Apparatus for controlling a surgical instrument and method thereof

Abstract

A method for controlling a surgical instrument is provided. The method comprises: driving an end tool to a reference position; reducing the control target angle between the first and second sets in a direction having a negative value, such that the first and second sets are far apart from each other, passing through a state where they are in contact with each other; and determining the control target angle between the first and second sets as a gripping reference angle at the point in time when the torque value of the driving motor providing power to the driving unit reaches a predetermined reference torque.

Description

Technology Field

[0001] This description relates to a surgical robot, and, more specifically but not limitedly, to a method and apparatus for controlling a surgical instrument provided in a surgical robot system. Background Technology

[0003] Medically, surgery refers to the treatment of diseases by cutting, incising, or manipulating the skin, mucous membranes, or other tissues using medical devices. In particular, open surgery, which involves incising the skin at the surgical site to treat, reshape, or remove internal organs, causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgeries performed by creating a specific opening in the skin and inserting only medical devices, such as laparoscopes, surgical instruments, or microsurgical microscopes, or surgeries performed using robots, are gaining popularity as alternatives.

[0004] Here, a surgical robot refers to a robot capable of performing surgical procedures previously carried out by surgeons. Such surgical robots have the advantage of being able to perform accurate and precise movements compared to humans, as well as enabling remote surgery.

[0005] Meanwhile, a surgical robot system generally consists of a master robot and a slave robot. When the surgeon operates a control lever (e.g., a handle) equipped on the master robot, the surgical instrument coupled to the robot arm of the slave robot or held by the robot arm is manipulated to perform the surgery.

[0006] Here, since the end tool for performing work on the affected area must be inserted into the patient's abdominal cavity, the surgical instrument is provided with a shaft having a predetermined length, with the end tool positioned at one end of the shaft and the drive unit for driving the end tool positioned at the other end of the shaft. Accordingly, the end tool that interacts with the affected area within the abdominal cavity and the drive unit capable of transmitting power are separated by a certain distance, so the power of the drive unit can be transmitted to the end tool based on a power transmission element such as a wire, for example.

[0007] In order to effectively transmit power from the drive unit to the end tool with minimal loss through such a power transmission element, it is required that a certain amount of tension be applied to the power transmission element. However, due to prolonged or repetitive use of the surgical instrument, the drive unit is driven multiple times, and the tension of the power transmission element between the end tool and the drive unit may decrease due to various factors, such as friction. When the tension of the power transmission element decreases in this way, the surgical instrument cannot be effectively controlled.

[0008] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0010] One exemplary objective of the present invention is to provide a method and apparatus for controlling a surgical instrument capable of maintaining the gripping force of an end tool within a predetermined reference range even when the tension of a power transmission element equipped in the surgical instrument is reduced compared to a reference state. Additionally, the invention is to provide a computer-readable recording medium having a program for executing the above method on a computer.

[0011] The problems that the present invention aims to solve are not limited to those mentioned above, and other problems and advantages of the present invention not mentioned can be understood from the following description and will be more clearly understood by the embodiments of the present invention. Furthermore, it will be understood that the problems and advantages that the present invention aims to solve can be realized by the means and combinations thereof set forth in the claims. means of solving the problem

[0013] A method for controlling a surgical instrument according to one embodiment of the present invention comprises: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a driving unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the driving unit to the end tool; and the method may include: a step of driving the end tool to a reference position; a step of decreasing the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond a state where they are in contact with each other; and a step of determining the control target angle between the first jaw and the second jaw as a gripping reference angle at the point in time when the torque value of the driving motor providing power to the driving unit reaches a predetermined reference torque.

[0014] According to one aspect, the reference position may be in a state where the angle between the first and second sets is 0 degrees.

[0015] According to one aspect, the reference position may be such that the first and second sets are oriented in the extension direction of the shaft.

[0016] According to one aspect, the step of operating to the reference position may include: moving the end tool to a limit position according to an operating range limiting element for the end tool; and moving the end tool from the limit position to the reference position.

[0017] According to one aspect, the step of moving the end tool from the limit position to the reference position may control the end tool by a control amount based on shape information of the predetermined operating range limiting element.

[0018] According to one aspect, the step of moving to the limit position may be achieved by moving either the first or second article in a direction away from the other of the first or second article to the limit position.

[0019] According to one aspect, the step of moving to the limit position may be achieved by rotating the end tool in a predetermined direction from the extension direction of the shaft to move the end tool to the limit position.

[0020] According to one aspect, the operating range limiting element may be a trocar that guides the insertion path inside the body for the surgical instrument.

[0021] According to one aspect, the first set and the second set, controlled by a control target angle having a negative value, may maintain an angle of 0 degrees relative to each other while having a gripping force on a target object between the first set and the second set.

[0022] According to one aspect, as the absolute value of the control target angle having the negative value increases, the gripping force on the target object between the first and second sets may increase.

[0023] According to one aspect, the reference torque may be determined differently depending on the type of surgical instrument.

[0024] According to one aspect, the reference torque may be determined differently depending on the target being grasped by the surgical instrument.

[0025] According to one aspect, the method may further include the step of controlling the angle between the first and second sets to the gripping reference angle in response to a gripping command for a target object.

[0026] According to one aspect, a gripping command for the target object can be generated in response to the angle of the grip portion of the user input unit being controlled to a minimum angle.

[0027] According to one aspect, the method may further include a step of determining whether the drive unit and the mechanism carriage on which the drive unit is mounted are engaged prior to the step of driving the end tool to a reference position.

[0028] According to one aspect, the step of determining whether the drive unit is engaged may determine that the drive unit and the mechanism carriage are engaged based on the determination that the torque of the drive motor equipped in the mechanism carriage is greater than a predetermined engagement threshold.

[0029] According to one aspect, the step of determining whether the drive unit is connected may determine that the drive unit and the mechanism carriage are connected based on the determination that the torque increase rate of the drive motor equipped in the mechanism carriage is greater than a predetermined connection threshold increase rate.

[0030] According to one aspect, the connection between the driving unit and the mechanism carriage may include the connection between a driven pulley provided in the driving unit and a driving pulley that rotates in conjunction with the driving motor.

[0031] In a device for controlling a surgical instrument according to one embodiment of the present invention, the surgical instrument comprises: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a driving unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the driving unit to the end tool; and the device comprises at least one processor; and at least one memory; wherein the at least one processor drives the end tool to a reference position; reduces the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond the state of contact; and determines the control target angle between the first jaw and the second jaw as a gripping reference angle at the point in time when the torque value of the driving motor providing power to the driving unit reaches a predetermined reference torque.

[0032] A computer-readable storage medium comprising instructions executable by a processor of a surgical robot system according to one embodiment of the present invention, wherein the instructions are configured to control a surgical instrument, and the surgical instrument comprises: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a driving unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the driving unit to the end tool; and the instructions cause the processor to drive the end tool to a reference position; reduce the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond a state of contact; and determine the control target angle between the first jaw and the second jaw as a gripping reference angle at the point in time when the torque value of a driving motor providing power to the driving unit reaches a predetermined reference torque. It can be configured to make it happen.

[0033] In addition to this, other methods for implementing the present invention, other systems, and computer-readable recording media storing a computer program for executing said methods may be further provided.

[0034] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention. Effects of the invention

[0036] According to the means for solving the problem of the present disclosure described above, the gripping force of the end tool can be controlled by controlling the target control angle having a negative value, such that a pair of jaws provided in a surgical instrument move away from each other and move apart, thereby enabling control of the gripping force of the end tool without providing a separate force sensor.

[0037] In addition, by monitoring the torque value of the drive motor for driving the end tool while gradually decreasing the target control angle having a negative value of a pair of jaws, the target control angle at the point when the torque value of the drive motor reaches a predetermined threshold can be determined as the gripping target angle for the end tool to grip the target object.

[0038] Therefore, even if the tension of the power transmission element equipped in the surgical instrument decreases and becomes loose, the target gripping angle can be determined by reflecting this, thereby maintaining the gripping force of the end tool within a predetermined error range. Furthermore, even in cases where the driving torque is not directly transmitted to the gripping force due to the mechanical structure of the surgical instrument, it is possible to control the instrument to achieve a desired gripping force range for the end tool by reflecting this specific structure.

[0039] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0041] FIG. 1 is a drawing for illustrating an example of a system for driving a surgical robot system according to one embodiment. FIG. 2a is a configuration diagram illustrating an example of a user terminal according to one embodiment. FIG. 2b is a configuration diagram illustrating an example of a server according to one embodiment. FIG. 3 is a conceptual diagram showing a surgical robot system according to one embodiment. Figure 4 is a block diagram showing the internal configuration of the surgical robot system of Figure 3. FIG. 5 is a perspective view showing a slave robot of the surgical robot system of FIG. 3 and a surgical instrument mounted thereon. FIG. 6 is a perspective view showing a modular slave robot and a surgical instrument mounted thereon according to one aspect of the surgical robot system of FIG. 3. Figure 7 is a drawing showing the state with the instrument case removed from Figure 6. FIG. 8 is a perspective view showing a modular slave robot and a laparoscopic surgical camera mounted thereon according to another aspect of the surgical robot system of FIG. 3. Figure 9 is a drawing showing the state in which the surgical instrument has been removed from the slave robot of Figure 6. FIG. 10 is a perspective view showing another example of a modular slave robot of a surgical robot system according to one embodiment and a surgical instrument mounted thereon. FIG. 11 is a perspective view showing a surgical instrument according to one embodiment of the present invention. FIGS. 12 and FIGS. 13 are perspective views of the end tool of the surgical instrument of FIG. 11. FIGS. 14a and 14b are plan views of the end tool of the surgical instrument of FIG. 11. FIGS. 15 and FIGS. 16 are perspective views of the driving part of the surgical instrument of FIG. 11. Fig. 17 is a plan view of the driving part of the surgical instrument of Fig. 11. Fig. 18 is a rear view of the driving part of the surgical instrument of Fig. 11. Fig. 19 is a side view of the driving part of the surgical instrument of Fig. 11. FIG. 20 is a drawing illustrating the configuration related to Article 1 of the configuration of the pulley and wire of the surgical instrument shown in FIG. 11. FIG. 21 is a drawing illustrating the configuration of the pulley and wire of the surgical instrument shown in FIG. 11, specifically the configuration related to Article 2. FIGS. 22a to 23c are drawings showing the pitch movement of the surgical instrument illustrated in FIG. 11. FIGS. 24a to 25b are drawings illustrating the operation of the surgical instrument shown in FIG. 11. FIG. 26 is a perspective view showing a surgical instrument according to one aspect of the present invention. FIG. 27 is a first perspective view of an instrument carriage for mounting a surgical instrument to a robot arm according to one aspect of the present invention. FIG. 28 is a second perspective view of the mechanism carriage of FIG. 27. FIG. 29 illustrates an end tool driven to a reference position according to one side. FIG. 30 illustrates an exemplary state in which the angle between the first and second sets of the end tool is 0 degrees. FIG. 31 illustrates an exemplary control target angle having a negative value for the first and second sets of the end tool. FIG. 32 shows a first embodiment of a limit position according to an operating range limiting element of an end tool. FIG. 33 shows a second embodiment of a limit position according to an operating range limiting element of an end tool. FIG. 34 shows a third embodiment of a limit position according to an operating range limiting element of an end tool. FIG. 35 shows a fourth embodiment of a limit position according to an operating range limiting element of an end tool. FIG. 36 is a schematic flowchart of a method for controlling a surgical instrument according to one embodiment of the present invention. FIG. 37 is an exemplary detailed flowchart for the reference position driving step of FIG. 36. Specific details for implementing the invention

[0042] Hereinafter, various embodiments of the present disclosure are described in conjunction with the accompanying drawings. As various embodiments of the present disclosure may be subject to various modifications and may have various forms, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the various embodiments of the present disclosure to specific forms, and it should be understood that they include all modifications and / or equivalents and substitutions that fall within the spirit and scope of the various embodiments of the present disclosure. In relation to the description of the drawings, similar reference numerals have been used for similar components.

[0043] Expressions such as “comprising” or “may comprise” that may be used in various embodiments of the present disclosure indicate the presence of the disclosed corresponding function, operation, or component, etc., and do not limit one or more additional functions, operations, or components, etc. Furthermore, in various embodiments of the present disclosure, terms such as “comprising” or “having” are intended to specify the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0044] In various embodiments of the present disclosure, expressions such as “or” include any and all combinations of the words listed together. For example, “A or B” may include A, may include B, or may include both A and B.

[0045] Expressions such as "first," "second," "first," or "second" used in various embodiments of the present disclosure may modify various components of the various embodiments, but do not limit such components. For example, such expressions do not limit the order and / or importance of such components. Such expressions may be used to distinguish one component from another. For example, the first user device and the second user device are both user devices and represent different user devices. For example, without departing from the scope of the various embodiments of the present disclosure, the first component may be named the second component, and similarly, the second component may be named the first component.

[0046] In the embodiments of the present disclosure, terms such as "module," "unit," "part," etc. are used to refer to a component that performs at least one function or operation, and such component may be implemented in hardware or software, or in a combination of hardware and software. Additionally, a plurality of "modules," "units," "parts," etc. may be integrated into at least one module or chip and implemented as at least one processor, except where each needs to be implemented in specific individual hardware.

[0047] The terms used in the various embodiments of this disclosure are used merely to describe specific embodiments and are not intended to limit the various embodiments of this disclosure. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0048] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the various embodiments of this disclosure pertain.

[0049] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the various embodiments of the present disclosure.

[0050] Hereinafter, various embodiments of the present invention will be described in detail using the attached drawings.

[0052] Laparoscopic surgery refers to a surgical procedure performed by making a hole in the patient's abdominal cavity, inserting a narrow, long tube through the hole, and using surgical instruments connected to the end of the tube. For example, articulated instruments may be used as surgical instruments.

[0053] In this case, using manual surgical instruments is characterized by the fact that the surgical instrument and the user's control unit move symmetrically relative to the abdominal opening, requiring a certain amount of practice time until the control becomes familiar. Additionally, since the surgical instrument cannot be visually inspected, an endoscopic camera must also be inserted into the abdominal cavity, and the instrument must be operated while viewing the acquired camera footage.

[0054] This situation is the same even when performing laparoscopic surgery using a surgical robot system, but it has the advantage of allowing intuitive control compared to manual surgical instruments. As described below in this document, a surgical robot system according to one embodiment includes a master robot and a slave robot. The slave robot may be referred to as a surgical robot or a surgical device, and may refer to a configuration that performs surgery by acting directly on the patient. The master robot may be referred to as a master device or a user input unit, and may refer to a configuration for receiving user operations to control the slave robot.

[0055] In such surgical robot systems, intuitive control is possible compared to manual surgical instruments because the part equipped with articulated instruments to perform the surgery (e.g., the surgical robot) is separated from the part operated by the user (e.g., the master device). In other words, the surgical robot system can control movements to enable intuitive control of the surgical instruments by aligning the user's movements with the movements on the laparoscopic camera screen.

[0057] Operation of surgical robot system

[0058] Hereinafter, the driving method and apparatus of the surgical robot system according to the embodiments described herein will be explained in more detail with reference to the drawings.

[0059] FIG. 1 is a drawing for illustrating an example of a system for driving a surgical robot system according to one embodiment.

[0060] Referring to FIG. 1, the system (1000) includes a user terminal (2000) and a server (3000). For example, the user terminal (2000) and the server (3000) can be connected via wired or wireless communication to transmit and receive data to and from each other.

[0061] For convenience of explanation, FIG. 1 is illustrated as including a user terminal (2000) and a server (3000) in the system (1000), but is not limited thereto. For example, the system (1000) may include other external devices (not shown), and the operation of the user terminal (2000) and server (3000) described below may be implemented by a single device (e.g., user terminal (2000) or server (3000)) or by multiple devices.

[0062] The user terminal (2000) may be a computing device comprising a display device and a device for receiving user input (e.g., a keyboard, a mouse, etc.), and including memory and a processor. For example, the display device may be implemented as a touch screen to receive user input. For example, the user terminal (2000) may be a notebook PC, a desktop PC, a laptop, a tablet computer, a smartphone, etc., but is not limited thereto.

[0063] The server (3000) may be a device that communicates with an external device (not shown), including a user terminal (2000). As an example, the server (3000) may be a device that stores various data.

[0064] Alternatively, the server (3000) may be a computing device that includes memory and a processor and has its own computational capabilities. As an example, the server (3000) may perform at least some of the operations of the user terminal (2000) described below with reference to the drawings. For example, the server (3000) may be a cloud server, but is not limited thereto.

[0065] According to one aspect, a user terminal (2000) can operate a surgical robot system. In the present description, the method of operating the surgical robot system may be described as being performed by a computing device. The computing device may be, for example, a user terminal (2000) or a server (3000), but is not limited thereto. Any single or multiple computing devices including a processor may constitute the computing device. For convenience of explanation, a control procedure for a surgical device by the user terminal (2000) may be described below, but it should be noted that this is merely for illustrative purposes, and the control method for a surgical device according to the embodiments of the present description may be performed by any computing device.

[0066] Here, the application of FIG. 1 may be a software program installed for the purpose of operating the surgical robot system of the user (4000). For example, through the application, the user (4000) can generate operation information based on user input for controlling the surgical robot system.

[0067] Meanwhile, the user terminal (2000) can output an image (5000) representing the operation of a surgical device driven based on the movements of the user (4000). For example, the user terminal (2000) can generate operation information based on the amount of change in the reference posture of the user input section for the user (4000) to control the surgical robot system. Then, the user terminal (2000) can determine the target posture of the surgical device corresponding to the operation information and determine target state information for the driving element. Subsequently, the user terminal (2000) can drive the driving element according to the determined target state information and output an image (5000) representing the operation of the surgical device driven in this manner. Through the image (5000) representing the operation of the surgical device, the user (4000) can intuitively understand the operation of the surgical device according to the movements of the user (4000) and operate the surgical robot system more accurately.

[0068] As described above, at least some of the operations of the user terminal (2000) described below with reference to the drawings may be performed by the server (3000). For example, the server (3000) may perform various activities to control the surgical robot system. Alternatively, at least some of such activities may be performed by the server (3000), and at least some may be performed by the user terminal (2000).

[0070] FIG. 2a is a configuration diagram illustrating an example of a user terminal according to one embodiment.

[0071] Referring to FIG. 2a, the user terminal (2010) includes a processor (2011), memory (2012), an input / output interface (2013), and a communication module (2014). For convenience of explanation, FIG. 2a only illustrates components related to the present invention. Accordingly, other general-purpose components may be included in the user terminal (2010) in addition to the components illustrated in FIG. 2a. Furthermore, it is obvious to those skilled in the art that the processor (2011), memory (2012), input / output interface (2013), and communication module (2014) illustrated in FIG. 2a may be implemented as independent devices.

[0072] The processor (2011) can process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Here, instructions may be provided from memory (2012) or an external device (e.g., a server (3000), etc.). Additionally, the processor (2011) can control the overall operation of other components included in the user terminal (2010).

[0073] First, the processor (2011) generates operation information regarding a user's actions for operating a surgical robot system. For example, the processor (2011) can generate operation information regarding a user's actions based on means that enable the position and function of a surgical device to be operated by the user's actions.

[0074] The means for enabling the position and function of a surgical device to be operated by a user's actions may be formed in the shape of a handle-shaped operating member, but is not limited thereto and may be modified and implemented in various shapes to achieve the same purpose. For example, some parts may be formed in the shape of a handle, while others may be formed in different shapes such as a clutch button, and a finger insertion tube may be formed to allow the surgeon's finger to be inserted and fixed to facilitate the operation of the surgical instrument. Hereinafter, in this description, the means for enabling operation by a user's actions may also be referred to as a user input unit.

