Surgical robot with force sensing portion

Abstract

The present invention may provide a surgical robot comprising: an endoscope having an outer cannula inserted into the interior of a human body; the surgical instrument is inserted into the outer sleeve; and a force sensing unit that measures a force generated when the endoscope is inserted into or taken out of the interior of the human body.

Description

Technical Field

[0001] The present invention relates to a surgical robot with a force sensing unit, and more specifically, the robot can measure the force that may be generated during surgery through the force sensing unit to perform a safe surgery. Background Art

[0002] Generally speaking, stones in the human body are formed when organic ions deposit due to changes in solubility as pH changes. Depending on the location of the stones, they can be divided into urinary stones, bile duct stones (Gallstones), etc. When such stones are formed, they will hinder normal blood flow and become a factor in causing symptoms.

[0003] Although there are various methods for removing such stones, removal is usually performed using an endoscope, a basket catheter, an electrohydraulic lithotripsy device with a lithotripsy probe, or the like.

[0004] In order to remove kidney stones, an access sheath is inserted into the ureter of the human body, and the stones are removed while the outer tube moves into the inside of the access sheath. The access sheath protects the inner wall of the ureter to prevent the outer tube from damaging the inner wall of the ureter.

[0005] However, when the access sheath is inserted into the ureter to remove the stone, force is generated due to contact with the ureter, and thus the access sheath may damage the inner wall of the ureter.

[0006] In addition, in order to remove stones, when inserting the outer tube into the access sheath, or when removing broken stones, the outer tube may be stuck at the end of the access sheath due to the stones, and thus cannot be removed smoothly. At this time, the access sheath is subjected to the force generated by the advancement or retreat of the outer tube, causing the access sheath to shake, thereby damaging the inner wall of the ureter.

[0007] In addition, when trying to remove a stone with a diameter larger than the diameter (inner diameter) of the access sheath through the access sheath, if an attempt is made to forcibly remove the stone when the stone is stuck at the end of the access sheath and cannot be removed, it will also cause damage to the inner wall of the ureter, such as causing ureteral tearing.

[0008] In addition, during the process of performing surgery through endoscopy after inserting the access sheath into the ureter, the ureter will move due to the patient's breathing. In this case, the moving ureter will generate a force to press the fixed access sheath. Therefore, it is necessary to deal with the force applied to the access sheath by the ureter to avoid adverse effects on the ureter.

[0009] When removing stones, the access sheath may move due to friction between the endoscope or stones or get stuck in the access sheath, causing damage to the inner wall of the ureter. Therefore, it is necessary to prevent damage to the inner wall of the ureter by measuring the force acting on the access sheath due to various reasons to perform safe surgery.

[0010] In addition, when surgery is performed by directly inserting only the endoscope without inserting the access sheath into the ureter, the movement of the endoscope and / or the surgical instruments disposed in the outer sleeve of the endoscope may cause friction with the inner wall of the ureter or get stuck on the inner wall of the ureter. Therefore, it is necessary to measure the force acting on the endoscope or surgical instruments to prevent damage to the inner wall of the ureter during surgery. Summary of the invention

[0011] Problem that the invention aims to solve

[0012] The present invention provides a surgical robot which measures the force acting on a passage sheath or an endoscope inserted into a human body when performing surgery using an endoscope. If the force is above a reference value, safety measures can be taken to improve the safety of the surgery.

[0013] Means used to solve problems

[0014] The present invention can provide a surgical robot, comprising: an endoscope having an outer sleeve inserted into the human body, a surgical instrument inserted into the interior of the outer sleeve, and a force sensing unit for measuring the force generated when the endoscope is inserted into or removed from the human body.

[0015] The present invention can provide a surgical robot, comprising: an endoscope having an outer sleeve inserted into the human body, a surgical instrument inserted into the outer sleeve, a passage sheath inserted into the human body, and a force sensing part for measuring the force acting between the human body and the passage sheath.

[0016] Effects of the Invention

[0017] As described above, in the present invention, for example, when performing an operation for removing kidney stones from a patient, during the process of inserting an access sheath for protecting the ureter into the interior of the ureter and inserting an endoscope for removing stones into the interior of the access sheath, when the outer sleeve of the endoscope is stuck in the interior of the access sheath or the friction becomes greater, the thrust acting on the access sheath can be measured by the force sensing unit, and if the thrust exceeds a reference value, for safety reasons, the action of the surgical robot can be stopped or an alarm can be sounded to notify the user.

[0018] In addition, when a stone is removed from the patient's body through the access sheath using an endoscope, if the stone is stuck in the access sheath, a pulling force will be generated to cause the access sheath to move backward. The force pushing the access sheath and the force pulling the access sheath as described above are measured by the force sensing unit. If the force exceeds the baseline value, for safety reasons, the operation of the surgical robot can be stopped or an alarm can be sounded and subsequent measures can be taken.

[0019] In addition, since the present invention can measure the force acting on the passage sheath by using the force sensing unit, if the measured value exceeds the reference value, the setting position of the passage sheath can be changed and reused to reduce the excess force.

[0020] The surgical robot according to the present invention includes: an installation unit, on which an endoscope is installed and reciprocatingly moves; and a moving unit, which enables the installation unit to reciprocate, the moving unit includes a holder for holding the passage sheath, the holder includes: a holding part, which holds the passage sheath; and an arm, which is connected to the holding part and connected to the inside of the moving unit for rotation, and at the end side of the arm, a force sensing part that measures the force generated when the arm rotates can instantly measure the forces applied to the passage sheath in two directions.

[0021] Therefore, the present invention can be used as a safety device during surgery using a force sensing portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. 1 is a front view showing a surgical robot according to an embodiment of the present invention.

[0023] Figure 2 is a perspective view of a moving unit and a mounting unit constituting a surgical robot according to an embodiment of the present invention.

[0024] Figure 3 is a perspective view showing the internal structure of a moving unit in a surgical robot according to an embodiment of the present invention.

[0025] Figure 4 FIG. 1 is an explanatory diagram for explaining a principle of measuring force using a force sensor in a surgical robot according to an embodiment of the present invention.

[0026] Figure 5 It is a perspective view showing a coupled state of the support holder and the channel sheath according to the present invention.

[0027] Figure 6 1 is a diagram showing the arrangement relationship between a support holder for holding a channel sheath and a force sensing portion of a surgical robot according to an embodiment of the present invention.

[0028] Figure 7 is a cross-sectional view showing a state in which an access sheath and an endoscope of a surgical robot are inserted into a kidney to remove a stone according to an embodiment of the present invention.

[0029] Figure 8 4 is a cross-sectional view showing a state in which a surgical robot according to an embodiment of the present invention grasps a stone through an endoscope inserted into a passage sheath.

[0030] Fig. 9 This is a schematic diagram showing an example of a state in which, when an endoscope according to an embodiment of the present invention penetrates the interior of a channel sheath to remove a stone, if a force is applied to the channel sheath, the force is measured by a force sensor.

[0031] Fig.10 This is a diagram showing a configuration in which, when the force applied to the access sheath according to one embodiment of the present invention is measured and the control unit determines that the force is equal to or greater than a reference value, an alarm unit notifies the user of the force.

[0032] Fig.11 is a diagram showing a surgical robot according to an embodiment.

[0033] Fig.12 is a perspective view showing a driving portion of a slave device according to an embodiment.

[0034] Fig.13 is a perspective view showing an endoscopic device, a coupler, and a mount manufactured by Boston Scientific, Inc. according to an embodiment.

[0035] Fig.14 is a perspective view showing a coupling according to an embodiment.

[0036] Fig.15 is a perspective view showing a coupling supporting an endoscope device manufactured by Karl Storz according to an embodiment.

[0037] Fig.16 is a perspective view showing a coupling supporting an endoscope device manufactured by OTU Medical according to an embodiment. DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical concept of the present invention is not limited to the partial embodiments described, and can be implemented in various forms, and at least one of the constituent elements between the embodiments can be selectively combined and / or replaced within the scope of the technical concept of the present invention.

[0039] In addition, if not particularly defined, the terms of the embodiments of the present invention may be interpreted as meanings that can be generally understood by those skilled in the art, and commonly used terms may be interpreted in consideration of the contextual meanings of the related art.

[0040] In addition, the terms of the embodiments of the present invention are used to explain the embodiments rather than to limit the present invention, and unless the context otherwise specifies, a singular expression also includes a plural expression.

[0041] In addition, among the constituent elements of the embodiments of the present invention, terms such as first, second, third or A, B, C, etc. may be used, and such terms are only used to distinguish one constituent element from other constituent elements and do not limit the order or ranking, etc.

[0042] In addition, in the embodiments of the present invention, the description of a constituent element being "connected", "contacting", "combined", etc. with other constituent elements not only means that one constituent element is directly connected, contacting, or combined with other constituent elements, but also means that one constituent element is indirectly connected, contacting, or combined through another constituent element between the two constituent elements.

[0043] In addition, in the embodiments of the present invention, a component is arranged, formed, or disposed on or below other components, or above or below other components, including a component being directly or indirectly arranged, formed, or disposed on other components. The description of above or below, or above or below means not only an upper direction based on a component but also a lower direction.

[0044] Figure 1 is a front view showing an embodiment of a surgical robot of the present invention, Figure 2 is a perspective view of a moving unit and a mounting unit constituting a surgical robot according to an embodiment of the present invention.

[0045] Reference Figure 1 and Figure 2 According to an embodiment of the present invention, a surgical robot may include: a main body unit 100; a moving unit 200, which is arranged on the main body unit 100; a mounting unit 300, which is reciprocatingly slidably disposed on a surface of the moving unit 200 and mounts the endoscope 500 in a manner that allows the endoscope 500 to be detachable; and a holding unit 400, which holds and moves the endoscope 500 and the passage sheath 600.

[0046] The main unit 100 may be provided with a controller and a control panel capable of controlling the overall movement of the surgical robot.

[0047] The mobile unit 200 includes a shell 210 with a predetermined length and can be rotatably coupled to the main unit 100 via a driving device (motor, etc.), and an installation unit 300 is provided on one surface of the shell 210, and the installation unit 300 can perform linear reciprocating motion along the length direction via a driving device (motor and linear moving device, etc.).

[0048] The mounting unit 300 may be provided with a mounting portion 310 on which the endoscope 500 can be mounted.

[0049] The mounting portion 310 is rotatably coupled to the main body of the mounting unit 300. Therefore, the mounting portion 310 can be connected to a driving device (motor, etc.) disposed in the main body of the mounting unit 300, and the mounting portion 310 can be rotated forward and reversely by the forward and reverse rotation of the driving device, so that the endoscope 500 also rotates forward and reversely.

[0050] The holding unit 400 may include a support holder 410 that can hold the passage sheath 600 , and a guide holder 420 that is provided in plurality at intervals and can stably guide the endoscope 500 .

[0051] The guide holder 420 may include an insertion member 421 having a tapered shape through which the outer sleeve 520 of the endoscope 500 passes, and a connection member 422 formed to extend from the insertion member 421 and connected to the housing 210 of the moving unit 200 .

[0052] The guide holder 420 may support the outer sleeve 520 of the endoscope 500 and prevent buckling of the endoscope 500 when the mounting unit 300 moves relative to the moving unit 200 or the mounting portion 310 rotates.

[0053] In addition, a folding member 430 that supports the plurality of guide holders 420 and moves in such a manner that the intervals between the plurality of guide holders 420 can be adjusted while maintaining the intervals therebetween may be provided on the holding unit 400 .

[0054] Reference Figure 3 , the plurality of guide holders 420 may be coupled to the folding member 430 by the coupling member 423 at intervals at positions where two links of the X shape intersect.

[0055] The folding member 430 may be composed of a plurality of links connected in an X shape with variable lengths, for example.

[0056] Therefore, by adjusting the length of the folding member 430 , the plurality of support holders 410 may be kept at the same intervals from one another.

[0057] The endoscope 500 may include: an operating member 510; and an outer sleeve 520, which is formed by extending a predetermined length from the operating member 510 and is operated by the operating member 510. A laser part in the form of a line (optical fiber) or a surgical instrument such as a basket for removing stones may be inserted into the outer sleeve 520. Therefore, the outer sleeve 520 of the endoscope 500 may penetrate the interior of the protective tube 620.

[0058] When the endoscope 500 is mounted on the mounting portion 310 of the mounting unit 300 , the outer tube 520 may penetrate the insertion member 421 of the guide holder 420 and be inserted into the interior of the passage sheath 600 .

[0059] The operation member 510 may be provided with an insertion tube 511 , through which the laser unit or the basket formed by connecting wires may be inserted into the outer sleeve 520 .

[0060] The operating member 510 may be detachably provided on the mounting portion 310 of the mounting unit 300. Since the front end of the operating member 510 is provided with an outer sleeve 520 having a predetermined length, when the operating member 510 is mounted on the mounting portion 310 of the mounting unit 300, the outer sleeve 520 may penetrate the guide holder 420 in the lateral direction and be inserted into the interior of the passage sheath 600.

[0061] For example, when performing surgery to remove kidney stones, during the process of repeatedly inserting the endoscope 500 into the ureter U or removing the endoscope 500 from the ureter U, the passage sheath 600 can play a protective role in preventing the inside of the ureter from being damaged.

[0062] The passage sheath 600 may include an inlet member 610 having a tapered shape and held on the support holder 410 , and a protection tube 620 formed to extend a predetermined length from the inlet member 610 .

[0063] Reference Figure 7 and Figure 8 , a passage sheath 600 is inserted through the patient's ureter U, and in order to remove the stone S generated in the kidney K, the outer sleeve 520 of the endoscope 500 is inserted into the interior of the passage sheath 600. At this time, as a surgical instrument, the interior of the outer sleeve 520 includes: a guide tube 530; and a wire 540, which passes through the interior of the guide tube 530, and the end of the wire 540 includes a basket 550 that can be grasped to remove the stone.

[0064] The support holder 410 may include a holding portion 411 to hold the inlet member 610 of the passage sheath 600 in such a manner that the inlet member 610 of the passage sheath 600 is detachable, and an arm portion 412 connected from the holding portion 411 to the housing 210 of the moving unit 200 .

