KR20200119457A - Bending module, surgical end device including the same and endoscope robot including surgical end device - Google Patents

Abstract

One embodiment of the present invention provides a bending module, a surgical end device including the same and an endoscope robot including the surgical end device to embody various bending motions so as to implement various types of motions during surgery. Herein, the bending module includes: a bending part and a wire. The bending part is segmented in a longitudinal direction and arranged in close contact with each other, and has a plurality of joints alternately rotating with each other based on a first radial direction and a second radial direction perpendicular to the first radial direction. The wire is provided inside the bending part, and has one end fixed to a joint provided at the foremost of the bending part and pulled to a rear of the bending part so that the bending part is bent. The joint has a first concave-convex portion parallel to the first radial direction on one side, and alternately formed with each other in the second radial direction, and a second uneven portion formed on the other side in parallel with the second radial direction and alternately formed with each other in the first radial direction, in which first concave-convex portions opposed to each other are coupled and the opposing second concave-convex portions are coupled to each other between the adjacent joints.

Description

The endoscope robot including a flexion module, a surgical end device including the same, and a surgical end device {BENDING MODULE, SURGICAL END DEVICE INCLUDING THE SAME AND ENDOSCOPE ROBOT INCLUDING SURGICAL END DEVICE}

The present invention relates to an endoscope robot including a flexion module, a surgical end device including the same, and a surgical end device, and in more detail, a flexion capable of implementing various types of motions during surgery by enabling various flexing operations. It relates to an endoscope robot including a module, a surgical end device including the same, and a surgical end device.

In general, minimally invasive surgery is a surgical method in which the incision area is reduced during surgery, leaving the human body to a minimum. In recent minimally invasive surgery, the Da Vinci robot is widely used as an interventional robot.

In the case of using a da Vinci robot, the da Vinci robot performs surgery by putting a surgical camera inside the patient's body and manipulating the console while the doctor watches high-resolution 3D images in an external space isolated from the patient.

When performing such an interventional procedure, the doctor must move a specific surgical instrument to the surgical site in the patient's body through the interventional robot. For example, in the case of cardiovascular intervention, a catheter must be inserted into the blood vessel.

However, in a conventional cardiovascular intervention, when the catheter guide for guiding the movement of the catheter has high rigidity, it is difficult to insert the catheter into the blood vessel, and when the catheter guide has low rigidity, sufficient force in the interventional procedure. There is a problem that it is difficult to steer the catheter because it cannot support.

Republic of Korea Patent Publication No. 2011-0101151 (published on September 15, 2011)

In order to solve the above problems, the technical problem to be achieved by the present invention is a flexion module capable of implementing various types of motion during surgery, a surgical end device including the same, and a surgical end device It is to provide an endoscope robot comprising a.

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention comprises a plurality of first hollow holes that are segmented along the longitudinal direction and disposed in close contact with each other, and formed through the inside along the longitudinal direction and spaced apart along the circumferential direction. A bent portion having a first radial direction and a plurality of joint spheres alternately rotating with respect to a second radial direction perpendicular to the first radial direction; And the plurality of first hollow holes are provided respectively extending, one end is fixed to the joint provided in the front of the bent portion of the joint, and the plurality of joint spheres are rotated while being pulled to the rear of the bent portion. And a plurality of wires for causing the bent portion to bend, wherein the joint sphere is parallel to the first radial direction on one side, but alternately formed in the second radial direction, and the first irregularities are formed on the other side. 2 It is parallel with the radial direction, but has a second concave-convex portion formed alternately with each other in the first radial direction, and the first concave-convex portions opposed to each other are coupled between the neighboring joints, and the second concave-convex portions opposed to each other are coupled to each other. It provides a bending module characterized by.

In an embodiment of the present invention, the plurality of first uneven portions allow the center of rotation to move when the plurality of joints rotate around the first radial direction, and the plurality of second uneven portions When the sphere rotates around the second radial direction, the center of rotation may be moved.

In an embodiment of the present invention, the plurality of first uneven portions are formed to be lower toward both sides in the second radial direction from the center, and the plurality of second uneven portions are formed to be lower toward both sides of the first radial direction. Can be.

In an embodiment of the present invention, the first concave-convex portion is formed in the center of one side of the joint sphere, and at both ends of one side of the joint sphere, a first concave surface inclined downward toward both ends of the one side surface of the joint sphere The second concave-convex portion is formed in the center of the other side of the joint, and at both ends of the other side of the joint, a second concave surface that is inclined downward toward both ends of the other side of the joint may be formed.

In an embodiment of the present invention, the joint sphere further has a plurality of second hollow holes formed through the longitudinal direction therein and spaced apart along the circumferential direction, and is provided along the second hollow hole, and the bent portion and An optical fiber that is bent together and provides bending information of the bent portion may be further included.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a first flexion module having a first joint member having a first guide hole formed through the inside along the longitudinal direction; A second flexion module having a second joint member having a second guide hole penetrating therein along the length direction, and extending forward of the first flexing module through the first guide hole; And a surgical instrument extending forward of the second flexing module through the second guide hole, wherein at least one of the first flexing module and the second flexing module is a flexing module. Provide an end device.

