Multi-degree-of-freedom surgical device and control method

Abstract

A surgical device and a control method are described. The surgical device has a mounting plate arranged in a plane of both a first axis extending parallel to a tool and a second axis spanning the first axis, a first actuator on which the mounting plate is mounted and which generates a first movement of the mounting plate in a direction of the second axis, a second actuator on which the mounting plate is mounted and which generates a second movement of the mounting plate in a direction of the second axis, and a third actuator on which the mounting plate is mounted and which generates a second movement of the mounting plate in a direction of the second axis. A second actuator generating a rotational force causing a second movement of the mounting plate by rotating the first actuator about a third axis orthogonal to the first and second axes, and a third actuator coupled to the second actuator to transmit the rotational force from the second actuator to the first actuator, and a third motion is generated to rotate the mounting plate around the rotation axis in the second axis direction.

Description

Technical Field

[0001] This disclosure relates to a multi-degree-of-freedom surgical device and driving method for joint surgery, etc., and more specifically, to a surgical device and control method thereof capable of arranging or positioning a surgical end-effector with three or more degrees of freedom. Background Technology

[0002] Joint injuries caused by various factors are accompanied by pain, deformity, and loss of function. Artificial joint surgery is an option when initial surgical treatments, such as non-surgical methods involving the damaged joint, specifically osteotomy, have failed.

[0003] In artificial joint surgery, an artificial substitute is inserted into the joint. For this purpose, portable chainsaws and drills are used as surgical devices with end effectors such as drills or saws.

[0004] The chainsaw is used to partially cut bone at the joint, and the drill is used to create channels (holes) or insert needles into the bone. For example, before cutting the bone with a chainsaw, a channel is created using the drill and a surgical needle is inserted therein in order to insert the needle. In some cases, the drill bit that helps create the channel may remain as a needle.

[0005] During the surgery, a chainsaw or similar tool is used to remove rough and damaged parts from joints such as the femur, tibia, and patella, and then a finely crafted artificial joint or other artificial substitute is inserted and fixed to the surgical site.

[0006] In order to properly insert the artificial substitute into the surgical site, the position and orientation of the end effector must be correctly maintained at the surgical site to cut the bone according to the pre-established plan.

[0007] During surgery, even with the support of so-called surgical navigation systems, existing low-degree-of-freedom, such as two-degree-of-freedom level end effectors, cannot adequately cope with the limited surgical space and the limited postures of surgical personnel.

[0008] In this regard, the development of high-degree-of-freedom surgical devices should be very beneficial, as they allow surgeons greater freedom of posture and the position and orientation of the end effector can be aligned with the pre-set surgical plan and the corresponding surgical section. Summary of the Invention

[0009] Technical issues

[0010] This disclosure proposes a surgical device with a high degree of freedom.

[0011] This disclosure discloses a surgical device capable of arranging and positioning an end effector at a desired surgical location regardless of the surgeon's posture, and a method for actuating it.

[0012] Technical solution

[0013] A surgical device according to one or more embodiments includes:

[0014] Mounting plate on which an end effector having a tool extending in a first direction is mounted, and arranged on a plane with a first axis parallel to the first direction and a second axis in a second direction spanning it;

[0015] A first actuator, on which the mounting plate is mounted, is configured to generate a first movement of the mounting plate in the second direction;

[0016] A second actuator, configured to generate a rotational force to rotate the first actuator about a third axis orthogonal to the first and second axes, thereby generating a second movement of the mounting plate; and

[0017] A third actuator, which is coupled to the second actuator, transmits the rotational force from the second actuator to the first actuator and causes the mounting plate to rotate about the rotation axis in the second axial direction to generate a third motion.

[0018] In a specific embodiment of the surgical device according to one or more embodiments,

[0019] The first actuator may include: a first plate configured to reciprocate in a second direction; a first engine configured to drive the mounting plate; and a first transmission unit that transmits power from the first engine to operate the mounting plate by the first engine.

[0020] In a specific embodiment of the surgical device according to one or more embodiments,

[0021] The first transmission unit may include: a first conversion unit configured to convert the rotation of the first engine into linear reciprocating motion; and a first operating rod configured to transmit the linear motion from the first conversion unit into linear motion of the mounting plate.

[0022] In a specific embodiment of the surgical device according to one or more embodiments,

[0023] The linear motion from the first conversion unit can occur in a direction that spans the plane of the mounting plate, and the first operating rod can be hinged to the mounting plate and convert the linear motion from the first conversion unit into the motion direction of the mounting plate.

[0024] In a specific embodiment of the surgical device according to one or more embodiments,

[0025] The first conversion unit has a first linear mover configured to reciprocate linearly due to the rotation of the first engine, and the first operating rod can be hinged to the mounting plate and the first linear mover.

[0026] In a specific embodiment of the surgical device according to one or more embodiments,

[0027] The first actuator, the second actuator, and the third actuator may be arranged within a housing including the third actuator.

[0028] The second actuator may have: a second plate fixedly positioned relative to the housing; a second engine configured to generate a rotational force to rotate the first actuator; and a second engine mounting portion configured to support the second engine.

[0029] In a specific embodiment of the surgical device according to one or more embodiments,

[0030] The third actuator may have a third plate that is rotated by the second engine.

[0031] In a specific embodiment of the surgical device according to one or more embodiments,

[0032] The third actuator may have:

[0033] The third and fourth engines are configured to generate rotational force to produce a third movement of the mounting plate;

[0034] The second transmission unit is configured to generate the third motion using the rotation of the third and fourth engines, respectively.

[0035] In a specific embodiment of the surgical device according to one or more embodiments,

[0036] The second transmission unit may include:

[0037] The second and third conversion units are configured to convert the rotation of the third and fourth engines into linear reciprocating motion; and

[0038] The third and fourth operating levers are configured to transmit the linear motion of the second and third conversion units to the mounting plate to generate the third motion.

