WO2022225084A1 - Treatment support device - Google Patents

Treatment support device Download PDF

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Publication number
WO2022225084A1
WO2022225084A1 PCT/KR2021/005101 KR2021005101W WO2022225084A1 WO 2022225084 A1 WO2022225084 A1 WO 2022225084A1 KR 2021005101 W KR2021005101 W KR 2021005101W WO 2022225084 A1 WO2022225084 A1 WO 2022225084A1
Authority
WO
WIPO (PCT)
Prior art keywords
ball
adapter
holding line
holder
arm
Prior art date
Application number
PCT/KR2021/005101
Other languages
French (fr)
Korean (ko)
Inventor
고무생
Original Assignee
고무생
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 고무생 filed Critical 고무생
Priority to KR1020217014334A priority Critical patent/KR102403114B1/en
Priority to PCT/KR2021/005101 priority patent/WO2022225084A1/en
Publication of WO2022225084A1 publication Critical patent/WO2022225084A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A61B1/247—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth with means for viewing areas outside the direct line of sight, e.g. dentists' mirrors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A61C17/08—Aspiration nozzles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/06—Saliva removers; Accessories therefor
    • A61C17/12—Control devices, e.g. for suction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances

Definitions

  • the present invention relates to a treatment aid device capable of assisting a therapeutic action in a patient's treatment process.
  • Various medical devices may be used so that a doctor's treatment activity can be performed smoothly and efficiently during a general dental treatment process, surgical operation, or treatment.
  • medical devices such as an endoscope, a drill, a suction, and a mirror may be utilized.
  • a treatment auxiliary device includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and a first at one end
  • the adapter is coupled to move relative to each other, and the first adapter includes an adapter arm rotatably coupled to the other side of the first joint, wherein the first adapter includes a first ball tip coupled to the first joint;
  • the first ball holder is the first ball holder by transferring the attractive force generated by the operation of the driving unit through the first holding line to the first ball can be pressed in the direction of the flat portion of
  • the first ball includes a first through hole formed in a vertical direction with respect to the flat portion of the first ball, the first holding line is characterized in that the other side is connected to the driving unit through the first through hole can be done with
  • the diameter of the first through hole may be formed to gradually narrow from the flat portion of the first ball.
  • a second adapter is coupled to the other end of the adapter arm to move relative to each other, and the second adapter includes a second ball tip disposed to intersect the direction of the first ball tip, and connected to the second ball tip.
  • a second ball formed in a spherical shape, a second ball holder in contact with the surface of the second ball, and a second side connected to the second ball holder and pressing the second ball holder to the surface of the second ball It may include a holding line.
  • the other side of the second holding line is connected to the driving unit, and the second ball holder transfers the attractive force generated by the operation of the driving unit through the second holding line, thereby transferring the second ball holder to the second ball. It can be pressed to the surface.
  • the second ball holder may include a curved portion corresponding to the shape of the surface of the second ball.
  • one side of the second holding line may be formed of a plurality of strands, and may bypass the second ball and be connected to the second ball holder.
  • one side of the second holding line may be coupled to the second ball holder at equal intervals to uniformly press the second ball holder in the direction of the second ball.
  • the second holding line may be characterized in that the other side is connected to the driving unit through the first through hole.
  • the second ball may include a second through hole formed in the direction of the first through hole, and one side of the second holding line may be connected to the second ball holder through the second through hole.
  • the diameter of the second through-hole may be formed to be the largest on the surface of the second ball and narrow toward the center of the second ball.
  • the driving unit may be formed to apply an attractive force to the first holding line or the second holding line by fluid pressure, magnetic force, or electromagnetic force.
  • a treatment auxiliary device includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and one end of the A second adapter arm coupled to the other side of the first joint and to which a third adapter is coupled to the other end so as to be relatively movably coupled, and one end is coupled to the third adapter, and a fourth adapter is coupled to the other end so that relative motion is possible.
  • the third adapter includes a third ball tip coupled to the third adapter arm, a third ball connected to the third ball tip and having a spherical shape, and a surface of the third ball;
  • a third ball holder in contact, a third elastic body pressing the third ball holder toward the third ball, and one side are connected to the third ball holder, and the third ball holder is spaced apart from the third ball It may include 3 holding lines.
  • the third ball holder is the third ball holder by transferring the attractive force generated by the operation of the driving unit through the third holding line to the third ball can be separated from
  • the fourth adapter includes a fourth ball tip disposed to cross the direction of the third ball tip, a fourth ball connected to the fourth ball tip and formed in a spherical shape, and a surface of the fourth ball in contact with A fourth ball holder, a fourth elastic body that presses the fourth ball holder toward the fourth ball, and one side are connected to the fourth ball holder, and a fourth holding that separates the fourth ball holder from the fourth ball It may contain lines.
  • the third ball includes a third through-hole formed to pass through the third ball tip and the third ball, and the fourth holding line passes through the third through-hole and is connected to the driving unit. can do.
  • the diameter of the third through hole may be constant within the tip of the third ball, and may gradually become narrower within the third ball.
  • the driving unit may be formed to apply an attractive force to the third holding line or the fourth holding line by fluid pressure, magnetic force, or electromagnetic force.
  • one side of the third holding line is formed of a plurality of strands, and may be coupled to the third ball holder at equal intervals to uniformly press the third ball holder toward the third elastic body.
  • the treatment assisting device can easily move a medical device required in a treatment process to a user's desired position, and can quickly fix the position of the medical device.
  • the treatment auxiliary device can be used by attaching to a treatment device such as an existing medical chair, or by being coupled to a movable body to be universally used in various treatment environments.
  • FIG. 1 is a perspective view of an auxiliary treatment device according to an embodiment of the present invention, illustrating an adapter arm.
  • FIG. 2 is a view showing a treatment auxiliary device according to an embodiment of the present invention from another angle.
  • Figure 3 (a) is an exploded view of the adapter arm according to an embodiment of the present invention
  • Figure 3 (b) is a perspective view showing the adapter arm is assembled.
  • Fig. 4 (a) is an exploded view of an adapter arm according to another embodiment of the present invention
  • Fig. 4 (b) is a perspective view showing an assembled state of the adapter arm.
  • FIG. 5 is a perspective view of a treatment assisting device according to another embodiment of the present invention, and is a view exemplarily showing a second adapter arm and a third adapter arm.
  • FIG. 6A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention
  • FIG. 6B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
  • FIG. 7A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention
  • FIG. 7B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
  • FIGS. 8 to 9 are diagrams illustrating an auxiliary treatment device in which the number of joints is increased according to various embodiments of the present invention.
  • 10 to 12 are views illustrating a sensor of a treatment auxiliary device according to an embodiment of the present invention.
  • FIG. 13 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
  • FIG. 14 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
  • 15 is a diagram illustrating a medical device used by being mounted on a treatment auxiliary device according to an embodiment of the present invention.
  • 16 is a view showing another medical device mounted and utilized in a treatment auxiliary device according to an embodiment of the present invention.
  • expressions such as “A or B” or “at least one of A and/or B” may include all possible combinations of items listed together. Expressions such as “first,” “second,” “first,” or “second,” can modify the corresponding elements, regardless of order or importance, and to distinguish one element from another element. It is used only and does not limit the corresponding components. Also, the singular expression may include the plural expression unless the context clearly dictates otherwise.
  • FIG. 1 is a perspective view of an auxiliary treatment device 100 according to an embodiment of the present invention, illustrating an adapter arm 140
  • FIG. 2 is a first joint 130 and a second joint 131 . This is a view from a different angle.
  • the treatment assistance device 100 may include a base 110 , a first joint 130 , and an adapter arm 140 .
  • the treatment auxiliary device 100 of FIGS. 1 to 2 is attached to the base 110 of a movable form and shows an example in which it is utilized.
  • the base 110 is equipped with a moving means such as a wheel for easy movement, and the treatment auxiliary device 100 according to an embodiment of the present invention is mounted and operated to provide a stable base so as not to fall. This can be used without restrictions. For example, a triangular or square-shaped support or box shape may be used.
  • the base 110 itself moves and provides a support base, but the base 110 is formed separately to provide a support base. It may be replaced with a form attached to other components. As the movement of the treatment auxiliary device 100 becomes free through the base 110 , the utilization of the treatment auxiliary device 100 may be increased by moving one treatment auxiliary device 100 and using it in various places.
  • the base 110 of the form having a movable and self-supporting base is illustrated, but the present invention is not limited thereto.
  • the base 110 is used by being mounted on a medical chair on which a patient can sit in the course of a doctor's treatment. may be In this case, since the treatment auxiliary device 100 can be additionally mounted to a medical device such as a previously used medical chair or a surrounding facility, it is economical and has the advantage of being universally utilized.
  • the first arm 120 and the adapter arm 140 are connected by a first joint 130 to be rotatably connected to each other.
  • One end of the first arm 120 may be coupled to the base 110 .
  • the first arm 120 and the base 110 may be connected by a second joint 131 to be rotatably connected to each other.
  • the first joint 130 may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 1 .
  • the rotation of the first joint 130 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
  • the second joint 131 may also be the same as or similar to the first joint 130 .
  • the second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the illustrated state of FIG. 1 .
  • the treatment auxiliary device 100 may operate as a multi-joint robot arm.
  • the degree of freedom of motion of the first joint 130 and the second joint 131 may be increased or decreased along any one axis defining a three-dimensional space.
  • the first arm 120 and the adapter arm 140 may have a bar shape having a predetermined length, and may have a shell shape including a space therein, and the shape of the cross-section may vary. can be formed.
  • the first arm 120 and the adapter arm 140 will be mainly described, but the present invention is not limited thereto. .
  • a plurality of adapter arms 140 may be attached in parallel to the first arm 120 , and a second arm (not shown) may be connected to the first arm 120 and the base 110 . ), it is also possible to increase the number of joints of the robot arm.
  • the treatment assisting device 100 can be utilized by mounting a medical device to be described later along with FIGS. 15 to 16 on the distal adapter arm 140 .
  • the treatment auxiliary device 100 according to an embodiment of the present invention can be fixed by moving the medical device to a position desired by the user quickly and easily.
  • a first adapter 160 and a second adapter 170 that can freely move relative to each other in the form of a ball joint and can be easily fixed through a wire are provided.
  • Positioning and fixing of the medical device can be simplified by positioning. More details will be described later in conjunction with the drawings.
  • FIG. 3 is a diagram illustrating an adapter arm 140 of the treatment assistance device 100 according to an embodiment of the present invention. Specifically, FIG. 3A is an exploded view of the adapter arm 140 , and FIG. 3B is a perspective view showing the adapter arm 140 assembled.
  • the adapter arm 140 may include a first adapter 160 coupled to one end for relative motion and a second adapter 170 coupled to the other end for relative motion.
  • the first adapter 160 may include a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 .
  • the first ball tip 161 may be coupled to the first joint 130 so that the adapter arm 140 moves together according to the movement of the first joint 130 .
  • the first ball tip 161 may be applied without limitation as long as it can be rigidly coupled to the first joint 130 , for example, screw coupling may be performed.
  • the first ball 163 may be connected to the first ball tip 161 and may be formed in a spherical shape as a whole. Since the first ball 163 is formed in a spherical shape, free relative movement may be possible at one end of the adapter arm 140 . More specifically, within a range where the open portion of one end of the adapter arm 140 and the first ball tip 161 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible.
  • the first ball 163 may include a flat portion 163a formed at least in part.
  • the flat portion 163a may be formed at a position such that the extending direction of the first ball tip 161 is perpendicular to the flat portion 163a. That is, it may be formed in a direction opposite to the first ball tip 161 with respect to the center of the first ball 163 . Through this, the influence on the free relative motion of the first ball tip 161 can be minimized.
  • the first ball 163 may include a first through hole 164 .
  • the first through hole 164 may be formed to be perpendicular to the flat portion 163a and may be formed to pass through the first ball 163 and the first ball tip 161 .
  • the first through hole 164 may be formed to have the largest diameter in the planar portion 163a and to decrease in diameter while extending in the direction of the first ball tip 161 . That is, the first through hole 164 may be formed in a cone shape.
  • the first ball holder 165 may be formed to contact the flat portion 163a of the first ball 163 .
  • the first ball holder 165 may be formed to be larger than the area of the flat portion 163a, and may press the flat portion 163a according to the action of the first holding line 167 to be described later.
  • the first holding line 167 may have one side connected to the first ball holder 165 and the other side connected to the driving unit 190 .
  • the driving unit 190 may be variously applied as long as it has a configuration capable of applying attractive force to the first holding line 167 , and for example, may be in the form of winding the first holding line 167 through a motor.
  • One side of the first holding line 167 may pass through the first through hole 164 of the first ball 163 to be connected to the first ball holder 165 .
  • the driving unit 190 operates in this state to wind the first holding line 167 , the attractive force is transferred to the first ball holder 165 and presses the flat portion 163a of the first ball 163 to make the first 1
  • the movement of the ball 163 can be fixed.
  • the tension acting on the first holding line 167 is released, so that the first ball holder 165 presses the flat portion 163a of the first ball 163 . lose the power to At this time, the first ball 163 can freely move relative again.
  • the first through hole 164 of the first ball 163 is formed to have a large diameter on the side of the flat portion 163a, so that the first holding line 167 unintentionally restricts the movement of the first ball 163. can be prevented
  • the second adapter 170 may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 .
  • the second ball tip 171 may be combined with a medical device to be described later.
  • the second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device.
  • the formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 3 , it may be disposed to be vertical.
  • the second ball 173 is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed.
  • the second ball holder 175 may be formed to contact at least a portion of the surface of the second ball 173 .
  • the second ball holder 175 may include a curved portion 175a corresponding to the surface shape of the second ball 173 .
  • the surface of the second ball 173 may be evenly pressed through the curved portion 175a. .
  • the second holding line 177 has one side connected to the second ball holder 175 and the other side passing through the first through hole 164 of the first ball 163 to form a driving unit 190 and can be connected
  • the driving unit 190 can be variously applied as long as it has a configuration that can apply an attractive force to the second holding line 177 like the first holding line 167 , and for example, winds the second holding line 177 through a motor. It may be in the form it takes.
  • the driving unit 190 may be respectively disposed on the first holding line 167 and the second holding line 177 , or may be connected to one driving unit 190 .
  • One side of the second holding line 177 may be formed of a plurality of strands, and may bypass the second ball 173 and be connected to the second ball holder 175 .
  • the plurality of strands formed on one side of the second holding line 177 transmits a uniform force to the second ball holder 175 to uniformly press the second ball 173 with the second ball holder 175 and can be combined.
  • the second ball 173 may be coupled at equal intervals with respect to the contact surface of the second ball holder 175 .
  • FIG. 4 is a view exemplarily showing the adapter arm 140 of the treatment assisting device 100 according to another embodiment of the present invention. Specifically, FIG. 4A is an exploded view of the adapter arm 140 , and FIG. 4B is a perspective view showing the adapter arm 140 assembled.
  • the adapter arm 140 of the treatment assistance device 100 includes a first adapter 160 coupled to one end to move relative to one end and a second adapter arm coupled to the other end to move relative to the other end, as in FIG. 3 .
  • Two adapters 170 may be included, and the first adapter 160 includes a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 . can do.
  • the second adapter 170 may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 .
  • the second ball tip 171 may be combined with a medical device to be described later.
  • the second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device.
  • the formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 4 , it may be arranged to be vertical.
  • the second ball 173 is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible.
  • the second ball 173 according to another embodiment may include a second through hole 174 . The second through hole 174 may be formed to cross the direction of the second ball tip 171 .
  • the second through hole 174 may be formed to have the largest diameter in the flat portion 173a and to decrease and then increase again while extending in the center direction of the second ball 173 . That is, the second through hole 174 may be formed in a shape such as a mortar.
  • the second ball holder 175 may be formed to contact the flat portion 173a of the second ball 173 .
  • the second ball holder 175 may be formed to be larger than the size of the second through hole 174, and the flat portion 173a of the second ball 173 may be formed according to the action of the second holding line 177 to be described later. can be pressurized.
  • the second holding line 177 may have one side connected to the second ball holder 175 and the other side connected to the driving unit 190 through the first through hole 164 .
  • One side of the second holding line 177 may pass through the second through hole 174 of the second ball 173 to be connected to the second ball holder 175 .
  • the second through hole 174 has a large diameter at the surface portion of the second ball 173 to prevent the second holding line 177 from limiting the movement of the second ball 173 unintentionally. can do.
  • Tension may be simultaneously applied to the first holding line 167 and the second holding line 177 according to another embodiment, or tension may be applied at this time.
  • FIG. 5 is a perspective view of the treatment assisting device 200 according to another embodiment of the present invention, and is a view exemplarily showing movements of the second adapter arm 240 and the third adapter arm 250 .