In an embodiment of the present invention, the second flexure module may reciprocate in the longitudinal direction of the first flexure module.

In an embodiment of the present invention, a first tube connected to the second bending module and integrally moving with the second bending module; And it may further include a second tube provided in close contact with the inner circumferential surface of the first guide hole to surround the first tube, and guide the inner first tube to slide while moving.

In an exemplary embodiment of the present invention, a camera provided at a front end of the first flexion module may be provided through a hollow region formed through the first joint member in the longitudinal direction.

In an embodiment of the present invention, the first joint member is provided along a plurality of third hollow holes which are formed through in the longitudinal direction and are spaced apart along the circumferential direction, and the illumination light is transmitted to the front of the first bending module. It may include a light source to irradiate.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a surgical terminal device; And, it includes a driving device for driving the surgical end device, wherein the driving device is coupled to the other ends of the plurality of first wires included in the first bending module, the plurality of first wires individually A first flexure drive unit that pulls to the rear of the first flexure module to bend the first flexure module, and a first forward and backward movement to move the first flexure module forward or backward by reciprocating the first flexure module in a longitudinal direction The driving unit and the other ends of the plurality of second wires included in the second bending module are coupled, and the plurality of second wires are individually pulled to the rear of the second bending module so that the second bending module is bent. It provides an endoscope robot comprising a second flexure driving unit and a second forward and backward driving unit for moving the second flexure module forward or backward by reciprocating the second flexure driving unit in a longitudinal direction.

In an embodiment of the present invention, the first forward and backward driving part and the second forward and backward driving part respectively move the first flexure driving part and the second flexure drive part to each of the first flexing module and the second flexing module. You can let this opponent move.

According to an embodiment of the present invention, irregularities are formed on both sides of the joint member so that adjacent joint spheres may be coupled to each other, and when the joint sphere rotates, the center of rotation may be moved. When the center of rotation of the joint sphere is moved in this way, compared to the case where the center of rotation is limited to only one place, the maximum rotation angle of the joint sphere becomes larger, so that the rotation range of the joint sphere can be further increased. Can be bent.

In addition, according to an embodiment of the present invention, the bending information of the bent portion is finalized by synthesizing the first bending information obtained based on the pulling length of the wire and the second bending information provided by the optical fiber provided inside the bent portion. It can be obtained, and through this, more accurate bending information can be obtained.

In addition, according to an embodiment of the present invention, since the first forward and backward driving unit and the second forward and backward driving unit can be individually driven, the first bending driving unit and the second bending driving unit) can be moved individually. Through this, the first bending module and the second bending module may move relative to each other. In addition, since the first flexion drive unit and the second flexion drive unit can be operated individually, the first flexion module and the second flexion module can be individually flexed, so that the surgical terminal device can operate in various forms during surgery. It can be possible.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a perspective view showing a bending module according to an embodiment of the present invention.
2 is an exploded perspective view of FIG. 1.
Figure 3 is a cross-sectional view showing the joint of Figure 1;
Figure 4 is a perspective view showing the joint of Figure 1;
Figure 5 is a front view showing the joint sphere of Figure 1;
6 is an exemplary view showing an operation example of the joint of FIG. 1.
7 is a perspective view showing a surgical end device according to an embodiment of the present invention.
8 is an exploded perspective view of FIG. 7.
9 is a cross-sectional view taken along line A-A' of FIG. 7.
10 is a cross-sectional view taken along line B-B' of FIG. 7.
11 is a perspective view showing an endoscope robot according to an embodiment of the present invention.
FIG. 12 is a front view showing the first flexure driving unit and the first forward and backward driving unit of FIG. 11 as the center.
13 is a perspective view showing the first flexure driving unit of FIG. 11 as a center.
FIG. 14 is a front view showing the second flexure driving unit and the second forward and backward driving unit of FIG. 11 in the center.
FIG. 15 is a perspective view showing the second flexure driving part of FIG. 11 as the center.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and therefore is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected (connected, contacted, bonded)” to another part, it is not only “directly connected”, but also “indirectly connected” with another member in the middle. This includes cases where there are In addition, when a part "includes" a certain component, this means that other components may be further provided, not excluding other components unless otherwise specified.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a flexion module according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of FIG. 1, and FIG. 3 is a cross-sectional view showing the joint of FIG.

1 to 3, the bending module 100 may include a bent portion 101 and a wire 150.

The bent portion 101 may have a plurality of joints 110, and the joints 110 may be segmented along the length direction and disposed to be in close contact with each other.

The joint hole 110 may have a first hollow hole 111 and a second hollow hole 112.

The first hollow holes 111 may be formed through the joint hole 110 along the longitudinal direction, may be spaced apart along the circumferential direction, and a plurality of first hollow holes 111 may be provided.

The wire 150 may be inserted into the first hollow hole 111, and may pass through each joint hole 110 and extend in the length direction of the bent portion 101. The wire 150 may be fixed at one end to the joint provided at the front of the bent portion 101. A stopper 151 may be coupled to one end of the wire 150 so that one end of the wire 150 can be fixed to the joint hole 110. Even if the wire 150 is pulled to the rear of the bent portion 101, one end of the wire 150 may not be separated from the joint provided at the front of the bent portion 101.

