KR20230172155A - stiffness augmentation method of Surgical device - Google Patents

Abstract

A method of increasing the rigidity of a rolling joint device according to an embodiment includes the steps of moving the rolling joint device to a lesion in the human body by pulling the main tendon according to the position control of the main tendon position control unit, and pitching the rolling joint device according to the control of the pitch auxiliary tendon tension control unit. A method of increasing the rigidity of a rolling joint device is disclosed, which includes the step of increasing the stiffness of the rolling joint device to prevent deflection by pulling the auxiliary tendon.

Description

Stiffness augmentation method of Surgical device}

The present invention relates to a method for enhancing the rigidity of a rolling joint device.

Endoscopic mucosal resection is a surgical procedure that can remove precancerous lesions such as polyps using an endoscope without open surgery. In particular, removing large, flat polyps is a difficult and time-consuming task. Preclinical studies have shown that polyps can be removed quickly and safely by applying tension to the lesion tissue using a surgical tool. Based on these research results, various endoscopic surgical robot devices equipped with surgical tools are being developed. The overtube must be sufficiently flexible during insertion, but must have high rigidity to allow the surgical tool to apply sufficient tension to the tissue after reaching the target lesion.

The above-mentioned background technology is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and cannot necessarily be said to be known technology disclosed to the general public before the present application.

KR 10-2234974 KR 10-1654031

The purpose of the present invention is to provide a method for enhancing the rigidity of a rolling joint device.

A method of increasing the rigidity of a rolling joint device according to an embodiment includes the steps of moving the rolling joint device to a lesion in the human body by pulling the main tendon according to the position control of the main tendon position control unit, and pitching the rolling joint device according to the control of the pitch auxiliary tendon tension control unit. This can be achieved by providing a method of increasing the rigidity of a rolling joint device, which includes the step of increasing the rigidity of the rolling joint device to prevent deflection of the rolling joint device by pulling the auxiliary tendon.

In addition, after the rigidity of the rolling joint device is increased according to the traction of the pitch auxiliary tendon, maintaining the traction force of the pitch auxiliary tendon under the control of the pitch auxiliary tendon tension control unit, the lumen of the rolling joint device according to the control of the surgical robot driving unit Treating the lesion by driving the surgical robot placed in, releasing the traction force of the pitch auxiliary tendon under the control of the pitch auxiliary tension control unit after treatment of the lesion, and pulling the main tendon according to the position control of the main tendon position control unit. The method further includes retracting the rolling joint device.

In addition, it further includes a step of preventing twisting of the rolling joint device by pulling the yaw auxiliary tendon under the control of the yaw auxiliary tendon tension control unit to prevent twisting of the joint link of the rolling joint device caused by traction of the pitch auxiliary tendon. .

In addition, after the rigidity of the rolling joint device is increased and torsion is prevented according to the traction of the pitch auxiliary tendon and the yaw auxiliary tendon, the pitch auxiliary tendon and the yaw auxiliary tendon are controlled by the pitch auxiliary tendon tension control unit and the yaw auxiliary tendon tension control unit. Maintaining the traction force, driving the surgical robot disposed in the lumen of the rolling joint device under the control of the surgical robot driving unit to treat the lesion, under the control of the pitch auxiliary tension control unit and the yaw auxiliary tendon tension control unit after treatment of the lesion. It further includes releasing the traction force of the pitch auxiliary tendon and the yaw auxiliary tendon, and retracting the rolling joint device by pulling the main tendon according to the position control of the main tendon position control unit.

In addition, the pitch auxiliary tendon tension control unit and the yaw auxiliary tendon tension control unit control the tension so that a preset traction force is applied to each auxiliary tendon, and the main tendon position control unit changes the traction force applied to the main tendon based on kinematics, thereby maintaining the cloud. Controls the position of the joint device.

In addition, the pitch auxiliary tendon tension control unit applies a preset traction force to the pitch auxiliary tendon, thereby resisting rotation in the first direction of at least one joint link among the plurality of joint links of the rolling joint device in the direction opposite to the first direction. 1 A moment force is generated to control the tension to prevent deflection of the rolling joint device, or, a second direction opposite to the second direction that resists rotation in the second direction of at least one other joint link among the plurality of joint links. Deflection of the rolling joint device is prevented by allowing moment forces to be generated and tension controlled.

In addition, the passage path of the pitch auxiliary tendon passing through the inside of the joint link of the rolling joint device is inclined in an 'S' shape.

Additionally, the passage path of one pitch auxiliary tendon slopes downward in the longitudinal direction, and the passage path of the other pitch auxiliary tendon slopes upward in the longitudinal direction.

In addition, the yaw auxiliary tendon tension control unit controls the tension so that torsion in a second direction opposite to the first direction is generated in the rolling joint device to prevent twisting in the first direction caused by traction of the pitch auxiliary tendon.

Additionally, the passage path of the lumbar auxiliary tendon passing through the inner side of the joint link of the rolling joint device is diagonal.

In addition, the passage path of one yaw auxiliary tendon is an oblique line in the first direction, and the passage path of the other yaw auxiliary tendon is an oblique line in the second direction that crosses the first direction.

