KR101830390B1 - Structure of driving part of surgical instrument - Google Patents

Abstract

A driving unit structure of a surgical instrument is disclosed. A driving wheel that is operated by receiving a driving force from an actuator of a surgical robot; a driving shaft selectively coupled to the driving wheel; a wire wound around the driving shaft at one end and coupled to an effector at the other end, When the drive wheel and the drive shaft are separated from each other, the drive shaft is rotated in an arbitrary state by an external force. When the drive wheel and the drive shaft are engaged, the drive shaft is set to the operation mode And the tension is transmitted through the wire in accordance with the rotation of the driving shaft to thereby operate the effector. The driving unit structure of the surgical instrument separates the driving wheel and the driving shaft from the driving unit of the instrument and selectively connects the driving wheel and the driving shaft, Whether or not the driving wheel is set to the reference state during the production process, the wire is installed and the setting of the effect side By ensuring that combines the drive wheel to the drive shaft based on a state readily set after expired, the assembly of the instrument for surgery can be easily and that the cost reduction.

Description

[0001] The present invention relates to a driving part of a surgical instrument,

The present invention relates to a driving unit structure of a surgical instrument.

Medically, surgery refers to the repair of a skin, mucous membrane, or other tissue that is cut, torn or manipulated using a medical device. Particularly, due to problems such as hemorrhage, side effects, patient's pain, scarring, etc., the incision is made by cutting the skin of the surgical site and opening, treating, And is attracting attention as an alternative.

The surgical robot includes a robot arm for operation, and an instrument is mounted on the distal end of the robot arm. The driving force generated and transmitted from the robot causes the instrument to perform operations necessary for the operation .

Generally, a surgical instrument mounted on a robot includes a shaft extending in the longitudinal direction, an effector coupled to the distal end of the shaft, and a driving unit coupled to the tip of the shaft to actuate the effector. The drive unit includes a plurality of drive wheels and a drive shaft coupled to the drive wheels. One end of the wire is wound around each drive shaft and the other end of the wire is connected to each part of the effector. When the drive wheel is operated, Tension is applied to the wire, which causes the wire to pull on each part of the effector, resulting in the effector performing various operations necessary for the operation.

When the surgical instrument is mounted on the robot, the driving wheel is coupled to the actuator provided on the robot and is operated (rotated) by receiving the driving force transmitted from the actuator, so that the effector performs the operation described above, The instrument is controlled by the robot.

In the course of making the surgical instrument, the effector must be set to an initial position or posture to be used for surgery, and the drive wheel must also be set to an initial position or state that is a reference for engagement with the robot (actuator) do.

The effector and drive wheel are connected by a wire power transmission mechanism, so that when one moves, the other moves accordingly. For example, if the effector is moved to set the initial position, the driving wheel may be rotated accordingly, so that the initial position of the driving wheel may be disturbed. Therefore, in order to manufacture the surgical instrument, the initial position of the effector and the driving wheel must be set at the same time, so that the assembly operation is difficult and the assembly cost is increased.

Meanwhile, a so-called 'flexible instrument', which is manufactured so that the shaft of the instrument can freely bend, has been recently used. As shown in FIG. 1, in the process of inserting the flexible instrument, The shaft S is bent, and as a result, tension is applied to the wire W accommodated in the shaft S. When a tension is applied to the wire W, the effector E is thereby inadvertently moved out of its initial position to act as a reference, with or without the drive wheel D being also moved out of its initial position do.

Therefore, even if the initial position of the effector and the driving wheel is set on the basis of the state in which the shaft is not bent in the manufacturing process, the flexible instrument can be set in such a manner that the initial setting state of the effector and / The robot is not controlled by the robot or the robot is not controlled by the robot even if the robot is reset to the initial state (for example, when the driving wheel rotates by 350 degrees) The rotation of the driving wheel is controlled by only 300 degrees, even if the rotation state is reset to the initial state.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

On the other hand, US 7,918,861 discloses a wiring structure and a drive wheel structure of a flexible instrument.

