Coordinate system conversion information generation method and device and robot operation system comprising coordinate system conversion information generation method and device

Abstract

The method according to one embodiment of the present disclosure comprises: calculating a first angle difference between a preset reference coordinate system and a first robot basic coordinate system based on a knob operation value of a user acquired from a first angle measurement knob mounted on a first robot; calculating a second angle difference between the preset reference coordinate system and the second robot base coordinate system based on a knob operation value of the user acquired from a second angle measurement knob mounted on a second robot; and generating coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first angle difference and the second angle difference.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the priority of Korean Patent Application No. 10-2023-0122648 filed on September 14, 2023, with the Korean Intellectual Property Office, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to a method and device for generating coordinate system conversion information and a robotic surgery system comprising the same. Background Art

[0004] Surgery in medicine refers to the use of medical equipment to cut, incise or manipulate the skin, mucous membrane, or other tissues to treat diseases. In particular, laparotomy, which treats, reshapes, or removes internal organs by cutting and exposing the skin at the surgical site, can cause problems such as bleeding, side effects, pain for the patient, and scars. Therefore, in recent years, as an alternative, surgery by forming a predetermined hole in the skin and inserting only medical equipment such as a laparoscope, surgical instruments, or a microscope for minimally invasive surgery, or surgery using a robot, has attracted much attention.

[0005] Among them, surgical robots refer to robots that have the function of performing surgical actions instead of surgeons. These surgical robots may have the advantages of being able to perform accurate and precise movements than humans and enabling remote surgery.

[0006] On the other hand, a surgical robot is generally composed of a master robot and a slave robot. When an operator operates a joystick (e.g., a handle) provided on the master robot, a surgical tool connected to a robot arm of the slave robot or a surgical tool grasped by the robot arm can be operated to perform surgery.

[0007] However, some problems may arise when the operator performs surgery by remotely operating the surgical tool through the surgical robot instead of directly physically operating the surgical tool. For example, even if the operator operates the joystick set on the active robot, there may be a problem that the slave robot cannot perform the action expected by the operator due to mechanical limitations. In addition, when the operator operates the joystick set on the active robot, there may be a difference between the movement of the slave robot expected by the operator and the actual movement of the slave robot.

[0008] The above-mentioned background technology is technical information owned by the inventor to derive the present disclosure or obtained in the process of deriving the present disclosure, and is not necessarily the known technology disclosed to the general public before the application of the present disclosure. Summary of the invention

[0009] Technical problems to be solved by the present disclosure

[0010] According to some embodiments of the present disclosure, a method and device for generating coordinate system conversion information and a robotic surgery system including the same are provided. The problems to be solved by the present disclosure are not limited to the above problems. Other problems and advantages not mentioned in the present disclosure can be understood through the following description, and the present disclosure will be more clearly understood through the embodiments. In addition, it can be seen that the problems and advantages to be solved by the present disclosure can be achieved by the means indicated in the claims and their combinations.

[0011] Technical Solution

[0012] A first aspect of the present disclosure may provide a method for generating coordinate system conversion information, which is executed by a coordinate system conversion device in a robotic surgical system, wherein the method comprises: a step of calculating a first angle difference between a preset reference coordinate system and a first robot base (Base) coordinate system based on a user's knob operation value obtained from a first angle measurement knob (Dial) installed on a first robot; a step of calculating a second angle difference between the preset reference coordinate system and a second robot base coordinate system based on a user's knob operation value obtained from a second angle measurement knob installed on a second robot; and a step of generating coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0013] In a first aspect, the first angle measurement knob or the second angle measurement knob may be configured to: receive a physical knob operation of a user, and obtain the knob operation value corresponding to the first angle difference or the second angle difference.

[0014] In a first aspect, the step of calculating the first angle difference includes: when the first angle measuring knob does not use the first robot base coordinate system, based on the knob operation value obtained from the first angle measuring knob, the step of calculating the third angle difference between the reference coordinate system and the coordinate system used by the first angle measuring knob.

[0015] In the first aspect, the step of calculating the second angle difference may include: when the second angle measuring knob does not use the second robot base coordinate system, based on the knob operation value obtained from the second angle measuring knob, calculating the fourth angle difference between the reference coordinate system and the coordinate system used by the second angle measuring knob.

[0016] In the first aspect, the first angle measurement knob may be installed at a position in the first robot other than a position serving as a reference point of the first robot base coordinate system.

[0017] In the first aspect, the second angle measuring knob may be installed at a position in the second robot other than a position serving as a reference point of a base coordinate system of the second robot.

[0018] In the first aspect, the coordinate system conversion information generating method may further include: a step of calculating a fifth angle difference between a first angle measurement knob coordinate system and the first robot basic coordinate system based on a first angle measurement value obtained from a first angle measurement sensor installed on a robot arm unit of the first robot.

[0019] In the first aspect, the coordinate system conversion information generating method may further include: a step of calculating a sixth angle difference between the second angle measurement knob coordinate system and the second robot basic coordinate system based on a second angle measurement value obtained from a second angle measurement sensor installed on a robot arm unit of the second robot.

[0020] In a first aspect, the step of generating the coordinate system conversion information may include: a step of using the first angle difference to generate first coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system; a step of using the second angle difference to generate second coordinate system conversion information between the second robot basic coordinate system and the reference coordinate system; and a step of generating coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first coordinate system conversion information and the second coordinate system conversion information.

[0021] In a first aspect, the first angle difference or the second angle difference refers to: the difference in yaw value of a reference point of the first robot basic coordinate system relative to the reference coordinate system, or the difference in yaw value of a reference point of the second robot basic coordinate system relative to the reference coordinate system.

[0022] In a first aspect, the preset reference coordinate system may include: any one of: a coordinate system used by an operating table in an operating room equipped with the first robot and the second robot, or a coordinate system used by an active robot provided in a robotic surgery system.

[0023] In a first aspect, the step of generating the coordinate system conversion information may include: a step of calculating the relative angle between the first robot basic coordinate system and the second robot basic coordinate system using the first angle difference and the second angle difference; and a step of calculating the rotation conversion matrix between the first robot basic coordinate system and the second robot basic coordinate system based on the relative angle.

[0024] In a first aspect, the coordinate system conversion information generating method may further include: after the operation is completed, the step of initializing the coordinate system conversion information.

[0025] In the first aspect, the coordinate system conversion information generating method may further include: monitoring the coordinate system conversion information before the operation starts, and if the coordinate system conversion information is not generated or the monitored coordinate system conversion information corresponds to the initialized coordinate system conversion information, then generating an angle measurement knob operation alarm signal.

[0026] The second aspect of the present disclosure can provide a coordinate system conversion information generating device, which is in a robotic surgery system, and the coordinate system conversion information generating device includes: a non-transitory computer-readable medium, configured to store at least one program; and a processor, configured to execute the at least one program to calculate a first angle difference between a preset reference coordinate system and a first robot basic coordinate system based on a user's knob operation value obtained from a first angle measurement knob installed on the first robot; calculate a second angle difference between the preset reference coordinate system and the second robot basic coordinate system based on a user's knob operation value obtained from a second angle measurement knob installed on the second robot; and generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first angle difference and the second angle difference.

[0027] In a second aspect, the preset reference coordinate system may include: any one of: a coordinate system used by an operating table in an operating room equipped with the first robot and the second robot, or a coordinate system used by an active robot provided in a robotic surgery system.

[0028] In a second aspect, the processor can be configured to: calculate the relative angle between the first robot base coordinate system and the second robot base coordinate system using the first angle difference and the second angle difference; and calculate the rotation transformation matrix between the first robot base coordinate system and the second robot base coordinate system based on the relative angle.

[0029] In a second aspect, the processor may be configured to initialize the coordinate system conversion information after the operation is completed.

[0030] In a second aspect, the processor can also be configured to monitor the coordinate system conversion information before the operation begins. If the coordinate system conversion information is not generated or the monitored coordinate system conversion information corresponds to the initialized coordinate system conversion information, an angle measurement knob operation alarm signal can be generated.

[0031] According to a third aspect of the present disclosure, a non-transitory computer-readable recording medium may be provided, recording a program for executing the coordinate system conversion information generating method according to the first aspect on a computer.

[0032] The fourth aspect of the present disclosure may provide a surgical robot, the surgical robot comprising: one or more robot arms configured to perform actions through handle operations of an operator; a surgical instrument connected to the robot arm; an angle measurement knob that receives a user's physical operation of the knob to obtain the user's knob operation value; and a coordinate system conversion information generating device that generates coordinate system conversion information based on the angle difference between the coordinate systems. The coordinate system conversion information generating device is configured to: calculate a first angle difference between a preset reference coordinate system and a first robot base coordinate system based on a user's knob operation value obtained from a first angle measurement knob installed on a first robot; calculate a second angle difference between the preset reference coordinate system and a second robot base coordinate system based on a user's knob operation value obtained from a second angle measurement knob installed on a second robot; and generate coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0033] The fifth aspect of the present disclosure may provide a laparoscopic camera robot, the laparoscopic camera robot comprising: one or more robot arms, configured to perform actions through the operator's handle operation; a camera for laparoscopic surgery, connected to the robot arm; an angle measurement knob, receiving a user's physical operation of the knob and obtaining the user's knob operation value; and a coordinate system conversion information generating device, which generates coordinate system conversion information based on the angle difference between the coordinate systems. The coordinate system conversion information generating device is configured to: calculate the first angle difference between the preset reference coordinate system and the first robot base coordinate system based on the user's knob operation value obtained from the first angle measurement knob installed on the first robot; calculate the second angle difference between the preset reference coordinate system and the second robot base coordinate system based on the user's knob operation value obtained from the second angle measurement knob installed on the second robot; and generate the coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0034] The sixth aspect of the present disclosure may provide a robotic surgery system, the system comprising: a surgical robot, comprising a first angle measurement knob, the first angle measurement knob being configured to receive a user's physical operation on the knob, and obtaining the user's first knob operation value; a laparoscopic camera robot, comprising a second angle measurement knob, the second angle measurement knob being configured to receive a user's physical operation on the knob, and obtaining the user's second knob operation value; and an active robot, comprising a coordinate system conversion information generating device, generating coordinate system conversion information based on the angle difference between the coordinate systems. The coordinate system conversion information generating device is configured to: calculate the first angle difference between a preset reference coordinate system and a first robot basic coordinate system based on the user's knob operation value obtained from the first angle measurement knob installed on the robot; calculate the second angle difference between the preset reference coordinate system and the second robot basic coordinate system based on the user's second knob operation value obtained from the second angle measurement knob installed on the laparoscopic camera robot; and generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first angle difference and the second angle difference.

[0035] In addition, another method for implementing the present disclosure, another system, and a computer-readable recording medium storing a computer program for executing the method may also be provided.

[0036] Beneficial Effects

[0037] According to an embodiment of the present disclosure, coordinate system conversion information between robots provided in a robotic surgery system can be generated only through intuitive and simple operations by the user. In addition, for example, when coordinate system conversion information is generated according to an embodiment of the present disclosure, and the motion in the basic coordinate system of the surgical robot is converted into the motion in the basic coordinate system of the camera robot by using the coordinate system conversion information, the surgical instrument displayed on the display member of the active robot is moved to the left by manipulating the manipulation member of the active robot to the left. This allows the user to operate the surgical robot more intuitively and accurately to perform surgery using the surgical robot.

[0038] The effects of the present disclosure are not limited to the above-mentioned contents, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a conceptual diagram showing a robotic surgery system according to an embodiment.

[0040] Figure 2 It is shown Figure 1 Block diagram of the internal structure of the robotic surgery system.

[0041] Figure 3It is shown Figure 1 A stereoscopic view of a slave robot of a robotic surgical system and a surgical instrument installed in the slave robot.

[0042] Figure 4 : is a structural diagram showing an example of the internal structure of a coordinate system conversion information generating device according to an embodiment.

[0043] Figure 5 It is shown Figure 1 A stereoscopic view of a surgical robot and surgical instruments installed in the surgical robot of a robotic surgery system.

[0044] Figure 6 It is shown from Figure 5 Figure 2 shows the state of removing the instrument box.

[0045] Figure 7 It is shown Figure 1 A stereoscopic view of a camera robot of a robotic surgery system and a camera for laparoscopic surgery mounted on the camera robot.

[0046] Figure 8 It is shown from Figure 5 Illustration of a surgical robot removing surgical instruments.

[0047] Fig. 9 is a perspective view showing another example of a surgical robot of a robotic surgery system and a surgical instrument installed in the surgical robot according to an embodiment.

[0048] Fig.10 is a perspective view showing an example of an angle measuring knob installed in a robot according to an embodiment.

[0049] Fig.11 is a stereoscopic view showing a surgical instrument according to an embodiment of the present disclosure.

[0050] Fig.12 and Fig.13 yes Fig.11 A stereoscopic view of the end tool of a surgical instrument.

[0051] Fig.14A and Fig. 14B yes Fig.11 A top view of the end tool of a surgical instrument.

[0052] Fig.15 and Fig.16 yes Fig.11 A stereoscopic view of a driving portion of a surgical instrument.

[0053] Fig.17 yes Fig.11 A top view of the drive portion of a surgical instrument.

[0054] Fig.18 yes Fig.11 Rear view of the drive portion of the surgical instrument.

[0055] Fig.19 yes Fig.11 A top view of the drive portion of a surgical instrument.

[0056] Fig. 20 It shows dismantled Fig.11 A diagram of the structure associated with the first jaw in the structure of pulleys and wires of the surgical instrument is shown.

[0057] Fig.21 It shows dismantled Fig.11 A diagram of the structure associated with the second jaw in the structure of the pulley and wire of the surgical instrument is shown.

[0058] Fig.22A , Fig. 22B , Fig. 22C and Fig.23A , Fig. 23B , Fig.23C It is shown Fig.11 A diagram illustrating the pitch motion of the surgical instrument.

[0059] Fig.24A , Fig. 24B and Fig.25A , Fig.25B It is shown Fig.11 A diagram of the yaw motion of the surgical instrument is shown.

[0060] Fig.26 is a flowchart for explaining an example of a method for generating coordinate system conversion information in a robotic surgery system according to an embodiment.

[0061] Fig. 27 and Fig.28 is a perspective view for explaining an example of a coordinate system used in a robotic surgery system according to an embodiment.

[0062] Fig.29 is a flowchart for explaining another example of a method for generating coordinate system conversion information in a robotic surgery system.

[0063] Fig.30 and Fig.31 is a perspective view for explaining another example of a coordinate system used in the robotic surgery system according to an embodiment.

[0064] Fig.32 is a diagram for explaining an example of a robotic surgery system configured to operate based on coordinate system conversion information according to an embodiment. DETAILED DESCRIPTION

[0065] The advantages and features of the present disclosure and the methods for achieving them will become clear through reference figures and detailed embodiments. However, the present disclosure is not limited to the embodiments presented below, but can be implemented in various forms and should be understood to include all conversions, equivalents and substitutes included in the spirit and technical scope of the present disclosure. The embodiments introduced below are intended to make the disclosure of the present disclosure complete, and the present disclosure is provided to fully inform the scope of the invention to those skilled in the art. When describing the present disclosure, if it is judged that the specific description of the known technology may obscure the gist of the present disclosure, the detailed description will be omitted.

[0066] The terms used in this application are only used to illustrate specific embodiments and are not used to limit the present disclosure. Unless the context clearly indicates otherwise, singular expressions include plural expressions. It should be understood that in this application, terms such as "including" or "having" are intended to indicate the presence of features, numbers, steps, operations, constituent elements, parts or combinations thereof described in the specification, and do not preclude the presence or additional possibility of one or more other features, numbers, steps, operations, constituent elements, parts or combinations thereof.

[0067] Some embodiments of the present disclosure can be represented by function block configurations and various processing steps. Some or all of these function blocks can be implemented with any number of hardware and / or software configurations that perform specific functions. For example, the function blocks of the present disclosure can be implemented by one or more microprocessors or by circuit configurations for predetermined functions. In addition, for example, the function blocks of the present disclosure can be implemented in various programming or scripting languages. The function blocks can be implemented by algorithms running on one or more processors. In addition, the present disclosure can adopt conventional techniques for electronic environment settings, signal processing and / or data processing, etc. Terms such as "mechanism", "element", "device" and "configuration" can be used extensively and are not limited to mechanical and physical configurations.

[0068] In addition, the connecting lines or connecting members between the constituent elements shown in the figures only exemplify functional connections and / or physical or circuit connections. In actual devices, the connections between multiple constituent elements can be represented by various alternative or additional functional connections, physical connections or circuit connections.

[0069] Hereinafter, the present embodiment will be described in detail with reference to the drawings. However, the embodiment may be implemented in various different forms and is not limited to the examples described herein.

[0070] Figure 1 is a conceptual diagram showing a robotic surgery system according to an embodiment of the present disclosure, Figure 2 It is shown Figure 1 A block diagram of the internal structure of a robotic surgery system. Figure 3 It is shown Figure 1 A stereoscopic view of a slave robot of a robotic surgical system and a surgical instrument installed in the slave robot.

[0071] Reference Figures 1 to 3 The surgical robot system 1 includes an active robot 10 , a passive robot 20 , a surgical instrument 30 , and a laparoscopic surgery camera 50 .

[0072] The master robot 10 includes an operating member 10 a and a display member 10 b , and the slave robot 20 includes one or more robot arm units 21 , 22 , 23 .

[0073] In detail, the active robot 10 includes an operating member 10a, which an operator can grasp with both hands to operate. Figure 1 As shown, the operating member 10a may include two or more handles, and the operating signal according to the operator's handle operation is sent to the slave robot 20 through a wired or wireless communication network to control the robot arm units 21, 22, 23. That is, surgical actions such as position movement, rotation, cutting operations, etc. of the robot arm units 21, 22, 23 can be performed by the operator's handle operation.

[0074] For example, the operator can operate the robot arm units 21, 22, 23 using a handle-shaped lever. Such a lever may have different mechanical configurations according to its operation mode, and may be provided in various forms for operating the robot arm units 21, 22, 23 and / or other surgical instruments of the slave robot 20, for example, a main handle for operating the actions of the robot arm units 21, 22, 23 and various input tools attached to the master robot 10 for operating the functions of the entire system, such as a joy stick, a keyboard, a track ball, a foot pedal, and a touch screen. Among them, the operating member 10a is not limited to the shape of the handle, and can be applied without any limitation as long as it is a form capable of controlling the actions of the robot arm units 21, 22, 23 through a network such as a wired or wireless communication network.

[0075] In addition, the surgical robot system 1 can also apply voice input or motion input to perform user input. That is, glasses or head-mounted displays (HMD) with sensors can be worn, and the laparoscopic surgery camera 50 moves according to the direction of the line of sight. Alternatively, if the user issues a voice command such as "left", "right", "arm 1", "arm 2", etc., the command can be recognized and the action can be performed.

[0076] The image captured by the laparoscopic surgery camera 50 is displayed in the form of an image on the display member 10b of the active robot 10. For example, the image captured by the laparoscopic surgery camera 50 may include the surgical site of the patient, the surgical instruments inserted into the surgical site of the patient, and the movements of the surgical instruments. For example, the display member 10b may display an image corresponding to the movement of the surgical instruments inserted into the surgical site of the patient. In addition, a predetermined virtual operation panel may be displayed on the display member 10b together with the image captured by the laparoscopic surgery camera 50, or may be displayed separately. A detailed description of the arrangement and configuration of such a virtual operation panel, etc., will be omitted.

[0077] The display member 10b may be composed of one or more displays, and the information required for the operation may be displayed separately on each display. The number of displays may be determined in various ways according to the type or kind of information to be displayed.

[0078] On the other hand, one or more slave robots 20 may be configured to perform surgery on a patient. For example, the surgical robot system 1 may include a slave robot 20 combined with a surgical instrument 30 and a slave robot 20 combined with a laparoscopic surgery camera 50. As such, the laparoscopic surgery camera 50 for displaying the surgical site as an image through the display member 10b may also be implemented by an independent slave robot 20. In addition, as described above, the disclosed embodiments may be generally used in surgeries utilizing a variety of surgical endoscopes other than laparoscopes (e.g., thoracoscopes, arthroscopes, rhinoscopes, etc.).

[0079] On the other hand, as an example, the surgical instrument 30 may be attached to two of the plurality of robot arm units 21, 22, 23, and the laparoscopic surgery camera 50 may be attached to one of them. And, the surgeon as an operator can select the slave robot 20 (or robot arm units 21, 22, 23) to be controlled by the master robot 10. Like this, the surgeon directly manipulates a total of more than three surgical instruments through the master robot 10, and can accurately and freely perform manipulation of various instruments as the surgeon intends without the need for a surgical assistant.

