KR20150087833A - Connection structure of wheel and surgical instrument - Google Patents

Abstract

Disclosed are connection structures for a wheel and a surgical instrument. More particularly, the connection structure for a wheel is for connecting an instrument holder formed on a surgical robot arm and a surgical instrument equipped in the instrument holder. The connection structure for a wheel includes: a driving wheel which drives by driving power from the surgical robot arm and which has multiple first electrical contacts; and a driven wheel which is connected to the first electrical contacts when mated with the driving wheel and which has multiple second electrical contacts connected with a fixed electrical resistance in between. The connection structure of a wheel can sense whether or not the wheel is aligned by using electrical, magnetic, and mechanical properties; arrange and match the wheel precisely; correct errors due to the rotation of the wheel when connecting the wheel; reduce volume and cost by sensing whether multiple wheels are arranged by using one sensor; and increase the accuracy of the sensing.

Description

[0001] The present invention relates to a fastening structure for a wheel and a fastening structure for a surgical instrument,

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

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

The surgical robot used for the robot surgery is composed of a master unit for generating and transmitting signals by the operation of a doctor and a slave unit for receiving signals from the master unit and performing operations required for the operation for the patient , The master unit and the slave unit may be implemented in the form of a single integrated robot, or may be configured as separate apparatuses and arranged in the operating room.

The surgical robot is provided with a robot arm for performing various operations for surgery, and an instrument holder is formed at the distal end of the robot arm so that a surgical instrument can be mounted. In order to mount the instrument on the robot arm, the instrument is mounted on the robot arm in such a manner that a sterile adapter is attached to the instrument holder and the housing of the instrument is inserted into the sterilizing adapter.

A driving wheel for transmitting the driving force generated by the robot to the instrument is formed in the instrument holder. A driving wheel for transmitting the driving force to the instrument is formed. The driving wheel formed on the instrument holder and the driving wheel formed on the instrument holder A matching wheel is formed.

When the sterilizing adapter and the sterilizing adapter are mounted on the instrument holder and the sterilizing adapter so that the wheel structures are matched with each other, the driving force generated by the robot is transmitted to the instrument through the sterilizing adapter, and the wire connected to the driving wheel of the instrument is coupled to the distal end of the instrument By transferring the driving force to the effector, the effector is moved to perform various operations required for the operation.

Thus, a sterilizing adapter is interposed between the surgical robot arm and the instrument mounted thereon, and a coupling structure with the robot arm and the instrument is implemented in the sterilizing adapter.

However, in the conventional robot arm, the sterilizing adapter, and the wheel structure formed on the instrument, the structure for detecting whether or not the wheel is aligned to precisely align the wheels is insufficient. But there is a limitation in presenting a structure for delivering the message.

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 relates to a wheel fastening structure for detecting whether or not a wheel is aligned by using electrical, magnetic, and mechanical characteristics, precisely aligning the wheel, and a medical device for detecting whether a medical device is engaged using the 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, there is provided a fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on an instrument holder, And a matching detection unit coupled to the driving wheel or the driven wheel and detecting a change in electrical state occurring when the driving wheel and the driven wheel are matched to detect whether or not the wheel is matched, Structure is provided.

Here, the matching detection unit may include a light source, a 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.

Here, the driving wheel may have a plurality of first electrical contacts, the driven wheel may have a plurality of second electrical contacts connected to the first electrical contact at the time of matching to the driving wheel and having a predetermined electrical resistance interposed therebetween, Is connected to the first electrical contact to measure the resistance value at the time of matching the driving wheel and the driven wheel so as to detect the matching.

The driven wheel further includes a first driven wheel having a plurality of second electrical contacts connected to the first electrical contact when the first wheel contacts the drive wheel and a first electrical resistance connected between the first and the second driven wheels, A second driven wheel having a plurality of third electrical contacts connected to the second electrical contact and a second plurality of electrical contacts connected to the third electrical contact at the time of registration at the one surface with the second driven wheel, And a third driven wheel having four electrical contacts.

Here, the matching detection unit senses the combined resistance value of the first electric resistance and the second electric resistance to detect whether or not the matching is occurring. The driving wheel has protrusions, the driven wheel has grooves corresponding to the protrusions, 1 electrical contact may be formed in the protrusion, and the second electrical contact may be formed in the groove.

Further, the driving wheel is formed of a conductor, and the projection may include a first projection connected to the conductor and a second projection insulated from the conductor.

Further, a groove is formed in the driving wheel, and a projection corresponding to the groove is projected on the driven wheel, the first electrical contact may be formed in the groove, and the second electrical contact may be formed in the projection.

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

According to another aspect of the present invention, there is provided a fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on an instrument holder, A driven wheel having a plurality of first irregularities formed on one surface thereof and a plurality of second irregularities corresponding to the shape of the first irregularities when the driving wheel is mated with the driving wheel; And a magnetic sensor for sensing the alignment direction of the magnets and detecting whether the magnet is aligned or not.

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

Here, the first irregularities and the second irregularities may be fan-like irregularities, or the first irregularities and the second irregularities may be any one of a conical shape, a conical shape and a pyramid shape. In this case, The bottom surface of the driving wheel or the driven wheel is in contact with the bottom surface of the adjacent uneven surface, and when the driving wheel and the driven wheel are matched, the driving wheel or the driven wheel is rotated around the normal line of one surface so that the first unevenness is inserted into the second uneven surface.

The number of the magnetic sensors is equal to or less than 2, the magnets are located in the second irregularities, and the number of magnets is the number of the magnetic sensors .

According to still another aspect of the present invention, there is provided a fastening structure for a wheel for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on an instrument holder, the fastening structure comprising: A driven wheel in which a projection corresponding to the groove is formed when the driving wheel is aligned with the driving wheel, and a driving wheel formed on the body, wherein when the driven wheel moves in one direction, A fastening structure for a wheel including a guide means is provided.

Here, the guide means may have a funnel shape in which the driving wheel is protruded from the exposed main body portion and the width thereof is reduced in correspondence with the moving direction of the driven wheel.

Further, the projection may extend to a part of the driven wheel, and when the driven wheel is moved in one direction, the projection may receive eccentric rotational force from the guide means.

The present embodiment further includes a magnet arranged adjacently to the projection on the surface matched with the driving wheel and arranged in a predetermined direction, and a magnetic sensor for detecting the alignment direction of the magnets and detecting whether or not the magnet is aligned .

Here, a second groove may be formed on the other surface of the follower wheel different from the surface where the driven wheel is mated with the drive wheel, forming a predetermined angle with the direction in which the projection extends, And a second magnet arranged in a predetermined direction.

According to another aspect of the present invention, the guiding means may be in the form of a plurality of pins protruding from the exposed main body portion of the drive wheel, the protrusions being formed on a part of the driven wheel so that the driven wheel moves in one direction , The eccentric rotational force can be transmitted from the guide means so that the protrusion passes between the plurality of pin-shaped guide means.

