Patent ID: 12201559

DETAILED DESCRIPTION OF THE EMBODIMENTS

The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The drawings and description are to be regarded as illustrative in nature and not restrictive. Like reference numerals designate like elements throughout the specification. The accompanying drawings are provided only in order to allow exemplary embodiments disclosed in the present specification to be easily understood and are not to be interpreted as limiting the spirit disclosed in the present specification, and it is to be understood that the present invention includes all modifications, equivalents, and substitutions without departing from the scope and spirit of the present invention.

Terms including ordinal numbers such as first, second, and the like will be used only to describe various components, and are not to be interpreted as limiting these components. The terms are only used to differentiate one component from other components.

It is to be understood that when one component is referred to as being “connected” or “coupled” to another component, it may be connected or coupled directly to the other component or may be connected or coupled to the other component with a further component intervening therebetween. Further, it is to be understood that when one component is referred to as being “directly connected” or “directly coupled” to another component, it may be connected or coupled directly to the other component without a further component intervening therebetween.

In this application, it should be understood that the terms such as “comprises” or “having” are to specify the presence of features, numbers, steps, operations, constituent elements, parts, or any combination of them described in the specification, but it does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, constituent elements, parts, or any combination of them. Accordingly, unless explicitly described to the contrary, the word “comprise” and variations such as “comprises” or “comprising” will be understood to imply the inclusion of stated elements but not the exclusion of any other elements.

FIG.1is a photographic image to explain a corneal suturing process.

As a final treatment method of a corneal treatment that improves deterioration of vision due to turbidity or refractive error of a cornea and does not respond to other treatments, corneal transplantation is used. The corneal transplantation is an operation in which a recipient cornea is excised from a transplant recipient, and then a donor cornea is collected from a transplant donor according to the size and the suturing is executed.

Referring toFIG.1, it is common that the patient's corneal part from which the recipient cornea has been resected and the donor cornea have a circular inner edge and a circular outer edge, respectively. Therefore, in order to suture the donor cornea to the patient, the suturing is performed while forming a plurality of suturing loops using a suturing needle and suturing yarn along the circular edges. Here, each suturing loop may have a suturing trajectory such that it is inserted from the surface of the donor cornea and drawn out to the surface of the patient's cornea through the boundary surface when observed on the cross-section of the cornea.

FIG.2is a flowchart to schematically explain a corneal suturing process using a conventional suturing tool.

Referring toFIG.2, in the corneal suturing process, one side of the donor cornea or the patient cornea is held and fixed by using medical forceps, etc. (referring toFIG.2(A)), and in this state, the suturing needle is pierced in the thickness direction of the cornea from the surface of the cornea to move the suturing yarn (referring toFIGS.2(B)and (C)). Then, the other side of the donor cornea or patient cornea is held by using medical forceps to be fixed (referring to FIG. (D)), and the suturing needle that passed through the one side is pierced in the thickness direction of the cornea from the cornea side of the other side to the surface of the cornea to move the suturing yarn (referring toFIG.2(E)). Thereby, the patient cornea and donor cornea are connected to each other by the suturing yarn, and the suturing yarn is fixed by knotting on the surface of the cornea (referring toFIG.2(F)).

By repeating the above process several times along the circular rim of the donor cornea, the donor cornea may be sutured into the patient cornea, thereby completing the same form as shown inFIG.1.

FIG.3is a perspective view showing a vacuum tweezer according to an exemplary embodiment of the present invention,FIG.4Ais a front view showing a vacuum tweezer according to an exemplary embodiment of the present invention,FIG.4Bis a left side view.

The vacuum tweezer10according to the present exemplary embodiment includes a body member12formed in a form of a tube having the inside penetrated in the length direction. One end of the body member12may be configured as a contact end and the other end may be configured as a connecting end. The contact end is a part in contact with the wound tissue to be sutured, and the connection end is a part connected to a negative pressure generating unit (not shown) that generates a negative pressure. The contact end may be attached to the surface of the wound tissue to be sutured by using the negative pressure, and the tissue may be deformed into a predetermined specific shape in advance. A needle hole is also formed at the contact end so that a suturing needle may be inserted in a predetermined direction into the tissue deformed by the contact portion.

