Apparatus and method for driving surgical robotic system

Abstract

A method for driving a surgical robot system including a first robot and a second robot. The method comprises the following steps: acquiring first reference information of a reference object based on a first reference information acquisition device arranged on a first robot; acquiring second reference information of the reference object based on a second reference information acquisition device arranged on a second robot; and determining a relative position relationship between the first robot and the second robot based on the first reference information and the second reference information.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the benefit of and priority to Korean Patent Application No. 10-2024-0065033, filed May 20, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to a surgical robot, and more particularly, to a method and apparatus for driving a surgical robot system, but is not limited thereto. BACKGROUND

[0004] In medicine, surgery refers to a process of using a medical instrument to remove, incise, or manipulate skin, mucosa, or other tissues to cure a disease. In particular, an abdominal surgery that incises the skin of a surgical site and treats, corrects, or removes organs and the like inside the same can cause problems such as bleeding, side effects, pain of a patient, and a scar. Accordingly, in recent years, a surgery that is performed by inserting only a laparoscope, a surgical instrument, a microscopic surgery microscope, or the like through a prescribed hole made in skin, or a surgery using a robot has been spotlighted as an alternative.

[0005] Among them, a surgical robot refers to a robot having a capability of replacing a surgical action that is originally performed by a surgical staff. These robots can perform precise and delicate actions compared to humans and have an advantage of enabling remote surgery.

[0006] On the other hand, a surgical robot system is generally composed of a master robot and a slave robot. When a surgical staff operates a joystick (e.g., a handle) provided on the master robot, a robot arm combined with the slave robot or a surgical device held by the robot arm is operated to perform surgery.

[0007] However, when surgery is performed by remotely operating a surgical device through a surgical robot instead of actually operating the surgical device by a surgical staff, several problems can occur. For example, although a surgical staff operates a joystick provided on a master robot, a slave robot cannot perform an action desired by the surgical staff due to instrument limitations. In addition, when a surgical staff operates a joystick provided on a master robot, there can be a difference between a movement of a slave robot desired by the surgical staff and an actual movement of the slave robot.

[0008] The foregoing background techniques are technical information possessed by the inventors in order to derive the present application, or technical information acquired in the process of deriving the present application, and do not necessarily have to be well-known technical information publicly known before the filing of the present application. SUMMARY

[0009] An object of the present application is to provide a method and apparatus for driving a surgical robot system. Another object of the present application is to provide a computer-readable recording medium recording a program for executing the method in a computer.

[0010] The objects to be achieved by the present application are not limited to the above-mentioned objects, and other objects and advantages of the present application not mentioned above will be understood from the following description, and will be more apparent to those skilled in the art from the embodiments of the present application. In addition, the objects and advantages of the present application can be achieved by the method recited in the claims and combinations thereof.

[0011] To achieve the objects, according to an embodiment of the present application, a driving method of a surgical robot system having a first robot and a second robot, includes: acquiring first reference information of a reference object based on a first reference information acquisition device provided on the first robot; acquiring second reference information of the reference object based on a second reference information acquisition device provided on the second robot; and determining a relative positional relationship between the first robot and the second robot based on the first reference information and the second reference information.

[0012] According to an aspect, the first robot is configured to mount a first surgical instrument; and the second robot is configured to mount a second surgical instrument.

[0013] According to an aspect, the determining the relative positional relationship between the first robot and the second robot includes: determining coordinate system conversion information between a first robot base coordinate system and a second robot base coordinate system.

[0014] According to an aspect, the second surgical instrument includes a surgical camera; and the method further includes: performing conversion between user input interaction part operation information based on a coordinate system of a user input interaction part of the surgical robot system and driving information of the first surgical instrument based on a coordinate system of the first surgical instrument according to kinematics information of the first robot, kinematics information of the second robot, and the coordinate system conversion information; and operating the first surgical instrument based on the driving information.

[0015] According to an aspect, the coordinate system of the user input interaction part corresponds to a coordinate system of a surgical image acquired by the surgical camera and displayed on a display of the surgical robot system.

[0016] According to an aspect, the first reference information acquisition device and the second reference information acquisition device are directed toward a ceiling of a surgical space in which the first robot and the second robot are disposed.

[0017] According to an aspect, at least one of the first reference information collection device and the second reference information collection device is arranged on at least one of a main body of the first robot or a main body of the second robot.

[0018] According to an aspect, at least one of the first robot and the second robot comprises a passive arm unit connected to a main body and an active arm unit connected to the passive arm unit; and at least one of the first reference information collection device and the second reference information collection device is arranged at a main body connection portion of the active arm unit of the passive arm unit.

[0019] According to an aspect, the reference object comprises at least one of: a shape of a ceramic tile arrangement in an operating room; a shape of a lamp arrangement in an operating room; a shadowless lamp; or a support on which the shadowless lamp is mounted.

[0020] According to an aspect, a relative positional relationship between the first robot and the second robot is a relative azimuth angle with respect to an axis perpendicular to a ground surface of a surgical space in which the first robot and the second robot are arranged.

[0021] According to an aspect, the first reference information collection device is a first reference object photographing device configured to acquire a first reference image of the reference object; and the second reference information collection device is a second reference object photographing device configured to acquire a second reference image of the reference object; and determining the relative positional relationship between the first robot and the second robot comprises: extracting a plurality of first feature points from the first reference image and a plurality of second feature points from the second reference image; and determining a relationship matrix representing a relative positional relationship between the first reference object photographing device and the second reference object photographing device based on information of the first feature points and information of the second feature points.

[0022] According to an aspect, the information of the first feature points comprises coordinate information of the first feature points in the first reference image; and the information of the second feature points comprises coordinate information of the second feature points in the second reference image.

[0023] According to an aspect, the relationship matrix is an essential matrix according to the following mathematical formula:

[0024]

[0025] wherein p c represents the coordinate information of the first feature points, E represents the essential matrix, p s represents the coordinate information of the second feature points, x c represents an x coordinate of the first feature points, y c represents a y coordinate of the first feature points, xs denotes the x-coordinate of the second feature point, s denotes the y-coordinate of the second feature point.

[0026] According to an aspect, the essential matrix E is determined based on an 8-point algorithm according to the following mathematical formula:

[0027]

[0028] wherein, to denotes the x-coordinate of each of the 8 first feature points, to denotes the y-coordinate of each of the 8 first feature points, to denotes the x-coordinate of each of the 8 second feature points, to denotes the y-coordinate of each of the 8 second feature points.

[0029] According to an aspect, the determining the relative position relationship between the first robot and the second robot further comprises: extracting a rotation matrix representing a rotation relationship between the first reference image and the second reference image from the relationship matrix.

[0030] According to an aspect, the extracting the rotation matrix comprises: extracting the rotation matrix based on performing a Singular Value Decomposition (SVD) on the relationship matrix.

[0031] According to an aspect, the determining the relative position relationship between the first robot and the second robot further comprises: determining a rotation angle according to the rotation matrix as a relative azimuth angle between the first robot and the second robot with an axis perpendicular to a ground surface of a surgical space in which the first robot and the second robot are disposed as a rotation axis.

[0032] To solve the problem, according to another embodiment of the present application, a device for driving a surgical robot system with a first robot and a second robot, the device comprising: at least one processor; and at least one memory; wherein the at least one processor is configured to: acquire first reference information of a reference object based on a first reference information acquisition device provided on the first robot; acquire second reference information of the reference object based on a second reference information acquisition device provided on the second robot; and determine a relative position relationship between the first robot and the second robot based on the first reference information and the second reference information.

[0033] To solve the problem, according to another embodiment of the present application, a surgical robot system, the system, comprising: a first robot provided with a first reference information acquisition device; a second robot provided with a second reference information acquisition device; and at least one processor; wherein the at least one processor is configured to: acquire first reference information of a reference object based on the first reference information acquisition device of the first robot; acquire second reference information of the reference object based on the second reference information acquisition device of the second robot; and determine the relative positional relationship between the first robot and the second robot based on the first reference information and the second reference information.

[0034] To solve the problem, according to another embodiment of the present application, a computer readable storage medium, comprising instructions executable by a processor, the instructions can make the processor execute: acquire first reference information of a reference object based on a first reference information acquisition device provided on a first robot; acquire second reference information of the reference object based on a second reference information acquisition device provided on a second robot; and determine the relative positional relationship between the first robot and the second robot based on the first reference information and the second reference information.

[0035] In addition, other methods, other systems for implementing the present application and computer readable recording media for storing the above-mentioned methods are also provided.

[0036] Other aspects, features and advantages of the present application will become more apparent from the following drawings, claims and description of the present application.

[0037] According to the aforementioned problem solving scheme of the present disclosure, in the present disclosure, the first reference information and the second reference information are acquired based on the reference information acquisition devices respectively provided on the first robot and the second robot, and the coordinate system conversion information between the first robot coordinate system and the second robot coordinate system is determined by using the first reference information and the second reference information, so that the coordinate system conversion information can be accurately acquired without being affected by external factors such as magnetic field, with lower equipment. Therefore, the coordinate system of the operation information of the surgical instrument displayed on the display and the movement in the surgical image can be consistent, the user's intuitive operation can be more accurately reflected, and the surgery can be performed through the surgical robot.

[0038] The effects of the present application are not limited to the above, and other effects not mentioned by those skilled in the art can become more apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0039] FIG. 1 is a schematic view for explaining an example of a system for driving a surgical device according to an embodiment;

[0040] FIG. 2A This is a structural diagram illustrating an example of a user terminal according to one embodiment;

[0041] FIG. 2B This is a structural diagram illustrating an example of a server according to one embodiment;

[0042] FIG. 3 This is a conceptual diagram illustrating a surgical robot system according to one embodiment;

[0043] FIG. 4 To indicate FIG. 3 A block diagram of the internal structure of a surgical robot system;

[0044] FIG. 5 To indicate FIG. 3 A perspective view of the driven robot and the surgical instruments mounted on it in a surgical robot system;

[0045] FIG. 6 To indicate according to FIG. 3 A perspective view of a modular driven robot and surgical instruments mounted thereon, representing one aspect of a surgical robot system;

[0046] FIG. 7 To indicate in FIG. 6 A schematic diagram showing the instrument with its outer casing removed.

[0047] FIG. 8 To indicate according to FIG. 3 A perspective view of another aspect of the surgical robot system: a modular driven robot and a laparoscopic surgical camera mounted thereon.

[0048] FIG. 9 To indicate from FIG. 6 A schematic diagram of the slave robot removing the outer shell of the instrument;

[0049] FIG. 10 This is another perspective view illustrating a modular slave robot and surgical instruments mounted thereon in a surgical robot system according to an embodiment;

[0050] FIG. 11 A perspective view of a surgical instrument according to an embodiment of the present invention is provided.

[0051] FIG. 12 and FIG. 13 for FIG. 11 A three-dimensional diagram of the end tool of a surgical instrument;

[0052] FIG. 14A to FIG. 14B for FIG. 11 A top view of the terminal tool of the surgical instruments;

[0053] FIG. 15 andFIG. 16 for FIG. 11 A three-dimensional view of the drive unit of a surgical instrument;

[0054] FIG. 17 for FIG. 11 A top view of the drive unit of a surgical instrument;

[0055] FIG. 18 for FIG. 11 Rear view of the drive unit of the surgical instrument;

[0056] FIG. 19 for FIG. 11 Side view of the drive unit of the surgical instrument;

[0057] FIG. 20 for FIG. 11 A disassembly diagram of the structure related to the first clamp in the structure of the pulley and wire of the surgical instrument shown;

[0058] FIG. 21 for FIG. 11 A disassembly diagram of the structure related to the second clamp in the pulley and wire structure of the surgical instrument shown;

[0059] FIG. 22A to FIG. 23C To show FIG. 11 A diagram showing the pitching motion of the surgical instruments;

[0060] FIG. 24A to FIG. 25B To show FIG. 11 A diagram showing the deflection motion of the surgical instruments;

[0061] FIG. 26 This is a schematic diagram illustrating the relationship between the movement of surgical images and the operation of the user input interface.

[0062] FIG. 27 A conceptual diagram of multiple coordinate systems and coordinate system transformations for a surgical robot system;

[0063] FIG. 28 To indicate FIG. 27 An example diagram of a surgical robot system with coordinate systems and coordinate system transformations;

[0064] FIG. 29 A schematic flowchart of a driving method for a surgical robot system according to one aspect of this description;

[0065] FIG. 30 for FIG. 29 An exemplary detailed flowchart of the steps for determining the relative positional relationship;

[0066] FIG. 31 This is a schematic diagram illustrating the feature point extraction based on one aspect and the relationship between feature points in the reference image;

[0067] FIG. 32 A schematic view of a reference information acquisition device according to an aspect;

[0068] FIG. 33 A schematic view of a reference information acquisition device of a passive arm unit according to an aspect. DETAILED DESCRIPTION

[0069] Various embodiments of the present disclosure are described herein below with reference to the accompanying drawings. Various embodiments of the present disclosure can be modified and can have several embodiments, and specific embodiments are exemplarily shown in the accompanying drawings and described in detail. However, the present disclosure is not limited to the specific embodiments, but includes all modifications, equivalents, and alternatives belonging to the idea and technical scope of the present disclosure. However, this does not mean that the various embodiments of the present disclosure are limited to any specific embodiment, but should be understood to include all modifications and / or equivalents or alternatives included in the idea and technical scope of the various embodiments of the present disclosure. In the description of the drawings, similar components are designated with similar reference numerals.

[0070] In various embodiments of the present disclosure, expressions such as "include" or "may include" refer to the presence of the corresponding features, actions, or components of the disclosure, and are not intended to limit one or more additional features, actions, or components. In addition, in various embodiments of the present disclosure, the term "include" or "have" is intended to specify the presence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and is not intended to preclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0071] In various embodiments of the present disclosure, expressions such as "or" include any and all combinations of the words listed together. For example, "A or B" can include A, can include B, and can include A and B.

[0072] In various embodiments of the disclosure, expressions such as "first", "second", "first" or "second" can modify various components of various embodiments, but are not intended to limit the components. For example, the expressions do not limit the order and / or importance of the components. The expressions can be used to distinguish one component from another. For example, the first user equipment and the second user equipment are both user equipment, but indicate different user equipment. For example, without departing from the scope of the right of the embodiments of the disclosure, the first component can be named as the second component, and the second component can also be named as the first component. The expressions can be used to distinguish one component from another. For example, the first user equipment and the second user equipment are both user equipment, but indicate different user equipment. For example, without departing from the scope of the right of the embodiments of the disclosure, the first component can be named as the second component, and the second component can also be named as the first component.

[0073] In embodiments of the disclosure, terms such as "module", "unit", "part" and the like are terms referring to components performing at least one function or action, which can be implemented by hardware or software, or by a combination of hardware and software. In addition, a plurality of "modules", "units", "parts" and the like can be integrated into at least one module or chip and implemented by at least one processor, unless each is implemented as a separate specific hardware.

[0074] In various embodiments of the disclosure, the terms used are only used to describe specific embodiments, and are not intended to limit various embodiments of the disclosure. Unless the context clearly indicates otherwise, the singular expression includes the meaning of the plural.

[0075] Unless otherwise defined, all terms used in the specification, including technical or scientific terms, have the same meaning as commonly understood by those skilled in the art to which various embodiments of the disclosure belong.

[0076] The terms, the same as the terms defined in the generally used dictionary, have the same meaning as the meaning in the context of the related art, and should not be interpreted as an ideal or over-formalistic meaning, unless clearly defined in various embodiments of the disclosure.

[0077] In the following, various embodiments of the present application will be specifically described with reference to the accompanying drawings. Laparoscopic surgery refers to a surgery performed using a surgical device connected to the end of a narrow and long tube after inserting the tube through a hole formed in the abdominal cavity of a patient. The surgical instrument can use, for example, an articulated instrument.

[0078] At this time, if a manual surgical instrument is used, since the surgical instrument and the control unit of the user are moved symmetrically with respect to the abdominal cavity hole, it has a feature that it takes a prescribed time or more of practice until skilled control is achieved. In addition, since the surgical instrument cannot be confirmed with the naked eye, it is necessary to insert an endoscope camera into the abdominal cavity, and the surgical instrument is operated while the camera image obtained is viewed.

[0079] The same is true when laparoscopic surgery is performed using a surgical robot system, but compared to a manual surgical instrument, it has an advantage that it can be intuitively manipulated. As will be described later in the disclosure, a surgical robot system according to an embodiment includes a master robot and a slave robot. The slave robot can also be referred to as a surgical robot or a surgical device, and can refer to a configuration that directly acts on a patient to perform surgery. The master robot can also be referred to as a master device or a user input interaction part, and can refer to a configuration that receives the operation of a user for controlling the slave robot.

[0080] The surgical robot system can achieve intuitive manipulation compared to a manual surgical instrument since the part that mounts a joint-type instrument to perform surgery (such as a surgical robot) and the part that the user operates (such as a master device) are separated. That is, the surgical robot system can match the movement of the user and the movement on the laparoscope camera screen to control the action, thereby intuitively manipulating the surgical instrument.

[0081] Drive of surgical robot system

[0082] Hereinafter, a method of driving a surgical robot system and a device according to an embodiment of the disclosure will be described in greater detail with reference to the accompanying drawings.

[0083] FIG. 1 FIG. 1 is a schematic diagram for illustrating an example of a surgical robot system according to an embodiment of the disclosure.

[0084] Referring to FIG. 1 The system 1000 includes a user terminal 2000 and a server 3000. For example, the user terminal 2000 and the server 3000 can be connected by wired or wireless communication means to transmit and receive data between each other.

[0085] For ease of description, FIG. 1 The system 1000 includes the user terminal 2000 and the server 3000 as illustrated in FIG. 1, but is not limited thereto. For example, the system 1000 can include other external devices (not illustrated), and the actions of the user terminal 2000 and the server 3000 to be described below can be implemented by a single device (such as the user terminal 2000 or the server 3000) or a plurality of devices.

[0086] User terminal 2000 may be a computing device, including a display device and a device for receiving user input (such as a keyboard, mouse, etc.), and includes memory and a processor. For example, the display device may be a touch screen to receive user input. For example, user terminal 2000 may be a notebook computer, desktop computer, laptop computer, tablet computer, smartphone, etc., but is not limited to these.

[0087] Server 3000 may be a device that includes user terminal 2000 and communicates with external devices (not shown). As an example, server 3000 may be a device that stores various types of data.

[0088] Alternatively, server 3000 may be a device including memory and a processor and having self-computing capabilities. As an example, server 3000 may perform at least some of the actions of user terminal 2000, which will be described later with reference to the accompanying drawings. For example, server 3000 may be a cloud server, but is not limited thereto.

[0089] According to one aspect, the user terminal 2000 can drive the surgical robot system. In this disclosure, the method of driving the surgical robot system can be described as being executed by a computing device. For example, the computing device may be the user terminal 2000 or a server 3000, but is not limited thereto. Any one or more computing devices including a processor can constitute a computing device. Below, for ease of description, the process of the user terminal 2000 controlling the surgical device can be described; however, it should be noted that this is only for describing the present invention, and the control method of the surgical device according to embodiments of this disclosure can be executed by any computing device.

[0090] in, FIG. 1 The application in the application can be a software program installed for the purpose of driving the activities of the surgical robot system for user 4000. For example, user 4000 can generate operational information based on user input used to control the surgical robot system through the application.

[0091] On the other hand, the user terminal 2000 can output an image 5000 representing the movement of the surgical device driven by the user 4000's actions. For example, the user terminal 2000 can generate operation information based on changes in the reference posture of the user input interaction unit used by the user 4000 to control the surgical robot system. Furthermore, the user terminal 2000 can determine the surgical device corresponding to the operation information and determine target state information for the drive components. Then, the user terminal 2000 can drive the drive components based on the determined target state information and output an image 5000 representing the movement of the surgical device driven in this way. Through the image 5000 representing the movement of the surgical device, the user 4000 can intuitively understand the movement of the surgical device based on the user 4000's actions and can operate the surgical robot system more accurately.

[0092] As previously stated, at least some of the actions of the user terminal 2000 described below with reference to the accompanying drawings can also be performed by the server 3000. For example, the server 3000 can perform various activities—such as controlling a surgical robot system. Alternatively, at least some of these activities can be performed by the server 3000, and at least some can be performed by the user terminal 2000.

[0093] FIG. 2A This is a structural diagram illustrating an example of a user terminal according to one embodiment.

[0094] Reference FIG. 2A The user terminal 2010 includes a processor 2011, a memory 2012, an input / output interface 2013, and a communication module 2014. For ease of description, FIG. 2A The text only represents components relevant to this invention. Therefore, except... FIG. 2A In addition to the components shown, the user terminal 2010 may also include other general components. Furthermore, FIG. 2A The processor 2011, memory 2012, I / O interface 2013 and communication module 2014 shown can be implemented as independent devices, which will be obvious to those skilled in the art.

[0095] The processor 2011 can execute instructions for computer programs by performing basic arithmetic, logic, and input / output calculations. These instructions can be provided by the memory 2012 or external devices (such as the server 3000). Furthermore, the processor 2011 can also provide overall control over the operation of other components contained in the user terminal 2010.

[0096] First, the processor 2011 generates operation information related to the user's actions for driving the surgical robot system. For example, the processor 2011 may generate the user's action-related operation information based on a method that allows the user to operate the position and function of the surgical device through actions.

