KR20190090170A - Wire driving device, Surgical instrument and Remote surgical operating system using the same - Google Patents

Abstract

The present invention relates to a wire driving device capable of improving power applied to a surgical instrument and accuracy through tension adjustment of a wire, and a surgical instrument and a remote surgical operating system using the same. To this end, the wire driving device comprises: a bracket unit; a driving module having a first driving axis and a second driving axis; a differential motion gear module having a first differential motion gear unit and a second differential motion gear unit; a power transmitting unit; and a wire fixing module having a first wire fixing unit and a second wire fixing unit. When the power transmitting module and the differential motion gear module are connected according to the rotational direction of the first driving axis and the second driving axis and the first differential motion gear unit and the second differential motion gear unit are moved selectively or together, the first wire fixing unit and the second wire fixing unit are moved selectively or together.

Description

Technical Field [0001] The present invention relates to a wire driving apparatus, a surgical apparatus using the wire driving apparatus,

The present invention relates to a wire driving device, a surgical instrument using the wire driving device, and a remote surgical system, and more particularly, to a wire driving device capable of improving the force and precision applied to a surgical instrument through tension control of a wire, And a remote surgical system.

In general, minimally invasive surgery is a surgical procedure that minimizes incisions in the body by minimizing incisions during surgery. Recently, DaVinci robots have been used as an interventional robot for minimally invasive surgery.

If a DaVinci robot is used, the DaVinci robot performs the operation by putting the surgical camera in the patient's body and operating the console while the doctor views the 3D image in the external space isolated from the patient.

When performing such an intervention, the physician must move a specific surgical instrument through the interventional robot to the surgical site in the patient's body.

The end effector of the surgical instrument used in the conventional robot for interventional surgery is moved to the surgical site through the driving of the wire. However, conventionally, there is a problem that it is difficult to effectively control the tension in driving the wire for moving the end effector.

In particular, in order to transmit a large force to the end effector of the surgical instrument in the past, the number of wires has to be increased. When the number of wires is increased, driving devices for driving the wires must be increased.

Korean Patent Laid-Open Publication No. 10-2011-0101151 (Publication Date: September 15, 2011, entitled Tendon-Lubrication of Tendon in a Movable Surgical Instrument)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wire driving apparatus capable of improving the force and precision acting on a surgical instrument through adjusting a tension of a wire, a surgical instrument using the same, and a remote surgical system.

In order to solve the above problems, the present invention provides a bracket unit comprising: a bracket unit; A drive module including a first drive unit having a first drive shaft mounted on the bracket unit and a second drive unit having a second drive shaft spaced apart from the first drive shaft; A differential gear module including a first differential gear unit mounted on the bracket unit and a second differential gear unit disposed at a predetermined distance from the first differential gear unit along a longitudinal direction of the first drive shaft; A first power transmission module for transmitting rotation of the first drive shaft to one end of the first differential gear unit and one end of the second differential gear at the same time, And a second power transmission module for transmitting the second power transmission module to the other end of the second differential gear at the same time. A first wire fixing unit for fixing the first wire unit coupled to the first differential gear unit; and a second wire fixing unit for fixing the second wire unit coupled to the second differential gear unit, A wire driving apparatus including a fixed module is provided.

Here, when the first differential gear unit and the second differential gear unit are selectively or simultaneously moved while the power transmission module and the differential gear module are interlocked with each other in accordance with the rotation direction of the first drive shaft and the second drive shaft, The first wire fixing unit and the second wire fixing unit may also be moved selectively or together.

Wherein the first differential gear unit includes a first differential gear bracket and the first differential gear unit is selectively rotated with respect to a center axis of the first differential gear that is the center axis of the first differential gear bracket, The first wire fixing unit coupled to the bracket can be selectively rotated.

The first power transmission module includes a first drive shaft power transmission unit coupled to the first drive shaft and a second drive shaft power transmission unit coupled to the first drive shaft power transmission unit and configured to transmit the rotational force of the first drive shaft to one end of the first differential gear unit A first intermediate power transmission unit for transmitting the rotational force of the first drive shaft to one end of the second differential gear unit while being meshed with the first drive shaft power transmission unit; And a first rear power transmission unit gear-coupled to the drive shaft power transmission unit and disposed rearward of the first intermediate power transmission unit.

Wherein the first drive shaft power transmitting unit includes a first drive shaft forward gear coupled to the first drive shaft and gear-coupled to the first forward drive unit, and a second drive shaft forward gear coupled to the first drive shaft, And a first driving shaft rear gear coupled to the first driving shaft and gear-coupled with the first rear driving power transmitting unit.

The first forward power transmission unit may include a first forward power transmission gear that is gear-engaged with the first drive shaft power transmission unit, and a first forward power transmission rotary shaft that rotates in combination with the first forward power transmission gear .

The first intermediate power transmission unit may include a first intermediate power transmission gear that is gear-coupled to the first drive shaft power transmission unit, and a first intermediate power transmission rotary shaft that rotates in combination with the first intermediate power transmission gear .

The first rear power transmission unit may include a first rear power transmission gear that is gear-engaged with the first driving shaft power transmission unit, and a first rear power transmission rotary shaft coupled with the first rear power transmission gear .

And the second power transmission module includes a second drive shaft power transmission unit coupled to the second drive shaft and a second drive shaft power transmission unit that is coupled to the second drive shaft power transmission unit and rotatably transmits the rotational force of the second drive shaft to the other end of the first differential gear unit A second intermediate power transmitting unit for transmitting the rotational force of the second drive shaft to the other end of the second differential gear unit while being gear-engaged with the second drive shaft power transmitting unit; And a second rear power transmission unit that is gear-engaged with the drive shaft power transmission unit and disposed behind the second intermediate power transmission unit.

The first differential gear unit includes a first front side gear engaged with the first front power transmission unit, a second front side gear engaged with the second front power transmission unit, A first upper pinion gear and a first lower pinion gear which are respectively disposed between two front side gears and two front side gears and a second upper pinion gear and a second lower pinion gear, And a first differential gear bracket for supporting the first differential gear.

The second forward power transmission unit may include a second forward power transmission gear that is gear-engaged with the second driving shaft power transmission unit, and a second forward power transmission rotary shaft that rotates in conjunction with the second forward power transmission gear .

The second intermediate power transmission unit may include a second intermediate power transmission gear that is gear-engaged with the second drive shaft power transmission unit, and a second intermediate power transmission rotary shaft that rotates in combination with the second intermediate power transmission gear .

The second rear power transmission unit may include a second rear power transmission gear that is gear-engaged with the second driving shaft power transmission unit, and a second rear power transmission rotary shaft coupled with the second rear power transmission gear .

Wherein when the first drive shaft and the second drive shaft are rotated in the same direction, the first forward power transmission rotary shaft, the second forward power transmission rotary shaft, and the second intermediate power transmission rotary shaft are rotated in a first direction, And the intermediate power transmission rotary shaft may be rotated in a direction opposite to the first rotation direction.

The first wire fixing unit may include a first upper wire fixing unit coupled to an upper region of the first differential gear bracket and a first lower wire fixing unit coupled to a lower region of the first differential gear bracket .

The first upper wire fixing unit includes a first wire fixing member for fixing the first wire and a second wire fixing member disposed at a certain distance from the first wire fixing member and fixing the second wire can do.

The first lower wire fixing unit includes a third wire fixing member for fixing the third wire and a fourth wire fixing member disposed at a certain distance from the third wire fixing member and fixing the fourth wire. can do.

Wherein the wire fixing module includes a fifth wire fixing member and a ninth wire fixing member provided on the first front power transmission unit, a sixth wire fixing member and a tenth wire fixing member provided on the first rear power transmission unit, A seventh wire fixing member and an eleventh wire fixing member provided on the second front power transmission unit, an eighth wire fixing member and a twelfth wire fixing member provided on the second rear power transmission unit, .

According to another aspect of the present invention, there is provided a wire driving apparatus comprising: the wire driving apparatus described above; A front assembly disposed in front of the wire drive device; And a wire unit for moving a part of the front assembly while being moved by the wire driving device.

