KR20230172152A - Surgical device for stiffness augmentation - Google Patents

Abstract

In the rigidity augmentation surgical device according to one embodiment, when the joint link on one side and the joint link on the other side rotate in opposite directions with respect to the reference point among the rolling joints due to the load applied to the end effector, the deflection directions are different, A rigidity-enhancing surgical device is disclosed, which relatively increases stiffness by preventing deflection of the joint link by generating different moment forces that resist rotation of one joint link and the other joint link, respectively.

Description

Surgical device for stiffness augmentation}

The present invention relates to a rigidity augmented surgical device.

Endoscopic mucosal resection is a surgical procedure that can remove precancerous lesions such as polyps using an endoscope without open surgery. In particular, removing large, flat polyps is a difficult and time-consuming task. Preclinical studies have shown that polyps can be removed quickly and safely by applying tension to the lesion tissue using a surgical tool. Based on these research results, various endoscopic surgical robot devices equipped with surgical tools are being developed. The overtube must be sufficiently flexible during insertion, but must have high rigidity to allow the surgical tool to apply sufficient tension to the tissue after reaching the target lesion.

The above-mentioned background technology is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and cannot necessarily be said to be known technology disclosed to the general public before the present application.

KR 10-2234974

The purpose of the present invention is to provide a rigidity-enhanced surgical device.

In the rigidity enhancement surgical device according to one embodiment, when the deflection directions are different by rotating the joint link on one side and the joint link on the other side in opposite directions with respect to the reference point among the rolling joints due to the load applied to the end effector, one side This can be achieved by providing a rigidity enhancement surgical device characterized in that the stiffness is relatively increased by preventing deflection of the joint link by generating different moment forces that resist rotation of the joint link and the other joint link, respectively. .

In addition, at least one joint link of one joint link rotates in a first direction, and at least one joint link of the other joint link rotates in a second direction, and a first direction that resists rotation in the first direction Deflection of the joint link is prevented by generating a first moment force in a direction opposite to and generating a second moment force in a direction opposite to the second direction to resist rotation in the second direction.

On the other hand, a plurality of joint links, which are rolling joints, rotate due to the load applied to the end effector, thereby deflecting the joint links in different directions, a main tendon that drives the plurality of joint links by wire traction, and wire traction. This can be achieved by providing a rigidity enhancement surgical device comprising a pitch auxiliary tendon that relatively increases stiffness by preventing deflection of each joint link by resisting rotation of the joint link.

In addition, the pitch auxiliary tendon generates a first moment force in the direction opposite to the first direction to resist rotation in the first direction of at least one joint link among the plurality of joint links, and at least one other joint among the plurality of joint links Deflection of the joint link is prevented by generating a second moment force in a direction opposite to the second direction that resists rotation of the link in the second direction.

In addition, each of the plurality of joint links includes a main tendon hole through which the main tendon passes, a pitch auxiliary tendon hole through which a pitch auxiliary tendon that prevents deflection of the joint link passes, and the pitch auxiliary tendon hole passage path of the pitch auxiliary tendon is At least some sections are sloped.

Additionally, the passage path is inclined in an 'S' shape.

Additionally, the passage path of one pitch auxiliary tendon slopes downward in the longitudinal direction, and the passage path of the other pitch auxiliary tendon slopes upward in the longitudinal direction.

In addition, the pitch auxiliary tendon hole is a downward pitch auxiliary tendon hole formed in each joint link so that the passage path of the pitch auxiliary tendon slopes downward, and the upward pitch auxiliary tendon hole formed in each joint link so that the passage path of the pitch auxiliary tendon slopes upward. Includes.

In addition, the downward pitch auxiliary tendon hole is formed from the top to the bottom in the longitudinal direction based on the reference point of each joint link in a clockwise or counterclockwise direction so that the passage path of the pitch auxiliary tendon slopes downward,

The upward pitch auxiliary tendon hole is formed from the bottom to the top in the longitudinal direction based on the reference point of each joint link in a clockwise or counterclockwise direction so that the passage path of the pitch auxiliary tendon is inclined upward.