[0075] Here, the processor (2011) can update the reference posture of the user input unit with the posture information prior to the user input unit's initial operation. Since the operation of the surgical device by the user can be performed based on the degree to which the user input unit has been changed by the user, the difference between the state of the user input unit after the user operation and the state of the user input unit prior to the user operation, i.e., the amount of change in the user input unit, can be determined by initializing the reference posture of the user input unit to the state prior to the operation before the user performs the initial operation.

[0076] The processor (2011) can generate operation information based on the amount of change relative to the reference posture of the user input unit. Operation information refers to information representing the user's intuitive actions for operating the position and function of the surgical device. More specifically, but not limitedly, the operation information may include position information and orientation information in a physical coordinate system of the means that enables the user to operate the position and function of the surgical device. As an example, the operation information may include a transformation matrix representing linear and rotational movements in a homogeneous coordinate system. The transformation matrix may be a homogeneous transform matrix and may include information of a rotation matrix and information of a translation vector. As another example, the operation information may include position information and orientation information in a physical coordinate system expressed according to a representation method such as a screw. However, examples of operation information are not limited to those described above. The operation information may be determined based on the amount of change relative to the reference posture of the user input unit. Here, the operation information represents the amount of change with respect to the reference posture, and the reference posture may represent the degree of change of the user input part with respect to the origin. However, the reference posture and operation information may be expressed, for example, by a homogeneous transformation matrix or a screw method as described above.

[0077] Meanwhile, the processor (2011) can generate operation information based on means that allow a user to operate the position and function of a surgical device, for example, position information and direction information of a user input unit. For example, the processor (2011) can generate operation information by utilizing the difference between the initial position information and initial direction information of the means that allow a user to operate the position and function of a surgical device and the position information and direction information of the means after the user's operation. In one aspect, the processor (2011) can generate operation information based on the amount of change from the reference position of the user input unit according to the user's operation.

[0078] And, the processor (2011) can determine a target posture of a surgical device corresponding to the operation information based on the operation information. For example, the processor (2011) can determine a target posture of a surgical instrument based on the operation information. According to one aspect, the processor (2011) may be configured to determine a target posture based on the correspondence relationship between the movement of a predetermined user input unit and the movement of the surgical device.

[0079] The processor (2011) may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and memory storing a program that can be executed on the microprocessor. For example, the processor (2011) may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor (2011) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor (2011) may refer to a combination of processing devices such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a digital signal processor (DSP) core, or any other combination of such configurations.

[0080] The memory (2012) may include any non-transient computer-readable recording medium. As an example, the memory (2012) may include a permanent mass storage device such as a random access memory (RAM), read-only memory (ROM), disk drive, solid state drive (SSD), or flash memory. As another example, a permanent mass storage device such as a ROM, SSD, flash memory, or disk drive may be a separate permanent storage device distinct from the memory. Additionally, the memory (2012) may store an operating system (OS) and at least one program code (e.g., code for the processor (2011) to perform an operation to be described later with reference to the drawings).

[0081] These software components may be loaded from a computer-readable recording medium separate from the memory (2012). This separate computer-readable recording medium may be a recording medium that can be directly connected to the user terminal (2010) and may include, for example, a computer-readable recording medium such as a floppy drive, disk, tape, DVD / CD-ROM drive, or memory card. Alternatively, the software components may be loaded into the memory (2012) via a communication module (2014) that is not a computer-readable recording medium. For example, at least one program may be loaded into the memory (2012) based on a computer program (e.g., a computer program for the processor (2011) to perform the operation described later with reference to the drawings) which is installed by files provided through the communication module (2014) by developers or a file distribution system that distributes installation files for the application.

[0082] The input / output interface (2013) may be a means for interfacing with a device for input or output (e.g., keyboard, mouse, etc.) that is connected to or included in the user terminal (2010). The input / output interface (2013) may be configured separately from the processor (2011), but is not limited thereto, and the input / output interface (2013) may be configured to be included in the processor (2011).

[0083] The communication module (2014) may provide a configuration or function for the server (3000) and the user terminal (2010) to communicate with each other via a network. Additionally, the communication module (2014) may provide a configuration or function for the user terminal (2010) to communicate with other external devices. For example, control signals, commands, data, etc. provided under the control of the processor (2011) may be transmitted to the server (3000) and / or external devices via the communication module (2014) and the network.

[0084] Meanwhile, although not illustrated in FIG. 2a, the user terminal (2010) may further include a display device. For example, the display device may be implemented as a touch screen. Alternatively, the user terminal (2010) may be connected to an independent display device via wired or wireless communication to transmit and receive data to and from each other. For example, video or images, etc., that drive a surgical robot system using driving information may be provided through the display device.

[0085] FIG. 2b is a configuration diagram illustrating an example of a server according to one embodiment.

[0086] Referring to FIG. 2b, the server (3010) includes a processor (3011), memory (3012), and a communication module (3013). For convenience of explanation, FIG. 2b shows only the components related to the present invention. Accordingly, other general-purpose components may be included in the server (3010) in addition to the components shown in FIG. 2b. Furthermore, it is obvious to those skilled in the art that the processor (3011), memory (3012), and communication module (3013) shown in FIG. 2b may be implemented as independent devices.

[0087] The processor (3011) can perform various activities to control the surgical robot system. In other words, at least one of the operations of the processor (2011) described above with reference to FIG. 2a can be performed by the processor (3011). In this case, the user terminal (2010) can output information transmitted from the server (3010) through a display device.

[0088] Meanwhile, since the implementation example of the processor (3011) is the same as the implementation example of the processor (2011) described above with reference to FIG. 2a, a detailed description is omitted.

[0089] Various data, such as data required for the operation of the processor (3011) and data generated according to the operation of the processor (3011), can be stored in the memory (3012). Additionally, an operating system (OS) and at least one program (e.g., a program required for the operation of the processor (3011)) can be stored in the memory (3012).

[0090] Meanwhile, since the implementation example of the memory (3012) is the same as the implementation example of the memory (2012) described above with reference to FIG. 2a, a detailed description is omitted.

[0091] The communication module (3013) may provide a configuration or function for the server (3010) and the user terminal (2010) to communicate with each other via a network. Additionally, the communication module (2014) may provide a configuration or function for the server (3010) to communicate with other external devices. For example, control signals, commands, data, etc. provided under the control of the processor (3011) may be transmitted to the user terminal (2010) and / or external devices via the communication module (3013) and the network.

[0093] Surgical robot system configuration

[0094] FIG. 3 is a conceptual diagram showing a surgical robot system according to one embodiment, FIG. 4 is a block diagram showing the internal configuration of the surgical robot system of FIG. 3, and FIG. 5 is a perspective view showing a slave robot of the surgical robot system of FIG. 3 and a surgical instrument mounted thereon.

[0095] Referring to FIGS. 3 to 5, the surgical robot system (1) includes a master robot (10), a slave robot (20), a surgical instrument (30), and a laparoscopic surgical camera (50).

[0096] The master robot (10) includes an operating member (10a) and a display member (10b), and the slave robot (20) includes one or more robot arm units (21)(22)(23).

[0097] As a non-limiting example, the master robot (10) may be equipped with a control member (10a) that can be grasped and operated by the surgeon in each hand. The control member (10a) may be implemented as two or more handles as illustrated in FIG. 3, and a control signal resulting from the surgeon's handle operation is transmitted to the slave robot (20) via a wired or wireless communication network to control the robot arm unit (21)(22)(23). That is, surgical operations such as positional movement, rotation, and cutting operations of the robot arm unit (21)(22)(23) can be performed by the surgeon's handle operation. Here, the control signal may be, for example, control information generated by a processor, but is not limited thereto.

[0098] For example, the operator can operate the robot arm unit (21)(22)(23) using a handle-shaped operating lever. Such an operating lever may have various mechanical configurations depending on the method of operation, and may be provided in various forms to operate the robot arm unit (21)(22)(23) of the slave robot (20) and / or other surgical equipment, such as a master handle that operates the operation of the robot arm unit (21)(22)(23) and various input tools such as a joystick, keypad, trackball, foot pedal, and touchscreen added to the master robot (10) to operate the functions of the entire system. Here, the operating member (10a) is not limited to the shape of a handle, and can be applied without any limitation as long as it is a form capable of controlling the operation of the robot arm unit (21)(22)(23) through a network such as a wired or wireless communication network.

[0099] Meanwhile, according to one embodiment of the present invention, operation information can be generated based on the operation lever or operation member (10a) described above. For example, according to one embodiment of the present invention, operation information can be generated based on the actions of a user operating the operation lever or operation member (10a). However, examples of generating operation information are not limited to those described above.

[0100] Alternatively, voice input or motion input may also be applied to the surgical robot system (1) for user input. That is, the laparoscopic surgical camera (50) may move according to the direction in which the user turns their gaze while wearing glasses or an HMD (head mount display) with sensors attached to their head. Alternatively, if the user gives a voice command such as 'left', 'right', 'arm 1', 'arm 2', etc., the system may recognize this and perform the action. As a non-limiting example, according to one aspect, operation information may be generated based on the user's voice.

[0101] A video captured by a laparoscopic surgical camera (50) is displayed as an image on the display member (10b) of the master robot (10). For example, the video captured by the laparoscopic surgical camera (50) may include the patient's surgical site, surgical instruments inserted into the patient's surgical site, and the operation of the surgical instruments. For example, the display member (10b) may display an image corresponding to the operation of the surgical instruments inserted into the patient's surgical site. Additionally, a predetermined virtual control panel may be displayed on the display member (10b) together with the video captured by the laparoscopic surgical camera (50) or independently. A detailed description regarding the arrangement, configuration, etc. of such a virtual control panel will be omitted.

[0102] According to one aspect, the display member (10b) may be composed of one or more monitors, and information required for surgery may be individually displayed on each monitor. The number of monitors may vary depending on the type or kind of information requiring display.

[0103] Meanwhile, one or more slave robots (20) may be provided for operating on a patient. As a non-limiting example, the surgical robot system (1) may each include a slave robot (20) combined with a surgical instrument (30) (hereinafter referred to as the "first robot") and a slave robot (20) combined with a laparoscopic surgical camera (50) (hereinafter referred to as the "second robot"). That is, the laparoscopic surgical camera (50) for displaying the surgical site or the surgical instrument as an image through the display member (10b) may be implemented as a separate slave robot (20) independent of the slave robot (20) combined with the surgical instrument (30). Furthermore, as described above, it should be understood that embodiments of the present invention can be universally used in surgeries in which various surgical endoscopes other than a laparoscope (e.g., thoracoscopy, arthroscope, rhinoplasty, etc.) are used.

[0104] Meanwhile, as an example, surgical instruments (30) may be attached to two of the robot arm units (21)(22)(23), and a laparoscopic surgical camera (50) may be attached to one. Then, the surgeon can select the slave robot (20) (or robot arm units (21)(22)(23)) that they wish to control through the master robot (10). In this way, by directly controlling, for example, three or more surgical instruments through the master robot (10), the surgeon can accurately and freely control multiple instruments according to their intentions without a surgical assistant.

[0105] As another example, the slave robot (20) may include one or more robot arm units (21)(22)(23). Although FIGS. 3 to 5 illustrate, as shown by example, that one robot arm unit (21)(22)(23) is coupled to one slave robot (20), it should be noted that the technical concept of the present invention is not limited thereto. For example, two robot arm units may be coupled to one slave robot (20), so that a surgical instrument (30) is attached to one of the robot arm units and a laparoscopic surgery camera (50) is attached to the other robot arm unit. However, even when multiple robot arm units are coupled to one slave robot (20), each robot arm unit (21)(22)(23) may be provided in a modular form that can operate independently of each other, and an algorithm to prevent collision between each robot arm unit (21)(22)(23) may be applied to the surgical robot system (1).

[0106] Meanwhile, the slave robot (20) may include one or more robot arm units (21)(22)(23). Here, each robot arm unit (21)(22)(23) may be provided in a modular form that can operate independently of each other, and an algorithm to prevent collisions between each robot arm unit (21)(22)(23) may be applied to the surgical robot system (1).

[0107] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist and can attach a specific tool to the wrist area. In the present disclosure, the robotic arm unit (21)(22)(23) may be defined as a concept that encompasses all components such as the upper arm, forearm, wrist, and elbow, as well as a surgical instrument (or laparoscopic surgical camera) coupled to the wrist area. Alternatively, it may be defined as a concept that excludes the surgical instrument (or laparoscopic surgical camera) coupled to the wrist area and includes only the components for driving the surgical instrument (or laparoscopic surgical camera).

[0108] The robot arm unit (21)(22)(23) of the slave robot (20) can be implemented to have multiple degrees of freedom. The robot arm unit (21)(22)(23) may be configured to include, for example, a surgical instrument (or a camera for laparoscopic surgery) inserted into the surgical site of a patient, a yaw drive unit that rotates the surgical instrument in the yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in the pitch direction orthogonal to the rotational drive of the yaw drive unit, a transfer drive unit that moves the surgical instrument in the longitudinal direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives an end effector at the end of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm unit (21)(22)(23) is not limited thereto, and it should be understood that such examples do not limit the scope of the present invention. Here, a detailed description of the actual control process, such as the robot arm unit (21)(22)(23) rotating and moving in a corresponding direction as the operator manipulates the manipulation member (10a), is omitted.

[0109] Meanwhile, the master robot (10) can perform various activities such as generating operation information based on the amount of change in the reference posture of the user input unit for controlling the surgical device, determining the target posture of the surgical device corresponding to the operation information, determining the target state information for the driving element, or driving the driving element according to the target state information.

[0110] For example, the master robot (10) can control the robot arm units (21)(22)(23) by transmitting at least one of operation information or target state information of a driving element determined based thereon to the slave robot (20) via a wired or wireless communication network. That is, surgical operations such as positional movement, rotation, and cutting of the robot arm units (21)(22)(23) can be performed by the operator's handle operation. That is, when operation information is determined by the master robot (10), the determined operation information can be transmitted to the slave robot (20) via a wired or wireless communication network, and the slave robot (20) can determine the target state information based on the operation information. According to another aspect, the master robot (10) may determine operation information and determine corresponding target state information, and transmit the determined target state information to the slave robot (20).

[0111] Referring to FIG. 4, in one embodiment of the present invention, the master robot (10) may include an image input unit (11), a screen display unit (12), a user input unit (13), an operation signal generation unit (14), a control unit (15), a memory (16), a storage unit (17), and a communication unit (18).

[0112] Meanwhile, at least some of the components of the master robot (10) may be included in the user terminal of FIG. 2a. For example, the operation signal generating unit (14), the control unit (15), etc. may be included in the processor (2011), the memory (16), the storage unit (17), etc. may be included in the memory (2012), and the communication unit (18) may be included in the communication module (2014), but examples of the master robot (10) are not limited to those described above.

[0113] The video input unit (11) can receive images captured through a camera equipped in the laparoscopic surgery camera (50) of the slave robot (20) via a wired or wireless communication network. For example, the images captured through the camera equipped in the laparoscopic surgery camera (50) may include the patient's surgical site, surgical instruments inserted into the patient's surgical site, and the operation of the surgical instruments. Additionally, such images may include images showing the operation of a surgical device driven according to target state information.

[0114] The screen display unit (12) outputs a visual image corresponding to the image received through the image input unit (11) as visual information. Additionally, the screen display unit (12) may output additional information corresponding to the input of the patient's biological information. Additionally, the screen display unit (12) may output additional image data related to the patient's surgical site (e.g., X-ray image, CT image, MRI image, etc.). Here, the screen display unit (12) may be implemented in the form of a display member (see 10b in FIG. 3), and an image processing process may be performed by the control unit (15) to enable the received image to be output as a visual image through the screen display unit (12). Here, the image may include an image representing the operation of a surgical device driven according to target state information.

[0115] In the embodiment illustrated in FIG. 4, the image input unit and the screen display unit are shown as components included in the master robot (10), but this is not limited thereto. The display member may be provided as a separate member spaced apart from the master robot (10). Alternatively, the display member may be provided as a component of the master robot (10). In addition, in other embodiments, a plurality of display members may be provided, one of which may be placed adjacent to the master robot (10), and some of the others may be placed at a location spaced somewhat apart from the master robot (10).

[0116] Here, the screen display unit (12) (i.e., the display member (10b) of FIG. 3) may be provided as a stereoscopic display device. Specifically, the stereoscopic display device may refer to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and uses this depth information to enable an observer to feel three-dimensional vividness and realism. A surgical robot system (1) according to one embodiment of the present invention may provide a more realistic virtual environment to the user by providing a stereoscopic display device as the screen display unit (12).

[0117] The user input section (13) is a means for the surgeon to operate the position and function of the robot arm units (21)(22)(23) of the slave robot (20). The user input section (13) may be formed in the form of a handle-shaped operating member (see 10a in FIG. 3) as exemplified in FIG. 3, but its shape is not limited thereto and can be modified and implemented in various shapes to achieve the same purpose. In addition, for example, some parts may be formed in the shape of a handle, while others may be formed in different shapes such as a clutch button, and a finger insertion tube or insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed in order to facilitate the operation of the surgical tool.

[0118] Meanwhile, according to one embodiment of the present invention, operation information may be generated based on the operator's actions regarding the user input unit (13). For example, according to one embodiment of the present invention, operation information may be generated based on the operator's actions of operating the user input unit (13). However, examples of generating operation information are not limited to those described above.

[0119] The operation signal generating unit (14) can generate a corresponding operation signal when the operator operates the user input unit (13) for the operation of position movement or surgical operation of the robot arm unit (21)(22)(23). As an example, the operation signal generating unit (14) can generate corresponding operation information when the operator operates the user input unit (13) for the operation of position movement or surgical operation of the robot arm unit (21)(22)(23).

[0120] For example, the operation signal generation unit (14) transmits the generated operation signal to the control unit (15) or to the slave robot (20) via the communication unit (18). The operation signal may be transmitted and received via a wired or wireless communication network. Based on the transmitted operation signal, the control unit (15) may control the operation of the slave robot (20), the surgical instrument (30), or the laparoscopic surgical camera (50). Alternatively, based on the transmitted operation signal, the robot arm control unit (26) included in the slave robot (20) may control the operation of the robot arm units (21)(22)(23). Alternatively, based on the transmitted operation signal, the instrument control unit (27) included in the slave robot (20) may control the operation of the surgical instrument (30) or the laparoscopic surgical camera (50). However, the method of controlling the operation of the slave robot (20), surgical instrument (30), or laparoscopic surgical camera (50) based on the operation signal is not limited to that described above.

[0121] According to one aspect, the instrument control unit (27) may receive a control signal generated by the control signal generation unit (14) of the master robot (10) and perform the role of controlling the surgical instrument (30) to operate according to this control signal.

[0122] The control unit (15) is a type of central processing unit that controls the operation of each component so that the above-described function can be performed. As an example, the control unit (15) may perform the function of converting an image input through the image input unit (11) into a picture image to be displayed through the screen display unit (12). As another example, the control unit (15) may generate a target posture of the robot arm unit (21)(22)(23) based on operation information. Furthermore, the control unit (15) may determine target state information of at least one driving element based on the target posture. Additionally, the control unit (15) may drive the robot arm unit (21)(22)(23) based on the determined target state information.

[0123] Meanwhile, as described above, the control unit (15) calculates target posture and target state information based on operation information, but is not limited thereto and may be performed by other control units according to the present disclosure (e.g., robot arm control unit (26), instrument control unit (27), etc.).

[0124] The memory (16) can perform the function of temporarily or permanently storing data processed by the control unit (15). Here, the memory (16) may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto.

[0125] The storage unit (17) can store data received from the slave robot (20). In addition, the storage unit (17) can store various input data (e.g., patient data, device data, surgery data, etc.).

[0126] The communication unit (18) provides a communication interface necessary for transmitting and receiving image data transmitted from the slave robot (20) and control data transmitted from the master robot (10) in conjunction with the communication network (60). The image data transmitted from the slave robot (20) may include an image representing the operation of a surgical device driven according to target state information. The control data transmitted from the master robot (10) may include at least one of operation information regarding the amount of change of the user input unit or target state information regarding the operation of the slave robot (20).