[0065] The holding part 411 is elastic and has an opening formed therein so that a portion of the inlet member 610 of the passage sheath 600 can be removed. Therefore, if the inlet member 610 of the passage sheath 600 is inserted through the opening of the holding part 411, the inlet member 610 can be inserted into the holding part 411 and installed while the opening is opened.

[0066] The support holder 410 and the force sensing part 320 can be changed and fixed in the mobile unit 200 as required. When initially setting according to the distance between the surgical robot and the patient, the passage sheath 600 can be set at an appropriate distance so as not to apply force to the force sensing part 320.

[0067] The support holder 410 and the force sensing part 320 are connected to an additionally provided actuator (a motor, a linear screw, and an LM guide) so as to be able to perform linear reciprocating movement.

[0068] Furthermore, when the passage sheath 600 is inserted into the patient's ureter U, it is preferably inserted in a state where the insertion position is aligned. This is because if the insertion position is not aligned, a force may be generated and affect the force sensing unit 320. That is, it is necessary to measure the force generated simply by the action of inserting the outer sleeve 520 into the passage sheath 600 while the initial value is set to 0.

[0069] In an embodiment of the present invention, the arm portion 412 extends from the housing 210 of the mobile unit 200 and bends downward, and an end of the arm portion 412 may be connected to the holding portion 411 .

[0070] Therefore, the holding portion 411 can be aligned with the tapered insertion members 421 of the plurality of guide holders 420 , and the outer tube 520 of the endoscope 500 can be easily inserted into the interior of the channel sheath 600 .

[0071] At this time, according to an embodiment of the present invention, a force sensing unit 320 capable of measuring a force generated by the movement of the arm 412 may be fixed inside the housing 210 of the mobile unit 200. In other words, the force sensing unit 320 may be combined with and fixed to a bracket 413 fixed inside the housing 210 of the mobile unit 200, and may be in a state capable of contacting an end of the arm 412 supporting the holder 410.

[0072] The force sensing unit 320 may include a variety of sensors capable of measuring axial force, such as a load cell, a strain gauge, a fiber Bragg Grating (FBG) sensor, or a piezoelectric sensor.

[0073] The force sensing portion 320 may measure a force generated when the endoscope 500 moves forward and / or backward inside the passage sheath 600 .

[0074] In addition, after the access sheath 600 is inserted into the ureter, the force sensing unit 320 can measure the force applied to the access sheath 600 due to friction or entrapment of the endoscope 500 or the stone inside the access sheath 600 during the process of removing the stone through the endoscope 500.

[0075] In addition, in a state before the endoscope 500 is inserted, the force sensing part 320 can measure the force applied by the ureter to the access sheath during the process of inserting the access sheath 600 into the ureter and mounting it on the support holder 410 .

[0076] In addition, when the access sheath 600 is mounted on the support holder 410, the force sensing unit 320 can measure the force applied to the access sheath 600 due to the movement of the ureter caused by the patient's breathing during surgery.

[0077] When a force is applied to the passage sheath 600 mounted on the support holder 410 , the passage sheath 600 rotates or moves parallel to the end of the arm 412 , and the force sensor 320 can measure the force causing the movement of the arm 412 .

[0078] Reference Figure 4 , when the end of the arm 412 is connected and used as a hinge point, if a force is applied to the arm 412, the arm 412 can move in an arc with the hinge point as the center. However, since the displacement is very small, it can be regarded as a linear motion, and when a force is applied to the force sensing unit 320 due to such a hinge action, the applied force can be measured. At this time, the force sensing unit 320 can be combined with a bracket 413 fixed inside the housing 210 of the mobile unit 200 to maintain a fixed state.

[0079] In addition, the arm 412 may be configured such that the end thereof does not apply force to the force sensing portion 320 by a hinged action, but applies force by parallel movement. In this case, at least one guide sleeve for guiding the parallel movement may be provided at the end of the arm 412.

[0080] Alternatively, surgery may be performed by inserting only the endoscope 500 into the ureter without inserting the access sheath 600 into the ureter inside the human body.

[0081] In this case, when the endoscope 500 is inserted and removed, a force is received due to contact with the ureter, etc., and it is necessary to measure the force generated by the movement of the endoscope 500.

[0082] Therefore, the outer sleeve 520 of the endoscope 500 can be inserted into the ureter to be operated on through the holding portion 411 of the support holder 410 without holding the passage sheath 600 on the support holder 410. At this time, since the outer sleeve 520 of the endoscope 500 and the holding portion 411 are attached with frictional force, the support holder 410 can be moved by the force acting on the outer sleeve 520 of the endoscope 500.

[0083] Thus, the force generated when the endoscope 500 is inserted into or removed from the ureter can be transmitted to the arm 412 supporting the holder 510 through the retaining portion 411 , and the force acting on the endoscope 500 can be measured by the force sensing portion 320 .

[0084] In addition, as another example, a force sensing portion is provided on the mounting portion 310 of the mounting unit 300 on which the operating member 510 of the endoscope 500 is mounted, which can measure the force generated by the axial (lengthwise) movement of the endoscope 500. In this case, the mounting portion 310 can function as a holder for holding the endoscope 500.

[0085] The force sensing portion provided on the mounting portion 310 may be arranged in the axial direction where the endoscope 500 is subjected to force.

[0086] When the mounting unit 300 moves along the length direction from the moving unit 200, the operating member 510 of the endoscope 500 mounted on the mounting portion 310 has a certain degree of friction and maintains the mounting state. When the endoscope 500 moves due to surgical action, it can perform axial reciprocating movement in the mounting portion 310, and the force sensing portion provided on the mounting portion 310 can measure the force generated by such reciprocating movement.

[0087] In addition, the setting position of the force sensing unit for measuring the force acting on the endoscope 500 is not limited to this. The force generated by the axial (length direction) movement of the endoscope 500 can be measured by setting the force sensing unit between the mounting portion 310 and the main body of the mounting unit 300.

[0088] In other words, the force acting on the endoscope 500 is the same as the force acting on the access sheath 600, and may be the force generated when the endoscope 500 is inserted into or removed from the ureter, the force applied to the ureter due to the patient's breathing during the operation, the force generated in the ureter due to friction or entrapment during the stone removal operation after the operation, etc. These forces can be measured by the force sensing unit.

[0089] Since the force sensing portion 320 can measure forces acting in two directions, when forces (pushing force and pulling force) are applied in two directions to the support holder 410 or the endoscope 500 , these forces can be measured by the force sensing portion 320 .

[0090] In other words, the force sensing unit 320 can be pressed or stretched by the push and pull force acting on the passage sheath 600 or the endoscope 500, thereby measuring the force. After the end side of the arm 412 of the support holder 410 connected to the force sensing unit 320 or the endoscope 500 is displaced by the force, it can be returned to the original position by the force sensing unit 320.

[0091] In addition, refer to Fig.10 According to an embodiment of the present invention, the surgical robot may include a control unit 700. The control unit 700 receives the measurement value measured by the force sensing unit 320 and compares it with a preset reference value. If it is greater than the reference value, subsequent measures are performed, for example, stopping the action of the surgical robot or issuing an alarm through a separate alarm unit 710 to notify the user (doctor, etc.).

[0092] In addition, if the measured value of the force acting on the passage sheath 600 measured by the force sensing unit 320 is greater than the reference value, the present invention changes the setting position of the support retainer 410 supporting the passage sheath 600 and the force sensing unit 320 to move the setting position of the passage sheath 600, thereby reducing the measured force.

[0093] In other words, the control unit 700 compares the measured value of the force applied to the passage sheath 600 received by the force sensing unit 320 with the reference value. If the comparison result is that the measured value is greater than the reference value, the components of the support retainer 410 and the force sensing unit 320 can be moved within the moving unit 200 by controlling the actuator to adjust so that the measured value does not exceed the reference value.

[0094] For example, in order to remove the stone S in the patient's kidney K, the surgical robot according to one embodiment of the present invention first inserts the access sheath 600 into the interior of the ureter U, and then inserts the endoscope 500 through the interior of the access sheath 600 and approaches the stone S inside the kidney K.

[0095] The endoscope 500 includes an outer sleeve 520, the end of which bends as the endoscope 500 moves and can move toward the location of the stone.

[0096] The endoscope 500 is installed on the mounting unit 300 of the surgical robot, and the outer sleeve 520 of the endoscope 500 is configured to penetrate the entrance member 610 and the protective tube 620 of the passage sheath 600 held on the support retainer 410 of the retaining unit 400. At this time, since the mounting unit 300 can reciprocate along the length direction on the moving unit 200, the outer sleeve 520 of the endoscope 500 can also reciprocate inside the passage sheath 600.

[0097] Since the ureter U is not necessarily formed in a straight line, a curved section will appear when the passage sheath 600 is inserted into the ureter U. Therefore, during the process of inserting the outer sleeve 520 of the endoscope 500 into the passage sheath 600, a large friction will be generated due to the curved section of the passage sheath 600. At this time, the force applied to the passage sheath 600 during the insertion of the outer sleeve 520 can be measured by the force sensing unit 320.

[0098] Furthermore, when the access sheath 600 is inserted into the ureter U without the endoscope 500 being inserted into the access sheath 600 , the ureter presses the access sheath.

[0099] In other words, if the access sheath 600 is inserted into the ureteral entrance and is installed (held) in an inappropriate state without being properly aligned with the support holder 410 before inserting the endoscope 500, the ureter may be folded when the access sheath 600 pushes the ureter, and the access sheath 600 may be pressed during the insertion of the access sheath 600 into the ureter. The inner wall of the ureter may be damaged by such a force.

[0100] Therefore, when such a force pressed by the ureter acts on the access sheath 600, the force can be transmitted to the force sensing part 320 through the held support holder 410 to measure the force pressed by the ureter.

[0101] By grasping the measured force in this way, the access sheath 600 can be reset so as to be located at a position where the measured value of the force pressed by the ureter becomes 0. Thereafter, the endoscope 500 can be inserted into the set access sheath 600 to perform surgery.

[0102] In addition, during surgery after the access sheath 600 is installed, the ureter may move due to the patient's breathing, and thus, the fixed access sheath 600 and the moving ureter may generate a force pressing the access sheath 600. Therefore, in such a situation, the force of the access sheath 600 pressed by the ureter can be measured by the force sensing unit 320.

[0103] A laser part or a basket may be inserted into the outer sleeve 520 of the endoscope 500, and when the outer sleeve 520 is inserted into the interior of the passage sheath 600, the laser part may protrude from the end of the outer sleeve 520 and crush the stone at a predetermined distance from the stone.

[0104] After the stone S in the kidney K is broken, as a follow-up measure, the stone can be captured by the endoscope 500 provided with the outer sleeve 520 having the basket 550 and taken out to the outside of the access sheath 600.

[0105] However, the present invention is not limited thereto, and an endoscope having a laser unit and a basket 550 may be disposed in the channel of the outer tube 520 to perform surgery.

[0106] At this time, the guide tube 530 can be inserted into the inner space of the outer sleeve 520 and moved. The guide tube 530 can guide the wire 540 and the basket 550 to the location where the stone is located.

[0107] The guide tube 530 may be a part of the endoscope 500, and thus the end of the guide tube 530 bends as the endoscope 500 moves, thereby being able to move toward the location of the stone.

[0108] The wire 540 may be inserted into the inside of the guide tube 530 and moved.

[0109] Additionally, the wire 540 may move relatively rearward relative to the guide tube 530 until the basket 550 is caught in front of the guide tube 530 and cannot move further rearward.

[0110] The basket 550 is disposed in front of the wire 540 to catch stones, and can catch stones by switching between an expanded state and a contracted state.

[0111] The basket 550 may be made of a material that returns to its original shape when no external force is applied.

[0112] The imaging unit 560 is disposed at the front end of the guide tube 530 and can image the stones captured by the basket 550 .

[0113] The imaging unit 560 may include a high-definition micro-endoscopic camera.

[0114] The photographing unit 560 can photograph the overall appearance of the periphery of the stone by rotating the basket 550 holding the stone. Therefore, when the photographing unit 560 can grasp the overall shape of the stone held inside the basket 550 at one time, the photographing can be completed at one time without rotating.

[0115] According to an embodiment of the present invention, when the basket 550 retreats through the interior of the passage sheath 600 while grasping the stone, the stone may be of a size that is difficult to pass through the interior space of the passage sheath 600 or a size that can pass through but not smoothly.

[0116] The direction in which the basket 550 retreats through the interior of the access sheath 600 may be a direction away from the kidney.

[0117] In this case, the retracting force of the outer sleeve 520 of the retracting endoscope 500 is transmitted to the passage sheath 600, and the passage sheath 600 can receive the force to retract from the original position.

[0118] At this time, the support holder 410 of the holding unit 400 holding the passage sheath 600 receives a retreating force, and the arm portion 412 of the support holder 410 moves accordingly, so that the force can be measured by the force sensing portion 320 in a fixed state.

[0119] In addition, in the process of removing the stone captured by the basket 550, if the stone is forcibly removed (pulled out) when the stone is stuck in the passage sheath 600, the basket 550 or the wire 540 may break. If this situation occurs, it may be very difficult to solve, so the tension generated by the stone stuck on the passage sheath 600 is measured by the force sensing unit 320. If the measured value is greater than the reference value, the unreasonable action can be terminated and subsequent measures can be taken.

[0120] As described above, as the outer sleeve 520 moves, forces in two directions act on the passage sheath 600 , and the force sensing part 320 can measure the forces in two directions acting on the passage sheath 600 .

[0121] When the direction of insertion into the passage sheath 600 is set as a first direction, and the direction of removal from the passage sheath 600 is set as a second direction, the force in the first direction may be the force generated in the process of inserting the outer sleeve 520 into the passage sheath 600, and the force in the second direction may be the force generated in the process of removing the outer sleeve 520 from the passage sheath 600 to the outside.

[0122] In other words, the force in the first direction may be the thrust generated when inserting the outer sleeve 520 into the passage sheath 600, and the force in the second direction may be the tension generated when pulling the outer sleeve 520 out of the passage sheath 600 to the outside.

