WO2011019206A2

WO2011019206A2 - Operation device of surgical robot

Info

Publication number: WO2011019206A2
Application number: PCT/KR2010/005270
Authority: WO
Inventors: 최승욱
Original assignee: 주식회사 래보
Priority date: 2009-08-13
Filing date: 2010-08-11
Publication date: 2011-02-17
Also published as: WO2011019206A3; KR100997196B1

Abstract

The present invention relates to an operation device of a surgical robot, wherein the operation device of a surgical robot comprises: a first operation unit which comprises a shaft-type structure and generates a first operating power by rotation; a second operation unit which is provided at the surrounding of the first operation unit and generates a second operating power by rotation; and a summing and output unit which sums the operating power of the first operation unit and the operating power of the second operation unit to output the summed power, thereby diversifying the operation range of a surgical instrument through one operation device and thus providing convenience and diversity of surgical operation.

Description

Surgical Robot Manipulator

The present invention relates to a surgical robot operating device provided in the master robot for operating a surgical tool.

Medically, surgery refers to healing a disease by cutting, slitting, or otherwise manipulating skin, mucous membranes, or other tissues with a medical device. In particular, open surgery to incise the skin of the surgical site to open, treat, shape, or remove the organs inside the surgical site can be minimized in recent years due to problems such as bleeding, side effects, patient pain, and scars. Laparoscopic surgery is expanding its application.

Laparoscopic surgery refers to an operation that proceeds while observing the body by inserting a surgical tool while minimizing an open area and observing the body with an endoscope. For this purpose, various surgical tools (scissors, tongs, clips, etc.) are mounted at the distal end and can be inserted into the body. Hand-held surgical instruments that allow for manual manipulation by a physician in vitro are widely used.

On the other hand, the operation using a robot (robot) is also in the spotlight as an alternative, with reference to Figure 1, such a surgical robot, a master robot (1) for generating and transmitting a signal generally required by the doctor's operation (1) ) And a slave robot 5 that receives a signal from the master robot 1 and directly applies a manipulation necessary for surgery to the patient.

The master robot 1 converts the information input by the handle 2 operation into an output control signal to the slave robot 5, including the handle 2, which is a manipulation device operated by a doctor directly, and transmits various control signals. The control apparatus 3 which produces | generates and outputs is provided. Of course, on the master robot 1 side, there is also a display device 4 for providing image information acquired by the endoscope camera, and a screen 5 for displaying a graphical user interface for controlling various functions and parameters of the entire system. It is provided.

The robot arm 7 of the slave robot 6 may be installed with an instrument 7 inserted into the body to perform a surgical operation.

In particular, the handle 2 is a component that the doctor directly manipulates when performing surgery. According to the operation conditions of the slave robot 6, the instrument 8 of the handle 2, and the effector provided in the instrument 8, it is comprised so that several degrees of freedom can be operated.

However, the conventional handle 2, i.e., the operating device, in a specific degree of freedom implementation, only one operation in one axial direction is possible in rotating or moving the handle, in particular its operating range, i.e., the range of rotation is limited. There is a problem in that there is a limit in implementing a wider variety of surgical operations according to.

That is, when the operator (doctor) rotates the handle (2) while twisting his wrist, if the wrist twisted more than a certain amount, there is no limit to the rotation of the handle anymore, so if you turn the handle more than a certain angle The rotation range of the actual surgical instrument (instrument) is also limited because it cannot be rotated.

In addition, when the handle is rotated about one axis, it is necessary to rotate the micromanipulation as necessary. In the related art, it is more versatile because it is configured to operate the surgical tool while rotating the handle with a constant rotational manipulation amount. There is a limiting problem in proceeding with the precise surgical operation.

The present invention has been made to solve the above problems, it is configured to synthesize and output the rotational operating force of the two operation units arranged in a double-axis structure by varying the operation range through a single operation device (handle) to operate the operation An object of the present invention is to provide a surgical robot operating device that can realize the convenience and variety of the.

In addition, the present invention is configured so that the output amount to be manipulated by each operation unit is different to enable the rapid operation and fine operation of the surgical tool using a plurality of operation units, thereby enabling a more efficient and precise surgery operation An object of the present invention is to provide an operation device for a robot.

The operating device of the surgical robot according to the present invention for realizing the above object comprises a first operation portion which is made of a shaft-like structure to generate a first operation force by the rotation operation; A second manipulation unit provided around the first manipulation portion to generate a second manipulation force by a rotation operation; And a combined output unit configured to combine the operating force of the first operation unit and the operation force of the second operation unit into one output unit.

Preferably, the first operation unit is configured to rotate in a state of being held by the operator, and the second operation unit is configured to enable the operator to rotate by moving a finger.

The first operation portion includes a handle portion configured to be held by an operator by hand, and a main shaft portion connected to the composite output portion from the handle portion, and the second operation portion is rotatable around a main shaft portion of the first operation portion. It is preferably configured to be connected to the composite output in the installed state.

The composite output unit includes a side gear which is positioned side by side and coupled to the side of the first control unit and the second control unit, respectively, and a pinion gear that is engaged with the side gears in a bevel gear manner between the two side gears; It may be configured to include a compound case for outputting a compound operating force while the gear is rotatably coupled and the pinion gear rotates together when the pinion gear revolves along the both side gears.