[0080] As another example, the slave robot 20 may include one or more robot arm units 21, 22, 23. For example, Figures 1 to 3It is shown that one robot arm unit 21, 22, 23 is coupled to one slave robot 20, but the present invention is not limited thereto. For example, two robot arm units may be coupled to one slave robot 20, so that a surgical instrument 30 may be attached to any one of the robot arm units, and a laparoscopic surgery camera 50 may be attached to the other robot arm unit. However, even when a plurality of robot arm units are coupled to one slave robot 20, each of the plurality of robot arm units 21, 22, 23 may be configured in a modular form capable of acting independently of one another, and in this case, an algorithm for preventing collisions between the plurality of robot arm units 21, 22, 23 may also be applied to the surgical robot system 1.

[0081] In general, a robot arm has functions similar to those of a human arm and / or wrist, and refers to a device capable of attaching a predetermined tool to the wrist portion. In the present disclosure, the robot arm units 21, 22, and 23 may be defined as concepts including components such as an upper arm, a lower arm, a wrist, an elbow, and a surgical instrument (or a laparoscopic surgical camera) coupled to the wrist portion. Alternatively, it may be defined as a concept including components for driving a surgical instrument (or a laparoscopic surgical camera) in addition to the surgical instrument (or laparoscopic surgical camera) coupled to the wrist portion.

[0082] Like this, the robot arm units 21, 22, 23 of the slave robot 20 can be implemented to be driven in a state with multiple degrees of freedom. For example, the robot arm units 21, 22, 23 can be configured to include, for example: a surgical instrument (or a camera for laparoscopic surgery), which is inserted into the surgical site of the patient; a yaw drive unit, which rotates the surgical instrument in the yaw direction according to the surgical position; a pitch drive unit, which rotates the surgical instrument in the pitch direction orthogonal to the rotation drive of the yaw drive unit; a transmission drive unit, which moves the surgical instrument in the length direction; a rotation drive unit, which is used to rotate the surgical instrument; and a surgical instrument drive unit, which drives the end effector at the end of the surgical instrument to cut or cut the surgical lesion. However, the configuration of the robot arm units 21, 22, 23 is not limited to this, and these examples should not be understood as limiting the scope of rights of the present disclosure. Among them, a detailed description of the actual control process of the robot arm units 21, 22, 23 rotating and moving in the corresponding directions as the operator operates the operating member 10a will be omitted.

[0083] Reference Figure 2 In one embodiment of the present disclosure, the active robot 10 may include: an image input unit 11, a screen display unit 12, a user input unit 13, an operation signal generating unit 14, a control unit 15, a memory 16, a storage unit 17 and a communication unit 18.

[0084] The image input unit 11 may receive images captured by a camera of the laparoscopic surgery camera 50 provided on the slave robot 20 through a wired or wireless communication network. For example, the images captured by the camera of the laparoscopic surgery camera 50 may include the surgical site of the patient, surgical instruments inserted into the surgical site of the patient, movements of the surgical instruments, and the like.

[0085] The screen display unit 12 outputs an image corresponding to the image received by the image input unit 11 as visual information. In addition, when the patient's biological information is input, the screen display unit 12 can also output information corresponding thereto. In addition, the screen display unit 12 can also output image data related to the surgical site of the patient (for example, X-ray images, computed tomography (CT) images, magnetic resonance imaging (MRI) images, etc.). The screen display unit 12 can be composed of a display component (refer to Figure 1 10b) etc., and the image processing flow for outputting the received image as an image through the screen display unit 12 can be executed by the control unit 15.

[0086] exist Figure 2 In the illustrated embodiment, the image input unit 11 and the screen display unit 12 are shown as being arranged in the active robot 10, but are not limited thereto. The display component 10b may be provided as a separate component separated from the active robot 10. Alternatively, the display component 10b may also be provided as a component of the active robot 10. In addition, in another embodiment, a plurality of display components may be provided, one of which may be arranged at a position adjacent to the active robot 10, and some other display components may also be arranged at a position slightly spaced apart from the active robot 10.

[0087] Among them, the screen display unit 12 (that is, Figure 1 The display component 10b) can also be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that uses stereoscopic display technology to add depth information to a two-dimensional image, and uses the depth information to display an image that allows the observer to feel three-dimensional vividness and reality. According to an embodiment of the present disclosure, a stereoscopic display device is provided in the surgical robot system 1 as the screen display unit 12, and a more realistic virtual environment can also be provided to the user.

[0088] The user input unit 13 is a device that allows an operator to operate the positions and functions of the plurality of robot arm units 21, 22, 23 of the slave robot 20. Figure 1 As shown, the user input unit 13 may be configured as a handle-shaped operating member (see Figure 1 10a), but its shape is not limited thereto and can be converted into various shapes to achieve the same purpose. In addition, for example, one part can be in the shape of a handle, and another part can be in different shapes such as a clutch button, and a finger insertion tube or finger ring for inserting and fixing the operator's finger can also be formed to facilitate the operation of the surgical tool.

[0089] When the operator operates the user input unit 13 to move the position of the robot arm units 21, 22, 23 or perform a surgical operation, the operation signal generation unit 14 can generate a corresponding operation signal. As an example, when the operator operates the user input unit 13 to move the position of the robot arm units 21, 22, 23 or perform a surgical operation, the operation signal generation unit 14 can generate corresponding operation information.

[0090] For example, the operation signal generating unit 14 sends the generated operation signal to the control unit 15 or to the slave robot 20 through the communication unit 18. The operation signal can be sent and received through a wired or wireless communication network. Based on the sent operation signal, the control unit 15 can control the slave robot 20, the surgical instrument 30 or the laparoscopic surgery camera 50 to move. Alternatively, the robot arm control unit 26 provided in the slave robot 20 can control the robot arm units 21, 22, and 23 to move based on the sent operation signal. Alternatively, the instrument control unit 27 provided in the slave robot 20 can control the surgical instrument 30 or the laparoscopic surgery camera 50 to move based on the sent operation signal. However, the method of controlling the slave robot 20, controlling the movement of the surgical instrument 30 or the laparoscopic surgery camera 50 based on the operation signal is not limited to the above method.

[0091] The control unit 15 is a central processing unit that controls the operation of each component so that the above functions can be performed. As an example, the control unit 15 can perform a function of converting an image input through the image input unit 11 into an image to be displayed through the screen display unit 12.

[0092] The memory 16 may perform a function of temporarily or permanently storing data processed by the control unit 15. The memory 16 may include a magnetic storage medium or a flash storage medium, but the scope of the present disclosure is not limited thereto.

[0093] The storage unit 17 can store data received from the slave robot 20. In addition, the storage unit 17 can store various input data (for example, patient data, equipment data, operation data, etc.).

[0094] The communication unit 18 includes a communication interface required to link with the communication network 60 and transmit and receive the image data transmitted from the slave robot 20 and the control data transmitted from the master robot 10 .

[0095] The slave robot 20 includes a plurality of robot arm unit control units 21a, 22a, and 23a. The robot arm unit control unit 21a includes a robot arm control unit 26, a device control unit 27, and a communication unit 29. The robot arm unit control unit 21a may further include a track control unit 28.

[0096] Reference Figure 2 and Figure 3 The track control unit 28 can control the preset path of the surgical instrument 30 combined with the robot arm units 21, 22, and 23, specifically, it can be used to control the preset path of the surgical instrument 30 to be moved along the path to be moved. Fig.11 The movement path of the connecting portion 310 in the length direction shown in FIG.

[0097] The robot arm control unit 26 may be configured to receive an operation signal generated by the operation signal generation unit 14 of the master robot 10 and control the robot arm units 21 , 22 , 23 to operate according to the operation signal.

[0098] The instrument control unit 27 may be configured to receive an operation signal generated by the operation signal generating unit 14 of the active robot 10 and control the operation of the surgical instrument 30 according to the operation signal.

[0099] The communication unit 29 includes a communication interface required to link with the communication network 60 and transmit and receive the image data transmitted from the slave robot 20 and the control data transmitted from the master robot 10 .

[0100] On the other hand, the communication network 60 is used to connect the active robot 10 and the slave robot 20. That is, the communication network 60 refers to a communication network that provides a connection path so that the active robot 10 and the slave robot 20 can send and receive data to each other after being connected. The communication network 60 may include, for example, Local Area Networks (LANs), Wide Area Networks (WANs), Metropolitan Area Networks (MANs), Integrated Service Digital Networks (ISDNs) wired networks, wireless LANs, CDMA, Bluetooth, satellite communications and other wireless networks, but the scope of the present disclosure is not limited thereto.

[0101] On the other hand, the operator who operates the active robot 10 can usually operate the operating member 10a while observing the image displayed on the display member 10b. For example, the operator can confirm the movement of the surgical instrument in the image in real time and operate the movement of the surgical instrument according to the operator's intention through the operating member 10a.

[0102] Here, operating the movement of the surgical instrument according to the operator's intention may include a process of converting the movement information of the operating member 10 a of the active robot 10 operated by the operator into the movement information of the surgical instrument.

[0103] In other words, in order for the operator to intuitively control the movement of the surgical instrument, a process of converting between the movement information of the surgical instrument on the image, the movement information of the operating member 10a operated by the operator, and the actual movement information of the surgical instrument may be required.

[0104] On the other hand, as described above, since the operator operates the operating member 10a while viewing the image displayed on the display member 10b, it can be assumed that the operator uses the coordinate system used by the image. That is, it can be assumed that the motion information of the surgical instrument on the image is the same as the motion information of the operating member 10a operated by the operator.

[0105] Different from this, the calculation method of converting the motion information of the surgical instrument on the calculation image and the actual motion information of the surgical instrument may differ depending on the method of configuring the slave robot 20 or the robot arm units 21 , 22 , 23 .

[0106] For example, when both the surgical instrument 30 and the laparoscopic surgery camera 50 are combined with the robot arm unit 21, the surgical instrument 30 and the laparoscopic surgery camera 50 combined with the robot arm unit 21 use the same coordinate system. At this time, the motion information of the surgical instrument 30 on the image is the same as the actual motion information of the surgical instrument 30, so there is no need to calculate the conversion between the motion information.

[0107] As another example, when the surgical instrument 30 is coupled to the robot arm unit 22, and the laparoscopic surgery camera 50 is coupled to the robot arm unit 23, in other words, when the surgical instrument 30 and the laparoscopic surgery camera 50 are mounted on separate robot arm units, the surgical instrument 30 and the laparoscopic surgery camera 50 use different coordinate systems. That is, since the surgical instrument 30 and the laparoscopic surgery camera 50 are coupled to robot arm units independent of each other, the motion information of the surgical instrument 30 in the image may be motion information determined after a predetermined conversion process is performed on the actual motion information of the surgical instrument 30. In addition, the actual motion information of the surgical instrument 30 may be motion information determined after a predetermined conversion process is performed on the motion information of the surgical instrument 30 in the image. That is, in order to calculate the conversion between the motion information of the surgical instrument 30 in the image and the actual motion information of the surgical instrument 30, it is necessary to calculate the coordinate system conversion information between the coordinate system used by the laparoscopic surgery camera 50 and the coordinate system used by the surgical instrument 30.

[0108] As another example, the motion information of the surgical instrument 30 coupled to the robot arm unit 21 is determined in association with the motion information of the surgical instrument 30 coupled to the robot arm unit 22. For example, the surgical instrument 30 coupled to the robot arm unit 21 may need to move parallel to or perpendicular to the surgical instrument 30 coupled to the robot arm unit 22 to perform a predetermined action. At this time, by calculating the coordinate system conversion information between the coordinate system used by the surgical instrument 30 coupled to the robot arm unit 21 and the coordinate system used by the surgical instrument 30 coupled to the robot arm unit 22, the motion between the plurality of surgical instruments can be easily controlled.

[0109] In the following, reference is made to Figure 4 The present invention will now be described as an apparatus for generating coordinate system conversion information between multiple robots (for example, a robot equipped with a surgical instrument 30 (hereinafter referred to as a "surgical robot") and a robot equipped with a laparoscopic surgery camera 50 (hereinafter referred to as a "camera robot") in a robotic surgery system according to an embodiment of the present disclosure.

[0110] Figure 4 : is a structural diagram showing an example of the internal structure of a coordinate system transformation information generating device according to an embodiment.

[0111] Reference Figure 4 , the device for generating coordinate system conversion information (hereinafter referred to as "device") 1000 includes a processor 1010, a memory 1020, an input / output interface 1030 and a communication module 1040. For ease of description, Figure 4 Only the components related to the present disclosure are shown. Figure 4In addition to the multiple components shown, the device 1000 may also include multiple other common components. In addition, those skilled in the art know that Figure 4 The processor 1010 , memory 1020 , input / output interface 1030 , and communication module 1040 shown may be implemented by independent devices.

[0112] The processor 1010 can process the instructions of the computer program by performing basic arithmetic, logic and input / output operations. The instructions can be provided from the memory 1020 or an external device (e.g., an external server (not shown)). In addition, the processor 1010 can control the actions of other components in the device 1000 as a whole.

[0113] The processor may calculate the angle difference between the preset reference coordinate system and the robot base coordinate system based on the user's knob operation value obtained from the angle measurement knob installed on the robot. As an example, the processor may calculate the angle difference between the preset reference coordinate system and the camera robot base (Base) coordinate system based on the user's knob operation value obtained from the angle measurement knob installed on the camera robot. As another example, the processor may calculate the angle difference between the preset reference coordinate system and the surgical robot base coordinate system based on the user's knob operation value obtained from the angle measurement knob installed on the surgical robot. That is, the angle difference (e.g., the angle difference between the reference coordinate system and the camera robot base coordinate system or the angle difference between the reference coordinate system and the surgical robot base coordinate system) can be calculated based on the user's knob operation value obtained from the angle measurement knob.

[0114] In addition, an angle measurement knob (for example, an angle measurement knob installed on a camera robot or an angle measurement knob installed on a surgical robot) can receive a user's physical knob operation and obtain a knob operation value corresponding to the angle difference.

[0115] According to an embodiment, in order to generate coordinate system conversion information between a first robot and a second robot in a robotic surgery system, a processor may calculate a first angle difference between a reference coordinate system and a base coordinate system of the first robot and a second angle difference between a reference coordinate system and a base coordinate system of the second robot. The first angle difference may be calculated based on a user's knob operation value obtained from a first angle measurement knob installed on the first robot, and the second angle difference may be calculated based on a user's knob operation value obtained from a second angle measurement knob installed on the second robot. On the other hand, the first robot and the second robot in the robotic surgery system may be camera robots or surgical robots.

[0116] According to one embodiment, when the first angle measuring knob (referring to the angle measuring knob installed on the first robot, but not limited to this) does not use the first robot base coordinate system, the processor can calculate the third angle difference between the reference coordinate system and the coordinate system used by the first angle measuring knob based on the knob operation value obtained from the first angle measuring knob.

[0117] The first angle measurement knob may be installed at the first robot, specifically, may be installed at a position of the first robot other than a position that is a reference point of a basic coordinate system of the first robot.

[0118] In addition, the processor may calculate a fifth angle difference between the first angle measurement knob coordinate system and the first robot base coordinate system based on a first angle measurement value acquired from a first angle measurement sensor installed at the robot arm unit of the first robot.

[0119] According to one embodiment, when the second angle measurement knob (referring to the angle measurement knob installed on the second robot, but not limited to this) does not use the second robot base coordinate system, the processor can calculate the fourth angle difference between the reference coordinate system and the coordinate system used by the second angle measurement knob based on the knob operation value obtained from the second angle measurement knob.

[0120] The second angle measuring knob may be installed at the second robot, specifically, may be installed at a position of the second robot other than a position that is a reference point of a basic coordinate system of the second robot.

[0121] In addition, the processor may calculate a sixth angle difference between the second angle measurement knob coordinate system and the second robot base coordinate system based on a second angle measurement value acquired from a second angle measurement sensor mounted on the robot arm unit of the second robot.

[0122] On the other hand, the processor may generate coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0123] For example, the processor can use the first angle difference to generate first coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system, and use the second angle difference to generate second coordinate system conversion information between the second robot basic coordinate system and the reference coordinate system, and generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first coordinate system conversion information and the second coordinate system conversion information.

[0124] On the other hand, according to one embodiment, the preset reference coordinate system may include any one of a coordinate system used by an operating table in an operating room configured with the first robot and the second robot or a coordinate system used by an active robot in a robotic surgery system.

[0125] According to one embodiment, the processor may calculate a relative angle between the first robot base coordinate system and the second robot base coordinate system using the first angle difference and the second angle difference, and calculate a rotation transformation matrix between the first robot base coordinate system and the second robot base coordinate system based on the relative angle.

[0126] According to another embodiment, the processor can use the third angle difference to calculate the rotation conversion matrix between the reference coordinate system and the first angle measurement knob coordinate system, and use the fifth angle difference to calculate the rotation conversion matrix between the first angle measurement knob coordinate system and the first robot basic coordinate system to generate the first coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system. In addition, the processor can use the fourth angle difference to calculate the rotation conversion matrix between the reference coordinate system and the second angle measurement knob coordinate system, and use the sixth angle difference to calculate the rotation conversion matrix between the second angle measurement knob coordinate system and the second robot basic coordinate system to generate the second coordinate system conversion information between the second robot basic coordinate system and the reference coordinate system.

[0127] On the other hand, according to an embodiment, the first angle difference or the second angle difference may refer to the difference in yaw value of the reference point of the first robot base coordinate system relative to the reference coordinate system or the difference in yaw value of the reference point of the second robot base coordinate system among the roll value, the pitch value, and the yaw value. In addition, the third angle difference or the fourth angle difference may refer to the difference in yaw value of the reference point of the first angle measurement knob coordinate system relative to the reference coordinate system or the difference in yaw value of the reference point of the second angle measurement knob coordinate system relative to the reference coordinate system among the roll value, the pitch value, and the yaw value. In addition, the fifth angle difference may refer to the difference in yaw value of the reference point of the first robot base coordinate system relative to the first angle measurement knob coordinate system, and the sixth angle difference may refer to the difference in yaw value of the reference point of the second robot base coordinate system relative to the second angle measurement knob coordinate system.

[0128] On the other hand, according to one embodiment, the processor may initialize the generated initialization coordinate system conversion information after the operation is completed. That is, in response to the completion of the operation based on the generated coordinate system conversion information, the processor may initialize the previously generated coordinate system conversion information. This can be said to be for generating new coordinate system conversion information when the position or direction of the surgical robot or camera robot may change when a new operation is performed.

[0129] According to one embodiment, the processor can monitor the coordinate system conversion information before the operation begins, and when the coordinate system conversion information is not generated or when the monitored coordinate system conversion information corresponds to the initialized coordinate system conversion information, an angle measurement knob operation alarm signal is generated. For example, when a new operation is required, but the coordinate system conversion information is not generated because the user (e.g., the operator) does not operate the angle measurement knob, or when the coordinate system conversion information initialized after the previous operation is still present, the processor can generate an angle measurement knob operation alarm signal to inform the user that the angle measurement knob needs to be operated. As an example, the processor can directly send the angle measurement knob operation alarm signal to the first angle measurement knob or the second angle measurement knob, and the first angle measurement knob or the second angle measurement knob can provide a notification to the user through a notification unit (not shown). As another example, the processor can send the angle measurement knob operation alarm signal to the communication unit 18 or the communication unit 29, and in response to the communication unit 18 or the communication unit 29 receiving the signal, the control unit 15 or the robot arm control unit 26 can control the active robot 10 or the slave robot 20 to provide the user with an alarm that the user needs to operate the angle measurement knob.

[0130] Will refer to Figures 5 to 32 A specific example of the operation of the processor 1010 according to the present embodiment will be described.

[0131] The processor 1010 may also be implemented by an array of multiple logic gates, or may be implemented by a combination of a general-purpose microprocessor and a non-transitory computer-readable medium storing a program that can be executed in the microprocessor. For example, the processor 1010 may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, and a state machine, etc. In some environments, the processor 1010 may also include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor 1010 may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or a combination of any other such configurations.

[0132] The memory 1020 may include any non-transitory computer-readable recording medium. As an example, the memory 1020 may include a permanent mass storage device such as a random access non-transitory computer-readable medium (RAM), a read-only non-transitory computer-readable medium (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, a non-volatile mass storage device (e.g., a read-only non-transitory computer-readable medium (ROM), a solid state drive (SSD), a flash memory, a disk drive, etc.) may be a separate persistent storage device different from the non-transitory computer-readable medium. In addition, the memory 1020 may store an operating system (OS) and at least one program code (e.g., refer to Figures 5 to 32 , code for processor 1010 to perform the actions described below).