  • the treatment auxiliary device 200 may include a base 270 , a first joint 230 , a second adapter arm 240 , and a third adapter arm 250 .
  • the first arm 120 and the second adapter arm 240 are connected by a first joint 230
  • the third adapter arm 250 is the third adapter.
  • the second adapter arm 240 and the second adapter arm 240 may be connected relative to each other by a 260 .
  • One end of the first arm 120 may be coupled to the base 270 .
  • they may be connected by the second joint 131 to be rotatably connected to each other.
  • the first joint 230 according to another embodiment may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 5 .
  • the rotation of the first joint 230 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
  • the second joint 131 may also be the same as or similar to the first joint 230 .
  • the second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the state illustrated in FIG. 5 .
  • the third adapter 260 may connect the second adapter arm 240 and the third adapter arm 250 to be movable relative to each other.
  • the third adapter arm 250 may be capable of pitching, yawing, and rolling motions with respect to the longitudinal axis of the second adapter arm 240 .
  • the treatment assisting device 200 may operate as a multi-joint robot arm.
  • the degree of freedom of motion of the first joint 230 and the second joint 131 may be increased or decreased along any one axis defining a three-dimensional space.
  • the first arm 120 , the second adapter arm 240 , and the third adapter arm 250 have a bar shape having a predetermined length, and include a space therein. ) shape, and the shape of the cross-section may be formed in various ways.
  • the first arm 220 , the second adapter arm 240 , and the third adapter arm 250 are each one in order to help the understanding of the invention. The description is focused on cases, but is not limited thereto.
  • a plurality of second adapter arms 240 and third adapter arms 250 may be attached in parallel with respect to the first arm 220 , and a second arm (not shown) may be attached.
  • the number of joints of the robot arm may be increased.
  • FIG. 6 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 200 according to another embodiment of the present invention.
  • FIG. 6A is an exploded view of the second adapter arm 240 and the third adapter arm 250
  • FIG. 6B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
  • One end of the second adapter arm 240 may be coupled to the first joint 230 , and the third adapter 260 may be coupled to the other end to allow relative movement.
  • the second adapter arm 240 may move together with the movement of the first joint 230 .
  • the third adapter 260 connects the third ball tip 261 , the third ball 263 , the third ball holder 265 , the third elastic body 269 and the third holding line 267 .
  • the third ball tip 261 may be coupled to one end of the third adapter arm 250 .
  • the third ball tip 261 can be applied without limitation as long as it can be rigidly coupled to the third adapter arm 250 , and for example, screw coupling can be performed.
  • a portion to which the third ball tip 261 and one end of the third adapter arm 250 are coupled may be wrapped with a bellows tube 262 or the like so as not to be directly exposed.
  • the third ball 263 is connected to the third ball tip 261 and may be formed in a spherical shape as a whole. Since the third ball 263 is formed in a spherical shape, free relative movement may be possible at the other end of the second adapter arm 240 . More specifically, within a range where the open portion of the other end of the second adapter arm 240 and the third ball tip 261 do not interfere with each other, various types of relative motion can be performed. For example, pitching, yawing, and rolling are possible with respect to the longitudinal axis of the second adapter arm 240 . Accordingly, pitching, yawing, and rolling of the third adapter arm 250 with respect to the longitudinal axis of the second adapter arm 240 are possible.
  • the third ball holder 265 may be formed to contact the surface of the third ball 263 . More specifically, the third ball holder 265 may be located in the opposite direction of the third ball tip 261 with respect to the third ball 263 . The third ball holder 265 may press the surface of the third ball 263 according to the action of the third elastic body 269 to be described later, and the third ball 263 according to the action of the third holding line 267 . ) can be separated from the surface of
  • the third elastic body 269 may press the third ball holder 265 toward the surface of the third ball 263 .
  • the elastic force of the third elastic body 269 is sufficient if it is large enough to fix the movement of the third adapter 260 .
  • the third elastic body 269 may be, for example, a spring, and in addition to this, if it is configured to press the third ball holder 265 toward the surface of the third ball 263, it may be freely applied.
  • the third holding line 267 may have one side connected to the third ball holder 265 and the other side connected to the driving unit 290 .
  • the driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the third holding line 267 , and for example, may be in the form of winding the third holding line 267 through a motor.
  • the driving unit 290 operates to wind the third holding line 267 , the tension is transmitted to the third ball holder 265 , and the third ball holder 265 compresses the third elastic body 269 to make the third It is possible to reduce the pressing force of the surface of the ball 263 .
  • the tension acting on the third holding line 267 is released and the force for compressing the third elastic body 269 is lost. Accordingly, the elastic force of the third elastic body 269 may press the third ball holder 265 toward the surface of the third ball 263 , and the third ball 263 may be fixed.
  • the driving unit 290 may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the third holding line 267 .
  • the third elastic body ( 269) can be adjusted. In this case, even if the third adapter 260 and the fourth adapter 270 are released to adjust the position of the medical device, sudden sagging due to the load of the third adapter arm 250 and the medical device can be prevented. It is possible to reduce the burden caused by the load in the process of moving the medical device.
  • One side of the third holding line 267 may be formed of a plurality of strands.
  • the plurality of strands formed on one side of the third holding line 267 transmits a uniform force to the third ball holder 265 to uniformly press the third elastic body 269 with the third ball holder 265 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the third ball 263 .
  • One end of the third adapter arm 250 may be coupled to the third ball tip 261, and the other end may be coupled to the fourth adapter 270 for relative movement.
  • the fourth adapter 270 includes the fourth ball tip 271 , the fourth ball 273 , the fourth ball holder 275 , the fourth elastic body 279 and the fourth holding line 277 . may include
  • the fourth ball tip 271 may be combined with a medical device to be described later.
  • the fourth ball tip 271 may be applied without limitation as long as it is a form that can be rigidly coupled to a medical device.
  • the formation direction of the fourth ball tip 271 may be formed to cross each other rather than parallel to the formation direction of the fourth ball tip 271 . For example, as shown in FIG. 6 , it may be disposed to be vertical.
  • the fourth ball 273 may be connected to the fourth ball tip 271 and may be formed in a spherical shape as a whole. Since the fourth ball 273 is formed in a spherical shape, free relative movement may be possible at the other end of the third adapter arm 250 . More specifically, within a range where the open portion of the other end of the third adapter arm 250 and the fourth ball tip 271 do not interfere with each other, various types of relative motion can be performed.
  • the fourth ball holder 275 may be formed to contact the surface of the fourth ball 273 .
  • the fourth ball holder 275 can press the surface of the fourth ball 273 according to the action of the fourth elastic body 279 to be described later, and the fourth ball 273 according to the action of the fourth holding line 277 . ) can be spaced apart from the surface of
  • the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 .
  • the elastic force of the fourth elastic body 279 is sufficient if it is large enough to fix the movement of the fourth adapter 270 .
  • the fourth elastic body 279 may be, for example, a spring, and in addition to this, if it is configured to press the fourth ball holder 275 toward the surface of the fourth ball 273, it may be freely applied.
  • the fourth holding line 277 may have one side connected to the fourth ball holder 275 and the other side connected to the driving unit 290 .
  • the driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the fourth holding line 277 , and for example, may be in the form of winding the fourth holding line 277 through a motor.
  • the driving unit 290 operates to wind the fourth holding line 277 , the tension is transferred to the fourth ball holder 275 and the fourth ball holder 275 compresses the fourth elastic body 279 to thereby compress the fourth ball. It is possible to reduce the pressing force of the surface of (273).
  • the tension acting on the fourth holding line 277 is released and the force for compressing the fourth elastic body 279 is lost. Accordingly, the elastic force of the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 , and the fourth ball 273 may be fixed.
  • the driving unit 290 may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the fourth holding line 277 .
  • the force for compressing the fourth elastic body 279 is adjusted so that only the minimum force capable of supporting it is transmitted to the fourth ball 273 . can In this case, even if the fixing of the fourth adapter 270 is released to adjust the position of the medical device, it is possible to prevent sudden sagging due to the load of the medical device, and to reduce the burden caused by the load in the process of moving the medical device. have.
  • One side of the fourth holding line 277 may be formed of a plurality of strands.
  • a plurality of strands formed on one side of the fourth holding line 277 transmits a uniform force to the fourth ball holder 275 so that the fourth elastic body 279 can be uniformly pressed with the fourth ball holder 275 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the fourth ball 273 .
  • Tension may be simultaneously applied to the third holding line 267 and the fourth holding line 277 according to an embodiment, or tension may be applied at this time.
  • FIG. 7 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 100 according to another embodiment of the present invention.
  • FIG. 7A is an exploded view of the second adapter arm 240 and the third adapter arm 250
  • FIG. 7B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
  • the treatment auxiliary device 200 shown in FIG. 7 has a form in which the third holding line 267 is combined with the third ball holder 265 and the fourth holding line compared to the treatment auxiliary device 200 shown in FIG. 6 . There is a difference in the form in which the 277 is combined with the fourth ball holder 275 .
  • the third ball 263 may be connected to the third ball tip 261 and formed in a spherical shape as a whole.
  • the third ball 263 according to another embodiment may include a third through hole 264 .
  • the third through hole 264 may be formed to pass through the third ball 263 and the third ball tip 261 .
  • the third through hole 264 may be formed to have the largest diameter on the surface of the third ball 263 and to decrease in diameter while extending in the direction of the third ball tip 261 . That is, the third through hole 264 may be formed in a cone shape.
  • the third holding line 267 may be connected to the center of the third ball holder 265 as a single strand. However, like the third holding line 267 of FIG. 6 , it may be formed of a plurality of strands.
  • the fourth holding line 277 may have one side connected to the fourth ball holder 275 and the other end connected to the driving unit 290 through the third through hole 264 .
  • One side of the fourth holding line 277 may be connected to the fourth ball holder 275 .
  • the fourth holding line 277 may be connected to the fourth ball holder 275 as a single strand, or may be formed of a plurality of strands like the fourth holding line 277 of FIG. 6 .
  • FIGS. 8 to 9 are diagrams illustrating the auxiliary treatment device 200 in which the number of joints is increased according to various embodiments of the present invention.
  • the treatment auxiliary device 200 illustrated in FIG. 8 is different from the treatment auxiliary apparatus 200 illustrated in FIG. 6 in that the number of joints is increased.
  • the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
  • the treatment auxiliary device 200 shown in FIG. 9 is different from the treatment auxiliary device 200 shown in FIG. 7 in that the number of joints is increased.
  • the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
  • the movement of the medical device becomes more flexible and it can be easily moved to a desired position.
  • 10 to 12 are views showing the sensor 510 disposed on the headrest (H) of the treatment assisting device 100, 200 according to an embodiment of the present invention.
  • the sensor 510 may include an infrared sensor that detects whether an object is interfering on a predetermined path. 10 to 12 , a light emitting unit 511 and a light receiving unit 513 of the sensor 510 may be disposed on both sides of the headrest, respectively.
  • the light emitting unit 511 and the light receiving unit 513 of the sensor 510 may be disposed to be adjustable in height with respect to the surface of the headrest H.
  • the light emitting unit 511 and the light receiving unit 513 may be respectively disposed at the ends of the telescopic rod 515 to enable height adjustment.
  • the height of the sensor 510 may be adjusted to a limit position in which the light emitting unit 511 and the light receiving unit 513 do not interfere with transmitting and receiving signals in response to the height of the patient's head seated on the headrest H.
  • the first adapter 160 according to various embodiments of the present invention in order to prevent injury to the patient due to the fixed medical device.
  • the fixing of the to fourth adapters 270 may be released.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • a separate switch may be disposed to release the fixing of the first adapter 160 to the fourth adapter 270 by a user's manipulation.
  • the switch may be disposed at any position on the surface of the adapter arm body, or may be formed in the form of a pedal (not shown) so that the user can operate it with his or her feet. In other words, it can be made to act as an emergency button.
  • FIG. 13 is a diagram illustrating a sensor 520 of the treatment assisting devices 100 and 200 according to another embodiment of the present invention.
  • the sensor shown in FIG. 13 may be similar to the sensor of FIGS. 10 to 12 in its overall structure.
  • a touch sensor may be applied as a sensor for detecting the movement of the patient's head.
  • a telescopic rod 515 is disposed on both sides of the headrest to enable height adjustment with respect to the surface of the headrest H, and a band connecting both ends may be detachably disposed.
  • a first adapter according to various embodiments of the present invention is arranged in the center of the band to detect the movement of the patient's head as the patient's head comes into contact by arranging a touch-type sensor, and to prevent injury to the patient due to the fixed medical device. (160) to the fourth adapter 270 may be released.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • FIG. 14 is a diagram illustrating the sensor 530 of the treatment assistance devices 100 and 200 according to another embodiment of the present invention.
  • the first adapter 160 to the fourth adapter 270 may be released in order to prevent injury to the patient due to the fixed medical device.
  • the first ball tip 161 may be controlled to move away from the patient's head.
  • 15 to 16 are diagrams illustrating medical devices 400 and 500 used by being mounted on the treatment auxiliary devices 100 and 200 according to an embodiment of the present invention.
  • a mirror 400 for observing a patient's teeth or a suction tip 500 that can be used in a patient's treatment process can be used by coupling the second adapter 170 to the fourth adapter 270 .
  • the medical devices 400 and 500 shown in FIGS. 15 to 16 are exemplary, and in addition to these, various medical devices may be attached and utilized.

Abstract

Disclosed is a treatment support device comprising: a base; a first arm having one end portion coupled to the base; a first joint having one side rotatably coupled to the other end portion of the first arm; and an adapter arm having one end portion to which a first adapter is coupled to move relative thereto, and allowing the first adapter to be rotatably coupled to the other side of the first joint, wherein the first adapter includes: a first ball tip coupled to the first joint; a first ball, which is connected to the first ball tip, is spherical and includes a flat part on at least a portion thereof; a first ball holder coming in contact with the flat part of the first ball; and a first holding line having one side connected to the first ball holder and pressing the first ball holder toward the flat part of the first ball.

Description

치료 보조 기구therapeutic aids
본 발명은 환자의 치료과정에 있어서 치료 행위를 보조할 수 있는 치료 보조 기구에 관한 것이다.The present invention relates to a treatment aid device capable of assisting a therapeutic action in a patient's treatment process.
일반적인 치과 치료과정이나, 외과용 수술 또는 치료와 같은 행위 시에는 의사의 치료 활동이 원활하고 효율적으로 이루어질 수 있도록 다양한 의료기기들이 활용될 수 있다. 예를 들어 내시경, 드릴, 석션, 미러와 같은 의료기기들이 활용될 수 있다.Various medical devices may be used so that a doctor's treatment activity can be performed smoothly and efficiently during a general dental treatment process, surgical operation, or treatment. For example, medical devices such as an endoscope, a drill, a suction, and a mirror may be utilized.
이러한 의료기기들의 사용은 의사가 치료과정에서 직접 사용할 수도 있으나, 경우에 따라 보조 인력을 활용하거나, 간단한 기구에 장착하여 활용되고 있다. 다만, 보조 인력을 통해 의료기기를 활용하는 경우 의료기기를 장시간 정확한 위치에 고정하기 어렵고, 기구에 부착하여 사용하는 경우 원하는 위치에 의료기기를 위치시키기 어려우며, 의료기기의 위치 변경 또한 용이하지 않을 수 있다. 따라서 이와 같은 문제점을 해결하기 위한 치료 보조 기구에 대한 연구가 활발히 진행되고 있다.The use of these medical devices can be used directly by doctors in the treatment process, but in some cases, auxiliary personnel are used or they are used by attaching them to simple instruments. However, when using a medical device through an assistant, it is difficult to fix the medical device in an accurate position for a long time. have. Therefore, research on treatment aids to solve these problems is being actively conducted.
치료과정에서 의료기기를 원하는 위치에 손쉽게 이동시키고 고정시킬 수 있는 치료 보조 기구를 제공할 수 있다.It is possible to provide a treatment auxiliary device capable of easily moving and fixing the medical device to a desired position in the course of treatment.
의료기기의 위치를 이동시키는 과정에서 의료기기의 하중이 사용자에게 전달되지 않도록 하중을 보정할 수 있는 치료 보조 기구를 제공할 수 있다.In the process of moving the position of the medical device, it is possible to provide a treatment auxiliary device capable of correcting the load so that the load of the medical device is not transmitted to the user.
타 구조물에 부착하여 활용할 수 있는 치료 보조 기구를 제공할 수 있다.It is possible to provide a treatment aid that can be used by attaching it to other structures.
휴대성 및 이동성을 증대시켜 여러 위치의 환자에게 범용적으로 활용할 수 있는 치료 보조 기구를 제공할 수 있다.By increasing the portability and mobility, it is possible to provide a treatment aid that can be used universally for patients in various locations.