Referring toFIG.3, the vacuum tweezer10according to the present exemplary embodiment may include a body member12in the form of a rectangular tube. That is, the vacuum tweezer10includes a first plate21and a second plate22positioned to face each other, and a first side plate31and a second side plate32that are fixed to connect the first plate21and the second plate22to form a tube. The first plate21and the second plate22may be disposed parallel to each other and extended in the same direction (the z-axis direction of the drawing). The first side plate31and the second side plate32are also disposed parallel to each other and extended in the same direction (the z-axis direction of the drawing), and may be vertically disposed with respect to the first plate21and the second plate22. A third side plate33connecting the first plate21and the second plate22to be fixed may be positioned between the first side plate31and the second side plate32, and the third side plate33may be positioned vertically with respect to the first plate21and second plate22.

The first plate21and the second plate22have a first needle hole213and a second needle hole223that are penetrated to correspond to each other at the lower end, that is, the part adjacent to the contact end. Each of the first side plate31and the second side plate32may be formed with a recess portion312and322concave downward to the contact end, and the recess portion312and322may be formed at a higher position than the needle holes213and223. That is, the recess portions312and322may be formed as the first side plate31and the second side plate32and are cut out upwards based on the imaginary needle path line P connecting the first needle hole213and the second needle hole223. A recess portion332that is concave downward at the higher position than the needle holes213and223may also be formed on the contact end of the third side plate33.

Each of the recess portions312and322of the first side plate31and the second side plate32may be configured to have a profile of the same height with respect to an imaginary plane including the needle path line P and perpendicular to the first side plate31and the second side plate32. In addition, the recess portion332of the third side plate33may also be configured to have a profile of the same height as each of the recess portions312and322of the first side plate31and the second side plate32with respect to the imaginary plane.

Referring toFIG.4A, the recess portion312of the first side plate31deepens upward in the direction away from each of the first plate21and the second plate22, and the deepest vertex V of the recess portion312may be positioned to slant closer to the second plate22than the first plate21. Therefore, the recess portion312may include a short side S extending from the vertex V to the second plate22and a long side L extending from the vertex to the first plate21.

Also, as described above, when each of the recess portions322and332of the second side plate32and the third side plate33also have the same profile as the first side plate31, the recess portions322and332of the second side plate32and the third side plate33also deepen upward in the direction away from each of the first plate21and the second plate22, and the deepest vertex V of the recess portions322and332may be positioned to slant closer to the second plate22than the first plate21.

As above-described, when the deepest vertex V of the recess portions312,322, and332is disposed closer to the second plate22than the first plate21, the vertex part of the cornea (i.e., the corner part that borders the side surface and the upper surface) may be induced to be positioned in the vertex V part.

Also, the second plate22may be configured to extend further down from the center of the needle hole than the first plate21.

As above-described, when the second plate22is configured to extend further down from the center of the needle hole than the first plate21, in the process of aligning the second plate22with the corneal incision prior to a vacuum suction, the alignment may be easier.

Referring toFIG.4B, the second plate22may have a cutout part224extending downward from the second needle hole223. Likewise, the first plate21may have a cutout part214extending downward from the first needle hole213(referring toFIG.3). Here, the width of the cutout parts214and224may be formed smaller than the diameter of the needle holes213and223. The cutout parts214and224may be provided so that the suturing needle N passes through the needle holes213and223, and then the suturing yarn T is easily removed through this when the vacuum tweezer10is separated from the tissue.

The contact end of the body member12of the vacuum tweezer10configured in this way is attached to the surface of the wound tissue by a negative pressure, and at this time, the deformation of the wound tissue may be induced by the shape of the recess portions312,322, and332of the first, second, and third side plates31,32, and33.

FIG.5is a perspective view showing a state in which a needle insertion unit is mounted on a vacuum tweezer according to an exemplary embodiment of the present invention.

Referring toFIG.5, the needle insertion unit40may be fixed adjacent to the first needle hole213of the body member12of the vacuum tweezer10. That is, the needle insertion unit40may be supported and fixed to the first plate21in which the first needle hole213is formed.

The vacuum tweezer10may set an imaginary needle path line P (referring toFIG.3) along the extension line connecting the first needle hole213formed on the first plate21and the second needle hole223formed on the second plate22. The needle insertion unit40may drive the suturing needle N by fixing the direction so that the suturing needle N moves without shaking along the needle path line P. Here, the suturing needle N may be a straight line type of needle.

