Lasso drive mechanism

Abstract

This invention discloses a lasso driving device. According to an embodiment of the invention, the device for driving a lasso may include: a sheath having a predetermined length, being flexible, and being hollow; a flexible rope located inside the hollow sheath; a rod attached to one outer side of the flexible rope and having higher stiffness than the sheath; and a tube attached to one outer side of the sheath and having higher stiffness than the sheath. With a portion of the rod located inside the tube, the flexible rope moves through the sheath and the tube as the rod is guided and moved by the tube.

Description

Technical Field

[0001] The present invention relates to a lasso drive device, and more specifically, to a lasso drive device for precisely driving a robot. Background Technology

[0002] When space constraints prevent direct installation of actuators, and the robotic arm needs to be flexibly bent, a lasso-shear method is used to transmit force via two flexible cables. Various methods exist for driving rotary joints using lassos, among which the method of installing actuators such as motors at both ends and actively controlling the movement according to the direction of rotation is called a dual-input lasso. In this case, the structure driven along the direction of rotation is called the master lasso, and the structure driven from the opposite side is called the slave lasso. If the direction of rotation changes, the master and slave movements also change.

[0003] The main flexible cable is subjected to a force directly pulled by the motor, so there is not much of a problem. However, the secondary flexible cable driven by the force applied by the main flexible cable has the following problems: the part that is not inserted into the sheath and is exposed to the outside becomes loose and bent, or a large backlash is generated due to increased friction, thus reducing accuracy.

[0004] Therefore, a solution is needed that can reduce back gaps while preventing the flexible cable from loosening and bending. Summary of the Invention

[0005] Technical problems to be solved

[0006] The present invention addresses the problems described above by providing a lasso drive device for precisely controlling the movement of a flexible rope connected to a robot.

[0007] The subject matter of this invention is not limited to the subject matter mentioned above, and those skilled in the art will clearly understand other subject matters not mentioned from the following description.

[0008] Problem-solving methods

[0009] To solve the above-mentioned technical problems, a lasso driving device according to an embodiment of the present invention may include: a sheath having a predetermined length, being flexible, and being hollow; a flexible rope located inside the hollow sheath; a rod attached to the outer side of one side of the flexible rope and having higher stiffness than the sheath; and a tube attached to the outer side of one side of the sheath and having higher stiffness than the sheath. With a portion of the rod located inside the tube, the flexible rope moves through the sheath and the tube as the rod is guided to move by the tube.

[0010] At this point, the outer diameter of the rod can be smaller than the inner diameter of the tube.

[0011] At this time, the inner diameter of the tube can be equal to or greater than the inner diameter of the sheath.

[0012] At this point, a moving space can be formed between the aforementioned flexible rope and the aforementioned tube to allow the aforementioned rod to move.

[0013] At this time, a drive unit for moving the rod relative to the tube may also be included.

[0014] At this time, the lasso driving device may further include: a first retainer, which is fixed to the rod in such a way that the rod can move relative to the tube along the length direction; and a second retainer, which supports the tube, and the driving part drives the first retainer in such a way that it can move.

[0015] At this time, the first retainer may include: a first lower retainer having a first groove into which a portion of the rod is inserted; and a first upper retainer having a second groove into which another portion of the rod is inserted, and combined with the first lower retainer, wherein the rod is inserted into the first groove and the second groove and fixed to the first retainer.

[0016] At this time, the second retainer may include: a second lower retainer having a third groove for inserting a portion of the tube; and a second upper retainer having a fourth groove for inserting another portion of the tube, and combined with the second lower retainer, wherein the tube is inserted into and fixed in the third groove and the fourth groove.

[0017] Furthermore, according to another embodiment of the present invention, the lasso driving device may include: a sheath having a predetermined length, being flexible, and being hollow; a flexible rope located inside the hollow sheath; a rod attached to the outer side of one side of the flexible rope and having a higher stiffness than the sheath; a tube attached to the outer side of one side of the sheath and having a higher stiffness than the sheath; and an elastic portion disposed inside the tube, surrounding the flexible rope between the sheath and the rod in a manner that fills a portion of the interior of the tube, wherein, with a portion of the rod located inside the tube, the flexible rope moves through the sheath and the tube as the rod is guided to move by the tube.

[0018] At this time, the elastic part can be configured to guide the linear movement of the flexible cable inside the tube.

[0019] At this point, the outer diameter of the rod can be smaller than the inner diameter of the tube.

[0020] At this point, a drive unit for moving the rod relative to the tube may also be included.

[0021] At this time, the lasso driving device may further include: a first retainer, which is fixed to the rod in such a way that the rod can move relative to the tube along the length direction; and a second retainer, which supports the tube, and the driving part drives the first retainer in such a way that it can move.

[0022] At this time, the first retainer may include: a first lower retainer having a first groove into which a portion of the rod is inserted; and a first upper retainer having a second groove into which another portion of the rod is inserted, and combined with the first lower retainer, wherein the rod is inserted into the first groove and the second groove and fixed to the first retainer.

[0023] At this time, the second retainer may include: a second lower retainer having a third groove for inserting a portion of the tube; and a second upper retainer having a fourth groove for inserting another portion of the tube, and combined with the second lower retainer, wherein the tube is inserted into and fixed in the third groove and the fourth groove.

[0024] At this time, the sheath can be made of an elastic material, and the material of the elastic part can be the same as the material of the sheath.

[0025] At this time, the first retainer may include: a first rod groove formed in a cylindrical shape corresponding to the rod; and a second rod groove with a radius greater than that of the first rod groove; the second retainer may include: a third tube groove formed in a cylindrical shape corresponding to the tube; and a fourth tube groove with a radius greater than that of the third tube groove; the rod has a rod protrusion inserted into and fixed to the second groove; and the tube has a tube protrusion inserted into and fixed to the fourth groove.

[0026] Furthermore, according to another embodiment of the present invention, the lasso driving device may include: a sheath having a predetermined length, being flexible, and being hollow; a flexible rope located inside the hollow of the sheath; a flexible rope tube connected to the flexible rope for insertion into the sheath, and having a higher stiffness than the sheath; and a sheath tube for insertion into the sheath, and having a higher stiffness than the sheath, wherein, with a portion of the flexible rope tube located inside the sheath tube, the flexible rope moves through the sheath as the flexible rope tube is guided and moved by the sheath tube.