[0127] The slave robot (20) includes a plurality of robot arm unit control units (21a)(22a)(23a). The robot arm unit control unit (21a) includes a robot arm control unit (26), an instrument control unit (27), and a communication unit (29). Additionally, the robot arm unit control unit (21a) may further include a rail control unit (28).

[0128] Referring to FIGS. 4 and 5, the rail control unit (28) can control the movement path so that the surgical instrument (30) can move along a preset path, specifically along the length direction of the connecting part (310) described later in this description.

[0129] The robot arm control unit (26) can receive an operation signal generated by the operation signal generation unit (14) of the master robot (10) and perform the role of controlling the robot arm units (21)(22)(23) to operate according to this operation signal. For example, the robot arm control unit (26) can receive operation information or target state information calculated by the master robot (10) and perform the role of controlling the robot arm units (21)(22)(23) to operate accordingly.

[0130] The instrument control unit (27) can receive a control signal generated by the control signal generation unit (14) of the master robot (10) and perform the role of controlling the surgical instrument (30) to operate according to this control signal. For example, the instrument control unit (27) can receive control information or target state information generated by the master robot (10) and perform the role of controlling the surgical instrument (30) to operate accordingly.

[0131] The communication unit (29) provides a communication interface necessary for transmitting and receiving image data transmitted from the slave robot (20) and control data transmitted from the master robot (10) in conjunction with the communication network (60). The image data transmitted from the slave robot (20) may include an image representing the operation of a surgical device driven according to target state information. The control data transmitted from the master robot (10) may include at least one of operation information or target state information regarding the operation of the slave robot (20).

[0132] Meanwhile, the communication network (60) performs the role of connecting the master robot (10) and the slave robot (20). That is, the communication network (60) refers to a communication network that provides a connection path so that the master robot (10) and the slave robot (20) can transmit and receive data to and from each other after being connected. The communication network (60) may include wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), or wireless networks such as wireless LANs, CDMA, Bluetooth, and satellite communication, but the scope of the present invention is not limited thereto.

[0134] Modular slave robot

[0135] FIG. 6 is a perspective view showing a modular slave robot and a surgical instrument mounted thereon according to one aspect of the surgical robot system of FIG. 3. FIG. 7 is a drawing showing the state in which the instrument case has been removed from FIG. 6. FIG. 8 is a perspective view showing a modular slave robot and a laparoscopic surgical camera mounted thereon according to another aspect of the surgical robot system of FIG. 3. FIG. 9 is a drawing showing the state in which the surgical instrument has been removed from the slave robot of FIG. 6.

[0136] A surgical instrument (30) or a laparoscopic surgical camera (50), which will be described in detail later in this document, may be connected to and installed in the robot arm unit (21)(22)(23). Referring to FIG. 6, an instrument case (40) may cover the surgical instrument (30) and be connected to the robot arm unit (21). By covering one side of the surgical instrument (30) that is exposed to the outside with the instrument case (40), foreign substances from the outside can be blocked from reaching the surgical instrument (30), and the surgical instrument (30) can be prevented from being damaged by external impact.

[0137] Referring to FIG. 7, a surgical instrument (30) may be connected to and installed on the robot arm unit (21) of a modular slave robot (20a) according to one embodiment. In this description, the modular slave robot (20a) in which the surgical instrument (30) is installed on the robot arm unit (21) may be referred to as a "surgical robot." Referring to FIG. 8, a laparoscopic surgery camera (50) may be connected to and installed on the robot arm unit (22) of a modular slave robot (20b) according to one embodiment. In this description, the modular slave robot (20b) in which the laparoscopic surgery camera (50) is installed on the robot arm unit (22) may be referred to as a "camera robot."

[0138] Meanwhile, referring to FIGS. 6 to 9, an exemplary configuration is illustrated in which only one of the robot arm units (21)(22)(23) is shown on a single slave robot (20a or 20b) and combined with a surgical instrument (30) or a laparoscopic surgical camera (50). However, the technical concept of the present invention is not limited thereto. It should be noted that, as described above, two of the robot arm units (21)(22)(23) may have a surgical instrument (30) attached and one may have a laparoscopic surgical camera (50) attached, and that one of the slave robots may be equipped with two or more robot arm units.

[0139] Referring to FIGS. 6 to 9, the motor pack (500) is connectable to a surgical instrument (30) and can be coupled to and fixed in position to a surgical robot (20a), specifically a robot arm unit (21).

[0140] An instrument case (40) is connected to one side of a surgical instrument (30), and a motor pack (500) is connected to the other side opposite to it and can be combined. The motor pack (500) generates power by receiving power from an external source, and the power generated from the motor pack (500) can be transmitted to the surgical instrument (30), thereby enabling the surgical instrument (30) to perform pitch, yaw, actuation, and roll movements.

[0142] Active / Passive Arm Unit

[0143] FIG. 10 is a perspective view showing another example of a modular slave robot of a surgical robot system according to one embodiment and a surgical instrument mounted thereon.

[0144] Referring to FIG. 10, a surgical robot (2001) according to one embodiment may include a body (2100), an active arm unit (2300), and a surgical instrument (2400). Additionally, a surgical robot (2001) according to another embodiment may further include a passive arm unit (2200) and one or more angle measuring sensors (2610)(2620)(2630).

[0145] The body (2100) may refer to a main body connected to a robot arm unit. For example, the robot arm unit and the body (2100) may form a single independent slave robot (20). Additionally, the body (2100) may include a means of movement (not shown) that allows the surgical robot (2001) to be positioned at a desired location in the operating room. For example, the body (2100) may be equipped with wheels to allow for free movement. Meanwhile, the body (2100) may further include a means of fixation (not shown) that fixes the surgical robot (2001) in the operating room so that it cannot move. For example, after the placement of the surgical robot (2001) is completed and the surgeon begins the surgery, the fixation means may fix the body (2100) to a predetermined location in the operating room so that the surgical robot (2001) cannot move for the stability of the surgery.

[0146] A robot arm unit included in a surgical robot (2001) may include at least one of a passive arm unit (2200) and an active arm unit (2300). For example, the surgical robot (2001) may be composed of a body (2100) and an active arm unit (2300), or may be composed of a body (2100), a passive arm unit (2200), and an active arm unit (2300). As an example, if the robot arm unit of the surgical robot (2001) is composed only of an active arm unit (2300), the active arm unit (2300) may be directly connected to the body (2100). As another example, when the robot arm unit of the surgical robot (2001) is composed of a passive arm unit (2200) and an active arm unit (2300), the body (2100) is directly connected to the passive arm unit (2200), and the passive arm unit (2200) can be connected at one end to the body (2100) and at the other end to the active arm unit (2300).

[0147] The manual arm unit (2200) can be defined as a robot arm whose position, direction, angle, etc., is manipulated by an external force. For example, a surgeon or a surgical assistant assisting the surgeon can manipulate the movement of the manual arm unit (2200) by applying physical force. Additionally, the position, direction, angle, etc., of the manual arm unit (2200) can be maintained when there is no external force manipulating the movement. In other words, if the aforementioned surgeon or surgical assistant manipulates the position, direction, angle, etc., before the surgery begins, the position, direction, angle, etc., of the manual arm unit (2200) can be maintained without changing during the surgery. In this regard, the body (2100) can be included in the manual arm unit (2200) in that the position to which the surgeon or surgical assistant moved the body (2100) before the surgery begins can be maintained without changing during the surgery.

[0148] Meanwhile, the manual arm unit (2200) may include angle measuring sensors (2610)(2620)(2630). Here, the angle measuring sensors (2610)(2620)(2630) may refer to sensors that monitor the movement of the manual arm unit (2200). For example, the angle measuring sensors (2610)(2620)(2630) may measure or calculate the position, direction, angle, etc. of the manual arm unit (2200). For example, the angle measuring sensors (2610)(2620)(2630) may be implemented as sensors capable of measuring the change in position, speed, or direction of an object, such as a rotary encoder, a linear encoder, or a potentiometer.

[0149] Additionally, angle measuring sensors (2610)(2620)(2630) may be installed to be positioned between any two passive arm units. For example, the number of angle measuring sensors included in the surgical robot (2001) may be one less than the number of passive arm units (2200). Referring to FIG. 10, the passive arm unit (2200) connecting the body (2100) and the active arm unit (2300) may include a total of four robot arms, and the surgical robot (2001) according to the embodiment may include a total of three angle measuring sensors.

[0150] The active arm unit (2300) can be defined as a robot arm in which the position, direction, angle, etc. of the robot arm are automatically manipulated through an internal control algorithm. For example, when a surgeon manipulates the user input unit (13) to manipulate the active arm unit (2300), the operation signal generation unit (14) can generate an operation signal corresponding to the action of the surgeon manipulating the user input unit (13) and transmit it to the robot arm control unit of the active arm unit (2300).

[0151] Subsequently, the robot arm control unit of the active arm unit (2300) can control the active arm unit (2300) to move its position, rotate, etc., according to a control algorithm based on a received control signal. In other words, the position, direction, angle, etc. of the active arm unit (2300) can be manipulated when there is manipulation by the surgeon, regardless of whether it is before or after the start of surgery. Meanwhile, since the active arm unit (2300) is operated through a control algorithm rather than by external force, an external energy supply through a motor or actuator is required. Accordingly, the active arm unit (2300) may include one or more motors or actuators.

[0152] A surgical instrument (2400) included in a surgical robot (2001) may be connected to at least one of a passive arm unit (2200) and an active arm unit (2300). Meanwhile, FIG. 10 illustrates a surgical robot (2001) to which a surgical instrument (2400) is coupled, but is not limited thereto. That is, the description with reference to FIG. 10 can be applied in the same way to a camera robot to which a laparoscopic surgical camera (not shown) is coupled.

[0154] surgical instruments

[0155] FIG. 11 is a perspective view showing a surgical instrument according to an embodiment of the present invention, FIG. 12 and FIG. 13 are perspective views of an end tool of the surgical instrument of FIG. 11, FIG. 14a and FIG. 14b are plan views of an end tool of the surgical instrument of FIG. 11. FIG. 15 and FIG. 16 are perspective views of a driving part of the surgical instrument of FIG. 11, FIG. 17 is a plan view of a driving part of the surgical instrument of FIG. 11, FIG. 18 is a rear view of a driving part of the surgical instrument of FIG. 11, and FIG. 19 is a side view of a driving part of the surgical instrument of FIG. 11.

[0156] First, referring to FIG. 11, a surgical instrument (30) according to one embodiment of the present invention includes an end tool (100), a driving unit (200), and a power transmission unit (300), and the power transmission unit (300) may include a connecting unit (310).

[0157] The connecting part (310) is formed in the shape of a hollow shaft, and one or more wires (described later) can be accommodated inside it, and a driving part (200) is connected to one end and an end tool (100) is connected to the other end, so that it can perform the function of connecting the driving part (200) and the end tool (100).

[0158] The driving unit (200) is formed at one end of the connecting unit (310) and provides an interface that can be combined with a robot arm unit (see 21 in FIG. 3, etc.). Thus, when the master robot (see 10 in FIG. 3) is operated by a user, the motor (not shown) of the robot arm unit (see 21 in FIG. 3, etc.) is operated so that the end tool (100) of the surgical instrument (30) can perform a corresponding operation, and the driving force of this motor (not shown) is transmitted to the end tool (100) through the driving unit (200). Expressed from another perspective, the driving unit (200) itself can be described as an interface connecting the surgical instrument (30) and the slave robot (20).

[0159] For example, when a user input unit (see 13 in FIG. 3) is operated by a user, a motor (not shown) of a robot arm unit (see 21, etc. in FIG. 3) is operated so that the end tool (100) of the surgical instrument (30) can perform a corresponding operation, and the driving force of this motor (not shown) can be transmitted to the end tool (100) through a driving unit (200).

[0160] The end tool (100) is formed at the other end of the connecting part (310) and is inserted into the surgical site to perform operations necessary for surgery. As an example of such an end tool (100), a pair of jaws (101) (102) for performing a gripping operation may be used as shown in FIG. 12. However, the embodiment of the present invention is not limited thereto, and various devices for surgery may be used as the end tool (100). For example, a configuration such as a single-arm cauterizer may also be used as the end tool. Such an end tool (100) is connected to a driving part (200) by a power transmission part (300), and by receiving the driving force of the driving part (200) through the power transmission part (300), it performs operations necessary for surgery, such as gripping, cutting, and suturing.

[0161] Here, the end tool (100) of the surgical instrument (30) according to one embodiment of the present invention is formed to be rotatable in at least two directions, for example, the end tool (100) may be formed to perform pitch movement around the rotation axis (143) of FIG. 12, while simultaneously performing yaw movement and actuation movement around the rotation axis (141) of FIG. 12.

[0162] Here, the pitch, yaw, actuation, and roll movements used in the present invention are defined as follows.

[0163] First, the pitch motion refers to the motion of the end tool (100) rotating up and down with respect to the extension direction of the connecting part (310) (the X-axis direction in FIG. 11), that is, the motion of rotating around the Y-axis in FIG. 11. In other words, it refers to the motion of the end tool (100), which is extended from the connecting part (310) in the extension direction of the connecting part (310) (the X-axis direction in FIG. 11), rotating up and down around the Y-axis with respect to the connecting part (310).

[0164] Next, the yaw motion refers to the motion of the end tool (100) rotating left and right with respect to the extension direction of the connecting part (310) (the X-axis direction in FIG. 11), that is, the motion of rotating around the Z-axis in FIG. 11. In other words, it refers to the movement of the end tool (100), which is formed extending from the connecting part (310) in the extension direction of the connecting part (310) (the X-axis direction in FIG. 11), rotating left and right around the Z-axis with respect to the connecting part (310). That is, it refers to the movement of the two jaws (101) (102) formed on the end tool (100) rotating in the same direction around the Z-axis.

[0165] Meanwhile, the actuation motion refers to the motion in which the end tool (100) rotates around the same axis of rotation as the yaw motion, while the two jaws (101) (102) rotate in opposite directions, causing the jaws to contract or expand. In other words, it refers to the motion in which the two jaws (101) (102) formed on the end tool (100) rotate in opposite directions around the Z-axis.

[0166] If defined from a different perspective, yaw rotation can be defined as the rotation of the end tool jaw pulley, which will be described later, around the rotation axis (141) which is the end tool jaw pulley rotation axis, and pitch rotation can be defined as the revolution of the end tool jaw pulley around the rotation axis (143) which is the end tool pitch rotation axis.

[0167] Roll motion refers to the motion of a surgical instrument rotating around a connecting part (310) as an axis. For example, the roll motion may be a motion of the surgical instrument rotating clockwise or counterclockwise around the extension direction (X-axis direction in FIG. 11) of the connecting part (310).

[0168] Meanwhile, the roll motion may refer to a movement in which the end tool (100) rotates about the X-axis with respect to the connecting part (310). For example, the roll motion may be a movement in which the end tool rotates clockwise or counterclockwise about the extension direction (X-axis direction in FIG. 12) of the connecting part (310).

[0169] The power transmission unit (300) connects the driving unit (200) and the end tool (100) to transmit the driving force of the driving unit (200) to the end tool (100), and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0170] Below, the end tool (100), driving unit (200), power transmission unit (300), etc. of the surgical instrument (30) of FIG. 11 will be described in more detail.

[0171] Below, the power transmission unit (300) of the surgical instrument (30) of FIG. 11 will be described in more detail.

[0172] Referring to FIGS. 11 to 19, the power transmission unit (300) of a surgical instrument (30) according to one embodiment of the present invention may include a wire (301), a wire (302), a wire (303), a wire (304), a wire (305), and a wire (306).

[0173] Here, wire (301) and wire (305) can form a pair and function as a first jaw wire. Wire (302) and wire (306) can form a pair and function as a second jaw wire. Here, the component encompassing the first jaw wires, wire (301) and wire (305), and the second jaw wires, wire (302) and wire (306), may be referred to as a jaw wire. Also, wire (303) and wire (304) can form a pair and function as a pitch wire.

[0174] Here, the drawings are illustrated such that a pair of wires are associated with the rotational motion of the first set (101) and a pair of wires are associated with the rotational motion of the second set (102), but an embodiment of the present invention is not limited thereto. For example, a pair of wires may be associated with the yaw motion and a pair of wires may be associated with the actuation motion.

[0175] In addition, the power transmission unit (300) of the surgical instrument (30) according to one embodiment of the present invention may include a fastening member (321), a fastening member (326), etc., which are connected to each end of each wire to connect the wire and the pulley. Here, each fastening member may be in various shapes as needed, such as a ball shape or a tube shape.

[0176] Here, the fastening member (321), which is a pitch wire fastening member, is coupled to the end tool (100) side end of the pitch wire wire (303) and wire (304) so ​​as to perform the role of a pitch wire-end tool fastening member. Meanwhile, although not shown in the drawing, a pitch wire-driver fastening member (not shown) may be coupled to the drive unit (200) side end of the pitch wire wire (303) and wire (304).

[0177] Meanwhile, the fastening member (326), which is the second wire fastening member, is coupled to the end tool (100) side end of the second wire (302) and wire (306), and can perform the role of the second wire-end tool fastening member. Meanwhile, although not shown in the drawing, a second wire-driver fastening member (not shown) may be coupled to the drive unit (200) side end of the second wire (302) and wire (306).

[0178] Meanwhile, although not shown in the drawing, a fastening member (not shown) having the same shape as the fastening member (326) may be coupled to the end tool (100) side end of the first wire (301) and wire (305) to perform the role of the first wire-end tool fastening member. Meanwhile, although not shown in the drawing, a first wire-driver fastening member (not shown) may be coupled to the drive unit (200) side end of the first wire (301) and wire (305).

[0179] Here, each fastening member is classified as being included in the power transmission unit (300), but the fastening member on the end tool (100) side may be classified as being included in the end tool (100), and the fastening member on the driving unit (200) side may be classified as being included in the driving unit (200).

[0180] The specific connection relationships between the wires, fastening members, and each pulley are as follows.

[0181] First, the second wire (302) and the wire (306) may be a single wire. A fastening member (326), which is a second wire-end tool fastening member, is inserted at the midpoint of the second wire, which is a single wire, and after fixing the fastening member (326) by crimping, the two strands of the second wire can be referred to as the wire (302) and the wire (306), respectively, with the fastening member (326) at the center.

[0182] Alternatively, the wire (302) and the wire (306) of the second article may each be formed as separate wires, and the wire (302) and the wire (306) may be connected by a fastening member (326).

[0183] And, by connecting this fastening member (326) to the pulley (121), the wire (302) and the wire (306) can be fixedly connected to the pulley (121). As a result, the pulley (121) can rotate as the wire (302) and the wire (306) are pulled and released.

[0184] Meanwhile, the opposite end of the wire (302) and wire (306) where the fastening member (326) is fastened can be joined to a second wire-drive fastening member (not shown). That is, the opposite end of the wire (302) and wire (306) can be fitted into the second wire-drive fastening member (not shown), and the wire (302) and wire (306) and the second wire-drive fastening member (not shown) can be fixed by crimping the fastening member (not shown).

[0185] And, by connecting a second wire-drive member (not shown) combined with the wire (302) and the wire (306) to the pulley (221) and the pulley (222) respectively, the wire (302) and the wire (306) can be fixedly connected to the pulley (221) and the pulley (222) respectively. As a result, when the pulley (221) and the pulley (222) are rotated by a motor or human power, the wire (302) and the wire (306) are pulled and released, allowing the pulley (121) of the end tool (100) to rotate.

[0186] Here, the second set of drive pulleys may include two pulleys, pulley (221) and pulley (222), and thus the second set of wire-drive fastening members may also include two fastening members. Alternatively, the second set of drive pulleys may include one pulley, and the second set of wire-drive fastening members may also include one fastening member, and the wire (302) and the wire (306) may be coupled to one fastening member and coupled to one second set of drive pulleys.