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

According to still another aspect of the present invention, there is provided a sterilizing adapter to which the aforementioned wheel fastening structure is applied, comprising: a body portion having a first surface opposed to the instrument holder and a second surface opposed to the surgical instrument; A first wheel that is biased on the body portion and exposed to the first surface and mated to a drive wheel formed on the instrument holder; a second wheel that is biased to the body portion and exposed to the second surface, A sterile adapter is provided that includes a wheel.

According to another aspect of the present invention, there is provided a surgical robot comprising: an instrument holder formed on a surgical robot arm; and an adapter interposed between the surgical instrument mounted on the instrument holder, detecting an electrical change occurring when the surgical instrument is engaged with the surgical instrument And a coupling detection unit for detecting whether or not the coupling unit is coupled.

The coupling sensing unit may include a light source, a 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 combined.

Further, 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 interposed therebetween.

Here, the coupling sensing unit may be connected to the third electrical contact to sense whether the coupling is detected by measuring a resistance value when the adapter and the surgical instrument are coupled.

Further, the instrument holder is formed with a plurality of first electrical contacts connected to the coupling sensing part, one surface of the adapter being connected to the first electrical contact when engaged with the instrument holder, and a plurality of second electrical connections A plurality of third electrical contacts connected to the second electrical contact are formed on the other surface of the adapter coupled to the surgical instrument and one surface of the surgical instrument is connected to the third electrical contact And a plurality of fourth electrical contacts, to which a second electrical resistance is connected, may be formed.

The coupling sensing unit may be coupled to the instrument holder and connected to the third electrical contact via the first electrical contact and the second electrical contact. The coupling sensing unit senses a combined resistance value of the first electrical resistance and the second electrical resistance, So that it is possible to detect whether or not it is coupled.

Further, a protrusion may be formed on the adapter, a groove corresponding to the protrusion may be formed on the surgical instrument, a third electrical contact may be formed on the protrusion, and a fourth electrical contact may be formed on the groove, And the protrusion may include a first protrusion connected to the conductor and a second protrusion insulated from the conductor.

In addition, a groove may be formed in the adapter, a protrusion corresponding to the groove may be formed in the surgical instrument, a third electrical contact may be formed in the groove, and a fourth electrical contact may be formed in the protrusion. In this case, The protrusion 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, there is provided a fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on the instrument holder, the fastening structure comprising: And a driven wheel having a protrusion corresponding to the groove when the driving wheel is aligned with the driving wheel. The driving wheel is coupled to the main body, and the guide protrusion formed on the surgical instrument, An instrument guide for guiding the surgical instrument to move in a specific traveling direction, and a first elastic means for engaging the main unit and the instrument guide.

The present embodiment may further include guiding means formed on the body portion and for aligning the projection in the one direction when the driven wheel moves in the one direction, and is coupled to the body portion, When the surgical instrument is moved in a direction different from the advancing direction of the first elastic means against the elastic force of the first elastic means, the surgical instrument moves out of the stopper .

Further, the present embodiment further includes a second elastic means for engaging between the stopper and the main body, wherein when the surgical instrument is moved in the advancing direction so that the driven wheel is aligned with the driving wheel, The position of the stopper can be restored by the second elastic means when the driven wheel is matched with the driving wheel.

According to another aspect of the present invention, there is provided a fastening structure for 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 fastening structure comprising: A driving wheel having a groove formed on one surface thereof and extending in one direction, a driven wheel having a protrusion corresponding to the groove when the driving wheel is aligned with the driving wheel, and a guide protrusion coupled to the main body, And a release lever coupled to the surgical instrument and configured to push the instrument guide to allow the surgical instrument to be detached from the instrument guide. The surgical instrument according to claim 1, A fastening structure is provided.

Here, the instrument guide may be pivotally coupled to the main body.

The present embodiment further includes a stopper coupled to the body and stopping the surgical instrument from moving in the advancing direction and a second elastic means coupled between the stopper and the body, The stopper is pushed in the surgical instrument when the surgical instrument is moved in the advancing direction so that the follower wheel is aligned with the drive wheel and the stopper is in a position where the stopper is in contact with the drive wheel when the follower wheel is aligned with the drive wheel, And can be restored by the second elastic means.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

The fastening structure of the wheel and the fastening structure of the surgical instrument according to the present invention can detect whether the wheel and each device are aligned and joined by using electrical, magnetic, mechanical characteristics, etc., And it is possible to correct an error due to the rotation of the wheel when tightening and to detect the alignment of a plurality of wheels by using one sensor, thereby reducing volume and cost, and enhancing the accuracy of sensing have.

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

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

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

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations 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. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Before describing the preferred embodiments of the present invention in detail, an instrument holder formed on a surgical robot arm, a surgical instrument mounted on an instrument holder, and an adapter interposed therebetween will be described first.

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

The sterilizing adapter 10 according to the present embodiment is an adapter interposed between the sterilizing adapter 10 and the instrument holder 5 in the process of mounting the surgical instrument 5 on the instrument holder 3, And is coupled to the instrument holder 3.

The sterilizing adapter 10 according to the present embodiment includes a first wheel 20 and a second wheel 24 which are exposed on both sides with respect to the body portion 12 and the first and second wheels 20 and 24 Are elastically supported on the body portion 12, respectively. That is, when the surface of the body portion 12 facing the instrument holder 3 is referred to as a first surface 14 and the surface facing the instrument 5 is referred to as a second surface 17, And the second wheel 24 is exposed to the second surface 17 so that the first and second wheels 20 and 24 are exposed on both sides of the body portion 12 .

The first wheel 20 and the second wheel 24 are respectively coupled to the body portion 12 via an elastic body such as a spring ('E' in FIG. 1) 20, and 24 are accommodated by an external force, and when the external force is removed, they are returned to their original positions by the elastic force. That is, the first wheel 20 and the second wheel 24 are connected to each other to rotate together and are coupled to the body portion 12 via a spring or the like so that the first wheel 20 and the second wheel 24 24 are pressed against each other by elastic force.

When the sterilizing adapter 10 according to the present embodiment is attached to the instrument holder 3, the first surface 14 is brought into contact with the instrument holder 3, and the first wheel 20 exposed to the first surface 14, Is fitted to the first drive wheel (30) formed in the instrument holder (3).

When the surgical instrument 5 is mounted on the sterilizing adapter 10, the second surface 17 is brought into contact with the instrument 5, and the second wheel 24 exposed with the second surface 17 is in contact with the instrument 5 of the first drive wheel 50. [ Hereinafter, the manner in which the sterilizing adapter 10, the instrument holder 3, and the instrument 5 according to the present embodiment are combined will be described in detail.

