KR20110095795A - Connection structure of wheel and surgical instrument - Google Patents

Abstract

PURPOSE: A wheel connection structure and connection structure of surgical instrument are provided to improve the accuracy of sensing and to reduce volume and cost. CONSTITUTION: A wheel connection structure comprises drive wheels(30,50), a driven wheel, and a Y-matching sensor(35). The drive wheel receives the driving force from a surgical robot arm. The driven wheel is matched with the drive wheel. The Y-matching sensor is combined in the drive wheel or the driven wheel. The Y-matching sensor senses the electric change generating in the Y-matching of the driven wheel and drive wheel and senses connection state.

Description

Connection structure of wheel and surgical instrument

The present invention relates to a fastening structure of a wheel and a fastening structure of a surgical instrument.

Medically, surgery refers to repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery, which incise the skin of the surgical site and open, treat, shape, or remove the organs inside of the surgical site, has recently been performed using robots due to problems such as bleeding, side effects, patient pain, and scars. This alternative is in the spotlight.

Surgical robot used in robot surgery consists of a master unit for generating and transmitting a signal by a doctor's operation, and a slave unit for receiving a signal from the master unit and performing an operation necessary for surgery on a patient. In this case, the master unit and the slave unit may be implemented in the form of an integrated robot or may be configured as separate devices and arranged in the operating room.

The surgical robot is provided with a robot arm to perform various operations for surgery, and an instrument holder is formed at the tip of the robot arm to mount a surgical instrument. To mount the instrument to the robot arm, the instrument is mounted to the robot arm by coupling a sterile adapter to the instrument holder and inserting the housing of the instrument into the sterile adapter.

The drive holder is formed with a driving wheel for transmitting the driving force generated by the robot to the instrument, the drive wheel for receiving the driving force is also formed in the instrument, the sterile adapter in the drive wheel formed on the instrument holder and the drive wheel formed on the instrument, respectively A matching wheel is formed.

When the sterile adapter is mounted on the instrument holder and the instrument is mounted on the sterile adapter so that the wheel structure is matched with each other, the driving force generated by the robot is transmitted to the instrument through the sterile adapter, and the wire connected to the driving wheel of the instrument is connected to the end of the instrument. By transmitting the driving force to the effector, the effector moves and various manipulations necessary for surgery are performed.

As described above, a sterile adapter is interposed between the surgical robot arm and the instrument mounted thereon, and the sterile adapter implements a coupling structure with the robot arm and the instrument.

However, the wheel structure formed in the conventional robot arm, sterile adapter and instrument is insufficient in configuration for detecting the alignment to precisely align the wheel, and the force required for operation after detection and alignment by various means There was a limit to presenting a structure for conveying this.

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

The present invention is to detect the alignment of the wheel by using electrical, magnetic, mechanical characteristics, the fastening structure of the wheel for precise alignment and the medical device for detecting the coupling of the medical device using the corresponding fastening structure To provide a fastening structure.

The technical problems other than the present invention can be easily understood from the following description.

According to an aspect of the present invention, as a fastening structure of a wheel for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on the instrument holder, the driving force is driven by receiving a driving force from the surgical robot arm Fastening of a wheel including a driving wheel, a matching wheel coupled to the driving wheel, and a matching detecting unit for detecting the matching by detecting an electrical change generated when the driving wheel and the driven wheel are matched. A structure is provided.

Here, the match detection unit may include a light source, change means for changing the light emitted from the light source, and light sensing means for detecting the light changed by the change means when matching the driving wheel and the driven wheel.

Herein, the driving wheel may have a plurality of first electrical contacts, and the driven wheel may have a plurality of second electrical contacts connected to the first electrical contact when the driving wheel is matched with a predetermined electrical resistance therebetween. The unit may be connected to the first electrical contact to measure a resistance value when matching the driving wheel and the driven wheel to detect whether the matching is performed.

In addition, the driven wheel is coupled to a first driven wheel having a plurality of second electrical contacts connected to the first electrical contact when the driving wheel is matched on one surface and connected with a first electrical resistance therebetween, and the other surface of the first driven wheel. And a second driven wheel having a plurality of third electrical contacts connected to the second electrical contact, and a plurality of second connected electrical contacts connected to the third electrical contact and connected between the second driven wheel and the second electrical resistance. And a third driven wheel having four electrical contacts.

Here, the matching detector may detect the matching by sensing the combined resistance value of the first electrical resistance and the second electrical resistance, the protrusion is formed on the driving wheel, the groove corresponding to the protrusion is formed on the driven wheel, The first electrical contact may be formed in the protrusion, and the second electrical contact may be formed in the groove.

In addition, the driving wheel may be formed of a conductor, and the protrusion may include a first protrusion connected to the conductor and a second protrusion insulated from the conductor.

In addition, a groove is formed in the driving wheel, and a protrusion corresponding to the groove is formed in the driven wheel, the first electrical contact is formed in the groove, and the second electrical contact may be formed in the protrusion.

Here, the driven wheel may be formed of a conductor, and the protrusion may include a first protrusion connected to the conductor and a second protrusion insulated from the conductor.

According to another aspect of the present invention, as a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot, and the surgical instrument mounted on the instrument holder, and receives the driving force from the surgical robot arm to drive A driving wheel having a plurality of first unevennesses formed on one surface thereof, a driven wheel having a plurality of second unevennesses that are coupled to correspond to the shape of the first unevenness when matched to the driving wheels, and coupled to one side of the driven wheel, The fastening structure of the wheel is further provided with a magnet arranged in the direction, and a magnetic sensor for detecting the alignment by detecting the direction of the arrangement of the magnet.

The embodiment is coupled to one side of the driven wheel, may further include a storage means for storing the arrangement error information of the magnet, the storage means may be an RFID, the present embodiment also, the arrangement error of the magnet from the RFID Further comprising an RFID reader for receiving information, the surgical robot can correct the error by referring to the array error information when operating the surgical instrument.

Here, the first unevenness and the second unevenness may be fan-shaped unevenness, or the first unevenness and the second unevenness may be any one of a cone, an elliptical cone, and a pyramid, in which case the first unevenness and the second unevenness The bottom of the contact with the bottom of the adjacent concave-convex, and when the driving wheel and the driven wheel is matched, the driving wheel or the driven wheel may be rotated about the axis of one surface so that the first concave-convex is inserted into the second concave-convex.

In addition, the magnetic sensors are located adjacent to each of the first unevenness, the number of magnetic sensors is equal to or less than two different from the number of the first unevenness, the magnet is located in the second unevenness, the number of magnets is the number of magnetic sensors Can be less than

According to another aspect of the present invention, as a fastening structure of the instrument holder formed on the robot arm of the surgical robot and the wheel for fastening the surgical instrument mounted on the instrument holder, the main body and the main body portion is supported on one side A driving wheel having a groove extending in one direction, a driven wheel in which a protrusion corresponding to the groove is formed when the driving wheel is aligned, and formed in the main body, and for aligning the protrusion in one direction when the driven wheel moves in one direction. There is provided a fastening structure of a wheel comprising guide means.

Here, the guide means may be formed in a funnel shape protruding from the main body portion exposed to the driving wheel, the width is reduced corresponding to the moving direction of the driven wheel.

In addition, the protrusion is formed to extend to a portion of the driven wheel, the projection may receive an eccentric rotational force from the guide means when the driven wheel moves in one direction.

In addition, the present embodiment may further include a magnet coupled to the protrusion adjacent to the driving wheel in a plane in which the driven wheel is matched with the driving wheel, and a magnetic sensor for detecting alignment by sensing an arrangement direction of the magnets. Can be.

Here, a second groove may be formed on the other surface where the driven wheel is matched with the driving wheel, the second groove extending by forming a predetermined angle with a direction in which the protrusion extends, and adjacent to the second groove on the other surface of the driven wheel. And a second magnet arranged in a predetermined direction.

According to another aspect of the present invention, the guide means may be a plurality of pin-shaped protruding to the body portion exposed to the driving wheel, the projection is formed extending to a portion of the driven wheel, the driven wheel is moved in one direction In this case, an eccentric rotational force may be transmitted from the guide means so that the projection passes between the plurality of pin-shaped guide means.

According to another aspect of the invention, the fastening structure of the above-described wheel is applied, formed on the surgical robot arm, an instrument holder including a driving wheel may be provided, the fastening structure of the wheel is applied, A surgical instrument may be provided that is mounted to the instrument holder and that includes a driven wheel.

In addition, according to another aspect of the present invention, a sterile adapter to which the above-described fastening structure of the wheel is applied, the body portion having a first surface facing the instrument holder, and a second surface facing the surgical instrument, A first wheel that is supported by the body part and exposed to the first surface, and is matched to a drive wheel formed in the instrument holder, and a second that is supported by the body part and exposed to the second surface, which is matched to the driven wheel formed in the instrument A sterile adapter is provided that includes a wheel.

According to another aspect of the invention, the adapter interposed between the instrument holder formed on the surgical robot arm and the surgical instrument mounted on the instrument holder, by detecting an electrical change that occurs when coupled with the surgical instrument A fastening structure of a medical device including a coupling detecting unit detecting whether the coupling is provided is provided.