[0097] The method of allowing the position and function of the surgical device to be operated by the user's action can be in the form of a handle-shaped operation member, but is not limited thereto and can be deformed into various shapes for the same purpose. For example, some can be formed in the shape of a handle, some can be formed in different shapes such as a clutch button, and some can be formed in the shape of a finger insertion tube for inserting and fixing the fingers of the operator to facilitate the operation of the surgical device. Hereinafter, in the present disclosure, the device that can be operated by the user's action can also be referred to as a user input interaction unit.

[0098] The processor 2011 can update the reference posture of the user input interaction unit with the pre-operation posture information of the user input interaction unit before the first operation of the user input interaction unit by the user. Since the driving of the surgical device by the user can be performed based on the degree to which the user input interaction unit is changed by the user, the difference between the state of the user input interaction unit after the user's operation and the state of the user input interaction unit before the user's operation, that is, the amount of change of the user input interaction unit, can be determined by initializing the reference posture of the user input interaction unit to the state before the user's operation before the user performs the first operation.

[0099] The processor 2011 can generate operation information based on the amount of change in the reference posture of the user input interaction unit. The operation information refers to information indicating the user's intuitive action for operating the position and function of the surgical device. Non-limiting but more specifically, the operation information can include position (Position) information and orientation (Orientation) information in a physical coordinate system of the method of operating the position and function of the surgical device by the user. As one example, the operation information can include a transformation matrix representing linear and rotational movement in a homogeneous coordinate. The transformation matrix can be a Homogeneous transform matrix and can include information of a rotation matrix and information of a translation vector. As another example, the operation information can include position information and orientation information in a physical coordinate system represented by a screw or the like. However, examples of the operation information are not limited to the above. The operation information can be determined based on the amount of change in the reference posture of the user input interaction unit. Here, the operation information can represent the amount of change in the reference posture, and the reference posture can represent the degree of change in the user input interaction unit with respect to the origin. However, the reference posture and the operation information can be represented by the Homogeneous transform matrix or the screw method as described above.

[0100] On the other hand, the processor 2011 can generate the operation information based on a method for enabling the user to manipulate the position and function of the surgical apparatus, e.g., position information and direction information of the user input interface. For example, the processor 2011 can generate the operation information using initial position information and initial direction information of the method for enabling the user to manipulate the position and function of the surgical apparatus and a difference between the user's post-operation position information and direction information of the method. According to an aspect, the processor 2011 can generate the operation information based on a change amount of the reference posture of the user input interface according to the user's operation.

[0101] Further, the processor 2011 can determine a target posture of the surgical apparatus corresponding to the operation information based on the operation information. For example, the processor 2011 can determine a target posture of the surgical instrument based on the operation information. According to an aspect, the processor 2011 can determine the target posture based on a predetermined correspondence between the movement of the user input interface and the movement of the surgical apparatus.

[0102] The processor 2011 can be implemented by an array of a plurality of logic gates, or can be implemented by a combination of a general-purpose microprocessor and a memory that stores a program executable in the microprocessor. For example, the processor 2011 can include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, or the like. In some environments, the processor 2011 can include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), or the like. For example, the processor 2011 can also refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors with a digital signal processor (DSP) core, or any other such configuration of a combination, and the like.

[0103] The memory 2012 can include any non-transitory computer-readable recording medium. As one example, the memory 2012 can include a non-transitory mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, or the like. As another example, the non-transitory mass storage device such as a ROM, an SSD, a flash memory, an optical disk drive, or the like can be a separate persistent storage device from the memory. Further, the memory 2012 can store an operating system (OS) and at least one program code (e.g., a code for the processor 2011 to perform actions described later in connection with the drawings).

[0104] The software components can be loaded from a computer-readable recording medium that is separate from the memory 2012. The separate computer-readable recording medium can be a recording medium that can be directly connected to the user terminal 2010, such as a computer-readable recording medium that can include a floppy disk, an optical disc, a magnetic tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components can be loaded into the memory 2012 through the communication module 2014, rather than through the computer-readable recording medium. For example, at least one program can be loaded into the memory 2012 based on a computer program (e.g., a computer program that executes the actions described later in connection with the drawings by the processor 2011) provided through the communication module 2014 by a developer or by a file distribution system that distributes application installation files.

[0105] The input / output interface 2013 can provide an interface with a device that can be connected to the user terminal 2010 or with a device (e.g., a keyboard, a mouse, etc.) included in the user terminal 2010 for input or output. The input / output interface 2013 can be configured separately from the processor 2011, but is not limited thereto, and the input / output interface 2013 can also be configured to be included in the processor 2011.

[0106] The communication module 2014 can provide configuration or functions for communication between the server 3000 and the user terminal 2010 through a network. In addition, the communication module 2014 can also provide configuration or functions for communication of the user terminal 2010 and other external devices. For example, a control signal, a command, data, etc. provided according to control of the processor 2011 can be transmitted to the server 3000 and / or the external device through the communication module 2014 and the network.

[0107] In addition, FIG. 2A The user terminal 2010 can also include a display device, which is not illustrated in the drawings. For example, the display device can be implemented as a touch screen. Alternatively, the user terminal 2010 can be connected to a separate display device through wired or wireless communication to transmit and receive data to and from each other. For example, an image or a video, etc. for driving the surgical robot system using driving information can be provided through the display device.

[0108] FIG. 2B is a configuration diagram of an example of a server according to an embodiment.

[0109] Referring to FIG. 2B The server 3010 includes a processor 3011, a memory 3012, and a communication module 3013. For convenience of description, FIG. 2B In the drawings, FIG. 2B The server 3010 can include other general components in addition to the components illustrated in the drawings. In addition, FIG. 2BThe processor 3011, memory 3012 and communication module 3013 shown can be implemented as independent devices, which will be obvious to those skilled in the art.

[0110] The processor 3011 can perform various activities to control the surgical robot system. In other words, referring to... FIG. 2A At least one of the actions of processor 2011 as described above can be executed by processor 3011. In this case, user terminal 2010 can output the information received from server 3010 through display device.

[0111] Additionally, implementation examples and references for processor 3011. FIG. 2A The implementation example of the processor 2011 described is the same, so it will not be repeated here.

[0112] The memory 3012 can store various types of data, such as data required for the operation of the processor 3011 and data generated by the operation of the processor 3011. In addition, the memory 3012 can also store the operating system (OS) and at least one program (e.g., a program required for the operation of the processor 3011).

[0113] Additionally, implementation examples and references for memory 3012. FIG. 2A The implementation example of the memory 2012 described is the same, so it will not be repeated here.

[0114] Communication module 3013 provides configuration or functionality for communication between server 3010 and user terminal 2010 via a network. Furthermore, communication module 2014 also provides configuration or functionality for communication between server 3010 and other external devices. For example, control signals, commands, data, etc., provided by processor 3011 can be transmitted to user terminal 2010 and / or external devices via communication module 3013 and the network.

[0115] Structure of surgical robot system

[0116] FIG. 3 To illustrate a conceptual diagram of a surgical robot system according to one embodiment, FIG. 4 To indicate FIG. 3 A block diagram of the internal structure of a surgical robot system. FIG. 5 To indicate FIG. 3 A perspective view of the driven robot of the surgical robot system and the surgical instruments mounted on it.

[0117] Reference FIG. 3 to FIG. 5 The surgical robot system 1 includes an active robot 10, a driven robot 20, surgical instruments 30, and a laparoscopic surgical camera 50.

[0118] The master robot 10 includes an operation member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, 23.

[0119] As a non-limiting example, the master robot 10 is provided with the operation member 10a for the surgeon to operate with both hands. As shown in FIG. 1, the operation member 10a can be implemented by two or more handles, and operation signals according to the surgeon's operation of the handles are transmitted to the slave robot 20 through a wired or wireless communication network to control the robot arm units 21, 22, 23. That is, by the surgeon's operation of the handles, the position movement, rotation, cutting work, and the like of the robot arm units 21, 22, 23 are performed. Here, the operation signal can be, for example, operation information generated by a processor, but is not limited thereto. FIG. 3

[0120] For example, the surgeon can operate the robot arm units 21, 22, 23 using an operation lever in the form of a handle. The operation lever can have various instrument structures according to its operation method, and can be used to operate the robot arm units 21, 22, 23 of the slave robot 20 and / or various forms of other surgical devices, such as a master handle for operating the actions of the robot arm units 21, 22, 23, various input tools such as a joystick, a keyboard, a trackball, a foot pedal, a touch screen, and the like, which are attached to the master robot 10 to operate the functions of the entire system. Here, the operation member 10a is not limited to the shape of a handle, and can be in any 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.

[0121] In addition, according to an embodiment of the present application, operation information can be generated based on the operation lever or operation member 10a. For example, according to an embodiment of the present application, operation information can be generated based on the user's actions of the operation lever or operation member 10a. However, examples of generating operation information are not limited to the above.

[0122] In addition, the surgical robot system 1 can also use voice input or motion input for user input. That is, the user can wear glasses or an HMD (head mount display) equipped with a sensor on his head, and can move the laparoscope surgery camera 50 according to the direction of turning his line of sight. Alternatively, if the user gives a voice command such as "left", "right", "No. 1 arm", "No. 2 arm", and the like, the action can be recognized and performed. As a non-limiting example, according to an aspect, operation information can be generated based on the user's voice.

[0123] ​On the display member 10b of the master robot 10, an image captured by the laparoscopic surgery camera 50 is displayed in the form of a video image. For example, the image captured by the laparoscopic surgery camera 50 can include a surgical site of a patient, a surgical instrument inserted into the surgical site of the patient, an action of the surgical instrument, and the like. For example, the display member 10b can realize a video image corresponding to the action of the surgical instrument inserted into the surgical site of the patient. Further, a prescribed virtual operation panel can be displayed on the display member 10b together with the image captured by the laparoscopic surgery camera 50 or separately from the image. The setting, structure, and the like of such a virtual operation panel will be omitted from detailed description.

[0124] According to an aspect, the display member 10b can be constituted by one or a plurality of displays on each of which information required at the time of surgery can be separately displayed. The number of displays can be determined in accordance with the type or kind of information to be displayed, and the like.

[0125] Further, one or a plurality of slave robots 20 can be provided to perform surgery on a patient. As a non-limiting example, the surgical robot system 1 can include a slave robot 20 incorporating a surgical instrument 30 (hereinafter referred to as "first robot") and a slave robot 20 incorporating a laparoscopic surgery camera 50 (hereinafter referred to as "second robot"), respectively. That is, the laparoscopic surgery camera 50 for causing a surgical site or a surgical instrument to be displayed as a video image by the display member 10b can be realized as a slave robot 20 incorporating a surgical instrument 30 and a separate slave robot 20 independent of each other. Further, it should be understood that, as described above, embodiments of the present application can be commonly used for surgery using various surgical endoscopes other than a laparoscope (e.g., a thoracoscope, an arthroscope, a nasal endoscope, and the like).

[0126] Further, as one example, two of the robot arm units 21, 22, 23 can have the surgical instruments 30 attached thereto, and one can have the laparoscopic surgery camera 50 attached thereto. Then, a chief surgeon who is a surgical staff can select a slave robot 20 (or robot arm unit 21, 22, 23) which he or she desires to control through the master robot 10. Accordingly, the chief surgeon can directly manipulate, for example, three or more surgical instruments through the master robot 10, so that the chief surgeon can accurately and freely control various instruments in accordance with his or her intention without a surgical assistant.

[0127] As another example, the slave robot 20 can include one or a plurality of robot arm units 21, 22, 23. In this case, the laparoscopic surgery camera 50 can be attached to one of the robot arm units 21, 22, 23, and the surgical instruments 30 can be attached to the other robot arm units 21, 22, 23. FIG. 3 to FIG. 5In the present embodiment, although one robot arm 21, 22, 23 is exemplarily incorporated in the slave robot 20, the technical idea of the present application is not limited thereto. For example, two robot arm units can be incorporated in the slave robot 20, so that a surgical instrument 30 is attached to one of the robot arms and a laparoscopic surgery camera 50 is attached to the other robot arm. However, in the case where a plurality of robot arms are incorporated in the slave robot 20, each robot arm unit 21, 22, 23 can also be configured in a form of a module that can be independently operated, in which case, an algorithm for preventing collision between the robot arm units 21, 22, 23 can be applied in the surgical robot system 1.

[0128] On the other hand, the slave robot 20 can include one or more robot arm units 21, 22, 23. In this case, each robot arm unit 21, 22, 23 can be configured in a form of a module that can be independently operated, in which case, an algorithm for preventing collision between the robot arm units 21, 22, 23 can be applied in the surgical robot system 1.

[0129] In general, a robot arm refers to a device having a function similar to a human arm and / or wrist and being capable of attaching a prescribed tool at a wrist portion. In the present disclosure, the robot arm unit 21, 22, 23 can be defined as a comprehensive concept including an upper arm, a lower arm, a wrist, an elbow, and a surgical instrument (or a laparoscopic surgery camera) attached to the wrist portion. Alternatively, it can be defined as a concept including only components for driving a surgical instrument (or a laparoscopic surgery camera) other than the surgical instrument (or the laparoscopic surgery camera).

[0130] Therefore, the robot arm unit 21, 22, 23 of the slave robot 20 can be implemented as a multi-degree-of-freedom drive. For example, the robot arm unit 21, 22, 23 can include a surgical instrument (or a laparoscopic surgery camera) inserted into a surgical site of a patient, a yaw drive portion that rotates the surgical instrument in a yaw direction according to a surgical position, a pitch drive portion that rotates the surgical instrument in a pitch direction orthogonal to the rotation of the yaw drive portion, a feed drive portion that moves the surgical instrument in a length direction, a rotation drive portion that rotates the surgical instrument, and an end effector that drives a tip of the surgical instrument to incise or cut a surgical lesion. However, it should be understood that the structure of the robot arm unit 21, 22, 23 is not limited thereto, and the example does not limit the scope of the present application. In this case, a detailed description of an actual control process, for example, a surgical staff operating the operation member 10a to rotate, move, etc. the robot arm unit 21, 22, 23 in a corresponding direction, is omitted.

[0131] Further, the master robot 10 can perform various activities such as generating operation information based on a variation amount of a reference posture of a user input interaction unit for controlling a surgical device; or determining a target posture of the surgical device corresponding to the operation information; or determining target state information of a driving assembly; or driving the driving assembly according to the target state information, at least one of which can be performed.

[0132] For example, the master robot 10 can transmit at least one of the target state information of the driving assembly determined based on the operation information to the slave robot 20 through a wired or wireless communication network to control the robot arm units 21, 22, 23. That is, by the operation of the handle by the surgical staff, the surgical action such as the position movement, rotation, cutting work, etc. of the robot arm units 21, 22, 23 is performed. That is, if the operation information is determined by the master robot 10, the determined operation information can be transmitted to the slave robot 20 through the wired or wireless communication network, and the slave robot 20 can determine the target state information based on the operation information. According to another aspect, the master robot 10 can also determine the target state information corresponding thereto by determining the operation information, and can transmit the determined target state information to the slave robot 20.

[0133] Referring to FIG. 4 In an embodiment of the present application, the master robot 10 can include a video input unit 11, a screen display unit 12, a user input interaction unit 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0134] On the other hand, at least a part of the structure of the master robot 10 can be included in a user terminal of FIG. 2A For example, the operation signal generation unit 14, the control unit 15, etc. can be included in the processor 2011, the memory 16, the storage unit 17, etc. can be included in the memory 2012, and the communication unit 18 can be included in the communication module 2014, but the example of the master robot 10 is not limited to the above.

[0135] The video input unit 11 can receive a video captured by a camera provided in the laparoscopic surgery robot 50 of the slave robot 20 through a wired or wireless communication network. For example, the image captured by the camera provided in the laparoscopic surgery camera 50 can include the surgical site of the patient, the surgical instrument inserted into the surgical site of the patient, the movement of the surgical instrument, etc. Further, these images can include images representing the movement of the surgical device driven according to the target state information.

[0136] The screen display section 12 outputs an image corresponding to the image received by the image input section 11 in the form of visual information. In addition, when biological information of the patient is input, the screen display section 12 can also output corresponding information. In addition, the screen display section 12 can also output relevant image data (for example, X-ray images, CT images, MRI images, etc.) of the patient at the surgical site. Among them, the screen display section 12 can be realized in the form of a display component (see 10b in FIG. 3 , etc.), and the control section 15 can perform an image processing process to make the received image output as an image through the screen display section 12. Among them, the image can include an image representing the action of the surgical device driven according to the target state information.

[0137] In the embodiment shown in FIG. 4 , the image input section and the screen display section are illustrated as being included in the master robot 10, but are not limited thereto. The display component can be provided separately from the master robot 10 as an independent component. Alternatively, the display component can also be one component of the master robot 10. In addition, in other embodiments, multiple display components can also be provided, one of which can be provided near the master robot 10, and the other part is provided at a distance from the master robot 10.

[0138] Among them, the screen display section 12 (i.e. the display component 10b in FIG. 3 ) can be configured as a stereoscopic display device. Specifically, the stereoscopic display device refers to an image display device that adds depth information to a two-dimensional image by applying stereoscopic technology, and makes the observer feel the vividness and reality of three dimensions by using the depth information. The surgical robot system 1 according to an embodiment of the present application can also be provided with a stereoscopic display device as the screen display section 12, to provide a more realistic virtual environment for the user.

[0139] The user input interaction section 13 is a device that can make the surgical personnel operate the positions and functions of the robot arm units 21, 22, 23 of the slave robot 20. As shown in FIG. 3 , the user input interaction section 13 can be formed as a handle-shaped operation component (see 10a in FIG. 4 ), but its shape is not limited thereto, and can be deformed into various shapes that achieve the same purpose. In addition, for example, some can be shaped as a handle, some can be shaped as different shapes such as a clutch button, and some can be shaped as a finger insertion tube or an insertion hook, for inserting and fixing the fingers of the surgical personnel to facilitate the operation of the surgical device.

[0140] Further, according to an embodiment of the present application, the operation information can be generated based on the action of the user inputting the interaction section 13 by the surgical staff. For example, according to an embodiment of the present application, the operation information can be generated based on the action of the user inputting the interaction section 13 by the surgical staff. However, the example of generating the operation information is not limited to the above.

[0141] When the user inputting the interaction section 13 by the surgical staff moves the position of the robot arm unit 21, 22, 23 or operates the surgical action, the operation signal generating section 14 can generate the corresponding operation signal. As an example, when the user inputting the interaction section 13 by the surgical staff moves the position of the robot arm unit 21, 22, 23 or operates the surgical action, the operation signal generating section 14 can generate the corresponding operation information.

[0142] For example, the operation signal generating section 14 transmits the generated operation signal to the control section 15, or transmits it to the slave robot 20 through the communication section 18. The operation signal can be sent and received through a wired or wireless communication network. Based on the transmitted operation signal, the control section 15 can control the slave robot 20, the surgical instrument 30 or the laparoscopic surgery camera 50 to operate. Alternatively, based on the transmitted operation signal, the robot arm control section 26 included in the slave robot 20 can control the robot arm unit 21, 22, 23 to operate. Alternatively, based on the transmitted operation signal, the instrument control section 27 included in the slave robot 20 can control the surgical instrument 30 or the laparoscopic surgery camera 50 to operate. However, the method of controlling the slave robot 20, the surgical instrument 30 or the laparoscopic surgery camera 50 to operate based on the operation signal is not limited to the above.

[0143] According to an aspect, the instrument control section 27 can function to receive the operation signal generated by the operation signal generating section 14 of the master robot 10, and control the surgical instrument 30 to operate based on the operation signal.

[0144] The control section 15 is a central processing unit for controlling the action of each component so as to perform the above functions. As an example, the control section 15 can also perform the function of converting the image input through the commodity input section 11 into the image displayed through the screen display section 12. As another example, the control section 15 can generate the target posture of the robot arm unit 21, 22, 23 based on the operation information. Further, the control section 15 can determine the target state information of at least one driving component based on the target posture. Further, the control section 15 can also drive the robot arm unit 21, 22, 23 based on the determined target state information.

[0145] Furthermore, although it is described as calculating the target posture and target state information based on the operation information in the control unit 15 as previously stated, it is not limited to this and can also be performed by other control units according to this disclosure (e.g., robot arm control unit 26, instrument control unit 27, etc.).

[0146] The memory 16 can serve to temporarily or permanently store data processed by the control unit 15. The memory 16 may include magnetic storage media or flash storage media, but the scope of the invention is not limited thereto.

[0147] The storage unit 17 can store data received from the driven robot 20. In addition, the storage unit 17 can store various types of input data (e.g., patient data, device data, surgical data, etc.).

[0148] The communication unit 18 provides a communication interface necessary for connecting to the communication network 60 to send and receive image data transmitted by the slave robot 20 and control data transmitted by the active robot 10. The image data transmitted by the slave robot 20 may include images representing the movements of the surgical apparatus driven according to target state information. The control data transmitted by the active robot 10 may include at least one of operational information on changes in the amount of input interaction with the user or motion-related target state information of the slave robot 20.

[0149] The driven robot 20 includes multiple robot arm unit control units 21a, 22a, and 23a. Furthermore, the robot arm unit control unit 21a includes a robot arm control unit 26, an instrument control unit 27, and a communication unit 29. Additionally, the robot arm unit control unit 21a may also include a track control unit 28.

