Apparatus and method for providing feedback for surgical robotic system

Abstract

A method of providing feedback to a user input interaction device of a surgical robot system is provided, the method comprising: acquiring interaction information by using at least one sensor located at a robotic arm of a surgical robot, the interaction information indicating whether an interaction occurs between the surgical robot and at least one object; generating a vibration signal containing amplitude information and frequency information of vibration based on the interaction information; and generating vibration by at least one vibrator (actuator) located in the user input interaction device based on the vibration signal, where the user input interaction device is spaced from the surgical robot.

Description

[0001] Cross-references to related applications

[0002] This invention claims priority and benefit to Korean Patent Application No. 10-2024-0117559, filed on August 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a surgical robot, and more particularly to a method and apparatus for providing feedback to a user input interaction device in a surgical robot system, but is not limited thereto. Background Technology

[0004] In medicine, surgery refers to the process of removing, cutting, or manipulating the skin, mucous membranes, or other tissues using medical instruments to treat disease. In particular, laparotomy, which involves cutting open the skin at the surgical site to treat or remove internal organs, can cause problems such as bleeding, side effects, patient pain, and scarring. Therefore, in recent years, surgeries performed through a pre-defined incision in the skin, using only a laparoscope, surgical instruments, or a microsurgical microscope, or surgeries using robots, have gained significant attention as an alternative.

[0005] Surgical robots are robots capable of performing surgical procedures that would otherwise be done by human surgeons. Compared to humans, these robots can perform precise and delicate movements and have the advantage of being able to perform remote surgery.

[0006] On the other hand, surgical robot systems generally consist of an active robot and a passive robot. When the surgeon operates a joystick (such as a handle) on the active robot, the robotic arm attached to the passive robot or the surgical device held by the robotic arm is operated to perform the surgery.

[0007] Compared to manual surgical instruments, the advantage of surgical robotic systems is their intuitive manipulation because the surgical procedure is performed separately from the user's control. Conversely, unlike manual surgical instruments, the disadvantage of surgical robotic systems is the inability to directly receive feedback on the physical interaction between the surgical instruments and the intra-abdominal environment. Therefore, a method is needed to sense the interaction between the driven robot and the surgical environment within a surgical robotic system and to effectively simulate and provide feedback to the surgeon using the active robot.

[0008] The aforementioned background technology refers to technical information possessed by the inventors in order to derive this invention, or technical information acquired during the process of deriving this invention. It is not necessarily publicly known technology disclosed to the general public before the application of this invention. Summary of the Invention

[0009] The present invention aims to provide a method and apparatus for providing feedback to a user input interaction device in a surgical robot system. Another object of the present invention is to provide a computer-readable recording medium for recording a program for executing the method in a computer.

[0010] The problems to be solved by this invention are not limited to those described above. Other problems and advantages of this invention not mentioned can be understood from the following description, and will become clearer through embodiments of this invention. Furthermore, the problems and advantages to be solved by this invention can be achieved through the methods and combinations thereof described in the claims.

[0011] A method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification may include: acquiring interaction information by using at least one sensor located on a robotic arm of the surgical robot, the interaction information indicating whether an interaction has occurred between the surgical robot and at least one object; generating a vibration signal containing amplitude and frequency information of the vibration based on the interaction information; and generating vibration based on the vibration signal by at least one vibrator (actuator) located on the user input interaction device, wherein the user input interaction device is spaced apart from the surgical robot.

[0012] According to one aspect, generating the vibration may include: generating vibration via a robotic arm vibrator of the at least one vibrator in response to an interaction between the robotic arm and the at least one object; and generating vibration via an instrument vibrator of the at least one vibrator in response to an interaction between a surgical instrument mounted on the robotic arm and the at least one object.

[0013] According to one aspect, acquiring interaction information may include: acquiring robot arm information by using a first accelerometer located at a first position of the robot arm, the robot arm information indicating whether an interaction has occurred between the robot arm and the at least one object; and acquiring instrument information by using a second accelerometer located at a second position of the robot arm, the instrument information indicating whether an interaction has occurred between the surgical instrument and the at least one object.

[0014] According to one aspect, the second position can be closer to the surgical instrument mounting part of the robotic arm compared to the first position.

[0015] According to one aspect, generating vibration via the robot arm vibrator includes: generating vibration via the robot arm vibrator using a robot arm vibration signal generated based on the robot arm information, and generating vibration via the instrument vibrator using an instrument vibration signal generated based on the instrument information.

[0016] According to one aspect, the user input interaction device may include: a grip portion configured to be gripped by a user's fingers; and a handle portion supporting the grip portion; wherein a robot arm vibrator is located on the handle portion and a machine vibrator is located on the grip portion.

[0017] According to one aspect, the at least one vibrator may include: a first side vibrator located on a first side of a predetermined reference line of the user input interaction device; and a second side vibrator located on a second side of the predetermined reference line of the user input interaction device.

[0018] According to one aspect, the first side vibrator may be located on a first grip held by the user's first finger; and the second side vibrator may be located on a second grip held by the user's second finger.

[0019] According to one aspect, acquiring interaction information may include: acquiring first-side information by using a first-side accelerometer located on a first side of a predetermined reference line of the surgical robot, the first-side information indicating whether an interaction has occurred between the surgical robot and the at least one object; and acquiring second-side information by using a second-side accelerometer located on a second side of a predetermined reference line of the surgical robot, the second-side information indicating whether an interaction has occurred between the surgical robot and the at least one object.

[0020] According to one aspect, generating the vibration may include, in response to obtaining a larger measurement value in the first side accelerometer than in the second side accelerometer, generating a vibration with an amplitude or frequency greater than that of the second side accelerometer via the first side vibrator.

[0021] According to one aspect, generating the vibration may include generating two vibrations with the same amplitude or frequency by means of the first side vibrator and the second side vibrator in response to determining that the difference between the measured values ​​of the first side accelerometer and the second side accelerometer is less than or equal to a preset threshold.

[0022] According to one aspect, the at least one sensor may include a plurality of accelerometers, each of which is configured to measure acceleration changes with respect to a plurality of axes; and the at least one vibrator may include a plurality of vibrators, each of which is configured to generate unidirectional vibration.

[0023] According to one aspect, generating the vibration signal may include generating a first vibration signal of a first vibrator and a second vibration signal of a second vibrator among the plurality of vibrators based on the sensing values ​​of a plurality of axes measured by each of the plurality of accelerometers.

[0024] According to one aspect, generating the first vibration signal and the second vibration signal may include assigning weight values ​​to sensing values ​​related to a first axis measured by each of the plurality of accelerometers to generate a first vibration signal of a first vibrator, and assigning weight values ​​to sensing values ​​related to a second axis measured by each of the plurality of accelerometers to generate a second vibration signal of a second vibrator.

[0025] According to one aspect, the amplitude information can reflect the interaction intensity between the surgical robot and the at least one object; and the frequency information can reflect the hardness of the at least one object interacting with the surgical robot.

[0026] According to one aspect, generating the vibration signal may include determining the amplitude information by reflecting the magnitude of the measurement value of the at least one sensor, and determining the frequency information by reflecting the difference between the measurement value at a first time point and the measurement value at a second time point of the at least one sensor.

[0027] According to one aspect, the robot arm vibrator and the instrument vibrator may have different operating bandwidths.

[0028] According to one aspect, generating the vibration may include, in response to determining that the spacing between gripping portions located on the user input interaction device has changed; and determining that the measurement value of the at least one sensor differs from a predetermined reference measurement value, generating a vibration instructing the surgical instrument of the surgical robot to grip the at least one object, wherein the reference measurement value represents the measurement value of the at least one sensor in a state where the clamp portion of the surgical instrument of the surgical robot is closed and not gripping the at least one object.

[0029] According to another embodiment of this specification, an apparatus for providing feedback to a user input interaction device of a surgical robot system may include: at least one processor; and at least one memory; wherein the at least one processor may be configured to: acquire interaction information by using at least one sensor located on the robotic arm of the surgical robot, the interaction information indicating whether an interaction has occurred between the surgical robot and at least one object; generate a vibration signal including amplitude and frequency information of vibration based on the interaction information; and generate vibration by at least one vibrator located on the user input interaction device, wherein the user input interaction device is spaced apart from the surgical robot.

[0030] A surgical robot system according to another embodiment of this specification includes a surgical robot and a user input interaction device spaced apart from the surgical robot. The system may include: at least one sensor located on the robotic arm of the surgical robot and configured to acquire interaction information indicating whether an interaction has occurred between the surgical robot and at least one object; at least one vibrator located on the user input interaction device and configured to generate vibration based on a vibration signal; and a processor communicatively connected to the at least one sensor and the at least one vibrator and configured to generate a vibration signal containing amplitude and frequency information of the vibration based on the interaction information.

[0031] In addition, other methods, other systems for implementing the present invention, and computer-readable recording media for storing the execution of the above methods are also provided.

[0032] Other aspects, features, and advantages will become more apparent from the following drawings, claims, and description of the invention.

[0033] In this disclosure, based on an accelerometer mounted on the robotic arm of a surgical robot, vibration signals containing amplitude and frequency information are generated by detecting whether an interaction occurs between the surgical robot and at least one object. Vibration is then generated by at least one vibrator (actuator) mounted on a user input interaction device.

[0034] Therefore, by eliminating the need for sensors on non-reusable surgical instruments, the number of times sensors can be reused is increased, thereby detecting interactions between surgical instruments and the surgical environment at a lower cost. Furthermore, using accelerometers and vibrators can further reduce costs, as they are significantly cheaper than the force sensors and motors used in traditional surgical robots to provide feedback on the surgical environment. Moreover, by using multiple accelerometers and vibrators, with appropriate design and control over the frequency and amplitude of the vibration signals, similar stimuli to those generated in actual surgical robots can be reproduced at a lower cost through the user input interaction device of the active device, thus providing feedback to the surgeon.

[0035] The effects of the present invention are not limited to the contents described herein, and other effects not mentioned will become more apparent to those skilled in the art from the following description. Attached Figure Description

[0036] Figure 1 This is a schematic diagram illustrating an example of a system for driving a surgical device according to an embodiment; Figure 2A This is a structural diagram illustrating an example of a user terminal according to one embodiment; Figure 2B This is a structural diagram illustrating an example of a server according to one embodiment; Figure 3 This is a conceptual diagram illustrating a surgical robot system according to one embodiment; Figure 4 To indicate Figure 3 A block diagram of the internal structure of a surgical robot system; Figure 5 To indicate Figure 3 A perspective view of the driven robot and the surgical instruments mounted on it in a surgical robot system; Figure 6 To indicate according to Figure 3 A perspective view of a modular follower robot and surgical instruments mounted thereon, representing one aspect of a surgical robot system.

[0037] Figure 7 To indicate in Figure 6 A schematic diagram showing the instrument with its outer casing removed.

[0038] Figure 8 To indicate according to Figure 3 A perspective view of another modular follower robot of the surgical robot system and the laparoscopic surgical camera mounted thereon.

[0039] Figure 9 To indicate from Figure 6 A schematic diagram of the slave robot removing the outer shell of the instrument.

[0040] Figure 10 Another perspective view illustrating a modular slave robot and surgical instruments mounted thereon in a surgical robot system according to an embodiment.

[0041] Figure 11 A perspective view of a surgical instrument according to an embodiment of the present invention is provided. Figure 12 and Figure 13 for Figure 11 A three-dimensional diagram of the end tool of a surgical instrument; Figures 14A to 14B for Figure 11 A top view of the terminal tool of the surgical instruments; Figure 15 and Figure 16 for Figure 11 A three-dimensional view of the drive unit of a surgical instrument; Figure 17 for Figure 11 A top view of the drive unit of a surgical instrument; Figure 18 for Figure 11 Rear view of the drive unit of the surgical instrument; Figure 19 for Figure 11 Side view of the drive unit of a surgical instrument; Figure 20 for Figure 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; Figure 21 for Figure 11 A disassembly diagram of the structure related to the second clamp in the pulley and wire structure of the surgical instrument shown; Figures 22A to 23C To show Figure 11 A diagram showing the pitching motion of the surgical instruments.

[0042] Figures 24A to 25B To show Figure 11 A diagram showing the deflection motion of the surgical instruments; Figure 26 A schematic flowchart of a method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification; Figure 27 This is a schematic diagram illustrating the state of mounting surgical instruments on the robotic arm of a surgical robot according to one aspect of this specification; Figure 28 This is an example diagram showing the installation of an accelerometer on a robot arm according to one aspect of this specification; Figure 29 This is an example diagram illustrating the installation of the accelerometers on the first and second sides according to one aspect of this specification; Figure 30 To indicate Figure 29 The top image shows the accelerometer settings of the robot arm. Figure 31 This is an example diagram showing the installation of a vibrator on a user input interaction device according to one aspect of this specification; Figure 32 for Figure 26 The first detailed flowchart of the interactive information acquisition steps; Figure 33 for Figure 26 The second detailed flowchart of the interactive information acquisition steps. Detailed Implementation

[0043] Various embodiments of the present disclosure are described below with reference to the accompanying drawings. Various modifications can be made to the various embodiments of the present disclosure, and there may be multiple embodiments. Specific embodiments are exemplarily illustrated in the accompanying drawings and described in detail. However, the invention is not intended to be limited to the specific manner of fact, but rather to include all changes, equivalents, and even substitutions that fall within the spirit and technical scope of the present invention.

[0044] However, this does not imply that the various embodiments of this disclosure are limited to any particular embodiment, but should be understood to include all modifications and / or equivalents or substitutions within the mind and technical scope of the various embodiments of this disclosure. In the description of the drawings, similar components are referred to by similar reference numerals.

[0045] In various embodiments of this disclosure, expressions such as "comprising" or "may include" refer to the presence of the corresponding disclosed feature, action, or component, and are not intended to limit the addition of one or more features, actions, or components. Furthermore, in various embodiments of this disclosure, the terms "comprising" or "having" are intended to specify the presence of the described feature, number, step, action, component, part, or combination thereof, and are not intended to pre-exclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0046] In various embodiments of this disclosure, expressions such as "or" include any and all combinations of the words listed together. For example, "A or B" may include A, may include B, or may include both A and B.

[0047] In the various embodiments of this disclosure, expressions such as "first," "second," "firstly," or "secondarily" may modify various components of various embodiments, but are not intended to limit these components. For example, the expressions do not limit the order and / or importance of these components. The expressions can be used to distinguish one component from another. For example, a first user equipment and a second user equipment are both user equipment, but represent different user equipment. For example, without departing from the scope of the embodiments of this disclosure, a first component may be named a second component, and similarly, a second component may be named a first component.

[0048] In embodiments of this disclosure, terms such as "module," "unit," and "part" refer to components that perform at least one function or action, which can be implemented in hardware or software, or a combination of hardware and software. Furthermore, multiple "modules," "units," and "parts" can be integrated into at least one module or chip and implemented by at least one processor, unless each needs to be implemented as separate, specific hardware.

[0049] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. Unless the context clearly indicates otherwise, singular expressions include the meaning of the plural.

[0050] Unless otherwise defined, all terms used in this specification, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain.

[0051] Terms that are identical to those defined in commonly used dictionaries have the same meaning as in the context of the relevant art and should not be interpreted as having an ideal or overly formalistic meaning unless explicitly defined in the various embodiments of this disclosure.

[0052] Various embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0053] Laparoscopic surgery is a procedure performed by creating an opening in the patient's abdominal cavity, inserting a narrow, long tube through the opening, and then using surgical instruments attached to the end of the tube. Surgical instruments may include, for example, articulated instruments.

[0054] At this point, if manual surgical instruments are used, the instruments and the user's control unit move symmetrically relative to the abdominal cavity opening, thus requiring a prescribed amount of practice time until proficient control is achieved. Furthermore, since the surgical instruments cannot be visually inspected, an endoscopic camera must be inserted into the abdominal cavity simultaneously, allowing the surgical instruments to be operated while viewing the acquired camera images.

[0055] The same applies when using surgical robot systems for laparoscopic surgery, but with the advantage of intuitive manipulation compared to manual surgical instruments. As will be described later in this disclosure, a surgical robot system according to one embodiment includes an active robot and a passive robot. The passive robot, also referred to as a surgical robot or surgical device, can refer to a configuration that directly acts on the patient to perform surgery. The active robot, also referred to as an active device or user input interaction device, can refer to a configuration that receives user operations for controlling the passive robot.

[0056] Because the surgical robot system separates the parts that mount articulated instruments to perform the surgery (such as the surgical robot) from the parts that are operated by the user (such as the active device), it allows for intuitive manipulation compared to manual surgical instruments. That is, the surgical robot system can control movements by matching the user's movements with the movements shown on the laparoscopic camera screen, thereby enabling intuitive manipulation of the surgical instruments.

[0057] Surgical robot system drive

[0058] The method and apparatus for driving a surgical robot system according to embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings.

[0059] Figure 1 This is a schematic diagram illustrating an example of a driven surgical robot system according to one embodiment.

[0060] Reference Figure 1 System 1000 includes user terminal 2000 and server 3000. For example, user terminal 2000 and server 3000 can be connected via wired or wireless communication to send and receive data between each other.

[0061] For ease of description, Figure 1 The diagram shows system 1000 including user terminal 2000 and server 3000, but it is not limited to these. For example, system 1000 may include other external devices (not shown), and the actions of user terminal 2000 and server 3000, which will be described below, may also be implemented by a single device (such as user terminal 2000 or server 3000) or multiple devices.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] in, Figure 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.

[0067] 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 device 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.

[0068] 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.

[0069] Figure 2A This is a structural diagram illustrating an example of a user terminal according to one embodiment; Reference Figure 2A The user terminal 2010 includes a processor 2011, a memory 2012, an input / output interface 2013, and a communication module 2014. For ease of description, Figure 2A The text only represents components relevant to this invention. Therefore, except... Figure 2A In addition to the components shown, the user terminal 2010 may also include other general components. Furthermore, Figure 2AThe 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.

[0070] 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.

[0071] 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.

[0072] The method of allowing the position and function of a surgical device to be operated by user actions can be a method formed in the form of a handle-shaped operating component, but is not limited to this, and can be modified to achieve 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 surgeon's finger to facilitate operation of the surgical device. Hereinafter, in this disclosure, the device that can be operated by user actions may also be referred to as a user input interaction device.

[0073] Specifically, the processor 2011 can update the reference posture of the user input interaction device using the pre-operation posture information of the user input interaction device before the user's first operation. Since the user's operation of the surgical device can be based on the degree to which the user has changed the user input interaction device, the difference between the state of the user input interaction device after the user's operation and the state of the user input interaction device before the user's first operation can be determined by initializing the reference posture of the user input interaction device to the state before the user's operation, i.e., the change in the user input interaction device.

[0074] Processor 2011 can generate operation information based on the amount of change in the reference posture of the user input interaction device. Operation information refers to information representing the intuitive actions of the user in operating the position and function of the surgical device. Non-limitingly but more specifically, operation information may include position and orientation information in a physical coordinate system representing the method by which the user operates the position and function of the surgical device. As an example, operation information may include transformation matrices representing linear and rotational translations in a homogeneous coordinate system. The transformation matrix may be a homogeneous transform matrix, which may include information on the rotation matrix and translation vector. As another example, operation information may include position and orientation information in a physical coordinate system represented by a screw or similar notation. However, examples of operation information are not limited to these. Operation information can be determined based on the amount of change in the reference posture of the user input interaction device. The operation information may represent the amount of change relative to the reference posture, which may represent the degree of change of the user input interaction device relative to the origin. However, the reference posture and operation information can be represented by the Homogeneous transformation matrix or screw method as described above.

[0075] On the other hand, the processor 2011 can generate operation information based on a method for enabling a user to operate the position and function of the surgical device, such as position and orientation information of the user-input interactive device. For example, the processor 2011 can generate operation information using the difference between the initial position and orientation information of the method enabling the user to operate the position and function of the surgical device and the position and orientation information after the user's operation of the method. According to one aspect, the processor 2011 can generate operation information based on the amount of change in the reference posture of the user-input interactive device operated by the user.