The coupling detecting unit may include a light source, change means for changing the light emitted from the light source, and light sensing means for detecting light changed by the change means when the adapter and the surgical instrument are coupled.

In addition, the adapter may have a plurality of third electrical contacts, and the surgical instrument may have a plurality of fourth electrical contacts connected to the third electrical contact when coupled to the adapter and having a predetermined electrical resistance therebetween.

Here, the coupling detector may be connected to the third electrical contact to detect the coupling by measuring a resistance value when the adapter and the surgical instrument are coupled.

In addition, the instrument holder is formed with a plurality of first electrical contacts connected to the coupling sensing unit, and one side of the adapter is connected to the first electrical contact when coupled with the instrument holder, the plurality of second electrical connected between the first electrical resistance A contact is formed, and the other surface of the adapter coupled to the surgical instrument is formed with a plurality of third electrical contacts connected to the second electrical contact, and one surface of the surgical instrument is connected to the third electrical contact when coupled with the other surface of the adapter. And a plurality of fourth electrical contacts to which a second electrical resistance is connected therebetween.

In addition, the coupling detector may be coupled to the instrument holder, and may be connected to the third electrical contact via the first electrical contact and the second electrical contact, and the coupling detector detects a combined resistance value of the first electrical resistance and the second electrical resistance. It can detect whether the combination.

In addition, the adapter is protruding, the surgical instrument is provided with a groove corresponding to the projection, the third electrical contact is formed in the projection, the fourth electrical contact may be formed in the groove, in which case the adapter is a conductor The protrusion may include a first protrusion connected to the conductor and a second protrusion insulated from the conductor.

In addition, the adapter is formed with a groove, the surgical instrument is a projection corresponding to the groove, the third electrical contact is formed in the groove, the fourth electrical contact may be formed in the projection, in this case the surgical instrument is The protrusions, which are formed of a conductor, may include a first protrusion connected to the conductor and a second protrusion insulated from the conductor.

In addition, according to another aspect of the present invention, as a fastening structure of the instrument holder formed on the robot arm of the surgical robot, and the wheel for fastening the surgical instrument mounted to the instrument holder, the main body and the main body A driving wheel supported by the groove and extending in one direction on one surface thereof, a driven wheel having a protrusion corresponding to the groove when mating to the driving wheel, coupled to the main body, and a guide protrusion formed on the surgical instrument There is provided a fastening structure of a wheel including an instrument guide for receiving the guide to move the surgical instrument in a specific direction of travel, and the first elastic means for coupling between the main body and the instrument guide.

The embodiment is formed in the main body portion, when the driven wheel moves in the one direction may further include a guide means for aligning the projection in the one direction, coupled to the main body portion, the surgical instrument The stopper further comprises a stopper to stop the movement in the advancing direction, when the surgical instrument is moved in a direction different from the advancing direction against the elastic force of the first elastic means, the surgical instrument is out of the stopper Can be.

In addition, the present embodiment further comprises a second elastic means for coupling between the stopper and the main body portion, the stopper when the surgical instrument moves in the advancing direction to match the drive wheel Is pressed in the surgical instrument, and the position of the stopper may be restored by the second elastic means when the driven wheel is matched with the driving wheel.

According to still another aspect of the present invention, an instrument holder formed on a robot arm of a surgical robot and a wheel for fastening a surgical instrument mounted on the instrument holder are provided in which a main body and a main body are supported. A driving wheel having a groove extending in one direction on one surface thereof, a driven wheel having a protrusion corresponding to the groove when mating to the driving wheel, coupled to the main body, and accommodating a guide protrusion formed on the surgical instrument And an instrument guide for guiding the surgical instrument to move in a specific direction, and a release lever coupled to the surgical instrument and pushing the instrument guide to release and detach the surgical instrument from the instrument guide. A fastening structure is provided.

Here, the instrument guide can be pivotally coupled to the body portion.

In addition, the present embodiment further includes a stopper coupled to the main body, a stopper for stopping the surgical instrument from moving in the advancing direction, and second elastic means coupled to the stopper and the main body. When the surgical instrument moves in the advancing direction to mate with the driving wheel, the stopper is pressed by the surgical instrument, and when the driven wheel is matched with the driving wheel, the position of the stopper is It can be restored by the second elastic means.

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

The fastening structure of the wheel according to the present invention and the fastening structure of the surgical instrument to detect the alignment and coupling of the wheel and each device using the electrical, magnetic, mechanical characteristics, etc., can accurately align and match the wheel In addition, it is possible to correct an error due to the rotation of the wheel when tightening, and to reduce the volume and cost by detecting whether the plurality of wheels are aligned using one sensor, and to increase the accuracy of sensing. have.

1 is an exploded perspective view showing a sterile adapter according to an embodiment of the present invention.
Figure 2a is a view showing a state in which the sterile adapter is mounted to the instrument holder in accordance with an embodiment of the present invention.
FIG. 2B is a cross sectional view taken along line 'A' of FIG. 2A;
Figure 3a is a view showing a state in which the surgical instrument is mounted to the sterile adapter according to an embodiment of the present invention.
FIG. 3B is a sectional view taken along line 'B' in FIG. 3A.
Figure 4a is a view showing a fastening structure of the wheel for detecting the alignment by the electrical characteristics according to the first embodiment of the present invention.
Figure 4b is a diagram showing the insulating state of the wheel for detecting the alignment by the electrical characteristics according to the first embodiment of the present invention.
5 is a view showing a fastening structure of a wheel for detecting alignment by a magnetic property according to a second embodiment of the present invention.
6A and 6B illustrate a fastening structure of a wheel for detecting alignment by magnetic properties according to a third embodiment of the present invention.
Figure 7a is a perspective view showing a fastening structure of the wheel for aligning the wheel by the mechanical characteristics according to the fourth embodiment of the present invention.
Figure 7b is a front view showing the fastening structure of the wheel for aligning the wheel by the mechanical characteristic according to the fourth embodiment of the present invention.
7C is a view for explaining the principle of aligning the wheel by the mechanical characteristic according to the fourth embodiment of the present invention;
8A is a view illustrating a fastening structure of a wheel for detecting alignment by a magnetic property according to a fifth embodiment of the present invention.
Figure 8b is a perspective view showing a fastening structure of the wheel for detecting the alignment by the magnetic properties according to the fifth embodiment of the present invention.
Figure 9a is a side view showing a fastening structure of the wheel for aligning the wheel by the mechanical characteristics according to the sixth embodiment of the present invention.
Figure 9b is a top view showing the fastening structure of the wheel for aligning the wheel by the mechanical characteristics according to the sixth embodiment of the present invention.
Figure 9c is a cross-sectional view showing a fastening structure of the wheel for aligning the wheel by the mechanical characteristics according to the sixth embodiment of the present invention.
10 is a view showing a fastening structure of a medical device for detecting a coupling by the electrical characteristics according to the seventh embodiment of the present invention.
11A to 11E illustrate a fastening structure of a medical device according to an eighth embodiment of the present invention.
12A to 12D illustrate a fastening structure of a medical device according to a ninth embodiment of the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. In the following description of the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, before describing the preferred embodiments of the present invention in detail, an instrument holder formed on the surgical robot arm, a surgical instrument mounted on the instrument holder, and an adapter interposed therebetween will be described first.

1 is an exploded perspective view showing a sterile adapter according to an embodiment of the present invention. Referring to FIG. 1, a robot arm 1, an instrument holder 3, an instrument 5, a sterile adapter 10, a body portion 12, a first side 14, a second side 17, and a first side A first drive wheel 30, a first wheel 20, a second wheel 24, and a second drive wheel 50 are shown.

The sterile adapter 10 according to the present embodiment is an adapter interposed therebetween in the process of mounting the surgical instrument 5 to the instrument holder 3, and the instrument 5 is inserted using the sterile adapter 10. It is coupled to the instrument holder (3).

Sterile adapter 10 according to the present embodiment is composed of the first wheel 20 and the second wheel 24 exposed on both sides based on the body portion 12, the first, second wheels (20, 24) Are respectively elastically supported by the body portion 12. That is, when the surface facing the instrument holder 3 of the body part 12 is called the 1st surface 14 and the surface facing the instrument 5 is the 2nd surface 17, the 1st wheel 20 Is exposed on the first side 14, the second wheel 24 is exposed on the second side 17, and the first and second wheels 20, 24 are exposed on both sides of the body portion 12. .

Meanwhile, the first wheel 20 and the second wheel 24 are respectively coupled to the body portion 12 via an elastic body ('E' in FIG. 1) such as a spring, and thus, the first and second wheels ( 20, 24 are embedded by an external force, and when the external force is removed, it is returned to its original position by the elastic force. That is, while the first wheel 20 and the second wheel 24 are connected to each other and rotate together, the first wheel 20 and the second wheel 24 are coupled to the body part 12 via a spring or the like, so that the first wheel 20 and the second wheel ( The elastic force is applied in the direction in which 24) pushes each other.