본 발명의 일 실시예에 따른 치료 보조 기구는 베이스, 일측 단부가 상기 베이스에 결합되는 제1암, 일측이 상기 제1암의 타측 단부에 회동 가능하게 결합되는 제1조인트 및 일측 단부에 제1어댑터가 상대 운동하도록 결합되고, 상기 제1어댑터는 상기 제1조인트의 타측에 회동 가능하게 결합되는 어댑터 암을 포함하고, 상기 제1어댑터는, 상기 제1조인트와 결합되는 제1볼 팁, 상기 제1볼 팁과 연결되고 구 형상이되 적어도 일부에 평면부를 포함하는 제1볼, 상기 제1볼의 평면부와 접촉하는 제1볼 홀더 및 일측이 상기 제1볼 홀더와 연결되고, 상기 제1볼 홀더를 상기 제1볼의 평면부 방향으로 가압하는 제1홀딩라인을 포함할 수 있다.A treatment auxiliary device according to an embodiment of the present invention includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and a first at one end The adapter is coupled to move relative to each other, and the first adapter includes an adapter arm rotatably coupled to the other side of the first joint, wherein the first adapter includes a first ball tip coupled to the first joint; A first ball connected to the first ball tip and having a spherical shape and including a flat portion at least in part, a first ball holder in contact with the flat portion of the first ball, and one side connected to the first ball holder, It may include a first holding line for pressing the first ball holder in the direction of the flat portion of the first ball.
또한, 상기 제1홀딩라인의 타측에 연결된 구동부를 더 포함하고, 상기 제1볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제1홀딩라인을 통해 전달됨으로써 상기 제1볼 홀더를 상기 제1볼의 평면부 방향으로 가압할 수 있다.In addition, it further includes a driving unit connected to the other side of the first holding line, the first ball holder is the first ball holder by transferring the attractive force generated by the operation of the driving unit through the first holding line to the first ball can be pressed in the direction of the flat portion of
또한, 상기 제1볼은 상기 제1볼의 평면부에 대해 수직 방향으로 형성된 제1관통공을 포함하고, 상기 제1홀딩라인은 타측이 상기 제1관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 할 수 있다.In addition, the first ball includes a first through hole formed in a vertical direction with respect to the flat portion of the first ball, the first holding line is characterized in that the other side is connected to the driving unit through the first through hole can be done with
또한, 상기 제1관통공의 직경은 상기 제1볼의 평면부로부터 점점 좁아지도록 형성될 수 있다.In addition, the diameter of the first through hole may be formed to gradually narrow from the flat portion of the first ball.
또한, 상기 어댑터 암의 타측 단부에는 제2어댑터가 상대 운동하도록 결합되고, 상기 제2어댑터는, 상기 제1볼 팁의 방향과 교차되도록 배치되는 제2볼 팁, 상기 제2볼 팁과 연결되고 구 형상으로 형성된 제2볼, 상기 제2볼의 표면과 접촉하는 제2볼 홀더 및 일측이 상기 제2볼 홀더와 연결되고, 상기 제2볼 홀더를 상기 제2볼의 표면으로 가압하는 제2홀딩라인을 포함할 수 있다.In addition, a second adapter is coupled to the other end of the adapter arm to move relative to each other, and the second adapter includes a second ball tip disposed to intersect the direction of the first ball tip, and connected to the second ball tip. A second ball formed in a spherical shape, a second ball holder in contact with the surface of the second ball, and a second side connected to the second ball holder and pressing the second ball holder to the surface of the second ball It may include a holding line.
또한, 상기 제2홀딩라인의 타측은 상기 구동부에 연결되고, 상기 제2볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제2홀딩라인을 통해 전달됨으로써 상기 제2볼 홀더를 상기 제2볼의 표면으로 가압할 수 있다.In addition, the other side of the second holding line is connected to the driving unit, and the second ball holder transfers the attractive force generated by the operation of the driving unit through the second holding line, thereby transferring the second ball holder to the second ball. It can be pressed to the surface.
또한, 상기 제2볼 홀더는 상기 제2볼의 표면의 형상에 대응하는 곡면부를 포함할 수 있다.In addition, the second ball holder may include a curved portion corresponding to the shape of the surface of the second ball.
또한, 상기 제2홀딩라인의 일측은 복수개의 가닥으로 형성되고, 상기 제2볼을 우회하여 상기 제2볼 홀더와 연결될 수 있다.In addition, one side of the second holding line may be formed of a plurality of strands, and may bypass the second ball and be connected to the second ball holder.
또한, 상기 제2홀딩라인의 일측은 상기 제2볼 홀더를 상기 제2볼 방향으로 균일하게 가압할 수 있도록 등간격으로 제2볼 홀더와 결합될 수 있다.In addition, one side of the second holding line may be coupled to the second ball holder at equal intervals to uniformly press the second ball holder in the direction of the second ball.
또한, 상기 제2홀딩라인은 타측이 상기 제1관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 할 수 있다.In addition, the second holding line may be characterized in that the other side is connected to the driving unit through the first through hole.
또한, 상기 제2볼은 상기 제1관통공 방향으로 형성된 제2관통공을 포함하고, 상기 제2홀딩라인의 일측은 상기 제2관통공을 통과하여 상기 제2볼 홀더와 연결될 수 있다.In addition, the second ball may include a second through hole formed in the direction of the first through hole, and one side of the second holding line may be connected to the second ball holder through the second through hole.
또한, 상기 제2관통공의 직경은 제2볼의 표면에서 가장 크고 제2볼의 중심으로 갈수록 좁아지도록 형성될 수 있다.In addition, the diameter of the second through-hole may be formed to be the largest on the surface of the second ball and narrow toward the center of the second ball.
또한, 상기 구동부는 유체 압력, 자력 또는 전자기력에 의해 상기 제1홀딩라인 또는 제2홀딩라인에 인력을 가하도록 형성될 수 있다.In addition, the driving unit may be formed to apply an attractive force to the first holding line or the second holding line by fluid pressure, magnetic force, or electromagnetic force.
본 발명의 또 다른 실시예에 따른 치료 보조 기구는 베이스, 일측 단부가 상기 베이스에 결합되는 제1암, 일측이 상기 제1암의 타측 단부에 회동 가능하게 결합되는 제1조인트, 일측 단부가 상기 제1조인트의 타측에 결합되고, 타측 단부에 제3어댑터가 상대 운동 가능하게 결합된 제2어댑터 암 및 일측 단부가 상기 제3어댑터와 결합되고, 타측 단부에 제4어댑터가 상대 운동 가능하게 결합된 제3어댑터 암을 포함하고, 상기 제3어댑터는, 상기 제3어댑터 암과 결합되는 제3볼 팁, 상기 제3볼 팁과 연결되고 구 형상인 제3볼, 상기 제3볼의 표면과 접촉하는 제3볼 홀더, 상기 제3볼 홀더를 상기 제3볼을 향하여 가압하는 제3탄성체 및 일측이 상기 제3볼 홀더와 연결되고, 상기 제3볼 홀더를 상기 제3볼과 이격시키는 제3홀딩라인을 포함할 수 있다.A treatment auxiliary device according to another embodiment of the present invention includes a base, a first arm having one end coupled to the base, a first joint having one side rotatably coupled to the other end of the first arm, and one end of the A second adapter arm coupled to the other side of the first joint and to which a third adapter is coupled to the other end so as to be relatively movably coupled, and one end is coupled to the third adapter, and a fourth adapter is coupled to the other end so that relative motion is possible. a third adapter arm, wherein the third adapter includes a third ball tip coupled to the third adapter arm, a third ball connected to the third ball tip and having a spherical shape, and a surface of the third ball; A third ball holder in contact, a third elastic body pressing the third ball holder toward the third ball, and one side are connected to the third ball holder, and the third ball holder is spaced apart from the third ball It may include 3 holding lines.
또한, 상기 제3홀딩라인의 타측에 연결된 구동부를 더 포함하고, 상기 제3볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제3홀딩라인을 통해 전달됨으로써 상기 제3볼 홀더를 상기 제3볼로부터 이격시킬 수 있다.In addition, further comprising a driving unit connected to the other side of the third holding line, the third ball holder is the third ball holder by transferring the attractive force generated by the operation of the driving unit through the third holding line to the third ball can be separated from
또한, 상기 제4어댑터는, 상기 제3볼 팁의 방향과 교차되도록 배치되는 제4볼 팁, 상기 제4볼 팁과 연결되고 구 형상으로 형성된 제4볼, 상기 제4볼의 표면과 접촉하는 제4볼 홀더, 상기 제4볼 홀더를 상기 제4볼을 향하여 가압하는 제4탄성체 및 일측이 상기 제4볼 홀더와 연결되고, 상기 제4볼 홀더를 상기 제4볼과 이격시키는 제4홀딩라인을 포함할 수 있다.In addition, the fourth adapter includes a fourth ball tip disposed to cross the direction of the third ball tip, a fourth ball connected to the fourth ball tip and formed in a spherical shape, and a surface of the fourth ball in contact with A fourth ball holder, a fourth elastic body that presses the fourth ball holder toward the fourth ball, and one side are connected to the fourth ball holder, and a fourth holding that separates the fourth ball holder from the fourth ball It may contain lines.
또한, 상기 제3볼은 상기 제3볼 팁 및 상기 제3볼을 관통하도록 형성된 제3관통공을 포함하고, 상기 제4홀딩라인은 상기 제3관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 할 수 있다.In addition, the third ball includes a third through-hole formed to pass through the third ball tip and the third ball, and the fourth holding line passes through the third through-hole and is connected to the driving unit. can do.
또한, 상기 제3관통공의 직경은 상기 제3볼 팁 내에서는 직경이 일정하고, 상기 제3볼 내에서는 점점 좁아질 수 있다.In addition, the diameter of the third through hole may be constant within the tip of the third ball, and may gradually become narrower within the third ball.
또한, 상기 구동부는 유체 압력, 자력 또는 전자기력에 의해 상기 제3홀딩라인 또는 제4홀딩라인에 인력을 가하도록 형성될 수 있다.In addition, the driving unit may be formed to apply an attractive force to the third holding line or the fourth holding line by fluid pressure, magnetic force, or electromagnetic force.
또한, 상기 제3홀딩라인의 일측은 복수개의 가닥으로 형성되고, 상기 제3볼 홀더를 상기 제3탄성체 측으로 균일하게 가압할 수 있도록 등간격으로 제3볼 홀더와 결합될 수 있다.In addition, one side of the third holding line is formed of a plurality of strands, and may be coupled to the third ball holder at equal intervals to uniformly press the third ball holder toward the third elastic body.
본 발명의 일 실시예에 따른 치료 보조 기구는 치료과정에서 필요한 의료기기를 사용자의 원하는 위치에 이동시키기 용이하고, 의료기기 위치의 고정이 신속하게 이루어질 수 있다.The treatment assisting device according to an embodiment of the present invention can easily move a medical device required in a treatment process to a user's desired position, and can quickly fix the position of the medical device.
본 발명의 일 실시예에 따른 치료 보조 기구는 기존의 의료용 의자와 같은 치료 기구에 부착하여 활용하거나, 이동식의 몸체에 결합시켜 다양한 치료 환경에 범용적으로 활용될 수 있다.The treatment auxiliary device according to an embodiment of the present invention can be used by attaching to a treatment device such as an existing medical chair, or by being coupled to a movable body to be universally used in various treatment environments.
도 1은 본 발명의 일 실시예에 따른 치료 보조 기구의 사시도로서 어댑터 암을 예시적으로 나타낸 도면이다.1 is a perspective view of an auxiliary treatment device according to an embodiment of the present invention, illustrating an adapter arm.
도 2는 본 발명의 일 실시예에 따른 치료 보조 기구를 다른 각도에서 나타낸 도면이다.2 is a view showing a treatment auxiliary device according to an embodiment of the present invention from another angle.
도 3의 (a)는 본 발명의 일 실시예에 따른 어댑터 암의 분해도이고, 도 3의 (b)는 어댑터 암이 조립된 상태를 투시하여 나타낸 도면이다.Figure 3 (a) is an exploded view of the adapter arm according to an embodiment of the present invention, Figure 3 (b) is a perspective view showing the adapter arm is assembled.
도 4의 (a)는 본 발명의 또 다른 실시예에 따른 어댑터 암의 분해도이고, 도 4의 (b)는 어댑터 암이 조립된 상태를 투시하여 나타낸 도면이다.Fig. 4 (a) is an exploded view of an adapter arm according to another embodiment of the present invention, and Fig. 4 (b) is a perspective view showing an assembled state of the adapter arm.
도 5는 본 발명의 또 다른 실시예에 따른 치료 보조 기구의 사시도로서 제2어댑터 암 및 제3어댑터 암을 예시적으로 나타낸 도면이다.5 is a perspective view of a treatment assisting device according to another embodiment of the present invention, and is a view exemplarily showing a second adapter arm and a third adapter arm.
도 6의 (a)는 본 발명의 또 다른 실시예에 따른 제2어댑터 암 및 제3어댑터 암의 분해도이고, 도 6의 (b)는 제2어댑터 암 및 제3어댑터 암이 조립된 상태를 투시하여 나타낸 도면이다.6A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention, and FIG. 6B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
도 7의 (a)는 본 발명의 또 다른 실시예에 따른 제2어댑터 암 및 제3어댑터 암의 분해도이고, 도 7의 (b)는 제2어댑터 암 및 제3어댑터 암이 조립된 상태를 투시하여 나타낸 도면이다.7A is an exploded view of a second adapter arm and a third adapter arm according to another embodiment of the present invention, and FIG. 7B is an assembled state of the second adapter arm and the third adapter arm. It is a drawing showing through perspective.
도 8 내지 도 9는 본 발명의 다양한 실시예에 따라 관절의 개수가 증가된 치료 보조 기구를 나타낸 도면이다.8 to 9 are diagrams illustrating an auxiliary treatment device in which the number of joints is increased according to various embodiments of the present invention.
도 10 내지 도 12는 본 발명의 일 실시예에 따른 치료 보조 기구의 센서를 나타낸 도면이다.10 to 12 are views illustrating a sensor of a treatment auxiliary device according to an embodiment of the present invention.
도 13은 본 발명의 또 다른 실시예에 따른 치료 보조 기구의 센서를 나타낸 도면이다.13 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
도 14는 본 발명의 또 다른 실시예에 따른 치료 보조 기구의 센서를 나타낸 도면이다.14 is a diagram illustrating a sensor of a treatment auxiliary device according to another embodiment of the present invention.
도 15는 본 발명의 일 실시예에 따른 치료 보조 기구에 장착되어 활용되는 의료기기를 나타낸 도면이다.15 is a diagram illustrating a medical device used by being mounted on a treatment auxiliary device according to an embodiment of the present invention.
도 16은 본 발명의 일 실시예에 따른 치료 보조 기구에 장착되어 활용되는 또 다른 의료기기를 나타낸 도면이다.16 is a view showing another medical device mounted and utilized in a treatment auxiliary device according to an embodiment of the present invention.
이하, 본 문서의 다양한 실시예들이 첨부된 도면을 참조하여 기재된다. 실시예 및 이에 사용된 용어들은 본 문서에 기재된 기술을 특정한 실시 형태에 대해 한정하려는 것이 아니며, 해당 실시예의 다양한 변경, 균등물, 및/또는 대체물을 포함하는 것으로 이해되어야 한다. 도면의 설명과 관련하여, 유사한 구성요소에 대해서는 유사한 참조 부호가 사용될 수 있으며, 이에 대한 중복되는 설명은 생략하기로 한다. 첨부된 도면은 본 명세서에 개시된 실시 예를 쉽게 이해할 수 있도록 하기 위한 것일 뿐, 첨부된 도면에 의해 본 명세서에 개시된 기술적 사상이 제한되지 않는다.Hereinafter, various embodiments of the present document will be described with reference to the accompanying drawings. The examples and terms used therein are not intended to limit the technology described in this document to specific embodiments, and should be understood to cover various modifications, equivalents, and/or substitutions of the embodiments. In relation to the description of the drawings, similar reference numerals may be used for similar components, and redundant description thereof will be omitted. The accompanying drawings are only for making it easy to understand the embodiments disclosed in the present specification, and the technical ideas disclosed in the present specification are not limited by the accompanying drawings.
본 문서에서, "A 또는 B" 또는 "A 및/또는 B 중 적어도 하나" 등의 표현은 함께 나열된 항목들의 모든 가능한 조합을 포함할 수 있다. "제 1," "제 2," "첫째," 또는 "둘째,"등의 표현들은 해당 구성요소들을, 순서 또는 중요도에 상관없이 수식할 수 있고, 한 구성요소를 다른 구성요소와 구분하기 위해 사용될 뿐 해당 구성요소들을 한정하지 않는다. 또한, 단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함할 수 있다.In this document, expressions such as “A or B” or “at least one of A and/or B” may include all possible combinations of items listed together. Expressions such as "first," "second," "first," or "second," can modify the corresponding elements, regardless of order or importance, and to distinguish one element from another element. It is used only and does not limit the corresponding components. Also, the singular expression may include the plural expression unless the context clearly dictates otherwise.