[0187] In the same manner, the first wire (301) and the wire (305) are each connected to the first wire-end tool connecting member (not shown) and the first wire-drive connecting member (not shown), respectively. Then, the first wire-end tool connecting member (not shown) is connected to the pulley (111), and the first wire-drive connecting member (not shown) is connected to the pulley (211) and the pulley (212). Consequently, when the pulley (211) and the pulley (212) are rotated by a motor or human power, the wire (301) and the wire (305) are pulled and released, allowing the pulley (111) of the end tool (100) to rotate.

[0188] In the same way, one end of the pitch wire (303) and the wire (304) is connected to a pitch wire-end tool connecting member (321), and the other end of the wire (303) and the wire (304) is connected to a pitch wire-drive member (not shown). Then, the connecting member (321) is connected to a pulley (131), and the pitch wire-drive member (not shown) is connected to a pulley (231). Consequently, when the pulley (231) is rotated by a motor or human power, the wire (303) and the wire (304) are pulled and released, allowing the pulley (131) of the end tool (100) to rotate.

[0189] Consequently, the two strands of the first wire, wire (301) and wire (305), can be combined with the first wire-end tool fastening member, fastening member (323), and the first wire-driver fastening member (not shown) to form a closed loop overall. Likewise, the second wire and pitch wire can also be formed to form a closed loop each.

[0190] Below, the end tool (100) of the surgical instrument (30) of FIG. 11 will be described in more detail.

[0191] FIGS. 12 and FIGS. 13 are perspective views showing the end tool of the surgical instrument of FIG. 46, and FIGS. 14a and 14b are plan views showing the end tool of the surgical instrument of FIG. 11. FIG. 12 shows the end tool hub (106) and pitch hub (107) in a combined state, and FIG. 13 shows the end tool hub (106) and pitch hub (107) in a removed state.

[0192] Referring to FIGS. 12, 8 and FIGS. 14a to 14b, an end tool (100) of one embodiment of the present invention has a pair of jaws for performing a grip operation, namely a first jaw (101) and a second jaw (102). Here, each of the first jaw (101) and the second jaw (102), or a component encompassing the first jaw (101) and the second jaw (102), may be referred to as a jaw (103).

[0193] Additionally, the end tool (100) may include pulleys (111), pulley (112), pulley (113), pulley (114), pulley (115), and pulley (116) associated with the rotational movement of the first jaw (101). Additionally, it may include pulleys (121), pulley (122), pulley (123), pulley (124), pulley (125), and pulley (126) associated with the rotational movement of the second jaw (102).

[0194] Here, the drawings show that one group of pulleys is associated with the rotational motion of the first set (101) and one group of pulleys is associated with the rotational motion of the second set (102), but the present invention is not limited thereto. For example, one group of pulleys in the end tool may be associated with the yaw motion and one group of pulleys may be associated with the actuation motion. Here, the pulleys included in the end tool (100), including the pulleys described above, may be collectively referred to as end tool pulleys.

[0195] Meanwhile, although the drawings show the facing pulleys formed parallel to each other, one embodiment of the present invention is not limited thereto, and each pulley may be formed in various positions and sizes suitable for the configuration of the end tool.

[0196] Additionally, an end tool (100) of one embodiment of the present invention may include an end tool hub (106) and a pitch hub (107).

[0197] The end tool hub (106) has a rotating shaft (141) and a rotating shaft (142), which will be described later, inserted through it, and can also accommodate at least a portion of the first set (101) and the second set (102) axially coupled to the rotating shaft (141) inside. Additionally, the end tool hub (106) can accommodate at least a portion of the pulley (112) and the pulley (122) axially coupled to the rotating shaft (142) inside.

[0198] Additionally, a pulley (131) that performs the function of an end tool pitch pulley may be formed at one end of the end tool hub (106). As shown in FIG. 12, the pulley (131) may be formed as a separate member from the end tool hub (106) and combined with the end tool hub (106). Alternatively, although not shown in the drawings, the pulley (131) may be formed as a one-body with the end tool hub (106). That is, one end of the end tool hub (106) may be formed in a disc shape or a semicircle shape like a pulley, and a groove may be formed on its outer surface to allow a wire to be wound. The wire (303) and wire (304) described above are combined with the pulley (131) that performs the function of an end tool pitch pulley, and the pulley (131) can perform a pitch operation while rotating around the rotation axis (143).

[0199] The pitch hub (107) has a rotation axis (143) and a rotation axis (144), which will be described later, inserted through it, and can be axially coupled with the end tool hub (106) and the pulley (131) by the rotation axis (143). Thus, the end tool hub (106) and the pulley (131) (coupled thereto) can be formed to be rotatable with respect to the pitch hub (107) around the rotation axis (143).

[0200] Additionally, the pitch hub (107) can accommodate at least a portion of the pulleys (113), pulleys (114), pulleys (123), and pulleys (124) axially coupled to the rotation axis (143). Additionally, the pitch hub (107) can accommodate at least a portion of the pulleys (115), pulleys (116), pulleys (125), and pulleys (126) axially coupled to the rotation axis (144).

[0201] Additionally, an end tool (100) of one embodiment of the present invention may include a rotation axis (141), a rotation axis (142), a rotation axis (143), and a rotation axis (144). As described above, the rotation axis (141) and the rotation axis (142) may be inserted through the end tool hub (106), and the rotation axis (143) and the rotation axis (144) may be inserted through the pitch hub (107).

[0202] The rotation axis (141), rotation axis (142), rotation axis (143), and rotation axis (144) can be arranged sequentially from the distal end (104) of the end tool (100) toward the proximal end (105). Accordingly, starting from the distal end (104), the rotation axis (141) may be referred to as pin 1, the rotation axis (142) as pin 2, the rotation axis (143) as pin 3, and the rotation axis (144) as pin 4.

[0203] Here, the rotation axis (141) functions as the end tool jaw pulley rotation axis, the rotation axis (142) functions as the end tool jaw auxiliary pulley rotation axis, the rotation axis (143) functions as the end tool pitch rotation axis, and the rotation axis (144) can function as the end tool pitch auxiliary rotation axis of the end tool (100).

[0204] One or more pulleys may be fitted into each of these rotation axes (141)(142)(143)(144), and this will be explained in detail below.

[0205] Pulley (111) functions as the first jaw pulley of the end tool, and pulley (121) functions as the second jaw pulley of the end tool, and these two components can be collectively referred to as the end tool jaw pulley.

[0206] The pulleys (111) and (121), which are end tool jaw pulleys, are formed to face each other and are formed to rotate independently of each other around a rotation axis (141), which is the rotation axis of the end tool jaw pulleys. In the drawing, the pulleys (111) and (121) are formed to rotate around a single rotation axis (141), but it is understood that each jaw pulley can be formed to rotate around a separate axis. Here, a first jaw (101) is fixedly coupled to the pulley (111) to rotate together with the pulley (111), and a second jaw (102) is fixedly coupled to the pulley (121) to rotate together with the pulley (121). The yaw and actuation operations of the end tool (100) are performed according to the rotation of the pulleys (111) and (121). That is, if the pulley (111) and the pulley (121) rotate in the same direction around the rotation axis (141), the yaw operation is performed, and if the pulley (111) and the pulley (121) rotate in opposite directions around the rotation axis (141), the actuation operation is performed.

[0207] Here, the first jaw (101) and the pulley (111) may be formed as separate members and joined together, or the first jaw (101) and the pulley (111) may be formed as one body. Similarly, the second jaw (102) and the pulley (121) may be formed as separate members and joined together, or the second jaw (102) and the pulley (121) may be formed as one body.

[0208] Pulley (112) functions as the first auxiliary pulley of the end tool, and pulley (122) functions as the second auxiliary pulley of the end tool, and these two components may be collectively referred to as the end tool auxiliary pulley.

[0209] Specifically, the pulley (112) and pulley (122), which are end tool jaw auxiliary pulleys, may be additionally provided on one side of the pulley (111) and pulley (121); that is, the auxiliary pulley (112) may be positioned between the pulley (111) and the pulley (113) / pulley (114). Additionally, the auxiliary pulley (122) may be positioned between the pulley (121) and the pulley (123) / pulley (124). The pulley (112) and the pulley (122) may be formed to rotate independently of each other around a rotation axis (142). Here, although the drawing shows the pulley (112) and the pulley (122) being formed to rotate around a single rotation axis (142), it is of course possible that the pulley (112) and the pulley (122) may each be formed to rotate around a separate axis. Such auxiliary pulleys will be described in more detail later.

[0210] Pulleys (113) and (114) function as the end tool first pitch main pulleys, and pulleys (123) and (124) function as the end tool second pitch main pulleys, and these two components may be collectively referred to as the end tool pitch main pulleys.

[0211] Pulleys (115) and (116) function as end tool first pitch sub-pulleys, and pulleys (125) and (126) function as end tool second pitch sub-pulleys, and these two components may be collectively referred to as end tool pitch sub-pulleys.

[0212] The following describes the components related to the rotation of the pulley (111).

[0213] Pulleys (113) and (114) function as the main pitch pulleys of the first row of the end tool. That is, they function as the main rotation pulleys for the pitch operation of the first row (101). Here, the wire (301), which is the first row wire, is wound around pulley (113), and the wire (305), which is the first row wire, is wound around pulley (114).

[0214] Pulleys (115) and (116) function as sub-pulleys for the first set of end tools. That is, they function as sub-rotation pulleys for the pitch operation of the first set (101). Here, the wire (301), which is the first set wire, is wound around pulley (115), and the wire (305), which is the first set wire, is wound around pulley (116).

[0215] Here, on one side of pulley (111) and pulley (112), pulley (113) and pulley (114) are arranged to face each other. Here, pulley (113) and pulley (114) are formed to rotate independently of each other around a rotation axis (143), which is the end tool pitch rotation axis. Additionally, on one side of each of pulley (113) and pulley (114), pulley (115) and pulley (116) are arranged to face each other. Here, pulley (115) and pulley (116) are formed to rotate independently of each other around a rotation axis (144), which is the end tool pitch auxiliary rotation axis. Here, although the drawing shows that pulley (113), pulley (115), pulley (114), and pulley (116) are all formed to rotate around the Y-axis direction, an embodiment of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions suitable for their configuration.

[0216] The wire (301), which is the first wire, is wound sequentially so that at least a portion of it comes into contact with the pulley (115), pulley (113), and pulley (111). Then, the wire (305), which is connected to the wire (301) by the fastening member (323), is wound sequentially so that at least a portion of it comes into contact with the pulley (111), pulley (112), pulley (114), and pulley (116).

[0217] To explain this from another perspective, the first wire (301) and the wire (305) are wound sequentially so as to come into contact with at least a portion of the pulley (115), pulley (113), pulley (111), pulley (112), pulley (114), and pulley (116), and the wire (301) and the wire (305) are formed to move along the pulleys while rotating the pulleys.

[0218] Accordingly, when the wire (301) is pulled toward arrow 301 in FIGS. 14a and 14b, the fastening member (not shown) to which the wire (301) is attached and the pulley (111) attached thereto rotate in the direction of arrow L in FIGS. 14a and 14b. Conversely, when the wire (305) is pulled toward arrow 305 in FIGS. 14a and 14b, the fastening member (not shown) to which the wire (305) is attached and the pulley (111) attached thereto rotate in the direction of arrow R in FIGS. 14a and 14b.

[0219] Below, the pulley (112) and pulley (122) that perform the role of an auxiliary pulley will be described in more detail.

[0220] The pulley (112) and the pulley (122) can perform the function of expanding the rotation angle of each of the first set (101) and the second set (102) by contacting the first set wire (305) and the second set wire (302) and changing the arrangement path of the wire (305) and the wire (302) to a certain degree.

[0221] That is, when auxiliary pulleys are not provided, the first and second sets could each rotate only up to a right angle; however, in one embodiment of the present invention, by additionally providing auxiliary pulleys, pulley (112) and pulley (122), the effect of increasing the maximum rotation angle by θ as seen in FIGS. 14a and 14b can be obtained. This enables the operation in which the two sets of the end tool (120) must spread apart for an actuation operation while the two sets are yaw-rotated together by 90° in the L direction. This is because the second set (102) can rotate by an additional angle (θ) as in FIG. 12. Similarly, an actuation operation is possible even when the two sets are yaw-rotated in the R direction. In other words, through pulley (112) and pulley (122), it has the feature of being able to expand the range of yaw rotation for which an actuation operation is possible.

[0222] To explain this in more detail, it is as follows.

[0223] When auxiliary pulleys are not installed, the first set wire is fixedly connected to the end tool first set pulley and the second set wire is fixedly connected to the end tool second set pulley; therefore, the end tool first set pulley and the end tool second set pulley can each rotate only up to 90°. In this case, when an actuation operation is performed while the first set and the second set are positioned at the 90° line, the first set can open, but the second set cannot rotate beyond 90°. Consequently, there was a problem in that the actuation operation could not be performed smoothly when the first set and the second set were performing a yaw motion beyond a certain angle.

[0224] To solve such problems, in the case of a surgical instrument (30) according to one embodiment of the present invention, an auxiliary pulley (112) and a pulley (122) are additionally arranged on one side of a pulley (111) and a pulley (121). By arranging the pulley (112) and the pulley (122) in this way, the arrangement path of the first wire (305) and the second wire (302) is changed to a certain degree, thereby changing the tangential direction of the wire (305) and the wire (302), and thus allowing the fastening member (326) that connects the wire (302) and the pulley (121) to rotate up to the N line of FIGS. 14a and 14b. That is, the fastening member (326), which is the connecting part of the wire (302) and the pulley (121), becomes rotatable until it is located on the common inner tangent of the pulley (121) and the pulley (122). Likewise, the fastening member (323), which is the joint of the wire (305) and the pulley (111), can be rotated until it is positioned on the common inner tangent of the pulley (111) and the pulley (112), thereby expanding the range of rotation in the L direction.

[0225] In other words, by means of the pulley (112), the two strands of the first set of wires, wire (301) and wire (305), wound around the pulley (111), are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis. At the same time, by means of the pulley (122), the two strands of the second set of wires, wire (302) and wire (306), wound around the pulley (121), are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0226] In other words, pulleys (113) and (114) are positioned on one side with respect to a plane perpendicular to the Y-axis and passing through the X-axis, and pulleys (123) and (124) are positioned on the other side with respect to a plane perpendicular to the Y-axis and passing through the X-axis.

[0227] In other words, the wire (305) is located on the inner tangent of the pulley (111) and the pulley (112), and the rotation angle of the pulley (111) is extended by the pulley (112). Additionally, the wire (302) is located on the inner tangent of the pulley (121) and the pulley (122), and the rotation angle of the pulley (121) is extended by the pulley (122).

[0228] According to one embodiment of the present invention, by widening the rotation radius of the jaw (101) and jaw (102), the effect of widening the operating range in which normal opening and closing actuation operations can be performed can be obtained.

[0229] Next, the components related to the rotation of the pulley (121) are described.

[0230] Pulleys (123) and (124) function as the main pitch pulleys for the second row of the end tool. That is, they function as the main rotation pulleys for the pitch operation of the second row (102). Here, the wire (306), which is the second row wire, is wound around pulley (123), and the wire (302), which is the second row wire, is wound around pulley (124).

[0231] Pulleys (125) and (126) function as sub-pulleys for the second row of the end tool. That is, they function as sub-rotation pulleys for the pitch operation of the second row (102). Here, a wire (306), which is the second row wire, is wound around pulley (125), and a wire (302), which is the second row wire, is wound around pulley (126).

[0232] On one side of the pulley (121), a pulley (123) and a pulley (124) are arranged facing each other. Here, the pulley (123) and the pulley (124) are formed to rotate independently of each other around a rotation axis (143), which is the end tool pitch rotation axis. Additionally, on one side of each of the pulley (123) and the pulley (124), a pulley (125) and a pulley (126) are arranged facing each other. Here, the pulley (125) and the J15 pulley (123J25) are formed to rotate independently of each other around a rotation axis (144), which is the end tool pitch auxiliary rotation axis. Here, although the drawing shows that the pulley (123), the pulley (125), the pulley (124), and the pulley (126) are all formed to rotate around the Y-axis direction, an embodiment of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions suitable for their configuration.

[0233] Article 2. The wire (306) is wound sequentially so that at least a portion of it comes into contact with the pulley (125), pulley (123), and pulley (121). Then, the wire (302) connected to the wire (306) by the fastening member (326) is wound sequentially so that at least a portion of it comes into contact with the pulley (121), pulley (122), pulley (124), and pulley (126).

[0234] To explain this from another perspective, the second wire (306) and wire (302) are wound sequentially so as to come into contact with at least a portion of the pulley (125), pulley (123), pulley (121), pulley (122), pulley (124), and pulley (126), and the wire (306) and wire (302) are formed to move along the pulleys while rotating the pulleys.

[0235] Accordingly, when the wire (306) is pulled toward arrow 306 in FIGS. 14a and 14b, the fastening member (326) to which the wire (306) is attached and the pulley (121) attached thereto rotate in the direction of arrow R in FIGS. 14a and 14b. Conversely, when the wire (302) is pulled toward arrow 302 in FIG. 13, the fastening member (326) to which the wire (302) is attached and the pulley (121) attached thereto rotate in the direction of arrow L in FIGS. 14a and 14b.

[0236] The pitch motion of the present invention will be explained in more detail below.

[0237] First, for pitching motion, pulleys (113), (114), (123), and (124), which are end tool jaw pitch main pulleys, are formed on the end tool (100) side so as to be rotatable about a rotation axis (143). Meanwhile, in the direction of the proximal end (105) of the end tool jaw pitch main pulley, pulleys (115), (116), (125), and (126), which are end tool jaw pitch sub pulleys, are formed so as to be rotatable about a rotation axis (144).

[0238] And, with respect to a plane (i.e., the XY plane) that is perpendicular to the rotation axis (141) and includes the rotation axis (143), the two strands of the first jaw wire, wire (301) and wire (305), are located on the same side with respect to the XY plane. That is, wire (301) and wire (305) are formed to pass through the lower side of pulley (113) and pulley (114), which are the end tool jaw pitch main pulleys, and the upper side of pulley (115) and pulley (116), which are the end tool jaw pitch sub pulleys.

[0239] Likewise, the two strands of the second wire, wire (302) and wire (306), are located on the same side with respect to the XY plane. That is, wire (302) and wire (306) are formed to pass over the upper side of pulley (123) and pulley (124), which are the end tool jaw pitch main pulleys, and the lower side of pulley (125) and pulley (126), which are the end tool jaw pitch sub pulleys.

[0240] And, regarding the two strands of the first wire, wire (301) and wire (305), when wire (301) is pulled toward arrow 301 in FIG. 14a and 14b and wire (305) is simultaneously pulled toward arrow 305 in FIG. 14a and 14b (i.e., when both strands of the first wire are pulled in the same direction), as shown in FIG. 12, wire (301) and wire (305) are wound downwards by pulley (113) and pulley (114), which can rotate around the rotation axis (143) which is the end tool pitch rotation axis. Therefore, the pulley (111) to which wire (301) and wire (305) are fixedly connected, and the end tool hub (106) to which the pulley (111) is connected, rotate together in a counterclockwise direction around the rotation axis (143), and as a result, the end tool (100) rotates downwards and performs pitch motion. At this time, since the second piece (102) and the wire (302) and wire (306) fixedly coupled thereto are wound upwards on the pulley (123) and pulley (124) which can rotate around the axis of rotation (143), the wire (302) and wire (306) are each unwound in the opposite direction of arrows 302 and 306.