A surgical device equipped with a pitch assist tendon according to an embodiment may have high rigidity to apply sufficient tension to tissue.

A surgical device equipped with a lumbar auxiliary tendon according to an embodiment can be installed in a cross manner to prevent twisting of the joint device.

The following drawings attached to this specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention along with the detailed description of the invention. Therefore, the present invention is limited to the matters described in such drawings. It should not be interpreted in a limited way.
1 is a side view of a surgical device equipped with an auxiliary tendon according to one embodiment.
Figure 2 is a side view showing a modified state of the surgical device of Figure 1.
Figure 3 is a cross-sectional view taken along the cutting line III-III in Figure 1.
Figure 4 is a cross-sectional view taken along the cutting line IV-IV of Figure 1.
Figure 5 is a cross-sectional view taken along the cutting line V-V of Figure 1.
Figures 6 to 8 are diagrams showing shape deformation in a surgical device with an auxiliary tendon and a surgical device without an auxiliary tendon, respectively, while force is applied.
Figure 9 is a diagram showing the stepped 'S' shaped path of the auxiliary tendon.
FIG. 10 is a diagram illustrating another embodiment of FIG. 3.
Figure 11 is a diagram showing the rotation direction (Tq1, Tq2) of each joint and the moment force (Tr1, Tr2) that resists rotation of each joint when the rolling joint receives a load.
Figure 12 is a diagram showing a yaw auxiliary tendon and a yaw auxiliary tendon hole.
FIG. 13 is a diagram illustrating another embodiment of FIG. 12.
Figure 14 is a diagram sequentially showing a method for increasing the rigidity of a rolling joint device.
Figure 15 is a diagram schematically showing the configuration of the control unit.
Figure 16 is a diagram showing a configuration for driving the main tendon and auxiliary tendon.
Figure 17 is a diagram schematically showing a configuration for driving one auxiliary tendon.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be changed and implemented in various forms. Accordingly, the actual implementation form is not limited to the specific disclosed embodiments, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of the described features, numbers, steps, operations, components, parts, or combinations thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Components included in one embodiment and components including common functions will be described using the same names in other embodiments. Unless stated to the contrary, the description given in one embodiment may be applied to other embodiments, and detailed description will be omitted to the extent of overlap.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted.

(Construction and function of a surgical device that enhances the rigidity of joint links)

Hereinafter, the configuration and function of the surgical device according to an embodiment of the present invention will be described in detail.

Figure 1 is a side view of a surgical device equipped with an auxiliary tendon according to an embodiment, and Figure 2 is a side view showing a modified state of the surgical device of Figure 1.

Referring to FIGS. 1 and 2 , a surgical device 1 (hereinafter referred to as “surgical device”) equipped with an auxiliary tendon may include a plurality of links rotatably connected to each other. The surgical device 1 includes a first link 11, a second link 12 rotatably connected to the first link 11, and at least one link rotatably connected to the second link 12. It may include a connection link 14 and a third link 13 rotatably connected to the connection link 14. In the drawing, it is shown that there is at least one connection link 14, but the number is not limited thereto. In addition, the connection link 14 is the same as the first, second, and third links 11, 12, and 13, except that it is expressed as a connection link.

The surgical device 1 may include a tip T capable of working on a target area. The surgical device 1 may be provided with its longitudinal direction in the x-axis direction. The surgical device 1 may include a main tendon 18 for rotating a plurality of links and an auxiliary tendon 19 for improving rigidity. The auxiliary tendon may include a pitch auxiliary tendon and a yaw auxiliary tendon. The main tendon 18 and the auxiliary tendon 19 are wires, and the direction and position of the surgical device can be changed depending on the traction of the wire. In the drawing, it is shown that there are four main tendons (18) and two auxiliary tendons (19), but the number is not limited thereto.

For example, when the tension of the main tendon 18 located in the +z direction increases, the shape of the surgical device 1 may be changed so that the tip T is directed in the +z direction. When the tension of the main tendon 18 located in the -z direction increases, the shape of the surgical device 1 may be changed so that the tip T is directed in the -z direction.

The auxiliary tendon 19 may have elasticity. The auxiliary tendon 19 can help prevent the shape of the surgical device 1 from unintentionally changing while an external force is applied to the tip T.

Figure 3 is a cross-sectional view taken along the cutting line III-III of Figure 1, Figure 4 is a cross-sectional view taken along the cutting line IV-IV of Figure 1, and Figure 5 is a cross-sectional view taken along the cutting line V-V of Figure 1. This is a cross-sectional view.

3 to 5, the first link 11 includes a first link body 111 and first main tendon holes 112a, 112b, 112c, and 112d formed through the first link body 111. ) and first auxiliary tendon holes (113a, 113b) formed through the first link body 111 and positioned spaced apart from the first main tendon holes (112a, 112b, 112c, 112d).

The first link body 111 may include a first hollow S1 therein. The first hollow (S1) can guide various surgical procedures and/or cameras. For example, the first link body 111 may have a pillar shape. The first link body 111 may have a symmetrical shape about the central axis C.