[0076] Furthermore, the processor 2011 can determine the target posture of the surgical apparatus corresponding to the operation information. For example, the processor 2011 can determine the target posture of the surgical instrument based on the operation information. According to one aspect, the processor 2011 can determine the target posture based on a predetermined correspondence between the movement of a user input interaction device and the movement of the surgical apparatus.

[0077] Processor 2011 may be implemented by an array of logic gates or by a combination of a general-purpose microprocessor and memory storing programs that can be executed on the microprocessor. For example, processor 2011 may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, processor 2011 may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), etc. For example, processor 2011 may also refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a digital signal processor (DSP) core, or any other combination of such configurations.

[0078] The memory 2012 may include any non-transitory computer-readable recording medium. As an example, the memory 2012 may include a non-transitory mass storage device, such as RAM (random access memory), ROM (read only memory), a disk drive, an SSD (solid state drive), flash memory, etc. As another example, a non-transitory mass storage device, such as ROM, SSD, flash memory, optical disc drive, etc., may be a separate persistent storage device distinct from the memory. Furthermore, the memory 2012 may store an operating system (OS) and at least one program code (e.g., code for the processor 2011 to perform actions described later in conjunction with the accompanying drawings).

[0079] The software components may be loaded from a computer-readable recording medium independent of the memory 2012. These independent computer-readable recording media may be recording media that can be directly connected to the user terminal 2010, such as floppy drives, optical discs, magnetic tapes, DVD / CD-ROM drives, memory cards, etc. Alternatively, the software components may be loaded into the memory 2012 via the communication module 2014 instead of via a computer-readable recording medium. For example, at least one program may be loaded into the memory 2012 based on a computer program installed via a file provided by the developer or a file distribution system that distributes application installation files through the communication module 2014 (e.g., a computer program whose actions are performed by the processor 2011 and described later in conjunction with the accompanying drawings).

[0080] Input / output interface 2013 can provide an interface to user terminal 2010 or to input or output devices (such as keyboard, mouse, etc.) included in user terminal 2010. Input / output interface 2013 can be configured separately from processor 2011, but is not limited thereto; input / output interface 2013 can also be configured to be included in processor 2011.

[0081] The communication module 2014 provides configuration or functionality for communication between the server 3000 and the user terminal 2010 via a network. Furthermore, the communication module 2014 also provides configuration or functionality for communication between the user terminal 2010 and other external devices. For example, control signals, commands, data, etc., provided by the processor 2011 can be transmitted to the server 3000 and / or external devices via the communication module 2014 and the network.

[0082] also, Figure 2A Although not illustrated, the user terminal 2010 may also include a display device. For example, the display device may be a touchscreen. Alternatively, the user terminal 2010 may be connected to a separate display device via wired or wireless communication to send and receive data. For example, the display device may provide images or pictures of a surgical robot system driven by driving information.

[0083] Figure 2B This is a structural diagram illustrating an example of a server according to one embodiment; Reference Figure 2B The server 3010 includes a processor 3011, a memory 3012, and a communication module 3013. For ease of description, Figure 2B The text only represents components relevant to this invention. Therefore, except... Figure 2B In addition to the components shown, server 3010 may also include other common components. Furthermore, Figure 2B The 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.

[0084] The processor 3011 can perform various activities to control the surgical robot system. In other words, referring to... Figure 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.

[0085] Additionally, implementation examples and references for processor 3011. Figure 2A The implementation example of the processor 2011 described is the same, so it will not be repeated here.

[0086] 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).

[0087] Additionally, implementation examples and references for memory 3012. Figure 2A The implementation example of the memory 2012 described is the same, so it will not be repeated here.

[0088] 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.

[0089] Surgical robot system structure

[0090] Figure 3 To illustrate a conceptual diagram of a surgical robot system according to one embodiment, Figure 4 To indicate Figure 3 A block diagram of the internal structure of a surgical robot system. Figure 5 To indicate Figure 3 A perspective view of the driven robot of the surgical robot system and the surgical instruments mounted on it.

[0091] Reference Figures 3 to 5 The surgical robot system 1 includes an active robot 10, a driven robot 20, surgical instruments 30, and a laparoscopic surgical camera 50.

[0092] The active robot 10 includes an operating component 10a and a display component 10b, and the driven robot 20 includes one or more robot arm units 21, 22, and 23.

[0093] As a non-limiting example, the active robot 10 includes operating parts 10a for surgical personnel to operate with their hands. Figure 3 As shown, the operating component 10a can be implemented by two or more handles, and the operation signals from the surgeon's operation of the handles are transmitted to the slave robot 20 via a wired or wireless communication network to control the robot arm units 21, 22, and 23. That is, through the surgeon's operation of the handles, surgical actions such as position movement, rotation, and cutting operations of the robot arm units 21, 22, and 23 are performed. The operation signals can be, for example, operation information generated by a processor, but are not limited to this.

[0094] For example, surgeons can use joysticks in the form of handles to operate robotic arm units 21, 22, and 23. These joysticks can have various instrumental structures depending on their operating method and can be used in various forms to operate the robotic arm units 21, 22, and 23 of the slave robot 20 and / or other surgical devices. Examples include a main handle for operating the movements of the robotic arm units 21, 22, and 23, and various input tools attached to the active robot 10 to operate the functions of the entire system, such as joysticks, keyboards, trackballs, foot pedals, and touchscreens. The operating component 10a is not limited to the shape of a handle; it is not limited to any form that allows control of the movements of the robotic arm units 21, 22, and 23 via a network such as a wired or wireless communication network.

[0095] Furthermore, according to one embodiment of the present invention, operation information can be generated based on the joystick or operating element 10a. For example, according to one embodiment of the present invention, operation information can be generated based on the actions of a user operating the joystick or operating element 10a. However, the examples of generating operation information are not limited to the above.

[0096] Furthermore, the surgical robot system 1 can also provide the user with appropriate voice or motion input. That is, the user can wear glasses or an HMD (head-mounted display) equipped with sensors and move the laparoscopic surgical camera 50 according to the direction of their gaze. Alternatively, if the user issues voice commands such as "left," "right," "arm 1," "arm 2," etc., the system can recognize and execute the commands. As a non-limiting example, according to one aspect, operational information can be generated based on the user's voice.

[0097] On the display unit 10b of the active robot 10, images captured by the laparoscopic surgical camera 50 will be displayed as video images. For example, the images captured by the laparoscopic surgical camera 50 may include the patient's surgical site, surgical instruments inserted into the patient's surgical site, and the movements of the surgical instruments. For example, the display unit 10b may display video images corresponding to the movements of the surgical instruments inserted into the patient's surgical site. Furthermore, a defined virtual control panel may be displayed on the display unit 10b together with or separately from the images captured by the laparoscopic surgical camera 50. Detailed descriptions of the setup and structure of such a virtual control panel will be omitted.

[0098] According to one aspect, the display component 10b may consist of one or more displays, each capable of individually displaying information required during the surgery. The number of displays may be determined by the type or category of information to be displayed.

[0099] Furthermore, one or more slave robots 20 may be included to perform surgery on a patient. As a non-limiting example, the surgical robot system 1 may include a slave robot 20 (hereinafter referred to as the "first robot") incorporating surgical instruments 30 and a slave robot 20 (hereinafter referred to as the "second robot") incorporating a laparoscopic surgical camera 50. That is, the laparoscopic surgical camera 50 used to display the surgical site or surgical instruments as video images through the display unit 10b can be implemented as a slave robot 20 incorporating surgical instruments 30 and a separate, independent slave robot 20. Furthermore, it should be understood that, as previously stated, embodiments of the present invention are generally applicable to surgeries using various surgical endoscopes other than laparoscopy (e.g., thoracoscopy, arthroscopy, nasal endoscopy, etc.).

[0100] Furthermore, as an example, two of the robotic arm units 21, 22, and 23 can be fitted with surgical instruments 30, and one can be fitted with a laparoscopic surgical camera 50. The surgeon, acting as the operator, can then select the slave robot 20 (or robotic arm units 21, 22, and 23) that they wish to control via the active robot 10. Therefore, the surgeon can directly manipulate, for example, three or more surgical instruments via the active robot 10, enabling them to accurately and freely control various instruments according to their own intentions without the need for surgical assistants.

[0101] As another example, the driven robot 20 may include one or more robot arm units 21, 22, 23. Figures 3 to 5 Although the illustration exemplarily depicts a robotic arm 21, 22, or 23 integrated onto a slave robot 20, the technical concept of the present invention is not limited thereto. For example, two robotic arm units may also be integrated onto a slave robot 20, with a surgical instrument 30 attached to one robotic arm and a laparoscopic surgical camera 50 attached to the other. However, when multiple robotic arms are integrated onto a slave robot 20, each robotic arm unit 21, 22, or 23 can also be configured as an independently operable module. In this case, an algorithm to prevent collisions between the robotic arm units 21, 22, or 23 can be applied in the surgical robot system 1.

[0102] On the other hand, the slave robot 20 may include one or more robot arm units 21, 22, and 23. Each robot arm unit 21, 22, and 23 can be configured as an independently operable module. In this case, an algorithm to prevent collisions between the robot arm units 21, 22, and 23 can be applied in the surgical robot system 1.

[0103] Generally, a robotic arm refers to a device that has functions similar to a human arm and / or wrist, and can attach prescribed tools to the wrist. In this disclosure, robotic arm units 21, 22, and 23 can be defined as a comprehensive concept including an upper arm, forearm, wrist, elbow, and surgical instruments (or laparoscopic surgical cameras) attached to the wrist. Alternatively, it can be defined as a concept including only components for driving surgical instruments (or laparoscopic surgical cameras), excluding the surgical instruments (or laparoscopic surgical cameras).

[0104] Therefore, the robotic arm units 21, 22, and 23 of the driven robot 20 can be implemented as multi-degree-of-freedom drives. For example, the robotic arm units 21, 22, and 23 may include a surgical instrument (or a laparoscopic surgical camera) inserted into the patient's surgical site, a yaw drive unit that rotates the surgical instrument in the yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in the pitch direction orthogonal to the rotation drive of the yaw drive unit, a delivery drive unit that moves the surgical instrument along the length direction, a rotation drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives the end effector of the surgical instrument to cut or slit the surgical lesion. However, it should be understood that the structure of the robotic arm units 21, 22, and 23 is not limited thereto, and the examples described do not limit the scope of the invention. Specific descriptions of the actual control process are omitted, such as the surgeon operating the operating component 10a to rotate or move the robotic arm units 21, 22, and 23 in the corresponding directions.

[0105] In addition, the active robot 10 can perform at least one of the following activities: generating operation information based on the amount of change in the reference posture of the user input interaction device used to control the surgical device; or determining the target posture of the surgical device corresponding to the operation information; or determining the target state information of the drive component; or driving the drive component according to the target state information.

[0106] For example, the active robot 10 can transmit at least one of the target state information of the drive components determined based on operation information to the slave robot 20 via a wired or wireless communication network to control the robot arm units 21, 22, and 23. That is, surgical actions such as position movement, rotation, and cutting operations of the robot arm units 21, 22, and 23 are performed by the surgeon's operation of the handle. Specifically, if the operation information is determined by the active robot 10, the determined operation information can be transmitted to the slave robot 20 via a wired or wireless communication network, and the slave robot 20 can determine the target state information based on the operation information. Alternatively, the active robot 10 can also determine the corresponding target state information by determining the operation information and can transmit the determined target state information to the slave robot 20.

[0107] Reference Figure 4 In one embodiment of the present invention, the active robot 10 may include a video input unit 11, a screen display unit 12, a user input interaction device 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0108] On the other hand, at least a portion of the structure of the active robot 10 may include in Figure 2A In the user terminal. For example, the operation signal generation unit 14, the control unit 15, etc. may be included in the processor 2011, the memory 16, the storage unit 17, etc. may be included in the memory 2012, and the communication unit 18 may be included in the communication module 2014, but the example of the active robot 10 is not limited to the above.

[0109] The video input unit 11 can receive video captured by the camera of the laparoscopic surgical robot 50 provided on the slave robot 20 via a wired or wireless communication network. For example, the images captured by the camera provided on the laparoscopic surgical camera 50 may include the patient's surgical site, surgical instruments inserted into the patient's surgical site, and the movement of the surgical instruments. In addition, these images may include images representing the movement of the surgical apparatus driven according to target state information.

[0110] The display unit 12 outputs an image corresponding to the image received by the image input unit 11 in the form of visual information. Furthermore, when patient biometric information is input, the display unit 12 can also output corresponding information. In addition, the display unit 12 can also output relevant image data of the patient at the surgical site (e.g., X-ray images, CT images, MRI images, etc.). The display unit 12 can be implemented as a display component (see...). Figure 3 In the form of 10b), etc., the control unit 15 can perform an image processing procedure to output the received image as an image through the screen display unit 12. The image may include an image representing the movement of the surgical device driven according to target state information.

[0111] exist Figure 4 In the illustrated embodiment, the image input unit and the screen display unit are shown as being included within the active robot 10, but this is not a limitation. The display component can be provided separately from the active robot 10 as an independent component. Alternatively, the display component can be included as a component of the active robot 10. Furthermore, in other embodiments, multiple display components may be provided, one of which may be located near the active robot 10, while others may be located at a certain distance from the active robot 10.

[0112] Among them, the screen display unit 12 (i.e. Figure 3The display component 10b) can be configured as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that adds depth information to a two-dimensional image by applying stereoscopic technology, and uses this depth information to allow the observer to experience a vivid and realistic three-dimensional feeling. The surgical robot system 1 according to an embodiment of the present invention can also be equipped with a stereoscopic display device as the screen display unit 12, providing the user with a more realistic virtual environment.

[0113] User input interaction device 13 is a device that enables surgical personnel to operate the position and function of the robotic arm units 21, 22, and 23 of the driven robot 20. For example... Figure 3 As shown, the user input interaction device 13 can be formed as a handle-shaped operating component (see...). Figure 3 (10a) but its shape is not limited to this, and it can be deformed to achieve various shapes to achieve the same purpose. In addition, for example, some can be formed into the shape of a handle, some can be formed into different shapes such as a clutch button, and some can be formed into the shape of a finger insertion tube or insertion hook for inserting and fixing the surgeon's fingers to facilitate the operation of the surgical device.

[0114] Furthermore, according to one embodiment of the present invention, operation information can be generated based on the actions of the surgical personnel on the user input interaction device 13. For example, according to one embodiment of the present invention, operation information can be generated based on the actions of the surgical personnel operating the user input interaction device 13. However, the examples of generating operation information are not limited to the above content.

[0115] When the surgeon operates the user input interaction device 13 to move the positions of the robotic arm units 21, 22, and 23 or to perform surgical actions, the operation signal generation unit 14 can generate corresponding operation signals. As an example, when the surgeon operates the user input interaction device 13 to move the positions of the robotic arm units 21, 22, and 23 or to perform surgical actions, the operation signal generation unit 14 can generate corresponding operation information.

[0116] For example, the operation signal generation unit 14 transmits the generated operation signal to the control unit 15, or to the slave robot 20 via the communication unit 18. The operation signal can be sent and received via a wired or wireless communication network. Based on the transmitted operation signal, the control unit 15 can control the operation of the slave robot 20, the surgical instrument 30, or the laparoscopic surgical camera 50. Alternatively, based on the transmitted operation signal, the robot arm control unit 26 included in the slave robot 20 can control the operation of the robot arm units 21, 22, and 23. Alternatively, based on the transmitted operation signal, the instrument control unit 27 included in the slave robot 20 can control the operation of the surgical instrument 30 or the laparoscopic surgical camera 50. However, the method of controlling the operation of the slave robot 20, the surgical instrument 30, or the laparoscopic surgical camera 50 based on the operation signal is not limited to the above situations.

[0117] On one hand, the instrument control unit 27 can receive the operation signal generated by the operation signal generation unit 14 of the active robot 10 and control the operation of the surgical instrument 30 according to the operation signal.

[0118] The control unit 15 is a central processing unit used to control the actions of various components to perform the functions. As an example, the control unit 15 can also perform the function of converting an image input through the product input unit 11 into an image displayed through the screen display unit 12. As another example, the control unit 15 can generate target poses for the robot arm units 21, 22, and 23 based on operation information. Furthermore, the control unit 15 can determine target state information for at least one drive component based on the target pose. Additionally, the control unit 15 can also drive the robot arm units 21, 22, and 23 based on the determined target state information.

[0119] 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.).

[0120] 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.

[0121] 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.).

[0122] The communication unit 18 provides a communication interface necessary for communicating with 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 user input interaction devices or motion-related target state information of the slave robot 20.

[0123] 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.

[0124] Reference Figure 4 , Figure 5 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.

[0125] 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.

[0126] The instrument control unit 27 can receive the operation signals generated by the operation signal generation unit 14 of the active robot 10 and control the operation of the surgical instrument 30 according to the operation signals. For example, the instrument control unit 27 can receive the operation information or target state information calculated by the active robot 10 and control the operation of the surgical instrument 30 accordingly.

[0127] The communication unit 29 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 related to the movements of the slave robot 20 or target state information.

[0128] On the other hand, the communication network 60 serves to connect the active robot 10 and the passive robot 20. That is, the communication network 60 refers to a communication network that provides an access path, enabling the active robot 10 and the passive robot 20 to send and receive data to each other after connection. The communication network 60 may include wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), as well as wireless networks such as wireless LANs, CDMA, Bluetooth, and satellite communication, but the scope of this invention is not limited thereto.

[0129] Modular Slave Robot

[0130] Figure 6 To indicate according to Figure 3 A perspective view of a modular follower robot and surgical instruments mounted thereon, representing one aspect of a surgical robot system. Figure 7 To indicate in Figure 6 A schematic diagram showing the instrument with its outer casing removed. Figure 8 To indicate according to Figure 3 A perspective view of another modular follower robot of the surgical robot system and the laparoscopic surgical camera mounted thereon. Figure 9 To indicate from Figure 6 A schematic diagram of the slave robot removing the outer shell of the instrument.

[0131] The surgical instruments 30 or the laparoscopic surgical camera 50 described in this manual can be connected and mounted on the robotic arm units 21, 22, and 23. (See reference...) Figure 6 The instrument housing 40 can cover the surgical instrument 30 and can be connected to the robotic arm unit 21. By covering one side of the surgical instrument 30 exposed to the outside with the instrument housing 40, foreign objects can be blocked from reaching the surgical instrument 30, and the surgical instrument 30 can be prevented from being damaged by external impacts.

[0132] Reference Figure 7 According to one embodiment, a surgical instrument 30 can be connected and mounted on the robotic arm unit 21 of a modular slave robot 20a. In this description, the modular slave robot 20a with the surgical instrument 30 mounted on the robotic arm unit 21 can be referred to as a "surgical robot". (See also...) Figure 8 According to one embodiment, a laparoscopic surgical camera 50 can be connected and mounted on the robotic arm unit 22 of the modular slave robot 20b. In this description, the modular slave robot 20b with the laparoscopic surgical camera 50 mounted on the robotic arm unit 22 can be referred to as a "camera robot".

[0133] On the other hand, refer to Figures 6 to 9 The illustration exemplarily shows only one of the robot arm units 21, 22, 23 on a slave robot 20a or 20b, in combination with a surgical instrument 30 or a laparoscopic surgical camera 50. However, the technical concept of the present invention is not limited thereto. It should be noted that, as described above, two of the robot arm units 21, 22, 23 may be attached to surgical instruments 30, and one may be attached to a laparoscopic surgical camera 50. Any slave robot may have more than two robot arm units.

[0134] Reference Figures 6 to 9 The motor module 500 can be connected to the surgical instrument 30 and integrated into the surgical robot 20a, specifically positioned on the robot arm unit 21.

