Endoscopic surgical robot

Abstract

A surgical robot according to an embodiment can include a surgical tool having a bendable joint portion and a bending tendon connected to the joint portion and configured to perform a bending operation of the joint portion; a tube connected to the surgical tool and accommodating the bending tendon inside thereof; a base housing rotatably supporting the tube and accommodating the bending tendon passing through the inside of the tube; a bending driving portion clamping the bending tendon and translating relative to the base housing in a longitudinal direction parallel to a rotation axis of the tube; and a rotation driving portion rotatably supporting the tube relative to the base housing and connected to a portion of the bending driving portion clamping the bending tendon when the tube rotates, thereby rotating the tube and the bending tendon together.

Description

Technical Field

[0001] The following description relates to an endoscopic surgical robot. Background Technology

[0002] Surgical tools used with endoscopic surgical robots include multi-functional forceps, such as tweezers, forceps, and scissors positioned at the end of long, thin tubes.

[0003] Surgical instruments are used in many areas of surgery and surgical procedures. To allow for greater freedom of movement, surgical instruments have been developed that include joints at their ends, which are mostly driven by pulling or pushing a steel cable consisting of multiple strands.

[0004] Thus, during the joint movement and manipulation of the surgical instrument, multiple manifolds exist in a state of connection to the outside. In this case, when the surgical instrument itself performs rotational movement, the multiple manifolds may twist and rub against each other, and due to the change in tension with the undesirable length of the manifolds, operability is reduced, and the manifolds may be deformed or damaged.

[0005] When performing surgical instrument manipulation and joint actuation, a mechanism needs to be developed that can prevent the twisting of multiple actuating tendons (e.g., wires) even when the surgical instrument is rotating, and minimize the impact of each actuation.

[0006] The content in the background section above is what the inventors have mastered or learned in the process of developing this invention, and should not be construed as necessarily being general known technology disclosed before applying for this invention. Summary of the Invention

[0007] One embodiment aims to provide an endoscopic surgical robot that can rotate continuously while preventing the internal drive tendon from being twisted.

[0008] A surgical robot according to one embodiment may include: a surgical tool having a flexible joint and a flexural tendon connected to the joint and configured to perform a bending operation on the joint; a tube connected to the surgical tool and housing the flexural tendon therein; a base housing rotatably supporting the tube and housing the flexural tendon passing through the interior of the tube; a bending drive that clamps the flexural tendon and translates relative to the base housing in a longitudinal direction parallel to the axis of rotation of the tube; and a rotation drive that rotatably supports the tube relative to the base housing, and when the tube rotates, the rotation drive is connected to a portion of the flexural tendon clamped in the bending drive, thereby causing the tube and the flexural tendon to rotate together.

[0009] The base housing may include a first guide shaft extending along the longitudinal direction and fixedly supporting the base housing. The bending drive unit may include: a first drive block that slides along the first guide shaft; and a bending drive shaft extending along the longitudinal direction and screwed to the first drive block to translate the first drive block along the longitudinal direction. The first drive block may include: a first hole formed at the location through which the bending tendon passes; and a first clamping block rotatably disposed relative to the first hole and rotatable by the rotation drive unit while clamping the bending tendon.

[0010] The rotation drive unit may include: a rotating arm that rotatably clamps the tube relative to the base housing; and a fixed shaft that extends from the rotating arm along the longitudinal direction and passes through the first clamping block.

[0011] The rotation axis of the first clamping block relative to the first driving block can be the same as the rotation axis of the rotating arm.

[0012] The flexed tendon has a pair of tendons that extend in the respective bending directions of the joint, and the first drive block has a pair of configurations that are spaced apart from each other along the first guide axis and slide drive while clamping the pair of flexed tendons respectively, and the thread directions of the flexed drive shaft screw coupled to each of the pair of first drive blocks may be opposite to each other.

[0013] The fixed shaft passes through the first clamping block of each of the pair of first drive blocks, and the rotation axis of the first clamping block of each of the pair of first drive blocks may be the same as the rotation axis of the rotating arm.

[0014] The surgical tool may further include: a manipulation part that manipulates the tip of the surgical tool; and a manipulation tendon that performs the operation of the manipulation part and is connected to the manipulation part, extending through the interior of the tube to the base housing. The surgical robot may also include a manipulation drive part that clamps the manipulation tendon housed in the base housing and translates relative to the base housing in the longitudinal direction.

[0015] The base housing further includes a second guide shaft extending along the longitudinal direction and fixedly supporting the base housing. The actuation drive unit may include: a second drive block that slides along the second guide shaft; and an actuation drive shaft extending along the longitudinal direction and screwed to the second drive block to translate the second drive block along the longitudinal direction. The second drive block may include: a second hole formed at the location through which the actuation tendon passes; and a second clamping block rotatably disposed relative to the second hole and connected to the fixed shaft while clamping the actuation tendon.

[0016] The fixed shaft passes through both the first clamping block and the second clamping block, and the rotation axes of the first clamping block and the second clamping block can be the same as the rotation axis of the rotating arm.

