KR101434861B1 - Apparatus for transferring driving force - Google Patents

Apparatus for transferring driving force Download PDF

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Publication number
KR101434861B1
KR101434861B1 KR1020120043480A KR20120043480A KR101434861B1 KR 101434861 B1 KR101434861 B1 KR 101434861B1 KR 1020120043480 A KR1020120043480 A KR 1020120043480A KR 20120043480 A KR20120043480 A KR 20120043480A KR 101434861 B1 KR101434861 B1 KR 101434861B1
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KR
South Korea
Prior art keywords
driving force
portion
socket
connection portion
shaft
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KR1020120043480A
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Korean (ko)
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KR20130120316A (en
Inventor
서종태
이병주
한정민
Original Assignee
주식회사 고영테크놀러지
한양대학교 에리카산학협력단
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Application filed by 주식회사 고영테크놀러지, 한양대학교 에리카산학협력단 filed Critical 주식회사 고영테크놀러지
Priority to KR1020120043480A priority Critical patent/KR101434861B1/en
Publication of KR20130120316A publication Critical patent/KR20130120316A/en
Application granted granted Critical
Publication of KR101434861B1 publication Critical patent/KR101434861B1/en

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Abstract

It is possible to miniaturize the surgical end device, reduce the manufacturing cost, reduce the maintenance cost of the surgical robot, and reduce the driving force for rotating the shaft of the surgical end device, A delivery device is disclosed. The driving force transmitting device includes driving means provided on the robot arm, a rotating member connected to the driving means to be rotated by the driving means, and a driving force transmitting portion provided on the robot arm, A second socket having a second driving force connection portion formed on an inner circumferential surface thereof so as to be rotatable and interlocked with the first driving force connection portion inserted through the shaft, the second driving force connection portion being rotatably connected to the first socket portion, And a power transmitting member for transmitting the rotational force of the rotating member to the second socket portion.

Description

[0001] APPARATUS FOR TRANSFERRING DRIVING FORCE [0002]

The present invention relates to a driving force transmitting device, and more particularly, to a driving force transmitting device for rotating a shaft of a surgical end device.

Generally, a surgical end device is installed at the end of a robot arm and inserted into a patient's body to perform surgery.

The surgical end device includes a working part and a shaft rotatably mounted on the working part and having various surgical tools installed at the end part thereof.

In the surgical end apparatus, a plurality of pulleys are installed in the operation unit, and a plurality of wires are wound around the plurality of pulleys, the plurality of pulleys passing through the shaft and connected to various surgical tools provided at the end of the shaft.

Meanwhile, a driving force transmission device for rotating the shaft is installed in the operation part, and the direction of the surgical tool is changed by rotating the shaft.

In the conventional surgical end device, the driving force transmitting device for rotating the shaft is installed inside the operating part, so that the size of the driving end is large and the manufacturing cost is high.

On the other hand, when a driving force transmitting device is installed in the operating part, when the shaft is rotated, a wire for operating a surgical tool installed at an end of the shaft is twisted, resulting in an operation error of the surgical tool .

In addition, since the conventional surgical end device has to be replaced with the driving force transmitting device after a number of times of use, the replacement cost is high and the maintenance cost of the surgical robot is increased.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a surgical endoscope which can miniaturize a surgical end device, reduce manufacturing cost, reduce the maintenance cost of the surgical robot, And a driving force transmitting device for rotating the shaft of the apparatus.

A driving force transmitting device according to an embodiment of the present invention includes driving means provided on a robot arm, a rotating member connected to the driving means to be rotated by the driving means, And a second driving force connecting portion which is connected to the first socket portion so as to be rotatable and which is penetrated by the shaft and inserted into the first driving force connecting portion so that the first driving force connecting portion is interlocked with the first driving force connecting portion, A second socket portion formed with a driving force connection portion, and a power transmitting member for transmitting the rotational force of the rotating member to the second socket portion.

For example, a pulley is used as the rotating member, at least a part of the outer circumferential surface of the second socket is formed in a pulley shape, and as a power transmitting member for transmitting the rotational force of the rotating member to the second socket portion, Can be used.

For example, a sprocket may be used as the rotating member, an outer circumferential surface of the second socket may be formed as a sprocket, and a chain may be used as a power member for transmitting the rotational force of the rotating member to the second socket portion. have.