[0150] Reference FIG. 5 , FIG. 6 The track control unit 28 can control the movement path so that the surgical instrument 30 can move along a predetermined path on the robot arm units 21, 22, 23, specifically along the length direction of the connecting part 310, which will be described later in this specification.

[0151] The robot arm control unit 26 can receive operation signals generated by the operation signal generation unit 14 of the active robot 10, and control the operation of the robot arm units 21, 22, and 23 according to the operation signals. For example, the robot arm control unit 26 can receive operation information or target state information calculated by the active robot 10, and control the operation of the robot arm units 21, 22, and 23 accordingly.

[0152] The instrument control section 27 can function to receive an operation signal generated by the operation signal generation section 14 of the master robot 10, and control the operation of the surgical instrument 30 in accordance with the operation signal. For example, the instrument control section 27 can function to receive operation information or target state information calculated by the master robot 10, and control the operation of the surgical instrument 30 in accordance with the operation information or the target state information.

[0153] The communication section 29 provides a communication interface required for transmitting and receiving image data transmitted from the slave robot 20 and control data transmitted from the master robot 10, in communication with the communication network 60. The image data transmitted from the slave robot 20 can include an image representing the action of the surgical device driven in accordance with the target state information. The control data transmitted from the master robot 10 can include at least one of operation information or target state information related to the action of the slave robot 20.

[0154] On the other hand, the communication network 60 functions to connect the master robot 10 and the slave robot 20. That is, the communication network 60 refers to a communication network that provides an access path so that the master robot 10 and the slave robot 20 transmit and receive data to and from each other after being connected. The communication network 60 can include wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), ISDNs (Integrated Service Digital Networks), and wireless networks such as wireless LANs, CDMA, Bluetooth, satellite communication, but the scope of the present application is not limited thereto.

[0155] Module-type slave robot

[0156] FIG. 3 A perspective view of a module-type slave robot and a surgical instrument mounted thereon, which represent one aspect of a surgical robot system according to FIG. 7 A perspective view of a module-type slave robot and a surgical instrument mounted thereon, which represent one aspect of a surgical robot system according to FIG. 6 A schematic view of a state in which the instrument housing is removed in FIG. 8 A schematic view of a state in which the instrument housing is removed in FIG. 3 A perspective view of a module-type slave robot and a laparoscopic surgery camera head mounted thereon, which represent another aspect of a surgical robot system according to FIG. 9 A perspective view of a module-type slave robot and a laparoscopic surgery camera head mounted thereon, which represent another aspect of a surgical robot system according to FIG. 6 A schematic view of a state in which the instrument housing is removed from FIG. 6 A schematic view of a state in which the instrument housing is removed from

[0157] The robot arm units 21, 22, 23 can be connected to mount the surgical instrument 30 or the laparoscopic surgery camera head 50 described above in the present specification. Referring to FIG. 7The instrument housing 40 can cover the surgical instrument 30 and can be coupled to the robot arm unit 21. By covering the side of the surgical instrument 30 exposed to the outside by the instrument housing 40, foreign matter from the outside can be blocked from reaching the surgical instrument 30, and the surgical instrument 30 can be protected from damage due to external impact.

[0158] Referring to FIG. 8 A surgical instrument 30 can be coupled to the robot arm unit 21 of the modular slave robot 20a according to an embodiment. In the present specification, the modular slave robot 20a to which the surgical instrument 30 is coupled to the robot arm unit 21 can be referred to as a "surgical robot". Referring to FIG. 6 to FIG. 9 A laparoscopic surgery camera 50 can be coupled to the robot arm unit 22 of the modular slave robot 20b according to an embodiment. In the present specification, the modular slave robot 20b to which the laparoscopic surgery camera 50 is coupled to the robot arm unit 22 can be referred to as a "camera robot".

[0159] On the other hand, referring to FIG. 6 to FIG. 9 An example is illustrated in which only one of the robot arm units 21, 22, 23 of the slave robot 20a or 20b is shown in combination with the surgical instrument 30 or the laparoscopic surgery camera 50, but the technical idea of the present application is not limited thereto, and it should be noted that, as described above, two of the robot arm units 21, 22, 23 can be attached with the surgical instrument 30, and one can be attached with the laparoscopic surgery camera 50, and any one of the slave robots can be provided with two or more robot arm units.

[0160] Referring to FIG. 10 The motor module 500 can be coupled to the surgical instrument 30 and positioned in combination with the surgical robot 20a, and in particular, the robot arm unit 21.

[0161] The surgical instrument 30 can be coupled to the instrument housing 40 on one side, and the motor module 500 can be coupled in combination on the other side opposite thereto. The motor module 500 can be supplied with power from the outside to generate power, and the power generated by the motor module 500 can be transmitted to the surgical instrument 30, so that a pitch action, a yaw action, an actuation action, and a roll action can be performed on the surgical instrument 30.

[0162] Active / passive arm unit

[0163] FIG. 10 Another example of a perspective view of a modular slave robot of a surgical robot system according to an embodiment and a surgical instrument coupled thereto.

[0164] Referring to FIG. 10 A surgical robot 2001 according to an embodiment can include a body

[0165] 2100, master 2300, surgical instrument 2400. Further, the surgical robot 2001 according to another embodiment can include a passive arm unit 2200 and one or more angle measurement sensors 2610, 2620, 2630.

[0166] The body 2100 can refer to a body connected to the robot arm unit. For example, the robot arm unit and the body 2100 can constitute a separate slave robot 20. Further, the body 2100 can include a moving device (not shown) to set the surgical robot 2001 at a desired position in an operating room. For example, the body 2100 can be equipped with wheels to be freely moved. Further, the body 2100 can include a fixing device (not shown) to fix the surgical robot 2001 in the operating room to prevent movement. For example, after the surgical robot 2001 is set and the surgical staff starts the surgery, the fixing device can fix the body 2100 at a predetermined position in the operating room to prevent the surgical robot 2001 from moving, thereby ensuring stability of the surgery.

[0167] The robot arm unit in the surgical robot 2001 can include at least one of the passive arm unit 2200 and the active arm unit 2300. For example, the surgical robot 2001 can be constituted by the body 2100 and the active arm unit 2300, or can be constituted by the body 2100, the passive arm unit 2200, and the active arm unit 2300. As one example, in the case where the robot arm unit of the surgical robot 2001 is constituted only by the active arm unit 2300, the active arm unit 2300 can be directly connected to the body 2100. As another example, in the case where the robot arm unit of the surgical robot 2001 is constituted by the passive arm unit 2200 and the active arm unit 2300, the body 2100 can be directly connected to the passive arm unit 2200, one end of the passive arm unit 2200 can be connected to the body 2100, and the other end can be connected to the active arm unit 2300.

[0168] The passive arm unit 2200 can be defined as a robot arm that operates the position, direction, angle, etc. of the robot arm using an external force. For example, a surgical staff or a surgical assistant who assists the surgery can manipulate the movement of the passive arm unit 2200 by applying a physical force. Further, in the case where there is no external force to operate the movement, the passive arm unit 2200 can maintain the position, direction, angle, etc. In other words, in the case where the position, direction, angle, etc. are operated by the above-mentioned surgical staff or surgical assistant before the surgery starts, the position, direction, angle, etc. of the passive arm unit 2200 can be maintained during the surgery. From this perspective, the body 2100 can be included in the passive arm unit 2200 because the position of the body 2100 moved by the surgical staff or the surgical assistant before the surgery starts can be maintained during the surgery.

[0169] On the other hand, the passive arm unit 2200 can include angle measurement sensors 2610, 2620, 2630. Among them, the angle measurement sensors 2610, 2620, 2630 can refer to sensors that monitor the movement of the passive arm unit 2200. For example, the angle measurement sensors 2610, 2620, 2630 can measure or calculate the position, direction, angle, etc. of the passive arm unit 2200. For example, the angle measurement sensors 2610, 2620, 2630 can be implemented as sensors capable of measuring the amount of change in the position, speed, or direction of an object, such as a rotary encoder, a linear encoder, or a potentiometer.

[0170] In addition, the angle measurement sensors 2610, 2620, 2630 can be provided between any two passive arm units. For example, the number of angle measurement sensors included in the surgical robot 2001 can be one less than the number of passive arm units 2200. Referring to FIG. 10 , the passive arm unit 2200 connecting the main body 2100 and the active arm unit 2300 can include a total of four robot arms, and the surgical robot 2001 according to the embodiment can include a total of three angle measurement sensors.

[0171] The active arm unit 2300 can be defined as a robot arm that automatically controls the position, direction, angle, etc. of the robot arm through an internal control algorithm. For example, in the case where the surgical staff operates the user input interaction part 13 to operate the active arm unit 2300, the operation signal generation part 14 can generate an operation signal corresponding to the action of the surgical staff operating the user input interaction part 13 and transmit it to the robot arm control part of the active arm unit 2300.

[0172] After that, the robot arm control part of the active arm unit 2300 can control the position movement, rotation, etc. of the active arm unit 2300 according to the control algorithm based on the received control signal. In other words, in the case where the surgical staff performs an operation, the active arm unit 2300 can perform a position, direction, angle, etc. operation regardless of whether it is before or after the start of surgery. On the other hand, since the active arm unit 2300 is operated by a control algorithm rather than an external force, external energy needs to be provided through a motor or an actuator. Therefore, the active arm unit 2300 can include one or more motors or actuators.

[0173] The surgical instrument 2400 included in the surgical robot 2001 can be connected to at least one of the passive arm unit 2200 and the active arm unit 2300. On the other hand, although FIG. 10 The surgical robot 2001 is illustrated in conjunction with the surgical instrument 2400, but is not limited thereto. That is, referring toFIG. 11 The same description applies to camera robots that incorporate laparoscopic surgical cameras (not shown).

[0174] Surgical instruments

[0175] FIG. 12 To illustrate a perspective view of a surgical instrument according to an embodiment of the present invention, FIG. 13 and FIG. 11 for FIG. 14A to FIG. 14B A three-dimensional diagram of the end tool of a surgical instrument. FIG. 11 for FIG. 15 A top view of the terminal tool of a surgical instrument. FIG. 16 and FIG. 11 for FIG. 17 A three-dimensional view of the drive unit of a surgical instrument. FIG. 11 for FIG. 18 A top view of the drive unit of a surgical instrument. FIG. 11 for FIG. 19 Rear view of the drive unit of the surgical instrument. FIG. 11 for FIG. 11 A side view of the drive unit of a surgical instrument.

[0176] First, refer to FIG. 3 According to an embodiment of the present invention, the surgical instrument 30 includes an end tool 100, a drive unit 200, and a power transmission unit 300, wherein the power transmission unit 300 may include a connecting unit 310.

[0177] The connecting part 310 is formed in the shape of a hollow shaft so that it can accommodate more than one wire (described later) inside it, and the driving part 200 is attached to one end and the terminal tool 100 is attached to the other end so as to connect the driving part 200 and the terminal tool 100.

[0178] A drive unit 200 is formed at one end of the connecting part 310, and is provided for connection with the robot arm unit (see reference). FIG. 3 The interface combines 21, etc. Therefore, when a user operates the active robot (refer to...), FIG. 3 When 10), the robot arm unit (refer to) FIG. 3 The motor (not shown) of the surgical instrument 30 (e.g., 21, etc.) operates to cause the end tool 100 of the surgical instrument 30 to perform corresponding actions, and the driving force of the motor (not shown) is transmitted to the end tool 100 through the drive unit 200. From another perspective, the drive unit 200 itself can be described as an interface connecting the surgical instrument 30 and the driven robot 20.

[0179] For example, when a user interacts with the user input interface (see reference) FIG. 3 When 13) is reached, the robot arm unit (refer to)FIG. 12 A motor (not shown) of the surgical instrument 30 (see FIG. 21, etc.) operates to cause the end tool 100 of the surgical instrument 30 to perform an action corresponding thereto, and the driving force of the motor (not shown) can be transmitted to the end tool 100 through the driving section 200.

[0180] The end tool 100 is formed at the other end of the connecting section 310, and is inserted into a surgical site to perform an action required for surgery. As an example of such an end tool 100, as shown in FIG. 1, a pair of jaws 101, 102 for performing a grip action can be used. However, an embodiment of the present application is not limited thereto, and various devices for surgery can be used as the end tool 100. For example, a single-arm cauter, etc. can also be used as the end tool. Such an end tool 100 is connected to the driving section 200 through the power transmission section 300 to receive the driving force of the driving section 200 through the power transmission section 300, and thus can perform an action required for surgery such as a grip, cutting, suturing action, etc. FIG. 12

[0181] Here, the end tool 100 of the surgical instrument 30 according to an embodiment of the present application is formed to be rotatable in two or more directions, for example, the end tool 100 can be formed to perform a pitch motion about the rotation axis 143 of the surgical instrument 30 (see FIG. 21, etc.) while performing a yaw motion and an actuation motion about the rotation axis 141 of the surgical instrument 30 (see FIG. 21, etc.). FIG. 12 FIG. 11

[0182] Here, the definitions of the pitch motion, the yaw motion, the actuation motion, and the roll motion used in the present application are as follows, respectively.

[0183] First, the pitch motion means a rotational motion of the end tool 100 in the up-down direction with respect to the extension direction (X-axis direction) of the connecting section 310, that is, a motion of rotating about the Y-axis of the surgical instrument 30 (see FIG. 21, etc.). In other words, it means a motion of rotating the end tool 100 extending from the connecting section 310 in the up-down direction with respect to the connecting section 310 about the Y-axis. FIG. 11 FIG. 11 FIG. 11 Second, the yaw motion means a rotational motion of the end tool 100 in the left-right direction with respect to the extension direction (X-axis direction) of the connecting section 310, that is, a motion of rotating about the X-axis of the surgical instrument 30 (see FIG. 21, etc.).

[0184] FIG. 11 FIG. 11 ​​​​​​​the Z axis as a center. In other words, it means a movement in which the terminal tool 100 formed so as to extend from the connection portion 310 in the extension direction (the X axis direction) of the connection portion 310 rotates with the Z axis as a center with respect to the connection portion 310. FIG. 12 the Z axis as a center. In other words, it means a movement in which the terminal tool 100 formed so as to extend from the connection portion 310 in the extension direction (the X axis direction) of the connection portion 310 rotates with the Z axis as a center with respect to the connection portion 310.

[0185] On the other hand, the actuation movement refers to a movement in which the terminal tool 100 rotates with the same rotation axis as the yaw movement as a center, and the two jaws 101 and 102 rotate in opposite directions to each other while the jaws contract or expand. That is, it means a movement in which the two jaws 101 and 102 formed in the terminal tool 100 rotate in opposite directions to each other with the Z axis as a center.

[0186] When defined from another perspective, the yaw rotation can also be defined as a movement in which the terminal tool jaw pulley later described rotates with the rotation axis 141 that is the rotation axis of the terminal tool jaw pulley as a center, and the pitch rotation can also be defined as a movement in which the terminal tool jaw pulley revolves with the rotation axis 143 that is the terminal tool pitch rotation axis as a center.

[0187] The roll movement refers to a movement in which the surgical instrument rotates with the connection portion 310 as an axis. For example, the roll movement can be a movement in which the surgical instrument rotates in a clockwise direction or a counterclockwise direction with the extension direction (the X axis direction) of the connection portion 310 as a center. FIG. 11

[0188] On the other hand, the roll movement can mean a movement in which the terminal tool 100 rotates with the X axis as a center with respect to the connection portion 310. For example, the roll movement can be a movement in which the terminal tool rotates in a clockwise direction or a counterclockwise direction with the extension direction (the X axis direction) of the connection portion 310 as a center. FIG. 11 to FIG. 19

[0189] The power transmission portion 300 functions to transmit the driving force of the driving portion 200 to the terminal tool 100 by connecting the driving portion 200 and the terminal tool 100, and can include a plurality of wires, pulleys, connecting rods, nodes, gears, and the like.

[0190] Hereinafter, the terminal tool 100, the driving portion 200, the power transmission portion 300, and the like of the surgical instrument 30 will be described in more detail. FIG. 11 Hereinafter, the terminal tool 100, the driving portion 200, the power transmission portion 300, and the like of the surgical instrument 30 will be described in more detail.

[0191] FIG. 12 Hereinafter, the terminal tool 100, the driving portion 200, the power transmission portion 300, and the like of the surgical instrument 30 will be described in more detail. ​​​

[0192] Referring to FIG. 13 The power transmission portion 300 of the surgical instrument 30 according to an embodiment of the present application can include a wire 301, a wire 302, a wire 303, a wire 304, a wire 305, and a wire 306.

[0193] The wire 301 and the wire 305 can form a pair to function as first jaw wires. The wire 302 and the wire 306 can form a pair to function as second jaw wires. Here, the constituent elements including the wire 301 and the wire 305 as the first jaw wires and the wire 302 and the wire 306 as the second jaw wires can be referred to as jaw wires. Also, the wire 303 and the wire 304 can form a pair to function as pitch wires.

[0194] Here, the pair of wires associated with the rotational motion of the first jaw 101 and the pair of wires associated with the rotational motion of the second jaw 102 are illustrated in the drawings, but an embodiment of the present application is not limited thereto. For example, the pair of wires can be associated with a yaw motion, and the pair of wires can be associated with an actuation motion.

[0195] In addition, the power transmission portion 300 of the surgical instrument 30 according to an embodiment of the present application can include a fastening member 321, a fastening member 326, etc. coupled to each end portion of each wire to couple the wire to the pulley. Here, each fastening member can have various forms, such as a ball shape, a tube shape, etc., as needed.

[0196] The fastening member 321 as a pitch wire fastening member can be coupled to end portions of the wire 303 and the wire 304 as the pitch wires near the terminal tool 100 side to function as a pitch wire-terminal tool fastening member. On the other hand, although not shown in the drawings, a pitch wire-drive portion fastening member (not shown) can be coupled to end portions of the wire 303 and the wire 304 as the pitch wires near the drive portion 200 side.

[0197] On the other hand, the fastening member 326 as a second jaw wire fastening member can be coupled to end portions of the wire 302 and the wire 306 as the second jaw wires near the terminal tool 100 side to function as a second jaw wire-terminal tool fastening member. On the other hand, although not shown in the drawings, a second jaw wire-drive portion fastening member (not shown) can be coupled to end portions of the wire 302 and the wire 306 as the second jaw wires near the drive portion 200 side.

[0198] On the other hand, although not shown in the drawing, a fastening member (not shown) of the same shape as the fastening member 326 can be incorporated into the end portions of the wires 301 and 305, which are the first pincer wire, on the terminal tool 100 side near the terminal tool 100 to function as a first pincer wire-terminal tool fastening member. On the other hand, although not shown in the drawing, a first pincer wire-drive section fastening member (not shown) can be incorporated into the end portions of the wires 301 and 305, which are the first pincer wire, on the drive section 200 side near the drive section 200.

[0199] In this case, although classified as each fastening member is included in the power transmission section 300, it can also be classified as the fastening member near the terminal tool 100 side is included in the terminal tool 100 and the fastening member near the drive section 200 side is included in the drive section 200.

[0200] The relationship between the wires and the fastening members and each pulley will be described in detail below.

[0201] First, the wires 302 and 306, which are the second pincer wire, can be one single wire. A fastening member 326, which is a second pincer wire-terminal tool fastening member, is inserted into the middle of the second pincer wire, which is the single wire, and the fastening member 326 is fixed by crimping, and the two strands of the second pincer wire can be called the wire 302 and the wire 306, respectively, with the fastening member 326 as the center.

[0202] Alternatively, the wires 302 and 306, which are the second pincer wire, can be formed as separate wires, respectively, and the wires 302 and 306 can be connected by the fastening member 326.

[0203] Further, the fastening member 326 can be incorporated into the pulley 121 so that the wires 302 and 306 are fixedly incorporated into the pulley 121. Thus, the pulley 121 can be rotated by pulling and releasing the wires 302 and 306.

[0204] On the other hand, at the end portions of the wires 302 and 306 on the opposite side of the position fastened by the fastening member 326, a second pincer wire-drive section fastening member (not shown) can be incorporated. That is, the end portions of the wires 302 and 306 on the opposite side can be inserted into the second pincer wire-drive section fastening member (not shown), and the wires 302 and 306 can be fixed to the second pincer wire-drive section fastening member (not shown), respectively, by crimping the fastening member (not shown).

[0205] And, the second jaw wire-drive fastening member (not shown) combined with the wire 302 and the wire 306 is combined with the pulley 221 and the pulley 222, respectively, whereby the wire 302 and the wire 306 are fixedly combined with 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 by human power, the wire 302 and the wire 306 are pulled and released so that the pulley 121 of the terminal tool 100 can be rotated.

[0206] In this case, the second jaw pulley of the drive portion includes two pulleys, i.e., the pulley 221 and the pulley 222, and thus the second jaw wire-drive fastening member can also include two fastening members. Alternatively, the second jaw pulley of the drive portion includes one pulley, and the second jaw wire-drive fastening member includes one fastening member, and the wire 302 and the wire 306 are combined with one fastening member and also with one second jaw pulley of the drive portion.