At this time, it is preferable that a plurality of pinion gears are installed between both side gears.

The compound output unit is preferably configured to increase or decrease the rotational force output from the compound case.

The combined output unit may be configured such that the gear ratios of both side gears are different so that the output rotation amount by the rotation operation of the first operation unit and the output rotation amount by the rotation operation of the second operation unit are different.

In this case, the synthesis output unit is preferably formed so that the number of gears of the side gear connected to the second control unit is smaller than the number of gears of the side gear connected to the first control unit, the fine operation of the second control unit.

The synthesizing output unit includes a planetary gear device including a sun gear, a satellite gear, a carrier, and a ring gear, wherein the sun gear is connected to the first control unit, and the ring gear is connected to a second control unit, and synthesized through the carrier. It can also be configured to produce an output. In this case, the composite output unit may be configured to increase or decrease the rotational force output through the carrier.

The manipulation apparatus of the surgical robot may include a manipulation detection unit for sensing a rotation amount output from the synthesis output unit and inputting a detection signal to a control unit controlling a master robot.

The first control unit or the second control unit may include at least one or more operation switch mechanism for generating a drive signal of the instrument by the operation of the operator.

In addition, the second manipulation unit may include a plurality of finger insertion units, respectively, so that the operator's fingers may be inserted into both sides thereof, or a portion of the finger may be inserted.

In this case, it is preferable that two finger insertion units are provided at both sides, and at least one of the finger insertion units of both sides is preferably configured to be distinguished from other finger insertion units.

On the other hand, the operating device of the surgical robot according to the present invention for realizing the above object is made of a shaft-shaped structure for generating a first operating force by the rotation operation; A second manipulation unit rotatably provided around the first manipulation unit to generate a second manipulation force by a rotation operation; It may be configured to include a detection unit for detecting the rotation operation state of the first control unit and the second control unit for inputting a detection signal to the control unit of the master robot.

The main problem solving means of the present invention as described above, will be described in more detail and clearly through examples such as 'details for the implementation of the invention', or the accompanying 'drawings' to be described below, wherein In addition to the main problem solving means as described above, various problem solving means according to the present invention will be further presented and described.

The operating device of the surgical robot according to the present invention configured to solve the problems as described above has the following effects.

Since the present invention is configured to combine and output the rotational operation force of the first operation unit and the second operation unit arranged in a single axis on one axis, the operation range is diversified through a single operation device, and the convenience of operation and It provides the effect of realizing the diversity and simplifying the configuration of the operating device (handle) as a whole.

That is, when the operator rotates the first operation unit while twisting his wrist, the present invention is configured to rotate the second operation unit provided around the first operation unit with his finger in a state in which it can no longer rotate. Therefore, by expanding the rotation or movement operation range of the actual surgical tool, there is an effect that can increase the convenience of the surgical operation. In addition, since various surgical manipulation methods can be implemented by rotating combinations of the first manipulation unit and the second manipulation unit, various surgical manipulations can be realized through a single manipulation unit, thereby simplifying the configuration of the entire manipulation unit. Have

In addition, in the present invention, when the output rotation amount by the first operation unit and the output rotation amount by the second operation unit are different, even if the first operation unit and the second operation unit are rotated by the same rotation operation amount, fast operation and fine operation are performed. Since it can be executed separately, it provides the effect of performing more convenient and precise surgical operation.

1 is a configuration diagram showing a surgical robot.

2 to 11 are views showing the operating device of the surgical robot according to the first embodiment of the present invention,

Figure 2 is a perspective view, Figure 3 is a side view, Figure 4 is a side cross-sectional view, Figure 5 is an illustration of an instrument, Figures 6 to 9 are views showing the operating state of the first embodiment, Figure 10 is another embodiment of the composite output unit Figure 11 is a side cross-sectional view showing another embodiment of the composite output unit.

12 to 18 are views showing the operating device of the surgical robot according to the second embodiment of the present invention,

12 is a side cross-sectional view showing the internal structure, Figure 13 is a front view showing the planetary gear device in the direction of the AA line of Figure 12, Figures 14 to 17 are views showing the operating state of the second embodiment, Figure 18 is another embodiment The front view which showed the example structure.

19 is a view showing the operating device of the surgical robot according to the third embodiment of the present invention.

20 is a side view showing the operating device of the surgical robot according to the fourth embodiment of the present invention.

21 to 22 are views showing the operating device of the surgical robot according to the fifth embodiment of the present invention,

21 is an overall side view, and FIG. 22 is a cross-sectional view taken along the line B-B in FIG. 21.

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

Referring to FIG. 1, the operating device for a surgical robot of the present invention is configured to be able to operate an instrument 7 or the like provided on the master robot 1 side and provided in the slave robot 6, and thus, a slave robot 6. It is configured to be able to operate with multiple degrees of freedom according to the operating conditions of). Since such a degree of freedom operation method is widely known in US Pat. No. 6,039,612, etc., in the embodiments described below, a handle or similar operation is operated about one rotational axis to realize one specific degree of freedom (movement). The explanation will be given focusing on the configuration when making the order.

Therefore, in the master robot 1, the parts of the operation device (handle) operated by the operator, the parts connected with the master robot body or the configuration of the various connection operation devices for implementing the multiple degree of freedom operation vary in combination with the configuration of the known technology Since the description thereof is omitted, the main embodiment of the present invention will be described based on a handle manipulation part which the operator directly grabs and manipulates.