[0017] The first guide shaft and the second guide shaft have the same radius with respect to the rotation axis of the rotating arm and are arranged radially apart. When viewed along the rotation axis of the rotating arm, the first clamping block and the second clamping block may have circles that overlap each other.

[0018] A surgical robot according to one embodiment may include: a surgical tool having a first joint portion and a second joint portion that are bendable in different directions, a first flexural tendon that performs a bending operation on the first joint portion and a second flexural tendon that performs a bending operation on the second joint portion; a tube connected to the surgical tool and housing the first flexural tendon and the second flexural tendon therein; a base housing that rotatably supports the tube and houses a plurality of flexural tendons passing through the interior of the tube; a first bending drive portion that clamps the first flexural tendon and translates relative to the base housing in a longitudinal direction parallel to the axis of rotation of the tube; a second bending drive portion that clamps the second flexural tendon and translates relative to the base housing in a longitudinal direction parallel to the axis of rotation of the tube; and a rotation drive portion that rotatably supports the tube relative to the base housing and, when the tube rotates, the rotation drive portion is connected to (i) a portion of the first flexural tendon clamped in the first bending drive portion and (ii) a portion of the second flexural tendon clamped in the second bending drive portion, thereby causing the tube, the first flexural tendon and the second flexural tendon to rotate together.

[0019] The base housing may include a first guide shaft and a second guide shaft extending along the longitudinal direction and radially spaced from each other with the same radius around the rotation axis of the tube, thereby fixing the base housing. The first bending drive portion may include: a first drive block that slides along the first guide shaft; and a first bending drive shaft extending along the longitudinal direction and screwed to the first drive block to translate the first drive block along the longitudinal direction. The second bending drive portion may include: a second drive block that slides along the second guide shaft; and a second bending drive shaft extending along the longitudinal direction... The first drive block extends in the longitudinal direction and is screwed to the second drive block to translate the second drive block in the longitudinal direction. The first drive block may include: a first hole formed at the location through which the first flexed tendon and the second flexed tendon pass; and a first clamping block rotatably disposed relative to the first hole and rotatable by the rotation drive while clamping the first flexed tendon. The second drive block may include: a second hole formed at the location through which the second flexed tendon passes; and a second clamping block rotatably disposed relative to the second hole and rotatable by the rotation drive while clamping the second flexed tendon.

[0020] The rotation drive unit may include: a rotating arm that rotatably clamps the tube relative to the base housing; and a fixed shaft that extends from the rotating arm along the longitudinal direction and passes through the first clamping block and the second clamping block, wherein the rotation axes of the first clamping block and the second clamping block may be the same as the rotation axis of the rotating arm.

[0021] When viewed along the axis of rotation of the rotating arm, the first clamping block and the second clamping block may have circles that overlap each other.

[0022] According to one embodiment of the surgical robot, even when performing rotation, joint movement (bending) and end effector manipulation of the surgical tool simultaneously, independent operation unaffected by each drive can be ensured, thereby enabling more precise and stable driving of the surgical tool 13.

[0023] According to one embodiment of the surgical robot, even when the surgical tool is rotated, multiple tendons used to control the surgical tool rotate together in an aligned state, thereby preventing tendon torsion caused by the rotation of the surgical tool. This means that the surgical tool has constant performance and the same operability regardless of its rotation direction.

[0024] According to one embodiment, when a surgical tool is rotated by a rotary drive, since the surgical robot has a structure in which multiple gripping blocks rotate relative to each other only through a medium passing through a bearing, only a relatively small rotational output is added to overcome the frictional force applied between the bearing and the gripping blocks. Therefore, the rotational force required beyond the rotational drive force needed for conventional surgical tools can be ignored. Attached Figure Description

[0025] Figure 1 A front perspective view of a surgical robot according to one embodiment.

[0026] Figure 2 To show a rear perspective view of a surgical robot according to one embodiment.

[0027] Figure 3 A perspective view of a surgical instrument according to one embodiment.

[0028] Figure 4 A perspective view showing the interior of the base housing according to one embodiment.

[0029] Figure 5 An exploded perspective view of a first bending drive unit according to an embodiment is shown. Detailed Implementation

[0030] The embodiments will now be described in detail with reference to the accompanying drawings. When assigning reference numerals to the constituent elements in the various drawings, the same reference numerals will be used as much as possible, even if the same constituent elements are shown in different drawings. In describing the embodiments, detailed descriptions of relevant well-known technologies will be omitted when it is determined that such detailed descriptions would unnecessarily obscure the embodiments.

[0031] Furthermore, when describing the constituent elements of the embodiments, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish one constituent element from other constituent elements and are not used to limit the nature or order of the corresponding constituent elements. For example, a first constituent element may be referred to as a second constituent element, and similarly, a second constituent element may be referred to as a first constituent element. In addition, it should be understood that when the specification describes a constituent element as "connected," "joined," or "contacting" another constituent element, a third constituent element may be "connected," "joined," or "contacting" between the first and second constituent elements, although the first constituent element may be directly connected, joined, or contacting the second constituent element.