In addition, it further includes a yaw auxiliary tendon that prevents twisting of the joint link caused by traction of the pitch auxiliary tendon.

In addition, it further includes a yaw auxiliary tendon hole through which the yaw auxiliary tendon passes.

Additionally, the yaw auxiliary tendon generates torsion in a second direction opposite to the first direction to prevent twisting in the first direction caused by traction of the pitch auxiliary tendon.

In addition, the auxiliary tendon hole is,

The upper yaw auxiliary tendon hole is formed on the upper side of each joint link so that the passage path of the yaw auxiliary tendon is diagonal in the first direction, and the lower yaw auxiliary tendon hole is formed on the lower side of each joint link so that the passage path of the yaw auxiliary tendon is diagonal in the second direction. Includes auxiliary tendon holes.

A surgical device equipped with a pitch assist tendon according to an embodiment may have high rigidity to apply sufficient tension to tissue.

A surgical device equipped with a lumbar auxiliary tendon according to an embodiment can be installed in a cross manner to prevent twisting of the joint device.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.
1 is a side view of a surgical device equipped with an auxiliary tendon according to one embodiment.
Figure 2 is a side view showing a modified state of the surgical device of Figure 1.
Figure 3 is a cross-sectional view taken along the cutting line III-III in Figure 1.
Figure 4 is a cross-sectional view taken along the cutting line IV-IV of Figure 1.
Figure 5 is a cross-sectional view taken along the cutting line V-V of Figure 1.
Figures 6 to 8 are diagrams showing shape deformation in a surgical device with an auxiliary tendon and a surgical device without an auxiliary tendon, respectively, while force is applied.
Figure 9 is a diagram showing the stepped 'S' shaped path of the auxiliary tendon.
FIG. 10 is a diagram illustrating another embodiment of FIG. 3.
Figure 11 is a diagram showing the rotation direction (Tq1, Tq2) of each joint and the moment force (Tr1, Tr2) that resists rotation of each joint when the rolling joint receives a load.
Figure 12 is a diagram showing a yaw auxiliary tendon and a yaw auxiliary tendon hole.
FIG. 13 is a diagram illustrating another embodiment of FIG. 12.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be changed and implemented in various forms. Accordingly, the actual implementation form is not limited to the specific disclosed embodiments, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of the described features, numbers, steps, operations, components, parts, or combinations thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Components included in one embodiment and components including common functions will be described using the same names in other embodiments. Unless stated to the contrary, the description given in one embodiment may be applied to other embodiments, and detailed description will be omitted to the extent of overlap.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted.

Figure 1 is a side view of a surgical device equipped with an auxiliary tendon according to an embodiment, and Figure 2 is a side view showing a modified state of the surgical device of Figure 1.

Referring to FIGS. 1 and 2 , a surgical device 1 (hereinafter referred to as “surgical device”) equipped with an auxiliary tendon may include a plurality of links rotatably connected to each other. The surgical device 1 includes a first link 11, a second link 12 rotatably connected to the first link 11, and at least one link rotatably connected to the second link 12. It may include a connection link 14 and a third link 13 rotatably connected to the connection link 14. In the drawing, it is shown that there is at least one connection link 14, but the number is not limited thereto. In addition, the connection link 14 is the same as the first, second, and third links 11, 12, and 13, except that it is expressed as a connection link.

The surgical device 1 may include a tip T capable of working on a target area. The surgical device 1 may be provided with its longitudinal direction in the x-axis direction. The surgical device 1 may include a main tendon 18 for rotating a plurality of links and an auxiliary tendon 19 for improving rigidity. The auxiliary tendon may include a pitch auxiliary tendon and a yaw auxiliary tendon. The main tendon 18 and the auxiliary tendon 19 are wires, and the direction and position of the surgical device can be changed depending on the traction of the wire. In the drawing, it is shown that there are four main tendons (18) and two auxiliary tendons (19), but the number is not limited thereto.