For example, the first driving force coupling portion and the second driving force coupling portion may be gear-connected.

In another example, the first driving force coupling part and the second driving force coupling part may be concave-convex combined.

As described above, the driving force transmitting device according to the present invention is not installed in the operating part of the surgical end device, but is installed in the robot arm, thereby making it possible to miniaturize the surgical end device.

In addition, the manufacturing cost of the surgical end device, which is a consumable product, can be greatly reduced, thereby reducing the maintenance cost of the surgical robot, thereby reducing the cost of the robot surgery that the patient is burdened with.

Further, the driving force transmitting device according to the present invention is not installed in the operating part of the surgical end device but is provided in the robot arm provided with the surgical end device, so that a wire for operating a surgical tool installed in the end- So that an operating error of the surgical tool is not generated, so that the surgical end device can be used more safely.

1 is a view for explaining a driving force transmitting device according to a first embodiment of the present invention;
2 is a view for explaining an internal structure of the first socket portion and the second socket portion;
3 is a view for explaining first and second driving force joints according to an embodiment of the present invention;
4 is a view for explaining first and second driving force joints according to another embodiment of the present invention;
5 is a view for explaining first and second driving force joints according to another embodiment of the present invention;
6 is a view for explaining a process of coupling a surgical end device to a driving force transmitting device according to the first embodiment of the present invention;
7 is a view for explaining a driving force transmitting device according to a second embodiment of the present invention;

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

≪ Example 1 >

FIG. 1 is a view for explaining a driving force transmitting device according to a first embodiment of the present invention, FIG. 2 is a view for explaining an internal structure of a first socket portion and a second socket portion, FIG. FIG. 4 is a view for explaining the first and second driving force coupling portions according to another embodiment of the present invention, and FIG. 5 is a view for explaining another driving force coupling portion according to another embodiment of the present invention. Fig. 8 is a view for explaining the first and second driving force coupling portions according to the example.

1 to 5, a driving force transmitting apparatus 10 according to a first embodiment of the present invention includes a driving unit 100, a rotating member 110, a first socket unit 120, a second socket unit 120, 130, and a power transmission member 140.

The driving means (100) is installed in the robot arm (20). For example, the driving means 100 may be a motor. Here, the motor is preferably installed on the robot arm 20 such that the shaft 101 protrudes to the lower end of the robot arm 20.

The rotation member 110 is connected to the shaft 101 of the motor so that the motor is operated to rotate the shaft 101 in cooperation with the shaft 101 as the shaft 101 rotates. For example, the rotating member 110 may be a pulley.

The first socket unit 120 is installed in the robot arm 20. [ That is, the first socket part 120 is fixed to the front of the lower end of the robot arm 20. The first socket portion 120 has a through hole 121 penetrated by the shaft 300 of the end effector 30 and the first driving force connection portion 310.

The second socket portion 130 is connected to the first socket portion 120 so as to be rotatable and extends through the shaft 300 of the surgical end device 30 and is connected to the first driving force connection portion 310 A second driving force connection portion 131 is formed on the inner circumferential surface so as to be rotatable and rotatable. For example, the second socket part 130 may be rotatably housed in the first socket part 120 using a plurality of bearing means 132. [ Here, bearings may be used as the bearing means 132. For example, the first driving force connection portion 310 of the end-effector 30 is formed as a first gear portion as shown in FIG. 3, and the second driving force connection portion 131 of the second socket portion 130 When the first driving force connection portion 310 of the surgical end apparatus is inserted into the second driving force connection portion 131 of the second socket portion 130, the first driving force connection portion 310 and the second driving force connection portion 310 The first driving force connection portion 310 of the surgical end apparatus 30 is interlocked with the second driving force connection portion 131 as the second driving force connection portion 131 is engaged and the second socket portion 130 is rotated, And is rotated. 4, the second driving force connection part 310 of the end-effector 30 is formed in a key shape, and the second driving force connection part 310 of the second end- When the first driving force connection portion 310 of the surgical end apparatus 30 is inserted into the second driving force connection portion 131 of the second socket portion 130, the first driving force connection portion 310 and the second driving force connection part 131 are concave and convex in the form of a key and a key groove so that the second driving force connection part 310 of the surgical end device 30 is rotated And is rotated by interlocking with the second driving force joint 131. Here, the position of the key and the key groove may be mutually changed. That is, the first driving force connection part 310 may be formed in a key groove shape, and the second driving force connection part 131 may be formed in a key shape. 5, the first driving force connection part 310 of the surgical end device 30 is formed in the shape of a plurality of protrusions, and the second driving force connection part 310 of the second end of the second socket part 130, When the first driving force connection portion 310 of the surgical end apparatus 30 is inserted into the second driving force connection portion 131 of the second socket portion 130, The first driving force connection portion 310 of the surgical end apparatus 30 is moved in the second driving force connection portion 310 as the first driving force connection portion 310 and the second driving force connection portion 131 are concaved and recessed and the second socket portion 130 is rotated, And is rotated by being interlocked with the driving force joint portion (131). Here, the positions of the plurality of protrusions and the groove may be mutually changed. That is, the first driving force connection portion 310 may be formed in a plurality of grooves, and the second driving force connection portion 131 may be formed in a plurality of key shapes. A part of the outer circumferential surface may be formed in a pulley shape.