[0027] At this time, as the flexible tube is guided to move by the sheath tube, a portion of the sheath is guided to move by the flexible tube.

[0028] At this time, the outer diameter of the aforementioned flexible tube can be smaller than the inner diameter of the aforementioned sheath tube.

[0029] At this time, the outer diameter of the sheath can be smaller than the inner diameter of the flexible tube.

[0030] At this time, the above-mentioned lasso driving device may also include a driving part for moving the flexible rope tube relative to the sheath tube.

[0031] At this time, the above-mentioned lasso driving device may further include: a first retainer, which is fixed to the flexible tube in such a way that the flexible tube can move relative to the sheath tube along the length direction; and a second retainer, which supports the sheath tube, and the driving part drives the first retainer in a movable manner.

[0032] At this time, the first retainer may include: a first lower retainer having a first groove for inserting a portion of the flexible tube; and a first upper retainer having a second groove for inserting another portion of the flexible tube, and combined with the first lower retainer, wherein the flexible tube is inserted into the first groove and the second groove and fixed to the first retainer.

[0033] At this time, the second retainer may include: a second lower retainer having a third groove for inserting a portion of the sheath tube; and a second upper retainer having a fourth groove for inserting another portion of the sheath tube, and combined with the second lower retainer, wherein the sheath tube is inserted into and fixed in the third groove and the fourth groove.

[0034] At this time, a moving space can be formed between the aforementioned flexible rope and the aforementioned flexible rope tube to allow the aforementioned sheath to move.

[0035] At this time, the above-mentioned lasso driving device may also include an elastic part, which is disposed in the above-mentioned moving space and surrounds the above-mentioned flexible rope.

[0036] Invention Effects

[0037] In a lasso driving device according to an embodiment of the present invention, the relative movement between the flexible cable and the sheath is smooth, thereby minimizing the buckling between the flexible cable and the sheath, and enabling precise driving of the robot. Attached Figure Description

[0038] Figure 1 This is a schematic diagram illustrating a lasso drive device according to an embodiment of the present invention.

[0039] Figure 2 It is shown Figure 1 A schematic diagram showing the state of the rod and tube separated.

[0040] Figure 3 This is a schematic diagram showing the state in which the first retainer of the lasso drive device according to an embodiment of the present invention is separated into a first lower retainer and a first upper retainer.

[0041] Figure 4This is a schematic diagram showing the state in which the second retainer of the lasso drive device according to an embodiment of the present invention is separated into a second lower retainer and a second upper retainer.

[0042] Figure 5 This is a block diagram of a lasso driving device according to an embodiment of the present invention.

[0043] Figure 6 This is a diagram illustrating the relative movement of the flexible rope and the sheath of a lasso driving device according to an embodiment of the present invention.

[0044] Figure 7 This is a diagram showing a modified example of the first retainer.

[0045] Figure 8 This is a diagram illustrating a lasso drive device according to another embodiment of the present invention.

[0046] Figure 9 This is a schematic diagram showing the state in which the rod and tube of the lasso drive device according to another embodiment of the present invention are separated.

[0047] Figure 10 This is a diagram illustrating the relative movement of the flexible rope and the sheath of a lasso driving device according to another embodiment of the present invention.

[0048] Figure 11 This is a diagram showing a deformation example of the elastic part.

[0049] Figure 12 This is a schematic diagram illustrating a lasso drive device according to yet another embodiment of the present invention.

[0050] Figure 13 It is shown Figure 12 A schematic diagram showing the state of the flexible tube and the sheath tube separated.

[0051] Figure 14 This is a schematic diagram showing the state in which the first retainer of the lasso drive device according to another embodiment of the present invention is separated into a first lower retainer and a first upper retainer.

[0052] Figure 15 This is a schematic diagram showing the state in which the second retainer of the lasso drive device according to another embodiment of the present invention is separated into a second lower retainer and a second upper retainer.

[0053] Figure 16 This is a block diagram of a lasso driving device according to another embodiment of the present invention.

[0054] Figure 17 This is a diagram illustrating the relative movement of the flexible rope and the sheath of a lasso driving device according to another embodiment of the present invention.

[0055] Figure 18 This is a diagram showing a variation of the flexible tube.

[0056] Figure 19 This is a diagram showing a modified example of the first retainer.

[0057] Explanation of reference numerals in the attached figures

[0058] 100: Lasso drive device

[0059] 120: Protective sleeve

[0060] 130: Rope

[0061] 170: pole

[0062] 180: pipe Detailed Implementation

[0063] Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. Various modifications can be made to the embodiments according to the present invention. Specific embodiments are described in the drawings and detailed in the specific description. However, the specific embodiments shown in the drawings are only for the purpose of facilitating a clear understanding of the various embodiments. Therefore, the technical concept of the present invention is not limited to the specific embodiments shown in the drawings, but should be understood to include all equivalents or alternatives that fall within the spirit and scope of the present invention.

[0064] Ordinal terms such as first, second, etc., can be used to describe various constituent elements, but these constituent elements are not limited to the terms mentioned above. The terms mentioned above are only used to distinguish one constituent element from another.

[0065] In embodiments of the present invention, terms such as "comprising" or "having" should be understood as referring to the presence of features, numbers, steps, actions, constituent elements, components, or combinations thereof described in the embodiments of the present invention, rather than precluding the presence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, components, or combinations thereof. When a constituent element is referred to as being "connected" or "joined" to another constituent element, it should be understood that the structural element can be directly connected to or joined to the other constituent element, or that other structural elements may be present in between. Conversely, when a structural element is referred to as being "directly connected" or "directly joined" to another structural element, it should be understood that no other structural elements are present in between.

[0066] On the other hand, the “module” or “part” of the constituent elements used in the embodiments of the present invention performs at least one function or action. Furthermore, a “module” or “part” can perform a function or action by hardware, software, or a combination of hardware and software. In addition, multiple “modules” or “parts” other than those executed by specific hardware or by at least one processor can be integrated into at least one module. Unless the context clearly indicates otherwise, singular expressions include plural expressions.

[0067] In addition, when describing embodiments of the present invention, if it is determined that a detailed description of a related known function or structure would obscure the gist of the present invention, the detailed description thereof will be abbreviated or omitted.