본 문서에서, "포함한다" 또는 "가지다" 등의 용어는 명세서 상에 기재된 특징, 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.In this document, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.
도 1은 본 발명의 일 실시예에 따른 치료 보조 기구(100)의 사시도로서 어댑터 암(140)을 예시적으로 나타낸 도면이고, 도 2는 제1조인트(130) 및 제2조인트(131)를 다른 각도에서 나타낸 도면이다.FIG. 1 is a perspective view of an auxiliary treatment device 100 according to an embodiment of the present invention, illustrating an adapter arm 140 , and FIG. 2 is a first joint 130 and a second joint 131 . This is a view from a different angle.
본 발명의 일 실시예에 따른 치료 보조 기구(100)는 베이스(110), 제1조인트(130), 어댑터 암(140)을 포함할 수 있다.The treatment assistance device 100 according to an embodiment of the present invention may include a base 110 , a first joint 130 , and an adapter arm 140 .
도 1 내지 도 2의 치료 보조 기구(100)는 이동 가능한 형태의 베이스(110)에 부착되어 활용되는 예를 도시한 것이다. 베이스(110)는, 이동이 용이하도록 바퀴와 같은 이동수단이 장착되고, 본 발명의 일 실시예에 따른 치료 보조 기구(100)가 장착되어 동작하여도 넘어지지 않도록 안정적인 기반을 제공할 수 있는 형태이면 제한없이 활용될 수 있다. 예를 들어 삼각 또는 사각 형태의 지지대 또는 박스 형태 등이 활용될 수 있다. 일 실시예에 따른 치료 보조 기구(100)의 활용예를 설명함에 있어, 베이스(110) 자체가 이동하고 지지기반을 제공하는 형태에 대하여 설명하였으나, 베이스(110)가 별도로 형성되어 지지기반을 제공하는 다른 구성에 부착되는 형태로 대체될 수도 있다. 베이스(110)를 통해 치료 보조 기구(100)의 이동이 자유로워짐에 따라, 하나의 치료 보조 기구(100)를 이동시켜 다양한 장소에서 활용함으로써 치료 보조 기구(100)의 활용도를 높일 수 있다.The treatment auxiliary device 100 of FIGS. 1 to 2 is attached to the base 110 of a movable form and shows an example in which it is utilized. The base 110 is equipped with a moving means such as a wheel for easy movement, and the treatment auxiliary device 100 according to an embodiment of the present invention is mounted and operated to provide a stable base so as not to fall. This can be used without restrictions. For example, a triangular or square-shaped support or box shape may be used. In describing an example of application of the treatment auxiliary device 100 according to an embodiment, the base 110 itself moves and provides a support base, but the base 110 is formed separately to provide a support base. It may be replaced with a form attached to other components. As the movement of the treatment auxiliary device 100 becomes free through the base 110 , the utilization of the treatment auxiliary device 100 may be increased by moving one treatment auxiliary device 100 and using it in various places.
도 1 내지 도 2에서는 이동 가능하고 자체적인 지지기반을 갖는 형태의 베이스(110)에 대하여 도시하였으나, 이에 국한되지 않는다. 예를 들어 베이스(110)는 의사의 치료과정에서 환자가 착석할 수 있는 의료용 의자에 장착되어 활용되는 형태로서, 의료용 의자의 헤드레스트 또는 주변의 다양한 시설물에 베이스(110)가 장착되는 연결부품 형태일 수도 있다. 이 경우 기존에 사용하던 의료용 의자와 같은 의료 기구 또는 주변의 시설물에 치료 보조 기구(100)를 부가적으로 장착하여 활용할 수 있어 경제적이고, 범용적으로 활용될 수 있는 장점이 있다.In FIGS. 1 to 2 , the base 110 of the form having a movable and self-supporting base is illustrated, but the present invention is not limited thereto. For example, the base 110 is used by being mounted on a medical chair on which a patient can sit in the course of a doctor's treatment. may be In this case, since the treatment auxiliary device 100 can be additionally mounted to a medical device such as a previously used medical chair or a surrounding facility, it is economical and has the advantage of being universally utilized.
일 실시예에 따른 치료 보조 기구(100)는 제1암(120)과 어댑터 암(140)이 제1조인트(130)에 의해 연결되어 상호간에 회동 가능하게 연결될 수 있다. 일 실시예에 따른 제1암(120)의 일측 단부는 베이스(110)에 결합될 수 있다. 또는 제1암(120)과 베이스(110)가 제2조인트(131)에 의해 연결되어 상호간에 회동 가능하게 연결될 수 있다. 일 실시예에 따른 제1조인트(130)는 3차원 공간을 정의하는 어느 하나의 축을 따라 회전할 수 있다. 예를 들어 도 1의 도시 상태를 기준으로 X축을 따라 회전하거나, Z축을 따라 회전할 수 있다. 제1조인트(130)의 회전은 모터와 같은 동력원을 사용하여 구동시킬 수 있으며, 이와 같은 움직임은 제어부(미도시)가 다양한 센서를 통해 제어하거나, 사용자의 스위치 조작에 의해 제어될 수 있다.In the treatment auxiliary device 100 according to an embodiment, the first arm 120 and the adapter arm 140 are connected by a first joint 130 to be rotatably connected to each other. One end of the first arm 120 according to an embodiment may be coupled to the base 110 . Alternatively, the first arm 120 and the base 110 may be connected by a second joint 131 to be rotatably connected to each other. The first joint 130 according to an embodiment may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 1 . The rotation of the first joint 130 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
일 실시예에 다른 제2조인트(131) 또한 제1조인트(130)와 동일하거나 유사할 수 있다. 제2조인트(131) 또한 3차원 공간을 정의하는 어느 하나의 축을 따라 회전할 수 있으며, 도 1의 도시 상태를 기준으로 X축을 따라 회전할 수 있다. 이를 통해 치료 보조 기구(100)는 다관절 로봇 암으로 동작할 수 있다.The second joint 131 according to an embodiment may also be the same as or similar to the first joint 130 . The second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the illustrated state of FIG. 1 . Through this, the treatment auxiliary device 100 may operate as a multi-joint robot arm.
본 발명의 일 실시예에 따른 제1조인트(130) 및 제2조인트(131)의 동작 자유도는 3차원 공간을 정의하는 어느 하나의 축을 따라 증가될 수도 있고 감소될 수 있다.The degree of freedom of motion of the first joint 130 and the second joint 131 according to an embodiment of the present invention may be increased or decreased along any one axis defining a three-dimensional space.
일 실시예에 따른 제1암(120) 및 어댑터 암(140)은 소정의 길이를 갖는 막대 형상이되, 내부에 공간을 포함하는 형태의 쉘(shell) 형상일 수 있으며 그 단면의 형상은 다양하게 형성될 수 있다. 본 발명의 다양한 실시예에 따른 치료 보조 기구(100)를 설명함에 있어 발명의 이해를 돕기 위해 제1암(120)과 어댑터 암(140)이 각각 하나인 경우를 중심으로 설명하나 이에 국한되지 않는다. 예를 들어 도 1에 도시된 바와 같이 어댑터 암(140)이 제1암(120)에 대해 병렬로 복수개 부착될 수도 있으며, 제2암(미도시)을 제1암(120)과 베이스(110) 사이에 배치함으로써 로봇 암의 관절의 개수를 증가시킬 수도 있다.The first arm 120 and the adapter arm 140 according to an embodiment may have a bar shape having a predetermined length, and may have a shell shape including a space therein, and the shape of the cross-section may vary. can be formed. In the description of the treatment auxiliary device 100 according to various embodiments of the present invention, in order to help the understanding of the present invention, the first arm 120 and the adapter arm 140 will be mainly described, but the present invention is not limited thereto. . For example, as shown in FIG. 1 , a plurality of adapter arms 140 may be attached in parallel to the first arm 120 , and a second arm (not shown) may be connected to the first arm 120 and the base 110 . ), it is also possible to increase the number of joints of the robot arm.
본 발명의 다양한 실시예에 따른 치료 보조 기구(100)는 말단의 어댑터 암(140)에 도 15 내지 도 16과 함께 후술할 의료 기기를 장착하여 활용할 수 있다. 본 발명의 일 실시예에 따른 치료 보조 기구(100)는 쉽고 빠르게 의료기기를 사용자가 원하는 위치로 이동시켜 고정할 수 있다. 일 실시예에 따른 어댑터 암(140)의 양측 단부에는 볼 조인트 형태로서 자유롭게 상대 운동을 할 수 있고, 와이어를 통해 손쉽게 움직임이 고정될 수 있는 제1어댑터(160) 및 제2어댑터(170)를 배치함으로써 의료기기의 위치 이동 및 고정을 간편하게 할 수 있다. 보다 자세한 사항은 이하 도면과 함께 후술한다.The treatment assisting device 100 according to various embodiments of the present invention can be utilized by mounting a medical device to be described later along with FIGS. 15 to 16 on the distal adapter arm 140 . The treatment auxiliary device 100 according to an embodiment of the present invention can be fixed by moving the medical device to a position desired by the user quickly and easily. At both ends of the adapter arm 140 according to an embodiment, a first adapter 160 and a second adapter 170 that can freely move relative to each other in the form of a ball joint and can be easily fixed through a wire are provided. Positioning and fixing of the medical device can be simplified by positioning. More details will be described later in conjunction with the drawings.
도 3은 본 발명의 일 실시예에 따른 치료 보조 기구(100)의 어댑터 암(140)을 예시적으로 나타낸 도면이다. 구체적으로 도 3의 (a)는 어댑터 암(140)의 분해도이고, 도 3의 (b)는 어댑터 암(140)이 조립된 상태를 투시하여 나타낸 도면이다.3 is a diagram illustrating an adapter arm 140 of the treatment assistance device 100 according to an embodiment of the present invention. Specifically, FIG. 3A is an exploded view of the adapter arm 140 , and FIG. 3B is a perspective view showing the adapter arm 140 assembled.
본 발명의 일 실시예에 따른 어댑터 암(140)은 일측 단부에 상대 운동하도록 결합된 제1어댑터(160)와 타측 단부에 상대 운동하도록 결합된 제2어댑터(170)를 포함할 수 있다.The adapter arm 140 according to an embodiment of the present invention may include a first adapter 160 coupled to one end for relative motion and a second adapter 170 coupled to the other end for relative motion.
일 실시예에 따른 제1어댑터(160)는 제1볼 팁(161), 제1볼(163), 제1볼 홀더(165) 및 제1홀딩라인(167)을 포함할 수 있다. 일 실시예에 따른 제1볼 팁(161)은 제1조인트(130)와 결합되어 제1조인트(130)의 움직임에 따라 어댑터 암(140)이 함께 움직이도록 할 수 있다. 제1볼 팁(161)은 제1조인트(130)와 견고한 결합이 가능한 형태라면 제한없이 적용될 수 있으며, 예를 들어 나사 결합을 할 수 있다.The first adapter 160 according to an embodiment may include a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 . The first ball tip 161 according to an embodiment may be coupled to the first joint 130 so that the adapter arm 140 moves together according to the movement of the first joint 130 . The first ball tip 161 may be applied without limitation as long as it can be rigidly coupled to the first joint 130 , for example, screw coupling may be performed.
일 실시예에 따른 제1볼(163)은 제1볼 팁(161)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 제1볼(163)이 구형으로 형성됨으로써 어댑터 암(140)의 일측 단부에서 자유로운 상대 이동이 가능할 수 있다. 보다 구체적으로 어댑터 암(140) 일측 단부의 개방된 부분과 제1볼 팁(161)이 서로 간섭되지 않는 범위 내에서는 다양한 형태의 상대 운동을 할 수 있다. 예를 들어 어댑터 암(140)의 길이방향 축에 대하여 피칭(pitching), 요잉(yawing), 롤링(rolling)이 가능하다. 제1볼(163)은 적어도 일부에 형성된 평면부(163a)를 포함할 수 있다. 예를 들어 평면부(163a)는 제1볼 팁(161)의 연장 방향이 평면부(163a)에 대하여 수직이 되도록하는 위치에 형성될 수 있다. 즉, 제1볼(163)의 중심에 대해서 제1볼 팁(161)과 반대방향에 형성될 수 있다. 이를 통해 제1볼 팁(161)의 자유로운 상대 운동에 영향을 최소화할 수 있다. 일 실시예에 따른 제1볼(163)은 제1관통공(164)을 포함할 수 있다. 제1관통공(164)은 평면부(163a)에 대해서 수직이 되도록 형성될 수 있고 제1볼(163)과 제1볼 팁(161)을 관통하도록 형성될 수 있다. 제1관통공(164)은 평면부(163a)에서 직경이 가장 크고 제1볼 팁(161) 방향으로 연장되면서 직경이 감소하도록 형성될 수 있다. 즉, 제1관통공(164)은 원뿔 형태로 형성될 수 있다.The first ball 163 according to an embodiment may be connected to the first ball tip 161 and may be formed in a spherical shape as a whole. Since the first ball 163 is formed in a spherical shape, free relative movement may be possible at one end of the adapter arm 140 . More specifically, within a range where the open portion of one end of the adapter arm 140 and the first ball tip 161 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible. The first ball 163 may include a flat portion 163a formed at least in part. For example, the flat portion 163a may be formed at a position such that the extending direction of the first ball tip 161 is perpendicular to the flat portion 163a. That is, it may be formed in a direction opposite to the first ball tip 161 with respect to the center of the first ball 163 . Through this, the influence on the free relative motion of the first ball tip 161 can be minimized. The first ball 163 according to an embodiment may include a first through hole 164 . The first through hole 164 may be formed to be perpendicular to the flat portion 163a and may be formed to pass through the first ball 163 and the first ball tip 161 . The first through hole 164 may be formed to have the largest diameter in the planar portion 163a and to decrease in diameter while extending in the direction of the first ball tip 161 . That is, the first through hole 164 may be formed in a cone shape.
일 실시예에 따른 제1볼 홀더(165)는 제1볼(163)의 평면부(163a)와 접촉하도록 형성될 수 있다. 제1볼 홀더(165)는 평면부(163a)의 면적보다는 크게 형성될 수 있으며, 후술하는 제1홀딩라인(167)의 작용에 따라 평면부(163a)를 가압할 수 있다.The first ball holder 165 according to an embodiment may be formed to contact the flat portion 163a of the first ball 163 . The first ball holder 165 may be formed to be larger than the area of the flat portion 163a, and may press the flat portion 163a according to the action of the first holding line 167 to be described later.
일 실시예에 따른 제1홀딩라인(167)은 일측이 상기 제1볼 홀더(165)와 연결되고 타측은 구동부(190)와 연결될 수 있다. 구동부(190)는 제1홀딩라인(167)에 인력을 가할 수 있는 구성이면 다양하게 적용될 수 있으며, 예를 들어 모터를 통해 제1홀딩라인(167)을 권취하는 형태일 수 있다. 제1홀딩라인(167)의 일측은 제1볼(163)의 제1관통공(164)을 통과하여 제1볼 홀더(165)와 연결될 수 있다. 이 상태에서 구동부(190)가 동작하여 제1홀딩라인(167)을 권취하게 되면, 인력이 제1볼 홀더(165)에 전달되고 제1볼(163)의 평면부(163a)를 가압하여 제1볼(163)의 움직임을 고정할 수 있다. 반대로 구동부(190)의 동작이 정지되거나 반대로 작용하는 경우 제1홀딩라인(167)에 작용하는 장력이 해제되어 제1볼 홀더(165)는 제1볼(163)의 평면부(163a)를 가압하는 힘을 잃게 된다. 이때 제1볼(163)은 다시 자유롭게 상대 운동할 수 있다. 이때 제1볼(163)의 제1관통공(164)은 평면부(163a)측 직경이 크게 형성됨으로써 제1홀딩라인(167)이 제1볼(163)의 움직임을 의도하지 않게 제한하는 것을 방지할 수 있다.The first holding line 167 according to an embodiment may have one side connected to the first ball holder 165 and the other side connected to the driving unit 190 . The driving unit 190 may be variously applied as long as it has a configuration capable of applying attractive force to the first holding line 167 , and for example, may be in the form of winding the first holding line 167 through a motor. One side of the first holding line 167 may pass through the first through hole 164 of the first ball 163 to be connected to the first ball holder 165 . When the driving unit 190 operates in this state to wind the first holding line 167 , the attractive force is transferred to the first ball holder 165 and presses the flat portion 163a of the first ball 163 to make the first 1 The movement of the ball 163 can be fixed. Conversely, when the operation of the driving unit 190 is stopped or acts in the opposite direction, the tension acting on the first holding line 167 is released, so that the first ball holder 165 presses the flat portion 163a of the first ball 163 . lose the power to At this time, the first ball 163 can freely move relative again. At this time, the first through hole 164 of the first ball 163 is formed to have a large diameter on the side of the flat portion 163a, so that the first holding line 167 unintentionally restricts the movement of the first ball 163. can be prevented
일 실시예에 따른 제2어댑터(170)는 제2볼 팁(171), 제2볼(173), 제2볼 홀더(175) 및 제2홀딩라인(177)을 포함할 수 있다. 일 실시예에 따른 제2볼 팁(171)은 후술할 의료기기와 결합될 수 있다. 제2볼 팁(171)은 의료기기와 견고한 결합이 가능한 형태라면 제한없이 적용될 수 있다. 제2볼 팁(171)의 형성방향은 제1볼 팁(161)의 형성 방향과 비교하여 나란하지 않고 서로 교차하도록 형성될 수 있다. 예를 들어 도 3에 도시된 바와 같이 수직이 되도록 배치될 수 있다.The second adapter 170 according to an embodiment may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 . The second ball tip 171 according to an embodiment may be combined with a medical device to be described later. The second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device. The formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 3 , it may be disposed to be vertical.