The front assembly includes an end effector for surgery, a joint unit having a plurality of unit joints disposed adjacent to each other along the longitudinal direction and in contact with each other in a longitudinal direction, one end coupled to the end effector and the other end connected to the joint unit A connection tube connected to the wire driving device, and a rear connection unit having one end connected to the connection tube and the other end contacting the joint unit.

Wherein the wire unit includes the first wire unit and the second wire unit and has one end coupled to the wire driving device and the other end passing through the inside of the connection tube to be connected to either the joint unit or the forward connection unit .

Wherein the plurality of unit joints include a first unit joint and a second unit joint, the second unit joint includes a second joint plate having a plurality of second unit wire through-holes, and a second joint plate protruding rearward of the second joint plate And a plurality of second forward projections protruding forward of the second joint plate.

Wherein the plurality of second unit wire through holes include eight through hole groups symmetrically disposed along the circumferential direction of the second joint plate, each of the through hole groups being arranged in a radial direction of the second joint plate And two through-holes that are formed in the substrate.

Wherein the first wire unit includes a first wire and a second wire, wherein the first wire and the second wire are integrally formed, and the first wire unit and the second wire are integrally formed, And the joint unit.

Wherein the first wire unit comprises a first wire, the first wire comprises a first rear wire coupled to the first wire fixing unit, and a rigid member coupled to the first rear wire, And a first front wire having one end coupled to the rigid member and the other end connected to either the front connecting unit or the articulating unit.

According to another embodiment of the present invention, the present invention provides a surgical instrument comprising: the above-described surgical instrument; A master module located remotely from the surgical instrument and generating operation information for implementing the operation of the surgical instrument; A control module for converting operation information generated in the master module into control signals of driving motors provided in the wire driving device; And a communication module for transmitting the control signal to the wire driving device.

Effects of the wire driving apparatus, the surgical apparatus using the same, and the remote operation system according to the present invention will be described as follows.

First, by using the power transmission module and the differential gear module, it is possible to drive the sixteen strands of wire with two driving motors, thereby making it possible to realize a compact multi-wire driving device.

Second, since the wires passing through four diagonal regions of the rear connecting unit, the joint unit, and the front connecting unit that make rolling contact move in the longitudinal direction, there is an advantage that the steering of the end effector is convenient.

Third, the two neighboring wires form one integral wire, and the integral wire connects the wire driving device and the front connecting unit, or the wire driving device and the joint unit, but connects them in the form of a closed loop, Can be efficiently delivered to the front assembly of the surgical instrument. In particular, by driving 16 wires in a small wire drive apparatus, a large force can be transmitted to the front assembly of the surgical instrument.

Fourthly, by distributing the portions to which the integral wires are connected on the front assembly to the front connecting unit and the second unit joint, which are arranged at regular intervals along the longitudinal direction of the front assembly, the tension transmitted by the wires is concentrated in one place There is an advantage that it can be prevented.

1 is a view showing an embodiment of a surgical instrument using a wire driving device according to the present invention.
FIG. 2 is a front assembly of the surgical instrument of FIG. 1;
3 is a sectional view showing a first wire provided in the surgical instrument of FIG.
FIG. 4 is a view showing a wire driving apparatus provided in the surgical instrument of FIG. 1;
Fig. 5 is a view showing a main part of the wire driving device of Fig. 4;
Fig. 6 is a view showing a coupling relationship of the first front power transmission unit, the second front power transmission unit and the first differential gear unit among the wire driving devices of Fig. 4;
Fig. 7 is a diagram showing a state of operation of the motor when the wire driving device of Fig. 4 moves the end effector in an upward direction. Fig.
8 is a view illustrating a state in which the end effector is moved upward in accordance with FIG.
Fig. 9 is a view showing a state of operation of the motor when the wire driving device of Fig. 4 moves the end effector to the left. Fig.
10 is a view showing a state in which the end effector is moved in the left direction according to FIG.
FIG. 11 is a view showing a state in which one of the first driving shaft and the second driving shaft provided in the wire driving apparatus of FIG. 4 is rotated.

Hereinafter, preferred embodiments of the present invention in which the above-mentioned problems to be solved can be specifically realized will be described with reference to the accompanying drawings. In describing the embodiments, the same names and the same symbols are used for the same configurations, and additional description therefor will be omitted below.

FIG. 1 is a view showing an embodiment of a surgical instrument using the wire driving device according to the present invention, FIG. 2 is a front assembly provided in the surgical instrument of FIG. 1, FIG. 4 is a view showing a wire driving device provided in the surgical instrument of FIG. 1, and FIG. 5 is a view showing a main part of the wire driving device of FIG. Fig. 6 is a view showing the engagement relationship of the first front power transmitting unit, the second front power transmitting unit and the first differential gear unit of the wire driving apparatus of Fig. 4, and Fig. 7 is a view showing the wire driving apparatus of Fig. FIG. 8 is a view illustrating a state in which the end effector is moved upward in accordance with FIG. 7. FIG.

Referring to FIGS. 1 and 2, the surgical instrument includes a wire driving device, a front assembly 1000 disposed in front of the wire driving device, and an end 1000 of the front assembly 1000 while being moved by the wire driving device. And a wire unit for moving the effector.

The front assembly 1000 includes an end effector 1100, a joint unit 1300, a front connecting unit 1200, a rear connecting unit 1400 and a connecting tube 1500. Here, the front means the direction in which the end effector 1100 is positioned, and the rear means the direction in which the driving module 3000 is positioned.

Specifically, the end effector 1100 is driven by an end effector driving wire provided separately from the wire unit as a tool for operating a surgical site disposed in the body of a patient.

The joint unit 1300 includes a plurality of unit joints disposed adjacent to each other along the longitudinal direction and in contact with each other in a segmented state.

The plurality of unit joints include a first unit joint 1310, a second unit joint 1320, and a third unit joint 1330. Of course, the present invention is not limited to this, and the number of unit joints can be changed as needed.

 The first unit joint 1310 includes a first joint plate 1311 having a plurality of first unit wire through holes 1313 formed therein and a plurality of first rear plates 1311 protruding rearward of the first joint plate 1311, And a plurality of first forward rolling protrusions 1317 protruding forward of the first joint plate 1311. The first forward rolling protrusions 1317 protrude forward of the first joint plate 1311,

The rear surface of the first rearward rolling protrusion 1315 and the front surface of the first front rolling protrusion 1317 have a curved shape so as to make a rolling contact with the neighboring rolling protrusions.

That is, the first rearward rolling protrusion 1315 comes into rolling contact with the forward rolling protrusion 1420 of the rear connecting unit, and the first forward rolling protrusion 1317 comes into rolling contact with the second rear rolling protrusion 1325).

The second unit joint 1320 includes a second joint plate 1321 having a plurality of second unit wire through holes A formed therein and a plurality of second rear plates 1321 protruding rearward of the second joint plate 1321. [ And a plurality of second forward rolling protrusions 1327 protruding forward of the second joint plate 1321. The second forward rolling protrusions 1327 protrude forward of the second joint plate 1321. [

A second end effector driving wire through hole 1329 through which the end effector driving wire passes is formed in the second joint plate 1321.

The third unit joint 1330 includes a third joint plate 1331, third rear rolling protrusions 1335 and third forward rolling protrusions 1337, and the third joint plate 1331, A plurality of third unit wire through holes 1333 are formed.

The second unit joint 1320 and the third unit joint 1330 are similar to the first unit joint 1310. That is, the shape of the joint plates and the shape and position of the corresponding wire through holes are the same, but the projecting positions of the forward rolling protrusions and the rear rolling protrusions are different from each other in the corresponding unit joints.

For example, if the first rear rolling projections 1315 are formed one by one in the vertical direction, the first forward rolling projections 1317 may be formed in the left and right directions, respectively.

The second rearward rolling protrusions 1325 are formed in the right and left directions in the rolling contact with the first front rolling protrusions 1317 and the second front rolling protrusions 1327 are formed in the second rear rolling protrusions 1317, (1325), respectively.

In addition, since the third rearward rolling projections 1335 are in rolling contact with the second forward rolling projections, the third forward rolling projections 1335 can be formed in the left and right directions, have.