When the sterile adapter 10 according to the present embodiment is mounted on the instrument holder 3, the first surface 14 is in contact with the instrument holder 3 and the first wheel 20 exposed to the first surface 14. Is matched to the first drive wheel 30 formed in the instrument holder 3.

In addition, when the surgical instrument 5 is mounted on the sterile adapter 10, the second surface 17 is in contact with the instrument 5, and the second wheel 24 exposed to the second surface 17 is an instrument ( It is matched with the 2nd drive wheel 50 formed in 5). Hereinafter, the method of coupling the sterile adapter 10 and the instrument holder 3 and the instrument 5 according to the present embodiment will be described in detail.

Figure 2a is a view showing a state in which the sterile adapter according to the embodiment of the present invention is mounted on the instrument holder, Figure 2b is a cross-sectional view of 'A' of Figure 2a, Figure 3a is a surgical according to an embodiment of the present invention FIG. 3B is a view illustrating a state in which an instrument is mounted on a sterile adapter, and FIG. 3B is a cross-sectional view of 'B' of FIG. 3A. 2A to 3B, the instrument holder 3, the instrument 5, the sterile adapter 10, the body portion 12, the first side 14, the second side 17, and the first driving wheel 30, projections 32, 33, first wheel 20, grooves 22, 23, second wheel 24, second drive wheel 50 are shown.

Looking at the coupling method between the sterile adapter 10 and the instrument holder 3, the projection 32 is protruded from the first drive wheel 30 formed in the instrument holder 3, the opposite to the first drive wheel 30 The first wheel 20 is formed with a groove 22 into which the protrusion 32 can be inserted.

As the sterile adapter 10 is mounted to the instrument holder 3, the first driving wheel 30 and the first wheel 20 come into contact with each other, and when the protrusion 32 is inserted into the groove 22, the first The driving wheel 30 and the first wheel 20 will be matched with each other, but when the protrusion 32 is not inserted into the groove 22, the first wheel 20 is pressed by the protrusion 32. Since the first wheel 20 is supported by the sterile adapter 10, when the first wheel 20 is pressed by the protrusion 32, as shown in FIG. 2B, the first wheel 20 is used. Silver is pushed away from the surface (first side 14) of the sterile adapter 10.

As such, when the first driving wheel 30 is rotated from side to side in a state in which the first wheel 20 is inserted by the protrusion 32, the protrusion 32 may be inserted into the groove 22, and thus Accordingly, the state in which the protrusion 32 presses the first wheel 20 is released. As such, as the external force by the protrusion 32 is removed, as shown in FIG. 2B, the first wheel 20 is returned to its original position by the elastic force, whereby the first wheel 20 This first drive wheel 30 is matched.

As such, when the first driving wheel 30 is rotated in a state in which the first wheel 20 is matched to the first driving wheel 30, the first wheel 20 rotates accordingly, thus generated from the robot. The driving force is transmitted to the first wheel 20 through the first driving wheel 30.

Next, looking at the coupling method between the sterile adapter 10 and the surgical instrument (5), the projection 33 is protruded in the second wheel 24, the second drive wheel (opposed to the second wheel 24 ( 50 is formed with a groove 23 into which the projection 33 can be inserted.

As the surgical instrument 5 is mounted on the sterile adapter 10, the second driving wheel 50 and the second wheel 24 come into contact with each other, and when the protrusion 33 is inserted into the groove 23, The second driving wheel 50 and the second wheel 24 will be matched with each other, but if the projection 33 is not inserted into the groove 23, the second driving wheel 50 will press the projection 33 and thereby This causes the second wheel 24 to be pressed. As described above, since the second wheel 24 is supported by the sterile adapter 10, when the second wheel 24 is pressed by the protrusion 33, the second wheel 24 is pressurized as shown in FIG. The wheel 24 is pushed away from the surface (second face 17) of the sterile adapter 10.

When the first driving wheel 30 is rotated to the left and right in the state in which the second wheel 24 is embedded, the first wheel 20 matched to the first driving wheel 30 and the first wheel 20 are connected. The second wheel 24 rotates in conjunction with each other, whereby the protrusion 33 is inserted into the groove 23, and the state in which the second wheel 24 is pressed is released. As such, as the external force is removed, as shown in (b) of FIG. 3B, the second wheel 24 is returned to its original position by the elastic force, whereby the second wheel 24 and the second driving wheel ( 50) matches each other.

As such, when the first driving wheel 30 is rotated while the second driving wheel 50 and the second wheel 24 are aligned, the first wheel 20, the second wheel 24, and the second driving accordingly are rotated accordingly. Since the wheel 50 rotates in conjunction, the driving force generated from the robot is transmitted to the second driving wheel 50 through the first driving wheel 30, the first wheel 20, and the second wheel 24. do.

The second drive wheel 50 may be connected by a wire and an effector coupled to the distal end of the instrument 5. As described above, the driving force is transmitted to the second drive wheel 50 so that the second drive wheel 50 rotates. As a result, the driving force is transmitted to the effector through the wire so that the effector is activated.

In this case, the protrusions 32 and 33 are formed in the first driving wheel 30 and the second wheel 24, and the grooves 22 and 23 are formed in the first wheel 20 and the second driving wheel 50, respectively. Although the matching case has been described, the protrusions and the grooves are not necessarily formed as described above, and the protrusions may be formed on one side of the pair of wheels, and the grooves may be formed on the other side to be matched with each other.

Furthermore, it is not necessary to form a protrusion on one wheel and a groove on another wheel, and various mechanical configurations may be applied to allow a pair of wheels to mate with each other. Of course.

In addition, the fastening structure of the wheel to be described below is a structure in which the first wheel 20, the second wheel 4, the first driving wheel 30, and the second driving wheel 50 are fastened to each other. It is not a structure that only applies to. Of course, the fastening structure of the wheel according to the present embodiment does not necessarily need to be used only for a medical device. Naturally, the embodiments can be applied.

In addition, the body portion represented in the embodiments to be described below means a body to which the wheel is coupled, and may be an instrument holder 3, a surgical instrument 5, the body portion 12 and the like. In addition, the driving wheel and the driven wheel is a word referred to to distinguish the wheel, the first wheel 20, the second wheel 4, the first driving wheel 30, the second driving wheel 50, etc. Can be. In other words, the driving wheel and the driven wheel may refer to the same wheel as a relative concept. For example, the second driving wheel 50 provided in the surgical instrument 5 becomes a driving wheel in terms of driving the above-described effector, and the first driving wheel 30 provided in the instrument holder 3 is The driving wheel may be driven in terms of driving. The source force for driving the drive wheel and the driven wheel can be provided from the surgical robot arm 1.

In addition, as described above, the first wheel 20 and the second wheel 24 has been described with a focus on the case formed of a separate mechanism, the embodiments to be described below are not limited to such a structure, the same structure As described above, the protrusions and the grooves are formed on both surfaces thereof, so that the protrusions and the grooves may be coupled to the first driving wheel 30 and the second driving wheel 50. In addition, the embodiments to be described below will be described based on differences from the embodiments described above.

4A is a view illustrating a fastening structure of a wheel for detecting alignment by electrical characteristics according to the first embodiment of the present invention. Referring to FIG. 4A, the first wheel 20, the grooves 22 and 23, the second wheel 24, the first driving wheel 30, the protrusions 32 and 33, the matching detector 35, and the electric The contacts 43, 44 and the second drive wheel 50 are shown. Description of the structure and function of each wheel to be described below can be applied to wheels having different names.

The fastening structure of the wheel according to the present embodiment has a feature to detect whether the wheel is aligned using an electrical characteristic. That is, when a plurality of wheels are fastened to each other, the electrical contacts are connected to each other to be energized, and the sensor is energized to sense that the wheels are fastened by sensing electrical characteristics that vary.

As described above, the first wheel 20, the second wheel 24, the first driving wheel 30, and the second driving wheel 50 are rotated in different directions, respectively, so that the protrusions formed on the respective wheels when fastened to each other 32 and 33 may not be inserted into the grooves 22 and 23. Therefore, as the protrusions 32 and 33 are inserted into the grooves 22 and 23, a technique for detecting that the wheels are aligned with each other is required. In this embodiment, the technique is used to detect the electrical characteristics.

In this embodiment, by detecting an electrical change that occurs when each wheel is matched with each other, it determines whether the match. Here, a method of detecting an electrical change generated during matching may be implemented in various ways. According to an embodiment of the present invention, it may include a matching detection unit for detecting whether or not by matching the electrical changes generated during the matching of each wheel, the matching detection unit such as an electrical signal, resistance value, current value, voltage value By measuring the electrical change, a match can be detected.

For example, the registration detector may include a light source provided on one surface of one wheel, light sensing means for detecting a change in light of the light source, and a light source provided on one surface of the wheel or another wheel corresponding thereto to change the light characteristics of the light source. The state may include a means of change. The light characteristics of the light source may be changed by reflection, refraction, diffraction, and interference, and the changed light characteristics may be light propagation direction, color, brightness, color coordinate, color temperature, diffraction pattern, interference pattern, and the like. For example, when the change means is a means for reflecting light, in this structure, the light sensing means does not sense the light of the light source when the wheels are not matched with each other and are separated by a predetermined distance, and when the wheels match with each other, The light may be reflected by the reflecting means, and the light sensing means may detect the reflected light to detect that the wheels are matched with each other. Here, the light sensing means may be a photodiode or the like, and the reflecting means may be a mirror or the like.

