KR102284387B1 - Surgical system - Google Patents

Abstract

According to an embodiment, the surgical system includes a lower shaft, an upper shaft slidably connected to the lower shaft with one degree of freedom, a lower gripper for rotatably supporting the lower shaft with two degrees of freedom, and the upper shaft. An upper gripper that rotatably supports two degrees of freedom, a lower delta robot that movably supports the lower gripper, an upper delta robot that movably supports the upper gripper, and a surgical tool connected to the lower shaft a slave device; A master arm including a master base part, an arm support rod connected from the master base part, an upper arm installed above the arm support rod, and a lower arm installed below the arm support rod, the upper arm and a master device rotatably connected to the lower arm and comprising a manipulation gripper that can be gripped by a user; and a control unit receiving an input signal from the master device and controlling the slave device.

Description

Surgical SYSTEM

The description below relates to the surgical system.

Surgery refers to the treatment of diseases by cutting, slitting, or manipulating skin, moles, or other tissues using a medical machine. In particular, open surgery, which incisions open the skin of the surgical site and treats, molds, or removes organs inside the surgery site, is due to problems such as bleeding, side effects, patient pain and/or scarring, and recently, surgery using a robot It is gaining popularity as an alternative.

A surgical robot consists of a master device that generates and transmits a signal required by the operation of a doctor, and a slave device that receives a signal from the master device and applies the necessary manipulations to the patient directly. Alternatively, each may be configured as a separate device and placed in the operating room. Meanwhile, the master device and the slave device may be disposed to be spaced apart from each other. A physician may drive a slave device located at a remote location via the master device. Also, one master device may selectively interwork with any one slave device among a plurality of slave devices.

A surgeon may operate a slave device through the master device to perform a surgical operation. However, in the case of surgery that takes a long time or requires elaborate and detailed work, even if the master device is used, it may be difficult to perform sophisticated work due to accumulated fatigue on the wrist and arm joints of the doctor. Therefore, there is a need for a master device capable of generating various operation signals and reducing user fatigue due to manipulation.

The above-mentioned background art is possessed or acquired by the inventor in the process of derivation of the present invention, and cannot necessarily be said to be a known technology disclosed to the general public prior to the filing of the present invention.

US 10-2009-0057984 A WO2018/025169

An object in one embodiment is to provide a surgical system.

According to an embodiment, the surgical system includes a lower shaft, an upper shaft slidably connected to the lower shaft with one degree of freedom, a lower gripper for rotatably supporting the lower shaft with two degrees of freedom, and the upper shaft. An upper gripper that rotatably supports two degrees of freedom, a lower delta robot that movably supports the lower gripper, an upper delta robot that movably supports the upper gripper, and a surgical tool connected to the lower shaft a slave device; A master arm including a master base part, an arm support rod connected from the master base part, an upper arm installed above the arm support rod, and a lower arm installed below the arm support rod, the upper arm and a master device rotatably connected to the lower arm and comprising a manipulation gripper that can be gripped by a user; and a control unit receiving an input signal from the master device and controlling the slave device.

When the manipulation gripper is gripped and moved, the controller generates an input signal for controlling the movement of the surgical tool based on the displacement of the upper arm or the lower arm, and based on the input signal, the By controlling the lower delta robot and the upper delta robot, the position and angle of the surgical tool can be controlled.

The upper arm and the lower arm may each include a rotation coupling part rotatably installed with respect to the arm support rod with respect to a rotation axis parallel to the ground; And it is rotatably connected to the rotation coupling portion, it may include a rotation link consisting of a two-section link that can be bent or extended within the same plane.

Each of the rotation links of the upper arm and the lower arm may include: a first arm link rotatable with respect to the rotation coupling part; a second arm link rotatable relative to the first arm link; and a manipulation gripper joint that is rotatably installed at an end of the second arm link with respect to a rotation axis parallel to the longitudinal direction of the second arm link and is connected to the manipulation gripper.

Each of the upper arm and the lower arm comprises: a first rotational driving unit configured to form a resistance to a rotational movement of the first arm link with respect to the rotational coupling portion; and a second rotational driving unit configured to resist rotational movement of the second arm link relative to the first arm link, wherein the arm support rod has a resistance to rotational movement of the upper arm with respect to the arm support rod. an upper rotational driving unit to form a; and a lower rotation driving unit configured to resist rotational movement of the lower arm with respect to the arm support rod.

The manipulation gripper includes: a handle; a fixed shaft extending longitudinally from the handle; a grip switch portion extending in the longitudinal direction from the handle and extending in the longitudinal direction when the circumference is pressed; and a measurement housing fixed from the fixed shaft and including an inner space accommodating at least a portion of the gripping switch unit, and a displacement detection sensor configured to measure a displacement of the gripping switch unit moving in the inner space.

The gripping switch unit may include: a bending input unit protruding from the handle toward the inner space of the measuring housing and being bent along a radial direction outside the circumference of the fixed shaft; and an input slider connected to the bending input unit and at least a part of which is inserted into the inner space of the measurement housing.

The lower delta robot includes three lower support rods, three lower moving parts moving along the longitudinal direction of the lower supporting rod, and three lower arms connecting between the lower moving part and the lower gripper, , The upper delta robot includes three upper support rods, three upper moving parts moving along the longitudinal direction of the upper supporting rod, and three upper arms connecting between the upper moving part and the upper gripper. can do.

The control unit sets the position of one point of the surgical tool as a remote rotation center, and the control unit adjusts the position of the tip of the surgical tool based on the movement of the manipulation gripper, but at least one point of the surgical tool It can be controlled to always pass through the remote center of rotation.

The master base unit, a fixed base fixed to the outside; and a rotating base that interconnects the fixed base and the arm support rod and is installed to be rotatable by one degree of freedom with respect to the fixed base, wherein the arm support rod can rotate with two degrees of freedom with respect to the fixed base there is.

Based on the rotation of the arm support rod relative to the fixed base, the position or angle of the surgical tool may be controlled.

The surgical system, from a user, (i) a first mode in which the arm support rod is immobilized relative to the fixed base, and (ii) both the upper arm and the lower arm are immobilized relative to the arm support rod. It may further include a mode input unit capable of receiving any one of the plurality of modes including the second mode to disable.

In the first mode, the control unit, based on the spatial position information of the end of the manipulation gripper, adjusts the position of the end of the surgical tool, so that the surgical tool always passes a specific point, the upper delta robot And it is possible to control the lower delta robot.

In the second mode, the control unit adjusts the position of the surgical tool based on the amount of rotation the arm support rod moves with respect to the fixed base, and based on the origin of the preset spherical coordinate system, the specific point The upper delta robot and the lower delta robot may be controlled to move to another point located at the same distance.

According to the surgical system according to an embodiment, it is possible to improve the surgical precision while being intuitive to use.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so the present invention is limited to the matters described in those drawings It should not be construed as being limited.
1 is a perspective view of a surgical system according to an embodiment;
2 is a perspective view of a master device according to an embodiment.
3 is a block diagram of a master device according to an embodiment.
4 is a perspective view of a manipulation unit according to an embodiment;
5 is an exploded perspective view of a manipulation unit according to an embodiment;
6 is a perspective view of an upper arm according to an embodiment.
7 is a perspective view of a lower arm according to an embodiment.
8 is a perspective view illustrating a changed posture of a master arm according to a movement of a manipulation gripper according to an exemplary embodiment;
9 is a perspective view of a manipulation gripper according to an embodiment;
10 is a cross-sectional view of a manipulation gripper according to an embodiment.
11 is a cross-sectional view illustrating a state in which a switch unit of the manipulation gripper is pressed, according to an exemplary embodiment.
12 is a perspective view illustrating a state in which an arm support rod is rotated in a vertical direction according to an exemplary embodiment;
13 is a perspective view illustrating a state in which an arm support rod is rotated in a horizontal direction according to an exemplary embodiment;
14 is a perspective view of an arm rest device according to an embodiment.
15 is a block diagram of a damping unit according to an exemplary embodiment.
16 is a perspective view of a horizontal movement module according to an embodiment.
17 is a plan view schematically illustrating an operating structure of a horizontal movement module according to an exemplary embodiment.
18 is a perspective view of an arm support module according to an embodiment.
19 and 20 are side views of an arm support module according to an exemplary embodiment.
21 is a perspective view illustrating a slave device and a microscope according to an embodiment.
22 is a perspective view schematically illustrating an internal structure of a slave device according to an exemplary embodiment.
23 is a plan view schematically illustrating a surgical tool according to an embodiment.
24 is a front view schematically illustrating a lower shaft and a surgical tool according to an embodiment.
25 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are positioned relatively close, according to an exemplary embodiment;
26 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when the lower gripper and the upper gripper are relatively far apart, according to an exemplary embodiment;
27 is a block diagram of a slave device according to an embodiment.
28 is a perspective view of a slave device according to an embodiment.
29 and 30 are diagrams schematically illustrating a state in which the eyeball rotates according to the driving of the first and second slave devices, and the microscope moves according to the rotation of the eyeball.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in the description of the embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is between each component. It will be understood that may also be "connected", "coupled" or "connected".

Components included in one embodiment and components having a common function will be described using the same names in other embodiments. Unless otherwise stated, a description described in one embodiment may be applied to another embodiment, and a detailed description in the overlapping range will be omitted.

1 is a perspective view of a surgical system according to an embodiment;

Referring to FIG. 1 , the surgical system 100 according to an embodiment includes a master device 1 that generates and transmits a necessary signal by manipulation of a user U, and receives a signal from the master device 1 directly A slave device (2) that applies an operation necessary for surgery to a patient (P), a microscope module (3) for photographing the operation site of the patient (P) and the operation of the slave device (2), and a slave device (2) and a microscope It may include a support 6 for supporting the module 3, and a display 8 for displaying the image taken from the microscope module 3 to the user (U).

The master device 1 according to an embodiment may be fixed to an external object. For example, the master device 1 may be fixed on an external object 7 having a working space on the same plane as a table, as shown in FIG. 1 , and the display 8 is also disposed on the external object 7 . It allows the user U to remotely observe the surgical site of the patient P and to easily operate the slave device 2 at the same time.

2 is a perspective view of a master device according to an embodiment, FIG. 3 is a block diagram of a master device according to an embodiment, FIG. 4 is a perspective view of an operation unit according to an embodiment, and FIG. 5 is an embodiment An exploded perspective view of the manipulation unit, FIG. 6 is a perspective view of an upper arm according to an embodiment, FIG. 7 is a perspective view of a lower arm according to an embodiment, and FIG. 8 is a master arm according to movement of the manipulation gripper according to an embodiment It is a perspective view showing the changed posture of

2 to 8 , the master device 1 according to an embodiment includes a manipulation unit 12 capable of manipulating the remote slave device 2 or the microscope module 3 by directly gripping the user, and the user The arm rest device 11 that supports the arm of (U) and guides the operation of the arm during the surgical procedure, and controls the operation of the manipulation unit 12 and the arm rest device 11, and based on the operation of the manipulation unit 12 It may include a master control unit 14 that generates an input signal for operating the slave device 2 or the microscope module 3 .

