KR102606897B1 - Wire tention adjuster for surgical instrument - Google Patents

Abstract

The present invention relates to a wire tension control device for surgical tools, which applies a constant load to the wire to compensate for the stretching of the wire according to environmental changes such as temperature changes, and the entire axis of the plurality of driving pulleys that drive the wire are integrated. It relates to a wire tension control device for surgical tools that can evenly adjust the tension of the stretched wire by allowing it to move along the axis. For this purpose, a first pulley drive shaft portion, a plurality of first wire pulley portions integrally fixed to the first pulley drive shaft portion, a second pulley drive shaft portion disposed at a point opposite the first pulley drive shaft portion, and a second pulley drive shaft portion. It includes a plurality of second wire pulley parts integrally fixed to the unit, a plurality of wires respectively fixed to the corresponding first and second wire pulley parts to pull the surgical tool independently of each other, and one of the first and second pulley drive shafts. A wire tension control device for surgical tools is disclosed, which is characterized in that when one axis is a freely movable floating axis and the other axis is a fixed axis, the tension of a plurality of wires is adjusted integrally by moving the entire floating axis in one direction. do.

Description

Wire tension adjuster for surgical instrument

The present invention relates to a wire tension control device for surgical tools. More specifically, the present invention relates to a device for adjusting wire tension for surgical tools, and more specifically, to apply a certain load to the wire to compensate for stretching of the wire according to environmental changes such as temperature changes, and to adjust the tension of the entire plurality of driving pulleys that drive the wire. It relates to a wire tension control device for surgical tools that can evenly adjust the tension of a stretched wire by allowing the axes to move together as one unit.

As shown in Figure 1, the surgical tool includes a surgical end effect, a pulley for driving the end effect, a pulley drive unit (at this time, the pulley drive unit may include an individual motor to drive each pulley on the control unit side), a wire, and It can be roughly composed of a control unit, and the end effect controls the position and direction by pulling the wire by driving a pulley according to a control signal from the control unit.

At this time, each pulley on the end effect side and each pulley on the control part side are composed of a pair, and a wire is fixed to each pair of pulleys to individually drive each end effect.

Meanwhile, according to the prior art, in order to axially move the end-effect side pulley or the control side pulley, an axial movement driver (including a motor that moves the pulley axis) required for axial movement is individually required for each pulley, thereby miniaturizing the surgical tool. There is a problem that it is difficult and the manufacturing cost increases.

Japanese Patent Publication JP 2008-212451 Republic of Korea Patent Publication KR 10-1454322

Therefore, the present invention was created to solve the problems described above, and by moving a plurality of pulley drive shafts together at the same time, the axis movement drive unit that moves the pulley axis can be shared, resulting in miniaturization and reduction of manufacturing costs. This is possible, and the purpose is to provide an invention that can increase the rigidity of the end effect by compensating for the tension of the wire that stretches or contracts according to temperature changes by inserting a spring between the wires to apply a constant load to the wire. there is.

However, the objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

The object of the present invention described above is a first pulley drive shaft portion, a plurality of first wire pulley portions integrally fixed together with the first pulley drive shaft portion, and a second pulley drive shaft disposed at a point opposite the first pulley drive shaft portion. It includes a plurality of second wire pulley parts integrally fixed together to the second pulley drive shaft part, and a plurality of wires respectively fixed to the corresponding first and second wire pulley parts to pull the surgical tool independently of each other, For surgical tools, characterized in that when one of the 1 and 2 pulley drive axes is a freely movable floating axis and the other axis is a fixed axis, the tension of a plurality of wires is adjusted integrally by moving the entire floating axis in one direction. This can be achieved by providing a wire tension adjustment device.

In addition, when the floating shaft is the first pulley drive shaft and the fixed axis is the second pulley drive shaft, the first pulley drive shaft is a passive drive shaft, or the floating shaft is the second pulley drive shaft and the fixed axis is the first pulley drive shaft. In the negative case, the second pulley drive shaft portion is an active drive shaft.

In addition, it further includes a floating shaft moving portion that moves the entire second pulley drive shaft portion in the horizontal direction, and a linear guide portion disposed in the horizontal direction to prevent distortion in other directions by guiding the movement of the second pulley drive shaft portion when moving in the horizontal direction. do.

In addition, the floating shaft moving part includes a linear screw part that is coupled to the second pulley drive shaft part and moves the second pulley drive shaft part in the horizontal direction according to the driving force, and a linear screw driving part that provides driving force to the linear screw part.