Hereinafter, a description will be given with respect to a case in which a resistance is coupled to a wheel to sense a match by detecting a change in resistance value. However, as described above, an electromagnetic change due to detection of light or a change in other electromagnetic characteristics is used. Therefore, various methods of detecting the matching may be applied to the present invention. For example, the present embodiment utilizes electromagnetic changes using passive elements, such as changes in resistance, changes in capacitance, changes in inductance, or other active elements. Of course, it is also possible to detect whether the matching using.

First, the coupling relationship between the first wheel 20 and the first driving wheel 30 will be described. The protrusion 32 protruding from the first driving wheel 30 is inserted into the groove 22 formed in the first wheel 20 so that the first driving wheel 30 and the first wheel 20 are fastened to each other. The number of the projections 32 and the grooves 22 may be one or plural, and the formation positions thereof are not particularly limited. In FIG. 4A, two cases will be described.

An electrical contact 43 is formed at one end of the protrusion 32, and an electrical contact 44 is formed at an inner side surface of the groove 22 so that the electrical contact 43 is inserted when the protrusion 32 is inserted into the groove 22. 44 are electrically connected to each other. The position at which the electrical contacts 43 and 44 are formed in the protrusion 32 or the groove 22 is not particularly limited as long as it can be connected to each other. For example, various positions such as an end portion and an intermediate portion of the protrusion 32 are provided. Can be

The electrical contact 43 of each protrusion 32 is connected to the mating sensing unit 35, and the mating sensing unit 35 has the electrical contact 43 of the protrusion 32 being the electrical contact 44 of the groove 22. Detect whether contact with The match detector 35 may be a device that outputs current state information by receiving and interpreting an electrical signal.

For example, the match detector 35 may determine whether the electrical contacts 43 and 44 are in contact by measuring a resistance value and analyzing the measured resistance value. That is, in the state shown in FIG. 4A, since the electrical contacts 43 of the protrusion 32 are spaced apart from each other, the resistance value measured by the matching detector 35 becomes infinity (∞). However, when the protrusion 32 is inserted into the groove 22 and the electrical contacts 43 and 44 contact each other, the resistance value measured by the matching detector 35 is measured by the electrical contact 44 formed in the groove 22. It becomes the resistance value of the first resistor R1 connected therebetween.

Accordingly, the match detector 35 may determine whether the electrical contacts 43 and 44 are in contact by comparing the measured resistance values with each other or with the resistance values in a non-contact state. Here, the case in which the matching detection unit 35 detects the resistance by detecting the resistance value has been described, but in the case where the contact is determined by measuring other electrical characteristics, for example, a current value and a voltage value. Of course, it can be applied to the present invention. Therefore, the match detector 35 may be any one or more of a resistance meter, a current meter, and a voltage meter. The determination result may be output by predetermined means, for example, sound, light, tremor, or the like, or may be used as information for starting the normal operation of the robot arm 1.

Next, the coupling relationship of the 2nd wheel 24 and the 2nd drive wheel 50 is demonstrated. The protrusion 33 protruding from the second wheel 24 is inserted into the groove 23 formed in the second driving wheel 50 so that the second wheel 24 and the second driving wheel 50 are fastened to each other. An electrical contact 43 is formed at one end of the protrusion 33, and an electrical contact 44 is formed at an inner side surface of the groove 23 so that the protrusion 33 and the protrusion 33 are inserted into the groove 23. The two electrical contacts 43, 44 of the groove 23 are electrically connected to each other.

In this case, the two electrical contacts 43 and 44 of the protrusion 32 and the groove 22 and the two electrical contacts 43 and 44 of the protrusion 33 and the groove 23 come into contact with each other, thereby providing a circuit having a new synthetic resistance. Is formed. That is, the first resistor R1 connected between the two electrical contacts 43 of the groove 22 and the second resistor R2 connected between the two electrical contacts 43 of the groove 23 are connected in parallel to each other, thereby forming a new synthetic resistor. The value R is calculated as follows.

(1)

(One)

In this case, the match detector 35 may detect the synthetic resistance value R to detect that the instrument holder 3, the sterile adapter 10, and the surgical instrument 5 are normally fastened to each other.

In this case, since the resistance value R1 when the protrusion 32 is inserted into the groove 22 and the resistance value R when the protrusion 33 and the groove 23 are inserted together are different from each other, The match detection unit 35 may measure the fastening state of each wheel by using the match detection unit 35. For example, when R1 is 100Ω and R2 is 0Ω, when only two electrical contacts 43 and 44 of the protrusion 32 and the groove 22 are in contact, the resistance detector 35 measures the resistance value to be 100Ω. to be. However, in this state, when the two electrical contacts 43 and 44 of the protrusion 33 and the groove 23 also come into contact with each other, the resistance value measured by the matching detector 35 is 0Ω. Therefore, the use of these electrical characteristics has the advantage that it is possible to more accurately detect the fastening state of each wheel.

Here, although the first driving wheel 30, the first wheel 20, the second wheel 24 and the second driving wheel 50 are described by the corresponding names, respectively, the driving wheel, the first driven wheel, the first driving wheel It can of course be referred to as being referred to as a second driven wheel and a third driven wheel.

4B is a diagram illustrating an insulation state of a wheel that detects alignment due to electrical characteristics according to the first embodiment of the present invention. Referring to FIG. 4B, the first driving wheel 30, the protrusions 32 and 32 ′, the electrical contacts 43 and 43 ′, and the matching detector 35 are shown.

This embodiment is a technique for specifying a structure for insulating the projections 32, 32 'from each other when the first drive wheel 30 is formed of a conductor such as steel. The open outer surface of the first driving wheel 30 is formed entirely of a conductor, and a protrusion 32 'protruding from one surface is formed. On the open outer surface of the first drive wheel 30, holes are drilled corresponding to the protrusions 32, and the protrusions 32 are inserted into the holes to expose the electrical contacts 43. Therefore, even when the first driving wheel 30 is formed of a conductor, the electrical contacts 43 and 43 'may be kept insulated from each other.

5 is a diagram illustrating a fastening structure of a wheel for detecting alignment by a magnetic property according to a second embodiment of the present invention. 5, the instrument holder 3, the surgical instrument 5, the first driving wheel 30, the magnetic sensor 37, the second driving wheel 50, the magnet 56, and the storage means 58. ) Is shown.

The fastening structure of the wheel according to the present embodiment has a feature to detect whether the wheel is aligned using magnetic properties. That is, when a plurality of wheels are fastened to each other, it is possible to detect whether the wheels are fastened and whether they are normally aligned by detecting an alignment direction of the magnets attached to a specific wheel.

Each surface where the first driving wheel 30 and the second driving wheel 50 are coupled to each other is formed with a predetermined unevenness, which may be referred to as first unevenness and second unevenness, respectively. The first unevenness formed on one surface of the first driving wheel 30 is combined with the unevenness formed in the second driving wheel 50 so that the first driving wheel 30 and the second driving wheel 50 are fastened to each other. do.

Here, the first unevenness and the second unevenness may be fan-shaped unevenness. As shown in the figure, fan-shaped irregularities may be radially extended from the center portion to be irregularities in which irregularities and iron are alternately formed. The first driving wheel 30 and the second driving wheel 50 may be coupled to each other irrespective of the degree of rotation by such a flat fan-shaped unevenness. That is, since a plurality of concave-convex concavities and convexities are formed alternately, concave and convex coupling is possible even if one wheel is engaged with each other while maintaining a predetermined angle.

The magnet 56 is arranged and attached to one surface of the second driving wheel 50 in a predetermined direction. The magnetic sensor 37 provided on the side of the first driving wheel 30 senses a magnetic characteristic of the magnet 56 and senses an arrangement state thereof. Here, the case in which the magnet 56 and the magnetic sensor 37 are located at the center of each surface of the second driving wheel 50 and the first driving wheel 30 is illustrated, but the present invention is not limited to this specific position. Of course, if the magnetic sensor 37 is a position that can sense the arrangement of the magnet 56 is of course applicable to the present invention.

The magnetic sensor 37 may determine the degree of rotation of the second driving wheel 50 by sensing the polarities (N pole and S pole) of the magnet 56. For example, in the initial setting state of the second driving wheel 50, the magnet 56 has the N pole and the S pole arranged vertically or horizontally to a predetermined reference line, and as described above, the second driving wheel 50 is Since it can be combined with the first driving wheel 30 even in a state rotated at a predetermined angle, the magnetic sensor 37 can measure the rotation angle of the magnet 56 to detect the degree of rotation of the second driving wheel 50. Can be.