[0068] Figure 1 This is a schematic diagram illustrating a lasso driving device according to an embodiment of the present invention. Figure 2 It is shown Figure 1 A schematic diagram showing the state of the rod and tube separated. Figure 3 This is a schematic diagram illustrating the state in which the first holder of a lasso drive device according to an embodiment of the present invention is separated into a first lower holder and a first upper holder. Figure 4 This is a schematic diagram illustrating the state in which the second retainer of the lasso drive device according to an embodiment of the present invention is separated into a second lower retainer and a second upper retainer. Figure 5 This is a block diagram of a lasso driving device according to an embodiment of the present invention.

[0069] like Figure 1 As shown, the lasso driving device 100 according to an embodiment of the present invention is a device that drives the robot 10 by utilizing the relative motion of the tendon 130 and the sheath 120. In this case, the tendon is driven in a manner that alternately performs active and passive functions. Furthermore, the robot 10 is a medical robot that is inserted into a patient's body to perform actions such as cutting or grasping, but is not limited to medical robots.

[0070] Reference Figures 1 to 5 According to an embodiment of the present invention, a lasso driving device 100 includes a plurality of sheaths 120, a flexible rope 130, a plurality of rods 170, a plurality of pipes 180, a plurality of first retainers 140, and a plurality of second retainers 150.

[0071] The aforementioned plurality of sheaths 120 have a predetermined length, are flexible, and are hollow in shape. Furthermore, the aforementioned plurality of sheaths 120 can be made of a flexible metal material. Additionally, the aforementioned plurality of sheaths 120 can be formed in a coil shape. The aforementioned plurality of sheaths 120 includes a first sheath 121 and a second sheath 122.

[0072] The flexible cable 130 is located inside the hollow interior of each of the plurality of sheaths 120. Specifically, one side of the flexible cable 130 is located inside the first sheath 121, and the other side is located inside the second sheath 122. In this case, the length of the flexible cable 130 is greater than the total length of the plurality of sheaths 120. Furthermore, the flexible cable 130 is connected to the robot's joint 20 for actuation. For example, the flexible cable 130 surrounds the outer peripheral surface of the robot's joint 20 to allow the robot's joint 20 to rotate clockwise or counterclockwise.

[0073] On the other hand, according to various embodiments of the present invention, the aforementioned flexible cable 130 need not be a single piece continuously connected at one end to the other. As an example, it may also include the following: separated into two flexible cables, each with one end fixed to the robot's joint 20, and performing the same movement as the single-piece flexible cable.

[0074] On the other hand, according to various embodiments of the present invention, the aforementioned flexible cable 130 is not limited to being configured as a single flexible cable connected to the joint 20 of the robot, but can be configured as two or more flexible cables. Similarly, the aforementioned plurality of sheaths 120 is not limited to being configured as two sheaths, but can be configured as an even number of sheaths, such as 2, 4, 6, or 10 or more, corresponding to the number of the aforementioned flexible cables 130. As described above, the lasso drive device according to various embodiments of the present invention can increase the degrees of freedom of the robot according to the number of the aforementioned flexible cables 130.

[0075] The aforementioned multiple rods 170 are combined with one side of the aforementioned flexible cable 130.

[0076] Furthermore, according to various embodiments of the present invention, the plurality of rods 170 can be formed in the shape of a hollow tube. In this case, after a portion of the flexible cord 130 is inserted into the plurality of rods 170, the plurality of rods 170 are pressed against the outer surface of the flexible cord 130. However, the plurality of rods 170 are not limited to being pressed against the outer surface of the flexible cord 130, and can be combined with the flexible cord 130 in various ways.

[0077] The aforementioned rods 170 are made of a material with higher stiffness than the aforementioned sheaths 120. For example, the aforementioned rods 170 may be made of metal. However, the aforementioned rods 170 are not limited to being made of metal, and may be made of various materials with higher stiffness than the aforementioned sheaths 120.

[0078] In addition, the aforementioned plurality of rods 170 include: a first flexible rod 171, which is pressed against the outer side of one side of the aforementioned flexible cable 130; and a second flexible rod 172, which is pressed against the outer side of the other side of the aforementioned flexible cable 130.

[0079] The plurality of tubes 180 are joined in a row on one side of each of the plurality of sheaths 120. For example, the plurality of tubes 180 are crimped onto the outer side of one side of each of the plurality of sheaths 120. However, the plurality of tubes 180 are not limited to being crimped onto the outer side of one side of each of the plurality of sheaths 120, and can be joined to the sheaths 120 in various ways.

[0080] One side of each of the plurality of rods 170 is inserted into the plurality of tubes 180. The plurality of tubes 180 are made of a material with higher stiffness than the plurality of sheaths 120. For example, the plurality of tubes 180 may be made of metal. However, the plurality of tubes 180 are not limited to being made of metal, and may be made of various materials with higher stiffness than the plurality of sheaths 120.

[0081] In addition, the aforementioned plurality of tubes 180 include: a first sheath tube 181, which is attached to one side of the first sheath 121; and a second sheath tube 182, which is attached to one side of the second sheath 122.

[0082] One side of the first flexible cable rod 171 is inserted into the first sheath tube 181. And one side of the second flexible cable rod 172 is inserted into the second sheath tube 182. At this time, the plurality of tubes 180 guide the movement of the plurality of rods 170. Thus, bending or twisting is prevented as the plurality of flexible cables 130 move through the plurality of sheaths 120.

[0083] The aforementioned plurality of first retainers 140 clamp each of the aforementioned plurality of rods 170. At this time, the aforementioned plurality of first retainers 140 are composed of a first flexible cable retainer 141 coupled to the aforementioned first flexible cable rod 171 and a second flexible cable retainer 142 coupled to the aforementioned second flexible cable rod 172.

[0084] At this time, the lasso drive device 100 according to an embodiment of the present invention includes a plurality of drive units 190 for linearly moving the plurality of first retainers 140. For example, the plurality of drive units 190 may be linear actuators, but are not limited thereto, and may be various devices that enable the plurality of drive units 190 to perform linear movement.

[0085] The aforementioned plurality of drive units 190 include a first drive unit 191 connected to the first flexible cable retainer 141 and a second drive unit 192 connected to the second flexible cable retainer 142.

[0086] The first drive unit 191 moves the first flexible cable retainer 141 along a first direction ① or a second direction ② opposite to the first direction ①. Furthermore, the second drive unit 192 moves the second flexible cable retainer 142 along the first direction ① or a second direction ② opposite to the first direction ①.