[0123] In addition, if smooth insertion of the outer tube 520 into the access sheath 600 cannot be achieved, the insertion may be performed while performing the forward / retracting motion in parallel with the retracting motion.

[0124] Therefore, the force in the first direction may be the force caused by friction or getting stuck in the curved section when the outer sleeve 520 is inserted into the passage sheath 600, and the force in the second direction may be the force caused by the broken stones in the kidney being stuck in the passage sheath 600 when the broken stones in the kidney are being moved back inside the passage sheath 600 to be removed to the outside of the patient's body.

[0125] In addition, when the endoscope 500 is not inserted into the access sheath 600 , a thrust from the ureter may be applied to the access sheath 600 , and the force applied from the ureter to the access sheath 600 may be measured by the force sensing unit 320 .

[0126] As described above, when the force sensing unit 320 measures the force acting on the passage sheath 600 or the endoscope 500, the information of the measured value can be applied to the control unit 700. The control unit 700 compares the measured value measured by the force sensing unit 320 with the reference value. If the measured value is greater than the reference value, the alarm unit 710 issues a prompt to pause the operation of the surgical robot. After the stone is crushed again by the stone crushing operation to a size that can smoothly pass through the passage sheath 600 or the ureter, the operation of removing the stone from the inside of the kidney to the outside of the body through the basket 550 can be performed again.

[0127] In a surgical robot according to an embodiment of the present invention, since the mobile unit 200 rotates on the main unit 100, the mounting unit 300 reciprocates on the mobile unit 200, and the endoscope 500 can be rotated by the mounting portion 310 provided on the mounting unit 300, the surgical operation of removing stones in the patient's kidney can be accurately performed. At the same time, since the force generated during the surgical operation can be accurately measured by the force sensing portion 320 to take appropriate measures, a safer operation can be performed.

[0128] In one embodiment of the present invention, an operation for removing kidney stones is described, but the present invention is not limited thereto and can be applied to operations in various parts of the body using an endoscope, such as a bile duct stone removal operation.

[0129] The features, structures, effects, etc. described in the above embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. In addition, the features, structures, effects, etc. of each embodiment can be combined or modified with other embodiments by a technician with general knowledge of the field to which the embodiment belongs. Therefore, the contents related to the above combinations and modifications should be interpreted as being included within the scope of the present invention.

[0130] In addition, the above description is centered on the embodiment, but this is only an example and is not intended to limit the present invention. Anyone skilled in the art will know that various modifications and applications not shown in the above examples can be performed without departing from the essential features of the present embodiment. For example, the various components shown in detail in the embodiment can be deformed and implemented. And the differences related to such deformation and application should be understood to be included in the scope of the present invention as defined by the attached claims.

[0131] Next, Figures 11 to 16 The illustrated embodiment is described.

[0132] Fig.11 is a diagram showing a surgical robot according to an embodiment, Fig.12 is a perspective view showing a driving portion of a slave device according to an embodiment.

[0133] Reference Fig.11 and Fig.12 According to an embodiment, a surgeon may perform surgery using a surgical robot 1. The surgical robot 1 may include a master device M and a slave device S.

[0134] The main device M can be controlled by the surgeon. For example, the main device M may include a screen and a controller. The surgeon can use the controller to control the slave device S connected to the main device M and confirm the progress of the operation in real time through the screen. The main device M and the slave device S can be connected in a wired or wireless manner. In order to control the slave device S, the surgeon can also input instructions directly to the screen. For example, the surgeon can input values ​​such as the height and rotation angle of the slave device S to the screen. In addition, unlike what is shown in the drawings of this specification, the screen and controller of the main device M can also be formed in an integrated manner.

[0135] The slave device S may receive signals from the master device M and perform actions required for the operation. The slave device S may include surgical instruments inserted into the patient's body. For example, the slave device S may include an endoscopic device, a laser for crushing kidney stones, a basket for grabbing crushed kidney stones, etc. The slave device S may include a support portion 11, a drive portion 12, a surgical robot 13, an endoscope holder 14, a passage sheath 15, and an endoscope device 71.

[0136] The support portion 11 may be configured to be movable relative to the ground. The support portion 11 may include: a support base 111, to which at least one wheel is attached; and a support body 112, connected to the support base 111. The support body 112 may receive a signal from the host device M to perform relative movement relative to the support base 111. For example, the support body 112 may rotate relative to the support base 111 with the z-axis as the rotation axis, or may move in parallel along the x-axis and y-axis directions.

[0137] The driving unit 12 is supported by the supporting unit 11 and can move relative to the supporting unit 11. For example, the driving unit 12 can receive a signal from the host device M to rotate relative to the supporting body 112 about the x-axis as the rotation axis, or move in parallel along the z-axis direction.

[0138] The surgical robot 13 is connected to the rail 19 formed on the driving part 12 and can be set to be able to slide along the length direction of the driving part 12. The surgical robot 13 can support the endoscope device 71 and receive a signal from the main device M to control the endoscope device 71. For example, the surgical robot 13 can move the handle 712 of the endoscope device 71 that controls the direction in which the endoscope 713 of the endoscope device 71 is bent. In a state where the surgical robot 13 supports the endoscope device 71, the relative movement of the endoscope device 71 with respect to the surgical robot 13 can be limited. The error caused by the movement of the endoscope device 71 can be reduced, thereby improving the stability and accuracy of the operation.

[0139] The endoscope holder 14 can support the endoscope 713 of the endoscope device 71. When the surgical robot 13 slides or rotates relative to the drive unit 12, the endoscope holder 14 can prevent the endoscope 713 of the endoscope device 71 from buckling. For example, a plurality of endoscope holders 14 can be provided along the length direction of the endoscope 713 of the endoscope device 71 and spaced from each other. For example, a plurality of endoscope holders 14 can slide in one direction along the length direction of the drive unit 12.

[0140] The channel sheath 15 can be connected to the end of the driving unit 12 and inserted into the body of the patient during surgery. The endoscope 713 of the endoscope device 71 can reach the surgical site of the patient through the channel sheath 15.

[0141] The endoscope device 71 installed on the surgical robot 13 may be an endoscope device that controls the bending of the endoscope 713 by the relative movement of the handle 712 relative to the body 711 of the endoscope device 71. For example, when the handle 712 of the endoscope device 71 is moved in a certain direction relative to the body 711 of the endoscope device 71, the endoscope 713 of the endoscope device 71 is bent to the left, and when the handle 712 is moved in the opposite direction of the certain direction, the endoscope 713 of the endoscope device 71 may be bent to the right.

[0142] Fig.13 is a perspective view showing an endoscopic device, a coupler, and a mounting member manufactured by Boston Scientific according to an embodiment, Fig.14 is a perspective view showing a coupling and a mounting member according to an embodiment.

[0143] Reference Fig.13 and Fig.14 According to one embodiment, the surgical robot 13 may include a connector 131 and a mounting member 132. The connector 131 may support the endoscopic device 71 and fix a portion of a surgical cloth (not shown, drape) relative to the mounting member 132. The surgical cloth refers to a vinyl that isolates the master device and the slave device from microorganisms and other sources of contamination in the surgical robot. After one end of the surgical cloth is arranged between the connector 131 and the mounting member 132, the connector 131 is installed on the mounting member 132, and a portion of the surgical cloth can be pressurized by the connector 131 and the mounting member 132. Through such a configuration, a portion of the surgical cloth can be fixed to the surgical robot 13, and the surgical robot 13 can be completely covered by the remaining portion of the surgical cloth. For hygiene reasons, the connector 131 can be a disposable component that is replaced after the operation is completed.

[0144] The connector 131 may have a variety of shapes to accommodate endoscope devices 71 manufactured by multiple manufacturers including Boston Scientific, Karl Storz, and OTU Medical. The specifications of the endoscope devices 71 manufactured by multiple manufacturers are different. For example, the position of the handle 712 relative to the body 711 of the endoscope device 71, the direction in which the endoscope 713 extends from the body 711, etc. may be different. When using a surgical robot 13 with a fixed shape, it may be difficult to interchangeably use endoscope devices 71 with multiple specifications. The surgeon can replace the connector 131 with a different shape relative to the mounting member 132 with a fixed shape to use various types of endoscope devices 71. Below, for ease of description, the connector 131 that accommodates the endoscope device 71 manufactured by Boston Scientific will be described. The connector 131 may include a connector body 1311, a cover 1312, a main hole 1313, and a guide protrusion 1314.

[0145] The endoscope device 71 may be disposed in the coupling body 1311. In order to accommodate the endoscope device 71, the coupling body 1311 may include a groove formed concavely along the edge of the endoscope device 71. When the endoscope device 71 is accommodated in the coupling body 1311, the rotation of the endoscope device 71 relative to the coupling body 1311 may be restricted.

[0146] One end of the cover 1312 can be hingedly connected to the connector body 1311, which can prevent the endoscope device 71 from being separated from the connector body 1311. After the endoscope device 71 is accommodated in the connector body 1311, the other end of the cover 1312 can be fixed to the connector body 1311. In the state as described above, the endoscope device 71 is pressurized by the cover 1312, and the relative movement of the cover 1312 with respect to the connector body 1311 can be restricted.

[0147] A main hole 1313 is formed through the connector body 1311. The handle 712 of the endoscope device 71 can be accommodated in the main hole 1313. The main hole 1313 can be formed along its circumference with an axis as the center. The main hole 1313 can be a space in which the handle 712 can move relative to the main body 711 of the endoscope device 71. Since the main body 711 of the endoscope device 71 is fixed by the connector body 1311 and the cover 1312, the bending of the endoscope 713 of the endoscope device 71 can be controlled by moving the handle 712 relative to the main body 711.

[0148] The mount 132 may include a mount body 1321 , a rotor 1322 , a handle holder 1323 , a vertical extension 1324 , and a plurality of guide grooves 1325 .

[0149] The mounting body 1321 may be connected to a track formed on the driving part. A rotor 1322 that can rotate about an axis may be provided on one surface of the mounting body 1321. The rotor 1322 may receive a signal from the host device to rotate in a clockwise direction and a counterclockwise direction.

[0150] The handle holder 1323 may be connected to the rotor 1322 and to the handle 712 of the endoscope device 71. For example, the handle holder 1323 may be hingedly connected to the edge of the rotor 1322. The handle 712 of the endoscope device 71 may be located between a pair of pressurizing surfaces of the handle holder 1323. The pair of pressurizing surfaces facing each other may pressurize one side and the other side of the handle 712 of the endoscope device 71, respectively. For example, when the rotor 1322 rotates in a clockwise direction, one of the pair of pressurizing surfaces may pressurize one side of the handle 712 of the endoscope device 71, and the handle 712 of the endoscope device 71 may rotate in a clockwise direction. Different from this, when the rotor 1322 rotates in a counterclockwise direction, the other of the pair of pressurizing surfaces may pressurize the other side of the handle 712 of the endoscope device 71, and the handle 712 of the endoscope device 71 may rotate in a counterclockwise direction.

[0151] In one embodiment, the handle holder 1323 may be configured to be replaceable. For example, the handle 712 of the endoscope device 71 manufactured by different manufacturing companies may have different widths from each other. Due to the gap between a pair of pressurized surfaces of the handle holder 1323 and the handle 712 of the endoscope device 71, when the handle holder 1323 in a stationary state rotates in a certain direction, the handle 712 of the endoscope device 71 will be pressurized by the handle holder 1323, but there may be a delay time. By using a handle holder 1323 fixed to each handle 712 having different widths from each other, the error caused by the delay time can be reduced, and the maintenance and repair costs of the surgical robot 13 can be reduced.

[0152] The vertical extension portion 1324 protrudes from the mounting body 1321 and may be formed along the circumference thereof with the rotation axis of the rotor 1322 as the center. For example, the vertical extension portion 1324 is formed along the edge of the rotor 1322 to prevent foreign matter from entering through the gap between the mounting body 1321 and the rotor 1322. A plurality of guide grooves 1325 are formed on the outer circumferential surface of the vertical extension portion 1324.

[0153] A plurality of guide grooves 1325 may be formed spaced apart from each other with the rotation axis of the rotor 1322 as the center. Each guide groove 1325 may be formed along its circumference with the rotation axis of the rotor 1322 as the center. With such a structure, after the guide protrusion 1314 of the coupling 131 is inserted into the guide groove 1325, the coupling 131 is rotated in the formation direction of the guide groove 1325, and the coupling 131 may be mounted on the mounting member 132. In a state where the coupling 131 is mounted on the mounting member 132, the movement of the coupling 131 in the up-and-down direction relative to the mounting member 132 may be restricted.

[0154] In the drawings of the present specification, three guide protrusions 1314 and three guide grooves 1325 are shown, but it should be noted in advance that the number of guide protrusions 1314 and guide grooves 1325 is not limited thereto.

[0155] In a state where the connector 131 is mounted on the mounting member 132 , rotation of the connector 131 relative to the mounting member 132 may be restricted by the hook 1326 and the elastic protrusion 1316 .

[0156] The hook 1326 may include a hook body 1326a supported by the mounting member body 1321, and a hook head 1326b protruding from the hook body 1326a. When the connector 131 is mounted on the mounting member 132, the hook head 1326b may be received in a hook receiving groove 1315 formed on the connector body 1311 facing the hook body 1326a and stuck on the connector body 1311. When the connector body 1311 attempts to rotate in a direction away from the hook head 1326b in the hook receiving groove 1315, the connector body 1311 may be stuck by the hook head 1326b, and the rotation of the connector body 1311 may be restricted.

[0157] The elastic protrusion 1316 can protrude from the connector body 1311, and is configured to be compressed when pressurized, and to return to its original position by elastic force when not pressurized. When the hook head 1326b is stuck on the connector body 1311, the elastic protrusion 1316 can be in a state of pressurizing the hook body 1326a. When the connector body 1311 attempts to rotate in the direction of the hook receiving groove 1315 close to the hook head 1326b, the rotation of the connector body 1311 can be limited by the restoring force of the elastic protrusion 1316. The hook head 1326b can maintain a state of being stuck on the connector body 1311. The state described above can also be called a "completely tightened state."