A plurality of wires 150 are provided to be spaced apart along the circumferential direction of the joint member 110, and as described above, the bent portion 101 has a joint member 110 that is segmented along the length direction, so that the wire 150 When is pulled to the rear of the bent portion 101, each of the joints 110 are rotated in the direction of the relatively much pulled wire, and as a result, the bent portion 101 may bend.

The bending of the bent portion 101 may be made in the direction of the resultant force of each pulled wire 150.

The bending information of the bent portion 101 may be calculated and obtained based on the length to which each wire 150 is pulled.

The second hollow holes 112 may be formed through the joint hole 110 along the longitudinal direction, may be spaced apart along the circumferential direction, and may be provided in plural.

The bending module 100 may further include an optical fiber 160.

The optical fiber 160 may be inserted into the second hollow hole 112, and may pass through each joint hole 110 and extend in the longitudinal direction of the bent portion. When the bent portion 101 is bent, the optical fiber 160 may also be bent. The bending information of the optical fiber 160 can be obtained from the wavelength returned after the light guided from the inside of the optical fiber 160 hits the end of the optical fiber 160, and through this, bending information of the bent portion 101 can also be obtained. have.

The bending information of the bent part 101 can be finally obtained by synthesizing the first bending information obtained based on the pulling length of the wire 150 and the second bending information provided by the optical fiber 160, through which , More accurate bending information can be obtained.

In addition to the first hollow hole 111 and the second hollow hole 112, other holes may be further formed through the joint hole 110 as necessary. For example, the joint hole 110 may further have a third hollow hole 115, a first guide hole 113, and a hollow region 114 formed therethrough along the longitudinal direction, which will be described later. .

Figure 4 is a perspective view showing the joint of Figure 1, Figure 4 (b) is shown in the opposite direction of Figure 4 (a). And, Figure 5 is a front view showing the joint sphere of Figure 1, Figure 5 (a) is a front view of Figure 4 (a), Figure 5 (b) is the joint sphere of Figure 5 (a) is the center It shows the state rotated 90 degrees about the axis.

As shown in FIGS. 4 and 5, the joint member 110 may have a first uneven portion 121 and a second uneven portion 125.

The first uneven portion 121 may be formed on one side of the joint hole 110 in a direction parallel to the first radial direction A1.

The first concave-convex portion 121 may have a plurality of first protrusions 122 and first grooves 123, and the first protrusions 122 and the first grooves 123 are in the first radial direction A1 and It may be formed alternately with each other in the vertical second radial direction A2.

Further, the second uneven portion 125 may be formed on the other side of the joint hole 110 in a direction parallel to the second radial direction A2.

The second uneven portion 125 may have a plurality of second protrusions 126 and second grooves 127, and the second protrusions 126 and the second grooves 127 are in a first radial direction (A1). They can be formed alternately with each other.

The first concave-convex portions 121 that face each other may be coupled between the adjacent joints 110, and the second concave-convex portions 125 that face each other may be coupled to each other. That is, when one joint member 110 is the reference, the first uneven portion 121 of the neighboring joint member 110 is coupled to each other in the first uneven portion 121 formed on one side. The second concave-convex portion 125 formed on the side may be disposed in such a manner that the second concave-convex portions 125 of the other joints 110 adjacent to each other are coupled to each other.

Accordingly, as shown in FIG. 1, the first uneven portions 121 and the second uneven portions 125 may be alternately positioned, and the first uneven portions 121 and the second uneven portions 125 are 90 It may also be provided while forming an angular interval.

And, as shown in Figure 4, each of the first hollow hole 111 is formed through the first uneven portion 121 and the second concave surface 128, the second uneven portion 125 and the first It may be formed through the concave surface 124. Accordingly, when the wire 150 is pulled, the joint member 110 may be rotated around the first uneven portion 121 coupled to each other or the second uneven portion 125 coupled to each other. As a result, the articular sphere 110 can rotate based on the first radial direction A1 or the second radial direction A2, and the bending motion of the bent portion 101 can be controlled by adjusting the degree of rotation. .

The first uneven portion 121 may be formed lower from the center toward both sides of the second radial direction A2. That is, the height of the first protrusion 122 may decrease as it goes toward both sides of the second radial direction A2, or the first groove 123 may be formed to have a deeper depth.

Referring to FIG. 5A, when the virtual reference line L1 is the reference, the first protrusions 122b on both sides may be formed to have a height lower than the first protrusion 122a in the center.

In addition, the second uneven portion 125 may be formed to be lower from the center toward both sides of the first radial direction A1. That is, the height of the second protrusion 126 may be lowered toward both sides of the first radial direction A1, or the second groove part 127 may be formed to increase in depth.

Referring to FIG. 5B, when the virtual reference line L2 is referenced, the first groove portions 127b on both sides may be formed deeper than the first groove portion 127a in the center.

In this way, when the first concave-convex portion 121 and the second concave-convex portion 125 are formed to be lower from the center toward both sides, the first protrusions engaged with each other when rotated around the first concave-convex portions 121 coupled to each other ( An undercut phenomenon in which 122) digs into the root of the first groove 123 can be prevented, and a more stable rotation can be achieved. This effect can be applied equally to the second uneven portion 125.