2A is a view showing a state in which a sterilizing adapter according to an embodiment of the present invention is mounted on an instrument holder, FIG. 2B is a sectional view taken along line 'A' in FIG. 2A, FIG. 3B is a sectional view taken along the line B 'of FIG. 3A. 2A to 3B, an instrument holder 3, an instrument 5, a sterilizing adapter 10, a body portion 12, a first surface 14, a second surface 17, The first wheel 20, the grooves 22 and 23, the second wheel 24, and the second driving wheel 50 are shown.

A protrusion 32 is provided on the first drive wheel 30 formed on the instrument holder 3 and a protrusion 32 is formed on the first drive wheel 30 so as to face the first drive wheel 30 The first wheel 20 is formed with a groove 22 into which the projection 32 can be inserted.

The first driving wheel 30 and the first wheel 20 come into contact with each other as the sterilizing adapter 10 is mounted on the instrument holder 3. When the protrusion 32 is inserted into the groove 22, The driving wheel 30 and the first wheel 20 are matched with each other but when the projection 32 is not inserted into the groove 22, the first wheel 20 is pressed by the projection 32. When the first wheel 20 is pressed by the protrusion 32 because the first wheel 20 is resilient to the sterilizing adapter 10, the first wheel 20, as shown in FIG. 2 (b) (First surface 14) of the sterilizing adapter 10. The sterilizing adapter 10 is a sterilizing device.

When the first driving wheel 30 is rotated left and right in the state where the first wheel 20 is inserted by the projection 32 as described above, the projection 32 may be inserted into the groove 22, The state in which the projection 32 presses the first wheel 20 is released. 2B, the first wheel 20 is returned to its original position by the resilient force, whereby the first wheel 20 is moved back to its original position, Is matched to the first drive wheel 30.

Since the first wheel 20 rotates in conjunction with the first driving wheel 30 when the first wheel 20 is aligned with the first driving wheel 30 as described above, The driving force is transmitted to the first wheel 20 through the first driving wheel 30. [

Next, a method of coupling the sterilizing adapter 10 and the surgical instrument 5 will be described. The second wheel 24 is provided with a projection 33, and the second driving wheel 50, grooves 23 into which the projections 33 can be inserted are formed.

When the surgical instrument 5 is mounted on the sterilizing adapter 10, the second driving wheel 50 and the second wheel 24 come into contact with each other. At this time, when the projection 33 is inserted into the groove 23, 2 driving wheel 50 and the second wheel 24 will be matched with each other but when the projection 33 is not inserted into the groove 23 the second driving wheel 50 presses the projection 33, The second wheel 24 is pressed. As described above, since the second wheel 24 is resilient to the sterilizing adapter 10, when the second wheel 24 is pressed by the protrusion 33, as shown in FIG. 3B (a) The wheel 24 is pushed out of the surface (second surface 17) of the sterilizing adapter 10.

When the first driving wheel 30 is rotated left and right in a state in which the second wheel 24 is embedded, the first wheel 20 aligned with the first driving wheel 30 and the first wheel 20 aligned with the first wheel 20 The second wheel 24 rotates in conjunction with the rotation of the second wheel 24 so that the projection 33 is inserted into the groove 23 to release the pressed state of the second wheel 24. [ 3 (b), the second wheel 24 is returned to its original position by the resilient force, whereby the second wheel 24 and the second driving wheel 50 are matched with each other.

When the first driving wheel 30 is rotated while the second driving wheel 50 and the second wheel 24 are aligned with each other, the first wheel 20, the second wheel 24, The driving force generated by 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 because the wheel 50 rotates in conjunction therewith do.

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

In this case, projections 32 and 33 are formed on the first drive wheel 30 and the second wheel 24, grooves 22 and 23 are formed on the first wheel 20 and the second drive wheel 50, The protrusions and the grooves are not necessarily formed as described above, but protrusions may be formed on one of the pair of wheels and grooves may be formed on the other of the pair of wheels so that the protrusions and the grooves are aligned with each other.

Further, it is not always necessary to form the projections on one wheel and the grooves on the other wheel, and various mechanical configurations capable of matching the pair of wheels with each other can be applied Of course it is.

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, Is not a structure that is applied only to the above. Of course, it is not necessary that the fastening structure of the wheel according to the present embodiment is necessarily used for a medical device, and in a structure in which a plurality of wheels are coupled, a structure in which the alignment detection technology is applied or a structure capable of transmitting a predetermined force It is to be understood that the embodiments may be applied.

In addition, the body portion represented in the embodiment described below refers to a body to which the wheel is coupled, and may be an instrument holder 3, a surgical instrument 5, a body portion 12, or the like. The driving wheel and the driven wheel are words referred to for distinguishing the wheels from each other and include a first wheel 20, a second wheel 4, a first driving wheel 30, a second driving wheel 50, . That is, the driving wheel and the driven wheel can refer to the same wheel as a relative concept. For example, the second driving wheel 50 provided on the surgical instrument 5 is a driving wheel on the side driving the above-described effector, and the first driving wheel 30 provided on the instrument holder 3 The driven wheel can be a driven wheel on the driven side. The driving force for driving the driving wheel and the driven wheel can be supplied from the surgical robot arm 1. [

In addition, although the first wheel 20 and the second wheel 24 are formed by separate mechanisms in the above description, the embodiments to be described below are not limited to such a structure, It is obvious that the protrusions and grooves are formed on both surfaces of the first driving wheel 30 and the second driving wheel 50, respectively. In addition, the embodiments described below mainly focus on differences from the embodiments described earlier.

4A is a view showing a fastening structure of a wheel for detecting alignment by electrical characteristics according to the first embodiment of the present invention. 4A, the first wheel 20, the grooves 22 and 23, the second wheel 24, the first driving wheel 30, the projections 32 and 33, the matching sensor 35, Contacts 43 and 44, and second drive wheel 50 are shown. The description of the structure and function of each wheel to be described below may be applied to a wheel having a different name.

The fastening structure of the wheel according to the present embodiment is characterized in that whether or not the wheels are aligned is detected using electrical characteristics. That is, when the plurality of wheels are fastened to each other, the electrical contacts are connected to each other and energized, and it can be sensed that the wheel is fastened by detecting the electric characteristic that the sensor is energized.

As described above, the first wheel 20, the second wheel 24, the first driving wheel 30 and the second driving wheel 50 are rotatable in different directions. When the first wheel 20, the second driving wheel 30 and the second driving wheel 50 are fastened to each other, (32, 33) may not be inserted into the grooves (22, 23). Therefore, a technique of sensing that the wheels are aligned with each other as the protrusions 32 and 33 are inserted into the grooves 22 and 23 is required, and this embodiment is a technology for sensing the electric characteristics by using the electric characteristics.

The present embodiment detects the electrical change that occurs when the wheels are matched with each other, thereby determining whether or not they are matched. Here, the method of detecting an electrical change occurring at the time of matching can be variously implemented. According to an embodiment of the present invention, a matching detection unit may be provided to detect whether an electric change occurs during matching of each wheel to detect whether or not the matching is detected. The matching detection unit may detect an electric signal, a resistance value, a current value, By measuring the electrical change, it is possible to detect whether or not it is matched.

