Surgical tool control device

Abstract

A surgical tool control device according to one embodiment includes a housing; and a control assembly including a frame connected to the housing, and a first roller module, a second roller module, and a third roller module disposed on the frame, the second roller module being horizontally movable toward the first roller module to hold a first surgical tool between the first roller module and the second roller module, and the second roller module being horizontally movable toward the third roller module to hold a second surgical tool between the second roller module and the third roller module.

Description

Technical Field

[0001] The following embodiments relate to surgical tool control devices. Background Technology

[0002] With the existing percutaneous coronary intervention (PCI), operators are constantly exposed to radiation risks, and a lot of time and money are needed to train skilled doctors with stable surgical skills. In addition, the quality of the surgery varies greatly depending on the surgeon, region, and hospital, making it difficult to provide high-quality medical services universally.

[0003] To overcome these shortcomings, interventional therapy assistive robots have been introduced; however, most of these robots can only control one surgical tool. Existing interventional therapy assistive robots can only be used for less complex lesions and are difficult to use for surgeries requiring multiple surgical tools, such as those involving chronic total occlusion (CTO).

[0004] Therefore, there is a need for a surgical tool control device that can individually control multiple surgical tools to accommodate complex vascular interventional procedures (ComplexPCI).

[0005] The above background technology was acquired or learned by the inventors during the development of this invention, and should not be construed as necessarily being known technology disclosed before the application for this invention. Summary of the Invention

[0006] Technical problems to be solved

[0007] One embodiment aims to provide a surgical tool control device that can be used in complex vascular interventional procedures.

[0008] One embodiment aims to provide a surgical tool control device that can individually control multiple surgical tools.

[0009] Technical methods for solving problems

[0010] A surgical tool control device according to one embodiment may include a housing; and a control assembly including a frame connected to the housing, and a first roller module, a second roller module, and a third roller module disposed on the frame, the second roller module being horizontally movable toward the first roller module to hold a first surgical tool between the first roller module and the second roller module, and the second roller module being horizontally movable toward the third roller module to hold a second surgical tool between the second roller module and the third roller module.

[0011] The first roller module, the second roller module, and the third roller module may each include: a roller plate connected to the frame; and a roller component rotatably disposed on the roller plate.

[0012] While the first or second surgical tool is being held, the first or second surgical tool can be moved longitudinally by rotating the roller components of the pair of roller modules that hold the first or second surgical tool.

[0013] While the first or second surgical tool is being held, the first or second surgical tool can be rotated by vertically moving at least one of the roller components of the pair of roller modules holding the first or second surgical tool.

[0014] The roller plate may include: a lower roller plate connected to the frame; and an upper roller plate located above the lower roller plate for rotatably connecting the roller components. The second roller module may also include a vertically moving part that vertically moves the upper roller plate relative to the lower roller plate.

[0015] The second roller module may further include a connecting structure support portion, which supports the upper roller plate relative to the lower roller plate, and can vary in length in the vertical direction corresponding to the separation distance between the lower roller plate and the upper roller plate.

[0016] The vertical moving part may include: a vertical moving drive motor; a vertical moving pulley that receives rotational power from the vertical moving drive motor; a vertical moving screw nut that rotates integrally with the vertical moving pulley; and a vertical moving screw that is coupled to the vertical moving screw nut and connected to the upper roller plate on one side, thereby vertically moving the upper roller plate as the vertical moving screw nut rotates.

[0017] The second roller module may further include a rotation drive unit that causes the roller component to rotate relative to the roller plate.

[0018] The rotary drive unit may include: a rotary drive motor; a rotary drive pulley that receives rotational power from the rotary drive motor; a spline nut that rotates integrally with the rotary drive pulley; and a spline shaft that is coupled to the spline nut and connected to the roller component on one side, thereby rotating the roller component as the spline nut rotates.

[0019] The rotary drive unit may further include a shaft support unit located between the rotary drive pulley and the spline shaft to prevent the spline shaft from wobbling.

[0020] The control component may further include a horizontal movement unit that horizontally moves the second roller module.

[0021] The horizontal moving part may include: a horizontal moving drive motor; a horizontal moving screw that is horizontally connected to the frame and receives rotational power from the horizontal moving drive motor; and a horizontal moving screw nut that is engaged with the horizontal moving screw and connected to the roller plate on one side, thereby moving the roller plate horizontally as the horizontal moving screw rotates.

[0022] It may also include a catheter rotator disposed in the housing for rotatably connecting a catheter to the front end of the surgical tool control device.

[0023] It may also include a housing translation section that moves the housing forward or backward relative to the positioning position of the surgical tool control device, so as to move the catheter connected to the front end of the surgical tool control device forward or backward.

[0024] It may also include a housing swinging part for swinging the housing relative to the setting position of the surgical tool control device.

[0025] The surgical tool control device may include a first clamping part that clamps the first surgical tool when the first surgical tool is not held by the first roller module and the second roller module; and a second clamping part that clamps the second surgical tool when the second surgical tool is not held by the second roller module and the third roller module.

[0026] The first clamping part and the second clamping part may each include: a clamp; and an elastic body that presses the clamp in one direction to clamp the surgical tool.

[0027] In order to hold the first surgical tool between the first roller module and the second roller module, during the horizontal movement of the second roller module toward the first roller module, the second roller module can push the clamp of the first clamping part in another direction to release the clamp of the first clamping part on the first surgical tool. In order to hold the second surgical tool between the second roller module and the third roller module, during the horizontal movement of the second roller module toward the third roller module, the second roller module can push the clamp of the second clamping part in another direction to release the clamp of the second clamping part on the second surgical tool.