In addition, the floating axis moving part includes a first axis moving pulley part fixed to one side, a second axis moving pulley part fixed to the other side, a belt part fixed to the first and second axis moving pulley parts, and a second pulley that is the belt part and the floating axis. It includes a shaft movement coupling restraint unit that couples and restrains the area through which the belt of the drive shaft unit passes, and the second axis movement pulley unit is located outside the virtual vertical line where the second pulley drive shaft unit is located, so that the second pulley drive shaft horizontally moves according to the drive of the belt unit. Make sure the axis moves in this direction.

In addition, it further includes a wire tension control unit interposed between the wires to provide elastic force to compensate for the tension of the wire that changes depending on the environment.

In addition, it further includes a plurality of tension measuring units that measure the respective tensions of the plurality of wires, and moves the floating axis based on the tension of each wire measured by the plurality of tension measuring units.

As described above, the present invention has the effect of miniaturizing surgical tools and reducing manufacturing costs, and further has the effect of increasing the rigidity of the end effect by compensating the tension of the wire for changes in temperature through a spring. .

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.
1 is a diagram showing the schematic configuration of a wire tension adjustment device for surgical tools according to an embodiment of the present invention;
Figure 2 is a diagram showing that the second pulley drive shaft portion is a floating shaft and the first pulley drive shaft portion is a fixed shaft according to an embodiment of the present invention;
Figure 3 is a view showing that the second pulley drive shaft portion is a fixed shaft and the first pulley drive shaft portion is a floating shaft according to an embodiment of the present invention;
Figure 4 is a diagram showing linear guide parts arranged on both sides according to an embodiment of the present invention;
Figure 5 is a diagram showing a floating axis moving part according to the first embodiment of the present invention;
Figure 6 is a diagram showing a floating axis moving part according to a second embodiment of the present invention;
Figure 7 is a diagram showing a wire tension adjustment unit according to an embodiment of the present invention;
Figure 8 is a diagram showing a tension measuring unit according to an embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, one embodiment described below does not unduly limit the content of the present invention described in the claims, and it cannot be said that all of the configurations described in this embodiment are essential as a solution to the present invention. In addition, descriptions of matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention.

The wire tension control device for surgical tools according to an embodiment of the present invention evenly adjusts the tension of the wires of the device to control the position and direction of the robot surgical tool or end effect by the traction force of the wires (11, 12, and 13). It is a device that does this. Accordingly, the wire tension control device for surgical tools according to an embodiment of the present invention can be used for ultra-small surgical tools, flexible surgical tools, or rigid surgical tools using wires. Hereinafter, a wire tension adjusting device for surgical tools (hereinafter referred to as a wire tension adjusting device) according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

As shown in FIG. 2, the wire tension adjustment device according to an embodiment of the present invention includes a first pulley drive shaft portion 110 and a second pulley drive shaft portion 210. As shown in FIG. 1, the first pulley drive shaft portion 110 is disposed in an area adjacent to the end effect, and the second pulley drive shaft portion 210 is disposed in an area adjacent to the control unit. The control unit (not shown) includes a driving module unit that controls the overall operation of the wire-driven robotic surgical tool.

As shown in FIG. 2, the first pulley drive shaft unit 110 includes a 1-1 wire pulley 121, a 2-1 wire pulley 122, and a 3-1 wire pulley 123, each of which is one pulley. It is integrally fixed to the fixing plate portion 111. However, the above-described pulley fixing plate portion 111 may be formed integrally, if necessary, or may be separated so that each wire pulley can be individually fixed. The first pulley drive shaft portion 110 may be referred to as a first pulley fixed shaft portion because the wire pulley is fixed thereto. Even if the pulley fixing plate portion 111 is formed integrally or is separated, it moves along its axis as one piece to adjust the tension of the wire.

The 1-1 wire pulley 121, the 2-1 wire pulley 122, and the 3-1 wire pulley 123 are the 1-2 wire pulley 221 and the 2-2 wire pulley (to be described later), respectively. 222), corresponds to the 3-2 wire pulley 223, and the corresponding wire pulley is driven by the first, second, and third wires 11, 12, and 13, respectively. Each of the corresponding wire pulleys described above is a pair, and the end effect is individually driven by driving the pair of wire pulleys under the control of the control unit. That is, as an example, the 1-1 wire pulley 121 and the 1-2 wire pulley 221 are a pair, and the position and direction of the first end effect (not shown) are adjusted according to the traction of the wire 11. You can control it. In addition, the 2-1 wire pulley 122 and the 2-2 wire pulley 222 are a pair, and the position and direction of the second end effect (not shown) can be controlled according to the traction of the wire 12. You can. In addition, the 3-1 wire pulley 123 and the 3-2 wire pulley 223 are a pair, and the position and direction of the third end effect (not shown) can be controlled according to the traction of the wire 13. You can. However, in order to control the position and direction of each end effect, only a pair of wire pulleys may be insufficient, and in this case, more wire pulleys may be added. In other words, multiple pairs of wire pulleys may be required to control the position and direction of one end effect.