일 실시예에 따른 제2볼(173)은 제2볼 팁(171)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 제2볼(173)이 구형으로 형성됨으로써 어댑터 암(140)의 타측 단부에서 자유로운 상대 이동이 가능할 수 있다. 보다 구체적으로 어댑터 암(140) 타측 단부의 개방된 부분과 제2볼 팁(171)이 서로 간섭되지 않는 범위 내에서는 다양한 형태의 상대 운동을 할 수 있다.The second ball 173 according to an embodiment is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed.
일 실시예에 따른 제2볼 홀더(175)는 제2볼(173)의 표면의 적어도 일부와 접촉하도록 형성될 수 있다. 제2볼 홀더(175)는 제2볼(173)의 표면 형상에 대응하는 곡면부(175a)를 포함할 수 있다. 후술하는 제2홀딩라인(177)의 작용에 따라 제2볼(173)의 표면의 적어도 일부를 가압할 때, 곡면부(175a)를 통해 고르게 제2볼(173)의 표면을 가압할 수 있다.The second ball holder 175 according to an embodiment may be formed to contact at least a portion of the surface of the second ball 173 . The second ball holder 175 may include a curved portion 175a corresponding to the surface shape of the second ball 173 . When at least a portion of the surface of the second ball 173 is pressed according to the action of the second holding line 177 to be described later, the surface of the second ball 173 may be evenly pressed through the curved portion 175a. .
일 실시예에 따른 제2홀딩라인(177)은 일측이 상기 제2볼 홀더(175)와 연결되고 타측은 제1볼(163)의 제1관통공(164)을 통과하여 구동부(190)와 연결될 수 있다. 구동부(190)는 제1홀딩라인(167)과 마찬가지로 제2홀딩라인(177)에 인력을 가할 수 있는 구성이면 다양하게 적용될 수 있으며, 예를 들어 모터를 통해 제2홀딩라인(177)을 권취하는 형태일 수 있다. 구동부(190)는 제1홀딩라인(167)과 제2홀딩라인(177)에 각각 배치될 수도 있고 하나의 구동부(190)에 연결될 수도 있다. 제2홀딩라인(177)의 일측은 복수개의 가닥으로 형성되고, 제2볼(173)을 우회하여 제2볼 홀더(175)와 연결될 수 있다. 제2홀딩라인(177)의 일측에 형성된 복수개의 가닥은 제2볼 홀더(175)에 균일한 힘을 전달하여 제2볼(173)을 균일하게 가압할 수 있도록 제2볼 홀더(175)와 결합될 수 있다. 예를 들어 제2볼(173)의 제2볼 홀더(175)의 접촉면을 중심으로 등간격으로 결합될 수 있다.The second holding line 177 according to an embodiment has one side connected to the second ball holder 175 and the other side passing through the first through hole 164 of the first ball 163 to form a driving unit 190 and can be connected The driving unit 190 can be variously applied as long as it has a configuration that can apply an attractive force to the second holding line 177 like the first holding line 167 , and for example, winds the second holding line 177 through a motor. It may be in the form it takes. The driving unit 190 may be respectively disposed on the first holding line 167 and the second holding line 177 , or may be connected to one driving unit 190 . One side of the second holding line 177 may be formed of a plurality of strands, and may bypass the second ball 173 and be connected to the second ball holder 175 . The plurality of strands formed on one side of the second holding line 177 transmits a uniform force to the second ball holder 175 to uniformly press the second ball 173 with the second ball holder 175 and can be combined. For example, the second ball 173 may be coupled at equal intervals with respect to the contact surface of the second ball holder 175 .
이 상태에서 구동부(190)가 동작하여 제2홀딩라인(177)을 권취하게 되면, 인력이 제2볼 홀더(175)에 전달되고 제2볼 홀더(175)의 곡면부(175a)가 제2볼(173)의 표면을 균일하게 가압하여 제2볼(173)의 움직임을 고정할 수 있다. 반대로 구동부(190)의 동작이 정지되거나 반대로 작용하는 경우 제2홀딩라인(177)에 작용하는 장력이 해제되어 제2볼 홀더(175)는 제2볼(173)을 가압하는 힘을 잃게 된다. 이때 제2볼(173)은 다시 자유롭게 상대 운동할 수 있다. 일 실시예에 따른 제1홀딩라인(167)과 제2홀딩라인(177)에는 동시에 장력이 가해질 수도 있고, 이시에 장력이 가해질 수도 있다.In this state, when the driving unit 190 operates to wind the second holding line 177 , the attractive force is transmitted to the second ball holder 175 and the curved portion 175a of the second ball holder 175 is moved to the second holding line 177 . The movement of the second ball 173 may be fixed by uniformly pressing the surface of the ball 173 . Conversely, when the operation of the driving unit 190 is stopped or acts in the opposite direction, the tension acting on the second holding line 177 is released, so that the second ball holder 175 loses the force for pressing the second ball 173 . At this time, the second ball 173 can freely move relative again. Tension may be simultaneously applied to the first holding line 167 and the second holding line 177 according to an embodiment, or tension may be applied at this time.
도 4는 본 발명의 또 다른 실시예에 따른 치료 보조 기구(100)의 어댑터 암(140)을 예시적으로 나타낸 도면이다. 구체적으로 도 4의 (a)는 어댑터 암(140)의 분해도이고, 도 4의 (b)는 어댑터 암(140)이 조립된 상태를 투시하여 나타낸 도면이다.4 is a view exemplarily showing the adapter arm 140 of the treatment assisting device 100 according to another embodiment of the present invention. Specifically, FIG. 4A is an exploded view of the adapter arm 140 , and FIG. 4B is a perspective view showing the adapter arm 140 assembled.
본 발명의 또 다른 실시예에 따른 치료 보조 기구(100)의 어댑터 암(140)은 도 3과 마찬가지로 일측 단부에 상대 운동하도록 결합된 제1어댑터(160)와 타측 단부에 상대 운동하도록 결합된 제2어댑터(170)를 포함할 수 있으며, 제1어댑터(160)는 제1볼 팁(161), 제1볼(163), 제1볼 홀더(165) 및 제1홀딩라인(167)을 포함할 수 있다.The adapter arm 140 of the treatment assistance device 100 according to another embodiment of the present invention includes a first adapter 160 coupled to one end to move relative to one end and a second adapter arm coupled to the other end to move relative to the other end, as in FIG. 3 . Two adapters 170 may be included, and the first adapter 160 includes a first ball tip 161 , a first ball 163 , a first ball holder 165 , and a first holding line 167 . can do.
다만 본 발명의 또 다른 실시예에 따른 제2어댑터(170)의 형상에 있어 차이점이 있을 수 있다. 또 다른 실시예에 따른 제2어댑터(170)는 제2볼 팁(171), 제2볼(173), 제2볼 홀더(175) 및 제2홀딩라인(177)을 포함할 수 있다.However, there may be differences in the shape of the second adapter 170 according to another embodiment of the present invention. The second adapter 170 according to another embodiment may include a second ball tip 171 , a second ball 173 , a second ball holder 175 , and a second holding line 177 .
또 다른 실시예에 따른 제2볼 팁(171)은 후술할 의료기기와 결합될 수 있다. 제2볼 팁(171)은 의료기기와 견고한 결합이 가능한 형태라면 제한없이 적용될 수 있다. 제2볼 팁(171)의 형성 방향은 제1볼 팁(161)의 형성 방향과 비교하여 나란하지 않고 서로 교차하도록 형성될 수 있다. 예를 들어 도 4에 도시된 바와 같이 수직이 되도록 배치될 수 있다.The second ball tip 171 according to another embodiment may be combined with a medical device to be described later. The second ball tip 171 may be applied without limitation as long as it can be rigidly coupled to a medical device. The formation direction of the second ball tip 171 may be formed to cross each other rather than parallel to the formation direction of the first ball tip 161 . For example, as shown in FIG. 4 , it may be arranged to be vertical.
또 다른 실시예에 따른 제2볼(173)은 제2볼 팁(171)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 제2볼(173)이 구형으로 형성됨으로써 어댑터 암(140)의 타측 단부에서 자유로운 상대 이동이 가능할 수 있다. 보다 구체적으로 어댑터 암(140) 타측 단부의 개방된 부분과 제2볼 팁(171)이 서로 간섭되지 않는 범위 내에서는 다양한 형태의 상대 운동을 할 수 있다. 예를 들어 어댑터 암(140)의 길이방향 축에 대하여 피칭(pitching), 요잉(yawing), 롤링(rolling)이 가능하다. 또 다른 실시예에 따른 제2볼(173)은 제2관통공(174)을 포함할 수 있다. 제2관통공(174)은 제2볼 팁(171)의 방향과 교차하도록 형성될 수 있다. 예를 들어 도 4에 도시된 바와 같이 제2볼 팁(171)의 방향과 수직이 되도록 형성될 수 있다. 제2관통공(174)은 평면부(173a)에서 직경이 가장 크고 제2볼(173)의 중심 방향으로 연장되면서 직경이 감소하다가 다시 증가하도록 형성될 수 있다. 즉, 제2관통공(174)은 절구와 같은 형태로 형성될 수 있다.The second ball 173 according to another embodiment is connected to the second ball tip 171 and may be formed in a spherical shape as a whole. Since the second ball 173 is formed in a spherical shape, free relative movement may be possible at the other end of the adapter arm 140 . More specifically, within a range where the open portion of the other end of the adapter arm 140 and the second ball tip 171 do not interfere with each other, various types of relative motion may be performed. For example, pitching, yawing, and rolling about the longitudinal axis of the adapter arm 140 are possible. The second ball 173 according to another embodiment may include a second through hole 174 . The second through hole 174 may be formed to cross the direction of the second ball tip 171 . For example, as shown in FIG. 4 , it may be formed to be perpendicular to the direction of the second ball tip 171 . The second through hole 174 may be formed to have the largest diameter in the flat portion 173a and to decrease and then increase again while extending in the center direction of the second ball 173 . That is, the second through hole 174 may be formed in a shape such as a mortar.
또 다른 실시예에 따른 제2볼 홀더(175)는 제2볼(173)의 평면부(173a)와 접촉하도록 형성될 수 있다. 제2볼 홀더(175)는 제2관통공(174)의 크기보다 크게 형성될 수 있으며, 후술하는 제2홀딩라인(177)의 작용에 따라 제2볼(173)의 평면부(173a)를 가압할 수 있다.The second ball holder 175 according to another embodiment may be formed to contact the flat portion 173a of the second ball 173 . The second ball holder 175 may be formed to be larger than the size of the second through hole 174, and the flat portion 173a of the second ball 173 may be formed according to the action of the second holding line 177 to be described later. can be pressurized.
또 다른 실시예에 따른 제2홀딩라인(177)은 일측이 상기 제2볼 홀더(175)와 연결되고 타측은 제1관통공(164)을 통과하여 구동부(190)와 연결될 수 있다. 제2홀딩라인(177)의 일측은 제2볼(173)의 제2관통공(174)을 통과하여 제2볼 홀더(175)와 연결될 수 있다. 이 상태에서 구동부(190)가 동작하여 제2홀딩라인(177)을 권취하게 되면, 인력이 제2볼 홀더(175)에 전달되고 제2볼(173)의 표면을 가압하여 제2볼(173)의 움직임을 고정할 수 있다. 반대로 구동부(190)의 동작이 정지되거나 반대로 작용하는 경우 제2볼(173)은 다시 자유롭게 상대 운동할 수 있다. 이 때 제2관통공(174)은 제2볼(173)의 표면부분에서의 직경이 크게 형성됨으로써 제2홀딩라인(177)이 제2볼(173)의 움직임을 의도하지 않게 제한하는 것을 방지할 수 있다. 또 다른 실시예에 따른 제1홀딩라인(167)과 제2홀딩라인(177)에는 동시에 장력이 가해질 수도 있고, 이시에 장력이 가해질 수도 있다.The second holding line 177 according to another embodiment may have one side connected to the second ball holder 175 and the other side connected to the driving unit 190 through the first through hole 164 . One side of the second holding line 177 may pass through the second through hole 174 of the second ball 173 to be connected to the second ball holder 175 . When the driving unit 190 operates in this state to wind the second holding line 177 , the attractive force is transferred to the second ball holder 175 and presses the surface of the second ball 173 to the second ball 173 . ) can be fixed. Conversely, when the operation of the driving unit 190 is stopped or acts in the opposite direction, the second ball 173 may freely move relative again. At this time, the second through hole 174 has a large diameter at the surface portion of the second ball 173 to prevent the second holding line 177 from limiting the movement of the second ball 173 unintentionally. can do. Tension may be simultaneously applied to the first holding line 167 and the second holding line 177 according to another embodiment, or tension may be applied at this time.
도 5는 본 발명의 또 다른 실시예에 따른 치료 보조 기구(200)의 사시도로서 제2어댑터 암(240) 및 제3어댑터 암(250)의 움직임을 예시적으로 나타낸 도면이다.FIG. 5 is a perspective view of the treatment assisting device 200 according to another embodiment of the present invention, and is a view exemplarily showing movements of the second adapter arm 240 and the third adapter arm 250 .
본 발명의 또 다른 실시예에 따른 치료 보조 기구(200)는 베이스(270), 제1조인트(230), 제2어댑터 암(240) 및 제3어댑터 암(250)을 포함할 수 있다.The treatment auxiliary device 200 according to another embodiment of the present invention may include a base 270 , a first joint 230 , a second adapter arm 240 , and a third adapter arm 250 .
또 다른 실시예에 따른 치료 보조 기구(200)는 제1암(120)과 제2어댑터 암(240)이 제1조인트(230)에 의해 연결되고, 제3어댑터 암(250)이 제3어댑터(260)에 의해 제2어댑터 암(240)과 상대 운동 가능하게 연결될 수 있다. 또 다른 실시예에 따른 제1암(120)의 일측 단부는 베이스(270)에 결합될 수 있다. 또는 제2조인트(131)에 의해 연결되어 상호간에 회동 가능하게 연결될 수 있다. 또 다른 실시예에 따른 제1조인트(230)는 3차원 공간을 정의하는 어느 하나의 축을 따라 회전할 수 있다. 예를 들어 도 5의 도시 상태를 기준으로 X축을 따라 회전하거나, Z축을 따라 회전할 수 있다. 제1조인트(230)의 회전은 모터와 같은 동력원을 사용하여 구동시킬 수 있으며, 이와 같은 움직임은 제어부(미도시)가 다양한 센서를 통해 제어하거나, 사용자의 스위치 조작에 의해 제어될 수 있다.In the treatment assisting device 200 according to another embodiment, the first arm 120 and the second adapter arm 240 are connected by a first joint 230 , and the third adapter arm 250 is the third adapter. The second adapter arm 240 and the second adapter arm 240 may be connected relative to each other by a 260 . One end of the first arm 120 according to another embodiment may be coupled to the base 270 . Alternatively, they may be connected by the second joint 131 to be rotatably connected to each other. The first joint 230 according to another embodiment may rotate along any one axis defining a three-dimensional space. For example, it may rotate along the X-axis or along the Z-axis based on the illustrated state of FIG. 5 . The rotation of the first joint 230 may be driven using a power source such as a motor, and such movement may be controlled by a controller (not shown) through various sensors or by a user's switch operation.
또 다른 실시예에 다른 제2조인트(131) 또한 제1조인트(230)와 동일하거나 유사할 수 있다. 제2조인트(131) 또한 3차원 공간을 정의하는 어느 하나의 축을 따라 회전할 수 있으며, 도 5의 도시 상태를 기준으로 X축을 따라 회전할 수 있다. The second joint 131 according to another embodiment may also be the same as or similar to the first joint 230 . The second joint 131 may also rotate along any one axis defining a three-dimensional space, and may rotate along the X axis based on the state illustrated in FIG. 5 .
