Method and apparatus for driving surgical instrument

Abstract

The present disclosure relates to a method and apparatus for driving a surgical instrument. The method according to one embodiment of the present disclosure can generate operation information relating to a user action for driving a surgical instrument, calculate first driving information based on the operation information, and determine whether there is a risk relating to the action of the surgical instrument based on the first driving information. And driving the surgical instrument on the basis of the determination result of the presence or absence of danger.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims the benefit of priority under 35 U.S.C. §119 to Korean Patent Application No. 10-2023-0080837 filed on June 23, 2023, in the Korean Intellectual Property Office, which is incorporated herein in its entirety. Technical Field

[0001] The invention relates to a method and a device for driving a surgical instrument. Background Art

[0002] In medicine, surgery refers to the treatment of diseases by cutting, opening or operating the skin, mucous membrane or other tissues using medical instruments. In particular, laparotomy, which is to treat, reshape or remove internal organs after cutting the skin at the surgical site, can cause problems such as bleeding, side effects, pain for the patient, and scars. Therefore, in recent years, as an alternative, surgery that forms a predetermined hole in the skin and only inserts medical instruments such as laparoscopes, surgical instruments, microscopes for microsurgery, etc., or surgery using robots has attracted attention.

[0003] Among them, a surgical robot refers to a robot that can replace the surgical actions performed by a surgeon. The advantages of such a surgical robot are that it can perform more accurate and precise movements than humans and can perform remote surgery.

[0004] On the other hand, surgical robots are generally composed of a master robot and a slave robot. When the operator operates a joystick (such as a handle) provided on the master robot, the operation is performed by operating a robot arm coupled to the slave robot or a surgical tool held by the robot arm.

[0005] However, since the operator does not directly physically operate the surgical tool but remotely operates the surgical tool through the surgical robot to perform the surgery, some problems may occur. For example, even if the operator operates the joystick set on the active robot, the slave robot may not be able to take the action desired by the operator due to mechanical limitations. In addition, even if the slave robot takes the action desired by the operator when the operator operates the joystick set on the active robot, the operation of the slave robot may cause the surgical robot or the human body as the surgical object to be injured.

[0006] The aforementioned background technology is retained by the inventor to derive the present invention, or is technical information obtained in the process of deriving the present invention, and should not be construed as known technology known to the public before the application of the present invention. Summary of the invention

[0007] The present invention is intended to provide a method and device for driving a surgical instrument. In addition, the present invention is intended to provide a computer-readable recording medium having a program for executing the method on a computer.

[0008] The problems to be solved by the present invention are not limited to the problems mentioned above. Other problems and advantages not mentioned in the present invention can be understood through the following description and can be more clearly understood through the embodiments of the present invention. In addition, it should be understood that the problems and advantages to be solved by the present invention can be achieved by the methods and combinations thereof indicated in the claims.

[0009] Additional aspects will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the embodiments of the disclosure.

[0010] As a technical means for solving the technical problem, the first aspect of the present disclosure can provide a method for driving a surgical instrument, which includes: a generation step of generating operation information related to a user action for driving the surgical instrument; a calculation step of calculating first drive information based on the operation information; a judgment step of judging whether there is a danger related to the action of the surgical instrument based on the first drive information; and a driving step of driving the surgical instrument based on the judgment result of whether there is the danger.

[0011] According to the first aspect, the generating step may include the following steps: generating the operating information based on position information and direction information of a device, wherein the device is provided for the user to operate the position and function of the surgical instrument.

[0012] According to the first aspect, the calculation step may include the following steps: calculating intermediate driving information based on the operation information and the conversion relationship between the user's action and the action of the surgical instrument; and calculating the first driving information based on the intermediate driving information and a preset conversion ratio between the user's action and the action of the surgical instrument.

[0013] According to the first aspect, the step of calculating the intermediate driving information may include the following steps: calculating the intermediate position information of the surgical instrument based on the conversion relationship between the device and the camera attached to the surgical instrument, wherein the device allows the user to operate the position and function of the surgical instrument; calculating the intermediate direction information of the surgical instrument based on the conversion relationship between the device and the surgical instrument; and generating the intermediate driving information using the intermediate position information of the surgical instrument and the intermediate direction information of the surgical instrument.

[0014] According to the first aspect, the calculation step may include the following steps: calculating the position information of the surgical instrument based on the intermediate position information of the surgical instrument included in the intermediate driving information and a preset position conversion ratio; calculating the direction information of the surgical instrument based on the intermediate direction information of the surgical instrument included in the intermediate driving information and a preset direction conversion ratio; and generating the first driving information using the position information of the surgical instrument and the direction information of the surgical instrument.

[0015] According to the first aspect, the judging step may include the following steps: judging whether the danger exists based on whether the movement range of the surgical instrument exceeds a preset critical value and whether it corresponds to at least one of a preset singularity area of ​​the surgical instrument.

[0016] According to the first aspect, when it is determined that there is a risk based on the motion range of the surgical instrument, the judgment step may include the following steps: calculating expected driving information based on the initial driving information of the surgical instrument and the motion range information of the surgical instrument; calculating baseline driving information based on the motion range information; and judging whether there is a danger regarding the motion range of the surgical instrument based on the expected driving information, the motion range information and the first driving information.

[0017] According to the first aspect, when it is determined that there is a risk based on the preset singular point area, the judgment step may include the following steps: calculating the operational information about the first drive information and the operational information about the preset singular point area based on the first drive information; and judging whether there is a danger about the preset singular point area of ​​the surgical instrument based on the operational information about the first drive information and the operational information about the preset singular point area.

[0018] According to the first aspect, the method may further include: an updating step of updating the first driving information based on a determination result of whether the danger exists.

[0019] According to the first aspect, the updating step may include the following step: updating the first driving information based on motion range information of the surgical instrument.

[0020] According to the first aspect, the updating step may include the following steps: generating compensatory driving information based on the initial driving information of the surgical instrument, the first driving information and the vector information about the singular point area; and updating the first driving information based on the initial driving information of the surgical instrument, the first driving information, the operational information about the first driving information, the operational information about the singular point area and the compensatory driving information.

[0021] According to the first aspect, the updating step may include the following step: updating the first driving information by changing only the direction information of the surgical instrument included in the first driving information.

[0022] According to the first aspect, the driving step may include the following steps: calculating second driving information based on the first driving information; and driving the surgical instrument based on the second driving information.

[0023] The second aspect of the present disclosure can provide a method for driving a surgical instrument, the method comprising: a generation step of generating operation information corresponding to the operation of a user input part for driving a multi-joint surgical instrument; a calculation step of calculating first drive information based on the operation information; a judgment step of judging whether there is a danger associated with the action of the multi-joint surgical instrument based on the first drive information; and a driving step of driving the multi-joint surgical instrument based on the judgment result of whether there is the danger.

[0024] According to the second aspect, the generating step may include the step of generating the operation information based on position information and direction information of a user input portion of the multi-joint surgical instrument.

[0025] According to the second aspect, the calculation step may include the following steps: calculating intermediate drive information based on the operation information, the conversion relationship between the user input part and the multi-joint surgical instrument, the conversion relationship between the user input part and the terminal tool, and the conversion relationship between the user input part and the camera attached to the multi-joint surgical instrument; and calculating the first drive information based on the intermediate drive information and a preset conversion ratio between the action of the user input part and the action of the multi-joint surgical instrument.

[0026] According to the second aspect, the step of calculating the intermediate driving information may include the following steps: calculating the intermediate position information of the multi-joint surgical instrument based on the conversion relationship between the user input part and the camera attached to the multi-joint surgical instrument; calculating the intermediate direction information of the surgical instrument based on the conversion relationship between the user input part and the multi-joint surgical instrument; and using the intermediate position information of the multi-joint surgical instrument and the intermediate direction information of the multi-joint surgical instrument to generate the intermediate driving information.

[0027] According to the second aspect, the calculation step may include the following steps: calculating the position information of the multi-joint surgical instrument based on the intermediate position information of the multi-joint surgical instrument included in the intermediate driving information and a preset position conversion ratio; calculating the direction information of the multi-joint surgical instrument based on the intermediate direction information of the multi-joint surgical instrument included in the intermediate driving information and a preset direction conversion ratio; and generating the first driving information using the position information of the multi-joint surgical instrument and the direction information of the multi-joint surgical instrument.

[0028] According to the second aspect, the judgment step may include the following steps: judging whether the danger exists based on whether the motion range formed by at least one joint of the multi-joint surgical instrument exceeds a preset critical value and corresponds to at least one of the preset singularity areas of the multi-joint surgical instrument.

[0029] According to the second aspect, when it is determined that there is a risk based on the motion range of the surgical instrument, the judgment step may include the following steps: calculating expected driving information based on the initial driving information of the multi-joint surgical instrument and the motion range information of the multi-joint surgical instrument; calculating baseline driving information based on the motion range information; and judging whether there is a danger regarding the motion range formed by at least one joint of the multi-joint surgical instrument based on the expected driving information, the motion range information and the first driving information.

[0030] According to the second aspect, when it is determined that there is a risk based on the preset singular point area, the judgment step may include the following steps: calculating the operational information about the first drive information and the operational information about the preset singular point area based on the first drive information; and judging whether there is a danger about the preset singular point area of ​​the multi-joint surgical instrument based on the operational information about the first drive information and the operational information about the preset singular point area.

[0031] According to the second aspect, the method may further include: an updating step of updating the first driving information based on a determination result of whether the danger exists.

[0032] According to the second aspect, the updating step may include the following step: updating the first driving information based on motion range information of the multi-joint surgical instrument.

[0033] According to the second aspect, the updating step may include the following steps: generating compensatory driving information based on the initial driving information of the multi-joint surgical instrument, the first driving information and the vector information about the singular point area; and updating the first driving information based on the initial driving information of the multi-joint surgical instrument, the first driving information, the operational information about the first driving information, the operational information about the singular point area and the compensatory driving information.

[0034] According to the second aspect, the updating step may include the following step: updating the first driving information by changing only the direction information of the multi-joint surgical instrument included in the first driving information.

[0035] According to the second aspect, the driving step may include the following steps: calculating second driving information based on the first driving information; and driving the multi-joint surgical instrument based on the second driving information.

[0036] The third aspect of the present disclosure may provide a computing device, which includes: at least one memory, and at least one processor; the at least one processor performs the following actions: generates operation information related to a user action for driving a surgical instrument, calculates first drive information based on the operation information, determines whether there is a danger related to the action of the surgical instrument based on the first drive information, and drives the surgical instrument based on the determination result of whether there is the danger.

[0037] A fourth aspect of the present disclosure may provide a non-transitory computer-readable recording medium having recorded thereon a program for executing the method according to the first aspect on a computer.

[0038] In addition, a computer-readable recording medium may be provided, wherein the computer stores another method for implementing the present invention, another system, and a computer program for executing the method.

[0039] Other aspects, features, and advantages in addition to those described above will become apparent from the following drawings, claims, and detailed description of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other aspects, features and advantages of certain embodiments of the present disclosure will become more apparent from the following description in conjunction with the accompanying drawings, in which:

[0041] Figure 1 FIG. 1 is a diagram for explaining an example of a system for driving a surgical instrument according to an embodiment.

[0042] Figure 2A is a configuration diagram showing an example of a user terminal according to an embodiment.

[0043] Figure 2B is a configuration diagram showing an example of a server according to an embodiment.

[0044] Figure 3 FIG. 1 is a diagram for explaining another example of a system for driving a surgical instrument according to an embodiment.

[0045] Figure 4 It is shown Figure 3 Block diagram of the internal configuration of the surgical robot system.

[0046] Figure 5 It is shown Figure 3 A stereoscopic view of a slave robot of a surgical robot system and a multi-joint surgical instrument mounted thereon.

[0047] Figure 6 1 is a perspective view showing a multi-joint surgical instrument according to an embodiment of the present invention.

[0048] Figure 7 and Figure 8 yes Figure 6 A stereoscopic view of an end tool of a multi-joint surgical instrument.

[0049] Fig. 9 yes Figure 6 A top view of a terminal tool of a multi-jointed surgical instrument.

[0050] Fig.10 and Fig.11 yes Figure 6 A stereoscopic view of the drive unit of a multi-joint surgical instrument.

[0051] Fig.12 yes Figure 6 A top view of the driving portion of a multi-joint surgical instrument.

[0052] Fig.13 yes Figure 6 Rear view of the drive unit of a multi-joint surgical instrument.

[0053] Fig.14 yes Figure 6 A side view of the drive portion of a multi-joint surgical instrument.

[0054] Fig.15 yes Figure 6 The schematic diagram of the disassembly of the structure related to the first clamp in the structure of the pulley and guide wire of the multi-joint surgical instrument is shown.

[0055] Fig.16 yes Figure 6 The schematic diagram of the disassembly of the structure related to the second clamp in the structure of the pulley and wire of the multi-joint surgical instrument is shown.

[0056] Fig.17 and Fig.18 It is shown Figure 6 A diagram illustrating the pitch motion of a multi-joint surgical instrument.

[0057] Fig.19 and Fig. 20 It is shown Figure 6 Diagram of the deflection motion of a multi-joint surgical instrument shown.

[0058] Fig.21 is a flowchart for explaining an example of a method of driving a surgical instrument according to an embodiment.

[0059] Fig. 22 is a flowchart for explaining an example of a method in which a processor calculates first driving information according to an embodiment.

[0060] Fig.23 1 is a diagram for explaining an example of a conversion relationship between a user's motion and a surgical instrument's motion according to an embodiment.

[0061] Fig.24 FIG. 1 is a diagram for explaining an example of a surgical instrument that operates based on first drive information according to an embodiment.

[0062] Fig.25 It is a diagram for explaining an example of the motion range of the surgical instrument according to one embodiment.

[0063] Fig.26 is a flowchart for explaining another example of a driving method of a surgical instrument according to an embodiment.

[0064] Fig. 27 is a flowchart for explaining another example of a method for a processor to calculate first driving information according to an embodiment. DETAILED DESCRIPTION

[0065] Reference will now be made in detail to embodiments, examples of which are shown in the accompanying drawings, wherein the same reference numerals represent the same elements throughout. Here, the present embodiments may have different forms and should not be construed as being limited to the description described herein. Therefore, the embodiments are described below only by reference to the accompanying drawings to explain various aspects. As used herein, the term "and / or" includes any and all combinations of one or more associated listed items. When preceding a list of elements, expressions such as "at least one" modify the entire list of elements and do not modify the individual elements in the list.

[0066] Hereinafter, various embodiments of the present disclosure will be described in conjunction with the accompanying drawings. Various embodiments of the present disclosure may be modified in various ways and have various embodiments, and specific embodiments are shown in the accompanying drawings, and related detailed descriptions are described. However, it should be understood that this is not intended to limit the various embodiments of the present disclosure to specific implementations, but rather to include all changes and / or equivalents and even substitutes included in the ideas and technical scope of the various embodiments of the present disclosure. In conjunction with the description of the accompanying drawings, similar constituent elements are given similar figure numerals.

[0067] Expressions such as "including" or "may include" that can be used in various embodiments of the present disclosure refer to the existence of the corresponding functions, actions or constituent elements, etc. disclosed (disclosure), and do not limit the addition of more than one function, action or constituent element, etc. In addition, it should be understood that in this application, terms such as "including" or "having" are used to specify the existence of features, numbers, steps, actions, constituent elements, components or combinations thereof recorded in the specification, but are not used to exclude in advance the possibility of the existence or addition of more than one other features, numbers, steps, actions, constituent elements, components or combinations thereof.

[0068] In various embodiments of the present disclosure, expressions such as "or" include any and all combinations of the words listed together. For example, "A or B" may include A, may also include B, or may also include both A and B.

[0069] The expressions such as "first", "second", "first", "second" etc. used in the various embodiments of the present disclosure may modify the various constituent elements of the various embodiments, but do not limit the corresponding constituent elements. For example, the expression does not limit the order and / or importance of the corresponding constituent elements. The expression may be used to distinguish one constituent element from other constituent elements. For example, the first user machine and the second user machine are both user machines, and represent different user machines from each other. For example, without departing from the scope of rights of the various embodiments of the present disclosure, the first constituent element may be named the second constituent element, and similarly, the second constituent element may be named the first constituent element.

[0070] In the embodiments of the present disclosure, terms such as "module", "unit", "part", etc. refer to terms for constituent elements that perform at least one function or action, and such constituent elements can be implemented by hardware or software, or by a combination of hardware and software. In addition, multiple "modules", "units", "parts", etc., except for the case where each needs to be implemented by separate specific hardware, are integrated as at least one module or chip so as to be implemented by at least one processor.

[0071] The terms used in the various embodiments of the present disclosure are only used to illustrate specific embodiments and are not intended to limit the various embodiments of the present disclosure. Unless the context clearly dictates otherwise, a single type expression includes a plurality of type expressions.

[0072] Unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art to which various embodiments of the present disclosure belong.

[0073] Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the context of the relevant technology, and should not be interpreted as an ideal or overly formal meaning unless explicitly defined in various embodiments of the present disclosure.

[0074] Hereinafter, various embodiments of the present invention will be described in detail using the accompanying drawings.

[0075] Figure 1 FIG. 1 is a diagram for explaining an example of a system for driving a surgical instrument according to an embodiment.

[0076] Reference Figure 1 , the system 1000 includes a user terminal 2000 and a server 3000. For example, the user terminal 2000 and the server 3000 may be connected via a wired or wireless communication method so as to be able to send and receive data (such as operation information, first drive information, intermediate drive information, second drive information, whether there is a danger associated with the action of the surgical instrument, etc.) to each other.

[0077] For ease of explanation, Figure 1 The system 1000 is shown to include a user terminal 2000 and a server 3000, but is not limited thereto. For example, the system 1000 may include other external devices (not shown), and the actions of the user terminal 2000 and the server 3000 described below may be implemented by a single device (e.g., the user terminal 2000 or the server 3000) or multiple devices.

[0078] The user terminal 2000 may be a computing device having a display device and a device for receiving user input (e.g., a keyboard, a mouse, etc.), and including a memory and a processor. For example, the display device may be implemented by a touch screen to receive user input. For example, the user terminal 2000 may be a notebook computer, a desktop computer, a laptop computer, a tablet computer, a smart phone, etc., but is not limited thereto.

[0079] The server 3000 may be a device that communicates with an external device (not shown) including the user terminal 2000. As an example, the server 3000 may be a device that stores various data including operation information about user actions, first drive information about the actions of the surgical instrument, and whether there is a danger associated with the actions of the surgical instrument.

[0080] Alternatively, the server 3000 may be a computing device including a memory and a processor and having its own computing capabilities. As an example, the server 3000 may refer to Figures 1 to 27 , and executes at least a part of the actions of the user terminal 2000 described later. For example, the server 3000 may also be a cloud server, but is not limited thereto.

[0081] The user terminal 2000 can calculate the first driving information about the action of the surgical instrument by using the operation information related to the user action for driving the surgical instrument, and judge whether there is a danger related to the action of the surgical instrument based on the first driving information, thereby driving the surgical instrument. For example, the user terminal 2000 can generate the operation information related to the user action for driving the surgical instrument. And the user terminal 2000 can calculate the first driving information based on the operation information. And the user terminal 2000 can judge whether there is a danger related to the action of the surgical instrument based on the first driving information. And the user terminal 2000 can drive the surgical instrument based on the judgment result of whether there is a danger.

[0082] Operation information refers to information indicating user actions for driving the surgical instrument. For example, the operation information may include position information and direction information on the three-dimensional coordinate system of the device, which allows the position and function of the surgical instrument to be operated through the user's actions.

[0083] The first driving information refers to information indicating the movement of the surgical instrument, which is used to move the position and direction of the surgical instrument according to the user's intention in response to the operation information. For example, the first driving information may include one or more of the position information or direction information of the surgical instrument, wherein the position information or direction information of the surgical instrument is calculated based on the conversion relationship between the user's movement and the movement of the surgical instrument by using the position information or direction information included in the operation information.

[0084] Whether there is a danger refers to the existence of the following dangers: when the surgical instrument moves in response to the user's action, due to mechanical limitations, the surgical instrument cannot move in response to the user's action, or when the surgical instrument moves in response to the user's action, there is a possibility of causing harm to the surgical instrument or the human body serving as the surgical object.

[0085] On the other hand, the user terminal 2000 may update the first drive information based on the result of the judgment whether there is danger. As an example, if it is determined that driving the surgical instrument based on the first drive information is dangerous according to the result of the judgment whether there is danger, the user terminal 2000 may update the first drive information. As another example, if it is determined that driving the surgical instrument based on the first drive information is not dangerous according to the result of the judgment whether there is danger, the user terminal 2000 may drive the surgical instrument based on the first drive information without updating the first drive information.

[0086] On the other hand, the user terminal 2000 can calculate the second drive information based on the first drive information, and drive the surgical instrument based on the second drive information. For example, the user terminal 2000 can perform inverse kinematics conversion based on the first drive information to calculate the second drive information, and drive the surgical instrument based on the calculated second drive information.

[0087] The second drive information refers to information about the joint angle of the surgical instrument related to the action of the surgical instrument. For example, the second drive information may include information about the joint angle of the surgical instrument, which is required for the surgical instrument to respond to the user's action using the position information or direction information of the surgical instrument included in the first drive information. The second drive information can be obtained based on the first drive information as described below.

[0088] For example, the user terminal 2000 can determine whether there is a danger associated with the action of the surgical instrument or drive the surgical instrument through an application (application) set in the user terminal 2000. The application can be a software program set for the purpose of allowing the user 4000 to drive the surgical instrument. For example, through the application, the user 4000 can perform various activities such as generating operation information about the user action for driving the surgical instrument, or calculating the first drive information based on the operation information, or judging whether there is a danger associated with the action of the surgical instrument based on the first drive information, or driving the surgical instrument based on the judgment result of whether there is a danger, or updating the first drive information based on the judgment result of whether there is a danger.