[0028] It may also include a surgical tool support, which is disposed in the housing, positioned rearward relative to the first roller module, the second roller module, and the third roller module, and supports the rear side of the first surgical tool or the second surgical tool.

[0029] The control assembly may further include a fourth roller module and a fifth roller module, wherein the fourth roller module is horizontally movable toward the third roller module to hold a third surgical tool between the third roller module and the fourth roller module, and the fourth roller module is horizontally movable toward the fifth roller module to hold a fourth surgical tool between the fourth roller module and the fifth roller module.

[0030] When the first and second roller modules hold the first surgical tool, and the third and fourth roller modules hold the third surgical tool, the first and third surgical tools can be controlled independently. When the second and third roller modules hold the second surgical tool, and the fourth and fifth roller modules hold the fourth surgical tool, the second and fourth surgical tools can be controlled independently.

[0031] Invention Effects

[0032] According to one embodiment, the surgical tool control device can individually control multiple surgical tools.

[0033] The surgical tool control device according to one embodiment can also be used in complex vascular interventional procedures.

[0034] The effects of the surgical tool control device according to one embodiment are not limited to the effects described above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. Attached Figure Description

[0035] Figure 1 This is a perspective view of a surgical tool control device according to one embodiment.

[0036] Figure 2 This is a top view of a surgical tool control device according to one embodiment.

[0037] Figure 3 This is a diagram showing the usage state of a surgical tool control device according to one embodiment.

[0038] Figure 4 The process of a surgical tool control device according to one embodiment using a roller module to move a surgical tool forward and backward is illustrated.

[0039] Figure 5 The process of rotating a surgical tool is illustrated by the roller module of a surgical tool control device according to one embodiment.

[0040] Figure 6 This is a perspective view of a control component according to one embodiment.

[0041] Figure 7This is a lower perspective view of a control component according to one embodiment.

[0042] Figure 8 This is a front view of a control component according to one embodiment.

[0043] Figure 9 This is a bottom view of a control component according to one embodiment.

[0044] Figure 10 This is a perspective view of a roller module according to one embodiment.

[0045] Figure 11 This is a cross-sectional view of a roller module according to one embodiment.

[0046] Figure 12 This is a perspective view of the rotating portion of a catheter according to one embodiment.

[0047] Figure 13 This is a perspective view of the housing translation part and the housing swing part according to an embodiment, showing the state of being connected to the housing.

[0048] Figure 14 This is a perspective view of the housing translation part and the housing swing part according to an embodiment.

[0049] Figures 15 to 17 This is a top view showing the operation of the clamping part according to one embodiment.

[0050] Explanation of reference numerals in the attached figures

[0051] 100: Surgical tool control device

[0052] 1: Outer shell

[0053] 2: Control components

[0054] 3: Catheter Rotation Section

[0055] 4: Outer shell translation section

[0056] 5: Outer shell swinging part

[0057] 6: Clamping part

[0058] 7: Surgical tool support

[0059] 8:Y connector fixture Detailed Implementation

[0060] The embodiments will now be described in detail with reference to the accompanying drawings. It should be understood that various modifications can be made to the embodiments, and the scope of this application is not limited to the embodiments described below. All modifications to the embodiments, their equivalents, and even their substitutes are within the scope of this invention.

[0061] The terminology used in this invention is not intended to limit the invention, but is merely illustrative. Unless otherwise specified in the text, singular expressions include plural meanings. In this specification, terms such as "comprising" or "having" are used to indicate the presence of the features, numbers, steps, operations, constituent elements, accessories, or combinations thereof described in the specification, and do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, constituent elements, accessories, or combinations thereof.

[0062] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have their ordinary meanings as understood by one of ordinary skill in the art. Terms commonly used, such as those defined in dictionaries, shall be understood as having their meanings in the relevant technical context and shall not be interpreted as idealized or overly formalized meanings unless explicitly defined in this specification.

[0063] Furthermore, in the description with reference to the accompanying drawings, the same constituent elements are referred to by the same reference numerals, and repeated descriptions are omitted. In describing embodiments, detailed descriptions of relevant well-known technologies are omitted when it is determined that such detailed descriptions would unnecessarily obscure the embodiments.

[0064] Furthermore, when describing the constituent elements of the embodiments with reference to the drawings, 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. When the specification describes a constituent element as "connected," "joined," or "in contact" with another constituent element, a third constituent element may be "connected," "joined," or "in contact" between the first and second constituent elements, although the first constituent element may be directly connected, joined, or in contact with the second constituent element.

[0065] When a constituent element has a common function with a constituent element of a certain embodiment, the same name is used to describe the constituent element in other embodiments. Unless a counterexample is mentioned, repeated descriptions are omitted when the description of a certain embodiment is applicable to other embodiments.

[0066] Figure 1 This is a perspective view of a surgical tool control device according to one embodiment. Figure 2 This is a top view of a surgical tool control device according to one embodiment. Figure 3 This is a diagram showing the usage state of a surgical tool control device according to one embodiment. Figure 4 The process of a surgical tool control device according to one embodiment using a roller module to move a surgical tool forward and backward is illustrated. Figure 5 The process of rotating a surgical tool is illustrated by the roller module of a surgical tool control device according to one embodiment.