[0207] In the same manner, the wire 301 and the wire 305 as the first jaw wires are combined with a first jaw wire-terminal tool fastening member (not shown) and a first jaw wire-drive fastening member (not shown), respectively. And, the first jaw wire-terminal tool fastening member (not shown) is combined with the pulley 111, and the first jaw wire-drive fastening member (not shown) is combined with the pulley 211 and the pulley 212. As a result, when the pulley 211 and the pulley 212 are rotated by a motor or by human power, the wire 301 and the wire 305 are pulled and released so that the pulley 111 of the terminal tool 100 can be rotated.

[0208] In the same manner, one ends of the wire 303 and the wire 304 as the pitch wires are combined with a fastening member 321 as a pitch wire-terminal tool fastening member, and the other ends of the wire 303 and the wire 304 are combined with a pitch wire-drive fastening member (not shown). And, the fastening member 321 is combined with the pulley 131, and the pitch wire-drive fastening member (not shown) is combined with the pulley 231. As a result, when the pulley 231 is rotated by a motor or by human power, the wire 303 and the wire 304 are pulled and released so that the pulley 131 of the terminal tool 100 can be rotated.

[0209] As a result, the wire 301 and the wire 305 as the two wires of the first jaw wires can be combined with a fastening member 323 as a first jaw wire-terminal tool fastening member and a first jaw wire-drive fastening member (not shown) so as to form a closed loop as a whole. Also, the second jaw wires and the pitch wires can be formed as closed loops, respectively.

[0210] Hereinafter, the wire 301 and the wire 305 as the first jaw wires will be described in detail. FIG. 11The end tool 100 of the surgical instrument 30 will be described in more detail.

[0211] FIG. 14A to FIG. 14B and FIG. 11 is FIG. 12 a perspective view of an end tool of a surgical instrument, FIG. 13 is FIG. 12 a plan view of an end tool of a surgical instrument. In this case, FIG. 8 shows a state in which the end tool hub 106 and the pitch hub 107 are combined, FIG. 14A to FIG. 14B shows a state in which the end tool hub 106 and the pitch hub 107 are removed.

[0212] Referring to FIG. 12 , FIG. 14A to FIG. 14B and FIG. 14A to FIG. 14B , the end tool 100 of an embodiment of the present application has a pair of jaws for performing a gripping action, i.e., a first jaw 101 and a second jaw 102. In this case, the first jaw 101 and the second jaw 102 can be referred to as a jaw 103, respectively, or the constituent elements including the first jaw 101 and the second jaw 102 can be referred to as a jaw 103.

[0213] In addition, the end tool 100 can include a pulley 111, a pulley 112, a pulley 113, a pulley 114, a pulley 115, and a pulley 116 related to the rotational motion of the first jaw 101. In addition, a pulley 121, a pulley 122, a pulley 123, a pulley 124, a pulley 125, and a pulley 126 related to the rotational motion of the second jaw 102 can be included.

[0214] In this case, the pulleys shown as a group in the drawings are related to the rotational motion of the first jaw 101, and the pulleys of a group are related to the rotational motion of the second jaw 102, but an embodiment of the present application is not limited thereto. For example, the pulleys of a group in the end tool can be related to yaw motion, and the pulleys of a group can be related to actuation motion. In this case, the pulleys included in the end tool 100 can be collectively referred to as end tool pulleys.

[0215] On the other hand, in the drawings, the opposite pulleys are shown as being formed in parallel with each other, but an embodiment of the present application is not limited thereto, and each pulley can be formed in various positions and sizes suitable for the structure of the end tool.

[0216] In addition, the end tool 100 of an embodiment of the present application can include an end tool hub 106 and a pitch hub 107.

[0217] The terminal tool hub 106 is penetrated by the rotation shaft 141 and the rotation shaft 142, and can accommodate at least a part of the first jaw 101 and the second jaw 102 axially coupled to the rotation shaft 141 inside. Also, the terminal tool hub 106 can accommodate at least a part of the pulley 112 and the pulley 122 axially coupled to the rotation shaft 142 inside.

[0218] Also, one end of the terminal tool hub 106 can be formed with a pulley 131 for performing a function of a terminal tool pitch pulley. As shown in FIG. 14A to FIG. 14B the pulley 131 is formed as a separate member from the terminal tool hub 106 so as to be coupled to the terminal tool hub 106. Alternatively, although not shown in the drawings, the pulley 131 can be formed in one body with the terminal tool hub 106. That is, one end of the terminal tool hub 106 is formed in a disc shape or a semi-disc shape like a pulley, and can further be formed with a groove in which a wire can be wound on an outer circumferential surface thereof. The wires 303 and 304 are coupled to the pulley 131 for performing a function of a terminal tool pitch pulley, and the pulley 131 can perform a pitch action while being rotated about the rotation shaft 143.

[0219] The pitch hub 107 is penetrated by the rotation shaft 143 and the rotation shaft 144, and can be axially coupled to the terminal tool hub 106 and the pulley 131 through the rotation shaft 143. Accordingly, the terminal tool hub 106 and the pulley 131 (coupled thereto) can be formed to be rotated about the rotation shaft 143 with respect to the pitch hub 107.

[0220] Also, the pitch hub 107 can accommodate at least a part of the pulley 113, the pulley 114, the pulley 123, and the pulley 124 axially coupled to the rotation shaft 143 inside. Also, the pitch hub 107 can accommodate at least a part of the pulley 115, the pulley 116, the pulley 125, and the pulley 126 axially coupled to the rotation shaft 144 inside.

[0221] Also, the terminal tool 100 according to an embodiment of the present application can include the rotation shaft 141, the rotation shaft 142, the rotation shaft 143, and the rotation shaft 144. As described above, the rotation shaft 141 and the rotation shaft 142 can be penetrated into the terminal tool hub 106, and the rotation shaft 143 and the rotation shaft 144 can be penetrated into the pitch hub 107.

[0222] The rotation shaft 141, the rotation shaft 142, the rotation shaft 143, and the rotation shaft 144 can be sequentially arranged in a direction from a distal end 104 to a proximal end 105 of the end tool 100. Thus, the rotation shaft 141 can be referred to as a No. 1 pin, the rotation shaft 142 can be referred to as a No. 2 pin, the rotation shaft 143 can be referred to as a No. 3 pin, and the rotation shaft 144 can be referred to as a No. 4 pin, starting from the distal end 104.

[0223] The rotation shaft 141 can function as an end tool jaw pulley rotation shaft, the rotation shaft 142 can function as an end tool jaw auxiliary pulley rotation shaft, the rotation shaft 143 can function as an end tool pitch rotation shaft, and the rotation shaft 144 can function as an end tool 100 end tool pitch auxiliary rotation shaft.

[0224] One or more pulleys can be inserted into these rotation shafts 141, 142, 143, and 144, which will be described in detail below.

[0225] The pulley 111 functions as an end tool first jaw pulley, the pulley 121 functions as an end tool second jaw pulley, and these two components can be collectively referred to as end tool jaw pulleys.

[0226] The pulley 111 and the pulley 121, which are the end tool jaw pulleys, face each other and can be formed to be rotatable independently of each other about the rotation shaft 141, which is the end tool jaw pulley rotation shaft. In the drawing, the pulley 111 and the pulley 121 are formed to rotate about one rotation shaft 141, but of course, each jaw pulley can be formed to rotate about a separate shaft. The first jaw 101 is fixedly coupled to the pulley 111 so as to be rotatable together with the pulley 111, and the second jaw 102 is fixedly coupled to the pulley 121 so as to be rotatable together with the pulley 121. The deflection action and the actuation action of the end tool 100 are performed according to the rotation of the pulley 111 and the pulley 121. That is, when the pulley 111 and the pulley 121 rotate in the same direction about the rotation shaft 141, the deflection action is performed, and when the pulley 111 and the pulley 121 rotate in opposite directions to each other about the rotation shaft 141, the actuation action is performed.

[0227] The first jaw 101 and the pulley 111 can be formed as separate components and coupled to each other, or the first jaw 101 and the pulley 111 can be formed as one body. Likewise, the second jaw 102 and the pulley 121 can be formed as separate components and coupled to each other, or the second jaw 102 and the pulley 121 can be formed as one body.

[0228] The pulley 112 functions as a terminal tool first jaw auxiliary pulley, the pulley 122 functions as a terminal tool second jaw auxiliary pulley, and these two constituent elements can also be collectively referred to as terminal tool jaw auxiliary pulleys.

[0229] Specifically, the pulley 112 and the pulley 122, which are the terminal tool jaw auxiliary pulleys, can be additionally provided on one side of the pulley 111 and the pulley 121. In other words, the pulley 112, which is an auxiliary pulley, can be disposed between the pulley 111 and the pulley 113 / pulley 114. In addition, the pulley 122, which is an auxiliary pulley, can be disposed between the pulley 121 and the pulley 123 / pulley 124. The pulley 112 and the pulley 122 can be formed to rotate independently of each other with the rotation axis 142 as the center. Among them, the pulley 112 and the pulley 122 are formed to rotate with one rotation axis 142 as the center in the drawing, and of course, the pulley 112 and the pulley 122 can be formed to rotate with separate axes as the center, respectively. A more specific description will be made later for the auxiliary pulleys as described above.

[0230] The pulley 113 and the pulley 114 function as terminal tool first jaw pitch main pulleys, the pulley 123 and the pulley 124 function as terminal tool second jaw pitch main pulleys, and these two constituent elements can also be collectively referred to as terminal tool jaw pitch main pulleys.

[0231] The pulley 115 and the pulley 116 function as terminal tool first jaw pitch sub-pulleys, the pulley 125 and the pulley 126 function as terminal tool second jaw pitch sub-pulleys, and these two constituent elements can also be collectively referred to as terminal tool jaw pitch sub-pulleys.

[0232] Hereinafter, a constituent element related to the rotation of the pulley 111 will be described.

[0233] The pulley 113 and the pulley 114 function as terminal tool first jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch action of the first jaw 101. Among them, the wire 301, which is the first jaw wire, is wound around the pulley 113, and the wire 305, which is the first jaw wire, is wound around the pulley 114.

[0234] The pulley 115 and the pulley 116 function as terminal tool first jaw sub-pulleys. That is, they function as sub-rotating pulleys for the pitch action of the first jaw 101. Among them, the wire 301, which is the first jaw wire, is wound around the pulley 115, and the wire 305, which is the first jaw wire, is wound around the pulley 116.

[0235] The pulley 113 and the pulley 114 are arranged opposite to each other on one side of the pulley 111 and the pulley 112. The pulley 113 and the pulley 114 are formed so as to independently rotate with the rotation axis 143, which is the pitch rotation axis of the terminal tool, as the center. In addition, the pulley 115 and the pulley 116 are arranged opposite to each other on one side of each of the pulley 113 and the pulley 114. The pulley 115 and the pulley 116 are formed so as to independently rotate with the rotation axis 144, which is the pitch auxiliary rotation axis of the terminal tool, as the center. In the drawing, the pulley 113, the pulley 115, the pulley 114, and the pulley 116 are shown as being formed so as to rotate with the Y-axis direction as the center, but the embodiment of the present application is not limited to this, and the rotation axis of each pulley can be formed in various directions so as to be suitable for the arrangement thereof.

[0236] The wire 301, which is the first gripped wire, is wound around the pulley 115, the pulley 113, and the pulley 111 in this order so as to contact at least a part thereof. In addition, the wire 305, which is connected to the wire 301 by the fastening member 323, is wound around the pulley 111, the pulley 112, the pulley 114, and the pulley 116 in this order so as to contact at least a part thereof.

[0237] In other words, the wire 301, which is the first gripped wire, and the wire 305 are wound around the pulley 115, the pulley 113, the pulley 111, the pulley 112, the pulley 114, and the pulley 116 in this order so as to contact at least a part thereof, and the wire 301 and the wire 305 are formed so as to move following the pulleys while the pulleys are rotated.

[0238] Therefore, when the wire 301 is pulled toward the arrow 301, FIG. 14A to FIG. 14B the fastening member (not shown) combined with the wire 301 and the pulley 111 combined with the fastening member rotate in the arrow L direction. In contrast, when the wire 305 is pulled toward the arrow 305, FIG. 14A to FIG. 14B the fastening member (not shown) combined with the wire 305 and the pulley 111 combined with the fastening member rotate in the arrow R direction. FIG. 14A to FIG. 14B FIG. 14A to FIG. 14B Hereinafter, the pulley 112 and the pulley 122, which function as auxiliary pulleys, will be described in more detail.

[0239] The pulley 112 and the pulley 122 contact the wire 305, which is the first gripped wire, and the wire 302, which is the second gripped wire, so as to change the arrangement path of the wire 305 and the wire 302 to some extent, and thus can function so as to expand the rotation angle of each of the first gripper 101 and the second gripper 102.

[0240] The pulley 112 and the pulley 122 contact the wire 305, which is the first gripped wire, and the wire 302, which is the second gripped wire, so as to change the arrangement path of the wire 305 and the wire 302 to some extent, and thus can function so as to expand the rotation angle of each of the first gripper 101 and the second gripper 102.

[0241] ​That is, when the auxiliary pulleys are not provided, each of the first and second jaws can only be rotated to a right angle, but in the embodiment of the present application, by additionally providing the pulleys 112 and 122 as auxiliary pulleys, the maximum rotation angle can be increased by θ as shown in FIG. 14A to FIG. 14B This makes it possible for the two jaws of the terminal tool 100 to perform an action in which the two jaws need to be separated while being deflected together by 90° in the L direction. This is because the second jaw 102 can be rotated by the additional angle θ as shown in FIG. 14A to FIG. 14B Likewise, the two jaws can perform an actuation action while being deflected and rotated in the R direction. In other words, by the pulleys 112 and 122, it is possible to have a feature that the deflection and rotation range in which an actuation action can be performed can be expanded.

[0242] A more detailed explanation thereof will be given below.

[0243] When the auxiliary pulleys are not provided, the first jaw wire is fixedly coupled to the terminal tool first jaw pulley, and the second jaw wire is fixedly coupled to the terminal tool second jaw pulley, so that the terminal tool first jaw pulley and the terminal tool second jaw pulley can only be rotated to 90°, respectively. In this case, when the first and second jaws perform an actuation action in a state in which they are located at a 90° line, the first jaw can be opened, but the second jaw cannot be rotated beyond 90°. Therefore, when the first and second jaws perform a deflection action of a certain angle or more, there is a problem in that an actuation action cannot be smoothly performed.

[0244] To solve the above-described problem, in the case of the surgical instrument 30 according to the embodiment of the present application, the pulleys 112 and 122 as auxiliary pulleys are additionally provided on one side of the pulleys 111 and 121. By providing the pulleys 112 and 122 in this way, the arrangement paths of the wire 305 as the first jaw wire and the wire 302 as the second jaw wire are changed to some extent to change the tangent directions of the wires 305 and 302, so that the fastening member 326 for coupling the wire 302 and the pulley 121 can be rotated to the N line of FIG. 14A to FIG. 14B That is, the fastening member 326 as the coupling portion of the wire 302 and the pulley 121 can be rotated to a line tangent to the inside of the pulley 121 and the pulley 122. Likewise, the fastening member 323 as the coupling portion of the wire 305 and the pulley 111 can be rotated to a line tangent to the inside of the pulley 111 and the pulley 112 so that it can expand the rotation range in the L direction.

[0245] In other words, the wire 301 and the wire 305, which are two wires of the first jaw guide wire, wound around the pulley 111 are arranged on one side with reference to the plane perpendicular to the Y axis and passing through the X axis by the pulley 112. On the other hand, the wire 302 and the wire 306, which are two wires of the second jaw guide wire, wound around the pulley 121 are arranged on the other side with reference to the plane perpendicular to the Y axis and passing through the X axis by the pulley 122.

[0246] In other words, the pulley 113 and the pulley 114 are arranged on one side with reference to the plane perpendicular to the Y axis and passing through the X axis, and the pulley 123 and the pulley 124 are arranged on the other side with reference to the plane perpendicular to the Y axis and passing through the X axis.

[0247] In other words, the wire 305 is located on the internal tangent line of the pulley 111 and the pulley 112, and the rotation angle of the pulley 111 is enlarged by the pulley 112. In addition, the wire 302 is located on the internal tangent line of the pulley 121 and the pulley 122, and the rotation angle of the pulley 121 is enlarged by the pulley 122.

[0248] As described above, according to the embodiment of the present application, by widening the rotation radius of the jaws 101 and 102, the effect of widening the deflection action range capable of performing normal opening and closing actuation actions can be obtained.

[0249] Next, the components related to the rotation of the pulley 121 will be described.

[0250] The pulley 123 and the pulley 124 function as the terminal tool second jaw pitch main pulley. That is, they function as the main rotation pulley of the pitch action of the second jaw 102. Among them, the wire 306 as the second jaw guide wire is wound around the pulley 123, and the wire 302 as the second jaw guide wire is wound around the pulley 124.

[0251] The pulley 125 and the pulley 126 function as the terminal tool second jaw pitch sub-pulley. That is, they function as the sub-rotation pulley of the pitch action of the second jaw 102. Among them, the wire 306 as the second jaw guide wire is wound around the pulley 125, and the wire 302 as the second jaw guide wire is wound around the pulley 126.

[0252] Pulleys 123 and 124 are arranged facing each other on one side of pulley 121. Pulleys 123 and 124 can be configured to rotate independently of each other around a rotation axis 143, which serves as the pitch rotation axis of the end-tool. Additionally, pulleys 125 and 126 are arranged facing each other on one side of each pulley 123 and 124. Pulleys 125 and 126 can be configured to rotate independently of each other around a rotation axis 144, which serves as the pitch auxiliary rotation axis of the end-tool. While pulleys 123, 125, 124, and 126 are shown in the figures as rotating around the Y-axis, this embodiment of the invention is not limited to this, and the rotation axis of each pulley can be formed in various directions to suit its configuration.

[0253] The wire 306, which serves as the second clamping wire, is wound around pulleys 125, 123, and 121 in sequence so that at least a portion of it is in contact with them. Furthermore, the wire 302, which is connected to the wire 306 via the fastening member 326, is wound around pulleys 121, 122, 124, and 126 in sequence so that at least a portion of it is in contact with them.

[0254] To explain from another perspective, the wires 306 and 302, which are the second clamping wires, are wound sequentially around pulleys 125, 123, 121, 122, 124, and 126 so that at least a portion of them are in contact with them, and the wires 306 and 302 are configured to move with the pulleys while the pulleys are rotating.

[0255] Therefore, when wire 306 is pulled towards FIG. 14A to FIG. 14B When arrow 306 is pointed, the fastening member 326 connected to the wire 306 and the pulley 121 connected to the fastening member 326 move along... FIG. 12 The arrow R rotates in the direction of rotation. Conversely, when wire 302 is pulled towards... FIG. 14A to FIG. 14B When arrow 302 is pointed, the fastening member 326 connected to the wire 302 and the pulley 121 connected to the fastening member 326 move along... FIG. 14A to FIG. 14B Rotate in the direction of arrow L.

[0256] The pitch motion of the present invention will be described in more detail below.

[0257] First, for pitch movement, pulleys 113, 114, 123, and 124, which serve as the main pitch pulleys of the end tool clamping tool 100, are configured to rotate around axis 143. On the other hand, in the direction near the proximal end 105 of the main pitch pulley of the end tool clamping tool 100, pulleys 115, 116, 125, and 126, which serve as the auxiliary pitch pulleys of the end tool clamping tool 100, are configured to rotate around axis 144.

[0258] And, with a plane (i.e., XY plane) that is perpendicular to the rotation axis 141 and includes the rotation axis 143 as a reference, the wires 301 and 305 that are two strands of the first jaw guide wire are located on the same side with the XY plane as a reference. That is, the wires 301 and 305 are formed to pass through the lower sides of the pulleys 113, 114 that are the terminal tool jaw pitch main pulleys and the upper sides of the pulleys 115, 116 that are the terminal tool jaw pitch sub-pulleys.

[0259] Likewise, the wires 302 and 306 that are two strands of the second jaw guide wire are located on the same side with the XY plane as a reference. That is, the wires 302 and 306 are formed to pass through the upper sides of the pulleys 123, 124 that are the terminal tool jaw pitch main pulleys and the lower sides of the pulleys 125, 126 that are the terminal tool jaw pitch sub-pulleys.