The first main tendon holes 112a, 112b, 112c, and 112d may be formed to penetrate the first link body 111 along the longitudinal direction (x-axis direction) of the first link body 111. A total of four first main tendon holes 112a, 112b, 112c, and 112d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of first main tendon holes is not limited to this.

The first auxiliary tendon holes 113a and 113b may be formed to penetrate the first link body 111 along the longitudinal direction (x-axis direction) of the first link body 111. A total of two first auxiliary tendon holes 113a and 113b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of first main tendon holes is not limited to this. The first auxiliary tendon holes 113a and 113b may be provided at positions spaced apart from the first main tendon holes 112a, 112b, 112c and 112d.

The first auxiliary tendon hole 113a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a first distance d1.

The second link 12 includes a second link body 121, second main tendon holes 122a, 122b, 122c, and 122d formed through the second link body 121, and a second link body 121. ) may include second auxiliary tendon holes (123a, 123b) formed through the second main tendon holes (122a, 122b, 122c, 122d) and positioned spaced apart from the second main tendon holes (122a, 122b, 122c, 122d).

The second link body 121 may include a second hollow S2 therein. The second hollow S2 can guide various surgical procedures and/or cameras. For example, the second link body 121 may have a pillar shape. The second link body 121 may have a symmetrical shape about the central axis C.

In a state where the first link body 111 and the second link body 121 are side by side, the first main tendon holes 112a, 112b, 112c, 112d and the second main tendon holes 122a, 122b, 122c, 122d are , may overlap each other along the x-axis direction, which is the longitudinal direction of the first link body 111.

In a state where the first link body 111 and the second link body 121 are side by side, the first auxiliary tendon holes 113a and 113b and the second auxiliary tendon holes 123a and 123b are connected to the first link body 111. They may not overlap each other along the x-axis direction, which is the longitudinal direction of .

The second main tendon holes 122a, 122b, 122c, and 122d may be formed to penetrate the second link body 121 along the longitudinal direction (x-axis direction) of the second link body 121. A total of four second main tendon holes 122a, 122b, 122c, and 122d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of second main tendon holes is not limited to this.

The second auxiliary tendon holes 123a and 123b may be formed to penetrate the second link body 121 along the longitudinal direction (x-axis direction) of the second link body 121. A total of two second auxiliary tendon holes 123a and 123b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of second main tendon holes is not limited to this. The second auxiliary tendon holes 123a and 123b may be provided at positions spaced apart from the second main tendon holes 122a, 122b, 122c and 122d.

The second main tendon holes (122a, 122b, 122c, 122d) are formed parallel to the longitudinal direction of the second link body 121, and the second auxiliary tendon holes (123a, 123b) are formed in parallel with the longitudinal direction of the second link body 121. It may be formed to be inclined with respect to the longitudinal direction.

Therefore, as shown in FIG. 1, each auxiliary tendon hole of the second link 12, the connecting link 14, and the third link 13 is provided to be inclined with respect to the longitudinal direction of the surgical device 1, so that at least At least some sections of the auxiliary tendon 19 may be inclined in an “S” shape. In addition, as another example, as shown in Figure 9, the auxiliary tendon hole formed in each link is formed horizontally (i.e., when passing the auxiliary tendon hole, the auxiliary tendon passes horizontally), and the auxiliary tendon hole of the adjacent link is formed horizontally. At least some sections of the auxiliary tendon 19 can be inclined in an “S” shape by arranging each link closer to or further away from the central axis. When leveling the auxiliary tendon hole, the auxiliary tendon can be inclined in a stepwise “S” shape.

The second auxiliary tendon hole 123a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a second distance d2. The first distance d1 from the auxiliary line L1 intersecting the central axis of the first link body 111 to the first auxiliary tendon hole 113a is the auxiliary line intersecting the central axis of the second link body 121. The distance from the line L1 to the second auxiliary tendon hole 123a may be greater than the second distance d2.

The third link 13 includes a third link body 131, third main tendon holes 132a, 132b, 132c, and 132d formed through the third link body 131, and a third link body 131. ) and may include third auxiliary tendon holes (133a, 133b) formed through the third main tendon holes (132a, 132b, 132c, 132d) and positioned spaced apart.

The third link body 131 may include a third hollow S3 therein. The third hollow (S3) can guide various surgical techniques and/or cameras. For example, the third link body 131 may have a pillar shape. The third link body 131 may have a symmetrical shape about the central axis C.

The third main tendon holes 132a, 132b, 132c, and 132d may be formed to penetrate the third link body 131 along the longitudinal direction (x-axis direction) of the third link body 131. A total of four third main tendon holes 132a, 132b, 132c, and 132d may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of third main tendon holes is not limited to this.

The third auxiliary tendon holes 133a and 133b may be formed to penetrate the third link body 131 along the longitudinal direction (x-axis direction) of the third link body 131. A total of two third auxiliary tendon holes 133a and 133b may be provided and spaced apart from each other in the circumferential direction. It should be noted that the number of third main tendon holes is not limited to this. The third auxiliary tendon holes 133a and 133b may be provided at positions spaced apart from the third main tendon holes 132a, 132b, 132c and 132d.