DETAILED DESCRIPTION Embodiments of the present invention to be described below will be described with reference to the drawings in largely five preferred embodiments, and various other embodiments that can be implemented will be briefly added when describing each embodiment.

For reference, in the first embodiment, the operation force synthesis structure using the inverse differential structure, in the second embodiment the operation force synthesis structure using the planetary gear device, and in the third embodiment, the electronic synthesis output structure, not the mechanical synthesis structure, In the fourth embodiment, a structure in which additional operation mechanisms are provided in the first operation unit or the second operation unit will be described, and in the fifth embodiment, a structure in which the finger insertion unit is provided in the operation unit will be described.

In describing various embodiments of the present invention, like reference numerals refer to like elements throughout the drawings, and repeated descriptions thereof will be omitted.

먼저, 본 발명의 제1실시예에 대하여 설명한다.First, a first embodiment of the present invention will be described.

2 to 11 are views showing the operation of the surgical robot according to the first embodiment of the present invention, Figure 2 is a perspective view, Figure 3 is a side view, Figure 4 is a side cross-sectional view, Figure 5 is an operation of the present invention 6 to 9 are views showing various operating states of the first embodiment, FIG. 10 is a configuration diagram showing another embodiment of the composite output unit, and FIG. 11 is a composite output unit. A side cross-sectional view showing another embodiment.

In the first embodiment of the present invention, the first operation unit 10 which the operator (generally the doctor) holds and rotates by hand, and the second operation unit which the operator rotates with the finger while holding the first operation unit 10 by hand ( 20), the composition of the combined output unit 30 for synthesizing and outputting the rotational operating force of the first control unit 10 and the second control unit 20.

When described in detail the main components according to the first embodiment of the present invention.

The first manipulator 10 has a shaft-like structure and is configured to generate the first maneuvering force by an operation in which the operator rotates. The first manipulator 10 is configured to be rotated by the operator.

To this end, the first manipulation unit 10 is provided with a handle portion 11 made to be gripped by an operator, and has a shaft portion having a shaft structure between the handle portion 11 and the composite output portion 30. 13) is preferably configured to be connected. And the handle portion 11 is connected in a direction of bending at an angle with respect to the main shaft portion 13, so that the first control portion 10 has a gun-type structure as a whole, the operator conveniently and the first control portion 10 and the bottom It is preferable that the operation of the second operation unit 20 to be described later is configured to be possible.

The first operator 10 rotates the user's wrist by twisting his or her left and right in the state in which the operator grasps the handle 11 so that the first operator 10 rotates in the clockwise or counterclockwise direction. It is configured to generate a manipulation force.

The second manipulator 20 is provided around the first manipulator 10 and is configured to generate a second maneuver by a manipulator to rotate the manipulator, while the manipulator holds the first manipulator 10. It is configured to be able to rotate with a finger (thumb, index finger, etc.).

To this end, the second manipulator 20 is formed in a cylindrical structure and configured to rotate around the main shaft portion 13 of the first manipulator 10. Of course, the second operation unit 20 is also configured to be connected to the composite output unit 30 to transmit the operating force.

On the other hand, the second operation unit 20 may be configured to include at least one or more operation switch mechanism to generate a drive signal of the slave robot including the instrument by the operation of the operator. Of course, the operation switch mechanism may be installed and configured in the first operation unit 10, but since the operator's finger is located in the second operation unit 20, it is preferable that the operation switch mechanism is configured in the second operation unit 20. The configuration of such an operation switch mechanism will be described in detail through the fourth embodiment of the present invention.

The composite output unit 30 is a component part for synthesizing and outputting the operation force of the first operation unit 10 and the operation force of the second operation unit 20 as one unit. In this embodiment, an embodiment using the reverse differential principle will be described. .

The composite output unit 30 is located side by side and coupled to both side gears 31 and 32, respectively, which are coupled to the side of the first control unit 10 and the second control unit 20, and both side gears 31 and 32. A pair of pinion gears 33 and 34 meshed with both side gears 31 and 32 in a bevel gear manner, and the pair of pinion gears 33 and 34 are rotatably coupled, respectively. It consists of the compound case 35 which rotates together and outputs a compound operation force when 33 and 34 revolve together between the both side gears 31 and 32.

Here, although one of the pair of pinion gears 33 and 34 can be omitted and configured, it is preferable that it is composed of two or more.

As described above, a detailed operation of the synthesis output unit 30 using the reverse differential will be described in detail with reference to FIGS. 6 to 9.

In the drawings of the present invention, including Fig. 4, reference numeral B denotes a bearing and reference numeral 40 denotes a housing. The housing 40 is preferably installed so that the position of the housing 40 can be stably supported in the main body or the surrounding structure of the master robot.

The rotational force output from the composite output unit 30 is transmitted to the control unit (not shown), which is a control device of the master robot, through an operation detection unit, or the like. It may be configured to transmit a signal electrically. Even if the composite output unit 30 is mechanically connected to the control unit or electrically transmits the signal through the manipulation detection unit, the control unit 30 eventually inputs the signal to the control unit. Therefore, according to the configuration condition that the operating device of the present invention is connected to the body of the master robot can be configured by adding or omitting a mechanical connection part (mechanical power transmission means), wherein the composite output unit 30 or power An operation detection unit for detecting the final synthesized output rotation amount and inputting a detection signal to the control unit is installed at the additional mechanical connection part for transmission.

