KR101173619B1 - Robot apparatus for endoscopic surgery - Google Patents

Abstract

The present invention is equipped with a bending joint consisting of links and by using a robot arm that can be rotated and translated to realize movement of more than 4 degrees of freedom, not only provide sufficient movement required for the procedure within the limited space of the surgical site but also efficient It relates to an endoscope surgical robot device having a power transmission structure. To this end, the overtube (100) having the flexibility to access the surgical site through the natural opening or micro-incision; A plurality of internal robots 200 formed in the overtube 100 by a flexible shaft 200a and a robot arm 200b provided with a bending joint made of solid and links; An endoscope 300 formed at one end of the overtube 100 or one end of the plurality of internal robots 200; An internal robot driving means (400) comprising a rotation driving unit (400a) for rotating the internal robot (200) and a translation driving unit (400b) for translating the internal robot (200); Robot arm driving means 500 for driving the robot arm (200b); And a surgical tool 600 formed at the end of the robot arm 200b.

Description

Robot apparatus for endoscopic surgery

The present invention relates to a robotic device for endoscopic surgery, more specifically, a bending joint consisting of links, and the rotational and translational movement is possible by using a robot arm that implements the movement of more than four degrees of freedom limited space of the surgical site The present invention relates to a robotic device for endoscopy having an efficient power transmission structure as well as providing sufficient movement for a procedure.

Conventionally, a laparotomy is performed with the abdomen open and open for surgery in the abdominal cavity. However, with the introduction of laparoscopic surgery using laparoscopy and small surgical instruments, laparoscopic surgery is becoming more common for relatively simple surgeries such as gallbladder resection. Laparoscopic surgery is a field of minimally invasive surgery that can be performed through many small incisions (minimally invasive points) to minimize damage to surrounding organs and tissues and to significantly shorten hospitalization time. Furthermore, with the introduction of the concept of non-invasive surgery, natural orifice transluminal endoscopic surgery is drawing attention as the next generation.

In spontaneous opening endoscopic surgery, a flexible overtube is inserted through a natural opening (mouth, anus or vagina) to approach a surgical site, and then a necessary procedure is performed by manipulating an internal robot provided in the overtube. At this time, the internal robot should be able to implement sufficient movement required for the procedure. For example, in a normal open surgery, the operator should be able to implement the operation while looking down at the surgical site with both elbows bent outward. To this end, the internal robot should be provided with one endoscope and two or more surgical tools, and due to the narrow space of the surgical site, it is difficult to properly arrange the endoscope and the surgical tools, and there is a problem in that it is not sufficient to implement the above operation. . In addition, different surgical instruments should be used depending on the situation at the time of surgery, there was a problem that can not easily replace the surgical instruments due to space constraints.

On the other hand, in the case of the existing laparoscopic system can directly introduce the internal robot into the abdominal cavity through the invasion point, it does not require an overtube, it is possible to easily implement the movement (4 degrees of freedom) of the internal robot required for the procedure. However, in the case of spherical endoscopy, the internal robot needs to have flexibility because the overtube is inserted into the curved passage. However, when manufacturing an internal robot using a flexible shaft, the actual maximum degree of freedom of the internal robot provided from the outside is limited to two degrees of freedom, which makes it difficult to implement a minute surgical operation.

In addition, there is a problem of force transfer that is contrary to the flexibility problem described above. The shaft of a rigid material can sufficiently transmit the force transmitted from the outside, but lacks flexibility, on the contrary, the shaft of the flexible material has a problem in that it cannot transmit sufficient force.

The present invention has been proposed to solve the problems of the prior art as described above, an object of the present invention is to have a flexible joint structure capable of sufficiently transmitting the force provided from the outside while having flexibility, and the triangle of the endoscope and surgical instruments It is to provide an endoscopic surgical robot device that can realize the movement of more than four degrees of freedom required for the procedure within the limited space of the surgical site through the arrangement.

Another object of the present invention is to provide an endoscopic surgical robot device which can easily exchange surgical instruments and has an efficient power transmission structure.

According to an aspect of the present invention,

Overtube (100) having the flexibility to access the surgical site through the natural opening or micro-incision; A plurality of internal robots 200 formed in the overtube 100 by a flexible shaft 200a and a robot arm 200b provided with a bending joint made of solid and links; An endoscope 300 formed at one end of the overtube 100 or one end of the plurality of internal robots 200; An internal robot driving means (400) comprising a rotation driving unit (400a) for rotating the internal robot (200) and a translation driving unit (400b) for translating the internal robot (200); Robot arm driving means 500 for driving the robot arm (200b); And a surgical tool 600 formed at the distal end of the robot arm 200b. It can be achieved by an endoscope surgical robot device comprising a.