The needle insertion unit40may be driven and guided so that the suturing needle N is always inserted in a uniform direction when the suturing needle N is inserted into the tissue deformed by the contact end of the vacuum tweezer10. The needle insertion unit40may be perforated to maintain the insertion direction of the needle.

However, the present invention is not limited thereto, and the needle insertion unit40may be fixed adjacent to the second needle hole223of the body member12of the vacuum tweezer10. That is, the needle insertion unit40may be supported and fixed to the second plate22in which the second needle hole223is formed, which is also within the scope of the present invention.

The vacuum tweezer10has an upper end that is connected to the negative pressure generating unit60, thereby receiving suction power. The negative pressure generating unit60may include, for example, a vacuum pump61, a vacuum pressure regulator63, and a vacuum valve65. The vacuum pump61may generate a vacuum, and the vacuum pressure regulator63is connected to between the vacuum pump61and the vacuum tweezer10so that the vacuum pressure may be adjusted to the most appropriate level so as to not damage the tissue. Also, the vacuum valve65is connected between the vacuum pressure regulator63and the vacuum tweezer10to control an opening/closing (on/off) of the vacuum pressure.

As another example, the negative pressure generating unit60may include a syringe (not shown) equipped with a spring, and if the syringe is connected to the top of the body member of the vacuum tweezer10, when the vacuum tweezer10touches the tissue, the spring operates to generate a vacuum.

FIG.6AtoFIG.6Eare schematic flowcharts illustrating a corneal suturing process using a vacuum tweezer according to an exemplary embodiment of the present invention.

According to the shape of the contact end recess portions312,322, and332of the first side plate31, the second side plate32, and the third side plate33of the vacuum tweezer10, it is possible to induce a temporary deformation of the wound tissue in contact therewith. The contact end recess portion312of the first side plate31has the deepest vertex V, and the width W in the horizontal direction and the height H from the lower end of the first plate21to the vertex V may be appropriately set according to the suturing target. At this time, the vertex V of the contact end recess portion312may be positioned closer to the second plate22than the first plate21.

When the vacuum tweezer10is attached to the tissue using negative pressure, the wound tissue may fill and be in contact with the contact end recess portions312,322, and332of the first side plate31, the second side plate32, and the third side plate33. Accordingly, the recess portions312,322, and332of the side plates31,32, and33determine the deformed shape of the tissue. According to the deformed shape of the tissue, the path through which the suturing needle passes inside the tissue may be determined, and the suturing shape may be resultantly determined. The shape of the suturing may be adjusted by adjusting the width W and the height H of the recess portions312,322, and332and determining the position of the vertex V.

Referring toFIG.6A, first, the vacuum tweezer10is positioned so that the boundary surface of the donor cornea, which is the suturing surface, is roughly aligned with the second plate22. In the recess portion312of the vacuum tweezer10, the deepest vertex V is positioned to be slanted closer to the second plate22than the first plate21, so the boundary surface of the donor cornea, which is the suturing surface, is positioned close to the vertex V. Since the suturing needle needs to be inserted from the surface of the donor cornea, the part to insert the suturing needle (i.e., the area close to the center of the donor cornea) is positioned on the first plate21side of the vacuum tweezer10.

FIG.6Aschematically shows the parts of the cross-section of the patient cornea and the donor cornea, and they are disposed so that the boundary surfaces of the donor cornea and the patient cornea to be joined are adjacent to each other. The donor cornea is shown with lattice-type coordinate points so that the deformed state may be easily identified during the suturing process.

Referring toFIG.6B, when the negative pressure generating unit (not shown) connected to the connection end of the vacuum tweezer10is driven to generate the negative pressure in the body member12of the vacuum tweezer10, the boundary surface and part of the surface of the donor cornea contacted to the contact end may be adsorbed by filling the recess portion312. That is, the boundary surface of the donor cornea is in contact with the short side S positioned to the left of the vertex V of the recess portion312, and the surface of the donor cornea is in contact with the long side L positioned to the right of the vertex V of the recess portion312.

Referring toFIG.6C, in the state that the vacuum tweezer10adsorbs the boundary surface and the part of the surface of the donor cornea into the recess portion312, the suturing needle N passes through the donor cornea. The suturing needle N is inserted through the first needle hole213of the first plate21by driving the needle insertion unit40attached to the first plate21of the vacuum tweezer10, and then the suturing needle N is continuously advanced to penetrate the donor cornea and then to be drawn out through the second needle hole223of the second plate22.