[0087] As the plurality of first retainers 140 move along the first direction ① or the second direction ② via the drive unit 190, the plurality of rods 170 move along the first direction ① or the second direction ②. Furthermore, as the plurality of rods 170 move along the first direction ① or the second direction ②, the plurality of flexible cables 130 move along the first direction ① or the second direction ②.

[0088] In addition, such as Figure 3 As shown, the plurality of first retainers 140 include a first lower retainer 140a and a first upper retainer 140b. The first lower retainer 140a has a first groove 140c into which a portion of the plurality of rods 170 is inserted. The first groove 140c has a semi-cylindrical shape. The first upper retainer 140b is coupled to the first lower retainer 140a. The first upper retainer 140b has a second groove 140d into which another portion of the plurality of rods 170 is inserted. The second groove 140d has a semi-cylindrical shape and is formed to face the first groove 140c. When the first lower retainer 140a and the first upper retainer 140b are coupled, the first groove 140c and the second groove 140d together form a cylindrical shape. The plurality of rods 170 are inserted into the first groove 140c and the second groove 140d and fixed to the plurality of first retainers 140.

[0089] The plurality of second retainers 150 support each of the plurality of tubes 180 so that each of the plurality of rods 170 can move along the length direction relative to each of the plurality of tubes 180.

[0090] In addition, such as Figure 4 As shown, the plurality of second retainers 150 include a second lower retainer 150a and a first upper retainer 150b. The second lower retainer 150a has a third groove 150c for inserting a portion of the plurality of tubes 180. The third groove 150c has a semi-cylindrical shape. The second upper retainer 150b is coupled to the second lower retainer 150a. The second upper retainer 150b has a fourth groove 150d for inserting another portion of the plurality of tubes 180. The fourth groove 150d has a semi-cylindrical shape and is formed to face the third groove 150c. When the second lower retainer 150a and the second upper retainer 150b are coupled, the third groove 150c and the fourth groove 150d together form a cylindrical shape. The plurality of tubes 180 are inserted into the third groove 150c and the fourth groove 150d and fixed to the plurality of second retainers 150.

[0091] Furthermore, the aforementioned plurality of second retainers 150 include: a first sheath retainer 151, which clamps the first sheath tube 181; and a second sheath retainer 152, which clamps the second sheath tube 182. Additionally, as... Figure 5 As shown, the lasso drive device 100 has a control unit 200 for controlling the plurality of drive units 190.

[0092] The control unit 200 controls the first drive unit 191 and the second drive unit 192, and simultaneously controls the movement of the first flexible cable retainer 141 and the second flexible cable retainer 142. For example, when the control unit 200 controls the first flexible cable retainer 141 to move along the first direction ①, the control unit 200 controls the second flexible cable retainer 142 to move along the second direction ②, which is opposite to the direction of movement of the first flexible cable retainer 141. As the first flexible cable retainer 141 and the second flexible cable retainer 142 move, the flexible cable 130 causes the robot's joint 20 to rotate clockwise or counterclockwise.

[0093] Figure 6 This is a diagram illustrating the relative movement of the flexible rope and the sheath of a lasso driving device according to an embodiment of the present invention.

[0094] First, refer to Figure 6 (a) The inner diameter L1 of the sheath 120 is larger than the outer diameter L2 of the flexible cord 130. In this case, the tube 180 is joined to the sheath 120 at the joint portion 120a, and the inner diameter L4 of the tube 180 is the same as the outer diameter of the sheath 120. However, the inner diameter L4 of the tube 180 is not limited to being the same as the outer diameter of the sheath 120; the inner diameter L4 of the tube 180 can be larger than the outer diameter of the sheath 120.

[0095] Furthermore, the outer diameter L3 of the rod 170 is smaller than the inner diameter L4 of the tube 180. Therefore, the rod 170 moves while being guided by the tube 180. At this time, the thickness T2 of the rod 170 is smaller than the thickness T1 of the sheath 120. Therefore, the tube 180 can be fixed to the sheath 120 while guiding the movement of the rod 170.

[0096] And, as Figure 6As shown in (a), the flexible cable 130 is inserted into the sheath 120. The rod 170 is connected to the connecting portion 130a of the flexible cable 130. At this time, a portion of the rod 170 is inserted into the tube 180. A movement space 183 is formed between the flexible cable 130 and the tube 180, allowing the rod 170 to move. One end of the rod 170 is located at a first position B. The first position B refers to the distance at which the rod 170 is maximally separated from the sheath 120 when a portion of the rod 170 is inserted into the tube 180.

[0097] Furthermore, the difference between the inner diameter L4 of the tube 180 and the outer diameter L2 of the flexible cable 130 is minimized, so that the flexible cable 130 does not bend when it moves in the moving space 183.

[0098] And, as Figure 6 As shown in (b), when the flexible cable 130 moves along the first direction ①, the rod 170, while engaged with the flexible cable 130, moves along the movement space 183 toward the second position A. The length between the first position B and the second position A can be approximately 10 mm to 20 mm. Therefore, a portion of the flexible cable 130 maintains its rigidity through the rod 170, thus allowing it to be smoothly inserted into the sheath 120. Furthermore, the flexible cable 130, positioned between the sheath 120 and the rod 170, is guided by the tube 180, thus ensuring smooth insertion into the sheath 120. Therefore, bending is prevented during the insertion of the flexible cable 130 into the sheath 120.

[0099] Figure 7 This is a diagram showing a modified example of the first retainer.

[0100] like Figure 7 As shown, a protrusion 170a is formed on the outer surface of the aforementioned rod 170.

[0101] The protrusion 170a is formed in a cylindrical shape. The protrusion 170a is fixed to the outer surface of the rod 170. Furthermore, a receiving groove (not shown) for receiving a portion of the protrusion 170a may be formed on the outer surface of the rod 170.

[0102] Furthermore, according to various embodiments of the present invention, the protrusion 170a is not limited to being formed in a cylindrical shape, but may have various shapes, such as a rectangular shape.

[0103] The first retainer 140' (140a') has a first slot 140c' for inserting a portion of the rod 170.

[0104] At this time, the first groove 140c' includes a first protrusion groove 140e' into which a portion of the protrusion 170a is inserted. For example, the first protrusion groove 140e' is formed in a semi-cylindrical shape to correspond to the cylindrical shape of the first protrusion 170a. However, the first protrusion groove 140e' is not limited to a semi-cylindrical shape and may have various shapes corresponding to the first protrusion 170a.