[0135] The surgical instrument 30 can be connected to the instrument housing 40 on one side, and to the opposite side to the motor module 500. The motor module 500 can obtain power from an external source to generate power, and the power generated by the motor module 500 can be transmitted to the surgical instrument 30, thereby enabling pitching, yawing, actuation, and rolling movements on the surgical instrument 30.

[0136] Active / passive arm unit

[0137] Figure 10 Another perspective view illustrating a modular slave robot and surgical instruments mounted thereon in a surgical robot system according to an embodiment.

[0138] Reference Figure 10 According to one embodiment, the surgical robot 2001 may include a body 2100, an active arm unit 2300, and surgical instruments 2400. Furthermore, according to another embodiment, the surgical robot 2001 may also include a passive arm unit 2200 and one or more angle measurement sensors 26101, 26201, and 26301.

[0139] The main body 2100 may refer to the main body connected to the robotic arm unit. For example, the robotic arm unit and the main body 2100 may constitute a separate driven robot 20. Furthermore, the main body 2100 may include a moving device (not shown) to position the surgical robot 2001 in a desired location within the operating room. For example, the main body 2100 may be equipped with wheels for free movement. Additionally, the main body 2100 may include a fixing device (not shown) to secure the surgical robot 2001 within the operating room to prevent movement. For example, after the surgical robot 2001 is set up and the surgeon begins the operation, the fixing device can secure the main body 2100 to a predetermined position within the operating room to prevent movement of the surgical robot 2001, thereby ensuring the stability of the surgery.

[0140] The robotic arm unit in the surgical robot 2001 may include at least one of a passive arm unit 2200 and an active arm unit 2300. For example, the surgical robot 2001 may be composed of a body 2100 and an active arm unit 2300, or it may be composed of a body 2100, a passive arm unit 2200, and an active arm unit 2300. As an example, if the robotic arm unit of the surgical robot 2001 is composed only of the active arm unit 2300, the active arm unit 2300 may be directly connected to the body 2100. As another example, if the robotic arm unit of the surgical robot 2001 is composed of a passive arm unit 2200 and an active arm unit 2300, the body 2100 may be directly connected to the passive arm unit 2200, with one end of the passive arm unit 2200 connected to the body 2100 and the other end connected to the active arm unit 2300.

[0141] The passive arm unit 2200 can be defined as a robotic arm whose position, orientation, angle, etc., are manipulated by external forces. For example, a surgeon or a surgical assistant can manipulate the movement of the passive arm unit 2200 by applying physical forces. Furthermore, the passive arm unit 2200 can maintain its position, orientation, angle, etc., even without external forces to manipulate its movement. In other words, if the position, orientation, angle, etc., are manipulated by the surgeon or surgical assistant before the start of surgery, the position, orientation, angle, etc., of the passive arm unit 2200 can remain unchanged during the surgery. From this perspective, the main body 2100 can be included in the passive arm unit 2200 because the position of the main body 2100 moved by the surgeon or surgical assistant before the start of surgery can remain unchanged during the surgery.

[0142] On the other hand, the passive arm unit 2200 may include angle measurement sensors 26101, 26201, and 26301. These angle measurement sensors 26101, 26201, and 26301 can refer to sensors that monitor the movement of the passive arm unit 2200. For example, the angle measurement sensors 26101, 26201, and 26301 can measure or calculate the position, orientation, angle, etc., of the passive arm unit 2200. For example, the angle measurement sensors 26101, 26201, and 26301 can be implemented as sensors capable of measuring changes in the position, velocity, or orientation of an object, such as a rotary encoder, linear encoder, or potentiometer.

[0143] Furthermore, angle measurement sensors 26101, 26201, and 26301 can be positioned between any two passive arm units. For example, the surgical robot 2001 may contain one fewer angle measurement sensor than the passive arm units 2200. (See reference...) Figure 10 The passive arm unit 2200, which connects the main body 2100 and the active arm unit 2300, may include a total of four robot arms. The surgical robot 2001 according to the embodiment may include a total of three angle measurement sensors.

[0144] The active arm unit 2300 can be defined as a robotic arm that automatically controls the position, orientation, angle, etc. of the robotic arm through an internal control algorithm. For example, when a surgeon operates the user input interaction device 13 to operate the active arm unit 2300, the operation signal generation unit 14 can generate an operation signal corresponding to the surgeon's action of operating the user input interaction device 13 and transmit it to the robotic arm control unit of the active arm unit 2300.

[0145] Subsequently, the robotic arm control unit of the active arm unit 2300 can control the position movement, rotation, and other operations of the active arm unit 2300 according to the received control signals and the control algorithm. In other words, when the surgeon is operating, the active arm unit 2300 can perform position, orientation, and angle operations, whether before or after the surgery begins. On the other hand, since the active arm unit 2300 is operated by a control algorithm rather than by external force, it requires external energy to be provided by a motor or actuator. Therefore, the active arm unit 2300 may include one or more motors or actuators.

[0146] 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 Figure 10The illustration shows a surgical robot 2001 combined with surgical instruments 2400, but is not limited thereto. That is, refer to... Figure 10 The same description applies to camera robots that incorporate laparoscopic surgical cameras (not shown).

[0147] Surgical instruments

[0148] Figure 11 To illustrate a perspective view of a surgical instrument according to an embodiment of the present invention, Figure 12 and Figure 13 for Figure 11 A three-dimensional diagram of the end tool of a surgical instrument. Figures 14A to 14B for Figure 11 A top view of the terminal tool of a surgical instrument. Figure 15 and Figure 16 for Figure 11 A three-dimensional view of the drive unit of a surgical instrument. Figure 17 for Figure 11 A top view of the drive unit of a surgical instrument. Figure 18 for Figure 11 Rear view of the drive unit of the surgical instrument. Figure 19 for Figure 11 A side view of the drive unit of a surgical instrument.

[0149] First, refer to Figure 11 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.

[0150] 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.

[0151] 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). Figure 3 The interface combines 21, etc. Therefore, when a user operates the active robot (refer to...), Figure 3 When 10), the robot arm unit (refer to) Figure 3 The motor (not shown) of the surgical instrument 30 (e.g., 21, etc.) is operated 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.

[0152] For example, when a user operates a user input interaction device (see reference) Figure 3 When 13), the robot arm unit (refer to) Figure 3 The motor (not shown) of the surgical instrument 30 (e.g., 21) operates to cause the terminal tool 100 of the surgical instrument 30 to perform a corresponding action, and the driving force of the motor (not shown) can be transmitted to the terminal tool 100 through the drive unit 200.

[0153] A terminal tool 100 is formed at the other end of the connecting portion 310 and is inserted into the surgical site to perform the actions required for the surgery. As an example of such a terminal tool 100, such as... Figure 12 As shown, a pair of jaws 101, 102 can be used to perform the gripping action. However, this embodiment of the invention is not limited to this, and various surgical devices can be used as the terminal tool 100. For example, a single-arm cauterization device can also be used as the terminal tool. This terminal tool 100 is connected to the drive unit 200 via a power transmission unit 300 to receive the driving force from the drive unit 200 through the power transmission unit 300, thereby enabling it to perform surgical actions such as gripping, cutting, and suturing.

[0154] In one embodiment of the present invention, the terminal tool 100 of the surgical instrument 30 is configured to rotate in two or more directions. For example, the terminal tool 100 may be configured to rotate in one direction or in another direction. Figure 12 While performing pitch motion centered on the rotation axis 143, it also... Figure 12 The rotation axis 141 is the center for performing yaw and actuation motions.

[0155] The pitch, yaw, actuation, and roll actions used in this invention are defined as follows.

[0156] First, the pitch motion refers to the direction in which the terminal tool 100 extends relative to the connecting part 310. Figure 11 The X-axis direction) rotates in the vertical direction, that is, with Figure 11 The rotation is centered on the Y-axis. In other words, it means the rotation along the extending direction of the connecting part 310 ( Figure 11 The terminal tool 100, which extends from the connecting part 310 in the X-axis direction, rotates up and down relative to the connecting part 310 about the Y-axis.

[0157] Secondly, the yaw action refers to the direction in which the terminal tool 100 extends relative to the connecting part 310. Figure 11The rotational motion (in the X-axis direction) is along the left and right directions, that is, with Figure 11 The rotation is centered on the Z-axis. In other words, it means the movement along the extending direction of the connecting part 310 ( Figure 11 The terminal tool 100, which extends from the connecting portion 310 in the X-axis direction, rotates left and right relative to the connecting portion 310 about the Z-axis. That is, the two clamps 101 and 102 formed on the terminal tool 100 rotate in the same direction about the Z-axis.

[0158] On the other hand, the actuation action refers to the action in which the terminal tool 100 rotates around the same rotation axis as the yaw action, and the two jaws 101 and 102 rotate in opposite directions while the jaws contract or open. That is, it means the movement of the two jaws 101 and 102 formed in the terminal tool 100 rotating in opposite directions around the Z-axis.

[0159] From another perspective, the yaw rotation can also be defined as the rotation of the end-tool clamp pulley around the rotation axis 141, which serves as the rotation axis of the end-tool clamp pulley, as described later. The pitch rotation can also be defined as the revolution of the end-tool clamp pulley around the rotation axis 143, which serves as the pitch rotation axis of the end-tool.

[0160] A rolling motion refers to the rotation of a surgical instrument about the connecting part 310 as an axis. For example, a rolling motion can be the movement of the surgical instrument about the extension direction of the connecting part 310. Figure 11 The action of rotating clockwise or counterclockwise with the X-axis as the center.

[0161] On the other hand, the rolling motion can mean a rotation of the terminal tool 100 relative to the connecting portion 310 about the X-axis. For example, the rolling motion can be the terminal tool moving in the extending direction of the connecting portion 310 ( Figure 12 The movement is a rotation in a clockwise or counterclockwise direction with the X-axis as the center.

[0162] The power transmission unit 300 connects the drive unit 200 and the end tool 100 to transmit the driving force of the drive unit 200 to the end tool 100, and may include multiple wires, pulleys, connecting rods, nodes, gears, etc.

[0163] In the following text, we will discuss... Figure 11 The surgical instrument 30 will be described in more detail, including the terminal tool 100, drive unit 200, and power transmission unit 300.

[0164] In the following text, we will discuss... Figure 11The power transmission unit 300 of the surgical instrument 30 will be described in more detail.

[0165] Reference Figures 11 to 19 According to an embodiment of the present invention, the power transmission unit 300 of the surgical instrument 30 may include wires 301, 302, 303, 304, 305, and 306.

[0166] Wires 301 and 305 can form a pair to function as a first clamping wire. Wires 302 and 306 can form a pair to function as a second clamping wire. The components including wires 301 and 305 as the first clamping wires and wires 302 and 306 as the second clamping wires can be referred to as clamping wires. Furthermore, wires 303 and 304 can form a pair to function as pitching wires.

[0167] The accompanying drawings show a pair of wires associated with the rotational movement of the first clamp 101 and a pair of wires associated with the rotational movement of the second clamp 102; however, one embodiment of the invention is not limited thereto. For example, a pair of wires may be associated with a yaw motion and a pair of wires may be associated with an actuation motion.

[0168] Furthermore, the power transmission unit 300 of the surgical instrument 30 according to an embodiment of the present invention may include fastening members 321, fastening members 326, etc., which are attached to each end of each wire to connect the wire and the pulley. Each fastening member may have various forms as needed, such as ball-shaped, tube-shaped, etc.

[0169] The fastening member 321, which serves as a pitch guide fastening member, can be attached to the ends of the pitch guides 303 and 304 near the end tool 100 to function as a pitch guide-end tool fastening member. On the other hand, although not shown in the figure, a pitch guide-drive unit fastening member (not shown) can be attached to the ends of the pitch guides 303 and 304 near the drive unit 200.

[0170] On the other hand, the fastening member 326, which serves as the second clamping wire fastening member, can be attached to the ends of the wires 302 and 306, which serve as the second clamping wires, near the end tool 100, to function as the second clamping wire-end tool fastening member. Furthermore, although not shown in the figures, the second clamping wire-drive unit fastening member (not shown) can be attached to the ends of the wires 302 and 306, which serve as the second clamping wires, near the drive unit 200.

[0171] On the other hand, although not shown in the figure, a fastening member (not shown) of the same shape as the fastening member 326 can be attached to the end of the wires 301 and 305, which serve as the first clamping wires, near the end of the terminal tool 100, to function as a first clamping wire-terminal tool fastening member. On the other hand, although not shown in the figure, a first clamping wire-drive unit fastening member (not shown) can be attached to the end of the wires 301 and 305, which serve as the first clamping wires, near the drive unit 200.

[0172] While each fastening member is classified as being included in the power transmission unit 300, it can also be classified as being included in the terminal tool 100 if the fastening member is closer to the terminal tool 100, and in the drive unit 200 if the fastening member is closer to the drive unit 200.

[0173] The following section will explain in detail the connection between the wires, fastening components, and each pulley.

[0174] First, the wires 302 and 306, which serve as the second clamping wires, can be a single wire. After inserting the fastening member 326, which serves as the second clamping wire-terminal tool fastening member, into the middle position of the second clamping wire (which is a single wire), and securing the fastening member 326 by applying pressure, the two strands of the second clamping wire, centered on the fastening member 326, can be referred to as wire 302 and wire 306, respectively.

[0175] Alternatively, the wires 302 and 306, which serve as the second clamping wires, can be formed as separate wires, and the wires 302 and 306 can be connected by the fastening member 326.

[0176] Furthermore, the fastening member 326 can be connected to the pulley 121 to fix the wires 302 and 306 to the pulley 121. Therefore, the pulley 121 can rotate by pulling and releasing the wires 302 and 306.

[0177] On the other hand, at the opposite ends of the fastening members 326 fastening positions on wires 302 and 306, a second clamping wire-drive unit fastening member (not shown) can be attached. That is, the opposite ends of wires 302 and 306 can be inserted into the second clamping wire-drive unit fastening member (not shown), and by applying pressure to the fastening member (not shown), wires 302 and 306 can be respectively fixed to the second clamping wire-drive unit fastening member (not shown).

[0178] Furthermore, the second clamping wire-drive fastening member (not shown), which is connected to wires 302 and 306, is connected to pulleys 221 and 222 respectively, thereby fixing wires 302 and 306 to pulleys 221 and 222 respectively. As a result, when pulleys 221 and 222 are rotated by a motor or manually, wires 302 and 306 are pulled and released, allowing pulley 121 of the terminal tool 100 to rotate.

[0179] The second clamping pulley of the drive unit includes two pulleys, namely pulley 221 and pulley 222. Therefore, the second clamping wire-drive unit fastening member can also include two fastening members. Alternatively, the second clamping pulley of the drive unit includes one pulley, and the second clamping wire-drive unit fastening member also includes one fastening member, and wires 302 and 306 are combined with one fastening member, or they can be combined with one second clamping pulley of the drive unit.

[0180] In the same manner, wires 301 and 305, serving as the first clamping wires, are respectively connected to the first clamping wire-terminal tool fastening member (not shown) and the first clamping wire-drive unit fastening member (not shown). Furthermore, the first clamping wire-terminal tool fastening member (not shown) is connected to pulley 111, and the first clamping wire-drive unit fastening member (not shown) is connected to pulleys 211 and 212. As a result, when pulleys 211 and 212 are rotated by a motor or manually, wires 301 and 305 are pulled and released, allowing pulley 111 of the terminal tool 100 to rotate.

[0181] In the same manner, one end of the pitch guide wires 303 and 304 is connected to the fastening member 321, which is the pitch guide-end tool fastening member, and the other end of the wires 303 and 304 is connected to the pitch guide-drive unit fastening member (not shown). Furthermore, the fastening member 321 is connected to the pulley 131, and the pitch guide-drive unit fastening member (not shown) is connected to the pulley 231. As a result, when the pulley 231 is rotated by a motor or manually, the wires 303 and 304 are pulled and released, allowing the pulley 131 of the end tool 100 to rotate.

[0182] As a result, wires 301 and 305, which are the two strands of the first clamping wire, can be combined with fastening member 323, which is the fastening member of the first clamping wire-terminal tool, and fastening member of the first clamping wire-drive unit (not shown), so as to form a closed loop. Similarly, the second clamping wire and the pitch wire can also be formed as closed loops.

[0183] In the following text, we will discuss... Figure 11The surgical instrument 30 and the terminal tool 100 will be described in more detail.

[0184] Figure 12 and Figure 13 for Figure 11 A three-dimensional diagram of the end tool of a surgical instrument. Figures 14A to 14B for Figure 11 A top view of the terminal tool of a surgical instrument. Among them, Figure 12 This shows the engaged state of the terminal tool hub 106 and the pitch hub 107. Figure 13 This shows the state where the terminal tool hub 106 and pitch hub 107 have been removed.

[0185] Reference Figure 12 , Figure 8 and Figures 14A to 14B An embodiment of the present invention provides an end tool 100 having a pair of jaws for performing a gripping action, namely a first jaw 101 and a second jaw 102. The first jaw 101 and the second jaw 102 may be referred to as jaw 103, or any component including the first jaw 101 and the second jaw 102 may be referred to as jaw 103.

[0186] Additionally, the terminal tool 100 may include pulleys 111, 112, 113, 114, 115, and 116 associated with the rotational movement of the first jaw 101. Furthermore, it may include pulleys 121, 122, 123, 124, 125, and 126 associated with the rotational movement of the second jaw 102.

[0187] The accompanying drawings show one set of pulleys associated with the rotational movement of the first clamp 101 and another set of pulleys associated with the rotational movement of the second clamp 102. However, this embodiment of the invention is not limited to this. For example, one set of pulleys in the terminal tool may be associated with a yaw motion, and another set of pulleys may be associated with an actuation motion. The pulleys included in the terminal tool 100, including the aforementioned pulleys, can be collectively referred to as terminal tool pulleys.

[0188] On the other hand, in the accompanying drawings, opposite pulleys are shown to be formed parallel to each other, but one embodiment of the invention is not limited thereto, and each pulley can be formed in various positions and sizes to suit the structure of the terminal tool.

[0189] In addition, an end tool 100 according to an embodiment of the present invention may include an end tool hub 106 and a pitch hub 107.

[0190] The terminal tool hub 106 allows the rotating shafts 141 and 142 described below to pass through and be inserted into it. Additionally, it can internally accommodate at least a portion of the first clamp 101 and the second clamp 102, which are axially coupled to the rotating shaft 141. Furthermore, the terminal tool hub 106 can internally accommodate at least a portion of the pulleys 112 and 122, which are axially coupled to the rotating shaft 142.

[0191] Additionally, one end of the terminal tool hub 106 may be formed with a pulley 131 for performing the function of a terminal tool pitch pulley. For example... Figure 12 As shown, pulley 131 is formed as a separate component from end-tool hub 106 so that it can be joined to end-tool hub 106. Alternatively, although not shown in the figure, pulley 131 can be formed as a one-body component with end-tool hub 106. That is, one end of end-tool hub 106 is formed into a disc shape or even a semi-circular shape like a pulley, and a groove for winding wires can also be formed on its outer circumferential surface. The wires 303 and 304 are joined to pulley 131, which acts as a pitch pulley for the end-tool, and pulley 131 can perform pitching motion while rotating around rotation axis 143.

[0192] The pitch hub 107 is through which the rotation shafts 143 and 144, described later, are inserted, and can be axially coupled to the end tool hub 106 and pulley 131 via the rotation shaft 143. Therefore, the end tool hub 106 and (with which it is coupled) the pulley 131 can be configured to rotate relative to the pitch hub 107 about the rotation shaft 143.

[0193] Additionally, the pitch hub 107 can internally accommodate at least a portion of pulleys 113, 114, 123, and 124 that are axially coupled to the rotation shaft 143. Furthermore, the pitch hub 107 can internally accommodate at least a portion of pulleys 115, 116, 125, and 126 that are axially coupled to the rotation shaft 144.

[0194] Additionally, the terminal tool 100 of one embodiment of the present invention may include a rotating shaft 141, a rotating shaft 142, a rotating shaft 143, and a rotating shaft 144. As described above, the rotating shafts 141 and 142 can be inserted through the terminal tool hub 106, and the rotating shafts 143 and 144 can be inserted through the pitch hub 107.