Patent Document 1: U.S. Patent No. 7,918,861

The present invention can easily set the reference state of the surgical instrument during the manufacturing process and can easily compensate for the disturbance of the reference state of the effector and / or the driving wheel during the use of the instrument with the flexible shaft And to provide a driving unit structure of the surgical instrument.

According to an aspect of the present invention, there is provided a surgical robot comprising: a driving wheel driven by an actuator of an operation robot; a driving shaft selectively coupled to the driving wheel; When the drive wheel and the drive shaft are separated from each other, the drive shaft is rotated in an arbitrary state by an external force. When the drive wheel and the drive shaft are engaged, the drive shaft is linked to the operation of the drive wheel. And the tension is transmitted through the wire in accordance with the rotation of the drive shaft, so that the effector is actuated.

When the driving wheel and the driving shaft are separated from each other, the driving shaft can be rotated in an arbitrary state by the tension acting on the wire. The wire is accommodated in a flexible shaft, the effector is coupled to the end of the shaft, and as the shaft is bent during use of the instrument, tension is applied to the wire so that the drive shaft can be rotated in any state .

The driving wheel is coupled to one end of the driving shaft, and the other end of the driving shaft may be provided with a knob for manually rotating the driving shaft. When the driving wheel and the driving shaft are separated from each other, the driving shaft can be rotated to an arbitrary state by a user operation on the knob. An indicator may be displayed on the effector so that the user can recognize the state in which the effector is activated as the drive shaft is manually rotated.

A friction surface is formed on at least one of mutually facing surfaces of the driving wheel and the driving shaft so that the driving wheel and the driving shaft can be coupled by friction joining. Alternatively, gears meshing with each other may be formed on the surfaces of the driving wheel and the driving shaft facing each other, and the driving wheel and the driving shaft may be coupled in a gear engagement manner. Alternatively, protrusions and grooves that are aligned with each other may be formed on the surfaces of the driving wheel and the driving shaft facing each other, and the driving wheel and the driving shaft may be coupled in a fitting manner. Alternatively, an electromagnet and a magnetic body, which are attached to each other by magnetic force, are provided on mutually facing surfaces of the driving wheel and the driving shaft, and the driving wheel and the driving shaft can be combined according to the operation of the electromagnet.

The driving shaft is rotatably coupled to the other surface of the housing and the driving wheel and the driving shaft can be coupled with each other by coupling the interface to one surface of the housing . The housing may be formed in a box shape whose one surface is opened, and the interface may be formed in a shape of a face material that finishes one open side of the housing.

The projections and grooves are formed on the surfaces of the driving wheel and the driving shaft facing each other. The protrusions are formed larger than the grooves are received in the grooves. The protrusions press the grooves on the one surface of the housing, The frictional force between the drive wheel and the drive shaft can be increased.

The interface may include a guide bar extending in the direction of coupling to the housing, and a guide groove may be formed in the housing to receive the guide bar and guide the separation and engagement of the interface. And may further include a fastening mechanism for keeping the interface coupled to the housing.

The driving wheels and the driving shafts are each provided in a plurality, and the housing can be operated separately on a driving shaft basis so that the plurality of driving shafts can be individually coupled to the corresponding driving wheels. Alternatively, by coupling the interface to one side of the housing, the plurality of drive shafts can be respectively coupled to the corresponding plurality of drive wheels.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and the detailed description of the invention.

According to a preferred embodiment of the present invention, the driving wheel and the driving shaft are separated from each other in the driving unit of the instrument and selectively coupled as necessary, so that wires are installed regardless of whether the driving wheel is set in the reference state or not during the instrument manufacturing process, The setting of the reference state can be facilitated by coupling the driving wheel to the driving shaft after the setting is completed, so that the surgical instrument can be easily assembled and its cost can be reduced.