For example, when the tension of the main tendon 18 located in the +z direction increases, the shape of the surgical device 1 may be changed so that the tip T is directed in the +z direction. When the tension of the main tendon 18 located in the -z direction increases, the shape of the surgical device 1 may be changed so that the tip T is directed in the -z direction.

The auxiliary tendon 19 may have elasticity. The auxiliary tendon 19 can help prevent the shape of the surgical device 1 from unintentionally changing while an external force is applied to the tip T.

Figure 3 is a cross-sectional view taken along the cutting line III-III of Figure 1, Figure 4 is a cross-sectional view taken along the cutting line IV-IV of Figure 1, and Figure 5 is a cross-sectional view taken along the cutting line V-V of Figure 1. This is a cross-sectional view.

3 to 5, the first link 11 includes a first link body 111 and first main tendon holes 112a, 112b, 112c, and 112d formed through the first link body 111. ) and first auxiliary tendon holes (113a, 113b) formed through the first link body 111 and positioned spaced apart from the first main tendon holes (112a, 112b, 112c, 112d).

The first link body 111 may include a first hollow S1 therein. The first hollow (S1) can guide various surgical procedures and/or cameras. For example, the first link body 111 may have a pillar shape. The first link body 111 may have a symmetrical shape about the central axis C.

The first main tendon holes 112a, 112b, 112c, and 112d may be formed to penetrate the first link body 111 along the longitudinal direction (x-axis direction) of the first link body 111. A total of four first main tendon holes 112a, 112b, 112c, and 112d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of first main tendon holes is not limited to this.

The first auxiliary tendon holes 113a and 113b may be formed to penetrate the first link body 111 along the longitudinal direction (x-axis direction) of the first link body 111. A total of two first auxiliary tendon holes 113a and 113b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of first main tendon holes is not limited to this. The first auxiliary tendon holes 113a and 113b may be provided at positions spaced apart from the first main tendon holes 112a, 112b, 112c and 112d.

The first auxiliary tendon hole 113a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a first distance d1.

The second link 12 includes a second link body 121, second main tendon holes 122a, 122b, 122c, and 122d formed through the second link body 121, and a second link body 121. ) may include second auxiliary tendon holes (123a, 123b) formed through the second main tendon holes (122a, 122b, 122c, 122d) and positioned spaced apart from the second main tendon holes (122a, 122b, 122c, 122d).

The second link body 121 may include a second hollow S2 therein. The second hollow S2 can guide various surgical procedures and/or cameras. For example, the second link body 121 may have a pillar shape. The second link body 121 may have a symmetrical shape about the central axis C.

In a state where the first link body 111 and the second link body 121 are side by side, the first main tendon holes 112a, 112b, 112c, 112d and the second main tendon holes 122a, 122b, 122c, 122d are , may overlap each other along the x-axis direction, which is the longitudinal direction of the first link body 111.

In a state where the first link body 111 and the second link body 121 are side by side, the first auxiliary tendon holes 113a and 113b and the second auxiliary tendon holes 123a and 123b are connected to the first link body 111. They may not overlap each other along the x-axis direction, which is the longitudinal direction of .

The second main tendon holes 122a, 122b, 122c, and 122d may be formed to penetrate the second link body 121 along the longitudinal direction (x-axis direction) of the second link body 121. A total of four second main tendon holes 122a, 122b, 122c, and 122d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of second main tendon holes is not limited to this.

The second auxiliary tendon holes 123a and 123b may be formed to penetrate the second link body 121 along the longitudinal direction (x-axis direction) of the second link body 121. A total of two second auxiliary tendon holes 123a and 123b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of second main tendon holes is not limited to this. The second auxiliary tendon holes 123a and 123b may be provided at positions spaced apart from the second main tendon holes 122a, 122b, 122c and 122d.

