed on one side of the adapter body and rotating about a first axis; A post fixed to the adapter knob and extending toward the interior of the adapter body; and It includes a fixing ball positioned on both sides of the above post and seated in the ball receiving portion, As the above post is inserted into the interior of the adapter body, the fixing ball moves to the outside of the adapter body. Device connection module.
3. In Paragraph 2, The inner wall of the above recess includes an inwardly curved seating surface having a curvature corresponding to the outer circumference of the above fixing ball, and As the above post is inserted into the interior of the above adapter body, the fixing ball is coupled to the above seating surface, Device connection module.
4. In Paragraph 3, The above post includes a tapered portion on its outer surface in which the diameter gradually increases along the longitudinal direction, and as the post moves into the interior of the adapter body, the tapered portion presses the fixing ball toward the recess. Device connection module.
5. In Paragraph 2, The above adapter knob includes a plurality of ratchet teeth formed along the circumferential direction, and The adapter body includes a ratchet pawl protruding from the side facing the adapter knob, and The ratchet pawl elastically engages with the ratchet tooth to allow rotation of the adapter knob in the locking direction and restrict rotation in the unlocking direction. Device connection module.
6. In Paragraph 5, When the adapter knob is pulled outward in the first axial direction, it moves to a position where the engagement between the ratchet tooth and the ratchet pawl is released, enabling rotation in the release direction. Device connection module.
7. In Paragraph 5, The adapter knob includes a guide groove formed on the outer surface of the adapter knob, and The above post includes a guide pin that is inserted into and guided by the guide groove, and When the guide pin is positioned at the first position of the guide groove, rotation in the unwinding direction is restricted, and when the guide pin is positioned at the second position of the guide groove, rotation in the unwinding direction is possible. Device connection module.
8. In Paragraph 1, The first neck includes at least one first indicator formed on the side, and The second neck comprises a second indicator formed at a side position corresponding to the first indicator, Device connection module.
9. In Paragraph 1, The first connecting unit further includes a level placed on the first head. Device connection module.
10. In Paragraph 1, The second connecting unit further includes a position adjustment pin disposed on both sides of the adapter and formed to protrude from the upper surface of the second head. Device connection module.