[0032] When a constituent element has a common function with a constituent element in one embodiment, the same name is used to describe that constituent element in other embodiments. Unless otherwise stated, the description of one embodiment is applicable to other embodiments, and detailed descriptions of repetitive content are omitted.

[0033] Figure 1 To show a front perspective view of a surgical robot according to one embodiment, Figure 2 To show a rear perspective view of a surgical robot according to one embodiment, Figure 3 To show a perspective view of a surgical instrument according to one embodiment, Figure 4 To show a perspective view of the interior of the base housing according to one embodiment, Figure 5 An exploded perspective view of a first bending drive unit according to an embodiment is shown.

[0034] Reference Figures 1 to 5 According to one embodiment, the surgical robot 1 can control the operation of a surgical tool 13 capable of continuous axial rotation (e.g., rotation).

[0035] According to one embodiment, the surgical robot 1 may include a surgical tool 13, a tube 12 connected to and extending therefrom the surgical tool 13, and a drive unit 11 for driving the tube 12 and the surgical tool 13.

[0036] The surgical tool 13 may include a manipulator 131 for performing clamping, crushing or cutting operations on a surgical tip located at the end, a bending portion 132 that can be bent in at least one direction, bending tendons 133, 134 for performing bending operations of the bending portion 132, and a manipulator tendon 135 for performing operations of the manipulator 131.

[0037] The manipulation part 131 may be a tool disposed at the end of the surgical instrument 13 to perform manipulation at the surgical site. The manipulation part 131 may be operated by applying tension to the manipulation tendon 135.

[0038] For example, the manipulation unit 131 may include multi-functional surgical forceps, such as tweezers, forceps, and scissors. This is merely an example; unless otherwise stated, other types of surgical tools besides surgical forceps may be used.

[0039] The control tendon 135 can extend rearward from the control part 131 and pass rearward through the tube 12, thereby being guided to the base housing 111.

[0040] For example, since the control tendon 135 can be held by the control drive unit 115 and translated along its longitudinal direction, the control unit 131 is driven.

[0041] For example, the bending portion 132 may include a first joint portion 1321 and a second joint portion 1322 that can be bent in different directions. Furthermore, the bending tendons 133 and 134 may include a first bending tendon 133 for bending the first joint portion 1321 and a second bending tendon 134 for bending the second joint portion 1322. The following example illustrates a case where two degrees of freedom (2-DOF) bending motion is possible; however, unless otherwise stated, the scope of the invention also includes cases where only one degree of freedom bending motion is possible.

[0042] The first joint 1321 may be based on a rotation axis of the surgical tool 13 including the manipulation part 131 in one direction (e.g., Figure 3 A joint that can be bent in the yaw direction.

[0043] For example, the first joint portion 1321 can be bent about a rotation axis by tension applied to the rearwardly connected first flexural tendon 133.

[0044] The first flexed tendon 133 can extend rearward from the first joint portion 1321 and pass rearward through the interior of the tube 12, thereby being guided to the base housing 111.

[0045] For example, the first joint portion 1321 can perform bending movements in two directions based on the axis of rotation in a neutral state parallel to the tube 12. According to the above structure, the first bending tendon 133 can have a pair of tendons that extend rearward corresponding to the respective bending direction of the first joint portion 1321.

[0046] For example, a pair of first flexural tendons 133 may include one side 1331 and the other side 1332, which are guided to the base housing 111 through the tube 12 and are clamped by a pair of first clamping blocks 11314 respectively.

[0047] For example, a pair of first flexed tendons 133 may be configured as a single tendon that passes through the first joint portion 1321, splits into two parts through the tube 12, and extends thereafter, or may be configured as two tendons that extend from the two edges of the first joint portion 1321 in their respective bending directions.

[0048] The second joint portion 1322 can be a joint that can be bent in a different direction than the first joint portion 1321. For example, the second joint portion 1322 can be bent in one direction (e.g., by applying tension to the rearwardly connected second bending rib 134, based on a rotation axis) in one direction. Figure 3 (in the direction of pitch) bends upwards.

[0049] The second flexural tendon 134 can extend rearward from the second joint portion 1322 and pass rearward through the tube 12, thereby being guided to the base housing 111.

[0050] For example, the second joint portion 1322 can perform bending movements in two directions based on the axis of rotation in a neutral state parallel to the tube 12. According to the above structure, the second bending tendon 134 can have a pair of tendons that extend rearward corresponding to their respective bending directions of the second joint portion 1322.

[0051] For example, a pair of second flexural tendons 134 may include one side 1341 and the other side 1342, which are guided to the base housing 111 through the tube 12 and clamped by a pair of second clamping blocks 11414 respectively.