[0195] Rotary shafts 141, 142, 143, and 144 can be sequentially arranged along a direction from the distal end 104 to the proximal end 105 of the terminal tool 100. Thus, starting from the distal end 104, rotary shaft 141 can be referred to as pin 1, rotary shaft 142 as pin 2, rotary shaft 143 as pin 3, and rotary shaft 144 as pin 4.

[0196] Among them, the rotating shaft 141 can be used as the rotating shaft of the end tool clamping pulley, the rotating shaft 142 can be used as the rotating shaft of the end tool clamping auxiliary pulley, the rotating shaft 143 can be used as the rotating shaft of the end tool pitch, and the rotating shaft 144 can be used as the rotating shaft of the end tool pitch auxiliary of the end tool 100.

[0197] These rotating shafts 141, 142, 143, and 144 can accommodate more than one pulley, which will be explained in detail below.

[0198] Pulley 111 is used as the first clamping pulley of the terminal tool, and pulley 121 is used as the second clamping pulley of the terminal tool. These two components can be collectively referred to as the terminal tool clamping pulleys.

[0199] Pulleys 111 and 121, serving as end-tool clamping pulleys, are arranged facing each other and can be configured to rotate independently of each other around a rotation axis 141, which serves as the rotation axis of the end-tool clamping pulleys. In the accompanying drawings, pulleys 111 and 121 are configured to rotate around a single rotation axis 141; however, each clamping pulley can be configured to rotate around a separate axis. A first jaw 101 is fixedly attached to pulley 111 so that it can rotate together with pulley 111, and a second jaw 102 is fixedly attached to pulley 121 so that it can rotate together with pulley 121. The deflection and actuation actions of the end tool 100 are performed based on the rotation of pulleys 111 and 121. That is, when pulley 111 and pulley 121 rotate in the same direction around the rotation axis 141, they perform a deflection action, and when pulley 111 and pulley 121 rotate in opposite directions around the rotation axis 141, they perform an actuation action.

[0200] The first jaw 101 and pulley 111 can be formed as separate components and joined together, or they can be formed as a single unit. Similarly, the second jaw 102 and pulley 121 can be formed as separate components and joined together, or they can be formed as a single unit.

[0201] Pulley 112 is used as a first clamping auxiliary pulley for the terminal tool, and pulley 122 is used as a second clamping auxiliary pulley for the terminal tool. These two components can also be collectively referred to as terminal tool clamping auxiliary pulleys.

[0202] Specifically, pulleys 112 and 122, serving as auxiliary pulleys for terminal tool clamps, can be additionally disposed on one side of pulleys 111 and 121. In other words, pulley 112, as an auxiliary pulley, can be configured between pulley 111 and pulleys 113 / 114. Additionally, pulley 122, as an auxiliary pulley, can be configured between pulley 121 and pulleys 123 / 124. Pulleys 112 and 122 can be configured to rotate independently of each other around a rotation axis 142. In the accompanying drawings, pulleys 112 and 122 are configured to rotate around a single rotation axis 142; however, pulleys 112 and 122 can also be configured to rotate around separate axes. The auxiliary pulleys described above will be explained in more detail later.

[0203] Pulleys 113 and 114 are used as the first clamping pitch main pulleys of the terminal tool, and pulleys 123 and 124 are used as the second clamping pitch main pulleys of the terminal tool. These two components can also be collectively referred to as the terminal tool clamping pitch main pulleys.

[0204] Pulleys 115 and 116 are used as the first clamping pitch pulleys of the end tool, and pulleys 125 and 126 are used as the second clamping pitch pulleys of the end tool. These two components can also be collectively referred to as the end tool clamping pitch pulleys.

[0205] The components related to the rotation of pulley 111 will be described below.

[0206] Pulleys 113 and 114 serve as the main pitch pulleys for the first clamp of the terminal tool. That is, they are the main rotating pulleys for the pitching action of the first clamp 101. A wire 301, serving as the first clamping wire, is wound around pulley 113, and a wire 305, also serving as the first clamping wire, is wound around pulley 114.

[0207] Pulleys 115 and 116 serve as auxiliary pulleys for the first clamping action of the terminal tool. That is, they are auxiliary rotary pulleys for the pitching action of the first clamp 101. A wire 301, serving as the first clamping wire, is wound around pulley 115, and a wire 305, also serving as the first clamping wire, is wound around pulley 116.

[0208] In this embodiment, pulleys 113 and 114 are arranged facing each other on one side of pulleys 111 and 112. Pulleys 113 and 114 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 115 and 116 are arranged facing each other on one side of each pulley 113 and 114. Pulleys 115 and 116 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 113, 115, 114, and 116 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.

[0209] The wire 301, which serves as the first clamping wire, is wound around pulleys 115, 113, and 111 in sequence so that at least a portion of it is in contact with them. Furthermore, the wire 305, which is connected to the wire 301 via the fastening member 323, is wound around pulleys 111, 112, 114, and 116 in sequence so that at least a portion of it is in contact with them.

[0210] To explain from another perspective, the wires 301 and 305, which are the first clamping wires, are wound sequentially around pulleys 115, 113, 111, 112, 114 and 116 so that at least a portion of them are in contact with them, and the wires 301 and 305 are configured to move with the pulleys while the pulleys are being rotated.

[0211] Therefore, when wire 301 is pulled towards Figures 14A to 14B When arrow 301 is drawn, the fastening member (not shown) connected to the wire 301 and the pulley 111 connected to the fastening member move along... Figures 14A to 14B The arrow L rotates in the direction of rotation. Conversely, when wire 305 is pulled towards... Figures 14A to 14B When arrow 305 is drawn, the fastening member (not shown) connected to the wire 305 and the pulley 111 connected to the fastening member move along... Figures 14A to 14B Rotate in the direction of arrow R.

[0212] The following text will provide a more detailed description of pulleys 112 and 122, which serve as auxiliary pulleys.

[0213] Pulleys 112 and 122 contact the wire 305, which serves as the first clamping wire, and the wire 302, which serves as the second clamping wire, to change the setting path of the wire 305 and the wire 302 to a certain extent, thereby expanding the rotation angle of the first clamp 101 and the second clamp 102.

[0214] That is, when the auxiliary pulleys are not configured, both the first and second clamps can only rotate to a right angle. However, in one embodiment of the present invention, by additionally providing pulleys 112 and 122 as auxiliary pulleys, it is possible to obtain... Figures 14A to 14B The effect of increasing the maximum rotation angle by θ is shown. This allows the two clamps of the terminal tool 100 to achieve an actuation action where the two clamps need to separate, even when both are deflected together by 90° along the L direction. This is because the second clamp 102 can, as shown... Figures 14A to 14B The rotational angle θ is shown. Similarly, the two clamps can also achieve actuation when they are deflected and rotated along the R direction. In other words, pulleys 112 and 122 can have the feature of expanding the deflection rotation range that enables actuation.

[0215] A more specific explanation of it is as follows.

[0216] When the auxiliary pulleys are not configured, the first clamping wire is fixedly connected to the first clamping pulley of the end tool, and the second clamping wire is fixedly connected to the second clamping pulley of the end tool. Therefore, the first and second clamping pulleys of the end tool can only rotate to 90° each. In this case, when the first and second clamps are at the 90° position and perform an actuation action, the first clamp can open, but the second clamp cannot rotate more than 90°. Therefore, when the first and second clamps perform a deflection action above a certain angle, there is a problem that the actuation action cannot be performed smoothly.

[0217] To address the problems described above, in one embodiment of the surgical instrument 30 of the present invention, pulleys 112 and 122, serving as auxiliary pulleys, are additionally provided on one side of pulleys 111 and 121. By providing pulleys 112 and 122 in this manner, the installation paths of the wire 305 (serving as the first clamping wire) and the wire 302 (serving as the second clamping wire) are altered to a certain extent, thereby changing the tangential direction of the wires 305 and 302. This allows the fastening member 326 for connecting the wire 302 and the pulley 121 to rotate to... Figures 14A to 14B The N-line. That is, the fastening member 326, which is the junction of the conductor 302 and the pulley 121, can be rotated to its position on the internal tangent line of the pulleys 121 and 122. Similarly, the fastening member 323, which is the junction of the conductor 305 and the pulley 111, can be rotated to its position on the internal tangent line of the pulleys 111 and 112, so that its rotation range can be expanded in the L-direction.

[0218] In other words, the two strands of wire 301 and 305, which serve as the first clamping wires and are wound around the pulley 111 via the pulley 112, are positioned on one side with a plane perpendicular to the Y-axis and passing through the X-axis as a reference. On the other hand, the two strands of wire 302 and 306, which serve as the second clamping wires and are wound around the pulley 121 via the pulley 122, are positioned on the other side with a plane perpendicular to the Y-axis and passing through the X-axis as a reference.

[0219] In other words, pulleys 113 and 114 are arranged on one side with a plane perpendicular to the Y-axis and passing through the X-axis as a reference, and pulleys 123 and 124 are arranged on the other side with a plane perpendicular to the Y-axis and passing through the X-axis as a reference.

[0220] In other words, wire 305 is located on the internal tangent of pulleys 111 and 112, and the rotation angle of pulley 111 is amplified by pulley 112. Additionally, wire 302 is located on the internal tangent of pulleys 121 and 122, and the rotation angle of pulley 121 is amplified by pulley 122.

[0221] As described above, according to an embodiment of the present invention, by widening the rotation radius of clamp 101 and clamp 102, the deflection range capable of performing normal opening and closing actuation actions can be widened.

[0222] Next, the components related to the rotation of pulley 121 will be explained.

[0223] Pulleys 123 and 124 function as the main pulleys for the pitching of the second clamp of the terminal tool. That is, they function as the main rotating pulleys for the pitching action of the second clamp 102. The wire 306, serving as the second clamping wire, is wound around pulley 123, and the wire 302, also serving as the second clamping wire, is wound around pulley 124.

[0224] Pulleys 125 and 126 function as auxiliary pulleys for the second clamping mechanism of the terminal tool. Specifically, they act as auxiliary rotary pulleys for the pitching motion of the second clamp 102. The wire 306, serving as the second clamping conductor, is wound around pulley 125, and the wire 302, also serving as the second clamping conductor, is wound around pulley 126.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] Therefore, when wire 306 is pulled towards Figures 14A to 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... Figures 14A to 14B The arrow R rotates in the direction of rotation. Conversely, when wire 302 is pulled towards... Figure 13 When the arrow 302 is in the direction of the wire 302, the fastening member 326 connected to the wire 302 and the pulley 121 connected to the fastening member 326 move along the direction of the wire 302. Figures 14A to 14B Rotate in the direction of arrow L.

[0229] The pitch motion of the present invention will be described in more detail below.

[0230] 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, 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.

[0231] Furthermore, with a plane perpendicular to the rotation axis 141 and including the rotation axis 143 (i.e., the XY plane) as a reference, the two strands of wires 301 and 305, which serve as the first clamping wires, are located on the same side with reference to the XY plane. That is, wires 301 and 305 are formed to pass through the lower side of pulleys 113 and 114, which serve as the main pitch pulleys of the terminal tool clamp, and the upper side of pulleys 115 and 116, which serve as the auxiliary pitch pulleys of the terminal tool clamp.

[0232] Similarly, the two strands of wire 302 and 306, which serve as the second clamping wires, are located on the same side with the XY plane as the reference. That is, wire 302 and wire 306 are formed to pass through the upper side of pulleys 123 and 124, which serve as the main pitch pulleys of the terminal tool clamp, and the lower side of pulleys 125 and 126, which serve as the auxiliary pitch pulleys of the terminal tool clamp.

[0233] Furthermore, for conductors 301 and 305, which are the two strands of wires used as the first clamping conductors, when conductor 301 is pulled towards... Figures 14A to 14B Arrow 301, and at the same time wire 305 is pulled towards Figures 14A to 14B When arrow 305 is drawn (i.e., when the two strands of the first clamped conductor are pulled in the same direction), as... Figure 12 As shown, since wires 301 and 305 are wound around the pulleys 113 and 114, which can rotate around the rotation axis 143 (which serves as the pitch rotation axis of the terminal tool), the pulley 111, to which wires 301 and 305 are fixedly attached, and the terminal tool hub 106 to which the pulley 111 is attached, rotate together counterclockwise around the rotation axis 143. As a result, the terminal tool 100 rotates downward while performing a pitch motion. At this time, since the second clamp 102 and the wires 302 and 306 fixedly attached to it are wound around the pulleys 123 and 124, which can rotate around the rotation axis 143, the wires 302 and 306 are released in the opposite directions of arrows 302 and 306, respectively.

[0234] Conversely, for conductors 302 and 306, which are the two strands of wires acting as the second clamping conductor, when conductor 302 is pulled towards... Figures 14A to 14B Arrow 302, while wire 306 is pulled towards Figures 14A to 14B When arrow 306 is drawn (i.e., when the two strands of the second clamped conductor are pulled in the same direction), as... Figure 12As shown, since wires 302 and 306 are wound above pulleys 123 and 124, which serve as the pitch and rotation axis of the terminal tool and are rotatable around the rotation axis 143, the pulley 121, to which wires 302 and 306 are fixedly attached, and the terminal tool hub 106 to which the pulley 121 is attached, rotate clockwise around the rotation axis 143. As a result, the terminal tool 100 rotates upward while performing a pitch motion. At this time, since the first clamp 101 and the wires 301 and 305 fixedly attached thereto are wound below pulleys 113 and 114, which are rotatable around the rotation axis 143, wires 302 and 306 move in opposite directions, 301 and 305, respectively.

[0235] From another perspective, it can also be expressed as follows: when the terminal tool 100 pitches and rotates, the two strands of each clamped wire move simultaneously in the same direction.

[0236] On the other hand, the surgical instrument 30 of the present invention further includes a pulley 131 serving as a pitch pulley for the terminal tool, and the drive unit 200 further includes a pulley 231 serving as a pitch pulley for the drive unit. The power transmission unit 300 may also include a wire 303 and a wire 304 serving as pitch guides. Specifically, the pulley 131 of the terminal tool 100 can rotate around a rotation axis 143 serving as a pitch rotation axis for the terminal tool, and is integrally formed with (or fixedly coupled to) the terminal tool hub 106. In addition, the wires 303 and 304 can serve to connect the pulley 131 of the terminal tool 100 and the pulley 231 of the drive unit 200.

[0237] Therefore, when the pulley 231 of the drive unit 200 rotates, the rotation of the pulley 231 is transmitted to the pulley 131 of the terminal tool 100 through the wires 303 and 304, so that the pulley 131 also rotates. As a result, the terminal tool 100 rotates while performing pitch motion.

[0238] According to an embodiment of the present invention, the surgical instrument 30 includes a pulley 131 of the terminal tool 100, a pulley 231 of the drive unit 200, and wires 303 and 304 of the power transmission unit 300 in order to transmit the power for pitching motion, so that the driving force of the pitching motion of the drive unit 200 can be transmitted to the terminal tool 100 more perfectly, thereby improving the reliability of the action.

[0239] The diameters of pulleys 113, 114, 123, and 124, which serve as the main pitch pulleys for the end-tool clamping, can be the same as or different from the diameter of pulley 131, which serves as the pitch pulley for the end-tool. In this case, the ratio of the diameter of the main pitch pulley to the diameter of the pitch pulley can be the same as the ratio of the diameter of the intermediate pulley of the drive unit 200 (described later) to the diameter of the pitch pulley. This will be explained in detail later.

[0240] In the following text, we will discuss... Figure 11 The drive unit 200 of the surgical instrument 30 will be described in more detail.

[0241] Reference Figures 15 to 21 According to an embodiment of the present invention, the drive unit 200 of the surgical instrument 30 may include pulleys 211, 212, 213, 214, 215, 216, 217, 218, 219, and 220 related to the rotational movement of the first clamp 101. Additionally, it may include pulleys 221, 222, 223, 224, 225, 226, 227, 228, 229, and 230 related to the rotational movement of the second clamp 102.

[0242] In the accompanying drawings, opposing pulleys are shown as being formed parallel to each other, but this is not the only embodiment of the invention. Each pulley can be formed in various positions and sizes to suit the structure of the drive unit.

[0243] Additionally, the drive unit 200 of the surgical instrument 30 according to an embodiment of the present invention may further include: a pulley 231 serving as a pitch pulley for the drive unit; and a pitch-deflection connector 232 for connecting the pulley 231 and the clamping pulley of the drive unit.

[0244] Furthermore, in one embodiment of the present invention, the drive unit 200 may include rotating shafts 241, 242, 243, 244, 245, and 246. Rotating shaft 241 serves as a first clamping shaft for the drive unit, and rotating shaft 242 serves as a second clamping shaft for the drive unit. Rotating shaft 243 serves as a pitching shaft for the drive unit, and rotating shaft 244 serves as a rolling shaft for the drive unit. Rotating shaft 245 serves as a first clamping auxiliary shaft for the drive unit, and rotating shaft 246 serves as a second clamping auxiliary shaft for the drive unit. One or more pulleys may be mounted on these rotating shafts 241, 242, 243, 244, 245, and 246, as will be described in detail below.

[0245] In addition, the drive unit 200 of one embodiment of the present invention may include a motor coupling portion 251, a motor coupling portion 252, a motor coupling portion 253, and a motor coupling portion 254. The motor coupling portion 251 functions as a first clamping drive motor coupling portion, the motor coupling portion 252 functions as a second clamping drive motor coupling portion, the motor coupling portion 253 functions as a pitch drive motor coupling portion, and the motor coupling portion 254 functions as a rolling drive motor coupling portion. Each motor coupling portion 251, 252, 253, and 254 may be formed in the form of a rotatable flat plate and may have one or more coupling holes for engaging a motor (not shown).

[0246] As described above, the motor coupling portions 251, 252, 253, and 254 of the drive unit 200 are coupled with motors (not shown) formed in each robot arm unit 21, 22, and 23, so that the drive unit 200 is driven by the motors (not shown).

[0247] In addition, the drive unit 200 of one embodiment of the present invention may include gears 261, 262, 263, and 264. Among them, gears 261 and 262 can act as pitch drive gears, and gears 263 and 264 can act as rolling drive gears.

[0248] Each component will be explained in more detail below.

[0249] Pulleys 211 and 212 serve as the first clamping pulleys of the drive unit, and pulleys 221 and 222 serve as the second clamping pulleys of the drive unit. These components can also be collectively referred to as the drive unit clamping pulleys.

[0250] The accompanying drawings show that pulley 211 is associated with the rotational movement of the first clamp 101 of the terminal tool 100, and pulley 221 is associated with the rotational movement of the second clamp 102 of the terminal tool 100. However, this embodiment of the invention is not limited to this. For example, a set of pulleys in the drive unit may be associated with yaw motion, and a set of pulleys may also be associated with actuation motion. Therefore, pulleys 211 and 212 can be collectively referred to as drive unit drive pulleys. Furthermore, in the following text, other pulleys may also be a set of pulleys associated with yaw motion and a set of pulleys associated with actuation motion.

[0251] Pulleys 213 and 214 serve as first clamping auxiliary pulleys for the drive unit, and pulleys 223 and 224 serve as second clamping auxiliary pulleys for the drive unit. These components can also be collectively referred to as drive unit clamping auxiliary pulleys.

[0252] Pulleys 215 and 216 serve as the first intermediate pulleys for the first clamping of the drive unit, and pulleys 217 and 218 serve as the second intermediate pulleys for the first clamping of the drive unit. These components can also be collectively referred to as the first intermediate clamping pulleys for the drive unit. Conversely, pulleys 225 and 226 serve as the first intermediate clamping pulleys for the second clamping of the drive unit, and pulleys 227 and 228 serve as the second intermediate clamping pulleys for the second clamping of the drive unit. These components can also be collectively referred to as the second intermediate clamping pulleys for the drive unit. Alternatively, pulleys 215, 216, 225, and 226 can be collectively referred to as the first intermediate pulleys for the drive unit, and pulleys 217, 218, 227, and 228 can be collectively referred to as the second intermediate pulleys for the drive unit. Furthermore, pulleys 215, 216, 217, 218, 225, 226, 227, and 228 can be collectively referred to as intermediate pulleys of the drive unit.