[0039] According to a specific embodiment of the surgical device of one or more embodiments

[0040] The third actuator can be configured such that the second and third transformation units of the second transmission unit move the same distance simultaneously to generate a fourth movement that causes the mounting plate to translate in the third direction without tilting.

[0041] A method for controlling a surgical device according to one or more embodiments includes:

[0042] An end effector having a tool extending in a first direction is mounted on a mounting plate, the mounting plate being arranged on a plane with a first axis parallel to each other in the first direction and a second axis in a second direction spanning it;

[0043] The first actuator generates a first movement of the mounting plate toward the second direction;

[0044] The second actuator causes the first actuator to rotate about a third axis orthogonal to the first axis and the second axis to generate the second movement of the mounting plate;

[0045] A third motion of the mounting plate is generated by a third actuator, which is coupled to the second actuator and configured to transmit the rotational force from the second actuator to the first actuator and cause the mounting plate to rotate about a rotation axis in a second direction.

[0046] In a control method for a surgical device according to one or more embodiments

[0047] The first plate disposed in the first actuator can support the mounting plate so that the mounting plate can reciprocate in the second direction, and the first transmission part disposed in the first actuator can generate the first movement of the mounting plate.

[0048] In a control method for a surgical device according to one or more embodiments

[0049] The first conversion unit, which is located in the first transmission unit, can convert the rotation of the first engine into linear reciprocating motion, and the first operating rod connected to the first conversion unit can transmit the linear motion from the first conversion unit to the mounting plate.

[0050] In a control method for a surgical device according to one or more embodiments

[0051] The first conversion unit can generate linear motion in a direction spanning the plane of the mounting plate, and the first operating rod can be hinged to the mounting plate and convert the linear motion from the first conversion unit into the motion direction of the mounting plate.

[0052] In a control method for a surgical device according to one or more embodiments

[0053] The housing can protect the first actuator, the second actuator, and the third actuator inside, and,

[0054] The second plate disposed on the second actuator can be fixedly positioned relative to the housing to support the first actuator, the second actuator, and the third actuator as a whole.

[0055] In a control method for a surgical device according to one or more embodiments

[0056] The third actuator can transmit the rotational motion generated by the second actuator to the mounting plate to generate the second motion, and uses a second conversion unit and a third conversion unit to convert the rotation of the third engine and the fourth engine into linear reciprocating motion to generate the third motion.

[0057] In a control method for a surgical device according to one or more embodiments

[0058] The third actuator can generate a fourth motion by moving the second and third transformation units by the same distance, causing the mounting plate to translate in the third direction without tilting.

[0059] Brief description of the attached diagram

[0060] Figure 1 This is a schematic perspective view of an end effector-type surgical device as an embodiment of a surgical apparatus according to the present disclosure.

[0061] Figure 2 This is a schematic perspective view of the drive section in a surgical apparatus according to an embodiment of the present disclosure, in which the end effector is removed.

[0062] Figure 3 This is a schematic perspective view of a surgical apparatus in which the outer casing has been removed, according to an embodiment of the present disclosure.

[0063] Figure 4 This is a partially exploded perspective view of an actuator assembly comprising an end effector and a drive unit that drives it in a surgical apparatus according to an embodiment of the present disclosure.

[0064] Figure 5 A partial cross-sectional view according to another embodiment is provided to further embody the connection structure of the second operating rod in a surgical apparatus according to one embodiment of the present disclosure.

[0065] Figure 6 This is a detached perspective view of the actuator assembly in a surgical apparatus according to an embodiment of the present disclosure, with the housing and end effector removed.

[0066] Figure 7 For from and Figure 6 A schematic perspective view of the actuator assembly of a surgical apparatus according to an embodiment of the present disclosure, viewed from different directions.

[0067] Figure 8 Examples are shown of the results of translational or displacement movements of the mounting plate in a surgical apparatus according to an embodiment of the present disclosure and the resulting posture or position of the end effector.

[0068] Figure 9 Examples are shown of the results of the rotation (yaw) of the mounting plate in a surgical apparatus according to an embodiment of the present disclosure and the resulting posture or position of the end effector.

[0069] Figure 10 The third movement, namely pitching, and the fourth movement, namely vertical lifting or translation, are shown in the surgical apparatus according to an embodiment of the present disclosure. Detailed Implementation

[0070] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, embodiments of the present invention can be varied in many different forms, and the scope of the present invention should not be construed as limited to the embodiments described in detail below. The embodiments of the present invention are preferably provided to provide a more complete description of the present invention to those skilled in the art. The same reference numerals always signify the same elements. Furthermore, the various elements and areas in the drawings are shown schematically. Therefore, the present invention is not limited to the relative dimensions or spacing shown in the drawings.

[0071] The terms "first," "second," etc., can be used to describe various constituent elements, but the constituent elements are not limited to these terms. These terms are used only to distinguish one constituent element from others. For example, without departing from the scope of the invention, a first constituent element can be named a second constituent element, and vice versa.

[0072] The terminology used in this application is for describing specific embodiments only and is not intended to limit the concept of the invention. Unless otherwise clearly understood, singular expressions also include plural expressions. In this application, expressions such as "comprising" or "having" should be understood as specifying the presence of features, numbers, steps, actions, constituent elements, components or combinations thereof described in the specification, and are not intended to presuppose the presence or additional possibilities of one or more other features or numbers, actions, constituent elements, components or combinations thereof.

[0073] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which the concepts of this invention pertain. Furthermore, it should be understood that terms commonly used and identical to their dictionary definitions shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and shall not be construed as having an overly formal meaning unless expressly defined herein.

[0074] Hereinafter, a surgical apparatus and method thereof according to one or more embodiments are described.