[0052] For example, a pair of second curved tendons 134 may be configured as a single tendon that passes through the second joint portion 1322, splits into two parts through the tube 12, and extends thereafter, or may be configured as two tendons that extend from the two edges of the second joint portion 1322 in their respective bending directions.

[0053] For example, the first joint portion 1321 and the second joint portion 1322 may have different axes of rotation. For example, the axes of rotation of the first joint portion 1321 and the second joint portion 1322 may be orthogonal to each other.

[0054] For example, such as Figure 3 As shown, based on the direction in which the surgical tool 13 extends from the tube 12, the first joint 1321 can yaw the surgical tool 13, and the second joint 1322 can pitch the surgical tool 13.

[0055] The tube 12 may be a tubular member extending rearward from the surgical instrument 13 and includes an internal channel for accommodating multiple tendons.

[0056] The tube 12 is rotatably disposed in the base housing 111, and the surgical tool 13 can rotate together when the tube 12 is rotated by the rotation drive 116 based on an axis parallel to the longitudinal direction.

[0057] In this document, the term "longitudinal direction" refers to the direction parallel to the axis of rotation, in which the rotating arm 1161 rotatably clamps the tube 12 to rotate on the axis of rotation.

[0058] While the drive unit 11 rotatably supports the tube 12, it can rotate the drive tube 12 and translate multiple tendons 133, 134, 135 that pass through the interior of the tube 12 in the longitudinal direction, thereby bending or manipulating the surgical tool 13.

[0059] For example, the drive unit 11 may include a base housing 111, a first bending drive unit 113, a second bending drive unit 114, a manipulation drive unit 115, and a rotation drive unit 116.

[0060] The base housing 111 rotatably supports the tube 12.

[0061] The base housing 111 drivably supports the rotary drive unit 116.

[0062] For example, the base housing 111 can be used as a fixed rotating shaft so that the rotating shaft can be rotated in a specific position, such that the rotation drive 116 clamps the tube 12 and rotates the tube 12 based on an axis parallel to the longitudinal direction.

[0063] The base housing 111 drivably supports the control drive unit 115, the first bending drive unit 113, and the second bending drive unit 114.

[0064] For example, the base housing 111 can guide the driving direction so that each driving part 113, 114, 115 can respectively clamp multiple tendons 133, 134, 135 and translate them longitudinally.

[0065] For example, the base housing 111 may include a front portion 1111a connected to the surgical instrument 13 and extending rearward, a rear portion 111b spaced rearward therefrom to face the front portion 1111a, and a plurality of guide shafts 1112 extending longitudinally between the front portion 1111a and the rear portion 1111b and supporting the front portion 1111a and the rear portion 1111b.

[0066] Multiple guide shafts 1112 can support the structure of the base housing 111 and guide the translation direction of the first bending drive unit 113, the second bending drive unit 114 and the control drive unit 115.

[0067] For example, when viewed along the axis of rotation of the tube 12, the plurality of guide shafts 1112 may be radially spaced apart from each other based on the axis of rotation of the tube 12. For example, the plurality of guide shafts 1112a, 1112b, 1112c may be radially spaced apart from each other while having the same radius based on the axis of rotation of the tube 12.

[0068] For example, the plurality of guide shafts 1112 may include a first guide shaft 1112a connected to the first bending drive unit 113 to guide its translation direction, a second guide shaft 1112b connected to the second bending drive unit 114 to guide its translation direction, and a third guide shaft 1112c connected to the manipulation drive unit 115 to guide its translation direction.

[0069] The first bending drive unit 113 can translate the first bending tendon 133, which passes through the interior of the tube 12 and is guided to the base housing 111, in the longitudinal direction, thereby driving the bending operation of the first joint 1321.

[0070] For example, the first bending drive 113 may include a pair of first drive blocks 1131 that slide along the first guide shaft 1112a and a first bending drive shaft 1132 that extends in the longitudinal direction and is screwed to the first drive blocks 1131 to translate the first drive blocks 1131 in the longitudinal direction.

[0071] A pair of first drive blocks 1131 can be provided to enclose the first guide shaft 1112a and spaced apart from each other along the first guide shaft 1112a (i.e., along the longitudinal direction).

[0072] For example, each of a pair of first drive blocks 1131 may include a guide hole 11311 through which a first guide shaft 1112a passes, a threaded hole 11312 through which a first bending drive shaft 1132 passes and is threaded therein, a block hole 11313 through which a plurality of tendons pass, a first clamping block 11314 disposed in the block hole 11313, and a bearing 11315 disposed between the first clamping block 11314 and the block hole 11313.

[0073] For example, the driving direction of a pair of first drive blocks 1131 can be guided by a first guide shaft 1112a passing through a guide hole 11311, and can be translated longitudinally along the first guide shaft 1112a by rotational drive of a first curved drive shaft 1132 coupled to a threaded hole 11312 by a screw.

[0074] The first bending drive shaft 1132 has a rotation axis parallel to the rotation axis of the tube 12 relative to the base housing 111, and can be rotated.