[0133] According to an embodiment, the memory 1020 may store coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system.

[0134] These software components may be loaded from a computer-readable recording medium separate from the memory 1020. Such a separate computer-readable recording medium may be a recording medium that can be directly connected to the apparatus 1000, for example, a recording medium that is readable on a computer, such as a floppy disk drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components may also be loaded into the memory 1020 via the communication module 1040 instead of the computer-readable recording medium. For example, at least one program may be a computer program installed based on a file provided by a developer or a file distribution system that distributes the installation file of the application program via the communication module 1040 (for example, refer to Figures 5 to 32 , a computer program for the processor 1010 to execute the actions described later, etc.) is loaded into the memory 1020.

[0135] The input / output interface 1030 may be a device for interfacing with a device for input or output (e.g., a keyboard, a mouse, etc.) that may be connected to the device 1000 or provided in the device 1000. The input / output interface 1030 may be configured separately from the processor 1010, but is not limited thereto, and the input / output interface 1030 may also be configured to be provided in the processor 1010.

[0136] The communication module 1040 may provide a configuration or function for an external device (e.g., the communication unit 18 or the communication unit 29, etc.) and the device 1000 to communicate with each other through a network. In addition, the communication module 1040 may provide a configuration or function for the device 1000 to communicate with other external devices. For example, a control signal, instruction, data, etc. provided with the control of the processor 1010 may be sent to an external device through the communication module 1040 and the network.

[0137] According to an embodiment, the communication module 1040 may send coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system to an external device (eg, the communication unit 18 or the communication unit 29, etc.).

[0138] On the other hand, according to an embodiment, the device 1000 may be a component provided in the active robot 10. As an example, the active robot 10 may further include a coordinate system conversion information generating unit (not shown), and the action performed by the device 1000 may be performed by the coordinate system conversion information generating unit (not shown) provided in the active robot 10. As another example, the actions respectively performed by the processor 1010, the memory 1020, the input / output interface 1030, and the communication module 1040 may be performed by the control unit 15, the memory 16, the screen display unit 12, the user input unit 13, and the communication unit 18 included in the active robot 10.

[0139] According to another embodiment, the device 1000 may be a component provided in a robot arm unit control unit of a surgical robot or a robot arm unit control unit of a camera robot. For example, the robot arm unit control unit of the surgical robot or the robot arm unit control unit of the camera robot may further include a coordinate system conversion information generating unit (not shown), and the action performed by the device 1000 may be performed by the coordinate system conversion information generating unit (not shown) provided in the robot arm unit control unit of the surgical robot or the robot arm unit control unit of the camera robot.

[0140] Figure 5 It is shown Figure 1 A stereoscopic view of a surgical robot and surgical instruments installed in the surgical robot of a robotic surgery system. Figure 6 It is shown from Figure 5 Figure 2 shows the state of removing the instrument box. Figure 7 It is shown Figure 1 A stereoscopic view of a camera robot of a robotic surgery system and a laparoscopic surgery camera mounted on the camera robot. Figure 8 It is shown from Figure 5 Illustration of a surgical robot removing surgical instruments.

[0141] A surgical instrument 30 or a laparoscopic surgery camera 50 to be described later may be connected and provided in the robot arm units 21, 22, 23. Figure 5 The instrument box 40 covers the surgical instrument 30 and can be connected to the robot arm unit 21. The instrument box 40 covers one side of the surgical instrument 30 exposed to the outside, thereby preventing foreign matter from reaching the surgical instrument 30 and preventing the surgical instrument 30 from being damaged by external impact.

[0142] Reference Figure 6 The surgical instrument 30 may be connected to and mounted on the robot arm unit 21 of the surgical robot according to an embodiment. Figure 7 The laparoscopic surgery camera 50 may be connected to and mounted on the robot arm unit 21 of the camera robot according to an embodiment.

[0143] On the other hand, refer to Figures 5 to 8 , only any one of the robot arm units 21, 22, 23 is shown, and is combined with a surgical instrument 30 or a laparoscopic surgery camera 50, but not limited to this, the surgical instrument 30 is attached to two of the robot arm units 21, 22, 23 as described above, and the laparoscopic surgery camera 50 can be attached to one of them.

[0144] Reference Figures 5 to 8 The motor group 500 may be connected to the surgical instrument 30 , and may be combined and positionally fixed to the slave robot 20 , specifically, to the robot arm unit 21 .

[0145] The instrument box 40 may be connected to one side of the surgical instrument 30, and the motor group 500 may be connected to the other side opposite to the one side of the surgical instrument 30. The motor group 500 generates power by receiving electric power from the outside, and may transmit the power generated by the motor group 500 to the surgical instrument 30, which enables the surgical instrument 30 to perform pitching motion, yaw motion, actuation motion, and rolling motion.

[0146] Fig. 9 is a perspective view showing another example of a surgical robot of a robotic surgery system and a surgical instrument installed in the surgical robot according to an embodiment.

[0147] Reference Fig. 9 According to one embodiment, the surgical robot 2000 may include a body 2100, an active arm unit 2300, a surgical instrument 2400, and an angle measurement knob 2500. In addition, according to another embodiment, the surgical robot 2000 may further include a slave arm unit 2200 and one or more angle measurement sensors 2610, 2620, 2630.

[0148] The main body 2100 may refer to a body connected to the robot arm unit. For example, the robot arm unit and the main body 2100 may configure an independent slave robot 20. In addition, the main body 2100 may include a moving device (not shown), by which the surgical robot 2000 is configured at a desired position in the operating room. For example, wheels are provided in the main body 2100 so that the main body 2100 can move freely. On the other hand, the main body 2100 may also include a fixing device (not shown) that fixes the surgical robot 2000 to the operating room and prevents the surgical robot 2000 from moving. For example, after the configuration of the surgical robot 2000 is completed and the operator starts the operation, the fixing device can fix the main body 2100 at a predetermined position in the operating room to prevent the surgical robot 2000 from moving and ensure the stability of the operation.

[0149] The robot arm unit in the surgical robot 2000 may include at least one of a slave arm unit 2200 and an active arm unit 2300. For example, the surgical robot 2000 may be composed of a main body 2100 and an active arm unit 2300, or may be composed of a main body 2100, a slave arm unit 2200, and an active arm unit 2300. As an example, when the robot arm unit of the surgical robot 2000 is composed of only the active arm unit 2300, the active arm unit 2300 may be directly connected to the main body 2100. As another example, when the robot arm unit of the surgical robot 2000 is composed of the slave arm unit 2200 and the active arm unit 2300, the main body 2100 is directly connected to the slave arm unit 2200, and one end of the slave arm unit 2200 may be connected to the main body 2100, and the other end may be connected to the active arm unit 2300.

[0150] The slave arm unit 2200 may be defined as a unit that operates the position, direction, angle, etc. of the robot arm by an external force. For example, a surgical assistant or an operator assisting the operator may operate the movement of the slave arm unit 2200 by applying a physical force. In addition, when there is no external force operating the movement of the slave arm unit 2200, the slave arm unit 2200 may maintain the position, direction, angle, etc. In other words, when the above-mentioned operator or surgical assistant operates the position, direction, angle, etc. before the start of the operation, the position, direction, angle, etc. of the slave arm unit 2200 may remain unchanged during the operation. From this perspective, since the position to which the operator or surgical assistant moves the main body 2100 before the start of the operation may remain unchanged during the operation, the main body 2100 may be included in the slave arm unit 2200.

[0151] On the other hand, the slave arm unit 2200 may include angle measurement sensors 2610, 2620, 2630. The angle measurement sensors 2610, 2620, 2630 may refer to sensors that monitor the movement of the slave arm unit 2200. For example, the angle measurement sensors 2610, 2620, 2630 may measure or calculate the position, direction, angle, etc. of the slave arm unit 2200. For example, the angle measurement sensors 2610, 2620, 2630 may be implemented by sensors such as a rotary encoder, a linear encoder, a potentiometer, etc. that can measure the amount of change in the position, speed, and direction of an object.

[0152] In addition, each of the angle measurement sensors 2610, 2620, and 2630 may be installed between any two slave arm units. For example, the number of angle measurement sensors in the surgical robot 2000 may be one less than the number of the slave arm units 2200. Fig. 9 , the slave arm unit 2200 connecting the main body 2100 and the master arm unit 2300 may include a total of four robot arms, and the surgical robot 2000 according to the embodiment may include a total of three angle measurement sensors.

[0153] The active arm unit 2300 can be defined as a robot arm that automatically operates the position, direction, angle, etc. of the robot arm through an internal control algorithm. For example, when the operator operates the user input unit 13 to operate the active arm unit 2300, the operation signal generation unit 14 can generate an operation signal corresponding to the action of the operator operating the user input unit 13, and send it to the robot arm control unit of the active arm unit 2300. Thereafter, the robot arm control unit of the active arm unit 2300 can control the active arm unit 2300 to move, rotate, etc. according to the control algorithm based on the received control signal. In other words, when the operator operates, the position, direction, angle, etc. of the active arm unit 2300 can be operated whether before or after the operation begins. On the other hand, since the active arm unit 2300 is operated by a control algorithm rather than an external force, it is necessary to supply external energy through a motor or an actuator. Thus, the active arm unit 2300 may include one or more motors or actuators.

[0154] The surgical instrument 2400 included in the surgical robot 2000 may be connected to at least one of the slave arm unit 2200 and the master arm unit 2300. Fig. 9 The surgical robot 2000 is shown to be combined with the surgical instrument 2400, but is not limited thereto. Fig. 9The description is also applicable to a camera robot incorporating a camera for laparoscopic surgery (not shown).

[0155] On the other hand, the surgical robot 2000 or the camera robot may include an angle measurement knob 2500. Fig.10 , an angle measurement knob 2500 that may be included in a slave robot 20 (eg, a surgical robot or a camera robot) according to an embodiment of the present disclosure will be described in detail.

[0156] Fig.10 is a perspective view showing an example of an angle measuring knob installed in a robot according to an embodiment.

[0157] Reference Fig.10 According to an embodiment of the present disclosure, the slave robot 20 may include an angle measurement knob 2500. That is, the angle measurement knob 2500 may be installed on the surgical robot and the camera robot, respectively.

[0158] The angle measurement knob 2500 can be defined as a rotary operation device that obtains the user's knob operation value by receiving the user's physical operation on the knob. The user's knob operation value can correspond to the angle difference calculated by the coordinate system conversion information generating device using the knob operation value. On the other hand, the angle measurement knob 2500 can be implemented by a rotary knob such as a jog dial. The angle measurement knob 2500 can obtain the user's knob operation value (for example, the operation value of the angle at which the user rotates the knob) only through the user's intuitive and simple operation.

[0159] For example, the angle measurement knob 2500 may be circular in shape to receive a user's knob operation (e.g., a rotation operation). For example, a user may measure an angle by rotating the angle measurement knob 2500 in a clockwise or counterclockwise direction. For example, a user may measure the azimuth of a slave robot equipped with a corresponding angle measurement knob relative to a reference coordinate system by rotating the angle measurement knob 2500. Figure 26 to Figure 32 Detailed description.

[0160] On the other hand, the shape, size, material, etc. of the angle measurement knob 2500 are not limited to Fig.10 The example shown. Fig.10 In addition to the examples shown, the angle measurement knob 2500 according to an embodiment of the present disclosure may also include a rotary knob that meets the definition of the angle measurement knob 2500 described above.

[0161] According to an embodiment, the angle measurement knob 2500 may include a mark 2510. For example, the angle measurement knob 2500 with the mark 2510 added thereto may provide a more intuitive and simple angle measurement method for the user.

[0162] According to an embodiment, the angle measurement knob 2500 may be operated based on the user's rotation operation and click. For example, in addition to measuring the angle based on the user's operation, the angle measurement knob 2500 may also receive the user's input or selection.

[0163] On the other hand, the angle measuring knob 2500 can be installed on the main body and the slave arm unit of the surgical robot (or camera robot). The installation position of the angle measuring knob 2500 can be determined in consideration of the intuitive operation convenience of the user (e.g., an operator or a surgical assistant). As an example, the angle measuring knob 2500 can be installed on the upper part of the main body for convenient user operation. As another example, the angle measuring knob 2500 can be installed on the top of the slave arm unit. The installation position of the angle measuring knob 2500 is not limited to Fig.10 Position shown.

[0164] Fig.11 is a stereoscopic diagram showing a surgical instrument according to an embodiment of the present disclosure, Fig.12 and Fig.13 yes Fig.11 A stereoscopic view of the end tool of a surgical instrument, Fig.14A and Fig. 14B yes Fig.11 A top view of the end tool of a surgical instrument. Fig.15 and Fig.16 yes Fig.11 A three-dimensional diagram of a driving portion of a surgical instrument, Fig.17 yes Fig.11 A top view of a driving portion of a surgical instrument, Fig.18 yes Fig.11 A rear view of the driving portion of the surgical instrument, Fig.19 yes Fig.11 A side view of a drive portion of a surgical instrument.

[0165] First, refer to Fig.11 According to an embodiment of the present disclosure, a surgical instrument 30 may include an end tool 100 , a driving part 200 , and a power transmission part 300 , and the power transmission part 300 may include a connecting part 310 .

[0166] The connecting portion 310 may be in the shape of a hollow shaft, and one or more wires (described later) may be accommodated inside the connecting portion 310. The driving portion 200 is combined at one end of the connecting portion 310, and the end tool 100 is combined at the other end, so that the connecting portion 310 can be used to connect the driving portion 200 and the end tool 100.

[0167] The driving part 200 is formed at one end of the connecting part 310, and includes a driving part 200 capable of connecting with the robot arm unit (refer to Figure 1 21) interface. Therefore, when the active robot (refer to Figure 1 10) When the robot arm unit (refer to Figure 1 21, etc.), so that the end tool 100 of the surgical instrument 30 can perform the corresponding action, and the driving force of the motor (not shown) is transmitted to the end tool 100 through the driving unit 200. Expressed from another perspective, it can be interpreted that the driving unit 200 itself serves as an interface for connecting the surgical instrument 30 and the slave robot 20.

[0168] For example, when the user inputs (see Figure 2 13) When the robot arm unit (refer to Figure 1 21, etc.) to operate, so that the end tool 100 of the surgical instrument 30 can perform the corresponding action, and the driving force of the motor (not shown) can be transmitted to the end tool 100 through the driving part 200.

[0169] The end tool 100 is formed at the other end of the connection part 310 and is inserted into the surgical site to perform the required operation. Fig.12 As shown, a pair of jaws 101, 102 can be used to perform a gripping action. However, an embodiment of the present disclosure is not limited thereto, and various devices used for surgery can be used as the end tool 100. For example, a single-arm cauterizer can be used as the end tool. Since such an end tool 100 is connected to the drive unit 200 via a power transmission unit 300, the end tool 100 receives the driving force of the drive unit 200 via the power transmission unit 300, thereby performing actions required for surgery such as gripping, cutting, and suturing.

[0170] Among them, the end tool 100 of the surgical instrument 30 according to an embodiment of the present disclosure can be formed to be able to rotate in at least two directions. For example, the end tool 100 can be configured to Fig.12 While performing a pitch motion with the rotation axis 143 as the center, Fig.12 The yaw motion and the actuation motion are performed with the rotation axis 141 as the center.

[0171] Among them, the pitch action, yaw action, actuation action and roll action used in the present disclosure are defined as follows.

[0172] First, the pitch motion refers to the extension direction ( Fig.12 The X-axis direction) rotates in the up and down direction, that is, Fig.12 In other words, the pitch action refers to the rotation of the connecting portion 310 along the extending direction ( Fig.11 The end tool 100 extending from the connection part 310 (in the X-axis direction) rotates up and down relative to the connection part 310 with the Y-axis as the center.

[0173] Next, the yaw motion refers to the movement of the end tool 100 relative to the extension direction of the connecting portion 310 ( Fig.12 The X-axis direction) rotates in the left and right direction, that is, Fig.12 In other words, it refers to the movement of rotating along the extension direction ( Fig.12 The end tool 100 extending from the connection part 310 (in the X-axis direction) rotates left and right relative to the connection part 310 about the Z-axis. That is, it refers to the movement of the two jaws 101 and 102 formed on the end tool 100 rotating in the same direction about the Z-axis.

[0174] On the other hand, the actuation action refers to an action in which the end tool 100 rotates around the same rotation axis as the yaw action, and the two jaws 101 and 102 rotate in opposite directions to retract or open the jaws. That is, the actuation action refers to a movement in which the two jaws 101 and 102 formed on the end tool 100 rotate in opposite directions around the Z axis.

[0175] Defining this from another perspective, the yaw rotation can also be defined as the movement of the end tool jaw pulley described later rotating around the rotation axis 141 which serves as the rotation axis of the end tool jaw pulley, and the pitch rotation can also be defined as the movement of the end tool jaw pulley revolving around the rotation axis 143 which serves as the pitch rotation axis of the end tool.

[0176] The rolling action refers to the action of rotating the surgical instrument around the connecting portion 310. For example, the rolling action can be the surgical instrument rotating in the extension direction ( Fig.11 The action of rotating in a clockwise or counterclockwise direction (in the X-axis direction) as the center.

[0177] On the other hand, the tumbling action may refer to a movement in which the end tool 100 rotates relative to the connection portion 310 with the X axis as the center. For example, the tumbling action may refer to a movement in which the end tool 100 rotates relative to the connection portion 310 with the X axis as the center. Fig.12 The action of rotating in a clockwise or counterclockwise direction (in the X-axis direction) as the center.

[0178] The power transmission part 300 may be used to connect the driving part 200 and the end tool 100 to transmit the driving force of the driving part 200 to the end tool 100 , and may include a plurality of wires, pulleys, connecting rods, nodes, gears, etc.

[0179] In the following, it will be described in more detail Fig.11 The surgical instrument 30 includes an end tool 100, a driving part 200, a power transmission part 300, etc.

[0180] In the following, it will be described in more detail Fig.11 A power transmission part 300 of the surgical instrument 30 .

[0181] Reference Figures 11 to 19 According to an embodiment of the present disclosure, the power transmission part 300 of the surgical instrument 30 may include a wire 301, a wire 302, a wire 303, a wire 304, a wire 305 and a wire 306.

[0182] Among them, the wire 301 and the wire 305 can be formed into a pair and used as a first jaw wire. The wire 302 and the wire 306 can be formed into a pair and used as a second jaw wire. Among them, the components including the wire 301 and the wire 305 as the first jaw wire and the wire 302 and the wire 306 as the second jaw wire can be called a jaw wire. In addition, the wire 303 and the wire 304 can be formed into a pair and used as a pitch wire.

[0183] In the figure, one pair of wires is shown as being associated with the rotational movement of the first jaw 101, and another pair of wires is shown as being associated with the rotational movement of the second jaw 102, however, an embodiment of the present disclosure is not limited thereto. For example, one pair of wires may also be associated with the yaw movement, and another pair of wires may also be associated with the actuation movement.

[0184] In addition, the power transmission part 300 of the surgical instrument 30 according to an embodiment of the present disclosure may include a fastening member 321 and a fastening member 326, etc., which are coupled to the ends of the corresponding wires so that the wires and the pulleys are coupled. Each of the plurality of fastening members may have various shapes as required, for example, a ball shape, a tube shape, etc.

[0185] Among them, the fastening member 321 as the pitch wire fastening member can be coupled to the end of the wire 303 and the wire 304 as the pitch wire on the end tool 100 side, and can be used as the pitch wire end tool fastening member. On the other hand, although not shown in the figure, the pitch wire driving unit fastening member (not shown) can be coupled to the end of the wire 303 and the wire 304 as the pitch wire on the driving unit 200 side.

[0186] On the other hand, the fastening member 326 as the second jaw wire fastening member is coupled to the end of the wire 302 and the wire 306 as the second jaw wire on the end tool 100 side, and can be used as the second jaw wire end tool fastening member. On the other hand, although not shown in the figure, the second jaw wire drive unit fastening member (not shown) can be coupled to the end of the wire 302 and the wire 306 as the second jaw wire on the drive unit 200 side.