In the case of a flexible instrument, the shaft is inserted into a surgical site in a state where the driving wheel is separated from the driving shaft, and after setting the effector to a desired state (reference state), the driving wheel is coupled to the driving shaft. The disturbance of the reference state of the effector and / or the driving wheel can be easily compensated.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a state of use of a flexible instrument according to the prior art. Fig.
2 is a conceptual diagram illustrating the structure of a driving unit of a surgical instrument according to an embodiment of the present invention.
FIG. 3 through FIG. 7 are conceptual views illustrating a coupling method of a driving wheel and a driving shaft according to an embodiment of the present invention;
8 is a view illustrating a structure of a driving unit of a surgical instrument according to an embodiment of the present invention.
9 is a view illustrating a structure of a driving unit of a surgical instrument according to another embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

On the other hand, in order for the surgical instrument to be used in surgery, it is necessary to set the initial position, posture, and state as a standard. The initial setting position, posture, and state will be referred to as a 'reference state'. That is, the effector and the driving wheel of the instrument are initially set to the reference state and used for surgery.

In addition, the instrument according to the present embodiment has a structure in which the driving wheel and the driving shaft are separated from each other and selectively coupled as needed. In the state in which the driving shaft and the driving shaft are engaged, That is, the state in which the driving force transmission system is connected to the robot (actuator) - the driving wheel - the driving shaft - the wire-effector 'is referred to as an' operation mode '. That is, the surgical instrument is controlled by the robot in the operating mode.

2 is a conceptual view illustrating a structure of a driving unit of a surgical instrument according to an embodiment of the present invention. 2, an actuator 1, an instrument 5, a driving unit 7, a driving wheel 14, a driving shaft 24, a knob 26, an effector 30, an indicator 32, ) And a shaft 50 are shown.

The present embodiment relates to a surgical instrument structure comprising a driving wheel and a driving shaft, a wire pulley-coupled to the driving shaft, a shaft receiving the wire, and an effector connected to the end of the shaft and operated by a tension transmitted through the wire, And the reference state of the effector and the driving wheel must be adjusted at the same time in the assembling process. The problem that the driving wheel can not maintain the reference state during the wire installation process is solved. Second, in the case of the instrument to which the flexible shaft is applied, The tension applied to the wire by the bending of the wire causes the reference state of the effector and / or the driving wheel to be disturbed.

To this end, the structure of the driving unit 7 of the instrument according to the present embodiment is such that the driving shaft 24 from which the wire 40 is wound is separated from the driving wheel 14, and the driving wheel 14 is moved to the driving shaft 24 The driving wheel 14 (set in the reference state) is set to the desired state (for example, the reference state) after the effector 30, the wire 40 and the driving shaft 24 are set to a desired state So that the initial setting of the instrument is facilitated.

That is, since the conventional instruments, which are assembled in a state in which the respective components of the driving unit are connected to each other, need to simultaneously match the reference states of the components connected to each other, there is a problem in that the assembly is difficult. It is possible to freely assemble the remaining components in a state in which the driving wheel 14 is separated and to assemble in such a manner that the driving wheel 14 is reattached, thereby facilitating assembly and initial setting.

The instrument manufactured in a state in which the driving wheel 14 and the driving shaft 24 are separated may be mounted on the robot after the driving wheel 14 and the driving shaft 24 are joined together, The driving wheel 14 and the driving shaft 24 may be attached to the robot before the operation.

In the case of a so-called 'flexible instrument' in which a shaft is manufactured in a flexible manner, the shaft is bent in the process of inserting the effector into a surgical site, tension is applied to the wire in accordance with the bending of the shaft, Lt; / RTI > state.