Meanwhile, the second pulley drive shaft portion 210 arranged in pairs at a predetermined distance from the first pulley drive shaft portion 110 includes a 1-2 wire pulley 221 and a 2-2 wire pulley, as shown in FIG. 2. (222), the 3-2 wire pulleys 223 are each integrally fixed to one pulley fixing plate portion 211. The second pulley drive shaft portion 210 and the plurality of second wire pulley portions 221, 222, and 223 will replace the description of the first pulley drive shaft portion 110 and the first wire pulley portions 121, 122, and 123 described above.

As shown in FIG. 2, the second pulley drive shaft portion 210 may be a floating shaft (or free end shaft) that can freely move in the horizontal direction, and the first pulley drive shaft portion 110 may be a fixed shaft that does not move. , on the contrary, as shown in FIG. 3, the first pulley drive shaft unit 111 may be a floating shaft (or a free end shaft), and the second pulley drive shaft unit 110 may be a fixed shaft. As shown in FIG. 2 , when the second pulley drive shaft unit 210 is a floating shaft, the entire second pulley drive shaft unit 210 moves integrally to the right or left with respect to FIG. 2 . When the first pulley drive shaft unit 110 is a floating shaft as shown in FIG. 3, the entire first pulley drive shaft unit 110 moves integrally to the right or left with respect to FIG. 3.

Meanwhile, in the present invention, when one pulley drive shaft part of a pair is a floating axis, the other pulley drive shaft part is a fixed axis. Therefore, as shown in FIG. 2, when the first pulley drive shaft portion 110 is a fixed axis, the entire plurality of second wire pulley portions 221, 222, and 223 move axis in one direction to connect the first, second, and third wires 11, 12, 13) The tension can be adjusted uniformly and uniformly. In addition, as shown in FIG. 3, when the second pulley drive shaft portion 210 is a fixed axis, the entire plurality of first wire pulley portions 121, 122, and 123 move axis in one direction to move the first, second, and third wires 11, 12, 13) The tension can be adjusted uniformly and uniformly.

Here, as shown in FIG. 2, when the first pulley drive shaft portion 110 is a fixed shaft and the second pulley drive shaft portion 210 is a floating shaft, the second pulley drive shaft portion 210 is an active drive shaft, and in FIG. 3 As shown, when the second pulley drive shaft unit 210 is a fixed shaft and the first pulley drive shaft unit 110 is a floating shaft, the first pulley drive shaft unit 110 is a passive drive shaft. At this time, the passive drive shaft means manually adjusting the first pulley drive shaft unit 110 using a shaft displacement control module that can move the axis in the horizontal direction without using a drive module (for example, a drive motor, etc.). , Active drive shaft means moving the axis using a drive module. Since the first pulley drive shaft portion 110 is disposed adjacent to the end effect, it is difficult to move the axis through active driving, so the axis must be moved manually through a shaft displacement adjustment module. However, in the present invention, in order to uniformly and balancely control the tension of the wire, the first pulley drive shaft portion 110 can be selectively moved or the second pulley drive shaft portion 210 can be selectively moved. there is.

As shown in FIG. 4, when the first pulley drive shaft unit 110 is a fixed shaft and the second pulley drive shaft unit 210 is a floating shaft, the second pulley drive shaft unit 210 is moved in the horizontal direction by driving the drive module. When moving the axis, the linear guide parts 311 and 312 can be arranged in the horizontal direction to guide the movement and prevent distortion in other directions. The linear guide units 311 and 312 are arranged to guide the second pulley drive shaft unit 210 from both sides. That is, a plurality of wire pulleys 121, 122, 123, 221, 222, and 223 are disposed inside the linear guide portions 311 and 312 disposed on both sides. However, even when the first pulley drive shaft portion 110 is a floating shaft, linear guide portions can be placed on both sides to prevent distortion in other directions.

Meanwhile, Figure 4 shows that three end effects are driven by respective wires and wire pulleys, and one of the plurality of pulley drive shafts 110 and 210 to which the wire pulleys that drive each end effect are fixed is integrated. This is an example showing axis movement together. As another example, as described above, multiple wires are required to control the position and direction of one end effect with a wire, and accordingly, a pulley may be needed to drive each wire. In this case, multiple pulleys are needed to drive one end effect, and even in this case, it is desirable to move the pulley drive shaft portion on which the multiple pulleys are fixed together as one unit.