[0075] For example, the first bending drive shaft 1132 may include a screw member 11321 that is screwed into the threads of the respective threaded holes 11312 at portions passing through the first bending drive shaft 1132. For example, two screw members 11321 may be provided, and a description will be provided based on this example, but is not limited thereto.

[0076] For example, the screw member 11321 may have a hollow outer peripheral surface that is mounted around the first bending drive shaft 1132 and has threads formed thereon. For example, the screw member 11321 may have a configuration that is detachably disposed on the first bending drive shaft 1132.

[0077] The threads of the screws coupled to the respective first bending drive shafts 1132 of a pair of first drive blocks 1131 can be opposite to each other. According to this structure, the distance between the pair of first drive blocks 1131 can be increased or decreased simply by rotating the first bending drive shafts 1132, thereby changing the bending angle or bending direction.

[0078] For example, the threads formed in the two screw members 11321 can be in the same direction, while the threads formed in the respective threaded holes 11312 of a pair of first drive blocks 1131 can be opposite to each other.

[0079] According to the above structure, since the threads engaging with the screw member 11312 in the threaded holes 11312 of the pair of first drive blocks 1131 are in opposite directions, the pair of first drive blocks 1131 can move relative to each other in the longitudinal direction when the first bending drive shaft 1132 is rotated. In other words, the spacing between the pair of first drive blocks 1131 can be adjusted according to the driving of the first bending drive shaft 1132.

[0080] As another example, the threads in the threaded holes 11312 of a pair of first drive blocks 1131 may be in the same direction, while the threads in the two screw members 11321 may be in opposite directions.

[0081] As yet another example, the screw component 11321 may not have a separate configuration provided in the first bending drive shaft 1132, but may have an integral structure in which the outer peripheral surface of the first bending drive shaft 1132 is threaded so that the screw is coupled to the respective threaded holes 11312 of a pair of first drive blocks 1131.

[0082] The first clamping block 11314 is rotatably disposed in the block hole 11313 of the first drive block 1131. The first clamping block 11314 can clamp the first bent tendon 133 while providing a path for other tendons to pass through.

[0083] For example, the bearing 11315 can be inserted between the first clamping block 11314 and the block hole 11313.

[0084] For example, the first clamping block 11314 may include a fixing part 113141 that fixes one side 1331 or the other side 1332 of the first flexed tendon 133, a tendon channel 113142 that provides passage for the passage of a plurality of tendons 133, 134, 135, and a shaft fastening part 113143 that is fixedly fastened to the fixing shaft 1633 of the rotation drive part 116.

[0085] For example, each of the first clamping blocks 11314 of a pair of first drive blocks 1131a, 1131b can fixally clamp one side 1331 and the other side 1332 of the first flexural tendon 133 that extends in two parts.

[0086] According to the above structure, the longitudinal distance between a pair of first clamping blocks 11314 on both sides 1331, 1332 of the first bending drive shaft 1332 can be reduced or increased according to the rotation of the first bending drive shaft 1332, thereby adjusting the bending direction or curvature of the first joint portion 1321 connecting the first bending tendon 133.

[0087] Multiple tendon channels 113142 can provide a path through which the first flexed tendon 133 and the second flexed tendon 134 or the manipulating tendon 135 can pass longitudinally parallel.

[0088] For example, multiple tendon channels 113142 can be configured as multiple holes, allowing multiple tendons to pass through these holes individually. This helps to align multiple tendons while preventing interference or twisting between tendons.

[0089] For example, depending on the type of tendon, multiple tendon channels 113142 can be set at different positions based on the axis of rotation.

[0090] For example, in a plurality of tendon channels 113142, the central axis of the channel through which the manipulating tendon 135 passes may be aligned with the rotation axis of tube 12, and the channel through which the first bending tendon 133 or the second bending tendon 134 passes may be located at a position radially spaced from the rotation axis of tube 12.

[0091] like Figures 1 to 5 As shown, the first bending drive unit 113 may have a configuration including a pair of separate drive blocks 1131a, 1131b, which respectively clamp the two sides 1131, 1132 of the two strands of the first bending tendon 133. However, if the first joint portion 1321 is driven by a single tendon, that is, if the first bending tendon 133 is a single tendon extending to the base housing 111, then the first drive block 1131 of the first bending drive unit 113 may have a single configuration that translates along the first guide axis 1112a, rather than a pair.

[0092] The second bending drive 114 can pass through the interior of the tube 12 and longitudinally translate the second bending tendon 134 to the base housing 111, thereby bending the second joint 1322.

[0093] For example, the first bending drive unit 113 and the second bending drive unit 114 can be arranged at positions that are spaced apart from each other in the longitudinal direction.

[0094] like Figure 2 and Figure 3 As shown, the first bending drive unit 113 may be configured to be forward-spaced from the second bending drive unit 114; however, this is only an example, and the first bending drive unit 113 and the second bending drive unit 114 may be located in different positions.