In addition, the overtube 100 has a plurality of internal channels 110 formed therein, and the internal robots 200 are inserted therein, and the robot arm 200b protrudes from the overtubes 100 by driving the translational drive unit 400b. Or introduced into the overtube 100.

In addition, a hollow is formed in each of the links of the flexible shaft 200a and the robot arm 200b so that a channel is formed in the longitudinal direction of the internal robot 200, and the surgical tool 600 is inserted and installed through the channel. At this time, the flexible shaft (200a) and the robot arm (200b) is preferably made of a bending joint of a solid material.

In addition, the inner robot 200 is provided with a pair, a pair of robot arm (200b) protrudes from the end of the overtube 100, endoscope 300 to form a triangular arrangement with the protruding robot arm (200b) It is formed at the end of the overtube 100.

On the contrary, the internal robot 200 is provided with a pair, and a pair of robot arms 200b protrude from both ends of the distal end of the overtube 100, respectively, and endoscopes are formed in a triangular arrangement with the protruding robot arms 200b. 300 may be formed at the end of the overtube 100.

In addition, the robot arm 200b is connected to the elbow joint portion 210 connected to the distal end of the flexible shaft 200a, the wrist joint 220 connected to the distal end of the elbow joint 210 to implement two degrees of freedom, and robot arm driving means. Each of the plurality of first wires W1 operated by 500 to bend the elbow joint 210 and the wrist joint 220 simultaneously.

In addition, the elbow joint portion 210 is provided with a plurality of links (212, 214) is bent in a curved or angular form.

On the contrary, the elbow joint portion 210 includes an integrated flexible link 216 connecting the flexible shaft 200a and the wrist joint 220, and four or more link devices 218a and 218b for bending the integrated flexible link 216. 218c, 218d, and 218e) to realize one degree of freedom.

In addition, the wrist joint 220 is between the start link 222a connected to the elbow joint 220, the end link 222b on which the surgical tool 600 is installed, and between the start link 222a and the end link 222b. One or more first and second rotary links 222c and 222d in contact with each other are provided, and the start link 222a and the first and second rotary links 222c and 222d by the operation of the first wire W1. Have a structure that rotates while sliding each other.

On the other hand, the wrist joint 220 is composed of a plurality of connecting links (224a, 224a ') and a plurality of elastic members provided between the connecting links (224a, 224a'), the operation of the first wire (W1) It may have a structure in which the elastic member is curved.

In this case, the elastic member may be an elastic rod 226 having a circular cross section or an elastic plate 228 having a rectangular cross section.

In addition, four first wires W1 are provided, preferably, steel wires or superelastic nitinol wires.

In addition, the rotation driving unit 400a includes first and second support members 412 and 414 spaced apart from each other at predetermined intervals, and a first cylindrical shaft 432a and a first rotation wheel 432 provided to the first support member 412. ), A pair of second ends of which are respectively fixed to the second and second rotating wheels 434 and the first and second rotating wheels 432 and 434 formed on the second support 414, the second cylindrical shaft 434a is formed. Slide shafts 442 and 444 and a first motor M1 for forward and reverse rotation of the second rotation wheel 434, and the flexible shaft 200a of the internal robot 200 is a first cylindrical shaft. 432 is inserted and fixed.

The translation drive unit 400b includes a movable plate 450 linearly guided to the pair of slide shafts 442 and 444, and a third pulley P3 formed on the motor shaft, and the motor shaft includes the slide shaft 442,. The second motor M2 fixed to one side of the movable plate 450 to be parallel to the 444, the fourth pulley P4 fixed to the movable plate 450 adjacent to the third pulley P3, and one end thereof The other end is fixed to the first rotation wheel 432 and is wound on the fourth pulley P4, the third pulley P3, and then again to the fourth pulley P4, and the other end is fixed to the second rotation wheel 434 in a tensioned state. The second wire W2 is provided.

In addition, the robot arm driving unit 500 includes a plurality of wire driving units 502 for driving the robot arm 200b by moving the first wire W1 straight.