Accordingly, the second rear rolling protrusions 1325 and the second front rolling protrusions 1327 are symmetrically disposed with respect to the second joint plate 1321, The first forward rolling projections 1317 have a positional relationship rotated 90 ° with respect to the first joint plate 1311. The third unit joint 1330 has a symmetrical shape with respect to the first unit joint 1310 with reference to the second unit joint 1320.

As a result, the upper and lower left and right regions of the rear connecting unit 1400, the joint unit 1300, and the front connecting unit 1200 and the wires passing through the four diagonal regions move along the longitudinal direction, And the position of the unit joints is changed, thereby making it possible to steer the end effector.

The second unit wire through holes A will be described with reference to FIG.

The plurality of second unit wire through holes (A) include eight through hole groups symmetrically arranged along the circumferential direction of the second joint plate (1321), and each of the through hole groups And two through holes arranged in the radial direction of the joint plate 1321. [

8, the first wire through hole A1 and the second wire through hole A2 are disposed in the upper region of the second joint plate 1321 to form a first through hole group The third wire through hole A3 and the fourth wire through hole A4 are disposed in a lower region of the second joint plate 1321 to form a second through hole group.

The thirteenth wire through hole A13 and the fourteenth wire through hole A14 are arranged in the right region of the second joint plate 1321 to form a third through hole group and the fifteenth wire through hole A15 And the sixteenth wire through hole A16 are disposed in the left region of the second joint plate 1321 to form a fourth through hole group.

The fifth through-hole A5 and the sixth through-hole A6 are disposed between the first through-hole group and the third through-hole group to form a fifth through-hole group, The through hole A11 and the twelfth wire through hole A12 are disposed between the third through hole group and the second through hole group to form a sixth through hole group.

The tenth wire through hole A10 and the ninth wire through hole A9 are disposed between the second through hole group and the fourth through hole group to form a seventh through hole group, The through-hole A7 and the eighth through-hole A8 are disposed between the fourth through-hole group and the first through-hole group to form an eighth through-hole group.

The plurality of second unit wire through holes (A) have the same position and shape as the plurality of first unit wire through holes (1313) and the plurality of third unit wire through holes (1333). However, there is a difference in the number of wires passing through the through holes. Hereinafter, it will be described later.

One end of the front connecting unit 1200 is engaged with the end effector 1100 and the other end is brought into contact with the joint unit, that is, the third unit joint 1330.

The front connecting unit 1200 includes a base portion 1230, an end effector coupling portion 1210 extending from the base portion 1230 to be coupled to the end effector 1100, And a base rear swing protrusion 1220 protruding from the base back swing protrusion 1220. The base portion 1230 is formed with a plurality of wire front through holes B to which the wire unit is connected.

Referring to FIG. 8, the plurality of wire front through holes B include a first wire front through hole B1, a second wire front through hole B2, a third wire front through hole B3, A wire front through hole B14, a thirteenth wire front through hole B13, a fourteenth wire front through hole B14, a fifteenth wire front through hole B15 and a sixteenth wire front through hole B16 .

Here, the first wire front through hole B1, the second wire front through hole B2, the third wire front through hole B3, the fourth wire front through hole B14, The front through hole B13, the fourteenth wire front through hole B14, the fifteenth wire front through hole B15 and the sixteenth wire front through hole B16 are formed in the first wire through hole A1, The third wire through hole A3, the fourth wire through hole A4, the thirteenth wire through hole A13, the fourteenth wire through hole A14, the second wire through hole A2, the third wire through hole A3, The fifteenth wire through hole A15, and the sixteenth wire through hole A16.

The rear connection unit 1400 has one end coupled to the connection tube 1500 and the other end connected to the joint unit, i.e., the first unit joint 1310.

The rear connection unit 1400 includes a connection body 1430, a tube coupling part 1410 extending from the connection body 1430 and coupled with the connection tube 1500, And includes protruding connection body front forward projections 1420. A plurality of rear wire through holes 1440 through which the wire unit passes are formed in the connection body 1430.

One end of the connection tube 1500 is coupled to the rear connection unit 1400, and the other end is coupled to the wire driving apparatus.

The wire drive apparatus includes a bracket unit 2000, a drive module 3000, a differential gear module 5000, a power transmission module 4000, and a wire fixing module 6000 .

The driving module 3000 includes a first driving unit 3100 having a first driving shaft 3130 mounted on the bracket unit 2000 and a second driving unit 3130 disposed at a predetermined distance from the first driving shaft 3130, And a second drive unit 3200 having a second drive unit 3230.

Specifically, the first driving unit 3100 includes a first driving motor 3110 for rotating the first driving shaft 3130, and a second driving motor 3110 disposed between the first driving shaft 3130 and the bracket unit 2000 And further includes a first bearing 3150.

The second drive unit 3200 includes a second drive motor 3210 for rotating the second drive shaft 3230 and a second drive motor 3210 for rotating the second drive shaft 3230 2 bearings < RTI ID = 0.0 > 3250. < / RTI >

The driving module 3000 further includes a third driving unit 3300 for moving the end effector driving wire used for moving the end effector 1100.

The differential gear module 5000 includes a first differential gear unit 5100 mounted on the bracket unit 2000 and a second differential gear unit 5100 disposed on the first differential gear unit 5100 along the longitudinal direction of the first drive shaft 3130. [ And a second differential gear unit 5200 disposed at a predetermined distance rearward.

The power transmission module 4000 includes a first power transmission module 530 for transmitting the rotation of the first drive shaft 3130 to one end of the first differential gear unit 5100 and one end of the second differential gear unit 5200, A second power transmission module 4200 for simultaneously transmitting the rotation of the second drive shaft 3230 to the tread of the first differential gear unit 5100 and the other end of the second differential gear unit 5200, .

The first power transmission module 4100 includes a first drive shaft power transmission unit 4110 coupled to the first drive shaft 3130 and a second drive shaft power transmission unit 4110 coupled to the first drive shaft power transmission unit 4110, And a first forward power transmission unit 4120 for transmitting the rotational force of the first differential gear unit 5100 to one end of the first differential gear unit 5100.

The first power transmission module 4100 is gear-coupled to the first drive shaft power transmission unit 4110 and transmits the rotational force of the first drive shaft 3130 to one end of the second differential gear unit 5200 A first intermediate power transmission unit 4130 and a first rear power transmission unit 4150 geared with the first drive shaft power transmission unit 4110 and disposed behind the first intermediate power transmission unit 4130, .

The first drive shaft power transmission unit 4110 includes a first drive shaft forward gear 4111 coupled to the first drive shaft 3130 and gear-coupled to the first forward power transmission unit 4120, A first drive shaft intermediate gear 4113 coupled to the first intermediate drive transmission unit 4130 and gear-coupled to the first intermediate drive transmission unit 4130, and a second drive shaft intermediate gear 4113 coupled to the first drive shaft 3130, And a first drive shaft rear gear 4115 which is gear-engaged with the first drive shaft rear gear 4115.

The first front power transmission unit 4120 includes a first front power transmission gear 4121 that is gear-engaged with the first driving shaft power transmission unit, that is, the first driving shaft front gear 4111, And a first forward power transmitting rotary shaft 4123 coupled with the gear 4121 and rotating.

The first intermediate power transmission unit 4130 includes a first intermediate drive transmission gear 4131 that is gear-engaged with the first drive shaft power transmission unit, that is, the first drive shaft intermediate gear 4113, And a first intermediate power transmission rotary shaft 4133 coupled with the gear 4131 and rotating.

The first rear power transmission unit 4150 includes a first rear power transmission gear 4151 that is gear-coupled to the first driving shaft power transmission unit, that is, the first driving shaft rear gear 4115, And a first rear power transmitting rotary shaft 4153 coupled with the gear 4151 and rotating.

The second power transmission module 4200 includes a second drive shaft power transmission unit 4210 coupled to the second drive shaft 3230 and a second drive shaft power transmission unit 4210 coupled to the second drive shaft power transmission unit 4210, 2 drive shaft 3230 to the other end of the first differential gear unit 5100. The first differential power gear unit 5100 includes a first forward power transmission unit 4220 and a second forward power transmission unit 4220. [

The second power transmission module 4200 is gear-coupled to the second drive shaft power transmission unit 4210 and transmits the rotational force of the second drive shaft 3230 to the other end of the second differential gear unit 5200 A second intermediate power transmitting unit 4230 and a second rear power transmitting unit 4250 which is gear-engaged with the second driving shaft power transmitting unit 4210 and is disposed behind the second intermediate power transmitting unit 4230, .