[0241] Conversely, regarding the two strands of the second wire, wire (302) and wire (306), when wire (302) is pulled toward arrow 302 in FIG. 14a and 14b and wire (306) is simultaneously pulled toward arrow 306 in FIG. 14a and 14b (i.e., when both strands of the second wire are pulled in the same direction), as shown in FIG. 12, wire (302) and wire (306) are wound upwards on pulleys (123) and (124) which can rotate around the rotation axis (143) which is the end tool pitch rotation axis. Therefore, the pulley (121) to which wire (302) and wire (306) are fixedly connected, and the end tool hub (106) to which the pulley (121) is connected, rotate together clockwise around the rotation axis (143), and as a result, the end tool (100) rotates upwards and performs pitch motion. At this time, since the first plate (101) and the wire (301) and wire (305) fixedly coupled thereto are wound under the pulley (113) and pulley (114) which can rotate around the rotation axis (143), the wire (302) and wire (306) move in opposite directions to 301 and 305, respectively.

[0242] To express this from another perspective, it could be said that when the end tool (100) is rotated at pitch, both strands of each jaw wire move simultaneously in the same direction.

[0243] Meanwhile, the end tool (100) of the surgical instrument (30) of the present invention may further comprise a pulley (131) which is an end tool pitch pulley, the driving unit (200) may further comprise a pulley (231) which is a driving unit pitch pulley, and the power transmission unit (300) may further comprise a wire (303) and a wire (304) which are pitch wires. Specifically, the pulley (131) of the end tool (100) may rotate around a rotation axis (143) which is an end tool pitch rotation axis, and may be formed integrally with the end tool hub (106) (or fixedly coupled to the end tool hub (106). In addition, the wire (303) and the wire (304) may serve to connect the pulley (131) of the end tool (100) and the pulley (231) of the driving unit (200).

[0244] Therefore, when the pulley (231) of the drive unit (200) rotates, the rotation of the pulley (231) is transmitted to the pulley (131) of the end tool (100) through the wire (303) and wire (304), causing the pulley (131) to rotate as well, and as a result, the end tool (100) rotates and performs pitch motion.

[0245] A surgical instrument (30) according to one embodiment of the present invention is provided with a pulley (131) of an end tool (100), a pulley (231) of a driving unit (200), and wires (303) and (304) of a power transmission unit (300) for power transmission for pitch movement, thereby allowing the driving force of the pitch movement of the driving unit (200) to be transmitted more perfectly to the end tool (100), so as to improve operational reliability.

[0246] Here, the diameters of the pulleys (113), (114), (123), and (124) that are the end tool jaw pitch main pulleys, and the diameter of the pulley (131) that is the end tool pitch pulley, may be the same as each other or may be different from each other. At this time, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the drive unit intermediate pulley to the diameter of the drive unit pitch pulley of the drive unit (200) to be described later. This will be explained in detail later.

[0247] Below, the driving part (200) of the surgical instrument (30) of FIG. 11 will be described in more detail.

[0248] Referring to FIGS. 15 to 21, a driving unit (200) of a surgical instrument (30) according to one embodiment of the present invention may include a pulley (211), a pulley (212), a pulley (213), a pulley (214), a pulley (215), a pulley (216), a pulley (217), a pulley (218), a pulley (219), and a pulley (220) associated with the rotational movement of a first jaw (101). Additionally, it may include a pulley (221), a pulley (222), a pulley (223), a pulley (224), a pulley (225), a pulley (226), a pulley (227), a pulley (228), a pulley (229), and a pulley (230) associated with the rotational movement of a second jaw (102).

[0249] Here, although the drawings show the facing pulleys formed parallel to each other, one embodiment of the present invention is not limited thereto, and each pulley may be formed in various positions and sizes suitable for the configuration of the drive unit.

[0250] Additionally, the driving unit (200) of the surgical instrument (30) according to one embodiment of the present invention may further include a pulley (231) that performs the role of a driving unit pitch pulley, and a pitch-yaw connector (232) that connects the pulley (231) and the driving unit jaw pulleys described above.

[0251] Additionally, the driving unit (200) of one embodiment of the present invention may include a rotation shaft (241), a rotation shaft (242), a rotation shaft (243), a rotation shaft (244), a rotation shaft (245), and a rotation shaft (246). Here, the rotation shaft (241) may function as a first rotation shaft of the driving unit, and the rotation shaft (242) may function as a second rotation shaft of the driving unit. Also, the rotation shaft (243) may function as a pitch rotation shaft of the driving unit, and the rotation shaft (244) may function as a roll rotation shaft of the driving unit. Also, the rotation shaft (245) may function as a first auxiliary rotation shaft of the driving unit, and the rotation shaft (246) may function as a second auxiliary rotation shaft of the driving unit. One or more pulleys may be fitted into each of these rotation shafts (241)(242)(243)(244)(245)(246), and this will be explained in detail later.

[0252] Additionally, the driving unit (200) of one embodiment of the present invention may include a motor coupling unit (251), a motor coupling unit (252), a motor coupling unit (253), and a motor coupling unit (254). Here, the motor coupling unit (251) may function as a first driving motor coupling unit, the motor coupling unit (252) may function as a second driving motor coupling unit, the motor coupling unit (253) may function as a pitch driving motor coupling unit, and the motor coupling unit (254) may function as a roll driving motor coupling unit. Here, each of the motor coupling units (251), (252), (253), and (254) may be formed in the shape of a rotatable flat plate, and one or more coupling holes may be formed to which a motor (not shown) can be coupled.

[0253] The motor coupling parts (251)(252)(253)(254) of the drive unit (200) are coupled with a motor (not shown) formed in each robot arm unit (21)(22)(23), and the drive unit (200) is operated by the driving of the motor (not shown).

[0254] Additionally, the driving unit (200) of one embodiment of the present invention may include a gear (261), a gear (262), a gear (263), and a gear (264). Here, the gear (261) and the gear (262) function as pitch driving gears, and the gear (263) and the gear (264) function as roll driving gears.

[0255] Below, each component will be explained in more detail.

[0256] Pulleys (211) and (212) function as first set pulleys of the drive unit, and pulleys (221) and (222) function as second set pulleys of the drive unit, and these components may be collectively referred to as drive unit set pulleys.

[0257] Here, the drawing shows that pulley (211) is associated with the rotational movement of the first row (101) of the end tool (100) and pulley (221) is associated with the rotational movement of the second row (102) of the end tool (100), but the embodiment of the present invention is not limited thereto. For example, one group of pulleys in the drive unit may be associated with yaw movement and another group of pulleys may be associated with actuation movement. Accordingly, pulley (211) and pulley (212) may be collectively referred to as drive unit drive pulleys. Furthermore, other pulleys below may also have one group of pulleys associated with yaw movement and another group of pulleys associated with actuation movement.

[0258] Pulleys (213) and (214) function as first group auxiliary pulleys of the drive unit, and pulleys (223) and (224) function as second group auxiliary pulleys of the drive unit, and these components may be collectively referred to as group auxiliary pulleys of the drive unit.

[0259] Pulleys (215) and (216) function as the first intermediate pulleys of the first drive unit, and pulleys (217) and (218) function as the second intermediate pulleys of the first drive unit, and these components may be collectively referred to as the first intermediate pulleys of the drive unit. Meanwhile, pulleys (225) and (226) function as the first intermediate pulleys of the second drive unit, and pulleys (227) and (228) function as the second intermediate pulleys of the second drive unit, and these components may be collectively referred to as the second intermediate pulleys of the drive unit. Meanwhile, pulleys (215), (216), (225), and (226) may be collectively referred to as the first intermediate pulleys of the drive unit, and pulleys (217), (218), (227), and (228) may be collectively referred to as the second intermediate pulleys of the drive unit. Furthermore, pulleys (215), pulley (216), pulley (217), pulley (218), pulley (225), pulley (226), pulley (227), and pulley (228) may be collectively referred to as drive unit intermediate pulleys.

[0260] Here, the drawing shows that the drive unit intermediate pulley for each jaw is formed by a pair of two pulleys, but the embodiment of the present invention is not limited thereto. For example, a pulley (215), which is the first intermediate pulley of the first jaw of the drive unit, and a pulley (217), which is the second intermediate pulley of the first jaw of the drive unit, are formed to form a pair, and the wire (301) is shown passing through the pulley (215) and the pulley (217) in sequence. However, the drive unit first jaw intermediate pulley may not be composed of two pulleys, but may be composed of three or more pulleys.

[0261] Meanwhile, pulleys (219) and (220) function as the first set of drive unit satellite pulleys, and pulleys (229) and (230) function as the second set of drive unit satellite pulleys, and these two components may be collectively referred to as drive unit satellite pulleys.

[0262] On the first surface of the base plate (201), a plurality of rotational axes including a rotational axis (241), a rotational axis (242), a rotational axis (243), a rotational axis (244), a rotational axis (245), and a rotational axis (246) may be formed. Additionally, a plurality of intermediate pulleys (202) may be formed on the first surface of the base plate (201) to perform the function of diverting wires (301)(302)(303)(304)(305)(306) that have passed through the connecting part (310) and entered the driving part (200) toward the pulley (231).

[0263] Additionally, a shaft-shaped connecting part (310) is coupled to the first surface and the second surface opposite to it on the base plate (201), and a motor coupling part (251), a motor coupling part (252), a motor coupling part (253), and a motor coupling part (254) may be formed to which a motor (not shown) for driving the pulleys is coupled.

[0264] Here, each motor coupling and rotating shaft may be directly connected or indirectly connected through gears.

[0265] For example, the motor coupling part (251), which is the first driving motor coupling part, is directly coupled to the rotation axis (241), which is the first rotation axis of the driving part, so that when the motor coupling part (251) coupled to the first driving motor (not shown) rotates, the rotation axis (241) directly coupled thereto can rotate together. Similarly, the motor coupling part (252), which is the second driving motor coupling part, is directly coupled to the rotation axis (242), which is the second rotation axis of the driving part, so that when the motor coupling part (252) coupled to the second driving motor (not shown) rotates, the rotation axis (242) directly coupled thereto can rotate together.

[0266] As another example, the motor coupling part (253), which is a pitch drive motor coupling part, and the rotation axis (243), which is a drive pitch rotation axis, may be spaced apart to a certain degree when viewed on a plane perpendicular to the rotation axis (243). And these motor coupling part (253) and the rotation axis (243) may be connected by a gear (261) and a gear (262), which are pitch drive gears.

[0267] Likewise, the motor coupling part (254), which is the roll drive motor coupling part, and the rotation axis (244), which is the drive part roll rotation axis, may be spaced apart to a certain degree when viewed on a plane perpendicular to the rotation axis (244). And these motor coupling part (254) and the rotation axis (244) may be connected by a gear (263) and a gear (264), which are roll drive gears.

[0268] The reason some motor coupling parts are configured to be directly connected to the rotation axis and the remaining motor coupling parts to be indirectly connected to the rotation axis is that the connection position and direction between the surgical instrument (30) and the slave robot (20) must be considered. That is, the rotation axis that is not affected by the connection position with the slave robot (20) is directly connected to the motor coupling part, whereas the rotation axis that may cause interference with the connection position with the slave robot (20) can be indirectly connected to the motor coupling part.

[0269] Although the drawing shows that the motor coupling part (251) and the motor coupling part (252) are directly connected to the rotation axis, and the motor coupling part (253) and the motor coupling part (254) are indirectly connected through a gear, the embodiment of the present invention is not limited thereto, and various configurations are possible depending on the position and direction of connection with the slave robot (20).

[0270] Pulleys (211) and (212), which are first drive unit pulleys, can be coupled to the first drive unit rotation axis (241). Here, pulleys (211) and (212) can be formed to rotate together with the rotation axis (241).

[0271] Additionally, a rotation axis (245), which is a first auxiliary rotation axis of the drive unit, may be disposed in an area adjacent to the rotation axis (241). Pulleys (213) and (214), which are first auxiliary pulleys of the drive unit, may be coupled to this rotation axis (245). Here, pulleys (213) and (214) may be formed to be rotatable around the rotation axis (245).

[0272] In the drawing, the first set of pulleys of the driving unit is shown as being formed with two pulleys (211) and (212), with a wire (301) connected to one pulley (211) and a wire (305) connected to the other pulley (212). However, one embodiment of the present invention is not limited thereto, and the first set of pulleys of the driving unit may be formed as a single pulley, with both the wire (301) and the wire (305) connected to this single pulley.

[0273] As described above, the rotation shaft (241) is coupled to a first group drive motor (not shown) by a motor coupling part (251), and thus when the first group drive motor (not shown) rotates to drive the first group (101), the first group pulleys (211) and (212) rotate together with the rotation shaft (241), thereby pulling or releasing the first group wires (301) and (305).

[0274] Pulleys (221) and (222), which are second drive unit pulleys, can be coupled to the second drive unit rotation axis (242). Here, pulleys (221) and (222) can be formed to rotate together with the rotation axis (242).

[0275] Additionally, a rotation axis (246), which is a second auxiliary rotation axis of the drive unit, may be disposed in an area adjacent to the rotation axis (242). Pulleys (223) and (224), which are second auxiliary pulleys of the drive unit, may be coupled to this rotation axis (245). Here, pulleys (223) and (224) may be formed to be rotatable around the rotation axis (246).

[0276] In the drawing, the second pulley of the driving unit is shown as being formed with two pulleys (221) and (222), with a wire (302) connected to one pulley (221) and a wire (306) connected to the other pulley (222). However, one embodiment of the present invention is not limited thereto, and the second pulley of the driving unit may be formed as a single pulley, with both the wire (302) and the wire (306) connected to this single pulley.

[0277] As described above, the rotation shaft (242) is coupled to a second drive motor (not shown) by a motor coupling part (252), and thus when the second drive motor (not shown) rotates to drive the second group (102), the pulley (221) and pulley (222), which are the second drive pulleys, rotate together with the rotation shaft (242) and pulley (222), thereby pulling or releasing the wire (302) and wire (306), which are the second wires.

[0278] A pulley (231), which is a driving pitch pulley, can be coupled to a rotation axis (243), which is a driving pitch rotation axis. Here, the pulley (231) can be formed to rotate together with the rotation axis (243).

[0279] As described above, the rotation shaft (243) is coupled to a pitch drive motor (not shown) by a motor coupling part (253), and thus when the pitch drive motor (not shown) rotates for pitch operation, the pulley (231), which is a driving pitch pulley, rotates together with the rotation shaft (243) and pulls or releases the wire (303) and wire (304), which are pitch wires.

[0280] Meanwhile, the drive unit intermediate pulleys (215), (216), (217), (218), (225), (226), (227), and (228) can be formed to be rotatable around the rotation axis (243) by being inserted through the rotation axis (243). Here, the drive unit first intermediate pulleys (215), (216), (217), and (218) can be arranged on one side relative to the pitch pulley (231), and the drive unit second intermediate pulleys (225), (226), (227), and (228) can be arranged on the other side relative to the pulley (231).

[0281] Expressed from another perspective, the drive unit's second intermediate pulley (225) and pulley (226), the drive unit's second intermediate pulley (227) and pulley (228), the drive unit's pitch pulley (231), the drive unit's first intermediate pulley (217) and pulley (218), and the drive unit's first intermediate pulley (215) and pulley (216) can be formed by stacking them in order on the rotation axis (243).

[0282] Additionally, a pitch-yaw connector (232) may be coupled to the rotation axis (243). The pitch-yaw connector (232) rigidly connects the drive unit pitch pulley (231) and the drive unit satellite pulleys (219), pulley (220), pulley (229), and pulley (230), so that when the pulley (231) rotates, the drive unit satellite pulleys revolve around the rotation axis (243). This will be explained in more detail later.

[0283] Here, the pitch-yaw connector (232) can be formed to rotate together with the rotation axis (243). That is, the pulley (231) and the pitch-yaw connector (232) can be coupled with the rotation axis (243) and rotate together with the rotation axis (243).

[0284] Here, the pitch-yaw connector (232) may be described as being formed in a roughly Y shape as shown in FIG. 17, or as being formed in a shape in which at least two extensions (232a) (232b) extend from the center. And at each end of these extensions (232a) (232b), a first set of satellite pulley center axis (233) and a second set of satellite pulley center axis (234) may be formed.

[0285] Additionally, the first set of satellite pulleys of the drive unit, pulley (219) and pulley (220), are coupled to the first set of satellite pulleys of the drive unit, and the second set of satellite pulleys of the drive unit, pulley (229) and pulley (230), are coupled to the second set of satellite pulleys of the drive unit, pulley (230).

[0286] Consequently, when the drive unit pitch pulley (231) rotates together with the rotation axis (243), the drive unit satellite pulleys (219), pulley (220), pulley (229), and pulley (230) revolve around the rotation axis (243). In other words, it can also be expressed that the drive unit first satellite pulley center axis (233) and the drive unit second satellite pulley center axis (234) are spaced apart from the rotation axis (243) to a certain degree, while the drive unit first satellite pulley center axis (233) and the drive unit second satellite pulley center axis (234) maintain a certain distance from the rotation axis (243) and rotate around the rotation axis (243).

[0287] That is, the drive unit satellite pulley is formed to be movable relative to the drive unit intermediate pulley and the rotation axis (243), so that the relative position of the drive unit satellite pulley with respect to the drive unit intermediate pulley and the rotation axis (243) can change. On the other hand, the relative position of the drive unit pitch pulley and the drive unit intermediate pulley is maintained constant.

[0288] And, when the drive unit pitch pulley (231) rotates around the rotation axis (243), the drive unit satellite pulleys (219), pulley (220), pulley (229), and pulley (230) move relative to the drive unit pitch pulley (231), and the total length of the jaw wires (301), wire (302), wire (305), and wire (306) within the drive unit (200) changes.

[0289] The first wire (301) is connected to the end tool (100) via the connecting part (310) after being wound sequentially so as to make contact with at least a portion of the pulleys (211), pulley (213), pulley (215), pulley (219), and pulley (217), with one end connected to the pulley (211) by the first wire-drive part connecting member (not shown).

[0290] Expressed from another perspective, the wire (301), which is the first wire, passes through the first drive unit pulley (211), the first drive unit auxiliary pulley (213), the first drive unit first intermediate pulley (215), the first drive unit satellite pulley (219), and the first drive unit second intermediate pulley (217) in sequence, and then is connected to the end tool (100) via the connecting part (310).

[0291] Expressed from another perspective, the first wire (301) passes through the end tool (100) and the connecting part (310) and enters the driving part (200), then is wound sequentially around the pulley (217), pulley (219), pulley (215), and pulley (213), and is then fixedly connected to the first pulley of the driving part, the pulley (211).

[0292] Meanwhile, the first wire (305) is connected to the pulley (212) at one end by a first wire-drive member (not shown), and is then wound sequentially so as to come into contact with at least a portion of the pulleys (212), pulley (214), pulley (216), pulley (220), and pulley (218), and then connected to the end tool (100) via the connecting part (310).

[0293] The second wire (302) is connected to the end tool (100) via the connecting part (310) after being wound sequentially so as to make contact with at least a portion of the pulleys (221), pulley (223), pulley (225), pulley (229), and pulley (227), with one end connected to the pulley (221) by the second wire-drive part connecting member (not shown).

[0294] Meanwhile, the second wire (306) is connected to the end tool (100) via the connecting part (310) after being wound sequentially so that at least a portion of it comes into contact with the pulley (222), pulley (224), pulley (226), pulley (230), and pulley (228), with one end connected to the pulley (222) by the second wire-drive part connecting member (not shown).

[0295] FIGS. 22a to 23c are drawings illustrating the pitch movement of a surgical instrument illustrated in FIG. 11. Here, for convenience of explanation, FIGS. 22a and 23a only show the pulley and wire associated with the first set of rotation, and FIGS. 22b and 23b only show the pulley and wire associated with the second set of rotation. FIGS. 22c and 23c illustrate the pitch movement of an end tool according to the pitch movement of a driving unit.