The second main tendon holes (122a, 122b, 122c, 122d) are formed parallel to the longitudinal direction of the second link body 121, and the second auxiliary tendon holes (123a, 123b) are formed in parallel with the longitudinal direction of the second link body 121. It may be formed to be inclined with respect to the longitudinal direction.

Therefore, as shown in FIG. 1, each auxiliary tendon hole of the second link 12, the connecting link 14, and the third link 13 is provided to be inclined with respect to the longitudinal direction of the surgical device 1, so that at least At least some sections of the auxiliary tendon 19 may be inclined in an “S” shape. In addition, as another example, as shown in Figure 9, the auxiliary tendon hole formed in each link is formed horizontally (i.e., when passing the auxiliary tendon hole, the auxiliary tendon passes horizontally), and the auxiliary tendon hole of the adjacent link is formed horizontally. At least some sections of the auxiliary tendon 19 can be inclined in an “S” shape by arranging each link closer to or further away from the central axis. When leveling the auxiliary tendon hole, the auxiliary tendon can be inclined in a stepwise “S” shape.

The second auxiliary tendon hole 123a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a second distance d2. The first distance d1 from the auxiliary line L1 intersecting the central axis of the first link body 111 to the first auxiliary tendon hole 113a is the auxiliary line intersecting the central axis of the second link body 121. It may be greater than the second distance d2 from the line L1 to the second auxiliary tendon hole 123a.

The third link 13 includes a third link body 131, third main tendon holes 132a, 132b, 132c, and 132d formed through the third link body 131, and a third link body 131. ) and may include third auxiliary tendon holes (133a, 133b) formed through the third main tendon holes (132a, 132b, 132c, 132d) and positioned spaced apart.

The third link body 131 may include a third hollow S3 therein. The third hollow (S3) can guide various surgical techniques and/or cameras. For example, the third link body 131 may have a pillar shape. The third link body 131 may have a symmetrical shape about the central axis C.

The third main tendon holes 132a, 132b, 132c, and 132d may be formed to penetrate the third link body 131 along the longitudinal direction (x-axis direction) of the third link body 131. A total of four third main tendon holes 132a, 132b, 132c, and 132d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of third main tendon holes is not limited to this.

The third auxiliary tendon holes 133a and 133b may be formed to penetrate the third link body 131 along the longitudinal direction (x-axis direction) of the third link body 131. A total of two third auxiliary tendon holes 133a and 133b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of third main tendon holes is not limited to this. The third auxiliary tendon holes 133a and 133b may be provided at positions spaced apart from the third main tendon holes 132a, 132b, 132c and 132d.

The third auxiliary tendon hole 133a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a third distance d4. The second distance d2 from the auxiliary line L1 crossing the central axis of the second link body 121 to the second auxiliary tendon hole 123a is the auxiliary line crossing the central axis of the third link body 131. The distance from the line L1 to the third auxiliary tendon hole 133a may be greater than the third distance d4. The direction in which the second auxiliary tendon hole 123a is spaced apart from the auxiliary line L1 that intersects the central axis of the second link body 121 (+z direction) intersects the central axis of the third link body 131. The direction in which the third auxiliary tendon hole 133a is spaced apart from the auxiliary line L1 may be opposite to the direction (-z direction).

At least one connection link 14 may be provided between the second link body 121 and the third link body 131. The shape of at least one connection link 14 may be the same as that of the first link 11 or the second link 12.

The main tendons (18a, 18b, 18c, 18d) include the first main tendon holes (112a, 112b, 112c, 112d), the second main tendon holes (122a, 122b, 122c, 122d), and the third main tendon holes (132a, 132b, 132c, 132d) can be passed. One end of each of the main tendons 18a, 18b, 18c, and 18d may be fixed to the end to which the tip T is connected. The user can rotate the surgical device 1 by applying appropriate tension to the main tendons 18a, 18b, 18c, and 18d.