The second drive shaft power transmission unit 4210 includes a second drive shaft forward gear 4211 coupled to the second drive shaft 3230 and gear-coupled to the second forward power transmission unit 4220, A second drive shaft intermediate gear 4213 coupled to the second intermediate drive transmission unit 4230 and gear-coupled to the second intermediate drive transmission unit 4230, and a second drive shaft intermediate gear 4213 coupled to the second drive shaft 3230, And a second drive shaft rear gear 4215 that is gear-engaged with the second drive shaft rear gear 4215.

The second front power transmission unit 4220 includes a second front power transmission gear 4221 that is gear-coupled to the second driving shaft power transmission unit, i.e., the second driving shaft front gear 4211, And a second forward power transmission rotary shaft 4223 coupled with the gear 4221 and rotating.

The second intermediate power transmission unit 4230 includes a second intermediate power transmission gear 4231 that is gear-engaged with the second drive shaft power transmission unit, that is, the second drive shaft intermediate gear 4213, And a second intermediate power transmitting rotary shaft 4233 coupled with the gear 4231 and rotating.

The second rear power transmission unit 4250 includes a second rear power transmission gear 4251 that is gear-engaged with the second driving shaft power transmission unit, i.e., the second driving shaft rear gear 4215, And a second rear power transmission rotary shaft 4253 coupled to the gear 4251 and rotating.

The first differential gear unit 5100 includes a first front side gear 5110, a second front side gear 5120, a first lower pinion gear 5140, a first upper pinion gear 5130, And a differential gear bracket 5190.

The first front side gear 5110 is engaged with the first front power transmission unit, i.e., the first front power transmission rotary shaft 4123, and is rotated together.

The second front side gear 5120 is engaged with the second front power transmission unit, i.e., the second front power transmission rotary shaft 4223, and is rotated together.

The first lower pinion gear 5140 is disposed in a lower region of the space between the first front side gear 5110 and the second front side gear 5120 and is disposed between the first front side gear 5110 and the second front side gear 5120, 2 front side gear 5120 in the direction of rotation.

The first upper pinion gear 5130 is disposed in an upper region of the space between the first front side gear 5110 and the second front side gear 5120 and is disposed between the first front side gear 5110 and the second front side gear 5120, 2 front side gear 5120 in the direction of rotation.

The first differential gear bracket 5190 includes the first front side gear 5110, the second front side gear 5120, the first upper pinion gear 5130 and the first lower pinion gear 5140 Acceptance and support.

The first differential gear bracket 5190 includes a first front bracket 5150 for supporting the first front side gear 5110 and a second front bracket 5150 for supporting the second front side gear 5120. [ A first upper bracket 5170 for supporting the first upper pinion gear 5130 and a first lower bracket 5180 for supporting the first lower pinion gear 5140, .

Although not shown, the first and second front side gears 5110 and 5150 are disposed between the first front side gear 5110 and the first front bracket 5150, between the second front side gear 5120 and the second front bracket 5160, A bearing is installed between the first upper pinion gear 5130 and the first upper bracket 5170 and between the first lower pinion gear 5140 and the first lower bracket 5180.

The second differential gear unit 5200 includes a second differential gear bracket 5290, a first rear side gear supported by the second differential gear bracket, a second rear side gear, a second upper pinion gear, And a lower pinion gear. Since the second differential gear unit 5200 has substantially the same configuration as that of the first differential gear unit 5100, detailed description thereof will be omitted.

The first differential gear unit 5100 and the second differential gear unit 5200 are disposed between the first differential gear unit 5100 and the second differential gear unit 5200 along the longitudinal direction of the first drive shaft 3130, A differential gear connecting unit 2720 for keeping the distance between the differential gear connecting units 2720 and 5200 constant is disposed.

The differential gear connecting unit 2720 is freely rotatable with respect to the first differential gear unit 5100 and the second differential gear unit 5200, respectively. As a result, the differential gear connecting unit 2720 does not restrain the respective differential gear units from rotating about their respective central axes, but they are restricted from moving in the longitudinal direction of the first drive shaft 3130.

The wire fixing module includes a first wire fixing unit coupled to the first differential gear unit 5100 and a second wire fixing unit coupled to the second differential gear unit 5200.

The first wire fixing unit includes a first upper wire fixing unit 6100 coupled to an upper region of the first differential gear bracket 5190, that is, the first upper bracket 5170, 5190, that is, a first lower wire fixing unit 6200 coupled to the first lower bracket 5180.

The first upper wire fixing unit 6100 includes a first wire fixing member 6301 for fixing the first wire 1 and a second wire fixing member 6301 disposed at a predetermined distance from the first wire fixing member 6301, And a second wire fixing member 6302 for fixing the wire 2.

The first lower wire fixing unit 6200 includes a third wire fixing member 6303 for fixing the third wire 3 and a third wire fixing member 6303 disposed at a predetermined distance from the third wire fixing member 6303, And a fourth wire fixing member 6304 for fixing the wire 4.

The second wire fixing unit includes a second upper wire fixing unit coupled to an upper region of the second differential gear bracket 5290 and a second upper wire fixing unit 5260 coupled to a lower region of the second differential gear bracket 5290. [ Unit.

The second upper wire fixing unit includes a fifteenth wire fixing member 6315 for fixing the fifteenth wire 15 and a sixteenth wire 1616 disposed at a predetermined distance from the fifteenth wire fixing member 6315, And a sixteenth wire fixing member 6316 for fixing the sixteenth wire fixing member 6316.

The second lower wire fixing unit includes a thirteenth wire fixing member 6313 for fixing the thirteenth wire 13 and a thirteenth wire 1414 disposed at a certain distance from the thirteenth wire fixing member 6313, And a 14th wire fixing member 6314 for fixing the 14th wire.

The wire fixing module further includes a fifth wire fixing member 6305 and a ninth wire fixing member 6309 provided on the first front power transmission unit 4120 and the first rear power transmission unit 4150, A sixth wire fixing member 6306 and a tenth wire fixing member 6310 which are provided on the first wire fixing member 6306. [

The wire fixing module further includes a seventh wire fixing member 6307 and an eleventh wire fixing member 6311 mounted on the second front power transmission unit 4220 and the second rear power transmission unit 4250, And an eighth wire fixing member 6308 and a twelfth wire fixing member 6312 which are provided on the first wire fixing member 6308.

The wire fixing members include a capstan, and the tension of the wires can be adjusted.

2 to 8, the wire unit has one end coupled to the wire driving device and the other end passing through the inside of the connection tube 1500 to connect the joint unit 1300 or the front connection unit 1200 It is connected to either one.

The wire unit includes a first wire unit coupled to the first wire fixing unit and a second wire unit coupled to the second wire fixing unit. Here, the first wire unit includes a first wire 1, a second wire 2, a third wire 3 and a fourth wire 4, and the second wire unit includes a thirteenth wire 13 , A fourteenth wire (14), a fifteenth wire (15), and a sixteenth wire (16).

The wire unit may further include a fifth wire 5 coupled to the fifth wire fixing member 6305, a sixth wire 6 coupled to the sixth wire fixing member 6306, The eighth wire 8 connected to the eighth wire fixing member 6308, the ninth wire 9 connected to the ninth wire fixing member 6309, the seventh wire 7 connected to the ninth wire fixing member 6309, A tenth wire 10 coupled to the tenth wire fixing member 6310, an eleventh wire 11 coupled to the eleventh wire fixing member 6311, (12). ≪ / RTI >

The first wire 1 and the second wire 2 are integrally formed to form a first integral wire 21 and the third wire 3 and the fourth wire 4 are integrally formed The fifth wire 5 and the sixth wire 6 are integrally formed to form a third integral wire 23 and the seventh wire 5 and the sixth wire 6 are integrally formed to form a third integral wire 23, 7 and the eighth wire 8 are integrally formed to form a fourth integral wire 24.