[0260] And, for the wires 301 and 305 that are two strands of the first jaw guide wire, when the wire 301 is pulled toward the arrow 301 and the wire 305 is pulled toward the arrow 305 (i.e., the two strands of the first jaw guide wire are pulled in the same direction), as shown in FIG. 6A, since the wires 301 and 305 are wound around the lower sides of the pulleys 113 and 114 that are rotatable about the rotation axis 143 that is the terminal tool pitch rotation axis, the pulley 111 to which the wires 301 and 305 are fixedly coupled and the terminal tool hub 106 to which the pulley 111 is coupled rotate together about the rotation axis 143 in the counterclockwise direction, as a result, the terminal tool 100 rotates downward while performing the pitch motion. At this time, since the second jaw 102 and the wires 302 and 306 fixedly coupled thereto are wound around the upper sides of the pulleys 123 and 124 that are rotatable about the rotation axis 143, the wires 302 and 306 are respectively loosened in the opposite directions of the arrows 302 and 306. FIG. 12 FIG. 11 FIG. 15 to FIG. 21

[0261] On the contrary, for the wires 302 and 306 that are two strands of the second jaw guide wire, when the wire 302 is pulled toward the arrow 302 and the wire 306 is pulled toward the arrow 306 (i.e., the two strands of the second jaw guide wire are pulled in the same direction), as shown in FIG. 6B, since the wires 302 and 306 are wound around the upper sides of the pulleys 123 and 124 that are rotatable about the rotation axis 143 that is the terminal tool pitch rotation axis, the pulley 123 to which the wires 302 and 306 are fixedly coupled and the terminal tool hub 105 to which the pulley 123 is coupled rotate together about the rotation axis 143 in the clockwise direction, as a result, the terminal tool 100 rotates upward while performing the pitch motion. At this time, since the first jaw 101 and the wires 301 and 305 fixedly coupled thereto are wound around the lower sides of the pulleys 113 and 114 that are rotatable about the rotation axis 143, the wires 301 and 305 are respectively loosened in the opposite directions of the arrows 301 and 305. FIG. 17 FIG. 22A to FIG. 23C FIG. 11 ​​​​​As shown, since the wire 302 and the wire 306 are wound above the pulleys 123 and 124 which are able to rotate with the rotation axis 143 as the terminal tool pitch rotation axis, the pulley 121 which is fixedly combined with the wire 302 and the wire 306 and the terminal tool hub 106 which is combined with the pulley 121 rotate as a whole with the rotation axis 143 as the center in the clockwise direction, as a result, the terminal tool 100 rotates upward while performing the pitch motion. At this time, since the first jaw 101 and the wire 301 and the wire 305 which are fixedly combined with the first jaw 101 are wound below the pulleys 113 and 114 which are able to rotate with the rotation axis 143 as the center, the wire 302 and the wire 306 move in the opposite directions of 301 and 305, respectively.

[0262] From another angle, it can also be expressed that when the terminal tool 100 rotates in the pitch direction, the two wires of each jaw wire move in the same direction at the same time.

[0263] On the other hand, the terminal tool 100 of the surgical instrument 30 of the present application further comprises a pulley 131 which is a terminal tool pitch pulley, the driving part 200 further comprises a pulley 231 which is a driving part pitch pulley, and the power transmission part 300 can further comprise a wire 303 and a wire 304 which are pitch wires. Specifically, the pulley 131 of the terminal tool 100 can rotate with the rotation axis 143 as the terminal tool pitch rotation axis, and is formed integrally with (or fixedly combined to) the terminal tool hub 106. In addition, the wire 303 and the wire 304 can function to connect the pulley 131 of the terminal tool 100 and the pulley 231 of the driving part 200.

[0264] 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 terminal tool 100 through the wire 303 and the wire 304, so that the pulley 131 also rotates together, as a result, the terminal tool 100 rotates while performing the pitch motion.

[0265] According to the surgical instrument 30 of an embodiment of the present application, in order to transmit the power for the pitch motion, the pulley 131 of the terminal tool 100, the pulley 231 of the driving part 200 and the wire 303 and the wire 304 of the power transmission part 300 are included, so that the driving force of the pitch action of the driving part 200 is more perfectly transmitted to the terminal tool 100, thereby the action reliability can be improved.

[0266] The diameters of the pulleys 113, 114, 123, and 124, which are the terminal tool jaw tilting main pulleys, and the diameter of the pulley 131, which is the terminal tool tilting pulley, can be the same or different from each other. In this case, the ratio of the diameter of the terminal tool jaw tilting main pulley to the diameter of the terminal tool tilting pulley can be the same as the ratio of the diameter of the driving portion intermediate pulley to the diameter of the driving portion tilting pulley of the driving portion 200, which will be described later. Details of this will be described later.

[0267] Hereinafter, the driving portion 200 of the surgical instrument 30 will be described in more detail. FIG. 22A

[0268] Referring to FIG. 23A According to the driving portion 200 of the surgical instrument 30 of an embodiment of the present application, the pulleys 211, 212, 213, 214, 215, 216, 217, 218, 219, and 220 can be included in relation to the rotational movement of the first jaw 101. In addition, the pulleys 221, 222, 223, 224, 225, 226, 227, 228, 229, and 230 can be included in relation to the rotational movement of the second jaw 102.

[0269] In the drawings, the facing pulleys are shown as being formed in parallel with each other, but an embodiment of the present application is not limited thereto, and each pulley can be formed in various positions and sizes suitable for the structure of the driving portion.

[0270] In addition, the driving portion 200 of the surgical instrument 30 according to an embodiment of the present application can further include a pulley 231 serving as a driving portion tilting pulley, and an elevation-deflection connector 232 for connecting the pulley 231 and the driving portion jaw pulleys.

[0271] In addition, the driving portion 200 of an embodiment of the present application can include a rotation shaft 241, a rotation shaft 242, a rotation shaft 243, a rotation shaft 244, a rotation shaft 245, and a rotation shaft 246. The rotation shaft 241 can function as a driving portion first jaw rotation shaft, and the rotation shaft 242 can function as a driving portion second jaw rotation shaft. In addition, the rotation shaft 243 can function as a driving portion tilting rotation shaft, and the rotation shaft 244 can function as a driving portion rolling rotation shaft. In addition, the rotation shaft 245 can function as a driving portion first jaw auxiliary rotation shaft, and the rotation shaft 246 can function as a driving portion second jaw auxiliary rotation shaft. One or more pulleys can be fitted to each of the rotation shafts 241, 242, 243, 244, 245, and 246, and details of this will be described later.

[0272] ​In addition, the driving portion 200 of an embodiment of the present application can include a motor coupling portion 251, a motor coupling portion 252, a motor coupling portion 253, and a motor coupling portion 254. Among them, the motor coupling portion 251 can function as a first jaw driving motor coupling portion, the motor coupling portion 252 can function as a second jaw driving motor coupling portion, the motor coupling portion 253 can function as a pitch driving motor coupling portion, and the motor coupling portion 254 can function as a roll driving motor coupling portion. Among them, each of the motor coupling portions 251, 252, 253, and 254 can be formed in a rotatable flat plate form, and can be formed with one or more coupling holes for coupling with a motor (not shown).

[0273] The motor coupling portions 251, 252, 253, and 254 of the driving portion 200 as described above are coupled with motors (not shown) formed in each of the robot arm units 21, 22, and 23, so that the driving portion 200 is actuated by the driving of the motors (not shown).

[0274] In addition, the driving portion 200 of an embodiment of the present application can include a gear 261, a gear 262, a gear 263, and a gear 264. Among them, the gear 261 and the gear 262 can function as pitch driving gears, and the gear 263 and the gear 264 can function as roll driving gears.

[0275] Hereinafter, each of the constituent elements will be described in more detail.

[0276] The pulleys 211 and 212 serve as driving portion first jaw pulleys, the pulleys 221 and 222 serve as driving portion second jaw pulleys, and these constituent elements can also be collectively referred to as driving portion jaw pulleys.

[0277] Among them, the pulleys 211 and 221 are shown in the drawing as being associated with the rotational movement of the first jaw 101 and the second jaw 102 of the end tool 100, respectively, but an embodiment of the present application is not limited thereto. For example, one set of pulleys in the driving portion can be associated with yaw movement, and one set of pulleys can also be associated with actuation movement. Therefore, the pulleys 211 and 212 can be collectively referred to as driving portion drive pulleys. Also, hereinafter, the other pulleys can also be one set of pulleys associated with yaw movement, and one set of pulleys associated with actuation movement.

[0278] The pulleys 213 and 214 serve as driving portion first jaw auxiliary pulleys, the pulleys 223 and 224 serve as driving portion second jaw auxiliary pulleys, and these constituent elements can also be collectively referred to as driving portion jaw auxiliary pulleys.

[0279] The pulley 215 and the pulley 216 serve as the driving section first jaw first intermediate pulley, the pulley 217 and the pulley 218 serve as the driving section first jaw second intermediate pulley, and these constituent elements can also be collectively referred to as the driving section first jaw intermediate pulley. On the other hand, the pulley 225 and the pulley 226 serve as the driving section second jaw first intermediate pulley, the pulley 227 and the pulley 228 serve as the driving section second jaw second intermediate pulley, and these constituent elements can also be collectively referred to as the driving section second jaw intermediate pulley. On the other hand, the pulley 215, the pulley 216, the pulley 225, and the pulley 226 can also be collectively referred to as the driving section first intermediate pulley, and the pulley 217, the pulley 218, the pulley 227, and the pulley 228 can also be collectively referred to as the driving section second intermediate pulley. Further, 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 can also be collectively referred to as the driving section intermediate pulley.

[0280] In the drawing, the driving section intermediate pulley of each jaw is shown as being formed of a pair of two pulleys, but an embodiment of the present application is not limited to this. For example, the pulley 215 as the driving section first jaw first intermediate pulley and the pulley 217 as the driving section first jaw second intermediate pulley form a pair, and the wire 301 is shown as passing through the pulley 215 and the pulley 217 in this order. However, the driving section first jaw intermediate pulley can also be composed of three or more pulleys instead of two pulleys.

[0281] On the other hand, the pulley 219 and the pulley 220 serve as the driving section first jaw satellite pulley, the pulley 229 and the pulley 230 serve as the driving section second jaw satellite pulley, and these two constituent elements can also be collectively referred to as the driving section satellite pulley.

[0282] A plurality of rotation shafts including the rotation shaft 241, the rotation shaft 242, the rotation shaft 243, the rotation shaft 244, the rotation shaft 245, and the rotation shaft 246 can be formed on the first surface of the substrate 201. In addition, a plurality of intermediate pulleys 202 are formed on the first surface of the substrate 201 so as to function to change the directions of the wires 301, 302, 303, 304, 305, and 306 entering the driving section 200 through the connection section 310 to the pulley 231.

[0283] In addition, in the substrate 201, the first surface of the substrate 201 to which the connection section 310 in the form of a shaft is coupled and the second surface as the opposite surface of the first surface can be formed with a motor coupling section 251, a motor coupling section 252, a motor coupling section 253, and a motor coupling section 254 to which a motor (not shown) for driving a pulley is coupled.

[0284] In this case, each motor coupling section and rotation shaft can be directly connected or can be indirectly connected through a gear.

[0285] As one example, the motor coupling part 251 as the first jaw driving motor coupling part is directly coupled to the rotation shaft 241 as the driving part first jaw rotation shaft, and when the motor coupling part 251 coupled to the first jaw driving motor (not shown) rotates, the rotation shaft 241 directly coupled thereto can rotate together. Likewise, the motor coupling part 252 as the second jaw driving motor coupling part is directly coupled to the rotation shaft 242 as the driving part second jaw rotation shaft, and when the motor coupling part 252 coupled to the second jaw driving motor (not shown) rotates, the rotation shaft 242 directly coupled thereto can rotate together.

[0286] As another example, the motor coupling part 253 as the pitch driving motor coupling part and the rotation shaft 243 as the driving part pitch rotation shaft can be disposed to be spaced apart to some degree when viewed in a plane perpendicular to the rotation shaft 243. And such motor coupling part 253 and rotation shaft 243 can be connected by gears 261 and 262 as pitch driving gears.

[0287] Likewise, the motor coupling part 254 as the roll driving motor coupling part and the rotation shaft 244 as the driving part roll rotation shaft can be disposed to be spaced apart to some degree when viewed in a plane perpendicular to the rotation shaft 244. And such motor coupling part 254 and rotation shaft 244 can be connected by gears 263 and 264 as roll driving gears.

[0288] As described above, the reason why a part of the motor coupling parts are directly connected to the rotation shafts and the remaining motor coupling parts are indirectly connected to the rotation shafts is because the coupling position and direction between the surgical instrument 30 and the slave robot 20 need to be considered. That is, the rotation shafts not affected by the coupling position with the slave robot 20 are directly connected to the motor coupling parts, and the rotation shafts that can be interfered with the coupling position with the slave robot 20 can be indirectly connected to the motor coupling parts.

[0289] As shown in the drawings, the motor coupling part 251, the motor coupling part 252 are directly connected to the rotation shafts, and the motor coupling part 253, the motor coupling part 254 are indirectly connected through the gears, however, the embodiment of the present application is not limited thereto, and there can be various configurations according to the coupling position and direction with the slave robot 20.

[0290] The pulley 211 and the pulley 212 as the driving part first jaw pulleys can be coupled to the rotation shaft 241 as the driving part first jaw rotation shaft. Among them, the pulley 211 and the pulley 212 can be formed to rotate together with the rotation shaft 241.

[0291] And, the area adjacent to the rotation shaft 241 can be provided with a rotation shaft 245 as a driving part first jaw auxiliary rotation shaft. Pulleys 213 and 214 as driving part first jaw auxiliary pulleys can be coupled to the rotation shaft 245. Among them, the pulleys 213 and 214 can be formed to be rotatable about the rotation shaft 245.

[0292] Among them, as shown in the drawings, the driving part first jaw pulley is formed by two pulleys 211 and 212, one pulley 211 is coupled with the wire 301, and the other pulley 212 is coupled with the wire 305. However, an embodiment of the present application is not limited thereto, and the driving part first jaw pulley can also be formed by one pulley, so that the wire 301 and the wire 305 are both coupled to the one pulley.

[0293] As described above, the rotation shaft 241 is coupled to the first jaw driving motor (not shown) through the motor coupling part 251, so when the first jaw driving motor (not shown) rotates for driving the first jaw 101, the pulleys 211 and 212 as the driving part first jaw pulley rotate together with the rotation shaft 241 to pull or release the wires 301 and 305 as the first jaw wires.

[0294] The pulleys 221 and 222 as the driving part second jaw pulley can be coupled to the rotation shaft 242 as the driving part second jaw rotation shaft. Among them, the pulleys 221 and 222 can be formed to rotate together with the rotation shaft 242.

[0295] And, the area adjacent to the rotation shaft 242 can be provided with a rotation shaft 246 as a driving part second jaw auxiliary rotation shaft. Pulleys 223 and 224 as driving part second jaw auxiliary pulleys can be coupled to the rotation shaft 245. Among them, the pulleys 223 and 224 can be formed to be rotatable about the rotation shaft 246.

[0296] Among them, as shown in the drawings, the driving part second jaw pulley is formed by two pulleys 221 and 222, one pulley 221 is coupled with the wire 302, and the other pulley 222 is coupled with the wire 306. However, an embodiment of the present application is not limited thereto, and the driving part second jaw pulley can also be formed by one pulley, so that the wire 302 and the wire 306 are both coupled to the one pulley.

[0297] As described above, the rotation shaft 242 is coupled to the second jaw driving motor (not shown) through the motor coupling part 252, so when the second jaw driving motor (not shown) rotates for driving the second jaw 102, the pulleys 221 and 222 as the driving part second jaw pulley rotate together with the rotation shaft 242 to pull or release the wires 302 and 306 as the second jaw wires.

[0298] The pulley 231 as the driving section pitch pulley can be coupled to the rotation shaft 243 as the driving section pitch rotation shaft. Here, the pulley 231 can be formed to rotate together with the rotation shaft 243.

[0299] As described above, the rotation shaft 243 is coupled to the pitch driving motor (not shown) through the motor coupling part 253, and thus, when the pitch driving motor (not shown) rotates for the pitch operation, the pulley 231 as the driving section pitch pulley rotates together with the rotation shaft 243 to pull or release the wires 303 and 304 as the pitch wires.

[0300] On the other hand, the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as the driving section intermediate pulleys can be formed to be inserted through the rotation shaft 243 so as to be able to rotate about the rotation shaft 243 as a center. Here, one side can be provided with the pulleys 215, 216, 217, and 218 as the driving section first clamping intermediate pulleys with reference to the pulley 231 as the pitch pulley, and the other side can be provided with the pulleys 225, 226, 227, and 228 as the driving section second clamping intermediate pulleys with reference to the pulley 231.

[0301] In other words, the pulleys 225 and 226 as the driving section second clamping first intermediate pulleys, the pulleys 227 and 228 as the driving section second clamping second intermediate pulleys, the pulley 231 as the driving section pitch pulley, the pulleys 217 and 218 as the driving section first clamping second intermediate pulleys, and the pulleys 215 and 216 as the driving section first clamping first intermediate pulleys can be sequentially stacked on the rotation shaft 243.

[0302] In addition, the pitch-yaw coupler 232 can be coupled to the rotation shaft 243. The pitch-yaw coupler 232 can be formed to drive the driving section satellite pulleys to revolve about the rotation shaft 243 when the pulley 231 rotates by rigidly connecting the pulley 231 as the driving section pitch pulley and the pulleys 219, 220, 229, and 230 as the driving section satellite pulleys. This will be described in more detail later.

[0303] Here, the pitch-yaw coupler 232 can be formed to rotate together with the rotation shaft 243. That is, the pulley 231 and the pitch-yaw coupler 232 are coupled to the rotation shaft 243 so as to be able to rotate together with the rotation shaft 243.

[0304] Here, the pitch-yaw coupler 232 can be described as being formed such that FIG. 22BThe substantially Y shape shown, or can be described as a shape formed from the center of at least two extensions 232a, 232b. And, at the end of each of these extensions 232a, 232b can be formed with a drive portion first clamp satellite pulley center shaft 233 and a drive portion second clamp satellite pulley center shaft 234.

[0305] And, as the drive portion first clamp satellite pulley pulley 219 and pulley 220 can be combined to the drive portion first clamp satellite pulley center shaft 233, and as the drive portion second clamp satellite pulley pulley 229 and pulley 230 can be combined to the drive portion second clamp satellite pulley center shaft 234.

[0306] As a result, when the pulley 231 as the drive portion pitch pulley rotates together with the rotation shaft 243, the pulley 219, the pulley 220, the pulley 229, and the pulley 230 as the drive portion satellite pulley revolve around the rotation shaft 243. In other words, it can also be described that, in a state in which the drive portion first clamp satellite pulley center shaft 233 and the drive portion second clamp satellite pulley center shaft 234 are spaced apart from the rotation shaft 243 by a certain degree, the drive portion first clamp satellite pulley center shaft 233 and the drive portion second clamp satellite pulley center shaft 234 rotate around the rotation shaft 243 while maintaining a certain distance from the rotation shaft 243.

[0307] That is, the drive portion satellite pulley is formed to be relatively movable with respect to the drive portion intermediate pulley and the rotation shaft 243, so that the relative position of the drive portion satellite pulley with respect to the drive portion intermediate pulley and the rotation shaft 243 can be changed. On the other hand, the relative position of the drive portion pitch pulley and the drive portion intermediate pulley remains constant.

[0308] And, when the pulley 231 as the drive portion pitch pulley rotates around the rotation shaft 243, the pulley 219, the pulley 220, the pulley 229, and the pulley 230 as the drive portion satellite pulley relatively move with respect to the pulley 231 as the drive portion pitch pulley, so that the total length of the wire 301, the wire 302, the wire 305, and the wire 306 as the clamp wire within the drive portion 200 changes.

[0309] In a state in which one end of the wire 301 as the first clamp wire is combined to the pulley 211 by a first clamp wire-drive portion fastening member (not shown), it is sequentially wound on the pulley 211, the pulley 213, the pulley 215, the pulley 219, and the pulley 217, so that at least a portion thereof is in contact therewith, and then connected to the terminal tool 100 via the connection portion 310.

[0310] In other words, the wire 301 as the first jaw wire is connected to the terminal tool 100 via the connection portion 310 after passing through the driving portion first jaw pulley 211, the driving portion first jaw auxiliary pulley 213, the driving portion first jaw first intermediate pulley 215, the driving portion first jaw satellite pulley 219, and the driving portion first jaw second intermediate pulley 217 in this order.

[0311] In other words, the wire 301 as the first jaw wire is connected to the terminal tool 100 via the connection portion 310 after passing through the driving portion first jaw pulley 211, the driving portion first jaw auxiliary pulley 213, the driving portion first jaw first intermediate pulley 215, the driving portion first jaw satellite pulley 219, and the driving portion first jaw second intermediate pulley 217 in this order.

[0312] On the other hand, the wire 305 as the first jaw wire is connected to the terminal tool 100 via the connection portion 310 after being wound around the pulleys 212, 214, 216, 220, and 218 in this order with at least a part thereof in contact with the pulleys, in a state where one end of the wire 305 is coupled to the pulley 212 by a first jaw wire-driving portion fastening member (not shown).

[0313] On the other hand, the wire 305 as the first jaw wire is connected to the terminal tool 100 via the connection portion 310 after being wound around the pulleys 212, 214, 216, 220, and 218 in this order with at least a part thereof in contact with the pulleys, in a state where one end of the wire 305 is coupled to the pulley 212 by a first jaw wire-driving portion fastening member (not shown).

[0314] On the other hand, the wire 306 as the second jaw wire is connected to the terminal tool 100 via the connection portion 310 after being wound around the pulleys 222, 224, 226, 230, and 228 in this order with at least a part thereof in contact with the pulleys, in a state where one end of the wire 306 is coupled to the pulley 222 by a second jaw wire-driving portion fastening member (not shown).

[0315] FIG. 23B To show FIG. 22C a figure showing the pitch action of the surgical instrument. In this figure, for the sake of explanation, FIG. 23C and FIG. 15 only the pulleys and wires related to the rotation of the first jaw are shown, FIG. 15 and FIG. 23A only the pulleys and wires related to the rotation of the second jaw are shown. Also, FIG. 22A and FIG. 23A in the figures, the pitch action of the terminal tool according to the pitch action of the driving portion is shown.