[0067] Reference Figures 1 to 5 The surgical tool control device 100 can individually control multiple surgical tools T. Here, surgical tool T refers to a longitudinally extending surgical tool. For example, surgical tool T may include various surgical tools such as longitudinally extending guidewires and balloon catheters. The surgical tool control device 100 can achieve forward and backward movement and rotation of the surgical tool T through the rotation and vertical movement of the roller module 22, as described later. Specifically... Figure 4 As shown, the first roller module 22a and the second roller module 22b are adjacent to each other to hold the first surgical tool Ta between them. In this state, each roller component 222a, 222b rotates in one direction or the other, causing the held first surgical tool Ta to move forward or backward along its length. Furthermore, as... Figure 5 As shown, the first roller module 22a and the second roller module 22b are adjacent to each other so as to hold the surgical instrument between them. In this state, at least one roller module 22 moves vertically, thereby rotating the held surgical instrument.

[0068] Reference Figure 3 The surgical tool control device 100 can individually control four surgical tools Ta, Tb, Tc, and Td via five roller modules 22a, 22b, 22c, 22d, and 22e. The surgical tool control device 100 can hold or release the surgical tool T between the roller modules 22 by horizontal movement of the roller modules 22. For example, Figure 3 The diagram shows the state in which the first surgical tool Ta is held via the first roller module 22a and the second roller module 22b, and the third surgical tool Tc is held via the third roller module 22c and the fourth roller module 22d. The method of holding the surgical tools will be described in more detail later.

[0069] According to one embodiment, a surgical tool control device 100 may include a housing 1, a control component 2, a catheter rotation part 3, a housing translation part 4, a housing swing part 5, a clamping part 6, a surgical tool support 7, and a Y-shaped connecting clamp 8.

[0070] Reference Figure 1 and Figure 2 The housing 1 can form the overall housing of the surgical tool control device 100. For example, the housing 1 can be connected to a robotic arm at the driven base. That is, the surgical tool control device 100 functions as an end effector connected to the robotic arm at the driven base. A switch or handle for adjusting position and realizing swing can be configured on the housing 1. A display panel can be configured on the housing 1 to display information such as the method of using the device and the device status to the user.

[0071] Figure 6 This is a perspective view of a control component according to one embodiment. Figure 7This is a lower perspective view of a control component according to one embodiment. Figure 8 This is a front view of a control component according to one embodiment. Figure 9 This is a bottom view of a control component according to one embodiment.

[0072] Reference Figure 3 and Figures 6 to 9 The control component 2 can move or rotate the held surgical tool T along its length.

[0073] The control component 2 may include a frame 21, a roller module 22, and a horizontal moving part 23.

[0074] The frame 21 is the base frame for mounting the roller module 22 and the horizontal moving part 23, which will be described later. That is, the frame 21 is connected to the housing 1, and the roller module 22 and the horizontal moving part 23 are connected to the frame 21.

[0075] Multiple roller modules 22 can be configured to be connected to the frame 21. For example, the roller modules 22 may include a first roller module 22a, a second roller module 22b, a third roller module 22c, a fourth roller module 22d, and a fifth roller module 22e. The first roller module 22a, the second roller module 22b, the third roller module 22c, the fourth roller module 22d, and the fifth roller module 22e may be arranged side by side. This is just an example, and the number of roller modules 22 is not limited thereto.

[0076] The surgical instrument T can be held between two adjacent roller modules 22. Therefore, at least one roller module 22 should be able to move horizontally towards the other roller module 22. Figure 3 As shown, the second roller module 22b can move horizontally towards the first roller module 22a, thereby holding the first surgical tool Ta between the first roller module 22a and the second roller module 22b. At this time, the second surgical tool Tb located between the second roller module 22b and the third roller module 22c is released. Conversely, the second roller module 22b can move horizontally towards the third roller module 22c, thereby holding the second surgical tool Tb between the second roller module 22b and the third roller module 22c. At this time, the first surgical tool Ta located between the first roller module 22a and the second roller module 22b is released.

[0077] Similarly, the fourth roller module 22d can move horizontally towards the third roller module 22c, thereby gripping the third surgical tool Tc between the third roller module 22c and the fourth roller module 22d. At this time, the fourth surgical tool Td located between the fourth roller module 22d and the fifth roller module 22e is released. Conversely, the fourth roller module 22d can move horizontally towards the fifth roller module 22e, thereby gripping the fourth surgical tool Td between the fourth roller module 22d and the fifth roller module 22e. At this time, the third surgical tool Tc located between the third roller module 22c and the fourth roller module 22d is released.

[0078] As described above, the roller module 22 can move between the two roller modules 22 located on both sides. This structure, which allows the roller modules 22 to move horizontally between the two roller modules 22, allows for selective gripping of various surgical tools T. Furthermore, when loading a surgical tool T, the distance between the roller modules 22 can be fully opened, thereby allowing gripping of surgical tools T of any thickness. In other words, the thickness of the surgical tool T is not limited, and surgical tools T of any thickness can be used and gripped, which improves the versatility of the surgical tool control device 100.