For example, the matching detection unit may include a light source provided on one surface of one wheel, light sensing means for sensing a change in light of the light source, and a light sensor for detecting a change in optical characteristics of the light source, The state may include means of change. The optical characteristics of the light source may be changed by reflection, refraction, diffraction, interference, and the changed optical characteristics may be the direction of light, color, brightness, color coordinates, color temperature, diffraction pattern, interference pattern, and the like. For example, when the changing means is a means for reflecting light, the light sensing means does not sense the light of the light source when the wheels are not aligned with each other and are spaced by a predetermined distance in such a structure, Is reflected by the reflecting means, and the light sensing means senses the reflected light to sense that the wheels are matched to 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, the case of detecting the matching by sensing the change of the resistance value by coupling the resistance to the wheel will be described. However, as described above, when the electromagnetic change due to the detection of light is detected or a change in other electromagnetic characteristics Various methods for detecting whether or not to match can be applied to the present invention. For example, the present embodiment may utilize electromagnetic variation using a passive element such as a change in resistance, a change in capacitance, a change in inductance, or other active elements It is also possible to detect whether or not the matching is performed.

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 engaged with each other. The number of the protrusions 32 and the grooves 22 may be one or a plurality, and the formation position thereof is not particularly limited.

An electrical contact 43 is formed at one end of the protrusion 32 and an electrical contact 44 is formed at the inner side of the groove 22 so that when the protrusion 32 is inserted into the groove 22, And 44 are electrically connected to each other. The positions at which the electrical contacts 43 and 44 are formed in the protrusions 32 or the grooves 22 are not particularly limited as long as they can be connected to each other and may be various positions such as an end portion and a middle portion of the protrusions 32 .

The electrical contacts 43 of the protrusions 32 are connected to the electrical contacts 44 of the groove 22 and the electrical contacts 43 of the protrusions 32 are connected to the matching sensor 35, Lt; / RTI > The matching detection unit 35 may be an apparatus for receiving the electric signal and outputting the current state information by analyzing the received electric signal.

For example, the matching detection unit 35 may measure the resistance value and analyze the measured resistance value to determine whether or not the electrical contacts 43 and 44 are in contact with each other. 4A, since the electrical contacts 43 of the protrusion 32 are spaced apart from each other, the resistance value measured by the matching sensor 35 is infinite (∞). However, when the projections 32 are inserted into the grooves 22 and the electrical contacts 43 and 44 are in contact with each other, the resistance value measured by the matching sensor 35 is smaller than the electrical resistance of the electrical contacts 44 formed in the groove 22. [ The resistance value of the first resistor R1 connected between the first resistor R1 and the second resistor R1.

Therefore, the matching detection unit 35 can determine whether or not the electrical contacts 43 and 44 are in contact with each other by comparing the measured resistance values with each other or by comparing the measured resistance values with the non-contacted resistance values. Here, the case where the matching sensing unit 35 senses the resistance value to determine whether or not it is in contact has been described. However, in the case of determining whether or not to make contact by measuring other electrical characteristics such as a current value and a voltage value It goes without saying that the present invention can be applied to the present invention. Therefore, the matching detection unit 35 may be any one or more of a resistance meter, a current meter, and a voltage meter. The discrimination result may be output by a predetermined means, for example, sound, light, shaking or the like, or may be used as information for starting the normal operation of the robot arm 1. [

Next, the coupling relationship between the second wheel 24 and the second driving wheel 50 will be described. The projection 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 engaged with each other. An electrical contact 43 is formed at one end of the protrusion 33 and an electrical contact 44 is formed in the inner surface of the groove 23 so that when the protrusion 33 is 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 groove 23 contact each other, . 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, The value R is calculated as follows.

(1)

(One)

In this case, the matching detection unit 35 senses the combined resistance value R and can detect that the instrument holder 3, the sterilizing adapter 10, and the surgical instrument 5 are properly engaged with 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 is inserted into the groove 23 are different from each other The matching detection unit 35 can measure the engagement state of each wheel by using this. For example, when only the two electrical contacts 43 and 44 of the groove 22 and the protrusion 32 contact each other when R1 is 100? And R2 is 0 ?, the resistance value measured by the matching sensor 35 is 100? to be. However, in this state, when the two electrical contacts 43 and 44 of the protrusion 33 and the groove 23 are also in contact with each other, the resistance value measured by the matching sensor 35 is 0 OMEGA. Therefore, by using such electrical characteristics, it is possible to more accurately detect the fastening state of each wheel.

Although the first driving wheel 30, the first wheel 20, the second wheel 24 and the second driving wheel 50 have been described by their corresponding names, The second driven wheel and the third driven wheel.

FIG. 4B is a view showing an insulation state of a wheel for detecting alignment according to an electrical characteristic according to the first embodiment of the present invention. FIG. Referring to FIG. 4B, the first driving wheel 30, the protrusions 32 and 32 ', the electrical contacts 43 and 43', and the matching sensor 35 are shown.

The present embodiment is a technique for specifying a structure for inserting the protrusions 32 and 32 'from each other when the first driving wheel 30 is formed of a conductor such as a metal. The opened outer surface of the first driving wheel 30 is entirely formed of a conductor, and a protrusion 32 'protruding on one surface is formed. A hole corresponding to the protrusion 32 is formed in the opened outer surface of the first driving wheel 30 and the protrusion 32 is inserted into the corresponding hole to expose the electrical contact 43. Accordingly, even when the first driving wheel 30 is formed of a conductor, the electrical contacts 43 and 43 'can be kept insulated from each other.

FIG. 5 is a view showing a fastening structure of a wheel for detecting alignment according to a magnetic characteristic according to a second embodiment of the present invention. FIG. 5, the instrument holder 3, the surgical instrument 5, the first drive wheel 30, the magnetic sensor 37, the second drive wheel 50, the magnet 56, the storage means 58 ).

The fastening structure of the wheel according to the present embodiment is characterized in that whether or not the wheels are aligned is detected by using magnetic characteristics. That is, when a plurality of wheels are fastened to each other, it is possible to sense whether the wheel is fastened or not by detecting the direction of arrangement of the magnets attached to the specific wheel and measuring the alignment state of the wheel.

Predetermined concavities and convexities are formed on respective surfaces of the first driving wheel 30 and the second driving wheel 50 that are coupled to each other, and these concavities and convexities may be referred to as first concavities and convexities, respectively. The first irregularities formed on one surface of the first driving wheel 30 engage with the second irregularities formed on the second driving wheel 50 so that the first driving wheel 30 and the second driving wheel 50 are engaged with each other do.