[0187] On the other hand, although not shown in the figure, a fastening member (not shown) having the same shape as the fastening member 326 may be coupled to the end portion of the wire 301 and the wire 305 as the first jaw wire on the end tool 100 side to serve as the first jaw wire end tool fastening member. On the other hand, although not shown in the figure, a first jaw wire drive unit fastening member (not shown) may be coupled to the end portion of the wire 301 and the wire 305 as the first jaw wire on the drive unit 200 side.

[0188] Among them, although the fastening members are classified as included in the power transmission part 300 , the fastening members on the end tool 100 side may be classified as included in the end tool 100 , and the fastening members on the driving part 200 side may be classified as included in the driving part 200 .

[0189] The connection relationship between the plurality of wires, the plurality of fastening members and each pulley is specifically described as follows.

[0190] First, the wire 302 and the wire 306 as the second jaw wire can be a single wire. When the fastening member 326 as the second jaw wire end tool fastening member is inserted into the middle point of the second jaw wire as a single wire, and the fastening member 326 is pressed (crimped) and fixed, the two wires of the second jaw wire centered on the fastening member 326 can be respectively referred to as the wire 302 and the wire 306.

[0191] Alternatively, the wire 302 and the wire 306 as the second jaw wire may be respectively formed as separate wires, and the wire 302 and the wire 306 may also be connected by the fastening member 326 .

[0192] In addition, by coupling the fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly coupled to the pulley 121. Thus, the pulley 121 can be rotated by pulling and releasing the wire 302 and the wire 306.

[0193] The ends of the wires 302 and 306 on the opposite side to the position where the fastening member 326 is fastened can be combined with the second jaw wire drive unit fastening member (not shown). That is, by inserting the ends of the wires 302 and 306 on the opposite side into the second jaw wire drive unit fastening member (not shown), and then pressurizing (crimping) the fastening member (not shown), each of the wires 302 and 306 can be fixed to the second jaw wire drive unit fastening member (not shown).

[0194] In addition, by coupling the second jaw wire driving portion fastening member (not shown) coupled to the wire 302 and the wire 306 to each of the pulley 221 and the pulley 222, the wire 302 and the wire 306 can be fixedly coupled to the pulley 221 and the pulley 222, respectively. As a result, when the pulley 221 and the pulley 222 are rotated by a motor or manpower, the wire 302 and the wire 306 are pulled and released, and the pulley 121 of the end tool 100 can be rotated.

[0195] The second jaw pulley of the driving part includes two pulleys, namely, pulley 221 and pulley 222, so the second jaw wire driving part fastening member may also include two fastening members. Alternatively, the second jaw pulley of the driving part may include one pulley, the second jaw wire driving part fastening member may also include one fastening member, and the wire 302 and the wire 306 may also be combined into one fastening member, and thus combined into one second jaw pulley of the driving part.

[0196] In the same manner as this, the wire 301 and the wire 305 as the first jaw wire are respectively coupled to the first jaw wire end tool fastening member (not shown) and the first jaw wire drive unit fastening member (not shown). In addition, the first jaw wire end tool fastening member (not shown) is coupled to the pulley 111, and the first jaw wire drive unit fastening member (not shown) is coupled to the pulley 211 and the pulley 212. As a result, when the pulley 211 and the pulley 212 are rotated by a motor or manpower, the wire 301 and the wire 305 can be pulled and released, so that the pulley 111 of the end tool 100 rotates.

[0197] In the same way as this, an end of each of the wire 303 and the wire 304 as the pitch wire is coupled to the fastening member 321 as the pitch wire end tool fastening member, and the other ends of the wire 303 and the wire 304 are coupled to the pitch wire driving portion fastening member (not shown). In addition, the fastening member 321 is coupled to the pulley 131, and the pitch wire driving portion fastening member (not shown) is coupled to the pulley 231. As a result, when the pulley 231 is rotated by a motor or manpower, the wire 303 and the wire 304 can be pulled and released, so that the pulley 131 of the end tool 100 is rotated.

[0198] As a result, the wire 301 and the wire 305, which are two strands of the first jaw wire, can be combined with the fastening member 323 as the first jaw wire end tool fastening member and the first jaw wire drive unit fastening member (not shown) to form an overall closed loop. Similarly, the second jaw wire and the pitch wire can also form closed loops respectively.

[0199] In the following, it will be described in more detail Fig.11 The end tool 100 of the surgical instrument 30.

[0200] Fig.12 and Fig.13 It is shown Fig.11 A stereoscopic view of the end tool of a surgical instrument, Fig.14A and Fig. 14B It is shown Fig.11 A top view of the end tool of a surgical instrument. Fig.12 106 and the pitch hub 107 are shown in a state where the end tool hub 106 and the pitch hub 107 are coupled to each other. Fig.13 The state in which the end tool hub 106 and the pitch hub 107 are removed is shown.

[0201] Reference Fig.12 , Fig.13 14 , an end tool 100 of an embodiment of the present disclosure includes a pair of jaws for performing a gripping action, namely, a first jaw 101 and a second jaw 102. The constituent element including each of the first jaw 101 and the second jaw 102, or including both the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

[0202] In addition, the end tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. In addition, the end tool 100 may include pulleys 121, 122, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102.

[0203] In the figure, one set of pulleys is shown as being associated with the rotational movement of the first jaw 101, and another set of pulleys is shown as being associated with the rotational movement of the second jaw 102, however, an embodiment of the present disclosure is not limited thereto. For example, one set of pulleys in the end tool may be associated with yaw movement, and another set of pulleys may also be associated with actuation movement. The pulleys provided in the end tool 100, including the above pulleys, may also be collectively referred to as end tool pulleys.

[0204] On the other hand, although the opposing pulleys are shown in the drawings as being formed in parallel with each other, an embodiment of the present disclosure is not limited thereto, and the pulleys may be formed in various positions and sizes suitable for the configuration of the end tool.

[0205] In addition, an end tool 100 according to an embodiment of the present disclosure may include an end tool hub 106 and a pitch hub 107 .

[0206] The end tool hub 106 is penetrated by a rotating shaft 141 and a rotating shaft 142 to be described later, and at least a portion of the first jaw 101 and the second jaw 102 axially coupled to the rotating shaft 141 can be accommodated inside the end tool hub 106. In addition, the end tool hub 106 can accommodate at least a portion of the pulley 112 and the pulley 122 axially coupled to the rotating shaft 142.

[0207] In addition, a pulley 131 used as an end tool pitch pulley may be formed at one end of the end tool hub 106. Fig.12 As shown, the pulley 131 may be formed as a member separate from the end tool hub 106, and may be coupled to the end tool hub 106. Alternatively, although not shown in the figure, the pulley 131 may be formed as one-body with the end tool hub 106. That is, one end of the end tool hub 106 may be in a disk shape or a semicircular shape similar to a pulley, and a groove on which a wire can be wound may also be formed on its outer circumference. The above-mentioned wire 303 and the wire 304 may be coupled to the pulley 131 used as an end tool pitch pulley, and the pulley 131 performs a pitching action while rotating around the rotation axis 143.

[0208] The pitch hub 107 has a rotation shaft 143 and a rotation shaft 144 which will be described later inserted therethrough, and the pitch hub 107 can be coupled to the end tool hub 106 and the pulley 131 via the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled to the end tool hub 106) can be formed to rotate relative to the pitch hub 107 around the rotation shaft 143.

[0209] In addition, the pitch hub 107 may accommodate at least a portion of the pulleys 113, 114, 123, and 124 axially coupled to the rotation shaft 143 therein. In addition, the pitch hub 107 may accommodate at least a portion of the pulleys 115, 116, 125, and 126 axially coupled to the rotation shaft 144 therein.

[0210] In addition, the end tool 100 of an embodiment of the present disclosure may include a rotation shaft 141, a rotation shaft 142, a rotation shaft 143, and a rotation shaft 144. As described above, the rotation shafts 141 and 142 may be inserted through the end tool hub 106, and the rotation shafts 143 and 144 may be inserted through the pitch hub 107.

[0211] The rotation axis 141, the rotation axis 142, the rotation axis 143, and the rotation axis 144 may be sequentially arranged in a direction from the distal end 104 toward the proximal end 105 of the end tool 100. Thus, starting from the distal end 104, the rotation axis 141 may be referred to as a No. 1 pin, the rotation axis 142 may be referred to as a No. 2 pin, the rotation axis 143 may be referred to as a No. 3 pin, and the rotation axis 144 may be referred to as a No. 4 pin.

[0212] Among them, the rotation axis 141 can be used as the end tool jaw pulley rotation axis, the rotation axis 142 can be used as the end tool jaw auxiliary pulley rotation axis, the rotation axis 143 can be used as the end tool pitch rotation axis, and the rotation axis 144 can be used as the end tool pitch auxiliary rotation axis of the end tool 100.

[0213] One or more pulleys may be inserted into each of the rotating shafts 141 , 142 , 143 , 144 , which will be described in detail below.

[0214] The pulley 111 is used as a first jaw pulley of the end tool, and the pulley 121 is used as a second jaw pulley of the end tool, and these two components may be collectively referred to as end tool jaw pulleys.

[0215] The pulley 111 and the pulley 121 as the end tool jaw pulleys are formed to face each other and are configured to be able to rotate independently of each other around the rotation axis 141 as the rotation axis of the end tool jaw pulley. In the figure, the pulley 111 and the pulley 121 are configured to rotate around one rotation axis 141, but of course, each jaw pulley can be configured to be able to rotate around a separate axis. In the pulley 111, a first jaw 101 can be fixedly combined to rotate with the pulley 111, and a second jaw 102 can be fixedly combined to rotate with the pulley 121. The yaw action and actuation action of the end tool 100 are performed according to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction with the rotation axis 141 as the center, a yawing action is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions with the rotation axis 141 as the center, an actuating action is performed.

[0216] The first jaw 101 and the pulley 111 may be formed as separate components and combined with each other, or the first jaw 101 and the pulley 111 may be formed as one body. Similarly, the second jaw 102 and the pulley 121 may be formed as separate components and combined with each other, or the second jaw 102 and the pulley 121 may be formed as one body.

[0217] The pulley 112 is used as an end tool first jaw auxiliary pulley, and the pulley 122 is used as an end tool second jaw auxiliary pulley, and these two components may also be collectively referred to as end tool jaw auxiliary pulleys.

[0218] Specifically, the pulley 112 and the pulley 122 as auxiliary pulleys of the end tool jaws can be additionally arranged on one side of the pulley 111 and the pulley 121. In other words, the pulley 112 as an auxiliary pulley can be configured between the pulley 111 and the pulley 113 / pulley 114. In addition, the pulley 122 as an auxiliary pulley can be configured between the pulley 121 and the pulley 123 / pulley 124. The pulley 112 and the pulley 122 can be configured to be able to rotate independently of each other around the rotation axis 142 as the center. Among them, in the figure, the pulley 112 and the pulley 122 are configured to rotate around one rotation axis 142 as the center, but of course, the pulley 112 and the pulley 122 can each be configured to be able to rotate around a separate axis as the center. Such auxiliary pulleys will be described in more detail later.

[0219] Pulley 113 and pulley 114 can be used as the main pulleys for pitching the first jaw of the end tool, and pulley 123 and pulley 124 can be used as the main pulleys for pitching the second jaw of the end tool, and these two components can also be collectively referred to as the main pulleys for pitching the jaws of the end tool.

[0220] The pulleys 115 and 116 can be used as the end tool first jaw pitching sub-pulleys, the pulleys 125 and 126 can be used as the end tool second jaw pitching sub-pulleys, and these two components can also be collectively referred to as the end tool jaw pitching sub-pulleys.

[0221] Next, the constituent elements related to the rotation of the pulley 111 will be described.

[0222] The pulley 113 and the pulley 114 can be used as the main pulleys for pitching the first jaw of the end tool. That is, the pulley 113 and the pulley 114 are used as the main rotating pulleys for the pitching action of the first jaw 101. Among them, the wire 301 as the first jaw wire is wound on the pulley 113, and the wire 305 as the first jaw wire is wound on the pulley 114.

[0223] The pulley 115 and the pulley 116 are used as the end tool first jaw sub-pulleys. That is, the pulley 115 and the pulley 116 are used as sub-rotation pulleys for the pitching motion of the first jaw 101. Among them, the wire 301 as the first jaw wire is wound on the pulley 115, and the wire 305 as the first jaw wire is wound on the pulley 116.

[0224] Wherein, on one side of the pulley 111 and the pulley 112, the pulley 113 and the pulley 114 are configured to face each other. Wherein, the pulley 113 and the pulley 114 are configured to be able to rotate independently of each other with the rotation axis 143 as the end tool pitch rotation axis as the center. In addition, on one side of each pulley 113 and the pulley 114, the pulley 115 and the pulley 116 are configured to face each other. Wherein, the pulley 115 and the pulley 116 are configured to be able to rotate independently of each other with the rotation axis 144 as the end tool pitch auxiliary rotation axis as the center. Wherein, in the figure, the pulley 113, the pulley 115, the pulley 114 and the pulley 116 are all shown as being able to rotate with the Y-axis direction as the center, but an embodiment of the present disclosure is not limited thereto, and the rotation axis of the corresponding pulley can be formed in a variety of directions to adapt to its configuration.

[0225] The wire 301 as the first jaw wire is wound in sequence in a manner of at least partially contacting the pulleys 115, 113, and 111. In addition, the wire 305 connected to the wire 301 by the fastening member 323 is wound in sequence in a manner of at least partially contacting the pulleys 111, 112, 114, and 116.

[0226] To explain this from another perspective, wire 301 and wire 305, which are the first jaw wires, are wound in sequence in a manner that at least partially contacts pulley 115, pulley 113, pulley 111, pulley 112, pulley 114, and pulley 116, and wire 301 and wire 305 are configured to move along the pulleys while rotating a plurality of the pulleys.

[0227] Therefore, when the wire 301 is pulled in the direction of arrow 301 in FIG. 14 , the fastening member (not shown) coupled with the wire 301 and the pulley 111 coupled with the fastening member (not shown) rotate in the direction of arrow L in FIG. 14 . Conversely, when the wire 305 is pulled in the direction of arrow 305 in FIG. 14 , the fastening member (not shown) coupled with the wire 305 and the pulley 111 coupled with the fastening member (not shown) rotate in the direction of arrow L in FIG. Fig.14A Rotate in the direction of arrow R.

[0228] Hereinafter, the pulley 112 and the pulley 122 serving as auxiliary pulleys will be described in more detail.

[0229] Pulley 112 and pulley 122 can contact wire 305 serving as a first jaw wire and wire 302 serving as a second jaw wire to change the configuration path of wire 305 and wire 302 to a first extent, thereby performing a function for expanding the rotation angles of each of first jaw 101 and second jaw 102.

[0230] That is, when the auxiliary pulley is not configured, the first jaw and the second jaw can be rotated to a right angle respectively, but in one embodiment of the present disclosure, by additionally providing the pulley 112 and the pulley 122 as auxiliary pulleys, the maximum rotation angle can be increased. Fig. 14B The effect of θ shown in FIG. When the two jaws of the end tool 100 are yaw-rotated together by 90° in the L direction, the two jaws can be separated to perform the actuation action. This is because the second jaw 102 can rotate an additional angle θ, such as Fig.12 Likewise, even in a state where both jaws are yaw-rotated in the R direction, the actuation action can be performed. In other words, by the pulley 112 and the pulley 122, the range of yaw rotation in which the actuation action can be performed can be expanded.

[0231] This is described in more detail below.

[0232] When the auxiliary pulley is not configured, the first jaw wire is fixedly coupled to the first jaw pulley of the end tool, and the second jaw wire is fixedly coupled to the second jaw pulley of the end tool, so the first jaw pulley of the end tool and the second jaw pulley of the end tool can each only rotate to 90°. At this time, when the actuation action is performed in a state where the first jaw and the second jaw are located at the 90° line position, the first jaw can be opened, but the second jaw cannot be rotated more than 90°. Therefore, there is a problem that the actuation action cannot be smoothly performed in a state where the first jaw and the second jaw perform a yaw action of more than a specified angle.

[0233] In order to solve this problem, in the case of the surgical instrument 30 according to an embodiment of the present disclosure, the pulley 112 and the pulley 122 as auxiliary pulleys are additionally arranged on one side of the pulley 111 and the pulley 121, respectively. In this way, the pulley 112 and the pulley 122 are arranged, and the arrangement paths of the wire 305 as the first jaw wire and the wire 302 as the second jaw wire are changed by a prescribed degree, thereby changing the tangent direction of the wire 305 and the wire 302, and thus the fastening member 326 for connecting the wire 302 and the pulley 121 is rotated to the line N of FIG. 14. That is, the fastening member 326 as the connecting portion of the wire 302 and the pulley 121 can be rotated until it is located on the common inner tangent line of the pulley 121 and the pulley 122. Similarly, the fastening member 323 as the connecting portion of the wire 305 and the pulley 111 can be rotated until it is located on the common inner tangent line of the pulley 111 and the pulley 112, and thus the rotation range can be expanded in the L direction.

[0234] In other words, the two wires of the first jaw wire wound on the pulley 111, that is, the wire 301 and the wire 305, are arranged on one side perpendicular to the Y axis and based on the plane passing through the X axis through the pulley 112. At the same time, the two wires of the first jaw wire wound on the pulley 121, that is, the wire 302 and the wire 306, are arranged on the other side perpendicular to the Y axis and based on the plane passing through the X axis through the pulley 122.

[0235] In other words, the pulleys 113 and 114 are arranged on one side perpendicular to the Y axis and based on a plane passing through the X axis, and the pulleys 123 and 124 are arranged on the other side perpendicular to the Y axis and based on a plane passing through the X axis.

[0236] In other words, wire 305 is located on the inner tangent line of pulley 111 and pulley 112, and the rotation angle of pulley 111 is enlarged through pulley 112. In addition, wire 302 is located on the inner tangent line of pulley 121 and pulley 122, and the rotation angle of pulley 121 is enlarged through pulley 122.

[0237] According to an embodiment of the present disclosure, the following effects can be achieved: the rotation radius of the jaws 101 and 102 is increased, thereby increasing the yaw motion range for performing normal opening and closing actuation motions.

[0238] Next, the constituent elements related to the rotation of the pulley 121 will be described.

[0239] The pulley 123 and the pulley 124 are used as the main pulleys for the pitching of the second jaw of the end tool, that is, they are used as the main rotating pulleys for the pitching action of the second jaw 102. Among them, the wire 306 as the second jaw wire is wound on the pulley 123, and the wire 302 as the second jaw wire is wound on the pulley 124.

[0240] The pulley 125 and the pulley 126 are used as the second jaw sub-pulleys of the end tool, that is, as the sub-rotation pulleys for the pitching motion of the second jaw 102. The wire 306 as the second jaw wire is wound on the pulley 125, and the wire 302 as the second jaw wire is wound on the pulley 126.

[0241] On one side of the pulley 121, the pulley 123 and the pulley 124 are configured to face each other. Pulley 123 and pulley 124 are configured to be able to rotate independently of each other with the rotation axis 143 as the end tool pitch rotation axis as the center. In addition, on one side of each pulley 123 and pulley 124, pulley 125 and pulley 126 are configured to face each other. Pulley 125 and pulley 126 are configured to be able to rotate independently of each other with the rotation axis 144 as the end tool pitch auxiliary rotation axis as the center. In the figure, pulley 123, pulley 125, pulley 124 and pulley 126 are all shown to be able to rotate with the Y-axis direction as the center, but an embodiment of the present disclosure is not limited thereto, and the rotation axis of the corresponding pulley can be formed in a variety of directions to adapt to its configuration.

[0242] The wire 306 as the second jaw wire is wound in sequence in contact with at least a portion of the pulleys 125, 123, and 121. In addition, the wire 302 connected to the wire 306 by the fastening member 326 is wound in sequence in contact with at least a portion of the pulleys 121, 122, 124, and 126.

[0243] To explain this from another perspective, wire 306 and wire 302, which serve as the second jaw wire, are wound in sequence in at least partial contact with pulley 125, pulley 123, pulley 121, pulley 122, pulley 124, and pulley 126, and wire 306 and wire 302 are configured to move along multiple pulleys while rotating.

[0244] Therefore, when the wire 306 is pulled toward the arrow 306 side of FIG. 14 , the fastening member 326 combined with the wire 306 and the pulley 121 combined with the fastening member 326 move along the Fig.14A In contrast, when the wire 302 is pulled toward Fig.13 When the arrow 302 side is on the side, the fastening member 326 combined with the wire 302 and the pulley 121 combined with the fastening member 326 are moved along Fig.14A Rotate in the direction of arrow L.