[0075] The surgical apparatus according to this disclosure basically comprises the following components: a mounting plate, a first actuator, a second actuator, and a third actuator.

[0076] The mounting plate has an end effector of a surgical tool extending in a first direction mounted on it, and arranged on a plane with a first axis parallel to the first direction and a second axis in a second direction spanning it.

[0077] The first actuator has the mounting plate mounted thereon and is configured to generate a first movement M1 of the mounting plate toward the second direction.

[0078] The second actuator is configured to generate a rotational force to rotate the first actuator about a third axis orthogonal to the first and second axes in a third direction and generate a second motion M2 of the mounting plate.

[0079] The third actuator, coupled to the second actuator, transmits the rotational force from the second actuator to the first actuator, and causes the mounting plate to rotate about the rotation axis in the second axial direction to generate a third motion M3.

[0080] The actuator has a transmission section, which serves as a powertrain system for transmitting rotational power from the engine into rotational or linear power. The first actuator includes: a first plate configured to reciprocate in a second direction; a first engine configured to drive the mounting plate; and a first transmission section that transmits power from the first engine to operate the mounting plate.

[0081] The first transmission unit includes: a first conversion unit that converts the rotation of the first engine into linear reciprocating motion; and a first operating rod that transmits the linear motion from the first conversion unit into linear motion of the mounting plate.

[0082] The first conversion unit has a first linear mover configured to reciprocate linearly due to the rotation of the first engine, and the first operating rod is hinged to the mounting plate and the first linear mover.

[0083] The third actuator has a third motor and a fourth motor configured to generate rotational force to produce a third movement of the mounting plate, and a second transmission unit configured to use the rotation of the third motor and the fourth motor respectively to produce the third movement.

[0084] The second transmission unit has a second conversion unit and a third conversion unit configured to convert the rotation of the third engine and the fourth engine into linear reciprocating motion, and a third operating rod and a fourth operating rod configured to transmit the linear motion of the second conversion unit and the third conversion unit to the mounting plate to generate the third motion.

[0085] The second and third conversion units have a structure similar in concept to the first conversion unit. That is, they have a second and a third linear actuator that reciprocate linearly due to the rotation of the third and fourth engines, each including a third operating rod and a fourth operating rod. This structure can be clearly understood from the description of a considerable portion with reference to the accompanying drawings.

[0086] Figure 1 This is a schematic perspective view of an end-effector type surgical device according to an embodiment of the present disclosure.

[0087] Reference Figure 1 The end-effector type surgical device 1 (hereinafter referred to as the surgical device) has an end-effector 200 and an end-effector driver 100 (hereinafter referred to as the driver) on which the end-effector 200 is mounted.

[0088] The drive unit 100 has a housing 102 including a grip 101, a mounting plate 112 exposed on the housing 102 and on which the end effector 200 is mounted, and protective railings 103 on both sides of the mounting plate 112 to protect the mounting plate 115.

[0089] The end effector 200 has a surgical tool 220, such as a saw or drill, and a housing 210, in which a drive mechanism for driving the surgical tool 220, such as a drive motor, is installed. Mounting feet 230, which are attached to the mounting plate 115, are located on one side of the housing 210, in this embodiment, at the lower part of the housing 210. The attachment of the mounting feet 230 to the mounting plate 115 can be achieved through a fixed connection structure or a snap-fit ​​structure that can be detached from each other.

[0090] Figure 2 From Figure 1 A schematic perspective view of the drive unit 100 with the end effector 200 removed in the surgical device, wherein the housing 102 and handle 101 are shown in dashed lines to show the actuator assembly 100A inside the housing 102 of the drive unit 100.

[0091] The housing 102, with a handle 101 formed on one side, has a rectangular shape, with an open upper portion corresponding to the end effector 200. An actuator assembly 100A for operating the mounting plate 115 is fixed inside the housing 102. The actuator assembly 100A has a plurality of components configured to move the mounting plate 115 with multiple degrees of freedom, directly and indirectly supported by a second plate 121a, which serves as a main frame precisely fixed to the inner wall of the housing 102. As will be described in detail below, the main frame, i.e., the second plate 121a, is the basic structure for fixing the actuator assembly 100A inside the housing 102, and as an element of the second support 121, in relation to... Figure 4 This is described in detail in the description.

[0092] Refer again Figure 1 In the surgical device 1 having the exemplary structure described above, the end effector 200, when mounted on the drive unit 100, can be driven by the drive unit 100 to perform various movements with three or four degrees of freedom in the three-axis (XYZ) directions: the X-axis toward the first direction, the Y-axis toward the second direction or perpendicular to or across the first direction, and the Z-axis toward the third direction or perpendicular to or across the first and second directions.

[0093] exist Figure 1 In this process, the drive unit 100 holds the end effector 200 so that the end effector 200 takes a neutral posture at the operation center p, and can define an XYZ coordinate system and an X'-Y'-Z' coordinate system with an origin coordinate different from the XYZ coordinate system based on this state.

[0094] In the X'-Y'-Z' coordinate system, the X'-Y' plane is the plane on which the bottom of the drive unit 100, i.e., the bottom 102b of the housing 102, is placed, and is parallel to the XY plane passing through the rotation center p of the end effector 200. The Z' axis, orthogonal to this plane, extends in a straight line toward the housing 102 of the drive unit and is parallel to the Z axis passing through the rotation center p of the end effector 200, while the X' axis is parallel to the X axis extending from the surgical tool 220.

[0095] The origin of the XYZ coordinate system is located at the center of operation of the end effector 200. Therefore, the motion of the end effector 200 can be described based on the origin coordinates.

[0096] The purpose of using the XYZ coordinate system to describe the motion of the end effector 200 is to make each of the various motions according to this disclosure, or the composite motion formed by these motions, more understandable.