In this case, the wire driving unit 502 includes a third worm wheel 520 which receives the rotational force of the worm 510 and the worm 510 that is rotated forward and reverse by the third motor M3, the third motor M3. ) And a guide groove 532, which is installed on the shaft 522 of the worm wheel 520, and guides the first wire W1, is provided as a pair of friction elements 530 formed on an outer circumferential surface thereof. Then, the adjusting screw 544 for adjusting the distance between the friction 530 is provided.

As described above, the endoscope surgical robot apparatus according to the present invention has sufficient flexibility by having an internal robot having a flexible shaft and a robot arm composed of hard and short links, and at the same time the internal robot driving means and the robot arm driving means. The power generated by this can be transmitted effectively. In addition, the internal robot can easily exchange various surgical instruments through the channel formed therein.

The robot arm is composed of an elbow joint portion and a wrist joint portion connected by a wire, and is driven by the robot arm driving means. At this time, the elbow joint portion may be bent in a curved or angular form to implement a natural elbow operation. In addition, the elbow joint portion is made of a flexible link and four or more link devices can implement an additional 1 degree of freedom. In addition, the wrist joint part may be composed of a plurality of rotary links or a link link and an elastic member to realize a fine bending motion of two degrees of freedom.

In addition, the robot arm can be rotated and translated by the internal robot drive means, thereby enabling the movement of more than four degrees of freedom. Such a robotic arm achieves a triangular arrangement with the endoscope at the distal end of the overtube, thereby enabling an effective procedure in the limited space of the surgical site. For example, microscopic operations such as incisions, sutures, and laser treatments to surgical sites can be performed.

In addition, the internal robot drive means according to the present invention can significantly reduce the volume of the drive by having an efficient structure in which the translation drive is linearly guided on the slide shaft of the rotary drive. In addition, the cylindrical shaft formed on the second rotation wheel of the rotary drive unit can be used as a passage for extending the motor wiring of the robot arm drive unit and the translational drive unit to the outside can facilitate the operation of the rotary drive unit.

In addition, the robot arm driving means according to the present invention does not adopt a complex structure having a flexible wire that is generally used to implement the bending operation of the robot arm, and a plurality of pulleys for driving the robot arm. Instead, a relatively simple structure is provided that can push and pull the wire using a pair of friction elements. That is, since a wire of a relatively hard material such as superelastic nitinol wire can be used, the bending motion of the robot arm can be more precisely controlled and durability can be greatly improved.

The robot device for endoscopic surgery according to the present invention can be applied to laparoscopic surgery as well as endoscopic surgery of the natural opening, it can be widely applied in other industries other than the medical field.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications and variations are possible without departing from the spirit and scope of the invention. Are all within the scope of the appended claims.

1 is a schematic view showing the overall configuration of the robot device for endoscopic surgery according to the present invention.
2A is a view showing an example of a triangular arrangement structure of the endoscope and the robot arm.
2B is a view showing a modification of the triangular arrangement structure of the endoscope and the robot arm.
Figure 2c is a view showing another modification of the triangular arrangement of the endoscope and robot arm.
Figure 3a to 3c is a perspective view showing the wrist joint of the robot arm according to the present invention.
4A and 4B are perspective views showing a modification of the wrist joint part.
5 is a perspective view showing an internal robot drive means.
Figure 6 is a perspective view showing a first wire drive of the robot arm drive means.
7 is a perspective view showing a robot arm driving means in which four first wire driving units are assembled;
Figure 8 is a perspective view showing a coupling state of the internal robot drive means and the robot arm drive means.
Figure 9 is a schematic diagram showing the movement mechanism of the robot device for endoscopic surgery according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to components of each drawing, the same reference numerals are used for the same components as much as possible even though they are shown in different drawings.

(Configuration of robot device for endoscopic surgery)

Figure 1 is a schematic diagram showing the overall configuration of the robot device for endoscopic surgery according to the present invention. Endoscope surgical robot apparatus 10 according to the present invention is the overtube 100, the internal robot 200, the endoscope 300, the internal robot drive means 400, robot arm drive means 500 and surgical tools 600 It consists of

The overtube 100 is shown in dashed lines in FIG. 1. The overtube 100 serves to approach the surgical site through a natural opening (mouth, anus, vagina) or a micro incision. The overtube 100 has a diameter of about 15-30 mm in the form of a flexible tube. The overtube 100 as described above can be manually moved by the operator in the form of a simple tube. Alternatively, a separate moving means (not shown) and a driving unit (not shown) may be provided to move the control device (not shown). It can have a structure.