[0089] On the other hand, the user terminal 2000 may output an image 5000, which represents the action of the surgical instrument driven based on the action of the user 4000. For example, the user terminal 2000 may generate operation information about the action of the user 4000 used by the user 4000 to drive the surgical instrument. And, the user terminal 2000 may generate first drive information based on the operation information. And, the user terminal 2000 may determine whether there is a danger related to the action of the surgical instrument based on the first drive information. And, the user terminal 2000 may drive the surgical instrument based on the judgment result of whether there is a danger. And, the user terminal 2000 may output an image 5000, which represents the action of the surgical instrument driven using the first drive information. The user 4000 can intuitively understand the action of the surgical instrument according to the action of the user 4000 through the image 5000 representing the action of the surgical instrument, and operate the surgical instrument more accurately.

[0090] On the other hand, for the sake of convenience, the entire specification describes that the user terminal 2000 generates operation information related to the user action for driving the surgical instrument, generates first drive information based on the operation information, determines whether there is a danger related to the action of the surgical instrument based on the first drive information, and drives the surgical instrument based on the determination result of whether there is a danger, but is not limited to this. For example, at least a part of the action performed by the user terminal 2000 can be performed by the server 3000.

[0091] In other words, in the following reference Figures 1 to 27 At least a part of the actions of the user terminal 2000 described above can be performed by the server 3000. For example, the server 3000 can generate operation information related to the user action for driving the surgical instrument, generate first drive information based on the operation information, determine whether there is a danger related to the action of the surgical instrument based on the first drive information, and drive the surgical instrument based on the determination result of whether there is a danger. Furthermore, the server 3000 can update the first drive information based on the determination result of whether there is a danger.

[0092] Figure 2A is a configuration diagram showing an example of a user terminal according to an embodiment.

[0093] Reference Figure 2A , the user terminal 2010 includes a processor 2011, a memory 2012, an input / output interface 2013 and a communication module 2014. For ease of description, Figure 2A Only the components related to the present invention are shown. Figure 2A In addition to the components shown, the user terminal 2010 may also include other common components. Figure 2AThe processor 2011 , the memory 2012 , the input / output interface 2013 , and the communication module 2014 shown may be implemented as independent devices, which is obvious to those skilled in the art to which the present invention relates.

[0094] The processor 2011 can process the instructions of the computer program by performing basic arithmetic, logic and input / output calculations. The instructions can be provided by the memory 2012 or an external device (such as the server 3000, etc.). In addition, the processor 2011 can comprehensively control the actions of other components included in the user terminal 2010.

[0095] The processor 2011 generates operation information related to the user's action for driving the surgical instrument. For example, the processor 2011 can generate operation information about the user's action based on a device that allows the position and function of the surgical instrument to be operated by the user's action.

[0096] The device that allows the position and function of the surgical instrument to be operated by the user's action may be a device formed in the form of a handle-shaped operating member, but is not limited thereto, and may be deformed and implemented in various shapes for achieving the same purpose. For example, it may be formed in different shapes such as a handle shape in one part and a clutch button in another part, and in order to facilitate the operation of the surgical tool, a finger insertion tube that allows the operator to insert and fix the finger may be formed.

[0097] Operation information refers to information representing the user's intuitive actions for operating the position and function of the surgical instrument. Specifically, the operation information may include position information and orientation information on the physical coordinate system of the device that allows the user to operate the position and function of the surgical instrument. As an example, the operation information may include a transformation matrix representing linear and rotational motion on a homogeneous coordinate system. The transformation matrix may be a homogeneous transform matrix, and may include rotation matrix information and translation vector information. As another example, the operation information may include position information and orientation information on a physical coordinate system presented according to expressions such as a screw. However, examples of operation information are not limited to the above.

[0098] On the other hand, the processor 2011 can generate operation information based on the position information and direction information of the device that allows the user to operate the position and function of the surgical instrument. For example, the processor 2011 can generate operation information by using the difference between the initial position information and initial direction information of the device that allows the user to operate the position and function of the surgical instrument and the position information and direction information after the user operates the device.

[0099] Furthermore, the processor 2011 calculates the first driving information based on the operation information. For example, the processor 2011 can calculate the first driving information about the action of the multi-joint surgical instrument based on the operation information.

[0100] On the other hand, when calculating the first drive information, the processor 2011 can calculate the intermediate drive information based on the operation information and the conversion relationship between the user's actions and the actions of the surgical instrument, and calculate the first drive information based on the intermediate drive information and the preset conversion ratio between the user's actions and the actions of the surgical instrument.

[0101] The intermediate driving information refers to information calculated by converting the user's motion into the motion of the surgical instrument based on the operation information. For example, the intermediate driving information may include information calculated without considering the conversion ratio between the user's motion and the motion of the surgical instrument.

[0102] According to one embodiment of the present invention, the first driving information is calculated based on the intermediate driving information and a preset conversion ratio between the user's action and the action of the surgical instrument, so that the user's subtle operating activities can be reflected to operate the surgical instrument and can help perform precise surgery.

[0103] On the other hand, when calculating the intermediate driving information, the processor 2011 can calculate the intermediate position information of the surgical instrument based on the conversion relationship between the device that allows the user to operate the position and function of the surgical instrument and the camera attached to the surgical instrument, and calculate the intermediate direction information of the surgical instrument based on the conversion relationship between the device and the surgical instrument, and generate the intermediate driving information using the intermediate position information and the intermediate direction information of the surgical instrument.

[0104] On the other hand, when calculating the first driving information, the processor 2011 can calculate the position information of the surgical instrument based on the intermediate position information of the surgical instrument included in the intermediate driving information and the preset position conversion ratio, and calculate the direction information of the surgical instrument based on the intermediate direction information of the surgical instrument included in the intermediate driving information and the preset direction conversion ratio, and generate the first driving information using the position information and the direction information of the surgical instrument.

[0105] Furthermore, the processor 2011 may determine whether there is a danger associated with the movement of the surgical instrument based on the first drive information. As an example, when the processor 2011 drives the surgical instrument based on the first drive information, it may determine whether there is a danger that the surgical instrument exceeds the operable range, etc. As another example, when the processor 2011 drives the surgical instrument based on the first drive information, it may determine whether there is a danger that the expected movement of the surgical instrument is included in a preset singular point area, etc.

[0106] On the other hand, when determining whether there is danger, the processor 2011 may determine whether there is danger based on whether the movement range of the surgical instrument exceeds a preset critical value and whether it corresponds to at least one of the preset singularity areas of the surgical instrument.

[0107] On the other hand, when the processor 2011 determines whether there is a danger, it can calculate the expected driving information based on the initial driving information of the surgical instrument and the motion range information of the surgical instrument based on the motion range information, and calculate the benchmark driving information based on the motion range information, and determine whether there is a danger regarding the motion range of the surgical instrument based on the expected driving information, the motion range information and the first driving information.

[0108] On the other hand, when the processor 2011 determines whether there is a danger, it can calculate the operability information about the first drive information and the operability information about the singular point area based on the first drive information, and determine whether there is a danger about the singular point area of ​​the surgical instrument based on the operability information about the first drive information and the operability information about the singular point area.

[0109] On the other hand, the processor 2011 may update the first drive information based on the result of the judgment of whether there is danger. As an example, the processor 2011 may update the first drive information when it is judged that the range of motion of the surgical instrument exceeds a preset critical value when the surgical instrument is driven based on the first drive information and is dangerous. As another example, the processor 2011 may update the first drive information when it is judged that the range of motion of the surgical instrument corresponds to a preset singular point area when the surgical instrument is driven based on the first drive information and is dangerous.

[0110] On the other hand, when updating the first driving information, the processor 2011 may update the first driving information based on the motion range information of the surgical instrument.

[0111] On the other hand, when updating the first driving information, the processor 2011 can generate compensatory driving information based on the initial driving information of the surgical instrument, the first driving information and the vector information about the singular point area, and update the first driving information based on the initial driving information of the surgical instrument, the first driving information, the operational information about the first driving information, the operational information about the singular point area and the compensatory driving information.

[0112] On the other hand, when updating the first drive information, the processor 2011 can update the first drive information by only changing the direction information of the surgical instrument included in the first drive information. For example, the processor 2011 can update the first drive information by fixing the position information of the surgical instrument included in the first drive information and only changing the direction information.

[0113] According to an embodiment of the present invention, by only changing the direction information of the surgical instrument included in the first driving information, it is possible to prevent in advance the situation where movement hazards and injuries to the human body are caused by the movement of the surgical instrument.

[0114] Furthermore, the processor 2011 may drive the surgical instrument based on the result of the judgment whether there is danger. As an example, when the processor 2011 judges that driving the surgical instrument based on the first drive information is dangerous, it may not drive the surgical instrument based on the first drive information. As another example, when the processor 2011 judges that driving the surgical instrument based on the first drive information is not dangerous, it may drive the surgical instrument based on the first drive information. As yet another example, when the processor 2011 judges that driving the surgical instrument based on the first drive information is dangerous, it may not drive the surgical instrument based on the first drive information and update the first drive information as described below.

[0115] On the other hand, when driving the surgical instrument, the processor 2011 can calculate the second driving information based on the first driving information, and drive the surgical instrument based on the second driving information. For example, the processor 2011 can perform inverse kinematics transformation based on the first driving information to calculate the second driving information, and drive the surgical instrument based on the calculated second driving information.

[0116] Will refer to Figures 3 to 27 A specific example of the operation of the processor 2011 according to the embodiment will be described.

[0117] The processor 2011 may be implemented by an array of multiple logic gates, or by a combination of a general-purpose microprocessor and a memory storing a program executable in the microprocessor. For example, the processor 2011 may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor 2011 may include a customized application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor 2011 may also include a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of more than one microprocessor combined with a digital signal processor (DSP) core, or any other combination of similar configurations and other processing devices.

[0118] The memory 2012 may include any non-temporary computer-readable recording medium. As an example, the memory 2012 may include a non-permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, a non-permanent mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be a permanent storage device that is separate from the memory. In addition, the memory 2012 may store an operating system (OS) and at least one program code (e.g., a reference code for execution by the processor 2011). Figures 3 to 27 The code that describes the action).

[0119] These software components can be loaded from a computer-readable recording medium provided separately from the memory 2012. Such a separately provided computer-readable recording medium can be a recording medium that can be directly connected to the user terminal 2010, for example, a computer-readable recording medium that can include a floppy disk drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components can also be loaded into the memory 2012 via the communication module 2014 instead of the computer-readable recording medium. For example, at least one program can be based on a computer program (e.g., a reference program for execution by the processor 2011). Figures 3 to 27 A computer program that performs the actions described in the application program, etc., is loaded into the memory 2012. The computer program is a file setting provided by a developer or a file distribution system for publishing an installation file of an application program through the communication module 2014.

[0120] The input / output interface 2013 may be a device for connecting to the user terminal 2010 or a device for connecting to an input or output device (such as a keyboard, a mouse, etc.) included in the user terminal 2010. The input / output interface 2013 may be configured to be separated from the processor 2011, but is not limited thereto, and may also be configured to be included in the processor 2011.

[0121] The communication module 2014 may provide a configuration or function for the server 3000 and the user terminal 2010 to communicate with each other through a network. In addition, the communication module 2014 may provide a configuration or function for the user terminal 2010 to communicate with other external devices. For example, control signals, instructions, data, etc. provided according to the control of the processor 2011 may be sent to the server 3000 and / or external devices through the communication module 2014 and the network.

[0122] On the other hand, despite Figure 2A Although not shown in the figure, the user terminal 2010 may also include a display device. For example, the display device may be implemented by a touch screen. Alternatively, the user terminal 2010 may be connected to an independent display device via a wired or wireless communication method so that data can be received and sent between the two. For example, the display device may provide an image or a picture of a surgical instrument driven by the driving information.

[0123] Figure 2B is a configuration diagram showing one example of a server according to an embodiment.

[0124] Reference Figure 2B , the server 3010 includes a processor 3011, a memory 3012 and a communication module 3013. For ease of description, Figure 2B Only the components related to the present invention are shown. Figure 2B In addition to the components shown, the server 3010 may also include other common components. Figure 2B The processor 3011 , the memory 3012 , and the communication module 3013 shown may be implemented by independent devices, which is obvious to those skilled in the art in the technical field related to the present invention.

[0125] The processor 3011 may generate operation information related to a user action for driving a surgical instrument. In addition, the processor 3011 may calculate first drive information based on the operation information. In addition, the processor 3011 may determine whether there is a danger related to the action of the surgical instrument based on the first drive information. In addition, the processor 3011 may drive the surgical instrument based on the result of the determination whether there is a danger. In addition, the processor 2011 may update the first drive information based on the result of the determination whether there is a danger.

[0126] In other words, the above reference Figure 2A At least one of the described actions of the processor 2011 may be performed by the processor 3011. In this case, the user terminal 2010 may output information transmitted from the server 3010 through a display device.

[0127] On the other hand, the embodiment of the processor 3011 is similar to the above reference Figure 2A The described embodiments of the processor 2011 are the same, so the detailed description is omitted.

[0128] The memory 3012 may store various data such as data required for the operation of the processor 3011 and data generated according to the operation of the processor 3011. In addition, the memory 3012 may store an operating system (OS) and at least one program (such as a program required for the operation of the processor 3011).

[0129] On the other hand, the embodiment of the memory 3012 is similar to the above reference Figure 2A The described embodiments of the memory 2012 are the same, so the detailed description is omitted.

[0130] The communication module 3013 may provide a configuration or function for the server 3010 and the user terminal 2010 to communicate with each other through a network. In addition, the communication module 2014 may provide a configuration or function for the server 3010 to communicate with other external devices. For example, control signals, instructions, data, etc. provided according to the control of the processor 3011 may be sent to the user terminal 2010 and / or external devices through the communication module 3013 and the network.

[0131] Figure 3 is a diagram for explaining another example of a system for driving a surgical instrument according to an embodiment, Figure 4 It is shown Figure 3 A block diagram of the internal configuration of the surgical robot system, Figure 5 It is shown Figure 3 A stereoscopic view of a slave robot of a surgical robot system and a multi-joint surgical instrument mounted thereon.

[0132] Reference Figures 3 to 5 The surgical robot system 1 includes an active robot 10 , a passive robot 20 and a multi-joint surgical instrument 30 .

[0133] The master robot 10 includes an operation member 10 a and a display member 10 b , and the slave robot 20 includes one or more robot arm units 21 , 22 , 23 .

[0134] The active robot 10 includes an operating member 10a so that the operator can hold and operate the operating member 10a with both hands. Figure 3As shown, it can be implemented by two or more handles, and the operation signal according to the operator's handle operation is transmitted to the slave robot 20 through a wired or wireless communication network to control the robot arm units 21, 22, and 23. That is, the surgical actions such as position movement, rotation, and cutting of the robot arm units 21, 22, and 23 can be performed by the operator's handle operation. Among them, the operation signal may include one or more of the operation information about the user's action, the first drive information about the action of the surgical instrument, or the second drive information.

[0135] For example, the operator can operate the robot arm units 21, 22, 23 using a handle-shaped operating lever. The operating lever as described above can have various mechanical configurations according to its operation mode, and can be set in various shapes for operating the robot arm units 21, 22, 23 and / or other surgical equipment of the slave robot 20, such as a main handle for operating the actions of the robot arm units 21, 22, 23, and various input tools such as a joystick, an auxiliary keyboard, a trackball, a foot pedal, and a touch screen added to the master robot 10 in order to operate the functions of the overall system. Among them, the operating member 10a is not limited to the shape of a handle, and can be applied without limitation as long as it has a shape that can control the actions of the robot arm units 21, 22, 23 through a network such as a wired or wireless communication network.

[0136] On the other hand, according to an embodiment of the present invention, operation information can be generated based on the operating rod or operating member 10a. For example, according to an embodiment of the present invention, operation information can be generated based on the action of the user operating the operating rod or operating member 10a. However, the example of generating operation information is not limited to the above content.

[0137] Alternatively, for user input, voice input or motion input and the like may also be applied to the surgical robot system 1. That is, when the user wears glasses or a head mount display (HMD) with sensors on the head, the laparoscope 50 may move according to the direction of the diverted line of sight. Alternatively, when the user issues voice commands such as "left", "right", "arm 1", "arm 2", etc., they may be recognized and actions may be performed. For example, according to one embodiment, the present invention may generate operation information based on the user's voice, and based on the operation information, calculate first drive information, and based on the first drive information, determine whether there is a danger associated with the action of the surgical instrument, and drive the surgical instrument based on the determination result of whether there is a danger.

[0138] The image captured by the laparoscope 50 described later is displayed as a video image on the display member 10b of the active robot 10. In addition, a predetermined virtual operation panel may be displayed together with the image captured by the laparoscope 50 or independently on the display member 10b.

[0139] The display member 10b may be composed of more than one display, and the information required for surgery may be displayed separately on each display. The number of displays may be determined in various forms according to the category or type of information to be displayed.

[0140] On the other hand, the slave robot 20 may include more than one robot arm unit 21, 22, 23. Each robot arm unit 21, 22, 23 may be configured as a module capable of independently moving from one another, and in this case, the algorithm for preventing collisions between the robot arm units 21, 22, 23 may also be applied to the surgical robot system 1.

[0141] Generally, a robot arm refers to a device that has functions similar to those of a human arm and / or wrist and can attach a predetermined tool to the wrist. In the present disclosure, the robot arm units 21, 22, and 23 can be defined as a concept including components such as an upper arm, a lower arm, a wrist, and an elbow, and a multi-joint surgical instrument coupled to the wrist. Alternatively, it can also be defined as a concept that only includes components for driving a multi-joint surgical instrument, without including a multi-joint surgical instrument coupled to the wrist.

[0142] As described above, the robot arm units 21, 22, and 23 of the slave robot 20 can be implemented to be driven in a manner having multiple degrees of freedom. For example, the robot arm units 21, 22, and 23 can be configured to include: a surgical instrument inserted into the surgical site of the patient; a yaw drive unit that rotates the surgical instrument along the yaw direction according to the surgical position; a pitch drive unit that rotates the surgical instrument along the pitch direction orthogonal to the rotation drive of the yaw drive unit; a transfer drive unit that moves the surgical instrument along the length direction; a rotation drive unit that rotates the surgical instrument; and a surgical instrument drive unit that drives the end effector at the end of the surgical instrument to cut or cut off the surgical lesion. However, the configuration of the robot arm units 21, 22, and 23 is not limited to this, and it should be understood that the scope of the rights of the present invention is not limited by such an example. Among them, the specific description of the actual control process will be omitted, such as the operator rotating and moving the robot arm units 21, 22, and 23 along the corresponding directions by operating the operating member 10a.

[0143] like Figure 5In the exemplary embodiment shown, two of the robot arm units 21, 22, 23 can be attached with the multi-joint surgical instrument 30, and one of them can be attached with the laparoscope 50. Also, the surgeon can select the robot arm units 21, 22, 23 that need to be controlled by the active robot 10. As described above, the surgeon can directly manipulate a total of more than three surgical instruments through the active robot 10, and can correctly and freely perform manipulation of various instruments according to the surgeon's intention without the need for surgical assistants.

[0144] On the other hand, when performing surgery on a patient, the slave robot 20 may be configured as more than one, and the laparoscope 50 for displaying the surgical site as a video image through the display member 10b may also be implemented by an independent slave robot 20. In addition, as described above, the embodiments of the present invention may be generally used in surgeries using various surgical endoscopes other than laparoscopes (e.g., thoracoscopes, arthroscopes, rhinoscopes, etc.).

[0145] On the other hand, the active robot 10 can generate operation information related to the user's action for driving the surgical instrument, and calculate the first drive information based on the operation information, and determine whether there is a danger related to the action of the surgical instrument based on the first drive information, and drive the surgical instrument based on the determination result of whether there is a danger. In addition, the active robot 10 can update the first drive information based on the determination result of whether there is a danger.

[0146] For example, the master robot 10 can transmit the first driving information to the slave robot 20 through a wired or wireless communication network to control the robot arm units 21, 22, 23. That is, the operator can perform surgical actions such as position movement, rotation, and cutting of the robot arm units 21, 22, 23 through the operator's handle operation.

[0147] refer to Figure 4 In one embodiment of the present invention, the active robot 10 may include an image input unit 11, a screen display unit 12, a user input unit 13, an operation signal generating unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0148] On the other hand, the active robot 10 may include Figure 2A For example, the operation signal generating unit 14, the control unit 15, etc. may be included in the processor 2011, the memory 16, the storage unit 17, etc. may be included in the memory 2012, and the communication unit 18 may be included in the communication module 2014, but the examples of the active robot 10 are not limited to the above.

[0149] The image input unit 11 may receive images captured by a camera of a laparoscope 50 provided on the slave robot 20 through a wired or wireless communication network. The images captured by the camera may include images for representing the motion of the surgical instrument driven by the first drive information or the second drive information.

[0150] The screen display unit 12 outputs a video image corresponding to the image received by the image input unit 11 as visual information. In addition, when the biometric information of the patient is input, the screen display unit 12 can also output information corresponding thereto. In addition, the screen display unit 12 can also output image data related to the surgical site of the patient (e.g., X-ray images, CT images, MRI images, etc.). The screen display unit 12 can be a display component (see Figure 3 10b) and the like, and the control unit 15 may execute an image processing process for outputting the received image as a video image through the screen display unit 12. The image may include an image representing the action of the surgical instrument driven by the first drive information or the second drive information.