[0158] The connector 131 may further include at least one of a first sensing target 1317 and a second sensing target 1318. The operator may determine whether the endoscope device 71 is supported by the connector 131 through the first sensing target 1317. The operator may confirm whether the connector 131 is fixed to the mounting member 132 through the second sensing target 1318.

[0159] The first sensing target 1317 may be formed through the connector body 1311 along the direction in which the endoscope device 71 is accommodated in the connector 131. The upper portion of the first sensing target 1317 may be located on the surface of the connector body 1311 on which the endoscope device 71 is disposed, and the lower portion of the first sensing target 1317 may be located on the opposite side of the surface of the connector body 1311 on which the endoscope device 71 is disposed. For example, the upper portion of the first sensing target 1317 includes a material having elasticity, and the lower portion of the first sensing target 1317 may include metal.

[0160] In a state where the endoscope device 71 is not accommodated in the connector 131, the upper portion of the first sensing target 1317 may be in a state of protruding from the connector body 1311. In a state where the connector 131 is mounted on the mounting member 132, when the endoscope device 71 is accommodated in the connector 131, the upper portion of the first sensing target 1317 is pressurized by the endoscope device 71, and the lower portion of the first sensing target 1317 may move toward the mounting member 132. The first sensor 1327 formed in the mounting member body 1321 may generate a signal after sensing that the metal included in the lower portion of the first sensing target 1317 is within a preset distance. The first sensor 1327 may be configured, for example, inside the mounting member body 1321. In addition, when no longer pressurized by the endoscope device 71, the first sensing target 1317 may be restored to its original position by a restoring force.

[0161] The second sensing target 1318 may be arranged on the surface of the connector body 1311 facing the mounting member 132. For example, the second sensing target may be metal. In a fully tightened state in which the connector 131 is guided by the guide groove 1325 of the mounting member 132 to connect with the vertical extension 1324 and the hook head 1326b of the mounting member 132 is stuck on the connector body 1311, the second sensing target 1318 may overlap with the second sensor 1328 formed on the mounting member body 1321, based on the direction in which the endoscope device 71 is accommodated in the connector 131. The second sensor 1328 may generate a signal after sensing that the second sensing target 1318 is within a preset distance. The second sensor 1328 may be arranged, for example, inside the mounting member body 1321.

[0162] In addition, when both the first sensing target 1317 and the second sensing target 1318 are made of metal, the surgeon can appropriately set the sensing range of the first sensor 1327 and the second sensor 1328 so that the first sensor 1327 cannot sense the second sensing target 1318 or the second sensor 1328 cannot sense the first sensing target 1317.

[0163] Fig.15 is a perspective view showing a coupling supporting an endoscope device manufactured by Karl Storz, Fig.16 is a perspective view showing a coupling supporting an endoscope device manufactured by OTU Medical.

[0164] Reference Fig.15 and Fig.16 According to one embodiment, the connector 231 for supporting the endoscope device 81 manufactured by Karl Storz and the connector 331 for supporting the endoscope device 71 manufactured by OTU Medical may be designed to have different shapes from each other.

[0165] Not only endoscopic devices (e.g. Fig.13 Endoscopic device 71, Fig.15 The endoscope device 81 and Fig.16 The shape of the endoscope device 91) can also be designed by considering the width of the handle of the endoscope device 71, 81, 91, the driving position of the handle of the endoscope device 71, 81, 91, etc. (for example: Fig.13 Connector 131, Fig.15 Connector 231 and Fig.16 For example, the position and depth of the groove formed in the connector body can be designed differently according to the shape of the body of the endoscope device 71, 81, 91. For example, the position and width of the main hole formed in the connector body can be designed differently according to the length of the handle protruding from the body and the range of movement of the handle.

[0166] In a state where the endoscope is not bent, the initial position, which is the position of the handle relative to the main body, may be different. In this case, the handle holder may be fixed to the handle after the rotor of the mounting member is rotated in advance to move the handle holder to the initial position of the handle. The length of the main body of the endoscope devices 71, 81, 91 manufactured by different manufacturing companies may be different. In a state where the endoscope devices 71, 81, 91 are supported by a surgical robot, the distance between the main body of the endoscope and the endoscope holder (hereinafter referred to as the "first endoscope holder") configured to be closest to the main body among the multiple endoscope holders may be different for each endoscope device 71, 81, 91.

[0167] The greater the angle between the direction in which the endoscope of the endoscope device 71, 81, 91 enters the first endoscope holder and the direction in which the plurality of endoscope holders are arranged in a row, the greater the bending of the endoscope. When the endoscope extending from the main body of the endoscope device 71, 81, 91 passes through the plurality of endoscope holders in a straight line without bending, the bending of the endoscope can be reduced. When the endoscope is bent, it is difficult for the endoscope to reach the affected part of the patient, and an error may occur between the user's operation and the movement of the endoscope.

[0168] In order to reduce the bending of the endoscope of the endoscope device 71, 81, 91, the angle at which each endoscope device 71, 81, 91 is accommodated in the surgical robot may be different. In other words, when the endoscope device 71, 81, 91 is accommodated in the connector 131, 231, 331 and the connector 131, 231, 331 is in a completely tightened state relative to the mounting member, the angle formed by the length direction of the endoscope device 71, 81, 91 and the length direction of the drive unit may be different. For example, by designing the position of the guide protrusion formed on the connector body differently, the angle formed by the length direction of the endoscope device 71, 81, 91 and the length direction of the drive unit can be adjusted.

[0169] In addition, the configuration of the endoscope device 71, 81, 91 that minimizes the bending of the endoscope can be determined using modeling software. For example, by modeling the shape of each endoscope device 71, 81, 91 to calculate the values ​​of the length of the main body, the angle of the endoscope protruding from the main body, the distance between the main body and the first endoscope holder, etc., it is possible to determine the optimal configuration position of the endoscope device 71, 81, 91 that can minimize the bending.

[0170] Additional Example #1-1

[0171] Embodiment 1: A surgical robot assembly, comprising:

[0172] an access sheath configured to be inserted into a subject;

[0173] an endoscope comprising an outer cannula configured to be inserted into the access sheath;

[0174] a surgical instrument configured to be inserted into the outer sleeve; and

[0175] A sensing portion detects the presence, absence, or amount of force applied to the access sheath.

[0176] Embodiment 2: According to the surgical robot assembly described in the above embodiment, it is characterized in that the outer sleeve is combined with the end of the endoscope.

[0177] Embodiment 3: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the subject is a human.

[0178] Embodiment 4: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the subject is an animal.

[0179] Embodiment 5: According to any one of the above embodiments, the surgical robot assembly is characterized in that the presence, absence or amount of the force is detected.

[0180] Embodiment 6: According to any one of the above embodiments, the surgical robot assembly is characterized in that the endoscope enters and / or leaves the subject.

[0181] Embodiment 7: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the stone is removed from the subject by the surgical robot.

[0182] Embodiment 8: A method, comprising the first end and a second end opposite to the first end, the passage sheath comprising the second end opposite to the first end, the surgical robot assembly comprising the first end, and the passage sheath comprising an inlet at the first end.

[0183] Embodiment 9: The surgical robot assembly according to any one of the above embodiments is characterized in that the inlet is conical.

[0184] Embodiment 10: A surgical robot assembly according to any one of the above embodiments, further comprising a support retainer, wherein the support retainer is operably coupled to the entrance.

[0185] Embodiment 11: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the support retainer includes a retaining member and an arm member, the retaining member is configured to be combined with the entrance of the passage sheath, and the arm is combined with the retaining member at a first end and with the sensing part at a second end.

[0186] Embodiment 12: A surgical robot assembly according to any one of the above embodiments, characterized in that the arm member includes a bending portion, and the arm member is configured to serve as a hinge point.

[0187] Example 13: The surgical robot assembly is characterized in that the outer sleeve is capable of moving in the passage sheath along a first direction and a second direction opposite to the first direction, and when the outer sleeve moves in the passage sheath along the first direction, a first force is generated, and when the outer sleeve moves in the passage sheath along the second direction, a second force is generated.

[0188] Embodiment 14: The surgical robot assembly is characterized in that the sensing portion measures each of the first force and the second force.

[0189] Embodiment 15: The surgical robot assembly is characterized in that when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0190] Embodiment 16: A surgical robot assembly according to any of the above embodiments, further comprising a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the passage sheath.

[0191] Embodiment 17: According to any one of the above embodiments, the surgical robot assembly is characterized in that it also includes a control unit, which analyzes the force sensed by the sensing unit, and when the force exceeds a critical value, the control unit activates the alarm unit.

[0192] Embodiment 18: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the critical value is a predetermined force value.

[0193] Embodiment 19: The surgical robot assembly is characterized in that the surgical robot assembly compares the force sensed by the sensing part with a predetermined force value.

[0194] Embodiment 20: A surgical robot assembly according to any one of the above embodiments, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0195] Embodiment 21: Use of the surgical robot assembly according to any of the above embodiments for performing surgical operations.

[0196] Embodiment 22: A surgical robot system, comprising:

[0197] The main device, which has a screen and controller;

[0198] Driver;

[0199] a moving part, combined with the driving body; and

[0200] a surgical robot assembly including an endoscope and configured to receive a signal from the master device,

[0201] In response to a signal from the master device, the surgical robot assembly moves relative to the body via the moving portion.

[0202] Embodiment 23: According to the surgical robot system of embodiment 22, wherein the surgical robot component further comprises:

[0203] an access sheath configured to be inserted into a subject;

[0204] an outer cannula configured to be inserted into the access sheath;

[0205] a surgical instrument configured to be inserted into the outer sleeve; and

[0206] A sensing portion detects the presence, absence, or amount of force applied to the access sheath.

[0207] Example 24: The surgical robot system according to Example 22 or Example 23 is characterized in that the outer sleeve is combined with the end of the endoscope.

[0208] Embodiment 25: The surgical robot system according to any one of Embodiments 22 to 24, characterized in that the subject is a human.

[0209] Example 26: The surgical robot system according to any one of Examples 22 to 24, characterized in that the subject is an animal.

[0210] Example 27: A surgical robot system according to any one of Examples 22 to 26, characterized in that it detects the presence, absence or amount of force.

[0211] Example 28: A surgical robot system according to any one of Examples 22 to 27, characterized in that the endoscope enters and / or leaves the subject.

[0212] Example 29: A surgical robot system according to any one of Examples 22 to 28, characterized in that stones are removed from the subject by the surgical robot.

[0213] Embodiment 30: A surgical robot system according to any one of Embodiments 22 to 29, wherein the passage sheath comprises a first end and a second end opposite to the first end, and the passage sheath comprises an inlet at the first end.

[0214] Embodiment 31: A surgical robot system according to any one of embodiments 22 to 30, characterized in that the entrance is conical.

[0215] Embodiment 32: A surgical robot system according to any one of Embodiments 22 to 31, further comprising a support retainer operably coupled to the entrance.

[0216] Example 33: According to any one of Examples 22 to 32, the surgical robot system is characterized in that the support retainer includes a retaining member and an arm member, the retaining member is configured to be combined with the entrance of the passage sheath, and the arm is combined with the retaining member at a first end and with the sensing part at a second end.

[0217] Embodiment 34: A surgical robot system according to any one of Embodiments 22 to 33, characterized in that the arm member includes a bending portion, and the arm member is configured to serve as a hinge point.

[0218] Example 35: A surgical robot system according to any one of Examples 22 to 34, wherein the outer sleeve is capable of moving within the passage sheath along a first direction and a second direction opposite to the first direction, and a first force is generated when the outer sleeve moves within the passage sheath along the first direction, and a second force is generated when the outer sleeve moves within the passage sheath along the second direction.

[0219] Embodiment 36: A surgical robot system according to any one of Embodiments 22 to 35, characterized in that the sensing unit measures each of the first force and the second force.

[0220] Example 37: The surgical robot system according to any one of Examples 22 to 36 is characterized in that when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm component.

[0221] Example 38: A surgical robot system according to any one of Examples 22 to 37, further comprising a guide tube, a wire and a basket arranged at the end of the wire, the wire being configured to be inserted through the guide tube, and the guide tube being composed of a tube configured to be inserted through the passage sheath.

[0222] Example 39: A surgical robot system according to any one of Examples 22 to 38, further comprising a control unit, which analyzes the force sensed by the sensing unit, and activates the alarm unit when the force exceeds a critical value.

[0223] Embodiment 40: A surgical robot system according to any one of embodiments 22 to 39, characterized in that the critical value is a predetermined force value.

[0224] Example 41: The surgical robot system according to any one of Examples 22 to 40 is characterized in that the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0225] Example 42: A surgical robot system according to any one of Examples 22 to 41, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0226] Example 43: Use of the surgical robot system according to any one of Examples 22 to 42 for performing surgical operations.

[0227] Embodiment 44: A method for operating a surgical robot, the method comprising the steps of: operating an endoscope assembly including an overtube, a surgical tool, a passage sheath, and a sensing unit; and adjusting the endoscope in response to a signal received from the sensing unit.

[0228] Embodiment 45: The method of Embodiment 44, wherein the passage sheath comprises a first end and a second end opposite the first end, the passage sheath comprising an inlet at the first end.

[0229] Example 46: The method according to Example 44 or Example 45 is characterized in that the endoscope assembly also includes a support retainer, which is operably coupled to the inlet, and the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the inlet of the passage sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0230] Example 47: The method according to any one of Examples 44 to 46 is characterized in that the step of operating the endoscope assembly includes the following steps: inserting the access sheath into the patient; and inserting the outer sleeve through the access sheath, when the outer sleeve is inserted through the access sheath along a first direction, a first force is generated, and the sensing part detects and measures the first force.

[0231] Example 48: The method according to any one of Examples 44 to 47 is characterized in that when the outer sleeve moves along the second direction within the passage sheath, a second force is generated, and the sensing part detects and measures the first force.

[0232] Example 49: A method according to any one of Examples 44 to 48, wherein the first force or the second force is transmitted to the arm member when the endoscope assembly is operated.