[0079] like Figure 3 As shown, with the first surgical tool Ta held by the first roller module 22a and the second roller module 22b, and the third surgical tool Tc held by the third roller module 22c and the fourth roller module 22d, the first surgical tool Ta and the third surgical tool Tc can be controlled independently (forward, backward, and rotation). Specifically, the first surgical tool Ta can move forward or backward in the length direction by rotating the roller components 222a and 222b of the first roller module 22a and the second roller module 22b (see reference). Figure 4 Furthermore, the first surgical instrument Ta can be rotated by the vertical movement of at least one of the roller components 222a and 222b of the first roller module 22a and the second roller module 22b (see reference). Figure 5 Similarly, the third surgical tool Tc can move forward or backward in the longitudinal direction by rotating the roller components 222c and 222d of the third roller module 22c and the fourth roller module 22d. Furthermore, the third surgical tool Tc can rotate by vertically moving at least one of the roller components 222c and 222d of the third roller module 22c and the fourth roller module 22d. In general, the first roller module 22a and the second roller module 22b control the first surgical tool Ta, and the third roller module 22c and the fourth roller module 22d control the third surgical tool Tc. Thus, the first surgical tool Ta and the third surgical tool Tc form a group, independent of each other yet simultaneously controllable. At this time, either the first surgical tool Ta or the third surgical tool Tc can be a balloon catheter, while the other can be a guidewire.

[0080] Similarly, with the second surgical tool Tb held by the second roller module 22b and the third roller module 22c, and the fourth surgical tool Td held by the fourth roller module 22d and the fifth roller module 22e, the second surgical tool Tb and the fourth surgical tool Td can be controlled independently (forward, backward, and rotation). To avoid repetition, the specific details of controlling the second surgical tool Tb and the fourth surgical tool Td can be found in the description above. Based on this structure, the second roller module 22b and the third roller module 22c control the second surgical tool Tb, and the fourth roller module 22d and the fifth roller module 22e control the fourth surgical tool Td. Thus, the second surgical tool Tb and the fourth surgical tool Td form another set, independent of each other yet simultaneously controllable. For example, either the second surgical tool Tb or the fourth surgical tool Td could be a balloon catheter, while the other could be a guidewire.

[0081] In summary, the surgical tool control device 100 independently controls the first surgical tool Ta and the third surgical tool Tc as one group, and the second surgical tool Tb and the fourth surgical tool Td as another group. This allows the surgical tool control device 100 to be easily used in complex interventional surgeries requiring multiple surgical tools.

[0082] On the one hand, the grouping of the surgical tools described above is merely an example, and different surgical tool groups can be formed by changing the horizontal position of the roller module 22 as needed. Furthermore, the description of the second roller module 22b and the fourth roller module 22d moving horizontally between the roller modules 22a, 22c, and 22e located on both sides is merely an example; it is also possible that the first roller module 22a, the third roller module 22c, and the fifth roller module 22e move horizontally.

[0083] Figure 10 This is a perspective view of a roller module according to one embodiment. Figure 11 This is a cross-sectional view of a roller module according to one embodiment.

[0084] Figure 10 and Figure 11 The roller module 22 is a roller module that can move vertically, such as the roller component 222. Figure 6 As shown, the second roller module 22b, the third roller module 22c, and the fourth roller module 22d can be Figure 10 and Figure 11 The roller module 22 shown.

[0085] Figure 10 and Figure 11 The roller module 22 may include a roller plate 221, a roller component 222, a roller housing 223, a rotary drive unit 224, a vertical movement unit 225, and a connecting structure support unit 226.

[0086] The roller plate 221 can be connected to the frame 21. That is, the roller plate 221 functions to connect the roller module 22 to the frame 21. The roller component 222 is rotatably connected to the roller plate 221.

[0087] The roller plate 221 may include a lower roller plate 2211 and an upper roller plate 2212. The lower roller plate 2211 is the part connected to the frame 21. The rotation drive unit 224 and the vertical movement unit 225, which will be described later, may be disposed on the lower roller plate 2211. The upper roller plate 2212 is located above the lower roller plate 2211, such that the roller component 222 is rotatably connected to the upper roller plate 2212. The upper roller plate 2212 can move vertically relative to the lower roller plate 2211 by means of the vertical movement unit 225, which will be described later.

[0088] Roller component 222 is rotatably connected to upper roller plate 2212. The axis of rotation of roller component 222 is perpendicular to upper roller plate 2212. Roller components 222 may be a pair and are arranged separately along the length of upper roller plate 2212.

[0089] The roller housing 223 is connected above the upper roller plate 2212, providing rotational space for the roller assembly 222. For example, the roller housing 223 can be engaged with the upper roller plate 2212 by a latch.

[0090] The rotary drive unit 224 can rotate the roller component 222 relative to the roller plate 221. The rotary drive unit 224 can rotate the roller component 222 in one direction or another. The rotary drive unit 224 can be provided on the lower roller plate 2211.

[0091] The rotary drive unit 224 may include a rotary drive motor 2241, a rotary drive pulley 2242, a spline nut 2243, a spline shaft 2244, and a shaft support unit 2245.

[0092] The rotary drive motor 2241 generates rotational power for the rotating roller assembly 222. The rotary drive motor 2241 is a motor capable of rotating in one or more directions simultaneously. The rotary drive pulley 2242 receives rotational power from the rotary drive motor 2241. For example, the rotary drive pulley 2242 can receive rotational power via a timing belt or the like. The number of rotary drive pulleys 2242 can correspond to the number of roller assemblies 222. For example, the rotary drive pulleys 2242 can be a pair. A pair of rotary drive pulleys 2242 are connected by a timing belt or the like to transmit rotational power to each other.