[0151] Figure 4 In the illustrated embodiment, the image input unit and the screen display unit are shown as components included in the active robot 10, but are not limited thereto. The display component may be provided as a separate component spaced apart from the active robot 10. Alternatively, the display component may be provided as a component of the active robot 10. In addition, in another embodiment, a plurality of display components are provided, one of which is provided at a position adjacent to the active robot 10, and another portion may also be provided at a position slightly spaced apart from the active robot 10.

[0152] Among them, the screen display unit 12 (that is, Figure 3 The display component 10b) can also be set as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that uses stereoscopic technology to add depth information to a two-dimensional image, and uses the depth information to make the observer feel the vividness and reality of the three-dimensional image. According to an embodiment of the present invention, the surgical robot system 1 can be provided with a stereoscopic display device as the screen display unit 12 to provide a more realistic virtual environment to the user.

[0153] The user input unit 13 is a device that allows the operator to operate the positions and functions of the robot arm units 21, 22, and 23 of the slave robot 20. The user input unit 13 may be formed as follows. Figure 3 The handle-shaped operating member shown in FIG. Figure 310a), but its shape is not limited thereto and can be deformed into various shapes for achieving the same purpose. In addition, for example, a part of the surgical tool may be in a handle shape and another part may be in a clutch button shape, and a finger insertion tube or insertion ring that allows the operator to insert and fix the finger may be formed to facilitate the operation of the surgical tool.

[0154] On the other hand, according to an embodiment of the present invention, operation information may be generated based on the operator's action on the user input unit 13. For example, according to an embodiment of the present invention, operation information may be generated based on the operator's action of operating the user input unit 13. However, examples of generating operation information are not limited to the above.

[0155] The operation signal generating unit 14 may generate a corresponding operation signal when the operator operates the user input unit 13 to move the position of the robot arm units 21, 22, 23 or to operate a surgical operation. As an example, the operation signal generating unit 14 may generate corresponding operation information when the operator operates the user input unit 13 to move the position of the robot arm units 21, 22, 23 or to operate a surgical operation.

[0156] For example, the operation signal generating unit 14 transmits the generated operation signal to the control unit 15 or to the slave robot 20 through the communication unit 18. The operation signal can be sent and received through a wired or wireless communication network. The control unit 15 can control the slave robot 20 or the multi-joint surgical instrument 30 to move based on the transmitted operation signal. Alternatively, based on the transmitted operation signal, the robot arm control unit 26 included in the slave robot 20 can control the robot arm units 21, 22, and 23 to move. Alternatively, based on the transmitted operation signal, the instrument control unit 27 included in the slave robot 20 can control the multi-joint surgical instrument 30 to move. However, the method of controlling the movement of the slave robot 20 or the multi-joint surgical instrument 30 based on the operation signal is not limited to the above content.

[0157] The instrument control unit 27 may play the role of receiving the operation signal generated by the operation signal generation unit 14 of the active robot 10 to control the multi-joint surgical instrument 30 to operate according to the operation signal.

[0158] The control unit 15 is a central processing unit that controls the action of each component so that the function can be performed. As an example, the control unit 15 can also perform a function of converting an image input through the image input unit 11 into a video image displayed through the screen display unit 12. As another example, the control unit 15 can generate first drive information related to the position movement or surgical action of the robot arm units 21, 22, and 23 based on the operation information. And, the control unit 15 can determine whether there is a danger related to the position movement or surgical action of the robot arm units 21, 22, and 23 based on the first drive information. And, the control unit 15 can update the first drive information based on the judgment result of whether there is a danger. In addition, the control unit 15 can drive the robot arm units 21, 22, and 23 based on the judgment result of whether there is a danger. In addition, the control unit 15 can calculate the second drive information based on the first drive information, and drive the robot arm units 21, 22, and 23 based on the second drive information.

[0159] On the other hand, as described above, it is described that the control unit 15 calculates the first drive information or updates the first drive information, or calculates the second drive information based on the first drive information, but is not limited to this, and can be executed by other control units (robot arm control unit 26, instrument control unit 27, etc.) according to the present disclosure.

[0160] The memory 16 may perform a function of temporarily or permanently storing data processed by the control unit 15. The memory 16 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

[0161] The storage unit 17 can store data received from the slave robot 20. In addition, the storage unit 17 can store various input data (such as patient data, machine data, operation data, etc.).

[0162] The communication unit 18 can be linked with the communication network 60 to provide a communication interface required for receiving and sending image data transmitted by the slave robot 20 and control data transmitted by the master robot 10. The image data transmitted by the slave robot 20 may include an image for representing the action of the surgical instrument driven by the first drive information or the second drive information. The control data transmitted by the master robot 10 may include the first drive information or the second drive information regarding the action of the slave robot 20.

[0163] according to Figure 4In the embodiment shown, the slave robot 20 includes a plurality of motion assisting robot unit control units (a first motion assisting robot unit control unit 21a, a second motion assisting robot unit control unit 22a, and a third motion assisting robot unit control unit 23a). In addition, the first motion assisting robot unit control unit 21a includes a robot arm control unit 26, an instrument control unit 27, and a communication unit 29. In addition, the first motion assisting robot unit control unit 21a may also include a track control unit 28.

[0164] The robot arm control unit 26 can play the role of receiving the operation signal generated by the operation signal generating unit 14 of the active robot 10 to control the robot arm units 21, 22, and 23 to act according to the operation signal. For example, the robot arm control unit 26 can play the role of receiving the first drive information or the second drive information calculated (or updated) by the active robot 10 to control the robot arm units 21, 22, and 23 to act according to the first drive information or the second drive information.

[0165] The instrument control unit 27 can play the following role: receiving the operation signal generated by the operation signal generating unit 14 of the active robot 10 to control the multi-joint surgical instrument 30 to act according to the operation signal. For example, the instrument control unit 27 can play the following role: receiving the first drive information calculated (or updated) by the active robot 10 to control the multi-joint surgical instrument 30 to act according to the first drive information.

[0166] The communication unit 29 can be linked with the communication network 60 to provide a communication interface required for receiving and transmitting the image data transmitted by the slave robot 20 and the control data transmitted by the master robot 10. The image data transmitted by the slave robot 20 may include an image for representing the action of the surgical instrument driven by the first drive information or the second drive information. The control data transmitted by the master robot 10 may include the first drive information or the second drive information about the action of the slave robot 20.

[0167] On the other hand, the communication network 60 plays a role in connecting the active robot 10 and the slave robot 20. That is, the communication network 60 refers to a communication network that provides a connection path so that the active robot 10 and the slave robot 20 can receive and send data to each other after being connected. The communication network 60 may include a wired network such as Local Area Networks (LANs), Wide Area Networks (WANs), Metropolitan Area Networks (MANs), Integrated Service Digital Networks (ISDNs), etc., or a wireless network such as wireless LANs, CDMA, Bluetooth, satellite communications, etc., but the scope of the present invention is not limited thereto.

[0168] Figure 6 is a three-dimensional diagram showing a multi-joint surgical instrument according to an embodiment of the present invention, Figure 7 and Figure 8 yes Figure 6 A stereoscopic view of a terminal tool of a multi-jointed surgical instrument, Fig. 9 yes Figure 6 A top view of a terminal tool of a multi-jointed surgical instrument. Fig.10 and Fig.11 yes Figure 6 A three-dimensional diagram of the driving part of a multi-joint surgical instrument, Fig.12 yes Figure 6 A top view of the driving part of a multi-joint surgical instrument, Fig.13 yes Figure 6 A rear view of the driving portion of a multi-joint surgical instrument, Fig.14 yes Figure 6 A side view of the drive portion of a multi-joint surgical instrument.

[0169] First, refer to Figure 6 According to an embodiment of the present invention, a multi-joint surgical instrument 30 includes an end tool 100 , a driving part 200 , a power transmission part 300 , and the power transmission part 300 may include a connecting part 310 .

[0170] The connecting portion 310 is formed in the shape of a hollow shaft so that it can accommodate one or more wires (described later) inside it, and the driving portion 200 is coupled to one end thereof and the terminal tool 100 is coupled to the other end so as to be able to connect the driving portion 200 and the terminal tool 100.

[0171] The driving part 200 is formed at one end of the connecting part 310 and provides a connection that can be connected to the robot arm unit (refer to Figure 3 21, etc.) combined with the interface. Therefore, when the user operates the active robot (refer to Figure 3 10), the robot arm unit (refer to Figure 3 21, etc.) to operate so that the terminal tool 100 of the multi-joint surgical instrument 30 performs the corresponding action, and the driving force of the motor (not shown) is transmitted to the terminal tool 100 through the driving unit 200. From another perspective, it can be explained that the driving unit 200 itself is an interface between the multi-joint surgical instrument 30 and the driven robot 20.

[0172] For example, when the user operates the user input unit (refer to Figure 3 13), the robot arm unit (refer to Figure 3 21, etc.) to operate so that the terminal tool 100 of the multi-joint surgical instrument 30 performs corresponding actions, and the driving force of the motor (not shown) can be transmitted to the terminal tool 100 through the driving unit 200.

[0173] The terminal tool 100 is formed at the other end of the connecting portion 310 and is inserted into the surgical site to perform the required operation. As an example of such a terminal tool 100, Figure 7 As shown, a pair of jaws 101, 102 for performing a gripping action can be used. However, one embodiment of the present invention is not limited thereto, and various devices used for surgery can be used as the terminal tool 100. For example, a single-arm cautery device and the like can also be used as a terminal tool. Such a terminal tool 100 is connected to the driving unit 200 through a power transmission unit 300 to receive the driving force of the driving unit 200 through the power transmission unit 300, so that actions required for surgery such as gripping, cutting, and suturing can be performed.

[0174] The terminal tool 100 of the multi-joint surgical instrument 30 according to an embodiment of the present invention is formed to be rotatable in more than two directions. For example, the terminal tool 100 can be formed to be Figure 7 While performing a pitch motion with the rotation axis 143 as the center, Figure 7 The yaw motion and the actuation motion are performed with the rotation axis 141 as the center.

[0175] The definitions of pitch motion, yaw motion, actuation motion, and roll motion used in the present invention are as follows.

[0176] First, the pitch action refers to the movement of the end tool 100 relative to the extension direction ( Figure 7 The X-axis direction) rotates in the up and down direction, that is, Figure 7 In other words, it means that the connecting portion 310 extends in the direction ( Figure 7 The terminal tool 100 extends from the connecting portion 310 (in the X-axis direction) and rotates up and down with respect to the connecting portion 310 around the Y-axis.

[0177] Secondly, the yaw action refers to the movement of the end tool 100 relative to the extension direction of the connecting portion 310 ( Figure 7 The X-axis direction) rotates in the left and right direction, that is, Figure 7 In other words, it means that the connecting portion 310 extends in the direction ( Figure 7 The end tool 100 extending from the connection part 310 (in the X-axis direction) rotates left and right about the Z-axis relative to the connection part 310. That is, the two jaws 101 and 102 formed in the end tool 100 rotate in the same direction about the Z-axis.

[0178] On the other hand, the actuation action refers to the action of the end tool 100 rotating around the same rotation axis as the yaw action, and the two jaws 101 and 102 rotating in opposite directions to each other while the jaws contract or open. In other words, it means the movement of the two jaws 101 and 102 formed in the end tool 100 rotating in opposite directions around the Z axis.

[0179] From another perspective, the yaw rotation can also be defined as the movement of the terminal tool clamp pulley described later rotating around the rotation axis 141 which serves as the rotation axis of the terminal tool clamp pulley, and the pitch rotation can also be defined as the movement of the terminal tool clamp pulley revolving around the rotation axis 143 which serves as the pitch rotation axis of the terminal tool.

[0180] The rolling action refers to the action of the multi-joint surgical instrument rotating with the connecting portion 310 as the axis. For example, the rolling action can be the multi-joint surgical instrument rotating with the connecting portion 310 extending in the direction ( Figure 7 The action of rotating in a clockwise or counterclockwise direction (in the X-axis direction) as the center.

[0181] On the other hand, the rolling action may mean a movement in which the terminal tool 100 rotates with respect to the connection portion 310 about the X axis. For example, the rolling action may be a movement in which the terminal tool 100 rotates with respect to the extension direction ( Figure 7 The movement of rotating in a clockwise or counterclockwise direction (in the X-axis direction) as the center.

[0182] The power transmission unit 300 transmits the driving force of the driving unit 200 to the terminal tool 100 by connecting the driving unit 200 and the terminal tool 100 , and may include a plurality of wires, pulleys, connecting rods, nodes, gears, and the like.

[0183] In the following, we will Figure 6 The terminal tool 100, the driving unit 200, the power transmission unit 300, etc. of the multi-joint surgical instrument 30 are described in more detail.

[0184] In the following, we will Figure 6 The power transmission part 300 of the multi-joint surgical instrument 30 will be described in more detail.

[0185] Reference Figures 6 to 14 According to an embodiment of the present invention, the power transmission part 300 of the multi-joint surgical instrument 30 may include a wire 301, a wire 302, a wire 303, a wire 304, a wire 305, and a wire 306.

[0186] The wire 301 and the wire 305 may form a pair to function as a first jaw wire. The wire 302 and the wire 306 may form a pair to function as a second jaw wire. The components including the wire 301 and the wire 305 as the first jaw wire and the wire 302 and the wire 306 as the second jaw wire may be referred to as jaw wires. Furthermore, the wire 303 and the wire 304 may form a pair to function as a pitch wire.

[0187] The drawings show that a pair of wires are associated with the rotational movement of the first jaw 101, and a pair of wires are associated with the rotational movement of the second jaw 102, but an embodiment of the present invention is not limited thereto. For example, a pair of wires may be associated with the yaw movement, and a pair of wires may be associated with the actuation movement.

[0188] In addition, the power transmission part 300 of the multi-joint surgical instrument 30 according to an embodiment of the present invention may include a fastening member 321, a fastening member 326, etc., coupled to each end of each wire, so as to couple the wire with the pulley. Each fastening member may have various forms as required, such as a ball shape, a tube shape, etc.

[0189] Among them, the fastening member 321 as the pitch wire fastening member can be combined with the end of the wire 303 and the wire 304 as the pitch wire close to the end tool 100 side to play the role of the pitch wire-end tool fastening member. On the other hand, although not shown in the figure, the pitch wire-driving unit fastening member (not shown) can be combined with the end of the wire 303 and the wire 304 as the pitch wire close to the driving unit 200 side.

[0190] On the other hand, the fastening member 326 as the second jaw wire fastening member can be coupled to the end of the wire 302 and the wire 306 as the second jaw wire close to the end tool 100, so as to function as the second jaw wire-end tool fastening member. On the other hand, although not shown in the figure, the second jaw wire-driving unit fastening member (not shown) can be coupled to the end of the wire 302 and the wire 306 as the second jaw wire close to the driving unit 200.

[0191] On the other hand, although not shown in the figure, a fastening member (not shown) of the same shape as the fastening member 326 may be coupled to the end of the wire 301 and the wire 305 as the first clamp wire close to the end tool 100 side to play the role of the first clamp wire-end tool fastening member. On the other hand, although not shown in the figure, a first clamp wire-driving unit fastening member (not shown) may be coupled to the end of the wire 301 and the wire 305 as the first clamp wire close to the driving unit 200 side.

[0192] Here, although each fastening member is classified as included in the power transmission part 300 , it may be classified as that the fastening member near the end tool 100 is included in the end tool 100 and the fastening member near the driving part 200 is included in the driving part 200 .

[0193] The coupling relationship between the wire and the fastening member and each pulley will be described in detail below.

[0194] First, the wire 302 and the wire 306 as the second clamp wire can be a single wire. After the fastening member 326 as the second clamp wire-terminal tool fastening member is inserted into the middle position of the second clamp wire as a single wire and the fastening member 326 is fixed by crimping, the two strands of the second clamp wire can be respectively referred to as the wire 302 and the wire 306 with the fastening member 326 as the center.

[0195] Alternatively, the wire 302 and the wire 306 as the second clamp wire may be formed as separate wires, and the wire 302 and the wire 306 may be connected by the fastening member 326 .

[0196] And, the fastening member 326 can be coupled to the pulley 121 so that the wire 302 and the wire 306 are fixedly coupled to the pulley 121. Therefore, the pulley 121 can be rotated by pulling and releasing the wire 302 and the wire 306.

[0197] On the other hand, a second clamp wire-driving unit fastening member (not shown) may be combined with the opposite end of the wire 302 and the wire 306 to the position where the fastening member 326 is fastened. That is, the opposite end of the wire 302 and the wire 306 may be inserted into the second clamp wire-driving unit fastening member (not shown), and the fastening member (not shown) may be pressed (crimped) to fix the wire 302 and the wire 306 to the second clamp wire-driving unit fastening member (not shown).

[0198] Furthermore, the second clamp wire-driving unit fastening member (not shown) coupled to the wire 302 and the wire 306 is coupled to the pulley 221 and the pulley 222, respectively, whereby the wire 302 and the wire 306 are fixedly coupled to the pulley 221 and the pulley 222, respectively. As a result, when the pulley 221 and the pulley 222 are rotated by a motor or manpower, the wire 302 and the wire 306 are pulled and released, so that the pulley 121 of the end tool 100 can rotate.

[0199] The second clamp pulley of the driving part includes two pulleys, namely, pulley 221 and pulley 222, and therefore, the second clamp wire-driving part fastening member may also include two fastening members. Alternatively, the second clamp pulley of the driving part includes one pulley, the second clamp wire-driving part fastening member also includes one fastening member, and the wire 302 and the wire 306 are combined into one fastening member, or they may be combined into one second clamp pulley of the driving part.

[0200] In the same way, the wire 301 and the wire 305 as the first clamp wire are respectively combined with the first clamp wire-terminal tool fastening member (not shown) and the first clamp wire-driving part fastening member (not shown). And, the first clamp wire-terminal tool fastening member (not shown) is combined with the pulley 111, and the first clamp wire-driving part fastening member (not shown) is combined with the pulley 211 and the pulley 212. As a result, when the pulley 211 and the pulley 212 are rotated by a motor or human power, the wire 301 and the wire 305 are pulled and released, so that the pulley 111 of the end tool 100 can rotate.

[0201] In the same way, one end of the wire 303 and the wire 304 as the pitch wire are respectively combined with the fastening member 321 as the pitch wire-terminal tool fastening member, and the other ends of the wire 303 and the wire 304 are combined with the pitch wire-driving part fastening member (not shown). And, the fastening member 321 is combined with the pulley 131, and the pitch wire-driving part fastening member (not shown) is combined with the pulley 231. As a result, when the pulley 231 is rotated by a motor or human power, the wire 303 and the wire 304 are pulled and released, so that the pulley 131 of the terminal tool 100 can rotate.

[0202] As a result, the wire 301 and the wire 305, which are two strands of the first clamp wire, can be combined with the fastening member 323, which is the first clamp wire-terminal tool fastening member, and the first clamp wire-driving unit fastening member (not shown), so as to form a closed loop as a whole. Similarly, the second clamp wire and the pitch wire can also be formed into closed loops, respectively.

[0203] In the following, we will Figure 6 The terminal tool 100 of the multi-joint surgical instrument 30 is described in more detail.

[0204] Figure 7 and Figure 8 It is shown Figure 6 A stereoscopic view of a terminal tool of a multi-jointed surgical instrument, Fig. 9 It is shown Figure 6 A top view of a terminal tool of a multi-joint surgical instrument. Figure 7 The figure shows the state where the terminal tool hub 106 and the pitch hub 107 are combined. Figure 8 A state in which the end tool hub 106 and the pitch hub 107 are removed is shown.

[0205] Reference Figure 7 , Figure 8 and Fig. 9 An end tool 100 according to an embodiment of the present invention has a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. The first jaw 101 and the second jaw 102 may be referred to as jaws 103, or a component including the first jaw 101 and the second jaw 102 may be referred to as jaws 103.

[0206] In addition, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. In addition, pulleys 121, 122, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102 may be included.

[0207] In the drawings, one group of pulleys is shown to be related to the rotational movement of the first jaw 101, and one group of pulleys is related to the rotational movement of the second jaw 102, but an embodiment of the present invention is not limited thereto. For example, one group of pulleys in the terminal tool may be related to the yaw movement, and one group of pulleys may be related to the actuation movement. The pulleys included in the terminal tool 100 including the pulleys may be collectively referred to as terminal tool pulleys.

[0208] On the other hand, in the drawings, the opposing pulleys are shown to be formed in parallel with each other, but an embodiment of the present invention is not limited thereto, and each pulley may be formed in various positions and sizes suitable for the structure of the terminal tool.

[0209] In addition, an end tool 100 according to an embodiment of the present invention may include an end tool hub 106 and a pitch hub 107 .

[0210] The end tool hub 106 allows the rotation shafts 141 and 142 described below to be inserted therethrough, and can internally accommodate at least a portion of the first jaw 101 and the second jaw 102 axially coupled to the rotation shaft 141. In addition, the end tool hub 106 can internally accommodate at least a portion of the pulleys 112 and 122 axially coupled to the rotation shaft 142.

[0211] In addition, a pulley 131 for performing the role of a pitch pulley of the end tool may be formed at one end of the end tool hub 106. Figure 7 As shown, the pulley 131 is formed as a separate member separated from the terminal tool hub 106 so that it can be combined with the terminal tool hub 106. Alternatively, although not shown in the figure, the pulley 131 can be formed as one-body with the terminal tool hub 106. That is, one end of the terminal tool hub 106 is formed in a disk shape or even a semicircular shape like a pulley, and a groove that can be wound with a wire can also be formed on its outer circumference. The wire 303 and the wire 304 are combined with the pulley 131 for playing the role of the terminal tool pitch pulley, and the pulley 131 can perform a pitching action while rotating around the rotation axis 143.