[0233] Example 50: A method according to any one of Examples 44 to 49, wherein the endoscope further comprises a guide tube, a wire, and a basket disposed at the end of the wire.

[0234] Example 51: A method according to any one of Examples 44 to 50, wherein the step of operating the endoscope includes the following steps: inserting the guide tube through the access sheath; and inserting the wire and the basket through the guide tube.

[0235] Example 52: The method according to any one of Examples 44 to 51 is characterized in that the endoscope assembly also includes a control unit, which is used to analyze the force sensed by the sensing unit.

[0236] Example 53: A method according to any one of Examples 44 to 52, wherein the step of adjusting the endoscope assembly includes the following steps: analyzing the force sensed by the sensing unit; sending a signal to the alarm unit when the force exceeds a critical force; and responding to an alarm generated by the alarm unit.

[0237] Example 54: A method according to any one of Examples 44 to 53, wherein the step of responding to the alarm unit comprises the step of stopping the movement of the outer sleeve within the access sheath.

[0238] Example 55: A method according to any one of Examples 44 to 54, wherein the step of responding to the alarm unit comprises the step of changing the direction of movement of the outer sleeve within the passage sheath.

[0239] Embodiment 56: The method according to any one of embodiments 44 to 55 is characterized in that the critical force is a predetermined force value, and the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0240] Example 57: The method according to any one of Examples 44 to 56, further comprising the step of providing a moving portion, wherein the endoscope assembly is operably coupled to the moving portion so that the endoscope assembly can move linearly along the moving portion.

[0241] Example 58: A method according to any one of Examples 44 to 57, wherein the movable portion is configured to tilt relative to the body to be able to adjust the angle of the endoscope assembly relative to the patient, and the movable portion can move vertically relative to the body to adjust the height of the endoscope relative to the patient.

[0242] Example 59: A method according to any one of Examples 44 to 58, wherein the step of operating the endoscope includes the following steps: adjusting the height of the endoscope assembly by adjusting the position of the movable part relative to the body in the vertical direction; and adjusting the angle of the endoscope assembly by adjusting the angle of the movable part relative to the body.

[0243] Other Examples #1-2

[0244] Embodiment 1: A surgical robot assembly, comprising:

[0245] an endoscope comprising an overtube configured to be inserted into a ureter of a subject;

[0246] a surgical instrument configured to be inserted into the outer sleeve; and

[0247] The sensing unit senses the presence or amount of force applied to the ureter.

[0248] Embodiment 2: According to the surgical robot assembly described in the above embodiment, it is characterized in that the outer sleeve is combined with the end of the endoscope.

[0249] Embodiment 3: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the subject is a human.

[0250] Embodiment 4: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the subject is an animal.

[0251] Embodiment 5: According to any one of the above embodiments, the surgical robot assembly is characterized in that the presence, absence or amount of the force is detected.

[0252] Embodiment 6: According to any one of the above embodiments, the surgical robot assembly is characterized in that the endoscope enters and / or leaves the subject.

[0253] Embodiment 7: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the stone is removed from the subject by the surgical robot.

[0254] Embodiment 8: A surgical robot assembly according to any of the above embodiments, further comprising a passage sheath, the passage sheath being configured to be inserted into the subject, the outer sleeve being configured to be inserted into the passage sheath, the passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an entrance at the first end.

[0255] Embodiment 9: The surgical robot assembly according to any one of the above embodiments is characterized in that the inlet is conical.

[0256] Embodiment 10: A surgical robot assembly according to any one of the above embodiments, further comprising a support retainer, wherein the support retainer is operably coupled to the entrance.

[0257] Embodiment 11: A surgical robot assembly according to any of the above embodiments, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be combined with the entrance of the ureter or the entrance of the passage sheath, and the arm is combined with the retaining member at a first end and with the sensing portion at a second end.

[0258] Embodiment 12: A surgical robot assembly according to any one of the above embodiments, characterized in that the arm member includes a bending portion, and the arm member is configured to serve as a hinge point.

[0259] Example 13: The surgical robot assembly is characterized in that the outer sleeve is capable of moving in the ureter or the access sheath along a first direction and a second direction opposite to the first direction, and when the outer sleeve moves in the ureter or the access sheath along the first direction, a first force is generated, and when the outer sleeve moves in the ureter or the access sheath along the second direction, a second force is generated.

[0260] Embodiment 14: The surgical robot assembly is characterized in that the sensing portion measures each of the first force and the second force.

[0261] Embodiment 15: The surgical robot assembly is characterized in that when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0262] Embodiment 16: A surgical robot assembly according to any of the above embodiments, further comprising a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the ureter or the access sheath.

[0263] Embodiment 17: According to any one of the above embodiments, the surgical robot assembly is characterized in that it also includes a control unit, which analyzes the force sensed by the sensing unit, and when the force exceeds a critical value, the control unit activates the alarm unit.

[0264] Embodiment 18: According to the surgical robot assembly described in any of the above embodiments, it is characterized in that the critical value is a predetermined force value.

[0265] Embodiment 19: The surgical robot assembly is characterized in that the surgical robot assembly compares the force sensed by the sensing part with a predetermined force value.

[0266] Embodiment 20: A surgical robot assembly according to any one of the above embodiments, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0267] Embodiment 21: Use of the surgical robot assembly according to any of the above embodiments for performing surgical operations.

[0268] Embodiment 22: A surgical robot system, comprising:

[0269] The main device, which has a screen and controller;

[0270] Driver;

[0271] a moving part, combined with the driving body; and

[0272] a surgical robot assembly including an endoscope and configured to receive a signal from the master device,

[0273] In response to a signal from the master device, the surgical robot assembly moves relative to the body via the moving portion.

[0274] Embodiment 13: The surgical robot system according to Embodiment 22, wherein the surgical robot assembly further comprises:

[0275] an outer cannula configured to be inserted into a ureter of a subject;

[0276] a surgical instrument configured to be inserted into the outer sleeve; and

[0277] The sensing unit senses the presence or amount of force applied to the ureter.

[0278] Example 24: The surgical robot system according to Example 22 or Example 23 is characterized in that the outer sleeve is combined with the end of the endoscope.

[0279] Embodiment 25: The surgical robot system according to any one of Embodiments 22 to 24, characterized in that the subject is a human.

[0280] Example 26: The surgical robot system according to any one of Examples 22 to 24, characterized in that the subject is an animal.

[0281] Example 27: A surgical robot system according to any one of Examples 22 to 26, characterized in that it detects the presence, absence or amount of force.

[0282] Example 28: A surgical robot system according to any one of Examples 22 to 27, characterized in that the endoscope enters and / or leaves the subject.

[0283] Example 29: A surgical robot system according to any one of Examples 22 to 28, characterized in that stones are removed from the subject by the surgical robot.

[0284] Example 30: A surgical robot system according to any one of Examples 22 to 29, further comprising a passage sheath configured to be inserted into the subject, the outer sleeve configured to be inserted into the passage sheath, the passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an entrance at the first end.

[0285] Embodiment 31: A surgical robot system according to any one of embodiments 22 to 30, characterized in that the entrance is conical.

[0286] Embodiment 32: A surgical robot system according to any one of Embodiments 22 to 31, further comprising a support retainer operably coupled to the entrance.

[0287] Example 33: A surgical robot system according to any one of Examples 22 to 32, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the entrance of the ureter or the entrance of the passage sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0288] Embodiment 34: A surgical robot system according to any one of Embodiments 22 to 33, characterized in that the arm member includes a bending portion, and the arm member is configured to serve as a hinge point.

[0289] Example 35: A surgical robot system according to any one of Examples 22 to 34, wherein the outer sleeve is capable of moving in the ureter or the access sheath along a first direction and a second direction opposite to the first direction, and a first force is generated when the outer sleeve moves in the ureter or the access sheath along the first direction, and a second force is generated when the outer sleeve moves in the ureter or the access sheath along the second direction.

[0290] Embodiment 36: A surgical robot system according to any one of Embodiments 22 to 35, characterized in that the sensing unit measures each of the first force and the second force.

[0291] Example 37: The surgical robot system according to any one of Examples 22 to 36 is characterized in that when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm component.

[0292] Example 38: The surgical robot system according to any one of Examples 22 to 37 further includes a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the ureter or the access sheath.

[0293] Example 39: A surgical robot system according to any one of Examples 22 to 38, further comprising a control unit, which analyzes the force sensed by the sensing unit, and activates an alarm unit when the force exceeds a threshold.

[0294] Embodiment 40: A surgical robot system according to any one of embodiments 22 to 39, characterized in that the threshold value is a predetermined force value.

[0295] Example 41: The surgical robot system according to any one of Examples 22 to 40 is characterized in that the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0296] Example 42: A surgical robot system according to any one of Examples 22 to 41, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0297] Example 43: Use of the surgical robot system according to any one of Examples 22 to 42 for performing surgical operations.

[0298] Embodiment 44: A method for operating a surgical robot, the method comprising the steps of: operating an endoscope assembly including an overtube, a surgical tool, and a sensing unit; and adjusting the endoscope in response to a signal received from the sensing unit.

[0299] Embodiment 45: A method according to Embodiment 44, wherein the endoscope assembly further comprises a passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an inlet at the first end.

[0300] Example 46: The method according to Example 44 or Example 45 is characterized in that the endoscope assembly also includes a support retainer, which is operably coupled to the inlet, and the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the inlet of the ureter or the inlet of the passage sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0301] Example 47: The method according to any one of Examples 44 to 46 is characterized in that the step of operating the endoscope assembly includes the following steps: optionally inserting the access sheath into the patient; and inserting the outer sleeve through the ureter or the access sheath, when the outer sleeve is inserted through the ureter or the access sheath along a first direction, a first force is generated, and the sensing part detects and measures the first force.

[0302] Example 48: The method according to any one of Examples 44 to 47 is characterized in that when the outer sleeve moves in the ureter or the access sheath along the second direction, a second force is generated, and the sensing part detects and measures the first force.

[0303] Example 49: A method according to any one of Examples 44 to 48, wherein the first force or the second force is transmitted to the arm member when the endoscope assembly is operated.

[0304] Example 50: A method according to any one of Examples 44 to 49, wherein the endoscope further comprises a guide tube, a wire, and a basket disposed at the end of the wire.

[0305] Example 51: A method according to any one of Examples 44 to 50, wherein the step of operating the endoscope includes the following steps: inserting the guide tube through the ureter or access sheath; and inserting the wire and basket through the guide tube.

[0306] Example 52: The method according to any one of Examples 44 to 51 is characterized in that the endoscope assembly also includes a control unit, which is used to analyze the force sensed by the sensing unit.

[0307] Example 53 A method according to any one of Examples 44 to 52, wherein the step of adjusting the endoscope assembly includes the steps of: analyzing the force sensed by the sensing unit; sending a signal to the alarm unit when the force exceeds a critical force; and responding to an alarm generated by the alarm unit.

[0308] Example 54: The method according to any one of Examples 44 to 53, wherein the step of responding to the alarm comprises the step of stopping the movement of the outer tube within the ureter or the access sheath.

[0309] Example 55: A method according to any one of Examples 44 to 54, wherein the step of responding to the alarm unit comprises the step of changing the direction of movement of the outer sleeve within the ureter or access sheath.

[0310] Embodiment 56: The method according to any one of embodiments 44 to 55 is characterized in that the critical force is a predetermined force value, and the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0311] Example 57: The method according to any one of Examples 44 to 56, further comprising the step of providing a moving portion, wherein the endoscope assembly is operably coupled to the moving portion so that the endoscope assembly can move linearly along the moving portion.

[0312] Example 58: A method according to any one of Examples 44 to 57, wherein the movable portion is configured to tilt relative to the body to be able to adjust the angle of the endoscope assembly relative to the patient, and the movable portion can move vertically relative to the body to adjust the height of the endoscope relative to the patient.

[0313] Example 59: A method according to any one of Examples 44 to 58, wherein the step of operating the endoscope includes the following steps: adjusting the height of the endoscope assembly by adjusting the position of the movable part relative to the body in the vertical direction; and adjusting the angle of the endoscope assembly by adjusting the angle of the movable part relative to the body.

[0314] Additional Example #2-1

[0315] Embodiment 1: An endoscope drive assembly, characterized by comprising:

[0316] a coupling for receiving an endoscope; and

[0317] a mounting member sized and shaped to receive the coupling, the mounting member controlling the endoscope in response to signals received from a host device,

[0318] The coupler and the mounting member are configured to be detachably coupled.

[0319] Embodiment 2: The endoscope driving assembly according to the above embodiment is characterized in that the endoscope driving assembly can move along the driving body in response to a signal received from a host device.

[0320] Embodiment 3: The endoscope driving assembly according to any of the above embodiments is characterized in that the endoscope driving assembly can move in multiple directions along the driving body in response to a signal received from a main device.

[0321] Embodiment 4: According to any one of the above embodiments, the endoscope drive assembly is characterized in that the size and shape of the mounting member are designed to accommodate another connector and another endoscope having a different size or shape from the endoscope.

[0322] Embodiment 5: An endoscope drive assembly according to any of the above embodiments, wherein the connector comprises: a connector body accommodating at least a portion of the endoscope; and a main hole for accommodating a handle of the endoscope.

[0323] Embodiment 6: An endoscope drive assembly according to any of the above embodiments, wherein the mounting member comprises: a mounting member body; a rotor configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder coupled to the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0324] Embodiment 7: According to the endoscope drive assembly described in any of the above embodiments, it is characterized in that the handle holder is replaceable.

[0325] Embodiment 8: The endoscope drive assembly according to any of the above embodiments is characterized in that it also includes a first detection target, and the first detection target is configured to detect when the endoscope is located in the connector body.

[0326] Embodiment 9: The endoscope drive assembly according to any of the above embodiments is characterized in that it also includes a second detection target, and the second detection target is configured to detect when the connector body is combined with the mounting member body.

[0327] Embodiment 10: According to the endoscope drive assembly described in any of the above embodiments, it is characterized in that the mounting member also includes: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, the vertical extension portion extends upward from the surface of the mounting member body and surrounds the rotor, and the plurality of guide grooves are formed on the surface of the vertical extension portion.