A detailed description of the arm rest device 11 will be described later with reference to FIGS. 14 to 20 .

The manipulation unit 12 according to an embodiment may be gripped and driven by the user U while being fixed to the external object 7 .

The manipulation unit 12 according to an embodiment includes a master base unit 123 fixed to the external object 7 , an arm support rod 124 connected from the master base unit 123 , and an arm support rod 124 . Whether to drive the installed master arm 121, the manipulation gripper 122 rotatably connected by the master arm 121 and holdable by the user, and the master device 1 in the first mode or the second mode It may include a mode input unit 128 for transmitting a mode input signal for selecting whether or not to the master control unit 14.

The master base part 123 interconnects the fixed base 1231 fixed to the external object 7 , the fixed base 1231 and the arm support rod 124 , and rotates one degree of freedom with respect to the fixed base 1231 . It may include a rotation base 1232 that is installed possible.

For example, the rotating base 1232 may be installed to be rotatable by one degree of freedom with respect to the fixed base 1231 with respect to an axis perpendicular to the ground. For example, the arm support rod 124 may be rotatably installed in one degree of freedom based on an axis parallel to the ground with respect to the rotation base 1232 (an axis perpendicular to the rotation axis of the rotation base 1232 ).

According to the above structure, the arm support rod 124 can be rotatably moved in two degrees of freedom with respect to the fixed base 1231 .

For example, the rotation base 1232 includes a horizontal rotation control unit 12322 (refer to FIG. 12 ) for adjusting and sensing rotation with respect to the fixed base 1231 , and the arm support rod 124 and the master arm 121 . It may include a moment compensating unit 12321 (refer to FIG. 12 ) for compensating for a rotational moment due to the weight.

The horizontal rotation control unit 12322 is a horizontal rotation drive unit 123221 capable of forming a friction force between the fixed base 1231 and the rotation base 1232 to form a resistance force of the rotational movement of the rotation base 1232, see FIG. 3 . ) and a horizontal rotary encoder 123222 (see FIG. 3 ) capable of measuring the rotational angle displacement between the fixed base 1231 and the rotary base 1232 may be included.

The moment compensator 12321 may include an elastic body installed between the rotation base 1232 and the arm support rod 124 . For example, the moment compensator 12321 may be a plate spring or a torsion spring installed on a rotation shaft to which the arm support rod 124 is connected to the rotation base 1232 .

The arm support rod 124 includes a vertical rotation adjuster 1241 (see FIG. 8 ) for adjusting and sensing the rotation of the arm support rod 124 with respect to the rotation base 1232 , and for the arm support rod 124 . Adjusting and sensing the upper rotation adjuster 1243 (see FIG. 5) for adjusting and sensing the rotation of the upper arm 1211 (see FIG. 5), and the lower arm 1212 with respect to the arm support rod 124 It may include a lower rotation control unit 1244 for.

The vertical rotation control unit 1241 (refer to FIG. 8 ) is a vertical rotation driving unit capable of forming a friction force between the rotation base 1232 and the arm support rod 124 to form resistance to the rotational movement of the arm support rod 124 . (12411, see FIG. 3) and a vertical rotary encoder 12412 (refer to FIG. 3) capable of measuring the rotational angular displacement between the rotary base 1232 and the arm support rod 124 may be included.

The upper rotation control unit 1243 (refer to FIG. 5 ) may be formed on the side of the arm support rod 124 .

The upper rotation control unit 1243 is an upper rotation drive unit 12431 (FIG. 3) that can form a friction force between the arm support rod 124 and the upper arm 1211 to form a resistance force of the rotational movement of the upper arm 1211. reference) and an upper rotary encoder 12432 (refer to FIG. 3 ) capable of measuring the rotational angular displacement between the arm support rod 124 and the upper arm 1211 .

For example, the upper rotation control unit 1243 may be installed in two configurations that are symmetrical to both sides of the arm support rod 124 . For convenience of explanation and understanding, one upper rotation control unit 1243 will be referred to as the upper left rotation control unit 1143, and the other upper rotation control unit 1243 will be referred to as the upper right rotation control unit 1143 ′, but the opposite description Unless there is, it should be noted that the description corresponding to one upper rotation control unit 1243 can be equally applied to both configurations.

The lower rotation control unit 1244 (refer to FIG. 5 ) is installed on the side of the arm support rod 124 , and may be located below the upper rotation control unit 1243 .

The lower rotation control unit 1244 is a lower rotation drive unit 12441 ( FIG. 3 ) that can form a friction force between the arm support rod 124 and the lower arm 1212 to form a resistance force of the rotational movement of the lower arm 1212 . reference) and a lower rotary encoder 12442 (refer to FIG. 3 ) capable of measuring the rotational angular displacement between the arm support rod 124 and the lower arm 1212 .

For example, the lower rotation control unit 1244 may be installed in two configurations that are symmetrical to both sides of the arm support rod 124 . For convenience of description and understanding, one lower rotation control unit 1244 will be referred to as a lower left rotation control unit 1244, and the other lower rotation control unit 1244 will be referred to as a lower right rotation control unit 1244 ′, but the opposite description It should be noted that the description corresponding to one lower rotation control unit 1244 can be equally applied to both configurations unless there is.

For example, the arm support rod 124 may further include an extension rod 1242 (refer to FIG. 8 ) protruding in a direction away from the vertical rotation adjustment unit 1241 . For example, the extension rod 1242 may protrude in the opposite direction where the user U is positioned.

The master arm 121 may include an upper arm 1211 installed on the upper side of the arm support rod 124 and a lower arm 1212 installed on the lower side of the arm support rod 124 .

For example, the upper arm 1211 may be installed in the upper rotation control unit 1243 , and the lower arm 1212 may be installed in the lower rotation control unit 1244 . For example, the ends of each of the upper arm 1211 and the lower arm 1212 may be connected to two spaced apart points of one manipulation gripper 122 .

For example, the master arm 121 may be installed in two configurations that are symmetrical on both sides of the arm support rod 124 as shown in FIGS. 4 and 5 . For convenience of explanation and understanding, one master arm 121 will be referred to as the left master arm 121 and the other master arm 121 will be referred to as the right master arm 121, unless otherwise indicated, the one master arm 121 ) is equally applicable to both configurations.

As shown in FIG. 6 , the upper arm 1211 is rotatably connected to the rotation coupling part 12111 which is rotatably installed with respect to the arm support rod 124 and the rotation coupling part 12111 and is in the same plane. A rotation link 12112 formed of a rotatable two-section link in the arm rotation control unit (12113, 12114) for controlling and sensing the rotational motion of the rotation link 12112 with respect to the rotation coupling unit 12111, and the arm The upper arm 1211 with respect to the support rod 124 may include a rotation compensation unit 12115 for compensating for a rotation moment formed by its own weight.

The rotation coupling part 12111 may be rotatably installed on the upper rotation adjustment part 1243 (refer to FIG. 5 ) of the arm support rod 124 . For example, the rotation axis of the rotation coupling part 12111 may be the same as the rotation axis of the arm support rod 124 . For example, the rotation coupling part 12111 may be rotated with respect to the arm support rod 124 based on a rotation axis parallel to the ground. For example, the rotation coupling unit 12111 may include a coupling shaft 121111 rotatably connected to the upper rotation control unit 1243 .

The rotation link 12112 includes a first arm link 121121 rotatable with respect to the rotation coupling portion 12111 , a second arm link 121122 rotatable with respect to the first arm link 121121 , and a second arm link. An operation gripper joint 121123 that is rotatably installed based on a rotation axis parallel to the longitudinal direction of the second arm link 121122 at the end of the 121122 may be included.

For example, the first arm link 121121 and the second arm link 121122 may have a two-section link structure that rotates in the same plane. For example, a rotation axis of each of the first arm link 121121 and the second arm link 121122 may be orthogonal to a rotation axis of the rotation coupling unit 12111 .

For example, the second arm link 121122 may include a first rotation pulley 1211221 connected to a rotation transmission member 121145 to be described later.

One side of the manipulation gripper joint 121123 may be connected to an end of the second arm link 121122 , and the other end may be connected to the manipulation gripper 122 .

For example, according to the manipulation gripper joint 121123 , the manipulation gripper 122 may be connected to be rotatable in two degrees of freedom with respect to the second arm link 121122 . For example, the manipulation gripper joint 121123 may connect the manipulation gripper 122 and the second arm link 121122 in a universal joint manner. For example, the manipulation gripper joint 121123 of the upper arm 1211 may be connected to the upper joint 1227 (refer to FIG. 8 ) of the manipulation gripper 122 .

The arm rotation adjustment units 12113 and 12114 include a first rotation driving unit 12113 capable of controlling and sensing the rotational movement of the first arm link 121121 with respect to the rotation coupling unit 12111, and the rotation coupling unit 12111. It may include a second rotational driving unit 12114 capable of adjusting and detecting the rotational movement of the second arm link 121122 with respect to the .

The first rotation driving unit 12113 includes a first rotor 121133 connected to the first arm link 121121 to rotate, and a rotational movement of the first arm link 121121 connected to the first rotor 121133 . A first friction member 121132 that transmits a resistive force according to A first arm encoder 121134 capable of measuring the rotational angle displacement of the first arm link 121121 with respect to 12111 may be included.

For example, the first rotor 121133 may be a circular or arc-shaped member sharing the rotation axis of the first arm link 121121 . For example, the first arm encoder 121134 may be fixed to the rotation coupling unit 12111 to measure the angular displacement at which the first rotor 121133 is relatively rotated.

The second rotation driving unit 12114 is connected between the second rotor 121143 connected to the second arm link 121122 to rotate, and the second arm link 121122 and the second rotor 121143 to the second rotor 121143. The rotation transmission member 121145 for transmitting the rotational force of the second arm link 121122 with respect to the first arm link 121121 to the second rotor 121143, and the second arm connected to the second rotor 121143 A second friction member 121142 that transmits a resistance force according to the rotational motion of the link 121122, and a second rotation fixing part 121141 connected to the second friction member 121142 to form a resistance force and adjust the magnitude of the resistance force ) and a second arm encoder capable of measuring the rotational angle displacement of the second arm 121122 with respect to the rotation coupling part 12111 or the rotational angle displacement of the second arm link 121122 with respect to the first arm 121121 (121144).

For example, the second rotor 121143 may be a circular or arc-shaped member having the same axis of rotation of the first rotor 121133 . For example, the second rotor 121143 may include a second rotation pulley 1211431 connected to the rotation transmission member 121145 .

The rotation transmission member 121145 may transmit a rotational motion between the second rotor 121143 and the second arm link 121122 . For example, the rotation transmission member 121145 may be a timing belt wound between the first rotation pulley 1211221 of the second arm link 121122 and the second rotation pulley 1211431 of the second rotor 121143. there is.

For example, the second arm encoder 121144 may be fixed to the rotation coupling unit 12111 to measure the angular displacement at which the second rotor 121143 is relatively rotated.