[0105] Furthermore, the protrusion 170a is inserted into and fixed in the first protrusion groove 140e'. Therefore, the first retainer 140' (140a') is more securely fixed to the rod 170.

[0106] Furthermore, the lasso drive device according to various embodiments of the present invention is not limited to the structure in which the first protrusion 170a is inserted into the first protrusion groove 140e', but can be formed into various fixing structures for fixing the first retainer 140' (140b') and the rod 170.

[0107] On the other hand, although not illustrated, according to various embodiments of the present invention, in the above-described tube 180 (see... Figure 4 A second protrusion (not shown) is formed on the outer surface of the ).

[0108] The second protrusion is formed in a cylindrical shape. The second protrusion is fixed to the outer surface of the tube 180. Furthermore, according to various embodiments of the present invention, the second protrusion is not limited to being formed in a cylindrical shape, and may have various shapes, such as a rectangular shape.

[0109] At this point, in the aforementioned second slot 150c (see...) Figure 4 This includes a second protrusion groove (not shown) into which a portion of the aforementioned second protrusion is inserted. For example, the second protrusion groove is formed in a semi-cylindrical shape to correspond to the cylindrical shape of the aforementioned second protrusion. However, the second protrusion groove is not limited to being formed in a semi-cylindrical shape, and can be formed in a shape corresponding to various shapes of the aforementioned second protrusion.

[0110] Furthermore, the second protrusion is inserted into and fixed in the second protrusion groove. Therefore, the second retainer 150 is more securely fixed to the tube 180.

[0111] Furthermore, the lasso driving device according to various embodiments of the present invention is not limited to the structure in which the second protrusion is inserted into the second protrusion groove, but can be formed into various fixing structures for fixing the second retainer 150 and the tube 180.

[0112] Figure 8 This is a diagram illustrating a lasso drive device according to another embodiment of the present invention.

[0113] Reference Figure 8According to another embodiment of the present invention, the lasso driving device 210 includes a plurality of sheaths 120, a flexible rope 130, a plurality of rods 170, a plurality of tubes 180, a plurality of first retainers 240 and a plurality of second retainers 250. For components that are the same as or similar to those in the foregoing embodiments, the foregoing description is used instead, and the first retainers 240 and the second retainers 250 are mainly described.

[0114] Unlike the first retainer in the above embodiment, the first retainer 240 is not separated into a first lower retainer and a first upper retainer, but is formed as a single structure.

[0115] The first retainer 240 includes: a first rod groove 240c having a cylindrical shape corresponding to the rod 170; and a second rod groove 240e having a radius larger than that of the first rod groove 240c.

[0116] At this time, the first rod slot 240c and the second rod slot 240e are opened on one side of the first retainer 240 in a direction perpendicular to the length direction of the rod 170. Therefore, the convenience of the process of inserting the rod 170 into the first rod slot 240c and the second rod slot 240e is improved.

[0117] Furthermore, the rod 170 has a rod protrusion 270a corresponding to the second rod groove 240e. As the rod protrusion 270a is inserted into and fixed in the second rod groove 240e, the rod 170 is stably fixed to the first retainer 240.

[0118] Unlike the second retainer in the above embodiment, the second retainer 250 is not separated into a second lower retainer and a second upper retainer, but is formed into a single structure.

[0119] The second retainer 250 includes: a first groove 250c, which is formed in a cylindrical shape corresponding to the tube 180; and a second groove 250e, which is formed with a radius larger than that of the first groove 250c.

[0120] At this time, the first tube groove 250c and the second tube groove 250e are opened on one side of the second retainer 250 in a direction perpendicular to the length direction of the tube 180. Therefore, the convenience of the process of inserting the tube 180 into the first tube groove 250c and the second tube groove 250e is improved.

[0121] Furthermore, the tube 180 has a tube protrusion 280a corresponding to the second tube groove 250e. As the tube protrusion 280a is inserted and fixed in the second tube groove 250e, the tube 180 is stably fixed in the second retainer 250.

[0122] Figure 9 This is a schematic diagram showing the state in which the rod and tube of the lasso drive device according to another embodiment of the present invention are separated.

[0123] Reference Figure 1 and Figure 9 According to another embodiment of the present invention, the lasso driving device 100 includes a plurality of sheaths 120, a flexible rope 130, a plurality of rods 170, a plurality of tubes 180, a plurality of first retainers 140, a plurality of second retainers 150, and an elastic part 160. The description of the constituent elements that are the same as or similar to the constituent elements of the above embodiments is replaced by the above description, and the elastic part 160 is described in detail.

[0124] The aforementioned elastic portion 160 is disposed inside the tube 180 and surrounds the flexible cord 130 between the sheath 120 and the rod 170. In this case, the elastic portion 160 is formed in a spring shape. However, the tensioning portion 130 is not limited to a spring shape; it can be made of an elastic material and have various shapes surrounding the flexible cord 130. As the flexible cord 130 moves via the rod 170, the elastic portion 160 fills a portion of the tube 180 between the sheath 120 and the rod 170, thereby preventing the flexible cord 130 from bending inside the tube 180.

[0125] Figure 10 This is a diagram illustrating the relative movement of the flexible rope and sheath of a lasso drive device according to another embodiment of the present invention.

[0126] First, refer to Figure 10 (a) The inner diameter L1 of the sheath 120 is larger than the outer diameter L2 of the flexible cord 130. In this case, the tube 180 is joined to the sheath 120 at the joint portion 120a, and the inner diameter L4 of the tube 180 is the same as the outer diameter of the sheath 120. However, the inner diameter L4 of the tube 180 is not limited to being the same as the outer diameter of the sheath 120; the inner diameter L4 of the tube 180 can be larger than the outer diameter of the sheath 120.

[0127] Furthermore, the outer diameter L3 of the aforementioned rod 170 is smaller than the inner diameter L4 of the aforementioned tube 180. Therefore, the aforementioned rod 170 moves simultaneously guided by the aforementioned tube 180. And, as... Figure 10As shown in (a), the flexible cord 130 is inserted into the sheath 120. The rod 170 is connected to the connecting portion 130a of the flexible cord 130. At this time, a portion of the rod 170 is inserted into the tube 180. Furthermore, one end of the rod 170 is located at a first position B inside the tube 180, and one end of the sheath 120 is located at a second position A inside the tube 180. The first position B refers to the position where, with a portion of the rod 170 inserted into the tube 180, one end of the rod 170 is maximally separated from one end of the sheath 120.