Here, the first irregularities and the second irregularities may be fan-like irregularities. The fan-like irregularities may be irregularities extending radially from the central portion and alternately forming recesses and protrusions as shown in the figure. The first drive wheel 30 and the second drive wheel 50 can be coupled to each other irrespective of their degree of rotation by such fan-like irregularities. That is, since the fan-shaped irregularities are alternately formed with the concave and the convex, even if one wheel is coupled to the other while maintaining a predetermined angle, the irregular coupling is possible.

Magnets 56 are 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 drive wheel 30 senses the magnetic characteristics of the magnet 56 and senses the arrangement state thereof. Although the magnet 56 and the magnetic sensor 37 are positioned at the center of each surface of the second driving wheel 50 and the first driving wheel 30, the present invention is not limited to this particular position , And the magnetic sensor 37 can sense the arrangement of the magnets 56. The present invention is also applicable to the present invention.

The magnetic sensor 37 can detect the degree of rotation of the second driving wheel 50 when it is engaged by sensing the polarity of the magnet 56 (N pole and S pole). For example, in the initial setting state of the second drive wheel 50, the N pole and the S pole of the magnet 56 are arranged perpendicularly or horizontally to a predetermined reference line, and the second drive wheel 50 The magnetic sensor 37 measures the rotation angle of the magnet 56 and senses the degree of rotation of the second drive wheel 50 because the magnetic sensor 37 can be engaged with the first drive wheel 30 even when rotated at a predetermined angle .

The detected rotation angle of the second drive wheel 50 is referred to when the robot arm 1 is operated, and the operation of the second drive wheel 50 can be corrected. For example, a state in which the pair of jaws provided in the effector are engaged with each other is an initial setting state, and the second driving wheel 50, which is coupled with the effector in this state by a wire, When the second driving wheel 50 is fastened to the first driving wheel 30 while being rotated at a predetermined angle when the first driving wheel 30 is fastened to the first driving wheel 30, The sensor 37 senses the rotation angle and can know the state information of the effector. It is possible to precisely control the effector by correcting the state information.

When the magnet 56 is attached to the second driving wheel 50 for the first time without any error, the rotation angle of the magnet 56 is measured as described above, It is reasonable to derive the rotation information derivation procedure if the magnet 56 is attached with a predetermined alignment error when the magnet 56 is attached to the second driving wheel 50 in manufacturing. Therefore, it is necessary to measure whether the magnet 56 is attached to the second driving wheel 50 and then polarities are arranged and attached in a steady state, and to store the measured information so as to utilize such measurement information in actual use.

The storage means 58 stores error information about the arrangement of these magnets 56. [ That is, in manufacturing the surgical instrument 5, the magnets 56 are attached to or formed on one surface of the second driving wheel 50, and then the polarity is aligned to measure the error information, . The storage means 58 can be utilized as a medium for storing unique information of each surgical instrument 5 manufactured and attached to one side of the surgical instrument 5. [ Here, the storage means 58 may be an information storage medium such as an RFID.

On the instrument holder 3 side, a reader of the storage means 58, for example, an RFID reader (not shown) is provided. The RFID reader receives the arrangement 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, The operation of the surgical instrument 5 is corrected by correcting the error by referring to the arrangement error information when the instrument 5 is operated. For example, when the storage means 58 stores the array error information indicating that the magnet 56 is rotated by 5 degrees, the controller of the robot arm 1 refers to this array error information, So that the operation of the surgical instrument 5 can be controlled.

FIGS. 6A and 6B are views showing a fastening structure of a wheel for detecting alignment by magnetic characteristics according to a third embodiment of the present invention. FIG. 6A and 6B, the instrument holder 3, the surgical instrument 5, the groove 23, the first driving wheel 30, the projection 32, the magnetic sensor 37, A magnet 50, and a magnet 56 are shown. The differences from the above will be mainly described.

The engagement structure of the wheel according to the present embodiment detects whether the wheels are aligned using the magnetic characteristic as described above, and determines the number of the protrusions 32 so that the rotational angle at the time of fastening the second driving wheel 50 The limitation is that the error of the alignment of the wheels can be reduced.

A plurality of protrusions 32 are formed on the opening face of the first driving wheel 30 and grooves 23 are formed on the opening face of the second driving wheel 50 so that the protrusions 32 can be inserted. Here, the projections 32 may be the above-described first irregularities, and the grooves 23 may be the above-mentioned second irregularities.

The projection 32 formed on the first driving wheel 30 may be a cone having a longitudinal section of a circle, an ellipse (including a curved line), a polygon, etc., a cone, a polygonal pyramid, or the like. Each of the projections 32 embodied in a cone, a cone, a pyramid or the like can be inserted into the groove 23 of the second driving wheel 50 regardless of the degree of rotation of the wheel by contacting the bottom surface of the adjacent projection 32 .

For example, when four protrusions 32 of the same shape and size are formed so that the adjacent protrusions 32 and the bottom face thereof abut against each other and are in contact with the rim of the opening face of the first driving wheel 30 as shown in the drawing, The maximum error angle due to rotation when the drive wheel 50 is aligned with the first drive wheel 30 in the initial setting state is 45 degrees (-45 to +45 degrees). That is, when the extreme end of the projection 32 faces the point where the grooves 23 and the grooves 23 meet each other, the second driving wheel 50 rotates by 45 degrees at the maximum to be aligned with the first driving wheel 30 do.

Therefore, according to the present embodiment, there is a feature that the error range due to the rotation of the second driving wheel 50 can be limited within a specific range. This error range can be determined corresponding to the number of the projections 32. [ For example, when the number of the projections 32 is 5, the error angle is 36 degrees (-36 to +36 degrees). When the number of the projections 32 is N, the error angle is 180 / / N) to + (180 / N) degrees). Of course, it is assumed that the protrusions 32 have the same size and shape. However, the present embodiment is not limited to this structure, and the protrusions 32 may have different sizes and shapes.

A magnet 56 is 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 magnet 56. The number and the coupling position of the magnetic sensor 37 can be determined corresponding to the engagement position of the magnet 56. For example, as shown in the figure, when the magnet 56 is provided in one groove 23 of the second driving wheel 50, the magnetic sensor 37 can detect four protrusions (not shown) formed on the first driving wheel 30 32, respectively. The magnet 56 may be provided on the second drive wheel 50 outside the groove 23 and the magnetic sensor 37 may be attached to the first drive wheel 30 from outside the protrusion 32 For example, four corners of the instrument holder 3 (see FIG. 6B).

Here, the number of the magnetic sensors 37 may be equal to or smaller than the number of the projections 32, 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 senses the magnetic field of the magnet 56 and detects the position of the magnet 56, can do.

FIGS. 7A and 7B are a perspective view and a front view showing a fastening structure of a wheel for aligning wheels according to a mechanical characteristic according to a fourth embodiment of the present invention, and FIG. Fig. 5 is a view for explaining the principle of aligning the wheel by the characteristic. 7A to 7C, the surgical instrument 5, the sterilizing adapter 10, the body 12, the first plate 15, the second plate 18, the groove 23, The aligning groove 27, the aligning projection 28, the projection 33, and the second driving wheel 50 are shown.