또 다른 실시예에 따른 제3어댑터(260)는 제2어댑터 암(240)과 제3어댑터 암(250)을 상대 운동 가능하도록 연결시킬 수 있다. 예를 들어 제2어댑터 암(240)의 길이방향 축에 대하여 제3어댑터 암(250)이 피칭(pitching), 요잉(yawing), 롤링(rolling) 운동이 가능할 수 있다. 이와 같이 복합적인 움직임을 통해 치료 보조 기구(200)는 다관절 로봇 암으로 동작할 수 있다.The third adapter 260 according to another embodiment may connect the second adapter arm 240 and the third adapter arm 250 to be movable relative to each other. For example, the third adapter arm 250 may be capable of pitching, yawing, and rolling motions with respect to the longitudinal axis of the second adapter arm 240 . Through such complex movements, the treatment assisting device 200 may operate as a multi-joint robot arm.
본 발명의 또 다른 실시예에 따른 제1조인트(230) 및 제2조인트(131)의 동작 자유도는 3차원 공간을 정의하는 어느 하나의 축을 따라 증가될 수도 있고 감소될 수 있다.The degree of freedom of motion of the first joint 230 and the second joint 131 according to another embodiment of the present invention may be increased or decreased along any one axis defining a three-dimensional space.
또 다른 실시예에 따른 제1암(120), 제2어댑터 암(240) 및 제3어댑터 암(250)은 소정의 길이를 갖는 막대 형상이되, 내부에 공간을 포함하는 형태의 쉘(shell) 형상일 수 있으며 그 단면의 형상은 다양하게 형성될 수 있다. 본 발명의 다양한 실시예에 따른 치료 보조 기구(200)를 설명함에 있어 발명의 이해를 돕기 위하여 제1암(220), 제2어댑터 암(240) 및 제3어댑터 암(250)이 각각 하나인 경우를 중심으로 설명하나 이에 국한되지 않는다. 예를 들어 도 5에 도시된 바와 같이 제2어댑터 암(240) 및 제3어댑터 암(250)이 제1암(220)에 대해 병렬로 복수개 부착될 수도 있으며, 제2암(미도시)을 제1암(220)과 베이스(270) 사이에 배치함으로써 로봇 암의 관절의 개수를 증가시킬 수도 있다.The first arm 120 , the second adapter arm 240 , and the third adapter arm 250 according to another exemplary embodiment have a bar shape having a predetermined length, and include a space therein. ) shape, and the shape of the cross-section may be formed in various ways. In explaining the treatment auxiliary device 200 according to various embodiments of the present invention, the first arm 220 , the second adapter arm 240 , and the third adapter arm 250 are each one in order to help the understanding of the invention. The description is focused on cases, but is not limited thereto. For example, as shown in FIG. 5 , a plurality of second adapter arms 240 and third adapter arms 250 may be attached in parallel with respect to the first arm 220 , and a second arm (not shown) may be attached. By disposing between the first arm 220 and the base 270, the number of joints of the robot arm may be increased.
도 6은 본 발명의 또 다른 실시예에 따른 치료 보조 기구(200)의 제2어댑터 암(240) 및 제3어댑터 암(250)을 예시적으로 나타낸 도면이다. 구체적으로 도 6의 (a)는 제2어댑터 암(240) 및 제3어댑터 암(250)의 분해도이고, 도 6의 (b)는 제2어댑터 암(240) 및 제3어댑터 암(250)이 조립된 상태를 투시하여 나타낸 도면이다.6 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 200 according to another embodiment of the present invention. Specifically, FIG. 6A is an exploded view of the second adapter arm 240 and the third adapter arm 250 , and FIG. 6B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
본 발명의 일 실시예에 따른 제2어댑터 암(240)은 일측 단부가 제1조인트(230)에 결합되고, 타측 단부에는 제3어댑터(260)가 상대 운동하도록 결합될 수 있다. 제2어댑터 암(240)은 제1조인트(230)의 움직임에 따라 함께 움직일 수 있다.One end of the second adapter arm 240 according to an embodiment of the present invention may be coupled to the first joint 230 , and the third adapter 260 may be coupled to the other end to allow relative movement. The second adapter arm 240 may move together with the movement of the first joint 230 .
일 실시예에 따른 제3어댑터(260)는 제3볼 팁(261), 제3볼(263), 제3볼 홀더(265), 제3탄성체(269) 및 제3홀딩라인(267)을 포함할 수 있다.The third adapter 260 according to an embodiment connects the third ball tip 261 , the third ball 263 , the third ball holder 265 , the third elastic body 269 and the third holding line 267 . may include
일 실시예에 따른 제3볼 팁(261)은 제3어댑터 암(250)의 일측 단부와 결합될 수 있다. 제3볼 팁(261)은 제3어댑터 암(250)과 견고한 결합이 가능한 형태라면 제한없이 적용될 수 있으며, 예를 들어 나사 결합을 할 수 있다. 제3볼 팁(261)과 제3어댑터 암(250)의 일측 단부가 결합되는 부분은 자바라 튜브(262) 등으로 감싸져 직접 노출되지 않도록 할 수 있다.The third ball tip 261 according to an embodiment may be coupled to one end of the third adapter arm 250 . The third ball tip 261 can be applied without limitation as long as it can be rigidly coupled to the third adapter arm 250 , and for example, screw coupling can be performed. A portion to which the third ball tip 261 and one end of the third adapter arm 250 are coupled may be wrapped with a bellows tube 262 or the like so as not to be directly exposed.
일 실시예에 따른 제3볼(263)은 제3볼 팁(261)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 제3볼(263)이 구형으로 형성됨으로써 제2어댑터 암(240)의 타측 단부에서 자유로운 상대 이동이 가능할 수 있다. 보다 구체적으로 제2어댑터 암(240) 타측 단부의 개방된 부분과 제3볼 팁(261)이 서로 간섭되지 않는 범위 내에서는 다양한 형태의 상대 운동을 할 수 있다. 예를 들어 제2어댑터 암(240)의 길이방향 축에 대하여 피칭(pitching), 요잉(yawing), 롤링(rolling)이 가능하다. 이에 따라 제3어댑터 암(250)이 제2어댑터 암(240)의 길이방향 축에 대하여 피칭(pitching), 요잉(yawing), 롤링(rolling)이 가능하다. The third ball 263 according to an embodiment is connected to the third ball tip 261 and may be formed in a spherical shape as a whole. Since the third ball 263 is formed in a spherical shape, free relative movement may be possible at the other end of the second adapter arm 240 . More specifically, within a range where the open portion of the other end of the second adapter arm 240 and the third ball tip 261 do not interfere with each other, various types of relative motion can be performed. For example, pitching, yawing, and rolling are possible with respect to the longitudinal axis of the second adapter arm 240 . Accordingly, pitching, yawing, and rolling of the third adapter arm 250 with respect to the longitudinal axis of the second adapter arm 240 are possible.
일 실시예에 따른 제3볼 홀더(265)는 제3볼(263)의 표면과 접촉하도록 형성될 수 있다. 보다 구체적으로 제3볼 홀더(265)는 제3볼(263)을 중심으로 제3볼 팁(261)의 반대방향에 위치할 수 있다. 제3볼 홀더(265)는 후술하는 제3탄성체(269)의 작용에 따라 제3볼(263)의 표면을 가압할 수 있고, 제3홀딩라인(267)의 작용에 따라 제3볼(263)의 표면으로부터 이격 될 수 있다.The third ball holder 265 according to an embodiment may be formed to contact the surface of the third ball 263 . More specifically, the third ball holder 265 may be located in the opposite direction of the third ball tip 261 with respect to the third ball 263 . The third ball holder 265 may press the surface of the third ball 263 according to the action of the third elastic body 269 to be described later, and the third ball 263 according to the action of the third holding line 267 . ) can be separated from the surface of
일 실시예에 따른 제3탄성체(269)는 제3볼 홀더(265)를 제3볼(263)의 표면을 향해 가압할 수 있다. 제3탄성체(269)의 탄성력은 제3어댑터(260)의 움직임을 고정할 수 있는 정도의 크기면 충분하다. 제3탄성체(269)는 예를 들어 스프링이 사용될 수 있으며 이 이외에도 제3볼 홀더(265)를 제3볼(263)의 표면을 향해 가압할 수 있도록 형성된 구성이면 자유롭게 적용될 수 있다.The third elastic body 269 according to an embodiment may press the third ball holder 265 toward the surface of the third ball 263 . The elastic force of the third elastic body 269 is sufficient if it is large enough to fix the movement of the third adapter 260 . The third elastic body 269 may be, for example, a spring, and in addition to this, if it is configured to press the third ball holder 265 toward the surface of the third ball 263, it may be freely applied.
일 실시예에 따른 제3홀딩라인(267)은 일측이 상기 제3볼 홀더(265)와 연결되고 타측은 구동부(290)와 연결될 수 있다. 구동부(290)는 제3홀딩라인(267)에 장력을 형성할 수 있는 구성이면 다양하게 적용될 수 있으며, 예를 들어 모터를 통해 제3홀딩라인(267)을 권취하는 형태일 수 있다. 구동부(290)가 동작하여 제3홀딩라인(267)을 권취하게 되면, 장력이 제3볼 홀더(265)에 전달되고 제3볼 홀더(265)는 제3탄성체(269)를 압축시켜 제3볼(263)의 표면의 가압하는 힘이 줄어들도록 할 수 있다. 반대로 구동부(290)의 동작이 정지되거나 반대로 작용하는 경우 제3홀딩라인(267)에 작용하는 장력이 해제되어 제3탄성체(269)를 압축시키는 힘을 잃게 된다. 이에 따라 제3탄성체(269)의 탄성력은 제3볼 홀더(265)를 제3볼(263)의 표면 방향으로 가압하게 되고 제3볼(263)은 고정될 수 있다.The third holding line 267 according to an embodiment may have one side connected to the third ball holder 265 and the other side connected to the driving unit 290 . The driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the third holding line 267 , and for example, may be in the form of winding the third holding line 267 through a motor. When the driving unit 290 operates to wind the third holding line 267 , the tension is transmitted to the third ball holder 265 , and the third ball holder 265 compresses the third elastic body 269 to make the third It is possible to reduce the pressing force of the surface of the ball 263 . Conversely, when the operation of the driving unit 290 is stopped or acts in the opposite direction, the tension acting on the third holding line 267 is released and the force for compressing the third elastic body 269 is lost. Accordingly, the elastic force of the third elastic body 269 may press the third ball holder 265 toward the surface of the third ball 263 , and the third ball 263 may be fixed.
일 실시예에 따른 구동부(290)는 제3홀딩라인(267)에 가해지는 장력을 조절하여 제3탄성체(269)를 압축시키는 힘을 조절할 수 있다. 예를 들어 제3어댑터(260)에 연결되는 제3어댑터 암(250) 및 의료기기의 하중을 고려하여, 이를 지지할 수 있는 최소한의 힘만이 제3볼(263)에 전달되도록 제3탄성체(269)를 압축시키는 힘을 조절할 수 있다. 이 경우 의료기기의 위치를 조절하기 위해 제3어댑터(260) 및 제4어댑터(270)의 고정을 해제하더라도 제3어댑터 암(250) 및 의료기기의 하중에 의하여 갑작스럽게 처지는 것을 방지할 수 있고 의료기기를 이동시키는 과정에서 하중에 의한 부담을 경감시킬 수 있다.The driving unit 290 according to an embodiment may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the third holding line 267 . For example, in consideration of the load of the third adapter arm 250 and the medical device connected to the third adapter 260, the third elastic body ( 269) can be adjusted. In this case, even if the third adapter 260 and the fourth adapter 270 are released to adjust the position of the medical device, sudden sagging due to the load of the third adapter arm 250 and the medical device can be prevented. It is possible to reduce the burden caused by the load in the process of moving the medical device.
일 실시예에 따른 제3홀딩라인(267)의 일측은 복수개의 가닥으로 형성될 수 있다. 제3홀딩라인(267)의 일측에 형성된 복수개의 가닥은 제3볼 홀더(265)에 균일한 힘을 전달하여 제3탄성체(269)를 균일하게 가압할 수 있도록 제3볼 홀더(265)와 결합될 수 있다. 예를 들어 제3볼(263)의 중심점을 기준으로 동일한 원 내에서 등간격으로 결합될 수 있다.One side of the third holding line 267 according to an embodiment may be formed of a plurality of strands. The plurality of strands formed on one side of the third holding line 267 transmits a uniform force to the third ball holder 265 to uniformly press the third elastic body 269 with the third ball holder 265 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the third ball 263 .
본 발명의 일 실시예에 따른 제3어댑터 암(250)은 일측 단부가 제3볼 팁(261)에 결합되고, 타측 단부는 제4어댑터(270)가 상대 운동하도록 결합될 수 있다. One end of the third adapter arm 250 according to an embodiment of the present invention may be coupled to the third ball tip 261, and the other end may be coupled to the fourth adapter 270 for relative movement.
일 실시예에 따른 제4어댑터(270)는 제4볼 팁(271), 제4볼(273), 제4볼 홀더(275), 제4탄성체(279) 및 제4홀딩라인(277)을 포함할 수 있다.The fourth adapter 270 according to an embodiment includes the fourth ball tip 271 , the fourth ball 273 , the fourth ball holder 275 , the fourth elastic body 279 and the fourth holding line 277 . may include
일 실시예에 따른 제4볼 팁(271)은 후술할 의료기기와 결합될 수 있다. 제4볼 팁(271)은 의료기기와 견고한 결합이 가능한 형태라면 제한없이 적용될 수 있다. 제4볼 팁(271)의 형성방향은 제4볼 팁(271)의 형성 방향과 비교하여 나란하지 않고 서로 교차하도록 형성될 수 있다. 예를 들어 도 6에 도시된 바와 같이 수직이 되도록 배치될 수 있다.The fourth ball tip 271 according to an embodiment may be combined with a medical device to be described later. The fourth ball tip 271 may be applied without limitation as long as it is a form that can be rigidly coupled to a medical device. The formation direction of the fourth ball tip 271 may be formed to cross each other rather than parallel to the formation direction of the fourth ball tip 271 . For example, as shown in FIG. 6 , it may be disposed to be vertical.
일 실시예에 따른 제4볼(273)은 제4볼 팁(271)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 제4볼(273)이 구형으로 형성됨으로써 제3어댑터 암(250)의 타측 단부에서 자유로운 상대 이동이 가능할 수 있다. 보다 구체적으로 제3어댑터 암(250) 타측 단부의 개방된 부분과 제4볼 팁(271)이 서로 간섭되지 않는 범위 내에서는 다양한 형태의 상대 운동을 할 수 있다.The fourth ball 273 according to an embodiment may be connected to the fourth ball tip 271 and may be formed in a spherical shape as a whole. Since the fourth ball 273 is formed in a spherical shape, free relative movement may be possible at the other end of the third adapter arm 250 . More specifically, within a range where the open portion of the other end of the third adapter arm 250 and the fourth ball tip 271 do not interfere with each other, various types of relative motion can be performed.
일 실시예에 따른 제4볼 홀더(275)는 제4볼(273)의 표면과 접촉하도록 형성될 수 있다. 제4볼 홀더(275)는 후술하는 제4탄성체(279)의 작용에 따라 제4볼(273)의 표면을 가압할 수 있고, 제4홀딩라인(277)의 작용에 따라 제4볼(273)의 표면으로부터 이격될 수 있다.The fourth ball holder 275 according to an embodiment may be formed to contact the surface of the fourth ball 273 . The fourth ball holder 275 can press the surface of the fourth ball 273 according to the action of the fourth elastic body 279 to be described later, and the fourth ball 273 according to the action of the fourth holding line 277 . ) can be spaced apart from the surface of
일 실시예에 따른 제4탄성체(279)는 제4볼 홀더(275)를 제4볼(273)의 표면을 향해 가압할 수 있다. 제4탄성체(279)의 탄성력은 제4어댑터(270)의 움직임을 고정할 수 있는 정도의 크기면 충분하다. 제4탄성체(279)는 예를 들어 스프링이 사용될 수 있으며 이 이외에도 제4볼 홀더(275)를 제4볼(273)의 표면을 향해 가압할 수 있도록 형성된 구성이면 자유롭게 적용될 수 있다.The fourth elastic body 279 according to an embodiment may press the fourth ball holder 275 toward the surface of the fourth ball 273 . The elastic force of the fourth elastic body 279 is sufficient if it is large enough to fix the movement of the fourth adapter 270 . The fourth elastic body 279 may be, for example, a spring, and in addition to this, if it is configured to press the fourth ball holder 275 toward the surface of the fourth ball 273, it may be freely applied.