[0095] For example, the second bending drive 114 may include a pair of second drive blocks 1141 that slide along the second guide shaft 1112b and a second bending drive shaft 1142 that extends in the longitudinal direction and is screwed to the second drive blocks 1141 to translate the second drive blocks 1141 in the longitudinal direction.

[0096] For example, the second bending drive 114 can have the same configuration as the first bending drive 113, wherein the clamping tendon is changed to the second bending tendon 134 instead of the first bending tendon 133. Therefore, referring to the configuration of the first bending drive 113 described above and... Figure 3 and Figure 4 The same applies to the specific configuration and features of the second drive unit 113.

[0097] For example, similar to the first drive block 1131, each of a pair of second drive blocks 1141 may include a guide hole, a threaded hole, a block hole, a second clamping block 11414, and a bearing 11415. For example, similar to the first clamping block 11314, the second clamping block 11414 may include a fixing portion, a tendon channel, and a shaft fastening portion. For example, similar to the first bending drive shaft 1132, the second bending drive shaft 1142 may include a screw member 11421, which is screwed to the threads of the respective threaded holes at portions passing through the threaded holes of the second drive blocks 1141.

[0098] The manipulation drive unit 115 can translate the manipulation tendon 135, which passes through the interior of the tube 12 and is guided to the base housing 111, in the longitudinal direction, thereby manipulating the end of the surgical tool 13.

[0099] For example, the control drive unit 115 may be positioned at a location spaced apart from the first bending drive unit 113 and the second bending drive unit 114 in the longitudinal direction. For example, the control drive unit 115 may be sequentially positioned from the front of the first bending plate drive unit 113 and the second bending plate drive unit 114 at a rearward interval, with the longitudinal direction as the reference.

[0100] However, the order in which the first bending drive unit 113, the second bending drive unit 114, and the manipulation drive unit 115 are arranged in the base housing 111 is not limited to this, and the drive units 113, 114, and 115 can be arranged in any position unless they overlap each other in the drive space according to the drive displacement.

[0101] For example, the control drive unit 115 may include a third drive block 1151 that slides along a third guide shaft 1112c and a control drive shaft 1152 that extends in the longitudinal direction and is screwed to the third drive block 1151 to translate the third drive block 1151 in the longitudinal direction.

[0102] For example, the first bending drive 113 may be configured to adjust the longitudinal relative distance between the two sides of the first bending tendon 133, which is divided into two strands and extends. Conversely, the manipulation drive 115 may be configured to move a single strand of the manipulation tendon 135 longitudinally.

[0103] For example, the manipulation drive unit 115 may have the same configuration as the first bending drive unit 113 described above, wherein the third drive block 1151 has a single configuration instead of a pair, and the clamping tendon is changed to the manipulation tendon 135. For example, the third guide shaft 1112c may correspond to the first guide shaft 1112a, the third drive block 1151 may correspond to the first drive block 1131, and the manipulation drive shaft 1152 may correspond to the first bending drive shaft 1132. Referring to the configuration of the first bending drive unit 113 described above and Figure 3 and Figure 4 The same applies to the specific configuration and features of the control drive unit 115.

[0104] For example, similar to the first drive block 1131, the third drive block 1151 may include a guide hole, a threaded hole, a block hole, a third clamping block 11514, and a bearing 11515. For example, similar to the first clamping block 11314, the third clamping block 11514 may include a fixing portion, a tendon channel, and a shaft fastening portion. However, if the third clamping block 11514 is positioned further rearward than the other clamping blocks 11314 and 11414, then the third clamping block 11514 may not include a tendon channel. For example, similar to the first bending drive shaft 1132, the actuating drive shaft 1152 may include a screw member 11521, which is screwed into the thread of the threaded hole at a portion passing through the threaded hole of the third drive block 1151.

[0105] For example, the rotation axis of each of the pair of first clamping blocks 11314 of the first bending drive unit 113, the pair of second clamping blocks 11414 of the second bending drive unit 114, and the third clamping block 11514 of the manipulation drive unit 115 can be the same as the rotation axis of the rotating arm 1161.

[0106] For example, when viewed along the axis of rotation of the rotating arm 1161, the first clamping block 11314, the second clamping block 11414, and the third clamping block 11514 can all have circles that overlap each other.

[0107] The rotary drive unit 116 can rotate relative to the base housing 111 with a rotation axis parallel to the longitudinal direction of the tube 12 as the center, while the tube 12 is clamped.

[0108] For example, the rotary drive unit 116 may include a rotary arm 1161, which is rotatably disposed relative to the base housing 111 in a state where the clamping tube 12 extends rearward on one side (e.g., the end); a fixed shaft 1163 extending longitudinally from the rotary arm 1161 and coupled to each clamping block 11314, 11414, 11514 of the plurality of drive units 113, 114, 115; and a rotary drive shaft 1164 coupled to the rotary arm 1161 to rotary drive the rotary arm 1161.

[0109] The rotating arm 1161 can be fixedly supported from the front to one side (e.g., the end) of the tube 12 extending from the surgical tool 13. For example, the rotating arm 1161 is rotatably disposed at the front portion 1111a of the base housing 111.