[0296] Here, a surgical instrument (30) according to one embodiment of the present invention is characterized in that when a drive unit satellite pulley moves relative to a drive unit intermediate pulley, the total length of the jaw wire within the drive unit (200) is changed, thereby performing a pitch operation of the end tool (100). In particular, a surgical instrument (30) according to one embodiment of the present invention is characterized in that when a drive unit pitch pulley rotates, the drive unit satellite pulley revolves around the (common) axis of rotation of the drive unit intermediate pulley and the drive unit pitch pulley, thereby changing the path length of the jaw wire wound on the drive unit intermediate pulley, so that a pitch operation of the end tool is performed.

[0297] Specifically, if separate motion compensation for pitch movement is not provided in the drive unit, the pitch movement itself cannot be performed in the end tool.

[0298] Meanwhile, for a pitch operation to be performed at the end tool, the wire (301) and the wire (305) are connected to the pulley (113) ΔS pitch It is wound more by that amount, and the wire (302) and wire (306) are wound ΔS at the pulley (114). pitch It must be loosened by that amount. However, if such compensation is not provided in the drive unit, the pitch operation itself cannot be performed at the end tool.

[0299] In order to compensate for the movement for pitching motion as described above, a surgical instrument (30) according to one embodiment of the present invention is characterized in that, while the driving pitch pulley rotates and the driving satellite pulleys revolve simultaneously, the jaw wires are wound onto or unwound from the driving intermediate pulley, thereby compensating for the movement of the jaw wires caused by the rotation of the driving pitch pulley.

[0300] In other words, when the drive unit pitch pulley (231) rotates together with the rotation axis (243), the drive unit satellite pulleys revolve around the rotation axis (243). And as the drive unit satellite pulleys revolve around the rotation axis (243), the length of the jaw wire wound on the drive unit intermediate pulley changes. That is, the jaw wire wound on the end tool (100) side by the rotation of the pulley (231) is unwound by the same amount on the drive unit (200) side, and the jaw wire unwound on the end tool (100) side is wound by the same amount on the drive unit (200) side, thereby ensuring that the pitch operation does not affect the yaw operation.

[0301] To express this from another perspective, when the end tool performs a pitch motion by the rotation of the driving unit pitch pulley, the jaw wire (responsible for yaw and actuation motions) also moves by the pitch motion. That is, as pitch rotation is performed around the rotation axis (143) of the end tool (100), the two strands of the jaw wire connected to one jaw are pulled, and the two strands connected to the other jaw are released. Therefore, to compensate for this movement of the jaw wire, the present invention may be described as compensating for the movement of the jaw wire during the pitch motion of the end tool by, when the pitch motion of the end tool is performed, the driving unit satellite pulley moves relative to the driving unit intermediate pulley, thereby changing the total length of the jaw wire within the driving unit, and releasing (or pulling) the jaw wire from the driving unit side by the amount that the jaw wire was pulled (or released) from the end tool side.

[0302] Below, we will explain the pitch motion in more detail.

[0303] For pitch operation, when the drive pitch pulley (231) rotates in the direction of arrow A1 (i.e., clockwise in the drawing), the pitch-yaw connector (see 232 in FIG. 15) rotates together with the pulley (231) in the direction of arrow A1, and accordingly, the drive satellite pulleys (219) and (220), which are fixedly coupled to the pitch-yaw connector (see 232 in FIG. 15), revolve by θ in the direction of A2 in FIG. 23a (i.e., clockwise in the drawing) around the rotation axis (243). That is, when the pulley (231) rotates, the pulley (219) and the pulley (220) rotate by θ from the position P1 in FIG. 22a to the position P2 in FIG. 23a. Expressed from another perspective, this can be described as the drive satellite pulley moving in conjunction with the drive pitch pulley when the drive pitch pulley rotates.

[0304] At the same time, when the drive pitch pulley (231) rotates in the direction of arrow A1 (i.e., clockwise in the drawing), the pitch-yaw connector (see 232 in FIG. 15) rotates together with the pulley (231) in the direction of arrow A1, and accordingly, the drive satellite pulleys (229) and pulley (230), which are fixedly coupled to the pitch-yaw connector (see 232 in FIG. 15), revolve by θ in the direction of A3 in FIG. 23b (i.e. clockwise in the drawing) around the rotation axis (243). That is, when the pulley (231) rotates, the pulley (229) and pulley (230) rotate by θ from the position P3 in FIG. 22b to the position P4 in FIG. 23b. Expressed from another perspective, this can be described as the drive satellite pulley moving in conjunction with the drive pitch pulley when the drive pitch pulley rotates.

[0305] Meanwhile, at this time, the positions of the drive unit intermediate pulleys (215), (216), (217), (218), (225), (226), (227), and (228) coupled to the rotation shaft (243) do not change. That is, the relative positions of the drive unit jaw pulley (211), the drive unit pitch pulley (231), and the drive unit intermediate pulleys (215), (216), (217), and (218) are maintained constant. Likewise, the relative positions of the drive unit jaw pulley (221), the drive unit pitch pulley (231), and the drive unit intermediate pulleys (225), (226), (227), and (228) are maintained constant.

[0306] And as the drive unit satellite pulley revolves in this manner, the relative position of the drive unit satellite pulley with respect to the drive unit intermediate pulley changes, and accordingly, the length of each wire wound on the drive unit intermediate pulley, i.e., the path length, changes. Here, the drive unit intermediate pulley includes the first intermediate pulley of the first drive unit (215) and the second intermediate pulley of the first drive unit (217), and thus the path length also refers to the sum of the length of the wire (301) wound on the pulley (215) and the length of the wire (301) wound on the pulley (217). (Or the length of the wire (305) wound on the pulley (216) and the length of the wire (305) wound on the pulley (218).)

[0307] That is, compared to the path length L1 of the first wire (301) and wire (305) being wound on the drive unit intermediate pulley at the position of FIG. 22a, the path length L2 of the first wire being wound on the drive unit intermediate pulley at the position of FIG. 23 (a) becomes shorter, and the first wire is further unwound on the drive unit (200) side by the amount of the path length shortened (L1 - L2). That is, the total length of the first wire (301) and wire (305) within the drive unit (200) is shortened. And, as the total length of the first wire within the drive unit (200) is shortened in this way and the first wire is unwound, the total length of the first wire within the end tool (100) becomes longer.

[0308] In contrast, when the pulley (231), which is the driving unit pitch pulley, rotates in the direction of arrow A1, the path length L4, which is the path length of the second wire (302) and wire (306) that are wound around the driving unit intermediate pulley at the position of FIG. 23b, becomes longer than the path length L3, which is the path length of the second wire (302) and wire (306) that are wound around the driving unit intermediate pulley at the position of FIG. 22b, and the driving unit (200) pulls the second wire further by the amount of the path length increased (L4-L3). That is, the total length of the second wire (302) and wire (306) within the driving unit (200) is increased. And, as the total length of the second wire within the driving unit (200) increases in this way and the second wire is pulled, the total length of the second wire within the end tool (100) becomes shorter.

[0309] In this way, for pitch operation, when the pulley (231), which is the driving pitch pulley, rotates in the direction of arrow A1, the driving satellite pulley moves relative to the driving pitch pulley and the driving intermediate pulley, and its relative position changes. Then, due to the relative movement of the driving satellite pulley, the total length of the first jaw wire within the driving unit (200) is shortened, and the total length of the first jaw wire within the end tool (100) is lengthened. At the same time, due to the relative movement of the driving satellite pulley, the total length of the second jaw wire within the driving unit (200) is lengthened, and the total length of the second jaw wire within the end tool (100) is shortened.

[0310] Consequently, when viewed from the end tool (100), if the pulley (231), which is the driving pitch pulley, rotates in the direction of arrow A1, the two strands of the first wire, wire (301) and wire (305), are unwound, and the two strands of the second wire, wire (302) and wire (306), are pulled, so that the end tool (100) moves in a pitch motion in the direction of arrow A4 around the axis of rotation (143).

[0311] Here, the path length can be defined as the length of the jaw wire from the entry point into the first intermediate pulley of the drive unit, through the satellite pulley of the drive unit, to the exit point from the second intermediate pulley of the drive unit. That is, the path length can be defined as the length of the jaw wire from the point where the jaw wire (301) enters the pulley (215) of the first intermediate pulley of the drive unit, through the pulley (219) of the satellite pulley of the drive unit, to the point where it exits the pulley (217) of the second intermediate pulley of the drive unit.

[0312] Expressed from another perspective, the path length can be defined as the length of the jaw wire from the point where the jaw wire first contacts the drive unit intermediate pulley to the point where the jaw wire last contacts the drive unit intermediate pulley on the arrangement path of the jaw wire connecting the end tool jaw pulley and the drive unit jaw pulley. That is, the path length can also be defined as the length of the jaw wire from the point where the jaw wire (301) first contacts the drive unit first intermediate pulley pulley (215) to the point where it last contacts the drive unit second intermediate pulley pulley (217).

[0313] Meanwhile, as the drive unit satellite pulley moves relative to the drive unit intermediate pulley and the path length described above changes, the total length of the jaw wire within the drive unit (200) also changes. Additionally, as the total length of the jaw wire within the drive unit (200) changes, the total length of the jaw wire within the end tool (100) also changes. However, since the total length of the jaw wire within the end tool (100) decreases (or increases) as the total length of the jaw wire within the drive unit (200) increases (or decreases), the total length of the jaw wire does not change (assuming that elastic deformation, etc. is not taken into account).

[0314] Consequently, when the driving unit pitch pulley rotates, the wire (301) / wire (305), which is the first wire, is pulled on the end tool (100) side, and the wire (301) / wire (305), which is the first wire, is unwound on the driving unit (200) side as much as the wire (301) / wire (305), which is the first wire, is pulled, and as a result, pitch movement becomes possible.

[0315] Meanwhile, as described above, the end tool (100) of the surgical instrument (30) of the present invention may further comprise a pulley (131) which is an end tool pitch pulley, the driving unit (200) may further comprise a pulley (231) which is a driving unit pitch pulley, and the power transmission unit (300) may further comprise a wire (303) and a wire (304) which are pitch wires.

[0316] Accordingly, when the pulley (231), which is the driving pitch pulley, rotates in the direction of arrow A1, the wire (304) is wound around the pulley (231) and the wire (303) is unwound from the pulley (231) according to the rotation of the pulley (231). Accordingly, the pulley (131), which is the end tool pitch pulley connected to the opposite side of the wire (303) and the wire (304), rotates in the direction of arrow A2 around the rotation axis (143), thereby allowing the pitch operation to be performed more reliably and surely.

[0317] Here, among the pulleys rotating around the rotation axis (143) which is the end tool pitch rotation axis, the end tool pitch pulley (131) which contacts the pitch wire (303) and wire (304), and the end tool jaw pitch main pulleys (113), pulley (114), pulley (123), and pulley (124) which contact the jaw wire (301), wire (305), wire (302), and wire (306) may have different diameters.

[0318] In this case, when the rotation axis (143) rotates, the length of the wire wound or unwound on each pulley is different from each other. For example, if the diameter of the end tool pitch pulley is 6φ and the diameter of the end tool jaw pitch main pulley is 4φ and the rotation axis (143) rotates 90°, the length of the pitch wire wound on the end tool pitch pulley is 1.5π, while the length of the jaw wire wound on the end tool jaw pitch main pulley may be 1π.

[0319] From this perspective, the 'length' of a wire being wound or unwound from a pulley can be defined as 'amount of rotation'. This amount of rotation is a concept different from the angle of rotation and can be calculated as (diameter * angle of rotation / 360° * π).

[0320] In this case, since the drive pitch pulley (231) and the end tool pitch pulley (131) are basically directly connected by the pitch wire (303) and wire (304), the amount of rotation of the drive pitch pulley and the end tool pitch pulley is the same. That is, the pitch wire is unwound or wound at the end tool pitch pulley by the same amount that the pitch wire is wound or unwound at the drive pitch pulley.

[0321] Meanwhile, (diameter of end tool pitch pulley : diameter of end tool jaw pitch main pulley) = (amount of rotation of wire wound on end tool pitch pulley : amount of rotation of wire wound on end tool jaw pitch main pulley).

[0322] In this way, if the length of the pitch wire wound on the end tool pitch pulley and the length of the jaw wire wound on the end tool jaw pitch main pulley are different in the end tool (100), the length of the pitch wire unwound and the length of the jaw wire unwound in the drive unit (200) must also be different from each other at the same ratio.

[0323] To this end, the relationship (diameter of end tool pitch pulley : diameter of end tool jaw pitch main pulley) = (diameter of driving part pitch pulley : diameter of driving part intermediate pulley) can be established.

[0324] For example, if the ratio of (diameter of the end tool pitch pulley:diameter of the end tool jaw pitch main pulley) is 6:4, the ratio of (diameter of the driving pitch pulley:diameter of the driving intermediate pulley) can also be 11:4. Based on this ratio, the diameter of the driving pitch pulley can be 9φ and the diameter of the driving intermediate pulley can be 6φ.

[0325] However, here, the drive unit intermediate pulley may include two (or more) pulleys, namely the drive unit first intermediate pulley and the drive unit second intermediate pulley. And, the sum of the diameters of the drive unit first intermediate pulley and the drive unit second intermediate pulley can be defined as the diameter of the drive unit intermediate pulley.

[0326] For example, when the diameter of the drive unit intermediate pulley is 6φ, the possible cases for (diameter of the first drive unit intermediate pulley, diameter of the second drive unit intermediate pulley) are (1φ, 5φ), (2φ, 4φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Here, the drawing shows that the diameter of the first drive unit intermediate pulley (215) is 4φ and the diameter of the second drive unit intermediate pulley (217) is 2φ.

[0327] And, it can be expressed that (rotation amount of the first intermediate pulley of the drive unit + rotation amount of the second intermediate pulley of the drive unit) is proportional to the rotation amount of the pitch pulley of the drive unit.

[0328] However, even if the ratio of (diameter of the end tool pitch pulley:diameter of the end tool jaw pitch main pulley) does not exactly match the ratio of (diameter of the driving unit pitch pulley:diameter of the driving unit intermediate pulley), if the diameters of the pulleys are selected such that the ratios are similar, the objective of the present invention of compensating for the movement of the jaw wire due to the rotation of the driving unit pitch pulley can be realized to a certain extent.

[0329] The final pitch motion process is explained once again as follows.

[0330] The following description uses an example where the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, the diameter of the driving part pitch pulley is 9φ, and the diameter of the driving part intermediate pulley is 6φ.

[0331] First, for pitch operation, the pulley (231), which is the pitch pulley of the drive unit (200), rotates 60° to wind the pitch wire (304) while simultaneously unwinding the wire (303). At this time, the length of the wire (303) and the wire (304) being wound and unwound is 1.5π.

[0332] Accordingly, in the end tool (100), the wire (304) is pulled by 1.5π and the wire (303) is unwound by 1.5π, and the pulley (131), which is the end tool pitch pulley, rotates by 90° corresponding to 1.5π.

[0333] Meanwhile, when the pulley (131) pitches around the axis of rotation (143), the jaws (101)(102) and the pulleys (111) / pulleys (112) also pitch around the axis of rotation (143). Accordingly, the first jaw wire, wire (301) and wire (305), which are connected to the pulley (111), are both pulled, and the second jaw wire, wire (302) and wire (306), which are connected to the pulley (121), are both unwound. At this time, the angle of rotation of the end tool pitch pulley and the end tool jaw pitch main pulley is the same at 90°, and therefore the length of the jaw wires being wound or unwound from the end tool jaw pitch main pulley is 1π.

[0334] Meanwhile, since the pulley (231) and the pulley (219) / pulley (220) are rigidly connected by a pitch-yaw connector (232), when the pulley (231) rotates 60° around the axis of rotation (243), the pulley (219) / pulley (220) revolves 60° around the axis of rotation (243).

[0335] And, as the pulley (219) / pulley (220) revolves in this manner, the jaw wire is wound or unwound by 1π, which corresponds to the revolvement angle of 60°, on the pulley (215) and pulley (216), whose diameters are 6φ. That is, the first jaw wire, wire wire (301) and wire (305), is unwound entirely, and the second jaw wire, wire wire (302) and wire (306), is pulled entirely.

[0336] In other words, the total path length of the wire (301) and wire (305) being wound onto the first intermediate pulley of the drive unit, pulley (215), pulley (216), pulley (217), and pulley (218), is reduced, and the wire (301) and wire (305) are unwound by the reduced path length. Then, the total path length of the wire (302) and wire (306) being wound onto the second intermediate pulley of the drive unit, pulley (225), pulley (226), pulley (227), and pulley (228), is increased, and the wire (302) and wire (306) are pulled by the increased path length.

[0337] That is, the first jaw wires, wire (301) and wire (305), are unwound from the drive unit (200) side by the amount pulled from the end tool (100), thereby compensating for the movement of the jaw wires according to the pitch operation. Similarly, the second jaw wires, wire (302) and wire (306), are unwound from the drive unit (200) side by the amount pulled from the end tool (100), thereby compensating for the movement of the jaw wires according to the pitch operation.

[0338] As a result, the jaw wires on the drive unit (200) side are unwound (or pulled) by the same length as the length on the end tool (100) side where the jaw wires are wound (or unwound) according to the pitch motion, thereby allowing the pitch motion to be performed independently without affecting the rotation of the jaw in the yaw axis direction.

[0339] That is, by rigidly connecting the driving pitch pulley and the driving satellite pulley, when the driving pitch pulley rotates around the rotation axis (243), the driving satellite pulley revolves around the rotation axis (243), thereby changing the path length of the jaw wire wound on the driving intermediate pulley. And this change in the path length of the jaw wire compensates for the movement of the jaw wires on the end tool side according to the pitch operation, thereby enabling the pitch operation to be performed independently.

[0340] FIGS. 24a to 25b are drawings illustrating the operation of the surgical instrument shown in FIG. 11.

[0341] Referring to FIGS. 20, 21, 24a to 25b, etc., when the pulley (211), which is the first set pulley of the driving unit for the yaw operation, rotates in the direction of arrow A3, the wire (301) and wire (305), which are the first set wires, are wound on one side of the pulley (211) and unwound from the pulley (211) as the pulley (211) rotates on the other side of the pulley (211). Accordingly, the pulley (111), which is the first set pulley of the end tool connected to the opposite side of the wire (301) and wire (305), rotates in the direction of arrow A4, and the yaw operation is performed.

[0342] At this time, the drive unit satellite pulleys pulleys (219), pulley (220), pulley (229), and pulley (230), and the drive unit intermediate pulleys pulleys (215), pulley (216), pulley (217), pulley (218), pulley (225), pulley (226), pulley (227), and pulley (228) do not change their positions, and only the operation of the wire (301) and wire (305) being wound or unwound on the drive unit satellite pulleys and drive unit intermediate pulleys occurs.

[0343] Accordingly, the drive unit pitch pulley, which is rigidly connected to the drive unit satellite pulley, does not rotate, and the pitch wires (303) and (304) also maintain their positions without being wound or unwound.

[0344] Likewise, when the pulley (221), which is the second set pulley of the drive unit, rotates for the yaw operation, the wire (302) and wire (306), which are the second set wires, are wound onto the pulley (221) on one side and unwound from the pulley (221) on the other side as the pulley (221) rotates. Accordingly, the pulley (121), which is the second set pulley of the end tool connected to the opposite side of the wire (302) and wire (306), rotates in one direction, thereby performing the yaw operation.

[0345] At this time, the drive unit satellite pulleys pulleys (219), pulley (220), pulley (229), and pulley (230), and the drive unit intermediate pulleys pulleys (215), pulley (216), pulley (217), pulley (218), pulley (225), pulley (226), pulley (227), and pulley (228) do not change their positions, and only the operation of the wire (302) and wire (306) being wound or unwound on the drive unit satellite pulleys and drive unit intermediate pulleys occurs.

[0346] Accordingly, the drive unit pitch pulley, which is rigidly connected to the drive unit satellite pulley, does not rotate, and the pitch wires (303) and (304) also maintain their positions without being wound or unwound.