In addition, the first concave-convex portion 121 may be formed in a central portion of one side of the joint member 110, and a first concave surface 124 may be formed at both ends of one side of the joint sphere 110. . The first concave surface 124 may be formed to be inclined downward toward both ends of one side of the joint member 110. That is, the first concave surface 124 is formed so as to move away from the virtual reference line L as it goes in the radial direction of the joint sphere 110 when the virtual reference line L in the second radial direction A2 is referenced. It can be (see Fig. 5(a)).

In addition, the second concave-convex portion 125 may be formed in the central portion of the other side of the joint hole 110, and the second concave surface 128 may be formed at both ends of the other side of the joint sphere 110. . The second concave surface 128 may be formed to be inclined downward toward both ends of the other side surface of the joint member 110. That is, the second concave surface 128 is formed so as to move away from the virtual reference line (L) as it goes in the radial direction of the joint sphere 110 when based on the virtual reference line (L) in the first radial direction (A1). It can be (see Fig. 5(b)).

Through this, the maximum angle at which each joint member 110 can rotate may be further increased.

6 is an exemplary view showing an example of the operation of the joint of Figure 1, the neighboring joint 110 shows a state in which the first uneven portions 121 are coupled to each other.

First, (b) of FIG. 6 shows a state in which the wire 150 is not pulled, and at this time, the joint member 110 is not rotated. In this state, when the wire 150 is pulled to the rear, each of the joints 110 may be rotated with the center of the first uneven portion 121 as the first rotation center C1.

Figure 6 (a) shows a state in which the wire located on the upper side is pulled so that each joint member 110 is rotated upward. In this case, the rotation center of each joint member 110 moves from the first rotation center (C1) shown in FIG. 6 (b) to the third rotation center (C3) through the second rotation center (C2). do.

In this way, when the rotation center is moved when the joint member 110 rotates, compared to the case where the rotation center of the joint member 110 is limited only to the first rotation center (C1), the joint member 110 The maximum rotation angle can be even larger. That is, when the joint sphere 110 rotates based on the third rotation center (C3), the first protrusion and the first groove that formed the first rotation center (C1) and the second rotation center (C2). The first protrusion and the first groove can be separated from each other. Through this, the range of rotation of the joint member 110 may be further increased, and as a result, the bent portion 101 may be bent more.

Likewise, (c) of FIG. 6 shows a state in which the wire located at the lower side is pulled so that each joint member 110 is rotated downward. In this case, the rotation center of each joint member 110 is from the first rotation center (C1) shown in FIG. 6(b) to the third rotation center (C3') through the second rotation center (C2'). Due to the movement, the rotation range of the joint member 110 may be further increased, and as a result, the bent portion 101 may be bent more.

7 is a perspective view showing a surgical end device according to an embodiment of the present invention, FIG. 8 is an exploded perspective view of FIG. 7, FIG. 9 is a cross-sectional view taken along line A-A' of FIG. 7, and FIG. 10 is It is a cross-sectional view taken along line B-B'.

As shown in FIGS. 7 to 10, the surgical end device may include a first flexion module 200, a second flexion module 300 and a surgical instrument 400.

The first bending module 200 and the second bending module 300 may be the same as the above-described bending module 100, and thus, repeated contents are omitted as much as possible.

On the other hand, in the surgical end device according to the present embodiment, the first joint member 210 of the first flexion module 200 may have a first guide hole 213 formed therein through the longitudinal direction.

In addition, the second bending module 300 may be provided extending forward of the first bending module 200 through the first guide hole 213. In addition, the second joint tool 310 of the second flexion module 300 may have a second guide hole 313 formed therein through the longitudinal direction.

The surgical instrument 400 may be provided extending forward of the second bending module 300 through the second guide hole 313. The surgical instrument 400 is not specifically limited, and may include, for example, an electric tool for scraping cancer cells, a tool such as a micro probe or an electric stimulator, or equipment such as a microscope.

The surgical instrument 400 may reciprocate in the longitudinal direction of the second bending module 300 through the second guide hole 313.

A first head 220 may be further provided at a front end of the first bending module 200. The first head 220 may have a cross-sectional shape corresponding to the first joint member 210, and may have an uneven portion corresponding to the opposite uneven portion by being formed on the neighboring first joint member 210. Accordingly, the first head 220 may also implement the aforementioned rotational motion with the neighboring first joint member 210.

A first stopper 251 may be provided at one end of the first wire 250 passing through the first bending module 200, and the first stopper 251 may be coupled to the first head 220. .

In addition, a first adapter 230 may be further provided at a rear end of the first bending module 200. The first adapter 230 may also have a cross-sectional shape corresponding to the first joint member 210, and may have an uneven portion corresponding to the opposite uneven portion by being formed on the neighboring first joint member 210. Accordingly, the first adapter 230 may also implement the aforementioned rotational motion with the neighboring first joint member 210.

A first guide tube 240 may be connected to a rear end of the first adapter 230, and the first wire 250, the optical fiber 260, and the second bending module 300 may include the first adapter 230 and the first It may extend through the inside of the guide tube 240.