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

Referring to FIG. 7A, funnel-shaped guide means 25 is protruded from the sterilizing adapter 10 described above. Here, the sterilizing adapter 10 will be mainly described. However, as described above, the structure according to the present embodiment can be also implemented in the instrument holder 3 and the surgical instrument 5, and they can be collectively referred to as a body portion.

The guide means 25 may be formed on one side of the sterilizing adapter 10 in the direction in which the surgical instrument 5 is inserted in a sliding manner and may have a shape that the width thereof becomes narrower toward the second wheel 24 . The projection 33 and the groove 23 extend in one direction and the shape of the groove 23 may be such that the projection 33 can be matched.

7B and 7C, when the surgical instrument 5 is inserted in a sliding manner, the projection 33 formed on the second driving wheel 50 is received by the guide means 25, Are aligned in correspondence with the direction of the grooves (23) formed in the wheel (24).

Here, when the instrument 5 is slidably mounted on the sterilizing adapter 10, the instrument 5 according to the present embodiment is arranged in alignment with the sterilizing adapter 10 so that the instrument 5 is mounted at the correct position on the sterilizing adapter 10. [ an aligning means may be formed. That is, when the alignment groove 27 is formed in the end portion of the instrument 5 as shown in FIG. 7B, the alignment protrusion (not shown) which can be aligned with the alignment groove 27 is also formed at one end of the second plate 18 28) can be projected (projected).

7B, when the instrument 5 is slid and mounted on the sterilizing adapter 10, by moving and mounting the instrument 5 until the alignment protrusion 28 is aligned with the alignment groove 27, (5) can be aligned at the correct position. The alignment groove 27 and the alignment protrusion 28 according to the present embodiment serve to align the instrument 5 to be mounted on the sterilizing adapter 10 at the predetermined position and therefore the alignment groove 27 and alignment protrusion 28 28 can be precisely manufactured so that a clearance does not occur.

Referring to FIG. 7C, the projection 33 formed on the second driving wheel 50 is eccentrically protruded from a part of the second driving wheel 50. The eccentricity is such that when the center of an object is biased to one side and the center of the eccentric body is not aligned with the eccentricity, the protrusion 33 passes through the guide means 25 in a state in which the protrusion 33 is rotated, And is rotated by the drag force of any one of the wings.

Since the width of the 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 narrow, the above-described drag acts on the projection 33 as eccentric rotational force so that the projection 33 is inserted It rotates as much as possible. Here, the inner width of the other end of the guide means 25 may be as wide as the width of the groove 23 or substantially the same. According to the present embodiment, the projection 33 is rotated by the eccentric rotational force provided by the guide means 25, and the second drive wheel 50 is rotated accordingly, May be matched to the second wheel (24).

FIG. 8A is a view showing a fastening structure of a wheel for detecting alignment according to a magnetic characteristic according to a fifth embodiment of the present invention, and FIG. 8B is a view showing an alignment by a magnetic characteristic according to a fifth embodiment of the present invention Fig. 2 is a perspective view showing a fastening structure of a wheel to be sensed. 8A and 8B, the robot arm 1, the instrument holder 3, the surgical instrument 5, the sterilizing adapter 10, the body portion 12, the first surface 14, The first wheel 20, 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, 42, 56) and a second drive wheel 50 are shown.

The fastening structure of the wheel according to the present embodiment is characterized in that it can detect whether or not the wheels are aligned using the magnetic characteristic, and can detect whether or not the plurality of wheels are aligned by using one magnetic sensor 37. [ That is, the protrusions 32 and the grooves 23 formed on both sides of the first wheel 20 and the second wheel 24 are rotated by 90 degrees so as not to face the first wheel 20 and the second wheel 24, It is possible to detect whether or not the first driving wheel 30, the first wheel 20, the second wheel 24 and the second driving wheel 50 are aligned by using one magnetic sensor 37. [ The angles formed by the extending directions of the projections 32 and the grooves 23 may be 90 degrees, 180 degrees, and other specific angles.

Here, although the case where the first wheel 20 and the second wheel 24 are different from each other will be described, the present embodiment is not limited to such a structure. For example, 32 and the magnet 41 are formed on the other surface and the groove 23 and the magnet 42 are formed on the other surface.

First, the first driving wheel 30 and the first wheel 20 are matched and tightened, and the magnetic sensor 37 senses the magnet 41 to detect the magnets 41, 20) is normally aligned. Then, the first drive wheel 30 is rotated 90 degrees to rotate the first wheel 20 and the second wheel 24 coupled to the first wheel 20 by 90 degrees so that the magnetic sensor 37 is rotated on the second wheel 24 As described above, it is possible to detect the degree of rotation and the degree of alignment by detecting the magnet 42 attached to the magnet 41 by rotating at a specific angle with respect to the magnet 41. The magnetic sensor 37 senses the magnet 56 attached to the second driving wheel 50 to detect the position of the second driving wheel 50 You can check the alignment status. Here, the magnets 42 of the second wheel 24 and the magnets 56 attached to the second driving wheel 50 may not be attached. In this case, the magnetic sensor 37 may be attached The alignment state of the second driving wheel 50 can be measured by sensing only one of the magnets.

According to such a structure, since the alignment state of a plurality of wheels can be sensed by one magnetic sensor 37, the volume and cost can be reduced. Further, when the width of the sterilizing adapter 10 is made small, There is an advantage that accuracy can be increased.

Figs. 9A to 9C are a side view, a top view, and a cross-sectional view showing a fastening structure of a wheel for aligning wheels according to a mechanical characteristic according to a sixth embodiment of the present invention. 9A to 9C, a surgical instrument 5, a sterilizing adapter 10, a groove 23, a second wheel 24, a projection 33, a second driving wheel 50, a pulley ) 55, and a guide pin 61 are shown. The differences from the above will be mainly described.

The fastening structure of the wheel according to the present embodiment is characterized by aligning the fastened wheels using mechanical characteristics different from those described above. That is, according to the present embodiment, the guide means described above can align the wheel by aligning the protrusions formed in the wheel to be fastened with the pin-shaped guide pin in the direction in which the grooves to be inserted are formed.

9B, which is a cross-sectional view taken along line A-A in FIG. 9A and FIG. 9A, and FIG. 9C, which is a cross-sectional view taken along line B-B in FIG. 9A, one surface of the second wheel 24, which faces the second drive wheel 50, A guide pin 61 is formed to rotate the projection 33 of the second driving wheel 50 and align it to be inserted into the groove 23 of the second wheel 24. [ The guide pins 61 may be formed on both sides so that the protrusions 33 of the second driving wheel 50 can pass through the guide pins 61. The widths of the guide pins 61 are substantially equal to the width of the protrusions 33 The width of the protrusion 33 can be as wide as the protrusion 33 can pass through. The pulley 55 is rotated by the rotation of the second driving wheel 50 to control the movement of the shaft, the effector, and the like of the surgical instrument 5.