In the conventional instrument, when the effector is manually set to the reference state to compensate for the deformation of the effector, there is a problem that the driving wheel is rotated and the reference state of the driving wheel is disturbed. However, in this embodiment, The problem is solved to compensate for the deformation of the effector during the use of the flexible instrument, and the state of the drive shaft rotated to a certain degree according to the deformation of the effector can be easily set to the reference state.

The surgical instrument according to the present embodiment is operated and controlled by receiving a driving force from a surgical robot. Usually, a robot arm is coupled to a surgical robot, and an actuator having a structure matching the driving wheel is formed at an end of the robot arm do. Hereinafter, when an instrument is mounted on a surgical robot, a part transmitting the driving force generated from the robot to the instrument is referred to as an 'actuator' as a component that mediates the instrument.

The driving unit 7 of the surgical instrument according to the present embodiment may include the driving wheel 14, the driving shaft 24, and the wire 40. The driving wheel 14 is a component that is matched with the actuator 1 when the instrument 5 is mounted on the robot and is actuated (rotated) by receiving driving force from the actuator 1. [

The driving shaft 24 is a kind of rotating shaft selectively coupled to the driving wheel 14 and serves to transmit tension to the wire 40 to be described later according to the rotation. The present embodiment is characterized in that the driving wheel 14 and the driving shaft 24 are separated from each other and are selectively coupled to each other as required. In this embodiment, a specific coupling method between the driving wheel 14 and the driving shaft 24 Will be described later.

The wire 40 is a power transmission medium, one end of which is wound on the drive shaft 24 and the other end is coupled to each part of the effector 30. [ When the driving shaft 24 rotates, a tension is generated in the winding direction of the wire 40. As a result, a part of the effector 30 coupled to the other end of the wire 40 is pulled and moved.

For example, if the effector 30 is configured to move at four degrees of freedom, four driving shafts 24 are provided and the other end of the four wires 40 wound around each driving shaft 24 is connected to each part of the effector 30 (The part to be moved), the effector 30 can be operated in four degrees of freedom in accordance with the rotation of the drive shaft 24. [

The driving force necessary for the rotation of the driving shaft 24 may be provided from the driving wheel 14. Whether or not the driving force is transmitted depends on whether the driving wheel 14 and the driving shaft 24 are coupled.

The drive force transmitted from the actuator 1 is not transmitted to the drive shaft 24 and the external force that rotates the drive shaft 24 is transmitted to the drive wheel 24 via the drive wheel 24 when the drive wheel 14 and the drive shaft 24 are separated from each other. (14). In this case, the drive shaft 24 can be rotated in an arbitrary state by an external force. The external force for rotating the drive shaft 24 may be tension applied to the wire 40, force due to manual operation of the user, and the like, which will be described later.

The fact that the drive shaft 24 is rotated in an arbitrary state means that the drive shaft 24 is freely rotated by an external force in a state in which the drive force transmitted from the robot is blocked.

Next, when the driving wheel 14 and the driving shaft 24 are engaged, the driving force transmitted from the actuator 1 is transmitted to the driving shaft 24. That is, the driving unit 7 of the instrument is set to an operation mode that operates in conjunction with the operation of the driving wheel 14. [

The driving force transmitted from the robot (actuator 1) is transmitted to the effector 30 via the driving wheel 14, the driving shaft 24 and the wire 40 so that the effector 30 is operated, The resulting instrument 5 is in a state controlled by the robot.

In the case of the instrument 5 using the shaft 50 made of a flexible or freely bendable material or structure, the drive shaft 24 is rotated in an arbitrary state by an external force. The wire 40 is received in the flexible shaft 50 and the effector 30 is coupled to the distal end of the shaft 50. In the course of inserting the effector 30 into the surgical site during surgery, It is bent according to the shape of the path.

When the shaft 50 is bent, the wire 40 accommodated therein is tensioned. For example, if the shaft 50 is bent to the right, the wire 40 (hereinafter referred to as " ), More 'pulling force' will work. When tension is applied to the wire 40, tension is exerted on the effector 30 and the drive shaft 24 connected to the wire 40. As a result, the effector 30 unintentionally moves and the drive shaft 24 And is rotated to an arbitrary state.