The internal robot 200 is composed of a flexible shaft (200a) and the robot arm (200b) as shown in Figure 1 is a plurality of inserts are installed in the overtube (100). Unlike this, the internal robot 200 may be integrally formed with each other by being fixed to the end of the overtube 100. According to this embodiment, the inner robot 200 is provided with a pair, and the robot arm 200b protrudes from the end of the overtube 100 as shown in FIG. 1 by the internal robot driving means 400, or the overtube ( 100) is introduced into the structure. That is, when the robot arm 200b approaches the surgical site through the natural opening or the micro incision in the state in which the robot arm 200b is drawn in, the robot arm 200b and the surgical tool 600 protrude.

On the other hand, the flexible shaft (200a) and the robot arm (220b) of the internal robot 200 is formed by a channel (not shown) in the longitudinal direction through which the surgical tool 600 is inserted. That is, the flexible shaft 200a is manufactured in the form of an integral tube made of a flexible material, and the robot arm 200b has a bending joint made of short links having a hollow. In this case, the flexible shaft 200a may also have a bending joint structure in which a plurality of links having a hollow are connected. In addition, the bending joints of the robot arm 220b and the flexible shaft 200a may be made of a rigid material such as metal, synthetic resin, ceramic, etc. to efficiently transfer the force provided by the internal robot driving means 400.

Meanwhile, the bending joint of the robot arm 220b has an elbow joint 210 connected to the end of the flexible shaft 200a and a wrist joint 220 connected to the end of the elbow joint 210 as shown in FIGS. 2A to 2C. It consists of At this time, the robot arm driving means 500 has a structure in which the elbow joint 210 and the wrist joint 220 are bent simultaneously by pushing or pulling the first wire W1 shown in FIG. 6. Detailed description thereof will be described later.

Endoscope 300 is provided with a special camera for taking an image of the surgical site. According to the present embodiment, the endoscope 300 is installed at the end of the overtube 100 as shown in FIG. 1. Unlike this, the endoscope 300 may be installed at the distal end of the robot arm 200b to move the internal robot 200 to photograph.

The internal robot driving means 400 rotates and translates the internal robot 200. Detailed configuration and operation thereof will be described later.

Robot arm driving means 500 is installed in the internal robot driving means 400 serves to bend the robot arm (200b). Detailed configuration and operation thereof will be described later.

Surgical tool 600 may be a forceps, scissors, a laser device for the procedure. At this time, the surgical tool 600 has a structure that is inserted through the channel (not shown) formed inside the internal robot 200 as described above. That is, by attaching or detaching various surgical tools to the distal end of the robot arm (200b) through a channel (not shown) it can be performed quickly and efficiently. Such a surgical tool 600 is driven by a separate external power (not shown). And, it can be configured to enable rotation and translation.

(Triangular arrangement of endoscope and robot arm)

2A is a view showing an example of a triangular arrangement structure of the endoscope and the robot arm. As shown in FIG. 2A, the endoscope 300 is formed at the end of the overtube 100. In addition, the pair of robot arms 200b protrude from the end of the overtube 100 to form a triangular arrangement with the endoscope 300. On the other hand, the surgical tool 600 is installed through a channel formed in the interior of the robot 200.

The elbow joint portion 210 of the robot arm 200b is composed of angular links 214 as shown in FIG. 2A. At this time, when the first wire W1 shown in FIG. 6 is pulled, the elbow joint portion 210 is bent in an elbow shape around the endoscope 300. In addition, although not shown in the drawing, a relatively sufficient space for the operation of the elbow joint 210 may be secured by injecting a gas, such as carbon dioxide, into the surgical site through the overtube 100. Meanwhile, when the first wire W1 of FIG. 6 is loosely released, the elbow joint portion 210 may have flexibility and may be introduced into the overtube 100.

Wrist joint 220 consists of short links, as in Figure 2a. The wrist joint 220 is bent in two degrees of freedom by the driving of the first wire W1. A detailed description of the wrist joint 220 will be described later.

2B is a view showing a modification of the triangular arrangement structure of the endoscope and the robot arm. According to a modification illustrated in FIG. 2B, two inner channels 110 are formed inside the overtube 100, and a pair of internal robots 200 are inserted into each other. At this time, the distal end of the inner channel 110 is formed obliquely to both ends of the overtube 100. Therefore, the elbow operation of the robot arm 200b can be more easily implemented. At this time, the elbow joint portion 210 ′ is composed of curved links 212, thereby minimizing damage to the tissue at the surgical site.