[0316] In the surgical instrument 30 according to the embodiment of the present application, the total length of the jaw wire in the drive unit 200 changes when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, thereby performing the pitch action of the end effector 100. In particular, in the surgical instrument 30 according to the embodiment of the present application, the drive unit satellite pulley revolves around the (common) rotation axis of the drive unit intermediate pulley and the drive unit pitch pulley when the drive unit pitch pulley rotates, to change the path length of the jaw wire wound around the drive unit intermediate pulley, thereby performing the pitch action of the end effector.

[0317] Specifically, if the drive unit does not perform the separate motion compensation for the pitch action, the pitch action itself cannot be performed in the end effector.

[0318] On the other hand, to perform the pitch action in the end effector, the wire 301 and the wire 305 need to be wound more around the pulley 113 by ΔSpitch, and the wire 302 and the wire 306 need to be unwound more from the pulley 114 by ΔSpitch. However, if the drive unit does not perform the compensation as described above, the pitch action cannot be performed in the end effector at all.

[0319] As described above, to perform the motion compensation for the pitch action, the surgical instrument 30 according to the embodiment of the present application is characterized in that the drive unit pitch pulley revolves around the rotation axis 243 while the drive unit satellite pulley revolves around the rotation axis 243, to wind or unwind the jaw wire around or from the drive unit intermediate pulley, thereby compensating for the movement of the jaw wire caused by the rotation of the drive unit pitch pulley.

[0320] In other words, when the pulley 231 as the drive unit pitch pulley rotates together with the rotation axis 243, the drive unit satellite pulley revolves around the rotation axis 243. And, as the drive unit satellite pulley revolves around the rotation axis 243, the length of the jaw wire wound around the drive unit intermediate pulley changes. That is, the jaw wire wound on the end effector 100 side by the rotation of the pulley 231 is unwound by the same length on the drive unit 200 side, and the jaw wire unwound on the end effector 100 side is wound by the same length on the drive unit 200 side, thereby avoiding the pitch action from affecting the yaw action.

[0321] To illustrate this further, when the terminal tool performs a pitching motion via the rotation of the pitch pulley in the drive unit, the clamping wires (responsible for yaw and actuation motions) also move during the pitching motion. That is, as the terminal tool 100 rotates around its rotation axis 143, the two strands of the clamping wire attached to one side of the jaw are pulled, and the two strands attached to the other side of the jaw are released. Therefore, it can also be described that, to compensate for this movement of the clamping wires, when the terminal tool performs a pitching motion, as the satellite pulley in the drive unit moves relative to the intermediate pulley in the drive unit, the total length of the clamping wires in the drive unit changes, such that while the clamping wires are pulled (or released) on the terminal tool side, the same length of clamping wires is released (or pulled) on the drive unit side, thereby compensating for the movement of the clamping wires when the terminal tool performs a pitching motion.

[0322] The pitch motion will be explained in more detail below.

[0323] For pitching motion, when the pulley 231, which serves as the drive unit for pitching, rotates in the direction of arrow A1 (i.e., clockwise in the attached diagram), the pitch-yaw connector (see reference)... FIG. 15 232) rotates together with pulley 231 in the direction of arrow A1, thus securing it to the pitch-yaw connector (see reference). FIG. 15 The pulleys 219 and 220, which serve as the driving unit satellite pulleys (232), are generally centered on the rotation axis 243. FIG. 23B The pulleys revolve θ in the A2 direction (i.e., clockwise in the attached diagram). That is, when pulley 231 rotates, pulleys 219 and 220 move from... FIG. 22B The revolution θ at point P1 to FIG. 23B Point P2 in the diagram. To express this from another perspective, it can also be described as follows: when the pitch pulley of the drive unit rotates, the satellite pulley of the drive unit moves in conjunction with the pitch pulley of the drive unit.

[0324] On the other hand, when the pulley 231, which serves as the pitch pulley for the drive unit, rotates in the direction of arrow A1 (i.e., clockwise in the attached figure), the pitch-yaw connector (see reference) FIG. 22A 232) rotates together with pulley 231 in the direction of arrow A1, thus securing it to the pitch-yaw connector (see reference). FIG. 23A The pulleys 229 and 230, which serve as the driving unit of the satellite pulleys (232), are generally centered on the rotation axis 243. FIG. 22B The pulleys revolve θ in the A3 direction (i.e., clockwise in the attached diagram). That is, when pulley 231 rotates, pulleys 229 and 230 move from... FIG. 23B The revolution θ at point P3 in the middle reachesFIG. 24A to FIG. 25B Point P4 in the diagram. To express this from another perspective, it can also be described as follows: when the pitch pulley of the drive unit rotates, the satellite pulley of the drive unit moves in conjunction with the pitch pulley of the drive unit.

[0325] On the other hand, at this time, the positions of pulleys 215, 216, 217, 218, 225, 226, 227, and 228, which are connected to the rotation shaft 243 and serve as intermediate pulleys of the drive unit, remain unchanged. That is, the relative positions of pulley 211, which serves as the clamping pulley of the drive unit, pulley 231, which serves as the pitch pulley of the drive unit, and pulleys 215, 216, 217, and 218, which serve as intermediate pulleys of the drive unit, remain constant. Similarly, the relative positions of pulley 221, which serves as the clamping pulley of the drive unit, pulley 231, which serves as the pitch pulley of the drive unit, and pulleys 225, 226, 227, and 228, which serve as intermediate pulleys of the drive unit, remain constant.

[0326] Furthermore, as described above, as the drive unit satellite pulleys revolve, the relative position of the drive unit satellite pulleys with respect to the drive unit intermediate pulley changes, and correspondingly, the length of each wire wound on the drive unit intermediate pulley, i.e., the path length, changes. The drive unit intermediate pulley includes pulley 215, which serves as the first clamping intermediate pulley of the drive unit, and pulley 217, which serves as the first clamping second intermediate pulley of the drive unit. Therefore, the path length also means the sum of the length of wire 301 wound on pulley 215 and the length of wire 301 wound on pulley 217 (or the length of wire 305 wound on pulley 216 and the length of wire 305 wound on pulley 218).

[0327] That is, with FIG. 11 Compared to the path length L1 of wires 301 and 305, which serve as the first clamping wires, wound around the intermediate pulley of the drive unit, in FIG. 20 The path length L2 of the first clamping wire wound on the intermediate pulley of the drive unit becomes shorter, and the first clamping wire (L1-L2) is released on the drive unit 200 side, with the release length being the length (L1-L2) of the shortened path length. That is, the total length of wires 301 and 305, which are the first clamping wires, in the drive unit 200 becomes shorter. Furthermore, as described above, as the total length of the first clamping wire in the drive unit 200 decreases while the first clamping wire is released, the total length of the first clamping wire in the terminal tool 100 increases.

[0328] On the other hand, when pulley 231, which serves as the pitch pulley for the drive unit, rotates in the direction of arrow A1, it is in harmony with the... FIG. 21 Compared to the path length L3 of wires 302 and 306, which serve as the second clamping wires, wound around the intermediate pulley of the drive unit, inFIG. 24A to FIG. 25B The path length L4 of the second jaw wire that winds around the intermediate pulley in the drive section becomes longer, and the second jaw wire is pulled on the drive section 200 side by the length (L4-L3) by which the path length becomes longer. That is, the total length of the wire 302 and the wire 306 as the second jaw wire in the drive section 200 becomes longer. Also, as described above, as the total length of the second jaw wire in the drive section 200 becomes longer while the second jaw wire is pulled, the total length of the second jaw wire in the terminal tool 100 becomes shorter.

[0329] As described above, for the pitch action, when the pulley 231 as the drive section pitch pulley is rotated in the arrow Al direction, the relative position of the drive section satellite pulley changes while moving with respect to the drive section pitch pulley and the drive section intermediate pulley. Also, by the relative movement of the drive section satellite pulley, the total length of the first jaw wire in the drive section 200 becomes shorter, and the total length of the first jaw wire in the terminal tool 100 becomes longer. On the other hand, by the relative movement of the drive section satellite pulley, the total length of the second jaw wire in the drive section 200 becomes longer, and the total length of the second jaw wire in the terminal tool 100 becomes shorter.

[0330] As a result, when viewed from the terminal tool 100 side, if the pulley 231 as the drive section pitch pulley is rotated in the arrow Al direction, the wire 301 and the wire 305 as the two strands of the first jaw wire are loosened, and the wire 302 and the wire 306 as the two strands of the second jaw wire are pulled, causing the terminal tool 100 to pitch in the arrow A4 direction with the rotation axis 143 as the center.

[0331] Here, the path length can be defined as the length of the jaw wire from the entrance of the drive section first intermediate pulley and after passing through the drive section satellite pulley to the exit of the drive section second intermediate pulley. That is, the length of the jaw wire from the point at which the wire 301 as the jaw wire enters the pulley 215 as the drive section first intermediate pulley and after passing through the pulley 219 as the drive section satellite pulley to the exit of the pulley 217 as the drive section second intermediate pulley can be defined as the path length.

[0332] Expressing this from another perspective, the path length can be defined as the length of the jaw wire from the point at which the jaw wire first contacts the drive section intermediate pulley to the point at which the jaw wire last contacts the drive section intermediate pulley on the set path of the jaw wire connecting the terminal tool jaw pulley and the drive section jaw pulley. That is, the length of the jaw wire from the point at which the wire 301 as the jaw wire first contacts the pulley 215 as the drive section first intermediate pulley to the point at which the wire 301 last contacts the pulley 217 as the drive section second intermediate pulley can also be defined as the path length.

[0333] On the other hand, as the driving portion satellite pulley moves with respect to the driving portion intermediate pulley, the above-mentioned path length changes, and the total length of the pinch lead in the driving portion 200 also changes. In addition, as the total length of the pinch lead in the driving portion 200 changes, the total length of the pinch lead in the terminal tool 100 also changes. However, as the total length of the pinch lead in the driving portion 200 increases (or decreases), the total length of the pinch lead in the terminal tool 100 also decreases (or increases) by the same length, and thus the total length of the pinch lead (under the assumption that elastic deformation and the like are not taken into account) does not change.

[0334] As a result, when the driving portion pitch pulley is rotated, as the lead 301 / lead 305 on the terminal tool 100 side as the first pinch lead is pulled, the lead 301 / lead 305 on the driving portion 200 side as the first pinch lead is released by the same length, and as a result, the pitch movement is realized.

[0335] On the other hand, as described above, the terminal tool 100 of the surgical instrument 30 of the present application also includes the pulley 131 as the terminal tool pitch pulley, the driving portion 200 also includes the pulley 231 as the driving portion pitch pulley, and the power transmission portion 300 can also include the lead 303 and the lead 304 as the pitch leads.

[0336] Therefore, when the pulley 231 as the driving portion pitch pulley is rotated in the direction of the arrow Al, as the pulley 231 is rotated, the lead 304 is wound around the pulley 231, and the lead 303 is released from the pulley 231. As a result, the pulley 131 as the terminal tool pitch pulley connected to the opposite sides of the lead 303 and the lead 304 is rotated in the direction of the arrow A2 around the rotation axis 143 while being able to more certainly and reliably perform the pitch movement.

[0337] Among the pulleys as the terminal tool pitch pulleys that rotate around the rotation axis 143 in contact with the lead 303 and the lead 304 as the pitch leads, the diameters of the pulley 131, the pulley 114, the pulley 123, and the pulley 124 as the terminal tool pitch pulleys that contact the lead 301, the lead 305, the lead 302, and the lead 306 as the pinch leads can be formed to be different from each other.

[0338] In this case, the length of wire wound around each pulley or the length of wire released from each pulley differs from each other when the rotation shaft 143 rotates. For example, in the case where the diameter of the terminal tool pitch pulley is 6φ, the diameter of the terminal tool jaw pitch master pulley is 4φ, and the rotation shaft 143 rotates 90°, the length of the pitch wire wound around the terminal tool pitch pulley is 1.5π, and the length of the jaw wire wound around the terminal tool jaw pitch master pulley can be 1π.

[0339] From this perspective, the "length" of wire wound around a pulley or the "length" of wire released from a pulley can be defined as a "rotation amount". This rotation amount is a different concept from a rotation angle, and can be calculated using the formula (diameter * rotation angle / 360° * π).

[0340] In this case, basically, the pulley 231 that is the driving unit pitch pulley and the pulley 131 that is the terminal tool pitch pulley are directly connected by the wire 303 and the wire 304 that are pitch wires, and thus the rotation amounts of the driving unit pitch pulley and the terminal tool pitch pulley are the same. That is, the length of the pitch wire released from the terminal tool pitch pulley or wound around the terminal tool pitch pulley is the same as the length of the pitch wire wound around the driving unit pitch pulley or released from the driving unit pitch pulley.

[0341] On the other hand, it can be that (diameter of the terminal tool pitch pulley : diameter of the terminal tool jaw pitch master pulley) = (rotation amount of the wire wound around the terminal tool pitch pulley : rotation amount of the wire wound around the terminal tool jaw pitch master pulley).

[0342] As described above, in the case where the length of the pitch wire wound around the terminal tool pitch pulley and the length of the jaw wire wound around the terminal tool jaw pitch master pulley differ in the terminal tool 100, the length of the pitch wire released and the length of the jaw wire released also need to differ from each other at the same ratio in the driving unit 200.

[0343] To this end, the relationship of (diameter of the terminal tool pitch pulley : diameter of the terminal tool jaw pitch master pulley) = (diameter of the driving unit pitch pulley : diameter of the driving unit intermediate pulley) can be established.

[0344] For example, in the case where (diameter of the terminal tool pitch pulley : diameter of the terminal tool jaw pitch master pulley) is 6 : 4, (diameter of the driving unit pitch pulley : diameter of the driving unit intermediate pulley) can also be 6 : 4. According to this ratio, the diameter of the driving unit pitch pulley can be 9φ, and the diameter of the driving unit intermediate pulley can be 6φ.

[0345] However, among them, the driving section intermediate pulley can have two (or more) pulleys including the driving section first intermediate pulley and the driving section second intermediate pulley. In addition, the sum of the diameters of the driving section first intermediate pulley and the driving section second intermediate pulley can be defined as the diameter of the driving section intermediate pulley.

[0346] For example, when the diameter of the driving section intermediate pulley is 6φ, (diameter of the driving section first intermediate pulley, diameter of the driving section second intermediate pulley) can be (1φ, 5φ), (2φ, 4φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Among them, as shown in the drawing, the diameter of the pulley 215 as the driving section first intermediate pulley is 4φ, and the diameter of the pulley 217 as the driving section second intermediate pulley is 2φ.

[0347] φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Among them, as shown in the drawing, the diameter of the pulley 215 as the driving section first intermediate pulley is 4φ, and the diameter of the pulley 217 as the driving section second intermediate pulley is 2φ.

[0348] Also, it can be described that (the amount of rotation of the driving section first intermediate pulley + the amount of rotation of the driving section second intermediate pulley) is proportional to the amount of rotation of the driving section pitch pulley.

[0349] However, even if the ratio of (the diameter of the terminal tool pitch pulley: the diameter of the terminal tool jaw pitch main pulley) is not completely consistent with the ratio of (the diameter of the driving section pitch pulley: the diameter of the driving section intermediate pulley), if the diameters of the pulleys are selected so that the ratios are similar to each other, the purpose of the present application, that is, compensating for the movement of the jaw wire according to the rotation of the driving section pitch pulley, can be achieved to some extent.

[0350] The final pitch operation process will be described again below.

[0351] Hereinafter, a case where the diameter of the terminal tool pitch pulley is 6φ, the diameter of the terminal tool jaw pitch main pulley is 4φ, the diameter of the driving section pitch pulley is 9φ, and the diameter of the driving section intermediate pulley is 6φ will be described as an example.

[0352] First, in order to pitch, the pulley 231 as the driving section pitch pulley of the driving section 200 rotates 60° to wind the wire 304 as the pitch wire while loosening the wire 303. At this time, the lengths of the wire 303 / wire 304 wound and loosened are 1.5π, respectively.

[0353] Therefore, in the terminal tool 100, the wire 304 is pulled by 1.5π, and the wire 303 is loosened by 1.5π, while the pulley 131 as the terminal tool pitch pulley rotates 90° corresponding to 1.5π.

[0354] On the other hand, when the pulley 131 is rotated about the rotation axis 143, the gripper 101, 102 and the pulley 111 / pulley 112 are also rotated about the rotation axis 143. Therefore, the wire 301 and the wire 305 as the first gripper wire combined with the pulley 111 are pulled, and the wire 302 and the wire 306 as the second gripper wire combined with the pulley 121 are released. At this time, the angle of rotation of the terminal tool pitch pulley and the terminal tool gripper pitch master pulley is the same, 90°, and therefore the length of the gripper wire wound on or released from the terminal tool gripper pitch master pulley is π.

[0355] On the other hand, since the pulley 231 and the pulley 219 / pulley 220 are rigidly combined through the pitch-yaw connector 232, when the pulley 231 is rotated 60° about the rotation axis 243, the pulley 219 / pulley 220 is revolved 60° about the rotation axis 243.

[0356] Also, while the pulley 219 / pulley 220 revolves in this way, the gripper wire is wound on or released from the pulley 215 and the pulley 216, the sum of the diameters of which is 6φ, by π, which corresponds to 60° as the revolving angle. That is, the wire 301 and the wire 305 as the first gripper wire are released as a whole, and the wire 302 and the wire 306 as the second gripper wire are pulled as a whole.

[0357] In other words, the total length of the path of the wire 301 and the wire 305 wound on the pulley 215, the pulley 216, the pulley 217 and the pulley 218 as the driving portion first gripper intermediate pulley is reduced, and the wire 301 and the wire 305 are released by the reduced path length. Also, the total length of the path of the wire 302 and the wire 306 wound on the pulley 225, the pulley 226, the pulley 227 and the pulley 228 as the driving portion second gripper intermediate pulley is increased, and the wire 302 and the wire 306 are pulled by the increased path length.

[0358] That is, the wire 301 and the wire 305 as the first gripper wire are pulled on the side close to the terminal tool 100 while being released on the side close to the driving portion 200, thereby compensating for the movement of the gripper wire according to the pitch operation. Also, the wire 302 and the wire 306 as the second gripper wire are pulled on the side close to the terminal tool 100 while being released on the side close to the driving portion 200, thereby compensating for the movement of the gripper wire according to the pitch operation.

[0359] As a result, the jaw wire is wound (or unwound) on the side close to the terminal tool 100 by the pitch motion, unwound (or pulled) on the side close to the driving section 200 by the pitch motion, and the length of the unwound (or pulled) part is the same as the length of the wound (or unwound) part on the side close to the terminal tool 100, so that the pitch motion can be performed independently of the yaw motion.

[0360] That is, when the driving section pitch pulley is rotated around the rotation axis 243 by the rigid connection of the driving section pitch pulley and the driving section satellite pulley, the driving section satellite pulley revolves around the rotation axis 243 while changing the path length of the jaw wire wound on the driving section intermediate pulley. Also, the change in the path length of the jaw wire compensates for the movement of the jaw wire on the terminal tool side according to the pitch motion, so that the pitch motion can be performed independently.

[0361] FIG. 26 To show the yaw motion of the surgical instrument shown in FIG. 1. FIG. 26 FIG. 2 shows the yaw motion of the surgical instrument shown in FIG. 1.

[0362] Referring to FIG. 2, FIG. 26 , FIG. 26 , Coordinate system conversion and the like, when the pulley 211 as the driving section first jaw pulley is rotated in the direction of the arrow A3 for the yaw motion, one side of the wire 301 and the wire 305 as the first jaw wire is wound on the pulley 211 and the other side is unwound from the pulley 211 as the pulley 211 is rotated. Therefore, the pulley 111 as the terminal tool first jaw pulley connected to the opposite side of the wire 301 and the wire 305 is rotated in the direction of the arrow A4 to perform the yaw motion.

[0363] At this time, the positions of the pulleys 219, 220, 229, and 230 as the driving section satellite pulleys and the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as the driving section intermediate pulleys do not change, and only the action of winding or unwinding the wire 301 and the wire 305 on or from the driving section satellite pulleys and the driving section intermediate pulleys occurs.

[0364] Therefore, the driving section pitch pulley rigidly connected to the driving section satellite pulley is also not rotated, and the wire 303 and the wire 304 as the pitch wire are not wound or unwound and maintain their positions.

[0365] Likewise, when the pulley 221 as the driving section second pincer pulley rotates for the deflection operation, with the rotation of the pulley 221, one side of the wires 302 and 306 as the second pincer wires is wound on the pulley 221, and the other side is unwound from the pulley 221. Therefore, the pulley 121 as the terminal tool second pincer pulley connected to the opposite sides of the wires 302 and 306 rotates in a certain direction to perform the deflection operation.

[0366] At this time, the positions of the pulleys 219, 220, 229, and 230 as the driving section satellite pulleys, and the pulleys 215, 216, 217, 218, 225, 226, 227, and 228 as the driving section intermediate pulleys do not change, and only the operation of winding or unwinding the wires 302 and 306 on or from the driving section satellite pulleys and the driving section intermediate pulleys occurs.

[0367] Therefore, the driving section pitch pulley rigidly connected to the driving section satellite pulley also does not rotate, and the wires 303 and 304 as the pitch wires also do not wind or unwind and maintain their positions.

[0368] As a result, even if the pulley 211 or 221 as the driving section pincer pulley rotates for the deflection operation or the actuation operation, the total length of the wires 301, 302, 305, and 306 as the pincer wires in the driving section 200 remains constant.