In addition, a second head 320 may be further provided at the front end of the second bending module 300. The second head 320 may have a cross-sectional shape corresponding to the second joint 310 and may have an uneven portion corresponding to the opposite uneven portion formed on the adjacent second joint 310. Accordingly, the second head 320 may also implement the aforementioned rotational motion with the neighboring second joint 310.

The second bending module 300 may reciprocate in the longitudinal direction of the first bending module 200.

A second stopper 351 may be provided at one end of the second wire 350 passing through the second bending module 300, and the second stopper 351 may be coupled to the second head 320. .

In addition, a second adapter 330 may be further provided at a rear end of the second bending module 300. The second adapter 330 may also have a cross-sectional shape corresponding to the second joint 310, and may have an uneven portion corresponding to the opposite uneven portion formed on the neighboring second joint 310. Accordingly, the second adapter 330 may also implement the aforementioned rotational motion with the neighboring second joint 310.

In addition, the surgical end device may further include a first tube 410 and a second tube 420.

The first tube 410 may be connected to the rear end of the second bending module 300 and may be firmly fixed to the second bending module 300. The first tube 410 may have sufficient rigidity such that it is not wrinkled when the second bending module 300 is pushed forward.

The second tube 420 may be provided in close contact with the inner circumferential surface of the first guide hole 213 to surround the first tube 410.

The first tube 410 and the second tube 420 may be made of a Teflon material having a small coefficient of friction. Therefore, a relative movement can be easily made between the first tube 410 and the second tube 420, through which the second bending module 300 has a length even when the first bending module 200 is fixed. It can be easily reciprocated in the direction.

Even when the second bending module 300 is moved, the second tube 420 may be closely fixed to the inner circumferential surface of the first guide hole 213, and guide the first tube 410 to slide while moving. The second tube 420 may be moved integrally with the first bending module 200.

The second tube 420 is provided between the first bending module 200 and the second bending module 300, so that the first bending module 200 is inserted into the second bending module 300. When both the flexion module 200 and the second flexion module 300 are bent, the first and second joints 210 and 310 may be prevented from colliding with each other while being rotated. Through this, the first flexion The module 200 and the second bending module 300 may be stably bent.

And, the surgical end device may include a camera 280 and a light source 270.

The camera 280 may be provided at a front end of the first flexion module 200 through a hollow region 214 formed through the first joint member 210 along the longitudinal direction. The camera 280 may acquire an image during surgery.

The light source 270 may be provided along a plurality of third hollow holes 215 that are formed through the first joint member 210 in the longitudinal direction and spaced apart in the circumferential direction, and the first bending module ( The illumination light can be irradiated in front of 200). The light source 270 may be formed in a shape corresponding to the optical fiber 260

11 is a perspective view showing an endoscope robot according to an embodiment of the present invention.

As shown in Figure 11, the endoscope robot may include a surgical end device and a driving device.

Since the surgical end device has been described above, repeated description will be omitted.

The driving device is a device for driving the surgical end device, and includes a first flexural drive unit 500, a first forward and backward drive unit 600, a second flexure drive unit 700, and a second forward and backward drive unit 800. I can.

The other ends of the plurality of first wires 250 included in the first bending module 200 may be coupled to the first bending driver 500. The first bending driver 500 may individually pull the plurality of first wires 250 to the rear of the first bending module 200 so that the first bending module 200 is bent.

The first forward and backward driving unit 600 may move the first bending driving unit 500 reciprocally in the longitudinal direction to move the first bending module 200 forward or backward.

The other ends of the plurality of second wires 350 included in the second bending module 300 may be coupled to the second bending driver 700. The second bending driver 700 may individually pull the plurality of second wires 350 to the rear of the second bending module 300 so that the second bending module 300 is bent.

The second forward and backward driving unit 800 may reciprocate the second bending driving unit 700 in the longitudinal direction to move the second bending module 300 forward or backward.

The first forward and backward driving part 600 and the second forward and backward driving part 800 can individually move the first flexure driving part 500 and the second flexure driving part 700, through which the first flexure module ( 200) and the second bending module 300 may be moved relative to each other.

Hereinafter, each driving unit will be described in detail.

12 is a front view showing the first bending drive unit and the first forward and backward driving unit of FIG. 11 as a center, and FIG. 13 is a perspective view showing the first bending drive unit of FIG.

11 to 13, the endoscope robot includes a first base 901, a first rail 902, a second base 903, a first support frame 904, and a second support frame 905. Can have.

The first base 901 may extend in one direction.

A pair of first rails 902 may be provided on the first base 901 along the longitudinal direction of the first base 901. The first rails 902 may be provided spaced apart from each other.

The first support frame 904 and the second support frame 905 may be provided between the first rails 902. The first support frame 904 may be provided in front of the upper part of the first base 901, and the second support frame 905 may be provided in the upper and rear part of the first base 901.

The second base 903 may be connected to upper portions of the first support frame 904 and the second support frame 905. The second base 903 may be provided parallel to the length direction of the first rail 902.

The first bending driving unit 500 includes a third base 510, a first mount 525, a first driving unit 520a, 520b, 520c, and 520d, a first rotating shaft 521a, 521b, 521c, 521d, and a second It may have rails 522a, 522b, 522c, and 522d, first sliders 523a, 523b, 523c, 523d, and first gripping holes 524a, 524b, 524c, and 524d.