[0128] Furthermore, the difference between the inner diameter L4 of the tube 180 and the outer diameter L2 of the flexible cable 130 is minimized, so that the flexible cable 130 does not bend when it moves in the moving space 183.

[0129] In addition, such as Figure 10 As shown in (b), when the flexible cord 130 moves along the first direction ①, the rod 170, while engaged with the flexible cord 130, moves along the movement space 183 toward the second position A. The length between the first position B and the second position A can be approximately 10 mm to 20 mm. Therefore, a portion of the flexible cord 130 maintains rigidity via the rod 170, allowing it to be smoothly inserted into the sheath 120. Furthermore, the flexible cord 130, positioned between the sheath 120 and the rod 170, is guided by the elastic portion 160 in a linear motion without contacting the inner surface of the tube 180, thus allowing the flexible cord 130 to be smoothly inserted into the sheath 120. Therefore, bending is prevented during the insertion of the flexible cord 130 into the sheath 120.

[0130] Figure 11 This is a diagram showing a deformation example of the elastic part.

[0131] like Figure 11 As shown in (a), the elastic part 160' of the modified example is not in the form of a spring, but in the form of a tube, and is made of an elastic material.

[0132] The elastic part 160' can contact or separate from one end of the sheath 120 inside the tube 180.

[0133] like Figure 11 As shown in (b), when the flexible cable 130 moves along the first direction ① via the rod 170, the flexible cable 130 is guided by the elastic part 160' in a linear motion without contacting the inner surface of the tube 180, thus the flexible cable 130 is smoothly inserted into the sheath 120. Therefore, bending is prevented during the insertion of the flexible cable 130 into the sheath 120.

[0134] Furthermore, according to various embodiments of the present invention, the sheath 120 may be made of an elastic material, and the material of the elastic portion 160' may be the same as that of the sheath 120.

[0135] Furthermore, according to various embodiments of the present invention, the sheath 120 may be made of an elastic material, and the elastic portion 160' may be equivalent to a part of the sheath 120.

[0136] Figure 12 This is a schematic diagram illustrating a lasso driving device according to yet another embodiment of the present invention. Figure 13 It is shown Figure 12 A schematic diagram showing the separation of the flexible cable tube and the sheath tube. Figure 14 This is a schematic diagram showing the state in which the first retainer of the lasso drive device according to another embodiment of the present invention is separated into a first lower retainer and a first upper retainer. Figure 15 This is a schematic diagram illustrating the state in which the second retainer of the lasso drive device according to another embodiment of the present invention is separated into a second lower retainer and a second upper retainer. Figure 16 This is a block diagram of a lasso driving device according to another embodiment of the present invention.

[0137] like Figure 12 As shown, the lasso drive device 400 according to another embodiment of the present invention is a device for driving the robot 10 by utilizing the relative movement of the flexible rope 430 and the sheath 420. In this case, the flexible rope is driven in a manner that alternately performs active and passive functions. Furthermore, the robot 10 is a medical robot that is inserted into a patient's body to perform actions such as cutting or grasping, but is not limited to medical robots.

[0138] Reference Figures 12 to 16 According to another embodiment of the present invention, the lasso driving device 400 includes a plurality of sheaths 420, a flexible rope 430, a plurality of flexible rope tubes 470, a plurality of sheath tubes 480, an elastic part 460, a plurality of first retainers 440 and a plurality of second retainers 450.

[0139] The aforementioned plurality of sheaths 420 have a predetermined length, are flexible, and are hollow in shape. Furthermore, the aforementioned plurality of sheaths 420 can be made of a flexible metal material. Additionally, the aforementioned plurality of sheaths 420 can be formed in a coil shape. The aforementioned plurality of sheaths 420 includes a first sheath 421 and a second sheath 422.

[0140] The flexible cable 430 is located inside the hollow interior of each of the plurality of sheaths 420. Specifically, one side of the flexible cable 430 is located inside the first sheath 421, and the other side is located inside the second sheath 422. In this case, the length of the flexible cable 430 is greater than the total length of the plurality of sheaths 420. Furthermore, the flexible cable 430 is connected to the robot's joint 20 for actuation. For example, the flexible cable 430 surrounds the outer peripheral surface of the robot's joint 20 to allow the robot's joint 20 to rotate clockwise or counterclockwise.

[0141] On the other hand, according to various embodiments of the present invention, the aforementioned flexible cable 430 need not be a single piece continuously connected at one end to the other. As an example, it may also include the following: separated into two flexible cables, each end of which is fixed to the robot's joint 20, and performing the same movement as the single-piece flexible cable.

[0142] On the other hand, according to various embodiments of the present invention, the aforementioned flexible cable 430 is not limited to being configured as a single flexible cable connected to the joint 20 of the robot, but can be configured as two or more flexible cables. Similarly, the aforementioned plurality of sheaths 420 is not limited to being configured as two sheaths, but can be configured as an even number of sheaths, such as 2, 4, 6, or 10 or more, corresponding to the number of the aforementioned flexible cables 430. As described above, the lasso drive device according to various embodiments of the present invention can increase the degrees of freedom of the robot according to the number of the aforementioned flexible cables 430.

[0143] like Figure 14 As shown, the plurality of flexible tubes 470 have a connecting portion 475 that is connected to one side 430a of the flexible cord 430.

[0144] Furthermore, a portion of the aforementioned sheath 420 is inserted into the aforementioned plurality of flexible tubes 470.

[0145] Furthermore, the aforementioned plurality of flexible cable tubes 470 are made of a material with higher stiffness than the aforementioned plurality of sheaths 420. For example, the aforementioned plurality of flexible cable tubes 470 may be made of metal. However, the aforementioned plurality of flexible cable tubes 470 are not limited to being made of metal, and may be made of various materials with higher stiffness than the aforementioned plurality of sheaths 420.

[0146] Furthermore, the aforementioned plurality of flexible tubes 470 include a first flexible tube 471 connected to a portion of the aforementioned flexible cable 430 and a second flexible tube 472 connected to another portion of the aforementioned flexible cable 430.

[0147] The sheath 420 and the flexible cord tube 470 are inserted into the plurality of sheath tubes 480. Therefore, as the flexible cord 430 is guided inside the sheath tube 480 by the sheath 420 and the flexible cord tube 470, bending of the flexible cord 430 in the sheath tube 480 is prevented.