9B, the projection 33 formed on the second driving wheel 50 is eccentrically protruded from a part of the second driving wheel 50. As shown in Fig. The eccentricity is such that the center of an object is biased to one side so that the center of the eccentric body is not aligned with each other. Therefore, when the projection 33 passes through the guide pin 61 in a rotated state, And is rotated by the drag force generated by the collision. When the width between the guide pins 61 is the same as or substantially the same as the width of the protrusions 33, the protrusions 33 rotate in a state in which they can be inserted into the grooves 23.

According to this embodiment, as described above, the projection 33 is rotated by the eccentric rotational force provided by the guide pin 61, and the second drive wheel 50 rotates accordingly, May be matched to the second wheel 24 in a first set state.

FIG. 10 is a view showing a fastening structure of a medical device for detecting a coupling according to an electrical characteristic according to a seventh embodiment of the present invention. 10, an instrument holder 3, a surgical instrument 5, a sterilizing adapter 10, a first wheel 20, a second wheel 24, a first driving wheel 30, Wheel 50, electrical contacts 63 and 64, and coupling sensing portion 65 are shown.

The coupling structure of the medical device according to the present embodiment is characterized in that it is detected whether the medical device is coupled using the electrical characteristic. That is, by detecting the electrical change occurring when a plurality of medical devices are fastened to each other like the wheel fastening structure described above, it is possible to determine whether or not they are coupled.

The present embodiment can detect whether or not the medical device is fastened by using the technique of sensing the electrical change and detecting the matching of the wheels. Therefore, the contents of the above-described embodiments can be applied to this embodiment, and the specific fastening structure can be changed by differentiating each structure and function. That is, the description of the wheel, the matching detection unit, and the like in the above-described embodiment is applicable to the medical instrument, the coupling detection unit, and the like in this embodiment. Hereinafter, differences from the above will be mainly described.

The medical device according to the present embodiment may be an instrument holder 3, a surgical instrument 5, a sterilizing adapter 10, or the like. It is needless to say that the present invention can be applied to a combination structure of various other types of medical devices that are operated in combination with each other.

Referring to Fig. 10, the instrument holder 3, the sterilizing adapter 10, and the surgical instrument 5 are combined in order. Since the three medical devices are combined, the coupling surface is four sides, which is referred to as one side of the instrument holder 3, one side of the sterilizing adapter 10, and one side 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 sterilizing adapter 10 which is engaged with one surface of the instrument holder 3 A plurality of third electrical contacts 63 are formed on the other surface of the sterilizing adapter 10 and a plurality of fourth electrical contacts 64 are formed on one surface of the surgical instrument 5 that engages with the other surface of the sterilizing adapter 10 Is formed. The positions at which the electrical contacts 63 and 64 are formed on each surface are not particularly limited and may be formed at positions that can be electrically connected to each other.

As described above, when the instrument holder 3 and the sterilizing adapter 10 are coupled, the electrical contacts 63 and 64 are connected. When the sterilizing adapter 10 and the surgical instrument 5 are coupled, the electrical contacts 63 And 64 are connected to each other so that different circuits are formed depending on the object to be coupled and the resistance values of the resistors R3 and R4 are changed by the resistors R3 and R4. The resistance value can be measured to detect whether each medical device is coupled. In addition to sensing the fastening of the instrument holder 3, the sterilizing adapter 10 and the surgical instrument 5 using the above-described method, it is also possible to detect the fastening of the driving wheel and the driven wheel described above.

11A to 11E are views showing a fastening structure of a medical device according to an eighth embodiment of the present invention. 11B is a perspective view of the sterilizing adapter 10 and FIG. 11C is a side view of the sterilizing adapter 10 in a state where the surgical instrument 5 and the sterilizing adapter 10 are combined. FIG. 11A is a perspective view of the surgical instrument 5, 11D is a front view showing a state in which the surgical instrument 5 and the sterilizing adapter 10 are engaged, and FIG. 11E is a sectional view taken along the line CC in FIG. 11D. 11A to 11E, a surgical instrument 5, a sterilizing adapter 10, a first elastic means 11, a guide groove 16, an instrument guide 19, a stopper 29, 59, and a guide pin 61 are shown. Differences from the above-described embodiment will be mainly described.

The present embodiment shows a structure in which not only the wheels are stably coupled but also the user can easily detach the wheel in the fastening structure of the wheel. That is, in the present embodiment, the guide and the stopper are provided in the traveling direction of the medical device to which the wheel is attached, so that the wheel can be moved and combined stably and easily. There are features. Here, the state in which the surgical instrument 5 and the sterilizing adapter 10 are combined will be described. However, the present embodiment is applicable to the case where the sterilizing adapter 10 and the instrument holder 3 are combined and / It is needless to say that the present invention can also be applied to the case where the instrument holder 3 is combined.

The guide projections 59 of the surgical instrument 5 move along the guide grooves 16 formed on the inner side of the instrument guide 19 so that the wheels are engaged with each other. Referring to FIG. 11C, the surgical instrument 5 moves in the direction opposite to the direction B while the guide projection 59 is received in the guide groove 16, and engages with the sterilizing adapter 10. In this case, when the wheel of the surgical instrument 5 is matched with the wheel of the sterilizing adapter 10, the stopper 29 serves to prevent the surgical instrument 5 from moving in the B direction.

When the surgical instrument (5) is detached, the user can use a two-step detachment structure for moving the surgical instrument (5) in direction A and then in direction B. That is, the surgical instrument 5 is moved in the A direction in a state where the guide projection 59 of the surgical instrument 5 is accommodated in the guide groove 16, so that the surgical instrument 5 is moved out of the stopper 29 The surgical instrument 5 can be separated from the sterilizing adapter 10 by moving the guide projection 59 in the direction opposite to the advancing direction when engaged along the guide groove 16.

11E, the instrument guide 19 is coupled to the main body of the sterilizing adapter 10 via the first elastic means 11, and when the instrument guide 19 is moved in the direction A, Elastic force can be applied from the first elastic means 11 so as to move. Here, the first elastic means 11 may be a spring.

According to the present embodiment, the stopper 29 can be coupled to the main body of the sterilizing adapter 10 via the second elastic means. The second elastic means applies an elastic force to the stopper (29) to apply a force to restore the stopper (29) when the stopper (29) is pressed. That is, when the surgical instrument 5 moves in the direction opposite to the direction B, the stopper 29 is depressed. When the surgical instrument 5 reaches the position where the wheels are aligned, the stopper 29 moves the surgical instrument 5 Is prevented from moving in the B direction. In this state, the user can release the surgical instrument 5 from the sterilizing adapter 10 by pressing the stopper 29 and moving the surgical instrument 5 in the direction B.