The auxiliary tendons 19a and 19b may pass through the first auxiliary tendon holes 113a and 113b, the second auxiliary tendon holes 123a and 123b, and the third auxiliary tendon holes 133a and 133b. In a state where the first link body 111 and the second link body 121 are side by side, the auxiliary tendons 19a, 19b are provided between the first auxiliary tendon holes 113a, 113b and the second auxiliary tendon holes 123a, 123b. ) may be provided to be inclined with respect to the central axis (C) of the first link body. The auxiliary tendons 19a and 19b may have elasticity.

Based on the state in which the first link 11, the second link 12, the third link 13, and at least one connection link 14 are arranged side by side, the main tendons 18a, 18b, 18c, and 18d are It is provided parallel to the longitudinal direction of the first link 12, and at least a portion of the auxiliary tendons 19a and 19b may be inclined with respect to the longitudinal direction of the first link 11.

Figures 6 to 8 are diagrams showing shape deformation in a surgical device with an auxiliary tendon and a surgical device without an auxiliary tendon, respectively, while force is applied.

Referring to Figures 6 to 8, the part shown in black shows the deformation in a state where the auxiliary tendon is removed, and the part shown in red shows the deformation in a state with the auxiliary tendon. 5N was applied to the tip (T, see Figure 1). It can be seen that when an auxiliary tendon is provided, the displacement that changes due to external force is reduced by approximately 80%.

Meanwhile, if explained in more detail with reference to FIGS. 3 and 10, in FIG. 3, first pitch auxiliary tendons (19a, 19b) and first pitch auxiliary tendon holes (113a, 113b) into which the first pitch auxiliary tendons are inserted are shown. 10 shows first pitch auxiliary tendons 19c and 19d and first pitch auxiliary tendon holes 113c and 113d into which the first pitch auxiliary tendons are inserted. At this time, in the present invention, the purpose can be sufficiently achieved by applying the pitch auxiliary tendon and the pitch auxiliary tendon hole of either Figure 3 or Figure 10.

The auxiliary tendons shown in FIG. 3 are first pitch auxiliary tendons 19a and 19b.

The first pitch auxiliary tendon (19a) is located in the first pitch auxiliary tendon hole (113a) and the second and third joint links (12, 13) located on the right side with respect to the central axis (C) of the first joint link (11). It is inserted into the second and third pitch auxiliary tendon holes 123a and 133a respectively formed. The path through the hole of the first pitch auxiliary tendon (19a) slopes downward in an 'S' shape. The auxiliary tendon holes move upward from the first pitch auxiliary tendon hole (113a) of the first joint link (11) to the second and third pitch auxiliary tendon holes (123a, 133a) of the second and third joint links (12, 13). It is formed in a downward direction. That is, the first pitch auxiliary tendon hole 113a shown in Figure 3 is formed on the upper right side of the joint link, and the second and third pitch auxiliary tendon holes 123a and 133a shown in Figures 4 and 5 are relatively It gradually forms on the lower right. Accordingly, the formation direction of the auxiliary tendon hole is also formed from the top to the bottom and clockwise (see arrow shown in FIG. 3).

On the other hand, the first pitch auxiliary tendon (19b) is a first pitch auxiliary tendon hole (113b) located on the left side with respect to the central axis (C) of the first joint link (11) and the second and third joint links (12, 13) ) are inserted into the second and third pitch auxiliary tendon holes (123b, 133b) formed respectively. The path through the hole of the first pitch auxiliary tendon (19b) slopes upward in an 'S' shape. The auxiliary tendon hole moves downward as it moves from the first pitch auxiliary tendon hole (113b) of the first joint link (11) to the second and third pitch auxiliary tendon hole (123b, 133b) of the second and third joint link (12, 13). It is formed in the upward direction. That is, the first pitch auxiliary tendon hole 113b shown in Figure 3 is formed on the lower left side of the joint link, and the second and third pitch auxiliary tendon holes 123b and 133b shown in Figures 4 and 5 are relatively It gradually forms on the upper left side. Accordingly, the direction in which the auxiliary tendon hole is formed is from the bottom to the top, and is formed clockwise (see arrow shown in FIG. 3).