The rotation compensation unit 12115 is a mass body positioned in the opposite direction of the rotation link 12122 with the rotation coupling unit 12121 as the center, and by compensating for a rotational moment with respect to the coupling axis 121211, the user (U) can facilitate the operation of

According to the upper arm 1211 , the portion of the manipulation gripper 122 connected to the manipulation gripper joint 121123 may be moved in three degrees of freedom while being gripped by the user U.

For example, the upper arm 1211 and the lower arm 1212 of the master arm 121 may have the same or similar configuration. For example, the upper arm 1211 and the lower arm 1212 may have a symmetrical structure. Unless otherwise stated, it should be noted that the description of the upper arm 1211 may also be applied to the lower arm 1212 .

The lower arm 1212 is, as shown in FIG. 7 , a rotation coupling part 12121 that is rotatably installed with respect to the arm support rod 124 with respect to a rotation axis parallel to the ground, and a rotation coupling part 12121. A rotational link 12122 that is rotatably connected and is formed of a two-section link rotatable within the same plane, and an arm rotation adjustment unit for controlling and detecting the rotational motion of the rotational link 12122 with respect to the rotational coupling portion 12121 (12123, 12124) and the lower arm 1212 with respect to the arm support rod 124 may include a rotation compensation unit 12125 for compensating for a rotational moment formed by its own weight.

The rotation coupling part 12121 of the lower arm 1212 may be rotatably installed in the lower rotation adjustment part 1244 of the arm support rod 124 . For example, the rotation axis of the rotation coupling part 12121 of the lower arm 1212 may be parallel to the rotation axis of the rotation coupling part 12111 of the upper arm 1211 . For example, the rotation coupling unit 12121 may include a coupling shaft 121211 rotatably connected to the lower rotation control unit 1244 .

The rotation link 12122 may include a first arm link 121221 , a second arm link 121222 , and a manipulation gripper joint 121223 . For example, the second arm link 121222 may include a first rotation pulley 1212221 connected to the rotation transmission member 121245 . For example, the manipulation gripper joint 121223 of the lower arm 1212 may be connected to the lower joint 1228 of the manipulation gripper 122 .

The arm rotation adjusting units 12123 and 12124 may include a first rotation driving unit 12123 and a second rotation driving unit 12124 . The first rotation driving unit 12123 may include a first rotor 121233 , a first friction member 121232 , a first rotation fixing unit 121231 , and a first arm encoder 121234 . The second rotation driving unit 12124 includes a second rotor 121243 , a rotation transmission member 121245 , a second friction member 121242 , a second rotation fixing unit 121241 , and a second arm encoder 121244 . can do. The second rotor 121243 may include a second rotation pulley 1212431 connected to the rotation transmission member 121245 .

Meanwhile, the upper arm 1211 and the lower arm 1212 may be rotated at different angles with respect to the arm support rod 124 , respectively. Specifically, the rotation coupling part 12111 of the upper arm 1211 and the rotation coupling part 12121 of the lower arm 1212 coupling shaft (according to the above structure, the manipulation gripper joint 121123 of the upper arm 1211 and the lower The manipulation grippers 122 respectively connected to the manipulation gripper joints 121223 of the arm 1212 can have six degrees of freedom movement while being gripped by the user U. In other words, the user U can use the manipulation gripper (122) can be moved 3 degrees of freedom and rotated 3 degrees of freedom.

9 is a perspective view of a manipulation gripper according to an embodiment, FIG. 10 is a cross-sectional view of the manipulation gripper according to an embodiment, and FIG. 11 is a cross-sectional view illustrating a state in which a switch part of the manipulation gripper according to an embodiment is pressed.

9 to 11 , the manipulation gripper 122 according to an embodiment may be gripped by the user U and may generate an input signal for manipulating the slave device 2 .

The master controller 14 (refer to FIG. 3) detects the movement of the manipulation gripper 122, and receives an input signal for moving the position of the surgical end of the slave device 2 that is in direct contact with the affected part of the patient P. can be formed For example, the master control unit 14 transmits the position (x, y, z coordinate values) of the end of the manipulation gripper 122 to the slave device 2 , thereby moving the end of the surgical tool connected to the slave device 2 thereto. An input signal that causes movement to a corresponding position can be generated. As another example, the master control unit 14 transmits a change in rotation or posture of the manipulation gripper 122 to the slave device 2 , thereby receiving an input signal for controlling the rotation or posture of a surgical tool connected to the slave device 2 . can create

The manipulation grippers 122 are composed of two and may be connected to the ends of the two master arms 121 respectively installed on both sides of the arm support rod 124 . For example, the manipulation gripper 122 connected to the left master arm 121 is referred to as the left manipulation gripper 122 , and the manipulation gripper 122 connected to the right master arm 121 ′ is referred to as the right manipulation gripper 122 ′. ) can be said. Unless otherwise stated, it should be noted that the description corresponding to one operation gripper 122 can be equally applied to both configurations.

For example, the manipulation gripper 122 includes a handle 1221 gripped by the user U, a fixed shaft 1222 extending longitudinally from the handle 1221 , and a measurement fixed to the fixed shaft 1222 . The housing 1224 and the grip switch 1223 connected from the handle 1221 toward the inside of the measurement housing 1224 and at least a part of which is slid inside the measurement housing 1224 when pressed from the user U, and fixed A fixed connection part 1225 connecting the shaft 1222 and the measurement housing 1224, a connection shaft 1226 extending in the longitudinal direction from the measurement housing 1224, and the connection shaft 1226 are rotatably installed on the upper part The upper joint 1227 connected to the end of the arm 1211, the lower joint 1228 that is rotatably installed on the connecting shaft 1226 and connected to the end of the lower arm 1212, and the lower joint 1228 It may include a manipulating gripper rotary encoder 1229 that is fixed to measure the angular displacement at which the connecting shaft 1226 rotates relative to the lower joint 1228 .

The fixed shaft 1222 may protrude downward from the handle 1221 along the longitudinal direction of the manipulation gripper 122 with reference to FIG. 10 . For example, a lower portion of the fixed shaft 1222 may be inserted into the measurement housing 1224 . For example, the fixed shaft 1222 and the measurement housing 1224 may be connected to the fixed connection portion 1225 to be fixed to each other.

For example, the fixed shaft 1222 may include a gripping limiting portion 12221 protruding radially outward in a portion between the handle 1221 and the measurement housing 1224 .

The gripping switch unit 1223 may extend in the longitudinal direction when the periphery is gripped such that at least a portion of the gripping switch unit 1223 may be moved in the inner space 12241 of the measurement housing 1224 . The grip switch unit 1223 may include a bending input unit 12231 and an input slider 12232 .

The bending input unit 12231 has elastic restoring force to push the input slider 12232 from the handle 1221 when the user U presses it, and input toward the handle 1221 when the user U does not press it. Slider 12232 may be pulled.

For example, the bending input unit 12231 may be installed to surround the circumference of the fixed shaft 1222 and may have a shape bent toward the outside of the circumference of the fixed shaft 1222 . The bending input unit 12231 may have a shape of a plurality of rakes that are radially spaced apart from each other at a predetermined angle along the circumference of the fixed shaft 1222 .

For example, the bending input unit 12231 includes a first bent part 122311 having a shape that is radially farther away from the central axis of the fixed shaft 1222 in a direction away from the handle 1221 part, and a first bent part 122311 . ) may include a second bent part 122312 having a shape that approaches the central axis of the fixed shaft 1222 from the input slider 12232 .

The input slider 12232 may be connected to a lower side of the bending input unit 12231 , that is, a lower side of the second bending unit 122312 .

For example, a portion of the input slider 12232 may be slid along the longitudinal direction while being inserted into the inner space 12241 of the measurement housing 1224 . The input slider 12232 may include a first sliding support 122321 that is in contact with the inner wall of the measurement housing 1224 to guide the sliding movement in the longitudinal direction.

According to the structure of the bending input unit 12231, when the bending input unit 12231 is pressed by the user (U), a portion of the bending input unit 12231 that is opened to be radially spaced apart from the central axis of the fixed shaft 1222 is formed. It may be pressed toward the central axis of the fixed shaft 1222 , and accordingly, the first bent portion 122311 and the second bent portion 122312 of the bending input unit 12231 are connected to each other as the connecting portion is extended. An input slider 12232 connected to 122312 may be slid in a downward direction relative to the measurement housing 1224 .

When the bending input unit 12231 is gripped, the grip limiting part 12221 may limit the displacement of the grip limiting part 12221 being contracted toward the fixed shaft 1222 . According to the above structure, the grip limiter 12221 may limit the displacement by which the input slider 12232 slides downward.

The measurement housing 1224 includes an internal space 12241 accommodating the input slider 12232, and a displacement detection sensor 12242 installed in the internal space 12241 to measure the sliding displacement of the input slider 12232. , a second sliding support 12243 installed to contact the outer surface of the input slider 12232 from the inner wall of the inner space 12241 of the measurement housing 1224 to guide the sliding movement of the input slider 12232. can

For example, the first sliding support 122321 and the second sliding support 12243 may be ball plungers.

According to the above structure, when the bending input unit 12231 is gripped and the input slider 12232 slides downward inside the measurement housing 1224, the displacement detection sensor 12242 measures the sliding displacement of the input slider 12232. can do.

The connection shaft 1226 may extend to a lower side of the measurement housing 1224 in a longitudinal direction.

The upper joint 1227 may be rotatably connected to the manipulation gripper joint 121123 of the upper arm 1211 . For example, the upper joint 1227 and the manipulation gripper joint 121123 of the upper arm 1211 may be connected in a universal joint method capable of rotation in two degrees of freedom.

The lower joint 1228 can rotate along the perimeter of the connecting shaft 1226 . The lower joint 1228 may be installed below the upper joint 1227 .

The lower joint 1228 may be rotatably connected to the manipulation gripper joint 121123 of the lower arm 1212 . For example, the lower joint 1228 and the manipulation gripper joint 121123 of the lower arm 1212 may be connected in a universal joint method capable of two degrees of freedom rotation.

The manipulation gripper rotary encoder 1229 may measure the angular displacement of the shaft 1226 connected to the lower joint 1228 .

12 is a perspective view illustrating a state in which the arm support rod is rotated in a vertical direction according to an embodiment, and FIG. 13 is a perspective view illustrating a state in which the arm support rod is rotated in a horizontal direction according to an embodiment.

With reference to FIGS. 12 and 13 , the mode input unit 128 (refer to FIG. 3 ) and the master control unit 14 will be described.

The user U may drive the manipulation unit 12 in the first mode or the second mode by inputting a mode through the mode input unit 128 . A description of each mode will be provided later.

The master control unit 14 controls the movement of the slave device 2 based on the displacement of the upper arm 1211 and the lower arm 1212 of the master arm 121 when the operation gripper 122 is gripped and moved. It may generate or transmit an input signal for controlling.

The master control unit 14 may generate or transmit an input signal for operating the surgical tool of the slave device 2 by sensing the operation of the gripping switch unit 1223 of the manipulation gripper 122 .