[0212] The pitch hub 107 is penetrated by the rotation shaft 143 and the rotation shaft 144 described later, and can be axially coupled to the end tool hub 106 and the pulley 131 through the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled therewith) can be formed to rotate relative to the pitch hub 107 with the rotation shaft 143 as the center.

[0213] In addition, the pitch hub 107 may internally accommodate at least a portion of the pulleys 113, 114, 123, and 124 axially coupled to the rotation shaft 143. In addition, the pitch hub 107 may internally accommodate at least a portion of the pulleys 115, 116, 125, and 126 axially coupled to the rotation shaft 144.

[0214] In addition, the end tool 100 of an embodiment of the present invention may include a rotation shaft 141, a rotation shaft 142, a rotation shaft 143 and a rotation shaft 144. As described above, the rotation shafts 141 and 142 may be inserted through the end tool hub 106, and the rotation shafts 143 and 144 may be inserted through the pitch hub 107.

[0215] The rotating shaft 141, the rotating shaft 142, the rotating shaft 143, and the rotating shaft 144 can be sequentially arranged along the direction from the distal end 104 to the proximal end 105 of the end tool 100. Therefore, the rotating shaft 141 can be called the No. 1 pin, the rotating shaft 142 can be called the No. 2 pin, the rotating shaft 143 can be called the No. 3 pin, and the rotating shaft 144 can be called the No. 4 pin in order from the distal end 104.

[0216] Among them, the rotation axis 141 can be used as the terminal tool clamp pulley rotation axis, and the rotation axis 142 can be used as the terminal tool clamp auxiliary pulley rotation axis, and the rotation axis 143 can be used as the terminal tool pitch rotation axis, and the rotation axis 144 can be used as the terminal tool pitch auxiliary rotation axis of the terminal tool 100.

[0217] One or more pulleys may be inserted into the rotating shafts 141 , 142 , 143 , and 144 , which will be described in detail below.

[0218] The pulley 111 is used as an end tool first clamp pulley, and the pulley 121 is used as an end tool second clamp pulley, and these two components can be collectively referred to as an end tool clamp pulley.

[0219] The pulley 111 and the pulley 121 as the end tool clamp pulley are formed to face each other, and can be formed to be independently rotatable with the rotation axis 141 as the rotation axis of the end tool clamp pulley as the center. Among them, the pulley 111 and the pulley 121 in the figure are formed to rotate with one rotation axis 141 as the center, of course, each clamp pulley can be formed to rotate with a separate axis as the center. Among them, the first jaw 101 is fixedly coupled to the pulley 111 so that it can rotate together with the pulley 111, and the second jaw 102 is fixedly coupled to the pulley 121 so that it can rotate together with the pulley 121. The deflection action and the actuation action of the end tool 100 are performed according to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction around the rotation axis 141 , a yaw action is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions around the rotation axis 141 , an actuation action is performed.

[0220] The first jaw 101 and the pulley 111 may be formed as separate components and combined with each other, or the first jaw 101 and the pulley 111 may also be formed as one body. Similarly, the second jaw 102 and the pulley 121 may be formed as separate components and combined with each other, or the second jaw 102 and the pulley 121 may also be formed as one body.

[0221] The pulley 112 is used as an end tool first clamping auxiliary pulley, and the pulley 122 is used as an end tool second clamping auxiliary pulley, and these two components can also be collectively referred to as end tool clamping auxiliary pulleys.

[0222] Specifically, the pulley 112 and the pulley 122 as the auxiliary pulleys for clamping the end tool may be additionally provided on one side of the pulley 111 and the pulley 121. In other words, the pulley 112 as the auxiliary pulley may be arranged between the pulley 111 and the pulley 113 / pulley 114. In addition, the pulley 122 as the auxiliary pulley may be arranged between the pulley 121 and the pulley 123 / pulley 124. The pulley 112 and the pulley 122 may be formed to rotate independently of each other with the rotation axis 142 as the center. Among them, the pulley 112 and the pulley 122 in the accompanying drawings are formed to rotate with one rotation axis 142 as the center, of course, the pulley 112 and the pulley 122 may be formed to rotate with separate axes as the center. The auxiliary pulleys as described above will be described in more detail later.

[0223] Pulleys 113 and 114 are used as the end tool first jaw pitch main pulleys, and pulleys 123 and 124 are used as the end tool second jaw pitch main pulleys, and these two components can also be collectively referred to as the end tool jaw pitch main pulleys.

[0224] The pulleys 115 and 116 are used as the end tool first jaw pitch sub pulleys, and the pulleys 125 and 126 are used as the end tool second jaw pitch sub pulleys, and these two components may also be collectively referred to as the end tool jaw pitch sub pulleys.

[0225] Hereinafter, constituent elements related to the rotation of the pulley 111 will be described.

[0226] The pulley 113 and the pulley 114 are used as the main pulleys for the pitching of the first jaw of the end tool, that is, they are used as the main rotating pulleys for the pitching action of the first jaw 101. The wire 301 as the first jaw wire is wound around the pulley 113, and the wire 305 as the first jaw wire is wound around the pulley 114.

[0227] The pulley 115 and the pulley 116 are used as the end tool first jaw auxiliary pulleys, that is, they are used as auxiliary rotation pulleys for the pitching motion of the first jaw 101. The wire 301 as the first jaw wire is wound around the pulley 115, and the wire 305 as the first jaw wire is wound around the pulley 116.

[0228] Wherein, the pulley 113 and the pulley 114 are arranged on one side of the pulley 111 and the pulley 112 facing each other. Wherein, the pulley 113 and the pulley 114 can be formed to rotate independently of each other with the rotation axis 143 as the pitch rotation axis of the terminal tool as the center. In addition, the pulley 115 and the pulley 116 are arranged on one side of each pulley 113 and the pulley 114 facing each other. Wherein, the pulley 115 and the pulley 116 can be formed to rotate independently of each other with the rotation axis 144 as the auxiliary rotation axis of the pitch of the terminal tool as the center. Wherein, the pulley 113, the pulley 115, the pulley 114 and the pulley 116 in the accompanying drawings are all shown to be formed to rotate with the Y-axis direction as the center, but an embodiment of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0229] The wire 301 as the first clamp wire is wound around the pulley 115, the pulley 113, and the pulley 111 in sequence so that at least a portion thereof contacts the pulleys 115, 113, and 111. Furthermore, the wire 305 connected to the wire 301 via the fastening member 323 is wound around the pulley 111, the pulley 112, the pulley 114, and the pulley 116 in sequence so that at least a portion thereof contacts the pulleys 115, 113, and 111.

[0230] To explain from another perspective, the wire 301 and the wire 305, which are the first clamp wires, are wound around the pulley 115, the pulley 113, the pulley 111, the pulley 112, the pulley 114, and the pulley 116 in sequence so that at least a portion is in contact with them, and the wire 301 and the wire 305 are formed to move with the pulleys while rotating the pulleys.

[0231] Therefore, when the wire 301 is pulled toward Fig. 9 When the arrow 301 is drawn, the fastening member (not shown) combined with the wire 301 and the pulley 111 combined with the fastening member move along Fig. 9 In contrast, when the wire 305 is pulled toward Fig. 9 When the arrow 305 is drawn, the fastening member (not shown) coupled to the wire 305 and the pulley 111 coupled to the fastening member move along Fig. 9 Rotate in the direction of arrow R.

[0232] Hereinafter, the pulley 112 and the pulley 122 functioning as auxiliary pulleys will be described in more detail.

[0233] The pulleys 112 and 122 contact the wire 305 as the first jaw wire and the wire 302 as the second jaw wire to change the setting paths of the wire 305 and the wire 302 to a certain extent, thereby expanding the rotation angles of the first jaw 101 and the second jaw 102.

[0234] That is, when the auxiliary pulley is not configured, the first clamp and the second clamp can only rotate at a right angle. However, in one embodiment of the present invention, by additionally providing the pulley 112 and the pulley 122 as auxiliary pulleys, the following can be obtained: Fig. 9 The maximum rotation angle is increased by θ. This enables the two jaws of the end tool 100 to be deflected together by 90° along the L direction, and the two jaws need to be separated for the actuation action. This is because the second jaw 102 can be as Fig. 9 The additional rotation angle θ is shown. Similarly, the two jaws can also achieve actuation in a state of deflection and rotation in the direction R. In other words, the pulley 112 and the pulley 122 can have a feature that can expand the deflection and rotation range in which the actuation can be achieved.

[0235] A more specific description thereof is as follows.

[0236] When the auxiliary pulley is not configured, the first clamp wire is fixedly coupled to the first clamp pulley of the end tool, and the second clamp wire is fixedly coupled to the second clamp pulley of the end tool, so the first clamp pulley of the end tool and the second clamp pulley of the end tool can only rotate to 90° respectively. In this case, when the first clamp and the second clamp perform an actuation action in a state where they are located at the 90° line, the first clamp can be opened, but the second clamp cannot rotate more than 90°. Therefore, when the first clamp and the second clamp perform a deflection action above a certain angle, there is a problem that the actuation action cannot be performed smoothly.

[0237] In order to solve the above-mentioned problem, in the multi-joint surgical instrument 30 of one embodiment of the present invention, the pulley 112 and the pulley 122 as auxiliary pulleys are additionally arranged on one side of the pulley 111 and the pulley 121. By arranging the pulley 112 and the pulley 122 in this way, the arrangement paths of the wire 305 as the first clamp wire and the wire 302 as the second clamp wire are changed to a certain extent, so as to change the tangential direction of the wire 305 and the wire 302, thereby enabling the fastening member 326 for connecting the wire 302 and the pulley 121 to rotate to Fig. 9 That is, the fastening member 326 as the joint of the wire 302 and the pulley 121 can be rotated to be located on the internal work tangent line of the pulleys 121 and 122. Similarly, the fastening member 323 as the joint of the wire 305 and the pulley 111 can be rotated to be located on the internal work tangent line of the pulleys 111 and 112, so that it can expand the rotation range in the L direction.

[0238] In other words, the two-wire wire 301 and the wire 305 as the first clamp wire wound around the pulley 111 through the pulley 112 are arranged on one side with reference to the plane perpendicular to the Y axis and passing through the X axis. On the other hand, the two-wire wire 302 and the wire 306 as the second clamp wire wound around the pulley 121 through the pulley 122 are arranged on the other side with reference to the plane perpendicular to the Y axis and passing through the X axis.

[0239] In other words, pulleys 113 and 114 are arranged on one side with reference to a plane perpendicular to the Y axis and passing through the X axis, and pulleys 123 and 124 are arranged on the other side with reference to a plane perpendicular to the Y axis and passing through the X axis.

[0240] In other words, wire 305 is located on the inner tangent line of pulley 111 and pulley 112, and the rotation angle of pulley 111 is enlarged by pulley 112. In addition, wire 302 is located on the inner tangent line of pulley 121 and pulley 122, and the rotation angle of pulley 121 is enlarged by pulley 122.

[0241] As described above, according to an embodiment of the present invention, by widening the rotation radius of the jaws 101 and 102 , it is possible to obtain an effect of widening the deflection action range capable of performing a normal opening and closing actuation action.

[0242] Next, the components related to the rotation of the pulley 121 will be described.

[0243] The pulley 123 and the pulley 124 function as the main pulleys for the pitching of the second jaw of the end tool, that is, they function as the main rotating pulleys for the pitching action of the second jaw 102. The wire 306 as the second jaw wire is wound around the pulley 123, and the wire 302 as the second jaw wire is wound around the pulley 124.

[0244] The pulley 125 and the pulley 126 function as the secondary pulleys of the second jaw of the end tool, that is, they function as secondary rotation pulleys for the pitching motion of the second jaw 102. The wire 306 as the second jaw wire is wound around the pulley 125, and the wire 302 as the second jaw wire is wound around the pulley 126.

[0245] Pulley 123 and pulley 124 are arranged on one side of pulley 121 facing each other. Pulley 123 and pulley 124 can be formed to rotate independently of each other with rotation axis 143 as the pitch rotation axis of the terminal tool as the center. In addition, pulley 125 and pulley 126 are respectively arranged on one side of pulley 123 and one side of pulley 124 in a manner facing each other. Pulley 125 and pulley 126 can be formed to rotate independently of each other with rotation axis 144 as the pitch auxiliary rotation axis of the terminal tool as the center. In the drawings, pulley 123, pulley 125, pulley 124 and pulley 126 are all shown to be formed to rotate with the Y-axis direction as the center, but one embodiment of the present invention is not limited thereto, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0246] The wire 306 as the second clamp wire is wound around the pulley 125, the pulley 123, and the pulley 121 in sequence so that at least a portion thereof contacts the pulleys 125, 123, and 121. Furthermore, the wire 302 connected to the wire 306 via the fastening member 326 is wound around the pulley 121, the pulley 122, the pulley 124, and the pulley 126 in sequence so that at least a portion thereof contacts the pulleys 121, 122, 124, and 126.

[0247] To explain from another perspective, the wire 306 and the wire 302, which serve as the second clamp wire, are wound around the pulley 125, the pulley 123, the pulley 121, the pulley 122, the pulley 124, and the pulley 126 in sequence so that at least a portion is in contact therewith, and the wire 306 and the wire 302 are formed to move with the pulleys while rotating the pulleys.

[0248] Therefore, when the wire 306 is pulled toward Fig. 9 When the arrow 306 is drawn, the fastening member 326 combined with the wire 306 and the pulley 121 combined with the fastening member 326 are moved along Fig. 9 In contrast, when the wire 302 is pulled toward Fig. 9 When the arrow 302 is drawn, the fastening member 326 combined with the wire 302 and the pulley 121 combined with the fastening member 326 are moved along Fig. 9 Rotate in the direction of arrow L.

[0249] Hereinafter, the pitching motion of the present invention will be described in more detail.

[0250] First, for pitching movement, on the side close to the end tool 100, the pulley 113, the pulley 114, the pulley 123 and the pulley 124 as the end tool clamp pitch main pulley are formed to be rotatable around the rotation axis 143. On the other hand, in the direction of the proximal end 105 of the end tool clamp pitch main pulley, the pulley 115, the pulley 116, the pulley 125 and the pulley 126 as the end tool clamp pitch secondary pulleys are formed to be rotatable around the rotation axis 144.

[0251] Furthermore, with reference to a plane (i.e., XY plane) perpendicular to the rotation axis 141 and including the rotation axis 143, the wires 301 and 305, which are two strands of the first clamp wire, are located on the same side with reference to the XY plane. That is, the wires 301 and 305 are formed to pass through the lower side of the pulleys 113 and 114, which are the final tool clamp pitch main pulleys, and the upper side of the pulleys 115 and 116, which are the final tool clamp pitch secondary pulleys.

[0252] Similarly, the wires 302 and 306, which are two strands of the second clamp wire, are located on the same side with respect to the XY plane. That is, the wires 302 and 306 are formed to pass through the upper side of the pulleys 123 and 124, which are the final tool clamp pitch main pulleys, and the lower side of the pulleys 125 and 126, which are the final tool clamp pitch secondary pulleys.

[0253] Furthermore, for the wire 301 and the wire 305, which are two strands of the first clamp wire, when the wire 301 is pulled toward Fig. 9 arrow 301, while the wire 305 is pulled toward Fig. 9 When the arrow 305 is drawn (i.e., when the two strands of the first clamp wire are pulled in the same direction), Figure 7 As shown, since the wires 301 and 305 are wound around the pulleys 113 and 114 that can rotate around the rotation axis 143 as the pitch rotation axis of the end tool, the pulley 111 fixedly coupled with the wires 301 and 305 and the end tool hub 106 coupled with the pulley 111 rotate together in the counterclockwise direction around the rotation axis 143 as a whole, resulting in the end tool 100 performing a pitch motion while rotating downward. At this time, since the second clamp 102 and the wires 302 and 306 fixedly coupled thereto are wound around the pulleys 123 and 124 that can rotate around the rotation axis 143 as a center, the wires 302 and 306 are loosened in the opposite directions of the arrows 302 and 306, respectively.

[0254] On the contrary, for the wire 302 and the wire 306 which are two strands of the second clamp wire, when the wire 302 is pulled toward Fig. 9Arrow 302, while the wire 306 is pulled toward Fig. 9 When the arrow 306 is drawn (i.e., when the two strands of the second clamp wire are pulled in the same direction), Figure 7 As shown, since the wires 302 and 306 are wound around the pulleys 123 and 124 which are rotatable around the rotation axis 143 as the pitch rotation axis of the end tool, the pulley 121 to which the wires 302 and 306 are fixedly coupled and the end tool hub 106 to which the pulley 121 is coupled are rotated clockwise around the rotation axis 143 as a whole, and as a result, the end tool 100 performs a pitch motion while rotating upward. At this time, since the first clamp 101 and the wires 301 and 305 fixedly coupled thereto are wound around the pulleys 113 and 114 which are rotatable around the rotation axis 143 as the center, the wires 302 and 306 move in the opposite directions of 301 and 305, respectively.

[0255] It can also be expressed from another perspective that when the terminal tool 100 is pitched and rotated, the two strands of each clamped wire move simultaneously in the same direction.

[0256] On the other hand, the terminal tool 100 of the multi-joint surgical instrument 30 of the present invention further includes a pulley 131 as a pitch pulley of the terminal tool, the drive unit 200 further includes a pulley 231 as a pitch pulley of the drive unit, and the power transmission unit 300 may further include a wire 303 and a wire 304 as pitch wires. Specifically, the pulley 131 of the terminal tool 100 can rotate around the rotation axis 143 as the pitch rotation axis of the terminal tool, and is formed as a whole with the terminal tool hub 106 (or fixedly coupled to the terminal tool hub 106). In addition, the wire 303 and the wire 304 can play the role of connecting the pulley 131 of the terminal tool 100 and the pulley 231 of the drive unit 200.

[0257] Therefore, when the pulley 231 of the driving part 200 rotates, the rotation of the pulley 231 is transmitted to the pulley 131 of the end tool 100 through the wires 303 and 304, so that the pulley 131 also rotates together, and as a result, the end tool 100 rotates while performing a pitch motion.

[0258] According to an embodiment of the present invention, a multi-joint surgical instrument 30 includes a pulley 131 of a terminal tool 100, a pulley 231 of a driving unit 200, and wires 303 and 304 of a power transmission unit 300 in order to transmit power for pitch motion, so that the driving force of the pitch motion of the driving unit 200 can be more perfectly transmitted to the terminal tool 100, thereby improving motion reliability.

[0259] The diameters of the pulleys 113, 114, 123 and 124 as the end tool clamp pitch main pulleys and the pulley 131 as the end tool pitch pulley may be the same or different from each other. In this case, the ratio of the diameter of the end tool clamp pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the drive unit intermediate pulley of the drive unit 200 to be described later to the diameter of the drive unit pitch pulley. This will be described in detail later.

[0260] In the following, we will Figure 6 The driving unit 200 of the multi-joint surgical instrument 30 will be described in more detail.

[0261] Reference Figures 10 to 16 The driving unit 200 of the multi-joint surgical instrument 30 according to an embodiment of the present invention may include pulleys 211, 212, 213, 214, 215, 216, 217, 218, 219, and 220 associated with the rotational movement of the first jaw 101. In addition, the driving unit 200 may include pulleys 221, 222, 223, 224, 225, 226, 227, 228, 229, and 230 associated with the rotational movement of the second jaw 102.

[0262] In the drawings, the facing pulleys are shown to be formed in parallel with each other, but an embodiment of the present invention is not limited thereto, and each pulley can be formed in various positions and sizes suitable for the structure of the driving part.

[0263] In addition, the driving unit 200 of the multi-joint surgical instrument 30 according to an embodiment of the present invention may further include: a pulley 231 used as a pitch pulley of the driving unit; and a pitch-yaw connector 232 for connecting the pulley 231 and the clamp pulley of the driving unit.

[0264] In addition, the driving unit 200 of one embodiment of the present invention may include a rotating shaft 241, a rotating shaft 242, a rotating shaft 243, a rotating shaft 244, a rotating shaft 245, and a rotating shaft 246. Among them, the rotating shaft 241 can serve as the first clamp rotating shaft of the driving unit, and the rotating shaft 242 serves as the second clamp rotating shaft of the driving unit. In addition, the rotating shaft 243 can serve as the pitch rotating shaft of the driving unit, and the rotating shaft 244 serves as the rolling rotating shaft of the driving unit. In addition, the rotating shaft 245 can serve as the auxiliary rotating shaft of the first clamp of the driving unit, and the rotating shaft 246 serves as the auxiliary rotating shaft of the second clamp of the driving unit. These rotating shafts 241, 242, 243, 244, 245, and 246 can be equipped with more than one pulley, which will be described in detail below.

[0265] In addition, the driving unit 200 of an embodiment of the present invention may include a motor coupling part 251, a motor coupling part 252, a motor coupling part 253, and a motor coupling part 254. The motor coupling part 251 may function as a first jaw driving motor coupling part, the motor coupling part 252 may function as a second jaw driving motor coupling part, the motor coupling part 253 may function as a pitch driving motor coupling part, and the motor coupling part 254 may function as a roll driving motor coupling part. Each of the motor coupling parts 251, 252, 253, and 254 may be formed in the form of a rotatable flat plate, and may be formed with a coupling hole for coupling with one or more power supply machines (not shown).