That is, when the driving wheel 14 and the driving shaft 24 are separated from each other, the driving shaft 24 is rotated in an arbitrary state due to the tension acting on the wire 40 (in accordance with the bending of the shaft 50) .

The drive wheel 14 is selectively coupled to one side of the drive shaft 24 and the drive shaft 24 is manually coupled to the other side of the drive shaft 24. [ The user rotates the drive shaft 24 in an arbitrary state by operating the knob 26 when the knob 26 for rotating the drive shaft 24 is formed.

This is because the user (the person who assemble) connects the knob 26 of the drive shaft 24 with the drive shaft 24 and the effector 30 connected by the wire 40, It is possible to manually adjust the effector 30 so that the effector 30 is set to the reference state.

That is, when the drive wheel 14 and the drive shaft 24 are separated from each other, the drive shaft 24 can be rotated in an arbitrary state by manual operation of the knob 26. [

The indicator 32 may be displayed on the effector 30 so that the user can operate the knob 26 to confirm whether the effector 30 is set to the reference state during the assembly of the instrument 5. [ For example, as shown in FIG. 2, a reference line (reference line) is drawn in the extending direction of each jaw of the pair of jaw effectors 30 so that the user manually rotates the drive shaft 24 So as to recognize whether the effector 30 is operated in a desired state (for example, a reference state).

3 to 7 are conceptual views illustrating a coupling method of a driving wheel and a driving shaft according to an embodiment of the present invention. 3 to 7, a driving wheel 14 and a driving shaft 24 are shown.

FIGS. 3 to 7 illustrate a selective coupling method between the driving wheel 14 and the driving shaft 24. FIG. Fig. 3 shows the friction joining system, Fig. 4 shows the gear engagement system, Fig. 5 shows the fitting engagement system, Fig. 6 shows the electromagnetism system, and Fig. 7 shows the frictional engagement system.

3, a frictional surface (see F in FIG. 3) is formed on the surfaces of the driving wheel 14 and / or the driving shaft 24 facing each other, (24) are coupled in a frictional engagement manner like a clutch. The friction surface may be formed by roughly machining the surface roughness of the drive wheel 14 and / or the drive shaft 24 or by applying a material having sufficient roughness to the surface of the drive wheel 14 and / . ≪ / RTI >

4, a pair of gears (refer to 'G' in FIG. 4) which are engaged with the surfaces of the drive wheel 14 and the drive shaft 24 which are opposed to each other are formed So that the driving wheel 14 and the driving shaft 24 are engaged by the gears. Since the driving wheel 14 and the driving shaft 24 are both constituent elements rotating about a predetermined center point, the gears can be formed in a radially unfolded shape from the center point toward the outer periphery as illustrated in FIG.

4 illustrates one embodiment of the shape of the gear. In addition to the illustrated shape, the drive wheel 14 and the drive shaft 24 may be formed in various shapes of gears that can be engaged with each other to be interlocked with each other Of course.

The fitting method shown in Fig. 5 is a method in which the projections (see P 'in Fig. 5) and the grooves (in Fig. 5, which are aligned with each other on the mutually facing surfaces of the driving wheel 14 and the driving shaft 24) R '), respectively, so that the driving wheel 14 and the driving shaft 24 are engaged with each other. Since the driving wheel 14 and the driving shaft 24 are both constituent elements rotating around a predetermined center point, the protrusions and grooves are formed in a shape such as a quadrangular pyramid shape as shown in FIG. 5, .

5 illustrates one embodiment of the shape of the protrusions and grooves. In addition to the illustrated shapes, the driving wheel 14 and the driving shaft 24 may be formed with protrusions and grooves of various shapes that can be interlocked with each other and interlocked with each other Of course.