In this way, the extension configuration of the composite output unit and the installation position of the operation detection unit may be configured by appropriately changing the design according to the overall configuration state of the master robot.

In FIG. 4, the configuration in which the output shaft 37 is connected to the synthesis case 35 of the synthesis output unit 30 is shown. The operation detection unit 50 is directly installed on the output shaft 37, and the operation detection unit is installed. The final synthesized manipulation force may be detected through 50 to be input to the controller of the master robot.

In addition, the manipulation detection unit 50 may be installed in a specific portion of the combination case 35 and the additional power transmission mechanism that receives power from the output shaft 37 to configure the composite output manipulation force.

The operation detecting unit 50 is preferably configured by using a rotation speed sensor that is commonly used.

On the other hand, Figure 5 is an exemplary view showing a state in which the instrument 100 is inserted into the human body, it shows a state in which the effector 103, which is a surgical tool consisting of a forceps structure is installed at the end of the instrument shaft 101. Such an instrument 100 is configured to adjust the amount of rotation of the shaft 101 by the combined output amount outputted by rotating the first operation unit 10 and the second operation unit 20 in the above-described operating device of the present invention. The bending amount of the wrist portion 105 between the shaft 10 and the effector 103 can be adjusted. In addition, it can be configured to manipulate other operating parts of the slave robot.

In FIG. 5, reference numeral 110 denotes an incision of the human body, and 115 denotes a cannula which is a tube body into which the shaft 10 is inserted.

An operation example of the first embodiment of the present invention as described above will be described with reference to FIGS. 6 to 9.

As described above, the first operation unit 10 operates while the operator rotates the wrist while the operator holds the handle 11, and the second operation unit 20 performs the thumb and the index finger while the operator holds the handle 11. It is configured to be operated while rotating using a middle finger or the like.

Various operation methods may be implemented according to each rotation amount or direction of rotation of the first manipulation unit 10 and the second manipulation unit 20.

1) When the first operation unit 10 is rotated to the left (or right) and the second operation unit 20 is stopped (see operation 1 or operation 2 in FIG. 6 and Table 1 below), the composite output unit The rotation force 30 is output in proportion to the left (or right) rotation amount of the first operation unit 10.

That is, the rotational force of the first manipulator 10 rotates the first side gear 31, and at this time, the pinion gears 33 and 34 meshed with the first side gear 31 are made together with the second manipulator 20. Since the second side gear 32 is in a stationary state, the second side gear 32 rotates (rotates) while rotating along the circumference of the second side gear 32. Therefore, as the pinion gears 33 and 34 rotate and rotate along the circumference of the side gears 31 and 32, the combined output is also generated while the combination case 35 coupled with the axes of the pinion gears 33 and 34 rotates together. .

2) When the first operation part 10 is rotated to the left (or right) and the second operation part 20 is also rotated to the left (or right) (see operation 3 or operation 4 in FIG. 7 and Table 1), synthesis The output unit 30 outputs a rotational force in proportion to the sum of the left (or right) rotation amount of the first manipulation unit 10 and the left (or right) rotation amount of the second manipulation unit 20.

That is, the rotational force of the first manipulator 10 rotates the first side gear 31, and at the same time the rotational force of the second manipulator 20 also rotates the second side gear 32. 34 rotates (idles) with both side gears 31 and 32 in a non-rotating state. Therefore, as the pinion gears 33 and 34 rotate without rotating along the circumference of the side gears 31 and 32, the composite case 35 to which the shafts of the pinion gears 33 and 34 are coupled also rotates together. In the case of), the combined output with larger rotational manipulation amount is achieved.

3) When rotating the first operation part 10 to the left (or right) and rotating the second operation part 20 to the right (or left) in reverse (refer to operation 5 or operation 6 in FIG. 8 and Table 1), As the composite output unit 30 cancels the left (or right) rotation amount of the first manipulation unit 10 and the right (or left) rotation of the second manipulation unit 20, the rotation output is not performed.

That is, the rotational force of the first manipulator 10 rotates the first side gear 31, and at the same time, the rotational force of the second manipulator 20 reverses the second side gear 32 from the first side gear 31. As it rotates, the pinion gears 33 and 34 do not rotate but only rotate in place. Therefore, as the pinion gears 33 and 34 rotate only and do not rotate, the compound case 35 to which the axes of the pinion gears 33 and 34 are coupled does not rotate, so that the combined output becomes zero.

4) When the first control unit 10 is stopped and the second control unit 20 is rotated to the left (or right) (see FIG. 9 and Table 1, operation 7 or operation 8), the composite output unit 30 The rotational force is output in proportion to the left (or right) rotation amount of the second operation unit 20.

That is, the rotational force of the second manipulator 20 rotates the second side gear 32, and at this time, the pinion gears 33 and 34 meshed with the second side gear 32 are made together with the first manipulator 10. Since the first side gear 31 is in a stopped state, the first side gear 31 is rotated (idle) while rotating along the circumference of the first side gear 31. Accordingly, as the pinion gears 33 and 34 rotate and rotate along the circumference of the first side gear 31, the combination output 35 also rotates while the combination case 35 coupled with the axes of the pinion gears 33 and 34 rotates together. Is done.