The master control unit 14 may generate or transmit an input signal for rotating the surgical tool of the slave device 2 about one axis based on information measured from the manipulation gripper rotation encoder 1229 .

For example, the master control unit 14 may include an angular displacement by which the rotation coupling portion 12111 of the lower arm 1212 rotates with respect to the arm support rod 124 , and the first arm link 121121 of the lower arm 1212 . ) on the basis of the angular displacement of rotation with respect to the rotation coupling portion 12111 and the angular displacement of rotation of the second arm link 121122 of the lower arm 1212 with respect to the first arm link 121121 , the lower arm 1212 ) may calculate the position of the manipulation gripper connected to the manipulation gripper 122 , and generate or transmit an input signal for adjusting the movement displacement of the surgical tool of the slave device 2 based on the position of the manipulation gripper. According to this calculation method, the position of the end of the surgical tool of the slave device 2 can be determined by using the position information of the end of the manipulation gripper 122 regardless of the posture of the manipulation gripper 122 .

As another example, the master control unit 14 may include (i) an angular displacement of the rotation coupling portion 12111 of the upper arm with respect to the arm support rod 124, and the first arm link 121121 of the upper arm 1211. Upper arm 1211 based on the angular displacement of rotation with respect to the rotation coupling portion 12111 and the angular displacement of rotation of the second arm link 121122 of the upper arm 1211 with respect to the first arm link 121121 The position of the upper manipulation gripper (position of the upper joint 1227) connected to the manipulation gripper 122, (ii) the angular displacement at which the rotational coupling portion 12111 of the lower arm rotates with respect to the arm support rod 124, and , the angular displacement of the first arm link 121121 of the lower arm 1212 is rotated with respect to the rotation coupling portion 12111, and the second arm link 121122 of the lower arm 1212 is the first arm link 121121 It is possible to calculate the lower manipulating gripper position (position of the lower joint 1228 ) at which the lower arm 1212 is connected to the manipulating gripper 122 based on the rotational angular displacement with respect to the upper manipulating gripper position and the lower manipulating gripper It is possible to generate or transmit an input signal for adjusting the movement displacement of the surgical tool of the slave device 2 based on the position. According to this calculation method, the surgical tool of the slave device 2 may be controlled to match the posture of the manipulation gripper 122 .

For example, the master control unit 14 includes a vertical rotation control unit 1241, a horizontal rotation control unit 12322, an upper rotation control unit 1243 (see FIG. 5), and a lower rotation control unit 1244 (see FIG. 5). , is connected to the arm rotation control unit (12113, 12114, see FIG. 6) of the upper arm 1211 and the arm rotation control unit (12123, 12124, see FIG. 7) of the lower arm 1212, the operation unit 12 is rotated It is possible to measure the rotational angular displacement of all possible configurations, and also to suppress each rotation individually.

For example, the master controller 14 may drive the manipulation unit 12 in the first mode or the second mode based on a signal input from the user U to the mode input unit 128 .

In the first mode, the master control unit 14 drives the vertical rotation drive unit 12411 and the horizontal rotation drive unit 123221 to prevent rotation of the arm support rod 124 and the rotation base 1232, while the operation gripper ( 122) may be capable of 3 degree of freedom movement and 3 degree of freedom rotation. According to this mode, the slave device 2 by transmitting the tip position information of the manipulation gripper 122 , the posture of the manipulation gripper 122 , or the amount of rotation in the axial direction of the manipulation gripper 122 to the slave device 2 . ) of surgical instruments can be manipulated.

In the second mode, the master control unit 14 includes an upper rotation driving unit 12431 and a lower rotation driving unit, and first rotation driving units 12113 and 12123 and a second rotation driving unit of the upper arm 1211 and the lower arm 1212, respectively. By driving 12114 and 12124 , the postures of the upper arm 1211 and the lower arm 1212 can be fixed.

Specifically, in the second mode, the master control unit 14 drives the upper rotation drive unit 12431 and the lower rotation drive unit 12441 to prevent the rotational movement of the upper arm 1211 and the lower arm 1212, and the upper arm ( 1211) and the lower arm 1212, respectively, by driving the first rotation driving units 12113 and 12123 and the second rotation driving units 12114 and 12124, respectively, the upper arm 1211 and the lower arm 1212, respectively, the rotation link 12112, 12122) can be prevented from rotating.

As a result, the posture of the master arm 121 can be fixed in the second mode as shown in FIGS. 12 and 13 , and the arm support rod 124 has two freedoms along the vertical and horizontal directions with respect to the master base part 123 . It can also be rotated.

For example, in the second mode, the master control unit 14 rotates the surgical tool of the slave device 2 in the first direction based on the angular displacement at which the arm support rod 124 rotates with respect to the rotation base 1232 in the first direction or It can generate or transmit an input signal that moves.

For example, in the second mode, the master control unit 14 rotates or moves the surgical tool of the slave device 2 in the second direction based on the angular displacement at which the rotating base 1232 rotates with respect to the fixed base 1231 . It is possible to generate or transmit an input signal for controlling the displacement.

For example, the first direction may be orthogonal to the second direction.

For example, when operating the slave device 2 for performing microscopic surgery (eg, vitreoretinal surgery) on fine tissues of the eyeball through the master device 1 according to an embodiment, In the second mode, the movement of the arm support rod 124 rotating with respect to the master base part 123 in two degrees of freedom rotates the surgical tool of the slave device 2 inserted inside the eyeball to rotate the eye of the patient P. It is possible to form an input signal that rotates in two axial directions orthogonal to each other.

For example, movement of the arm support rod 124 in a vertical direction relative to the rotation base 1232 in the second mode may generate an input signal to rotate the eyeball in the first direction, and the arm support rod 124 may be rotated in the first direction. ) may generate an input signal that rotates the eyeball in a second direction orthogonal to the first direction.

In addition, in the second mode, the movement of the arm support rod 124 rotating with respect to the master base part 123 in two degrees of freedom corresponds to the change in the position of the pupil as the eyeball rotates. You can also adjust the position.

For example, in the state of operating the surgical tools of the two slave devices 2 and 2' inserted into the eye of the patient P through the two master arms 121 and 121', arm support in the second mode When the rod 124 rotates in 2 degrees of freedom with respect to the master base unit 123, the master control unit 14 controls the two slave devices 2 and 2 based on the position information of the respective master arms 121 and 121'. ') By rotating the eyeball while the relative position and angle of each surgical tool are fixed, it is possible to prevent damage to the eyeball in the process of rotating the eyeball.

According to the second mode, the surgical tool of the slave device 2 rotates the eyeball by fixing the posture of the master arm 121 while the arm support rod 124 rotates with respect to the master base part 123 . It is possible to prevent movement in an unintended direction on the way, and to prevent damage to the eyeball by changing the angle and distance on the two surgical tools.

The configuration of the armrest device 11 will be described with reference to FIGS. 14 to 20 .

14 is a perspective view of an arm rest device according to an embodiment.

Referring to FIG. 14 , the arm rest device 11 according to an exemplary embodiment may support the movement of the user U's arm in the work space.

For example, the arm rest device 11 may be fixed to an external object 7 such as a desk as shown in FIG. 1 to support the movement of the user U's arm in all postures in the work space. The arm rest device 11 can alleviate fatigue caused by the user's arm movement, and enables the user U to precisely move the arm by enabling horizontal movement to which fixed and damping are applied. can do.

The arm rest device 11 according to an embodiment may include a fixing part 111 , a horizontal movement module 113 , a damping part 112 , and an arm support module 114 .

The fixing part 111 may be fixed to the external object 7 to provide a driving reference position of the arm rest device 11 .

For example, the fixing unit 111 includes a fixed base 1112 that can be fixed to an external object, and is connected to the fixed base 1112 to drive a horizontal movement module 113 and an arm support module 114 to be described later. It may include a support base 1111 for possible support.

The fixed base 1112 may be fixed to an external object 7 such as a desk, shelf, or table as shown in FIG. 14 .

The support base 1111 may be fixed from the fixed base 1112 to provide a reference point for relative rotation or movement of the horizontal movement module 113 .

The horizontal movement module 113 may move in two degrees of freedom in the horizontal direction with respect to the fixing part 111 . For example, one end of the horizontal movement module 113 is rotatably connected with respect to the support base 1111 and the other end moves in the horizontal direction with respect to the fixing part 111 while simultaneously rotating the arm support module 114 . can support

The damping unit 112 may be connected to the horizontal movement module 113 to form resistance according to the movement of the horizontal movement module 113 . For example, the resistance force formed by the damping unit 112 is adjustable, so that the horizontal movement module 113 does not completely move, and even if the user U applies the same force, the horizontal movement module ( 113) can change the movement speed.

The arm support module 114 may be movably supported by the horizontal movement module 113 to support the arm of the user U. For example, the arm support module 114 may include two arm supports 1143 and 1147 that are rotatably installed with each other based on a rotation axis parallel to the horizontal direction in which the horizontal movement module 113 moves. .

In the description and drawings of the present application, a horizontal direction with respect to the fixing part 111 is a direction in a plane parallel to the ground (xy plane in the drawing), and a vertical direction is a direction perpendicular to the ground (z-axis direction in the drawing). However, it should be noted that the horizontal and vertical directions may be different from the coordinate axes of the ground depending on the fixing position of the fixing part 111 .

A detailed description of the horizontal movement module 113 , the damping unit 112 , and the arm support module 114 will be described later with reference to FIGS. 15 to 20 .

15 is a block diagram of a damping unit according to an embodiment, FIG. 16 is a perspective view of a horizontal movement module according to an embodiment, and FIG. 17 is a plan view schematically illustrating an operating structure of the horizontal movement module according to an embodiment.

15 to 17 , detailed structures of the horizontal movement module 113 and the damping unit 112 according to an embodiment can be confirmed.

The horizontal movement module 113 according to an embodiment includes a first driving frame 1131 , a second driving frame 1132 , a central connection part 1133 , a rotating end 1134 , and a plurality of links 1135 , 1136 , 1137 . ) may be included.

The first driving frame 1131 may rotate based on the first rotation shaft 1A of the fixing part 111 . For example, one end of the first driving frame 1131 may be rotatably connected to the support base 1111 based on the first rotation shaft 1A, and the other end of the first driving frame 1131 may be connected to the central connection part ( 1133) on the first axis of rotation (1A) and parallel to the second axis of rotation (1B) may be rotatably connected to the reference.

For example, the first driving frame 1131 includes a first link 11311 connected between the first rotation shaft 1A and the second rotation shaft 1B, and a first rotation shaft fixed from the first link 11311 ( It may include a first protruding member 11312 that rotates with respect to 1A).

The first protrusion member 11312 may have an arc-shaped edge shape, at least a portion of which radially protrudes from the first link 11311 with respect to the first rotation axis 1A. For example, the first protrusion member 11312 may be connected to a first damping part 1121 to be described later to form a resistance to the rotational movement of the first link 11311 .

For example, the first protrusion member 11312 may include a first contact surface 113121 that contacts the first damping member 11213 of the first damping part 1121 along an arc-shaped edge.