[0093] The spline nut 2243 can rotate integrally with the rotary drive pulley 2242. For example, the spline nut 2243 can be located inside the rotary drive pulley 2242. The spline shaft 2244 can be coupled to the spline nut 2243. The spline shaft 2244 can rotate integrally with the spline nut 2243. A roller component 222 can be connected to one side of the spline shaft 2244. Based on this structure, the roller component 222 connected to one side of the spline shaft 2244 can rotate as the spline nut 2243 rotates.

[0094] In other words, the rotary drive motor 2241 rotates the rotary drive pulley 2242 via a synchronous belt, etc., and the spline nut 2243 and the spline shaft 2244 rotate together with the rotary drive pulley 2242. Thus, the roller component 222 connected to the spline shaft 2244 rotates.

[0095] On the one hand, since the roller assembly 222 moves vertically via the vertical moving part 225, it is crucial to prevent the spline shaft 2244 from wobbling. For this purpose, a shaft support 2245 can be positioned between the rotary drive pulley 2242 and the spline shaft 2244. For example, when connecting the shaft support 2245, it can be positioned to precisely fill the space between the rotary drive pulley 2242 and the spline shaft 2244. For example, within the internal space of the rotary drive pulley 2242, the shaft support 2245 can fill the space formed above and below the spline nut 2243. Thus, by placing the shaft support 2245 between the rotary drive pulley 2242 and the spline shaft 2244, wobbling of the spline shaft 2244 is prevented. For example, the shaft support 2245 can have a flange shape to increase support force. To prevent compression due to thermal expansion during operation, the assembled inner diameter tolerance of the shaft support 2245 is preferably +0.0005 to +0.01 μm. For example, the shaft support 2245 may include polytetrafluoroethylene or acetal material.

[0096] The vertical moving part 225 can move the upper roller plate 2212 vertically relative to the lower roller plate 2211. That is, the vertical moving part 225 can move the upper roller plate 2212 vertically, thereby moving the roller component 222 vertically. The vertical moving part 225 can be provided on the lower roller plate 2211.

[0097] The vertical moving part 225 may include a vertical moving drive motor 2251, a vertical moving pulley 2252, a vertical moving lead screw nut 2253, and a vertical moving lead screw 2255.

[0098] The vertical movement drive motor 2251 generates rotational power for the vertical movement roller assembly 222. The vertical movement drive motor 2251 is a motor capable of rotating in both directions simultaneously. The vertical movement pulley 2252 receives rotational power from the vertical movement drive motor 2251. For example, the vertical movement pulley 2252 can receive rotational power via a timing belt or the like. The vertical movement pulley 2252 can be a pair. For example, a pair of vertical movement pulleys 2252 can be separately arranged on one side and the other side of the lower roller plate 2211. The pair of vertical movement pulleys 2252 are connected by a timing belt or the like to transmit rotational power to each other.

[0099] The vertical movement screw nut 2253 can rotate integrally with the vertical movement pulley 2252. For example, the vertical movement screw nut 2253 can be located inside the vertical movement pulley 2252. The vertical movement screw 2254 can be coupled to the vertical movement screw nut 2253. The vertical movement screw 2254 can move in the length direction as the vertical movement screw nut 2253 rotates. One side of the vertical movement screw 2254 can be connected to the upper roller plate 2212. Based on the above structure, as the vertical movement screw nut 2253 rotates, the vertical movement screw 2254 can vertically move the upper roller plate 2212.

[0100] In other words, the vertical movement drive motor 2251 causes the vertical movement pulley 2252 and the vertical movement screw nut 2253 to rotate together via a synchronous belt, etc. As the vertical movement screw nut 2253 rotates, the vertical movement screw 2254 moves in the length direction and at the same time moves vertically the roller component 222 connected to the upper roller plate 2212.

[0101] Since the vertical moving part 225 increases the separation distance between the lower roller plate 2211 and the upper roller plate 2212, it is necessary to prevent the upper roller plate 2212 from tilting relative to the lower roller plate 2211, that is, to prevent the spline shaft 2244 from wobbling. For this purpose, the connecting structure support part 226 can support the upper roller plate 2212 relative to the lower roller plate 2211. Because the separation distance between the upper roller plate 2212 and the lower roller plate 2211 changes, the connecting structure of the connecting structure support part 226 can vertically change its length corresponding to the separation distance between the lower roller plate 2211 and the upper roller plate 2212. For example, the connecting structure support part 226 can have a structure similar to a pantagraph. For example, the connecting structure support part 226 can include a connecting frame 2261 and a connector 2262. The connecting frame 2261 can be located between the lower roller plate 2211 and the upper roller plate 2212. The connector 2262 connects the two sides of the connecting frame 2261 to the lower roller plate 2211 and the upper roller plate 2212, respectively. To allow the vertical length of the connecting structure support 226 to be variable, the connector 2262 is connected to the two sides of the frame 2261 in a manner that allows rotation relative to the lower roller plate 2211 and the upper roller plate 2212, respectively. Based on this structure, the connecting structure support 226 is located between the lower roller plate 2211 and the upper roller plate 2212. It can support both sides of the upper roller plate 2212 relative to the lower roller plate 2211, and its length can be vertically adjusted to accommodate changes in the separation distance between them. This prevents the upper roller plate 2212 from tilting relative to the lower roller plate 2211, thus preventing the spline shaft 2244 from wobbling.