[0245] Below, the pitching motion of the present disclosure will be described in more detail.

[0246] First, for the pitching motion, pulleys 113, 114, 123, and 124 as the end tool jaw pitching main pulleys are formed on the end tool 100 side so as to be rotatable around the rotation axis 143. On the other hand, pulleys 115, 116, 125, and 126 as the end tool jaw pitching sub-pulleys are formed so as to be rotatable around the rotation axis 144 in the direction of the proximal end 105 of the end tool jaw pitching main pulley.

[0247] In addition, based on a plane (i.e., XY plane) perpendicular to the rotation axis 141 and including the rotation axis 143, the two wires of the first jaw wire, i.e., the wire 301 and the wire 305, are located on the same side with the XY plane as a reference. That is, the wire 301 and the wire 305 are arranged to pass through the lower side of the pulley 113 and the pulley 114 as the end tool jaw pitch main pulley and the upper side of the pulley 115 and the pulley 116 as the end tool jaw pitch sub pulley.

[0248] Similarly, the two wires of the second jaw wire, namely the wire 302 and the wire 306, are located on the same side with respect to the XY plane. That is, the wire 302 and the wire 306 are arranged to pass through the upper side of the pulley 123 and the pulley 124 as the end tool jaw pitch main pulley and the lower side of the pulley 125 and the pulley 126 as the end tool jaw pitch sub pulley.

[0249] In addition, if Fig.12As shown, the two strands of the first jaw wire, namely the wire 301 and the wire 305, when the wire 301 is pulled toward the arrow 301 side of Figure 14 and the wire 305 is pulled toward the arrow 305 side of Figure 14 (that is, the two strands of the wire of the first jaw wire are pulled in the same direction), the wire 301 and the wire 305 are wound under the pulley 113 and the pulley 114 which can rotate around the rotation axis 143 which is the pitch rotation axis of the end tool. Therefore, the pulley 111 fixedly coupled with the wire 301 and the wire 305 and the end tool hub 106 coupled with the pulley 111 rotate together in the counterclockwise direction around the rotation axis 143 as the center, resulting in the end tool 100 rotating downward and performing a pitch motion. At this time, the second jaw 102 and the wires 302 and 306 fixedly connected to the second jaw 102 are wound above the pulleys 123 and 124 that can rotate around the rotating shaft 143, so that the wires 302 and 306 are unwound in the opposite direction of each arrow 302, 306 respectively.

[0250] On the contrary, Fig.12 As shown, for the two strands of the second jaw wire, namely, wire 302 and wire 306, when wire 302 is pulled toward the arrow 302 side of FIG. 14, wire 306 is pulled toward Fig.14A When the second jaw 101 and the wire 301 and the wire 305 are pulled to the arrow 306 side (i.e., the two wires of the second jaw wire are pulled in the same direction), the wire 302 and the wire 306 are wound above the pulley 123 and the pulley 124 which can rotate around the rotation axis 143 as the end tool pitch rotation axis, so the pulley 121 fixedly coupled with the wire 302 and the wire 306 and the end tool hub 106 coupled with the pulley 121 rotate together in the clockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 rotates upward and performs a pitch motion. At this time, the second jaw 101 and the wire 301 and the wire 305 fixedly coupled with the second jaw 101 are wound below the pulley 113 and the pulley 114 which can rotate around the rotation axis 143 as a center, so that the wire 302 and the wire 306 are unwound in the opposite direction of each arrow 301, 305.

[0251] Expressing this from another perspective, when the end tool 100 is pitched and rotated, the two wires of each jaw wire can also be expressed as moving simultaneously in the same direction.

[0252] On the other hand, the end tool 100 of the instrument 30 of the present disclosure may further include a pulley 131 as an end tool pitch pulley, the drive unit 200 may further include a pulley 231 as a drive unit pitch pulley, and the power transmission unit 300 may further include a wire 303 and a wire 304 as pitch wires. Specifically, the pulley 131 of the end tool 100 can rotate around the rotation axis 143 as the drive unit pitch pulley, and may be formed as one piece with the end tool hub 106 (or fixedly coupled to the end tool hub 106). In addition, the wire 303 and the wire 304 may be used to connect the pulley 131 of the end tool 100 and the pulley 231 of the drive unit 200.

[0253] Therefore, when the pulley 231 of the driving part 200 rotates, the rotation of the pulley 231 is transmitted to the pulley 131 of the end tool 100 through the wires 303 and 304, so that the pulley 131 is allowed to rotate together, and as a result, the end tool 100 rotates to perform a pitch motion.

[0254] According to an embodiment of the present disclosure, the instrument 30 includes a pulley 131 of the end tool 100, a pulley 231 of the drive unit 200, and wires 303 and 304 of the power transmission unit 300, thereby allowing the driving force of the pitch action of the drive unit 200 to be more completely transmitted to the end tool 100, thereby improving the action reliability.

[0255] The diameter of each of the pulleys 113, 114, 123 and 124 as the end tool jaw pitch main pulleys and the diameter of the pulley 131 as the end tool pitch pulley may be the same, or may be different from each other. At this time, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of the drive unit intermediate pulley of the drive unit 200 described later to the diameter of the drive unit pitch pulley. This will be described in detail later.

[0256] In the following, it will be described in more detail Fig.11 The driving unit 200 of the device 30.

[0257] Reference Figures 15 to 21 The driving part 200 of the instrument 30 according to an embodiment of the present disclosure may include pulleys 211, 212, 213, 214, 215, 216, 217, 218, 219, and 220 associated with the rotational movement of the first jaw 101. In addition, pulleys 221, 222, 223, 224, 225, 226, 227, 228, 229, and 230 associated with the rotational movement of the second jaw 102 may be included.

[0258] In the figure, the plurality of pulleys facing each other are shown to be parallel to each other, but an embodiment of the present disclosure is not limited thereto and may be configured to be suitable for the position and size of the configuration of each driving part of the plurality of pulleys.

[0259] In addition, the driving unit 200 of the instrument 30 according to an embodiment of the present disclosure may further include a pulley 231 used as a pitch pulley of the driving unit and a pitch yaw connector 232 connecting the pulley 231 and the plurality of jaw pulleys of the driving unit.

[0260] In addition, the driving part 200 of an embodiment of the present disclosure may include a rotation axis 241, a rotation axis 242, a rotation axis 243, a rotation axis 244, a rotation axis 245 and a rotation axis 246. Among them, the rotation axis 241 can be used as the first jaw rotation axis of the driving part, and the rotation axis 242 can be used as the second jaw rotation axis of the driving part. In addition, the rotation axis 243 can be used as the pitch rotation axis of the driving part, and the rotation axis 244 can be used as the roll rotation axis of the driving part. In addition, the rotation axis 245 can be used as the auxiliary rotation axis of the first jaw of the driving part, and the rotation axis 246 can be used as the auxiliary rotation axis of the second jaw of the driving part. One or more rotation axes 241, 242, 243, 244, 245, 246 can be inserted with one or more pulleys, which will be described in detail below.

[0261] In addition, the driving part 200 of an embodiment of the present disclosure may include a motor coupling part 251, a motor coupling part 252, a motor coupling part 253 and a motor coupling part 254. Among them, the motor coupling part 251 can be used as a first jaw drive motor coupling part, the motor coupling part 252 can be used as a second jaw drive motor coupling part, the motor coupling part 253 can be used as a pitch drive motor coupling part, and the motor coupling part 254 can be used as a roll drive motor coupling part. Among them, each motor coupling part 251, 252, 253, 254 can be formed in the shape of a rotatable flat plate, and one or more coupling holes that can be coupled with a motor (not shown) can be formed thereon.

[0262] Such motor coupling parts 251 , 252 , 253 , 254 of the driving part 200 are coupled with a motor (not shown) formed in each robot arm unit 21 , 22 , 23 , so that the driving part 200 is driven by the motor (not shown) to operate.

[0263] In addition, the driving unit 200 of an embodiment of the present disclosure may include gears 261, 262, 263, and 264. Among them, gears 261 and 262 may be used as pitch driving gears, and gears 263 and 264 may be used as roll driving gears.

[0264] Below, each constituent element will be described in more detail.

[0265] The pulleys 211 and 212 can be used as first jaw pulleys of the driving unit, and the pulleys 221 and 222 can be used as second jaw pulleys of the driving unit. These components can also be collectively referred to as jaw pulleys of the driving unit.

[0266] Among them, in the figure, pulley 211 is shown as being associated with the rotational movement of the first jaw 101 of the end tool 100, and pulley 221 is shown as being associated with the rotational movement of the second jaw 102 of the end tool 100, but an embodiment of the present disclosure is not limited to this. For example, one group of pulleys in the drive unit may be associated with yaw motion, and another group of pulleys may be associated with actuation motion. Therefore, pulley 211 and pulley 212 may also be collectively referred to as drive pulleys of the drive unit. In addition, hereinafter, for the other multiple pulleys, one group of pulleys may be associated with yaw motion, and another group of pulleys may be associated with actuation motion.

[0267] The pulleys 213 and 214 can be used as the first jaw auxiliary pulleys of the driving part, and the pulleys 223 and 224 can be used as the second jaw auxiliary pulleys of the driving part. These components can also be collectively referred to as the driving part jaw auxiliary pulleys.

[0268] Pulley 215 and pulley 216 can be used as the first intermediate pulley of the first jaw of the driving unit, and pulley 217 and pulley 218 can be used as the second intermediate pulley of the first jaw of the driving unit, and these components can also be collectively referred to as the intermediate pulley of the first jaw of the driving unit. On the other hand, pulley 225 and pulley 226 can be used as the first intermediate pulley of the second jaw of the driving unit, and pulley 227 and pulley 228 can be used as the second intermediate pulley of the second jaw of the driving unit, and these components can also be collectively referred to as the intermediate pulley of the second jaw of the driving unit. On the other hand, pulley 215, pulley 216, pulley 225 and pulley 226 can be collectively referred to as the first intermediate pulley of the driving unit, and pulley 217, pulley 218, pulley 227 and pulley 228 can also be collectively referred to as the second intermediate pulley of the driving unit. Furthermore, pulley 215 , pulley 216 , pulley 217 , pulley 218 , pulley 225 , pulley 226 , pulley 227 , and pulley 228 may also be collectively referred to as intermediate pulleys of the driving portion.

[0269] In the figure, two pulleys are paired to form the intermediate pulley of the driving part of each jaw, but an embodiment of the present disclosure is not limited to this. For example, the figure shows that the pulley 215 as the first intermediate pulley of the first jaw of the driving part and the pulley 217 as the second intermediate pulley of the first jaw of the driving part are formed into a pair, and the wire 301 is shown to pass through the pulley 215 and the pulley 217 in sequence. However, the intermediate pulley of the first jaw of the driving part is not configured by two pulleys, but can also be configured by three or more pulleys.

[0270] On the other hand, pulley 219 and pulley 220 can be used as satellite pulleys of the first jaw of the driving unit, and pulley 229 and pulley 230 can be used as satellite pulleys of the second jaw of the driving unit. These two components can also be collectively referred to as satellite pulleys of the driving unit.

[0271] A plurality of rotating shafts including rotating shafts 241, 242, 243, 244, 245, and 246 may be formed on the first surface of the bottom plate 201. In addition, a plurality of intermediate pulleys 202 may be formed on the first surface of the bottom plate 201, and may be used to change the direction of the plurality of wires 301, 302, 303, 304, 305, 306 entering the driving part 200 through the connecting part 310 along the pulley 231 side.

[0272] In addition, the axial connecting portion 310 can be coupled to a second surface of the base plate 201 opposite to the first surface. In addition, a motor coupling portion 251, a motor coupling portion 252, a motor coupling portion 253, and a motor coupling portion 254 can be formed on the second surface, and the motor coupling portion 251, the motor coupling portion 252, the motor coupling portion 253, and the motor coupling portion 254 are coupled with a drive motor (not shown) for driving multiple pulleys.

[0273] Each motor coupling part and the rotating shaft may be directly connected, or may be indirectly connected via gears.

[0274] As an example, the motor coupling part 251 as the first jaw driving motor coupling part is directly coupled to the rotation shaft 241 as the first jaw rotating shaft of the driving part, and when the motor coupling part 251 coupled to the first jaw driving motor (not shown) rotates, the rotation shaft 241 directly coupled to the motor coupling part 251 can rotate together. Similarly, the motor coupling part 252 as the second jaw driving motor coupling part is directly coupled to the rotation shaft 242 as the second jaw rotating shaft of the driving part, and when the motor coupling part 252 coupled to the second jaw driving motor (not shown) rotates, the rotation shaft 242 directly coupled to the motor coupling part 252 can rotate together.

[0275] As another example, the motor coupling 253 as the pitch drive motor coupling and the rotation shaft 243 as the drive portion pitch rotation axis may be configured to be spaced apart by a predetermined degree when viewed on a plane perpendicular to the rotation shaft 243. In addition, the motor coupling 253 and the rotation shaft 243 may be connected by the gears 261 and 262 as the pitch drive gears.

[0276] Likewise, the motor coupling 254 as the roll driving motor coupling and the rotation shaft 244 as the driving portion roll rotation axis may be configured to be spaced apart by a predetermined degree when viewed on a plane perpendicular to the rotation shaft 244. In addition, the motor coupling 254 and the rotation shaft 244 may be connected by the gears 263 and 264 as the roll driving gears.

[0277] Like this, part of the motor coupling parts are configured to be directly connected to the rotating shaft, and the rest of the motor coupling parts are configured to be indirectly connected to the rotating shaft, because it is necessary to consider the coupling position and direction between the instrument 30 and the slave robot 20. That is, the rotating shaft that is not affected by the coupling position with the slave robot 20 can be directly connected to the motor coupling part, and the rotating shaft that may interfere with the coupling position with the slave robot 20 can be indirectly connected to the motor coupling part.

[0278] In the figure, motor coupling 251 and motor coupling 252 are shown as being directly connected to the rotating shaft, and motor coupling 253 and motor coupling 254 are shown as being indirectly connected via gears, but an embodiment of the present disclosure is not limited to this and can be configured in a variety of ways depending on the coupling position and direction with the slave robot 20.

[0279] The rotation shaft 241 as the first jaw rotation shaft of the driving part may be combined with the pulley 211 and the pulley 212 as the first jaw pulleys of the driving part. The pulley 211 and the pulley 212 may be configured to rotate together with the rotation shaft 241.

[0280] In addition, a rotation shaft 245 as a first jaw auxiliary rotation shaft of the driving part may be configured in an area adjacent to the rotation shaft 241. Pulleys 213 and 214 as first jaw auxiliary pulleys of the driving part may be coupled to the rotation shaft 245. Pulleys 213 and 214 may be configured to be rotatable around the rotation shaft 245.

[0281] The figure shows that the first jaw pulley of the driving part is formed by two pulleys 211 and 212, one pulley 211 is combined with a wire 301, and the other pulley 212 is combined with a wire 305. However, an embodiment of the present disclosure is not limited thereto, and the first jaw pulley of the driving part can be formed by one pulley, and both the wire 301 and the wire 305 can be combined with the one pulley.

[0282] As described above, the rotating shaft 241 is coupled to the first jaw driving motor (not shown) through the motor coupling 251. Therefore, when the first jaw driving motor (not shown) rotates to drive the first jaw 101, the pulley 211 and the pulley 212 serving as the first jaw pulley of the driving part rotate together with the rotating shaft 241, thereby pulling or releasing the wires 301 and the wire 305 serving as the first jaw wires.

[0283] The rotation shaft 242 as the second jaw rotation shaft of the driving part may be combined with a pulley 221 and a pulley 222 as the second jaw pulleys of the driving part. The pulley 221 and the pulley 222 may be configured to rotate together with the rotation shaft 242.

[0284] In addition, a rotation shaft 246 as an auxiliary rotation shaft of the second jaw of the driving part may be configured in the area adjacent to the rotation shaft 242. Pulleys 223 and 224 as auxiliary pulleys of the second jaw of the driving part may be coupled to the rotation shaft 245. Among them, the pulleys 223 and 224 may be configured to be rotatable around the rotation shaft 246.

[0285] The figure shows that the second jaw pulley of the driving part is formed by two pulleys 221 and 222, one pulley 221 is combined with a wire 302, and the other pulley 222 is combined with a wire 306. However, an embodiment of the present disclosure is not limited thereto, and the second jaw pulley of the driving part is formed by one pulley, and both the wire 302 and the wire 306 can be combined with the one pulley.

[0286] As described above, the rotating shaft 242 is coupled to the second jaw driving motor (not shown) via the motor coupling 252. Therefore, when the second jaw driving motor (not shown) rotates to drive the second jaw 102, the pulleys 221 and 222 serving as the second jaw pulleys of the driving part rotate together with the rotating shaft 242, thereby pulling or releasing the wires 302 and 306 serving as the second jaw wires.

[0287] The rotation shaft 243 as the pitch rotation shaft of the driving unit may be combined with a pulley 231 as a pitch pulley of the driving unit. The pulley 231 may be configured to rotate together with the rotation shaft 243.

[0288] As described above, the rotating shaft 243 is coupled to the pitch drive motor (not shown) via the motor coupling 253, and therefore, when the pitch drive motor (not shown) rotates to perform a pitch action, the pulley 231 serving as a pitch pulley of the driving portion rotates together with the rotating shaft 243, thereby pulling or releasing the wires 303 and 304 serving as pitch wires.

[0289] On the other hand, the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as intermediate pulleys of the driving part can be arranged to be inserted through the rotating shaft 243 and can rotate around the rotating shaft 243. Among them, the pulleys 215, 216, 217, and 218 as intermediate pulleys of the first jaw of the driving part can be arranged on any side of the surface with the pulley 231 as the pitch pulley as the reference, and the pulleys 225, 226, 227, and 228 as intermediate pulleys of the second jaw of the driving part can be arranged on the other side of the surface with the pulley 231 as the reference.

[0290] To express this from another perspective, in the rotating shaft 243, there can be stacked in sequence: pulley 225 and pulley 226 as the first intermediate pulley of the second jaw of the driving unit, pulley 227 and pulley 228 as the second intermediate pulley of the second jaw of the driving unit, pulley 231 as the pitch pulley of the driving unit, pulley 217 and pulley 218 as the second intermediate pulley of the first jaw of the driving unit, and pulley 215 and pulley 216 as the first intermediate pulley of the first jaw of the driving unit.

[0291] In addition, a pitch-yaw connector 232 may be combined with the rotation axis 243. The pitch-yaw connector 232 may be configured to rigidly connect the pulley 231 as the driving unit pitch pulley and the pulleys 219, 220, 229, and 230 as the driving unit satellite pulleys, so that when the pulley 231 rotates, the plurality of driving unit satellite pulleys revolve around the rotation axis 243. This will be explained in more detail later.

[0292] The pitch-yaw connector 232 may be configured to rotate together with the rotation shaft 243. That is, the pulley 231 and the pitch-yaw connector 232 may be combined with the rotation shaft 243 and rotate together with the rotation shaft 243.

[0293] The pitch and yaw connector 232 may also be described as being formed as follows: Fig.17 The substantially Y-shaped structure shown in the figure may be described as a shape in which at least two extensions (232a, 232b) extend from the center. In addition, at each end of these extensions (232a, 232b), a first jaw satellite pulley central axis 233 of the driving part and a second jaw satellite pulley central axis 234 of the driving part may be formed respectively.

[0294] In addition, the pulley 219 and the pulley 220 serving as the first jaw satellite pulley of the driving part may be combined on the central axis 233 of the first jaw satellite pulley of the driving part, and the pulley 229 and the pulley 230 serving as the second jaw satellite pulley of the driving part may be combined on the central axis 234 of the second jaw satellite pulley of the driving part.

[0295] As a result, when the pulley 231 as the driving portion pitch pulley rotates together with the rotation axis 243, the pulleys 219, 220, 229, and 230 as the driving portion satellite pulleys revolve around the rotation axis 243. In other words, it can also be expressed that, in a state where the driving portion first jaw satellite pulley central axis 233 and the driving portion second jaw satellite pulley central axis 234 are spaced apart from the rotation axis 243 by a predetermined degree, the driving portion first jaw satellite pulley central axis 233 and the driving portion second jaw satellite pulley central axis 234 rotate around the rotation axis 243 while maintaining a certain distance from the rotation axis 243.

[0296] That is, the driving unit satellite pulley is configured to move relative to the driving unit intermediate pulley and the rotation axis 243, so that the driving unit satellite pulley changes its relative position relative to the driving unit intermediate pulley and the rotation axis 243. On the other hand, the relative position of the driving unit pitch pulley and the driving unit intermediate pulley remains constant.