[0369] As described above, in the surgical instrument 30 according to an embodiment of the present application, when the driving section pitch pulley rotates, the driving section satellite pulley revolves around the rotation axis of the driving section pitch pulley while changing the path length of the pincer wires wound on the driving section intermediate pulley to wind or unwind the pincer wires in response to the rotation of the driving section pitch pulley, thereby canceling or compensating for the movement of the pincer wires according to the pitch driving, and as a result, the effect of separating the pitch operation from the deflection operation can be obtained.

[0370] However, as described above, the pitch operation and the deflection operation are not limited to be mechanically separated, but are independently separated by the processor of the present application according to an embodiment, so that the pitch operation and the deflection operation can be performed separately.

[0371] Direct control

[0372] A laparoscopic surgery forms an opening in a patient's abdominal cavity and inserts a long tube through the opening, and then performs a surgery using a surgical instrument attached to the long tube. According to an aspect, the distal end of the long tube can have an articulated instrument. At this time, since the surgical instrument cannot be visually confirmed, a surgical camera is inserted into the abdominal cavity, and a surgery person can operate the surgical instrument while viewing a surgery image displayed on a display device by displaying the surgery image acquired by the surgical camera.

[0373] The same is true when a laparoscopic surgery is performed using a surgical robot system, but in the case of a surgical robot, there is an advantage of intuitive manipulation compared to a manual surgical instrument. A passive surgical instrument moves symmetrically with respect to the abdominal cavity opening, and thus a surgery person needs a certain degree of practice to get used to it. In contrast, in the case of a surgical robot, intuitive manipulation of a surgical instrument can be achieved by matching the movement of a user-controlled movement with the movement of a surgical instrument in a surgery image displayed on a display.

[0374] In relation to this, in the present specification, a structure that acquires a surgery image including a surgery site or a surgical instrument, such as a laparoscopic surgery camera, can be referred to as a "camera". In addition, a device capable of recognizing a user's movement can be referred to as an "active device" or a "user input interaction unit".

[0375] FIG. 27 A diagram for representing a relationship between movement of a surgery image and operation of a user input interaction unit according to an aspect is shown. As shown in FIG. 28 In order to intuitively manipulate a surgical robot, the movement of the active device and the camera screen needs to be consistent. That is, a surgery person can control a user input interaction unit based on a surgery image displayed on a display device, and for example, only when the control direction of the user input interaction unit and the movement direction of a surgical instrument in a surgery image are consistent, the control of the surgical robot on the surgical instrument can be more intuitively achieved.

[0376] For example, as shown in a first form 2601 of FIG. 27 , in the case where a surgery person controls a user input interaction unit to move from right to left 2650, the movement direction of a surgical instrument in a surgery image 2611 opposite thereto is from bottom to top, and in the case where the movement of the user input interaction unit and the movement direction of the surgical instrument in the surgery image are not consistent, the surgery person cannot intuitively control the surgical instrument, and it is difficult to control the surgical instrument. In contrast, as shown in a second form 2602 of FIG. 27 , if the movement of the surgical instrument in the surgery image 2621 opposite thereto is also from right to left in response to the surgery person controlling the user input interaction unit to move from right to left 2650, so that the movement of the user input interaction unit and the movement direction of the surgical instrument in the surgery image are consistent, the surgery person can more intuitively control the surgical instrument.

[0377] FIG. 27

[0378] In order to make the control direction of these user input interaction units consistent with the moving direction of the surgical instrument in the surgical image, conversion between multiple coordinate systems existing in the surgical robot system is required. In relation to this, FIG. 28 A conceptual diagram of multiple coordinate systems of the surgical robot system and coordinate system conversion, FIG. 28 An example diagram of the surgical robot system representing Drive of surgical robot system including first robot and second robot coordinate systems and coordinate system conversion. As shown in FIG. 29 and 28 According to an aspect of the surgical robot system, a surgical robot (module type slave robot 20a) configured to mount a surgical instrument 30 based on a robot arm module 21, and a camera robot (module type slave robot 20b) configured to mount a surgical camera 50 based on a robot arm module 22, for example, can be included. In this specification, for the sake of the following description, the surgical robot 20a can be described as a first robot, and the camera robot 20b can be described as a second robot, but it should be noted that this is only exemplary and does not limit the technical idea of the present application. For example, as the first robot and the second robot are both surgical robots, or the first robot is a camera robot and the second robot is a surgical robot, etc., various combinations of independent robots can be included in the technical scope of the present application. In such a surgical robot system, multiple coordinate systems can exist, such as a surgical instrument coordinate system 2710, a first robot base coordinate system 2720, a second robot base coordinate system 2730, a camera image coordinate system 2740, etc.

[0379] Manipulating the surgical robot system includes the process of converting the movement information of the master device into the movement information of the surgical instrument mounted on the surgical robot. In order to intuitively manipulate the surgical robot, a series of coordinate system conversions need to be performed, which can be represented by a rotation matrix or the like in this specification. As shown in FIG. 29 The conversion between the coordinate systems for manipulating the surgical robot system can include at least one of a first conversion 2751 between the surgical instrument coordinate system 2710 and the first robot base coordinate system 2720, a second conversion 2753 between the first robot base coordinate system 2720 and the second robot base coordinate system 2730, and a third conversion 2755 between the second robot base coordinate system 2730 and the camera image coordinate system 2740.

[0380] Without limitation, but specifically, for example, the coordinate system conversion from the aforementioned camera image coordinate system 2740 to the surgical instrument coordinate system 2751, or the reverse coordinate system conversion, can be described as the following mathematical formula 1.

[0381]

Mathematical Formula 1

[0382]

[0383] These mathematical formulas can be specifically understood as follows:

[0384] First, regarding the movement information relative to the camera picture coordinate system 2740, in order to intuitively manipulate, it can be assumed that the movement information relative to the camera picture coordinate system is the same as the actual movement information of the active device relative to the world coordinate system.

[0385]

Mathematical formula 2

[0386]

[0387] That is, in order to enable the surgical personnel to intuitively control the surgical instrument according to the surgical image, the world coordinate system (i.e., the real coordinate system) and the reference coordinate system of the movement of the surgical instrument in the surgical image (i.e., the camera picture coordinate system 2740) need to be consistent, so as shown in Mathematical Formula 2, it is assumed that the movement information relative to the camera picture coordinate system is the same as the movement information of the user input interaction part relative to the world coordinate system.

[0388] On the other hand, the movement information relative to the camera robot base coordinate system can be understood as shown in the following Mathematical Formula 3:

[0389]

Mathematical formula 3

[0390]

[0391] That is, the movement information relative to the camera robot base coordinate system 2730 can be the movement information of the user input interaction part, i.e., the movement information relative to the camera picture coordinate system 2740 multiplied by the rotation matrix for the third conversion 2755.

[0392] In addition, the movement information relative to the surgical robot base coordinate system can be understood as shown in the following Mathematical Formula 4:

[0393]

Mathematical formula 4

[0394]

[0395] That is, the movement information relative to the surgical robot base coordinate system 2720 can be the movement information of the camera robot base coordinate system 2730 of Mathematical Formula 3 multiplied by the rotation matrix for the second conversion 2753.

[0396] In addition, the movement information relative to the surgical instrument coordinate system can be understood as shown in the following Mathematical Formula 5:

[0397]

Mathematical formula 5

[0398]

[0399] That is, the movement information with respect to the surgical instrument coordinate system 2710 can be movement information of the surgical robot base coordinate system 2720 of Mathematical Formula 4 multiplied by a rotation matrix for the first conversion 2751.

[0400] Therefore, as described above, there are three coordinate system conversions in total required for the camera picture coordinate system 2740 to convert the movement information of the user input interaction part with respect to the real coordinate system into movement information of the surgical instrument based on the surgical instrument coordinate system 2710: a conversion from the camera robot base coordinate system to the camera picture coordinate system (R cRobot→cView , third conversion) 2755, a conversion from the surgical robot base coordinate system to the camera robot base coordinate system (R sRobot→cRobot , second conversion) 2753), and a conversion from the surgical instrument coordinate system to the surgical robot base coordinate system (R sTool→sRobot , first conversion) 2751.

[0401] Among them, if the kinematic information of the surgical robot and the camera robot is known respectively (Kinematic Information), the first conversion 2751 and the third conversion 2755 can be performed. As shown in Mathematical Formula 5, for example, the surgical robot 20a is configured to control the surgical instrument 30 based on the robot arm module 21 possessed by the surgical robot 20a. Among them, for example, the posture and / or position of the surgical instrument 30 can be controlled by controlling the driving state of the driving components of the robot arm module such as joints. Therefore, based on the kinematic information of the driving components of the robot arm module 21, the conversion between the surgical instrument coordinate system 2710 and the surgical robot base coordinate system 2720 can be achieved by using forward kinematics or reverse kinematics. For the same purpose, for example, the camera robot 20b is configured to control the surgical camera 50 based on the robot arm module 22 possessed by the camera robot 20b. Among them, for example, the posture and / or position of the surgical camera 50 can be controlled by controlling the driving state of the driving components of the robot arm module such as joints. Therefore, based on the kinematic information of the driving components of the robot arm module 22, the conversion between the camera picture coordinate system 2740 and the camera robot base coordinate system 2730 can be achieved by using forward kinematics or reverse kinematics. FIG. 1

[0402] ​Finally, for the required second conversion 2753, i.e., the conversion between the first robot coordinate system 2720 and the second robot coordinate system 2730, the manner of calculation can differ depending on the form of the surgical robot. In the present specification, as previously described, the surgical robot system can be classified into "integrated type" and "independent type" according to the structure of the slave robot. For example, the integrated type slave robot can include a form in which a plurality of robot arm modules are provided on one slave robot, and the independent type or modular type slave robot can include a form in which each robot arm module is provided with a separate slave robot, or a form in which a plurality of robot arm modules are provided on at least a part of the slave robot, and other robot arm modules are provided on a separate slave robot different therefrom.

[0403] In the case of the integrated type surgical robot, the surgical robot and the camera robot are mounted on one robot. That is, one slave robot can be provided with both a robot arm module for holding a camera and a robot arm module for holding a surgical instrument. Therefore, since the camera robot and the surgical robot have the same robot coordinate system, the second conversion 2753 between the first robot coordinate system 2720 and the second robot coordinate system 2730 is self-evident and does not need to be separately described.

[0404] In the case of the independent type surgical robot exemplarily illustrated in FIG. 20, FIG. 2A In the case of the independent type surgical robot exemplarily illustrated in FIG. 20,

[0405] On the other hand, depending on the nature of the operating room in which the laparoscopic surgery is performed, the surgical robot 20a and the camera robot 20b are generally located on the same floor. Therefore, the relationship between the coordinate systems of the surgical robot 20a and the camera robot 20b can be determined by the "azimuth angle", which is the angle of rotation with respect to the direction perpendicular to the floor. That is, the second conversion 2753 according to an aspect of the present specification can be calculated by the "relative azimuth angle", which is the difference between the azimuth angle of the surgical robot coordinate system 2720 and the azimuth angle of the camera robot coordinate system 2730. In other words, in order to determine the relationship between the surgical robot coordinate system 2720 and the camera robot coordinate system 2730, the rotation angle or the angle difference with respect to the remaining axes other than one of the plurality of coordinate axes, for example, the axis perpendicular to the floor, can be ignored or assumed not to exist.

[0406] In relation to this, in order to acquire the relative orientation angle between the first surgical robot and the second surgical robot, it is possible to consider, for example, measuring the induced value with the geomagnetic sensor with the magnetic north direction as the reference. Such a geomagnetic sensor has the advantage of being versatile, widely commercialized, and easy to implement the device structure for determining the relative orientation angle. However, the geomagnetic sensor can be affected by magnetic objects in the environment, which poses a potential risk to accurate measurement of the orientation angle, and in severe cases can cause the surgical robot system to fail to operate.

[0407] In addition, the independent surgical robot system according to an embodiment can adopt a method of measuring the orientation angle in a certain direction by a laser sensor. However, expensive components such as laser sensors increase the manufacturing cost of the surgical robot system, and in turn increase the economic burden on patients.

[0408] According to another aspect, for example, the relative orientation angle can also be measured by a relatively inexpensive sensor, such as a potentiometer or an encoder. However, such a sensor-based measurement method is manual information that must be manually operated by the user, and therefore there is a problem that input errors such as user transactions cannot be avoided.

[0409] According to an aspect of the present specification, a relatively inexpensive and reliable relative orientation angle measurement method can be provided. Hereinafter, the driving method of the surgical robot system according to an embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

[0410] FIG. 1

[0411] FIG. 2A is a schematic flowchart of the driving method of the surgical robot system according to an aspect described in the present specification. As shown in FIG. 29 , the driving method of the surgical robot system according to an embodiment of the present specification can include steps processed in time series on the user terminal 2000, 2010 or the processor 2011 as shown in FIG. 1 and FIG. 2B . Therefore, even if the following omitted contents, with respect to the above-described contents of the user terminal 2000, 2010 or the processor 2011 as shown in FIG. 29 and FIG. 3 to FIG. 5 , can be applied to the method of driving the surgical robot system of FIG. 29 .

[0412] In addition, as previously mentioned with reference to FIG. 29 and FIG. 29 , FIG. 32 at least one step in the method of driving the surgical robot system of

[0413] In addition, as previously mentioned with reference to FIG. 32 , FIG. 33At least one step in the method of driving a surgical robot system may be processed by an active robot 10, a driven robot 20, or a surgical instrument 30 or a processor contained therein.

[0414] For ease of description, the method for driving a surgical robot system according to embodiments of this disclosure can be described as being performed by a computing device. For example, the computing device may be the user terminal, server, active robot, driven robot, or surgical instrument, or a processor or combination thereof contained therein, but is not limited thereto. Those skilled in the art should readily understand that any computable device, including a processor and memory, can serve as a computing device to perform the method for driving a surgical robot system according to this disclosure.

[0415] In this specification, for ease of description, an example of a "reference information acquisition device" is described as a "reference-only imaging device," and an example of "reference information" is described as a "reference image." However, this is exemplary, and the reference information acquisition device or reference information according to this specification is not limited thereto. It should be understood that the technical concept of the present invention includes any information acquisition device that uses information about a reference object measured at different locations to determine the relative positional relationship between a first robot and a second robot, such as the depth value of the reference object measured by first and second depth sensors or a laser scanner.

[0416] like FIG. 10 As shown, a method for driving a surgical robot system according to an embodiment of the present invention is a driving method for a surgical robot system having a first robot and a second robot, comprising: acquiring a first reference image of a reference object based on a first reference object imaging device provided on the first robot (step 2910); acquiring a second reference image of the reference object based on a second reference object imaging device provided on the second robot (step 2920); determining the relative positional relationship between the first robot and the second robot based on the first reference image and the second reference image (step 2930); performing a conversion between user input interaction unit operation information based on the coordinate system of the user input interaction unit of the surgical robot system and driving information of the surgical instrument based on the coordinate system of the surgical instrument based on the kinematics information of the first robot, the kinematic information of the second robot, and coordinate system transformation information (step 2940); and operating the surgical instrument based on the driving information (step 2950).

[0417] That is, according to the driving method of the surgical robot system of an embodiment of the present specification, the first reference image and the second reference image can be acquired using the reference object photographing devices respectively provided on the first surgical robot and the second surgical robot, and the coordinate system conversion between the first surgical robot and the second surgical robot can be performed by analyzing these images. Thus, the relative orientation angle between the first surgical robot and the second surgical robot can be stably determined at a lower cost without being affected by a magnetic field.

[0418] Further, it can also convert the movement information of the user input interaction unit into driving information of the surgical instrument, so that the movement of the surgical instrument in the surgical image displayed through the surgical robot display and the movement of the user input interaction unit become consistent. Therefore, the surgical staff can manipulate the surgical robot more intuitively by referring to the surgical image displayed through the display.

[0419] Referring again to FIG. 10 , in order to drive the surgical robot system, the computing device can first acquire a first reference image of the reference object based on the first reference object photographing device provided on the first robot (2910 step), and acquire a second reference image of the reference object based on the second reference object photographing device provided on the second robot (2920 step).

[0420] Among them, as a non-limiting example, the first robot is configured to install the first surgical instrument; the second robot is configured to install the second surgical instrument. In addition, as a non-limiting example, the second surgical instrument can include a surgical camera. That is, the first robot can be a surgical robot, and the second robot can be a camera robot. But the technical idea of the present application is not limited to this.

[0421] On the other hand, according to an aspect of the present specification, considering the intuitive use of the user, as a non-limiting example, the photographing object on the operating room ceiling where the robot is set and the camera can be used. For example, each camera mounted on the surgical robot and the camera robot can be configured to photograph the photographing object on the ceiling. That is, the first reference object photographing device can be, for example, a camera mounted on the first surgical robot and directed towards the ceiling of the surgical space where the first robot and the second robot are set. In addition, the second reference object photographing device can be, for example, a camera mounted on the second surgical robot and directed towards the ceiling of the surgical space where the first robot and the second robot are set. The technical idea of the present application is not limited to the first reference object photographing device and the second reference object photographing device being directed towards the ceiling of the surgical space. But for example, in order to facilitate the acquisition of the image of the reference object or the measurement of the orientation angle relative to the axis perpendicular to the ground, it is advantageous to acquire the reference image directed towards the ceiling of the surgical space.

[0422] Further, the arrangement of the first or second reference object acquisition device with respect to the first or second surgical robot can be changed as needed. In various embodiments of the present specification, the reference object acquisition device can be installed at any position where the azimuth angle can be calculated, for example, it can be attached to any position facing the ceiling.

[0423] FIG. 29 A schematic diagram of the arrangement of the reference information acquisition device according to an aspect. For example, the reference object photographing device can be arranged at the arm base portion of each robot, or it can be installed at the main body portion of the robot which can well observe the direction of the operating bed. Non-limiting but specifically, for example, as shown in FIG. 30 at least one of the first or second reference object photographing device can be arranged on at least one of the main body portion of the first robot or the main body portion of the second robot. That is, the reference object acquisition device can be a photographing device 3220 arranged on the main body portion 3201 of the robot. Alternatively, the reference object photographing device can be a photographing device 3210 arranged at the arm base portion of the robot.

[0424] FIG. 29 A schematic diagram of the arrangement of the reference information acquisition device of the passive arm unit according to an aspect. According to an aspect, at least one of the first or second robot can be a hybrid robot 2001 including a passive arm unit 2200 connected to the main body portion 2100 and an active arm unit 2300 connected to the passive arm unit. The surgical instrument 2400 can be provided at the distal end of the active arm unit 2300. In such a robot form, according to an aspect, at least one of the first or second reference object photographing device can be a photographing device 3310 arranged on the active arm unit connecting portion 2201 of the passive arm unit 2200. As a non-limiting example, in the case where the reference object photographing device is arranged on the active arm unit connecting portion 2201 of the passive arm unit 2200, the robot base coordinate system can be determined with respect to the active arm unit connecting portion 2201 of the passive arm unit 2200. Therefore, the conversion between the robot base coordinate system and the surgical instrument coordinate system or the camera picture coordinate system can be performed based on the kinematic information of the active arm unit 2300 without the need to analyze the arrangement state of the passive arm unit 2200 controlled by the user through, for example FIG. 30 as shown.

[0425] Further, according to another aspect, at least one of the first reference object photographing apparatus or the second reference object photographing apparatus can be a photographing apparatus 3320 provided on the main body 2100. As a non-limiting example, in a case where the reference object photographing apparatus is provided on the main body 2100, the robot base coordinate system can be determined with respect to the main body 2100. Accordingly, the conversion between the robot base coordinate system and the surgical instrument coordinate system or the camera picture coordinate system can be performed together using the set information related information of the passive arm unit 2200 (for example, information of the angle sensor shown in FIG. 13) and the kinematics information of the active arm unit 2300. FIG. 30

[0426] According to an aspect, the reference object photographed by the reference object photographing apparatus can include at least one of, for example, but is not limited to, a shape of a surgical room tile, a shape of a surgical room light fixture, a shadowless lamp, or a support on which the shadowless lamp is mounted. That is, the photographed object photographed by the reference object photographing apparatus can be various structures capable of providing direction information, such as a tile shape, a light fixture shape, a shadowless lamp, or an arm of a shadowless lamp. In relation thereto, according to an embodiment of the present specification, in order to determine the relative positional relationship between the first surgical robot and the second surgical robot, no other structure other than the reference object photographing apparatus provided on the surgical robot can be required. In consideration of a conservative recognition of a change in a surgical space, since any change other than the surgical robot of the surgical robot system introduced for surgery is not required, the positional relationship between the first robot and the second robot can be secured without causing the surgical staff to feel repelled, and the surgical robot can be intuitively controlled.

[0427] Based on the foregoing steps, the computing device can acquire the first reference image and the second reference image containing a specific reference object, but acquired by different photographing apparatuses.

[0428] Referring again to FIG. 31 , the computing device can determine the relative positional relationship between the first robot and the second robot based on the first reference image and the second reference image (2930 step).

[0429] According to an aspect, the determining of the relative positional relationship between the first robot and the second robot includes determining coordinate system conversion information between the first robot base coordinate system and the second robot base coordinate system. That is, the computing device can determine coordinate system conversion information for conversion between the surgical robot base coordinate system and the camera robot coordinate system, for example, using the first reference image containing a reference object acquired by the first reference object photographing apparatus of the surgical robot and the second reference image containing a reference object acquired by the second reference object photographing apparatus of the camera robot.