The third auxiliary tendon hole 133a may be spaced apart from the auxiliary line L1 perpendicular to the central axis C by a third distance d4. The second distance d2 from the auxiliary line L1 crossing the central axis of the second link body 121 to the second auxiliary tendon hole 123a is the auxiliary line crossing the central axis of the third link body 131. The distance from the line L1 to the third auxiliary tendon hole 133a may be greater than the third distance d4. The direction in which the second auxiliary tendon hole 123a is spaced apart from the auxiliary line L1 that intersects the central axis of the second link body 121 (+z direction) intersects the central axis of the third link body 131. The direction in which the third auxiliary tendon hole 133a is spaced apart from the auxiliary line L1 may be opposite to the direction (-z direction).

At least one connection link 14 may be provided between the second link body 121 and the third link body 131. The shape of at least one connection link 14 may be the same as that of the first link 11 or the second link 12.

The main tendons (18a, 18b, 18c, 18d) include the first main tendon holes (112a, 112b, 112c, 112d), the second main tendon holes (122a, 122b, 122c, 122d), and the third main tendon holes (132a, 132b, 132c, 132d) can be passed. One end of each of the main tendons 18a, 18b, 18c, and 18d may be fixed to the end to which the tip T is connected. The user can rotate the surgical device 1 by applying appropriate tension to the main tendons 18a, 18b, 18c, and 18d.

The auxiliary tendons 19a and 19b may pass through the first auxiliary tendon holes 113a and 113b, the second auxiliary tendon holes 123a and 123b, and the third auxiliary tendon holes 133a and 133b. In a state where the first link body 111 and the second link body 121 are side by side, the auxiliary tendons 19a, 19b are provided between the first auxiliary tendon holes 113a, 113b and the second auxiliary tendon holes 123a, 123b. ) may be provided to be inclined with respect to the central axis (C) of the first link body. The auxiliary tendons 19a and 19b may have elasticity.

Based on the state in which the first link 11, the second link 12, the third link 13, and at least one connection link 14 are arranged side by side, the main tendons 18a, 18b, 18c, and 18d are It is provided parallel to the longitudinal direction of the first link 12, and at least a portion of the auxiliary tendons 19a and 19b may be inclined with respect to the longitudinal direction of the first link 11.

Figures 6 to 8 are diagrams showing shape deformation in a surgical device with an auxiliary tendon and a surgical device without an auxiliary tendon, respectively, while force is applied.

Referring to Figures 6 to 8, the part shown in black shows the deformation in a state where the auxiliary tendon is removed, and the part shown in red shows the deformation in a state with the auxiliary tendon. 5N was applied to the tip (T, see Figure 1). It can be seen that when an auxiliary tendon is provided, the displacement that changes due to external force is reduced by approximately 80%.

Meanwhile, if explained in more detail with reference to FIGS. 3 and 10, in FIG. 3, first pitch auxiliary tendons (19a, 19b) and first pitch auxiliary tendon holes (113a, 113b) into which the first pitch auxiliary tendons are inserted are shown. 10 shows first pitch auxiliary tendons 19c and 19d and first pitch auxiliary tendon holes 113c and 113d into which the first pitch auxiliary tendons are inserted. At this time, in the present invention, the purpose can be sufficiently achieved by applying the pitch auxiliary tendon and the pitch auxiliary tendon hole of either Figure 3 or Figure 10.

The auxiliary tendons shown in FIG. 3 are first pitch auxiliary tendons 19a and 19b.

The first pitch auxiliary tendon (19a) is located in the first pitch auxiliary tendon hole (113a) and the second and third joint links (12, 13) located on the right side with respect to the central axis (C) of the first joint link (11). It is inserted into the second and third pitch auxiliary tendon holes 123a and 133a respectively formed. The path through the hole of the first pitch auxiliary tendon (19a) slopes downward in an 'S' shape. The auxiliary tendon holes move upward from the first pitch auxiliary tendon hole (113a) of the first joint link (11) to the second and third pitch auxiliary tendon holes (123a, 133a) of the second and third joint links (12, 13). It is formed in a downward direction. That is, the first pitch auxiliary tendon hole 113a shown in Figure 3 is formed on the upper right side of the joint link, and the second and third pitch auxiliary tendon holes 123a and 133a shown in Figures 4 and 5 are relatively It gradually forms on the lower right. Accordingly, the formation direction of the auxiliary tendon hole is also formed from the top to the bottom and clockwise (see arrow shown in FIG. 3).

On the other hand, the first pitch auxiliary tendon (19b) is a first pitch auxiliary tendon hole (113b) located on the left side with respect to the central axis (C) of the first joint link (11) and the second and third joint links (12, 13) ) are inserted into the second and third pitch auxiliary tendon holes (123b, 133b) formed respectively. The path through the hole of the first pitch auxiliary tendon (19b) slopes upward in an 'S' shape. The auxiliary tendon hole moves downward as it moves from the first pitch auxiliary tendon hole (113b) of the first joint link (11) to the second and third pitch auxiliary tendon hole (123b, 133b) of the second and third joint link (12, 13). It is formed in the upward direction. That is, the first pitch auxiliary tendon hole 113b shown in Figure 3 is formed on the lower left side of the joint link, and the second and third pitch auxiliary tendon holes 123b and 133b shown in Figures 4 and 5 are relatively It gradually forms on the upper left side. Accordingly, the direction in which the auxiliary tendon hole is formed is from the bottom to the top, and is formed clockwise (see arrow shown in FIG. 3).