The second driving frame 1132 is a three-section link 11322, 11321 rotatably connected between the first rotation shaft 1A of the fixed part 111 and the second rotation shaft 1B of the central connection part 1133, 11323).

For example, the second driving frame 1132 includes a driving link 11322 that is rotatably connected to the fixing part with respect to the first rotational axis 1A, and the driving link 11322 is parallel to the first rotational axis 1A. A second link 11321 rotatably connected with respect to one third axis of rotation 1G, and one end of the second link 11321 and a fourth axis of rotation 1H spaced apart in parallel to the third axis of rotation 1G ) and the other end may include a third link 11323 rotatably connected to the central connection part 1133 with respect to the second rotation shaft 1B.

The driving link 11322 may be rotatably connected to the first rotation shaft 1A and have a shape having an arc-shaped edge, at least a portion of which is radially protruding. For example, the driving link 11322 may be referred to as a second protruding member 11322 .

For example, the second protruding member 11322 may include a second contact surface 113221 that contacts the second damping member 11223 of the second damping part 1122 along the arc-shaped edge.

The first driving frame 1131 and the second driving frame 1132 may be formed in a four-bar link structure connecting between the fixing part 111 and the central connection part 1133, and the length of the second link 11321 is The length of the first link 11311 may be the same, and the length of the driving link 11322 may be the same as the length of the third link 11323 .

According to the above structure, each of the links 11311 , 11321 , 11322 , and 11323 may form a parallelogram in which links facing each other are maintained in parallel. Since such a parallelogram structure may have high stiffness compared to other power transmission structures, even if a relatively light material is used, the same rigidity may be secured. For example, at least some of each of the links 11311, 11321, 11322, and 11323 may be made of a carbon fiber pipe that is 5 to 10 times stronger than aluminum or steel, and through this, lighter However, it can provide a strong structure.

The central connection part 1133 may be connected from the first driving frame 1131 and the second driving frame 1132 from the fixing part 111 to the fixing part 111 in a horizontal direction.

The rotating end 1134 may be rotatably and movably connected from the central connection unit 1133 through a plurality of links 1135 and 1137, and an arm support module 114 to be described later is a rotatably installed arm rotating shaft. (1C) can be provided. For example, the arm rotation axis 1C may be parallel to the first rotation axis 1A. A damping part for forming resistance of relative rotational motion between members connected to the arm rotation shaft 1C may be installed on the arm rotation shaft 1C. According to such a damping unit, it is possible to implement damping on the movement of the arm rest device 11 on a plane.

The plurality of links 1135 , 1136 , and 1137 may include a fourth link 1135 , a fifth link 1136 , and a sixth link 1137 .

One end of the fourth link 1135 is rotatably connected to the central connection part 1133 with respect to the second axis of rotation 1B, and the other end of the fourth link 1135 has a fifth axis of rotation parallel to the first axis of rotation 1A at the end of rotation 1134 . It can be rotatably connected with reference to (1F).

For example, the fourth link 1135 may be fixed to the third link 11323, so that when the third link 11323 rotates with respect to the second rotation axis 1B, the fourth link 1135 simultaneously rotates. can rotate In other words, the fourth link 1135 and the third link 11323 may perform one rigid motion, and in this respect, the fourth link 1135 and the third link 11323 are each of the same one link. It may be understood as referring to different parts.

The fifth link 1136 has one end rotatably connected to the fixing part 111 based on a sixth rotational shaft 1D spaced apart from the first rotational shaft 1A in a state parallel to the first rotational shaft 1A, and the other end is connected to the central connection part 1133 ) may be rotatably connected to the second axis of rotation (1B) and the seventh axis of rotation (1E) spaced apart in a parallel state.

For example, the length of the fifth link 1136 may be the same as the length of the first link 11311 . For example, the distance and direction in which the sixth rotation shaft 1D is spaced apart from the first rotation shaft 1A on the fixing part 111 is the seventh rotation shaft 1E on the central connection part 1133 and the second rotation shaft 1B. may be equal to the distance and direction spaced apart from

According to the above structure, the first link 11311 and the fifth link 1136 can always maintain a parallel state, and thus the first link 11311 between the fixing part 111 and the central connection part 1133. and the fifth link 1136 may provide a parallelogram joint structure connecting the first axis of rotation 1A, the second axis of rotation 1B, the seventh axis of rotation 1E, and the sixth axis of rotation 1D. For example, at least a portion of each of the links 11311 and 1136 forming a parallelogram may be made of a carbon fiber pipe.

Sixth link 1137, one end is rotatably connected to the central connection part 1133 with respect to the eighth rotational axis 1I spaced apart in parallel with the second rotational axis 1B, and the other end is connected to the rotational end 1134 ) may be rotatably connected to the fifth axis of rotation (1F) and the ninth axis of rotation (1J) spaced apart in parallel to each other.

For example, the length of the sixth link 1137 may be the same as the length of the fourth link 1135 . For example, the distance and direction in which the eighth rotational shaft 1I is spaced apart from the second rotational shaft 1B on the central connection part 1133 is the ninth rotational shaft 1J on the rotational end 1134 and the fifth rotational shaft 1F. may be equal to the distance and direction spaced apart from

According to the above structure, the fourth link 1135 and the sixth link 1137 can always maintain a parallel state, and thus the fourth link 1135 between the central connection part 1133 and the rotating end 1134. and the sixth link 1137 may provide a parallelogram joint structure connecting the second axis of rotation 1B, the fifth axis of rotation 1F, the eighth axis of rotation 1I, and the ninth axis of rotation 1J. For example, at least a portion of each of the links 1135 and 1137 forming a parallelogram may be made of a carbon fiber pipe.

For example, the arm rotation shaft 1C on the rotation end 1134 may be formed at a point spaced apart from the fifth rotation axis 1F and the ninth rotation axis 1J in a parallel state, and the arm support module 114 is It may be rotatably installed on the rotation end 1134 with respect to the arm rotation shaft 1C.

Meanwhile, it should be noted that the support base 1111 , the central connection part 1133 , and the rotation end 1134 may also be referred to as “links”, respectively. For example, the support base 1111 may be referred to as a “fixed link” in that it does not move relative to the external object 7 . According to the connection structure of the three parallelograms (1111-11311-1133-1136, 11311-11322-11321-11323, 1133-1135-1134-1137) formed through the plurality of links as described above, the arm support module 114 ), the rotation end 1134 is installed can implement a two-degree-of-freedom movement in the horizontal direction with respect to the fixed portion (111).

Hereinafter, with reference to the conceptual diagram of FIG. 17, the link structure will be summarized. The arm rest device 11 has (i) a "first trimming link structure", (ii) a "second trimming link structure" sharing any one link with the "first trimming link structure", (iii) It may include a “third non-stop link structure” that shares another link with the “first no-member link structure”, and has a link fixed to any one of the “second no-bes link structures”.

Here, any one of the four links constituting the "first trimming link structure" may be a support base 1111 that is fixed to the external object 7 and functions as a reference frame.

As a specific example, the "first trimming link structure" is as long as the support base 1111, the central connection part 1133 spaced apart from the support base 1111, and the support base 1111 and the central connection part 1133 are interconnected. It may consist of a pair of links 11311 and 1136 . According to this structure, the central connection part 1133 can move in one degree of freedom with respect to the support base 1111 . For example, the length of each of the pair of links 11311 and 1136 may be longer than the maximum distance between the pair of links 11311 and 1136 . According to such a structure, the radius of movement of the central connection part 1133 with respect to the support base 1111 can be sufficiently secured.

One link shared with the "second trimming link structure" among the "first trimming link structure" may be a central connection part 1133 that is not directly connected to the support base 1111 .

As a specific example, the "second trimming link structure" includes the central connecting portion 1133, the rotating end 1134 spaced apart from the central connecting portion 1133, and the central connecting portion 1133 and the rotating end 1134 as long as they are interconnected. It may consist of a pair of links 1135 and 1137 . According to such a structure, the rotating end 1134 can move with one degree of freedom with respect to the central connection part 1133 , and as a result, the rotating end 1134 can move with two degrees of freedom with respect to the support base 1111 . there is. For example, the length of each of the pair of links 1135 and 1137 may be longer than the maximum distance between the pair of links 1135 and 1137 . According to this structure, the working area of the rotation end 1134 with respect to the support base 1111 can be sufficiently secured.

In general, the trimmer link structure has a greater stiffness than a linear mechanism, but has a limitation in that the workspace is narrow. However, using the two-trimmed link structure sharing one link as in the present application has the advantage of overcoming such limitations and providing the arm rest device 11 with high rigidity in a wide working area.

One link shared with the "third trimming link structure" among the "first trimming link structure" is any one link 11311 among the pair of links 11311 and 1136 directly connected to the support base 1111, , one of the links 11323 of the “third trimming link structure” among the “second trimming link structure” and the link fixed and moving integrally are a pair of links 1135 and 1137 directly connected to the central connection unit 1133 . ) may be any one of the links 1135 .

As a specific example, the “third partition link structure” includes a first link 11311 , a second link 11321 spaced apart from the first link 11311 , a first link 11311 , and a second link 11321 . may be formed of a pair of links 11322 and 11323 interconnecting the . Here, any one of the links 11323 of the pair of links 11322 and 11323 is fixed to any one of the links 1135 of the pair of links 1135 and 1137 of the “second trimming link structure” and is integrally formed. can be moved with According to such a structure, it is possible to reinforce the rigidity up to the rotation end 1134 with respect to the support base 1111, so that a more stable structure can be provided. In addition, as will be described later, a damping part for forming resistance to the movement of the "second trimming link structure" is located close to the fixing part 111 (eg, at a specific position on the fixing part 111 or on the external object 7 ). Since it is possible to arrange it in a specific position), it is possible to prevent an increase in the moment of inertia of the arm rest device 11 .

For example, each of the three-trimmed link structures described above may have a parallelogram structure. According to such a design, a problem in which the working area of the rotating end 1134 is limited can be reduced by preventing a singularity from occurring in the process of moving each trimming link structure. On the other hand, the present invention is not necessarily limited in this way, and some or all of the three-trimmed link structures described above may not have a parallelogram structure.

As described above, according to the present invention, a structure capable of effectively distributing the load in the vertical direction of the arm support module 114, including the weight of the user's U's arm, as the plurality of links guide and support the movement and rotation of each other. As a result, durability and operational stability may be improved.

For example, the plurality of links may be formed of a hollow member with an empty interior in order to reduce inertia according to the weight and movement of the horizontal movement module 113 .

The damping unit 112 may include a first damping unit 1121 , a second damping unit 1122 , and an input unit 1124 . For example, at least a portion of the damping unit 112 is installed in a non-moving portion of the arm rest device 11 , that is, the fixed part 111 , thereby preventing an increase in the moment of inertia of the arm rest device 11 . can As another example, at least a portion of the damping unit 112 may be installed on the external object 7 .

The first damping unit 1121 may form a resistance to the rotational motion of the first driving frame 1131 .