Table 1

(When gear ratio of side gear and pinion gear is 1: 1)

	1st operation part rotation amount	2nd operation part rotation amount	Composite Output Output Rotation
Operation 1	+ 1	0	+ 1/2
Operation 2	- One	0	-1/2
Operation 3	+ 1	+ 1	+ 1
Operation 4	- One	- One	- One
Operation 5	+ 1	- One	0
Operation 6	- One	+ 1	0
Operation 7	0	+ 1	+ 1/2
Operation 8	0	- One	-1/2

Operation examples of the first embodiment as described above, as an example, when the actual rotation amount of the first operation unit 10 is + 1, the rotation amount of the second operation unit 20 is 0, the composite output unit 30 The rotation amount of may not be output as + 1/2. This is because the amount of rotation that is output depends on the gear ratio of the side gears 31 and 32 and the pinion gears 33 and 34. Therefore, it is preferable to determine the ratio of the output rotation amount to the input rotation amount by setting the gear ratio of the side gears 31 and 32 and the pinion gears 33 and 34 appropriately according to the implementation conditions.

In addition, in order to increase or decrease the output rotation amount relative to the input rotation amount, by adjusting the ratio of the gear of the output shaft 37 side of the combined output unit 30 and the output gear meshed with it, the actual output ratio is appropriately changed. Can also be set. FIG. 10 illustrates such an embodiment, and by setting the gear ratio of the output gear 38 to the combined gear 36 included in the combined case 35 to be smaller, the combined output amount outputted through the actual output shaft 37 '. You can increase it. Of course, by changing the gear ratio, you can reduce the combined output.

FIG. 10 also shows an embodiment in which the combined output direction is changed by engaging the combined gear 36 and the output gear 38 in a bevel gear manner. The change of the output direction can be appropriately changed in design according to the installation configuration of the operation device connected to the master robot.

Meanwhile, FIG. 11 is a diagram illustrating an embodiment in which the amount of output rotation output through the composite output unit 30 varies even when the first manipulation unit 10 and the second manipulation unit 20 are rotated at the same rotation angle. .

That is, as compared with the gear ratio of the first side gear 31 connected to the first control unit 10, the gear ratio of the second side gear 32 connected to the second control unit 20 is configured to be smaller, the first control unit ( The output rotation amount in the case of rotating operation 10) becomes larger than the output rotation amount in the case of rotating operation of the second operation unit 20.

Therefore, the first operation unit 10 may be used when operating a relatively large amount of rotation, and the second operation unit 20 may be suitable when used when performing a relatively small amount of rotation, that is, a fine rotation operation. For example, the rotation operation of an instrument that performs a surgical operation on an actual human body, for example, when rotating an instrument (effector) quickly, it is necessary to rotate the first operation unit 10 while rotating the operator's wrist, and then rotate the instrument finely. When there is, by rotating the second operation unit 20 by using the operator's finger, it is possible to distinguish between the rapid operation of the instrument and the minute operation as necessary.

Of course, contrary to the above, the first control unit 10 may be configured for the fine rotation operation, and the second control unit 20 may be configured for the rapid rotation operation. At this time, the gear ratios of both side gears 31 and 32 in FIG.

다음, 본 발명의 제2실시예에 대하여 설명한다.Next, a second embodiment of the present invention will be described.

12 to 18 are views showing the operating device of the surgical robot according to the second embodiment of the present invention, Figure 12 is a side cross-sectional view showing the internal structure, Figure 13 is a planetary gear device in the direction AA line of Figure 12 14 to 17 is a view showing the operating state of the second embodiment, Figure 18 is a front view showing the configuration of another embodiment.

The second embodiment of the present invention shows an embodiment in which the synthesis output unit 300 is configured by using the planetary gear device. The same reference numerals are assigned to the same components as those in the above-described first embodiment, and repeated description thereof will be omitted.

Also in the second embodiment of the present invention, as in the first embodiment described above, the rotational operating force of the first operating part 10, the second operating part 20, the first operating part 10 and the second operating part 20 is synthesized. It consists of a composition of the output unit 300 to output.

Since the configuration of the first control unit 10 and the second control unit 20 may be configured in the same manner as the configuration of the first embodiment described above, the synthesis output unit 300 will be described.

The synthesizing output unit 300 in the second embodiment is composed of a planetary gear device composed of a sun gear 301, a satellite gear 303, a carrier 304, and a ring gear 302.

At this time, the sun gear 301 is connected to the first control unit 10, the ring gear 302 is connected to the second control unit 20. In addition, the carrier 304 coupled to the satellite gear 303 is configured to be connected to the output shaft 307 to output the composite manipulation force.

In addition, the carrier 304 or the output shaft 307 may be provided with a manipulation detection unit for sensing the output rotation amount and inputs a detection signal to the control unit of the master robot.

An operation example of the second embodiment of the present invention as described above will be described with reference to FIGS. 14 to 17.

In the second embodiment, the operator rotates the wrist while holding the handle 11 to rotate the first manipulation unit 10, and rotates the second manipulation unit 20 using the thumb, the index finger, the middle finger, and the like. To operate.