[0430] In relation thereto, FIG. 31 the​FIG. 31 An exemplary detailed flowchart of the relative positional relationship determination step. As shown in FIG. 31 determining a relative positional relationship between the first robot and the second robot based on the first reference image and the second reference image according to an aspect of the present specification (2930 step) can include: extracting a plurality of first feature points from the first reference image, and extracting a plurality of second feature points from the second reference image (2931 step); determining a relationship matrix representing a relative positional relationship between the first reference object photographing device and the second reference object photographing device based on information of the first feature points and information of the second feature points (2933 step); extracting a rotation matrix representing a rotational relationship between the first reference image and the second reference image from the relationship matrix (2935 step); and determining a rotational angle according to the rotation matrix as a relative azimuth angle between the first robot and the second robot with an axis perpendicular to a floor of a surgical space in which the first robot and the second robot are disposed as a rotation axis (2937 step).

[0431] More specifically, as shown in FIG. 30 the computing device can first extract a plurality of first feature points from the first reference image, and extract a plurality of second feature points from the second reference image (2931 step).

[0432] FIG. 30 A schematic diagram showing feature point extraction and feature point relationship between reference images according to an aspect. As shown in FIG. 30 the computing device can extract feature points P3100 from reference images photographed by each reference object photographing device. For example, the computing device can extract a plurality of first feature points 3111 from a first reference image 3110 containing a reference object acquired from a first reference object photographing device of the first robot, where the first feature points can refer to features contained in the first reference image. In addition, the computing device can extract a plurality of second feature points 3121 from a second reference image 3120 containing a reference object acquired from a second reference object photographing device of the second robot, where the second feature points can refer to features contained in the second reference image. For ease of description, FIG. 27 to FIG. 28 the case of extracting one feature point from each reference image is illustrated, a plurality of feature points can be extracted from each reference image in the same manner.

[0433] According to an aspect, the feature points can be extracted based on any one of a plurality of algorithms for extracting at least one or more feature points from an image. For example, SIFT, SURF, ORB, etc. feature extraction algorithms can be used, but the specific method is not limited thereto. It will be understood by those of ordinary skill in the art that one of any algorithm for extracting feature points from an image can be employed.

[0434] As shown in FIG. 29As exemplarily shown, although the conditions such as the positions and / or directions of the reference object capturing devices mounted on the surgical robot and the camera robot are different, the same captured object is captured, so that one feature point (P) existing in the captured object can be extracted from the first reference image 3110 and the second reference image 3120 obtained by the two reference object capturing devices, respectively. In other words, the same specific part (P) of the captured object is actually physically extracted from different perspectives, so that each feature point (P) s , P c ) represents the same point (P), but the information values (for example, horizontal and vertical values on the pixels) of the feature points when represented in the respective images can be different.

[0435] In this regard, as further described in the present specification, the information of the first feature point extracted from the first reference image and / or the information of the second feature point extracted from the second reference image can be used to determine the relative positional relationship of the first robot and the second robot. According to an aspect, the information of the first feature point can include coordinate information of the first feature point 3111 in the first reference image 3110, and the information of the second feature point includes coordinate information of the second feature point 3121 in the second reference image 3120, but is not limited thereto.

[0436] Referring again to FIG. 27 , the computing device can determine a relationship matrix representing the relative positional relationship between the first reference object capturing device and the second reference object capturing device based on the information of the first feature point and the information of the second feature point (2933 step). The relationship matrix may, for example, be an Essential Matrix, but is not limited thereto.

[0437] Non-limiting but specifically, the computing device can extract a plurality of features from the first reference image and the second reference image, respectively, to calculate the Essential Matrix between the two reference images. The Essential Matrix is a matrix that describes the relationship between different perspectives of observing an object in a space. The Essential Matrix and the coordinates of the feature points described in the respective images (p s ,p c ) satisfy the relationship shown in the following mathematical formula 6:

[0438]

Mathematical Formula 6

[0439]

[0440] That is, the relation matrix representing the relative positional relationship between the first reference object photographing apparatus and the second reference object photographing apparatus can define, for example, the relationship between the x coordinate and the y coordinate of the first feature point of the first reference image and the x coordinate and the y coordinate of the second feature point of the second reference image. Here, p c is the coordinate information of the first feature point, E is the essential matrix, p s is the coordinate information of the second feature point, x c is the x coordinate of the first feature point, y c is the y coordinate of the first feature point, x s is the x coordinate of the second feature point, y s is the y coordinate of the second feature point.

[0441] As a non-limiting example, the 8-point algorithm or the like can be used to extract the Essential Matrix, but the specific method is not limited thereto. The 8-point algorithm is a method of calculating the Essential Matrix from 8 feature points, and the 8 feature points and the Essential Matrix satisfy the following mathematical expression 7. As shown in the following mathematical expression 7, the coordinate values of 8 first feature points extracted from the first reference image and the coordinate values of 8 second feature points extracted from the second reference image can be used to determine the Essential Matrix.

[0442] [Mathematical Expression 7]

[0443]

[0444] That is, in the example of the mathematical expression 7, since there are 8 simultaneous equations for 8 unknowns, the Essential Matrix can be calculated. Here, to each of which represents the x coordinate of the 8 first feature points, to each of which represents the y coordinate of the 8 first feature points, to each of which represents the x coordinate of the 8 second feature points, to each of which represents the y coordinate of the 8 second feature points.

[0445] But the use of this 8point algorithm or the name of the Essential Matrix is only exemplary, and various algorithms or calculation processes can be used for obtaining a relation matrix representing the relative position relationship between the first reference object capturing device and the second reference object capturing device or between the first robot and the second robot. As an example, the relation matrix can be calculated based on the information of the two first feature points extracted from the first reference image and the information of the two second feature points extracted from the second reference image.

[0446] Referring again to FIG. 28 , the computing device can extract a rotation matrix representing the rotational relationship between the first reference image and the second reference image from the relation matrix (2935 step).

[0447] As mentioned previously, depending on the nature of the operating room in which the procedure is performed, the surgical robot 20a and the camera robot 20b are usually located on the same floor. Therefore, the relationship between the base coordinate system of the surgical robot 20a and the base coordinate system of the camera robot 20b can be determined by the "azimuth angle", whereas the "azimuth angle" is taken as the rotation axis in the direction perpendicular to the floor. That is, according to the second conversion 2753 of an aspect of the present specification, it can be calculated by the "relative azimuth angle" as the difference between the azimuth angle of the surgical robot base coordinate system 2720 and the azimuth angle of the camera robot base coordinate system 2730. In other words, in order to determine the relationship between the surgical robot base coordinate system 2720 and the camera robot base coordinate system 2730, the rotation angle or the angle difference with respect to the remaining axes other than a certain one of the plurality of coordinate axes, for example, the axis perpendicular to the floor, can be ignored or assumed to be non-existent.

[0448] In view of this, the relative azimuth angle information with respect to the axis perpendicular to the floor between the first robot and the second robot can be extracted from the rotation matrix extracted from the relation matrix determined from the first reference image captured by the first reference object capturing device and the second reference image captured by the second reference object capturing device.

[0449] According to an aspect, the computing device can extract the rotation matrix based on performing Singular Value Decomposition (SVD) on the relation matrix.

[0450] Non-limiting but specifically, the computing device can decompose the Essential Matrix to extract a rotation matrix (R sImage→cImage). For example, such extraction can be performed by Singular Value Decomposition (SVD) calculation on the Essential Matrix, as shown in the following mathematical expression 8, mathematical expression 9, and mathematical expression 10:

[0451] [Math. 8]

[0452] SVD(E) = UDV T

[0453] [Math. 9]

[0454]

[0455] [Math. 10]

[0456]

[0457] wherein the extracted rotation matrix can be at least one of a first rotation matrix extracted according to mathematical expression 9 and a second rotation matrix extracted according to mathematical expression 10. The computing device can select one of the first rotation matrix and the second rotation matrix as a final rotation matrix, which represents a correct physical value when substituted into at least one of the actually extracted feature points.

[0458] According to an aspect, the relative positional relationship between the first robot and the second robot can be a relative azimuth angle with an axis perpendicular to a floor of a surgical space in which the first robot and the second robot are disposed as a rotation axis. In relation to this, referring back to FIG. 29 , the computing device can determine a rotation angle according to the rotation matrix as the relative azimuth angle between the first robot and the second robot with an axis perpendicular to a floor of a surgical space in which the first robot and the second robot are disposed as a rotation axis (2937 step). Therefore, according to the embodiments of the present specification, only the reference object photographing device needs to be added on the first surgical robot and the second surgical robot, respectively, to perform the coordinate system conversion between the first robot and the second robot at a low equipment cost, without being affected by external environments such as magnetic fields, to achieve high accuracy.

[0459] As a non-limiting example, the computing device can extract azimuth angle information from the rotation matrix and refer to FIG. 1 to FIG. 2A The aforementioned second conversion (R sRobot→cRobot) (2753). At this time, it is assumed that (1) the cameras mounted on the surgical robot and the camera robot are both facing the ceiling; (2) since the floor where the robots are set is within the operating room, there is no bending, and it is flat; (3) the coordinate system of the images to be captured by the cameras mounted on the surgical robot and the camera robot is set to be the same, and then the rotation axis of the azimuth angle to be extracted is set to be an arbitrary axis (one of the x, y, and z axes).

[0460] In relation to this, referring back to FIG. 2B , the computing device can perform a conversion between user input interaction part operation information based on the coordinate system of the user input interaction part of the surgical robot system and driving information of the surgical instrument based on the coordinate system of the surgical instrument (2940 step) according to the kinematics information of the first robot, the kinematics information of the second robot, and the coordinate system conversion information determined as before.

[0461] For example, as shown in ​ and ​ , the computing device can convert operation information according to the camera screen coordinate system 2740 (the same as the coordinate system of the user input interaction part) to movement information according to the second robot base coordinate system 2730 based on the kinematics information of the second robot (2755). Next, the computing device can convert the movement information according to the second robot base coordinate system 2730 to movement information according to the first robot base coordinate system 2720 based on, for example, the rotation matrix extracted as before, etc. (2753). Next, the computing device can convert the movement information according to the first robot base coordinate system 2720 to driving information of the surgical instrument according to the surgical instrument coordinate system 2710 based on the kinematics information of the first robot (2751). Alternatively, according to the opposite procedure, movement information of the surgical instrument according to the surgical instrument coordinate system can also be converted to movement information of the surgical instrument in the screen according to the camera screen coordinate system.

[0462] Next, referring back to ​ , the computing device can operate the surgical instrument based on the converted driving information (2950 step). According to an aspect, the coordinate system of the user input interaction part can be the same as the coordinate system of the surgical image acquired by the surgical camera and displayed through the display of the surgical robot system. Therefore, the surgical staff can confirm the movement of the surgical instrument through the displayed surgical image, while controlling the surgical instrument through the user input interaction part sharing the same coordinate system, thereby performing more intuitive control.

[0463] On the other hand, according to an aspect of the present specification, the accuracy of the algorithm result can be improved using an additional sensor. For example, the algorithm result can be determined by comparing the rotation information extracted from the IMU sensor with the coordinate system conversion information according to the aforementioned embodiment of the present specification, or the actual physical accuracy can be improved by a calibration value.

[0464] The apparatus for driving a surgical robot system according to another embodiment of the present application can be an apparatus for driving a surgical robot system having a first robot and a second robot. The apparatus for driving a surgical robot system according to an embodiment can include at least one processor and at least one memory, and can be, for example, at least one of the user terminal 2000, 2010 or the server 3000, 3011, the master robot 10, the slave robot 20, or the surgical instrument 30 as described with reference to ​ 、 ​ The apparatus for driving a surgical robot system according to an embodiment can include at least one processor and at least one memory, and can be, for example, at least one of the user terminal 2000, 2010 or the server 3000, 3011, the master robot 10, the slave robot 20, or the surgical instrument 30 as described with reference to

[0465] The at least one processor can be configured to acquire first reference information of a reference object based on a first reference information photographing device provided on the first robot, acquire second reference information of the reference object based on a second reference information photographing device provided on the second robot, and determine a relative positional relationship between the first robot and the second robot based on the first reference information and the second reference information. Furthermore, at least part of the processes included in the method of driving a surgical robot system according to an embodiment of the present specification can be performed by the processor of the apparatus for driving a surgical robot system according to an embodiment of the present specification.

[0466] The method according to the above-described application can be implemented in a computer-readable code in a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording media storing data that can be read by a computer system. For example, it can include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage device, etc. In addition, the computer-readable recording medium can be distributed to computer systems connected through a computer communication network and stored and executed in a distributed manner by computer-readable codes.

[0467] Further, the method can be included in a computer program product. The computer program product can be traded as goods between sellers and buyers. The computer program product can be distributed in the form of a device readable storage medium, such as a compact disc read only memory (CD-ROM), or distributed online through an application store (such as Play Store™) or between two user devices directly (such as through an online digital distribution, e.g., uploaded or downloaded). In the case of online distribution, at least a portion of the computer program product can be temporarily generated in a device readable storage medium, such as a memory of a manufacturer's server, an application store's server, or a relay server, etc.

[0468] The above-described drawings and embodiments are merely illustrative of the present application and do not limit the present application, and it will be understood by those of ordinary skill in the art that modifications, variations or equivalent replacements can be made to the present application without departing from the spirit and scope of the present application, and they should be included in the scope of the claims of the present application.

[0469] In particular, the described features can be performed within digital electronic circuitry, or in computer hardware, firmware, software, or in combinations thereof. The described features can be implemented in a computer program product, e.g., in a computer program tangibly embodied in a machine-readable storage device, for execution by a programmable processor. Method steps can also be performed by, and apparatus can be implemented as, a programmable processor executing a program of instructions to perform functions of the described embodiments by operating on input data and generating output. The described features can be implemented in one or more computer programs that are executable on a programmable system including at least one programmable processor, at least one storage system, and at least one input device and at least one output device, which are coupled to the at least one programmable processor by interfacing means. The computer programs include a plurality of instructions executable by a computer so as to operate directly or indirectly to cause the specified functions to be performed. The computer programs can be written in any of a number of high level languages, including compiled or interpreted languages, and can be deployed in any form, including as a stand-alone program, a servlet, or as a program of a more complex software environment. The computer programs can be stored in any type of computer storage media, including magnetic storage media, optical storage media, and semiconductor storage media.

[0470] The processor of the program for executing instructions includes, for example, a general-purpose or special-purpose microprocessor, and a multi-processor including a single processor or other kinds of computers. In addition, the storage device for storing computer program instructions and data for implementing the described features includes, for example, a semiconductor memory device such as an EPROM, EEPROM, and flash memory device, and a magnetic device such as an internal hard disk and a rewritable disk, an optical disk, and a CD-ROM and DVD-ROM. The processor and the memory can be integrated in an ASIC (application-specific integrated circuit) or added by the ASIC.

[0471] The foregoing embodiments merely illustrate the present application based on a series of functional modules and are not limiting, and those skilled in the art should understand that the present application can be modified, transformed or equivalently replaced without departing from the spirit and scope of the present application, and all should be covered in the scope of the claims of the present application.

[0472] The combination of the foregoing embodiments is not limited by the foregoing embodiments, and various forms of combinations can be provided according to implementation and / or needs.

[0473] In the foregoing embodiments, the method is described based on a flowchart of a series of steps or modules, but the present application is not limited by the order of the steps, and certain steps can occur with the foregoing different steps or in different order or simultaneously. In addition, those skilled in the art should understand that it is not limited by the steps of the flowchart, and other steps can also be included, or one or more steps in the flowchart can be deleted without affecting the scope of the present application.

[0474] The foregoing embodiments include various forms of examples. Although all possible combinations representing various aspects cannot be described, those skilled in the art should understand that other combinations can also exist. Therefore, the present application includes all other replacements, modifications and changes within the following claims.

Claims

1. A driving method for a surgical robot system executed by a computing device, the surgical robot system comprising a first robot and a second robot, the driving method comprising: Based on the first reference information acquisition device on the first robot, first reference information of the reference object is acquired; Based on the second reference information acquisition device on the second robot, the second reference information of the reference object is acquired; and Based on the first reference information and the second reference information, the relative positional relationship between the first robot and the second robot is determined.

2. The driving method for the surgical robot system according to claim 1, wherein the first robot is configured to mount a first surgical instrument; and the second robot is configured to mount a second surgical instrument.

3. The driving method for the surgical robot system according to claim 2, wherein determining the relative positional relationship between the first robot and the second robot includes: Determine the coordinate system transformation information between the first robot base coordinate system and the second robot base coordinate system.

4. The driving method for the surgical robot system according to claim 3, wherein the second surgical instrument includes a surgical camera; and The driving method further includes: Based on the kinematics information of the first robot, the kinematics information of the second robot, and the coordinate system transformation information, a conversion is performed between the user input interaction unit operation information in the coordinate system of the user input interaction unit of the surgical robot system and the drive information of the first surgical instrument in the coordinate system of the first surgical instrument. and The first surgical instrument is operated based on the driving information.

5. The driving method for the surgical robot system according to claim 4, wherein the coordinate system of the user input interaction unit corresponds to the coordinate system of the surgical image acquired by the surgical camera and displayed on the display of the surgical robot system.

6. The driving method for the surgical robot system according to claim 1, wherein the first reference information acquisition device and the second reference information acquisition device are oriented toward the ceiling of the surgical space in which the first robot and the second robot are disposed.

7. The driving method of the surgical robot system according to claim 1, wherein at least one of the first reference information acquisition device and the second reference information acquisition device is disposed on at least one of the main body of the first robot and the main body of the second robot.

8. The driving method for the surgical robot system according to claim 1, wherein at least one of the first robot and the second robot includes a passive arm unit connected to the main body and includes an active arm unit connected to the passive arm unit; and At least one of the first reference information acquisition device and the second reference information acquisition device is disposed in the active arm unit connection part of the passive arm unit.

9. The driving method for the surgical robot system according to claim 1, wherein the reference object includes at least one of the following: an operating room tile arrangement shape; an operating room lighting arrangement shape; a shadowless lamp; and a bracket for mounting the shadowless lamp.

10. The driving method of the surgical robot system according to claim 1, wherein the relative positional relationship between the first robot and the second robot is a relative azimuth angle with an axis perpendicular to the ground of the surgical space in which the first robot and the second robot are set as the axis of rotation.

11. The driving method of the surgical robot system according to claim 1, wherein the first reference information acquisition device is a first reference object imaging device for acquiring a first reference image of the reference object; The second reference information acquisition device is a second reference object imaging device for acquiring a second reference image of the reference object; Determining the relative positional relationship between the first robot and the second robot includes: Multiple first feature points are extracted from the first reference image, and multiple second feature points are extracted from the second reference image; Based on the information of the first feature point and the information of the second feature point, a relationship matrix representing the relative positional relationship between the first reference object shooting device and the second reference object shooting device is determined.

12. The driving method for the surgical robot system according to claim 11, wherein the information of the first feature point includes the coordinate information of the first feature point in the first reference image; and the information of the second feature point includes the coordinate information of the second feature point in the second reference image.

13. The driving method for the surgical robot system according to claim 12, wherein the relation matrix is ​​an essential matrix based on the following mathematical formula: in, p c The coordinates of the first feature point are represented by E, which represents the essential matrix, and p s This represents the coordinate information of the second feature point, x. c The x-coordinate and y-coordinate of the first feature point are represented by... c The x-coordinate represents the y-coordinate of the first feature point. s The x-coordinate and y-coordinate of the second feature point are represented by... s This represents the y-coordinate of the second feature point.

14. The driving method for the surgical robot system according to claim 13, wherein the essential matrix E is determined based on an 8-point algorithm according to the following mathematical formula: in, to This represents the x-coordinate of each of the eight first feature points. to This represents the y-coordinate of each of the eight first feature points. to This represents the x-coordinate of each of the eight second feature points, and to This represents the y-coordinate of each of the eight second feature points.

15. The driving method for a surgical robot system according to claim 11, wherein determining the relative positional relationship between the first robot and the second robot further includes: Extract a rotation matrix representing the rotation relationship between the first reference image and the second reference image from the relationship matrix.

16. The driving method for the surgical robot system according to claim 15, wherein extracting the rotation matrix comprises: The rotation matrix is ​​extracted by performing Singular Value Decomposition (SVD) on the relation matrix.

17. The driving method for a surgical robot system according to claim 15, wherein determining the relative positional relationship between the first robot and the second robot further includes: The rotation angle determined according to the rotation matrix is ​​the relative azimuth angle between the first robot and the second robot, with the axis of rotation being perpendicular to the ground of the surgical space where the first robot and the second robot are set.

18. An apparatus for driving a surgical robot system comprising a first robot and a second robot, the apparatus comprising: At least one processor; and at least one memory; The at least one processor is configured to perform a driving method for a surgical robot system according to any one of claims 1 to 17.

19. A surgical robot system comprising: A first robot equipped with a first reference information acquisition device; A second robot equipped with a second reference information acquisition device; and At least one processor; The at least one processor is configured to perform a driving method for a surgical robot system according to any one of claims 1 to 17.

20. A computer-readable storage medium comprising instructions executable by a processor, the instructions allowing the processor to perform a driving method for a surgical robot system according to any one of claims 1 to 17.

Images