[0253] In the accompanying drawings, the intermediate pulleys of the drive unit of each clamp are shown as a pair of two pulleys; however, one embodiment of the invention is not limited to this. For example, pulley 215, which serves as the first intermediate pulley of the drive unit's first clamp, and pulley 217, which serves as the second intermediate pulley of the drive unit's first clamp, form a pair, and the wire 301 is shown passing sequentially through pulleys 215 and 217. However, the intermediate pulleys of the drive unit's first clamp may also consist of three or more pulleys instead of two.

[0254] On the other hand, pulleys 219 and 220 serve as the first clamping satellite pulleys of the drive unit, and pulleys 229 and 230 serve as the second clamping satellite pulleys of the drive unit. These two components can also be collectively referred to as the drive unit satellite pulleys.

[0255] Multiple rotating shafts, including rotating shafts 241, 242, 243, 244, 245, and 246, may be formed on the first surface of the substrate 201. Additionally, multiple intermediate pulleys 202 are formed on the first surface of the substrate 201 to redirect the direction of the wires 301, 302, 303, 304, 305, and 306 entering the drive unit 200 via the connecting portion 310 to the pulleys 231.

[0256] In addition, in the substrate 201, the shaft-shaped connecting portion 310 is attached to the first surface of the substrate 201 and the second surface that is the opposite side of the first surface, and motor connection portions 251, 252, 253 and 254 for connecting to a motor (not shown) for driving the pulley can be formed.

[0257] Each motor joint and rotating shaft can be directly connected, or they can be indirectly connected through gears.

[0258] As an example, the motor coupling portion 251, which serves as the coupling portion of the first clamp drive motor, is directly coupled to the rotating shaft 241, which serves as the rotating shaft of the first clamp of the drive unit. When the motor coupling portion 251, which is coupled to the first clamp drive motor (not shown), rotates, the rotating shaft 241, which is directly coupled to it, can rotate together. Similarly, the motor coupling portion 252, which serves as the coupling portion of the second clamp drive motor, is directly coupled to the rotating shaft 242, which serves as the rotating shaft of the second clamp of the drive unit. When the motor coupling portion 252, which is coupled to the second clamp drive motor (not shown), rotates, the rotating shaft 242, which is directly coupled to it, can rotate together.

[0259] As another example, the motor coupling 253, which serves as the pitch drive motor coupling, and the rotation shaft 243, which serves as the pitch rotation axis of the drive unit, can be configured to be spaced apart to a certain extent when viewed in a plane perpendicular to the rotation shaft 243. Furthermore, this motor coupling 253 and the rotation shaft 243 can be connected by gears 261 and 262, which serve as pitch drive gears.

[0260] Similarly, the motor coupling 254, which serves as the coupling of the rolling drive motor, and the rotating shaft 244, which serves as the rolling rotation shaft of the drive unit, can be configured to be spaced apart to a certain extent when viewed in a plane perpendicular to the rotating shaft 244. Furthermore, this motor coupling 254 and the rotating shaft 244 can be connected by gears 263 and 264, which serve as rolling drive gears.

[0261] As described above, the reason for configuring some motor joints to be directly connected to the rotating shaft, while the remaining motor joints are indirectly connected to the rotating shaft, is to take into account the engagement position and orientation between the surgical instrument 30 and the driven robot 20. That is, the rotating shaft that is not affected by the engagement position with the driven robot 20 is directly connected to the motor joint, while the rotating shaft that may interfere with the engagement position with the driven robot 20 can be indirectly connected to the motor joint.

[0262] As shown in the accompanying drawings, motor couplings 251 and 252 are directly connected to the rotating shaft, while motor couplings 253 and 254 are indirectly connected via gears. However, this embodiment of the invention is not limited to this, and various configurations are possible depending on the coupling position and direction with the driven robot 20.

[0263] The pulleys 211 and 212, which serve as the first clamping pulleys of the drive unit, can be connected to the rotating shaft 241, which serves as the rotating shaft of the first clamping unit of the drive unit. The pulleys 211 and 212 can be configured to rotate together with the rotating shaft 241.

[0264] Furthermore, a rotating shaft 245, serving as an auxiliary rotating shaft for the first clamping mechanism of the drive unit, can be provided in the region adjacent to the rotating shaft 241. Pulleys 213 and 214, serving as auxiliary pulleys for the first clamping mechanism of the drive unit, can be attached to this rotating shaft 245. Specifically, pulleys 213 and 214 can be configured to rotate around the rotating shaft 245.

[0265] As shown in the accompanying drawings, the first clamping pulley of the drive unit is formed by two pulleys 211 and 212, with one pulley 211 connected to a wire 301 and the other pulley 212 connected to a wire 305. However, one embodiment of the present invention is not limited to this, and the first clamping pulley of the drive unit may also be formed by a single pulley, so that both the wire 301 and the wire 305 are connected to this single pulley.

[0266] As described above, the rotating shaft 241 is connected to the first clamp drive motor (not shown) via the motor coupling 251. Therefore, when the first clamp drive motor (not shown) rotates to drive the first clamp 101, the pulleys 211 and 212, which are the first clamp pulleys of the drive unit, rotate together with the rotating shaft 241 to pull or release the wires 301 and 305, which are the first clamp wires.

[0267] The pulleys 221 and 222, which serve as the second clamping pulleys of the drive unit, can be connected to the rotating shaft 242, which serves as the rotating shaft of the second clamping unit of the drive unit. The pulleys 221 and 222 can be configured to rotate together with the rotating shaft 242.

[0268] Furthermore, a rotating shaft 246, serving as an auxiliary rotating shaft for the second clamping mechanism of the drive unit, can be provided in the region adjacent to the rotating shaft 242. Pulleys 223 and 224, serving as auxiliary pulleys for the second clamping mechanism of the drive unit, can be attached to this rotating shaft 245. Specifically, pulleys 223 and 224 can be configured to rotate around the rotating shaft 246.

[0269] As shown in the accompanying drawings, the second clamping pulley of the drive unit is formed by two pulleys 221 and 222. One pulley 221 is connected to the wire 302, and the other pulley 222 is connected to the wire 306. However, one embodiment of the present invention is not limited to this, and the second clamping pulley of the drive unit may also be formed by a single pulley, so that both the wire 302 and the wire 306 are connected to this single pulley.

[0270] As described above, the rotating shaft 242 is connected to the second clamp drive motor (not shown) via the motor coupling 252. Therefore, when the second clamp drive motor (not shown) rotates to drive the second clamp 102, the pulleys 221 and 222, which are the second clamp pulleys of the drive unit, rotate together with the rotating shaft 242 to pull or release the wires 302 and 306, which are the second clamp wires.

[0271] The pulley 231, which serves as the pitch pulley for the drive unit, can be connected to the rotation shaft 243, which serves as the pitch rotation shaft for the drive unit. The pulley 231 can be configured to rotate together with the rotation shaft 243.

[0272] As described above, the rotating shaft 243 is connected to the pitch drive motor (not shown) via the motor coupling 253. Therefore, when the pitch drive motor (not shown) rotates to perform a pitching action, the pulley 231, which serves as the pitch pulley of the drive unit, rotates together with the rotating shaft 243 to pull or release the wires 303 and 304, which serve as pitch guides.

[0273] On the other hand, pulleys 215, 216, 217, 218, 225, 226, 227, and 228, which serve as intermediate pulleys in the drive unit, can be formed to penetrate and be inserted through the rotation shaft 243 so that they can rotate around the rotation shaft 243. Specifically, taking pulley 231, which serves as a pitch pulley, as a reference, one side can be provided with pulleys 215, 216, 217, and 218, which serve as the first clamping intermediate pulleys in the drive unit, and taking pulley 231 as a reference, the other side can be provided with pulleys 225, 226, 227, and 228, which serve as the second clamping intermediate pulleys in the drive unit.

[0274] From another perspective, pulleys 225 and 226, which serve as the second clamping pulley of the drive unit, pulleys 227 and 228, which serve as the second clamping pulley of the drive unit, pulley 231, which serves as the pitch pulley of the drive unit, pulleys 217 and 218, which serve as the first clamping pulley of the drive unit, and pulleys 215 and 216, which serve as the first clamping pulley of the drive unit, can be sequentially stacked on the rotating shaft 243.

[0275] Additionally, the pitch-yaw connector 232 can be coupled to the rotation shaft 243. The pitch-yaw connector 232 can be configured to rigidly connect pulley 231 (serving as the pitch pulley of the drive unit) and pulleys 219, 220, 229, and 230 (serving as satellite pulleys of the drive unit), such that when pulley 231 rotates, the satellite pulleys of the drive unit revolve around the rotation shaft 243. This will be explained in more detail later.

[0276] The pitch-yaw connector 232 can be configured to rotate together with the rotation shaft 243. That is, the pulley 231 and the pitch-yaw connector 232 are combined with the rotation shaft 243 so that they can rotate together with the rotation shaft 243.

[0277] The pitch-deflection connector 232 can be described as being formed as follows: Figure 17The shape shown is roughly Y-shaped, or it can be described as a shape formed with at least two extensions 232a, 232b extending from the center. Furthermore, at each end of these extensions 232a, 232b, a drive portion first clamping satellite pulley central shaft 233 and a drive portion second clamping satellite pulley central shaft 234 can be formed.

[0278] Furthermore, pulleys 219 and 220, which serve as the first satellite clamping pulley of the drive unit, can be coupled to the central shaft 233 of the first satellite clamping pulley of the drive unit, and pulleys 229 and 230, which serve as the second satellite clamping pulley of the drive unit, can be coupled to the central shaft 234 of the second satellite clamping pulley of the drive unit.

[0279] As a result, when pulley 231, which serves as the pitch pulley of the drive unit, rotates together with the rotation axis 243, pulleys 219, 220, 229, and 230, which serve as satellite pulleys of the drive unit, revolve around the rotation axis 243. In other words, it can also be described that, with the central axis 233 of the first clamping satellite pulley of the drive unit and the central axis 234 of the second clamping satellite pulley of the drive unit spaced apart from the rotation axis 243 to a certain extent, the central axes 233 of the first clamping satellite pulley of the drive unit and the central axis 234 of the second clamping satellite pulley of the drive unit rotate around the rotation axis 243 while maintaining a certain distance from the rotation axis 243.

[0280] That is, the drive unit satellite pulley is configured to be movable relative to the drive unit intermediate pulley and the rotation axis 243, so that the relative position of the drive unit satellite pulley relative to the drive unit intermediate pulley and the rotation axis 243 can be changed. On the other hand, the relative position of the drive unit pitch pulley and the drive unit intermediate pulley remains constant.

[0281] Furthermore, when the pulley 231, which serves as the pitch pulley of the drive unit, rotates around the rotation axis 243, the pulleys 219, 220, 229, and 230, which serve as satellite pulleys of the drive unit, move relative to the pulley 231, which serves as the pitch pulley of the drive unit, thereby changing the total length of the wires 301, 302, 305, and 306, which serve as clamping wires, within the drive unit 200.

[0282] With one end of the wire 301, which serves as the first clamping wire, connected to the pulley 211 via the first clamping wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 211, 213, 215, 219, and 217, such that at least a portion of it is in contact with them, and then connected to the terminal tool 100 via the connecting part 310.

[0283] From another perspective, the wire 301, which is the first clamping wire, passes sequentially through the first clamping pulley 211 of the driving unit, the first clamping auxiliary pulley 213 of the driving unit, the first clamping intermediate pulley 215 of the driving unit, the first clamping satellite pulley 219 of the driving unit, and the first clamping second intermediate pulley 217 of the driving unit, and is then connected to the terminal tool 100 via the connecting part 310.

[0284] To put it another way, after the wire 301, which is the first clamping wire, passes through the terminal tool 100 and the connecting part 310 and enters the drive part 200, it is wound around the pulleys 217, 219, 215 and 213 in sequence, and then fixedly connected to the pulley 211, which is the first clamping pulley of the drive part.

[0285] On the other hand, with one end of the wire 305, which serves as the first clamping wire, connected to the pulley 212 via the first clamping wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 212, 214, 216, 220, and 218, so that at least a portion of it comes into contact with them, and then connected to the terminal tool 100 via the connecting part 310.

[0286] With one end of the wire 302, which serves as the second clamp wire, connected to the pulley 221 via the two clamp wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 221, 223, 225, 229, and 227, such that at least a portion of it is in contact with them, and then connected to the terminal tool 100 via the connecting part 310.

[0287] On the other hand, with one end of the wire 306, which serves as the second clamping wire, connected to the pulley 222 via the second clamping wire-drive unit fastening member (not shown), it is sequentially wound around the pulleys 222, 224, 226, 230, and 228, so that at least a portion of it comes into contact with them, and then connected to the terminal tool 100 via the connecting part 310.

[0288] Figures 22A to 23C To show Figure 11 The diagram illustrates the pitching and tilting motion of the surgical instruments. For ease of explanation, [the diagram is missing here]. Figure 22A and Figure 23A Only the pulleys and wires related to the rotation of the first clamp are shown. Figure 22B and Figure 23B Only the pulleys and wires related to the rotation of the second clamp are shown. Furthermore, Figure 22C and Figure 23C The diagram shows the pitch motion of the terminal tool based on the pitch motion of the drive unit.

[0289] The surgical instrument 30 according to one embodiment of the present invention is characterized in that, when the satellite pulley of the drive unit moves relative to the intermediate pulley of the drive unit, the total length of the clamping wire in the drive unit 200 changes, thereby performing the pitching action of the terminal tool 100. In particular, the surgical instrument 30 according to one embodiment of the present invention is characterized in that, when the pitching pulley of the drive unit rotates, the satellite pulley of the drive unit revolves around the (common) rotation axis of the intermediate pulley and the pitching pulley of the drive unit, thereby changing the path length of the clamping wire wound on the intermediate pulley of the drive unit, thereby performing the pitching action of the terminal tool.

[0290] Specifically, if the drive unit does not perform separate motion compensation for pitch motion, the pitch motion itself cannot be executed in the terminal tool.

[0291] On the other hand, in order to perform pitch motion in the terminal tool, wires 301 and 305 need to be wound with an additional ΔSpitch on pulley 113, and wires 302 and 306 need to be released an additional ΔSpitch from pulley 114. However, if the drive unit does not perform the compensation as described above, pitch motion cannot be performed in the terminal tool at all.

[0292] As described above, in order to compensate for the pitching motion, the surgical instrument 30 according to an embodiment of the present invention is characterized in that the pitching pulley of the drive unit rotates on its own axis while the satellite pulley of the drive unit revolves around it, so that the clamping wire is wound around the intermediate pulley of the drive unit or released from the intermediate pulley of the drive unit, thereby compensating for the movement of the clamping wire caused by the rotation of the pitching pulley of the drive unit.

[0293] In other words, when the pulley 231, which serves as the pitch pulley of the drive unit, rotates together with the rotation shaft 243, the drive unit satellite pulley revolves around the rotation shaft 243. Furthermore, as the drive unit satellite pulley revolves around the rotation shaft 243, the length of the clamping wire wound around the drive unit's intermediate pulley changes. That is, the clamping wire wound on the end tool 100 side by the rotation of pulley 231 is released by the same length on the drive unit 200 side, and the clamping wire released on the end tool 100 side is wound by the same length on the drive unit 200 side, thereby preventing the pitch movement from affecting the deflection movement.

[0294] To express this from another perspective, when the terminal tool performs a pitching motion by rotating the pitch pulley of 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 performs a pitching rotation centered on 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, in order to compensate for this movement of the clamping wires, when the terminal tool performs a pitching motion, as the drive unit's satellite pulley moves relative to the drive unit's intermediate pulley, 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 the 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.

[0295] The pitch motion will be explained in more detail below.

[0296] For pitching motion, when the pulley 231, which acts 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)... Figure 15 232) rotates together with pulley 231 in the direction of arrow A1, thus securing it to the pitch-yaw connector (see reference). Figure 15 The pulleys 219 and 220, which serve as the driving unit of the satellite pulleys (232), are generally centered on the rotation axis 243. Figure 23A 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... Figure 22A The revolution θ at point P1 to Figure 23A 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.

[0297] 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) Figure 15 232) rotates together with pulley 231 in the direction of arrow A1, thus securing it to the pitch-yaw connector (see reference). Figure 15 The pulleys 229 and 230, which serve as the driving unit of the satellite pulleys (232), are generally centered on the rotation axis 243. Figure 23B 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... Figure 22B The revolution θ at point P3 in the middle reaches Figure 23B 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.

[0298] 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.

[0299] 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).

[0300] That is, with Figure 22A 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 Figure 23A 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 is released (L1-L2) 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.

[0301] On the other hand, when pulley 231, which serves as the driving unit's pitch pulley, rotates in the direction of arrow A1, it is in harmony with the... Figure 22B 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, in Figure 23B The path length L4 of the second clamping wire wound on the intermediate pulley of the drive unit becomes longer. When the second clamping wire is pulled on the drive unit 200 side, the pulling length is the length by which the path length increases (L4-L3). That is, the total length of wires 302 and 306, which are the second clamping wires, in the drive unit 200 increases. Furthermore, as described above, as the total length of the second clamping wire in the drive unit 200 increases while the second clamping wire is pulled, the total length of the second clamping wire in the terminal tool 100 decreases.

[0302] As described above, for the pitching action, when pulley 231, which serves as the pitch pulley of the drive unit, rotates in the direction of arrow A1, the relative position of the drive unit satellite pulley changes while moving relative to the drive unit pitch pulley and the drive unit intermediate pulley. Furthermore, due to the relative movement of the drive unit satellite pulley, the total length of the first clamped wire in the drive unit 200 decreases, and the total length of the first clamped wire in the terminal tool 100 increases. On the other hand, due to the relative movement of the drive unit satellite pulley, the total length of the second clamped wire in the drive unit 200 increases, and the total length of the second clamped wire in the terminal tool 100 decreases.

[0303] As a result, when viewed from the side of the terminal tool 100, if the pulley 231, which serves as the pitch pulley of the drive unit, rotates in the direction of arrow A1, then the two wires 301 and 305, which serve as the first clamping wires, are released, and the two wires 302 and 306, which serve as the second clamping wires, are pulled, causing the terminal tool 100 to pitch in the direction of arrow A4 with the rotation axis 143 as the center.

[0304] The path length can be defined as the length of the clamping wire from the entrance of the first intermediate pulley of the drive unit, through the satellite pulley of the drive unit, to the exit of the second intermediate pulley of the drive unit. That is, the length of the clamping wire from the point where the wire 301 (which acts as the clamping wire) enters the pulley 215 (which acts as the first intermediate pulley of the drive unit), through the pulley 219 (which acts as the satellite pulley of the drive unit), to the exit of the pulley 217 (which acts as the second intermediate pulley of the drive unit) can be defined as the path length.

[0305] To express this from another perspective, the path length can be defined as the length of the clamping wire along the path connecting the terminal tool clamping pulley and the drive unit clamping pulley, from the point where the clamping wire first contacts the drive unit intermediate pulley to the point where the clamping wire last contacts the drive unit intermediate pulley. That is, the length of the clamping wire from the point where the wire 301, acting as the clamping wire, first contacts the pulley 215, which is the first intermediate pulley of the drive unit, to the point where it last contacts the pulley 217, which is the second intermediate pulley of the drive unit, can also be defined as the path length.

[0306] On the other hand, as the satellite pulley of the drive section moves relative to the intermediate pulley of the drive section, the aforementioned path length changes, and the total length of the clamped wire in the drive section 200 also changes. Furthermore, as the total length of the clamped wire in the drive section 200 changes, the total length of the clamped wire in the terminal tool 100 also changes. However, as the total length of the clamped wire in the drive section 200 increases (or decreases), the total length of the clamped wire in the terminal tool 100 also decreases (or increases) by the same length; therefore, the total length of the clamped wire (assuming no elastic deformation, etc.) remains unchanged.