[0110] The fixed shaft 1163 can extend longitudinally toward the rear of the rotating arm 1161 and is coupled to a pair of first clamping blocks 11314 of the first bending drive unit 113, a pair of second clamping blocks 11414 of the second bending drive unit 114, and a third clamping block 11514 of the manipulation drive unit 115.

[0111] For example, such as Figure 4 As shown, the fixed shaft 1163 may have a configuration of multiple shafts that pass through a pair of first clamping blocks 11314, a pair of second clamping blocks 11414 and a third clamping block 11514 in the longitudinal direction.

[0112] In this case, the multiple fixed shafts 1163 may include a configuration of at least two or more shafts that are radially spaced at the same interval based on the rotation axis of the rotating arm 1161.

[0113] For example, the fixed shaft 1163 can thus pass through the shaft fastening portion 113143 formed in a pair of first clamping blocks 11314, a pair of second clamping blocks 11414 and a third clamping block 11514 respectively.

[0114] According to the above structure, the clamping blocks 11314, 11414, and 11514 of the multiple drive units 113, 114, and 115 can be kept aligned by the fixed shaft 1163 based on the rotation axis of the rotating arm 1161 to have the same rotation phase. At the same time, since the rotational movements of the clamping blocks 11314, 11414, and 11514 of the multiple drive units can be synchronized according to the rotation, the alignment of the multiple tendons 133, 134, and 135 passing through the multiple drive units 113, 114, and 115 can also be maintained.

[0115] For example, such as Figure 2 and Figure 4As shown, when the base housing 111 is separated into a front portion 1111a and a rear portion 1111b, the rotating arm 1161 can also be a component 11611, which corresponds to a configuration that allows relative rotation when the tube 12 is clamped in the front portion 1111a, and is also fixed in the rear portion 1111b by a fixed shaft 1163 so that it can rotate relative to the front portion 1111b.

[0116] For example, a rotary drive shaft 1164 may extend longitudinally within the base housing 111 to transmit rotary drive force to the rotary arm 1161.

[0117] For example, the rotary drive shaft 1164 can rotate the rotary arm 1161 by a power transmission element such as a gear, pulley or belt.

[0118] For example, the rotary drive shaft 1164 may be configured to rotate the rotary arm 1161 by rotating the fixed shaft 1163 instead of directly coupling it to the rotary arm 1161.

[0119] According to one embodiment of the surgical robot 1, even when the rotation, joint movement (bending) and end effector manipulation of the surgical tool 13 are performed simultaneously, independent operation unaffected by each drive can be ensured, thereby enabling more precise and stable driving of the surgical tool 13.

[0120] According to one embodiment of the surgical robot 1, even when the surgical tool 13 is rotated, the multiple tendons 133, 134, 135 used to control the surgical tool 13 remain aligned and rotate together, thereby preventing the problem of tendon torsion caused by the rotation of the surgical tool 13.

[0121] According to one embodiment, when the surgical tool 13 is rotated by the rotation drive unit 116, since the surgical robot 1 has a structure in which multiple clamping blocks 11314, 11414, 11514 rotate relative to each other only through the medium of the bearing 11315, the surgical tool 13 can be rotated even with a relatively small rotational output that only overcomes the frictional force applied between the bearing 11315 and the clamping blocks 11314, 11414, 11514.

[0122] In summary, the embodiments have been described with reference to the limited accompanying drawings. Those skilled in the art can make various modifications and variations based on the description. For example, appropriate results can be obtained by performing the described techniques in a different order than the described methods, and / or by combining or integrating the described systems, structures, devices, circuits, and other constituent elements in a different manner than the described methods, or by replacing or substituting them with other constituent elements or equivalents.

Claims

1. A surgical robot, characterized in that, include: A surgical tool having a flexible joint and a flexural tendon connected to said joint and configured to perform a bending operation on said joint; A tube, which is connected to the surgical instrument and houses the flexed tendon inside it; A base housing that rotatably supports the tube and accommodates the curved tendon passing through the interior of the tube; A bending drive unit that clamps the bending tendon and translates relative to the base housing in a longitudinal direction parallel to the rotation axis of the tube; as well as A rotary drive unit rotatably supports the tube relative to the base housing, and when the tube rotates, the rotary drive unit is connected to the bending drive unit to clamp a portion of the bending tendon, thereby causing the tube and the bending tendon to rotate together; The base housing includes: A first guide shaft extends along the longitudinal direction and securely supports the base housing. The bending drive unit includes: A first drive block, which is slidably driven along a first guide shaft passing through the first drive block; and A curved drive shaft extends along the longitudinal direction and is screwed to the first drive block to translate the first drive block along the longitudinal direction. The first driver block includes: The first hole is formed at the location where the curved tendon passes through; and The first clamping block is rotatably disposed relative to the first block hole and can be rotated by the rotation drive unit while clamping the bent tendon.