For example, the first damping part 1121 includes a first damping member 11213 connected to the first protruding member 11312 to transmit a resistance force according to a rotational motion of the first driving frame 1131 , and a first The first driving source 11211 connected to the damping member 11213 to form a resistive force and control the magnitude of the resistive force, and the first damping member 11213 to prevent rotation of the first driving frame 1131 by firmly fixing the A first brake 11212 may be included.

The first damping member 11213 may contact the circular first contact surface 113121 of the first protruding member 11312 . For example, it should be noted that the connection between the first damping member 11213 and the first contact surface 113121 may be formed through various rotation transmission elements such as gear engagement, screw engagement, and frictional bonding.

The first driving source 11211 may form a rotational resistance force in the first damping member 11213 connected to the first contact surface 113121 and adjust the magnitude of the resistance force. For example, the first driving source 11211 may include a driving source such as a motor or a cylinder capable of generating rotational force with energy such as electricity, pneumatic or hydraulic pressure.

The first brake 11212 prevents the first driving frame 1131 from rotating based on the first rotational shaft 1A by fixing the first damping member 11213 connected to the first contact surface 113121 not to rotate. can For example, the first brake 11212 may be an electromagnetic brake that operates in an electromagnetic manner to strongly press the first damping member 11213 .

The second damping unit 1122 may form a resistance to the rotational movement of the second driving frame 1132 .

For example, the second damping part 1122 includes a second damping member 11223 connected to the second protruding member 11322 to transmit a resistance force according to a rotational motion of the second driving frame 1132 , and the second damping member. A second driving source 11221 connected to the member 11223 to form a resistance force and control the magnitude of the resistance force, and a second driving source 11221 to prevent rotation of the second driving frame 1132 by firmly fixing the second damping member 11223 2 may include a brake 11222 .

The second driving source 11221 may form a rotational resistance force in the second damping member 11223 connected to the second contact surface 113221 and adjust the magnitude of the resistance force. For example, the second driving source 11221 may include a driving source such as a motor or a cylinder capable of generating rotational force with energy such as electricity, pneumatic or hydraulic pressure.

The second brake 11222 prevents the second driving frame 1132 from rotating based on the first rotational shaft 1A by fixing the second damping member 11223 connected to the second contact surface 113221 not to rotate. can For example, the second brake 11222 may be an electromagnetic brake that operates in an electromagnetic manner to strongly press the second damping member 11223 .

According to the structure of the first damping unit 1121 and the second damping unit 1122 , it is possible to form a resistance force according to the horizontal movement of the arm support module 114 in two degrees of freedom.

Specifically, the first damping unit 1121 forms resistance to the movement of the first rotational degree of freedom θ1 in which the first driving frame 1131 rotates with respect to the first rotational axis 1A, thereby forming the fixing unit 111 . It is possible to suppress the tendency of the central connection part 1133 to rotate.

The second damping unit 1122 forms a resistance to the movement of the second rotational freedom θ2 in which the second driving frame 1132 , that is, the driving link 11322 rotates with respect to the first rotational axis 1A, thereby forming a resistance to the center. A tendency of the rotation end 1134 to rotate with respect to the connection portion 1133 can be suppressed.

As a result, by forming a damping force that resists the force applied to the rotating end 1134 according to the movement of the user's U's arm and the change of the posture through the damping unit 112, the user U can see the arm It can guide you to move precisely and slowly.

In addition, by adjusting the magnitude of the resistive force formed through the first damping unit 1121 or the second damping unit 1122, appropriate damping control is performed according to the type of work, precision, or the preference of the user U. can be implemented

In addition, if necessary, by driving the first brake 11212 or the second brake 11222 to suppress the rotation of the first drive frame 1131 or the second drive frame 1132, the horizontal direction of the rotation end 1134 movement can be prevented. Through this, the position or posture of the user U's arm supported by the arm support module 114 can be fixed in the horizontal direction, so it can be effective for a job that requires precise movement utilizing small muscles below the wrist. .

On the other hand, by driving the first damping unit 1121 and the second damping unit 1122 separately from each other, that is, the degree of suppression of the movement of the first rotational degree of freedom θ1 and the second rotational degree of freedom θ2 is different. By forming it, it is also possible to induce selective arm movement according to the type of work or the movement trajectory of the arm in the work area.

The master control unit 1123 operates the first damping unit 1121 or the second damping unit 1122 so that the first driving frame 1131 or the second driving frame 1132 is performed based on the first rotation axis 1A. It is possible to form a resistance force to the rotational movement, and the magnitude of the resistance force can be adjusted.

The master control unit 1123 operates the first brake 11212 or the second brake 11222 to rotate the first drive frame 1131 or the second drive frame 1132 based on the first rotation shaft 1A. exercise can be inhibited.

The input unit 1124 may include an interface that receives an input signal for controlling the first damping unit 1121 or the second damping unit 1122 from the user U.

On the other hand, it should be noted that the first damping unit 1121 and the second damping unit 1122 do not necessarily have to individually form resistance to the rotational motion of the different driving frames 1131 and 132 . As shown in FIG. 16 , when a part 11312 of the first driving frame 1131 and a part 11322 of the second driving frame 1132 are rotated about the same rotation axis 1A, one and the same damping It should be noted that it is also possible to provide a damping force to the first driving frame 1131 and the second driving frame 1132 at the same time by using the part. For example, it is understood that the first damping member 11213 in contact with the first protruding member 11312 and the second damping member 11223 in contact with the second protruding member 11322 are each part of the same configuration. could be

18 is a perspective view of an arm support module according to an embodiment, and FIGS. 19 and 20 are side views of the arm support module according to an embodiment.

18 to 20 , a detailed structure of the arm support module 114 according to an embodiment can be confirmed.

The arm support module 114 according to an embodiment includes a connection part 1141 , a first support part 1144 , a first arm support 1143 , a rotation link 1145 , a second support part 1146 , and a second arm support ( 1147 ) and a weight compensation unit 1148 .

The connection part 1141 may be rotatably installed based on the arm rotation shaft 1C at the rotation end 1134 .

The first support 1144 may be fixed to the connection 1141 and support the first arm support 1143 . For example, the first support part 1144 may be integrally formed with the connection part 1141 and rotate together with respect to the arm rotation shaft 1C.

The first arm support 1143 may support the arm of the user (U). For example, the first arm support 1143 may support a portion of the user U's arm adjacent to the elbow.

For example, the surface of the first arm support 1143 may have a shape in which both edge portions are curved to face upward so that the arm of the user U can be stably seated and supported.

For example, as shown in FIGS. 19 and 20 , the first arm support 1143 may overlap the arm rotation shaft 1C, thereby stably guiding the rotational motion of the forearm with respect to the elbow joint.

The rotation link 1145 may be a link having one side rotatably connected to the first support unit 1144 and the other side connected to the second support unit 1146 .

For example, the rotation link 1145 may rotate with respect to the first support part 1144 based on the inclination adjustment shaft 1K, and the inclination adjustment shaft 1K may be perpendicular to the arm rotation axis 1C. A damping part may be installed on the inclination adjustment shaft 1K to form a resistance of the relative rotational movement between the members connected to the inclination adjustment protrusion 1K. According to such a damping unit, it is possible to implement damping in the movement of the arm rest device 11 in space.

The second support 1146 may be connected to the rotation link 1145 and support the second arm support 1147 .

The second arm support 1147 may support the user U's arm. For example, the second arm support 1147 may support a portion of the user U's arm adjacent to the wrist.

For example, the surface of the second arm support 1147 may have a shape in which both edge portions are curved to face upward so that the arm of the user U can be stably seated and supported.

The weight compensation unit 1148 may compensate for the influence of the weight of the user U's arm and the weight of the arm support module 114 in the rotational motion of the rotation link 1145 with respect to the first support unit 1144 . there is.

For example, the weight compensator 1148 may include an elastic body 11481 installed on the rotation link 1145 , and a wire 11482 connected between the elastic body 11481 and the first support part 1144 . .

The elastic body 11481 may have one end fixed to the rotation link 1145 and the other end connected to the wire 11482 . For example, the elastic body 11481 may be a spring installed to be expandable along the longitudinal direction of the rotation link 1145 as shown in FIGS. 18 to 20 .

The wire 11482 may apply a tensile force to the elastic body 11481 between the elastic body 11481 and the first support part 1144 . According to the structure of the wire 11482 , the magnitude of the tensile force applied to the elastic body 11481 may be adjusted according to the rotation angle formed by the rotation link 1145 with respect to the inclination adjustment shaft 1K.

For example, a portion in which the wire 11482 is connected to the first support 1144 may be formed above a portion in which the inclination adjustment shaft is located in the first support 1144 in a vertical direction. Here, a portion in which the wire 11482 is fixed to the first support unit 1144 may be referred to as a wire fixing unit 11441 .

According to the above structure, as the rotation link 1145 deviates from the direction perpendicular to the ground (z-axis direction), the spaced distance between the wire fixing part 11441 and the end of the elastic body 11481 may increase.

In other words, the tension applied to the elastic body 11481 may increase as the rotation link 1145 rotates from the upwardly inclined state as shown in FIG. 20 to the horizontal state as shown in FIG. 19, and at the same time from the elastic body 11481. The restoring force formed can also be increased.

As a result, since the restoring force of the elastic body 11481 can form a force that tends to move the second arm support 1147 upward with respect to the first arm support 1143, the posture of the forearm of the user U is It is possible to reduce or compensate for the influence of the weight of the arm support module 114 including the weight of the user's U's arm in the process of being converted to incline upward.

For example, in order to maintain the direction of the tensile force transmitted from the wire 11482 to the elastic body 11481 in the rotation link 1145 parallel to the direction of the rotation link 1145 , the rotation link 1145 includes the first support part 1144 and the elastic body 11481 . ) may further include a guide pulley 11451 for guiding the connection direction of the wire 11482 between.

According to the guide pulley 11451, the wire 11482 extending from the wire fixing part 11441 as shown in FIGS. 19 and 20 is wound around a part of the guide pulley 11451 and then parallel to the extension direction of the rotary link 1145 Since it can be connected to the elastic body 11481 in one state, the tensile force applied to the elastic body 11481 can be adjusted substantially linearly according to the rotation angle of the rotary link 1145 .

For example, the rotation link 1145 may further include an interference part 11452 that interferes with the first support part 1144 to prevent it from being rotated more than a set angle with respect to the first support part 1144 .

For example, when the first arm support 1143 and the second arm support 1147 maintain a horizontal state with each other, or as shown in FIG. 19 , the rotation link 1145 rotates to face a horizontal direction with respect to the inclination adjustment axis. In this case, the interference part 11452 may interfere with the first support part 1144 to prevent the rotation link 1145 from being rotated in a downwardly inclined direction with respect to the inclination adjustment axis.

According to the arm rest device 11 according to an embodiment, the horizontal movement module 113 can stably guide the movement of two degrees of freedom along the horizontal direction in a state in which the arm of the user U is supported, and at the same time the arm The support module 114 may stably compensate the weight of the arm in various postures by applying a gravity compensation mechanism according to the inclination of the arm posture in the vertical direction.