[0266] The motor coupling parts 251 , 252 , 253 , and 254 of the driving unit 200 are coupled to motors (not shown) formed in the robot arm units 21 , 22 , and 23 , so that the driving unit 200 is driven by the motors (not shown) to operate.

[0267] In addition, the driving unit 200 of an embodiment of the present invention may include gears 261, 262, 263, and 264. Gears 261 and 262 may function as pitch driving gears, and gears 263 and 264 may function as roll driving gears.

[0268] Hereinafter, each constituent element will be described in more detail.

[0269] The pulleys 211 and 212 function as driving portion first clamp pulleys, and the pulleys 221 and 222 function as driving portion second clamp pulleys, and these constituent elements may also be collectively referred to as driving portion clamp pulleys.

[0270] Among them, the drawings show that the pulley 211 is related to the rotational movement of the first jaw 101 of the terminal tool 100, and the pulley 221 is related to the rotational movement of the second jaw 102 of the terminal tool 100, but an embodiment of the present invention is not limited to this. For example, a group of pulleys in the drive unit can be related to the yaw motion, and a group of pulleys can also be related to the actuation motion. Therefore, the pulley 211 and the pulley 212 can be collectively referred to as the drive pulley of the drive unit. And, hereinafter, other pulleys can also be a group of pulleys related to the yaw motion, and a group of pulleys related to the actuation motion.

[0271] The pulleys 213 and 214 function as driving portion first clamp auxiliary pulleys, and the pulleys 223 and 224 function as driving portion second clamp auxiliary pulleys, and these constituent elements may also be collectively referred to as driving portion clamp auxiliary pulleys.

[0272] Pulley 215 and pulley 216 are used as the first intermediate pulley of the first clamp of the driving unit, and pulley 217 and pulley 218 are used as the second intermediate pulley of the first clamp of the driving unit, and these components can also be collectively referred to as the first intermediate pulley of the driving unit. On the other hand, pulley 225 and pulley 226 are used as the first intermediate pulley of the second clamp of the driving unit, and pulley 227 and pulley 228 are used as the second intermediate pulley of the second clamp of the driving unit, and these components can also be collectively referred to as the second intermediate pulley of the driving unit. On the other hand, pulley 215, pulley 216, pulley 225 and pulley 226 can also be collectively referred to as the first intermediate pulley of the driving unit, and pulley 217, pulley 218, pulley 227 and pulley 228 can also be collectively referred to as the second intermediate pulley of the driving unit. Furthermore, the pulley 215 , the pulley 216 , the pulley 217 , the pulley 218 , the pulley 225 , the pulley 226 , the pulley 227 and the pulley 228 may be collectively referred to as intermediate pulleys of the driving unit.

[0273] In the drawings, the intermediate pulley of the driving part of each clamp is shown as a pair of two pulleys, but an embodiment of the present invention is not limited thereto. For example, the pulley 215 as the first intermediate pulley of the first clamp of the driving part and the pulley 217 as the second intermediate pulley of the first clamp of the driving part form a pair, and the wire 301 is shown as passing through the pulley 215 and the pulley 217 in sequence. However, the intermediate pulley of the first clamp of the driving part may also be composed of three or more pulleys instead of two pulleys.

[0274] On the other hand, pulleys 219 and 220 serve as driving section first clamp satellite pulleys, and pulleys 229 and 230 serve as driving section second clamp satellite pulleys, and these two constituent elements may also be collectively referred to as driving section satellite pulleys.

[0275] A plurality of rotating shafts including rotating shafts 241, 242, 243, 244, 245, and 246 may be formed on the first surface of the substrate 201. In addition, a plurality of intermediate pulleys 202 are formed on the first surface of the substrate 201 so as to convert the directions of the wires 301, 302, 303, 304, 305, and 306 entering the driving part 200 through the connecting part 310 to the pulley 231.

[0276] In addition, in the substrate 201, an axially-shaped connecting portion 310 is coupled to a first surface of the substrate 201 and a second surface opposite to the first surface, and a motor coupling portion 251, a motor coupling portion 252, a motor coupling portion 253, and a motor coupling portion 254 for coupling a motor (not shown) for driving a pulley may be formed.

[0277] Each motor coupling part and the rotating shaft may be directly connected, or may be indirectly connected via gears.

[0278] As an example, the motor coupling part 251 as the first jaw driving motor coupling part is directly coupled to the rotation shaft 241 as the first jaw rotating shaft of the driving part, and when the motor coupling part 251 coupled to the first jaw driving motor (not shown) rotates, the rotating shaft 241 directly coupled thereto can rotate together. Similarly, the motor coupling part 252 as the second jaw driving motor coupling part is directly coupled to the rotation shaft 242 as the second jaw rotating shaft of the driving part, and when the motor coupling part 252 coupled to the second jaw driving motor (not shown) rotates, the rotating shaft 242 directly coupled thereto can rotate together.

[0279] As another example, the motor coupling 253 as the pitch driving motor coupling and the rotation shaft 243 as the driving portion pitch rotation axis may be provided to be spaced apart to a certain extent when viewed on a plane perpendicular to the rotation shaft 243. And such motor coupling 253 and rotation shaft 243 may be connected by gears 261 and 262 as pitch driving gears.

[0280] Likewise, the motor coupling portion 254 as the rolling driving motor coupling portion and the rotating shaft 244 as the driving portion rolling rotating shaft may be arranged to be spaced apart to a certain extent when viewed on a plane perpendicular to the rotating shaft 244. And such motor coupling portion 254 and rotating shaft 244 may be connected by gears 263 and 264 as rolling driving gears.

[0281] As described above, the reason why a part of the motor coupling parts are directly connected to the rotating shaft and the other motor coupling parts are indirectly connected to the rotating shaft is that it is necessary to consider the coupling position and direction between the multi-joint surgical instrument 30 and the slave robot 20. That is, the rotating shaft that is not affected by the coupling position with the slave robot 20 is directly connected to the motor coupling part, and the rotating shaft that may interfere with the coupling position with the slave robot 20 can be indirectly connected to the motor coupling part.

[0282] As shown in the accompanying drawings, motor coupling parts 251 and 252 are directly connected to the rotating shaft, while motor coupling parts 253 and 254 are indirectly connected through gears. However, an embodiment of the present invention is not limited to this, and various configurations may be possible depending on the coupling position and direction with the slave robot 20.

[0283] The pulley 211 and the pulley 212 as the first jaw pulley of the driving part may be coupled to the rotating shaft 241 as the first jaw rotating shaft of the driving part. Among them, the pulley 211 and the pulley 212 may be formed to rotate together with the rotating shaft 241.

[0284] In addition, a rotation axis 245 as a first jaw auxiliary rotation axis of the driving unit may be provided in an area adjacent to the rotation axis 241. Pulleys 213 and 214 as first jaw auxiliary pulleys of the driving unit may be coupled to the rotation axis 245. Pulleys 213 and 214 may be formed to be rotatable around the rotation axis 245.

[0285] The drawings show that the first clamping pulley of the driving part is formed by two pulleys 211 and 212, one pulley 211 is coupled to the wire 301, and the other pulley 212 is coupled to the wire 305. However, one embodiment of the present invention is not limited thereto, and the first clamping pulley of the driving part may be formed by one pulley, so that both the wire 301 and the wire 305 are coupled to the one pulley.

[0286] As described above, the rotating shaft 241 is coupled to the first jaw driving motor (not shown) via the motor coupling 251. Therefore, when the first jaw driving motor (not shown) rotates to drive the first jaw 101, the pulleys 211 and 212 serving as the first jaw pulleys of the driving part rotate together with the rotating shaft 241 to pull or release the wires 301 and 305 serving as the first jaw wires.

[0287] The pulley 221 and the pulley 222 as the second jaw pulley of the driving part may be coupled to the rotation shaft 242 as the second jaw rotation shaft of the driving part.

[0288] In addition, a rotation shaft 246 as a second jaw auxiliary rotation shaft of the driving part may be provided in a region adjacent to the rotation shaft 242. Pulleys 223 and 224 as second jaw auxiliary pulleys of the driving part may be coupled to the rotation shaft 245. Pulleys 223 and 224 may be formed to be rotatable around the rotation shaft 246.

[0289] The drawings show that the second clamping pulley of the driving part is formed by two pulleys 221 and 222, one pulley 221 is coupled to the wire 302, and the other pulley 222 is coupled to the wire 306. However, one embodiment of the present invention is not limited thereto, and the second clamping pulley of the driving part may be formed by one pulley, so that both the wire 302 and the wire 306 are coupled to the one pulley.

[0290] As described above, the rotating shaft 242 is coupled to the second jaw driving motor (not shown) via the motor coupling 252. Therefore, when the second jaw driving motor (not shown) rotates to drive the second jaw 102, the pulleys 221 and 222 serving as the second jaw pulleys of the driving part rotate together with the rotating shaft 242 to pull or release the wires 302 and 306 serving as the second jaw wires.

[0291] The pulley 231 as the driving part pitch pulley may be coupled to the rotation shaft 243 as the driving part pitch rotation axis. Among them, the pulley 231 may be formed to rotate together with the rotation shaft 243.

[0292] As described above, the rotating shaft 243 is coupled to the pitch drive motor (not shown) via the motor coupling 253. Therefore, when the pitch drive motor (not shown) rotates to perform a pitch action, the pulley 231 serving as the pitch pulley of the driving unit rotates together with the rotating shaft 243 to pull or release the wires 303 and 304 serving as the pitch wires.

[0293] On the other hand, the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as the intermediate pulleys of the driving part may be formed to be inserted through the rotating shaft 243 so as to be rotatable around the rotating shaft 243. Among them, the pulleys 215, 216, 217, and 218 as the first clamp intermediate pulleys of the driving part may be provided on one side with the pulley 231 as the pitch pulley as the reference, and the pulleys 225, 226, 227, and 228 as the second clamp intermediate pulleys of the driving part may be provided on the other side with the pulley 231 as the reference.

[0294] Expressed from another perspective, pulley 225 and pulley 226 serving as the first intermediate pulley of the second clamp of the driving unit, pulley 227 and pulley 228 serving as the second intermediate pulley of the second clamp of the driving unit, pulley 231 serving as the pitch pulley of the driving unit, pulley 217 and pulley 218 serving as the second intermediate pulley of the first clamp of the driving unit, and pulley 215 and pulley 216 serving as the first intermediate pulley of the first clamp of the driving unit can be stacked in sequence on the rotating shaft 243.

[0295] In addition, the pitch-yaw connector 232 may be coupled to the rotation axis 243. The pitch-yaw connector 232 may be formed by rigidly connecting the pulley 231 as the driving part pitch pulley and the pulleys 219, 220, 229, and 230 as the driving part satellite pulleys so that when the pulley 231 rotates, the driving part satellite pulleys perform revolution around the rotation axis 243. This will be described in more detail later.

[0296] The pitch-yaw connector 232 may be formed to rotate together with the rotation shaft 243. That is, the pulley 231 and the pitch-yaw connector 232 are combined with the rotation shaft 243 so as to be able to rotate together with the rotation shaft 243.

[0297] Among them, the pitch-yaw connector 232 can be described as being formed as follows Fig.12The substantially Y-shaped structure shown in the figure may be described as a shape formed by at least two extensions 232a and 232b extending from the center. In addition, the first clamping satellite pulley center axis 233 of the driving part and the second clamping satellite pulley center axis 234 of the driving part may be formed at the ends of the extensions 232a and 232b.

[0298] Furthermore, pulley 219 and pulley 220 as the first clamping satellite pulley of the driving part can be coupled to the first clamping satellite pulley center axis 233 of the driving part, and pulley 229 and pulley 230 as the second clamping satellite pulley of the driving part can be coupled to the second clamping satellite pulley center axis 234 of the driving part.

[0299] As a result, when the pulley 231 as the driving unit pitch pulley rotates together with the rotation axis 243, the pulleys 219, 220, 229, and 230 as the driving unit satellite pulleys revolve around the rotation axis 243. In other words, it can also be described that, in a state where the driving unit first clamp satellite pulley center axis 233 and the driving unit second clamp satellite pulley center axis 234 are spaced apart from the rotation axis 243 to a certain extent, the driving unit first clamp satellite pulley center axis 233 and the driving unit second clamp satellite pulley center axis 234 rotate around the rotation axis 243 while maintaining a certain distance from the rotation axis 243.

[0300] That is, the driving part satellite pulley is formed to be relatively movable relative to the driving part intermediate pulley and the rotation shaft 243, so that the relative position of the driving part satellite pulley relative to the driving part intermediate pulley and the rotation shaft 243 can be changed. On the other hand, the relative position of the driving part pitch pulley and the driving part intermediate pulley remains constant.

[0301] Furthermore, when the pulley 231 serving as the pitch pulley of the driving unit rotates around the rotation axis 243, the pulleys 219, 220, 229 and 230 serving as satellite pulleys of the driving unit move relative to the pulley 231 serving as the pitch pulley of the driving unit, thereby changing the total length of the wires 301, 302, 305 and 306 serving as the clamping wires in the driving unit 200.

[0302] When one end of the wire 301 serving as the first clamp wire is coupled to the pulley 211 via a first clamp wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 211, 213, 215, 219 and 217 so that at least a portion of it contacts them, and then connected to the terminal tool 100 via the connecting portion 310.

[0303] Expressed from another perspective, the wire 301 serving as the first clamp wire passes through the first clamp pulley 211 of the driving unit, the first clamp auxiliary pulley 213 of the driving unit, the first intermediate pulley 215 of the driving unit, the first clamp satellite pulley 219 of the driving unit, and the second intermediate pulley 217 of the driving unit, and is then connected to the terminal tool 100 via the connecting part 310.

[0304] Expressed from another perspective, after the wire 301 serving as the first clamping wire passes through the terminal tool 100 and the connecting part 310 and enters the driving part 200, it is sequentially wound around the pulley 217, the pulley 219, the pulley 215, and the pulley 213, and is fixedly coupled to the pulley 211 serving as the first clamping pulley of the driving part.

[0305] On the other hand, when one end of the wire 305 serving as the first clamp wire is coupled to the pulley 212 via the first clamp wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 212, 214, 216, 220 and 218 so that at least a portion of it contacts them, and then connected to the terminal tool 100 via the connecting portion 310.

[0306] When one end of the wire 302 serving as the second clamp wire is connected to the pulley 221 through the second clamp wire-drive unit fastening component (not shown), it is wound around the pulleys 221, 223, 225, 229 and 227 in sequence so that at least a portion of it contacts them, and then connected to the terminal tool 100 via the connecting part 310.

[0307] On the other hand, when one end of the wire 306 serving as the second clamp wire is connected to the pulley 222 by the second clamp wire-drive unit fastening member (not shown), it is wound around the pulley 222, the pulley 224, the pulley 226, the pulley 230 and the pulley 228 in sequence so that at least a portion is in contact with them, and then connected to the terminal tool 100 via the connecting portion 310.

[0308] Fig.17 and Fig.18 It is shown Figure 6 FIG. 1 is a diagram showing the pitching motion of a multi-joint surgical instrument. For ease of explanation, Fig.17 Part (a) and Fig.18 Only the pulleys and wires related to the rotation of the first jaw are shown in part (a). Fig.17 Part (b) and Fig.18 Only the pulleys and wires related to the rotation of the second jaw are shown in part (b). Fig.17 Part (c) and Fig.18 Part (c) shows the pitching motion of the terminal tool according to the pitching motion of the driving unit.

[0309] Among them, the multi-joint surgical instrument 30 according to an embodiment of the present invention is characterized in that when the driving unit satellite pulley moves relative to the driving unit intermediate pulley, the total length of the clamp wire in the driving unit 200 changes, thereby performing the pitch action of the end tool 100. In particular, the multi-joint surgical instrument 30 according to an embodiment of the present invention is characterized in that when the driving unit pitch pulley rotates, the driving unit satellite pulley revolves around the (common) rotation axis of the driving unit intermediate pulley and the driving unit pitch pulley as the center, so as to change the path length of the clamp wire wound on the driving unit intermediate pulley, thereby performing the pitch action of the end tool.

[0310] Specifically, if the driving unit does not perform separate motion compensation for the pitch motion, the pitch motion itself cannot be performed in the end tool.

[0311] On the other hand, in order to perform a pitching action in the end tool, the wire 301 and the wire 305 need to be wound around the pulley 113 for an additional ΔS. pitch , and how much ΔS the wire 302 and the wire 306 need to be released from the pulley 114 pitch However, if the drive section does not perform compensation as described above, no pitching action can be performed in the end tool at all.

[0312] As described above, in order to compensate for the pitch action, the multi-joint surgical instrument 30 according to an embodiment of the present invention is characterized in that the satellite pulley of the driving part revolves while the pitch pulley of the driving part rotates, so that the clamping wire is wound around the intermediate pulley of the driving part or released from the intermediate pulley of the driving part, thereby compensating for the movement of the clamping wire caused by the rotation of the pitch pulley of the driving part.

[0313] In other words, when the pulley 231, which is the pitch pulley of the driving unit, rotates together with the rotation axis 243, the satellite pulley of the driving unit revolves around the rotation axis 243. And, as the satellite pulley of the driving unit revolves around the rotation axis 243, the length of the clamp wire wound on the intermediate pulley of the driving unit changes. That is, the clamp wire wound on the end tool 100 side by the rotation of the pulley 231 is loosened by the same length on the driving unit 200 side, and the clamp wire loosened on the end tool 100 side is wound by the same length on the driving unit 200 side, so as to avoid that the pitch action does not affect the yaw action.

[0314] To express this from another perspective, when the terminal tool performs a pitching motion by rotating the pitch pulley of the drive part, the clamp wire (responsible for the deflection motion and the actuation motion) will also move through the pitching motion. That is, as the pitching rotation is performed with the rotation axis 143 of the terminal tool 100 as the center, the two strands of the clamp wire coupled to the jaw on one side are pulled, and the two strands of the clamp wire coupled to the jaw on the other side are released. Therefore, it can also be described that in order to compensate for this movement of the clamp wire, when the pitching motion of the terminal tool is performed, as the satellite pulley of the drive part moves relative to the intermediate pulley of the drive part, the total length of the clamp wire in the drive part changes, so that the clamp wire is pulled (or released) on the terminal tool side while the same length of the clamp wire is released (or pulled) on the drive part side, thereby compensating for the movement of the clamp wire when the pitching motion of the terminal tool is performed.

[0315] Hereinafter, the pitching action will be described in more detail.

[0316] For pitching operation, when the pulley 231 as the pitch pulley of the driving part rotates in the direction of arrow A1 (i.e., clockwise in the drawing), the pitch-yaw connector (see Fig.10 232) rotates together with the pulley 231 in the direction of arrow A1, and thus is fixedly coupled to the pitch-yaw connector (refer to Fig.10 The pulley 219 and the pulley 220 of the satellite pulley of the driving part 232 are rotated with the rotation axis 243 as the center. Fig.18 The A2 direction (i.e., clockwise direction in the drawing) of the portion (a) of FIG. 1 is a revolution (revolution) of θ. That is, when the pulley 231 rotates, the pulley 219 and the pulley 220 rotate from Fig.17 The P1 in part (a) revolves around θ to Fig.18 From another perspective, this can also be described as follows: when the driving unit pitch pulley rotates, the driving unit satellite pulley moves in conjunction with the driving unit pitch pulley.

[0317] On the other hand, when the pulley 231 as the pitch pulley of the driving part rotates in the direction of arrow A1 (that is, clockwise in the drawing), the pitch-yaw connector (see Fig.10 232) rotates together with the pulley 231 in the direction of arrow A1, and thus is fixedly coupled to the pitch-yaw connector (refer to Fig.10 The pulley 229 and the pulley 230 as the driving part satellite pulleys of the 232) are rotated (revolution) θ in the A3 direction (i.e., clockwise direction in the drawing) of the part 18 (b) of the figure with the rotation axis 243 as the center. That is, when the pulley 231 rotates, the pulley 229 and the pulley 230 rotate from Fig.17 In part (b), P3 revolves around θ to Fig.18 From another perspective, this can also be described as follows: when the pitch pulley of the driving unit rotates, the satellite pulley of the driving unit moves in conjunction with the pitch pulley of the driving unit.

[0318] On the other hand, at this time, the positions of the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as the intermediate pulleys of the driving part coupled to the rotating shaft 243 do not change. That is, the relative positions of the pulley 211 as the clamp pulley of the driving part, the pulley 231 as the pitch pulley of the driving part, and the pulleys 215, 216, 217, and 218 as the intermediate pulleys of the driving part are kept constant. Similarly, the relative positions of the pulley 221 as the clamp pulley of the driving part, the pulley 231 as the pitch pulley of the driving part, and the pulleys 225, 226, 227, and 228 as the intermediate pulleys of the driving part are kept constant.

[0319] Furthermore, as described above, as the driving unit satellite pulleys revolve, the relative position of the driving unit satellite pulleys relative to the driving unit intermediate pulleys changes, and accordingly, the length of each wire wound on the driving unit intermediate pulleys, that is, the path length changes. The driving unit intermediate pulleys include pulley 215 as the first intermediate pulley of the driving unit first clamp and pulley 217 as the second intermediate pulley of the driving unit first clamp, and therefore, the path length also means the sum of the length of the wire 301 wound on pulley 215 and the length of the wire 301 wound on pulley 217 (or the length of the wire 305 wound on pulley 216 and the length of the wire 305 wound on pulley 218).