The power transmitting member 140 transmits the rotating force of the rotating member 110 to the second socket unit 130. Here, the pulley is used as the rotating member 110 of the power transmitting member 140, and at least a part of the second socket unit 130 is formed in a pulley shape, thereby using a belt. More preferably, the power transmitting member 140 may be a 'V' belt.

Referring to FIG. 2 and FIG. 6, the operation of the driving force transmitting device according to the first embodiment of the present invention and the operation and effect will be described as follows.

6 is a view for explaining a process of coupling a surgical end apparatus to a driving force transmitting apparatus according to the first embodiment of the present invention.

Referring to FIGS. 2 and 6, in order to transmit the driving force to the surgical end device 30 through the driving force transmitting device 10, the driving force transmitting device 10 is operated Thereby joining the end device 30. 6a to 6c, the shaft 300 of the end effector 30 is inserted into the first and second sockets 120 and 130, When the first driving force connection portion 310 of the first driving force connection portion 310 is inserted into the second driving force connection portion 131 of the second socket portion 130, the first driving force connection portion 310 is inserted into the second socket portion 130, And is connected to the second driving force connection portion 131 so as to be interlocked and rotated. At this time, the operation part 320 of the surgical end device 30 is supported by the first socket part 120. The operating portion 320 of the end-effector 30 is formed in a polygonal shape rather than a cylindrical shape so that when one side of the robot arm 20 is in close contact with the operating portion 320, Even if the joint part 310 is rotated, the operation part 320 is not rotated but remains fixed.

After the surgical end apparatus 30 is connected to the second socket unit 130 as described above, the driving means 100 is operated.

When the driving means 100 is operated and the shaft 101 of the driving means 100 is rotated as described above, the rotary member 110 connected to the shaft 101 of the driving means 100 is rotated by the upper driving means And rotates in conjunction with the shaft 101 of the shaft 100.

The rotational force of the rotary member 110 is transmitted to the second socket unit 130 through the power transmitting member 140 so that the second socket unit 130 rotates.

When the second sockets 130 are rotated as described above, the first driving force of the surgical end apparatus 30 connected to the second socket unit 130 is transmitted to the second socket unit 130, The joint 310 is rotated.

When the first driving force connection portion 310 of the surgical end device 30 rotates, the shaft 300 of the surgical end device 30 rotates in conjunction with the first driving force connection portion 310 .

The driving force transmitting device 10 according to the present invention for rotating the shaft 300 of the surgical end device 30 is not installed in the operating part 320 of the surgical end device 30, 20, there is an advantage that the surgical end device 30 can be downsized.

In addition, the manufacturing cost of the surgical end device 30, which is a consumable product, can be greatly reduced, thereby reducing the maintenance cost of the surgical robot, thereby reducing the cost of the robot surgery which the patient is burdened with.

When the driving force transmitting device 10 for rotating the shaft 300 of the surgical end device 30 is installed in the operating part 320 of the surgical end device 30, There is a problem that a wire (not shown) for operating a surgical tool (not shown) installed on the surgical end device 30 is twisted to cause an error in the operation of the surgical tool. However, The driving force transmitting device 10 according to the present invention is not installed in the operation part 320 of the surgical end device 30 but installed in the robot arm 20 on which the surgical end device 30 is installed, It is possible to prevent the twisting of the wire for operating the surgical tool installed in the distal end portion 30 and prevent the operation error of the surgical tool from occurring so that the end effector 30 can be used more safely.