The auxiliary tendons shown in FIG. 10 are first pitch auxiliary tendons 19c and 19d as another example of the auxiliary tendons in FIG. 3.

The first pitch auxiliary tendon (19c) is a three-joint link via the first pitch auxiliary tendon hole (113c) located on the right side with respect to the central axis (C) of the first joint link (11) and the second joint link (12). It is inserted into the 3-pitch auxiliary tendon hole (133c) formed at (13). The path through the hole of the first pitch auxiliary tendon (19c) slopes upward in an 'S' shape. Auxiliary tendon holes are formed from the bottom to the top as we move from the first pitch auxiliary tendon hole 113c of the first joint link 11 to the 3 pitch auxiliary tendon hole 133c of the three joint link 13. That is, the first pitch auxiliary tendon hole 113c shown in FIG. 10 is formed on the lower right side of the joint link, and the third pitch auxiliary tendon hole 133c is formed relatively gradually on the upper right side. Accordingly, the direction in which the auxiliary tendon hole is formed is from the bottom to the top, and is formed along a counterclockwise direction (see arrow shown in FIG. 10).

Meanwhile, the first pitch auxiliary tendon (19d) is 3 through the first pitch auxiliary tendon hole (113d) and the second joint link (12) located on the left side with respect to the central axis (C) of the first joint link (11). It is inserted into the 3-pitch auxiliary tendon hole (133d) formed in the joint link (13). The path through the hole of the first pitch auxiliary tendon (19d) slopes downward in an 'S' shape. Auxiliary tendon holes are formed from the top to the bottom moving from the first pitch auxiliary tendon hole 113d of the first joint link 11 to the 3 pitch auxiliary tendon hole 133d of the three joint link 13. That is, the first pitch auxiliary tendon hole 113d shown in FIG. 10 is formed on the upper left side of the joint link, and the third pitch auxiliary tendon hole 133d is formed relatively gradually on the lower left side. Accordingly, the formation direction of the auxiliary tendon hole is also formed from the top to the bottom, and along the counterclockwise direction (see arrow shown in FIG. 10).

As shown in Figure 11, the rolling joint device 1 is an example, when a load (F) is generated on the end effector, the second joint link 12 rotates clockwise or generates a torque (Tq1), and the third The joint link 13 rotates or generates torque Tq2 in a counterclockwise direction opposite to the second joint link 12. Accordingly, when a load is applied to the end effector of the rolling joint device 1, deflection (bending) occurs in different directions for each joint link due to an external load. To prevent this deflection of the rolling joint link, the present invention uses the pitch assist tendon mechanism described above. In addition, when the pitch-assisted tendon mechanism is used, twisting (torsion) occurs in the rolling joint unintentionally, and to prevent this twisting, the yaw-assisted tendon mechanism is used to prevent twisting. Hereinafter, a surgical device to which a rolling joint is applied according to an embodiment of the present invention will be described with reference to the attached drawings.

The purpose of the present invention can be sufficiently achieved by using either the first yaw auxiliary tendons (21a, 21b) shown in FIG. 12 and the second yaw auxiliary tendons (21c, 21d) shown in FIG. 13. The first yaw auxiliary tendons (21a, 21b) of FIG. 12 are for preventing twisting when the mechanism of the pitch auxiliary tendons (19a, 19b) of FIG. 3 is activated, and the first yaw auxiliary tendons (21c, 21d) of FIG. 13 ) is to prevent twisting of the pitch auxiliary tendons 19c and 19d of FIG. 10 when the mechanism operates.

The first yaw auxiliary tendons 21a and 21b shown in FIG. 12 are, as an example, inserted into each yaw auxiliary tendon hole provided in the first, second and third links 11, 12 and 13.

The first yaw auxiliary tendon (21a) is inserted into the upper yaw auxiliary tendon holes (114a, 134a). The upper yaw auxiliary tendon holes 114a and 134a are formed on the upper side of each joint link so that the passage path of the first yaw auxiliary tendon 21a is diagonal in the first direction (as an example, '\'). Accordingly, the yaw auxiliary tendon hole formed in each joint link is located in the upper right corner of the first joint link 11 and gradually becomes located in the upper left corner of the third joint link 13 in a counterclockwise direction.

Meanwhile, the first yaw auxiliary tendon (21b) is inserted into the lower yaw auxiliary tendon holes (114b, 134b). The lower yaw auxiliary tendon holes 114b and 134b are formed on the lower side of each joint link so that the passage path of the first yaw auxiliary tendon 21b is diagonal in the second direction (for example, '/'). Accordingly, the diagonal lines in the first direction and the diagonal lines in the second direction cross each other to form an 'X' shape. Accordingly, the yaw auxiliary tendon hole formed in each joint link is located at the bottom left of the first joint link 11, and is gradually located at the bottom right of the third joint link 13 along a counterclockwise direction.