[0097] Depending on the various movements of the drive unit 100, the end effector 200, on which the surgical tool 220 is mounted, can perform various movements in a three-axis coordinate system. In the description of the movements of the end effector 200, some or all of the terms used in the definitions of aircraft or bicycle movements may be used.

[0098] The various motions of the end effector 200 may include a first motion, namely shifting or translation, a second motion M2, namely yaw, and a third motion, namely pitching. In addition, it may further include a fourth motion M4, namely linear lifting or bouncing along the vertical direction (Z-axis direction).

[0099] The translational operation refers to the position of the end effector, which moves in the same direction as the first and fourth movements, changing left and right along the upper edge of the Y-axis or up and down along the upper edge of the Z-axis, without any change in posture.

[0100] Motion in the X, Y, or Z directions can be aligned with or parallel to the X, Y, or Z axes, and can refer to motion with some inclination in the same directionality as these axes.

[0101] These various forms of movement can be performed in combination according to this disclosure. These various forms of movement are generated by the drive unit 100, which will be described in detail below.

[0102] Figure 3 For the outer casing 102 (refer to) Figure 1 and Figure 2 A schematic perspective view of the surgical device 1 after it has been removed. Figure 4 A partially exploded perspective view of the end effector 200 and the actuator assembly 100A of the drive unit 100 that drives it.

[0103] Reference Figure 3 The end effector 200 is connected to the mounting plate 115 of the drive unit 100 by the mounting foot 230 at the lower part of the end effector 200, and the mounting plate 115 is connected to the actuator assembly 100A.

[0104] The mounting plate 115 ultimately generates all the movements of the end effector 200, all of which occur as relative movements with respect to the second plate 121a. This second plate 121a is fixed to the housing 102 of the drive unit 100 as described above and secures the actuator assembly 100A within the housing 102, and is a part of the second bracket 121, which supports the second actuator 120, described later.

[0105] The following description of the actuator assembly 100A mainly refers to... Figure 3 and Figure 4 However, to aid understanding, some references are provided. Figure 5 and Figure 6 Regarding Figure 5 and Figure 6 Let me describe it again.

[0106] Reference Figure 3 and Figure 4 The actuator assembly 100A that operates the end effector 200 is an assembly of a first actuator 110, a second actuator 120, and a third actuator 130 that are operably combined with each other.

[0107] The first actuator 110 has a first bracket 111, which is supported by a linear track device 117 including two sliding tracks 117a and 117b, so that the mounting plate 115 can move left and right within a preset working distance operating range. The first bracket 111 has a first plate 111a and a first engine mounting part 111b, which are integrally assembled from a plurality of components or formed as a single unit.

[0108] A linear track device 117 is provided on the first plate 111a, and a first engine 112 is mounted on the first engine mounting part 111b, which generates left-right displacement (translation) movement of the mounting plate 115. The rotation axis of the first engine 112 is connected to a linear transfer screw 114 via a first connector 116, the linear transfer screw 114 being screwed into the actuating rod assembly 119 (see reference). Figure 6 The first linear mover 113a is combined with the screw-type mover 114a (see reference). Figure 6 This causes the first linear mover 113a to reciprocate within the range of motion. Here, the first linear mover 113a and the first engine mounting portion 111b have adjacent sections, and a guide rail structure 118 is provided between these two adjacent sections. Figure 6It guides the first linear mover 113a in a linear reciprocating motion in the direction in which the linear transfer screw 114 extends.

[0109] The second actuator 120 has a second motor 122 that generates a rotational (yawing or gyratory) motion of the mounting plate 115, and a second bracket 121 that supports the second motor 122. The second motor 122 rotates the second plate 121a within a certain angular range to generate a yawing motion of the mounting plate 115 mounted on the first plate 111a in a manner that enables lateral displacement or movement.

[0110] The second bracket 121 has a second engine mounting portion 121b and a second plate 121a, wherein the second engine 122 is mounted on the second engine mounting portion 121b, and the second plate 121, as described above, functions as a main frame. The second engine mounting portion 121b is integrally joined to the second plate 121a. According to another embodiment, the second bracket 121 and the second plate 121a can be formed as a single unit.

[0111] The second plate 121a or the second bracket 121 including it, as described above, serves as a basic support structure for supporting the second actuator 120 while securing the entire actuator assembly 100A within the housing 102, and can be modified into various forms according to the design.

[0112] In this embodiment, the second plate 121a has an "L"-shaped form with two extensions, which are fixed ends 121a' fixed to internal elements of the housing 102, such as the inner wall. This second plate 121a is fixedly positioned relative to the housing 102 and forms the basic support structure for the entire actuator assembly 100A.

[0113] On the other hand, the rotating shaft of the second engine 122, mounted on the second bracket 121, is directly connected to the second coupling 123, and the rotating second operating rod 124, which rotates the third actuator 130, is directly connected to the second coupling 123. The second operating rod 124 passes through the second plate 121a and is securely fixed to the shaft fixing portion 131c, which is formed on the bottom surface of the third bracket 131 of the third actuator 130. Furthermore, a bearing 125 can be provided on the second plate 121a through which the second operating rod 124 passes to assist the second operating rod 124 in rotating within a certain range of rotation. Figure 6 (and a plurality of) components supporting the bearing 125.

[0114] Figure 5 This is a partial cutaway cross-sectional view of another embodiment of the connection structure of the second operating rod 124, which is further specified.

[0115] Reference Figure 5 The second operating rod 124a, which has a different form from the second operating rod 124 described above, has a column portion connected to the second connector 123 and a head portion overlapping the periphery of the upper surface of the through hole 131b formed in the third plate 131b. The head portion of the second operating rod 124a is fixed to the third plate 131b by fixing bolts 124b, and the rotational movement of the waist of the second operating rod 124a is supported by a bearing 125 within a bearing housing 125a provided in the through hole 126 of the second plate 121a, as in the embodiment described above.