The ninth wire 9 and the tenth wire 10 are integrally formed to form a fifth integral wire 25 and the eleventh wire 11 and the twelfth wire 12 are integrally formed The seventh wire (13) and the fourteenth wire (14) are integrally formed to form a seventh integral wire (27), and the fifteenth wire 15 and the sixteenth wire 16 are integrally formed to form an eight-piece type wire 28.

For example, after the first wire passes through the connection tube 1500, the first wire passes through the through hole of the rear connection unit corresponding to the first wire through hole A1, the through hole of the first unit joint, Through hole of the joint and the first wire front through hole (B1) of the front connecting unit.

Similarly, after the second wire 2 passes through the connection tube 1500, the through hole of the rear connection unit corresponding to the second wire through hole A2, the through hole of the first unit joint, The through hole of the unit joint and the second wire front through hole B2 of the front connecting unit.

One end of the first wire 1 passing through the first wire front through hole B1 and one end of the second wire 2 passing through the second wire front through hole B2 are integrally connected .

The first integral wire is fixed at one end to the first wire fixing member 6301 and the other end is fixed to the connection tube 1500 in the direction of the end effector 1100. [ The through hole of the rear connecting unit, the through hole of the first unit joint, the first wire through hole A1, the through hole of the third unit joint, and the first wire front through hole B1 The through hole of the third unit joint, the second wire through hole (A2), the through hole of the first unit joint, and the rear portion of the second wire through hole Penetrates through the through-hole of the connection unit and the connection tube 1500, and is then coupled to the second wire fixing member 6302.

Accordingly, the first integral type wire 21, in which the first wire and the second wire are formed integrally, connects the wire driving device and the front connection unit 1200, but connects them in the form of a closed loop, As shown in FIG.

The second integral wire 22, the seventh integral wire 27 and the eighth integral wire 28 are also connected to the wire driving device and the front connection unit 1200 in the same manner as the first integral wire 21 It connects with two strands to form a closed loop.

The fifth integral wire 25 having the fifth wire 5 and the sixth wire 6 integrally formed therein is connected at one end to the fifth wire fixing member 6305 and at the other end to the end effector 1100 and then passes through the through hole of the rear connecting unit, the through hole of the first unit joint, the fifth wire through hole A5 of the second unit joint, That is, the sixth wire through hole A6 of the second unit joint in the direction of the wire driving device, the through hole of the first unit joint, the through hole of the rear connecting unit and the connecting tube 1500, Member 6306 as shown in Fig.

Accordingly, the third integral wire 23, in which the fifth wire and the sixth wire are integrally formed, connects the wire drive unit and the second unit joint 1320, but is connected in the form of a closed loop, The two unit joints 1320 can be efficiently delivered.

Similarly, the fourth integral wire 24, the fifth integral wire 25 and the sixth integral wire 26 are also connected to the wire driving device and the second unitary wire 23 in the same manner as the third integral wire 23, (1320) to form a closed loop.

Accordingly, the first integral wire 21, the second integral wire 22, the seventh integral wire 27, and the eighth integral wire 28 are connected to the wire driving device and the front connecting unit 1200 The fourth integral wire 24, the fifth integral wire 25 and the sixth integral wire 26 form a closed loop while being connected to the wire driving device The second unit joints 1320 are connected to each other to form a closed loop.

16 wire strands are passed through the rear connection unit 1400, the first unit joint 1310 and the second unit joint 1320 and the third unit joint 1330 and the front connection unit 1200 ) Through which the eight wire strands pass.

As a result, the portion to which the integral wires are connected on the front assembly 1000 is connected to the front connection unit 1200 and the second unit joint 1320, which are disposed at regular intervals along the longitudinal direction of the front assembly 1000 ), It is possible to prevent the tension transmitted by the wires from being concentrated in one place.

2 to 5, the first wire 1 includes a first rear wire 1a coupled to the first wire fixing unit, i.e., the first wire fixing member 6301, A rigid member 1c coupled to the rigid member 1c and disposed inside the connection tube 1500 and a rigid member 1c having one end connected to the rigid member 1c and the other end connected to the front connection unit 1200, (1d).

For example, the rigid member 1c may be provided as a metal tube. The tube is clamped in a state where one end of the first rearward guide 1a is inserted into one end of the tube so that the tube and the first rear wire 1a are engaged. The coupling between the tube and the first front wire 1d may be performed in the same manner.

The reason why the rigid member 1c is used is to reduce the elasticity of the wire to precisely control the movement of the end effector through the movement of the wire.

The first wire 1 may further include an elastic tube 1b disposed outside a part of the first rear wire 1a. Specifically, the elastic tube 1b is disposed between the front wire bracket 2300 and the rear wire bracket 2400 in the structure of the bracket unit 2000.

The bracket unit 2000 includes a base frame 2100, a connection tube fixing bracket 2200, a front wire bracket 2300, a rear wire bracket 2400, a first mounting bracket 2500 and a second mounting bracket 2600 A connection bracket 2800, and a motor bracket 2900. The mounting bracket 2800 includes a mounting bracket 2900,

The connection tube fixing bracket 2200, the front wire bracket 2300, the rear wire bracket 2400, the connection bracket 2800, the mounting bracket 2800, and the motor bracket 2800 are sequentially disposed on the base frame 2100 in a rearward direction. (2900) is installed.

The front wire bracket 2300 includes a front bracket body 2310 and a front bracket fixing member 2330 for fixing the front bracket body 2310 to the rear wire bracket 2400. The front bracket body 2310 is formed with front bracket wire through holes 2320 through which the wire unit passes. Although not shown, a hole through which the end effector driving wire passes is formed in the front bracket body.

The rear wire bracket 2400 includes a rear bracket body 2410. The rear wire bracket body 2410 includes rear wire bracket through holes 2430 through which the wire unit passes, Through hole 2420 for driving the end effector is formed.

The first mounting bracket 2500 includes a first driving shaft receiving portion 2520 for receiving one end of the first driving shaft 3130 and a first driving shaft receiving portion 2520 for receiving the first power transmitting module mounting frame 2500 2510).

The second mounting bracket 2600 includes a second driving shaft receiving portion 2620 for receiving one end of the second driving shaft 3230 and a second driving shaft receiving portion 2620 for mounting the second power transmitting module mounting frame 2600 2610).

The connection bracket 2800 connects the rear wire bracket 2400 to the first installation bracket 2500 and the second installation bracket 2600.

The motor bracket 2900 is installed behind the mounting bracket to support the driving motors of the first driving motor 3110, the second driving motor 3210 and the third driving unit 3300.

An idle pulley 2710 is installed on the connection bracket 2800, the first installation bracket 2500 and the second installation bracket 2600 in order to reduce friction with the bracket unit during the movement of the wire units.

1 to 8, a process of moving the end effector in the upward direction by the wire driving device will be described as follows.

7, when the first driving shaft 3130 rotates counterclockwise, the first front power transmission rotary shaft 4123 and the first rear power transmission rotary shaft 4153 rotate clockwise, The intermediate power transmission rotary shaft 4133 rotates counterclockwise.

At the same time, when the second drive shaft 3230 rotates in the counterclockwise direction, the second forward power transmission rotary shaft 4223, the second intermediate power transmission rotary shaft 4233, and the second rear power transmission rotary shaft 4253 rotate clockwise .

Here, the thread of the first intermediate power transmission gear 4131 is a thread of the first front power transmission gear 4121, the thread of the first rear power transmission gear 4151, the thread of the second front power transmission gear 4221, Is formed in a direction opposite to the thread of the second intermediate power transmission gear 4231 and the thread of the second rear power transmission gear 4251.

That is, when the first drive shaft 3130 and the second drive shaft 3230 are rotated in the same direction, the first forward power transmission rotary shaft 4123, the second forward power transmission rotary shaft 4223, The power transmission rotary shaft 4233 may be rotated in a first direction and the first intermediate power transmission rotary shaft 4133 may be rotated in a direction opposite to the first rotation direction.

6, the first front side gear 5110 is subjected to a force for rotating clockwise, and the second front side gear 5120 is also subjected to a force for rotating clockwise do.

When both the first front side gear 5110 and the second front side gear 5120 are urged to rotate in the clockwise direction, the first upper pinion gear 5130 and the first lower pinion gear 5140 rotate, It is not rotated.