The second yaw auxiliary tendons 21c and 21d shown in FIG. 13 are, as an example, inserted into each yaw auxiliary tendon hole provided in the first, second and third links 11, 12 and 13.

The second yaw auxiliary tendon (21c) is inserted into the upper yaw auxiliary tendon holes (114c, 134c). The upper yaw auxiliary tendon holes 114c and 134c are formed on the upper side of each joint link so that the passage path of the second yaw auxiliary tendon 21c is diagonal in the first direction (for example, '/'). Accordingly, the yaw auxiliary tendon hole formed in each joint link is located in the upper left corner of the first joint link 11 and gradually becomes located in the upper right corner of the third joint link 13 in a clockwise direction.

Meanwhile, the second yaw auxiliary tendon (21d) is inserted into the upper yaw auxiliary tendon holes (114d, 134d). The upper lumbar auxiliary tendon holes 114d and 134d are formed on the lower side of each joint link so that the passage path of the second lumbar auxiliary tendon 21d is diagonal in the second direction (as an example, '\'). Accordingly, the diagonal lines in the first direction and the diagonal lines in the second direction cross each other to form an 'X' shape. Accordingly, the yaw auxiliary tendon hole formed in each joint link is located at the bottom right of the first joint link 11, and is gradually located at the bottom left of the third joint link 13 in a clockwise direction.

(Method for increasing rigidity of rolling joint device)

Hereinafter, a method for increasing the rigidity of a rolling joint device according to an embodiment of the present invention will be described in detail.

Referring to the attached drawing, the rolling joint device can be moved to a lesion in the human body according to the traction of the main tendon, thereby reaching the lesion. Therefore, the main tendon position control unit 610 controls the position of the main tendon 18, and the rolling joint device 1 moves to the lesion in the human body according to the position control of the main tendon 18 (S11).

Meanwhile, in the present invention, the main tendon 18 and the auxiliary tendon 19 are both wires. The main tendon 19 may be a main wire, and the auxiliary tendon 19 may be an auxiliary wire. Each main wire and auxiliary wire are both pulled according to the wire pulling mechanism. At this time, the main tendon is pulled to move the rolling joint device to control the position and direction of the rolling joint device, and the auxiliary tendon is pulled to increase the rigidity of the rolling joint device or prevent twisting.

Next, since the traction force of the main tendon 18 alone is insufficient in rigidity, pitch auxiliary tensions 19a, 19b, 19c, and 19d are used in the present invention. In other words, when the rolling joint device reaches the lesion, the rolling joint device needs to maintain a 'cobra shape' shape, for example, depending on the location of the lesion. At this time, the rolling joint device cannot maintain the 'cobra shape' with only the traction force of the main tendon (18). Therefore, in the present invention, the rolling joint device can maintain the 'cobra shape' by driving the pitch auxiliary tendons 19a, 19b, 19c, and 19d.

Accordingly, the pitch auxiliary tendons 19a, 19b, 19c, and 19d are pulled under the control of the pitch auxiliary tendon tension control unit 620, thereby increasing the rigidity to prevent deflection of the rolling joint device 1 (S12). If the rigidity of the rolling joint device 1 is increased, the 'cobra shape' of the previous embodiment can be maintained, and on the other hand, shape locking of the rolling joint device may be possible.

Meanwhile, when the pitch auxiliary tendons (19a, 19b, 19c, 19d) are pulled under the control of the pitch auxiliary tendon tension control unit 620, twisting occurs in the joint link of the rolling joint device (1). Therefore, the yaw auxiliary tendon is pulled under the control of the yaw auxiliary tendon tension control unit 630 to prevent twisting of the rolling joint device 1 (S13).

Before or simultaneously with driving the pitch auxiliary tendon tension control unit 620 and the yaw auxiliary tendon tension control unit 630 described above, the clutch control unit 640 is driven to turn the electronic clutch unit 510 'ON', thereby turning the motor unit 520 Ensure that the rotational driving force of is transmitted to the corresponding capstan.

Next, after the rigidity of the rolling joint device 1 is increased and twisting is prevented according to the traction of the pitch auxiliary tendons 19a, 19b, 19c, 19d and the yaw auxiliary tendons 21a, 21b, 21c, 21d, the pitch Maintaining the traction force of the pitch auxiliary tendons (19a, 19b, 19c, 19d) and yaw auxiliary tendons (21a, 21b, 21c, 21d) under the control of the auxiliary tendon tension control unit 620 and the yaw auxiliary tendon tension control unit 630. Perform the steps (S14). By maintaining the traction force of the pitch auxiliary tendon, deflection of the rolling joint device 1 can be prevented even if a load is applied to the end effector, and furthermore, the position of the end effector may not change. Furthermore, by maintaining the traction force of the yaw auxiliary tendon, twisting of the rolling joint device (1) can be prevented at the same time.