The auxiliary tendons shown in FIG. 10 are first pitch auxiliary tendons 19c and 19d as another example of the auxiliary tendons in FIG. 3.

The first pitch auxiliary tendon (19c) is a three-joint link via the first pitch auxiliary tendon hole (113c) located on the right side with respect to the central axis (C) of the first joint link (11) and the second joint link (12). It is inserted into the 3-pitch auxiliary tendon hole (133c) formed at (13). The path through the hole of the first pitch auxiliary tendon (19c) slopes upward in an 'S' shape. Auxiliary tendon holes are formed from the bottom to the top as we move from the first pitch auxiliary tendon hole 113c of the first joint link 11 to the 3 pitch auxiliary tendon hole 133c of the three joint link 13. That is, the first pitch auxiliary tendon hole 113c shown in FIG. 10 is formed on the lower right side of the joint link, and the third pitch auxiliary tendon hole 133c is formed relatively gradually on the upper right side. Accordingly, the direction in which the auxiliary tendon hole is formed is from the bottom to the top, and is formed along a counterclockwise direction (see arrow shown in FIG. 10).

Meanwhile, the first pitch auxiliary tendon (19d) is 3 through the first pitch auxiliary tendon hole (113d) and the second joint link (12) located on the left side with respect to the central axis (C) of the first joint link (11). It is inserted into the 3-pitch auxiliary tendon hole (133d) formed in the joint link (13). The path through the hole of the first pitch auxiliary tendon (19d) slopes downward in an 'S' shape. Auxiliary tendon holes are formed from the top to the bottom moving from the first pitch auxiliary tendon hole 113d of the first joint link 11 to the 3 pitch auxiliary tendon hole 133d of the three joint link 13. That is, the first pitch auxiliary tendon hole 113d shown in FIG. 10 is formed on the upper left side of the joint link, and the third pitch auxiliary tendon hole 133d is formed relatively gradually on the lower left side. Accordingly, the formation direction of the auxiliary tendon hole is also formed from the top to the bottom, and along the counterclockwise direction (see arrow shown in FIG. 10).

As shown in Figure 11, the rolling joint device 1 is an example, when a load (F) is generated on the end effector, the second joint link 12 rotates clockwise or generates a torque (Tq1), and the third The joint link 13 rotates or generates torque Tq2 in a counterclockwise direction opposite to the second joint link 12. Accordingly, when a load is applied to the end effector of the rolling joint device 1, deflection (bending) occurs in different directions for each joint link due to an external load. To prevent this deflection of the rolling joint link, the present invention uses the pitch assist tendon mechanism described above. In addition, when the pitch-assisted tendon mechanism is used, twisting (torsion) occurs in the rolling joint unintentionally, and to prevent this twisting, the yaw-assisted tendon mechanism is used to prevent twisting. Hereinafter, a surgical device to which a rolling joint is applied according to an embodiment of the present invention will be described with reference to the attached drawings.

The purpose of the present invention can be sufficiently achieved by using either the first yaw auxiliary tendons (21a, 21b) shown in FIG. 12 and the second yaw auxiliary tendons (21c, 21d) shown in FIG. 13. The first yaw auxiliary tendons (21a, 21b) of FIG. 12 are for preventing twisting when the mechanism of the pitch auxiliary tendons (19a, 19b) of FIG. 3 is activated, and the first yaw auxiliary tendons (21c, 21d) of FIG. 13 ) is to prevent twisting of the pitch auxiliary tendons 19c and 19d of FIG. 10 when the mechanism operates.

The first yaw auxiliary tendons 21a and 21b shown in FIG. 12 are, as an example, inserted into each yaw auxiliary tendon hole provided in the first, second and third links 11, 12 and 13.

