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KR-102961518-B1 - Guide device for medical needles

KR102961518B1KR 102961518 B1KR102961518 B1KR 102961518B1KR-102961518-B1

Abstract

A needle guide device (20) is configured to be attached to the end of a medical assistive robot arm (10) and includes a tool holder (21) that supports a needle guide (22). The needle guide (22) includes two jaws (30, 40) each having a groove (35, 45), the grooves extend along parallel longitudinal axes, and the jaws (30, 40) are supported by the tool holder so as to be rotatable relative to each other between a position referred to as a "guide position" and a position referred to as an "uncoupled position," wherein the guide position is a position where the grooves (35, 45) are adjacent to each other to form a guide passage (23) for guiding the needle, and the uncoupled position is a position where the grooves (35, 45) are spaced apart from each other to form an area where the needle is laterally uncoupled.

Inventors

  • 나훔 베르탱
  • 바다노 페르낭
  • 블롱델 뤼시앙
  • 올리브 세바스티앙

Assignees

  • 퀀텀 서지컬

Dates

Publication Date
20260507
Application Date
20200331
Priority Date
20190404

Claims (20)

  1. A needle guide device (20) comprising a tool holder (21) configured to be fixed to the end of a medical assistive robot arm (10) and supporting a needle guide (22), The needle guide (22) includes a first jaw (30) and a second jaw (40) each having a groove (35, 45), the two grooves extend along parallel longitudinal axes, and the first jaw (30) and the second jaw (40) are supported by a tool holder so as to be rotatable relative to each other between a position referred to as a "guide position" and a position referred to as an "uncoupling position," wherein the guide position is a position where the grooves (35, 45) are adjacent to each other to form a duct (23) that guides the needle, and the uncoupling position is a position where the grooves (35, 45) are spaced apart and move away from each other to form a lateral uncoupling area for the needle. The tool holder (21) includes a housing (210) that is longitudinally connected between two end openings and to which a needle guide (22) is coupled, and The above tool holder (21) is provided with an axial through-opening (214) extending from one of the end openings to another along an axis parallel to the longitudinal axis of the housing (210), and the axial through-opening (214) is directed toward a lateral release area when the first jaw (30) and the second jaw (40) are in a release position, a needle guide device (20).
  2. In paragraph 1, A needle guide device (20) in which a handle (49) for operating the first jaw (30) or the second jaw (40) is provided, and the handle is operated to move the first jaw (30) or the second jaw (40) relative to the remaining jaw (30; 40).
  3. delete
  4. In paragraph 1, A needle guide device (20) wherein the first jaw (30) and the second jaw (40) are each formed as a fixed jaw (30) and a movable jaw (40).
  5. In paragraph 1, A needle guide device (20), wherein a fixed jaw (30) is coupled to a housing (210), and nesting elements (50) that cooperate with each other are provided on the respective opposing surfaces of the fixed jaw (30) and the housing (210) to fix the fixed jaw (30) so as not to rotate relative to the tool holder (21).
  6. In paragraph 5, The nested elements (50) are, - A relief extending longitudinally on the surface referred to as the "outer surface" of the fixed jaw (30), and - Relief extending longitudinally on the surface referred to as the "inner wall" (213) of the housing (210) A needle guide device (20) characterized by being formed with reliefs of complementary shapes, each including
  7. In paragraph 1, A needle guide device (20) in which the first jaw (30) and the second jaw (40) are detachably fixed to each other and detachably coupled to the housing (210) of the tool holder (21).
  8. In paragraph 4, A needle guide device (20) in which the fixed jaw (30) is formed integrally with the tool holder (21).
  9. In paragraph 2, A needle guide device (20) wherein the tool holder (21) includes a through opening (24) extending radially with respect to the housing (210), and the operating handle (49) extends through the through opening, and the opening (24) forms a path that guides the operating handle (49).
  10. In Paragraph 9, A needle guide device (20) having an opening (24) that includes a portion extending axially with respect to a housing (210), said portion being open over the surface of a tool holder (21), referred to as an "upper surface" (211), which is coplanar with one of the end openings of the housing (210).
  11. In paragraph 1, A needle guide device (20), wherein the first jaw (30) and the second jaw (40) each include an axial shoulder (36, 46), and the axial shoulders (36, 46) have complementary profiles to cooperate with each other.
  12. In Paragraph 11, A needle guide device (20), wherein the first jaw (30) and the second jaw (40) are detachably interconnected by a rod (60), said rod extends longitudinally through an axial housing (47) formed on the axial shoulder (46) of the other of the first jaw (30; 40) or the second jaw (40).
  13. In Paragraph 7, A sensor configured to measure the travel length of a needle moving through a guide duct (23) when the first jaw (30) and the second jaw (40) are in a guide position, and accommodated in one of the grooves (35, 45). A needle guide device (20) including
  14. In paragraph 1, A needle guide device (20) comprising a needle guide (22) including a movement transmission member (70) connected to a first jaw (30) and a second jaw (40) to synchronize the angular movement of the first jaw (30) and the second jaw (40) relative to each other.
  15. In Paragraph 14, A needle guide device (20) comprising an elastic member (71) positioned against at least one of the first jaw (30) or the second jaw (40) to induce the jaws (30, 40) to rotate toward their respective guide positions.
  16. In paragraph 1, A needle guide device (20), wherein each of the first jaw (30) and the second jaw (40) includes at least one toothed portion (37, 57) at the same height as the grooves (35, 45), and the at least one toothed portion (37, 57) is configured to interpenetrate each other when the needle guide (22) is in a guide position.
  17. In Paragraph 16, A needle guide device (20) in which the grooves (35, 45) have a V-shaped cross-section.
  18. In paragraph 1, A needle guide device (20) comprising a mechanism (80) for locking a needle guide (22) to a guide position, wherein the locking mechanism (80) is configured to stop the rotation of the first jaw (30) or the second jaw (40) so as not to move when the first jaw (30) or the second jaw (40) pivots beyond a predetermined angle position.
  19. In paragraph 2, The locking mechanism (80) is: - A pivot connection that connects a control handle (49) to a first jaw (30) or a second jaw (40) and allows the control handle to have a rotational freedom of 1 degree with respect to the jaw between two extreme angular positions, - A lip (81) extending from the operating handle (49) toward the tool holder (21), and - An elastic member (82) that allows the lip (81) to be supported on the contact surface (215) of the tool holder (21) when the first jaw (30) and the second jaw (40) are in the guide position by pushing the above-mentioned operating handle to rotate toward one of the final angular positions. A needle guide device (20) including
  20. In paragraph 1, An optical navigation system comprising reference optical elements mechanically connected to each of the first jaw (30) and the second jaw (40), and a reading module for determining the position of each reference optical element, wherein A needle guide device (20), wherein the optical navigation system is configured to be connected to a control unit, and the control unit is configured to determine the positions of the first jaw (30) and the second jaw (40) based on information related to the positions of optical elements transmitted by the optical navigation system.