[0116] According to this structure, the second actuator 120 rotates as a whole within a certain angle range by the rotation of the second engine 122, thereby causing the yaw (rotation) action of the end effector 200.

[0117] Figure 6 An extract perspective view of the actuator assembly with the housing and end effector removed.

[0118] Reference Figure 6 The third actuator 130 has two engines, namely a third engine 132a and a fourth engine 132b, and a third bracket 131 supporting them. Here, the third bracket 131 has a third engine mounting portion 131a, which supports the third engine 132a and the fourth engine 132b in parallel, and a third plate 131b, which is integrally connected to the third engine mounting portion 131a and has been mentioned in the description of the second actuator 120.

[0119] As described above, the third plate 131b is rotated by the second engine 122, thereby causing all elements of the third actuator 130, which incorporates the third plate 131b, to rotate together. The third actuator 130 is operatively connected to the first plate 111a of the first support 111 via a lever structure 135 operated by the third engine 132a and the fourth engine 132b, respectively.

[0120] Specifically, the operating rod structure 135 has a third operating rod 135a rotatably connected to the third engine 132a and a fourth operating rod 135b rotatably connected to the fourth engine 132b.

[0121] One end (lower end in the drawing) of the third operating rod 135a and the fourth operating rod 135b is connected to the second linear actuator 133a and the third linear actuator 133b, respectively, which reciprocate within the operating distance range preset by the third engine 132a and the fourth engine 132b. Here, even without specific description, the third and fourth couplings described above can be connected to the respective rotating shafts of the third engine 132a and the fourth engine 132b.

[0122] The other ends (upper end in the attached figure) of the third operating rod 135a and the fourth operating rod 135b are hinged together in a manner that allows them to rotate relative to each other, with the first plate as the center.

[0123] Specifically, the upper end of the third operating rod 135a is rotatably hinged to a first hinge portion 111e disposed on the first plate 111a. The upper end of the fourth operating rod 135b is rotatably connected to a second hinge portion 111f disposed on the first plate 111a via a fifth operating rod 135c. Here, the fifth operating rod 135c is used to allow for discontinuity or offset between the end of the fourth operating rod 135b and the second hinge portion 111f due to the tilting operation of the first plate 111a, while transmitting the force from the fourth operating rod 135b to the first plate 111a through the second hinge portion 111f.

[0124] Based on the rotational structure of the third operating rod 135a and the fourth operating rod 135b, the first plate 111a is raised or lowered in the vertical direction (Z direction) or translated (bounced) from bottom to top by the simultaneous reciprocating motion of the third operating rod 135a and the fourth operating rod 135b. Furthermore, when the operations of the third operating rod 135a and the fourth operating rod 135b are different—for example, when the fourth operating rod 135b reciprocates a relatively longer distance than the third operating rod 135a, or when the fourth operating rod 135b reciprocates while the third operating rod 135a is stopped—the first plate 111a will pitch around the first hinge portion 111e. That is, only one of the pitching or raising / lowering motions of the third actuator 130 can be caused, and a pitch-bouncing composite operation combining the two motions can be achieved.

[0125] Figure 7 For from and Figure 6 The schematic perspective view of the actuator assembly 100A viewed from different directions shows a more detailed structure of the first actuator 110, and is also a perspective view of the state excluding some elements such as the second plate 121a, which serves as the main frame, in order to aid in the understanding of the structure.

[0126] Reference Figure 7The mounting plate 115, which is supported on the first plate 111a, is moved left and right (displacement operation) by a linear guide rail device 117 including two sliding rails 117a and 117b over a certain operating distance, and is operated by the operating rod assembly 113 of the first actuator 110.

[0127] The operating lever assembly 113 has a first linear mover 113a that reciprocates to the linear transfer screw 114, and a rotary lever type first operating lever 113b whose two ends are hinged to the first linear mover 113a and the mounting plate 115.

[0128] Therefore, a third hinge portion 113c and a fourth hinge portion 113d are provided at both ends of the first operating rod 113b. Thus, the first operating rod 113b can rotate relative to the first linear mover 113a and the mounting plate 115 via the third hinge portion 113c and the fourth hinge portion 113d. The third hinge portion 113c has a pin-connected structure, which is connected to the end of the first operating rod 113b in a manner that allows mutual movement. Furthermore, the fourth hinge portion 113b is rotatably connected to the hinge components 115e and 115f provided on the mounting plate 115 through a complementary connection.

[0129] According to the above structure, the rotation of the first engine 112 transmitted by the first connector 116 causes the linear motion of the first linear mover 113a. The first operating rod 113b, which is rotatably connected to it 113a, changes its posture appropriately, causing the mounting plate 115 to move or shift in the Y-axis direction, i.e., left and right.

[0130] In the second actuator 120, which causes the mounting plate 115 to rotate within a certain angular range, the second operating rod 124, connected to the second engine 122 via the second connector 123, is securely fixed to the shaft fixing portion 131c, which is formed on the bottom surface of the third plate 131b side of the third actuator 130. In the drawings, reference numeral 125 represents a bearing, which is a component that rotatably supports the second operating rod 124 relative to the second bracket 121.

[0131] On the other hand, the third actuator 130, which moves by the rotation of the second engine 122, has a third bracket 131, a third engine mounting portion 131a, and a third plate 131b. Here, the third operating rod 135a and the fourth operating rod 135b, which are operated by the third engine 132a and the fourth engine 132b respectively, are directly or indirectly connected to the first plate 111a through through holes formed in the third plate 131b.