12A to 12D are views showing a fastening structure of a medical device according to a ninth embodiment of the present invention. 12A is a perspective view of the surgical instrument 5, FIG. 12C is a front view of the sterilizing adapter 10, FIG. 12B is a perspective view of the surgical instrument 5, And Fig. 12D is a cross-sectional view taken along line CC of Fig. 12C. 12A to 12D, the surgical instrument 5, the sterilizing adapter 10, the release lever 13, the instrument guide 19, the second wheel 24, the pushing means 26, the stopper 29 The projection 33, the second driving wheel 50, the guide pin 61, and the electrical contact 63 are shown. Differences from the above-described embodiment will be mainly described.

The present embodiment provides a structure in which a user can easily detach a wheel using a lever in a fastening structure of a wheel. That is, in this embodiment, when the wheel is detached, the instrument guide 19 is pushed using the release lever 13 so that the guide projection 59 comes out of the guide groove 16 and the surgical instrument 5 is inserted into the sterilizing adapter 10 In the present embodiment.

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 a pushing means 26. 12A, when the release lever 13 is depressed, the pushing means 26 can push the instrument guide 19 to rotate the instrument guide 19 about the A-axis. When the instrument guide 19 is rotated, the guide protrusion 59 is released from the guide groove 16 so that the user moves the instrument 5 in a direction not related to the forming direction of the guide groove 16, (10).

12D, the electrical contact 63 and the resistor R3 described above are formed at one end of the sterilizing adapter 10 so that the surgical instrument 5 is operatively coupled to the sterilizing adapter 10 It can be used to detect whether or not it is fastened. That is, when the instrument 5 is fastened to the sterilizing adapter 10, the electrical contact 63 is electrically coupled to the electrical contact 64 described above, and the coupling sensing portion 65 measures the changed resistance value, It is possible to detect whether or not the device is coupled.

In this case as well, the stopper 29 and the second elastic means can be used to separate and combine the surgical instrument 5 and the sterilizing adapter 10, as described above. That is, as described above, when the surgical instrument 5 moves in the direction opposite to the direction B, the stopper 29 is depressed. When the surgical instrument 5 reaches the matching position of the wheel, The user can press the stopper 29 and move the surgical instrument 5 in the direction B to move the surgical instrument 5 to the sterilizing adapter 5 10).

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

1: Robot arm 3: Instrument holder
5: Instrument 10: Sterile adapter
11: first elastic means 12:
13: Release lever 14: First side
15: first plate member 16: guide groove
17: second side 18: second side
19: Instrument guide 20: First wheel
22, 23: groove 24: second wheel
25: guide means 26: push means
27: Alignment groove 28: Alignment projection
29: stopper 30: first drive wheel
32, 33: projection 35:
37: magnetic sensor 41, 42, 56: magnet
43, 44: electrical contact 50: second drive wheel
55: pulley 58: storage means
59: guide projection 61: guide pin
63, 64: electrical contact 65:

Claims (16)

1. A fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on the instrument holder,
A body portion;
A drive wheel that is resiliently mounted on the main body and has grooves extending in one direction on one surface thereof;
A driven wheel in which a projection corresponding to the groove is formed when the driving wheel is aligned with the driving wheel;
And a guiding means formed on the main body to guide the protrusion in one direction when the driven wheel moves in the one direction.
The method according to claim 1,
Wherein the guide means is formed in a protruding shape in the main body portion in which the drive wheel is exposed and has a funnel shape in which the width of the guide wheel is reduced corresponding to the moving direction of the driven wheel.
The method according to claim 1,
Wherein the protrusion is formed on a part of the driven wheel, and when the driven wheel is moved in the one direction, the protrusion receives the eccentric rotational force from the guide means.
The method according to claim 1,
A magnet disposed adjacent to the projection on a surface mating with the driving wheel and arranged in a predetermined direction;
And a magnetic sensor for detecting whether the magnet is aligned and sensing whether the magnet is aligned.
5. The method of claim 4,
Wherein the second groove is formed on the other surface of the driven wheel opposite to the surface matched with the driving wheel, the second groove extending at a predetermined angle with the direction in which the projection extends.
6. The method of claim 5,
Further comprising a second magnet which is adjacent to the second groove at the other surface of the driven wheel and arranged in a predetermined direction.
The method according to claim 1,
Wherein the guide means has a plurality of pin-like shapes protruding from the main body portion in which the drive wheel is exposed.
8. The method of claim 7,
The protrusion is extended to a part of the driven wheel so that when the driven wheel moves in the one direction, eccentric rotational force is transmitted from the guide means so that the protrusion passes between the plurality of pin- Of the wheel.
1. A fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on the instrument holder,
A body portion;
A drive wheel that is resiliently mounted on the main body and has grooves extending in one direction on one surface thereof;
A driven wheel in which a projection corresponding to the groove is formed when the driving wheel is aligned with the driving wheel;
An instrument guide coupled to the body and configured to receive a guide protrusion formed on the surgical instrument and guide the surgical instrument to move in a specific direction;
And a first elastic means for engaging between the main body and the instrument guide.
10. The method of claim 9,
Further comprising guiding means formed on the main body portion for aligning the protrusion formed on the driven wheel in the one direction when the driven wheel moves in the one direction.
10. The method of claim 9,
Further comprising a stopper coupled to the body and stopping the surgical instrument from moving in the advancing direction,
Wherein 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 released from the stopper.
12. The method of claim 11,
And second elastic means coupled between the stopper and the body portion,
Wherein the stopper is pushed by the surgical instrument when the surgical instrument is moved in the advancing direction so that the driven wheel is aligned with the drive wheel and when the driven wheel is aligned with the drive wheel, Is restored by the second elastic means.
1. A fastening structure for fastening an instrument holder formed on a robot arm of a surgical robot and a surgical instrument mounted on the instrument holder,
A body portion;
A drive wheel that is resiliently mounted on the main body and has grooves extending in one direction on one surface thereof;
A driven wheel in which a projection corresponding to the groove is formed when the driving wheel is aligned with the driving wheel;
An instrument guide coupled to the body and configured to receive a guide protrusion formed on the surgical instrument and 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 allow the surgical instrument to be detached from the instrument guide.
14. The method of claim 13,
And the instrument guide is pivotally coupled to the body portion.
14. The method of claim 13,
A stopper coupled to the body and stopping the surgical instrument from moving in the advancing direction;
And second elastic means coupled between the stopper and the body portion,
Wherein the stopper is pushed by the surgical instrument when the surgical instrument is moved in the advancing direction so that the driven wheel is aligned with the drive wheel and when the driven wheel is aligned with the drive wheel, Is restored by the second elastic means.
A surgical instrument, comprising a driven wheel, to which a fastening structure according to any one of claims 9 to 15 is applied.

Images