[0347] Consequently, even if the pulley (211) or pulley (221), which is the driving unit jaw pulley, rotates for a yaw motion or actuation motion, the total length of the wire (301), wire (302), wire (305), and wire (306), which is the jaw wire, within the driving unit (200) remains constant.

[0348] In this way, the surgical instrument (30) according to one embodiment of the present invention can obtain the effect of separating pitch motion and yaw motion by changing the path length of the jaw wire wound on the driving intermediate pulley as the driving pitch pulley rotates and the driving satellite pulley revolves around the rotation axis of the driving pitch pulley, thereby causing the jaw wire to be wound or unwound in correspondence with the rotation of the driving pitch pulley, thereby offsetting or compensating for the movement of the jaw wire due to pitch driving.

[0349] However, as described above, the pitch motion and the yaw motion are not limited to being mechanically separated, and can be independently separated by the processor of the present invention according to one embodiment, allowing for operation for each of the pitch motion and the yaw motion.

[0351] Improvement of gripping force and precision of surgical instruments

[0352] As a non-limiting example, the operation process of a surgical robot system—specifically, the process of manipulating a surgical robot equipped with surgical instruments through a master device including a user input unit—is described in more detail as follows.

[0353] First, when a user initiates control of the surgical robot and operates the master device, the master device may, for example, generate posture information from the user input section and transmit it to the surgical robot. The surgical robot may generate target control information for at least one actuation element included in the surgical robot through the received posture information. For example, if the surgical robot generates a target joint angle for at least one joint among a plurality of actuation elements equipped in the surgical robot, the surgical robot may perform actuation on the corresponding joint at the target joint angle. Here, the target joint angle may include a joint angle for changing the position of a surgical instrument by moving the robot arm of the surgical robot, and a joint angle for moving the end tool of the surgical instrument by driving the actuation section of the surgical instrument mounted on the surgical robot.

[0354] However, it should be noted that this is merely illustrative, and each procedure, such as the generation of posture information based on the state of the user input unit and the generation of target control information corresponding to the posture information, may be performed by any processor included in the surgical robot system, and the technical concept of the present invention is not limited to specific procedures being performed by a processor equipped in a specific configuration, such as the processor of the surgical robot or the processor of the master device.

[0355] Here, in the case of control to move the end tool of a surgical instrument by driving the drive unit of a surgical instrument mounted on a surgical robot, since the end tool must be inserted into the abdominal cavity, there is a certain distance between the end tool interacting within the abdominal cavity and the drive unit capable of transmitting power. In this situation, as one method for transmitting power, a method of connecting the drive unit and the end tool with a power transmission member, such as a wire or cable, can be considered. That is, when the drive motor of the joint mounted on the surgical robot is driven, the power of the drive motor is transmitted to the drive unit of the surgical instrument, and a power transmission element, such as a wire or cable connected to the drive unit, transmits power, so that the end tool of the surgical instrument can be driven in the sequence in which the end tool moves.

[0356] In this regard, FIG. 26 is a perspective view showing a surgical instrument according to one aspect of the present invention, FIG. 27 is a first-directional perspective view of an instrument carriage for mounting the surgical instrument according to one aspect of the present invention on a robotic arm, and FIG. 28 is a second-directional perspective view of the instrument carriage of FIG. 27. Additionally, FIG. 29 exemplarily illustrates an end tool driven to a reference position according to one aspect. Hereinafter, with reference to FIG. 26 to FIG. 29, a driving procedure for an end tool of an exemplary surgical instrument will be described in a non-limiting but more detailed manner.

[0357] As illustrated in FIG. 26 or FIG. 29, a surgical instrument (2600) according to one aspect of the present invention may include a shaft (2610) having a first stage (2610d) and a second stage (2610p), an end tool (2620) connected to the first stage (2610d) of the shaft and having a first jaw (2621) and a second jaw (2623), a drive unit (2630) connected to the second stage (2610p) of the shaft, and at least one power transmission element (2640) for transmitting power from the drive unit to the end tool.

[0358] More specifically, although not limited to, since the end tool (2620) for performing work on the affected area must be inserted into the patient's abdominal cavity, the surgical instrument (2600) according to one aspect may be provided with a shaft (2610) having a predetermined length such that the end tool (2620) is positioned at one end (2610d) of the shaft and a driving unit (2630) for driving the end tool is positioned at the other end (2610p) of the shaft. Here, for example, the one end (2610d) of the shaft may be referred to as the distal end and the other end (2610p) of the shaft may be referred to as the proximal end, but is not limited thereto.

[0359] Accordingly, since the end tool (2620) that interacts with the affected area within the abdominal cavity and the drive unit (2630) capable of transmitting power are separated by a certain distance, the power of the drive unit (2630) can be transmitted to the end tool (2620) based on at least one power transmission element (2640), such as a wire or cable, for example. As a non-limiting example, the at least one power transmission element may be a wire connecting at least one spindle pulley included in the drive unit (2630) and at least one pulley included in the end tool (2620). For example, the first end of the wire may be configured to be wound around the rotation axis (2625) of the end tool as shown in FIG. 29, and the second end of the wire may be configured to be wound around the spindle pulley provided in the drive unit (2630). Accordingly, in response to the rotation of the spindle pulley of the drive unit (2630), the rotation axis (2625) of the end tool rotates so that the angle of at least one of the first set (2621) or the second set (2623) of the end tool is controlled, or the first set (2621) or the second set (2623) can be controlled to rotate as a single unit along the end tool pitch axis. For example, at least one power transmission element may include, but is not limited to, a first power transmission element for transmitting power of the first spindle pulley included in the drive unit to the first set (2621) and a second power transmission element for transmitting power of the second spindle pulley included in the drive unit to the second set (2623).

[0360] Additionally, for example, the first spindle pulley may include a first driven pulley (2631a) as shown in FIG. 26, and the second spindle pulley may include a second driven pulley (2631b). As described below with reference to FIG. 27 and 28, at least one driven pulley (2631a, 2631b) provided in the driving unit (2630) may be configured to rotate in conjunction with the rotation of at least one driving pulley (2731a, 2731b) provided in the mechanism carriage (2700) for mounting the driving unit (2630), but is not limited thereto.

[0361] In this regard, FIG. 27 is a first perspective view of an instrument carriage for mounting a surgical instrument according to one aspect of the present invention onto a robot arm, and FIG. 28 is a second perspective view of the instrument carriage of FIG. 27. The driving part (2630) of the surgical instrument (2600) according to the aforementioned aspect may be mounted on the receiving part (2710) of the instrument carriage (2710) as shown in FIG. 27 or FIG. 28.

[0362] Here, the instrument carriage (2710) may be configured to move along a movement path provided on at least one link provided on the robotic arm of the surgical robot, such as a slide link, for example, to change the position of the surgical instrument, but is not limited thereto. Additionally, the instrument carriage (2710) may be provided with at least one drive motor (not shown), for example, to rotate at least one drive pulley (2731a, 2731b) disposed on the drive mounting surface of the instrument carriage (2710). In this regard, the instrument carriage (2710) may be referred to as a 'motor pack', but is not limited thereto.

[0363] According to one aspect, after the driving unit (2630) of the surgical instrument is attached to the instrument carriage (2710), at least one driven pulley (2631a, 2631b) provided in the driving unit and at least one driving pulley (2731a, 2731b) that is rotatably linked to the driving motor provided in the instrument carriage (2710) may be attached, respectively. Thus, when at least one motor provided in the instrument carriage (2710) is operated, at least one driving pulley rotates, and accordingly, at least one driven pulley provided in the driving unit (2630) rotates, so that a spindle on which a power transmission element, such as a wire, is wound can rotate. Thus, the operation of the end tool (2620) can be controlled by rotating at least one pulley (e.g., a pulley rotatably linked to the rotation axis (2625)) on which the opposite end of the power transmission element is wound.

[0365] As described above, in a structure that transmits power from a drive unit to an end tool through a power transmission element, it is required that a certain amount of tension be applied to the power transmission element in order to effectively transmit power from the drive unit to the end tool with minimal loss. However, due to prolonged or repetitive use of the surgical instrument, the drive unit is driven multiple times, and the tension of the power transmission element between the end tool and the drive unit may decrease due to various factors, such as friction. When the tension of the power transmission element decreases in this way, the surgical instrument cannot be effectively controlled.

[0366] Although not limited to this, the problem of reduced control precision due to such tension reduction is particularly pronounced in the gripping motion in which a target object is to be grasped through the first and second sets provided in the end tool. The ultimate goal of gripping a target object through the end tool may be for the end tool to continuously provide a specific level of gripping force. However, as mentioned above, if the tension of a power transmission element, such as a cable or wire, is reduced and the power transmission element becomes loose, the correlation between the driving torque of the drive motor provided in the drive unit and the gripping force of the end tool may vary from the reference state. That is, the gripping force of the end tool secured for the same driving torque of the drive motor may be reduced compared to the case where the tension of the power transmission element is not reduced. This is because the power generated by the drive motor and transmitted to the end tool through the drive unit is not used solely to provide the gripping force of the end tool, but is also partially used to tighten the loosened power transmission element.

[0367] Since the power transmission state is maintained even if the tension of the power transmission element decreases, a relational equation reflecting the correlation between the driving torque of the drive motor and the gripping force of the end tool may exist. However, the specific relational equation must change each time depending on the degree to which the power transmission element has loosened. Therefore, ideally, a method could be considered in which the gripping force output to the end tool or the tension of the power transmission element is measured using a sensor, and additional driving torque is provided by the drive motor if the measured value does not reach a certain level. However, this can drastically increase the complexity of the surgical instrument design, such as the need to place the sensor in the confined space of the surgical instrument and implement a separate circuit for acquiring sensor data. Furthermore, considering that surgical instruments must be discarded due to infection or durability issues after a certain number of uses, attaching sensors to the end tool or power transmission element may not be economically efficient.

[0368] On the other hand, if a sensor related to force measurement is not used, the gripping force of the end tool may not be set as the control target, but rather a negative angle for gripping may be set as the control target. For example, the negative angle for gripping may be set as the angle providing the gripping force. In other words, the gripping force by a pair of jaws of the end tool may be considered as a target joint angle rather than a force. Here, the control target angle between the first jaw and the second jaw having a negative value may mean the angle formed by the first jaw and the second jaw when they are far apart from each other, past the state where they are in contact with each other.

[0369] In this regard, FIG. 31 illustrates an exemplary control target angle having a negative value for the first and second sets of the end tool. For example, let us assume a case where the angle between the first set (2621) and the second set (2623) of the end tool is set to -60 degrees. As illustrated in FIG. 31, for example, the first set (2621r) in a reference state where the first set (2621) and the second set (2623) are in contact with each other and the angle between them is 0 degrees can pass the position of the second set (2623r) in a reference state and aim for the first set (2621) state of the control target position. Similarly, the second set (2623r) in a reference state can pass the position of the first set (2621r) in a reference state and aim for the second set (2623) state of the control target position. In this target state, the control target angle (3110) between the first group (2621) and the second group (2623) can have a negative value, for example, -60 degrees.

[0370] In actual physical terms, the first and second sets cannot come into contact with each other, so the angle between the first and second sets cannot become smaller than the reference state of 0 degrees; however, the drive motor will provide additional drive torque to control the angle between the first and second sets to reach -60 degrees. Consequently, since the additional drive torque can be an additional gripping force applied to the end tool, there can be a correlation in which the gripping force provided by the end tool increases as the absolute value of the reference angle for the gripping force according to the control target angle between the first and second sets increases.

[0371] However, merely adopting a control method that sets the gripping force reference angle in this manner cannot guarantee the precision of gripping force control when the tension of the power transmission element is reduced. This is because, as in the situation mentioned earlier, the power of the drive unit is not only used to provide the gripping force of the end tool, but also partially used to tighten the loosened power transmission element. If the absolute value of the gripping force reference angle is made very large to prevent this in advance, the likelihood of problems occurring, such as the power transmission element, like a cable, breaking due to excessive tension or organ damage due to excessive gripping force, increases.

[0373] A method for controlling a surgical instrument according to one aspect of the present invention is intended to solve such problems, and according to the method according to one aspect, even when the tension of a power transmission element (2640) provided in the surgical instrument to transmit power of a driving unit (2630) to an end tool (2620) is reduced compared to a reference state, such as at the time of production completion or at the time of first use, the gripping force of the end tool can be maintained within a predetermined reference range.

[0374] For example, a method according to one embodiment controls the gripping force of an end tool by causing a pair of jaws provided in a surgical instrument to have a target control angle having a negative value, such that they move away from each other and move apart, thereby enabling control of the gripping force of the end tool without providing a separate force sensor.

[0375] In addition, by monitoring the torque value of the drive motor for driving the end tool while gradually decreasing the target control angle having a negative value of a pair of jaws, the target control angle at the point when the torque value of the drive motor reaches a predetermined threshold can be determined as the gripping target angle for the end tool to grip the target object.

[0376] Therefore, even if the tension of the power transmission element equipped in the surgical instrument decreases and becomes loose, the target gripping angle can be determined by reflecting this, thereby maintaining the gripping force of the end tool within a predetermined error range. Furthermore, even in cases where the driving torque is not directly transmitted to the gripping force due to the mechanical structure of the surgical instrument, it is possible to control the instrument to achieve a desired gripping force range for the end tool by reflecting this specific structure.

[0377] Hereinafter, a method for controlling a surgical instrument of a surgical robot system, including various aspects of the present description including such exemplary embodiments, will be described in a non-limiting but more specific manner.

[0379] FIG. 36 is a schematic flowchart of a method for controlling a surgical instrument according to one embodiment of the present invention, and FIG. 37 is an exemplary detailed flowchart of a reference position driving step of FIG. 36. Hereinafter, a method for controlling a surgical instrument according to one aspect of the present invention will be described more specifically but not limitingly with reference to FIG. 36 and FIG. 37.

[0380] A method for controlling a surgical instrument according to one aspect of the present invention may consist of steps processed chronologically in a user terminal (2000, 2010) or processor (2011) illustrated in FIGS. 1 and FIGS. 2a, for example. Accordingly, even if details are omitted below, the description above regarding the user terminal (2000, 2010) or processor (2011) illustrated in FIGS. 1 and FIGS. 2a may also be applied to the method for controlling a surgical instrument of FIG. 36. Meanwhile, a method for controlling a surgical instrument according to one aspect of the present invention may also be understood as being included in a method for driving a surgical robot system.

[0381] Additionally, as described above with reference to FIGS. 1 and 2b, at least one of the steps of the method for controlling the surgical instrument of FIG. 36 may be processed in a server (3000, 3010) or a processor (3011).

[0382] Additionally, as described above with reference to FIGS. 3 to 5, at least one of the steps of the method for controlling the surgical instrument of FIG. 36 may be processed by a master robot (10), a slave robot (20), or a surgical instrument (30) or a processor included therein.

[0383] For convenience of explanation, the method for controlling a surgical instrument according to the embodiments described herein may be described as being performed by a computing device. The computing device may be, for example, the aforementioned user terminal, server, master robot, slave robot, or surgical instrument, or a processor included therein, or a combination thereof, but is not limited thereto. A person skilled in the art will readily understand that any computationally capable device including a processor and memory can perform the method of driving a surgical robot system according to the embodiments described herein as a computing device.

[0385] As illustrated in FIG. 36, a method for controlling a surgical instrument according to one embodiment of the present invention may include at least one of the following steps: determining whether a drive unit and an instrument carriage on which the drive unit is mounted are connected (step 3610); driving an end tool to a reference position (step 3620); decreasing the control target angle between the first set and the second set in a direction having a negative value, such that the first set and the second set are far apart from each other, past the state where they are in contact with each other (step 3630); determining the control target angle between the first set and the second set as a gripping reference angle at the point when the torque value of the drive motor providing power to the drive unit reaches a predetermined reference torque (step 3640); and controlling the angle between the first set and the second set as a gripping reference angle in response to a gripping command for a target object (step 3650).

[0386] Hereinafter, each step will be described in a non-limiting but more specific manner with reference to FIGS. 36 to 37.

[0388] As illustrated in FIG. 36, the computing device may first determine whether there is a connection between the driving unit (2630) and the mechanism carriage (2700) on which the driving unit is mounted (step 3610). According to one aspect, the connection between the driving unit (2630) and the mechanism carriage (2700) as described above with reference to FIG. 26 to 28 in this description may include a connection between at least one driven pulley (2631a, 2631b) provided in the driving unit and a driving pulley (2731a, 2731b) that rotates in conjunction with a driving motor provided in the mechanism carriage.

[0389] In this regard, when a surgical instrument (2600) is mounted on the instrument carriage (2700) of a surgical robot, for example, if a drive pulley that rotates in conjunction with a drive motor and a driven pulley provided in the drive unit of the surgical instrument are not connected to each other, power cannot be transmitted to the surgical instrument even if the drive motor is driven. Therefore, in order to control the surgical instrument, a process must be performed to connect the drive unit (2630) and the instrument carriage (2700), which is not limited but more specifically, to connect at least one driven pulley (2631a, 2631b) provided in the drive unit and a drive pulley (2731a, 2731b) that rotates in conjunction with a drive motor provided in the instrument carriage. As a non-limiting example, according to one aspect, for such connection, each drive motor may sequentially perform a rotational operation in a specific direction until at least one drive pulley that rotates in conjunction with at least one drive motor and at least one driven pulley corresponding thereto are connected.

[0390] The computing device can determine (step 3610) whether the connection between such a drive unit (2630) and the mechanism carriage (2700) on which the drive unit is mounted has been properly completed. According to one aspect, the computing device can determine the time when the drive unit and the mechanism carriage are connected through the point at which the torque of the drive motor increases rapidly. This is because when the surgical robot rotates the drive motor, the inertia of the surgical instrument is greater in the connected state than in the unconnected state, so a greater torque is required to drive it. If the difference in inertia is negligible and the change in drive torque is not large, the surgical robot may continue to rotate the drive motor until the end tool reaches its physical movement limit. This is because when the end tool reaches its physical movement limit, the motor can no longer move, and the drive torque increases significantly. Furthermore, since the fact that the end tool has reached its physical limit presupposes that the connection for power transmission between the drive motor and the drive unit of the surgical instrument has been completed, the connection between the drive unit and the instrument carriage can also be guaranteed in this manner. In other words, under any circumstances, the computing device can guarantee the connection between the drive unit of the surgical instrument and the instrument carriage through the point at which the torque driven by the drive motor increases rapidly.

[0391] In a non-limiting but more specific manner, according to one aspect of the present description, a computing device may determine that a drive unit and a mechanism carriage are connected based on the determination that the torque of a drive motor provided in a mechanism carriage is greater than a predetermined connection threshold. That is, if the torque measurement value of the drive motor exceeds a predetermined torque value, it may be determined that at least one driven pulley (2631a, 2631b) provided in the drive unit and a drive pulley (2731a, 2731b) that rotates in conjunction with the drive motor provided in the mechanism carriage are connected to each other. Here, the torque value of the drive motor may be obtained by a torque measurement mechanism built into the drive motor or may be measured by a separate torque sensor.

[0392] According to one aspect, a computing device may determine that the drive unit and the mechanical carriage are engaged based on the determination that the torque growth rate of the drive motor equipped on the mechanical carriage is greater than a predetermined engagement threshold growth rate. That is, the computing device may determine whether engagement is achieved based not merely on the magnitude of the torque measurement value of the drive motor, but on how quickly the torque measurement value of the drive motor increases. Here, the torque growth rate may be determined based on the amount of change in the torque value over a predetermined unit time interval, but is not limited thereto.

[0393] Meanwhile, in a method for controlling a surgical instrument according to one aspect of the present invention, the aforementioned step of checking for attachment may be omitted. As a non-limiting example, in the case of a surgical instrument in which a drive motor and an end tool are integrated, such determination of attachment status may not be required. However, it should be understood that control of such an integrated surgical instrument is also included within the technical scope of the present invention.