However, since the first forward power transmission rotary shaft 4123 and the second forward power transmission rotary shaft 4223 are rotated together with the first drive shaft 3130 and the second drive shaft 3230, The first differential gear bracket 5190 accommodating the first front power transmission rotary shaft 5110 and the second front side gear 5120 is connected to the first forward power transmission rotary shaft 4123 and the second forward power transmission rotary shaft 4223, And is rotated in the clockwise direction with respect to the first differential gear center shaft (P).

The first wire fixing unit coupled to the first differential gear bracket 5190 is connected to the first differential gear center bracket 5190 via a first differential gear center axis P on a virtual extension line of the center line of the first forward power transmission unit 4120, .

Specifically, when the first upper bracket 5170 and the first lower bracket 5180 rotate clockwise with respect to the first differential gear center axis P, the first upper bracket 5170 and the first lower bracket 5180 are rotated, The first wire fixing member 6301 and the second wire fixing member 6302 and the third wire fixing member 6303 and the fourth wire fixing member 6304 coupled to the first lower bracket 5180 also rotate clockwise .

At the same time, the first wire 1 coupled to the first wire fixing member 6301 and the second wire 2 coupled to the second wire fixing member 6302 are moved backward, The third wire 3 coupled to the wire fixing member 6303 and the fourth wire 4 coupled to the fourth wire fixing member 6304 are moved forward.

8, the first wire 1 that has passed through the first wire front through hole B1 and the second wire 2 that has passed through the second wire front through hole B2 The integrally formed first integral wire 21 pulls the upper region of the front connecting unit 1200 rearward.

At the same time, the lower region of the front connecting unit 1200 is moved forward, and the lower region of the front connecting unit 1200 moves forward, and at the same time, the lower region of the front connecting unit 1200, The second integral wire 22 formed integrally with the third wire 3 and the fourth wire 4 passing through the fourth wire front through hole B4 is moved forward.

The thirteenth wire 13 passed through the thirteenth wire front through hole B13 and the fourteenth wire 14 and the fifteenth wire front through hole B15 passing through the fourteenth wire front through hole B14 The sixteenth wire 16 that has passed through the fifteenth wire 15 and the sixteenth wire front through-hole B16 that have passed therethrough is not moved.

This is because the thirteenth wire 13, the fourteenth wire 14, the fifteenth wire 15 and the sixteenth wire 16 are coupled with the second differential gear unit 5200, The second differential gear unit 5200 does not rotate with respect to the second differential gear center axis Q while the first drive shaft 3130 and the second drive shaft 3230 rotate in the same direction.

The principle in which the second differential gear unit 5200 does not rotate is the same as the principle in which the first differential gear unit 5100 does not rotate in the case of FIGS. 9 and 10, which will be described later.

When the first forward power transmission rotary shaft 4123 rotates clockwise, the fifth wire fixing member 6305 and the ninth wire fixing member 6309, which are coupled to the first forward power transmission rotary shaft 4123, Is also rotated clockwise.

When the first rear power transmission rotary shaft 4153 is rotated clockwise, the sixth wire fixing member 6306 and the 10th wire fixing member 6310, which are coupled to the first rear power transmission rotary shaft 4153, Is also rotated clockwise.

When the second forward power transmission rotary shaft 4223 rotates clockwise, the seventh wire fixing member 6307 and the eleventh wire fixing member 6311, which are coupled to the second forward power transmission rotary shaft 4223, And is rotated clockwise.

When the second rear power transmission rotary shaft 4253 rotates in the clockwise direction, the eighth wire fixing member 6308 and the twelfth wire fixing member 6312 coupled to the second rear power transmission rotary shaft 4253 And is rotated clockwise.

Here, the fifth wire 5 is drawn out from the upper side of the fifth wire fixing member 6305, the sixth wire 6 is drawn out from the upper side of the sixth wire fixing member 6306, and the ninth wire 9 are drawn out from the lower side of the ninth wire fixing member 6309 and the tenth wire 10 is pulled out from the lower side of the tenth wire fixing member 6310. [

The seventh wire 7 is drawn from above the seventh wire fixing member 6307 and the eighth wire 8 is drawn from above the eighth wire fixing member 6308 and the eleventh wire 11 is drawn out from under the eleventh wire fixing member 6311 and the twelfth wire is drawn out from under the twelfth wire fixing member 6312. [

Therefore, the fifth wire 5 and the sixth wire 6 are moved rearward, and the ninth wire 10 and the tenth wire 10 are moved forward, and the seventh wire 7 and the eighth wire 6 8 are moved rearward, and the eleventh wire 11 and the twelfth wire 12 are moved forward.

8, the fifth wire 5 having passed through the fifth wire through hole A5 and the sixth wire 6 passing through the sixth wire through hole A6 are integrally formed The formed third integral wire 23 pulls the right upper diagonal area of the second unit joint 1320 backward.

The fourth integral wire 24 having the seventh wire 7 passed through the seventh wire penetrating hole A7 and the eighth wire 8 passing through the eighth wire penetrating hole A8 are integrally formed, The upper left diagonal area of the second unit joint 1320 is pulled backward.

When the right upper diagonal area and the upper left diagonal area of the second unit joint 1320 are pulled backward, the right lower diagonal area and the lower left diagonal area of the second unit joint 1320 move forward do.

At this time, the fifth integral wire 25 in which the ninth wire 9 having passed through the ninth wire through-hole A9 and the tenth wire 10 having passed through the tenth wire through-hole A10 are integrally formed And is moved forward. The sixth integral wire 26 in which the eleventh wire 11 having passed through the eleventh wire through hole A11 and the twelfth wire 12 passing through the twelfth wire through hole A12 are integrally formed And is moved forward.

As a result, the first wire 1, the second wire 2, the fifth wire 5, and the second wire 5, which are connected to the upper region of the front connection unit 1200 and the upper region of the second unit joint 1320, The sixth wire 6, the seventh wire 7 and the eighth wire 8 are moved rearward and connected to the lower region of the front connecting unit 1200 and the lower region of the second unit joint 1320 The third wire 3, the fourth wire 4, the ninth wire 9, the tenth wire 10, the eleventh wire 11 and the twelfth wire 12 are moved forward, The end effector 1100 is bent in the upward direction because the fourteenth wire 13, the fourteenth wire 14, the fifteenth wire 15 and the sixteenth wire 16 are in a stopped state.

FIG. 9 is a view showing a state of operation of the motor when the wire driving apparatus of FIG. 4 moves the end effector to the left direction, FIG. 10 is a view illustrating a state of moving the end effector to the left according to FIG. to be.

Referring to FIGS. 1 to 6, 9 and 10, a process of moving the end effector in the left direction by the wire driving apparatus will be described as follows.

9, when the first driving shaft 3130 rotates in the clockwise direction, the first forward power transmission rotary shaft 4123 and the first rear power transmission rotary shaft 4153 rotate in the counterclockwise direction, 1 intermediate power transmission rotary shaft 4133 is rotated clockwise.

At the same time, when the second drive shaft 3230 rotates in the counterclockwise direction, the second forward power transmission rotary shaft 4223, the second intermediate power transmission rotary shaft 4233, and the second rear power transmission rotary shaft 4253 rotate clockwise .

6, the first front side gear 5110 is rotated in the counterclockwise direction and the second front side gear 5120 is rotated in the clockwise direction. At this time, the first upper pinion gear 5130 rotates clockwise, and the first lower pinion gear 5140 rotates counterclockwise.

As a result, the first differential gear bracket 5190 does not rotate with respect to the first differential gear center axis P and remains stationary, and the first differential gear bracket 5190 is fixed to the first upper- The first wire 1, the second wire 2, the third wire 3 and the fourth wire 4 are kept stationary while the unit 6100 and the first lower wire fixing unit 6200 are kept stationary It will remain stationary.

On the other hand, the second differential gear bracket 5290 rotates in the clockwise direction with respect to the second differential gear center axis Q for the same reason as described with reference to FIGS. 7 and 8.

That is, the fifteenth wire fixing member 6315, the sixteenth wire fixing member 6316, the thirteenth wire fixing member 6313, and the fourteenth wire fixing member 6314 are rotated clockwise.