When the rigidity of the rolling joint device 1 is maintained and twisting is prevented, the surgical robot placed in the lumen of the rolling joint device 1 is driven under the control of the surgical robot driving unit 660 to remove or treat the lesion. Perform the steps (S15). A lumen is formed inside the rolling joint device. For example, an endoscopic camera may be placed in the first lumen, and a surgical robot (e.g., a grasper) capable of removing or treating a lesion may be placed in the second lumen. there is. The surgical robot is driven by the surgical robot driving unit 660, and the endoscopic camera is driven by the camera driving unit 670.

Next, after treatment of the lesion, the pitch auxiliary tendons (19a, 19b, 19c, 19d) and the yaw auxiliary tendons (21a, 21b, 21c, Perform the step of releasing the traction force in 21d) (S16).

When the traction force of the pitch auxiliary tendons (19a, 19b, 19c, 19d) and the yaw auxiliary tendons (21a, 21b, 21c, 21d) is released, the stiffness of the rolling joint device (1) is restored to its original state, and the main tendon position accordingly. As the main tendon 18 is pulled according to the position control of the control unit 610, the rolling joint device retreats from the location of the lesion and exits the outside of the human body (S17).

Referring to Figures 16 and 17, the main tendon (18a) and the pitch auxiliary tendon (19a) are connected to each capstan (211a, 212a, 213a, 214a). However, the yaw auxiliary tendon is not shown in FIGS. 16 and 17, but the yaw auxiliary tendon is also connected to the capstan and controlled by the yaw auxiliary tendon tension control unit 630 of the control unit 600. The specific connection connection method is pitch auxiliary. The tendon connection method and principle are the same.

The first main tendon capstan (211a) is coupled to the first main tendon capstan base 211 and driven, and the second main tendon capstan (212a) is coupled to the second main tendon capstan base 212 to drive the main tendon. It is driven by the tendon position control unit 610. Meanwhile, the first pitch auxiliary tendon capstan 213a is coupled to and driven by the first pitch auxiliary tendon capstan base 213, and the second pitch auxiliary tendon capstan 214a is connected to the second pitch auxiliary tendon capstan base (213a). 214) and is driven by the pitch auxiliary tendon tension control unit. The yaw auxiliary tendon capstan (not shown) can tow the yaw auxiliary tendon (21a) by being driven by the yaw auxiliary tendon tension control unit 630.

Meanwhile, each capstan (211a, 212a, 213a, 214a) can be driven by being coupled to the capstan base 210, and each capstan (211a, 212a, 213a, 214a) is connected to each balance spring (310.320). , However, only two balance springs are shown in FIG. 16, but each balance spring can support the capstan).

The balance springs 310 and 320 can keep the tension of the main tendon 18 or the auxiliary tendon 19 constant. That is, as an example, when the wire is stretched due to use, it is possible to maintain a constant tension by preventing the wire from stretching.

In particular, the auxiliary tendon 19 can maintain a constant tension by preventing the auxiliary tendon 19 from stretching or shrinking when the main tendon 18 is pulled. Therefore, when the rolling joint device (1) reaches the location of the lesion by the traction of the main tendon (18), a preset traction force is added to the auxiliary tendon (19), thereby fixing the shape and increasing rigidity, thereby making the surgical robot Treat the lesion without changing its location.

As shown in FIG. 17, one auxiliary tendon (19a) is wound around the capstan (213a), and the capstan base (213) is elastically supported by the balance spring (310).

Additionally, the capstan 213a is directly or indirectly coupled to the electronic clutch unit 510, and the electronic clutch unit 510 is coupled to the motor unit 520 that generates driving force. Therefore, as an example, the motor unit 520 is rotationally driven under the control of the pitch auxiliary tendon tension control unit 620, and at this time, the electronic clutch unit 510 is driven by the clutch control unit 640, so that the driving force of the motor unit 520 is It is delivered to the capstan 213a. Meanwhile, as an example, the pitch auxiliary tendon 19a is released or wound around the capstan 19a depending on the driving direction of the motor unit 520, and a constant traction force is generated according to the driving force of the motor unit 520, thereby forming a rolling joint device. The rigidity of (1) can be increased.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on this. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the following claims.

T: Tip
S1, S2, S3: hollow
1: Surgical device or rolling joint device
11: first link or first joint link
12: second link or second joint link
13: Third link or third joint link
14: connecting link or connecting joint link
18,18a,18b,18c,18d: Main tendon
19: Auxiliary tendon
19a, 19b, 19c, 19d: 1st pitch auxiliary tendon
21a, 21b: 1st auxiliary tendon
21c, 21d: 2nd auxiliary tendon
111: first link body
112a, 112b, 112c, 112d: 1st main tendon hole
113a, 113b, 113c, 113d: first auxiliary tendon hole or first pitch auxiliary tendon hole
114a, 114b: 1st auxiliary tendon hole
114c, 114d: 2nd auxiliary tendon hole
121: second link body
122a, 122b, 122c, 122d: 2nd main tendon hole
123a, 123b: second auxiliary tendon hole or second pitch auxiliary tendon hole
131: Third link body
132a, 132b, 132c, 132d: 3rd main tendon hole
133a, 133b, 133c, 133d: Third auxiliary tendon hole or third pitch auxiliary tendon hole
134a, 134b: 1st auxiliary tendon hole
134c, 134d: 2nd auxiliary tendon hole
210: capstan base
211: 1st main tendon capstan base
211a: 1st main tendon capstan
212: 2nd main tendon capstan base
212a: 2nd main tendon capstan
213: 1st auxiliary tendon capstan base
213a: first auxiliary tendon capstan
214: 2nd auxiliary tendon capstan base
214b: 2nd auxiliary tendon capstan
310: first balance spring part
320: Second balance spring part
410: Support base part
510: Electronic clutch unit
520: motor part
600: Control unit
610: Maintend position control unit
620: Pitch auxiliary tendon tension control unit
630: Yo auxiliary tendon tension control unit
640: Clutch control unit
650: motor control unit
660: Surgical robot driving unit
670: Camera driving unit