Figure 2c is a view showing another modification of the triangular arrangement of the endoscope and robot arm. According to the modification shown in Fig. 2c, the elbow joint portion 210 " is provided with an integrated flexible link 216 and four or more link devices for bending it. According to this embodiment, the link device includes five links 218a. , 218b, 218c, 218d, and 218e are provided together with the end of the overtube 100 to form a six-section link. The elbow joint portion 210 "according to the present embodiment can implement an additional 1 degree of freedom. As a result, the robot arm 200b can implement movement of three degrees of freedom together with the wrist joint 220 to perform more delicate work.

(Composition of Wrist Joint)

3a to 3c are perspective views showing the wrist joint of the robot arm according to the present invention. Wrist joint 220 is provided with a start link (222a), a distal link (222b), a plurality of alternately arranged first and second rotary links (222c, 222d), as shown in Figure 3a to 3c, 4 First wires W1 penetrate through them. At this time, the hole formed in the inside of the wrist joint 220 becomes a channel into which the surgical tool 600 is inserted. The start link 222a is connected to the elbow joint 220 and has a slip surface of a predetermined shape. One end of the first wire W1 is fixed to the end link 222b and a pair of protrusions are formed. In addition, the first rotary link 222c is formed at the bottom of the pair of protrusions and the sliding surface (the same position), and the second rotary link 222d is formed at the 90 ° phase difference at the bottom of the pair of the projection and the sliding surface. have. On the other hand, the first wire (W1) may be used a general steel wire rope made by twisting a number of steel wires, one strand of superelastic Nitinol wire having a large elastic deformation range may be used.

The wrist joint 220 configured as described above is rotated while the start link 222a and the first and second rotary links 222c and 222d slide with each other according to the pushed and pulled states of the first wires W1. Bending in Freedom For example, in FIG. 3A, when the wire on the left side is pulled down and the wire on the right side is pushed up, the wrist joint 220 is bent to the left side. On the other hand, as the number of alternately arranged first and second rotary links 222c and 222d increases (from FIG. 3A to FIG. 3B), the isotropy of the bending joint increases, thereby realizing a more delicate bending operation. In addition, since the driving angle of each link is reduced, it is easy to drive by inserting the surgical tool 600 into the channel.

4A and 4B are perspective views showing a modification of the wrist joint part. According to the modification illustrated in FIGS. 4A and 4B, the wrist joint 220 ′ has a structure in which a plurality of elastic members 226 and 228 are regularly arranged and supported between the plurality of connecting links 224a and 224a ′. Have In this case, the elastic member may be an elastic rod 226 having a circular cross section as shown in FIG. 4A, and may be an elastic plate 228 having a rectangular cross section as shown in FIG. 4B. According to the present embodiment, the elastic members 226 and 228 are bent directly according to the pushed and pulled states of the first wires W1, and thus the wrist joint 220 ′ is bent in two degrees of freedom.

(Configuration of Internal Robot Drive Means)

5 is a perspective view showing an internal robot drive means according to the present invention. The internal robot drive means 400 is for rotating and translating the internal robot 200 shown in FIG. 1, and is composed of a rotation driving unit 400a and a translation driving unit 400b as shown in FIG. 5.

The rotary drive unit 400a includes first and second supports 412 and 414, first and second rotary wheels 432 and 434, a pair of slide shafts 442 and 444, and a first motor M1. It is provided.

Both ends of the support rods 420 are spaced apart from the first and second support members 412 and 414, respectively.

A first cylindrical shaft 432a is formed at the center of the first rotation wheel 432 so as to be rotatable on the first support 412. At this time, the flexible shaft 200a of the internal robot 200 is inserted into and fixed to the first cylindrical shaft 432a, and thus the flexible shaft 200a rotates together with the first rotation wheel 432.

The second rotary wheel 434 is formed to be rotatable on the second support 414 is formed a second cylindrical shaft (434a). The first and second rotary wheels 432 and 434 are fixedly connected by the slide shafts 442 and 444 and the support shafts 446 and 448 provided in pairs, respectively.

The first motor M1 is installed on the second support 414 to rotate the flexible shaft 200a by forward or reverse rotation of the first and second rotation wheels 432 and 434. In this case, as shown in FIG. 5, the first motor M1 and the second rotation wheel 434 are provided with a first pulley P1 and a second pulley P2, respectively, and are connected by a timing belt.