[0307] As a result, when the pitch pulley of the drive unit rotates, the wire 301 / wire 305, which serves as the first clamping wire on the terminal tool 100 side, is pulled, and the wire 301 / wire 305, which serves as the first clamping wire on the drive unit 200 side, is released by the same length, thus achieving pitch motion.

[0308] On the other hand, as described above, the terminal tool 100 of the surgical instrument 30 of the present invention also includes a pulley 131 as a pitch pulley of the terminal tool, the drive unit 200 also includes a pulley 231 as a pitch pulley of the drive unit, and the power transmission unit 300 may also include a wire 303 and a wire 304 as pitch guides.

[0309] Therefore, when the pulley 231, which serves as the driving unit for pitching, rotates in the direction of arrow A1, the wire 304 winds around the pulley 231, and the wire 303 is released from the pulley 231. Thus, while the pulley 131, which serves as the terminal tool for pitching and is connected to the opposite side of the wires 303 and 304, rotates in the direction of arrow A2 around the rotation axis 143, the pitching action can be performed more accurately and reliably.

[0310] Among them, in the pulleys that rotate around the rotation axis 143 as the pitch rotation axis of the terminal tool, the diameters of the pulley 131 that is in contact with the wires 303 and 304 that are pitch guides and the pulleys 113, 114, 123 and 124 that are in contact with the main pitch clamping pulleys of the terminal tool that are in contact with the wires 301, 305, 302 and 306 that are clamping guides can be formed differently from each other.

[0311] In this configuration, as the rotating shaft 143 rotates, the lengths of the wires wound on or released from each pulley are different. For example, the diameter of the terminal tool pitch pulley is 6. The diameter of the terminal tool clamp's pitch main pulley is 4. Furthermore, when the rotating shaft 143 rotates 90°, the length of the pitch wire wound on the pitch pulley of the terminal tool is 1.5π, while the length of the clamping wire wound on the pitch main pulley of the terminal tool clamp can be 1π.

[0312] From this perspective, the "length" of the wire wound around the pulley, or the "length" of it being released from the pulley, can be defined as the "amount of rotation." This amount of rotation is a different concept from the angle of rotation and can be determined using the formula (diameter). Rotation angle / 360° We use π to calculate.

[0313] In this configuration, the pulley 231, which serves as the drive unit pitch pulley, and the pulley 131, which serves as the terminal tool pitch pulley, are essentially directly connected via wires 303 and 304, which act as pitch guides. Therefore, the rotation amounts of the drive unit pitch pulley and the terminal tool pitch pulley are the same. That is, the length of the pitch guide released from or wound around the terminal tool pitch pulley is the same as the length of the pitch guide wound around or released from the drive unit pitch pulley.

[0314] On the other hand, it can be (diameter of the terminal tool pitch pulley: diameter of the terminal tool clamp pitch main pulley) = (rotation amount of the wire wound on the terminal tool pitch pulley: rotation amount of the wire wound on the terminal tool clamp pitch main pulley).

[0315] As described above, if the length of the pitch wire wound on the pitch pulley of the terminal tool 100 is different from the length of the clamp wire wound on the main pitch pulley of the terminal tool clamp, then the length of the pitch wire released and the length of the clamp wire released in the drive unit 200 also need to be different from each other by the same ratio.

[0316] Therefore, the relationship (diameter of the terminal tool pitch pulley: diameter of the terminal tool clamp pitch main pulley) = (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley) can be established.

[0317] For example, if the ratio of the diameter of the end-tool pitch pulley to the diameter of the end-tool clamp pitch main pulley is 6:4, then the ratio of the diameter of the drive unit pitch pulley to the diameter of the drive unit intermediate pulley can also be 6:4. Based on this ratio, the diameter of the drive unit pitch pulley can be 9... The diameter of the intermediate pulley in the drive unit can be 6. .

[0318] However, the drive unit intermediate pulley may include two (or more) pulleys, including a drive unit first intermediate pulley and a drive unit second intermediate pulley. Furthermore, the sum of the diameters of the drive unit first intermediate pulley and the drive unit second intermediate pulley can be defined as the diameter of the drive unit intermediate pulley.

[0319] For example, when the diameter of the intermediate pulley in the drive unit is 6... When, (the diameter of the first intermediate pulley of the drive unit, the diameter of the second intermediate pulley of the drive unit) can be (1 5 (2) 4 (3) 3 (4) ,2 (5) 1 (and other situations.) As shown in the attached diagram, the diameter of pulley 215, which serves as the first intermediate pulley of the drive unit, is 4... The diameter of pulley 217, which serves as the second intermediate pulley of the drive unit, is 2. .

[0320] Furthermore, it can be described that (the rotation amount of the first intermediate pulley of the drive unit + the rotation amount of the second intermediate pulley of the drive unit) is proportional to the rotation amount of the pitch pulley of the drive unit.

[0321] However, even if the ratio of (diameter of the terminal tool pitch pulley: diameter of the terminal tool clamp pitch main pulley) to (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley) is not exactly the same, if the diameters of the pulleys are selected so that their ratios are similar, the purpose of the present invention can be achieved to a certain extent, namely, to compensate for the movement of the clamping wire according to the rotation of the drive unit pitch pulley.

[0322] The final pitch motion will be explained again below.

[0323] In the following text, the diameter of the pitch pulley of the terminal tool is 6. The diameter of the terminal tool clamp's pitch main pulley is 4. The diameter of the pitch pulley in the drive unit is 9. The diameter of the intermediate pulley in the drive unit is 6. The following example illustrates the situation.

[0324] First, for the pitching motion, the pulley 231 of the drive unit 200, which is the pitch pulley, rotates 60° to wind the wire 304, which serves as the pitch guide, while simultaneously releasing the wire 303. At this time, the winding and releasing lengths of the wire 303 and wire 304 are 1.5π each.

[0325] Therefore, in the terminal tool 100, the wire 304 is pulled by 1.5π, while the wire 303 is released by 1.5π, and at the same time, the pulley 131, which serves as the pitch pulley of the terminal tool, rotates 90° in accordance with the 1.5π.

[0326] On the other hand, when pulley 131 pitches and rotates about the rotation axis 143, clamps 101 and 102, as well as pulleys 111 and 112, also pitch and rotate about the rotation axis 143. Therefore, wires 301 and 305, which are connected to pulley 111 and serve as the first clamping wires, are pulled, and wires 302 and 306, which are connected to pulley 121 and serve as the second clamping wires, are released. At this time, the terminal tool pitch pulley and the terminal tool clamp pitch main pulley rotate at the same angle, 90°. Therefore, the length of the clamping wires wound around or released from the terminal tool clamp pitch main pulley is 1π.

[0327] On the other hand, since pulley 231 and pulley 219 / pulley 220 are rigidly connected by pitch-deflection connector 232, when pulley 231 rotates 60° around the rotation axis 243, pulley 219 / pulley 220 revolves 60° around the rotation axis 243.

[0328] Furthermore, while pulleys 219 and 220 are revolving in this manner, the clamping wires are wound around a surface with a total diameter of 6. 1π is released from or from pulleys 215 and 216, where 1π corresponds to 60° as the revolution angle. That is, wires 301 and 305, which are the first clamping wires, are released as a whole, while wires 302 and 306, which are the second clamping wires, are pulled as a whole.

[0329] In other words, the total path length of wires 301 and 305 wound around pulleys 215, 216, 217, and 218, which serve as the intermediate pulleys of the first clamp of the drive unit, is reduced, and the path length is reduced by the loosening of wires 301 and 305. Furthermore, the total path length of wires 302 and 306 wound around pulleys 225, 226, 227, and 228, which serve as the intermediate pulleys of the second clamp of the drive unit, is increased, and the path length is increased by the pulling of wires 302 and 306.

[0330] That is, wires 301 and 305, which are the first clamping wires, are pulled on the side near the terminal tool 100 and released on the side near the drive unit 200 at the same time, thereby compensating for the movement of the clamped wires according to the pitch movement. Similarly, wires 302 and 306, which are the second clamping wires, are pulled on the side near the terminal tool 100 and released on the side near the drive unit 200 at the same time, thereby compensating for the movement of the clamped wires according to the pitch movement.

[0331] As a result, by winding (or loosening) the clamping wire on the side near the terminal tool 100 according to the pitch action, and loosening (or pulling) the clamping wire on the side near the drive unit 200, and the length of loosening (or pulling) is the same as the length of winding (or loosening) on ​​the side near the terminal tool 100, it is possible to obtain the result of avoiding the influence of the pitch action on the rotation of the clamp's deflection axis direction, and independently performing the pitch action.

[0332] That is, when the pitch pulley and satellite pulley of the drive unit are rigidly connected, and the pitch pulley of the drive unit rotates around the rotation axis 243, the satellite pulley of the drive unit revolves around the rotation axis 243, thereby changing the path length of the clamping wire wound on the middle pulley of the drive unit. Furthermore, this change in the path length of the clamping wire compensates for the movement of the clamping wire on the end tool side of the pitch action, thus enabling the independent execution of the pitch action.

[0333] Figures 24A to 25B To show Figure 11 A diagram showing the deflection motion of the surgical instruments; Reference Figure 20 , Figure 21 , Figures 24A to 25B When pulley 211, which serves as the first clamping pulley of the drive unit, rotates in the direction of arrow A3 for a deflection action, one side of wires 301 and 305, which serve as the first clamping wires, wraps around pulley 211, while the other side is released from pulley 211. Therefore, pulley 111, which serves as the first clamping pulley of the terminal tool and is connected to the opposite side of wires 301 and 305, rotates in the direction of arrow A4 to perform the deflection action.

[0334] At this time, the positions of pulleys 219, 220, 229 and 230, which are satellite pulleys of the drive unit, and pulleys 215, 216, 217, 218, 225, 226, 227 and 228, which are intermediate pulleys of the drive unit, do not change, and only the actions of wires 301 and 305 winding around the satellite pulleys and intermediate pulleys of the drive unit or being released from the satellite pulleys and intermediate pulleys of the drive unit occur.

[0335] Therefore, the pitch pulley of the drive unit, which is rigidly connected to the satellite pulley of the drive unit, does not rotate, and the wires 303 and 304, which serve as pitch guides, do not twist or loosen and maintain their positions.

[0336] Similarly, when pulley 221, which serves as the second clamping pulley of the drive unit, rotates for the deflection action, as pulley 221 rotates, one side of wires 302 and 306, which serve as the second clamping wires, wraps around pulley 221, while the other side is released from pulley 221. Therefore, pulley 121, which serves as the second clamping pulley of the terminal tool connected to the opposite side of wires 302 and 306, rotates in a certain direction to perform the deflection action.

[0337] At this time, the positions of pulleys 219, 220, 229 and 230, which are satellite pulleys of the drive unit, and pulleys 215, 216, 217, 218, 225, 226, 227 and 228, which are intermediate pulleys of the drive unit, do not change, and only the actions of wires 302 and 306 winding around the satellite pulleys and intermediate pulleys of the drive unit or releasing them occur.

[0338] Therefore, the pitch pulley of the drive unit, which is rigidly connected to the satellite pulley of the drive unit, does not rotate, and the wires 303 and 304, which serve as pitch guides, do not twist or loosen and maintain their positions.

[0339] As a result, even if the pulley 211 or pulley 221, which serves as the clamping pulley of the drive unit, rotates for deflection or actuation, the total length of the wires 301, 302, 305, and 306, which serve as the clamping wires, in the drive unit 200 remains constant.

[0340] As described above, in the surgical instrument 30 according to an embodiment of the present invention, when the pitch pulley of the drive unit rotates, the satellite pulley of the drive unit revolves around the rotation axis of the pitch pulley of the drive unit, while changing the path length of the clamping wire wound on the middle pulley of the drive unit, so that the clamping wire is wound or unwound in response to the rotation of the pitch pulley of the drive unit, thereby counteracting or compensating for the movement of the clamping wire driven by pitch. As a result, the effect of separating the pitch action and the yaw action can be obtained.

[0341] However, as described above, the pitch and yaw actions are not limited to being mechanically separated, but are independently separated by the processor of the present invention according to one embodiment, so that the pitch and yaw actions can be performed separately.

[0342] Provide feedback to the surgical robot

[0343] As mentioned above, compared to manual surgical instruments, the advantage of surgical robotic systems is that they can be intuitively manipulated. However, unlike manual surgical instruments, the disadvantage of surgical robotic systems is that they cannot directly receive feedback from the physical interaction between the surgical instruments and the intra-abdominal environment. Therefore, there is a need for a method to sense the interaction between the driven robot and the surgical environment within a surgical robotic system and to effectively simulate and provide feedback to the surgeon using the active robot.

[0344] In the case of manual surgical instruments, which are not limiting but specific, because the user directly grips and manipulates the instrument, the physical interaction between the surgical instrument and the intended object can be fed back to the user in the form of a reaction force. That is, for example, if a surgical instrument collides with an organ or other surgical instrument within the abdominal cavity, the reaction force generated by this impact is transmitted to the handle of the manual surgical instrument. Therefore, the user can directly detect whether an interaction has occurred between the surgical instrument and at least one object.

[0345] However, because the active device gripped and controlled by the user in a surgical robot system and the surgical robot itself used to perform surgery on organs and tissues within the abdominal cavity are physically separate, the reaction force transmitted to the surgical robot is not directly transmitted to the user. Since laparoscopic surgery relies heavily on visual information from a camera screen, this significantly impacts the stability of the procedure. For example, if surgical instruments collide with organs or objects not visible on the screen, or cannot be visually confirmed, or if the surgical robot, due to space constraints, collides with objects or people outside the human body, organ damage or instrument damage is highly likely if the user is not provided with physical interaction feedback between the surgical robot and at least one object.

[0346] To address these issues, existing surgical robot systems have incorporated methods for recognizing physical interactions with the surgical robot on the active device. More specifically, this involves transmitting the physical interaction information detected by the surgical robot to the active device, which then uses this information to drive the provision of physical feedback to the user.

[0347] One approach to achieving this goal is to equip surgical instruments mounted on surgical robots with force-detecting sensors, such as strain gauges. A method has been proposed that uses these sensors to measure the forces generated when the surgical robot interacts with its environment, and then uses this information to drive the motors of the active device, providing force feedback to the surgical robot. The advantage of this method is that it provides intuitive force feedback. However, mounting sensors on surgical instruments increases the complexity of the instruments. At the same time, the sensors are expensive to manufacture and difficult to recycle through sterilization. Surgical instruments are typically discarded after a certain number of uses; therefore, if sensors are attached to surgical instruments to provide feedback, there is a problem that these sensors, based on their limited usage, must also be discarded along with the surgical instruments.

[0348] On the other hand, existing technologies for providing interactive feedback in surgical robot systems only propose the concept of sensing interactions occurring on the surgical robot and providing feedback on the active device, without proposing methods for accurately sensing interactions and providing more realistic simulation feedback. Therefore, existing feedback systems can only primarily measure the vibration of the surgical robot at specific locations, but cannot sense the location where interactions occur on the surgical robot. Furthermore, existing feedback systems cannot allow for the specific design of vibration generators mounted on the active device, providing only unchanging feedback that fails to reflect the detailed characteristics of interactions occurring on the surgical robot.

[0349] A method and apparatus for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this description are designed to solve these problems, for example, by providing users with information about what is happening during surgery in a relatively low-cost and highly reliable manner. Furthermore, it allows for the provision of user feedback tailored to more diverse interactions, rather than static feedback.

[0350] In a non-limiting but specific manner, based on an accelerometer mounted on the robotic arm of a surgical robot, vibration signals containing amplitude and frequency information can be generated by detecting whether an interaction occurs between the surgical robot and at least one object, and then vibration can be generated by at least one vibrator (actuator) mounted on a user input interaction device.

[0351] Therefore, by eliminating the need for sensors on non-reusable surgical instruments, the number of times sensors can be reused is increased, thereby detecting interactions between surgical instruments and the surgical environment at a lower cost. Furthermore, using accelerometers and vibrators can further reduce costs, as they are significantly cheaper than the force sensors and motors used in traditional surgical robots to provide feedback on the surgical environment. Moreover, by using multiple accelerometers and vibrators, with appropriate design and control over the frequency and amplitude of the vibration signals, similar stimuli to those generated in actual surgical robots can be reproduced at a lower cost through the user input interaction device of the active device, thus providing feedback to the surgeon.

[0352] In this regard, Figure 27 This is a schematic diagram illustrating the mounting of surgical instruments on the robotic arm of a surgical robot according to one aspect of this specification. Figure 27 As exemplarily shown, providing feedback to a user input interaction device of a surgical robot system according to one aspect of this specification may involve detecting interactions occurring between the surgical robot and at least one object on the robotic arm 2700 and surgical instruments 2800 of the surgical robot, and through... Figure 31 The user input interaction device illustrated herein is provided to the user. However, it should be noted that the technical concept of this specification is not limited thereto and can be applied to any surgical robot and robotic arm structure and any user input interaction device structure.

[0353] like Figure 27 As shown, an exemplary robotic arm 2700 may be rotatably coupled by multiple joints, such as a first joint 2730, a second joint 2720, and an end joint 2710. As a non-limiting example, the end joint 2710 may include an instrument mounting portion 2715 for mounting surgical instruments 2800. For example, the instrument mounting portion 2715 may be designed to slide along a movement path provided on the end joint 2710, but is not limited thereto.

[0354] Surgical instrument 2800 can be a tool inserted into a patient's abdominal cavity to perform surgery on an organ. Surgical instrument 2800 may include an adapter 2810 and a shaft and end tool 2820 connected thereto. End tool 2820 may include surgical tools of various shapes and types described above in this specification. Adapter 2810 may refer to a configuration for mounting surgical instrument 2800 to an instrument mounting portion 2715 of a robotic arm. For example, adapter 2810 may have a joint that engages with instrument mounting portion 2715. Furthermore, adapter 2810 may include, for example, a motor assembly that powers the end tool 2820 of surgical instrument 2800, but is not limited thereto.

[0355] According to this instruction manual, on the one hand, through testing Figure 27 Whether at least one of the exemplary robotic arm 2700 and / or surgical instrument 2800 shown interacts with at least one object, and generates corresponding vibrations. Figure 31 The user input interaction device shown in the example can simulate and convey feedback to the user to the interactions that occur in the surgical robot.

[0356] In this specification, the interaction between the surgical robot and at least one object can include any physical or environmental event occurring on the surgical robot. For example, the interaction between the surgical robot and at least one object can include the interaction between surgical instruments and at least one object. The interaction of surgical instruments can include, but is not limited to, collisions between at least a portion of a surgical instrument and organ tissue occurring within the patient's abdominal cavity, collisions between surgical instruments and other surgical instruments, the end tool of a surgical instrument gripping organ tissue, and the end tool of a surgical instrument removing organ tissue. Furthermore, the interaction between the surgical robot and at least one object can include the interaction between the robotic arm of the surgical robot and at least one object. The interaction of the robotic arm can include, but is not limited to, collisions between the robotic arm and other objects in the surgical environment, collisions between the robotic arm and other robotic arms, collisions between the robotic arm and the surgeon or assistant, and forced movement or forced posture changes of the robotic arm.

[0357] The interaction information between the surgical robot and at least one object, obtained by the method of providing feedback to the user input interaction device of the surgical robot system according to one aspect of this specification, includes not only information about the magnitude of the interaction occurring on the surgical robot, but also attribute information about the surgical robot and the interacting object. For example, when using a manual surgical tool, the feedback in the form of the direct reaction force felt by the user through the handle of the manual surgical tool may differ when at least a portion of the surgical tool impacts an object with higher hardness and when a portion of the surgical tool impacts an object with lower hardness. According to one aspect of this specification, the surgical robot can be configured to use sensors to measure and determine the attributes of the object interacting with the surgical robot, such as hardness, and reflect this information by generating vibrations in the user input interaction device. The control does not require the user to remember the form or manner of the vibration to distinguish the type of interaction occurring on the surgical robot, but rather provides feedback to the user by controlling the form or manner of the vibration to simulate the actual physical feedback as realistically as possible, thereby providing feedback similar to that of using a manual surgical tool.