Various operation methods may be implemented according to the rotation directions of the first control unit 10 and the second control unit 20. Some representative cases will be described as follows 1) to 4).

1) When the first operation unit 10 is rotated to the left (or right) and the second operation unit 20 is stopped (see operation 1 or operation 2 in FIG. 14 and Table 2 below), the composite output unit The rotation force 300 is output in proportion to the left (or right) rotation amount of the first manipulation unit 10.

That is, the rotational force of the first manipulator 10 rotates the sun gear 301. At this time, the satellite gear 303 meshed with the sun gear 301, together with the second manipulator 20, stops the ring gear 302. , While rotating along the inner circumferential gear of the ring gear 302 (rotating). Therefore, as the satellite gear 303 rotates while rotating along the gears of the ring gear 302, the carrier 304 coupled to the satellite gear 303 rotates together to produce a composite output.

2) When the first operation part 10 is rotated to the left (or right) and the second operation part 20 is also rotated to the left (or right) (see operation 3 or operation 4 in FIGS. 15 and Table 2), synthesis The output unit 300 outputs a rotational force in proportion to the sum of the left (or right) rotation amount of the first manipulation unit 10 and the left (or right) rotation amount of the second manipulation unit 20.

That is, as the rotational force of the first manipulator 10 rotates the sun gear 301, and at the same time, the rotational force of the second manipulator 20 also rotates the ring gear 302, the satellite gear 303 does not rotate. In the inner and outer sun gear 301 and the ring gear 302 is rotated together (idle). Therefore, as the satellite gear 303 revolves, the carrier 304 also rotates together, resulting in a combined output having a larger amount of rotational operation than in the case of 1).

3) When the first control unit 10 is rotated to the left (or right) and the second control unit 20 is rotated to the right (or left) in the opposite direction (refer to operation 5 or operation 6 in FIGS. 16 and Table 2), The combined output unit 300 offsets the left (or right) rotation of the first manipulation unit 10 and the right (or left) rotation of the second manipulation unit 20, and decelerates the output by the remaining gear ratio difference.

That is, the rotational force of the first manipulator 10 rotates the sun gear 301, and at the same time, the rotational force of the second manipulator 20 rotates the ring gear 302 opposite to the sun gear 301. As shown in FIG. 2, when the gear ratio of the sun gear 301 and the ring gear 302 is 1: 2, the first gear 10 and the second gear 20 are rotated by the same rotation angle. The rotational output amount of the large, so that the combined output is generated in the operation rotational direction of the second operation unit 20 in which the rotation amount of the first operation unit 10 is canceled.

Here, in order to bring the combined output to zero, considering the gear ratio difference between the sun gear 301 and the ring gear 302, the rotation operation amount of the first operation unit 10 as in operation 9 and operation 10 in Table 2 below. In comparison with this, when the rotational manipulation amount of the second manipulation unit 20 is reduced to a certain degree, the combined output can be zero.

4) When the first operation unit 10 is stopped and the second operation unit 20 is rotated to the left (or right) (see FIGS. 17 and 2, operation 7 or operation 8), the composite output unit 30 The rotational force is output in proportion to the left (or right) rotation amount of the second operation unit 20.

That is, the rotational force of the second manipulator 20 rotates the ring gear 302, and at this time, the satellite gear 303 meshed with the ring gear 302, together with the first manipulator 10, makes the sun gear 301 stationary. Therefore, the rotation (rotation) while rotating along the circumference of the sun gear (301). Accordingly, as the satellite gear 303 rotates while rotating along the circumference of the sun gear 301, the combined output is achieved while also rotating the carrier 304 coupled with the axis of the satellite gear 303.

TABLE 2

(When gear ratio of sun gear and ring gear is 1: 2)

	1st operation part rotation	2nd operation part rotation	Composite Output Output Rotation
Operation 1	+ 1	0	+ 1/3
Operation 2	- One	0	1/3
Operation 3	+ 1	+ 1	+ 1
Operation 4	- One	- One	- One
Operation 5	+ 1	- One	1/3
Operation 6	- One	+ 1	+ 1/3
Operation 7	0	+ 1	+ 2/3
Operation 8	0	- One	2/3
Operation 9	+ 1	-1/2	0
Operation 10	- One	+ 1/2	0

As an example, the operation examples of the second embodiment can also be set by varying the result of the combined output when the gear ratios of the sun gear 301 and the ring gear 302 are changed. In addition, when the gear output structure for increasing or decreasing the amount of rotation is set on the carrier 304 or the output shaft 307 of the combined output unit 300, an appropriate combined output can be set.

For example, by setting the gear number of the output gear 306 smaller than the gear number of the carrier 304 as shown in FIG. 18, the output rotational force can be increased and output.

However, in the second embodiment of the present invention, unlike the first embodiment, even if the first operating portion 10 and the second operating portion 20 is rotated by the same angle, due to the characteristics of the planetary gear device, the second operating portion 20 Since the number of gears is connected to the ring gear 302 having a relatively large number of gears, it is possible to obtain a larger rotation output than the first operating portion 10 connected to the sun gear 301 having a relatively small number of gears.