The third base 510 may be provided above the second base 903 to be spaced apart.

The first mount 525 may be provided in front of the upper portion of the third base 510. A first holder 526 may be provided above the first mount 525. The first holder 526 may restrain the first guide tube 240 of the surgical end device. To the rear of the first holder 526, the first wires 250a, 250b, 250c, 250d extending from the first guide tube 240, the second wires 350a, 350b, 350c, 350d, and the first tube ( 410) may be exposed.

The first driving units 520a, 520b, 520c, and 520d may be provided at the rear of the third base 510 and may be provided in a horizontal direction perpendicular to the first rail 902. The first driving units 520a, 520b, 520c, and 520d may generate rotational power.

The first rotation shafts 521a, 521b, 521c, and 521d may be provided above the third base 510 in the longitudinal direction of the first rail 902. The first rotation shafts 521a, 521b, 521c, 521d are provided to mate with the first driving units 520a, 520b, 520c, and 520d, and are driven by power generated from the first driving units 520a, 520b, 520c, and 520d. Can be rotated. The first driving units 520a, 520b, 520c, and 520d may operate individually, and thus the first rotation shafts 521a, 521b, 521c, and 521d may be individually rotated.

The second rails 522a, 522b, 522c, and 522d may be provided above the third base 510 in the direction of the first rail 902. The second rails 522a, 522b, 522c, and 522d may be located below the first rotation shafts 521a, 521b, 521c, and 521d.

The first sliders 523a, 523b, 523c, and 523d may be coupled to the first rotation shafts 521a, 521b, 521c, 521d and the second rails 522a, 522b, 522c, and 522d, respectively. The first sliders 523a, 523b, 523c, and 523d may be screw-coupled to the corresponding first rotation shafts 521a, 521b, 521c, 521d and slidably coupled to the second rails 522a, 522b, 522c, and 522d. . Accordingly, when the first rotation shafts 521a, 521b, 521c, and 521d rotate, the first sliders 523a, 523b, 523c, and 523d may reciprocate along the second rails 522a, 522b, 522c, and 522d. As described above, since the first driving units 520a, 520b, 520c, and 520d can be driven individually, the first sliders 523a, 523b, 523c, and 523d can also be moved individually.

The first gripping holes 524a, 524b, 524c, and 524d may be provided on the top of the first sliders 523a, 523b, 523c, and 523d, and each of the first gripping holes 524a, 524b, 524c, and 524d Each of the first wires 250 of the first bending module 200 may be fixed.

Two of the first wires 250a and 250d are respectively coupled to the first gripping holes 524a and 524d of the outer first sliders 523a and 523d among the first sliders, respectively, and the first Two remaining first wires 250b and 250c of the first wires may be coupled to the first gripping holes 524b and 524c of the sliders 523b and 523c, respectively.

In this state, for example, as shown in FIG. 13, when the first driving units 520b and 520c located inside are driven, the corresponding first rotation shafts 521b and 521c rotate, and the rotating first rotation shaft ( The first sliders 523b and 523c screwed with the 521b and 521c are moved backward. Then, the first gripping holes 524b and 524c are also moved to the rear, pulling the combined first wires 250b and 250c to the rear, and the first flexing module by the first wires 250c and 250b pulled rearward ( 200) is bent. When the pull of the first wires 250a, 250b, 250c, and 250d is adjusted by applying this method, the first bending module 200 can be bent in various ways. As can be seen from the above example, the first flexural driving unit 500 may have a number of first driving units corresponding to the number of first wires, a first rotating shaft, a second rail, and a first gripping hole.

The first forward and backward driving unit 600 may have a second driving unit 620 (see FIG. 14 ), a second rotation shaft 621 and a first moving block 630.

The second driving part 620 may be coupled to the bracket 610 provided under the second base 903. The second driving unit 620 may generate rotational power.

The second rotation shaft 621 may have one end connected to the second driving part 620 and the other end connected to the first support frame 904, and may be provided in the longitudinal direction of the first rail 902. The second rotation shaft 621 may be rotated by power generated from the second driving unit 620.

The first moving block 630 may be screw-coupled with the second rotation shaft 621, and may be coupled to the first rail 902 so as to be slid. In addition, the first moving block 630 may be connected to the third base 510 of the first bend driving unit 500. Therefore, when the second driving unit 620 is driven to rotate the second rotation shaft 621, the first moving block 630 can reciprocate along the first rail 902, and the first moving block 630 and The connected first flexural driving unit 500 may also reciprocate along the longitudinal direction of the first rail 902.

Since the first guide tube 240 of the first bending module 200 is coupled to the first holder 526 of the first bending driving unit 500, the first bending driving unit 500 is 1 The guide tube 240 is also reciprocated, and as a result, the first bending module 200 may also reciprocate.

FIG. 14 is a front view showing the second flexure driving part and the second forward and backward driving part of FIG. 11, and FIG. 15 is a perspective view showing the second flexure drive part of FIG.