The translation drive unit 400b includes a movable plate 450, a second motor M2, a third pulley P3, a second pulley P4, and a second wire W2.

As shown in FIG. 5, the movable plate 450 has a fixed end portion of the flexible shaft 200a. In addition, a fixing holder 452 having a bush 452 is provided at an edge of the movable plate 450 so that the movable plate 450 may be inserted to be guided by a pair of slide shafts 442 and 444.

The second motor M2 is provided with a third pulley P3 on the motor shaft, and is installed at one side of the movable plate 450 such that the motor shaft is parallel to the slide shafts 442 and 444. The fourth pulley P4 is rotatably installed on the movable plate 450 adjacent to the third pulley P3.

One end of the second wire W2 is fixed to the first rotation wheel 432, and is wound on the fourth pulley P4, the third pulley P3, and the fourth pulley P4 in turn, and the other end of the second wire W2 is tensioned. It is fixed to two rotation wheels (434).

In the translational drive unit 400b having such a configuration, the movable plate 450 translates along the slide shafts 442 and 444 as the second motor M2 rotates forward or reverse. 200a) will translate together.

On the other hand, the second cylindrical shaft 434a of the second rotating wheel 434 described above is the second motor M2 of the translational drive 400b and the third motor M3 of the robot arm driving means 500 to be described later. ) Is used as a passage for extending the wiring to the outside. This prevents twisting of the motor M2 and M3 wires, and rotates the rotary drive unit 400a indefinitely.

(Configuration of Robot Arm Driving Means)

Figure 6 is a perspective view showing a first wire drive of the robot arm drive means. The wire driver 502 shown in FIG. 6 is for driving the robot arm 200b shown in FIGS. 1 and 2 by moving the first wire W1 straight.

According to the present embodiment, the wire driving unit 502 includes a third motor M3, a worm 510, a pair of worm wheels 520, a pair of friction wheels 530, a fixing plate 542, and an adjustment screw 544. ).

As shown in FIG. 6, a pair of worm wheel shafts 522 are provided on the fixing plate 542, and a worm wheel 520 and a friction 530 are fixed to upper and lower sides of the worm wheel shaft 522, respectively. . At this time, the guide groove 532 for guiding the first wire W1 is formed on the outer circumferential surface of the pair of friction elements 530. In addition, a worm 510 for rotating the pair of worm wheels 520 is installed. At this time, the worm 510 is fixed to the worm shaft 512, and the worm shaft 512 is connected to the shaft of the third motor M3 by the coupling 514. The fixing plate 542 is provided with an adjustment screw 544 for adjusting the friction force with the first wire W1 by varying the interval between the pair of friction elements 530.

In the wire driving unit 502 having the configuration described above, the rotational force of the third motor M3 is transmitted to the pair of friction elements 530 via the worm 510 and the worm wheel 520. Then, as the third motor M3 rotates forward or reverse, the first wire W1 may be pushed or pulled.

7 is a perspective view illustrating a robot arm driving means in which four first wire driving units are assembled. As shown in FIG. 7, the robot arm driving unit 500 according to the present invention has four wire driving units 502 assembled thereon to linearly move the first four wires W1. At this time, two wire driving units 502 are provided in the upper and lower sides of the movable plate 450 of the above-described translational drive unit 400b in a pair. At this time, the support plate 504 for fixing the fixing plate 542 is installed below the movable plate 450. The assembly structure of the wire driving unit 502 can greatly reduce the volume of the robot arm driving means 500.

8 is a perspective view illustrating a coupling state between the internal robot driving means and the robot arm driving means. Robot arm driving means 500 according to the present invention is installed in the translation drive unit 400b as shown in FIG. At this time, the movable plate 450 and the support plate 504 are provided in pairs, respectively, to support the robot arm driving means 500.

(Operation of Endoscopic Robotic Device)

Hereinafter, the operation of the endoscope surgical robot device according to the present invention with reference to FIG.

Figure 9 is a schematic diagram showing the movement mechanism of the robot device for endoscopic surgery according to the present invention. The endoscope surgical robot device 10 according to the present invention, the operator observes the surgical site using the endoscope 300 and the monitor (not shown) and at the same time using the internal robot 200 and the control device (not shown) and The surgical tool 600 is a kind of manipulator device that performs a necessary procedure by moving the surgical tool 600 and operating the surgical tool 600.