Claims (11)

A step of moving the rolling joint device to a lesion in the human body by pulling the main tendon according to the position control of the main tendon position control unit,
A method of increasing the rigidity of a rolling joint device, comprising increasing the rigidity to prevent deflection of the rolling joint device by pulling the pitch auxiliary tendon under the control of a pitch auxiliary tendon tension control unit.
According to claim 1,
After the rigidity of the rolling joint device is increased according to the traction of the pitch auxiliary tendon,
Maintaining the traction force of the pitch auxiliary tendon under the control of the pitch auxiliary tendon tension control unit,
Treating the lesion by driving a surgical robot disposed in the lumen of the rolling joint device under the control of the surgical robot driving unit,
After treatment of the lesion, releasing the traction force of the pitch auxiliary tendon under the control of the pitch auxiliary tension control unit,
A method for increasing the rigidity of a rolling joint device, further comprising the step of retracting the rolling joint device by pulling the main tendon according to the position control of the main tendon position control unit.
According to claim 1,
Further comprising preventing twisting of the rolling joint device by pulling the yaw auxiliary tendon under the control of a yaw auxiliary tendon tension control unit to prevent twisting of the joint link of the rolling joint device caused by traction of the pitch auxiliary tendon. A method of increasing the rigidity of a rolling joint device, characterized in that:
According to claim 3,
After the rigidity of the rolling joint device is increased and twisting is prevented according to the traction of the pitch auxiliary tendon and the yaw auxiliary tendon,
Maintaining the traction force of the pitch auxiliary tendon and the yaw auxiliary tendon under control of the pitch auxiliary tendon tension control unit and the yaw auxiliary tendon tension control unit,
Treating the lesion by driving a surgical robot disposed in the lumen of the rolling joint device under the control of the surgical robot driving unit,
After treatment of the lesion, releasing the traction force of the pitch auxiliary tendon and the yaw auxiliary tendon under the control of the pitch auxiliary tension control unit and the yaw auxiliary tendon tension control unit,
A method for increasing the rigidity of a rolling joint device, further comprising the step of retracting the rolling joint device by pulling the main tendon according to the position control of the main tendon position control unit.
According to claim 3,
The pitch auxiliary tendon tension control unit and the yaw auxiliary tendon tension control unit control tension so that a preset traction force is applied to each auxiliary tendon,
The main tendon position control unit controls the position of the rolling joint device by changing the traction force applied to the main tendon based on kinematics.
According to claim 5,
The pitch auxiliary tendon tension control unit applies a preset traction force to the pitch auxiliary tendon,
A first moment force in a direction opposite to the first direction that resists rotation in the first direction of at least one joint link among the plurality of joint links of the rolling joint device is generated and tension is controlled to cause deflection of the rolling joint device. prevent or
Alternatively, a second moment force in a direction opposite to the second direction that resists rotation in the second direction of at least one other joint link among the plurality of joint links is generated to control tension, thereby preventing deflection of the rolling joint device. A method of increasing the rigidity of a rolling joint device, characterized in that:
According to claim 1,
A method of increasing the rigidity of a rolling joint device, characterized in that the passage path of the pitch auxiliary tendon passing through the inside of the joint link of the rolling joint device is inclined in an 'S' shape.
According to claim 7,
The passage path of any one pitch auxiliary tendon slopes downward in the longitudinal direction,
A method of increasing the rigidity of a rolling joint device, characterized in that the passage path of the other pitch auxiliary tendon slopes upward in the longitudinal direction.
According to claim 3,
The auxiliary tendon tension control unit is,
A rolling joint device characterized in that tension is controlled so that torsion in a second direction opposite to the first direction is generated in the rolling joint device to prevent twisting in the first direction caused by traction of the pitch auxiliary tendon. How to increase rigidity.
According to claim 3,
A method of increasing the rigidity of a rolling joint device, characterized in that the passage path of the yaw auxiliary tendon passing through the inside of the joint link of the rolling joint device is diagonal.
According to claim 10,
The passage path of any one auxiliary tendon is diagonal in the first direction,
A method of increasing the rigidity of a rolling joint device, characterized in that the passage path of the other yaw auxiliary tendon is a diagonal line in a second direction that crosses the first direction.