[0358] In this regard, Figure 26 A schematic flowchart illustrating a method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification. See also... Figure 26This specification describes, in a non-limiting but more specific manner, a method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of the present specification.

[0359] A method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification may include, for example, […]. Figure 1 and Figure 2A The steps shown are processed in a time-series manner on the user terminal 2000, 2010, or processor 2011. Therefore, even the following omitted content, regarding... Figure 1 and Figure 2A The above description of the user terminal 2000, 2010, or processor 2011 shown can also be applied to... Figure 26 This describes a method for providing feedback to a user input interaction device of a surgical robot system. On the other hand, the method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification can also be understood as being included in the method of driving the surgical robot system.

[0360] In addition, see above. Figure 1 and Figure 2B The above, Figure 26 At least one step in the method of providing feedback to the user input interaction device of the surgical robot system may also be processed on the server 3000, 3011 or the processor 3011.

[0361] In addition, see above. Figures 3 to 5 The above, Figure 26 At least one step in the method of providing feedback to a user input interaction device of a surgical robot system may be processed by the active robot 10, the driven robot 20, or the surgical instrument 30 or a processor contained therein.

[0362] For ease of description, the method for providing feedback to a user input interaction device of 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, passive 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.

[0363] like Figure 26As shown, a method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification may include the following steps: acquiring interaction information based on at least one sensor disposed on the robotic arm of the surgical robot, the interaction information including whether an interaction has occurred between the surgical robot and at least one object (step 2610); generating a vibration signal containing amplitude information and frequency information based on the interaction information (step 2620); and generating vibration based on the vibration signal through at least one vibrator (actuator) disposed on the user input interaction device spaced apart from the surgical robot (step 2630). The following, in conjunction with... Figure 26 Each step is explained in detail.

[0364] like Figure 26 As shown, the computing device can first acquire interaction information based on at least one sensor mounted on the robotic arm of the surgical robot, the interaction information including whether an interaction has occurred between the surgical robot and at least one object (step 2610).

[0365] That is, the computing device can use sensors mounted on the robotic arm of the surgical robot to detect possible interactions, such as collisions, between the surgical robot and at least one object. The at least one sensor may be an accelerometer, but is not limited to this. According to one aspect of this specification, in the case of detecting interactions occurring on the surgical robot based on accelerometers, more reliable detection of interactions occurring on the surgical robot can be provided at a much lower cost compared to using expensive equipment such as force sensors.

[0366] Therefore, according to one embodiment of this specification, an accelerometer can be installed on one side of the surgical robot to collect information related to the physical interaction between the surgical robot and at least one object. In one aspect, two or more accelerometers can be configured to be installed at different locations so that a computing device can estimate the location where the interaction occurs. However, it is not necessary to install two accelerometers on the surgical robot; depending on the type and location of the interaction to be detected, only one accelerometer can be installed, or three or more accelerometers can be installed.

[0367] As an example, accelerometers can be attached to areas of the surgical robot near the mounting of surgical instruments and near the end effector of the robotic arm. With this setup, the area near the mounting of surgical instruments can primarily detect the physical interactions of the instruments mounted on the surgical robot (e.g., the gripping action of the instrument's clamping part on an internal organ or object, collisions between instruments, etc.). Furthermore, the area near the end effector of the robotic arm can primarily detect the physical interactions between the surgical robot and the external environment (e.g., collisions between robotic arms, collisions between the human body and the robotic arm, etc.).

[0368] In this regard, Figure 28 This is an example diagram illustrating the installation of an accelerometer on a robot arm according to one aspect of this specification. Figure 32 for Figure 26 The first detailed flowchart of the interactive information acquisition steps. (See attached flowchart.) Figure 32 As shown, according to one aspect of this specification, the step of obtaining interaction information (step 2610) may include: obtaining robot arm information based on a first accelerometer 2910 disposed at a first position of the robot arm 2700, the robot arm information including whether an interaction has occurred between the robot arm 2700 and at least one object (step 2611); and obtaining instrument information based on a second accelerometer 2920 disposed at a second position of the robot arm 2700, the instrument information including whether an interaction has occurred between a surgical instrument 2800 mounted on the robot arm and at least one object (step 2613). For example, compared to the first position where the first accelerometer 2910 is disposed, the second position where the second accelerometer 2920 is disposed may be closer to the surgical instrument mounting portion 2715 of the robot arm 2700.

[0369] Non-restrictive but specific, such as Figure 28 As shown, a first accelerometer 2910 may be disposed at the end joint 2710 of the robotic arm 2700 of the surgical robot. For example, the first accelerometer 2910 may be disposed near the end of the end joint 2710 on which surgical instruments are mounted and which faces in the opposite direction to the patient. Therefore, the first accelerometer 2910 can detect changes caused by interactions occurring on the robotic arm 2700 more primarily than interactions occurring on the surgical instruments 2800. Therefore, according to one aspect of this specification, a computing device may acquire robotic arm information containing information related to interactions between the robotic arm 2700 and at least one object, based on measurements measured by the first accelerometer 2910, or measurements that reflect the first accelerometer 2910 more than those measured by other accelerometers.

[0370] Conversely, the second accelerometer 2920 can be positioned closer to the surgical instrument mounting section 2715 than the first accelerometer 2910. This is not limiting, but specifically, as... Figure 28 As shown, a second accelerometer 2920 can be disposed on the instrument mounting section 2715 of the robotic arm 2700 of the surgical robot, where surgical instruments are mounted. According to one aspect, the second accelerometer 2920, or a second acceleration measurement housing (not shown) including the second accelerometer, can be disposed in contact with at least a portion of the instrument mounting section 2715 of the robotic arm and the surgical instruments 2800. The second acceleration measurement housing can be configured to engage in a movable state relative to the instrument mounting section 2715, thereby more sensitively sensing motion occurring on the surgical instruments 2800. Furthermore, according to one aspect, as... Figure 28 As shown, the second accelerometer 2920 can be mounted on a support portion for supporting the machine axis at the front end of the end joint 2710 of the robot arm.

[0371] With the aforementioned exemplary setup, the second accelerometer 2920 can detect changes in interactions occurring within the surgical instrument 2800 more primarily than changes in interactions occurring within the robotic arm 2700. Therefore, according to one aspect of this specification, the computing device can acquire instrument information containing information related to interactions between the surgical instrument 2800 and at least one object, based on measurements taken by the second accelerometer 2920, or measurements that reflect the second accelerometer 2920 more comprehensively than those taken by other accelerometers.

[0372] Although described later in this specification, according to one embodiment, the user input interaction device 3100 includes a robot arm vibrator that generates vibrations based on whether an interaction occurs between the robot arm and at least one object; and an instrument vibrator that generates vibrations based on whether an interaction occurs between a surgical instrument mounted on the robot arm and at least one object. According to one aspect, the computing device can be configured to generate vibrations in the robot arm vibrator based on acquired robot arm information, and to generate vibrations in the instrument vibrator based on acquired instrument information.

[0373] on the other hand, Figure 29 This is an example diagram illustrating the installation of accelerometers on the first and second sides according to one aspect of this specification. Figure 30 To indicate Figure 29 The image above shows the accelerometer settings of the robot arm. (See image above.) Figures 29 to 30 As exemplarily shown, according to one aspect of this specification, multiple accelerometers may be mounted on the robotic arm 2700. Based on these multiple accelerometers, directional information of the positions where interactions occur within the surgical robot can be further ensured.

[0374] For example, such as Figures 29 to 30As shown, with a predetermined reference line 2701 for the surgical robot, first-side accelerometers 2911 and 2921 can be installed on the first side of the reference line, and second-side accelerometers 2913 and 2923 can be installed on the second side of the reference line. For example, accelerometers used to measure the interaction of surgical instruments may include first-side accelerometer 2921 and second-side accelerometer 2923, while accelerometers used to measure the interaction of the robot arm may include first-side accelerometer 2911 and second-side accelerometer 2913, but are not limited thereto.

[0375] By configuring the accelerometer, when the surgical robot interacts with at least one object, information about the location and / or direction of the interaction on the surgical robot can be obtained.

[0376] In this regard, Figure 33 for Figure 26 The second detailed flowchart of the interactive information acquisition steps. (See attached flowchart.) Figure 33 As shown, for example, the computing device can acquire first-side information based on first-side accelerometers 2911 and 2921 set on a first side of a predetermined reference line 2701 of the surgical robot. This first-side information includes whether an interaction has occurred between the surgical robot and at least one object (step 2615). Furthermore, the computing device can acquire second-side information based on second-side accelerometers 2913 and 2923 set on a second side of the predetermined reference line 2701 of the surgical robot. This second-side information includes whether an interaction has occurred between the surgical robot and at least one object (step 2617). The computing device can determine the direction information of the interaction in the surgical robot by comparing the measurements of the first-side accelerometers and the measurements of the second-side accelerometers. As a non-limiting example, if the measurement of the first-side accelerometer is determined to be superior to the measurement of the second-side accelerometer, the computing device can determine that the interaction with at least one object occurs in the direction of the first side of the predetermined reference line 2701 of the surgical robot. Alternatively, if the measurement of the second-side accelerometer is determined to be superior to the measurement of the first-side accelerometer, the computing device can determine that the interaction with at least one object occurs in the direction of the second side of the predetermined reference line 2701 of the surgical robot.

[0377] Although described later in this specification, according to one embodiment, the user input interaction device 3100 may be provided with a first-side vibrator positioned in a first-side direction relative to a predetermined reference line of the user input interaction device, and a second-side vibrator positioned in a second-side direction relative to the reference line. According to one aspect, the computing device can control the vibration of the first-side vibrator and the second-side vibrator in different ways based on the acquired measurements of the first-side accelerometer and the second-side accelerometer. For example, if the measurement of the first-side accelerometer is determined to be superior to the measurement of the second-side accelerometer, the computing device can generate a stronger vibration in the first-side vibrator; if the measurement of the second-side accelerometer is determined to be superior to the measurement of the first-side accelerometer, the computing device can generate a stronger vibration in the second-side vibrator. The stronger vibration may refer to at least one of vibration with a larger amplitude or vibration with a higher frequency.

[0378] See again Figure 26 The computing device can generate a vibration signal containing amplitude and frequency information based on previously acquired interaction information (step 2620). That is, the computing device can convert the measurement value of at least one accelerometer into a vibration signal for generating vibration by a vibrator. The vibration signal may include amplitude information of the vibration generated by the vibrator and frequency information of the vibration generated by the vibrator.

[0379] In other words, according to one aspect of this specification, the computing device can convert the acceleration signal detected by at least one accelerometer mounted on a surgical robot into a signal that can be operated by a vibrator. Non-limitingly, the accelerometer primarily uses a triaxial accelerometer capable of detecting acceleration in three directions; therefore, it is necessary to convert the accelerometer information into amplitude and frequency. Since multiple accelerometers can be mounted on the surgical robot, and multiple vibrators can be mounted on the user input interaction device, the computing device can combine n accelerometer information to generate m vibration signals. That is, the frequency (f) transmitted to the j-th vibrator mounted on the user input interaction device (e.g., the active device) is... j ) and amplitude (A j The value can be determined by combining and calculating n accelerometer signals.

[0380] This content can be represented by the following mathematical formula 1.

[0381] [Mathematical Expression 1]

[0382] {f j A j} = f i→j ({a x 1 , a y 1 , az 1 ), ... , {a x n , a y n , a z n})

[0383] Where i ∈ n, j ∈ m

[0384] function f i→j ( ) At least one of various signal processing algorithms that convert accelerometer signals into frequency and amplitude can be used. Specific frequency signal amplification, low-pass filtering, average root-mean-square (RMS), Sum of Components, Discrete Fourier Transform (DFT), etc., can be used, but are not limited to these. Each signal processing technique has its own characteristics, and one or more of the most suitable ones can be selected based on the type of feedback provided to the user.

[0385] As described above, according to one aspect of this specification, at least one sensor disposed on the robotic arm of a surgical robot may include multiple accelerometers. Each of the multiple accelerometers may be configured to measure acceleration changes along multiple axes; as a non-limiting example, a triaxial accelerometer may be used, as mentioned above. At least one vibrator disposed on the user input interaction device may include multiple vibrators, each of which may be configured to generate unidirectional vibration. That is, the accelerometers disposed on the surgical robot may be configured to determine measurements along multiple axes, while the vibrators disposed on the user input interaction device may be configured to generate vibration in only one direction. Furthermore, although multiple accelerometers and multiple vibrators may be disposed, the number of accelerometers and the number of vibrators may be different. Therefore, as described above, a vibration signal for driving the vibrator can be generated by appropriately calculating or converting the multiple measurements obtained by the accelerometers.

[0386] On the other hand, when generating a vibration signal for driving a vibrator based on measurements from multiple accelerometers, a weight value can be assigned to a specific axis or a weight value to a specific vibrator to generate the vibration signal.

[0387] In a non-limiting but specific manner, the computing device may be configured to generate vibration signals for a first vibrator and a second vibrator among a plurality of vibrators based on the sensed values ​​of multiple axes measured by each of the plurality of accelerometers. That is, when generating vibration signals for the first vibrator and / or the second vibrator, which are any of the plurality of vibrators, measurements can be used not only from a specific accelerometer but also from multiple accelerometers; furthermore, measurements can be used not only from a specific axis but also from multiple axes.

[0388] On the other hand, when generating a vibration signal for a specific vibrator, the computing device can further incorporate measurements from accelerometers along a specific axis. For example, the computing device can be configured to assign weights to the sensed values ​​related to a first axis measured by each of a plurality of accelerometers to generate a vibration signal for a first vibrator, and to assign weights to the sensed values ​​related to a second axis measured by each of a plurality of accelerometers to generate a vibration signal for a second vibrator. That is, the vibration signal of the first vibrator is more influenced by the sensed values ​​related to the first axis measured by each of the plurality of accelerometers. Therefore, the first vibrator can be configured to provide feedback to the user regarding interactions occurring along the first axis on the surgical robot. Conversely, the vibration signal of the second vibrator is more influenced by the sensed values ​​related to the second axis measured by each of the plurality of accelerometers. Therefore, the second vibrator can be configured to provide feedback to the user regarding interactions occurring along the second axis on the surgical robot. According to one aspect, a first vibrator can be disposed on the user input interaction device along a first axis direction to transmit vibration in the first axis direction to the user, while a second vibrator can be disposed on the user input interaction device along a second axis direction to transmit vibration in the second axis direction to the user.

[0389] According to this specification, the location information of the accelerometers mounted on the pre-set surgical robot can also be used to determine the frequency and amplitude to be transmitted to the j-th vibrator. As an example, two accelerometers A and B are mounted at different locations on the surgical robot, while two vibrators 1 and 2 are mounted at different locations on the active device. In this case, even if the same frequency and amplitude are transmitted, if the computing device determines that the measured acceleration occurs closer to location A, the information can be transmitted to vibrator 1; if the computing device determines that the measured acceleration occurs closer to location B, the information can be transmitted to vibrator 2.

[0390] According to one aspect, the conversion from acceleration to vibration signals can be performed by any component capable of computational operations, such as a surgical robot, an active device, a visual shopping cart, etc. That is, the vibration signal can be generated by a computing device. The computing device can, for example, be configured to receive accelerometer information from the surgical robot via internal communication to perform calculations, and to transmit the information to a user input interaction device (e.g., an active device) via internal communication.

[0391] See again Figure 26 The computing device can generate vibration based on a previously generated vibration signal via at least one vibrator (actuator) disposed in a user input interaction device spaced apart from the surgical robot (step 2630). That is, the computing device can be configured to generate a vibration signal based on measurements taken by at least one accelerometer disposed on the surgical robot, and then operate the vibrator accordingly.

[0392] According to one embodiment of this specification, multiple vibrators can be set in the user input interaction device to provide more effective feedback to the user. When setting the vibrators, one or more vibrators can be set, and the locations of the multiple vibrators can be different, or the main operating bandwidth of each vibrator can be different, in order to effectively provide feedback to the user related to the interaction occurring on the surgical robot. However, it is not necessary to include all cases; depending on the desired vibration feedback, only one vibrator can be set, and the locations can be the same or the main operating bandwidth of the vibrators can be the same.

[0393] In this regard, Figure 31 This is an example diagram showing the installation of a vibrator on a user input interaction device according to one aspect of this specification. Figure 31 As shown, according to one aspect of this specification, the user input interaction device 3100 may include a grip portion 3120 held by the user's fingers and handle portions 3111, 3113, and 3115 supporting the grip portion. The user input interaction device 3100 may, for example, have... Figure 31 The shape of the gimbal shown is not limited to this. According to one aspect, the user input interaction device may include a gimbal grip 3120 and handles 3111, 3113, and 3115.

[0394] As described above, according to one embodiment of this specification, at least one vibrator disposed in the user input interaction device 3100 may include: a robot arm vibrator, which generates vibration based on whether an interaction occurs between the robot arm and at least one object; and an instrument vibrator, which generates vibration based on whether an interaction occurs between a surgical instrument mounted on the robot arm and at least one object. As a non-limiting example, such as Figure 31As shown, robot arm vibrators 3161 and 3163 can be installed in handle portions 3111, 3113 and 3115, and instrument vibrators 3151 and 3153 can be installed in grip portion 3120.

[0395] As described above, according to one aspect, the computing device can acquire robot arm information based on a first accelerometer positioned at a first location on the robot arm, the robot arm information including whether an interaction has occurred between the robot arm and at least one object. Furthermore, the computing device can acquire instrument information based on a second accelerometer positioned at a second location on the robot arm, the instrument information including whether an interaction has occurred between surgical instruments mounted on the robot arm and at least one object. However, it should be noted that the technical concept of the present invention is not limited to the acquisition of robot arm information and / or instrument information depending on the measurements of the first and second accelerometers, respectively. For example, the computing device can be configured to determine whether an interaction has occurred on the robot arm of the surgical robot and whether an interaction has occurred on the surgical instruments of the surgical robot in various ways, for example, by using different types of sensors or by analyzing the characteristics of the signals measured by the accelerometers.

[0396] The computing device can control at least one vibrator provided in the user input interaction device 3100 to vibrate based on acquired robot arm information and / or instrument information. For example, the computing device can be configured to generate vibration using a robot arm vibration signal generated based on robot arm information via a robot arm vibrator, and to generate vibration using an instrument vibration signal generated based on instrument information via an instrument vibrator. According to one aspect, the computing device can generate vibration in at least one vibrator 3151, 3153 provided in the grip portion 3120 in response to determining that an interaction has occurred on the surgical instrument, and generate vibration in at least one vibrator 3161, 3163 provided in the handle portions 3111, 3113, 3115 in response to determining that an interaction has occurred on the robot arm. Therefore, according to one aspect of this specification, the user can be intuitively fed feedback on whether delivery has occurred on the robot arm of the surgical robot or whether an interaction has occurred on the surgical instrument.

[0397] Non-limiting but specific, according to one aspect, the vibrator disposed in the user input interaction device 3100 includes: a first-side vibrator disposed on a first side of a predetermined reference line of the user input interaction device; and a second-side vibrator disposed on a second side of the predetermined reference line of the user input interaction device. For example, such as Figure 31 As shown, according to one aspect, a first side vibrator 3151 may be disposed on a first grip 3121 held by a user's first finger, and a second side vibrator 3153 may be disposed on a second grip 3123 held by a user's second finger.

[0398] Depending on the configuration of the vibrators, positional or directional information regarding the interaction between the surgical robot and at least one object can be transmitted to the user input interaction device. As an example, vibrators 3151 and 3153 can also be mounted on grip bars (first grip 3121 and second grip 3123) on both sides of the user finger mounting portion (universal grip portion) 3120 of the active device. In this case, directional feedback can be provided to the user.