[0132] Here, the upper end of the third operating rod 135a is directly connected to the first plate 111a, and the upper end of the fourth operating rod 135b is indirectly connected to the first plate 111a via the fifth operating rod 135c and the second hinge portion 111f disposed on the first plate 111a. Here, the fifth operating rod 135c is used to allow the discontinuity or offset between the end of the fourth operating rod 135b and the second hinge portion 111f caused by the tilting operation of the first plate 111a, while transmitting the force from the fourth operating rod 135b to the first plate 111a through the second hinge portion 111f.

[0133] Based on the rotational structure of the third and fourth operating rods 135a and 135b, the first plate 111a is raised, lowered, or bounced in one direction (Z direction) by the simultaneous reciprocating motion of the third and fourth operating rods 135a and 135b. When the operations of the third and fourth operating rods 135a and 135b are different, for example, when the fourth operating rod 135b reciprocates over a relatively longer distance than the third operating rod 135a, or when the fourth operating rod 135b reciprocates while the third operating rod 135a is stopped, the first plate 111a tilts in one direction around the first hinge portion 111e, i.e., it performs a pitching motion. That is, only one of the pitching motion and the raising / lowering motion of the third actuator 130 can be caused, and a pitching-bouncing composite motion composed of the two motions can be achieved.

[0134] The following describes the various operations of the surgical actuator 100 according to the present disclosure in terms of multiple degrees of freedom.

[0135] The actuator assembly 100A of the surgical actuator 100 according to this disclosure has three actuators, wherein the operation of each actuator is performed independently. Since the operation of these actuators occurs simultaneously, a variety of compound end effector movements can be generated. The following operation is described based on the accompanying drawings.

[0136] The operation of the first actuator

[0137] Figure 8 (A), (B), and (C) respectively show the first movement M1 of the mounting plate 115 caused by the first actuator 110, namely translational movement or displacement operation, and the resulting posture or position of the end effector 200.

[0138] exist Figure 8In the diagram, (A) shows the first actuator 110 remaining in the neutral position (initial posture), (B) shows the first linear mover 113a rising up above the initial intermediate position (the middle position of the operating area) due to the operation of the first engine 112 of the first actuator 110, and (C) shows the first actuator 110 falling down below the intermediate position.

[0139] Therefore, in Figure 8 In state (A), the end effector 200 remains in the neutral position corresponding to the neutral position (initial posture) of the first actuator 110. In state (B), due to the rising of the first linear actuator 113, the lever-type first actuating rod 113b operates and pushes the mounting plate 115 to shift the end effector 200 on it to the left. In state (C), the first actuator 110 falls down below the intermediate position, and the mounting plate 115 is pulled, causing the end effector 200 on it to shift to the right.

[0140] Operation of the second actuator

[0141] Figure 9 (A), (B), and (C) show the result of the second motion M2 of the first plate 111a caused by the second actuator 120, the yaw (rotation) operation, and the resulting posture of the end effector 200.

[0142] exist Figure 9 In the diagram, (A) shows the second actuator 120 remaining in the neutral position (initial posture), (B) shows the second motor 122 of the second actuator 120 rotating the first plate 111a of the first support 111 in one direction (clockwise) at a certain angle, and (C) shows the second motor 122 rotating the first plate 111a of the first support 111 in another direction (counterclockwise) at a certain angle.

[0143] Therefore, in Figure 9 In state (A), the end effector 200 remains in a neutral position facing the front in the figure to correspond to the neutral position (initial posture) of the second actuator 120. In state (B), the end effector 200 yaws (turns) to the left at a certain angle. In state (C), the end effector 200 yaws (turns) to the right at a certain angle.

[0144] Operation of the third actuator

[0145] Figure 10 (A), (B), (C), and (D) show the third motion of the end effector 200, namely pitching, and the fourth motion, namely vertical lifting or translation, wherein the surgical tool 220 of the surgical device 1 is shown facing to the left in the figure. Figure 10 (A), (B), (C), and (D) respectively show the operating results of the third motor 132a and the fourth motor 132b of the third actuator 130 of the first plate 111a of the first support 111 and the resulting posture or position of the end effector 200.

[0146] exist Figure 10 In the diagram, (A) shows the third actuator 130 remaining in its initial pose, and (B) shows the state where the second linear actuator 133a and the third linear actuator 133b rise by the same distance due to the simultaneous operation of the third motor 132a and the fourth motor 132b of the third actuator 130. Furthermore, in... Figure 10 In the diagram, (C) shows a state in which the third engine 132a and the fourth engine 132 operate differently, and the second linear mover 133a rises to a relatively larger height compared to the third linear mover 133b. In contrast to state (C), (D) shows a state in which the third engine 132a and the fourth engine 132b operate differently, and the third linear mover 133b rises to a relatively larger height compared to the second linear mover 133a.

[0147] Therefore, in Figure 10 In state (B), compared to state (A), the first plate 111a is in a vertical position and moves in a plane parallel to each other as the fourth motion. Thus, the first plate 111a rises vertically without tilting.

[0148] exist Figure 10 In state (C), the first plate 111a will not be vertically translated as in state (B). The left edge of the first plate 111a is higher than the right edge, so the plane of the first plate 111a is tilted to the left.

[0149] exist Figure 10 In state (D), opposite to state (C), in the attached figure of the first plate 111a, the right edge is higher than the left edge, so the plane of the first plate 111a is tilted to the right.

[0150] Therefore, in Figure 10 In the process, the end effector 200 rises vertically in state (B), the tool portion of the end effector 200 tilts upward in state (C), and a pitching motion occurs in state (D), wherein the tool portion droops downward.

[0151] Based on the above, the operation of the first actuator 110 is relative to the mounting plate 115 arranged on the first plate 111a, and the operation of the second actuator 120 and the third actuator 130 is relative to the first plate 111a. Here, the second actuator 200 produces a pitching motion on the first plate 111a, and the third actuator 130 operates the entire structure of the first actuator 100, including the first plate 111a.