As a result, the arm rest device 11 according to an embodiment can ergonomically support all postures of the user's U's arm, and at the same time minimize the fatigue of the user's U due to movement.

According to the arm rest device 11 according to an embodiment, since damping control according to the horizontal movement of the arm is possible through the damping unit 112, precise and accurate movement can be implemented according to the work characteristics.

For example, when the arm rest device 11 is used in a surgical environment, the horizontal movement module 113 so that the user U can slowly and precisely move the tip of the surgical tool gripped by hand near the patient's lesion. damping force can be increased. Through this, it is possible to prevent unexpected wounding of the lesion by filtering out the unintentional rapid and large arm movements.

According to the arm rest device 11 according to an embodiment, the horizontal position of the arm support module 114 can be fixed through the brakes 11212 and 11222, so it is very effective for precise work using small muscles below the wrist. can

21 is a perspective view illustrating a slave device and a microscope according to an embodiment.

Referring to FIG. 21 , the first slave device 2 and the second slave device 2 ′ may be connected to the lower portion of the support 6 . The microscope 3 may be connected to the top of the support 6 . The support part 6 supports the first support frame 61 for supporting the first slave device 2 , the second support frame 62 for supporting the second slave device 2 ′, and the microscope 3 . It may include a support base 63 that is. For example, the support base 63 may be hinge-connected to be relatively rotatable and may have a plurality of link structures provided in series.

The first support frame 61 and the second support frame 62 may have a hole formed through the lower side of the microscope 3, and the microscope 3 may observe the eye of the patient through the hole. . The microscope 3 may be movably mounted on the support 6 . For example, the microscope 3 is movable on the first support frame 61 and the second support frame 62 while maintaining the angle of the lens. The microscope 3 is movable on a plane. For example, the microscope is movable along a first path P1 parallel to the first support frame 61 and a second path P2 perpendicular to the first path P1 (see FIGS. 29 and 30 ). ). For example, at least one of the first support frame 61 , the second support frame 62 , and the support base 63 accommodates the microscope 3 , and provides a movable space for the microscope 3 . space can be provided. For example, the support 6 includes a first linear actuator (not shown) for moving the microscope 3 along a first path, and a second linear actuator (not shown) for moving the microscope 3 along a second path. not shown) may be included.

The first slave device 2 includes a first surgical tool 250 , and the second slave device 2 ′ includes a second surgical tool 250 ′. The first surgical tool 250 may include a rotation module 251 and a surgical tip 252 inserted into the patient's eye and rotated by the rotation module 251 . The second surgical tool 250' may include a rotation module 251' and a surgical tip 252' inserted into the patient's eye and rotated by the rotation module 251'. For example, only one of the first surgical tool 250 and the second surgical tool 250 ′ is inserted into the eyeball to perform observation or surgery.

22 is a perspective view schematically illustrating an internal structure of a slave device according to an exemplary embodiment.

Referring to FIG. 22 , the slave device includes a lower delta robot 210 , an upper delta robot 220 , a lower shaft 231 , an upper shaft 232 , a lower gripper 241 , an upper gripper 242 , and a surgical tool. 250 , a lower frame 280 and an upper frame 290 may be included.

The lower delta robot 210 may movably support the lower gripper 241 . The upper delta robot 220 may movably support the upper gripper 242 . The lower delta robot 210 and the upper delta robot 220 are, respectively, three support rods 211 and 221 and three moving parts 212 and 222 moving along the longitudinal direction of the support rods 211 and 221 , respectively. ), three arms 213 and 223 connecting the moving parts 212 and 222 and the grippers 241 and 242, and a driving source 214 that provides power to move the three moving parts 212 and 222 , 224) may be included. The lower delta robot 210 and the upper delta robot 220 are driven by a linear actuator method, and precise movement with little vibration and backlash is possible. The three support rods 211 and 221 may be disposed between the lower frame 280 and the upper frame 290 .

Each of the arms 213 and 223 and the corresponding moving parts 212 and 222 may be rotatably connected to each other, and each of the arms 213 and 223 and the corresponding grippers 241 and 242 are connected to each other. It may be connected rotatably relative to the .

The support rod 211 of the lower delta robot 210 may be parallel to the support rod 221 of the upper delta robot 220 . For example, the support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be a lower portion and an upper portion of any one support rod, respectively. In other words, the support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be bonded to each other without boundaries. According to this structure, since only three support rods can guide six moving parts, the structure can be simply designed. Meanwhile, the support rod 211 of the lower delta robot 210 may be spaced apart from the support rod 221 of the upper delta robot 220 (see FIG. 28 ).

The lower shaft 231 may be driven by the lower delta robot 210 . The lower shaft 231 may be rotatably connected to the lower gripper 241 in two degrees of freedom. For example, the lower shaft 231 may include a joint to be rotatably connected to the lower gripper 241 in two degrees of freedom, for example, a ball joint or a universal joint. The lower shaft 231 may be fixed to the lower gripper 241 at a point where the joint is disposed. One point of the lower shaft 231 may be fixed to the lower gripper 241 . Hereinafter, a point of the lower gripper 241 at which the lower shaft 231 is fixed may be referred to as a center point of the lower gripper 241 .

The upper shaft 232 may be driven by the upper delta robot 220 . The upper shaft 232 may be rotatably connected to the upper gripper 242 in two degrees of freedom. For example, the upper shaft 232 may include a joint for rotatably connected to the upper gripper 242 in two degrees of freedom, for example, a ball joint or a universal joint. The upper shaft 232 may be fixed to the upper gripper 242 at the point where the joint is disposed. One point of the upper shaft 232 may be fixed to the upper gripper 242 . Hereinafter, a point at which the upper shaft 232 is fixed among the upper grippers 242 may be referred to as a center point of the upper gripper 242 .

The lower shaft 231 and the upper shaft 232 are relatively slidable. For example, while driving the lower delta robot 210 and/or the upper delta robot 220 to change the position of the lower gripper 241 and/or the upper gripper 242 , the lower shaft 231 and the upper shaft Reference numeral 232 is slidable in one degree of freedom. The lower shaft 231 is rotatable in two degrees of freedom with respect to the lower gripper 241 , and the rotation of the lower shaft 231 is between the lower gripper 241 and the upper gripper 242 in the axial direction of the lower shaft 231 . irrespective of the change in distance. According to this structure, the slave device can move only the upper shaft 232 while the lower shaft 231 is fixed.

For example, any one of the lower shaft 231 and the upper shaft 232 may include a hollow part, and the other shaft may include a slider slidable while inserted into the hollow part. For example, as shown in FIG. 22 , the lower shaft 231 includes a hollow portion accommodating at least a portion of the upper shaft 232 , and the upper shaft 232 is inserted into the hollow portion of the lower shaft 231 . It may include a slider slidable with For example, the slider can slide in one degree of freedom while in surface contact with the inner wall of the lower shaft 231 .

The lower gripper 241 may rotatably support the lower shaft 231 . The lower gripper 241 is supported by the three arms 213 of the lower delta robot 210 , and its position may be changed based on the movement of the three moving parts 212 .

The upper gripper 242 may rotatably support the upper shaft 232 . The upper gripper 242 is supported by the three arms 223 of the upper delta robot 220 , and its position may be changed based on the movement of the three moving parts 222 .

The lower gripper 241 and the upper gripper 242 are, in a state where the surgical tool 250 is spaced apart from the center point of the lower gripper 241 in the axial direction (longitudinal direction) of the lower shaft 231 . The distance between the gripper 241 and the upper gripper 242 may be adjusted. In this case, the lower gripper 241 is fixed, and the upper gripper 242 moves along a path parallel to the longitudinal direction of the lower shaft 231 .

The surgical tool 250 may include a rotation module 251 and a surgical tip 252 . Surgical tip 252 may be a longitudinal member. For example, surgical tip 252 can be side-by-side with lower shaft 231 and upper shaft 232 . For example, the central axis of the surgical tip 252 may pass through the central axis of each of the lower shaft 231 and the upper shaft 232 . The surgical tip 252 has a thinner thickness than the lower shaft 231 , and may penetrate the surface of the eyeball and be inserted into the eyeball. The rotation module 251 is mounted on the lower shaft 231 and can rotate the surgical tip 252 . For example, surgical tip 252 may rotate about an axis parallel or parallel to the longitudinal axis of lower shaft 231 .

23 is a plan view schematically illustrating a surgical tool according to an embodiment, and FIG. 24 is a front view schematically illustrating a lower shaft and a surgical tool according to an embodiment. FIG. 23 shows the internal mechanism of the rotation module 251 schematically shown in FIG. 24 .

23 and 24 , the rotation module 251 may be installed at a lower end of the lower shaft 231 . Alternatively, of course, the rotation module 251 may be installed elsewhere on the lower shaft 231 .

The rotation module 251 includes a main body 2511 , a first gear 2512 installed on the side of the main body 2511 , a gear shaft 2513 for rotating the first gear 2512 , and a first gear 2512 . ) may include a second gear 2514 meshing with the. Surgical tip 252 may be rotated along with rotation of second gear 2514 . For example, the rotation axis of the second gear 2514 may be parallel to or coincident with the central axis of the lower shaft 231 .

The driving source installed in the rotation module 251 first rotates the gear shaft 2513, and thus the first gear 2512 rotates the second gear 2514, and then the surgical tip 252 rotates. . Through this, yaw rotation using the longitudinal direction of the lower shaft 231 as the gear axis may be achieved.

25 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when a lower gripper and an upper gripper are positioned relatively close, according to an exemplary embodiment; 26 is a front view schematically illustrating a state in which a lower shaft and an upper shaft rotate when the lower gripper and the upper gripper are relatively far apart, according to an exemplary embodiment;

25 and 26 , when the distance between the lower gripper 241 and the upper gripper 242 is relatively close ( FIG. 25 ), the lower and upper grippers 241 and 242 are perpendicular to the ground from the initial state. , when the upper gripper 242 moves to the right by a distance d, the angle at which the lower and upper grippers 241 and 242 are inclined is Θ1, and the distance between the lower gripper 241 and the upper gripper 242 is relatively 26), from the initial state in which the lower and upper grippers 241 and 242 are perpendicular to the ground, when the upper gripper 242 moves to the right by a distance d, the lower and upper grippers 241 and 242 tilt When the falling angle is Θ2, Θ1 may be greater than Θ2.

The user may maximize the distance between the lower gripper 241 and the upper gripper 242 within the movable range, thereby increasing the precision of the slave device. In addition, even while the distance between the center point C1 of the lower gripper 241 and the center point C2 of the upper gripper 242 is adjusted, the surgical tool 250 with respect to the center point C1 of the lower gripper 241 The position may be fixed. According to this structure, even while the surgical tool 250 performs a surgical operation on a portion of the eyeball, the level of precision can be adjusted without changing the position of the surgical tool 250 .

27 is a block diagram of a slave device according to an embodiment.