[0328] Embodiment 11: According to the endoscope drive assembly described in any of the above embodiments, it is characterized in that the connector also includes: a plurality of guide protrusions, configured to be accommodated in the plurality of guide grooves, when the plurality of guide protrusions are configured in the plurality of guide grooves, the plurality of guide protrusions are configured to rotate around the rotation axis of the rotor and fasten the connector to the mounting member.

[0329] Embodiment 12: An endoscope drive assembly according to any one of the above embodiments, wherein the hook comprises: a hook body supported by the mounting body; and a hook head protruding from the hook body toward the connector body.

[0330] Embodiment 13: According to any one of the above embodiments, the endoscope drive assembly, wherein the connector further comprises an elastic protrusion, wherein when the connector is combined with the mounting member, the elastic protrusion contacts the hook body.

[0331] Embodiment 14: Use of the endoscope drive assembly according to any of the above embodiments for performing surgical operations.

[0332] Embodiment 15: An endoscope component system, characterized by comprising:

[0333] The main device, which has a screen and controller;

[0334] an endoscope drive assembly configured to receive an endoscope and receive a signal from a host device; and a drive body for receiving the endoscope drive assembly,

[0335] The endoscope drive assembly moves along the drive body in response to a signal from the host device.

[0336] Embodiment 16: According to the endoscope component system described in Embodiment 15, it is characterized in that the main device and the endoscope drive component are formed integrally.

[0337] Example 17: The endoscope assembly system according to Example 15 or Example 16 is characterized in that the endoscope drive assembly includes: a connector for accommodating an endoscope; and a mounting member whose size and shape are designed to accommodate the connector, and the connector and the mounting member are configured to be detachably combined.

[0338] Embodiment 18: An endoscope assembly system according to any one of embodiments 15 to 17, wherein the connector comprises: a connector body accommodating at least a portion of the endoscope; and a main hole for accommodating a handle of the endoscope.

[0339] Example 19: An endoscope assembly system according to any one of Examples 15 to 18, wherein the mounting member includes: a mounting member body; a rotor configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder coupled to the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0340] Embodiment 20: An endoscope assembly system according to any one of embodiments 15 to 19, characterized in that the handle holder is replaceable.

[0341] Embodiment 21: The endoscope assembly system according to any one of embodiments 15 to 20 is characterized in that it also includes a first detection target, wherein the first detection target is configured to detect when the endoscope is located in the connector body.

[0342] Embodiment 22: The endoscope assembly system according to any one of embodiments 15 to 21 is characterized in that it also includes a second detection target, wherein the second detection target is configured to detect when the connector body is combined with the mounting member body.

[0343] Example 23: An endoscope component system according to any one of Examples 15 to 22, characterized in that the mounting member further includes: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, the vertical extension portion extending upward from the surface of the mounting member body and surrounding the rotor, the plurality of guide grooves being formed on the surface of the vertical extension portion.

[0344] Example 24: The endoscope component system according to any one of Examples 15 to 23 is characterized in that the connector also includes: a plurality of guide protrusions configured to be accommodated in the plurality of guide grooves, and when the plurality of guide protrusions are configured in the plurality of guide grooves, the plurality of guide protrusions are configured to rotate around the rotation axis of the rotor and fasten the connector to the mounting member.

[0345] Embodiment 25: An endoscope assembly system according to any one of embodiments 15 to 24, wherein the hook comprises: a hook body supported by the mounting body; and a hook head protruding from the hook body toward the connector body.

[0346] Embodiment 26: An endoscope assembly system according to any one of embodiments 15 to 25, wherein the connector further comprises an elastic protrusion, and when the connector is combined with the mounting member, the elastic protrusion contacts the hook body.

[0347] Example 27: An endoscope assembly system according to any one of Examples 15 to 26, wherein the driving body comprises: a tube retainer configured on a surface of the driving body; a barrier configured to accommodate the endoscope driving assembly; and a passage sheath coupled to an end of the driving body, the passage sheath being configured to be inserted into the patient's body during surgery.

[0348] Embodiment 28: The endoscope assembly system according to any one of embodiments 15 to 27, characterized in that the passage sheath is configured to accommodate a tube of an endoscope.

[0349] Embodiment 29: According to any one of embodiments 15 to 28, the endoscope assembly system, wherein, in use, the endoscope drive assembly moves along the bar of the drive body.

[0350] Example 30: Use of the endoscope assembly system according to any one of Examples 15 to 29 for performing surgical procedures.

[0351] Embodiment 31: A method for operating an endoscope drive assembly, the method comprising the steps of: positioning an endoscope in a connector; combining the connector with a mounting member before or after positioning; and actuating the endoscope drive assembly through an operating signal.

[0352] Example 32: A method according to Example 31, wherein the connector includes: a connector body, accommodating at least a portion of the endoscope; and a main hole, for accommodating a handle of the endoscope, and the mounting member includes: a mounting member body; a rotor, configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder, combined with the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0353] Embodiment 33: The method according to embodiment 31 or embodiment 32 is characterized in that the endoscope drive assembly also includes a first detection target, and the first detection target is configured to detect when the endoscope is located in the connector body.

[0354] Embodiment 34: The method according to any one of embodiments 31 to 33 is characterized in that the endoscope drive assembly also includes a second detection target, and the second detection target is configured to detect when the connector body is combined with the mounting member body.

[0355] Embodiment 35: The method according to any one of embodiments 31 to 34 is characterized in that the mounting member further comprises: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, and the connector further comprises a plurality of guide protrusions.

[0356] Example 36: A method according to any one of Examples 31 to 35, wherein the step of combining the connector and the mounting member includes the following steps: placing the connector body on the mounting member body so that the multiple guide protrusions are configured in the multiple guide grooves; and rotating around the rotation axis of the rotor and fixing the connector on the mounting member.

[0357] Embodiment 37: The method according to any one of embodiments 31 to 36 is characterized in that the mounting member further includes a hook for engaging with the connector when the connector is combined with the mounting member, and the connector further includes an elastic protrusion.

[0358] Embodiment 38: The method according to any one of embodiments 31 to 37, wherein the step of combining the connector and the mounting member comprises the step of placing the connector body on the mounting member body so that the elastic protrusion engages with the hook.

[0359] Example 39: A method according to any one of Examples 31 to 38, wherein the step of actuating the endoscope drive component includes the following steps: inputting an operation to a main device; and receiving a signal from the main device to guide adjustment of the endoscope device component.

[0360] Embodiment 40: The method according to any one of embodiments 31 to 39 is characterized in that, in response to receiving a signal from the master device, the rotor rotates in a clockwise direction or a counterclockwise direction.

[0361] Additional Example #1-1

[0362] Embodiment 1: A surgical robot assembly, comprising:

[0363] an access sheath configured to be inserted into a subject;

[0364] an endoscope comprising an outer cannula configured to be inserted into the access sheath;

[0365] a surgical instrument configured to be inserted into the outer sleeve; and

[0366] A sensing portion detects the presence, absence, or amount of force applied to the access sheath.

[0367] Embodiment 2: According to the surgical robot assembly described in the above embodiment, wherein the outer sleeve is combined with the end of the endoscope.

[0368] Embodiment 3: A surgical robot assembly according to any one of the above embodiments, wherein the subject is a human.

[0369] Embodiment 4: A surgical robot assembly according to any one of the above embodiments, wherein the subject is an animal.

[0370] Embodiment 5: A surgical robot assembly according to any of the above embodiments, wherein the presence, absence or amount of the force is detected.

[0371] Embodiment 6: A surgical robot assembly according to any of the above embodiments, wherein the endoscope enters and / or leaves the subject.

[0372] Embodiment 7: A surgical robot assembly according to any of the above embodiments, wherein the stone is removed from the subject by the surgical robot.

[0373] Embodiment 8: A surgical robot assembly according to any one of the above embodiments, wherein the passage sheath comprises a first end and a second end opposite to the first end, and the passage sheath comprises an inlet at the first end.

[0374] Embodiment 9: A surgical robot assembly according to any one of the above embodiments, wherein the inlet is conical.

[0375] Embodiment 10: A surgical robot assembly according to any one of the above embodiments, further comprising a support retainer, wherein the support retainer is operably coupled to the entrance.

[0376] Embodiment 11: A surgical robot assembly according to any of the above embodiments, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be combined with the entrance of the passage sheath, and the arm is combined with the retaining member at a first end and with the sensing portion at a second end.

[0377] Embodiment 12: A surgical robot assembly according to any of the above embodiments, wherein the arm member includes a bending portion and the arm member is configured to serve as a hinge point.

[0378] Embodiment 13: A surgical robot assembly according to any one of the above embodiments, wherein the outer sleeve is capable of moving within the passage sheath along a first direction and a second direction opposite to the first direction, and a first force is generated when the outer sleeve moves within the passage sheath along the first direction, and a second force is generated when the outer sleeve moves within the passage sheath along the second direction.

[0379] Embodiment 14: A surgical robot assembly according to any one of the above embodiments, wherein the sensing portion measures each of the first force and the second force.

[0380] Embodiment 15: A surgical robot assembly according to any one of the above embodiments, wherein when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0381] Embodiment 16: A surgical robot assembly according to any of the above embodiments, further comprising a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the passage sheath.

[0382] Embodiment 17: According to the surgical robot assembly described in any of the above embodiments, it also includes a control unit, which analyzes the force sensed by the sensing unit, and when the force exceeds a critical value, the control unit activates the alarm unit.

[0383] Embodiment 18: A surgical robot assembly according to any one of the above embodiments, wherein the critical value is a predetermined force value.

[0384] Embodiment 19: A surgical robot assembly according to any one of the above embodiments, wherein the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0385] Embodiment 20: A surgical robot assembly according to any one of the above embodiments, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0386] Embodiment 21: Use of the surgical robot assembly according to any of the above embodiments for performing surgical operations.

[0387] Embodiment 22: A surgical robot system, comprising:

[0388] The main device, which has a screen and controller;

[0389] Driver;

[0390] a moving part, combined with the driving body; and

[0391] a surgical robot assembly including an endoscope and configured to receive a signal from the master device,

[0392] In response to a signal from the master device, the surgical robot assembly moves relative to the body via the moving portion.

[0393] Embodiment 23: According to the surgical robot system of embodiment 22, wherein the surgical robot component further comprises:

[0394] an access sheath configured to be inserted into a subject;

[0395] an outer cannula configured to be inserted into the access sheath;

[0396] a surgical instrument configured to be inserted into the outer sleeve; and

[0397] A sensing portion detects the presence, absence, or amount of force applied to the access sheath.

[0398] Example 24: A surgical robot system according to Example 22 or Example 23, wherein the outer sleeve is combined with the end of the endoscope.

[0399] Example 25: A surgical robot system according to any one of Examples 22 to 24, wherein the subject is a human.

[0400] Example 26: A surgical robot system according to any one of Examples 22 to 24, wherein the subject is an animal.

[0401] Example 27: A surgical robot system according to any one of Examples 22 to 26, wherein the presence, absence or amount of force is detected.

[0402] Example 28: A surgical robot system according to any one of Examples 22 to 27, wherein the endoscope enters and / or leaves the subject.

[0403] Example 29: A surgical robot system according to any one of Examples 22 to 28, wherein stones are removed from the subject by the surgical robot.

[0404] Embodiment 30: A surgical robot system according to any one of Embodiments 22 to 29, wherein the passage sheath comprises a first end and a second end opposite to the first end, and the passage sheath comprises an inlet at the first end.

[0405] Example 31: A surgical robot system according to any one of Examples 22 to 30, wherein the entrance is conical.

[0406] Embodiment 32: A surgical robot system according to any one of Embodiments 22 to 31, further comprising a support retainer operably coupled to the entrance.

[0407] Example 33: A surgical robot system according to any one of Examples 22 to 32, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the entrance of the passage sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0408] Embodiment 34: A surgical robot system according to any one of Embodiments 22 to 33, wherein the arm member includes a bending portion and the arm member is configured to serve as a hinge point.

[0409] Example 35: A surgical robot system according to any one of Examples 22 to 34, wherein the outer sleeve is capable of moving within the passage sheath along a first direction and a second direction opposite to the first direction, and a first force is generated when the outer sleeve moves within the passage sheath along the first direction, and a second force is generated when the outer sleeve moves within the passage sheath along the second direction.

[0410] Embodiment 36: A surgical robot system according to any one of Embodiments 22 to 35, wherein the sensing portion measures each of the first force and the second force.

[0411] Example 37: A surgical robot system according to any one of Examples 22 to 36, wherein when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0412] Example 38: A surgical robot system according to any one of Examples 22 to 37, further comprising a guide tube, a wire and a basket arranged at the end of the wire, the wire being configured to be inserted through the guide tube, and the guide tube being composed of a tube configured to be inserted through the passage sheath.

[0413] Example 39: A surgical robot system according to any one of Examples 22 to 38, further comprising a control unit, which analyzes the force sensed by the sensing unit, and activates the alarm unit when the force exceeds a critical value.

[0414] Example 40: A surgical robot system according to any one of Examples 22 to 39, wherein the critical value is a predetermined force value.

[0415] Example 41: A surgical robot system according to any one of Examples 22 to 40, wherein the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0416] Example 42: A surgical robot system according to any one of Examples 22 to 41, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0417] Example 43: Use of the surgical robot system according to any one of Examples 22 to 42 for performing surgical operations.

[0418] Embodiment 44: A method for operating a surgical robot, the method comprising the steps of: operating an endoscope assembly including an outer sleeve, a surgical instrument, a passage sheath, and a sensing portion; and adjusting the endoscope in response to a signal received from the sensing portion.

[0419] Embodiment 45: The method of Embodiment 44, wherein the passage sheath comprises a first end and a second end opposite the first end, the passage sheath comprising an inlet at the first end.

[0420] Example 46: A method according to Example 44 or Example 45, wherein the endoscope assembly also includes a support retainer, which is operably coupled to the inlet, and the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the inlet of the passage sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0421] Example 47: A method according to any one of Examples 44 to 46, wherein the step of operating the endoscope assembly includes the following steps: inserting the access sheath into the patient; and inserting an outer sleeve through the access sheath, when the outer sleeve is inserted through the access sheath along a first direction, a first force is generated, and the sensing unit detects and measures the first force.