The first yaw auxiliary tendon (21a) is inserted into the upper yaw auxiliary tendon holes (114a, 134a). The upper yaw auxiliary tendon holes 114a and 134a are formed on the upper side of each joint link so that the passage path of the first yaw auxiliary tendon 21a is diagonal in the first direction (as an example, '\'). Accordingly, the yaw auxiliary tendon hole formed in each joint link is located in the upper right corner of the first joint link 11 and gradually becomes located in the upper left corner of the third joint link 13 in a counterclockwise direction.

Meanwhile, the first yaw auxiliary tendon (21b) is inserted into the lower yaw auxiliary tendon holes (114b, 134b). The lower yaw auxiliary tendon holes 114b and 134b are formed on the lower side of each joint link so that the passage path of the first yaw auxiliary tendon 21b is diagonal in the second direction (for example, '/'). Accordingly, the diagonal lines in the first direction and the diagonal lines in the second direction cross each other to form an 'X' shape. Accordingly, the yaw auxiliary tendon hole formed in each joint link is located at the bottom left of the first joint link 11, and is gradually located at the bottom right of the third joint link 13 along a counterclockwise direction.

The second yaw auxiliary tendons 21c and 21d shown in FIG. 13 are, as an example, inserted into each yaw auxiliary tendon hole provided in the first, second and third links 11, 12 and 13.

The second yaw auxiliary tendon (21c) is inserted into the upper yaw auxiliary tendon holes (114c, 134c). The upper yaw auxiliary tendon holes 114c and 134c are formed on the upper side of each joint link so that the passage path of the second yaw auxiliary tendon 21c is diagonal in the first direction (for example, '/'). Accordingly, the yaw auxiliary tendon hole formed in each joint link is located in the upper left corner of the first joint link 11 and gradually becomes located in the upper right corner of the third joint link 13 in a clockwise direction.

Meanwhile, the second yaw auxiliary tendon (21d) is inserted into the upper yaw auxiliary tendon holes (114d, 134d). The upper lumbar auxiliary tendon holes 114d and 134d are formed on the lower side of each joint link so that the passage path of the second lumbar auxiliary tendon 21d is diagonal in the second direction (as an example, '\'). Accordingly, the diagonal lines in the first direction and the diagonal lines in the second direction cross each other to form an 'X' shape. Accordingly, the yaw auxiliary tendon hole formed in each joint link is located at the bottom right of the first joint link 11, and is gradually located at the bottom left of the third joint link 13 in a clockwise direction.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on this. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

T: Tip
S1, S2, S3: hollow
1: Surgical device or rolling joint device
11: first link or first joint link
12: second link or second joint link
13: Third link or third joint link
14: connecting link or connecting joint link
18,18a,18b,18c,18d: Main tendon
19: Auxiliary tendon
19a, 19b, 19c, 19d: 1st pitch auxiliary tendon
21a, 21b: 1st auxiliary tendon
21c, 21d: 2nd auxiliary tendon
111: first link body
112a, 112b, 112c, 112d: 1st main tendon hole
113a, 113b, 113c, 113d: first auxiliary tendon hole or first pitch auxiliary tendon hole
114a, 114b: 1st auxiliary tendon hole
114c, 114d: 2nd auxiliary tendon hole
121: second link body
122a, 122b, 122c, 122d: 2nd main tendon hole
123a, 123b: second auxiliary tendon hole or second pitch auxiliary tendon hole
131: Third link body
132a, 132b, 132c, 132d: 3rd main tendon hole
133a, 133b, 133c, 133d: Third auxiliary tendon hole or third pitch auxiliary tendon hole
134a, 134b: 1st auxiliary tendon hole
134c, 134d: 2nd auxiliary tendon hole

Claims (13)