As described above, the second embodiment of the present invention, in contrast to the embodiment described with reference to FIG. 11, enables the micro-rotation operation through the first manipulation unit 10, and the second manipulation unit 20 through the second manipulation unit 20. Shows the configuration to enable quick rotation operation.

다음, 본 발명의 제3실시예에 대하여 설명한다.Next, a third embodiment of the present invention will be described.

In contrast to the first and second embodiments described above, the synthesizing output unit 30 is mechanically configured, the third embodiment of the present invention is an electronic circuit of the first and

second operating units

10 and 20. It is configured to detect the whole quantity and output each rotation manipulation amount.

That is, the first control unit 10 and the second control unit 20 is the same as the dual-axis structure as in the above-described embodiments, but the detection operation to the control unit of the master robot by detecting the rotation operation state of the two operation unit

Different sensing units

51 and 52 are provided.

In the third embodiment of the present invention, the first sensing unit 51 detects the amount of rotation of the first manipulation unit 10 and the second sensing unit 52 rotates the second manipulation unit 20. Detect the whole quantity. In addition, the detection signals of the first sensing unit 51 and the second sensing unit 52 are input to the control unit of the master robot, whereby the control unit of the master robot synthesizes and judges the operating states of the two

operation units

10 and 20 and then the slave robot. It is made to output a control signal for driving the instrument of.

In the various embodiments of the present invention as described above, mainly the configuration for outputting the rotation operation amount of the first control unit 10 and the second control unit 20 has been described.

Usually, the operating device of the surgical robot is configured to output not only rotational operation but also various operation signals for operating the effector (103 of FIG. 5), etc. of the instrument, and thus, the first operation unit 10 or the second operation unit 20. The operating mechanism capable of generating additional operation signals in Fig. 7) will be described with reference to the fourth embodiment.

본 발명의 제4실시예에 대하여 설명한다.A fourth embodiment of the present invention will be described.

According to the fourth embodiment of the present invention, the configuration of the first operation unit 10 or the second operation unit 20, the composite output unit 30 or the electronic output unit, etc. may be any of the first to third embodiments described above. It may be configured in the same manner as one configuration.

However, an operation unit for an additional operation other than the rotation operation of the first operation unit 10 and the second operation unit 20 is configured. That is, the first manipulation unit 10 or the second manipulation unit 20 may be configured to include one or more

manipulation switch mechanisms

71, 72, and 73 for generating driving signals of the instrument by the operation of the operator.

Operation switch mechanism (71, 72, 73) is preferably configured in the second operation unit 20 where the operator's finger is located, the form of the switch is on / off switch, pressure switch that the output signal is changed by the pressing force, It may be configured as a knob (or lever) switch for outputting a switching signal differently according to the movement of the knob.

The operation switch mechanism may be set only in the configuration of the two 71 and 73 operated by the thumb and the index finger, and, if necessary, three to enable the operation with the stop finger as illustrated in the drawings of the present embodiment. It can also be comprised by (71, 72, 73). Of course, it is also possible to comprise more than that.

These operating

switch mechanisms

71, 72, 73 can be configured to generate a signal for actuating the effector during instrument operation, for example, when the effector is a forceps, the two operating

switch mechanisms

71, 73. According to the operation of the forceps can be configured to generate an operation signal to be in close contact or open. In addition, when the pressure switch is configured, it may be configured to generate an operation signal so that the amount of proximity or the adhesion of the forceps varies according to the pressing force of the pressure switch.

Such a configuration of the

operation switch mechanisms

71, 72, 73 can be configured by appropriately setting the number and type, the installation position, and the like according to the operation operation conditions of the slave robot including the instrument.

On the other hand, the electrical signal of the operation switch mechanism may be made through a signal transmission line, the signal can be transmitted through the electrical connection portion 80 between the second control unit 20 and the housing 40 of the composite output unit 30 side. It is desirable to configure so that. In this case, the electrical connection unit 80 may be configured using a known technology for transmitting an electrical signal between the rotating structure and the fixed structure, and thus a detailed description of the connection structure is omitted.

본 발명의 제5실시예에 대하여 설명한다.A fifth embodiment of the present invention will be described.

21 to 22 are views showing the operation apparatus of the surgical robot according to the fifth embodiment of the present invention, Figure 21 is an overall side view, Figure 22 is a cross-sectional view taken along the line B-B of FIG.

The fifth embodiment of the present invention is also configured to include the configuration of any one of the above-described first to fourth embodiments, and further includes a finger of an operator or a part of a finger in the second manipulation unit 20. It is provided with finger inserts 22, 23 so that it can be inserted and positioned.

The

finger insertion parts

22 and 23 may be provided in the second operation part 20 in a 'c' shape and configured to be operable in a state where the operator's finger is inserted. Of course, the

finger inserting parts

22 and 23 may be implemented by variously changing the shape if the finger can be inserted in addition to the 'c' shape.

In addition, it is preferable that two

finger insertion portions

22 and 23 are provided on both sides of the second manipulation portion 20, respectively. It is preferable to operate with the thumb positioned on one side and the index finger and the middle finger positioned on the opposite side when the second manipulation unit 20 is operated. Therefore, at least three fingers are inserted into the second manipulation unit 20. An additional unit must be provided.