At this time, the fifth wire fixing member 6305 and the ninth wire fixing member 6309 coupled to the first front power transmitting rotary shaft 4123 rotate in the counterclockwise direction and are coupled to the first rear power transmitting rotary shaft 4153 The sixth wire fixing member 6306 and the tenth wire fixing member 6310 are rotated counterclockwise.

The seventh wire fixing member 6307 and the eleventh wire fixing member 6311 coupled to the second forward power transmission rotary shaft 4223 rotate clockwise and are connected to the second rear power transmission rotary shaft 4223 The eighth wire fixing member 6308 and the twelfth wire fixing member 6312 are rotated clockwise.

As a result, the fifteenth wire 15, the sixteenth wire 16, the seventh wire 7, and the seventh wire 15 connected to the left area of the front connection unit 1200 and the left area of the second unit joint 1320 8 wire 8, 9 wire 10 and 10 wire 10 are moved rearward and connected to the right region of the front connection unit 1200 and the right region of the second unit joint 1320 The fifth wire 5, the sixth wire 6, the thirteenth wire 13, the fourteenth wire 14, the eleventh wire 11 and the twelfth wire 12 are moved forward, Since the first wire 1, the second wire 2, the third wire 3 and the fourth wire 4 are in a stopped state, the end effector 1100 is bent in the leftward direction.

1 to 6, 8, and 11, a case where the end effector is moved in the upper right diagonal direction will be described.

When the end effector 1100 is moved in the upper right diagonal direction, it corresponds to a case where the first drive shaft 3130 rotates counterclockwise as indicated by a dotted line in FIG. At this time, the second drive shaft 3230 does not rotate but remains in a stopped state.

When the first drive shaft 3130 rotates counterclockwise, the first forward power transmission rotary shaft 4123 and the first rear power transmission rotary shaft 4153 rotate clockwise. On the other hand, the first intermediate power transmitting rotary shaft 4133 rotates counterclockwise.

Then, the first differential gear unit 5100 rotates in the clockwise direction with respect to the first differential gear center axis P, and the second differential gear unit 5200 rotates clockwise with respect to the first differential gear center axis P, So as to rotate in a counterclockwise direction.

Therefore, the first wire fixing member 6301, the second wire fixing member 6302, the third wire fixing member 6303, and the fourth wire fixing member 6304 are rotated in the clockwise direction, The fourteenth wire fixing member 6313, the fourteenth wire fixing member 6314, the fifteenth wire fixing member 6315, and the sixteenth wire fixing member 6316 rotate counterclockwise.

The fifth wire fixing member 6305, the ninth wire fixing member 6309, the sixth wire fixing member 6306, and the tenth wire fixing member 6310 are rotated clockwise.

As a result, the first wire 1, the second wire 2, the thirteenth wire 13, the fourteenth wire 14, the fifth wire 5 and the sixth wire 6 are moved backward, The third wire 3, the fourth wire 4, the fifteenth wire 15, the sixteenth wire 16, the ninth wire 9 and the tenth wire 10 are moved forward, The eighth wire 8, the eleventh wire 11 and the twelfth wire 12 are in a stopped state, the end effector 1100 is bent in the upper right diagonal direction.

1 to 6, 8, and 11, a case where the end effector is moved in the upper left diagonal direction will be described.

When the end effector 1100 is moved in the upper left diagonal direction, it corresponds to the case where the second drive shaft 3230 rotates counterclockwise as indicated by the solid line in FIG. At this time, the first drive shaft 3130 does not rotate but remains in a stopped state.

When the second drive shaft 3230 rotates counterclockwise, the second forward power transmission rotary shaft 4223, the second intermediate power transmission rotary shaft 4233, and the second rear power transmission rotary shaft 4253 are all clockwise .

Then, the first differential gear unit 5100 is rotated in the clockwise direction with respect to the first differential gear center axis P, and the second differential gear unit 5200 is rotated in the clockwise direction with reference to the second differential gear center axis Q To rotate clockwise.

Accordingly, the first wire fixing member 6301, the second wire fixing member 6302, the third wire fixing member 6303, the fourth wire fixing member 6304, the thirteenth wire fixing member 6313, The fixing member 6314, the fifteenth wire fixing member 6315, and the sixteenth wire fixing member 6316 are rotated clockwise.

The seventh wire fixing member 6307, the eighth wire fixing member 6308, the eleventh wire fixing member 6311, and the twelfth wire fixing member 6312 are rotated clockwise.

Therefore, the first wire 1, the second wire 2, the fifteenth wire 15, the sixteenth wire 16, the seventh wire 7 and the eighth wire 8 are moved backward, The third wire 3, the fourth wire 4, the thirteenth wire 13, the fourteenth wire 14, the eleventh wire 11 and the twelfth wire 12 are moved forward and the fifth wire 5, the sixth wire 6, the ninth wire 9, and the tenth wire 10 are in a stopped state, the end effector 1100 is bent in the upper left diagonal direction.

Accordingly, the power transmission module 4000 and the differential gear module 5000 interlock with each other in accordance with the rotation direction of the first drive shaft 3130 and the second drive shaft 3230, When the second differential gear unit 5200 is selectively or jointly moved, the first wire fixing unit and the second wire fixing unit are moved selectively or together.

That is, the first differential gear unit 5100 is selectively rotated with respect to the first differential gear center axis P in accordance with the rotation direction of the first drive shaft 3130 and the second drive shaft 3230, The first wire fixing unit coupled to the first differential gear bracket 5190 is selectively rotated.

The second differential gear unit 5200 is selectively rotated with respect to the second differential gear center axis Q to selectively connect the second wire fixing unit coupled to the second differential gear bracket 5290 .

The first differential gear unit 5100 and the second differential gear unit 5200 are interlocked with the movement of the first differential gear unit 5100 and the second differential gear unit 5200 in accordance with the rotation direction of the first drive shaft 3130 and the second drive shaft 3230, The sixth wire fixing member 6306, the seventh wire fixing member 6307, the eighth wire fixing member 6308, the ninth wire fixing member 6309, the tenth wire fixing member 6310 ), The eleventh wire fixing member 6311 and the twelfth wire fixing member 6312 are selectively or simultaneously rotated.

As a result, by using the power transmission module and the differential gear module, it is possible to drive the 16-stranded wires with two driving motors, thereby realizing a compact multi-wire driving device.

The remote operation system according to the present invention includes the above-described surgical instrument, a master module that is located at a remote location with respect to the surgical instrument and that generates operation information for implementing operations of the surgical instrument, And a communication module for transmitting the control signal to the wire driving device. The control module transmits the control signal to the wire driving device.

Hereinafter, a procedure of operating a patient using the remote surgical system will be described.

First, the practitioner operates the master module based on the patient's body information displayed on the remote display device.

Then, the control module recognizes the operation information of the master module, and then calculates a control signal for driving the surgical instrument to correspond to the operation information.

At this time, the control signal is a signal for controlling the driving motors provided in the wire driving device of the surgical instrument. Here, the motor drive for driving the driving motors may be provided in the wire driving device or may be provided on the control module.

Then, the communication module transmits the control signal to the wire driving device. The communication module is connected to the wire driving device by wire or wirelessly.

As described above, the present invention is not limited to the above-described specific preferred embodiments, and various changes and modifications may be made by those skilled in the art without departing from the scope of the present invention as claimed in the claims. And such variations are within the scope of the present invention.