When the joint link on one side and the joint link on the other side rotate in opposite directions based on the reference point among the rolling joints due to the load applied to the end effector, the deflection directions are different,
A rigidity-enhanced surgical device characterized in that the rigidity is relatively increased by preventing deflection of the joint link by generating different moment forces that resist rotation of one joint link and the other joint link, respectively.
According to claim 1,
At least one joint link of the one joint link rotates in a first direction, and at least one joint link of the other joint link rotates in a second direction,
Generating a first moment force in a direction opposite to the first direction to resist rotation in the first direction, and generating a second moment force in a direction opposite to the second direction to resist rotation in the second direction. A rigidity-enhancing surgical device characterized in that it prevents deflection of the joint link by doing so.
A plurality of joint links in which the joint links are deflected in different directions by rotating the plurality of joint links, which are rolling joints, due to the load applied to the end effector,
A main tendon that drives the plurality of joint links by wire traction,
A rigidity-enhancing surgical device comprising a pitch auxiliary tendon that relatively increases rigidity by preventing deflection of each joint link by resisting rotation of the joint link by the wire traction.
According to claim 3,
The pitch auxiliary tendon is,
Generating a first moment force in a direction opposite to the first direction that resists rotation in the first direction of at least one joint link among the plurality of joint links,
Rigidity enhancement surgery, characterized in that preventing deflection of the joint link by generating a second moment force in a direction opposite to the second direction that resists rotation in the second direction of at least one other joint link among the plurality of joint links. Device.
According to claim 3,
Each of the plurality of joint links,
A main tendon hole through which the main tendon passes,
It includes a pitch auxiliary tendon hole through which a pitch auxiliary tendon that prevents deflection of the joint link passes,
A rigidity-enhanced surgical device, characterized in that at least some sections of the path through the pitch auxiliary tendon hole of the pitch auxiliary tendon are inclined.
According to claim 5,
A rigidity-enhanced surgical device, characterized in that the passage path is inclined in an 'S' shape.
According to claim 5,
The passage path of any one pitch auxiliary tendon slopes downward in the longitudinal direction,
A rigidity-enhanced surgical device characterized in that the passage path of the other pitch auxiliary tendon slopes upward in the longitudinal direction.
According to claim 7,
The pitch auxiliary tendon hole is,
A downward pitch auxiliary tendon hole formed in each joint link so that the passage path of the pitch auxiliary tendon slopes downward,
A rigidity-enhanced surgical device comprising an upward pitch auxiliary tendon hole formed in each joint link such that the passage path of the pitch auxiliary tendon is inclined upward.
According to claim 8,
The downward pitch auxiliary tendon hole is,
The passage path of the pitch auxiliary tendon is formed from the upper to the lower direction in the longitudinal direction based on the reference point of each joint link in a clockwise or counterclockwise direction so as to slope downward,
The upward pitch auxiliary tendon hole is,
A rigidity-enhanced surgical device, characterized in that the passage path of the pitch auxiliary tendon is formed in a clockwise or counterclockwise direction from lower to upper in the longitudinal direction based on the reference point of each joint link so that the passage path is inclined upward.
According to claim 3,
A rigidity-enhanced surgical device further comprising a yaw auxiliary tendon that prevents twisting of the joint link caused by traction of the pitch auxiliary tendon.
According to claim 10,
A rigidity-enhanced surgical device further comprising a lumbar auxiliary tendon hole through which the lumbar auxiliary tendon passes.
According to claim 10,
The auxiliary tendon is,
A rigidity-enhanced surgical device characterized in that it generates torsion in a second direction opposite to the first direction to prevent twisting in the first direction caused by traction of the pitch auxiliary tendon.
According to claim 10,
The auxiliary tendon hole is,
An upper lumbar auxiliary tendon hole formed on the upper side of each joint link so that the passage path of the lumbar auxiliary tendon is diagonal in the first direction,
A rigidity-enhancing surgical device comprising a lower lumbar auxiliary tendon hole formed on the lower side of each joint link so that the passage path of the lumbar auxiliary tendon is diagonal in the second direction.