In the endoscope surgical robot apparatus 10 according to the present invention, as shown in FIG. 9, the rotary driving unit 400a of the internal robot driving means 400 includes first and second rotary wheels 432 and 434 by a motor. When rotated, the flexible shaft 200a inserted into the first cylindrical shaft 432a rotates together. When the translation driving unit 400b moves straight along the first and second slide shafts 442 and 444 of the rotation driving unit 400b, the flexible shaft 200a also moves straight along. As a result, the inner robot 200 equipped with the robot arm 200b and the surgical tool 600 may rotate and translate as shown by the arrow shown in FIG. 9 to implement two degrees of freedom.

In addition, the robot arm driving means 500 installed in the translation driving unit 400b may implement bending by driving the robot arm 200b by pushing or pulling the first wire W1. Therefore, the robot device 10 for endoscopic surgery according to the present invention is capable of realizing four degrees of freedom.

On the other hand, the motor wiring of the translation driving unit 400a and the robot arm driving means 500 extends to the outside through the second cylindrical shaft 434a formed on the second rotation wheel 434 of the rotation driving unit 400 to rotate the driving unit ( 400 allows for smooth rotation.

And, since the surgical tool 600 is installed through a channel (not shown) formed inside the internal robot 200, the exchange of the surgical tool can be made simply through the channel.

10: endoscope surgery robot device
100: over tube
110: internal channel
112, 114: robot arm protrusion
200: internal robot
200a: flexible shaft
200b: robot arm
210, 210 ', 210 ": Elbow Joint
212 curved link
214: angled link
216: integrated flexible link
218a, 218b, 218c, 218d, 218e: link
220: wrist joint
222a: start link
222b: end link
222c: first rotary link
222d: second rotary link
224, 224 ': link
226 elastic rod
228: Elastic Plate
300: endoscope
400: internal robot drive means
400a: rotary drive part
400b: translation drive unit
412: first support
414: second support
420: support rod
432: first rotating wheel
432a: first cylindrical shaft
434 second rotating wheel
434a: second cylindrical shaft
442, 444: Slide axis
446, 448: support shaft
450: movable plate
452: fixed holder
452a: bush
500: robot arm drive means
502: wire drive unit
504: support plate
510: Worm
512: worm shaft
514: Coupling
520: Worm wheel
522: worm wheel shaft
530: friction
532: Guide Home
542 fixing plate
544: adjusting screw
600: Surgical Instruments
W1: first wire
W2: second wire
M1: first motor
M2: second motor
M3: third motor
P1: first pulley
P2: second pulley
P3: 3rd Pulley
P4: fourth pulley

Claims (19)