Referring to FIG. 27 , the operations of the lower delta robot 210 , the upper delta robot 220 , and the rotation module 251 are controlled by the controller 270 , respectively. The lower delta robot 210 controls the position of the lower gripper 241 , and the upper delta robot 220 controls the position of the upper gripper 242 .

Meanwhile, the control unit 270 may be referred to as a “slave control unit” by distinguishing it from the master control unit 14 (refer to FIG. 3 ). In addition, although the master control unit 14 and the slave control unit 270 are described separately from each other, it should be noted that they are not necessarily physically divided and provided inside the master or slave. For example, a separate control unit may be provided outside the master and the slave, and the master and the slave may be operated by the same control unit. In other words, the surgical system 100 (see FIG. 1 ) receives an input signal from the master device and includes a control unit for controlling the slave device, and the control unit is provided in the master device and/or the slave device, or their Note that it may be provided outside.

The controller 270 may separately control the operation of each of the three driving sources 214 of the lower delta robot 210 . The moving part 212 moves according to the operation of the driving source 214 , and the arm 213 connected to the moving part 212 moves, thereby moving the lower gripper 241 . The lower gripper 241 finally moves the lower shaft.

In addition, the controller 270 may separately control the operation of each of the three driving sources 224 of the upper delta robot 220 . The moving part 222 moves according to the operation of the driving source 224 , and the arm 223 connected to the moving part 222 moves, thereby moving the upper gripper 242 . The upper gripper 242 finally moves the upper shaft.

The movement of the surgical tip 252 may proceed in conjunction with the movement of the lower and upper shafts. The surgical tip 252 can be rotated in a total of three degrees of freedom. The control unit 270 may control the 2-DOF rotation of the surgical tip 252 through the lower delta robot 210 and the upper delta robot 220, and control the remaining 1-DOF rotation through the rotation module 251. there is.

According to the above-described embodiment, precision movement with less vibration and backlash is possible by using a robust structure called a delta robot, and by using a double delta robot, the limitation of the small movable range of the existing delta robot is overcome. can be surpassed

In addition, by utilizing the precise delta robot structure used throughout the existing industry, the precision and range of motion can be adjusted as needed. can be used for

28 is a perspective view of a slave device according to an embodiment.

Referring to FIG. 28 , the lower delta robot 210 and the upper delta robot 220 are, respectively, three support rods 211 and 221 , three moving parts 212 and 222 , and three arms 213 . , 223 ), three driving sources 214 and 224 , and three guide rods 215 and 225 .

The support rods 211 and 221 and the moving parts 212 and 222 may have, for example, a ball-screw linear sliding structure. The driving sources 214 and 224 may cause the moving parts 212 and 222 to move in the longitudinal direction of the support rods 211 and 221 by rotating the support rods 211 and 221 . According to such a structure, a more precise operation is possible, and a rigid structure can be implemented with respect to an external impact.

The support rod 211 of the lower delta robot 210 and the support rod 221 of the upper delta robot 220 may be spaced apart from each other. For example, any one support rod 211 of the lower delta robot 210 may be disposed between two adjacent support rods 221 of the upper delta robot 220 . As such, when the support rods 211 and 221 of the lower delta robot 210 and the upper delta robot 220 are spaced apart, the support rods 211 and 221 of the lower delta robot 210 and the upper delta robot 220 are spaced apart. ) can increase the movable range of the moving parts (212, 222) compared to the side-by-side arrangement.

The guide rods 215 and 225 are disposed parallel to the support rods 211 and 221 , and may guide the movement of the moving parts 212 and 222 . By moving along the guide rods 215 and 225 and the support rods 211 and 221, the moving parts 212 and 222 can move up and down more stably. The guide rods 215 and 225 may increase the position control accuracy of the moving parts 212 and 222 , and as a result, the position control accuracy of the surgical tool 250 may be increased.

The moving parts 212 and 222 may move along the support rods 211 and 221 and the guide rods 215 and 225 to control the position of the surgical tip 252 . The rotation module 251 may rotate the surgical tip 252 about a central axis of the surgical tip 252 . By the moving parts 212 and 222 and the rotation module 251, the roll (roll), pitch (pitch) and yaw rotation of the surgical tip 252 can be implemented.

29 and 30 are diagrams schematically illustrating a state in which the eyeball rotates according to the driving of the first and second slave devices, and the microscope moves according to the rotation of the eyeball.

29 and 30 , the microscope 3 is disposed between the first slave device 2 and the second slave device 2 ′, and is movable on the support frames 61 and 62 . The microscope 3 is movable along two paths P1 and P2 orthogonal to each other. The two paths P1 and P2 include a first path P1 and a second path P2 each orthogonal to an arbitrary line perpendicular to the lens of the microscope 3 . The microscope 3 is movable on a plane comprising a first path P1 and a second path P2 . For example, the microscope 3 may include two linear actuators that are orthogonal to each other.

The first slave device 2 and the second slave device 2' may include a first surgical tool 250 and a second surgical tool 250' passing through the surface of the eyeball E, respectively. The first slave device 2 and the second slave device 2 ′ may rotate the eyeball E by changing the angles of the first surgical tool 250 and the second surgical tool 250 ′. The eyeball E is rotatable about a first rotational axis A1 passing through the center of the eyeball, and is rotatable about a second rotational axis perpendicular to the first rotational axis A1 and passing through the center of the eyeball. The first axis of rotation A1 and the second axis of rotation A2 may be orthogonal to an imaginary extension line passing through the center of the pupil P from the center of the eyeball E, for example.

The microscope 3 can move based on the rotation of the eyeball E. By moving the microscope 3 in response to a change in the position of the pupil P, the lens may be positioned in parallel with the pupil P. For example, the movement amount of the microscope 3 can be determined by the amount of change in the position where the central position of the pupil P is projected onto the movable plane of the microscope 3 . According to this method, as shown in FIGS. 29 and 30 , the area that can be observed inside the eyeball E can be increased.

For example, as shown in FIG. 30 , the slave devices 2 and 2' rotate the eyeball E while the relative positions and angles of the surgical tools 250 and 250' with respect to the eyeball E are fixed. can do it According to such a control method, since the distance between the two surgical tools 250 and 250' does not change, it is possible to prevent the eyeball E from being damaged in the process of rotating the eyeball E.

As described above, although the embodiments have been described with reference to the limited drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in an order different from the described method, and/or the described components of structures, devices, etc. are combined or combined in a different form than the described method, or other components or equivalents are used. Appropriate results can be achieved even if substituted or substituted by

Claims (14)

A lower shaft, an upper shaft slidably connected to the lower shaft with one degree of freedom, a lower gripper for rotatably supporting the lower shaft with two degrees of freedom, and an upper gripper for rotatably supporting the upper shaft with two degrees of freedom a slave device comprising: a lower delta robot movably supporting the lower gripper; an upper delta robot movably supporting the upper gripper; and a surgical tool connected to the lower shaft;
A master arm including a master base part, an arm support rod connected from the master base part, an upper arm installed above the arm support rod, and a lower arm installed below the arm support rod, the upper arm and a master device rotatably connected to the lower arm and comprising a manipulation gripper that can be gripped by a user; and
Surgical system including a control unit for receiving an input signal from the master device to control the slave device.
The method of claim 1,
The control unit is
When the manipulation gripper is gripped and moved, generating an input signal for controlling the movement of the surgical tool based on the displacement of the upper arm or the lower arm;
A surgical system for controlling the position and angle of the surgical tool by controlling the lower delta robot and the upper delta robot based on the input signal.
3. The method of claim 2,
The upper arm and the lower arm are each,
a rotation coupling part rotatably installed with respect to the arm support rod with respect to a rotation axis parallel to the ground; and
A surgical system comprising a rotational link rotatably connected to the rotational coupling portion, and consisting of a two-section link that can be bent or extended within the same plane.
4. The method of claim 3,
Each of the rotation links of the upper arm and the lower arm,
a first arm link rotatable with respect to the rotation coupling part;
a second arm link rotatable relative to the first arm link; and
and a manipulation gripper joint rotatably installed at an end of the second arm link with respect to a rotation axis parallel to a longitudinal direction of the second arm link and connected to the manipulation gripper.
5. The method of claim 4,
The upper arm and the lower arm are each,
a first rotational driving unit for forming a resistance force against the rotational movement of the first arm link with respect to the rotational coupling portion; and
Further comprising a second rotation driving unit for forming a resistance to the rotational movement of the second arm link relative to the first arm link,
The arm support rod,
an upper rotational driving unit that forms a resistance to rotational motion of the upper arm with respect to the arm support rod; and
and a lower rotational drive unit configured to resist rotational motion of the lower arm relative to the arm support rod.
3. The method of claim 2,
The manipulation gripper,
handle;
a fixed shaft extending longitudinally from the handle;
a grip switch portion extending in the longitudinal direction from the handle and extending in the longitudinal direction when the circumference is pressed; and
A surgical system comprising: an inner space fixed from the fixed shaft and accommodating at least a part of the grip switch unit;
7. The method of claim 6,
The grip switch unit,
a bending input unit that protrudes from the handle toward the inner space of the measuring housing and is bent along a radial direction outside the circumference of the fixed shaft; and
and an input slider connected to the bending input and at least partially inserted into the inner space of the measurement housing.
The method of claim 1,
The lower delta robot,
It includes three lower support rods, three lower moving parts moving along the longitudinal direction of the lower support rod, and three lower arms connecting between the lower moving part and the lower gripper,
The upper delta robot,
A surgical system comprising: three upper support rods; three upper moving parts moving along the longitudinal direction of the upper support rod; and three upper arms connecting the upper moving part and the upper gripper.
The method of claim 1,
The control unit sets the position of one point of the surgical tool as a remote rotation center,
The control unit adjusts the position of the tip of the surgical tool based on the movement of the manipulation gripper, and controls at least one point of the surgical tool to always pass through the remote center of rotation.
The method of claim 1,
The master base unit,
a fixed base fixed to the outside; and
and a rotating base that interconnects the fixed base and the arm support rod and is installed rotatably in one degree of freedom with respect to the fixed base,
The arm support rod is a surgical system rotatable in two degrees of freedom with respect to the fixed base.
11. The method of claim 10,
A surgical system in which the position or angle of the surgical tool is controlled based on rotation of the arm support rod relative to the fixed base.
12. The method of claim 11,
From the user, (i) a first mode in which the arm support rod is immobilized relative to the fixed base, and (ii) a second mode in which both the upper arm and the lower arm are immobilized relative to the arm support rod. Surgical system further comprising a mode input unit capable of receiving any one of a plurality of modes including a mode input.
13. The method of claim 12,
In the first mode, the control unit,
Adjusting the position of the end of the surgical tool based on the spatial position information of the end of the manipulation gripper,
A surgical system for controlling the upper delta robot and the lower delta robot so that the surgical tool always passes a specific point.
14. The method of claim 13,
In the second mode, the control unit,
On the basis of the amount of rotation of the arm support rod moved with respect to the fixed base, the position of the surgical tool is adjusted,
A surgical system for controlling the upper delta robot and the lower delta robot so that the specific point is moved to another point located at the same distance based on the origin of a preset spherical coordinate system.

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