[0148] Furthermore, the aforementioned plurality of sheath tubes 480 are made of a material with higher stiffness than the plurality of sheaths 420. For example, the aforementioned plurality of sheath tubes 480 may be made of metal. However, the aforementioned plurality of sheath tubes 480 are not limited to being made of metal, and may be made of various materials with higher stiffness than the aforementioned plurality of sheaths 420.

[0149] Furthermore, the aforementioned plurality of sheath tubes 480 include a first sheath tube 481 into which the first sheath 421 is inserted and a second sheath tube 482 into which the second sheath 422 is inserted.

[0150] One side of the first flexible cable tube 471 is inserted into the first sheath tube 481. And one side of the second flexible cable tube 472 is inserted into the second sheath tube 482. At this time, the plurality of sheath tubes 480 guide the movement of the plurality of flexible cable tubes 470. Therefore, bending is prevented as the plurality of flexible cables 430 move through the plurality of sheaths 420.

[0151] The aforementioned plurality of first retainers 440 clamp each of the aforementioned plurality of flexible cable tubes 470. At this time, the aforementioned plurality of first retainers 440 are composed of a first flexible cable retainer 441 coupled to the first flexible cable tube 471 and a second flexible cable retainer 442 coupled to the second flexible cable tube 472.

[0152] At this time, the lasso drive device 400 according to another embodiment of the present invention includes a plurality of drive units 490 for linearly moving the plurality of first retainers 440. For example, the plurality of drive units 490 may be linear actuators, but are not limited thereto, and may be various devices capable of linearly moving the plurality of drive units 490.

[0153] The aforementioned plurality of drive units 490 include a first drive unit 491 connected to the first flexible cable retainer 441 and a second drive unit 492 connected to the second flexible cable retainer 442.

[0154] The first drive unit 491 moves the first flexible cable retainer 441 along a first direction ① or a second direction ② opposite to the first direction ①. The second drive unit 492 moves the second flexible cable retainer 442 along the first direction ① or a second direction ② opposite to the first direction ①.

[0155] As the plurality of first retainers 440 move along the first direction ① or the second direction ② via the drive unit 490, the plurality of flexible cable tubes 470 move along the first direction ① or the second direction ②. Furthermore, as the plurality of flexible cable tubes 470 move along the first direction ① or the second direction ②, the plurality of flexible cables 430 move along the first direction ① or the second direction ②.

[0156] In addition, such as Figure 14 As shown, the plurality of first retainers 440 include a first lower retainer 440a and a first upper retainer 440b. The first lower retainer 440a has a first groove 440c into which a portion of the plurality of flexible tubes 470 are inserted. The first groove 440c has a semi-cylindrical shape. The first upper retainer 440b is coupled to the first lower retainer 440a. The first upper retainer 440b has a second groove 440d into which another portion of the plurality of flexible tubes 470 are inserted. The second groove 440d has a semi-cylindrical shape and is formed to face the first groove 440c. When the first lower retainer 440a and the first upper retainer 440b are coupled, the first groove 440c and the second groove 440d together form a cylindrical shape. The plurality of flexible tubes 470 are inserted into the first groove 440c and the second groove 440d and fixed to the plurality of first retainers 440.

[0157] The aforementioned plurality of second retainers 450 support each of the plurality of sheath tubes 480 so that each of the plurality of flexible tubes 470 can move relative to each of the plurality of sheath tubes 480 along the length direction.

[0158] In addition, such as Figure 15 As shown, the second retainer 450 includes a second lower retainer 450a and a first upper retainer 450b. The second lower retainer 450a has a third groove 450c for inserting a portion of the plurality of sheath tubes 480. The third groove 450c has a semi-cylindrical shape. The second upper retainer 450b is coupled to the second lower retainer 450a. The second upper retainer 450b has a fourth groove 450d for inserting another portion of the plurality of sheath tubes 480. The fourth groove 450d has a semi-cylindrical shape and is formed to face the third groove 450c. When the second lower retainer 450a and the second upper retainer 450b are coupled, the third groove 450c and the fourth groove 450d together form a cylindrical shape. Furthermore, the plurality of sheath tubes 480 are inserted into the third groove 450c and the fourth groove 450d and fixed to the plurality of second retainers 450.

[0159] Furthermore, the aforementioned plurality of second retainers 450 include a first sheath retainer 451 for clamping the first sheath tube 481 and a second sheath retainer 452 for clamping the second sheath tube 482. Additionally, as... Figure 16 As shown, the lasso drive device 400 has a control unit 500 for controlling the plurality of drive units 490.

[0160] The control unit 500 controls the first drive unit 491 and the second drive unit 492, and simultaneously controls the movement of the first flexible cable retainer 441 and the second flexible cable retainer 442. For example, when the control unit 500 controls the first flexible cable retainer 441 to move along the first direction ①, the control unit 500 controls the second flexible cable retainer 442 to move along the second direction ②, which is opposite to the direction of movement of the first flexible cable retainer 441. As the first flexible cable retainer 441 and the second flexible cable retainer 442 move, the flexible cable retainer 430 causes the robot's joint 20 to rotate clockwise or counterclockwise.

[0161] Figure 17 This is a diagram illustrating the relative movement of the flexible rope and sheath of a lasso drive device according to another embodiment of the present invention.

[0162] First, refer to Figure 17 (a) The inner diameter of the sheath 420 is larger than the outer diameter of the flexible cable 430.

[0163] The outer diameter L1 of the sheath 420 is smaller than the inner diameter L2 of the flexible cable tube 470. Therefore, the sheath 420 is guided by the flexible cable tube 470 and moves in the movement space 476 between the flexible cable 430 and the flexible cable tube 470.

[0164] Furthermore, the outer diameter L3 of the aforementioned flexible cable tube 470 is smaller than the inner diameter L4 of the aforementioned sheath tube 480. Therefore, the aforementioned flexible cable tube 470 moves while being guided by the aforementioned sheath tube 480. And, as... Figure 17 As shown in (b), while the flexible tube 470 moves along the first direction ①, the flexible cable 430 also moves along the first direction ①.

[0165] At this time, the sheath 430 remains inside the sheath tube 480, surrounding the flexible cord 430, thus preventing the flexible cord 430 from bending inside the sheath tube 480.

[0166] Figure 18 This is a diagram showing a variation of the flexible tube.

[0167] Reference Figure 18 The flexible tube 470 has an elastic portion 460 surrounding the flexible cable 430 in its movement space 476.