As shown in FIGS. 11, 14, and 15, the second flexure driving unit 700 includes a fourth base 710, a second mount 725, a third driving unit 720a, 720b, 720c, and 720d. Rotating shafts 721a, 721b, 721c, 721d, third rails 722a, 722b, 722c, 722d, second sliders 723a, 723b, 723c, 723d, and second gripping holes 724a, 724b, 724c, 724d Can have

The fourth base 710 may be provided to be spaced apart from the upper portion of the second base 903.

The second mount 725 may be provided in front of the upper portion of the fourth base 710. A second holder 726 may be provided on the second mount 725. The second holder 726 may restrain the first tube 410 of the surgical end device. Second wires 350a, 350b, 350c, and 350d extending from the first tube 410 may be exposed and extended to the rear of the second holder 726.

The third driving parts 720a, 720b, 720c, and 720d may be provided at the rear of the fourth base 710 and may be provided in a horizontal direction perpendicular to the first rail 902. The third driving units 720a, 720b, 720c, and 720d may generate rotational power.

The third rotation shafts 721a, 721b, 721c, and 721d may be provided above the fourth base 710 in the longitudinal direction of the first rail 902. The third rotation shafts 721a, 721b, 721c, and 721d are provided to be mated with the third driving units 720a, 720b, 720c, and 720d, and are driven by power generated from the third driving units 720a, 720b, 720c, and 720d. Can be rotated. The third driving units 720a, 720b, 720c, and 720d may operate individually, and thus the third rotation shafts 721a, 721b, 721c, and 721d may also be rotated individually.

The third rails 722a, 722b, 722c, and 722d may be provided on the fourth base 710 in the direction of the first rail 902. The third rails 722a, 722b, 722c, and 722d may be located under the third rotation shafts 721a, 721b, 721c, and 721d.

The second sliders 723a, 723b, 723c, and 723d may be coupled to the third rotation shafts 721a, 721b, 721c, and 721d and the third rails 722a, 722b, 722c, and 722d, respectively. The second sliders 723a, 723b, 723c, and 723d are screw-coupled to the corresponding third rotation shafts 721a, 721b, 721c, and 721d, and may be coupled to slide to the third rails 722a, 722b, 722c, and 722d. . Accordingly, when the third rotation shafts 721a, 721b, 721c, and 721d rotate, the second sliders 723a, 723b, 723c, and 723d may reciprocate along the third rails 722a, 722b, 722c, and 722d. As described above, since the third driving units 720a, 720b, 720c, and 720d can be driven individually, the second sliders 723a, 723b, 723c, and 723d can also be moved individually.

The second gripping holes 724a, 724b, 724c, and 724d may be provided on the top of the second sliders 723a, 723b, 723c, and 723d, and each of the second gripping holes 724a, 724b, 724c, and 724d Each of the second wires 350 of the second bending module 300 may be fixed.

Two of the second wires 350a and 350d are respectively coupled to the second gripping holes 724a and 724d of the outer second sliders 723a and 723d among the second sliders, Two remaining second wires 350b and 350c of the second wires may be coupled to the second gripping holes 724b and 724c of the sliders 723b and 723c, respectively.

In this state, for example, as shown in FIG. 15, when the third driving units 720b and 720c located inside are driven, the corresponding third rotation shafts 721b and 721c rotate, and the rotating third rotation shaft ( The second sliders 723b and 723c screwed to the 721b and 721c are moved to the rear. Then, the second gripping holes 724b and 724c are also moved to the rear, and the combined second wires 350b and 350c are pulled rearward, and the second bending module is pulled rearward by the second wires 350b and 350c. 300) is bent. By applying such a method to adjust the pull of the second wires 350a, 350b, 350c, and 350d, the second bending module 300 can be bent in various ways.

Meanwhile, as shown in FIG. 12, the first flexure driving part 500 may have a third holder 591. The third holder 591 has a second guide tube 241 provided between the first bent drive part 500 and the second bend drive part 700 and accommodates the first tube 410 and the second wire 350 inside. ) Can be combined. The second guide tube 241 may guide the first tube 410 and the second wire 350 to extend in the direction of the second bend driving part 700.

In addition, the second forward and backward driving unit 800 may have a fourth driving unit 820, a fourth rotation shaft 821, and a second moving block 830.

The fourth driving unit 820 may be coupled to the second support frame 905. The fourth driving unit 820 may generate rotational power.

The fourth rotation shaft 821 may have one end connected to the fourth driving part 820 and the other end connected to the third support frame 906, and may be provided in the longitudinal direction of the first rail 902. The fourth rotation shaft 821 may be rotated by power generated from the fourth driving unit 820.

The second moving block 830 may be screw-coupled to the fourth rotation shaft 821 and may be coupled to the first rail 902 so as to be slid. In addition, the second moving block 830 may be connected to the fourth base 710 of the second bend driving unit 700. Therefore, when the fourth driving unit 820 is driven and the fourth rotation shaft 821 rotates, the second moving block 830 can reciprocate along the first rail 902, and the second moving block 830 and The connected second flexure driving unit 700 may also reciprocate along the longitudinal direction of the first rail 902.

Since the first tube 410 of the second bend module 300 is coupled to the second holder 726 of the second bend drive unit 700, when the second bend drive unit 700 reciprocates, the first The tube 410 is also reciprocated, and as a result, the second bending module 300 may also reciprocate.