[0395] Referring again to FIG. 36, the computing device can drive an end tool equipped on a surgical instrument to a reference position (step 3620). For example, the surgical instrument can be controlled so that at least one first and second set equipped on the end tool is positioned at the reference position. Here, the reference position of the end tool according to one aspect may mean the physical origin of the end tool.

[0396] In this regard, FIG. 29 exemplarily illustrates an end tool driven to a reference position according to one aspect, and FIG. 30 exemplarily illustrates a state in which the angle between the first and second rows of the end tool is 0 degrees. As exemplarily illustrated in FIG. 29, according to one aspect, the reference position of the end tool may be a state in which the first row (2621) and the second row (2623) are oriented in the extension direction of the shaft (2610). Additionally, as exemplarily illustrated in FIG. 30, according to one aspect, the reference position of the end tool may be a state in which the angle between the first row (2621) and the second row (2623) is 0 degrees. In other words, the physical origin of the end tool may mean a state in which the end tool extends in a straight line without a change in direction, so that there is no difference in angle between the first and second rows, and the angle is 0 degrees.

[0397] Meanwhile, as illustrated in FIG. 37, according to one aspect, the step of operating the end tool to a reference position (step 3620) may include the step of moving the end tool to a limit position according to an operating range limiting element for the end tool (step 3621) and the step of moving the end tool from the limit position to a reference position (step 3623). Here, the operating range limiting element according to one aspect may be a trocar that guides the insertion path inside the body for the surgical instrument (2600) (e.g., see reference numeral 3210 in FIG. 32 to 35), but is not limited thereto.

[0398] To explain more specifically, although not limited to, as illustrated in FIG. 37, the computing device can move the end tool (2620) to a limit position according to the operating range limiting factor for the end tool (step 3621). That is, the computing device can drive the drive motor in one direction until the end tool reaches a physical limit. If such a process was performed in the procedure for determining whether the drive unit and the mechanism carriage are connected (step 3610) described above, it may be omitted.

[0399] Referring again to FIG. 37, the computing device can move the end tool (3620) from a limit position to a reference position (step 3623). According to one aspect, the computing device can control the end tool by a control amount based on shape information of a predetermined operating range limit element. For example, if the difference between the physical limit of the end tool and the physical origin is known, the drive motor can be driven by that difference to bring the end tool back to the physical origin. That is, if the difference value can be calculated in advance based on the mechanical structure, it is possible to move the end tool to the physical origin after hitting the physical limit.

[0400] As previously mentioned, a trocar can be used as one of the structures capable of constraining the physical limits of the end tool and calculating the difference between the physical limits and the physical origin. A trocar is a common device that provides and maintains the point where the end tool enters the abdominal cavity during laparoscopic surgery. As illustrated exemplarily in FIGS. 32 to 35, a trocar must also be used in surgery using a surgical robot system. Immediately after the trocar is inserted into the abdominal cavity, the trocar is mounted on the surgical robot, and the surgical instrument is mounted and secured to the surgical robot, the surgical instrument (2600) is positioned inside the trocar (3210) as illustrated in FIGS. 32 to 36. Consequently, the end tool (2620) of the surgical instrument is inevitably forced to strike the inner wall of the trocar during operation. The method of using a trocar has the advantage that, when using a surgical robot system, no separate additional device is required as an operating range limiting element to form the limit position of the end tool. However, for the convenience of explanation in this description, a method using a trocar is mentioned as an exemplary limiting factor for the operating range of an end tool, but any method that restricts the physical limit of the end tool's movement other than a trocar can be applied in the same way.

[0401] In this regard, if information regarding the shape of an end tool’s operating range limiting element, such as a trocar, is known, it is possible to calculate the amount of movement required for the end tool to move from the limit position to a reference position. For example, the angle at which the end tool must be rotated can be determined, and information regarding such required rotation angle or the amount of control for the drive motor for this purpose can be matched to an operating range limiting element, such as a trocar, and stored in the memory of a computing device. Thus, the computing device can move the end tool (3620) from the limit position to a reference position simply by controlling the end tool by an amount of control based on the shape information of the predetermined operating range limiting element.

[0403] FIG. 32 shows a first embodiment of a limit position according to an operating range limiting element of an end tool, and FIG. 33 shows a second embodiment of a limit position according to an operating range limiting element of an end tool. Additionally, FIG. 34 shows a third embodiment of a limit position according to an operating range limiting element of an end tool, and FIG. 35 shows a fourth embodiment of a limit position according to an operating range limiting element of an end tool.

[0404] According to one aspect, the computing device may move either the first set (2621) or the second set (2623) to a limit position by moving either the first set (2621) or the second set (2623) in a direction away from the other of the first set (2621) or the second set (2623). For example, FIG. 32 illustrates a situation in which the first set (2621) strikes the trocar (3210) while the computing device rotates the joint responsible for the operation of the first set (2621) of the end tool to the right. Or FIG. 33 illustrates a situation in which the second set (2623) strikes the trocar while the computing device rotates the joint responsible for the operation of the second set (2623) of the end tool to the left.

[0405] Additionally, according to one aspect, the computing device can move the end tool (2620) to a limit position by rotating the end tool (2620) in a predetermined direction from the extension direction of the shaft. For example, FIG. 34 illustrates a situation in which the end tool (2620) hits the trocar while the computing device is rotating the joint (2627) responsible for the up and down rotation of the end tool (2620) upward. Also, FIG. 36 illustrates a situation in which the end tool (2620) hits the trocar while the computing device is rotating the joint (2627) responsible for the up and down rotation of the end tool (2620) downward.

[0406] As in the example above, by calculating the values ​​when each direction of the end tool reaches its physical limit, the difference between the end tool's physical limit and the physical origin can be calculated. Therefore, the command to return the end tool to the physical origin after reaching its physical limit can be achieved simply by transmitting the difference value to the drive motor to operate it, thereby causing the end tool to move.

[0408] Referring again to FIG. 36, the computing device can reduce the control target angle between the first set (2621) and the second set (2623) in a direction having a negative value (step 3630). Here, the negative control target angle may be the control target angle for the angle between the first set and the second set that is far apart from each other, past the state where the first set and the second set are in contact with each other, as described herein with reference to FIG. 31. Here, the first set (2621) and the second set (2623) controlled by the control target angle having a negative value may physically maintain an angle of 0 degrees relative to each other, while having a gripping force on the target object between the first set and the second set. According to one aspect, the gripping force on the target object between the first set and the second set may increase as the absolute value of the control target angle having a negative value increases.

[0409] To explain more specifically, although not limited, once the end tool reaches the physical origin, the gripping angle, which is the difference between the first set (2621) and the second set (2623), is further reduced, thereby increasing the gripping force of the end tool. That is, although physically the first set (2621) and the second set (2623) cannot collide with each other and the angle between the two sets cannot become smaller than 0 degrees, the drive motor will provide additional drive torque to cause the gripping angle between the first set (2621) and the second set (2623) to reach a negative angle according to the control objective. Consequently, since the additional drive torque becomes the additional gripping force applied to the end tool, there can be a correlation in which the gripping force increases as the absolute value of the gripping angle having a negative value increases.

[0410] According to one aspect, if this principle is used in reverse, a gripping force of a certain quality can be maintained. This is a method of utilizing driving torque to set the target angle for the gripping force differently depending on the situation, rather than arbitrarily setting the target angle for the gripping force in advance. That is, instead of setting the target angle for the gripping force from the beginning, the control target angle between the first set (2621) and the second set (2623) of the end tool is continuously reduced to a negative value, and the driving torque required for each angle is repeatedly measured to determine whether the target angle for the gripping force can provide an appropriate gripping force.

[0411] Of course, since power is transmitted between the drive motor and the end tool via a power transmission element such as a cable, the gripping force of the end tool may not necessarily increase linearly as the motor torque increases. However, even if non-linear, they have a tendency to be directly proportional to each other, so as the motor torque increases, the gripping force of the end tool increases proportionally. Therefore, according to one aspect of the present invention, it is possible to set a gripping reference angle that provides gripping force within a meaningful error quality through the drive torque value, without employing a tension-sensing sensor or a method for measuring gripping force.

[0413] Referring again to FIG. 36, the computing device can determine the control target angle between the first set (2621) and the second set (2623) at the point in time when the torque value of the drive motor providing power to the drive unit reaches a predetermined reference torque as the gripping reference angle (step 3640). That is, the computing device can monitor the torque value of the drive motor while decreasing the control target angle between the first set (2621) and the second set (2623) in a direction having a negative value, and when the measured torque value of the drive motor reaches the predetermined reference torque, it can obtain information about the control target angle between the first set (2621) and the second set (2623) at that point in time. The computing device can determine the control target angle between the first set (2621) and the second set (2623) at the time of reaching such reference torque as the gripping reference angle that becomes the control target angle of the first set (2621) and the second set (2623) when gripping the target object using the first set (2621) and the second set (2623).

[0414] According to one aspect of the present invention, when the rotation of the drive unit is used to tighten the power transmission element while the power transmission element is in a loose state, the rotation of the drive unit due to the gripping reference angle is not applied to the gripping force, thus providing the advantage that the driving torque does not increase. Furthermore, according to one aspect of the present invention, when the driving torque is not directly transmitted to the gripping force due to the mechanical structure of the surgical instrument, the advantage arises that the surgical instrument can be moved to a state just before being applied as a gripping force through the rotation of the drive unit due to the gripping force target angle. Through this, the advantage is that the gripping force can be provided by considering both the looseness of the power transmission element and the mechanical structure while controlling the surgical instrument by the gripping angle.

[0415] Meanwhile, according to one aspect of the present invention, if the type of surgical instrument being mounted can be recognized, it becomes possible to additionally set different gripping forces for each surgical instrument. For example, a surgical instrument for grasping an organ and a surgical instrument for grasping a needle may have different target gripping forces. In this case, by recognizing the type of surgical instrument mounted and providing different reference motor torques, it is possible to set target gripping angles capable of providing respective gripping forces for different types of surgical instruments. In other words, according to one aspect of the present invention, the reference torque of the driving motor for setting the gripping reference angle may be determined differently depending on the type of surgical instrument. Alternatively, the reference torque of the driving motor for setting the gripping reference angle may be determined differently depending on the target of the surgical instrument being grasped.

[0417] Referring again to FIG. 36, the computing device can control the angle between the first set and the second set to a previously determined gripping reference angle in response to a gripping command for a target object (step 3650). According to one aspect, such a gripping command for a target object can be generated in response to the gripping angle of the user input unit being controlled to a minimum angle. To be non-limiting but more specific, the surgeon, who is the user of the surgical robot system, can drive the surgical robot through the master device after the gripping force target angle has been set. Depending on the angle of the gripping part that sets the end tool angle of the user input unit of the master device, the surgical robot can be configured to set the angle between the end tools. For example, if the angle between the gripping parts for setting the end tool angle of the user input unit of the master device is minimum, the target control angle between the first set (2621) and the second set (2623) of the end tool can be set as the gripping reference angle. Additionally, if the angle between the grip portions for setting the end tool angle of the user input portion of the master device is at its maximum, the target control angle between the first set (2621) and the second set (2623) of the end tool can be set as the target opening angle between the first set (2621) and the second set (2623). If the angle between the grip portions for setting the end tool angle of the user input portion of the master device is a value between the maximum and the minimum, for example, the end tool of the surgical instrument can be driven by inputting an angle in a directly proportional relationship. However, it should be noted that the relationship between the angle between the grip portions of the user input portion and the angle between the sets of the end tool is merely illustrative and the technical concept of the present invention is not limited thereto.

[0419] A device for controlling a surgical instrument according to another embodiment of the present invention may be understood as, for example, at least part of a device for driving a surgical robot system. A device for driving a surgical robot system according to one embodiment may include at least one processor and at least one memory, and may be, for example, at least one of a user terminal (2000, 2010) or server (3000, 3010) as described with reference to FIGS. 1 to 2a and FIG. 2b, a master robot (10), a slave robot (20), or a surgical instrument (30), but is not limited thereto.

[0420] According to another embodiment of the present invention, a device for controlling a surgical instrument may include at least one processor and at least one memory. Here, the at least one processor may be configured to drive an end tool to a reference position, reduce the control target angle between the first set and the second set in a direction having a negative value such that the first set and the second set are far apart from each other, and determine the control target angle between the first set and the second set as a gripping reference angle at the point when the torque value of the drive motor providing power to the drive unit reaches a predetermined reference torque.

[0421] Furthermore, it is obvious that at least some of the features described in the method for controlling a surgical instrument according to one embodiment of the present invention may also be applied to a device for controlling a surgical instrument.

[0423] The method according to the present invention described above can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording media in which data that can be decoded by a computer system is stored. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc. Additionally, computer-readable recording media can be distributed to computer systems connected via a computer network and stored and executed as code that can be read in a distributed manner.

[0424] Meanwhile, the method described above may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0425] Although the invention has been described above with reference to the drawings and embodiments, this does not mean that the scope of protection of the present invention is limited by the drawings or embodiments, and those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the invention as described in the following claims.

[0426] Specifically, the described features may be executed in digital electronic circuits, or in computer hardware, firmware, or combinations thereof. The features may be executed, for example, in a computer program product implemented in a storage device within a machine-readable storage device for execution by a programmable processor. And the features may be executed by a programmable processor that executes a program of instructions for performing the functions of the described embodiments by operating on input data and generating output. The described features may be executed in one or more computer programs that can be executed on a programmable system comprising at least one programmable processor, at least one input device, and at least one output device coupled to receive data and instructions from a data storage system and to transmit data and instructions to a data storage system. A computer program includes a set of instructions that may be used directly or indirectly within a computer to perform a specific action for a predetermined result. A computer program may be written in any form of a programming language, including compiled or interpreted languages, and may be used in any form including as a module, component, subroutine, or other unit suitable for use in another computer environment, or as an independently operable program.

[0427] Suitable processors for the execution of programs of instructions include, for example, both general-purpose and special-purpose microprocessors, and one of a single processor or a multiprocessor of another type of computer. In addition, storage devices suitable for implementing computer program instructions and data that implement the described features include, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic devices such as internal hard disks and removable disks; magneto-optical disks; and all forms of non-volatile memory including CD-ROM and DVD-ROM disks. Processors and memory may be integrated within application-specific integrated circuits (ASICs) or added by ASICs.

[0428] Although the present invention described above is explained based on a series of functional blocks, it is not limited by the aforementioned embodiments and attached drawings, and it will be obvious to those skilled in the art that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention.

[0429] The combination of the aforementioned embodiments is not limited to the aforementioned embodiments, and various forms of combinations in addition to the aforementioned embodiments may be provided as needed for implementation and / or as required.

[0430] In the aforementioned embodiments, methods are described based on flowcharts as a series of steps or blocks; however, the present invention is not limited to the order of the steps, and some steps may occur in a different order or simultaneously with other steps as described above. Furthermore, those skilled in the art will understand that the steps shown in the flowcharts are not exclusive, that other steps may be included, or that one or more steps of the flowcharts may be omitted without affecting the scope of the present invention.

[0431] The foregoing embodiments include examples of various aspects. While it is not possible to describe all possible combinations for representing various aspects, those skilled in the art will recognize that other combinations are possible. Accordingly, the present invention shall be deemed to include all other substitutions, modifications, and changes falling within the scope of the following claims.

Claims

Claim 1 A method for controlling a surgical instrument, wherein the surgical instrument comprises: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a driving unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the driving unit to the end tool; and the method comprises the steps of: driving the end tool to a reference position; reducing the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond a state of contact; and determining the control target angle between the first jaw and the second jaw as a gripping reference angle at the point in time when the torque value of a driving motor providing power to the driving unit reaches a predetermined reference torque. Claim 2 A method for controlling a surgical instrument according to claim 1, wherein the reference position is a state in which the angle between the first and second articles is 0 degrees. Claim 3 A method for controlling a surgical instrument according to claim 1, wherein the reference position is a state in which the first and second sets are oriented in the extension direction of the shaft. Claim 4 A method for controlling a surgical instrument according to claim 1, wherein the step of operating to the reference position comprises: moving the end tool to a limit position according to an operating range limiting factor for the end tool; and moving the end tool from the limit position to the reference position. Claim 5 In claim 4, the step of moving the end tool from the limit position to the reference position controls the end tool by a control amount based on shape information of the predetermined operating range limiting element, a method for controlling a surgical instrument. Claim 6 A method for controlling a surgical instrument according to claim 4, wherein the step of moving to the limit position is to move either of the first or second article to the limit position by moving either of the first or second article in a direction away from the other of the first or second article. Claim 7 A method for controlling a surgical instrument according to claim 4, wherein the step of moving to the limit position is to move the end tool to the limit position by rotating the end tool in a predetermined direction from the extension direction of the shaft. Claim 8 In claim 4, the operating range limiting element is a trocaine that guides the insertion path inside the body for the surgical instrument, and a method for controlling the surgical instrument. Claim 9 A method for controlling a surgical instrument according to claim 1, wherein the first set and the second set, controlled by a control target angle having a negative value, maintain an angle of 0 degrees relative to each other and have a gripping force on a target object between the first set and the second set. Claim 10 A method for controlling a surgical instrument according to claim 9, wherein the gripping force on a target object between the first and second articles increases as the absolute value of the control target angle having the negative value increases. Claim 11 A method for controlling a surgical instrument according to claim 1, wherein the reference torque is determined differently depending on the type of the surgical instrument. Claim 12 A method for controlling a surgical instrument according to claim 1, wherein the reference torque is determined differently depending on the target being grasped by the surgical instrument. Claim 13 A method for controlling a surgical instrument according to claim 1, further comprising the step of controlling the angle between the first and second sets to the gripping reference angle in response to a gripping command for a target object. Claim 14 A method for controlling a surgical instrument according to claim 13, wherein a gripping command for the target object is generated in response to the angle of the grip portion of the user input unit being controlled to a minimum angle. Claim 15 A method for controlling a surgical instrument according to claim 1, further comprising the step of determining whether the driving unit and the instrument carriage on which the driving unit is mounted are connected prior to the step of driving the end tool to a reference position. Claim 16 A method for controlling a surgical instrument according to claim 15, wherein the step of determining whether the drive unit and the instrument carriage are connected is determined based on the determination that the torque of the drive motor provided in the instrument carriage is greater than a predetermined connection threshold. Claim 17 A method for controlling a surgical instrument according to claim 15, wherein the step of determining whether the drive unit and the instrument carriage are connected is determined based on the determination that the torque increase rate of the drive motor provided in the instrument carriage is greater than a predetermined connection threshold increase rate. Claim 18 A method for controlling a surgical instrument according to claim 15, wherein the connection between the driving unit and the instrument carriage comprises the connection between a driven pulley provided in the driving unit and a driving pulley that rotates in conjunction with the driving motor. Claim 19 A control device for a surgical instrument, wherein the surgical instrument comprises: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a driving unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the driving unit to the end tool; and wherein the device comprises at least one processor; and at least one memory; wherein the at least one processor drives the end tool to a reference position; reduces the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond a state of contact; and determines the control target angle between the first jaw and the second jaw as a gripping reference angle at the point in time when the torque value of the driving motor providing power to the driving unit reaches a predetermined reference torque. Claim 20 A computer-readable storage medium comprising instructions executable by a processor of a surgical robot system, wherein the instructions are configured to control a surgical instrument, the surgical instrument comprising: a shaft having a first stage and a second stage; an end tool connected to the first stage of the shaft and having a first jaw and a second jaw; a drive unit connected to the second stage of the shaft; and at least one power transmission element for transmitting power from the drive unit to the end tool; wherein the instructions are configured to cause the processor to drive the end tool to a reference position; reduce the control target angle between the first jaw and the second jaw in a direction having a negative value, such that the first jaw and the second jaw are separated from each other beyond a state of contact; and determine the control target angle between the first jaw and the second jaw as a gripping reference angle at the point when the torque value of a drive motor providing power to the drive unit reaches a predetermined reference torque.

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