[0320] That is, with Fig.17 Compared with the path length L1 of the wire 301 and the wire 305 as the first clamp wire wound around the intermediate pulley of the driving part in part (a), Fig.18 The path length L2 of the first clamp wire wound around the intermediate pulley of the driving unit in the portion (a) becomes shorter, and the first clamp wire (L1-L2) is loosened on the driving unit 200 side, and the loosened length is the length (L1-L2) of the shortened path length. That is, the total length of the wire 301 and the wire 305 as the first clamp wire in the driving unit 200 becomes shorter. And, as described above, as the total length of the first clamp wire in the driving unit 200 is shortened and the first clamp wire is loosened, the total length of the first clamp wire in the terminal tool 100 becomes longer.

[0321] On the other hand, when the pulley 231 as the driving part pitch pulley rotates in the direction of arrow A1, Fig.17Compared with the path length L3 of the wire 302 and the wire 306 as the second clamp wire wound around the intermediate pulley of the driving part in part (b), Fig.18 The path length L4 of the second clamp wire wound around the intermediate pulley of the driving unit in (b) becomes longer, and the second clamp wire is pulled on the driving unit 200 side, and the pulled length is the length (L4-L3) of the lengthened path length. That is, the total length of the wire 302 and the wire 306 as the second clamp wire in the driving unit 200 becomes longer. And, as described above, as the total length of the second clamp wire in the driving unit 200 becomes longer and the second clamp wire is pulled, the total length of the second clamp wire in the end tool 100 becomes shorter.

[0322] As described above, for pitching operation, when the pulley 231 as the pitch pulley of the driving unit rotates in the direction of arrow A1, the relative position of the driving unit satellite pulley changes while moving relative to the pitch pulley of the driving unit and the intermediate pulley of the driving unit. And, by the relative movement of the driving unit satellite pulley, the total length of the first clamp wire in the driving unit 200 is shortened, and the total length of the first clamp wire in the end tool 100 is lengthened. On the other hand, by the relative movement of the driving unit satellite pulley, the total length of the second clamp wire in the driving unit 200 is lengthened, and the total length of the second clamp wire in the end tool 100 is shortened.

[0323] As a result, when viewed from the side of the terminal tool 100, if the pulley 231 serving as the pitch pulley of the driving part rotates in the direction of arrow A1, the wires 301 and 305 serving as the two strands of the first clamping wire are loosened, and the wires 302 and 306 serving as the two strands of the second clamping wire are pulled, causing the terminal tool 100 to perform a pitch motion in the direction of arrow A4 with the rotation axis 143 as the center.

[0324] The path length may be defined as the length of the clamp wire from the entrance of the first intermediate pulley of the driving part and passing through the satellite pulley of the driving part to the exit of the second intermediate pulley of the driving part. That is, the length of the clamp wire from the point where the wire 301 as the clamp wire enters the pulley 215 as the first intermediate pulley of the driving part and passes through the pulley 219 as the satellite pulley of the driving part to the exit of the pulley 217 as the second intermediate pulley of the driving part may be defined as the path length.

[0325] Expressing this from another perspective, the path length can be defined as the length of the clamp wire from the point where the clamp wire first contacts the intermediate pulley of the driving part to the point where the clamp wire finally contacts the intermediate pulley of the driving part on the setting path of the clamp wire connecting the terminal tool clamp pulley and the driving part clamp pulley. That is, the length of the clamp wire from the point where the wire 301 as the clamp wire first contacts the pulley 215 as the first intermediate pulley of the driving part to the point where the clamp wire finally contacts the pulley 217 as the second intermediate pulley of the driving part can also be defined as the path length.

[0326] On the other hand, as the driving unit satellite pulley moves relative to the driving unit intermediate pulley, the path length changes, and the total length of the clamp wires in the driving unit 200 also changes. In addition, as the total length of the clamp wires in the driving unit 200 changes, the total length of the clamp wires in the end tool 100 also changes. However, as the total length of the clamp wires in the driving unit 200 increases (or decreases), the total length of the clamp wires in the end tool 100 also decreases (or increases) by the same length, so the total length of the clamp wires (under the assumption that elastic deformation, etc. is not considered) does not change.

[0327] As a result, when the pitch pulley of the driving unit rotates, as the wire 301 / wire 305 serving as the first clamp wire on the end tool 100 side is pulled, the wire 301 / wire 305 serving as the first clamp wire on the driving unit 200 side is loosened by the same length, resulting in pitch movement.

[0328] On the other hand, as described above, the terminal tool 100 of the multi-joint surgical instrument 30 of the present invention also includes a pulley 131 serving as a pitch pulley of the terminal tool, the driving unit 200 also includes a pulley 231 serving as a pitch pulley of the driving unit, and the power transmission unit 300 may also include a wire 303 and a wire 304 serving as a pitch wire.

[0329] Therefore, when the pulley 231 as the driving unit pitch pulley rotates in the direction of arrow A1, the wire 304 is wound around the pulley 231 and the wire 303 is unwound from the pulley 231 as the pulley 231 rotates. As a result, the pulley 131 as the end tool pitch pulley connected to the opposite side of the wire 303 and the wire 304 rotates in the direction of arrow A2 around the rotation axis 143, and the pitching operation can be performed more accurately and reliably.

[0330] Among them, in the pulley rotating around the rotation axis 143 as the pitch rotation axis of the terminal tool, the diameters of the pulley 131 as the pitch pulley of the terminal tool which contacts the wire 303 and the wire 304 which serve as the pitch wire, and the pulley 113, pulley 114, pulley 123 and pulley 124 which serve as the main pulley of the clamping pitch of the terminal tool which contacts the wire 301, wire 305, wire 302 and wire 306 which serve as the clamping wire can be formed differently from each other.

[0331] In this case, when the rotation shaft 143 rotates, the length of the wire wound around each pulley or the length of the wire released from each pulley is different from each other. For example, when the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool clamp pitch main pulley is 4φ, and the rotation shaft 143 rotates 90°, the length of the pitch wire wound around the end tool pitch pulley is 1.5π, and the length of the clamp wire wound around the end tool clamp pitch main pulley may be 1π.

[0332] From this perspective, the "length" of the wire wrapped around the pulley or released from the pulley can be defined as the "rotation amount". This rotation amount is different from the rotation angle and can be calculated using the formula (diameter*rotation angle / 360°*π).

[0333] In this case, basically, the pulley 231 as the driving unit pitch pulley and the pulley 131 as the end tool pitch pulley are directly connected through the wires 303 and 304 as the pitch wires, so the rotation amounts of the driving unit pitch pulley and the end tool pitch pulley are the same. That is, the length of the pitch wire released from the end tool pitch pulley or the length wound on the end tool pitch pulley is the same as the length of the pitch wire wound on the driving unit pitch pulley or the length released from the driving unit pitch pulley.

[0334] On the other hand, it can be (diameter of terminal tool pitch pulley: diameter of terminal tool clamp pitch main pulley) = (rotation amount of wire wound on terminal tool pitch pulley: rotation amount of wire wound on terminal tool clamp pitch main pulley).

[0335] As described above, when the length of the pitch wire wound around the terminal tool pitch pulley in the terminal tool 100 is different from the length of the clamp wire wound around the terminal tool clamp pitch main pulley, the length of the loose pitch wire and the length of the loose clamp wire in the drive unit 200 also need to be different from each other at the same ratio.

[0336] Therefore, the relationship of (diameter of the end tool pitch pulley: diameter of the end tool clamp pitch main pulley) = (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley) can be established.

[0337] For example, when (diameter of the end tool pitch pulley: diameter of the end tool clamp pitch main pulley) is 6:4, (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley) can also be 6:4. According to this ratio, the diameter of the drive unit pitch pulley can be 9φ, and the diameter of the drive unit intermediate pulley can be 6φ.

[0338] However, the driving portion intermediate pulley may include two (or more) pulleys including a first driving portion intermediate pulley and a second driving portion intermediate pulley. In addition, the sum of the diameters of the first driving portion intermediate pulley and the second driving portion intermediate pulley may be defined as the diameter of the driving portion intermediate pulley.

[0339] For example, when the diameter of the intermediate pulley of the driving part is 6φ, (the diameter of the first intermediate pulley of the driving part, the diameter of the second intermediate pulley of the driving part) may be (1φ, 5φ), (2φ, 4φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Among them, the accompanying drawings show that the diameter of the pulley 215 as the first intermediate pulley of the driving part is 4φ, and the diameter of the pulley 217 as the second intermediate pulley of the driving part is 2φ.

[0340] Furthermore, it can be described that (the rotation amount of the first intermediate pulley of the driving section+the rotation amount of the second intermediate pulley of the driving section) is proportional to the rotation amount of the pitch pulley of the driving section.

[0341] However, even if the ratio of (diameter of terminal tool pitch pulley: diameter of terminal tool clamp pitch main pulley) and the ratio of (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) are not completely consistent, if the diameters of the pulleys are selected so that their ratios are similar to each other, the purpose of the present invention, i.e., compensating for the movement of the clamping wire according to the rotation of the drive unit pitch pulley, can be achieved to a certain extent.

[0342] The final pitching action process will be described again below.

[0343] Hereinafter, the case where the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool clamp pitch main pulley is 4φ, the diameter of the drive unit pitch pulley is 9φ, and the diameter of the drive unit intermediate pulley is 6φ is described as an example.

[0344] First, for pitching operation, the pulley 231 as the pitch pulley of the driving unit 200 rotates 60 degrees to wind the wire 304 as the pitch wire and release the wire 303. At this time, the lengths of the wire 303 / wire 304 to be wound and released are 1.5π respectively.

[0345] Therefore, in the end tool 100, the wire 304 is pulled by 1.5π, and the wire 303 is loosened by 1.5π, and the pulley 131 serving as the end tool pitch pulley is rotated by 90° corresponding to 1.5π.

[0346] On the other hand, when the pulley 131 performs pitch rotation around the rotation axis 143, the clamps 101, 102 and the pulleys 111 / 112 also perform pitch rotation around the rotation axis 143. Therefore, the wire 301 and the wire 305 as the first clamp wire combined with the pulley 111 are pulled, and the wire 302 and the wire 306 as the second clamp wire combined with the pulley 121 are released. At this time, the end tool pitch pulley and the end tool clamp pitch main pulley rotate at the same angle, which is 90°. Therefore, the length of the clamp wire wound on the end tool clamp pitch main pulley or released from the end tool clamp pitch main pulley is 1π.

[0347] On the other hand, since pulley 231 and pulley 219 / pulley 220 are rigidly coupled via pitch-yaw connector 232 , when pulley 231 rotates 60° around rotation axis 243 , pulley 219 / pulley 220 revolves 60° around rotation axis 243 .

[0348] And, while the pulley 219 / 220 is revolving in this manner, the clamping wire is wound around the pulley 215 and the pulley 216 having a total diameter of 6φ or is released by 1π corresponding to 60° as the revolving angle. That is, the wire 301 and the wire 305 as the first clamping wire are released as a whole, and the wire 302 and the wire 306 as the second clamping wire are pulled as a whole.

[0349] In other words, the total length of the path of the wire 301 and the wire 305 wound around the pulley 215, the pulley 216, the pulley 217, and the pulley 218 as the first clamping intermediate pulley of the driving part is reduced, and the wire 301 and the wire 305 are loosened to reduce the path length. In addition, the total length of the path of the wire 302 and the wire 306 wound around the pulley 225, the pulley 226, the pulley 227, and the pulley 228 as the second clamping intermediate pulley of the driving part is increased, and the wire 302 and the wire 306 are pulled to increase the path length.

[0350] That is, the wire 301 and the wire 305 as the first clamp wire are pulled on the side close to the end tool 100 and are released on the side close to the drive unit 200, thereby compensating for the movement of the clamp wire according to the pitching action. Similarly, the wire 302 and the wire 306 as the second clamp wire are pulled on the side close to the end tool 100 and are released on the side close to the drive unit 200, thereby compensating for the movement of the clamp wire according to the pitching action.

[0351] As a result, according to the pitch action, the clamp wire is wound (or loosened) on the side close to the terminal tool 100, and the clamp wire is loosened (or pulled) on the side close to the driving part 200, and the loosened (or pulled) length is the same as the wound (or loosened) length on the side close to the terminal tool 100, thereby avoiding the influence of the pitch action on the rotation of the yaw axis direction of the clamp and independently performing the pitch action.

[0352] That is, when the driving unit pitch pulley and the driving unit satellite pulley are rigidly connected so that the driving unit pitch pulley rotates around the rotation axis 243, the driving unit satellite pulley revolves around the rotation axis 243, and the path length of the clamp wire wound around the driving unit intermediate pulley changes. And the change in the path length of the clamp wire compensates for the movement of the clamp wire on the end tool side according to the pitch action, so that the pitch action can be independently performed.

[0353] Fig.19 and Fig. 20 It is shown Figure 6 Diagram of the deflection motion of a multi-joint surgical instrument shown.

[0354] Reference Fig.15 , Fig.16 , Fig.19 and Fig. 20 When the pulley 211 as the first jaw pulley of the driving part rotates in the direction of arrow A3 for the deflection action, as the pulley 211 rotates, one side of the wire 301 and the wire 305 as the first jaw wire are wound around the pulley 211, and the other side is unwound from the pulley 211. Therefore, the pulley 111 as the first jaw pulley of the end tool connected to the opposite side of the wire 301 and the wire 305 rotates in the direction of arrow A4 to perform the deflection action.

[0355] At this time, the positions of pulley 219, pulley 220, pulley 229 and pulley 230, which are satellite pulleys of the driving unit, and pulley 215, pulley 216, pulley 217, pulley 218, pulley 225, pulley 226, pulley 227 and pulley 228, which are intermediate pulleys of the driving unit, do not change, and only the wire 301 and the wire 305 are wound around the driving unit satellite pulleys and the driving unit intermediate pulley or loosened from the driving unit satellite pulleys and the driving unit intermediate pulley.

[0356] Therefore, the driving portion pitch pulley rigidly connected to the driving portion satellite pulley does not rotate, and the wires 303 and 304 serving as the pitch wires do not get tangled or loosened but maintain their positions.

[0357] Likewise, when the pulley 221 as the second jaw pulley of the driving portion rotates for the deflection action, as the pulley 221 rotates, one side of the wire 302 and the wire 306 as the second jaw wire are wound around the pulley 221, and the other side is unwound from the pulley 221. Therefore, the pulley 121 as the second jaw pulley of the end tool connected to the opposite side of the wire 302 and the wire 306 rotates in a certain direction to perform the deflection action.

[0358] At this time, the positions of pulley 219, pulley 220, pulley 229 and pulley 230, which are satellite pulleys of the driving unit, and pulley 215, pulley 216, pulley 217, pulley 218, pulley 225, pulley 226, pulley 227 and pulley 228, which are intermediate pulleys of the driving unit, do not change, and only the wire 302 and the wire 306 are wound around the driving unit satellite pulleys and the driving unit intermediate pulley or loosened from the driving unit satellite pulleys and the driving unit intermediate pulley.

[0359] Therefore, the driving portion pitch pulley rigidly connected to the driving portion satellite pulley does not rotate, and the wires 303 and 304 serving as the pitch wires do not get tangled or loosened but maintain their positions.

[0360] As a result, even if pulley 211 or pulley 221 as the driving portion clamping pulley rotates for a yaw action or an actuation action, the total length of wires 301, 302, 305, and 306 as the clamping wires in driving portion 200 remains constant.

[0361] As described above, in the multi-joint surgical instrument 30 according to an embodiment of the present invention, when the pitch pulley of the driving part rotates, the satellite pulley of the driving part revolves around the rotation axis of the pitch pulley of the driving part, while changing the path length of the clamping wire wound on the intermediate pulley of the driving part, so that the clamping wire is wound or loosened in response to the rotation of the pitch pulley of the driving part, thereby offsetting or compensating for the movement of the clamping wire according to the pitch drive. As a result, the effect of separating the pitch action and the deflection action can be obtained.

[0362] However, as described above, the pitching action and the yaw action are not limited to being separated mechanically, but are independently separated by the processor of the present invention according to an embodiment, so that the pitching action and the yaw action can be performed separately.

[0363] Fig.21 is a flowchart for explaining an example of a method for driving a surgical instrument according to an embodiment.

[0364] Reference Fig.21 , the method of driving the surgical instrument comprises Figure 1 and Figure 2A The steps of the user terminal 2000, 2010 or the processor 2011 shown in FIG. 2 are processed in time series. Therefore, even if the content is omitted below, the above Figure 1 and Figure 2A The contents described in the user terminal 2000, 2010 or processor 2011 shown in FIG. 2 may also be applied to Fig.21 A driving method for a surgical instrument.

[0365] In addition, as mentioned above Figure 1 and Figure 2B As stated, Fig.21 At least one of the steps of the method for driving a surgical instrument may be processed by the server 3000 , 3010 or the processor 3011 .

[0366] In addition, as mentioned above Figures 3 to 5 As stated, Fig.21 At least one of the steps of the method for driving a surgical instrument may be processed by the master robot 10 , the slave robot 20 , or the multi-joint surgical instrument 30 .

[0367] In step 2110, the processor 2011 generates operation information related to the user's action for driving the surgical instrument. Specifically, the processor 2011 generates operation information related to the device that allows the user to operate the position and function of the surgical instrument.

[0368] The operation information may be information generated using the position information of the device that allows the user to operate the position and function of the surgical instrument. For example, the operation information may include the difference between the position information and direction information on the coordinate system before the user operates the device that allows the user to operate the position and function of the surgical instrument and the position information and direction information on the coordinate system after the user operates the device.

[0369] On the other hand, the processor 2011 may generate operation information based on position information and direction information of a device that allows a user to manipulate the position and function of a surgical instrument.

[0370] As an example, the operation information may be calculated as a difference using the inverse matrix of the matrix and multiplication operation in the following formula 1. The position information and direction information on the coordinate system before the user operation may be the position information and direction information on the coordinate system initialized before the user operation.

[0371] Formula 1

[0372] T device =T0 -1 T curr

[0373] According to Formula 1, the processor 2011 can calculate the position and direction information (T0) of the coordinate system based on the initialization position information and direction information of the device that allows the user to operate the position and function of the surgical instrument and the position information and direction information (T0) of the coordinate system after the user operates the device that allows the user to operate the position and function of the surgical instrument. curr ) to generate operation information for driving surgical instruments (T device ).

[0374] However, examples of the method of generating operation information are not limited to the above.

[0375] In step 2120, the processor 2011 calculates the first driving information based on the operation information. For example, the processor 2011 may calculate the first driving information about the action of the surgical instrument based on the operation information related to the user's action. The operation information includes position information and direction information about the user's action, and the first driving information may include position information and direction information related to the action of the surgical instrument corresponding to the user's action.

[0376] According to an embodiment of the present invention, first driving information about the action of the surgical instrument is calculated based on operation information related to the user's intuitive action to more accurately reflect the user's intuitive operation, so that surgery can be performed by a surgical robot.

[0377] Next, we will refer to Fig. 22 An example of a method in which a processor calculates first driving information is described.

[0378] Fig. 22 is a flowchart for explaining an example of a method for a processor to calculate first driving information according to an embodiment. Fig. 22 The processor 2011 calculates the intermediate driving information based on the operation information and the conversion relationship between the user's action and the action of the surgical instrument, and calculates the first driving information based on the intermediate driving information and the preset conversion ratio between the user's action and the action of the surgical instrument.

[0379] In step 2210, the processor 2011 calculates the intermediate driving information based on the operation information and the conversion relationship between the user's action and the action of the surgical instrument. Specifically, the processor 2011 calculates the intermediate position information of the surgical instrument based on the conversion relationship between the device that allows the user to operate the position and function of the surgical instrument and the camera attached to the surgical instrument, and calculates the intermediate direction information of the surgical instrument based on the conversion relationship between the device and the surgical instrument, and generates the intermediate driving information using the intermediate position information and the intermediate direction information of the surgical instrument.

[0380] For example, the processor 211 may use the following formula 2 based on the rotation matrix (R device→robot_global , R device→robot_tool , R robot_global→camera_view ) converts operation information to generate intermediate drive information.

[0381] A rotation matrix is ​​a matrix that transforms any matrix around the origin or reference point. For example, a rotation matrix may include the matrix (R device→robot_global , R device→rovot_tool , R robot_global→camera_view ), these matrices convert the coordinate system of the device that allows the user to operate the position and function of the surgical instrument into the coordinate system of the surgical instrument to be driven, based on the position (Position) information and orientation (Orientation) information on the physical coordinate system of the device that allows the user to operate the position and function of the surgical instrument included in the operation information.

[0382] Formula 2

[0383] T robot =f1(T device , R device→robot_global , R device→robot_tool , R robot_global→camera_view )

[0384] That is, according to Formula 2, the processor 2011 can be based on the function (f1), the operation information (T device ), the rotation matrix (R device→robot_global ), the rotation matrix (R device→robot_tool ) and the rotation matrix (R robot_global→camera_view ) to generate intermediate drive information about the action of the multi-joint surgical instrument (T robot ).

[0385] Specifically, through function (f1), the processor 2011 converts the operation information (Tdevice ) is converted into position information in the form of a three-dimensional vector, and then the coordinate system of the user input unit is converted into the rotation matrix (R device→robot_global ) and the rotation matrix (R) converted from the coordinate system of the multi-joint surgical instrument to the coordinate system of the multi-joint surgical instrument according to the camera attached to the multi-joint surgical instrument robot_flobal→camera_view ) to convert it into the coordinate system of the multi-joint surgical instrument according to the camera attached to the multi-joint surgical instrument, thereby calculating the intermediate position information of the surgical instrument. device→camera_view ) to obtain the same result.

[0386] Furthermore, the processor 2011 transmits the operation information (T device ) is converted into quaternion-type direction information, and then only the direction values ​​corresponding to the x, y, and z axes are extracted from the four-dimensional element values, and then multiplied by the rotation matrix (R) converted from the coordinate system of the user input unit to the coordinate system of the terminal tool. device→robot_tool ) to convert it into the coordinate system of the terminal tool, thereby calculating the intermediate direction information of the surgical instrument.