일 실시예에 따른 제4홀딩라인(277)은 일측이 상기 제4볼 홀더(275)와 연결되고 타측은 구동부(290)와 연결될 수 있다. 구동부(290)는 제4홀딩라인(277)에 장력을 형성할 수 있는 구성이면 다양하게 적용될 수 있으며, 예를 들어 모터를 통해 제4홀딩라인(277)을 권취하는 형태일 수 있다. 구동부(290)가 동작하여 제4홀딩라인(277)을 권취하면, 장력이 제4볼 홀더(275)에 전달되고 제4볼 홀더(275)는 제4탄성체(279)를 압축시켜 제4볼(273)의 표면의 가압하는 힘이 줄어들도록 할 수 있다. 반대로 구동부(290)의 동작이 정지되거나 반대로 작용하는 경우 제4홀딩라인(277)에 작용하는 장력이 해제되어 제4탄성체(279)를 압축시키는 힘을 잃게 된다. 이에 따라 제4탄성체(279)의 탄성력은 제4볼 홀더(275)를 제4볼(273)의 표면 방향으로 가압하게 되고 제4볼(273)은 고정될 수 있다.The fourth holding line 277 according to an embodiment may have one side connected to the fourth ball holder 275 and the other side connected to the driving unit 290 . The driving unit 290 may be variously applied as long as it has a configuration capable of forming tension on the fourth holding line 277 , and for example, may be in the form of winding the fourth holding line 277 through a motor. When the driving unit 290 operates to wind the fourth holding line 277 , the tension is transferred to the fourth ball holder 275 and the fourth ball holder 275 compresses the fourth elastic body 279 to thereby compress the fourth ball. It is possible to reduce the pressing force of the surface of (273). Conversely, when the operation of the driving unit 290 is stopped or acts in the opposite direction, the tension acting on the fourth holding line 277 is released and the force for compressing the fourth elastic body 279 is lost. Accordingly, the elastic force of the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 , and the fourth ball 273 may be fixed.
일 실시예에 따른 구동부(290)는 제4홀딩라인(277)에 가해지는 장력을 조절하여 제3탄성체(269)를 압축시키는 힘을 조절할 수 있다. 예를 들어 제4어댑터(270)에 연결되는 의료기기의 하중을 고려하여, 이를 지지할 수 있는 최소한의 힘만이 제4볼(273)에 전달되도록 제4탄성체(279)를 압축시키는 힘을 조절할 수 있다. 이 경우 의료기기의 위치를 조절하기 위해 제4어댑터(270)의 고정을 해제하더라도 의료기기의 하중에 의하여 갑작스럽게 처지는 것을 방지할 수 있고 의료기기를 이동시키는 과정에서 하중에 의한 부담을 경감시킬 수 있다.The driving unit 290 according to an embodiment may adjust the force to compress the third elastic body 269 by adjusting the tension applied to the fourth holding line 277 . For example, in consideration of the load of the medical device connected to the fourth adapter 270 , the force for compressing the fourth elastic body 279 is adjusted so that only the minimum force capable of supporting it is transmitted to the fourth ball 273 . can In this case, even if the fixing of the fourth adapter 270 is released to adjust the position of the medical device, it is possible to prevent sudden sagging due to the load of the medical device, and to reduce the burden caused by the load in the process of moving the medical device. have.
일 실시예에 따른 제4홀딩라인(277)의 일측은 복수개의 가닥으로 형성될 수 있다. 제4홀딩라인(277)의 일측에 형성된 복수개의 가닥은 제4볼 홀더(275)에 균일한 힘을 전달하여 제4탄성체(279)를 균일하게 가압할 수 있도록 제4볼 홀더(275)와 결합될 수 있다. 예를 들어 제4볼(273)의 중심점을 기준으로 동일한 원 내에서 등간격으로 결합될 수 있다.One side of the fourth holding line 277 according to an embodiment may be formed of a plurality of strands. A plurality of strands formed on one side of the fourth holding line 277 transmits a uniform force to the fourth ball holder 275 so that the fourth elastic body 279 can be uniformly pressed with the fourth ball holder 275 and can be combined. For example, they may be coupled at equal intervals within the same circle based on the center point of the fourth ball 273 .
일 실시예에 따른 제3홀딩라인(267)과 제4홀딩라인(277)에는 동시에 장력이 가해질 수도 있고, 이시에 장력이 가해질 수도 있다.Tension may be simultaneously applied to the third holding line 267 and the fourth holding line 277 according to an embodiment, or tension may be applied at this time.
도 7은 본 발명의 또 다른 실시예에 따른 치료 보조 기구(100)의 제2어댑터 암(240) 및 제3어댑터 암(250)을 예시적으로 나타낸 도면이다. 구체적으로 도 7의 (a)는 제2어댑터 암(240) 및 제3어댑터 암(250)의 분해도이고, 도 7의 (b)는 제2어댑터 암(240) 및 제3어댑터 암(250)이 조립된 상태를 투시하여 나타낸 도면이다.7 exemplarily shows the second adapter arm 240 and the third adapter arm 250 of the treatment assisting device 100 according to another embodiment of the present invention. Specifically, FIG. 7A is an exploded view of the second adapter arm 240 and the third adapter arm 250 , and FIG. 7B is the second adapter arm 240 and the third adapter arm 250 . It is a perspective view showing this assembled state.
도 7에 도시된 치료 보조 기구(200)는 도 6에 도시된 치료 보조 기구(200)와 비교하여 제3홀딩라인(267)이 제3볼 홀더(265)와 결합된 형태 및 제4홀딩라인(277)이 제4볼 홀더(275)와 결합된 형태에 있어서 차이점이 있다.The treatment auxiliary device 200 shown in FIG. 7 has a form in which the third holding line 267 is combined with the third ball holder 265 and the fourth holding line compared to the treatment auxiliary device 200 shown in FIG. 6 . There is a difference in the form in which the 277 is combined with the fourth ball holder 275 .
또 다른 실시예에 따른 제3볼(263)은 제3볼 팁(261)과 연결되고 전체적으로 구 형상으로 형성될 수 있다. 또 다른 실시예에 따른 제3볼(263)은 제3관통공(264)을 포함할 수 있다. 제3관통공(264)은 제3볼(263)과 제3볼 팁(261)을 관통하도록 형성될 수 있다. 제3관통공(264)은 제3볼(263)의 표면에서 직경이 가장 크고 제3볼 팁(261) 방향으로 연장되면서 직경이 감소하도록 형성될 수 있다. 즉, 제3관통공(264)은 원뿔 형태로 형성될 수 있다. 제3홀딩라인(267)은 단일 가닥으로 제3볼 홀더(265)의 중앙과 연결될 수도 있다. 다만, 도 6의 제3홀딩라인(267)과 마찬가지로 복수개의 가닥으로 형성될 수도 있다.The third ball 263 according to another embodiment may be connected to the third ball tip 261 and formed in a spherical shape as a whole. The third ball 263 according to another embodiment may include a third through hole 264 . The third through hole 264 may be formed to pass through the third ball 263 and the third ball tip 261 . The third through hole 264 may be formed to have the largest diameter on the surface of the third ball 263 and to decrease in diameter while extending in the direction of the third ball tip 261 . That is, the third through hole 264 may be formed in a cone shape. The third holding line 267 may be connected to the center of the third ball holder 265 as a single strand. However, like the third holding line 267 of FIG. 6 , it may be formed of a plurality of strands.
또 다른 실시예에 따른 제4홀딩라인(277)은 일측이 상기 제4볼 홀더(275)와 연결되고 타측은 제3관통공(264)을 통과하여 구동부(290)와 연결될 수 있다. 제4홀딩라인(277)의 일측은 제4볼 홀더(275)와 연결될 수 있다. 제4홀딩라인(277)은 단일 가닥으로 제4볼 홀더(275)와 연결될 수도 있고, 도 6의 제4홀딩라인(277)과 마찬가지로 복수개의 가닥으로 형성될 수도 있다.The fourth holding line 277 according to another embodiment may have one side connected to the fourth ball holder 275 and the other end connected to the driving unit 290 through the third through hole 264 . One side of the fourth holding line 277 may be connected to the fourth ball holder 275 . The fourth holding line 277 may be connected to the fourth ball holder 275 as a single strand, or may be formed of a plurality of strands like the fourth holding line 277 of FIG. 6 .
이 상태에서 구동부(290)가 동작하여 제4홀딩라인(277)을 권취하면, 장력이 제4볼 홀더(275)에 전달되고 제4볼 홀더(275)는 제4탄성체(279)를 압축시켜 제4볼(273)의 표면의 가압하는 힘이 줄어들도록 할 수 있다. 반대로 구동부(290)의 동작이 정지되거나 반대로 작용하는 경우 제4홀딩라인(277)에 작용하는 장력이 해제되어 제4탄성체(279)를 압축시키는 힘을 잃게 된다. 이에 따라 제4탄성체(279)의 탄성력은 제4볼 홀더(275)를 제4볼(273)의 표면 방향으로 가압하게 되고 제4볼(273)은 고정될 수 있다. In this state, when the driving unit 290 operates to wind the fourth holding line 277 , the tension is transferred to the fourth ball holder 275 and the fourth ball holder 275 compresses the fourth elastic body 279 . The force of pressing on the surface of the fourth ball 273 may be reduced. Conversely, when the operation of the driving unit 290 is stopped or acts in the opposite direction, the tension acting on the fourth holding line 277 is released and the force for compressing the fourth elastic body 279 is lost. Accordingly, the elastic force of the fourth elastic body 279 may press the fourth ball holder 275 toward the surface of the fourth ball 273 , and the fourth ball 273 may be fixed.
도 8 내지 도 9는 본 발명의 다양한 실시예에 따라 관절의 개수가 증가된 치료 보조 기구(200)를 나타낸 도면이다.8 to 9 are diagrams illustrating the auxiliary treatment device 200 in which the number of joints is increased according to various embodiments of the present invention.
도 8에 도시된 치료 보조 기구(200)는 도 6에 도시된 치료 보조 기구(200)와 비교하여 관절의 개수를 증가시킨 점에 있어서 차이점이 있다. 예를 들어서 제2어댑터 암(240)과 제3어댑터 암(250) 사이에 제2어댑터 암(240)과 동일하거나 유사한 구조(240a, 240b)를 추가하여 관절의 개수를 증가시킨 것일 수 있다.The treatment auxiliary device 200 illustrated in FIG. 8 is different from the treatment auxiliary apparatus 200 illustrated in FIG. 6 in that the number of joints is increased. For example, the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
마찬가지로 도 9에 도시된 치료 보조 기구(200)는 도 7에 도시된 치료 보조 기구(200)와 비교하여 관절의 개수를 증가시킨 점에 있어서 차이점이 있다. 예를 들어서 제2어댑터 암(240)과 제3어댑터 암(250) 사이에 제2어댑터 암(240)과 동일하거나 유사한 구조(240a, 240b)를 추가하여 관절의 개수를 증가시킨 것일 수 있다.Similarly, the treatment auxiliary device 200 shown in FIG. 9 is different from the treatment auxiliary device 200 shown in FIG. 7 in that the number of joints is increased. For example, the number of joints may be increased by adding structures 240a and 240b identical to or similar to those of the second adapter arm 240 between the second adapter arm 240 and the third adapter arm 250 .
이와 같이 관절의 개수가 증가함에 따라 의료기기의 움직임이 보다 유연해지고 원하는 위치로 이동시키는 것이 용이해질 수 있다.As such, as the number of joints increases, the movement of the medical device becomes more flexible and it can be easily moved to a desired position.
도 10 내지 도 12은 본 발명의 일 실시예에 따른 치료 보조 기구(100, 200)의 헤드레스트(H)에 배치되는 센서(510)를 나타낸 도면이다.10 to 12 are views showing the sensor 510 disposed on the headrest (H) of the treatment assisting device 100, 200 according to an embodiment of the present invention.
일 실시예에 따른 센서(510)는 일정 경로상에 물체의 간섭여부를 감지하는 적외선 센서를 포함할 수 있다. 도 10 내지 도 12에 도시된 바와 같이 헤드레스트의 양측면에는 센서(510)의 발광부(511)와 수광부(513)가 각각 배치될 수 있다. 센서(510)의 발광부(511)와 수광부(513)는 헤드레스트(H)의 표면에 대하여 높이 조절이 가능하도록 배치될 수 있다. 예를 들어 텔레스코픽 형태의 막대(515)의 단부에 발광부(511)와 수광부(513)를 각각 배치하여 높이 조절이 가능하도록 할 수 있다.The sensor 510 according to an embodiment may include an infrared sensor that detects whether an object is interfering on a predetermined path. 10 to 12 , a light emitting unit 511 and a light receiving unit 513 of the sensor 510 may be disposed on both sides of the headrest, respectively. The light emitting unit 511 and the light receiving unit 513 of the sensor 510 may be disposed to be adjustable in height with respect to the surface of the headrest H. For example, the light emitting unit 511 and the light receiving unit 513 may be respectively disposed at the ends of the telescopic rod 515 to enable height adjustment.
이때 헤드레스트(H)에 안착되는 환자의 머리의 높이에 대응하여 발광부(511) 및 수광부(513)가 신호를 송수신 함에 지장이 없는 한계 위치까지 센서(510)의 높이를 조절할 수 있다. 이 때, 수광부(513)에서 수신하는 신호가 끊겨 환자가 머리를 들썩이는 것으로 판단되는 경우, 고정된 의료기기에 의한 환자의 부상을 방지하기 위하여 본 발명의 다양한 실시예에 따른 제1어댑터(160) 내지 제4어댑터(270)의 고정을 해제할 수 있다. 또는 제1조인트(130)를 제어하여 제1볼 팁(161)이 환자의 머리로부터 멀어지도록 제어할 수도 있다.In this case, the height of the sensor 510 may be adjusted to a limit position in which the light emitting unit 511 and the light receiving unit 513 do not interfere with transmitting and receiving signals in response to the height of the patient's head seated on the headrest H. At this time, when it is determined that the patient's head shakes because the signal received by the light receiving unit 513 is cut off, the first adapter 160 according to various embodiments of the present invention in order to prevent injury to the patient due to the fixed medical device. The fixing of the to fourth adapters 270 may be released. Alternatively, by controlling the first joint 130, the first ball tip 161 may be controlled to move away from the patient's head.
이 외에도 별도의 스위치(미도시)를 배치하여 사용자의 조작에 의하여 제1어댑터(160) 내지 제4어댑터(270)의 고정이 해제되도록 할 수 있다. 예를 들어 스위치는 어댑터 암 본체의 표면 임의의 위치에 배치될 수도 있고, 페달(미도시) 형태로 형성되어 사용자가 발로 조작할 수 있도록 할 수도 있다. 다시 말해 비상 버튼의 역할을 하도록 할 수 있다.In addition, a separate switch (not shown) may be disposed to release the fixing of the first adapter 160 to the fourth adapter 270 by a user's manipulation. For example, the switch may be disposed at any position on the surface of the adapter arm body, or may be formed in the form of a pedal (not shown) so that the user can operate it with his or her feet. In other words, it can be made to act as an emergency button.
도 13은 본 발명의 또 다른 실시예에 따른 치료 보조 기구(100, 200)의 센서(520)를 나타낸 도면이다.13 is a diagram illustrating a sensor 520 of the treatment assisting devices 100 and 200 according to another embodiment of the present invention.
도 13에 도시된 센서는 전체적 구조에 있어서 도 10 내지 도 12의 센서와 유사할 수 있다. 다만, 환자의 머리의 움직임을 파악하는 센서로서 터치 방식의 센서가 적용될 수 있다. 예를 들어 헤드레스트의 양측면에 텔레스코픽 형태의 막대(515)를 배치하여 헤드레스트(H)의 표면에 대하여 높이 조절이 가능하도록 하고, 양측 단부를 연결하는 밴드를 탈착 가능하게 배치할 수 있다. 밴드의 중앙에 터치 형식의 센서를 배치하여 환자의 머리가 접촉함에 따라 환자 머리의 움직임을 파악하고, 고정된 의료기기에 의한 환자의 부상을 방지하기 위하여 본 발명의 다양한 실시예에 따른 제1어댑터(160) 내지 제4어댑터(270)의 고정을 해제할 수 있다. 또는 제1조인트(130)를 제어하여 제1볼 팁(161)이 환자의 머리로부터 멀어지도록 제어할 수도 있다.The sensor shown in FIG. 13 may be similar to the sensor of FIGS. 10 to 12 in its overall structure. However, a touch sensor may be applied as a sensor for detecting the movement of the patient's head. For example, a telescopic rod 515 is disposed on both sides of the headrest to enable height adjustment with respect to the surface of the headrest H, and a band connecting both ends may be detachably disposed. A first adapter according to various embodiments of the present invention is arranged in the center of the band to detect the movement of the patient's head as the patient's head comes into contact by arranging a touch-type sensor, and to prevent injury to the patient due to the fixed medical device. (160) to the fourth adapter 270 may be released. Alternatively, by controlling the first joint 130, the first ball tip 161 may be controlled to move away from the patient's head.