Referring toFIG.6D, the suturing yarn T is connected to the rear end of the suturing needle N, moves along the movement path of the suturing needle N as the suturing needle N moves, and then is inserted and fixed along the suturing trajectory inside the donor cornea.

FIG.6Eshows the state in which the donor cornea is separated from the vacuum tweezer10by releasing the negative pressure inside the body member12of the vacuum tweezer10after the suturing yarn T is passed through the suturing needle N and inserted along the suturing trajectory. The separated donor cornea is restored to the original shape thereof, and accordingly, the suturing trajectory of the suturing yarn T forms an approximately left-downward trajectory from the surface of the donor cornea to the boundary surface.

On the other hand, for the patient cornea, by using a vacuum tweezer and a needle insertion unit with a structure symmetrical to the vacuum tweezer10of the above structure, the suturing needle may be inserted into the boundary surface of the patient cornea, and the suturing needle may be draw out into the surface of the patient cornea. Thereby, the suturing needle that has passed through the donor cornea is inserted and passed into the patient cornea, and accordingly, the suturing trajectory may be formed in the donor cornea, and the suturing trajectory may be formed so that the fixed suturing yarn is continuous to the patient's cornea. Finally, the suturing loop may be completed by knotting the suturing yarn drawn out on each surface of the donor cornea and the patient cornea.

Also, as another example, the suturing needle is inserted into the surface of the patient cornea, the suturing needle is draw out to the boundary surface of the patient cornea, the suturing needle is inserted into the boundary surface of the donor cornea, and the suturing needle is draw out to the surface of the donor cornea, thereby it is also possible to form the suturing trajectory.

FIG.7is a schematic diagram schematically sowing a robot arm tissue suturing system including a vacuum tweezer according to an exemplary embodiment of the present invention.

The vacuum tweezer10according to the present exemplary embodiment may be used by being mounted on an automated robot arm suturing device.

Referring toFIG.7, the robot arm suturing device includes a four-bar linkage140fixed by the vacuum tweezer10, an XYZ linear stage130to which one end of the four-bar linkage140is fixed, and a rotary stage120to which one end of the XYZ linear stage130is fixed. The rotary stage120may be held and fixed to a stable fixed base frame (not shown).

The four-bar linkage140may be operated to set the end point of the lower end of the vacuum tweezer10as a remote center of motion (RCM) point and to rotate around it. The XYZ linear stage130may control the position while moving in the three-axis direction of the four-bar linkage140. In addition, the rotary stage120may control the position while rotating and driving the XYZ linear stage130about the central axis.

FIG.8is a photographic image showing a corneal suturing process using a tissue suturing device including a vacuum tweezer according to an exemplary embodiment of the present invention.

Referring toFIG.8, the vacuum tweezer10to which the needle insertion unit40is mounted is positioned close to the donor cornea (referring to an upper-left image), the vacuum tweezer10is positioned to be in contact with the donor cornea, and the negative pressure is generated, thereby the donor cornea is adsorbed into the recess portion at the lower end of the vacuum tweezer10(refer to an upper-right image) while the shape of the donor cornea is temporarily deformed.

Next, when the suturing needle N is driven and moved to penetrate the deformed part of the donor cornea (refer to a lower left image), the suturing yarn T connected to the rear end of the suturing needle N is inserted along the movement path of the suturing needle N and then positioned along the suturing trajectory inside the donor cornea (refer to a lower right image).

FIG.9is a perspective view showing a vacuum tweezer according to another exemplary embodiment of the present invention, andFIG.10is a photographic image showing a state of suturing a cornea by using a tissue suturing device equipped with a vacuum tweezer according to another exemplary embodiment of the present invention.

The vacuum tweezer may be made by combining two or more body members12and52of the tube shape. Referring toFIG.9, the vacuum tweezer50according to the present exemplary embodiment is made by combining the body members12and52in the shape of two tubes. That is, the body member12of the vacuum tweezer50may include a first plate21, a second plate22facing the first plate21, and a third plate23facing the second plate22. Between the first plate21and the second plate22, the first side plate31, the second side plate32, and the third side plate33may be connected and fixed to the first plate21and the second plate22, and between second plate22and the third plate23, the fourth side plate34, the fifth side plate35, and the sixth side plate36may be connected and fixed to the second plate22and the third plate23. Accordingly, the first plate21and the second plate22, and the first side plate31and the second side plate32, may form the first body member12, and the second plate22and the third plate23, and the third side plate33and the fourth side plate34, may form the second body member52.