[0387] Furthermore, the processor 2011 may generate intermediate driving information (T) in the form of a homogeneous transformation matrix by converting the intermediate position information and the intermediate direction information of the converted terminal tool coordinate system into rotation matrix information and translation vector information. robot ).

[0388] However, examples of the method of generating the intermediate driving information are not limited to the above.

[0389] In the following, reference will be made to Fig.23 An example of the conversion relationship between the user's actions and the actions of the surgical instrument is described below.

[0390] Fig.23 1 is a diagram for explaining an example of a conversion relationship between a user's action and a surgical instrument's action according to an embodiment, and is a diagram showing an example of a terminal tool according to an embodiment of the present invention.

[0391] Reference Fig.23 The coordinate system regarding the movement of the surgical instrument may be based on the remote center of motion (RCM) 2310 or at least one of the joints 2320 and 2330 of the surgical instrument as an origin.

[0392] For example, the coordinate system of the multi-joint surgical instrument may be based on the remote motion center 2310 as the origin, and the coordinate system of the terminal tool may be based on at least one of the joints 2320 and 2330 of the surgical instrument as the origin. The joints 2320 and 2330 of the surgical instrument include a center point related to the rotational motion of the multi-joint surgical instrument.

[0393] According to an embodiment of the present invention, the coordinate system of the device that allows the user to operate the position and function of the surgical instrument can be converted into the coordinate system of the surgical instrument to be driven by using a rotation matrix with the origin as a reference.

[0394] However, examples of the origin for the conversion relationship between the user's motion and the surgical instrument's motion are not limited to Fig.23 The origins 2310, 2320, 2330 are shown in FIG.

[0395] Refer again Fig. 22 In step 2220, the processor 2011 calculates the first driving information based on the intermediate driving information and the preset conversion ratio between the user's action and the action of the surgical instrument. Specifically, the processor 2011 can calculate the position information of the surgical instrument based on the intermediate position information of the surgical instrument included in the intermediate driving information and the preset position conversion ratio, and calculate the direction information of the surgical instrument based on the intermediate direction information of the surgical instrument included in the intermediate driving information and the preset direction conversion ratio, and generate the first driving information using the position information of the surgical instrument and the direction information of the surgical instrument.

[0396] The conversion ratio refers to the ratio of the degree of motion between the user's action and the action of the surgical instrument. Specifically, the conversion ratio may include the ratio of the degree of motion range between the action of the device that allows the user to operate the position and function of the surgical instrument and the corresponding action of the surgical instrument. For example, the conversion ratio may include the ratio of the operation of the user input part according to the user's action and the action of the multi-joint surgical instrument.

[0397] On the other hand, the conversion ratio may be set by a user's input or a pre-stored conversion ratio may be set by a user's selection. However, the setting method of the conversion ratio is not limited to the example.

[0398] According to an embodiment of the present invention, the first driving information can be calculated based on the intermediate driving information and a preset conversion ratio between the user's action and the action of the surgical instrument to respond to the user's action, thereby operating the surgical instrument more accurately.

[0399] For example, the processor 2011 may calculate the first driving information according to the following formula 3 based on the intermediate driving information and a preset conversion ratio between the user's action and the action of the surgical instrument.

[0400] Formula 3

[0401] T robot_target =f2(T robot ,α,β)

[0402] According to Formula 3, the processor 2011 can calculate the value of the intermediate drive information (T robot ), position conversion ratio (α), direction conversion ratio (β) to obtain the first driving information (T robot_target Specifically, the processor 2011 converts the intermediate drive information (T robot ) is converted into position information in the form of a three-dimensional vector, and then the position information is multiplied by the position conversion ratio (α) to calculate the position information of the surgical instrument. robot ) is converted into quaternion-type direction information, only the direction values ​​corresponding to the x, y, and z axes are extracted from the four-dimensional element values, and then the direction information is multiplied by the direction conversion ratio (β), thereby calculating the direction information of the surgical instrument. In addition, the processor 2011 can convert the position information multiplied by the position conversion ratio (α) and the direction information multiplied by the direction conversion ratio (β) into rotation matrix information and translation vector information to obtain the first driving information (T) in the form of a homogeneous transformation matrix. robot_target ).

[0403] On the other hand, the processor 2011 can calculate the direction information of the surgical instrument according to the following formula 4.

[0404] Formula 4

[0405] w=sqrt(1-x 2 -u 2 -z 2 )

[0406] According to Formula 4, the processor 2011 can calculate the intermediate driving information (T robot ) direction information corresponding to the x, y, and z axes is extracted from the direction information of the surgical instrument, and the extracted direction information is multiplied by the direction conversion ratio, and the w value is calculated based on the direction information (x, y, z) corresponding to the x, y, and z axes multiplied by the direction conversion ratio, and the direction information of the surgical instrument is calculated. The calculated direction information of the surgical instrument may be direction information in the form of a quaternion.

[0407] However, examples of the method of calculating the first driving information based on the intermediate driving information and a preset conversion ratio between the user's motion and the motion of the surgical instrument are not limited to the above.

[0408] In the following, reference will be made to Fig.24 An example of a surgical instrument that operates based on the first drive information calculated according to the method will be described.

[0409] Fig.24 FIG. 1 is a diagram for explaining an example of a surgical instrument that operates based on first drive information according to an embodiment.

[0410] First, regarding the operation of moving the surgical instrument (action 2410), in the case of moving the device that allows the user to operate the position and function of the surgical instrument in the left-right direction (action 2411), if the movement of the surgical instrument displayed on the display component moves in the up-and-down direction (action 2412), it is difficult to operate the surgical instrument intuitively from the user's standpoint.

[0411] On the other hand, regarding the operation of moving the surgical instrument (action 2410), when the surgical instrument is driven based on the first drive information to move the device in the left-right direction (action 2413), the movement of the surgical instrument displayed on the display member moves in the left-right direction (action 2414). Thus, the user can more accurately reflect his or her own intuitive operation, thereby performing surgery through the surgical robot.

[0412] Secondly, regarding the operation of moving the surgical instrument (action 2420), in the case of moving the device that allows the user to operate the position and function of the surgical instrument in a clockwise direction (action 2421), if the movement of the surgical instrument displayed on the display component moves in a counterclockwise direction (action 2422), it is difficult to operate the surgical instrument intuitively from the user's standpoint.

[0413] On the other hand, regarding the operation of moving the surgical instrument (action 2420), when the surgical instrument is driven based on the first drive information to move the device in the clockwise direction (action 2423), the movement of the surgical instrument displayed on the display member moves in the clockwise direction (action 2424). Thus, the user can more accurately reflect his or her own intuitive operation, thereby performing surgery through the surgical robot.

[0414] Refer again Fig.21 In step 2130, the processor 2011 determines whether there is a danger associated with the operation of the surgical instrument based on the first drive information. For example, the processor 2011 can use the first drive information to determine whether the surgical instrument cannot be operated due to mechanical limitations or whether there is a danger of causing damage to the surgical instrument or a human body as a surgical object.

[0415] In the following, reference will be made to Fig.25 Examples of surgical instrument movements related to whether a hazard exists are described.

[0416] Fig.25 It is a diagram for explaining an example of the motion range of the surgical instrument according to one embodiment.

[0417] Reference Fig.25 , the processor 2011 can use the first drive information to drive the surgical instrument to achieve various actions. As an example, the processor 2011 can use the first drive information to drive the terminal tool according to the method to achieve a pitch action (action 2510). As another example, the processor 2011 can use the first drive information to drive the terminal tool according to the method to achieve a deflection action (action 2520). As another example, the processor 2011 can use the first drive information to drive the terminal tool according to the method to achieve an action including a pitch action and a deflection action (action 2530). On the other hand, although not shown in the accompanying drawings, the processor 2011 can use the first drive information to drive the surgical instrument according to the method to achieve a rolling action (not shown).

[0418] Among them, the motion range may include the angle of the pitch motion of the terminal tool (action 2510), the angle of the yaw motion of the terminal tool (action 2520), the angle of the rolling motion of the surgical instrument (not shown), and at least one of the angles of the motion including the pitch motion and yaw motion of the terminal tool (action 2530).

[0419] When the processor 2011 implements the action based on the first drive information, the surgical instrument may not move in response to the user's action due to mechanical limitations, or when the surgical instrument moves in response to the user's action, there may be a risk of damage to the surgical instrument or the human body serving as the surgical object.

[0420] Therefore, in order to prevent the occurrence of the dangerous situation in advance, when driving the surgical instrument to perform various actions (action 2510, action 2520, action 2530), the processor 2011 can determine whether the surgical instrument does not respond to the user's action due to mechanical limitations, or whether there is a risk of damage to the surgical instrument or the human body serving as the surgical object when the surgical instrument responds to the user's action.

[0421] On the other hand, the processor 2011 may determine whether there is a danger by considering at least one of the range of motion of the surgical instrument and the singularity of the surgical instrument. For example, the processor 2011 may determine whether there is a danger based on whether the range of motion of the surgical instrument exceeds a preset critical value and whether it corresponds to one or more of the preset singularity regions of the surgical instrument. The singularity may include a kinematic singularity, and the range of motion may include an operable angle of the surgical instrument.

[0422] On the other hand, in the case of considering the motion range, the processor 2011 can determine whether there is danger based on whether the motion range of the surgical instrument exceeds a preset critical value. Specifically, in the case of determining based on the motion range, the processor 2011 can calculate the expected drive information based on the initial drive information of the surgical instrument and the motion range information of the surgical instrument, calculate the reference drive information based on the motion range information, and determine whether there is danger with respect to the motion range of the surgical instrument based on the expected drive information, the motion range information, and the first drive information.

[0423] The preset critical value refers to a value related to the operable angle set according to the surgical instrument. For example, the preset operable angle of the terminal tool may be 90 degrees. If the range of motion of the surgical instrument exceeds the preset critical value, there is a problem that the surgical instrument may be damaged due to its mechanical limitations or may cause harm to the human body due to excessive motion.

[0424] For example, the processor 2011 may determine whether there is danger based on the following formula 5, taking into account whether the range of motion of the surgical instrument exceeds a preset critical value.

[0425] Formula 5

[0426] (True,false)=f3(X robot_delta ,J(q curr ),q curr ,q upper_limit ,q lower_limit )

[0427] According to Formula 5, the processor 2011 can calculate the value of the difference information (X) based on the function (f3), robot_delta ), initial driving information of surgical instruments (q cuirr ), upper limit information of the range of motion of the surgical instrument (q upper_limit ), the lower limit information of the range of motion of the surgical instrument (q lower_limit ), about the initial drive information (q curr )’s Jacobian matrix (J(q curr )) to determine whether there is danger (True, false).

[0428] Difference information (Xrobot_delta ) includes the difference between the position information or direction information of the surgical instrument before the surgical instrument is driven based on the first driving information and the position information or direction information of the surgical instrument after the surgical instrument is driven based on the first driving information. As an example, the difference information (X) can be calculated based on the first driving information. robot_delta As another example, the difference information (X) may be calculated based on the first driving information and the initial driving information. robot_delta ). Difference information (X robot_delta ) can be homogeneous (Homogeneous) transformation matrix or screw form, but not limited to this.

[0429] Initial drive information (q curr ) includes one or more of the initial position information or the initial direction information included in the surgical instrument before the surgical instrument is driven based on the first driving information. On the other hand, the initial driving information (q curr ) can be an n-dimensional (n=degrees of freedom of motion of the surgical instrument) vector, but is not limited to this.

[0430] The motion range information of the surgical instrument includes the upper limit information of the motion range of the surgical instrument (q upper_limit ) and lower limit information (q lower_limit ). The upper limit information of the range of motion of the surgical instrument (q upper_limit ) includes the upper limit information of the range of motion of the joints included in the surgical instrument. The lower limit information of the range of motion of the surgical instrument (q lower_limit ) includes lower limit information of the range of motion of the joints included in the surgical instrument.

[0431] Jacobian matrix (J(q curr )) may include based on the initial drive information (q curr ) is the Jacobian matrix calculated by .

[0432] On the other hand, function (f3) can be implemented according to Formula 6 to Formula 8 as follows.

[0433] Specifically, the processor 2011 may calculate the expected driving information (z) according to the following formula 6.

[0434] Formula 6

[0435]

[0436] According to Formula 6, the processor 2011 can calculate the initial driving information (q curr ), upper limit information of the range of motion of the surgical instrument (q ipper_limit ), the lower limit information of the range of motion of the surgical instrument (q lower_limit) to calculate the expected driving information (z).

[0437] Furthermore, the processor 2011 may obtain n-dimensional (n=degrees of freedom of movement of the surgical instrument) reference driving information (γ) according to the following formula 7, which is used to confirm whether the movement range of the surgical instrument exceeds a preset critical value.

[0438] Formula 7

[0439]

[0440] According to Formula 7, the processor 2011 can be based on the upper limit information (q upper_limit ), the lower limit information of the range of motion of the surgical instrument (q 1ower_limit ) obtains n-dimensional (n=degrees of freedom of motion of the surgical instrument) baseline drive information (γ).

[0441] Furthermore, the processor 2011 can determine whether there is danger based on whether the range of motion of the surgical instrument exceeds a preset critical value according to the following formula 8. For example, if the processor 2011 obtains a true value according to the following formula 8, it can be determined that the range of motion of the surgical instrument exceeds the maximum operable angle or 90 degrees, and if a false value is obtained, it can be determined that the range of motion of the surgical instrument does not exceed the maximum operable angle or 90 degrees.

[0442] Formula 8

[0443] |z i |>γ i andz i (J + (q curr )X robot_delta ) i >0(0 <i≤n)

[0444] According to Formula 8, the processor 2011 can calculate the difference information (X robot_de1ta ), Jacobian matrix (J + (q curr )), expected drive information (z), and reference drive information (γ), and whether there is danger is determined based on whether the range of motion of the surgical instrument exceeds the preset critical value. Wherein, the + operation refers to the pseudo inverse matrix (Pseudo inverse). And, n represents the number of elements included in the vector. Even if one of the n elements included in the vector satisfies Formula 8, the processor 2011 can obtain a true value. For example, when the range of motion of the surgical instrument exceeds the preset critical value, the processor 2011 obtains a true value based on satisfying Formula 8, and when the range of motion of the surgical instrument does not exceed the preset critical value, a false value can be obtained.

[0445] On the other hand, in the case of considering the kinematic singularity, the processor 2011 can determine whether there is a danger based on whether it corresponds to a preset singularity area of ​​the surgical instrument. Specifically, in the case of determining based on the singularity area, the processor 2011 can calculate the operability information about the first drive information and the operability information about the singularity area based on the first drive information, and determine whether there is a danger related to the singularity area of ​​the surgical instrument based on the operability information about the first drive information and the operability information about the singularity area.

[0446] For example, the processor 2011 can determine whether there is danger based on the following formula 9 and formula 10, based on whether it corresponds to a preset singular point area of ​​the surgical instrument.

[0447] First, the processor 2011 may calculate the operability information about the first driving information and the operability information about the singular point region based on the first driving information according to the following formula 9.

[0448] Formula 9

[0449]

[0450] According to Formula 9, the processor 2011 can calculate the Jacobian matrix (J(q curr )) to obtain operability information (MI) about the first drive information. The operability information (MI) may include an operability index value for determining whether it corresponds to a preset singularity area of ​​the surgical instrument. As an example, when the operability index value included in the operability information (MI) is below a preset critical value, the processor 2011 may determine that the surgical instrument corresponds to the preset singularity area and is dangerous. As another example, when the operability index value included in the operability information (MI) is 0, the processor 2011 may determine that the surgical instrument corresponds to the preset singularity area and is dangerous.

[0451] Furthermore, the processor 2011 may determine whether there is a danger with respect to the singular point area of ​​the surgical instrument based on the operability information with respect to the first driving information and the operability information with respect to the singular point area.

[0452] Formula 10

[0453]

[0454] According to Formula 10, the processor 2011 can calculate the shape function (k), the operational information about the singular point region, and the Regarding the operability information (MI) of the first driving information, it is determined whether the motion range of the surgical instrument includes a preset singular point area.

[0455] Operational information about the singularity area The closer it is to 0, the movement range of the surgical instrument according to the drive information will be changed at a position close to the singularity, so that the user can operate the surgical instrument more intuitively. However, the possibility of falling into the singularity due to numerical errors, etc. is high, and the farther it is from 0, although the possibility of falling into the singularity due to numerical errors, etc. is low, even if the position is not close to the singularity, the movement range of the surgical instrument according to the drive information will be changed, making it difficult for the user to operate the surgical instrument more intuitively.

[0456] On the other hand, the processor 2011 may update the first drive information based on the result of the judgment of whether there is danger. As an example, when the processor 2011 judges that the movement range of the surgical instrument exceeds the preset critical value and is dangerous, the processor 2011 may update the first drive information so that the movement range of the surgical instrument is included in the preset critical value. As another example, when the processor 2011 judges that the movement range of the surgical instrument corresponds to the preset singular point area and is dangerous, the processor 2011 may update the first drive information so that the movement range of the surgical instrument does not correspond to the singular point area on the preset side.

[0457] On the other hand, the processor 2011 can update the first drive information based on the motion range information of the surgical instrument. For example, the processor 2011 can update the first drive information so that the motion range of the surgical instrument corresponds to the upper limit range or the lower limit range of the motion range of the joint included in the surgical instrument. Among them, the joint refers to all joints included in the surgical instrument, and the joints used to perform the pitch movement, yaw movement, rolling movement, etc. of the terminal tool and the joints for determining the position of the remote center of motion (RCM) of the surgical instrument can all be included. However, the examples of joints are not limited to the above.

[0458] On the other hand, the processor 2011 can update the driving information so that the motion range of the surgical instrument according to the driving information does not include the preset singularity area. For example, the processor 2011 can update the driving information by removing the information falling within the singularity area in the driving information.

[0459] On the other hand, the processor 2011 may generate the compensation driving information based on the initial driving information of the surgical instrument, the first driving information, and the vector information about the singular point region, and update the first driving information based on the initial driving information of the surgical instrument, the first driving information, the operability information about the first driving information, the operability information about the singular point region, and the compensation driving information. For example, when the processor 2011 obtains a value other than 0 according to the formula 10, the processor 2011 may generate the compensation driving information (X) based on the initial driving information of the surgical instrument, the first driving information, and the vector information about the singular point region.correction ).

[0460] On the other hand, when generating the compensation driving information (X correction ), the processor 2011 can update the first drive information by changing one or more of the position information and direction information of the surgical instrument included in the first drive information.

[0461] As an example, the processor 2011 may update the first driving information by changing all position information and direction information of the surgical instrument included in the first driving information.

[0462] In this case, the processor 2011 can further perform coefficient-related operations according to the following formula 11 to obtain updated difference information (X safe_robot_delta ).

[0463] Formula 11

[0464]

[0465] in

[0466] According to Formula 11, the processor 2011 can calculate the difference information (X) of the first driving information based on the difference information (X) of the first driving information. robot_delta ), initial driving information of surgical instruments (q curr ), operational information (MI) about the first drive information, operational information about the singularity area and compensation drive information (X correction ) to obtain updated difference information (X safe_robot_delta ).

[0467] Updated difference information (X safe_robot_delta ) includes the difference between the position information or direction information of the surgical instrument before the surgical instrument is driven based on the updated first driving information and the position information or direction information of the surgical instrument after the surgical instrument is driven based on the updated first driving information. The updated difference information (X safe_robot_delta ) can be a homogeneous transformation matrix or a screw form, but is not limited thereto.

[0468] As another example, the processor 2011 may update the first drive information by only changing the position information of the surgical instrument included in the first drive information. Specifically, the processor 2011 may generate compensation drive information based on the initial drive information of the surgical instrument, the first drive information, and the vector information about the singularity area.

[0469] First, the processor 2011 can generate compensation driving information (X correction ) to change only the position information of the surgical instrument included in the drive information.

[0470] Formula 12

[0471] X correction =[x * y * z * 0 0 0] T

[0472] According to Formula 12, the processor 2011 can calculate the position value (x * ), the position value of the surgical instrument on the y-axis (y * ) and the position value of the surgical instrument about the z axis (z * ), to obtain compensation drive information (X correction ).

[0473] Compensation drive information (X correction ) is a spiral vector and may include 6 elements. For example, the compensation drive information (X correction ) can be the position value (x * ), the second element is the position value of the surgical instrument on the y-axis (y * ), the third element is the position value of the surgical instrument on the z-axis (z * ), the fourth element is the rotation angle (φ) about the rolling motion of the surgical instrument r * ), the fifth element is the rotation angle (φ) of the pitch motion of the surgical instrument p * ), the sixth element is the rotation angle (φ) of the surgical instrument’s deflection direction y * ). However, examples of the compensation driving information are not limited to the above.

[0474] Among them, the position value (x * ), the position value of the surgical instrument on the y-axis (y * ) and the position value of the surgical instrument on the z-axis (Z * ) can be obtained by solving the optimization problem described in detail below.

[0475] The optimization problem is based on the following formula 13 from the difference information (X robot_delta ), the elements (a, b, c, d) extracted from the surface vector at the boundary of the singularity region.

[0476] Formula 13

[0477]

[0478] thena=s(q)1,b=S(q)2,c=S(q)3,d=S(q)·X robot_delta

[0479] Furthermore, the processor 2011 can obtain the compensation driving information (X correction ) minus the difference information (X robot_delta ) to obtain updated difference information (X safe_robot_delta ). This can be understood as a process of removing direction-related vector components that may cause the vector components to fall into the singular point region from the existing first driving information or difference information.