≪ Example 2 >

7 is a view for explaining a driving force transmitting apparatus according to a second embodiment of the present invention.

The driving force transmitting device according to the present embodiment is substantially the same as the driving force transmitting device according to the first embodiment except for the contents of the rotating member 110, the second socket portion 130 and the power transmitting member 140 A detailed description of other components except for the rotating member 110, the second socket unit 130, and the power transmitting member 140 will be omitted. In the first embodiment, .

2 to 7, the rotating member 110 is connected to the shaft 101 of the motor, and the motor is operated to rotate the shaft 101 in cooperation with the shaft 101 as the shaft 101 rotates . For example, the rotating member 110 may be a sprocket.

The second socket portion 130 is connected to the first socket portion 120 so as to be rotatable and extends through the shaft 300 of the surgical end device 30 and is connected to the first driving force connection portion 310 A second driving force connection portion 131 is formed on the inner circumferential surface so as to be rotatable and rotatable. For example, the second socket portion 130 may be rotatably housed in the first socket portion 120 using the bearing means 132. Here, bearings may be used as the bearing means 132. For example, the first driving force connection portion 310 of the end-effector 30 is formed as a first gear portion as shown in FIG. 3, and the second driving force connection portion 131 of the second socket portion 130 When the first driving force connection portion 310 of the surgical end apparatus 30 is inserted into the second driving force connection portion 131 of the second socket portion 130, the first driving force connection portion 310 and the second driving force connection part 131 are connected to each other and the second socket part 130 is rotated so that the first driving force connection part 310 of the surgical end device 30 is connected to the second driving force connection part 131 And is rotated. 4, the second driving force connection part 310 of the end-effector 30 is formed in a key shape, and the second driving force connection part 310 of the second end- When the first driving force connection portion 310 of the surgical end apparatus 30 is inserted into the second driving force connection portion 131 of the second socket portion 130, the first driving force connection portion 310 and the second driving force connection part 131 are concave and convex in the form of a key and a key groove so that the second driving force connection part 310 of the surgical end device 30 is rotated And is rotated by interlocking with the second driving force joint 131. Here, the position of the key and the key groove may be mutually changed. That is, the first driving force connection part 310 may be formed in a key groove shape, and the second driving force connection part 131 may be formed in a key shape. 5, the first driving force connection part 310 of the surgical end device 30 is formed in the shape of a plurality of protrusions, and the second driving force connection part 310 of the second end of the second socket part 130, When the first driving force connection portion 310 of the surgical end apparatus 30 is inserted into the second driving force connection portion 131 of the second socket portion 130, The first driving force connection portion 310 of the surgical end apparatus 30 is moved in the second driving force connection portion 310 as the first driving force connection portion 310 and the second driving force connection portion 131 are concaved and recessed and the second socket portion 130 is rotated, And is rotated in association with the driving force coupling portion 130. Here, the positions of the plurality of protrusions and the groove may be mutually changed. That is, the first driving force connection part 310 may be formed in a plurality of groove shapes, and the second driving force connection part 131 may be formed in a plurality of key shapes. At least a part of the outer circumferential surface of the second socket part 130 may be formed as a sprocket.

The power transmitting member 140 transmits the rotating force of the rotating member 110 to the second socket unit 130. Here, the power transmitting member 140 may be formed of a sprocket as the rotating member 110 and at least a part of the second socket 130 may be formed as a sprocket.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

(100): driving means (110): rotating member
(120): first socket portion (130): second socket portion
(140): Power transmission member

Claims (8)