[0297] In addition, when pulley 231 serving as the pitch pulley of the driving unit rotates around the rotation axis 243, pulley 219, pulley 220, pulley 229 and pulley 230 serving as satellite pulleys of the driving unit move relative to pulley 231 serving as the pitch pulley of the driving unit, and at the same time, the total length of wire 301, wire 302, wire 305 and wire 306 serving as jaw wires within the driving unit 200 changes.

[0298] When one end of the wire 301 serving as the first jaw wire is coupled to the pulley 211 through a first jaw wire driving portion fastening member (not shown), at least a portion of the wire 301 serving as the first jaw wire is wound around the pulleys 211, 213, 215, 219, and 217, and then connected to the end tool 100 through the connecting portion 310.

[0299] To express this from another perspective, the wire 301 serving as the first jaw wire passes through the first jaw pulley 211 of the driving unit, the first jaw auxiliary pulley 213 of the driving unit, the first intermediate pulley 215 of the driving unit, the first jaw satellite pulley 219 of the driving unit and the second intermediate pulley 217 of the driving unit in sequence, and then is connected to the end tool 100 through the connecting part 310.

[0300] To express this from another perspective, after the wire 301 serving as the first jaw wire passes through the end tool 100 and the connecting portion 310 and enters the driving portion 200, it is sequentially wound around the pulley 217, the pulley 219, the pulley 215 and the pulley 213, and then fixedly coupled to the pulley 211 serving as the first jaw pulley of the driving portion.

[0301] On the other hand, in a state where one end of the wire 305 serving as the first jaw wire is coupled to the pulley 212 by a first jaw wire driving portion fastening member (not shown), at least a portion of the wire 305 serving as the first jaw wire is wound around the pulleys 212, 214, 216, 220, and 218, and then connected to the end tool 100 via the connecting portion 310.

[0302] When one end of the wire 302 serving as the second jaw wire is coupled to the pulley 221 through a second jaw wire driving portion fastening member (not shown), at least a portion of the wire 302 serving as the second jaw wire is wound around the pulleys 221, 223, 225, 229, and 227, and then connected to the end tool 100 through the connecting portion 310.

[0303] On the other hand, in a state where one end of the wire 306 serving as the second jaw wire is coupled to the pulley 222 by a second jaw wire driving portion fastening member (not shown), at least a portion of the wire 306 serving as the second jaw wire is wound around the pulleys 222, 224, 226, 230, and 228, and then connected to the end tool 100 via the connecting portion 310.

[0304] Figures 22 and 23 are Fig.11 22(a) and 23(b) show only the pulleys and wires related to the rotation of the first jaw, and FIG. 22(b) and FIG. 23(b) show only the pulleys and wires related to the rotation of the second jaw for the sake of convenience. In addition, FIG. 22(c) and FIG. 23(c) show the pitching motion of the end tool according to the pitching motion of the driving unit.

[0305] Among them, in the instrument 30 according to an embodiment of the present disclosure, when the driving part satellite pulley moves relative to the driving part intermediate pulley, the pitching action of the end tool 100 is performed as the total length of the jaw wire in the driving part 200 changes. In particular, in the instrument 30 according to an embodiment of the present disclosure, when the driving part pitch pulley rotates, the driving part satellite pulley revolves around the (common) rotation axis of the driving part intermediate pulley and the driving part pitch pulley, and at the same time changes the path length of the jaw wire wound on the driving part intermediate pulley, thereby performing the pitching action of the end tool.

[0306] Specifically, when the driving portion does not perform separate motion compensation for the pitch motion, the end tool cannot perform the pitch motion itself.

[0307] On the other hand, in order to perform a pitching motion at the end tool, wires 301 and 305 need to be further wound by ΔSpitch on pulley 113, and wires 302 and 306 need to be further released by ΔSpitch on pulley 114. However, when such compensation is not achieved in the driving portion, the end tool cannot perform the pitching motion itself.

[0308] Like this, in order to compensate for the pitch action, in the instrument 30 according to one embodiment of the present disclosure, while the pitch pulley of the driving part rotates, multiple satellite pulleys of the driving part revolve, so that multiple jaw wires are wound around the intermediate pulley of the driving part, or are released from the intermediate pulley of the driving part, thereby compensating for the movement of multiple jaw wires through the rotation of the pitch pulley of the driving part.

[0309] In other words, when the pulley 231, which is the pitch pulley of the driving unit, rotates together with the rotation axis 243, the plurality of driving unit satellite pulleys revolve around the rotation axis 243. In addition, as the plurality of driving unit satellite pulleys revolve around the rotation axis 243, the length of the jaw wire wound on the intermediate pulley in the driving unit changes. That is, by the rotation of the pulley 231, the jaw wire wound on the end tool 100 side is released by the same length on the driving unit 200 side, and the jaw wire released on the end tool 100 side is wound by the same length on the driving unit 200 side, thereby preventing the pitch action from affecting the yaw action.

[0310] To express this from another perspective, when the end tool performs a pitching motion by rotating the pitch pulley of the drive part, the jaw wire (responsible for yaw motion and actuation motion) also moves by the pitching motion. That is, when the pitching rotation is performed with the rotation axis 143 of the end tool 100 as the center, the two wires of the jaw wire coupled to one side of the jaw are pulled, and the two wires coupled to the other side of the jaw are released. Therefore, in the present disclosure, it can also be expressed that in order to compensate for the movement of such jaw wires, when the pitching motion of the end tool is performed, the satellite pulley of the drive part moves relative to the intermediate pulley of the drive part, and at the same time, the total length of the jaw wire in the drive part changes, and the jaw wire is untied (or pulled) on the drive part side by the same length as the length of the jaw wire pulled (or untied length) on the end tool side, so that when the pitching motion of the end tool is performed, the movement of the jaw wire is compensated.

[0311] Next, the pitching action will be described in more detail.

[0312] When the pulley 231 as the pitch pulley of the driving part rotates in the direction of arrow A1 (i.e., clockwise in the figure) to perform the pitch action, the pitch yaw connector (see Fig.15 232) rotates together with the pulley 231 in the direction of arrow A1, thereby being fixedly coupled to the pitch and yaw connector (refer to Fig.15 The pulley 219 and the pulley 220 as the satellite pulleys of the driving part (232) as a whole revolve (revolution) θ degrees in the A2 direction of FIG. 23 (a) (i.e., clockwise direction in the figure) with the rotation axis 243 as the center. That is, when the pulley 231 rotates, the pulley 219 and the pulley 220 rotate θ degrees from the position of P1 of FIG. 22 (a) to the position of P2 of FIG. 23 (a). It can also be expressed as, to express this point from another angle, when the driving part pitch pulley rotates, the driving part satellite pulley is linked with the driving part pitch pulley and moves.

[0313] At the same time, when the pulley 231 as the pitch pulley of the driving part rotates in the direction of arrow A1 (ie, clockwise in the figure), the pitch yaw connector (see Fig.15 232) rotates together with the pulley 231 in the direction of arrow A1, thereby being fixedly coupled to the pitch and yaw connector (refer to Fig.15 The pulley 229 and the pulley 230 as the satellite pulleys of the driving part rotate (revolution) θ degrees in the A3 direction of (b) of FIG. 23 (i.e., clockwise in the figure) with the rotation axis 243 as the center. That is, when the pulley 231 rotates, the pulley 229 and the pulley 23 rotate from the position of P3 of (b) of FIG. 22 to the position of P4 of (b) of FIG. 23 by θ degrees. It can also be expressed as, to express this point from another angle, when the driving part pitch pulley rotates, the driving part satellite pulley and the driving part pitch pulley are linked and move.

[0314] On the other hand, at this time, the pulley 215, the pulley 216, the pulley 217, the pulley 218, the pulley 225, the pulley 226, the pulley 227, and the pulley 228 as the intermediate pulleys of the driving part coupled to the rotating shaft 243 do not change their positions. That is, the relative positions of the pulley 211 as the jaw pulley of the driving part, the pulley 231 as the pitch pulley of the driving part, and the pulley 215, the pulley 216, the pulley 217, and the pulley 218 as the intermediate pulleys of the driving part are kept constant. Similarly, the relative positions of the pulley 221 as the jaw pulley of the driving part, the pulley 231 as the pitch pulley of the driving part, and the pulley 225, the pulley 226, the pulley 227, and the pulley 228 as the intermediate pulleys of the driving part are kept constant.

[0315] In addition, as shown in this way, when the satellite pulley of the driving unit revolves, the relative position of the satellite pulley of the driving unit relative to the intermediate pulley of the driving unit changes, thereby changing the length of each wire wound on the intermediate pulley of the driving unit, that is, the path length. Among them, the intermediate pulley of the driving unit includes pulley 215 as the first intermediate pulley of the first jaw of the driving unit and pulley 217 as the second intermediate pulley of the first jaw of the driving unit. Therefore, the path length also represents the sum of the length of the wire 301 wound on pulley 215 and the length of the wire 301 wound on pulley 217. (Or, the length of the wire 305 wound on pulley 216 and the length of the wire 305 wound on pulley 218)

[0316] That is, with respect to the path length L1 of the wire 301 and the wire 305 as the first jaw wire wound on the intermediate pulley of the driving unit in FIG. 22 (a), the path length L2 of the first jaw wire wound on the intermediate pulley of the driving unit in FIG. 23 (a) becomes shorter, and the driving unit 200 further releases the first jaw wire in accordance with the degree of shortening of the path length (i.e., L1-L2). That is, the total length of the wire 301 and the wire 305 as the first jaw wire in the driving unit 200 becomes shorter. In addition, as the total length of the first jaw wire in the driving unit 200 becomes shorter, the total length of the first jaw wire in the end tool 100 becomes longer by the same length as the length of the first jaw wire released.

[0317] On the other hand, when the pulley 231 as the pitch pulley of the driving unit rotates in the direction of the arrow A1, the path length L4 of the second jaw wire wound on the intermediate pulley of the driving unit in FIG. 23 (b) becomes longer relative to the path length L3 of the wire 302 and the wire 306 as the second jaw wire wound on the intermediate pulley of the driving unit in FIG. 22 (b), and the driving unit 200 further pulls the second jaw wire according to the degree of the lengthening of the path length (i.e., L4-L3). That is, the total length of the wire 302 and the wire 306 as the second jaw wire in the driving unit 200 becomes longer. In addition, as the total length of the second jaw wire in the driving unit 200 increases, the total length of the second jaw wire in the end tool 100 becomes shorter by the same length as the length of pulling the second jaw wire.

[0318] As described above, when the pulley 231 as the pitch pulley of the driving unit rotates in the direction of arrow A1 to perform the pitching action, the driving unit satellite pulley moves relative to the driving unit pitch pulley and the driving unit intermediate pulley, and the relative position changes. In addition, by the relative movement of the driving unit satellite pulley, the total length of the first jaw wire in the driving unit 200 is shortened, and the total length of the first jaw wire in the end tool 100 is lengthened. At the same time, by the relative movement of the driving unit satellite pulley, the total length of the second jaw wire in the driving unit 200 is lengthened, and the total length of the second jaw wire in the end tool 100 is shortened.

[0319] As a result, when viewed from the end tool 100 side, when the pulley 231 serving as the pitch pulley of the driving portion rotates in the direction of arrow A1, the two strands of the first jaw wire, namely the wire 301 and the wire 305, are released, and the two strands of the second jaw wire, namely the wire 302 and the wire 306, are pulled, causing the end tool 100 to perform a pitch motion in the direction of arrow A4 with the rotation axis 143 as the center.

[0320] The path length may be defined as the length of the jaw wire starting from the entry point of the first intermediate pulley of the driving part, passing through the satellite pulley of the driving part, to the exit point from the second intermediate pulley of the driving part. That is, the length of the jaw wire starting from the entry point of the wire 301 as the jaw wire into the pulley 215 as the first intermediate pulley of the driving part, passing through the pulley 219 as the satellite pulley of the driving part, to the exit point from the pulley 217 as the second intermediate pulley of the driving part may be defined as the path length.

[0321] Expressing this from another perspective, the path length can be defined as the length of the jaw wire from the point where the jaw wire first contacts the intermediate pulley of the driving part to the point where the jaw wire finally contacts the intermediate pulley of the driving part on the configuration path of the jaw wire connecting the jaw pulley of the end tool and the jaw pulley of the driving part. That is, the length of the jaw wire from the point where the wire 301 as the jaw wire first contacts the pulley 215 as the first intermediate pulley of the driving part to the point where it finally contacts the pulley 217 as the second intermediate pulley of the driving part can be defined as the path length.

[0322] On the other hand, the above-mentioned path length changes as the satellite pulley of the driving unit moves relative to the intermediate pulley of the driving unit, so the total length of the jaw wires in the driving unit 200 also changes. In addition, as the total length of the jaw wires in the driving unit 200 changes, the total length of the jaw wires in the end tool 100 also changes. However, as the total length of the jaw wires in the driving unit 200 increases (or decreases), the total length of the jaw wires in the end tool 100 also decreases (or increases) by the same length as the increase (or decrease) length of the jaw wires in the driving unit 200, so it can be considered that the total length of the jaw wires (without considering elastic deformation, etc.) does not change.

[0323] As a result, when the pitch pulley of the driving unit rotates, the wire 301 or wire 305 as the first jaw wire on the driving unit 200 side is released by the same length as the length of the wire 301 or wire 305 pulled as the first jaw wire on the end tool 100 side, resulting in a pitch movement.

[0324] On the other hand, as described above, the end tool 100 of the instrument 30 of the present disclosure may further include a pulley 131 serving as an end tool pitch pulley, the drive unit 200 may further include a pulley 231 serving as a drive unit pitch pulley, and the power transmission unit 300 may further include wires 303 and 304 serving as pitch wires.

[0325] Therefore, when the pulley 231 as the driving unit pitch pulley rotates in the direction of arrow A1, the wire 304 is wound around the pulley 231 and the wire 303 is released from the pulley 231 as the pulley 231 rotates. As a result, the pulley 131 as the end tool pitch pulley connected to the opposite side of the wire 303 and the wire 304 rotates in the direction of arrow A2 around the rotation axis 143, and the pitching operation can be performed more reliably.

[0326] Among the multiple pulleys rotating around the rotating shaft 143 as the pitch pulley of the driving part, the pulley 131 as the end tool pitch pulley in contact with the wires 303 and 304 as the pitch wires can have a different diameter compared with the pulleys 113, 114, 123 and 124 as the end tool jaw pitch main pulleys in contact with the wires 301, 305, 302 and 306 as the jaw wires.

[0327] At this time, when the rotation shaft 143 rotates, the length of the wire wound or released in each pulley is different. For example, when the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, and the rotation shaft 143 rotates 90°, the length of the pitch wire wound on the end tool pitch pulley is 1.5π, and the length of the jaw wire wound on the end tool jaw pitch main pulley can be 1π.

[0328] From this perspective, the "length" of the wire wound around or released from the pulley can be defined as the "rotation amount". This rotation amount is different from the rotation angle and can be calculated using (diameter x rotation angle / 360° x π).

[0329] At this time, basically, the pulley 231 as the driving unit pitch pulley and the pulley 131 as the end tool pitch pulley are directly connected through the wires 303 and 304 as the pitch wires, so the rotation amounts of the driving unit pitch pulley and the end tool pitch pulley are the same. That is, the length of the pitch wire wound around or released from the end tool pitch pulley is the same as the length of the pitch wire wound around or released from the driving unit pitch pulley.

[0330] On the other hand, the following relationship may be satisfied: (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) = (rotation amount of wire wound on end tool pitch pulley: rotation amount of wire wound on end tool jaw pitch main pulley).

[0331] As described above, in the end tool 100, when the length of the pitch wire wound on the end tool pitch pulley is different from the length of the jaw wire wound on the end tool jaw pitch main pulley, in the drive unit 200, the length of the pitch wire released and the length of the jaw wire released at the same ratio need to be different.

[0332] Therefore, the relationship of (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley)=(diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) can be established.

[0333] For example, when (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) is 6:4, (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) can also be 6:4. According to this ratio, the diameter of the drive unit pitch pulley can be 9φ, and the diameter of the drive unit intermediate pulley can be 6φ.

[0334] However, the driving part intermediate pulley may include two (or more) pulleys of the first driving part intermediate pulley and the second driving part intermediate pulley. In addition, the sum of the diameters of the first driving part intermediate pulley and the second driving part intermediate pulley may be defined as the diameter of the driving part intermediate pulley.

[0335] For example, when the diameter of the intermediate pulley of the driving part is 6φ, the number of (diameter of the first intermediate pulley of the driving part, diameter of the second intermediate pulley of the driving part) can be (1φ, 5φ), (2φ, 4φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Among them, in the figure, the diameter of the pulley 215 as the first intermediate pulley of the driving part is shown as 4φ, and the diameter of the pulley 217 as the second intermediate pulley of the driving part is shown as 2φ.

[0336] In addition, it can be expressed that (the rotation amount of the first intermediate pulley of the driving unit+the rotation amount of the second intermediate pulley of the driving unit) is proportional to the rotation amount of the pitch pulley of the driving unit.

[0337] However, even if the ratio of (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) does not completely match the ratio of (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley), by selecting the diameters of multiple pulleys so that the ratios are similar to each other, the purpose of the present disclosure of compensating for the movement of the jaw wire according to the rotation of the drive unit pitch pulley can be achieved to a certain extent.

[0338] The final pitching action process will be described again below.

[0339] Hereinafter, the case where the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, the diameter of the drive unit pitch pulley is 9φ, and the diameter of the drive unit intermediate pulley is 6φ is described as an example.

[0340] First, the pulley 231 as the driving part pitch pulley of the driving part 200 rotates 60 degrees and winds the wire 304 as the pitch wire to perform the pitching action, while the wire 303 is released. At this time, the length of each wire 303 / wire 304 wound and unwound is 1.5π.

[0341] Thus, in the end tool 100 , the wire 304 is pulled by 1.5π and the wire 303 is released by 1.5π, and at the same time, the pulley 131 as the end tool pitch pulley rotates by 90° corresponding to 1.5π.

[0342] On the other hand, when the pulley 131 performs pitch rotation around the rotation axis 143, the jaws 101, 102 and the pulleys 111 / 112 also perform pitch rotation around the rotation axis 143. Therefore, the wire 301 and the wire 305 as the first jaw wire combined with the pulley 111 are pulled, and the wire 302 and the wire 306 as the second jaw wire combined with the pulley 121 are released. At this time, the end tool pitch pulley and the end tool jaw pitch main pulley rotate at the same angle, which is 90°. Therefore, the length of the multiple jaw wires wound on the end tool jaw pitch main pulley or released from the end tool jaw pitch main pulley is 1π.

[0343] On the other hand, since the pulley 231 is rigidly connected to the pulley 219 or the pulley 220 via the pitch yaw connector 232 , when the pulley 231 rotates 60° around the rotation axis 243 , the pulley 219 or the pulley 220 revolves 60° around the rotation axis 243 .

[0344] In addition, as the pulley 219 or the pulley 220 revolves (revolution), the jaw wire is wound or released by the same length as 1π corresponding to the revolution angle 60° with respect to the pulley 215 and the pulley 216 whose diameters are 6φ in total. That is, the wire 301 and the wire 305 as the first jaw wire are released as a whole, and the wire 302 and the wire 306 as the second jaw wire are pulled as a whole.

[0345] In other words, the total path length of the wire 301 and the wire 305 wound around the pulley 215, the pulley 216, the pulley 217, and the pulley 218 as the intermediate pulleys of the first jaw of the driving part is reduced, and the wire 301 and the wire 305 are released by the same length as the reduced path length. In addition, the total path length of the wire 302 and the wire 306 wound around the pulley 225, the pulley 226, the pulley 227, and the pulley 228 as the intermediate pulleys of the second jaw of the driving part is increased, and the wire 302 and the wire 306 are pulled by the same length as the increased path length.

[0346] That is, the wire 301 and the wire 305 as the first jaw wire are released on the drive unit 200 side by the same length as the length pulled on the end tool 100 side, thereby compensating for the movement of the jaw wire according to the pitching action. Similarly, the wire 302 and the wire 306 as the second jaw wire are released on the drive unit 200 side by the same length as the length pulled on the end tool 100 side, thereby compensating for the movement of the jaw wire according to the pitching action.