2. The surgical robot according to claim 1, characterized in that, The rotation drive unit includes: A rotating arm that rotatably clamps the tube relative to the base housing; and A fixed shaft extends from the rotating arm along the longitudinal direction and passes through the first clamping block.

3. The surgical robot according to claim 2, characterized in that, The rotation axis of the first clamping block relative to the first driving block is the same as the rotation axis of the rotating arm.

4. The surgical robot according to claim 2, characterized in that, The flexed tendon has a pair of tendons arranged to extend in the respective bending directions of the joint. The first drive block has a pair of configurations spaced apart from each other along the first guide axis and slides while respectively clamping the pair of bent tendons. The bending drive shaft screws are coupled to each of the pair of first drive blocks in opposite thread directions.

5. The surgical robot according to claim 4, characterized in that, The fixed shaft passes through the first clamping block of each of the pair of first drive blocks. The rotation axis of the first clamping block of each of the pair of first driving blocks is the same as the rotation axis of the rotating arm.

6. The surgical robot according to claim 2, characterized in that, The surgical instruments also include: A control unit that manipulates the tip of the surgical instrument; and An operating tendon, which performs the operation of the operating part, connects to the operating part, extends through the interior of the tube to the base housing. The surgical robot also includes: The actuation drive unit clamps the actuation tendon housed in the base housing and translates relative to the base housing in the longitudinal direction.

7. The surgical robot according to claim 6, characterized in that, The base housing also includes: The second guide shaft extends along the longitudinal direction and securely supports the base housing. The control drive unit includes: The second drive block slides along the second guide axis; and A drive shaft, extending along the longitudinal direction and screwed to the second drive block, is used to translate the second drive block along the longitudinal direction. The second driver block includes: A second hole is formed at the location where the manipulator tendon passes; and The second clamping block is rotatably disposed relative to the second block hole and is connected to the fixed shaft while clamping the operating tendon.

8. The surgical robot according to claim 7, characterized in that, The fixed shaft passes through both the first clamping block and the second clamping block. The rotation axes of the first clamping block and the second clamping block are the same as the rotation axis of the rotating arm.

9. The surgical robot according to claim 8, characterized in that, The first guide shaft and the second guide shaft have the same radius with respect to the rotation axis of the rotating arm, and are radially spaced apart. When viewed along the axis of rotation of the rotating arm, the first clamping block and the second clamping block have overlapping circles.

10. A surgical robot, characterized in that, include: A surgical tool having a first joint portion and a second joint portion that can be bent in different directions, a first flexing tendon that performs the bending operation of the first joint portion, and a second flexing tendon that performs the bending operation of the second joint portion; A tube, which is connected to the surgical instrument and houses the first flexed tendon and the second flexed tendon inside it; A base housing that rotatably supports the tube and accommodates multiple curved tendons passing through the interior of the tube; A first bending drive unit clamps the first bending tendon and translates relative to the base housing in a longitudinal direction parallel to the rotation axis of the tube. The second bending drive unit clamps the second bending tendon and translates relative to the base housing in a longitudinal direction parallel to the rotation axis of the tube. as well as A rotation drive unit rotatably supports the tube relative to the base housing, and when the tube rotates, the rotation drive unit is connected to (i) a portion of the first bending tendon clamped in the first bending drive unit and (ii) a portion of the second bending tendon clamped in the second bending drive unit, thereby causing the tube, the first bending tendon and the second bending tendon to rotate together; The base housing includes: The first guide shaft and the second guide shaft extend along the longitudinal direction and are radially spaced from each other with the same radius around the rotation axis of the tube, thereby fixingly supporting the base housing. The first bending drive unit includes: A first drive block, which is slidably driven along a first guide shaft passing through the first drive block; and A first bending drive shaft extends along the longitudinal direction and is screwed to the first drive block to translate the first drive block along the longitudinal direction. The second bending drive unit includes: The second drive block slides along the second guide shaft passing through the second drive block; and A second bending drive shaft extends along the longitudinal direction and is screwed to the second drive block to translate the second drive block along the longitudinal direction. The first driver block includes: A first hole is formed at the location where the first and second flexed tendons pass through; and The first clamping block is rotatably disposed relative to the first block hole and can be rotated by the rotation drive unit while clamping the first bent tendon. The second driver block includes: The second hole is formed at the location where the second flexed tendon passes; and The second clamping block is rotatably disposed relative to the second block hole and can be rotated by the rotation drive unit while clamping the second flexed tendon.

11. The surgical robot according to claim 10, characterized in that, The rotation drive unit includes: A rotating arm that rotatably clamps the tube relative to the base housing; and A fixed shaft extends from the rotating arm along the longitudinal direction and passes through the first clamping block and the second clamping block. The rotation axes of the first clamping block and the second clamping block are the same as the rotation axis of the rotating arm.

12. The surgical robot according to claim 11, characterized in that, When viewed along the axis of rotation of the rotating arm, the first clamping block and the second clamping block have overlapping circles.

Images