[0422] Example 48: A method according to any one of Examples 44 to 47, wherein when the outer sleeve moves along a second direction within the passage sheath, a second force is generated, and the sensing portion detects and measures the first force.

[0423] Example 49: A method according to any one of Examples 44 to 48, wherein the first force or the second force is transmitted to the arm member when the endoscope assembly is operated.

[0424] Example 50: A method according to any one of Examples 44 to 49, wherein the endoscope further comprises a guide tube, a wire, and a basket disposed at the end of the wire.

[0425] Example 51: A method according to any one of Examples 44 to 50, wherein the step of operating the endoscope includes the following steps: inserting the guide tube through the access sheath; and inserting the wire and the basket through the guide tube.

[0426] Example 52: A method according to any one of Examples 44 to 51, wherein the endoscope assembly further comprises a control unit for analyzing the force sensed by the sensing unit.

[0427] Example 53: A method according to any one of Examples 44 to 52, wherein the step of adjusting the endoscope assembly includes the following steps: analyzing the force sensed by the sensing unit; sending a signal to the alarm unit when the force exceeds a critical force; and responding to an alarm generated by the alarm unit.

[0428] Example 54: A method according to any one of Examples 44 to 53, wherein the step of responding to the alarm unit comprises the step of stopping the movement of the outer sleeve within the access sheath.

[0429] Example 55: A method according to any one of Examples 44 to 54, wherein the step of responding to the alarm unit comprises the step of changing the direction of movement of the outer sleeve within the passage sheath.

[0430] Embodiment 56: A method according to any one of Embodiments 44 to 55, wherein the critical force is a predetermined force value, and the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0431] Example 57: The method according to any one of Examples 44 to 56, further comprising the step of providing a moving portion, wherein the endoscope assembly is operably coupled to the moving portion so that the endoscope assembly can move linearly along the moving portion.

[0432] Example 58: A method according to any one of Examples 44 to 57, wherein the movable portion is configured to tilt relative to the body to be able to adjust the angle of the endoscope assembly relative to the patient, and the movable portion can move vertically relative to the body to adjust the height of the endoscope relative to the patient.

[0433] Example 59: A method according to any one of Examples 44 to 58, wherein the step of operating the endoscope includes the following steps: adjusting the height of the endoscope assembly by adjusting the position of the movable part relative to the body in the vertical direction; and adjusting the angle of the endoscope assembly by adjusting the angle of the movable part relative to the body.

[0434] Other Examples #1-2

[0435] Embodiment 1: A surgical robot assembly, comprising:

[0436] an endoscope comprising an overtube configured to be inserted into a ureter of a subject;

[0437] a surgical instrument configured to be inserted into the outer sleeve; and

[0438] A sensing portion senses the presence, absence or amount of force applied to the ureter.

[0439] Embodiment 2: According to the surgical robot assembly described in the above embodiment, wherein the outer sleeve is combined with the end of the endoscope.

[0440] Embodiment 3: A surgical robot assembly according to any one of the above embodiments, wherein the subject is a human.

[0441] Embodiment 4: A surgical robot assembly according to any one of the above embodiments, wherein the subject is an animal.

[0442] Embodiment 5: A surgical robot assembly according to any of the above embodiments, wherein the presence, absence or amount of the force is detected.

[0443] Embodiment 6: A surgical robot assembly according to any of the above embodiments, wherein the endoscope enters and / or leaves the subject.

[0444] Embodiment 7: A surgical robot assembly according to any of the above embodiments, wherein the stone is removed from the subject by the surgical robot.

[0445] Embodiment 8: A surgical robot assembly according to any of the above embodiments, further comprising a passage sheath, the passage sheath being configured to be inserted into the subject, the outer sleeve being configured to be inserted into the passage sheath, the passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an entrance at the first end.

[0446] Embodiment 9: A surgical robot assembly according to any one of the above embodiments, wherein the inlet is conical.

[0447] Embodiment 10: A surgical robot assembly according to any one of the above embodiments, further comprising a support retainer, wherein the support retainer is operably coupled to the entrance.

[0448] Embodiment 11: A surgical robot assembly according to any of the above embodiments, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the entrance of the ureter or the access sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0449] Embodiment 12: A surgical robot assembly according to any of the above embodiments, wherein the arm member includes a bending portion and the arm member is configured to serve as a hinge point.

[0450] Embodiment 13: A surgical robot assembly according to any one of the above embodiments, wherein the outer sleeve is capable of moving in the ureter or access sheath along a first direction and a second direction opposite to the first direction, and a first force is generated when the outer sleeve moves in the ureter or access sheath along the first direction, and a second force is generated when the outer sleeve moves in the ureter or access sheath along the second direction.

[0451] Embodiment 14: A surgical robot assembly according to any one of the above embodiments, wherein the sensing portion measures each of the first force and the second force.

[0452] Embodiment 15: A surgical robot assembly according to any one of the above embodiments, wherein when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0453] Embodiment 16: A surgical robot assembly according to any of the above embodiments, further comprising a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the ureter or access sheath.

[0454] Embodiment 17: According to the surgical robot assembly described in any of the above embodiments, it also includes a control unit, which analyzes the force sensed by the sensing unit, and when the force exceeds a critical value, the control unit activates the alarm unit.

[0455] Embodiment 18: A surgical robot assembly according to any one of the above embodiments, wherein the critical value is a predetermined force value.

[0456] Embodiment 19: A surgical robot assembly according to any one of the above embodiments, wherein the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0457] Embodiment 20: A surgical robot assembly according to any one of the above embodiments, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0458] Embodiment 21: Use of the surgical robot assembly according to any of the above embodiments for performing surgical operations.

[0459] Embodiment 22: A surgical robot system, comprising:

[0460] The main device, which has a screen and controller;

[0461] Driver;

[0462] a moving part, combined with the driving body; and

[0463] a surgical robot assembly including an endoscope and configured to receive a signal from the master device,

[0464] In response to a signal from the master device, the surgical robot assembly moves relative to the body via the moving portion.

[0465] Embodiment 23: According to the surgical robot system of embodiment 22, wherein the surgical robot component further comprises:

[0466] an outer cannula configured to be inserted into a ureter of a subject;

[0467] a surgical instrument configured to be inserted into the outer sleeve; and

[0468] A sensing portion senses the presence, absence or amount of force applied to the ureter.

[0469] Example 24: A surgical robot system according to Example 22 or Example 23, wherein the outer sleeve is combined with the end of the endoscope.

[0470] Example 25: A surgical robot system according to any one of Examples 22 to 24, wherein the subject is a human.

[0471] Example 26: A surgical robot system according to any one of Examples 22 to 24, wherein the subject is an animal.

[0472] Example 27: A surgical robot system according to any one of Examples 22 to 26, wherein the presence, absence or amount of force is detected.

[0473] Example 28: A surgical robot system according to any one of Examples 22 to 27, wherein the endoscope enters and / or leaves the subject.

[0474] Example 29: A surgical robot system according to any one of Examples 22 to 28, wherein stones are removed from the subject by the surgical robot.

[0475] Example 30: A surgical robot system according to any one of Examples 22 to 29, further comprising a passage sheath configured to be inserted into the subject, the outer sleeve configured to be inserted into the passage sheath, the passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an entrance at the first end.

[0476] Example 31: A surgical robot system according to any one of Examples 22 to 30, wherein the entrance is conical.

[0477] Embodiment 32: A surgical robot system according to any one of Embodiments 22 to 31, further comprising a support retainer operably coupled to the entrance.

[0478] Example 33: A surgical robot system according to any one of Examples 22 to 32, wherein the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the entrance of the ureter or the access sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0479] Embodiment 34: A surgical robot system according to any one of Embodiments 22 to 33, wherein the arm member includes a bending portion and the arm member is configured to serve as a hinge point.

[0480] Example 35: A surgical robot system according to any one of Examples 22 to 34, wherein the outer sleeve is capable of moving in a first direction and a second direction opposite to the first direction within the ureter or the access sheath, and a first force is generated when the outer sleeve moves in the first direction within the ureter or the access sheath, and a second force is generated when the outer sleeve moves in the second direction within the ureter or the access sheath.

[0481] Embodiment 36: A surgical robot system according to any one of Embodiments 22 to 35, wherein the sensing portion measures each of the first force and the second force.

[0482] Example 37: A surgical robot system according to any one of Examples 22 to 36, wherein when the outer sleeve moves along the first direction or the second direction, the first force or the second force is transmitted to the arm member.

[0483] Example 38: A surgical robot system according to any one of Examples 22 to 37, further comprising a guide tube, a wire and a basket arranged at the end of the wire, wherein the wire is configured to be inserted through the guide tube, and the guide tube is composed of a tube configured to be inserted through the ureter or the access sheath.

[0484] Example 39: A surgical robot system according to any one of Examples 22 to 38, further comprising a control unit, which analyzes the force sensed by the sensing unit, and activates an alarm unit when the force exceeds a threshold.

[0485] Example 40: A surgical robot system according to any one of Examples 22 to 39, wherein the threshold value is a predetermined force value.

[0486] Example 41: A surgical robot system according to any one of Examples 22 to 40, wherein the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0487] Example 42: A surgical robot system according to any one of Examples 22 to 41, wherein the endoscope is configured to be combined with a moving part, and during use, the endoscope can move along the moving part.

[0488] Example 43: Use of the surgical robot system according to any one of Examples 22 to 42 for performing surgical operations.

[0489] Embodiment 44: A method for operating a surgical robot, the method comprising the steps of: operating an endoscope assembly including an outer sleeve, a surgical instrument, and a sensing portion; and adjusting the endoscope in response to a signal received from the sensing portion.

[0490] Embodiment 45: A method according to Embodiment 44, wherein the endoscope assembly further comprises a passage sheath comprising a first end and a second end opposite to the first end, the passage sheath comprising an inlet at the first end.

[0491] Example 46: A method according to Example 44 or Example 45, wherein the endoscope assembly also includes a support retainer, which is operably coupled to the inlet, and the support retainer includes a retaining member and an arm member, the retaining member is configured to be coupled to the inlet of the ureter or the access sheath, and the arm is coupled to the retaining member at a first end and to the sensing portion at a second end.

[0492] Example 47: A method according to any one of Examples 44 to 46, wherein the step of operating the endoscope assembly includes the following steps: optionally inserting the access sheath into a patient; and inserting an outer sleeve through the ureter or the access sheath, when the outer sleeve is inserted through the ureter or the access sheath along a first direction, a first force is generated, and the sensing unit detects and measures the first force.

[0493] Embodiment 48: The method according to any one of embodiments 44 to 47, wherein when the outer sleeve moves in a second direction within the ureter or the access sheath, a second force is generated, and the sensing portion detects and measures the first force.

[0494] Example 49: A method according to any one of Examples 44 to 48, wherein the first force or the second force is transmitted to the arm member when the endoscope assembly is operated.

[0495] Example 50: A method according to any one of Examples 44 to 49, wherein the endoscope further comprises a guide tube, a wire, and a basket disposed at the end of the wire.

[0496] Example 51: A method according to any one of Examples 44 to 50, wherein the step of operating the endoscope comprises the steps of: inserting the guide tube through the ureter or the access sheath; and inserting a wire and a basket through the guide tube.

[0497] Example 52: A method according to any one of Examples 44 to 51, wherein the endoscope assembly further comprises a control unit for analyzing the force sensed by the sensing unit.

[0498] Example 53 A method according to any one of Examples 44 to 52, wherein the step of adjusting the endoscope assembly includes the steps of: analyzing the force sensed by the sensing unit; sending a signal to the alarm unit when the force exceeds a critical force; and responding to an alarm generated by the alarm unit.

[0499] Example 54: The method according to any one of Examples 44 to 53, wherein the step of responding to the alarm comprises the step of stopping the movement of the outer tube within the ureter or the access sheath.

[0500] Example 55: A method according to any one of Examples 44 to 54, wherein the step of responding to the alarm unit comprises the step of changing the direction of movement of the outer sleeve within the ureter or the access sheath.

[0501] Embodiment 56: A method according to any one of Embodiments 44 to 55, wherein the critical force is a predetermined force value, and the control unit compares the force sensed by the sensing unit with the predetermined force value.

[0502] Example 57: The method according to any one of Examples 44 to 56, further comprising the step of providing a moving portion, wherein the endoscope assembly is operably coupled to the moving portion so that the endoscope assembly can move linearly along the moving portion.

[0503] Example 58: A method according to any one of Examples 44 to 57, wherein the movable portion is configured to tilt relative to the body to be able to adjust the angle of the endoscope assembly relative to the patient, and the movable portion can move vertically relative to the body to adjust the height of the endoscope relative to the patient.

[0504] Example 59: A method according to any one of Examples 44 to 58, wherein the step of operating the endoscope includes the following steps: adjusting the height of the endoscope assembly by adjusting the position of the movable part relative to the body in the vertical direction; and adjusting the angle of the endoscope assembly by adjusting the angle of the movable part relative to the body.

[0505] Additional Example #2-1

[0506] Embodiment 1: An endoscope drive assembly, comprising:

[0507] a coupling for receiving an endoscope; and

[0508] a mounting member sized and shaped to receive the coupling, the mounting member controlling the endoscope in response to signals received from a host device,

[0509] The coupler and the mounting member are configured to be detachably coupled.

[0510] Embodiment 2: The endoscope drive assembly according to the above embodiment, wherein the endoscope drive assembly is capable of moving along the drive body in response to a signal received from a host device.

[0511] Embodiment 3: An endoscope drive assembly according to any of the above embodiments, wherein the endoscope drive assembly is capable of moving in multiple directions along a drive body in response to a signal received from a host device.

[0512] Embodiment 4: An endoscope drive assembly according to any of the above embodiments, wherein the size and shape of the mounting member is designed to accommodate another connector and another endoscope having a different size or shape than the endoscope.