The electromagnetic system shown in Fig. 6 includes an electromagnet (refer to 'M1' in Fig. 6) and a magnetic body (refer to 'M2' in Fig. 6) attached to the mutually facing surfaces of the driving wheel 14 and the driving shaft , Respectively, so that the driving wheel 14 and the driving shaft 24 are attached to each other by a magnetic force.

When the electromagnet is used, the driving wheel 14 and the driving shaft 24 are attached or detached depending on whether the electromagnet is operated or not. Therefore, the driving wheel 14 and the driving shaft 24 are moved by the surgical robot (or another separate control device) (Lock mode) and drop (unlock mode) can be controlled.

Here, the magnetic body includes a permanent magnet, an electromagnet, a steel piece, and the like. For example, an electromagnet is installed on the driving wheel 14 and a steel piece is provided on the driving shaft 24, The driving wheel 14 and the driving shaft 24 may be provided with electromagnets so that the opposing faces of the electromagnets have different polarities so that the driving wheels 14 And the driving shaft 24 are attached and the opposing faces of the electromagnets are made to have the same polarity so that the driving wheel 14 and the driving shaft 24 are separated from each other.

7, the projections (refer to 'P' 'in FIG. 7) and the grooves (' R 'in FIG. 7) are formed on the surfaces of the drive wheel 14 and the drive shaft 24, 7). However, in the embodiment illustrated in FIG. 7, instead of forming the protrusions and the grooves in a mating form, the protrusions are slightly larger than the grooves, that is, the protrusions are slightly So that the driving wheel 14 and the driving shaft 24 are engaged with each other.

In this case, as the drive shaft 24 is fitted to the drive wheel 14, the degree to which the protrusion presses the groove becomes greater, and consequently the friction force between the drive wheel 14 and the drive shaft 24 can be increased. As the frictional force between the driving wheel 14 and the driving shaft 24 increases, the interlocking mechanism can be strengthened.

8 is a view illustrating a structure of a driving unit of a surgical instrument according to an embodiment of the present invention. 8, the driving unit 7, the housing 10, the guide groove 12, the driving wheel 14, the interface 20, the guide bar 22, the driving shaft 24, the knob 26, A wire 30, a wire 40, and a shaft 50 are shown.

FIG. 2 conceptually shows only the essential components of the present embodiment. Referring to FIG. 8, a concrete structure and structure of the driving unit 7 of the instrument will be described below.

Assuming that the driving unit 7 of the instrument is accommodated in the housing 10 of a predetermined shape (for example, rectangular parallelepiped) and the shaft 50 is connected to the housing 10, the driving unit 7 according to the present embodiment, The structure can be divided into a housing 10 that houses the drive shaft 24 and an interface 20 that includes the drive wheel 14 as shown in Fig.

Since the drive wheel 14 and the drive shaft 24 according to the present embodiment are selectively coupled to each other, the housing 10 and the interface 20 can also be selectively coupled. When the overall shape of the housing is a rectangular parallelepiped, the housing according to the present embodiment may be made of a 'frame structure' composed of a wire material constituting each side of a rectangular parallelepiped, and the six sides of the rectangular parallelepiped (E.g., a surface to which the drive wheels are coupled, etc.) of a face member made of a face material.

As described above, when the housing 10 is formed in a box shape having its one side opened, the interface 20 can be formed into a face material shape which finishes the opening face of the housing 10.

8 illustrates an example of a coupling structure between the housing and the interface. In order to selectively couple the driving shaft and the driving wheel according to the present embodiment, the illustrated 'housing-interface' coupling structure is not necessarily applied . For example, a structure in which both the drive shaft and the drive wheel are accommodated in a predetermined housing, and the drive shaft and the drive wheel are combined or separated according to the selection may be applied.