It includes a floating shaft moving part to move the first pulley drive shaft unit 110, which is a passive drive shaft, and the second pulley drive shaft unit 210, which is an active drive shaft. The floating shaft moving unit that moves the first pulley drive shaft unit 110, which is a passive drive shaft, includes a manually adjustable shaft displacement adjustment module as described above. Meanwhile, the floating shaft moving unit that moves the second pulley drive shaft unit 210, which is an active drive shaft, includes two embodiments as shown in FIGS. 5 and 6.

An example of the floating axis moving part shown in FIG. 5 includes a linear screw part 411 and a linear screw driving part 412. The linear screw driving unit 412 provides driving force to the linear screw unit 411. The linear screw unit 411 is coupled to the second pulley drive shaft unit 210 and can pivot the second pulley drive shaft unit 210 in the horizontal direction according to the provided driving force.

The floating shaft moving part shown in FIG. 6 includes a first pulley fixed shaft part 421, a first axis movable pulley part 422, a second pulley fixed shaft part 431, a second axis movable pulley part 432, and a belt part ( 441), and includes an axis movement coupling restraint portion 451. The first pulley fixed shaft portion 421 is disposed in an area adjacent to the first pulley drive shaft portion 110, thereby fixing the first axis movable pulley portion 422. However, if necessary, the first pulley fixed shaft portion 421 may be the first pulley drive shaft portion 110. That is, the first axis movable pulley unit 422 may be fixed to a separately provided first pulley fixed shaft unit 421 or may be fixed to the first pulley drive shaft unit 110. The second axis-moving pulley unit 432 is driven by a belt with the first axis-moving pulley unit 422 provided as a pair. The second shaft movable pulley portion 432 is axially fixed to a separately provided second pulley fixed shaft portion 431. The second pulley fixed shaft portion 431 is disposed on the right side with respect to FIG. 6 and the second pulley drive shaft portion 210 so that the pair of first and second axis movable pulley portions 422 and 432 can be driven by a belt. Although not shown in the drawing, a belt drive module for driving the first and second axis movement pulley units 422 and 432 is additionally disposed. The belt portion 441 is restrained by a pair of first and second axis moving pulley portions 422 and 432 and is driven by the belt. The shaft movement coupling restraint portion 451 restrains and couples the belt and the second pulley drive shaft portion 210, so that when the shaft movement pulley portions 422 and 432 are driven by the belt, the belt moves and moves the second pulley drive shaft portion 210. Let them do it. Accordingly, the axis movement coupling restraint portion 451 couples and restrains the second pulley drive shaft portion 110 at a point where the belt passes and the belt at that point. However, although the floating shaft moving part shown in FIG. 6 is shown disposed on one side, the second pulley drive shaft portion 110 can be moved more efficiently by being disposed on both sides.

As shown in FIG. 7, a plurality of wire tension adjusting units 511, 512, and 513 are disposed on each wire 11, 12, and 13 to correct the tension of the wire. A plurality of wire tension adjusting units 511, 512, and 513 may include springs and be disposed on each wire. Therefore, the tension of the wire is corrected by the elasticity of the spring.

As shown in FIG. 8, the plurality of tension measuring units 521, 522, and 523 measure the tension of each wire and move the floating axis described above based on the measured tension of each wire. That is, each tension measuring unit measures the tension of each wire when no load is applied to the wire and transmits the measured tension value to the control unit. As an example, the control unit averages the transmitted tension value at no load and compares it with a preset reference tension value at no load, thereby controlling the floating axis to move. By doing this, the tension of all wires can be adjusted uniformly.

In explaining the present invention, matters that are obvious to those skilled in the art and skilled in the art may be omitted, and descriptions of such omitted components (methods) and functions may be sufficiently referenced without departing from the technical spirit of the present invention. You will be able to. In addition, the components of the present invention described above are only described for the convenience of explaining the present invention, and components not described herein may be added without departing from the technical spirit of the present invention.

The description of the configuration and function of each part described above is explained separately from each other for convenience of explanation, and if necessary, one configuration and function may be implemented by integrating with other components, or may be implemented in further detail.

Although the present invention has been described above with reference to one embodiment, the present invention is not limited to this, and various modifications and applications are possible. That is, those skilled in the art will easily understand that many modifications are possible without departing from the gist of the present invention. In addition, it should be noted that if a specific description of the known functions and their configurations related to the present invention or the combination relationship between each component of the present invention is judged to unnecessarily obscure the gist of the present invention, the detailed description has been omitted. something to do.