[0347] As a result, multiple jaw wires are released (or pulled) on the driving unit 200 side by the same length as the multiple jaw wires are wound (or released) on the end tool 100 side according to the pitch action, resulting in independent execution of the pitch action without the pitch action affecting the rotation of the jaws in the yaw axis direction.

[0348] That is, when the driving unit pitch pulley and the driving unit satellite pulley are rigidly connected and the driving unit pitch pulley rotates around the rotation axis 243, the driving unit satellite pulley changes the path length of the jaw wire wound around the driving unit intermediate pulley while revolving around the rotation axis 243. In addition, the change in the path length of the jaw wire compensates for the movement of the plurality of jaw wires on the end tool side according to the pitch action, resulting in the result that the pitch action is performed independently.

[0349] FIG. 24 and FIG. 25 show Fig.11 A diagram of the yaw motion of the apparatus shown.

[0350] Reference Fig. 20 , Fig.21 24 and 25, etc., when the pulley 211 as the first jaw pulley of the driving unit rotates in the direction of arrow A3 to perform the yaw action, as the pulley 211 rotates, either side of the wire 301 and the wire 305 as the first jaw wire is wound around the pulley 211, and the other side is released from the pulley 211. Thus, when the pulley 111 as the first jaw pulley of the end tool connected to the opposite side of the wire 301 and the wire 305 rotates in the direction of arrow A4, the yaw action is performed.

[0351] At this time, the positions of pulley 219, pulley 220, pulley 229 and pulley 230, which are satellite pulleys of the driving unit, and pulley 215, pulley 216, pulley 217, pulley 218, pulley 225, pulley 226, pulley 227 and pulley 228, which are intermediate pulleys of the driving unit, do not change, however, only the action of winding or releasing the wire 301 and the wire 305 relative to the driving unit satellite pulleys and the driving unit intermediate pulley occurs.

[0352] Therefore, the driving section pitch pulley rigidly connected to the driving section satellite pulley also does not rotate, and the wire 303 and the wire 304 as the pitch wires are also not wound or released but maintain their positions.

[0353] Likewise, when the pulley 221 as the second jaw pulley of the driving portion rotates to perform a yaw motion, either side of the wire 302 and the wire 306 as the second jaw wire is wound around the pulley 221 according to the rotation of the pulley 221, and the other side is released from the pulley 221. Thus, the pulley 121 as the second jaw pulley of the end tool connected to the opposite side of the wire 302 and the wire 306 rotates in either direction while performing a yaw motion.

[0354] At this time, the positions of pulley 219, pulley 220, pulley 229 and pulley 230, which are satellite pulleys of the driving unit, and pulley 215, pulley 216, pulley 217, pulley 218, pulley 225, pulley 226, pulley 227 and pulley 228, which are intermediate pulleys of the driving unit, do not change, however, only the action of winding or releasing the wire 302 and the wire 306 relative to the driving unit satellite pulleys and the driving unit intermediate pulley occurs.

[0355] Therefore, the driving section pitch pulley rigidly connected to the driving section satellite pulley also does not rotate, and the wire 303 and the wire 304 as the pitch wires are also not wound or released but maintain their positions.

[0356] As a result, even if pulley 211 or pulley 221 as the driving portion jaw pulley rotates to perform a yaw motion or an actuation motion, the total length of wire 301, wire 302, wire 305, and wire 306 as jaw wires within driving portion 200 remains constant.

[0357] Like this, in the instrument 30 according to one embodiment of the present disclosure, when the pitch pulley of the driving part rotates, the satellite pulley of the driving part revolves around the rotation axis of the pitch pulley of the driving part, and at the same time changes the path length of the jaw wire wound on the intermediate pulley of the driving part, so that corresponding to the rotation of the pitch pulley of the driving part, the jaw wire is wound or released, and offsets or compensates for the movement of the jaw wire according to the pitch drive, resulting in the effect of separating the pitch action and the yaw action.

[0358] However, as described above, the pitch motion and the yaw motion are not limited to being mechanically separated, and are independently separated by the processor of the present disclosure according to an embodiment, so that the pitch motion and the yaw motion can be performed separately.

[0359] Fig.26 is a flowchart for explaining an example of a method for generating coordinate system transformation information in a robotic surgery system according to an embodiment. Fig. 27 and Fig.28 is a perspective view for explaining an example of a coordinate system used in a robotic surgery system according to an embodiment.

[0360] Reference Fig.26, a method for generating coordinate system transformation information in a robotic surgery system includes Figure 4 The steps of the apparatus 1000 or the processor 1010 shown in the figure are processed in time series. Therefore, even if the content is omitted below, the above Figure 4 The contents described in the device 1000 or processor 1010 shown in the figure can also be applied to Fig.26 A method for generating coordinate system transformation information in a robotic surgery system.

[0361] In addition, refer to Figure 4 , as mentioned above, Fig.26 At least one of the steps of the method for generating coordinate system conversion information in the robotic surgery system may be processed by the active robot 10, the camera robot, or the surgical robot.

[0362] First, in step S2610, the processor 1010 may calculate a first angle difference between a preset reference coordinate system and a first robot base coordinate system, wherein the first angle difference may be calculated based on a user's knob operation value obtained from a first angle measurement knob installed on the first robot.

[0363] Thereafter, in step S2620, the processor 1010 may calculate a second angle difference between the preset reference coordinate system and the second robot base coordinate system, wherein the second angle difference may be calculated based on a user's knob operation value obtained from a second angle measurement knob installed on the second robot.

[0364] In step S2610 and step S2620, the first robot and the second robot may be a camera robot equipped with a laparoscopic surgery camera or a surgical robot equipped with surgical instruments. However, in the following description, for ease of explanation, it is assumed that the first robot is a camera robot and the second robot is a surgical robot.

[0365] Reference Fig. 27 , the robot arm unit 21 in the camera robot 2700 can use the camera robot base coordinate system 2720. That is, the movement of the robot arm unit 21 in the camera robot 2700 can be expressed with reference to the camera robot base coordinate system 2720.

[0366] The robot base coordinate system can be defined by a fixed coordinate system used to define the robot's motion and position. In other words, the robot base coordinate system can be determined based on the robot's static position and orientation (the origin or reference point of the coordinate system). For example, referring to Fig. 9As described above, unless an external force is applied after the configuration is completed, the position and direction of the main body and the slave arm unit of the camera robot 2700 will not change, so the camera robot basic coordinate system 2720 is determined based on the position of the main body or the slave arm unit. As an example, the camera robot basic coordinate system 2720 is determined by taking the connection point of the main arm unit and the slave arm unit in the camera robot 2700 as the reference point (or origin). As another example, the camera robot basic coordinate system 2720 is determined by taking the connection point of the main body and the active arm unit in the camera robot 2700 as the reference point (or origin).

[0367] On the other hand, the laparoscopic surgery camera 50 included in the camera robot 2700 may use a separate laparoscopic surgery camera coordinate system (not shown). According to an embodiment, the processor 1010 may generate coordinate system conversion information between the camera robot base coordinate system 2720 and the laparoscopic surgery camera coordinate system (not shown) based on the kinematic information of the camera robot 2700. The processor 1010 uses the camera robot base coordinate system 2720 to express the movement of the laparoscopic surgery camera 50 based on the coordinate system conversion information between the camera robot base coordinate system 2720 and the laparoscopic surgery camera coordinate system (not shown).

[0368] According to one embodiment, an angle measurement knob (not shown) may be installed on the camera robot 2700. For example, the angle measurement knob installed on the camera robot 270 may use the camera robot base coordinate system 2720. That is, the angle measurement knob installed on the camera robot 2700 may be installed at a connection point between the active arm unit and the slave arm unit in the camera robot 2700, or may be installed at a connection point between the main body in the camera robot 2700 and the active arm unit.

[0369] According to an embodiment, the angle measurement knob (not shown) mounted on the camera robot may obtain the user's knob operation value by receiving a physical knob operation (e.g., a rotation operation) of a user who wants to measure the angle difference between the preset reference coordinate system 2710 and the camera robot base coordinate system 2720. In addition, the processor 1010 may calculate the angle difference between the reference coordinate system 2710 and the camera robot base coordinate system 2720 based on the user's knob operation value obtained from the angle measurement knob (not shown) mounted on the camera robot 2700.

[0370] Among them, the reference coordinate system can be defined as a coordinate system that serves as a reference in order to generate coordinate system conversion information between the camera robot basic coordinate system 2720 and the surgical robot basic coordinate system described later. For example, considering the characteristics of an operating room equipped with a robotic surgical system, the reference coordinate system can be pre-set by taking the position of an object that does not move but is fixed in the operating room as a reference point (or origin). As an example, the operating table in the operating room equipped with a camera robot (or surgical robot) is taken as the reference point, and the reference coordinate system can be pre-set to the coordinate system used by the operating table. As another example, the active robot 10 in the robotic surgical system is taken as the reference point, and the reference coordinate system can be pre-set to the coordinate system used by the active robot 10. As another example, the camera robot is taken as the reference point, and the reference coordinate system can be pre-set to the camera robot basic coordinate system used by the camera robot.

[0371] On the other hand, according to an embodiment, the angle measurement knob (not shown) installed on the camera robot may only obtain the yaw value difference, while excluding the roll value difference and the pitch value difference between the preset reference coordinate system 2710 and the camera robot base coordinate system 2720. In other words, the first angle difference calculated by the processor 1010 based on the user's knob operation value obtained from the angle measurement knob (not shown) installed on the camera robot 2700 may refer to the yaw value difference of the reference point of the camera robot base coordinate system relative to the reference coordinate system.

[0372] The camera robot 2700 and each reference point of the reference coordinate system (e.g., an operating table or an active robot) are arranged on the flat bottom of the operating room, so that each axis (e.g., x-axis, y-axis, and z-axis) of the camera robot base coordinate system and the reference coordinate system is parallel or perpendicular to the ground (e.g., the bottom of the operating room), so there may be no roll value difference and pitch value difference between the preset reference coordinate system 2710 and the camera robot base coordinate system 2720. Thus, the user can measure the yaw value difference by operating the first angle measurement knob. The yaw value difference may refer to the azimuth angle difference of the camera robot base coordinate system (or the reference point of the camera robot base coordinate system) relative to the axis in the direction perpendicular to the ground of the reference coordinate system with the reference coordinate system as the reference. In other words, the processor 1010 may calculate the azimuth angle θ of the camera robot base coordinate system 2720 with the preset reference coordinate system 2710 as the reference based on the user's knob operation value obtained from the angle measurement knob installed on the camera robot 2700. cRobot .

[0373] Reference Fig.28, the robot arm unit 21 included in the surgical robot 2800 can use the surgical robot base coordinate system 2820. On the other hand, with reference to Fig. 27 The definitions of the basic coordinate system and the reference coordinate system described above can also be applied to Fig.28 , so repeated description will be omitted.

[0374] According to one embodiment, the surgical robot basic coordinate system 2820 may be determined based on the position of the main body or the slave arm unit in the surgical robot 2800. As an example, the surgical robot basic coordinate system 2820 may be determined with the connection point between the active arm unit and the slave arm unit in the surgical robot 2800 as a reference point. As another example, the surgical robot basic coordinate system 2820 may be determined with the connection point between the main body and the active arm unit in the surgical robot 2800 as a reference point.

[0375] According to one embodiment, the preset reference coordinate system 2710 may be one of the coordinate systems used by the operating table in the operating room equipped with the surgical robot or the active robot 10 in the robotic surgery system. According to another embodiment, the reference coordinate system 2710 may be a camera robot base coordinate system used by the camera robot.

[0376] According to one embodiment, the angle measurement knob (not shown) installed on the surgical robot 2800 can use the surgical robot base coordinate system 2820. For example, the angle measurement knob installed on the surgical robot 2800 can be set at the connection point between the active arm unit and the slave arm unit in the surgical robot 2800, or can be set at the connection point between the main body and the active arm unit in the surgical robot 2800.

[0377] According to one embodiment, the angle measurement knob (not shown) mounted on the surgical robot 2800 obtains the user's knob operation value by receiving a physical knob operation (e.g., a rotation operation) of a user who wants to measure the angle difference between the preset reference coordinate system 2710 and the surgical robot base coordinate system 2820. In addition, the processor 1010 may calculate the angle difference between the reference coordinate system 2710 and the surgical robot base coordinate system 2820 based on the user's knob operation value obtained from the angle measurement knob (not shown) mounted on the surgical robot.

[0378] According to another embodiment, the angle measurement knob (not shown) installed on the surgical robot 2800 can only obtain the yaw value difference, while excluding the roll value difference and the pitch value difference between the preset reference coordinate system 2710 and the surgical robot base coordinate system 2820. In other words, the second angle difference calculated by the processor 1010 based on the user's knob operation value obtained from the angle measurement knob (not shown) installed on the surgical robot 2800 can refer to the yaw value difference of the reference point of the surgical robot base coordinate system relative to the reference coordinate system. On the other hand, the yaw value difference can refer to the azimuth difference of the surgical robot base coordinate system (or, the reference point of the surgical robot base coordinate system) relative to the axis in the direction perpendicular to the ground of the reference coordinate system with reference to the reference coordinate system. For example, the processor 1010 can calculate the azimuth angle θ of the surgical robot base coordinate system 2820 with reference to the preset reference coordinate system 2710 based on the user's knob operation value obtained from the angle measurement knob (not shown) installed on the surgical robot 2800. sRobot .

[0379] Refer again Fig.26 In step S2630, the processor 1010 may generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first angle difference and the second angle difference.

[0380] For example, the processor 1010 may calculate a relative angle between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0381] According to one embodiment, the processor 1010 may calculate the relative azimuth angle between the camera robot base coordinate system and the surgical robot base coordinate system. For example, the processor 1010 may calculate the relative azimuth angle θ between the camera robot base coordinate system 2720 and the reference coordinate system. cRobot and the azimuth angle θ of the surgical robot base coordinate system 2820 relative to the reference coordinate system sRobot To calculate the relative azimuth angle. For example, the processor 1010 can calculate the relative azimuth angle by using the two azimuth angle differences θ cRobot -θ sRobot According to another embodiment, the processor 1010 may calculate the relative azimuth angle based on the azimuth angle θ of the first surgical robot base coordinate system relative to the reference coordinate system. sRobot1 and the azimuth angle θ of the second surgical robot base coordinate system relative to the reference coordinate system sRobot2 , through θ sRobot1 -θ sRobot2 To calculate the relative azimuth angle between the first surgical robot basic coordinate system and the second surgical robot basic coordinate system.

[0382] On the other hand, the coordinate system conversion information may include information about a rotation conversion matrix. The rotation conversion matrix may refer to a matrix that converts a motion (e.g., a rotational motion) in any three-dimensional coordinate system into a motion in another three-dimensional coordinate system. For example, the rotation conversion matrix may be calculated using an axis as a rotation basis and information about a rotation angle. For example, the processor 1010 calculates a relative angle (e.g., a roll angle θ) between a first robot base coordinate system (e.g., a camera robot base coordinate system) and a second robot base coordinate system (e.g., a surgical robot base coordinate system) using a first angle difference and a second angle difference. r 、Pitch angle θ p , yaw angle θ y ), and the rotation transformation matrix between the camera robot base coordinate system and the surgical robot base coordinate system can be calculated based on the calculated relative angle and the following mathematical formula 1.

[0383]

Mathematical formula 1

[0384]

[0385] On the other hand, according to one embodiment, the first angle difference and the second angle difference may refer to a yaw value difference. In other words, in the above mathematical formula 1, the relative angle θ r and θ p Thus, the processor 1010 calculates the coordinate system conversion information based on the following Mathematical Formulas 2 and 3 using the relative azimuth angle between the first robot base coordinate system (eg, the camera robot base coordinate system) and the second robot base coordinate system (eg, the surgical robot base coordinate system).

[0386]

Mathematical formula 2

[0387]

[0388]

Mathematical formula 3

[0389]

[0390] Among them, R sRobot→cRobot Refers to the rotation transformation from the surgical robot base coordinate system to the camera robot coordinate system, R cRobot→sRobot Refers to the rotation transformation from the camera robot base coordinate system to the surgical robot coordinate system.

[0391] In addition, θ sRobotTocRobot It can refer to the azimuth of the camera robot base coordinate system (or the reference point of the camera robot base coordinate system) relative to the axis in the direction perpendicular to the ground of the surgical robot base coordinate system, with the surgical robot base coordinate system as the reference, and θ sRobotTocRobotIt can refer to the azimuth angle of the surgical robot basic coordinate system (or the reference point of the surgical robot basic coordinate system) relative to the axis in the direction perpendicular to the ground of the camera robot basic coordinate system, with the camera robot basic coordinate system as the reference.

[0392] Fig.29 is a flowchart for explaining another example of a method for generating coordinate system transformation information in a robotic surgery system. Fig.30 and Fig.31 is a perspective view for explaining another example of a coordinate system used in the robotic surgery system according to an embodiment.

[0393] Reference Fig.29 In step S2910, the processor 1010 may calculate a third Euler angle difference between the reference coordinate system and the first angle measurement knob coordinate system based on the knob operation value obtained from the first angle measurement knob.

[0394] Thereafter, in step S2920, the processor 1010 may calculate a fourth Euler angle difference between the reference coordinate system and the second angle measurement knob coordinate system based on the knob operation value acquired from the second angle measurement knob.

[0395] The first angle measuring knob refers to an angle measuring knob installed on a first robot included in the robotic surgery system, and the second angle measuring knob refers to an angle measuring knob installed on a second robot. Fig.30 and Fig.31 , and for the sake of convenience of description, it is assumed that the first robot is a camera robot and the second robot is a surgical robot for description, but it is not limited to this.

[0396] Reference Fig.30 According to an embodiment, when the first angle measurement knob is installed on the camera robot at a position other than the position as the reference point of the camera robot base coordinate system 3020 among the positions where the camera robot can be installed, the first angle measurement knob may not use the camera robot base coordinate system 3020. In this case, the first angle measurement knob may use the first angle measurement knob coordinate system 3010.

[0397] As an example, when the first angle measuring knob is not installed on the camera robot at a connection point between a slave arm unit and an active arm unit in the camera robot, which is a reference point of the camera robot base coordinate system 3020, the first angle measuring knob may use a first angle measuring knob coordinate system 3010 using the position where the knob is installed on the camera robot as a reference point. As another example, when the first angle measuring knob is not installed on the camera robot at a connection point between an active arm unit and a main body in the camera robot, which is a reference point of the camera robot base coordinate system 3020, the first angle measuring knob may use a first angle measuring knob coordinate system 3010 using the position where the knob is installed on the camera robot as a reference point.

[0398] On the other hand, when the first angle measurement knob does not use the camera robot base coordinate system 3020, the user's knob operation value obtained from the first angle measurement knob may correspond to the angle difference (third angle difference) between the reference coordinate system 3000 and the first angle measurement knob coordinate system 3010. In other words, the processor 1010 may calculate the angle difference (third angle difference) between the reference coordinate system 3000 and the first angle measurement knob coordinate system 3010 based on the user's knob operation value obtained from the first angle measurement knob.

[0399] According to an embodiment, the processor 1010 may calculate the yaw value difference in addition to the roll value difference and the pitch value difference between the preset reference coordinate system 3000 and the first angle measurement knob coordinate system 3010 based on the user's knob operation value obtained from the angle measurement knob installed on the camera robot. In other words, the third angle difference may refer to the yaw value difference of the reference point of the first angle measurement knob coordinate system 3010 relative to the reference coordinate system. For example, the third angle difference may refer to the azimuth angle θ of the first angle measurement knob coordinate system 3010 (or the reference point of the first angle measurement knob coordinate system 3010) relative to the axis in the direction perpendicular to the ground of the reference coordinate system with the preset reference coordinate system 3000 as the reference. cDial .

[0400] Reference Fig.31 According to one embodiment, when the second angle measurement knob is installed on the surgical robot at a position other than the position as the reference point of the surgical robot base coordinate system 3120 among the positions that can be installed on the surgical robot, the second angle measurement knob may not use the surgical robot base coordinate system 3120. In this case, the second angle measurement knob may use the second angle measurement knob coordinate system 3110. On the other hand, referring to Fig.31 In the description, the above reference will be omitted Fig.30 Describes the content of the duplicate content.

[0401] On the other hand, when the second angle measurement knob does not use the surgical robot base coordinate system 3120, the user's knob operation value obtained from the second angle measurement knob may correspond to the angle difference (fourth angle difference) between the reference coordinate system 3000 and the second angle measurement knob coordinate system 3110. In other words, the processor 1010 may calculate the angle difference (fourth angle difference) between the reference coordinate system 3000 and the second angle measurement knob coordinate system 3110 based on the user's knob operation value obtained from the second angle measurement knob.