The driving shaft 24 rotates while being coupled to the other surface of the housing 10 and one surface of the housing 10 is coupled to the interface 20 to close the surface of the housing 10. Since the interface 20 includes the drive wheel 14, the drive wheel 14 and the drive shaft 24 can be coupled as the interface 20 is coupled to the housing 10.

8, a guide bar 22 is formed on the interface 20 and a guide bar 22 is inserted into the housing 10 for coupling between the interface 20 and the housing 10. [ The guide groove 12 can be formed.

The guide bar 22 may be formed to extend in a direction in which the interface 20 is coupled to the housing 10 so that the guide bar 22 is inserted into the guide groove 12 by moving the interface 20. [ The interface 20 can be naturally coupled to the housing 10. That is, the separation and coupling of the interface 20 with respect to the housing 10 can be guided through the configuration of the guide bar 22 and the guide groove 12 '.

By coupling the interface 20 to the housing 10, the driving wheel 14 is coupled to the driving shaft 24 to form the driving unit 7 of the surgical instrument. It is necessary to maintain the state in which the interface 20 is coupled to the housing 10 (state in which the driving wheel 14 and the driving shaft 24 are engaged) so that the instrument is set in the operating mode in the course of using the instrument. The housing 10 and the interface 20 according to the present embodiment may be provided with a fastening mechanism (see J in Fig. 8).

For example, the interface 20 may be coupled to the housing 10 by forming a hook J1 in the housing 10 and forming a locking jaw J2 in the interface 20 corresponding to the position of the hook, So that the combined state can be maintained.

However, it is needless to say that, in addition to the illustrated structure, various fastening mechanisms of various shapes and structures may be applied to maintain the state of engagement between the housing 10 and the interface 20.

Each of the driving wheel 14 and the driving shaft 24 according to the present embodiment may be provided in plurality. In the case where the effector 30 is an instrument structure moving at four degrees of freedom, as in the above-described example, four drive wheels 14 and four drive wheels 24 may be provided, respectively.

When a plurality of drive wheels 14 and a plurality of drive wheels 24 are provided, the plurality of drive shafts 24 and the plurality of drive wheels 14 can be separated or combined at a time. That is, as shown in FIG. 8, the four drive wheels 14 are connected to the corresponding four drive shafts (not shown) by fastening the interface 20 including the four drive wheels 14 to one surface of the housing 10, 24).

9 is a view illustrating a structure of a driving unit of a surgical instrument according to another embodiment of the present invention. 2, a driving unit 7, a housing 10a, 10b, 10c, 10d, a driving wheel 14, an interface 20, a driving shaft 24, a wire 40, have.

FIG. 8 illustrates a structure in which four driving wheels 14 are coupled to the driving shaft 24 at a time. FIG. 9 illustrates a structure in which the driving wheels 24 are coupled to the driving shaft 24 separately for each driving wheel 14.

That is, when a plurality of drive wheels 14 and drive shafts 24 are provided, the housing 10 is divided into units of drive shafts 24 so that each unit 10a, 10b, 10c, 9, the plurality of drive shafts 24 can be individually coupled to the corresponding drive wheels 14, respectively.

When the housing 10 is individually operated by the units 10a, 10b, 10c and 10d of the respective driving shafts 24, the above-described 'guide bar (not shown) for guiding the separation / coupling between the housing 10 and the interface 20 22) -guide groove 12 'can be formed for each unit 10a, 10b, 10c, 10d and the above-described' fastening mechanism 'structure for maintaining the coupling state between the housing 10 and the interface 20 And may be installed for each of the units 10a, 10b, 10c, and 10d.

In this manner, the driving states of the driving shafts 24 can be individually set by individually coupling the driving shafts 24 with the driving wheels 14.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill 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. And changes may be made without departing from the spirit and scope of the invention.