Description

Guide device for medical needles The present invention relates to medical devices and belongs to the field of medical devices mounted on the end of a medical assistive robot arm. More specifically, the present invention relates to a device for guiding a medical needle configured to be fixed to a tool holder of a robot arm. In surgical procedures using a surgical technique known as "minimally invasive surgery," the surgeon (typically a surgeon) can make a short incision of, for example, about 1 cm in the patient's body and insert thin, long instruments into the incision to access the target anatomical zone. In relation to some surgeries, these devices may be one or more needles or rigid cylindrical devices (e.g., antennas, electrodes, cannulas) configured to be inserted to a specific depth inside the patient's body to access a target body part. When the surgeon inserts the needle entirely manually, the outcome of the procedure depends heavily on the surgeon's skill level. It is not easy to achieve high accuracy, and due to this lack of precision, there is a high risk of medical malpractice that could injure the patient. Surgeons can improve surgical accuracy by using remotely controlled robotic arms. However, this type of robotic arm still relies to some extent on the surgeon's skill, and since the patient must be continuously imaged, the patient must accept a certain amount of radiation exposure. To further improve the accuracy of the insertion gesture and limit the radiation dose to patients and medical staff, an automatically controlled robotic arm can be used. The robot arm holds a needle guide device at its end. When the surgeon transmits the coordinates of the target body part to be accessed to the robotic arm, the arm is controlled to move the needle guide device in front of the target body part. The surgeon then inserts the needle into the guide device to reach the target body part. To ensure the needle reaches the site accurately, the position of the needle's translation axis within the guide device must be controlled. Therefore, it is essential to become proficient in all movements of the guide device and the robotic arm associated with it. The importance of movement control becomes even greater when multiple needles must be inserted sequentially into a target body part. In this case, the needle guide device must remain stationary while each needle is inserted; once a needle is inserted into the target body part, it preserves the position of the needle's translation axis, and subsequently, the guide device is released without moving the needle. In practice, if the movement of the needle is not controlled after insertion into the target body part, it can cause injury to the patient. Therefore, a device is required that, on the one hand, guides the insertion of one or more needles along their respective translation axes until they reach a target body part, and on the other hand, disassembles without the risk of moving the needles once they are inserted into the target body part. In addition, it is also necessary to know the length of the needle inserted into the patient's body. Finally, when inserting two or more needles of different diameters during the same or separate medical procedures, it is necessary to guide them. That is, each needle must be guided along the same axis of translation until it reaches the target body part, and once inserted into the target body part, it must be able to be released from the guide device without the risk of movement. The background technology of the present invention is disclosed in Japanese Patent Publication No. 2009-509654 (published on March 12, 2009). The object of the present invention is to solve the aforementioned requirements, and to this end, the present invention relates to a needle guide device comprising a tool holder configured to be fixed to the end of a medical assistive robot arm. The tool holder supports a needle guide. The needle guide comprises a first jaw and a second jaw, each having a groove, and the two grooves extend along parallel longitudinal axes. The first jaw and the second jaw are supported by the tool holder so as to be rotatable relative to each other between a position referred to as a "guide position" and a position referred to as a "disengagement position," wherein the guide position is a position where the grooves are adjacent to each other to form a duct that guides the needle, and the disengagement position is a position where the grooves are spaced apart and move away from each other to form a lateral needle disengagement area. When the guide device is in the guide position, the needle moves parallel through the guide duct and is guided until it reaches the patient's target body part. The guide duct is configured to allow only 1 degree of translational freedom. When the jaws are in the release position, the guide device moves parallel to the direction away from the release area, thereby freely laterally releasing the needle