[0402] According to one embodiment, the processor 1010 may calculate the yaw value difference in addition to the roll value difference and the pitch value difference between the preset reference coordinate system 3000 and the second angle measurement knob coordinate system 3110 based on the user's knob operation value obtained from the second angle measurement knob installed on the surgical robot. In other words, the fourth angle difference may refer to the yaw value difference of the reference point of the second angle measurement knob coordinate system 3110 relative to the reference coordinate system. For example, the fourth angle difference may refer to the azimuth angle θ of the second angle measurement knob coordinate system 3110 (or the reference point of the second angle measurement knob coordinate system 3111) relative to the axis in the direction perpendicular to the ground of the reference coordinate system with the preset reference coordinate system 3000 as the reference. sDial .

[0403] Refer again Fig.29 In step S2930, the processor 1010 may acquire a fifth angle difference between the first angle measurement knob coordinate system and the first robot base coordinate system based on the first angle measurement value acquired from the first angle measurement sensor.

[0404] Thereafter, in step S2940, the processor 1010 may acquire a sixth angle difference between the second angle measurement knob coordinate system and the second robot base coordinate system based on the second angle measurement value acquired from the second angle measurement sensor. Similar to steps S2910 and S2920, for ease of explanation, it is assumed that the first robot is a camera robot and the second robot is a surgical robot, but is not limited thereto.

[0405] Reference Fig.30 In step S2910, as described above, according to one embodiment, when the first angle measurement knob uses the first angle measurement knob coordinate system 3010, coordinate system conversion information also needs to be generated between the first angle measurement knob coordinate system 3010 and the camera robot basic coordinate system 3020.

[0406] According to an embodiment, a first angle measurement sensor (not shown) installed in a robot arm unit of a first robot (e.g., a camera robot) may acquire a first angle measurement value relative to a first angle measurement knob coordinate system 3010 and a camera robot base coordinate system 3020. In addition, the processor 1010 may calculate a fifth angle difference based on the first angle measurement value acquired from the first angle measurement sensor.

[0407] The first angle measurement sensor installed in the robot arm unit of the camera robot may refer to a plurality of sensors, and the first angle measurement value may be a result of calculating the angle measurement value measured by each of the plurality of sensors. For example, when the robot arm unit of the camera robot includes more than two slave arm units, at least one first angle measurement sensor may be installed in the robot arm unit of the camera robot. For example, referring to Fig.30 For the camera robot shown, when the robot arm unit of the camera robot includes four slave arm units, three first angle measurement sensors can be installed on the robot arm unit of the camera robot. For example, each first angle measurement sensor can obtain the angle difference between two slave arm units, and the first angle measurement value can be a result value of calculating the angle measurement value obtained by each angle measurement sensor. The processor 1010 can calculate the angle difference (fifth angle difference) between the first angle measurement knob coordinate system and the camera robot base coordinate system based on the first angle measurement value (the result value of calculating the angle measurement value).

[0408] According to an embodiment, the first angle measurement sensor may measure a yaw value difference in addition to a roll value difference and a pitch value between the first angle measurement knob coordinate system 3010 and the camera robot base coordinate system 3020. In other words, the processor 1010 may calculate a yaw value difference of the camera robot base coordinate system 3020 (or a reference point of the camera robot base coordinate system 3020) relative to the first angle measurement knob coordinate system 3010 based on the first angle measurement value acquired from the first angle measurement sensor. For example, the fifth angle difference may refer to an azimuth angle θ of the camera robot base coordinate system 3020 relative to an axis in a direction perpendicular to the ground of the first angle measurement knob coordinate system 3010, with the first angle measurement knob coordinate system 3010 as a reference. cDial→CRobot .

[0409] The following will refer to Fig.31 will be described, but the above Fig.30 The content described in the content is duplicate content.

[0410] Reference Fig.31According to one embodiment, a second angle measurement sensor (not shown) installed in a robot arm unit of a second robot (e.g., a surgical robot) can calculate the angle difference (sixth angle difference) between the second angle measurement knob coordinate system 3110 and the surgical robot base coordinate system 3120. For example, when the robot arm unit of the surgical robot includes four slave arm units, three second angle measurement sensors can be installed in the robot arm unit of the surgical robot. For example, each second angle measurement sensor can obtain the Euler angle difference between two slave arm units, and the second angle measurement value can be a result value of calculating the angle measurement value obtained by each angle measurement sensor. The processor 1010 can calculate the angle difference (sixth angle difference) between the second angle measurement knob coordinate system and the surgical robot base coordinate system based on the second angle measurement value (the result value of calculating the angle measurement value).

[0411] According to one embodiment, the second angle measurement sensor may measure a yaw value difference in addition to a roll value difference and a pitch value difference between the second angle measurement knob coordinate system 3110 and the surgical robot base coordinate system 3120. In other words, the processor 1010 may calculate a yaw value difference of the surgical robot base coordinate system 3120 (or a reference point of the surgical robot base coordinate system 3120) relative to the second angle measurement knob coordinate system 3110 based on the second angle measurement value acquired from the second angle measurement sensor. For example, the sixth angle difference may refer to an azimuth angle θ of the surgical robot base coordinate system 3120 relative to an axis in a direction perpendicular to the ground of the second angle measurement knob coordinate system 3110, with the second angle measurement knob coordinate system 3110 as a reference. sDial→sRobot .

[0412] Refer again Fig.29 In step S2950, ​​the processor 1010 may generate first coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system based on the third angle difference and the fifth angle difference. In the following, in steps S2950 and S2960, for ease of explanation, assuming that the first robot is a camera robot and the second robot is a surgical robot, the first robot basic coordinate system may refer to the camera robot basic coordinate system, and the second robot basic coordinate system may refer to the surgical robot basic coordinate system.

[0413] For example, the processor 1010 may calculate the rotation conversion matrix based on the angle difference. According to an embodiment, the processor 1010 may calculate the rotation conversion matrix based on the angle difference obtained in steps S2910 to S2940.

[0414] According to an embodiment, the processor 1010 may calculate the azimuth angle θ based on the above-mentioned azimuth angle θ. cDial, and calculate the rotation transformation matrix from the preset reference coordinate system (for example, the coordinate system used by the operating table) to the first angle measurement knob coordinate system based on the following mathematical formula 4. In addition, the processor 1010 can be based on the above azimuth angle θ cDial→CRobot , and based on Mathematical Formula 5, calculate the rotation transformation matrix from the first angle measurement knob coordinate system to the first robot base coordinate system (e.g., the camera robot base coordinate system).

[0415]

Mathematical formula 4

[0416]

[0417]

Mathematical formula 5

[0418]

[0419] The processor 1010 may generate first coordinate system conversion information between the first robot base coordinate system and the reference coordinate system based on the rotation conversion matrix calculated using the third angle difference and the rotation conversion matrix calculated using the fifth angle difference. For example, the processor 1010 may calculate a rotation conversion matrix from a reference coordinate system (e.g., a coordinate system used by an operating table) to a camera robot base coordinate system based on the following mathematical formula 6.

[0420]

Mathematical formula 6

[0421]

[0422] Thereafter, in step S2960, the processor 1010 may generate second coordinate system conversion information between the second robot base coordinate system and the reference coordinate system based on the fourth angle difference and the sixth angle difference.

[0423] For example, the processor 1010 may calculate the rotation conversion matrix based on the angle difference. According to an embodiment, the processor 1010 may calculate the rotation conversion matrix based on the angle difference obtained in steps S2910 to S2940.

[0424] According to an embodiment, the processor 1010 may calculate the azimuth angle θ based on the above-mentioned azimuth angle θ. sDial , and calculate the rotation transformation matrix from the preset reference coordinate system (for example, the coordinate system used by the operating table) to the second angle measurement knob coordinate system based on the following mathematical formula 7. In addition, the processor 1010 can be based on the above azimuth angle θ sDial→sRobot , and based on Mathematical Formula 8, calculate the rotation transformation matrix from the second angle measurement knob coordinate system to the second robot base coordinate system (e.g., the camera robot base coordinate system).

[0425]

Mathematical formula 7

[0426]

[0427]

Mathematical formula 8

[0428]

[0429] The processor 1010 may generate second coordinate system conversion information between the second robot base coordinate system and the reference coordinate system based on the rotation conversion matrix calculated using the fourth angle difference and the rotation conversion matrix calculated using the sixth angle difference. For example, the processor 1010 may calculate a rotation conversion matrix from a reference coordinate system (e.g., a coordinate system used by an operating table) to a camera robot base coordinate system based on the following mathematical formula 9.

[0430]

Mathematical formula 9

[0431]

[0432] Thereafter, in step S2970, the processor 1010 may generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system based on the first coordinate system conversion information and the second coordinate system conversion information.

[0433] In step S2630, as described above, the processor 1010 may generate coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first angle difference and the second angle difference.

[0434] According to one embodiment, the processor 1010 may first generate coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system and coordinate system conversion information between the second robot basic coordinate system and the reference coordinate system, and use the information to generate coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system.

[0435] In more detail, the processor 1010 may generate first coordinate system conversion information between the first robot base coordinate system and the reference coordinate system based on the third angle difference and the fifth angle difference. In addition, the processor 1010 may generate second coordinate system conversion information between the second robot base coordinate system and the reference coordinate system based on the fourth angle difference and the sixth angle difference. In addition, the processor 1010 may generate coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system based on the first coordinate system conversion information and the second coordinate system conversion information.

[0436] According to an embodiment, the coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system may refer to a rotation conversion matrix from the second robot base coordinate system to the first robot base coordinate system. For example, the processor 1010 may calculate a rotation conversion matrix from the second robot base coordinate system (e.g., the surgical robot base coordinate system) to the first robot base coordinate system (e.g., the camera robot base coordinate system) based on the following mathematical formula 10 using the first coordinate system conversion information and the second coordinate system conversion information.

[0437]

Mathematical formula 10

[0438] R sRobot→cRobot =R T bed→sRobot *R bed→cRobot

[0439] Among them, R bed→sRobot corresponds to the rotation transformation matrix from the reference coordinate system (for example, the coordinate system used by the operating table) calculated based on Equation 9 to the basic coordinate system of the surgical robot, and R T bed→sRobot corresponds to the transposed matrix. In addition, R bed→cRobot The rotation transformation matrix from the reference coordinate system (e.g., the coordinate system used by the operating table) calculated based on Equation 6 to the camera robot base coordinate system.

[0440] Fig.32 is a diagram for explaining an example of a robotic surgery system configured to operate based on coordinate system transformation information according to an embodiment.

[0441] Reference Fig.32 Regarding the operations 3210 and 3220 of moving surgical instruments, the situations 3211 and 3213 of allowing the user to move the device capable of operating the position and function of the surgical instrument in the left and right directions and the situations 3221 and 3223 of rotating movement in the clockwise direction, the corresponding movement of the surgical instrument will be displayed on the display component 10b.

[0442] For example, in response to the situation 3211 of moving the active robot 10 to the left, if the movement of the surgical instrument displayed on the display member 10b moves in the up-down direction 3212, it will be difficult to intuitively operate the surgical instrument from the user's perspective.

[0443] On the other hand, according to the reference Figure 26 to Figure 31The embodiment of the present disclosure described in detail generates coordinate system conversion information, and in the case where the motion in the surgical robot base coordinate system is converted into the motion in the camera robot base coordinate system using the coordinate system conversion information, the surgical instrument displayed on the display member 10b moves to the left direction 3214 corresponding to the case where the active robot 10 is moved to the left direction 3213. Thus, the user can more accurately reflect the intuitive operation and perform surgery through the surgical robot.

[0444] Similarly, corresponding to the situation 3221 where the master robot 10 is rotationally moved in the clockwise direction, the movement of the surgical instrument displayed on the display member 10 b may be rotationally moved in the counterclockwise direction 3222 .

[0445] On the other hand, when the coordinate system conversion information is used to convert the movement in the surgical robot's basic coordinate system into the movement in the camera robot's basic coordinate system, corresponding to the situation 3223 where the active robot 10 is rotated and moved in the clockwise direction, the movement of the surgical instrument displayed on the display component 10b can be rotated and moved in the clockwise direction 3224.

[0446] On the other hand, the above method can be written in the form of a program executable on a computer, and can be implemented in a general-purpose digital computer that runs the program using a computer-readable recording medium. In addition, the data structure used in the above method can be recorded on a computer-readable recording medium in various ways. The computer-readable recording medium includes storage media such as magnetic storage media (e.g., OM, RAM, USB, floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM, DVD, etc.).

[0447] On the other hand, the above method may be included in a computer program product. As a commodity, a computer program product can be traded between a seller and a buyer. The computer program product may be distributed directly or online (e.g., downloaded or uploaded) in the form of a device-readable storage medium (e.g., a CD-ROM (compact disc read only memory)) or through an application store (e.g., Play Store TM) or between two user devices. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a machine-readable storage medium, such as a manufacturer's server, an application store's server, or a relay service non-transitory computer-readable medium.

[0448] Those skilled in the art of the present invention will appreciate that the present invention can be implemented in a modified form without departing from the above basic features. Therefore, the disclosed method should be considered from the perspective of interpretation rather than from the perspective of limitation, and the scope of rights is embodied by the patent claims rather than the aforementioned content, and should be interpreted as including all differences within the scope of equivalence thereto.

Claims

1. A method for generating coordinate system conversion information, which is performed by a coordinate system conversion device in a robotic surgery system, the method comprising: Calculating a first angle difference between a preset reference coordinate system and a first robot base coordinate system based on a first knob operation value of a user acquired from a first angle measurement knob mounted on the first robot; Calculating a second angle difference between the preset reference coordinate system and the second robot base coordinate system based on a second knob operation value of the user obtained from a second angle measurement knob mounted on the second robot; as well as Coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system is generated based on the first angle difference and the second angle difference.

2. The method for generating coordinate system conversion information according to claim 1, wherein: The first angle measurement knob or the second angle measurement knob is configured as: A physical knob operation of the user is received, and the first knob operation value corresponding to the first angle difference or the second knob operation value corresponding to the second angle difference is acquired.

3. The method for generating coordinate system conversion information according to claim 1, wherein: Calculating the first angle difference includes: When the first angle measurement knob does not use the first robot base coordinate system, a third angle difference between the reference coordinate system and the coordinate system used by the first angle measurement knob is calculated based on the first knob operation value acquired from the first angle measurement knob.

4. The method for generating coordinate system conversion information according to claim 1, wherein: Calculating the second angle difference includes: When the second angle measurement knob does not use the second robot base coordinate system, a fourth angle difference between the reference coordinate system and the coordinate system used by the second angle measurement knob is calculated based on the second knob operation value acquired from the second angle measurement knob.

5. The method for generating coordinate system conversion information according to claim 3, wherein: The first angle measuring knob is installed in the first robot at a position other than a position defined as a reference point of the first robot base coordinate system.

6. The method for generating coordinate system conversion information according to claim 4, wherein: The second angle measuring knob is installed in the second robot at a position other than a position defined as a reference point of the second robot base coordinate system.

7. The method for generating coordinate system conversion information according to claim 5, wherein: The coordinate system used by the first angle measuring knob has a reference point, and the reference point is the position of the first robot where the first angle measuring knob is installed.

8. The method for generating coordinate system conversion information according to claim 6, wherein: The coordinate system used by the second angle measuring knob has a reference point, and the reference point is the position of the second robot where the second angle measuring knob is installed.

9. The method for generating coordinate system conversion information according to claim 3, further comprising: A fifth angle difference between a first angle measurement knob coordinate system and the first robot base coordinate system is calculated based on a first angle measurement value acquired from a first angle measurement sensor mounted on a robot arm of the first robot.

10. The method for generating coordinate system conversion information according to claim 4, further comprising: A sixth angle difference between a second angle measurement knob coordinate system and the second robot base coordinate system is calculated based on a second angle measurement value acquired from a second angle measurement sensor mounted on a robot arm of the second robot.

11. The method for generating coordinate system conversion information according to claim 1, wherein: Generating the coordinate system conversion information includes: generating first coordinate system conversion information between the first robot basic coordinate system and the reference coordinate system by using the first angle difference; generating second coordinate system conversion information between the second robot basic coordinate system and the reference coordinate system using the second angle difference; and Coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system is generated based on the first coordinate system conversion information and the second coordinate system conversion information.

12. The method for generating coordinate system conversion information according to claim 1, wherein: The first angle difference or the second angle difference is: The difference between the yaw value of the reference point of the first robot basic coordinate system and the reference coordinate system; or The difference between the yaw value of the reference point of the second robot basic coordinate system and the reference coordinate system.

13. A coordinate system conversion information generating device, wherein the coordinate system conversion information generating device is in a robotic surgery system, and the coordinate system conversion information generating device comprises: a non-transitory computer-readable medium configured to store at least one program; as well as A processor configured to execute the at least one program to: calculating a first angle difference between a preset reference coordinate system and a first robot base coordinate system based on a user's knob operation value acquired from a first angle measurement knob mounted on the first robot; calculating a second angle difference between the preset reference coordinate system and the second robot base coordinate system based on a user's knob operation value obtained from a second angle measurement knob mounted on the second robot; as well as Coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system is generated based on the first angle difference and the second angle difference.

14. A non-transitory computer-readable recording medium recording a program for executing the method according to claim 1 on a computer.

15. A surgical robot, comprising: one or more robotic arms configured to perform actions through manipulation of a handle by an operator; a surgical instrument coupled to each of the one or more robotic arms; An angle measurement knob, configured to receive a user's physical operation on the knob and obtain the user's knob operation value; as well as A coordinate system conversion information generating device generates coordinate system conversion information based on an angle difference between coordinate systems, The coordinate system conversion information generating device: calculating a first angle difference between a preset reference coordinate system and a first robot base coordinate system based on a user's knob operation value acquired from a first angle measurement knob mounted on the first robot, calculating a second angle difference between the preset reference coordinate system and the second robot base coordinate system based on the user's knob operation value obtained from a second angle measurement knob mounted on the second robot, Coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system is generated based on the first angle difference and the second angle difference.

16. A laparoscopic camera robot, comprising: one or more robotic arms configured to perform actions through manipulation of a handle by an operator; a laparoscopic surgical camera coupled to each of the one or more robotic arms; An angle measurement knob, configured to receive a user's physical operation on the knob to obtain the user's knob operation value; as well as A coordinate system conversion information generating device generates coordinate system conversion information based on an angle difference between coordinate systems, Wherein, the coordinate system conversion information generating device is configured as follows: calculating a first angle difference between a preset reference coordinate system and a first robot base coordinate system based on a user's knob operation value acquired from a first angle measurement knob mounted on the first robot; calculating a second angle difference between the preset reference coordinate system and a second robot base coordinate system based on a knob operation value of the user acquired from a second angle measurement knob mounted on the second robot; and Coordinate system conversion information between the first robot basic coordinate system and the second robot basic coordinate system is generated based on the first angle difference and the second angle difference.

17. A robotic surgery system, comprising: A surgical robot comprises a first angle measurement knob, wherein the first angle measurement knob is configured to receive a first physical operation of the first angle measurement knob by a user to obtain a first knob operation value of the user; A laparoscopic camera robot, comprising a second angle measurement knob, wherein the second angle measurement knob is configured to receive a second physical operation of the second angle measurement knob by the user to obtain a second knob operation value of the user; as well as An active robot comprises a coordinate system conversion information generating device, wherein the coordinate system conversion information generating device generates coordinate system conversion information based on an angular difference between coordinate systems, Wherein, the coordinate system conversion information generating device is configured as follows: Calculating a first angle difference between a preset reference coordinate system and a basic coordinate system of the surgical robot based on a first knob operation value of the user obtained from the first angle measurement knob installed on the surgical robot; calculating a second angle difference between the preset reference coordinate system and the laparoscopic camera robot base coordinate system based on the second knob operation value of the user acquired from the second angle measurement knob mounted on the laparoscopic camera robot; and Based on the first angle difference and the second angle difference, coordinate system conversion information between the surgical robot basic coordinate system and the laparoscopic camera robot basic coordinate system is generated.

18. The robotic surgery system according to claim 17, wherein: The surgical robot has a sensor configured to measure a first angle measurement value between a first angle measurement knob coordinate system and a base coordinate system of the surgical robot.

19. The robotic surgery system according to claim 17, wherein: The laparoscopic camera robot has a sensor configured to measure a second angle measurement value between a second angle measurement knob coordinate system and a base coordinate system of the laparoscopic camera robot.

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