The first forward and backward driving unit 600 and the second forward and backward driving unit 800 can be driven individually, and through this, the first bending driving unit 500 and the second bending driving unit 700 can be moved individually. I can. Accordingly, the first bending module 200 and the second bending module 300 can move relative to each other. In addition, since the first bend drive unit 500 and the second bend drive unit 700 can be operated individually, the first bend module 200 and the second bend module 300 can be individually bent, The terminal device for use may be capable of various types of operations during surgery.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later, and all changes or modified forms derived from the meaning and scope of the claims and the concept of equivalents thereof should be construed as being included in the scope of the present invention.

100: flexure module 101: flexure
110: joint section 121: first uneven portion
124: first concave surface 125: second uneven portion
128: second concave surface 150: wire
160: optical fiber 200: first bending module
250: first wire 270: light source
280: camera 300: second bending module
350: second wire 400: surgical instrument
410: first tube 420: second tube
500: first flexure driving unit 600: first forward and backward driving unit
700: second bend driving unit 800: second forward and backward driving unit

Claims (12)

It is segmented along the longitudinal direction and arranged in close contact with each other, has a plurality of first hollow holes formed therethrough along the longitudinal direction and spaced apart along the circumferential direction, and is perpendicular to the first radial direction and the first radial direction. A bent portion having a plurality of joint spheres alternately rotating with respect to the second radial direction; And
Each of the plurality of first hollow holes is provided to extend, one end is fixed to the joint provided in the front of the bent portion of the joint, and pulled to the rear of the bent portion so that the plurality of joints rotate respectively It includes a plurality of wires for causing the bent portion to bend,
The joint sphere is parallel to the first radial direction on one side, but alternately formed in the second radial direction, and a first concave-convex portion formed on the other side and in parallel with the second radial direction, but alternately formed in the first radial direction. The bending module, characterized in that it has a second concave-convex portion, wherein the first concave-convex portions opposed to each other are coupled to each other, and the second concave-convex portions opposed to each other are coupled between the adjacent joints. The method of claim 1,
The plurality of first uneven portions allow the center of rotation to move when the plurality of joint spheres rotate around the first radial direction,
The plurality of second concave-convex portions are bent module, characterized in that the rotation center is moved when the plurality of joint spheres rotate around the second radial direction. The method of claim 1,
The plurality of first uneven portions are formed to be lower from the center toward both sides in the second radial direction,
The plurality of second concave-convex portions, the bending module, characterized in that formed lower toward both sides in the first radial direction from the center. The method of claim 1,
The first concave-convex portion is formed in the center of one side of the joint sphere, and a first concave surface inclined downward toward both ends of one side of the joint sphere is formed at both ends of one side of the joint sphere,
The second concave-convex portion is formed in the center of the other side of the joint, and a second concave surface inclined downward toward both ends of the other side of the joint is formed on both ends of the other side of the joint. . The method of claim 1,
The joint sphere further has a plurality of second hollow holes formed through the inside along the longitudinal direction and spaced apart along the circumferential direction,
And an optical fiber provided along the second hollow hole and bent together with the bent portion to provide bending information of the bent portion. A first flexion module having a first joint member having a first guide hole formed therein through the longitudinal direction;
A second flexion module having a second joint member having a second guide hole penetrating therein along the length direction, and extending forward of the first flexing module through the first guide hole; And
Including a surgical instrument extended to the front of the second bending module through the second guide hole,
At least one of the first flexion module and the second flexion module is a flexion module according to claim 1, wherein the surgical end device. The method of claim 6,
The second bending module is surgical end device, characterized in that the reciprocating movement in the longitudinal direction of the first bending module. The method of claim 6,
A first tube connected to the second bending module and integrally moving with the second bending module; And
Surgical end device, characterized in that it further comprises a second tube in close contact with the inner circumferential surface of the first guide hole to surround the first tube, and guiding the inner first tube to slide while moving. The method of claim 6,
A surgical end device comprising a camera provided at a front end of the first flexion module through a hollow region formed through the first joint member in the longitudinal direction. The method of claim 6,
And a light source formed through the first joint member along a longitudinal direction, provided along a plurality of third hollow holes spaced apart along the circumferential direction, and irradiating illumination light to the front of the first bending module. End device for surgery. The surgical end device according to any one of claims 6 to 10; And,
Including a driving device for driving the surgical end device,
The driving device is
The first bending of the first bending module by coupling the other ends of the plurality of first wires included in the first bending module and pulling the plurality of first wires individually to the rear of the first bending module to bend the first bending module A driving part,
A first forward and backward driving part for moving the first flexure driving part back and forth in a longitudinal direction to advance or reverse the first flexure module,
The second bending of the second bending module is coupled to the other end of the plurality of second wires included in the second bending module, and pulling the plurality of second wires individually to the rear of the second bending module A driving part,
And a second forward and backward driving unit configured to move the second flexure driving unit reciprocally in a longitudinal direction to move the second flexion module forward or backward. The method of claim 11,
The first forward and backward driving part and the second forward and backward driving part respectively move the first flexure driver and the second flexure drive to move the first flexure module and the second flexure module relative to each other. Endoscope robot.

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