[0102] On the one hand, refer to Figure 6 The first roller module 22a and the fifth roller module 22e may include roller plates 221a and 221e, roller components 222a and 222e, roller housings 223a and 223e, and rotary drive units 224a and 224e. The first roller module 22a and the fifth roller module 22e may be roller modules that do not move vertically. The roller plates 221a and 221e of the first roller module 22a and the fifth roller module 22e may be a single plate directly connected to the frame 21, excluding additional vertical movement units and connecting structural support units. Furthermore, the first roller module 22a and the fifth roller module 22e may include a single roller component 222a and 222e. However, this is only an example; the first roller module 22a and the fifth roller module 22e may also be... Figure 10 and Figure 11 The roller module.

[0103] Refer again Figures 6 to 9 The horizontal moving part 23 can horizontally move the roller module 22. For example... Figures 6 to 9In this case, the horizontal moving part 23 can horizontally move the second roller module 22b and the fourth roller module 22d. However, this is only an example; the first roller module 22a, the third roller module 22c, and the fifth roller module 22e can also move horizontally. The number of horizontal moving parts 23 can correspond to the number of roller modules 22 to be moved. The horizontal moving part 23 can be provided in the frame 21.

[0104] The horizontal moving part 23 may include a horizontal moving drive motor 231, a horizontal moving lead screw 232, a horizontal moving lead screw nut 233, and a connecting component 234.

[0105] The horizontal movement drive motor 231 can generate rotational power for the horizontal movement roller module 22. The horizontal movement drive motor 231 is a motor capable of rotating in one direction or the other.

[0106] The horizontal moving screw 232 can be horizontally connected to the frame 21. The horizontal moving screw 232 receives rotational power from the horizontal moving drive motor 231 via a timing belt and pulleys. The horizontal moving screws 232 can be a pair. For example, a pair of horizontal moving screws 232 can be respectively configured on one side and the other side of the frame 21. The pair of horizontal moving screws 232 are connected by a timing belt and pulleys to transmit rotational power to each other.

[0107] The horizontal moving screw nut 233 can be coupled to the horizontal moving screw 232. One side of the horizontal moving screw nut 233 can be connected to the roller plate 221. For example, the horizontal moving screw nut 233 can be connected to the lower roller plate 2211 via the connecting member 234. A pair of horizontal moving screw nuts 233 can be connected to one side and the other side of the lower roller plate 2211 respectively. Based on this structure, the horizontal moving screw nut 233 moves in the length direction of the horizontal moving screw 232 by the rotation of the horizontal moving screw 232, thereby causing the roller plate 221 connected to the horizontal moving screw nut 233 to move horizontally.

[0108] In other words, the horizontal movement drive motor 231 rotates the horizontal movement screw 232 via a synchronous belt and pulleys. As the horizontal movement screw 232 rotates, the horizontal movement screw nut 233 and the lower roller plate 2211 connected thereto move horizontally along the length of the horizontal movement screw 232, that is, the roller module 22 moves horizontally.

[0109] Figure 12 This is a perspective view of the rotating portion of a catheter according to one embodiment.

[0110] Reference Figure 1 , Figure 2 as well as Figure 12The catheter rotating part 3 is rotatably connected to the catheter at the front end of the surgical tool control device 100. The catheter rotating part 3 can be configured at the front end of the housing 1.

[0111] The catheter rotation section 3 may include a catheter rotation drive motor 31 and a catheter rotation pulley assembly 32. The catheter rotation drive motor 31 can generate rotational power for rotating the catheter. The catheter rotation pulley assembly 32 can receive rotational power from the catheter rotation drive motor 31. The catheter rotation pulley assembly 32 can transmit the received rotational power to the catheter. For example, the catheter rotation pulley assembly 32 can provide rotational power to a Y connector connected to the catheter to rotate the catheter. For this purpose, a pulley can be formed at the end of the Y connector to receive rotational power from the catheter rotation pulley assembly 32.

[0112] Figure 13 This is a perspective view of the housing translation part and the housing swing part according to an embodiment, showing the state of being connected to the housing. Figure 14 This is a perspective view of the housing translation part and the housing swing part according to an embodiment.

[0113] Reference Figure 13 as well as Figure 14 The housing translation section 4 can move the housing 1 forward or backward relative to the positioning position of the surgical tool control device 100 (e.g., a robotic arm). Based on this drive, the catheter connected to the front end of the surgical tool control device 100 can be moved forward or backward. Figure 14 As shown, the housing translation unit 4 can translate the housing 1 relative to the setting position (e.g., robotic arm) of the surgical tool control device 100 via structures such as a motor, pulley, timing belt, lead screw, and lead screw nut. For this purpose, a slot 11 can be formed on the housing 1 to provide a path for translation.

[0114] The outer casing swinging part 5 can swing the outer casing 1 relative to the position where the surgical tool control device 100 is located (e.g., a robotic arm). Figure 14 As shown, the outer shell swinging part 5 can swing the outer shell 1 relative to the position of the surgical tool control device 100 (e.g., a robotic arm) using a structure such as a motor, worm gear, or worm wheel.

[0115] Figures 15 to 17 This is a top view showing the operation of the clamping part according to one embodiment.

[0116] Reference Figures 15 to 17 The clamping part 6 can secure the surgical tool T by clamping it in place when it is not being held by the roller module 22. This structure prevents the surgical tool T from moving unintended when it is not being held by the roller module 22. Furthermore, the clamping part 6 can release the surgical tool T from the roller module 22, thereby controlling the surgical tool T.