The detected rotation angle of the second driving wheel 50 is referred to when the robot arm 1 operates, and the operation of the second driving wheel 50 may be corrected. For example, a state in which a pair of jaws provided in the effector is engaged with each other is an initial setting state, and the second driving wheel 50 coupled to the effector in this state with a wire does not rotate, and the magnet 56 Assuming that the second driving wheel 50 is rotated at a predetermined angle when the second driving wheel 50 is fastened to the first driving wheel 30 when it is arranged to be parallel to the edge of the surgical instrument 5, The sensor 37 detects the rotation angle to know the state information of the effector, and by correcting the state information, precise control of the effector is possible.

On the other hand, when the magnet 56 is initially attached to the second driving wheel 50 in a normal state without error, the second driving wheel 50 by measuring the rotation angle of the magnet 56 as described above Although it is reasonable to derive the rotation information of, the rotation information derivation procedure becomes meaningless when the magnet 56 is attached with a predetermined arrangement error when the magnet 56 is attached to the second driving wheel 50 during manufacturing. Therefore, after the magnet 56 is attached to the second drive wheel 50, it is necessary to measure whether the polarity is arranged and attached in a normal state, and store the measured information to utilize the measured information in actual use.

The storage means 58 stores the error information for this arrangement of the magnets 56. That is, the magnet 56 is attached to or formed on one surface of the second driving wheel 50 in the manufacture of the surgical instrument 5, and then the error information is generated by measuring the arrangement state of the polarity thereof, and the storage means 58. Store in The storage means 58 may be utilized as a medium for storing unique information of each surgical instrument 5 attached to one side of the surgical instrument 5. Here, the storage means 58 may be a medium capable of storing information, such as RFID.

On the instrument holder 3 side there is provided a reader of the storage means 58, for example an RFID reader (not shown). The RFID reader receives the array error information of the magnet 56 from the storage means 58 and transmits it to the control unit of the robot arm 1 or stores it in a predetermined storage unit, and the control unit of the robot arm 1 is used for surgery. The operation of the surgical instrument 5 is corrected by correcting the error with reference to the array error information when the instrument 5 is operated. For example, when the storage means 58 stores the arrangement error information indicating that the magnet 56 is attached by rotating it by 5 degrees, the controller of the robot arm 1 refers to such arrangement error information and corrects it by -5 degrees. By controlling the operation of the surgical instrument (5).

6A and 6B are diagrams illustrating a fastening structure of a wheel for detecting alignment due to a magnetic property according to a third embodiment of the present invention. 6A and 6B, the instrument holder 3, the surgical instrument 5, the groove 23, the first driving wheel 30, the protrusion 32, the magnetic sensor 37, and the second driving wheel 50, the magnet 56 is shown. The differences from the above will be explained mainly.

The fastening structure of the wheel according to the present embodiment detects whether the wheel is aligned using the magnetic characteristics as described above, but specifies the number of the projections 32 to determine the rotation angle when the second driving wheel 50 is fastened. By limiting, there is a feature that can reduce the error of wheel alignment.

A plurality of protrusions 32 are formed on an open surface of the first drive wheel 30, and a groove 23 having a shape into which the protrusions 32 can be inserted is formed on the open surface of the second drive wheel 50. Here, the protrusion 32 may be the above-mentioned first unevenness, and the groove 23 may be the above-mentioned second unevenness.

The protrusions 32 formed on the first driving wheel 30 may be cones, ellipses, pyramids (polygons) having a longitudinal section, a circle, an ellipse (including some curves), a polygon, and the like. Each protrusion 32 formed of a cone, an elliptic cone, a pyramid, or the like may be inserted into the groove 23 of the second driving wheel 50 by contacting the bottom surface of the adjacent protrusion 32 regardless of the degree of rotation of the wheel. .

For example, when four projections 32 having the same shape and size are formed in contact with the adjacent projection 32 and the bottom of each other and in contact with the edge of the open surface of the first driving wheel 30, the second The maximum error angle due to rotation when matched with the first drive wheel 30 in the initial setting state of the drive wheel 50 is 45 degrees (-45 to +45 degrees). That is, when the cutting edge 32 is facing the point where the groove 23 and the groove 23 meet each other, the second driving wheel 50 is rotated by up to 45 degrees to match the first driving wheel 30. do.

Therefore, according to this embodiment, there is a feature that can limit the error range by the rotation of the second drive wheel 50 within a specific range. This error range may be determined corresponding to the number of protrusions 32. For example, if the number of the projections 32 is 5, the error angle is 36 degrees (-36 to +36 degrees). If the number of the projections 32 is N, the error angle is (180 / N) degrees (-(180). / N) to + (180 / N) degrees). Of course, the above description has been made on the assumption that the sizes and shapes of the protrusions 32 are the same, but the embodiment is not limited to this structure, and the sizes and shapes of the protrusions 32 may be implemented differently.

Magnets 56 are arranged and attached to the second driving wheel 50 in a predetermined direction, and the first driving wheel 30 is provided with a magnetic sensor 37 for sensing the magnets 56. The number and coupling positions of the magnetic sensors 37 may be determined corresponding to the coupling positions of the magnets 56. For example, as shown in the drawing, when the magnet 56 is provided in one groove 23 of the second driving wheel 50, the magnetic sensor 37 may include four protrusions formed in the first driving wheel 30. 32 may be provided respectively. In addition, the magnet 56 may be provided on the second driving wheel 50 outside the groove 23, and the magnetic sensor 37 may be attached to the first driving wheel 30 outside the protrusion 32. Alternatively, one side of the instrument holder 3 may be provided at, for example, four corners (see FIG. 6B).

Here, the number of the magnetic sensors 37 may be equal to the number of the protrusions 32 or the difference in the number thereof may be 2 or less, and the number of the magnets 56 may be smaller than the number of the magnetic sensors. When the first driving wheel 30 and the second driving wheel 50 are matched with each other, the magnetic sensor 37 detects a magnetic field of the magnet 56 to detect the position of the magnet 56, its alignment direction, and whether or not it is matched. can do.

7a and 7b are a perspective view and a front view showing a fastening structure of the wheel for aligning the wheel by the mechanical characteristic according to the fourth embodiment of the present invention, Figure 7c is a mechanical according to a fourth embodiment of the present invention It is a figure explaining the principle of aligning wheels by characteristics. 7A to 7C, a surgical instrument 5, a sterile adapter 10, a body portion 12, a first plate 15, a second plate 18, a groove 23, and a second wheel 24, guide means 25, alignment grooves 27, alignment protrusions 28, protrusions 33, and second drive wheels 50 are shown.

The fastening structure of the wheel according to the present embodiment is characterized by aligning the wheel to be fastened using mechanical characteristics. That is, according to the present embodiment, the wheels may be aligned by aligning the protrusions formed on the wheels to be fastened in the direction in which the grooves to be inserted are formed.

Referring to FIG. 7A, the funnel-shaped guide means 25 protrudes from the above-described sterile adapter 10. Here, the description will be made with respect to the sterile adapter 10, but as described above, the structure according to the present embodiment may also be implemented in the instrument holder 3 and the surgical instrument 5, which may be collectively referred to as a main body.

Guide means 25 is formed on one side of the sterile adapter 10 in the direction in which the surgical instrument (5) is inserted in a sliding manner, the width toward the second wheel 24 may be a shape that narrows. . The protrusion 33 and the groove 23 extend in one direction, and the shape of the groove 23 may be a shape in which the protrusion 33 may be matched.

7B and 7C, when the surgical instrument 5 is inserted in the sliding manner, the protrusion 33 formed on the second driving wheel 50 is provided with an eccentric rotational force by the guide means 25. It is aligned corresponding to the direction of the groove 23 formed in the wheel 24.

Here, when the instrument 5 is mounted in the sterile adapter 10 in a sliding manner, in order to ensure that the instrument 5 is mounted at the correct position on the sterile adapter 10, the instrument 5 according to the present embodiment is aligned. (align) means can be formed. That is, as shown in FIG. 7B, when the alignment groove 27 is recessed and formed at the end of the instrument 5, the alignment protrusion may be matched to the alignment groove 27 at one end of the second plate 18. 28) can rush.

When the instrument 5 is mounted on the sterile adapter 10 by sliding the instrument 5 as shown in FIG. 7B, the instrument 5 is moved and mounted until the alignment protrusion 28 is aligned with the alignment groove 27. (5) can be aligned in the correct position. Since the alignment groove 27 and the alignment protrusion 28 according to the present embodiment serve to align the instrument 5 to be mounted to the sterile adapter 10 at a predetermined position, the alignment groove 27 and the alignment protrusion ( 28) It can be manufactured precisely so that play does not occur between them.

Referring to FIG. 7C, the protrusion 33 formed on the second driving wheel 50 may be eccentrically protruded from a portion of the second driving wheel 50. Since the center of a certain object is biased to one side so that the centers are not aligned with each other, when the protrusion 33 passes through the guide means 25 while the protrusion 33 is rotated, the protrusion 33 is one of both wings of the guide means 25. It is rotated by drag caused by one of the wings.