도 14은 본 발명의 또 다른 실시예에 따른 치료 보조 기구(100, 200)의 센서(530)를 나타낸 도면이다. 14 is a diagram illustrating the sensor 530 of the treatment assistance devices 100 and 200 according to another embodiment of the present invention.
예를 들어 온오프 타입의 압력 감지 센서(530)를 포함할 수 있다. 헤드레스트(H)에 환자의 머리가 안착되는 경우 머리의 무게의 의해 압력 감지 센서는 온(on)상태로 인지하고 있다가, 센서가 오프(off)로 바뀌며 환자가 머리를 들썩이는 것으로 판단되는 경우, 고정된 의료기기에 의한 환자의 부상을 방지하기 위하여 본 발명의 다양한 실시예에 따른 제1어댑터(160) 내지 제4어댑터(270)을 해제할 수 있다. 또는 제1조인트(130)를 제어하여 제1볼 팁(161)이 환자의 머리로부터 멀어지도록 제어할 수도 있다.For example, it may include an on-off type pressure sensor 530 . When the patient's head is seated on the headrest (H), the pressure sensor recognizes the on state due to the weight of the head, and then the sensor turns off and it is determined that the patient's head shakes. , the first adapter 160 to the fourth adapter 270 according to various embodiments of the present invention may be released in order to prevent injury to the patient due to the fixed medical device. Alternatively, by controlling the first joint 130, the first ball tip 161 may be controlled to move away from the patient's head.
도 15 내지 도 16은 본 발명의 일 실시예에 따른 치료 보조 기구(100, 200)에 장착되어 활용되는 의료기기(400, 500)를 나타낸 도면이다.15 to 16 are diagrams illustrating medical devices 400 and 500 used by being mounted on the treatment auxiliary devices 100 and 200 according to an embodiment of the present invention.
예를 들어 환자의 치아를 관찰하기 위한 거울(400)이나, 환자의 치료과정에서 사용할 수 있는 석션 팁(500) 등을 제2어댑터(170) 내지 제4어댑터(270)에 결합시켜 활용할 수 있다. 도 15 내지 도 16에 도시된 의료기기(400, 500)는 예시적인 것으로서 이 이외에도 다양한 의료기기가 부착되어 활용될 수 있다.For example, a mirror 400 for observing a patient's teeth or a suction tip 500 that can be used in a patient's treatment process can be used by coupling the second adapter 170 to the fourth adapter 270 . . The medical devices 400 and 500 shown in FIGS. 15 to 16 are exemplary, and in addition to these, various medical devices may be attached and utilized.
본 발명은 본 발명의 정신 및 필수적 특징을 벗어나지 않는 범위에서 다른 특정한 형태로 구체화될 수 있음은 해당 기술 분야의 통상의 기술자에게 자명하다.It is apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.
상기의 상세한 설명은 모든 면에서 제한적으로 해석되어서는 아니되고 예시적인 것으로 고려되어야 한다. 본 발명의 범위는 첨부된 청구항의 합리적 해석에 의해 결정되어야 하고, 본 발명의 등가적 범위 내에서의 모든 변경은 본 발명의 범위에 포함된다.The above detailed description should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (23)

  1. 베이스;Base;
    일측 단부가 상기 베이스에 결합되는 제1암;a first arm having one end coupled to the base;
    일측이 상기 제1암의 타측 단부에 회동 가능하게 결합되는 제1조인트; 및a first joint having one end rotatably coupled to the other end of the first arm; and
    일측 단부에 제1어댑터가 상대 운동하도록 결합되고, 상기 제1어댑터는 상기 제1조인트의 타측에 회동 가능하게 결합되는 어댑터 암;을 포함하고,an adapter arm coupled to one end of the first adapter for relative movement, the first adapter being rotatably coupled to the other side of the first joint; and
    상기 제1어댑터는,The first adapter is
    상기 제1조인트와 결합되는 제1볼 팁;a first ball tip coupled to the first joint;
    상기 제1볼 팁과 연결되고 구 형상이되 적어도 일부에 평면부를 포함하는 제1볼;a first ball connected to the first ball tip and having a spherical shape including a flat portion at least in part;
    상기 제1볼의 평면부와 접촉하는 제1볼 홀더; 및a first ball holder in contact with the flat portion of the first ball; and
    일측이 상기 제1볼 홀더와 연결되고, 상기 제1볼 홀더를 상기 제1볼의 평면부 방향으로 가압하는 제1홀딩라인;을 포함하는 치료 보조 기구.A treatment aid comprising a; one side is connected to the first ball holder, the first holding line for pressing the first ball holder in the direction of the flat portion of the first ball.
  2. 제1항에 있어서,According to claim 1,
    상기 제1홀딩라인의 타측에 연결된 구동부;를 더 포함하고,Further comprising; a driving unit connected to the other side of the first holding line,
    상기 제1볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제1홀딩라인을 통해 전달됨으로써 상기 제1볼 홀더를 상기 제1볼의 평면부 방향으로 가압하는 치료 보조 기구.The first ball holder is a treatment assisting device that presses the first ball holder in the direction of the flat portion of the first ball by transmitting the attractive force generated by the operation of the driving unit through the first holding line.
  3. 제2항에 있어서,3. The method of claim 2,
    상기 제1볼은 상기 제1볼의 평면부에 대해 수직 방향으로 형성된 제1관통공;을 포함하고,The first ball includes a;
    상기 제1홀딩라인은 타측이 상기 제1관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 하는 치료 보조 기구.The first holding line is a treatment auxiliary device, characterized in that the other side is connected to the driving unit through the first through hole.
  4. 제3항에 있어서,4. The method of claim 3,
    상기 제1관통공의 직경은 상기 제1볼의 평면부로부터 점점 좁아지도록 형성된 치료 보조 기구.The diameter of the first through-hole is formed so as to gradually narrow from the flat portion of the first ball.
  5. 제3항에 있어서,4. The method of claim 3,
    상기 어댑터 암의 타측 단부에는 제2어댑터가 상대 운동하도록 결합되고,A second adapter is coupled to the other end of the adapter arm for relative movement,
    상기 제2어댑터는,The second adapter is
    상기 제1볼 팁의 방향과 교차되도록 배치되는 제2볼 팁;a second ball tip disposed to cross a direction of the first ball tip;
    상기 제2볼 팁과 연결되고 구 형상으로 형성된 제2볼;a second ball connected to the second ball tip and formed in a spherical shape;
    상기 제2볼의 표면과 접촉하는 제2볼 홀더; 및a second ball holder in contact with the surface of the second ball; and
    일측이 상기 제2볼 홀더와 연결되고, 상기 제2볼 홀더를 상기 제2볼의 표면으로 가압하는 제2홀딩라인;을 포함하는 치료 보조 기구.A second holding line having one side connected to the second ball holder and pressing the second ball holder to the surface of the second ball; treatment assisting device comprising a.
  6. 제5항에 있어서,6. The method of claim 5,
    상기 제2홀딩라인의 타측은 상기 구동부에 연결되고, 상기 제2볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제2홀딩라인을 통해 전달됨으로써 상기 제2볼 홀더를 상기 제2볼의 표면으로 가압하는 치료 보조 기구.The other side of the second holding line is connected to the driving unit, and the second ball holder transfers the second ball holder to the surface of the second ball by transferring the attractive force generated by the operation of the driving unit through the second holding line. Therapeutic aids that pressurize.
  7. 제6항에 있어서,7. The method of claim 6,
    상기 제2볼 홀더는 상기 제2볼의 표면의 형상에 대응하는 곡면부를 포함하는 치료 보조 기구.The second ball holder is a treatment aid comprising a curved portion corresponding to the shape of the surface of the second ball.
  8. 제6항에 있어서,7. The method of claim 6,
    상기 제2홀딩라인의 일측은 복수개의 가닥으로 형성되고, 상기 제2볼을 우회하여 상기 제2볼 홀더와 연결되는 치료 보조 기구.One side of the second holding line is formed of a plurality of strands, and bypasses the second ball and is connected to the second ball holder.
  9. 제7항에 있어서,8. The method of claim 7,
    상기 제2홀딩라인의 일측은 상기 제2볼 홀더를 상기 제2볼 방향으로 균일하게 가압할 수 있도록 등간격으로 제2볼 홀더와 결합된 치료 보조 기구.One side of the second holding line is combined with the second ball holder at equal intervals to uniformly press the second ball holder in the direction of the second ball.
  10. 제7항에 있어서,8. The method of claim 7,
    상기 제2홀딩라인은 타측이 상기 제1관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 하는 치료 보조 기구.The second holding line is a treatment auxiliary device, characterized in that the other side is connected to the driving unit through the first through hole.
  11. 제10항에 있어서,11. The method of claim 10,
    상기 제2볼은 상기 제1관통공 방향으로 형성된 제2관통공;을 포함하고,The second ball includes a second through hole formed in the direction of the first through hole;
    상기 제2홀딩라인의 일측은 상기 제2관통공을 통과하여 상기 제2볼 홀더와 연결되는 치료 보조 기구.One side of the second holding line passes through the second through-hole and is connected to the second ball holder.
  12. 제11항에 있어서,12. The method of claim 11,
    상기 제2관통공의 직경은 제2볼의 표면에서 가장 크고 제2볼의 중심으로 갈수록 좁아지도록 형성된 치료 보조 기구.The diameter of the second through-hole is the largest on the surface of the second ball and is formed to become narrower toward the center of the second ball.
  13. 제6항에 있어서,7. The method of claim 6,
    상기 구동부는 유체 압력, 자력 또는 전자기력에 의해 상기 제1홀딩라인 또는 제2홀딩라인에 인력을 가하도록 형성된 치료 보조 기구.The driving unit is formed to apply an attractive force to the first holding line or the second holding line by fluid pressure, magnetic force or electromagnetic force.
  14. 베이스;Base;
    일측 단부가 상기 베이스에 결합되는 제1암;a first arm having one end coupled to the base;
    일측이 상기 제1암의 타측 단부에 회동 가능하게 결합되는 제1조인트;a first joint having one end rotatably coupled to the other end of the first arm;
    일측 단부가 상기 제1조인트의 타측에 결합되고, 타측 단부에 제3어댑터가 상대 운동 가능하게 결합된 제2어댑터 암; 및a second adapter arm having one end coupled to the other side of the first joint, and a third adapter coupled to the other end of the first joint to be able to move relative to one another; and
    일측 단부가 상기 제3어댑터와 결합되고, 타측 단부에 제4어댑터가 상대 운동 가능하게 결합된 제3어댑터 암;을 포함하고,a third adapter arm having one end coupled to the third adapter and a fourth adapter coupled to the other end so that relative movement is possible;
    상기 제3어댑터는,The third adapter is
    상기 제3어댑터 암과 결합되는 제3볼 팁;a third ball tip coupled to the third adapter arm;
    상기 제3볼 팁과 연결되고 구 형상인 제3볼;a third ball connected to the third ball tip and having a spherical shape;
    상기 제3볼의 표면과 접촉하는 제3볼 홀더;a third ball holder in contact with the surface of the third ball;
    상기 제3볼 홀더를 상기 제3볼을 향하여 가압하는 제3탄성체; 및a third elastic body for pressing the third ball holder toward the third ball; and
    일측이 상기 제3볼 홀더와 연결되고, 상기 제3볼 홀더를 상기 제3볼과 이격시키는 제3홀딩라인;을 포함하는 치료 보조 기구.A treatment assisting device comprising a; one side is connected to the third ball holder, and a third holding line that separates the third ball holder from the third ball.
  15. 제14항에 있어서,15. The method of claim 14,
    상기 제3홀딩라인의 타측에 연결된 구동부;를 더 포함하고,Further comprising; a driving unit connected to the other side of the third holding line,
    상기 제3볼 홀더는 상기 구동부의 동작에 의해 발생한 인력이 제3홀딩라인을 통해 전달됨으로써 상기 제3볼 홀더를 상기 제3볼로부터 이격시키는 치료 보조 기구.The third ball holder is a treatment auxiliary device that separates the third ball holder from the third ball by transmitting the attractive force generated by the operation of the driving unit through the third holding line.
  16. 제15항에 있어서,16. The method of claim 15,
    상기 제4어댑터는,The fourth adapter is
    상기 제3볼 팁의 방향과 교차되도록 배치되는 제4볼 팁;a fourth ball tip disposed to cross the direction of the third ball tip;
    상기 제4볼 팁과 연결되고 구 형상으로 형성된 제4볼;a fourth ball connected to the fourth ball tip and formed in a spherical shape;
    상기 제4볼의 표면과 접촉하는 제4볼 홀더;a fourth ball holder in contact with the surface of the fourth ball;
    상기 제4볼 홀더를 상기 제4볼을 향하여 가압하는 제4탄성체; 및a fourth elastic body pressing the fourth ball holder toward the fourth ball; and
    일측이 상기 제4볼 홀더와 연결되고, 상기 제4볼 홀더를 상기 제4볼과 이격시키는 제4홀딩라인;을 포함하는 치료 보조 기구.A treatment aid comprising a; one side is connected to the fourth ball holder, and a fourth holding line that separates the fourth ball holder from the fourth ball.
  17. 제16항에 있어서,17. The method of claim 16,
    상기 제3볼은 상기 제3볼 팁 및 상기 제3볼을 관통하도록 형성된 제3관통공;을 포함하고,The third ball includes a third through-hole formed to pass through the third ball tip and the third ball;
    상기 제4홀딩라인은 상기 제3관통공을 통과하여 상기 구동부와 연결된 것을 특징으로 하는 치료 보조 기구.The fourth holding line passes through the third through-hole and is connected to the driving unit.
  18. 제17항에 있어서,18. The method of claim 17,
    상기 제3관통공의 직경은 상기 제3볼 팁 내에서는 직경이 일정하고, 상기 제3볼 내에서는 점점 좁아지는 치료 보조 기구.The diameter of the third through-hole is a constant diameter in the tip of the third ball, and gradually becomes narrower in the third ball.
  19. 제17항에 있어서,18. The method of claim 17,
    상기 구동부는 유체 압력, 자력 또는 전자기력에 의해 상기 제3홀딩라인 또는 제4홀딩라인에 인력을 가하도록 형성된 치료 보조 기구.The driving unit is formed to apply an attractive force to the third holding line or the fourth holding line by fluid pressure, magnetic force or electromagnetic force.
  20. 제14항에 있어서,15. The method of claim 14,
    상기 제3홀딩라인의 일측은 복수개의 가닥으로 형성되고, 상기 제3볼 홀더를 상기 제3탄성체 측으로 균일하게 가압할 수 있도록 등간격으로 제3볼 홀더와 결합된 치료 보조 기구.One side of the third holding line is formed of a plurality of strands, and the third ball holder is combined with the third ball holder at equal intervals so as to uniformly press the third elastic body side.
  21. 제1항에 있어서,According to claim 1,
    환자의 머리가 위치하는 헤드레스트의 양측 단부에 위치하는 한쌍의 높이 조절 막대;A pair of height adjustment bars located at both ends of the headrest on which the patient's head is located;
    상기 높이 조절 막대 중에서 어느 일측 높이 조절 막대의 단부에 배치되는 발광부; 및a light emitting unit disposed at an end of one of the height adjustment bars; and
    상기 높이 조절 막대 중에서 나머지 타측 높이 조절 막대의 단부에 배치되고, 상기 발광부에서 발생된 빛을 수신하는 수광부;를 더 포함하는 치료 보조 기구.The treatment auxiliary device further comprising a; is disposed at the end of the other height adjustment bar of the height adjustment bar, the light receiving unit for receiving the light generated by the light emitting unit.
  22. 제1항에 있어서,According to claim 1,
    환자의 머리가 위치하는 헤드레스트의 양측 단부에 위치하는 한쌍의 높이 조절 막대;A pair of height adjustment bars located at both ends of the headrest on which the patient's head is located;
    상기 높이 조절 막대의 단부를 연결하고 탈착 가능한 밴드; 및a detachable band connecting the end of the height adjustment bar; and
    상기 밴드의 중앙에 배치되고, 접촉 여부를 감지하는 센서;를 더 포함하는 치료 보조 기구.The treatment assisting device further comprising; a sensor disposed in the center of the band and detecting whether or not there is a contact.
  23. 제21항에 있어서,22. The method of claim 21,
    상기 수광부에서 수신되는 신호가 단절되는 경우, 상기 제1조인트를 제어하여 상기 제1볼 팁이 환자로부터 멀어지도록 제어하는 치료 보조 기구.When the signal received from the light-receiving unit is cut off, the first joint is controlled to control the first ball tip to move away from the patient.
PCT/KR2021/005101 2021-04-22 2021-04-22 Treatment support device WO2022225084A1 (en)

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