[0117] The number of clamping parts 6 can correspond to the number of surgical instruments T. (See reference...) Figure 3 The clamping part 6 may include a first clamping part 6a, a second clamping part 6b, a third clamping part 6c, and a fourth clamping part 6d. Each clamping part 6a, 6b, 6c, and 6d can be applied to a different surgical tool Ta, Tb, Tc, and Td, respectively.

[0118] The clamping part 6 can automatically clamp or release the surgical tool T as the roller module 22 moves horizontally. The clamping part 6 may include a clamp 61 and an elastic body 62.

[0119] Clip 61 is the component that holds the surgical instrument T. (See reference...) Figure 12 The clamp 61 can be positioned within the Y-shaped connecting clamp 8. This creates a step difference 81 within the Y-shaped connecting clamp 8, and the surgical tool T is clamped between the clamp 61 and the step difference 81 of the Y-shaped connecting clamp 8. However, this is merely an example; the component opposite the clamp 61 is not limited by the step difference 81 of the Y-shaped connecting clamp 8. In other words, the surgical tool T can be clamped between the clamp 61 and any component opposite it.

[0120] The elastomer 62 can apply pressure to the clamp 61 from one direction, thereby enabling the clamp 61 to hold the surgical instrument T. For example, the elastomer 62 can apply pressure to the clamp 61 toward the step difference 81 of the Y-shaped connecting clamp 8. Figure 15 This shows the state where roller module 22 is in the middle position, that is, the adjacent roller module 22 is not holding the surgical tool T. In relation to... Figure 15 Under the same conditions, the clamp 61 is subjected to elastic pressure in one direction by the elastic body 62, thereby causing the surgical tool T to be clamped between the clamp 61 and the step difference 81 of the Y-shaped connecting clamp 8.

[0121] Figure 16 The diagram shows the state in which the second roller module 22b is horizontally moved toward the first roller module 22a in order to hold the first surgical tool Ta between the first roller module 22a and the second roller module 22b. (Refer to...) Figure 16 As the second roller module 22b moves horizontally toward the first roller module 22a, it pushes the clamp 61a of the first clamping part 6a in another direction, thereby releasing its grip on the first surgical tool Ta. Thus, the first surgical tool Ta is held between the first roller module 22a and the second roller module 22b, and the first clamping part 6a simultaneously releases its grip, allowing free control of the first surgical tool Ta. Furthermore, in Figure 16 In this state, the second surgical tool Tb, which is not held by the second roller module 22b and the third roller module 22c, is clamped by the second clamping part 6b, restricting its movement.

[0122] Figure 17 This shows the state in which the second roller module 22b is horizontally moved towards the third roller module 22c in order to hold the second surgical tool Tb between the second roller module 22b and the third roller module 22c. (Refer to...) Figure 17 During the horizontal movement of the second roller module 22b towards the third roller module 22c, the second roller module 22b pushes the clamp 61b of the second clamping part 6b in another direction, thereby releasing its grip on the second surgical tool Tb. Thus, with the second surgical tool Tb held between the second roller module 22b and the third roller module 22c, and the second clamping part 6b simultaneously releasing its grip, the second surgical tool Tb can be freely controlled (forward, backward, and rotated). Simultaneously, during the horizontal movement of the second roller module 22b towards the third roller module 22c, the clamp 61a of the first clamping part 6a is again elastically compressed in one direction by the elastic body 62a, thereby clamping the first surgical tool Ta. Thus, even when the first surgical tool Ta is not being held, it will not move unintentionally due to the clamping by the first clamping part 6a.

[0123] like Figures 15 to 17 As shown, the clamp 61 can rotate about one axis. At this time, the elastic body 62 can generate a spring force to rotate the clamp 61 in the direction of the step difference 81 of the Y-shaped connecting clamp 8. Furthermore, during the horizontal movement of the roller module 22, the clamp 61 can rotate in another direction about one axis while in contact with the roller housing 223. The end of the roller housing 223 can be an inclined surface, allowing the clamp 61 to rotate gently. This is only an example; the clamp 61 can also translate in one direction and another.

[0124] The above description focuses primarily on the first clamping part 6a and the second clamping part 6b. The third clamping part 6c and the fourth clamping part 6d can also clamp the third surgical tool Tc and the fourth surgical tool Td in the same manner as described above. To avoid repetition, a detailed description of the third clamping part 6c and the fourth clamping part 6d is omitted.

[0125] Reference Figures 1 to 3 The surgical tool support 7 is disposed on the housing 1 and positioned rearward relative to the roller module 22. The surgical tool support 7 supports the rear side of the surgical tool T from the rear side of the roller module 22. For example, the surgical tool support 7 may include a slot for securing the surgical tool T, and a cover that secures the surgical tool T to the slot. Thus, the user opens the cover to secure the surgical tool T to the slot and then closes the cover, thereby supporting the surgical tool T on the surgical tool support 7. The number of surgical tool supports 7 may correspond to the number of surgical tools T. Multiple surgical tool supports 7 may be connected to a frame for fixation.

[0126] 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 constituent elements in a different manner than the described methods, or by replacing or substituting them with other constituent elements or equivalents.

[0127] Therefore, other embodiments, other implementations, and equivalents of the claims are all within the scope of the appended claims.