However, when only three finger inserting portions are provided, the second operation portion 20 should be operated while being rotated back to its original position when it is rotated 180 degrees, but two on each side as shown in the drawing of this embodiment. In the case of configuring the four

finger inserting portions

22 and 23, the operation can be performed in the state in which the thumb, the index finger and the middle finger are immediately inserted, irrespective of the rotational position of the second operating portion 20.

In addition, even if four finger inserts 22 and 23 are formed on each side, any one of the finger inserts 22 'is shaped like the other finger inserts so as to grasp the rotation state of the second manipulator 20. It is desirable to configure the operator so that it can be distinguished by changing the color or the color.

In addition, it is also possible to configure the operation switch mechanism as described in the above-described fourth embodiment in the

finger insertion portions

22 and 23.

Meanwhile, the

finger insertion portions

22 and 23 may be configured to insert the tip of the finger, but may also be formed in a concave groove structure in which the bottom portion of the finger slightly enters around the second manipulation portion 20. Do.

In addition, in the present embodiment, the configuration in which the four finger inserts 22 and 23 are provided on each side of the second manipulator 20, respectively, is provided. It is also possible to configure.

As described above, the technical idea described in various embodiments of the present invention may be implemented independently, or may be combined with each other. In addition, the present invention has been described through the embodiments described in the drawings and detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and equivalent other embodiments therefrom It is possible. Therefore, the technical protection scope of the present invention will be defined by the appended claims.

(Explanation of the sign)

10: first operation portion 11: handle portion

13: main shaft portion 20: second operation portion

30: composite output section 31, 32: side gear

33, 34: pinion gear 35: composite case

37: output shaft 40: housing

50: operation detection unit 51, 52: detection unit

71, 72, 73: operation switch mechanism 300: composite output unit

301: sun gear 302: ring gear

303: satellite gear 304: carrier

307: output shaft

Claims

A first operating portion configured to have a shaft-like structure to generate a first operating force by a rotation operation;

A second manipulation unit provided around the first manipulation portion to generate a second manipulation force by a rotation operation;

And a synthesized output unit configured to combine and output the manipulation force of the first manipulation unit and the manipulation force of the second manipulation unit into one.
A first operating portion configured to have a shaft-like structure to generate a first operating force by a rotation operation;

A second manipulation unit rotatably provided around the first manipulation unit to generate a second manipulation force by a rotation operation;

And a sensing unit which senses rotational operating states of the first and second manipulation units and inputs a sensing signal to a control unit of the master robot.
The method according to claim 1 or 2,

The first operation portion is configured to be rotated in the state of holding by the operator,

The second operation unit operating device of the surgical robot, characterized in that the operator is configured to rotate by moving a finger.
The method according to claim 1,

The first operation unit is configured to rotate in a state that the operator is held by the hand, and comprises a handle portion configured to be held by the operator, the main shaft portion connected to the composite output portion from the handle portion,

And the second manipulation unit is configured to be rotated by an operator by moving a finger and is connected to the synthesis output unit while being rotatably installed around the main shaft of the first manipulation unit.
The method according to claim 1,

The composite output section includes two side gears positioned side by side and coupled to the side of the first and second manipulation portions, and a pinion gear meshed with the two side gears in a bevel gear manner between the two side gears; And a compound case which rotates together when the pinion gear revolves along the both side gears and outputs a compound manipulation force while the gears are rotatably coupled to each other.
The method according to claim 5,

The pinion gear is a surgical robot operation apparatus, characterized in that a plurality is installed between the both side gear.
The method according to claim 5,

The synthesis output unit, the operating device of the surgical robot, characterized in that configured to increase or decrease the rotational force output from the synthesis case.
The method according to claim 5,

The synthesis output unit, the operation device of the surgical robot, characterized in that the gear ratio of both side gears are formed differently so that the output rotation amount by the rotation operation of the first operation unit and the output rotation amount by the rotation operation of the second operation unit. .
The method according to claim 8,

The synthesis output unit is operated by the surgical robot, characterized in that the number of gears of the side gear connected to the second control unit is smaller than the number of gears of the side gear connected to the first control unit, so that the fine operation of the second control unit is possible. Device.
The method according to claim 1,

The composite output unit is composed of a planetary gear device consisting of a sun gear, a satellite gear and a carrier, a ring gear,

The sun gear is connected to the first control unit, the ring gear is connected to the second control unit, the operating device of the surgical robot, characterized in that the composite output is made through the carrier.
The method according to claim 10,

The synthetic output unit operating device of the surgical robot, characterized in that configured to increase or decrease the rotational force output through the carrier.
The method according to claim 1,

The operation device of the surgical robot, the operation device for operating the surgical robot, characterized in that for detecting the amount of rotation output from the composite output unit, inputting a detection signal to the control unit for controlling the master robot.
The method according to claim 1 or 2,

The first operation unit or the second operation unit operating apparatus for a surgical robot, characterized in that at least one or more operation switch mechanism for generating a drive signal of the instrument by the operation of the operator.
The method according to claim 1 or 2,

And the second operation unit includes a plurality of finger insertion units, each of which allows the operator's fingers to be inserted or portions of the fingers to be inserted into the two operation units.
The method according to claim 14,

Operating device for a surgical robot, characterized in that provided with two finger inserts on each side.
The method according to claim 15,

At least one of the finger inserts of both sides is a surgical robot operation apparatus, characterized in that configured to be distinguished from the other finger insert.