[0152] Therefore, the operation of the first plate 111a caused by the second actuator 120 occurs simultaneously with the operation of the third actuator 130 on the first plate 111a. Thus, a combined operation of the second actuator 120 and the third actuator 130 occurs on the first plate 111a, that is, the yaw operation performed by the second actuator 120 and the vertical rise and pitch operation performed by the third actuator 130 occur in combination.

[0153] This compound operation occurs directly on the mounting plate 115 placed thereon. At this time, while the mounting plate 115 is performing the compound movement caused by the first plate 111a, the first actuator 110 also performs additional displacement operation on the first plate 111a.

[0154] Therefore, the mounting plate 115 will cause a four-degree-of-freedom compound operation, including all the operations described above, including the transfer operation performed by the first actuator 110, the rolling operation performed by the second actuator 120, and the vertical lifting (bouncing) and pitching movements performed by the third actuator 130.

[0155] As a result, the surgical tool 220 mounted on the mounting plate 115, which is installed in a four-degree-of-freedom motion composite, is able to control the four-degree-of-freedom composite motion.

[0156] This surgical device, capable of controlling four degrees of freedom, can be applied to computer-based surgical systems based on surgical plans. Therefore, all the aforementioned actuators can be controlled through the surgical system, allowing the surgeon to perform surgery more freely with less physical constraint and spatial limitation, according to the surgical plan.

[0157] That is, the surgical device according to the present invention can realize highly free surgical procedures, allowing the surgeon to have more freedom of posture and the end effector to be aligned with the position and direction of the corresponding surgical part according to the preset surgical plan.

[0158] Although various embodiments of the invention have been described in detail above, those skilled in the art will be able to modify the invention in various ways without departing from the spirit and scope of the invention as defined in the appended claims. Therefore, changes to subsequent embodiments of the invention will not depart from the technology involved in the invention. Claims (as amended under Article 19 of the Treaty) 1. A surgical device, comprising: Mounting plate on which an end effector having a tool extending in a first direction is mounted, and arranged on a plane with a first axis parallel to the first direction and a second axis in a second direction spanning it; A first actuator, on which the mounting plate is mounted, is configured to generate a first movement of the mounting plate in the second direction; A second actuator, configured to generate a rotational force to rotate the first actuator about a third axis orthogonal to the first and second axes, thereby generating a second movement of the mounting plate; and A third actuator, which is coupled to the second actuator, transmits the rotational force from the second actuator to the first actuator and causes the mounting plate to rotate about the rotation axis in the second axial direction to generate a third motion. 2. The surgical device according to claim 1, wherein, The first actuator includes: a first plate configured to reciprocate in a second direction; a first engine configured to drive the mounting plate; and a first transmission unit that transmits power from the first engine to operate the mounting plate by the first engine. 3. The surgical device according to claim 2, wherein, The first transmission unit includes: a first conversion unit that converts the rotation of the first engine into linear reciprocating motion; and a first operating rod that transmits the linear motion from the first conversion unit into linear motion of the mounting plate. 4. The surgical device according to claim 3, wherein, The linear motion from the first conversion unit occurs in a direction that spans the plane of the mounting plate, and the first operating rod is hinged to the mounting plate and converts the linear motion from the first conversion unit into the motion direction of the mounting plate. 5. The surgical device according to claim 3, wherein, The first conversion unit has a first linear mover configured to reciprocate linearly due to the rotation of the first engine, and the first operating rod is hinged to the mounting plate and the first linear mover. 6. The surgical apparatus according to claim 1, wherein, The first actuator, the second actuator, and the third actuator are arranged within a protective housing. The second actuator has: a second plate fixedly positioned relative to the housing; a second engine configured to generate a rotational force to rotate the first actuator; and a second engine mounting portion configured to support the second engine. 7. The surgical apparatus of claim 6, wherein the third actuator has a third plate that is rotated by the second motor. 8. The surgical device according to claim 1, wherein, The third actuator has: The third and fourth engines are configured to generate rotational force to produce a third movement of the mounting plate; The second transmission unit is configured to generate the third motion using the rotation of the third and fourth engines, respectively. 9. The surgical apparatus according to claim 8, wherein, The second transmission unit includes: The second and third conversion units are configured to convert the rotation of the third and fourth engines into linear reciprocating motion; and The third and fourth operating levers are configured to transmit the linear motion of the second and third conversion units to the mounting plate to generate the third motion. 10. The surgical apparatus according to claim 9, wherein, The third actuator is configured such that the second and third transformation units of the second transmission unit move the same distance simultaneously to generate a fourth movement that causes the mounting plate to translate in the third direction without tilting. 11. A method for controlling a surgical device, comprising: An end effector having a tool extending in a first direction is mounted on a mounting plate, the mounting plate being arranged on a plane with a first axis parallel to each other in the first direction and a second axis in a second direction spanning it; The first actuator generates a first movement of the mounting plate toward the second direction; The second actuator causes the first actuator to rotate about a third axis orthogonal to the first and second axes to produce the second movement of the mounting plate; A third motion of the mounting plate is generated by a third actuator, which is coupled to the second actuator and configured to transmit rotational force from the second actuator to the first actuator and cause the mounting plate to rotate about a rotation axis in a second direction. 12. The control method for the surgical device according to claim 11, wherein, A first plate disposed in the first actuator supports the mounting plate so that the mounting plate can reciprocate in the second direction, and a first transmission part disposed in the first actuator generates the first movement of the mounting plate. 13. The control method for the surgical device according to claim 12, wherein, The first conversion unit, located in the first transmission unit, converts the rotation of the first engine into linear reciprocating motion, and the first operating rod connected to the first conversion unit transmits the linear motion from the first conversion unit to the mounting plate. 14. The control method for the surgical device according to claim 13, wherein, The first conversion unit generates linear motion in a direction spanning the plane of the mounting plate, and the first operating rod is hinged to the mounting plate and converts the linear motion from the first conversion unit into the motion direction of the mounting plate. 15. The control method for the surgical device according to claim 11, wherein, The housing protects the first actuator, the second actuator, and the third actuator inside, and... The second plate disposed on the second actuator is fixedly positioned relative to the housing to support the first actuator, the second actuator, and the third actuator as a whole. 16. The control method for the surgical device according to claim 11, wherein, The third actuator transmits the rotational motion generated by the second actuator to the mounting plate to generate the second motion, and uses a second conversion unit and a third conversion unit to convert the rotation of the third engine and the fourth engine into linear reciprocating motion to generate the third motion. 17. The control method for the surgical device according to claim 16, wherein, The third actuator generates a fourth motion by moving the second and third transformation units by the same distance, causing the mounting plate to translate in the third direction without tilting.