1: first wire 1a: first rear wire
1c: rigid member 1d: first front wire
1000: front assembly 1100: end effector
1200: front connecting unit 1300: joint unit
1310: first unit joint 1320: second unit joint
1330: third unit joint 1400: rear connecting unit
1500: Connection tube 2000: Bracket unit
3000: drive module 3100: first drive unit
3110: first drive motor 3130: first drive shaft
3200: second drive unit 3210: second drive motor
3230: second drive shaft 4000: power transmission module
4100: first power transmission module 4110: first drive shaft power transmission unit
4120: first forward power transmission unit 4130: first intermediate power transmission unit
4150: first rear power transmission unit 4200: second power transmission module
4210: second drive shaft power transmission unit 4220: second forward power transmission unit
4230: second intermediate power transmitting unit 4250: second rear power transmitting unit
5000: Differential gear module 5100: First differential gear unit
5110: first front side gear 5120: second front side gear
5130: first upper pinion gear 5140: first lower pinion gear
5190: First differential gear bracket 5200: Second differential gear unit
5290: 2nd differential gear bracket 6000: Wire fixing module
6301: first wire fixing member 6302: second wire fixing member
6303: third wire fixing member 6304: fourth wire fixing member

Claims (17)

Bracket unit;
A drive module including a first drive unit having a first drive shaft mounted on the bracket unit and a second drive unit having a second drive shaft spaced apart from the first drive shaft;
A differential gear module including a first differential gear unit mounted on the bracket unit and a second differential gear unit disposed at a predetermined distance from the first differential gear unit along a longitudinal direction of the first drive shaft;
A first power transmission module for transmitting the rotation of the first drive shaft to one end of the first differential gear unit and one end of the second differential gear unit at the same time; And a second power transmission module for transmitting the second power transmission module to the other end of the second differential gear unit at the same time. And,
A wire fixing unit including a first wire fixing unit fixing the first wire unit coupled to the first differential gear unit and a second wire fixing unit fixing the second wire unit coupled to the second differential gear unit, / RTI >
When the first differential gear unit and the second differential gear unit are selectively or together moved while the power transmission module and the differential gear module are interlocked with each other in accordance with the rotation direction of the first drive shaft and the second drive shaft, Wherein the wire fixing unit and the second wire fixing unit are also selectively moved together. The method according to claim 1,
The first differential gear unit includes a first differential gear bracket,
The first differential gear unit is selectively rotated with respect to the center axis of the first differential gear which is the center axis of the first differential gear bracket to selectively rotate the first wire fixing unit coupled to the first differential gear bracket Characterized by a wire drive device. 3. The method of claim 2,
The first power transmission module includes a first drive shaft power transmission unit coupled to the first drive shaft and a second drive shaft power transmission unit coupled to the first drive shaft power transmission unit and configured to transmit the rotational force of the first drive shaft to one end of the first differential gear unit A first intermediate power transmission unit for transmitting the rotational force of the first drive shaft to one end of the second differential gear unit while being meshed with the first drive shaft power transmission unit; And a first rear power transmission unit that is gear-engaged with the drive shaft power transmission unit and disposed behind the first intermediate power transmission unit. The method of claim 3,
Wherein the first drive shaft power transmitting unit includes a first drive shaft forward gear coupled to the first drive shaft and gear-coupled to the first forward drive unit, and a second drive shaft forward gear coupled to the first drive shaft, And a first driving shaft rear gear coupled to the first driving shaft and gear-coupled to the first rear driving power transmitting unit. The method of claim 3,
Wherein the first forward power transmission unit includes a first forward power transmission gear that is gear-engaged with the first drive shaft power transmission unit, and a first forward power transmission rotary shaft that rotates in conjunction with the first forward power transmission gear,
The first intermediate power transmission unit includes a first intermediate power transmission gear that is gear-engaged with the first drive shaft power transmission unit, and a first intermediate power transmission rotary shaft that rotates in conjunction with the first intermediate power transmission gear,
The first rear power transmission unit includes a first rear power transmission gear that is gear-engaged with the first driving shaft power transmission unit, and a first rear power transmission rotary shaft that rotates in conjunction with the first rear power transmission gear . 6. The method of claim 5,
And the second power transmission module includes a second drive shaft power transmission unit coupled to the second drive shaft and a second drive shaft power transmission unit that is coupled to the second drive shaft power transmission unit and rotatably transmits the rotational force of the second drive shaft to the other end of the first differential gear unit A second intermediate power transmitting unit for transmitting the rotational force of the second drive shaft to the other end of the second differential gear unit while being gear-engaged with the second drive shaft power transmitting unit; And a second rear power transmission unit that is gear-engaged with the driving shaft power transmission unit and disposed behind the second intermediate power transmission unit. The method according to claim 6,
The first differential gear unit includes a first front side gear engaged with the first forward power transmission unit,
A second front side gear engaged with the second front power transmission unit,
Further comprising a first upper pinion gear and a first lower pinion gear disposed between the first front side gear and the second front side gear,
Wherein the first differential gear bracket supports and supports a part of the first front side gear, the second front side gear, the first upper pinion gear, and the first lower pinion gear. The method according to claim 6,
The second forward power transmission unit includes a second forward power transmission gear that is gear-engaged with the second drive shaft power transmission unit, and a second forward power transmission rotary shaft that rotates in conjunction with the second forward power transmission gear,
The second intermediate power transmission unit includes a second intermediate power transmission gear that is gear-engaged with the second drive shaft power transmission unit, and a second intermediate power transmission rotary shaft that rotates in combination with the second intermediate power transmission gear,
The second rear power transmission unit includes a second rear power transmission gear that is gear-engaged with the second driving shaft power transmission unit, and a second rear power transmission rotary shaft that rotates in conjunction with the second rear power transmission gear . 9. The method of claim 8,
Wherein when the first drive shaft and the second drive shaft are rotated in the same direction, the first forward power transmission rotary shaft, the second forward power transmission rotary shaft, and the second intermediate power transmission rotary shaft are rotated in a first direction, And the intermediate power transmission rotary shaft is rotated in a direction opposite to the first rotation direction. 8. The method of claim 7,
The first wire fixing unit includes a first upper wire fixing unit coupled to an upper region of the first differential gear bracket and a first lower wire fixing unit coupled to a lower region of the first differential gear bracket,
The first upper wire fixing unit includes a first wire fixing member for fixing the first wire and a second wire fixing member disposed at a certain distance from the first wire fixing member and fixing the second wire and,
The first lower wire fixing unit includes a third wire fixing member for fixing the third wire and a fourth wire fixing member disposed at a certain distance from the third wire fixing member and fixing the fourth wire. And the wire driving device. The method according to claim 6,
Wherein the wire fixing module includes a fifth wire fixing member and a ninth wire fixing member provided on the first front power transmission unit, a sixth wire fixing member and a tenth wire fixing member provided on the first rear power transmission unit, A seventh wire fixing member and an eleventh wire fixing member provided on the second front power transmission unit, an eighth wire fixing member and a twelfth wire fixing member provided on the second rear power transmission unit, Further comprising: a wire driver for driving the wire. A wire driving device according to claim 1;
A front assembly disposed in front of the wire drive device; And a wire unit for moving a part of the front assembly while being moved by the wire driving device,
The front assembly includes an end effector for surgery, a joint unit having a plurality of unit joints disposed adjacent to each other along the longitudinal direction and in contact with each other in a longitudinal direction, one end coupled to the end effector and the other end connected to the joint unit And a rear connection unit, one end of which is connected to the connection tube and the other end is in contact with the joint unit,
Wherein the wire unit includes the first wire unit and the second wire unit and has one end coupled to the wire driving device and the other end passing through the inside of the connection tube to connect to either the joint unit or the forward connection unit Wherein the wire-driving device comprises: 13. The method of claim 12,
Wherein the plurality of unit joints include a first unit joint and a second unit joint,
The second unit joint includes a second joint plate having a plurality of second unit wire through holes formed therein, a plurality of second rear rolling projections protruding rearward of the second joint plate, And a plurality of second forward rolling protrusions protruding from the first forward rolling protrusions. 14. The method of claim 13,
Wherein the plurality of second unit wire through holes include eight through hole groups symmetrically disposed along the circumferential direction of the second joint plate, each of the through hole groups being arranged radially of the second joint plate Wherein the through-hole is formed in the through-hole. 13. The method of claim 12,
Wherein the first wire unit includes a first wire and a second wire, wherein the first wire and the second wire are integrally formed, and the first wire unit and the second wire are integrally formed, And the joint unit forms a closed loop between the joint unit and the joint unit. 13. The method of claim 12,
Wherein the first wire unit comprises a first wire, the first wire comprises a first rear wire coupled to the first wire fixing unit, and a rigid member coupled to the first rear wire, And a first front wire having one end connected to the rigid member and the other end connected to either the front connecting unit or the joint unit. A surgical instrument according to any one of claims 12 to 16;
A master module located remotely from the surgical instrument and generating operation information for implementing the operation of the surgical instrument;
A control module for converting operation information generated in the master module into control signals of driving motors provided in the wire driving device; And,
And a communication module for transmitting the control signal to the wire drive device.

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