1: Actuator 5: Instrument
7: driving part 10, 10a, 10b, 10c, 10d: housing
12: Guide groove 14: Driving wheel
20: Interface 22: Guide bar
24: drive shaft 26: knob
30: Effector 32: Indicator
40: wire 50: shaft

Claims (17)

A driving wheel which is operated by receiving a driving force from an actuator of a surgical robot;
A driving shaft to which the driving wheel is selectively coupled at one end;
One end of which is wound on the driving shaft and the other end of which is coupled to an effector,
When the drive wheel and the drive shaft are separated from each other, the drive shaft on which the wire is wound is rotated by an external force to be set to a reference state, which is an initial setting state of the effector, Coupled,
Wherein the drive shaft is set in an operation mode in which the drive shaft is rotated in conjunction with the operation of the drive wheel so that tension is transmitted through the wire in accordance with the rotation of the drive shaft, Wherein the first and second actuators are connected to each other.
The method according to claim 1,
Wherein the driving shaft is rotated in an arbitrary state by a tension acting on the wire when the driving wheel and the driving shaft are separated from each other.
3. The method of claim 2,
The wire is accommodated in a flexible shaft, the effector is coupled to the end of the shaft, tension is applied to the wire as the shaft is bent during use of the instrument, Of the operating part of the surgical instrument.
The method according to claim 1,
And a knob for manually rotating the driving shaft is formed at the other end of the driving shaft.
5. The method of claim 4,
Wherein the drive shaft is rotated in an arbitrary state by a user's operation with respect to the knob when the drive wheel and the drive shaft are separated from each other.
6. The method of claim 5,
Wherein the indicator is displayed on the effector so that the user can recognize the activated state of the effector as the user rotates the drive shaft manually.
The method according to claim 1,
Wherein a friction surface is formed on at least one of mutually facing surfaces of the driving wheel and the driving shaft, and the driving wheel and the driving shaft are coupled in a friction joining manner.
The method according to claim 1,
Wherein gears meshing with each other are formed on mutually facing surfaces of the driving wheel and the driving shaft, and the driving wheel and the driving shaft are coupled in a gear engagement manner.
The method according to claim 1,
Wherein protrusions and grooves that are aligned with each other are formed on surfaces of the driving wheel and the driving shaft facing each other, and the driving wheel and the driving shaft are coupled with each other in a fitting engagement manner.
The method according to claim 1,
Wherein an electromagnet and a magnetic body that are magnetically attached to each other are provided on surfaces of the driving wheel and the driving shaft facing each other, and the driving wheel and the driving shaft are coupled according to the operation of the electromagnet. rescue.
The method according to claim 1,
An interface including the drive wheel;
Further comprising a housing for receiving said drive shaft,
The drive shaft is rotatably coupled to the other surface of the housing,
Wherein the drive wheel and the drive shaft are coupled with each other by coupling the interface to one surface of the housing.
12. The method of claim 11,
Wherein the housing is formed in a box shape with one side thereof opened, and the interface is formed in a shape of a face material that finishes an opened one side of the housing.
12. The method of claim 11,
The protrusions are formed to be larger than the protrusions and the protrusions are accommodated in the grooves, and the interface is coupled to one surface of the housing, Wherein the protrusion presses the groove to increase a frictional force between the driving wheel and the driving shaft.
12. The method of claim 11,
Wherein a guide bar extending in a direction of coupling to the housing is formed in the interface and a guide groove is formed in the housing to receive the guide bar and guide the separation and engagement of the interface. Instrument drive structure.
12. The method of claim 11,
Further comprising a fastening mechanism to maintain the interface coupled to the housing.
12. The method of claim 11,
The driving wheel and the driving shaft are respectively provided in plural,
Wherein the housing is separately operated by the drive shaft unit so that the plurality of drive shafts can be individually coupled to the corresponding drive wheels.
12. The method of claim 11,
The driving wheel and the driving shaft are respectively provided in plural,
Wherein the plurality of drive shafts are coupled to the corresponding plurality of drive wheels, respectively, by coupling the interface to one side of the housing.

Images