11: first wire
12: second wire
13: Third wire
110: First pulley drive shaft portion (or fixed shaft portion)
111: Pulley fixing plate part
121: 1-1 wire pulley
122: 2-1 wire pulley
123: 3-1 wire pulley
210: Second pulley drive shaft portion (or fixed shaft portion)
211: Pulley fixing plate part
221: 1st-2 wire pulley
222: 2-2 wire pulley
223: 3-2 wire pulley
311: 1st linear guide (or 1st bush)
312: 2nd linear guide (or 2nd bush)
411: Linear screw part
412: Linear screw driving unit
421: First pulley fixed shaft part
422: 1st axis movement pulley part
431: Second pulley fixed shaft part
432: 2nd axis movement pulley part
441: Belt part
451: Axis movement coupling restraint part
511: first wire tension control unit
512: second wire tension control unit
513: Third wire tension control unit
521: first tension measuring unit
522: second tension measuring unit
523: Third tension measuring unit

Claims (7)

First pulley drive shaft part,
A plurality of first wire pulley parts integrally fixed to the first pulley drive shaft part,
A second pulley drive shaft portion disposed at a point opposite the first pulley drive shaft portion,
A plurality of second wire pulley parts integrally fixed to the second pulley drive shaft part,
It includes a plurality of wires that are respectively fixed to the corresponding first and second wire pulley parts and pull the surgical tool independently from each other,
When one of the first and second pulley drive shafts is a freely movable floating axis and the other axis is a fixed axis, by moving the entire floating axis in one direction, the first wire pulley unit moves the corresponding second wire A wire tension control device for surgical tools, characterized in that it approaches or moves away from the pulley portion and integrally adjusts the tension of the plurality of wires.
According to claim 1,
When the floating shaft is a first pulley drive shaft and the fixed shaft is a second pulley drive shaft, the first pulley drive shaft is a passive drive shaft,
Alternatively, when the floating shaft is a second pulley drive shaft and the fixed axis is a first pulley drive shaft, the second pulley drive shaft is an active drive shaft.
According to claim 1,
A floating shaft moving part that moves the entire second pulley drive shaft part in the horizontal direction,
A wire tension control device for surgical tools, characterized in that it further comprises a linear guide portion disposed in the horizontal direction to prevent distortion in another direction by guiding the movement of the second pulley drive shaft when moving in the horizontal direction.
According to claim 3,
The floating axis moving part,
A linear screw unit that is coupled to the second pulley drive shaft unit and moves the second pulley drive shaft unit in the horizontal direction according to a driving force,
A wire tension control device for surgical tools, comprising a linear screw drive unit that provides driving force to the linear screw unit.
First pulley drive shaft part,
A plurality of first wire pulley parts integrally fixed to the first pulley drive shaft part,
A second pulley drive shaft portion disposed at a point opposite the first pulley drive shaft portion,
It includes a plurality of second wire pulley parts integrally fixed together to the second pulley drive shaft, and a plurality of wires respectively fixed to the corresponding first and second wire pulley parts to pull surgical tools independently of each other,
When one of the first and second pulley drive shafts is a freely movable floating axis and the other axis is a fixed axis, the entire floating axis is moved away from the fixed axis or closer to the fixed axis. Characterized by integrally controlling the tension of a plurality of wires,
A floating shaft moving part that moves the entire second pulley drive shaft part in the horizontal direction,
It further includes a linear guide portion disposed in the horizontal direction to prevent distortion in another direction by guiding the movement of the second pulley drive shaft when moving in the horizontal direction,
The floating axis moving part,
A first axis moving pulley part fixed to one side,
A second axis moving pulley part fixed to the other side,
A belt part fixed to the first and second axis moving pulley parts,
It includes a shaft movement coupling restraint unit that couples and restrains the belt unit and the area through which the belt of the second pulley drive shaft unit, which is a floating axis, passes,
The second axis-moving pulley unit is located beyond the virtual vertical line on which the second pulley drive shaft unit is located, thereby allowing the second pulley drive shaft unit to move in the horizontal direction according to the drive of the belt unit. Wire tension control for surgical tools. Device.
According to claim 1,
A wire tension control device for surgical tools, further comprising a wire tension control unit interposed between the wires and providing elastic force to compensate for tension of the wire that changes depending on the environment.
According to claim 1,
Further comprising a plurality of tension measuring units that measure the respective tensions of the plurality of wires,
A wire tension control device for surgical tools, characterized in that the floating axis is moved based on the tension of each wire measured by the plurality of tension measuring units.