Since the width of one end of the guide means 25 is wide and the width of the other end in the direction of the second wheel 24 is small, the above-mentioned drag acts as an eccentric rotational force on the protrusion 33 so that the protrusion 33 is inserted into the groove 23. Rotate as much as possible. In this case, the inner width of the other end of the guide means 25 may be wide enough to be the same as or substantially similar to the width of the groove 23. According to the present embodiment, the projection 33 is rotated by the eccentric rotational force provided by the guide means 25, and the second driving wheel 50 is rotated correspondingly, so that the second driving wheel 50 is initially set. Can be mated to the second wheel 24.

8A is a view illustrating a fastening structure of a wheel for detecting alignment by magnetic properties according to a fifth embodiment of the present invention, and FIG. 8B illustrates alignment by magnetic properties according to a fifth embodiment of the present invention. It is a perspective view showing the fastening structure of the wheel for sensing. 8A and 8B, a robot arm 1, an instrument holder 3, a surgical instrument 5, a sterile adapter 10, a body 12, a first face 14, a second face 17, the first wheel 20, the grooves 22 and 23, the second wheel 24, the first driving wheel 30, the projections 32 and 33, the magnetic sensor 37, the magnet 41, 42, 56, a second drive wheel 50 is shown.

The fastening structure of the wheel according to the present embodiment has a feature of detecting whether the wheel is aligned using magnetic characteristics, but detecting whether the plurality of wheels are aligned using one magnetic sensor 37. That is, the protrusions 32 and the grooves 23 formed on both surfaces of the first wheel 20 and the second wheel 24 that do not face each other are rotated by 90 degrees. One magnetic sensor 37 may be used to detect whether the first driving wheel 30, the first wheel 20, the second wheel 24, and the second driving wheel 50 are aligned. The angle formed by the extension direction of the protrusion 32 and the groove 23 may be 90 degrees, 180 degrees, and other specific angles, which will be described below with reference to 90.

In addition, although it demonstrates centering | focusing on the case where the 1st wheel 20 and the 2nd wheel 24 differ from each other, this embodiment is not limited to this structure, For example, protrusion on one surface of one wheel ( 32 and the magnet 41 is formed, the groove 23 and the magnet 42 is formed on the other surface can also be operated in the same principle as described.

Looking at the fastening order and alignment detection order of the wheel, first, the first driving wheel 30 and the first wheel 20 is matched and fastened, the magnetic sensor 37 detects the magnet 41 to the first wheel ( 20) determine whether or not normal alignment. Then, by rotating the first drive wheel 30 by 90 degrees to rotate the first wheel 20 and the second wheel 24 coupled thereto by 90 degrees, the magnetic sensor 37 to the second wheel 24 As described above, by rotating the magnet 42 attached to the magnet 41 by a specific angle, the degree of rotation and the degree of alignment may be detected. Thereafter, the second driving wheel 50 is matched to the second wheel 24, and the magnetic sensor 37 senses the magnet 56 attached to the second driving wheel 50 so that the second driving wheel 50 may be moved. You can check the alignment. Here, one of the magnet 42 of the second wheel 24 and the magnet 56 attached to the second driving wheel 50 may not be attached, in which case the magnetic sensor 37 is attached Only one magnet may be sensed to measure an alignment state of the second driving wheel 50.

According to this structure, since the alignment state of the plurality of wheels can be sensed by one magnetic sensor 37, there is an effect of reducing the volume and cost, and also when the width of the sterile adapter 10 is reduced, This has the advantage of increasing accuracy.

9A to 9C are side, top and cross-sectional views illustrating a fastening structure of a wheel for aligning wheels by mechanical characteristics according to a sixth embodiment of the present invention. 9A to 9C, a surgical instrument 5, a sterile adapter 10, a groove 23, a second wheel 24, a protrusion 33, a second driving wheel 50, and a pulley 55, the guide pin 61 is shown. The differences from the above will be explained mainly.

The fastening structure of the wheel according to the present embodiment is characterized by aligning the wheel to be fastened by using different mechanical characteristics from those described above. That is, according to the present exemplary embodiment, the wheels may be aligned by aligning the aforementioned guide means in the direction in which the grooves into which the protrusions to be inserted are formed using the guide pins having the pin shape are formed.

9A and 9B, which are cross-sectional views taken along the direction A of FIG. 9A and FIG. 9A, in FIG. ) Is formed with a guide pin 61 for rotating the protrusion 33 of the second drive wheel 50 to be inserted into the groove 23 of the second wheel 24. The guide pins 61 may be formed in plural on both sides such that the protrusions 33 of the second driving wheel 50 may pass therebetween, and the width between the guide pins 61 is substantially equal to the width of the protrusions 33. By the same or greater than, it can be as wide as the projection 33 can pass between. The pulley 55 controls the movement of the shaft, effector, etc. of the surgical instrument 5 by rotating by the rotation of the second drive wheel 50.

Referring to the enlarged part C in FIG. 9B, the protrusion 33 formed on the second driving wheel 50 is eccentrically protruded from a portion of the second driving wheel 50. As described above, since the center of a certain object is biased to one side and the centers are not aligned with each other, when the protrusion 33 passes through the guide pin 61 in the rotated state, the protrusion 33 is a guide pin 61. It is rotated by the drag generated when it hits. When the width between the guide pins 61 is wide enough to be the same as or substantially similar to the width of the projection 33, the projection 33 rotates in a state capable of being inserted into the groove 23.

According to the present embodiment, as described above, the protrusion 33 rotates by the eccentric rotational force provided by the guide pin 61, and the second driving wheel 50 rotates correspondingly to the second driving wheel 50. Can be matched to the second wheel 24 in its initial set state.

FIG. 10 is a view illustrating a fastening structure of a medical device that detects a coupling by an electrical property according to a seventh embodiment of the present invention. Referring to FIG. 10, the instrument holder 3, the surgical instrument 5, the sterile adapter 10, the first wheel 20, the second wheel 24, the first drive wheel 30, and the second drive The wheel 50, the electrical contacts 63, 64, and the engagement detector 65 are shown.

The fastening structure of the medical device according to the present embodiment has a feature of detecting whether the medical device is coupled using an electrical property. That is, by detecting the electrical change generated when a plurality of medical devices are fastened to each other, such as the fastening structure of the wheel described above, it is possible to determine whether the coupling.

The present embodiment may detect whether the medical device is fastened by using the above-described technique of detecting whether the wheel is matched by detecting the electrical change. Therefore, the contents of the above-described embodiments can be applied mutatis mutandis to the present embodiment, and the specific fastening structure may be changed by differentiation of each structure and function. In other words, the descriptions of the wheel, the matching detector, and the like in the above-described embodiment are applicable to the medical device and the coupling detecting unit in the present embodiment, respectively. Hereinafter, the differences from the above description will be mainly described.

The medical device according to the present embodiment may be an instrument holder 3, a surgical instrument 5, a sterile adapter 10, or the like. In addition, the embodiment may be applied to a coupling structure of various other types of medical devices operating in combination with each other.

Referring to FIG. 10, the instrument holder 3, the sterile adapter 10, and the surgical instrument 5 are coupled in order. Since three medical devices are combined, the coupling surface becomes four surfaces, which is referred to as one surface of the instrument holder 3, one surface and the other surface of the sterile adapter 10, and one surface of the surgical instrument 5.

A plurality of first electrical contacts 63 are formed on one surface of the instrument holder 3, and a plurality of second electrical contacts 64 are formed on one surface of the sterile adapter 10 that is coupled to one surface of the instrument holder 3. A plurality of third electrical contacts 63 are formed on the other surface of the sterile adapter 10, and a plurality of fourth electrical contacts 64 are formed on one surface of the surgical instrument 5 that is coupled to the other surface of the sterile adapter 10. ) Is formed. The position where each electrical contact 63, 64 is formed in each surface is not specifically limited, It may be formed in the position which can be electrically connected with each other.

As described above, when the instrument holder 3 and the sterile adapter 10 are coupled, the respective electrical contacts 63 and 64 are connected. When the sterile adapter 10 and the surgical instrument 5 are coupled, the respective electrical contacts 63 are combined. , 64 are connected, so that different circuits are configured according to the coupling object, and the total resistance value is changed by the resistors R3 and R4, and the coupling detection unit 65 provided on the instrument holder 3 side is connected to this. The resistance value can be measured to detect the coupling of each medical device. By using the above-described method, as well as detecting the fastening of the instrument holder 3, the sterile adapter 10 and the surgical instrument 5, it is also possible to detect the fastening of each of the driving wheel and the driven wheel described above.

11A to 11E are diagrams illustrating a fastening structure of a medical device according to an eighth embodiment of the present invention. More specifically, FIG. 11A is a perspective view of the surgical instrument 5, FIG. 11B is a perspective view of the sterile adapter 10, and FIG. 11C is a side view of a state in which the surgical instrument 5 and the sterile adapter 10 are coupled. 11D is a front view of a state in which the surgical instrument 5 and the sterile adapter 10 are coupled, and FIG. 11E is a cross-sectional view taken along line CC of FIG. 11D. 11A to 11E, a surgical instrument 5, a sterile adapter 10, a first elastic means 11, a guide groove 16, an instrument guide 19, a stopper 29, a guide protrusion ( 59, the guide pin 61 is shown. The difference from the above-described embodiment will be mainly described.