  1. Driving means provided on the robot arm;
    A rotating member connected to the driving means so as to be rotated by the driving means;
    A first socket portion installed in the robot arm and penetrated by a shaft of the surgical end device and a first driving force connection portion;
    A second socket portion rotatably connected to the first socket portion and penetrated by the shaft and having a second driving force connection portion formed on an inner circumferential surface thereof so that the first driving force connection portion is interlocked with the first driving force connection portion; And
    And a power transmitting member for transmitting the rotational force of the rotating member to the second socket portion,
    Wherein the first driving force coupling portion and the second driving force coupling portion are concavo-convex coupled.
  2. The method according to claim 1,
    A pulley is used as the rotating member, at least a part of the outer circumferential surface of the second socket is formed in a pulley shape, and a belt is used as the power transmitting member for transmitting the rotational force of the rotating member to the second socket portion Wherein the driving force transmitting device is characterized by:
  3. The method according to claim 1,
    Wherein a sprocket is used as the rotating member, a peripheral surface of the second socket is formed in a sprocket shape, and a chain is used as a power member for transmitting rotational force of the rotating member to the second socket portion Delivery device.
  4. Driving means provided on the robot arm;
    A rotating member connected to the driving means so as to be rotated by the driving means;
    A first socket portion installed in the robot arm and penetrated by a shaft of the surgical end device and a first driving force connection portion;
    A second socket portion rotatably connected to the first socket portion and penetrated by the shaft and having a second driving force connection portion formed on an inner circumferential surface thereof so that the first driving force connection portion is interlocked with the first driving force connection portion; And
    And a power transmitting member for transmitting the rotational force of the rotating member to the second socket portion,
    And the first driving force coupling portion and the second driving force coupling portion are gear-connected.
  5. delete
  6. delete
  7. Robot arm;
    A surgical end device coupled to the shaft and to the shaft, the surgical end device including a first drive force connection rotatable with the shaft upon receipt of a rotational force; And
    And a driving force transmitting device installed in the robot arm for transmitting the rotational force to the end-of-surgery device,
    The driving force transmitting device includes:
    Driving means provided on the robot arm for generating the rotational force;
    A socket portion including a second driving force connection portion penetrating by the shaft and the first driving force connection portion and formed on an inner circumferential surface to be rotatable in association with the first driving force connection portion; And
    And a power transmitting portion for transmitting the rotational force generated by the driving means to the second driving force connecting portion of the socket portion,
    The socket unit includes:
    A first socket portion installed in the robot arm and penetrated by the shaft and the first driving force connection portion; And
    And a second socket portion rotatably connected to the first socket portion and having the second driving force connection portion formed therein.
  8. Robot arm;
    A surgical end device coupled to the shaft and to the shaft, the surgical end device including a first drive force connection rotatable with the shaft upon receipt of a rotational force; And
    And a driving force transmitting device installed in the robot arm for transmitting the rotational force to the end-of-surgery device,
    The driving force transmitting device includes:
    Driving means provided on the robot arm for generating the rotational force;
    A socket portion including a second driving force connection portion penetrating by the shaft and the first driving force connection portion and formed on an inner circumferential surface to be rotatable in association with the first driving force connection portion; And
    And a power transmitting portion for transmitting the rotational force generated by the driving means to the second driving force connecting portion of the socket portion,
    The power transmission unit includes:
    A rotating member connected to the driving means and rotated by the driving means; And
    And a power transmitting member for transmitting the rotational force of the rotating member to the socket portion.
KR1020120043480A 2012-04-25 2012-04-25 Apparatus for transferring driving force KR101434861B1 (en)

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KR1020120043480A KR101434861B1 (en) 2012-04-25 2012-04-25 Apparatus for transferring driving force

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10363109B2 (en) 2014-03-17 2019-07-30 Intuitive Surgical Operations, Inc. Signal connector for sterile barrier between surgical instrument and teleoperated actuator
KR101636779B1 (en) 2015-05-29 2016-07-07 (주)마젠타로보틱스 A robot arm for dishwashing system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090088589A (en) * 2008-02-15 2009-08-20 (주)미래컴퍼니 Coupling structure of surgical instrument
KR100942428B1 (en) * 2009-08-27 2010-02-17 주식회사 래보 Fixing structure of pulley
KR101064825B1 (en) * 2010-11-18 2011-09-14 정창욱 Instrument for minimally invasive surgery
KR101215839B1 (en) 2011-08-03 2012-12-27 (주) 이더 Surgical instrument

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090088589A (en) * 2008-02-15 2009-08-20 (주)미래컴퍼니 Coupling structure of surgical instrument
KR100942428B1 (en) * 2009-08-27 2010-02-17 주식회사 래보 Fixing structure of pulley
KR101064825B1 (en) * 2010-11-18 2011-09-14 정창욱 Instrument for minimally invasive surgery
KR101215839B1 (en) 2011-08-03 2012-12-27 (주) 이더 Surgical instrument

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