[0168] The elastic portion 460 is provided parallel to the flexible cord 430. Furthermore, the elastic portion 460 is formed in the shape of a spring. However, the elastic portion 460 is not limited to a spring shape; it can be made of an elastic material and have various shapes surrounding the flexible cord 430.

[0169] At this time, as the elastic part 460 surrounds the flexible cable 430 in the movement space 476, it prevents the flexible cable 430 from bending in the movement space 476.

[0170] Figure 19 This is a diagram showing a modified example of the first retainer.

[0171] like Figure 19 As shown, a protrusion 470a is formed on the outer surface of the aforementioned flexible tube 470.

[0172] The protrusion 470a has a cylindrical shape. The protrusion 470a is fixed to the outer side of the flexible tube 470. In addition, a receiving groove (not shown) for receiving a portion of the protrusion 470a may be formed on the outer side of the flexible tube 470.

[0173] Furthermore, according to various embodiments of the present invention, the protrusion 470a is not limited to a cylindrical shape, but can have various shapes, such as a rectangular shape.

[0174] The first retainer 440' (440a') is provided with a first groove 440c' for inserting a portion of the flexible tube 470.

[0175] At this time, the first groove 440c' includes a first protrusion groove 440e' into which a portion of the protrusion 470a is inserted. For example, the first protrusion groove 440e' is formed in a semi-cylindrical shape to correspond to the cylindrical shape of the first protrusion 470a. However, the first protrusion groove 440e' is not limited to a semi-cylindrical shape and may have various shapes corresponding to the first protrusion 470a.

[0176] Furthermore, the protrusion 470a is inserted into and fixed in the first protrusion groove 440e'. Therefore, the first retainer 440' (440a') is more securely fixed to the flexible tube 470.

[0177] Furthermore, the lasso drive device according to various embodiments of the present invention is not limited to the structure in which the first protrusion 470a is inserted into the first protrusion groove 440e', but can be formed into various fixing structures for fixing the first retainer 440' (440b') and the flexible rope tube 470.

[0178] On the other hand, although not illustrated, according to various embodiments of the present invention, in the above-mentioned sheath tube 480 (see... Figure 15 A second protrusion (not shown) is formed on the outer surface of the ).

[0179] The second protrusion is formed in a cylindrical shape. The second protrusion is fixed to the outer surface of the sheath tube 480. Furthermore, according to various embodiments of the present invention, the second protrusion is not limited to a cylindrical shape, but can have various shapes, such as a rectangular shape.

[0180] At this point, in the aforementioned second slot 450c (see...) Figure 15 This includes a second protrusion groove (not shown) into which a portion of the aforementioned second protrusion is inserted. For example, the second protrusion groove is formed in a semi-cylindrical shape to correspond to the cylindrical shape of the aforementioned second protrusion. However, the second protrusion groove is not limited to being formed in a semi-cylindrical shape, and can be formed in a shape corresponding to various shapes of the aforementioned second protrusion.

[0181] Furthermore, the second protrusion is inserted into and fixed in the second protrusion groove. Therefore, the second retainer 450 is more securely fixed to the sheath 480.

[0182] Furthermore, the lasso driving device according to various embodiments of the present invention is not limited to the structure in which the second protrusion is inserted into the second protrusion groove, but can be formed into various fixing structures for fixing the second retainer 450 and the sheath tube 480.

[0183] As described above, preferred embodiments of the present invention have been presented. However, the present invention can be embodied in other specific forms without departing from its spirit or scope, which will be apparent to those skilled in the art. Therefore, the above embodiments should be understood as illustrative rather than restrictive. Consequently, the present invention is not limited to the above description and modifications can be made within the scope and equivalents of the appended claims.

Claims

1. A lasso driving device, characterized in that, include: The first sheath has a predetermined length, is flexible, and is hollow. The second sheath has a predetermined length, is flexible, and is hollow. The first flexible cord is located inside the hollow part of the first sheath; The second flexible cord is located inside the hollow part of the second sheath; A first flexible tube, connected to the first flexible cable, for insertion of the first sheath, and having higher stiffness than the first sheath; The second flexible tube, combined with the second flexible cable, is inserted into the second sheath and has higher stiffness than the second sheath; as well as A first sheath tube is provided for insertion into the first sheath and has higher rigidity than the first sheath. A second sheath tube is provided for insertion into the second sheath and has higher rigidity than the second sheath. The first driving unit is used to move the first flexible tube relative to the first sheath tube. The second drive unit is used to move the second flexible tube relative to the second sheath tube; A control unit is used to control the first drive unit and the second drive unit; wherein: With a portion of the first flexible tube located inside the first sheath tube, the first flexible cable moves through the first sheath as the first flexible tube is guided and moved by the first sheath tube. With a portion of the second flexible tube located inside the second sheath tube, the second flexible cable moves through the second sheath as the second flexible tube is guided and moved by the second sheath tube. The control unit controls the first drive unit to move the first flexible tube along a first direction, and the control unit controls the second drive unit to move the second flexible tube in a direction opposite to the first direction; and The outer diameter of the first flexible tube is smaller than the inner diameter of the first sheath tube.

2. The lasso driving device according to claim 1, characterized in that, The outer diameter of the first sheath is smaller than the inner diameter of the first flexible tube.

3. The lasso driving device according to claim 1, characterized in that, The lasso drive device further includes: A first retainer is fixed to the first flexible tube in such a way that the first flexible tube can move relative to the first sheath tube along its length; and The second retainer supports the first sheath tube. The first drive unit drives the first retainer in a movable manner.

4. The lasso driving device according to claim 3, characterized in that, The first holder includes: A first lower retainer having a first slot for inserting a portion of the first flexible tube; and The first upper retainer has a second slot for inserting another portion of the first flexible tube and engages with the first lower retainer. The first flexible tube is inserted into the first slot and the second slot, and is fixed to the first retainer. The second holder includes: The second lower retainer has a third groove for inserting a portion of the first sheath tube; and The second upper retainer has a fourth slot for inserting another portion of the first sheath tube and engages with the second lower retainer. The first sheath tube is inserted into and fixed in the third and fourth grooves.

5. The lasso driving device according to claim 1, characterized in that, A moving space is formed between the first flexible cord and the first flexible cord tube to allow the sheath to move. The lasso drive device also includes an elastic part disposed in the moving space. The elastic portion surrounds the first flexible cable.

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