This embodiment proposes a structure in which a wheel can be stably coupled to a wheel fastening structure, and a user can easily detach the wheel. That is, the present embodiment, by providing a guide and a stopper in the traveling direction of the wheel-mounted medical device can be moved and coupled to the wheel stably and easily, and can be variously implemented in the direction of detachment by using elastic means during detachment. There is a characteristic. Herein, a state in which the surgical instrument 5 and the sterile adapter 10 are coupled will be described. However, the present embodiment is a case where the sterile adapter 10 and the instrument holder 3 are coupled, and / or the surgical instrument 5 and Of course, it can be applied to the case where the instrument holder 3 is coupled.

The guide protrusion 59 of the surgical instrument 5 moves along the guide groove 16 formed inside the instrument guide 19 to couple the wheels to each other. Referring to FIG. 11C, the surgical instrument 5 moves in the opposite direction of B while the guide protrusion 59 is accommodated in the guide groove 16 to engage the sterile adapter 10. In this case, when the wheel of the surgical instrument 5 and the wheel of the sterile adapter 10 is matched, the stopper 29 serves to prevent the surgical instrument 5 from moving in the B direction.

When detaching the surgical instrument (5), the user can use a two-stage detachment structure for moving the surgical instrument (5) in the A direction and then in the B direction. That is, in the state where the guide protrusion 59 of the surgical instrument 5 is accommodated in the guide groove 16, the surgical instrument 5 is moved in the A direction so that the surgical instrument 5 leaves the stopper 29. Thereafter, the guide protrusion 59 may be moved along the guide groove 16 in the opposite direction to the progress direction when the guide instrument 59 is coupled, thereby separating the surgical instrument 5 from the sterile adapter 10.

Referring to FIG. 11E, the instrument guide 19 couples the body portion of the sterile adapter 10 and the first elastic means 11 through the medium, so that the instrument guide 19 moves in the A direction again in the opposite direction of the A direction. An elastic force may be applied from the first elastic means 11 to move. Here, the first elastic means 11 may be a spring.

In addition, according to the present embodiment, the stopper 29 may be coupled to the body portion of the sterile adapter 10 and the second elastic means. The second elastic means applies an elastic force to the stopper 29 to add a force to restore it to its original state when the stopper 29 is pressed. That is, when the surgical instrument 5 moves in the reverse direction of the B direction, the stopper 29 is pressed, and when the surgical instrument 5 reaches the mating position of the wheel, the stopper 29 is a surgical instrument 5 ) Is restored to prevent movement in the B direction. In this state, the user can press the stopper 29 and move the surgical instrument 5 in the B direction to detach the surgical instrument 5 from the sterile adapter 10.

12A to 12D are diagrams illustrating a fastening structure of a medical device according to a ninth embodiment of the present invention. More specifically, FIG. 12A is a perspective view of a surgical instrument 5 and a sterile adapter 10 coupled, FIG. 12B is a perspective view of a surgical instrument 5, and FIG. 12C is a front view of the sterile adapter 10. 12D is a cross-sectional view taken along the line CC of FIG. 12C. 12A to 12D, surgical instrument 5, sterile adapter 10, release lever 13, instrument guide 19, second wheel 24, push means 26, stopper 29 ), Projection 33, second drive wheel 50, guide pin 61, and electrical contact 63 are shown. The difference from the above-described embodiment will be mainly described.

The present embodiment proposes a structure in which a user can easily detach the wheel by using a lever in the fastening structure of the wheel. That is, in the present embodiment, when the wheel is attached and detached, the instrument guide 19 is pushed by the release lever 13 so that the guide protrusion 59 exits the guide groove 16 and the surgical instrument 5 is sterilized. ) Is a feature that allows easy separation from.

Referring to FIG. 12B, the release lever 13 is attached to the surgical instrument 5 and has a structure in which the other end protrudes when the user presses it. Here, the other end of the release lever 13 may be referred to as the push means 26. Referring to FIG. 12A, when the release lever 13 is pressed, the push means 26 may push the instrument guide 19 to rotate the instrument guide 19 about the A axis. When the instrument guide 19 is rotated, the above-described guide protrusion 59 is separated from the guide groove 16 so that the user moves the instrument 5 in a direction irrelevant to the direction in which the guide groove 16 is formed, thereby sterilizing it. Can be separated from (10).

12D, the above-described electrical contact 63 and the resistor R3 are formed at one end of the sterile adapter 10, so that the surgical instrument 5 is fastened to the sterile adapter 10 in an operable state. In this case it can be used to detect whether the fastening. That is, when the instrument 5 is fastened to the sterile adapter 10, the electrical contact 63 is electrically coupled with the electrical contact 64 described above, and the coupling detection unit 65 measures the changed resistance value for each medical treatment. It can detect whether the device is connected.

In this case, as described above, the stopper 29 and the second elastic means can be used to separate and couple the surgical instrument 5 and the sterile adapter 10. That is, as described above, when the surgical instrument 5 moves in the reverse direction of the B direction, the stopper 29 is pressed, and when the surgical instrument 5 reaches the mating position of the wheel, the stopper 29 is operated. The instrument 5 is restored to prevent movement in the B direction, and in this state, the user presses the stopper 29 and moves the surgical instrument 5 in the B direction to move the surgical instrument 5 to the sterile adapter ( 10).

Those skilled in the art will appreciate that various modifications and changes can be made in the present invention without departing from the spirit and scope of the invention as set forth in the claims below.

1: Robot Arm 3: Instrument Holder
5: instrument 10: sterile adapter
11: first elastic means 12: body portion
13 release lever 14 first surface
15: first plate 16: guide groove
17: second surface 18: second plate
19: Instrument guide 20: First wheel
22, 23: groove 24: second wheel
25: guide means 26: push means
27: alignment groove 28: alignment protrusion
29: stopper 30: first drive wheel
32, 33: projection 35: registration detection unit
37: magnetic sensor 41, 42, 56: magnet
43, 44: electrical contact 50: second drive wheel
55 pulley 58 storage means
59: guide protrusion 61: guide pin
63, 64: electrical contact 65: coupling detector

Claims (50)