The first plate21and the second plate22have a first needle hole213and a second needle hole223that correspond to each other and are penetrated in the part adjacent to the contact end, which is the lower part. Each of the first side plate31and the second side plate32may have a recess portion that is concave downward at the contact end, and the recess portion may be formed at a higher position than the needle holes213and223. Similarly, in the part adjacent to the contact end of the third plate23, a third needle hole233corresponding to the second needle hole223of the second plate22is drilled. Accordingly, the first needle hole213, the second needle hole223, and the third needle hole233may be formed to be positioned on one imaginary needle path line P.

Each of the first side plate31and the second side plate32may have a recess portion that is concave downward at the contact end, and the recess portion may be formed at a higher position than the needle holes213and223. Similarly, each of the fourth side plate34and the fifth side plate35may have a recess portion that is concave downward at the contact end, and the recess portion may be formed at a higher position than the needle holes223and233.

The third side plate33is positioned between the first side plate31and the second side plate32, and may fix them by connecting the first plate21and the second plate22. In the contact end of the third side plate33, a recess portion that is concave downward at a position that is higher than the needle holes213and223may be formed. In addition, the sixth side plate36is positioned between the fourth side plate34and the fifth side plate35, and may fix them by connecting the second plate22and the third plate23. A recess portion that is concave downward at the position that is higher than the needle holes223and233may also be formed at the lower end of the sixth side plate36.

Each recess portion of the first side plate31, the second side plate32, and the third side plate33includes a needle path line P connecting the corresponding needle holes213,223, and233, and may be configured to have a profile of the same height with respect to an imaginary plane perpendicular to the first side plate31and the second side plate32. Each recess portion of the fourth side plate34, the fifth side plate35, and the sixth side plate36includes the needle path line P, and may be configured to have a profile of the same height with respect to an imaginary plane perpendicular to the fourth side plate34and the fifth side plate35.

Here, the recess portion of the first side plate31becomes deeper in the direction away from each of the first plate21and the second plate22, and the deepest vertex V of the recess portion may be positioned closer to the second plate22than the first plate21. In addition, the recess portion of the fourth side plate34becomes deeper in the direction away from each of the second plate22and the third plate23, and the deepest vertex V of the recess portion may be positioned closer to the second plate22than the first plate21. That is, the first side plate31of the first body member12and the fourth side plate34of the second body member52may have recess portions that are symmetrical to each other with respect to the second plate22.

Also, as above-described, when each recess portion of the second side plate32and the third side plate33also has the same profile as the first side plate31, the recess portions of the second side plate32and the third side plate33also become deeper in the direction away from each of the first plate21and the second plate22, and the deepest vertex V of the recess portion may be positioned closer to the second plate22than the first plate21. Similarly, when the recess portions of the fifth side plate35and the sixth side plate36also have the same profile as the fourth side plate34, the recess portions of the fifth side plate35and the sixth side plate36also become deeper in the direction away from each of the second plate22and the third plate23, and the deepest vertex V of the recess portion may be positioned closer to the second plate22than the first plate21.

The second plate22may be configured to extend further downward from the center of the needle hole than the first plate21and the third plate23.

When using the vacuum tweezer50according to the present exemplary embodiment configured as described above, it is possible to simultaneously suture a plurality of wounds.

In the above, an example in which the vacuum tweezer is used for corneal suturing has been described, but the vacuum tweezer according to the example may be applied to other parts of the body in addition to the cornea by appropriate morphological modifications, and may also be applied to the suturing of a general wound tissue.

In addition, the vacuum tweezer has the structure in which the lateral cross-section is approximately a rectangle, but it is also possible for the tube-type body member of the vacuum tweezer to have a structure having a lateral cross-section of a different shape such as a circle or an oval, and this is also within the scope of the present invention.

While this invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. On the contrary, it is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

DESCRIPTION OF SYMBOLS

10: vacuum tweezer12: body member21,22: first plate, second plate31,32,33: first side plate, second side plate, third side plate40: needle insertion unit213,223: first needle hole, second needle hole312,322,332: recess portion214,224: cutout partN: suturing needleT: suturing yarn