Claims

1. A surgical tool control device, characterized by: including a housing; and a control assembly including a frame connected to the housing, and a first roller module, a second roller module, and a third roller module provided in the frame, the second roller module is horizontally movable to the first roller module to hold a first surgical tool between the first and second roller modules, and is horizontally movable to the third roller module to hold a second surgical tool between the second and third roller modules; wherein the control assembly is configured to selectively hold the first surgical tool or the second surgical tool by moving the second roller module. 2.The surgical tool control device according to claim 1, characterized in that: the first, second, and third roller modules each include: a roller plate connected to the frame; and a roller member rotatably provided in the roller plate. 3.The surgical tool control device according to claim 2, characterized in that: in a state in which the first or second surgical tool is held, the held first or second surgical tool is moved in a length direction by rotating the roller members of a pair of roller modules that hold the first or second surgical tool. 4.The surgical tool control device according to claim 2, characterized in that: in a state in which the first or second surgical tool is held, the held first or second surgical tool is rotated by vertically moving at least either of the roller members of a pair of roller modules that hold the first or second surgical tool. 5.The surgical tool control device according to claim 4, characterized in that: the roller plate includes a lower roller plate connected to the frame, and an upper roller plate located above the lower roller plate, to which the roller member is rotatably connected, the second roller module further includes a vertical movement portion that vertically moves the upper roller plate with respect to the lower roller plate. 6.The surgical tool control device according to claim 5, characterized in that: the second roller module further includes a connection structure support portion that supports the upper roller plate with respect to the lower roller plate, and has a length that is vertically variable corresponding to a separation distance between the lower and upper roller plates. 7.The surgical tool control device according to claim 5, characterized in that: the vertical movement portion includes: a vertical movement driving motor; a vertical movement pulley that receives rotational power from the vertical movement driving motor; a vertical movement screw nut that rotates integrally with the vertical movement pulley; and a vertical movement screw that is combined with the vertical movement screw nut, and has one side connected to the upper roller plate, thereby vertically moving the upper roller plate as the vertical movement screw nut rotates. 8.The surgical tool control device according to claim 3, characterized in that: The second roller module further includes a rotation driving portion that rotates the roller member with respect to the roller plate.

9. The surgical tool control device according to claim 8, wherein The rotation driving portion includes: a rotation driving motor; a rotation driving pulley that receives a rotational force from the rotation driving motor; a spline nut that rotates integrally with the rotation driving pulley; and a spline shaft that is combined with the spline nut and one side of which is connected to the roller member, thereby rotating the roller member with rotation of the spline nut.

10. The surgical tool control device according to claim 9, wherein The rotation driving portion further includes a shaft support portion that is located between the rotation driving pulley and the spline shaft, for preventing the spline shaft from wobbling.

11. The surgical tool control device according to claim 2, wherein The control assembly further includes a horizontal movement portion that horizontally moves the second roller module.

12. The surgical tool control device according to claim 11, wherein The horizontal movement portion includes: a horizontal movement driving motor; a horizontal movement screw that is horizontally connected to the frame and receives a rotational force from the horizontal movement driving motor; and a horizontal movement screw nut that is combined with the horizontal movement screw and one side of which is connected to the roller plate, thereby horizontally moving the roller plate with rotation of the horizontal movement screw.

13. The surgical tool control device according to claim 1, further comprising a catheter rotation portion that is provided in the housing, for rotating a catheter connected to a front end of the surgical tool control device.

14. The surgical tool control device according to claim 1, further comprising a housing translation portion that advances or retreats the housing with respect to a set position of the surgical tool control device, to advance or retreat a catheter connected to a front end of the surgical tool control device.

15. The surgical tool control device according to claim 1, further comprising a housing swing portion that swings the housing with respect to a set position of the surgical tool control device.

16. The surgical tool control device according to claim 1, further comprising: a first clamping portion that clamps the first surgical tool in a state where the first surgical tool is not held by the first roller module and the second roller module; and a second clamping portion that clamps the second surgical tool in a state where the second surgical tool is not held by the second roller module and the third roller module.

17. The surgical tool control device according to claim 16, wherein The first clamping portion and the second clamping portion each include: a clamp; and an elastic body that pressurizes the clamp in one direction, thereby clamping a surgical tool with the clamp.

18. The surgical tool control device according to claim 17, wherein ​ ​ ​ ​ In order to hold the first surgical tool between the first roller module and the second roller module, the second roller module pushes the clip of the first clamping portion to the other direction to release the clamping of the first surgical tool by the first clamping portion during the horizontal movement of the second roller module toward the first roller module, In order to hold the second surgical tool between the second roller module and the third roller module, the second roller module pushes the clip of the second clamping portion to the other direction to release the clamping of the second surgical tool by the second clamping portion during the horizontal movement of the second roller module toward the third roller module.

19. The surgical tool control device according to claim 1, wherein a surgical tool support member is further provided in the housing, which is located behind the first roller module, the second roller module and the third roller module, and supports the rear side of the first surgical tool or the second surgical tool.

20. The surgical tool control device according to claim 1, wherein the control assembly further comprises a fourth roller module and a fifth roller module, the fourth roller module is horizontally movable toward the third roller module to hold a third surgical tool between the third roller module and the fourth roller module, and the fourth roller module is horizontally movable toward the fifth roller module to hold a fourth surgical tool between the fourth roller module and the fifth roller module.

21. The surgical tool control device according to claim 20, wherein the first surgical tool and the third surgical tool can be independently controlled in the state that the first surgical tool is held by the first roller module and the second roller module, and the third surgical tool is held by the third roller module and the fourth roller module, the second surgical tool and the fourth surgical tool can be independently controlled in the state that the second surgical tool is held by the second roller module and the third roller module, and the fourth surgical tool is held by the fourth roller module and the fifth roller module.

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