As a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot and the surgical instrument mounted to the instrument holder,
A driving wheel for receiving and driving a driving force from the surgical robot arm;
A driven wheel that is matched to the drive wheel;
Coupled to the driving wheel or the driven wheel, the fastening structure of the wheel including a registration detecting unit for detecting whether or not by detecting an electrical change generated during the registration of the driving wheel and the driven wheel.
The method of claim 1,
The match detection unit,
A light source;
Changing means for changing the light emitted from the light source;
And a light sensing means for sensing the light changed by the changing means when the driving wheel and the driven wheel are matched.
The method of claim 1,
The driving wheel has a plurality of first electrical contacts, and the driven wheel has a plurality of second electrical contacts connected to the first electrical contact when the driving wheel is matched with a predetermined electrical resistance therebetween. Fastening structure of the wheel.
The method of claim 3,
The mating detecting unit is connected to the first electrical contact, the fastening structure of the wheel, characterized in that for detecting the matching by measuring the resistance value when the driving wheel and the driven wheel.
The method of claim 4, wherein
The driven wheel,
A first driven wheel having a plurality of second electrical contacts connected to the first electrical contact and connected to the first electrical contact when mated with the driving wheel;
A second driven wheel coupled to the other surface of the first driven wheel and having a plurality of third electrical contacts connected to the second electrical contact;
And a third driven wheel having a plurality of fourth electrical contacts connected to the third electrical contact and connected to the third electrical contact when the second driven wheel is matched on one surface thereof.
The method of claim 5,
The match detection unit is a fastening structure of the wheel, characterized in that for detecting the match by sensing the combined resistance value of the first electrical resistance and the second electrical resistance.
The method of claim 3,
A protrusion is formed on the driving wheel, a groove corresponding to the protrusion is formed on the driven wheel, the first electrical contact is formed on the protrusion, and the second electrical contact is formed on the groove. Fastening structure of the wheel.
The method of claim 7, wherein
The driving wheel is formed of a conductor, the protrusion is,
A first protrusion connected to the conductor;
And a second protrusion insulated from the conductor.
The method of claim 3,
A groove is formed in the driving wheel, a protrusion corresponding to the groove is protruded from the driven wheel, the first electrical contact is formed in the groove, and the second electrical contact is formed in the protrusion. Fastening structure of the wheel.
10. The method of claim 9,
The driven wheel is formed of a conductor, and the protrusion is
A first protrusion connected to the conductor;
And a second protrusion insulated from the conductor.
As a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot and the surgical instrument mounted to the instrument holder,
A driving wheel driven by receiving a driving force from the surgical robot arm and having a plurality of first unevennesses formed on one surface thereof;
A driven wheel having a plurality of second unevennesses corresponding to the shape of the first unevenness when mated to the driving wheel;
A magnet coupled to one side of the driven wheel and arranged in a predetermined direction;
Fastening structure of the wheel further comprises a magnetic sensor for detecting the alignment by sensing the direction of the magnet arrangement.
The method of claim 11,
Is coupled to one side of the driven wheel, the fastening structure of the wheel further comprises a storage means for storing the array error information of the magnet.
The method of claim 12,
The fastening structure of the wheel, characterized in that the storage means is RFID.
The method of claim 13,
Further comprising an RFID reader for receiving the array error information of the magnet from the RFID,
The surgical robot is a fastening structure of the wheel, characterized in that for correcting the error with reference to the array error information when the operation of the surgical instrument.
The method of claim 11,
The first concave-convex and the second concave-convex wheel fastening structure, characterized in that the fan-shaped concave-convex.
The method of claim 11,
The first unevenness and the second unevenness is a fastening structure of the wheel, characterized in that the shape of any one of a cone, an elliptical cone and a pyramid.
The method of claim 16,
A bottom structure of the first unevenness and the second unevenness is in contact with the bottom surface of the adjacent unevenness.
The method of claim 17,
And the driving wheel or the driven wheel rotates around the normal of the one surface such that the first unevenness is inserted into the second unevenness when the driving wheel and the driven wheel are matched with each other.
The method of claim 16,
The magnetic sensor is located adjacent to each of the first unevenness, the number of the magnetic sensor is a surgical instrument, characterized in that the same or less than or equal to the number of the first unevenness.
The method of claim 19,
The magnet is positioned in the second unevenness, the number of the magnet is a surgical instrument, characterized in that less than the number of the magnetic sensor.
As a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot and the surgical instrument mounted to the instrument holder,
A main body;
A driving wheel supported by the main body and having a groove extending in one direction on one surface thereof;
A driven wheel having projections corresponding to the grooves when the driving wheels are matched;
The fastening structure of the wheel is formed in the main body, comprising a guide means for aligning the projection in the one direction when the driven wheel moves in the one direction.
The method of claim 21,
The guide means is a fastening structure of the wheel, characterized in that formed in the funnel shape protruding from the main body portion exposed to the drive wheel, the width corresponding to the direction of movement of the driven wheel.
The method of claim 21,
The protrusion is formed to extend to a portion of the driven wheel, when the driven wheel moves in the one direction, the projection is fastened structure of the wheel, characterized in that the eccentric rotational force is transmitted from the guide means.
The method of claim 21,
A magnet arranged adjacent to the protrusion at a surface where the driven wheel is mated with the driving wheel, the magnet being arranged in a predetermined direction;
Fastening structure of the wheel further comprises a magnetic sensor for detecting the alignment by sensing the direction of the magnet arrangement.
25. The method of claim 24,
And a second groove formed on a surface different from the surface on which the driven wheel is matched with the driving wheel, the second groove extending by forming a predetermined angle with a direction in which the protrusion extends.
The method of claim 25,
And a second magnet coupled to the second groove on the other surface of the driven wheel and arranged in a predetermined direction.
The method of claim 21,
The guide means is a fastening structure of the wheel, characterized in that a plurality of pin-shaped protruding to the body portion exposed the drive wheel.
The method of claim 27,
The protrusion is formed to extend to a portion of the driven wheel, when the driven wheel moves in the one direction, the eccentric rotational force is transmitted from the guide means so that the protrusion passes between the plurality of pin-shaped guide means The fastening structure of the wheel.

29. An instrument holder having a fastening structure of a wheel according to any one of claims 1 to 28 applied thereto, formed on the surgical robot arm, and comprising the driving wheel.
29. The surgical instrument of claim 1, wherein the fastening structure of the wheel according to any one of claims 1 to 28 is applied, mounted to the instrument holder, and including the driven wheel.
A sterile adapter to which the fastening structure of the wheel according to any one of claims 1 to 28 is applied,
A body portion having a first surface opposite the instrument holder and a second surface opposite the surgical instrument;
A first wheel supported on the body and exposed to the first surface, the first wheel being mated to the driving wheel formed on the instrument holder;
A sterilized adapter comprising a second wheel that is supported by the body portion and exposed to the second surface, and is matched to the driven wheel formed on the instrument.
Coupling detection that detects the coupling by detecting the electrical change generated when the adapter interposed between the instrument holder formed on the surgical robot arm and the surgical instrument mounted to the instrument holder, when coupled with the surgical instrument Fastening structure of the surgical instrument comprising a part.
33. The method of claim 32,
The coupling detection unit,
A light source;
Changing means for changing the light emitted from the light source;
And a light sensing means for sensing the light changed by the changing means when the adapter and the surgical instrument are coupled to each other.
33. The method of claim 32,
The adapter has a plurality of third electrical contacts, wherein the surgical instrument has a plurality of fourth electrical contacts connected to the third electrical contact when coupled to the adapter and a predetermined electrical resistance is connected therebetween. Fastening structure of surgical instrument.
The method of claim 34, wherein
The coupling detecting unit is connected to the third electrical contact fastening structure of the surgical instrument, characterized in that for detecting the coupling by measuring the resistance value when the adapter and the surgical instrument is coupled.
36. The method of claim 35,
The instrument holder is formed with a plurality of first electrical contacts connected to the coupling sensing unit,
One side of the adapter is connected to the first electrical contact when coupled with the instrument holder, a plurality of second electrical contacts are connected between the first electrical resistance is formed,
The other surface of the adapter coupled to the surgical instrument is formed with a plurality of third electrical contacts connected to the second electrical contact,
One surface of the surgical instrument is coupled to the other surface of the adapter when coupled to the third electrical contact, the coupling structure of the surgical instrument is formed a plurality of fourth electrical contact is connected to the second electrical resistance therebetween.
The method of claim 36,
The coupling detection unit is coupled to the instrument holder, the fastening structure of the surgical instrument, characterized in that connected to the third electrical contact via the first electrical contact and the second electrical contact.
The method of claim 36,
The coupling detecting unit is a fastening structure of the surgical instrument, characterized in that for detecting the coupling by sensing the combined resistance value of the first electrical resistance and the second electrical resistance.
The method of claim 34, wherein
The adapter is provided with a projection, the surgical instrument is formed with a groove corresponding to the projection, the third electrical contact is formed in the projection, characterized in that the fourth electrical contact is formed in the groove Fastening structure of surgical instrument.
The method of claim 39,
The adapter is formed of a conductor, the protrusion is,
A first protrusion connected to the conductor;
Fastening structure of the surgical instrument comprising a second projection insulated from the conductor.
The method of claim 34, wherein
A groove is formed in the adapter, a protrusion corresponding to the groove is formed in the surgical instrument, the third electrical contact is formed in the groove, and the fourth electrical contact is formed in the protrusion. Fastening structure of surgical instrument.
The method of claim 41, wherein
The surgical instrument is formed of a conductor, the protrusion,
A first protrusion connected to the conductor;
Fastening structure of the surgical instrument comprising a second projection insulated from the conductor.
As a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot and the surgical instrument mounted to the instrument holder,
A main body;
A driving wheel supported by the main body and having a groove extending in one direction on one surface thereof;
A driven wheel having projections corresponding to the grooves when the driving wheels are matched;
An instrument guide coupled to the main body and configured to receive the guide protrusion formed on the surgical instrument to guide the surgical instrument to move in a specific direction;
Fastening structure of the wheel comprising a first elastic means for coupling between the body portion and the instrument guide.
The method of claim 43,
It is formed in the main body, the fastening structure of the wheel further comprises a guide means for aligning the projection formed in the driven wheel in the one direction when the driven wheel moves in the one direction.
The method of claim 43,
A stopper coupled to the main body and stopping the surgical instrument from moving in the advancing direction;
And the surgical instrument moves away from the stopper when the surgical instrument is moved in a direction different from the advancing direction against the elastic force of the first elastic means.
The method of claim 45,
Further comprising a second elastic means for coupling between the stopper and the body portion,
The stopper is in a state of being pressed by the surgical instrument when the driven wheel moves in the advancing direction to mate with the driving wheel, and the position of the stopper when the driven wheel is matched with the driving wheel. The fastening structure of the wheel, characterized in that restored by the second elastic means.
As a fastening structure of the wheel for fastening the instrument holder formed on the robot arm of the surgical robot and the surgical instrument mounted to the instrument holder,
A main body;
A driving wheel supported by the main body and having a groove extending in one direction on one surface thereof;
A driven wheel having projections corresponding to the grooves when the driving wheels are matched;
An instrument guide coupled to the main body and configured to receive the guide protrusion formed on the surgical instrument to guide the surgical instrument to move in a specific direction;
And a release lever coupled to the surgical instrument and pushing the instrument guide to release the surgical instrument from the instrument guide.
The method of claim 47,
The instrument guide is a fastening structure of the wheel, characterized in that the rotational coupling to the body portion.
The method of claim 47,
A stopper coupled to the main body to stop the surgical instrument from moving in the advancing direction;
Further comprising a second elastic means for coupling between the stopper and the body portion,
The stopper is in a state of being pressed by the surgical instrument when the driven wheel moves in the advancing direction to mate with the driving wheel, and the position of the stopper when the driven wheel is matched with the driving wheel. The fastening structure of the wheel, characterized in that restored by the second elastic means.
50. A surgical instrument comprising a fastening structure of a wheel according to any one of claims 43 to 49 and comprising the driven wheel.

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