[0480] On the other hand, in order to prevent the movement range of the surgical instrument from falling into the singular point region due to the error of the numerical analysis method, the processor 2011 can further perform coefficient-related operations according to the following formula 14 to obtain updated difference information (X safe_robot_delta ).

[0481] Formula 14

[0482]

[0483] in

[0484] According to Formula 14, the processor 2011 can calculate the difference information (X) of the first driving information based on the difference information (X) of the first driving information. robot_delta ), initial driving information of surgical instruments (q curr ), operational information (MI) about the first drive information, operational information about the singularity area and compensation drive information (X correction ) to obtain updated difference information (X safe_robot_delta ).

[0485] On the other hand, the processor 2011 can update the first drive information by only changing the direction information of the surgical instrument included in the first drive information. Specifically, the processor 2011 can update the first drive information by fixing the position information of the surgical instrument included in the first drive information and only changing the direction information.

[0486] First, the processor 2011 may generate compensated driving information regarding the direction information of the surgical instrument based on the initial driving information of the surgical instrument, the first driving information, and the vector information regarding the singular point region.

[0487] Furthermore, the processor 2011 may update the first driving information based on the initial driving information of the surgical instrument, the first driving information, the operability information about the first driving information, the operability information about the singularity area, and the compensation driving information about the direction information of the surgical instrument.

[0488] The compensation driving information may be information including a compensation value used as a reference for updating the first driving information, thereby avoiding danger by only changing the direction of the surgical instrument. For example, the compensation driving information may be used as information for only changing the direction of the surgical instrument.

[0489] When the surgical instrument is driven by the updated first drive information, only the movement direction of the surgical instrument can be changed compared to the case of driving by the non-updated first drive information. In this case, by changing only the movement direction of the surgical instrument, situations that cause movement hazards to the surgical robot and situations that cause harm to the human body can be prevented in advance.

[0490] For example, the processor 2011 can generate the compensation driving information (X correction ) so that the range of motion of the surgical instrument does not include the singularity area.

[0491] Formula 15

[0492] X correction =[0 0 0 φ r * φ p * φ y * ] T

[0493] According to Formula 15, the processor 2011 can generate the compensating driving information (X correction ). Among them, the directional rotation angle (φ) related to the rolling action of the surgical instrument r * ), the directional rotation angle related to the pitch motion of the surgical instrument (φ p * ) and the directional rotation angle (φ) associated with the deflection of the surgical instrument y * ) can be obtained by solving one of the optimization problems described in detail below.

[0494] The optimization problem is to be solved from θ (as the directional rotation angle (φ) associated with the rolling motion of the surgical instrument according to the following formula 16 r * )), initial drive information of surgical instruments (q curt ), difference information (Crobot_delta ) is based on the elements (a, b, c, d) extracted from the surface vector representing the boundary of the singularity area.

[0495] Formula 16

[0496]

[0497] thena=s(q)4,b=S(q)5,c=S(q)6,d=s(q)·X robot_delta

[0498] On the other hand, the processor 2011 modifies the direction rotation angle (φ) of the deflection action of the surgical instrument. y * ), the optimization problem can be solved according to the following formula 17.

[0499] Formula 17

[0500] minimizeφ r 2 +φ p 2 +φ y 2

[0501] subject to aφ r +φ p +cφ y +d=0

[0502] φ p :φ y =-sinθ:cosθ

[0503] On the other hand, the processor 2011 modifies the rotation angle (φ) of the pitch motion of the surgical instrument. p * ), the optimization problem can be solved according to the following formula 18.

[0504] Formula 18

[0505] minimizeφ r 2 +φ p 2 +φ y 2

[0506] subject to aφ r +bφ p +cφ y +d=0

[0507] φ p :φ y=cosθ:sinθ

[0508] On the other hand, the processor 2011 can obtain the compensation driving information (X correction ) minus the difference information (X robot_delta ) to obtain updated difference information (X safe_robot_delta ).

[0509] On the other hand, in order to prevent the movement range of the surgical instrument from falling into the singular point region due to the error of the numerical analysis method, the processor 2011 can further perform coefficient-related operations according to the following formula 19 to obtain updated difference information (X safe_robot_delta ).

[0510] Formula 19

[0511]

[0512]

[0513] According to Formula 19, the processor 2011 can calculate the difference information (X) of the first driving information based on the difference information (X) of the first driving information. rolot_de1ta ), initial driving information of surgical instruments (q curr ), operational information (MI) about the first drive information, operational information about the singularity area and compensation drive information (X correction ) to obtain updated difference information (X safe_robot_delta ).

[0514] According to one embodiment of the present invention, the first drive information can be updated by only changing the direction information of the surgical instrument included in the first drive information. As the movement of the surgical instrument changes within a range that does not significantly deviate from the existing expected movement, the movement is easily predicted and safe surgery is facilitated.

[0515] On the other hand, the processor 2011 can update the driving information so that the movement range of the surgical instrument is included in the preset critical value, and the movement range of the surgical instrument according to the driving information does not include the preset singularity area.

[0516] Refer again Fig.21In step 2140, the processor 2011 drives the surgical instrument based on the result of the judgment whether there is danger. As an example, the processor 2011 may not drive the surgical instrument when it is judged that it is dangerous to drive the surgical instrument based on the calculated first drive information. At this time, the processor 2011 may drive the surgical instrument based on the updated first drive information after updating the first drive information based on the result of the judgment whether there is danger. As another example, the processor 2011 may drive the surgical instrument based on the first drive information when it is judged that it is not dangerous to drive the surgical instrument based on the calculated first drive information.

[0517] On the other hand, the processor 2011 can calculate the second driving information based on the first driving information, and drive the surgical instrument based on the second driving information.

[0518] As an example, the processor 2011 may perform inverse kinematics transformation according to the following formula 20 to calculate the second driving information.

[0519] Formula 20

[0520] q robot_target =IK(T robot_target )

[0521] According to Formula 20, the processor 2011 calculates the inverse kinematics transformation function (IK), the first driving information (T robot_target ) to obtain the second driving information (q robot_target Similarly, the processor 2011 can obtain the second driving information (q based on the inverse kinematics transformation function (IK) and the updated first driving information. robot_target ).

[0522] The inverse kinematics transformation function (IK) includes a function that converts a vector defined as an action of a device (a device that allows a user to manipulate the position and function of a surgical instrument) into a vector defined as an action of a surgical instrument. For example, the inverse kinematics transformation function (IK) may include a function that converts a vector defined in the task space of a multi-joint surgical instrument into a vector defined in the joint space of the surgical instrument. The vector defined in the task space may include a 16-dimensional homogeneous transformation matrix, and the vector defined in the joint space may include the n-dimensional degrees of freedom of motion of the multi-joint surgical instrument.

[0523] Specifically, the processor 2011 can convert the homogeneous transformation matrix into a value in the form of a 6-dimensional screw including three-dimensional position and direction information to increase the operation speed. At this time, the processor 2011 can use numerical analysis for inverse kinematics conversion, and can use the Newton-Raphson numerical inverse kinematics method, but is not limited to this.

[0524] As another example, the processor 2011 may perform inverse kinematics transformation according to the following formula 21 to calculate the second driving information.

[0525] Formula 21

[0526] q robot_target =IK(X robot_delta )

[0527] According to Formula 21, the processor 211 calculates the inverse kinematics transformation function (IK), the difference information (X robot_delta ) to obtain the second driving information (q robot_target Similarly, the processor 2011 can obtain the second driving information (q robot_target ).

[0528] On the other hand, for the sake of convenience, the first drive information and the difference information are distinguished for explanation, but the difference information may be information included in the first drive information. According to an embodiment of the present invention, the processor 2011 may generate operation information related to the user action for driving the surgical instrument, and calculate the first drive information based on the operation information. At this time, the first drive information may include position information and direction information of the surgical instrument. In addition, the first drive information may include difference information, which represents the difference between the position information or direction information of the surgical instrument before the surgical instrument is driven based on the first drive information and the position information or direction information of the surgical instrument after the surgical instrument is driven based on the first drive information. In addition, the processor 2011 may determine whether there is a danger related to the action of the surgical instrument based on the difference information included in the first drive information. In addition, the processor 2011 may update the difference information included in the first drive information based on the judgment result of whether there is a danger. In addition, the processor 2011 may drive the surgical instrument based on the judgment result of whether there is a danger.

[0529] In the following, reference will be made to Fig.26 Another example of a method of driving a surgical instrument will be described.

[0530] Fig.26 is a flowchart for explaining another example of a driving method of a surgical instrument according to an embodiment.

[0531] Fig.26 Steps 2610 to 2640 correspond to Fig.21 Therefore, the repeated contents of step 2610 to step 2640 will be omitted.

[0532] In step 2610, the processor 2011 generates operation information corresponding to the operation of the user input part for driving the multi-joint surgical instrument. For example, when the user operates the user input part to move the position of the robot arm unit or the terminal tool of the slave robot or to operate a surgical action, the processor 2011 can generate operation information corresponding to the operation of the user input part of the user.

[0533] On the other hand, the processor 2011 can generate operation information based on the position information and direction information of the user input part of the multi-joint surgical instrument.

[0534] In step 2620, the processor 2011 calculates the first driving information based on the operation information. Specifically, the processor 2011 generates the first driving information about the action of the multi-joint surgical instrument based on the operation information.

[0535] In the following, reference will be made to Fig. 27 Another example of a method for a processor to calculate first driving information according to an embodiment is described.

[0536] Fig. 27 is a flowchart for explaining another example of a method for a processor to calculate first driving information according to an embodiment.

[0537] Fig. 27 Step 2710 and step 2720 correspond to Fig. 22 Therefore, the repeated contents of step 2710 and step 2720 will be omitted.

[0538] In step 2710, the processor 2011 calculates the intermediate driving information about the movement of the multi-joint surgical instrument based on the operation information, the conversion relationship between the user input unit and the multi-joint surgical instrument, the conversion relationship between the user input unit and the terminal tool, and the conversion relationship between the user input unit and the camera attached to the multi-joint surgical instrument.

[0539] Specifically, the processor 2011 calculates the intermediate position information of the multi-joint surgical instrument based on the conversion relationship between the user input unit and the camera attached to the multi-joint surgical instrument, and calculates the intermediate direction information of the surgical instrument based on the conversion relationship between the user input unit and the multi-joint surgical instrument, and uses the intermediate position information of the multi-joint surgical instrument and the intermediate direction information of the multi-joint surgical instrument to generate intermediate driving information.

[0540] For example, according to Formula 2, the processor 2011 may calculate the value of the function (f1), the operation information (T device ), which converts the coordinate system of the user input unit into the rotation matrix (R device→robot_global ), the rotation matrix (R device→robot_tool ) and a rotation matrix (R) which converts the coordinate system of the multi-joint surgical instrument into the coordinate system of the multi-joint surgical instrument according to the camera attached to the multi-joint surgical instrument robot_global→camera_view ) to generate intermediate drive information about the action of the multi-joint surgical instrument (T robot ).

[0541] In step 2720, the processor 2011 calculates the first driving information based on the intermediate driving information and a preset conversion ratio between the movement of the user input unit and the movement of the multi-joint surgical instrument.

[0542] Specifically, the processor 2011 calculates the position information of the multi-joint surgical instrument based on the intermediate position information of the multi-joint surgical instrument included in the intermediate driving information and the preset position conversion ratio, and calculates the direction information of the multi-joint surgical instrument based on the intermediate direction information of the multi-joint surgical instrument included in the intermediate driving information and the preset direction conversion ratio, and uses the position information of the multi-joint surgical instrument and the direction information of the multi-joint surgical instrument to generate the first driving information.

[0543] Among them, the preset conversion ratio between the action of the user input part and the action of the multi-joint surgical instrument can be used to calculate the first drive information based on the preset conversion ratio related to one or more of the pitch action, yaw action, roll action and actuation action of the terminal tool.

[0544] Refer again Fig.26In step 2630, the processor 2011 determines whether there is a danger associated with the movement of the multi-joint surgical instrument based on the first drive information. As an example, the processor 2011 can determine whether there is a danger associated with at least one of the pitch movement, yaw movement, actuation movement, and rolling movement of the terminal tool included in the multi-joint surgical instrument based on the first drive information. As another example, the processor 2011 can determine whether there is a danger regarding the movement of the joints involved in the remote center of motion (RCM) included in the multi-joint surgical instrument based on the first drive information.

[0545] On the other hand, the processor 2011 can determine whether there is danger based on whether the range of motion formed by one or more joints of the multi-joint surgical instrument exceeds a preset critical value and corresponds to one or more preset singularity areas of the multi-joint surgical instrument.

[0546] On the other hand, when the processor 2011 determines whether there is a danger based on the range of motion, it can calculate the expected drive information based on the initial drive information of the multi-joint surgical instrument and the motion range information of the multi-joint surgical instrument, and calculate the benchmark drive information based on the motion range information, and determine whether there is a danger regarding the range of motion formed by more than one joint of the multi-joint surgical instrument based on the expected drive information, the motion range information and the first drive information.

[0547] On the other hand, when the processor 2011 determines whether there is a danger based on the singularity area, it can calculate the operability information about the first drive information and the operability information about the singularity area based on the first drive information, and determine whether there is a danger about the singularity area of ​​the multi-joint surgical instrument based on the operability information about the first drive information and the operability information about the singularity area.

[0548] On the other hand, the processor 2011 may update the first driving information based on the determination result of whether there is danger.

[0549] On the other hand, the processor 2011 can update the first driving information based on the motion range information of the multi-joint surgical instrument.

[0550] On the other hand, the processor 2011 can generate compensatory driving information based on the initial driving information, the first driving information and the vector information about the singular point area of ​​the multi-joint surgical instrument, and update the first driving information based on the initial driving information, the first driving information, the operational information about the first driving information, the operational information about the singular point area and the compensatory driving information of the multi-joint surgical instrument.

[0551] On the other hand, the processor 2011 may update the first driving information by only changing the direction information of the multi-joint surgical instrument included in the first driving information.

[0552] In step 2640, the processor 2011 drives the multi-joint surgical instrument based on the result of the judgment of whether there is danger. For example, the processor 2011 can implement the pitching action, yaw action and actuation action of the terminal tool of the multi-joint surgical instrument within the safe action range based on the updated driving information.

[0553] On the other hand, the processor 2011 can calculate the second drive information based on the first drive information, and drive the multi-joint surgical instrument based on the second drive information. For example, the processor 2011 can calculate the second drive information by converting the first drive information using inverse kinematics, and drive the multi-joint surgical instrument based on the calculated second drive information.

[0554] As described above, the processor 2011 generates operation information related to the user's action for driving the surgical instrument, calculates the first drive information based on the operation information, determines whether there is a danger related to the action of the surgical instrument based on the first drive information, and drives the surgical instrument based on the determination result of whether there is a danger, so as to more accurately reflect the user's intuitive operation, thereby enabling surgery to be performed by the surgical robot. In addition, the processor 2011 can prevent situations that cause movement danger to the surgical robot and situations that cause harm to the human body in advance.

[0555] On the other hand, the method can be written as a computer executable program and can be implemented in a general-purpose digital computer that uses a computer readable recording medium to run the program. In addition, the structure of the data used in the method can be recorded in a computer readable recording medium in various ways. The computer readable recording medium includes storage media such as magnetic storage media (e.g., ROM, RAM, USB, floppy disk, hard disk, etc.), optically readable media (e.g., CD-ROM, DVD, etc.).

[0556] In another aspect, the method may include providing in a computer program product. The computer program product is a commodity that can be traded between a seller and a buyer. The computer program product can be in the form of a device-readable storage medium (e.g., a CD-ROM (compact disc read only memory)) or through an application store (e.g., Play Store). TM) or directly or online distribution (e.g. download or upload) between two user devices. In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily generated in a machine-readable storage medium, such as a memory of a manufacturer's server, an application store's server, or a relay server.

[0557] Those skilled in the art of the present invention will appreciate that the present invention can be implemented in a modified form without departing from the above basic features. Therefore, the disclosed method should be considered from the perspective of interpretation rather than from the perspective of limitation, and the scope of rights is embodied by the patent claims rather than the aforementioned content, and should be interpreted as including all differences within the scope of equivalence thereto.

[0558] According to the means for solving the problem disclosed above, in the present disclosure, operation information related to the user's action for driving the surgical instrument is generated, and based on the operation information, drive information and inverse kinematics conversion information about the action of the surgical instrument are generated. The drive information and inverse kinematics conversion information are used to determine whether there is a danger related to the action of the surgical instrument, and the drive information is updated based on whether there is a danger, thereby more accurately reflecting the user's intuitive operation so that surgery can be performed by a surgical robot.

[0559] In addition, in the present disclosure, situations that may cause movement hazards to the surgical robot and situations that may cause harm to the human body can be prevented in advance.

[0560] The effects of the present invention are not limited to the above-mentioned effects, and those skilled in the art can clearly understand other effects not mentioned from the following description.

[0561] It should be understood that the embodiments described herein should be considered to be illustrative only and not for limiting purposes. The description of features or aspects within each embodiment should generally be considered to be applicable to other similar features or aspects in other embodiments. Although one or more embodiments have been described with reference to the accompanying drawings, it will be understood by those of ordinary skill in the art that various changes in form and detail may be made therein without departing from the spirit and scope defined by the appended claims.

Claims

1. A method for driving a surgical instrument, the method comprising: A generating step of generating operation information related to a user action for driving a surgical instrument; A calculation step, calculating first driving information based on the operation information; a judging step of judging whether there is a danger associated with the action of the surgical instrument based on the first driving information; as well as The driving step is to drive the surgical instrument based on the determination result of whether the danger exists.

2. The method according to claim 1, wherein the generating step comprises the following steps: The operation information is generated based on position information and orientation information of a device, wherein the device allows the user to operate the position and function of the surgical instrument.

3. The method according to claim 1, wherein the calculating step comprises the following steps: Calculating intermediate drive information based on the operation information and the conversion relationship between the user's action and the action of the surgical instrument; as well as The first driving information is calculated based on the intermediate driving information and a preset conversion ratio between the user's action and the action of the surgical instrument.

4. The method according to claim 3, wherein: The step of calculating the intermediate driving information comprises the following steps: calculating intermediate position information of the surgical instrument based on a conversion relationship between the device and a camera attached to the surgical instrument, wherein the device allows the user to operate the position and function of the surgical instrument; Calculating intermediate direction information of the surgical instrument based on a conversion relationship between the device and the surgical instrument; and The intermediate driving information is generated using the intermediate position information of the surgical instrument and the intermediate direction information of the surgical instrument.

5. The method according to claim 3, wherein the calculating step comprises the following steps: Calculating the position information of the surgical instrument based on the intermediate position information of the surgical instrument included in the intermediate driving information and a preset position conversion ratio; Calculating direction information of the surgical instrument based on the intermediate direction information of the surgical instrument included in the intermediate driving information and a preset direction conversion ratio; as well as The first driving information is generated using the position information of the surgical instrument and the direction information of the surgical instrument.

6. The method according to claim 1, wherein the determining step comprises the following steps: Whether the danger exists is determined based on at least one of whether the motion range of the surgical instrument exceeds a preset critical value and whether it corresponds to a preset singular point area of ​​the surgical instrument.

7. The method according to claim 6, wherein when it is determined that there is a risk based on the range of motion of the surgical instrument, the judging step comprises the following steps: Calculating expected driving information based on initial driving information of the surgical instrument and motion range information of the surgical instrument; calculating reference driving information based on the motion range information; as well as Based on the expected drive information, the motion range information, and the first drive information, it is determined whether there is a danger regarding the motion range of the surgical instrument.

8. The method according to claim 6, wherein when it is determined that there is a risk based on the preset singular point area, the judging step comprises the following steps: calculating operability information about the first driving information and operability information about the preset singular point area based on the first driving information; as well as Based on the operability information about the first drive information and the operability information about the preset singular point area, it is determined whether there is a danger with respect to the preset singular point area of ​​the surgical instrument.

9. The method according to claim 1, further comprising: The updating step updates the first driving information based on a determination result of whether the danger exists.

10. The method according to claim 9, wherein the updating step comprises the following steps: The first drive information is updated based on the motion range information of the surgical instrument.

11. The method according to claim 9, wherein the updating step comprises the following steps: generating compensation driving information based on the initial driving information of the surgical instrument, the first driving information, and the vector information about the singular point region; as well as The first driving information is updated based on the initial driving information of the surgical instrument, the first driving information, the operability information about the first driving information, the operability information about the singularity area, and the compensation driving information.

12. The method according to claim 9, wherein the updating step comprises the following steps: The first driving information is updated by changing only the direction information of the surgical instrument included in the first driving information.

13. The method according to claim 1, wherein the driving step comprises the following steps: calculating second driving information based on the first driving information; as well as The surgical instrument is driven based on the second driving information.

14. A computing device comprising: at least one memory, and at least one processor; The at least one processor performs the following actions: generating operation information related to a user action for driving a surgical instrument, calculating first driving information based on the operation information, determining whether there is a danger associated with the movement of the surgical instrument based on the first drive information, The surgical instrument is driven based on the result of the determination whether the danger exists.

15. A non-transitory computer-readable recording medium having recorded thereon a program for executing a method of driving a surgical instrument on a computer, the method comprising: A generating step of generating operation information related to a user action for driving a surgical instrument; A calculation step, calculating first driving information based on the operation information; a judging step of judging whether there is a danger associated with the action of the surgical instrument based on the first driving information; as well as The driving step is to drive the surgical instrument based on the determination result of whether the danger exists.

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