[0513] Embodiment 5: An endoscope drive assembly according to any of the above embodiments, wherein the connector comprises: a connector body accommodating at least a portion of the endoscope; and a main hole for accommodating a handle of the endoscope.

[0514] Embodiment 6: An endoscope drive assembly according to any of the above embodiments, wherein the mounting member comprises: a mounting member body; a rotor configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder coupled to the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0515] Embodiment 7: An endoscope drive assembly according to any of the above embodiments, wherein the handle holder is replaceable.

[0516] Embodiment 8: According to any one of the above embodiments, the endoscope drive assembly further comprises a first detection target, wherein the first detection target is configured to detect when the endoscope is located within the connector body.

[0517] Embodiment 9: According to any one of the above embodiments, the endoscope drive assembly further comprises a second detection target, wherein the second detection target is configured to detect when the connector body is coupled with the mounting member body.

[0518] Embodiment 10: An endoscope drive assembly according to any one of the above embodiments, wherein the mounting member further comprises: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, the vertical extension portion extending upward from the surface of the mounting member body and surrounding the rotor, the plurality of guide grooves being formed on the surface of the vertical extension portion.

[0519] Embodiment 11: An endoscope drive assembly according to any of the above embodiments, wherein the connector further comprises: a plurality of guide protrusions configured to be accommodated in the plurality of guide grooves, and when the plurality of guide protrusions are configured in the plurality of guide grooves, the plurality of guide protrusions are configured to rotate around the rotation axis of the rotor and fasten the connector to the mounting member.

[0520] Embodiment 12: An endoscope drive assembly according to any one of the above embodiments, wherein the hook comprises: a hook body supported by the mounting body; and a hook head protruding from the hook body toward the connector body.

[0521] Embodiment 13: According to any one of the above embodiments, the endoscope drive assembly, wherein the connector further comprises an elastic protrusion, wherein when the connector is combined with the mounting member, the elastic protrusion contacts the hook body.

[0522] Embodiment 14: Use of the endoscope drive assembly according to any of the above embodiments for performing surgical operations.

[0523] Embodiment 15: An endoscope component system, comprising:

[0524] The main device, which has a screen and controller;

[0525] an endoscope drive assembly configured to receive an endoscope and receive signals from the host device; and

[0526] A driving body, used to accommodate the endoscope driving assembly,

[0527] The endoscope drive assembly moves along the drive body in response to a signal from the host device.

[0528] Embodiment 16: An endoscope component system according to Embodiment 15, wherein the main device is formed integrally with the endoscope drive component.

[0529] Example 17: An endoscope assembly system according to Example 15 or Example 16, wherein the endoscope drive assembly includes: a connector for accommodating an endoscope; and a mounting member whose size and shape are designed to accommodate the connector, and the connector and the mounting member are configured to be detachably coupled.

[0530] Embodiment 18: An endoscope assembly system according to any one of embodiments 15 to 17, wherein the connector comprises: a connector body accommodating at least a portion of the endoscope; and a main hole for accommodating a handle of the endoscope.

[0531] Example 19: An endoscope assembly system according to any one of Examples 15 to 18, wherein the mounting member includes: a mounting member body; a rotor configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder coupled to the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0532] Example 20: An endoscope assembly system according to any one of Examples 15 to 19, wherein the handle holder is replaceable.

[0533] Embodiment 21: The endoscope assembly system according to any one of embodiments 15 to 20, further comprising a first detection target configured to detect when the endoscope is located within the connector body.

[0534] Embodiment 22: The endoscope assembly system according to any one of embodiments 15 to 21, further comprising a second detection target configured to detect when the connector body is coupled to the mounting member body.

[0535] Example 23: An endoscope component system according to any one of Examples 15 to 22, wherein the mounting member further comprises: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, the vertical extension portion extending upward from the surface of the mounting member body and surrounding the rotor, the plurality of guide grooves being formed on the surface of the vertical extension portion.

[0536] Example 24: An endoscope component system according to any one of Examples 15 to 23, wherein the connector further comprises: a plurality of guide protrusions configured to be accommodated in the plurality of guide grooves, and when the plurality of guide protrusions are configured in the plurality of guide grooves, the plurality of guide protrusions are configured to rotate around the rotation axis of the rotor and fasten the connector to the mounting member.

[0537] Embodiment 25: An endoscope assembly system according to any one of embodiments 15 to 24, wherein the hook comprises: a hook body supported by the mounting body; and a hook head protruding from the hook body toward the connector body.

[0538] Embodiment 26: An endoscope assembly system according to any one of embodiments 15 to 25, wherein the connector further comprises an elastic protrusion, and when the connector is combined with the mounting member, the elastic protrusion contacts the hook body.

[0539] Example 27: An endoscope assembly system according to any one of Examples 15 to 26, wherein the driving body comprises: a tube retainer configured on a surface of the driving body; a barrier configured to accommodate the endoscope driving assembly; and a passage sheath coupled to an end of the driving body, the passage sheath being configured to be inserted into the patient's body during surgery.

[0540] Example 28: An endoscope assembly system according to any one of Examples 15 to 27, wherein the access sheath is configured to accommodate a tube of an endoscope.

[0541] Embodiment 29: According to any one of embodiments 15 to 28, the endoscope assembly system, wherein, during use, the endoscope drive assembly moves along a bar of the drive body.

[0542] Example 30: Use of the endoscope assembly system according to any one of Examples 15 to 29 for performing surgical procedures.

[0543] Embodiment 31: A method for operating an endoscope drive assembly, the method comprising the steps of: positioning an endoscope in a connector; combining the connector with a mounting member before or after positioning; and actuating the endoscope drive assembly through an operating signal.

[0544] Example 32: A method according to Example 31, wherein the connector includes: a connector body, accommodating at least a portion of the endoscope; and a main hole, for accommodating a handle of the endoscope, and the mounting member includes: a mounting member body; a rotor, configured to rotate in a clockwise or counterclockwise direction in response to a signal received from a main device; and a handle holder, combined with the rotor and configured to rotate the handle of the endoscope when the endoscope is located in the connector, wherein, when assembled, the connector body is configured on the mounting member body.

[0545] Embodiment 33: The method according to Embodiment 31 or Embodiment 32, wherein the endoscope drive assembly further comprises a first detection target configured to detect when the endoscope is located within the connector body.

[0546] Embodiment 34: The method according to any one of embodiments 31 to 33, wherein the endoscope drive assembly further comprises a second detection target, wherein the second detection target is configured to detect when the connector body is coupled to the mounting member body.

[0547] Embodiment 35: A method according to any one of embodiments 31 to 34, wherein the mounting member further comprises: a vertical extension portion formed in a circumferential direction around the rotor; and a plurality of guide grooves formed on a surface of the mounting member body, and the connector further comprises a plurality of guide protrusions.

[0548] Example 36: A method according to any one of Examples 31 to 35, wherein the step of combining the connector and the mounting member includes the following steps: placing the connector body on the mounting member body so that the multiple guide protrusions are configured in the multiple guide grooves; and rotating around the rotation axis of the rotor and fixing the connector on the mounting member.

[0549] Embodiment 37: The method according to any one of embodiments 31 to 36, wherein the mounting member further comprises a hook for engaging with the connector when the connector is combined with the mounting member, and the connector further comprises an elastic protrusion.

[0550] Embodiment 38: The method according to any one of embodiments 31 to 37, wherein the step of combining the connector and the mounting member comprises the step of placing the connector body on the mounting member body so that the elastic protrusion engages with the hook.

[0551] Example 39: A method according to any one of Examples 31 to 38, wherein the step of actuating the endoscope drive component includes the following steps: inputting an operation to a main device; and receiving a signal from the main device to guide adjustment of the endoscope device component.

[0552] Embodiment 40: The method according to any one of Embodiments 31 to 39, wherein the rotor rotates in a clockwise direction or a counterclockwise direction in response to receiving a signal from the master device.

Claims

1. A surgical robot, wherein: include: An endoscope has an outer tube that is inserted into the body. a surgical instrument inserted into the interior of the outer sleeve, and The force sensing unit measures the force generated when the endoscope or surgical instrument is inserted into or removed from the human body.

2. The surgical robot according to claim 1, wherein: include: an access sheath, inserted into the interior of the human body; The force sensing unit measures a force applied by the ureter when the access sheath is inserted into the ureter formed inside the human body without inserting the endoscope or the surgical instrument.

3. The surgical robot according to claim 1, wherein: include: an access sheath, inserted into the interior of the human body; The endoscope is inserted into the interior of the access sheath, The force sensing portion measures a force applied to the access sheath when the endoscope or the surgical instrument is inserted into or removed from the access sheath to remove stones formed inside the human body.

4. The surgical robot according to claim 1, wherein: include: A passage sheath is inserted into the interior of the human body, a mounting unit for mounting the endoscope in such a manner that the endoscope can be detached, and A moving unit, causing the installation unit to reciprocate; The moving unit includes a support holder that holds the passage sheath in such a manner that the passage sheath can be detached.

5. The surgical robot according to claim 4, wherein: The support holder comprises: a holding portion that holds the passage sheath, and an arm portion connected to the holding portion and combined with the moving unit; The force sensing part is fixed inside the mobile unit, The force sensing portion measures a force transmitted to the arm portion due to friction or hooking generated during the process of inserting the outer tube into the access sheath or removing the outer tube from the access sheath.

6. The surgical robot according to claim 1, wherein: include: a mobile unit having a support holder; The endoscope is placed on the support holder, The force acting on the endoscope is measured by the force sensing portion through the support holder.

7. The surgical robot according to claim 1, wherein: include: an access sheath inserted into the interior of the human body, and a control unit that analyzes the force applied to the endoscope or the access sheath through the force sensing unit; When the measurement value measured by the force sensing unit is greater than a reference value, the control unit stops the operation of the endoscope.

8. The surgical robot according to claim 1, wherein: include: A passage sheath, inserted into the interior of the human body, a control unit that analyzes the force applied to the endoscope or the access sheath through the force sensing unit, and an alarm section that operates according to a measurement value measured by the force sensing section; When the value measured by the force sensing portion is greater than a reference value, the control portion operates the alarm portion to make a notification.

9. The surgical robot according to claim 1, wherein: include: an access sheath inserted into the interior of the human body, and a mobile unit having a support holder; The ureters are located inside the human body. The passage sheath is detachably coupled to the support holder after being inserted into the ureter. The force sensing portion measures a force applied by the ureter to the access sheath before the endoscope or surgical instrument is inserted into the interior of the access sheath.

10. The surgical robot according to claim 1, wherein: include: an access sheath inserted into the interior of the human body, and a mobile unit having a support holder; The ureters are located inside the human body. The passage sheath is detachably coupled to the support holder. During surgery performed using the surgical instrument, the force sensing unit measures a force applied to the access sheath by the ureter moving due to the patient's breathing.

11. The surgical robot according to claim 1, wherein: include: A passage sheath, inserted into the interior of the human body, a moving unit having a support holder that supports the passage sheath in such a manner that the passage sheath can be detached, and a control unit that analyzes the force applied to the endoscope or the access sheath through the force sensing unit; The force sensing part is provided on the end side of the support holder, The surgical robot includes an actuator that moves the support holder and the force sensing portion; When the measurement value measured by the force sensing portion is greater than a reference value, the control portion operates the actuator to move the support holder and the force sensing portion at the moving unit, thereby reducing the force applied to the access sheath.

12. A surgical robot, wherein: include: An endoscope has an outer tube that is inserted into the body. A surgical instrument is inserted into the interior of the outer sleeve, an access sheath inserted into the interior of the human body, and The force sensing unit measures the force acting between the human body and the passage sheath.

13. A surgical robot that supports and drives an endoscope device disposed on a slave device, wherein: The surgical robot comprises: a coupler supporting the endoscopic device, and a mounting member on which the coupling is mounted and which receives a signal from a main device to control the endoscope device; The coupler is configured to be replaceable to support a plurality of endoscopic devices having different shapes.

14. The surgical robot according to claim 13, wherein: The connector comprises: a coupling body capable of receiving at least a portion of the endoscopic device, and A main hole is formed through the connector body and accommodates the handle of the endoscope device.

15. The surgical robot according to claim 14, wherein: The mounting member comprises: A mounting body is fastened to the coupling body, a rotor disposed on the mount body and capable of receiving a signal from the host device to rotate in either direction, and A handle holder is connected to the rotor and allows the handle of the endoscope device to rotate while being accommodated in the main hole of the coupler.

16. The surgical robot according to claim 15, wherein: The handle holder is configured to be replaceable.

17. The surgical robot according to claim 15, wherein: The coupler further includes a first sensing target that is pressed by the endoscope device to move in a direction toward the mount body in a state in which the mount body and the coupler body are fastened.

18. The surgical robot according to claim 17, wherein: The coupler further includes a second sensing target disposed on a surface of the coupler body facing the mount body.

19. The surgical robot according to claim 18, wherein: The mounting member further comprises: a first sensor that senses a first sensing target moving in a direction toward the mount body, and A second sensor senses the second sensing target in a state where the coupling body is fastened to the mounting member body.

20. The surgical robot according to claim 15, wherein: The mounting member further comprises: a vertically extending portion formed along the circumference of the rotor with the rotation axis of the rotor as the center, and A plurality of guide grooves are formed on the outer peripheral surface of the vertical extension portion at intervals from each other.

21. The surgical robot according to claim 20, wherein: The coupling further comprises a plurality of guide protrusions, wherein the plurality of guide protrusions are respectively accommodated in the plurality of guide grooves; The coupling is fastened to the mounting member while being rotated in one direction around the rotation axis of the rotor in a state where the guide protrusion is accommodated in the guide groove.

22. The surgical robot according to claim 21, wherein: The mounting member further includes a hook, which is disposed on the coupling in a state where the hook is fastened to the coupling and can be hooked.

23. The surgical robot according to claim 22, wherein: The hook comprises: a hook body supported by the mounting body, and The hook head portion is formed to protrude from the hook body toward the connector body.

24. The surgical robot according to claim 23, wherein: The connector further includes an elastic protrusion disposed on a surface of the connector body facing the hook. When the coupler body is hooked on the hook head, the elastic protrusion presses the hook body.

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