Overtube (100) having the flexibility to access the surgical site through the natural opening or micro-incision;
A plurality of internal robots 200 formed in the overtube 100 by a flexible shaft 200a and a robot arm 200b having bending joints formed of links;
An endoscope 300 formed at one end of the overtube 100 or one end of the plurality of internal robots 200;
An internal robot driving means (400) consisting of a rotation driving unit (400a) for rotating the internal robot (200) and a translation driving unit (400b) for translating the internal robot (200);
Robot arm driving means 500 for driving the robot arm (200b); And
Endoscopic surgical robot apparatus comprising a; surgical tool 600 formed on the end of the robot arm (200b). The method of claim 1,
The overtube 100 has a plurality of internal channels 110 are formed is inserted into the internal robot 200, and
The robot arm 200b is characterized in that the robot arm (200b) protrudes from the overtube (100) or is introduced into the overtube (100) by the drive of the translation drive unit (400b). The method of claim 1,
A hollow is formed in each of the links of the flexible shaft 200a and the robot arm 200b to form a channel in the longitudinal direction of the internal robot 200, and
Endoscope surgery robot device, characterized in that the surgical tool 600 is inserted through the channel. The method of claim 1,
The flexible shaft (200a) and the robot arm (200b) endoscope surgical robot device, characterized in that made of a bending joint of a solid material. The method of claim 1,
The internal robot 200 is provided with a pair, and
A pair of the robot arm (200b) protrudes from the end of the overtube 100, the endoscope 300 to the end of the overtube 100 to form a triangular arrangement with the protruding robot arm (200b) Robotic device for endoscopic surgery, characterized in that formed. The method of claim 1,
The internal robot 200 is provided with a pair, and
The endoscope 300 of the robot tube 200b protrudes from both ends of the distal end of the overtube 100, and forms the triangular arrangement with the protruding robot arm 200b. Robotic device for endoscopic surgery, characterized in that formed on the end. The method of claim 1,
The robot arm 200b,
An elbow joint portion 210 connected to an end of the flexible shaft 200a,
Wrist joint 220 and connected to the distal end of the elbow joint 210 to implement two degrees of freedom,
Endoscope surgery robot device, characterized in that made by a plurality of first wires (W1) which are respectively operated by the robot arm driving means (500) to bend the elbow joint portion 210 and the wrist joint portion 220 at the same time. The method of claim 7, wherein
The elbow joint portion 210 is provided with a plurality of links (212, 214) is endoscopic surgery robot device, characterized in that the bent in a curved or angular form. The method of claim 7, wherein
The elbow joint portion 210
An integrated flexible link 216 connecting the flexible shaft 200a and the wrist joint 220;
Endoscopic robotic robot device, characterized in that the one or more link device (218a, 218b, 218c, 218d, 218e) to bend the flexible link 216 to implement one degree of freedom. The method of claim 7, wherein
The wrist joint 220 is
A start link 222a connected to the elbow joint 220,
End link 222b and the surgical tool 600 is installed,
One or more first and second rotary links 222c and 222d contacting each other between the start link 222a and the end link 222b, and
Endoscope surgical robot device, characterized in that the start link (222a) and the first and second rotary links (222c, 222d) are rotated while being rotated by each other by the operation of the first wire (W1). The method of claim 7, wherein
The wrist joint 220,
Multiple link links 224a, 224a 'and
It is composed of a plurality of elastic members installed between the connecting links (224a, 224a '),
Endoscopic robotic apparatus characterized in that the elastic member is bent by the operation of the first wire (W1). The method of claim 11,
The elastic member is an endoscope surgical robot device, characterized in that the elastic rod 226 having a circular cross section, or an elastic plate 228 having a rectangular cross section. The method of claim 7, wherein
The first wire (W1) is an endoscope surgery robot device, characterized in that provided with four. The method of claim 7, wherein
The first wire (W1) is an endoscope surgical robot device, characterized in that the steel wire or super-elastic nitinol wire. The method of claim 1,
The rotary drive unit 400a,
First and second supports 412 and 414 spaced apart at predetermined intervals,
A first cylindrical wheel 432 formed on the first support 412 and having a first cylindrical shaft 432a,
A second cylindrical wheel 434 a formed on the second support 414 and a second cylindrical shaft 434 a;
A pair of slide shafts 442 and 444 having both ends fixed to the first and second rotary wheels 432 and 434, respectively;
The first motor (M1) for forward and reverse rotation of the second rotation wheel 434 is provided, and
Endoscopic robotic robot apparatus, characterized in that the flexible shaft (200a) of the internal robot 200 is fixed to the first cylindrical shaft (432). 16. The method of claim 15,
The translation drive unit 400b,
A movable plate 450 linearly guided to the pair of slide shafts 442 and 444,
The second pulley (P3) is formed on the motor shaft, the second motor (M2) is fixed to one side of the movable plate 450 so that the motor shaft is parallel to the slide shaft (442, 444),
A fourth pulley P4 fixed to the movable plate 450 adjacent to the third pulley P3,
One end is fixed to the first rotating wheel 432, the fourth pulley (P4), the third pulley (P3), and then wound again in the fourth pulley (P4) in turn and the other end in the tension state the second rotation Endoscope surgery robot device, characterized in that provided with a second wire (W2) fixed to the wheel (434). The method of claim 7, wherein
The robot arm driving means 500 is a robot device for endoscopic surgery, characterized in that a plurality of wire drive unit 502 for driving the robot arm (200b) by moving the first wire (W1), respectively. 18. The method of claim 17,
The wire drive unit 502,
The third motor M3,
Worm 510 which is rotated forward and reverse by the third motor M3,
A pair of worm wheels 520 that receive the rotational force of the worm 510,
Endoscopes, which are respectively provided on the shaft 522 of the worm wheel 520, the guide groove 532 for guiding the first wire (W1) is provided with a pair of friction elements 530 formed on the outer peripheral surface Surgical robotic device. 19. The method of claim 18,
Endoscopic robotic robot, characterized in that the adjustment screw (544) is further provided for adjusting the distance between the friction (530).

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