Claims

1. A surgical device comprising: a mounting plate on which a tool having a distal end extending in a first direction is mounted, and which is disposed on a plane of a first axis and a second axis which are parallel to each other in the first direction; a first actuator on which the mounting plate is mounted, and which is configured to generate a first movement of the mounting plate in the second direction; a second actuator configured to generate a rotational force to rotate the first actuator around a third axis in a third direction orthogonal to the first and second axes and to generate a second movement of the mounting plate; and a third actuator coupled to the second actuator to transmit the rotational force from the second actuator to the first actuator and to rotate the mounting plate around a rotational axis in the second axis direction to generate a third movement.

2. The surgical device according to claim 1, wherein the first actuator has a first plate provided so that the mounting plate can reciprocate in the second direction, a first motor configured to drive the mounting plate, and a first transmission portion which transmits power of the first motor to operate the mounting plate by the first motor.

3. The surgical device according to claim 2, wherein the first transmission portion has a first conversion portion which converts rotation of the first motor into linear reciprocating motion, and a first operation lever which transmits linear motion from the first conversion portion as linear motion of the mounting plate.

4. The surgical device according to claim 3, wherein linear motion from the first conversion portion occurs in a direction transverse to the plane of the mounting plate, and the first operation lever is hingedly coupled to the mounting plate and converts the direction of motion of the mounting plate from the linear motion from the first conversion portion.

5. The surgical device according to claim 3, wherein the first conversion portion has a first linear mover configured to perform linear reciprocating motion due to rotation of the first motor, and the first operation lever is hingedly coupled to the mounting plate and the first linear mover.

6. The surgical device according to claim 1, wherein the first actuator, the second actuator, and the third actuator are disposed within a housing which protects them, the second actuator has a second plate fixedly positioned with respect to the housing, and a second motor configured to generate a rotational force to rotate the first actuator, and a second motor mounting portion configured to support the second motor. the third actuator has a third plate which is rotated by the second motor.

7. The device according to claim 6, wherein 8. The surgical device according to claim 1, wherein the third actuator has: third and fourth motors configured to generate a rotational force to generate a third movement of the mounting plate, a second transmission portion configured to generate the third movement using the respective rotations of the third and fourth motors.

9. The surgical device according to claim 8, wherein the second transmission portion includes: second and third conversion portions configured to convert the respective rotations of the third and fourth motors into linear reciprocating motion, and a second operation lever which transmits linear motion from the second and third conversion portions as linear motion of the mounting plate. a third operation lever and a fourth operation lever configured to transmit linear motion of the second conversion section and the third conversion section of the second transmission section to the mounting plate to generate the third motion.

10. The surgical device according to claim 9, wherein the third actuator is configured to move the second conversion section and the third conversion section of the second transmission section by the same distance at the same time to generate the fourth motion that causes the mounting plate to perform translational motion in the third direction without a change in tilt.

11. A control method of a surgical device, comprising: mounting an end effector having a tool extending in a first direction on a mounting plate arranged on a plane parallel to a first axis in the first direction and a second axis in a second direction transverse thereto; generating, by a first actuator, a first motion of the mounting plate in the second direction; generating, by a second actuator, a second motion of the mounting plate by rotating the first actuator about a third axis in a third direction orthogonal to the first and second axes; generating, by a third actuator coupled to the second actuator, a third motion of the mounting plate by transmitting the rotational force from the second actuator to the first actuator and rotating the mounting plate about a rotational axis in the second direction.

12. The control method of a surgical device according to claim 11, wherein a first plate provided in the first actuator supports the mounting plate so that the mounting plate can perform reciprocating motion in the second direction, and a first transmission section provided in the first actuator generates the first motion of the mounting plate.

13. The control method of a surgical device according to claim 12, wherein a first conversion section provided in the first transmission section converts the rotation of the first motor into linear reciprocating motion, and a first operation lever connected to the first conversion section transmits the linear motion from the first conversion section to the mounting plate.

14. The control method of a surgical device according to claim 13, wherein the first conversion section generates linear motion in a direction transverse to the plane of the mounting plate, and the first operation lever is hingedly connected to the mounting plate and converts the linear motion from the first conversion section into the direction of motion of the mounting plate.

15. The control method of a surgical device according to claim 11, wherein a housing protects the first actuator, the second actuator, and the third actuator inside thereof, and a second plate provided in the second actuator is fixedly positioned relative to the housing to support the first actuator, the second actuator, and the third actuator as a whole.

16. The control method of a surgical device according to claim 11, wherein the third actuator transmits the rotational motion generated by the second actuator to the mounting plate to generate the second motion, and the third motion is generated using a second conversion section and a third conversion section that convert the rotation of a third motor and a fourth motor into linear reciprocating motion, respectively.

17. The control method of a surgical device according to claim 16, wherein The third actuator generates a fourth motion that causes the mounting plate to translate in the third direction without a change in tilt by moving the same distance using the second and third transformation sections.

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