[0399] As a non-limiting example, if acceleration is detected from the accelerometer associated with the surgical instrument mounted on the surgical robot and the signal is stronger on the left side, the interaction can be considered to have occurred on the left side of the surgical instrument. In this case, a large-amplitude vibration can be generated in the vibrator 3153 attached to the left side of the universal joint grip 3120 to convey information that a collision occurred on the left side to the user. Furthermore, if acceleration is detected from the accelerometer associated with the surgical instrument mounted on the surgical robot and there is no signal difference between the left and right sides, the interaction can be considered to have occurred in the middle of the surgical instrument. In this case, vibrations of the same amplitude can be generated in the vibrators 3151 and 3153 attached to both sides of the universal joint grip to convey information that a collision occurred in the middle to the user.

[0400] More generally, the computing device can acquire information about the direction of interaction in either the first or second side direction, and reflect this information by vibrating a vibrator on the user input interaction device to provide the user with information about the direction of interaction.

[0401] As stated above, according to one aspect of this specification, for example, such as Figures 29 to 30 As shown, the computing device can acquire first-side information based on a first-side accelerometer positioned on a first side of a predetermined reference line on the surgical robot. This first-side information includes whether an interaction occurs between the surgical robot and at least one object. Furthermore, the computing device can acquire second-side information based on a second-side accelerometer positioned on a second side of the predetermined reference line on the surgical robot. This second-side information includes whether an interaction occurs between the surgical robot and at least one object. That is, the computing device can acquire information about the position or direction of the interaction on the surgical robot, thereby acquiring the first-side information and / or the second-side information. Wherein, in Figures 29 to 30In the illustration, a baseline is shown to distinguish the left and right directions of the instrument mounting section. However, it should be noted that this is merely an example, and the baseline can be freely set according to the needs of directional differentiation. For ease of description, it is assumed that the interaction occurs on the left or right side. The computing device can obtain information on whether an interaction occurred on the left side based on the accelerometer located on the left side of the surgical robot, and information on whether an interaction occurred on the right side based on the accelerometer located on the right side of the surgical robot. Based on the information on whether an interaction occurred on the left and / or right side, the computing device can change the vibration generated by the left vibrator and / or the right vibrator to provide the user with feedback on the position and / or direction of the interaction within the surgical robot.

[0402] As a non-limiting example, according to one aspect, the computing device can be configured to generate a vibration in the first-side vibrator 3151 with an amplitude or frequency greater than that of the second-side vibrator 3153 in response to receiving a measurement value from the first-side accelerometer 2911 or 2921 that is larger than that from the second-side accelerometer 2913 or 2923. That is, the magnitude of the generated vibration can be controlled by the magnitude of the amplitude or by the magnitude of the frequency. The correspondence between the first-side and second-side accelerometers and the first-side and second-side vibrators is exemplary and not limited to the matching relationship shown in the figures. However, it should be noted that any matching relationship between the accelerometer and the vibrator can be used as long as the directionality of the interaction occurring on the surgical tool can be effectively conveyed to the user of the user input interaction device. Furthermore, Figure 29 and Figure 30 The reference lines shown are merely exemplary for ease of description, and the technical concept of the present invention is not limited thereto. For example, the first side and the second side are not limited to the left and right sides of the surgical instrument or the robotic arm. The first side and the second side can be distinguished according to any reference line used on the surgical robot to distinguish the direction of interaction. For example, the first side represents the distal region of the robotic arm (e.g., the mounting portion of the surgical instrument), and the second side represents the proximal region of the robotic arm (e.g., the mounting area of ​​the robotic arm relative to the body of the surgical robot).

[0403] On the other hand, according to one aspect, the computing device can be configured to generate at least one identical vibration of amplitude or frequency in the first and second vibrators in response to determining that the difference between the measured values ​​of the first and second accelerometers is less than a preset threshold. That is, if the measured values ​​obtained from two or more accelerometers positioned in different directions of the surgical robot are not significantly different, the computing device can determine that the interaction between the surgical robot and at least one object occurs in the middle section of the surgical robot. Therefore, the computing device can provide feedback to the user without bias towards a particular direction by generating vibrations of the same amplitude or frequency on multiple vibrators of the user input interaction device, thereby enabling the user to intuitively identify that the interaction occurs in the middle section of the surgical robot.

[0404] According to one aspect of this specification, the interaction between the surgical robot and at least one object detected by the computing device can include not only collisions between the surgical robot and at least one object, but also a task performed by the surgical robot. As a non-limiting example, the computing device can determine whether a surgical instrument is gripping a specific object with its clamping part. For example, if the clamping part of the surgical instrument is not gripping any object and the angle of the clamping part decreases to close the clamp, and the set of at least one measurement value measured by the accelerometer is set as A, then this value can be set as a "reference acceleration value". Using this reference acceleration value, if (i) acceleration is detected in the surgical instrument, and (ii) the angle of the universal joint gripping part is less than or equal to a specific angle, the computing device can determine that the user has taken the action of gripping the object; if (iii) the acceleration detected by the accelerometer is different from the "reference acceleration value", the computing device can determine that the surgical instrument is gripping a specific object with its clamping part. In this case, according to one aspect, in order to provide feedback to the user that the object is gripping the object, the computing device can generate vibrations with amplitudes and frequencies different from existing feedback in the vibrators attached to both sides of the universal joint gripping part, for example, whether a collision has occurred.

[0405] The interaction type according to one embodiment of this specification is not limited to the type described above. According to one aspect, the computing device can be configured to generate vibrations representing the gripping object of a surgical instrument of a surgical robot in response to determining that the spacing between gripping portions disposed on a user input interaction device has changed, and determining that a measurement value from at least one sensor differs from a predetermined reference measurement value. The reference measurement value may represent the measurement value of at least one sensor when the surgical instrument of the surgical robot is not gripping the object and the clamping portion is closed.

[0406] That is, the computing device can first acquire the measurement value of at least one accelerometer when the clamping part of the surgical instrument provided with the surgical robot is gripping any object, in a closed state where multiple clamps meet. This measurement value can be stored and used as a "reference measurement value." The measurement of the reference measurement value can be performed before the start of the surgical procedure, but is not limited to this. During the surgery, the surgeon of the surgical robot system can control the clamping part of the surgical instrument of the surgical robot system based on a user input interaction device, such as a gimbal grip provided with the surgical robot system. For example, the surgeon can control the clamps to reduce the angle between multiple clamps in the user input interaction device. Therefore, the computing device can determine that the spacing between the gripping parts provided on the user input interaction device has changed. The computing device can acquire the measurement value of at least one sensor provided on the surgical robot. If the measured value differs from the predetermined reference measurement value, the computing device can determine that the clamping part of the surgical instrument is operating under the control of the surgeon to grip at least one object. Because the current measurement differs from the measurement when the clamp is not gripping any object, it can be determined that the clamp of the surgical instrument is gripping the designated object. To provide feedback to the surgeon that the clamp of the surgical instrument is gripping the designated object, the computing device can control a vibrator located on the user input interaction device to vibrate. The vibration of the vibrator notifying the surgeon of the gripped object may differ from other feedback, such as feedback of a collision between the surgical robot and at least one object. For example, the computing device may generate a vibration in the vibrator whose amplitude and / or frequency differ from the vibration used to provide collision feedback.

[0407] As described above, according to one embodiment of this specification, multiple vibrators can be provided in the user input interaction device. For example, the vibrators can be distinguished according to the object generating the interaction, and may include a robot arm vibrator and a machine vibrator. Alternatively, the vibrators can be distinguished according to the position and / or direction of the interaction, and may include a first-side vibrator and a second-side vibrator. Each of the multiple vibrators can be configured to have a different operating bandwidth. Non-limiting but specific, for example, the robot arm vibrator and the machine vibrator have different operating bandwidths.

[0408] As a non-limiting example, a vibrator capable of generating a high frequency can be mounted on the gimbal grip, while a vibrator capable of generating a low frequency can be mounted on the gimbal handle. In this exemplary vibrator setup environment, the computing device can provide feedback to the user that includes physical interaction. If acceleration is primarily detected on the surgical instrument side mounted on the surgical robot, the computing device can convey information about a physical interaction occurring on the surgical instrument side by generating a high-frequency signal on the gimbal grip. Furthermore, if acceleration is primarily detected at the end effector of the surgical robot's arm, the computing device can convey information about a collision between the surgical robot's arm and at least one object, such as another robot arm, an external object, or a person, by generating a low-frequency signal on the gimbal handle. However, it should be noted that generating high-frequency signals for interactions with surgical instruments and low-frequency signals for interactions with the robot arm are merely exemplary, and the technical concept of the invention is not limited thereto. For example, low-frequency signals could be generated for interactions with surgical instruments, while high-frequency signals could be generated for interactions with the robot arm.

[0409] Relatedly, when providing feedback according to the embodiments of this specification, at least one of the amplitude or frequency of the vibration can be used to represent information such as the type of interaction, the intensity of the interaction, or the attributes of the interacting object. This specification describes schemes for controlling a vibrator that primarily generates vibrations to distinguish different interactions. However, it should be noted that the various examples described separately can be implemented independently of each other or in combination.

[0410] Non-limiting but specifically, according to one aspect, the amplitude information generated by the computing device based on measurements from at least one sensor can reflect the intensity of interaction between the surgical robot and at least one object. For example, the computing device can determine that the greater the acceleration value measured by at least one accelerometer, the greater the amplitude of the vibration included in the amplitude information. Therefore, the computing device can control the amplitude of the vibration generated by the vibrator provided on the user input interaction device to become larger, and the user can determine the intensity of interaction with at least one object occurring on the surgical robot based on the large amplitude vibration. The computing device can determine the amplitude information, for example, by reflecting the magnitude of the measurements from at least one sensor when generating a vibration signal, but is not limited to this.

[0411] Furthermore, non-limitingly but specifically, according to one aspect, the frequency information generated by the computing device based on measurements from at least one sensor can reflect the hardness of at least one object interacting with the surgical robot. That is, when interaction occurs between the surgical robot and at least one object, the frequency information can vary depending on whether the object's hardness is high or low. For example, the higher the hardness of the interacting object, the higher the frequency included in the frequency information can be. Therefore, the computing device can control the frequency of vibrations generated by a vibrator located on the user input interaction device to be higher, and the user can determine from the high-frequency vibration that the interacting object on the surgical robot is hard. This frequency control allows the user to distinguish the interaction type based on intuitive perception, without having to remember the vibration type. For example, high-frequency vibrations can allow the user to determine that a collision with a hard object such as metal has occurred. Conversely, low-frequency vibrations can allow the user to determine that a collision with a non-hard object such as body tissue has occurred.

[0412] For example, when generating an angular velocity signal, the computing device can determine frequency information by reflecting the difference between measurements at a first time point and a second time point from at least one sensor, but is not limited to this. For instance, the first time point could be a time interval prior to the time point at which the computing device determines the interaction on the surgical robot, and the second time point could be a time interval elapsed since the time point at which the computing device determines the interaction on the surgical robot. The computing device can determine that the harder the object is, and therefore the higher the frequency contained in the frequency information, by a greater difference in the measurements between the first and second time points. Conversely, the computing device can determine that the harder the object is, and therefore the lower the frequency contained in the frequency information, by a smaller difference in the measurements between the first and second time points. The method for determining the hardness of an object is merely exemplary; any mechanism can be used to determine the hardness or other physical properties of the interacting object, such as using a specified hardness detection sensor.

[0413] This specification describes various embodiments for detecting interactions occurring between a surgical robot and at least one object, and various embodiments for the setup and vibration control of at least one vibrator for providing feedback to a user. However, it should be noted that in the methods or apparatus according to the embodiments of this specification, it is conceivable to apply only one of the examples, or to apply two or more examples simultaneously.

[0414] According to an embodiment of the present invention, a dedicated device for providing feedback to a user input interaction device of a surgical robot system can be understood, for example, as at least a portion of a device for driving a surgical robot system. The device for driving a surgical robot system according to an embodiment may include at least one processor and at least one memory, and may be, for example, as described in [reference] Figures 1 to 2A , Figure 2BThe user terminal 2000, 2010 or server 3000, 3011, active robot 10, driven robot 20 or surgical instrument 30, but not limited thereto.

[0415] An apparatus for providing feedback to a surgical robot system according to an embodiment of this specification may include: at least one processor; and at least one memory. The at least one processor is configured to: acquire interaction information based on at least one sensor disposed on the robotic arm of the surgical robot, the interaction information including whether an interaction has occurred between the surgical robot and at least one object; generate a vibration signal including amplitude and frequency information based on the interaction information; and generate vibration based on the vibration signal through at least one vibrator (actuator) disposed at a user input interaction device spaced apart from the surgical robot. Furthermore, some features described in the method for providing feedback to a user input interaction device of a surgical robot system according to an embodiment of this specification may also be applied to the apparatus for providing feedback.

[0416] According to other embodiments of this specification, a surgical robot system including a surgical robot and a user input interaction device spaced apart from the surgical robot may include at least one sensor, at least one vibrator, and at least one processor.

[0417] At least one sensor may be mounted on the robotic arm of the surgical robot and configured to acquire interaction information, including whether an interaction has occurred between the surgical robot and at least one object. Furthermore, at least one vibrator may be mounted on the user input interaction device and configured to generate vibration based on a vibration signal. On the other hand, at least one processor, communicatively connected to the at least one sensor and the at least one vibrator, is configured to generate a vibration signal containing amplitude and frequency information based on the interaction information.

[0418] The surgical robot system may also include other components described in this specification with reference to various figures and embodiments. In addition, the processor may be further configured to perform the various processes described in this specification.

[0419] According to the method of the present invention, the method can be implemented in a computer-readable recording medium using computer-readable code. The computer-readable recording medium includes all types of recording media that store data that can be interpreted by a computer system. For example, it may include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage device, etc. Furthermore, the computer-readable recording medium can be distributed across computer systems connected via a computer communication network and can be distributed to store and execute computer-readable code.

[0420] Furthermore, the method may be included in a computer program product. The computer program product can be traded as a commodity between a seller and a buyer. The computer program product may be distributed in the form of a device-readable storage medium (such as a compact disc read-only memory (CD-ROM)), or it may also be distributed online (e.g., through an app store (such as the Play Store™) or directly between two user devices online (e.g., by uploading or downloading). In the case of online distribution, at least one part of the computer program product may be temporarily stored or at least temporarily generated on a device-readable storage medium, such as the memory of a manufacturer's server, an app store's server, or a relay server.

[0421] The above figures and embodiments are only used to illustrate the present invention and not to limit it. Those skilled in the art should understand that modifications, variations or equivalent substitutions can be made to the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

[0422] Specifically, the features described herein may be executed within digital electronic circuits or computer hardware, firmware, or a combination thereof. For example, the features may be executed in a computer program product implemented in a machine-readable storage device, to be executed by a programmable processor. Alternatively, the features may be executed by a programmable processor of a program that executes instructions of a program by running on input data and generating output to perform the functions of the embodiments described herein. The features may be executed within more than one computer program, which may be executed on a programmable system comprising at least one programmable processor, at least one input device, and at least one output device combined for receiving and transmitting data and instructions from and to a data storage system. A computer program includes a set of instructions used directly or indirectly within a computer to perform a specific operation on a specified result. A computer program is written in one of the programming languages, including compiled or parsed languages, and may be used as a module, element, subroutine, or other unit suitable for use in a computer environment, or as a program that can operate independently.

[0423] A processor for executing instructions, such as a multiprocessor including general-purpose or special-purpose microprocessors, individual processors, or other types of computers. Additionally, a storage device for implementing the computer program instructions and data for implementing the aforementioned features includes semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, and magnetic devices such as internal hard disks and erasable disks, as well as non-volatile memories such as optical discs, CD-ROMs, and DVD-ROMs. The processor and memory can be integrated within or added via an ASIC (application-specific integrated circuit).

[0424] The above embodiments are merely illustrative of the present invention based on a series of functional modules and are not intended to limit it. Those skilled in the art should understand that modifications, variations, or equivalent substitutions can be made to the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

[0425] The combination of the foregoing embodiments is not limited to the foregoing embodiments. Various combinations of the foregoing embodiments may be provided in addition to the foregoing embodiments, depending on the implementation and / or needs.

[0426] In the foregoing embodiments, the method is described based on a flowchart of a series of steps or modules. However, the present invention is not limited to the order of the steps, and some steps may occur differently from or in a different order than those described above, or simultaneously. Furthermore, those skilled in the art should understand that the method is not limited to the steps in the flowchart and may include other steps, or one or more steps in the flowchart may be deleted without affecting the scope of the present invention.

[0427] The foregoing embodiments include examples of various forms. While it is impossible to describe all possible combinations representing various aspects, those skilled in the art will understand that other combinations may exist. Therefore, the invention includes all other substitutions, modifications, and alterations that fall within the scope of the following claims.

Claims

1. A method of providing feedback to a user input interaction device of a surgical robot system, the method comprising: acquiring interaction information using at least one sensor located at a robotic arm of a surgical robot, the interaction information indicating whether an interaction between the surgical robot and at least one object occurs; generating a vibration signal containing amplitude information and frequency information of a vibration based on the interaction information; and generating a vibration by at least one vibrator located at the user input interaction device based on the vibration signal, wherein the user input interaction device is spaced apart from the surgical robot.

2. The method of claim 1, wherein generating the vibration comprises: generating a vibration by a robot arm vibrator of the at least one vibrator in response to an occurrence of an interaction between the robot arm and the at least one object; and generating a vibration by an instrument vibrator of the at least one vibrator in response to an occurrence of an interaction between a surgical instrument mounted on the robot arm and the at least one object.

3. The method of claim 2, wherein the acquiring interaction information comprises: acquiring robot arm information using a first accelerometer located at a first position of the robot arm, the robot arm information indicating whether an interaction between the robot arm and the at least one object occurs; and acquiring instrument information using a second accelerometer located at a second position of the robot arm, the instrument information indicating whether an interaction between the surgical instrument and the at least one object occurs.

4. The method of claim 3, wherein the second position is closer to a surgical instrument mounting portion of the robot arm than the first position.

5. The method of claim 3, wherein generating a vibration by the robot arm vibrator comprises: generating a vibration by the robot arm vibrator using a robot arm vibration signal generated based on the robot arm information, and generating a vibration by the instrument vibrator using an instrument vibration signal generated based on the instrument information.

6. The method of claim 2, wherein the user input interaction device comprises: a gripping portion configured to be gripped by a user’s finger; and a handle portion supporting the gripping portion; wherein the robot arm vibrator is located on the handle portion and the instrument vibrator is located on the gripping portion.

7. The method of claim 1, wherein the at least one vibrator comprises: a first side vibrator located on a first side of a predetermined reference line of the user input interaction device; and a second side vibrator located on a second side of the predetermined reference line of the user input interaction device.

8. The method of claim 7, wherein the first side vibrator is located on a first grip to be gripped by a first finger of the user; and the second side vibrator is located on a second grip to be gripped by a second finger of the user.

9. The method of claim 7, wherein the acquiring interaction information comprises: ​ ​ ​ ​ ​ acquiring first side information by using a first side accelerometer located on a first side of a predetermined reference line of the surgical robot, the first side information indicating whether an interaction between the surgical robot and the at least one object occurs; and acquiring second side information by using a second side accelerometer located on a second side of the predetermined reference line of the surgical robot, the second side information indicating whether the interaction between the surgical robot and the at least one object occurs.

10. The method of claim 9, wherein generating the vibration comprises, generating, by the first side vibrator, a vibration having at least one of an amplitude or a frequency greater than the second side vibrator in response to acquiring a greater measurement in the first side accelerometer than in the second side accelerometer.

11. The method of claim 9, wherein generating the vibration comprises, generating, by the first side vibrator and the second side vibrator, two vibrations having the same amplitude or frequency in response to determining that a difference between the measurement of the first side accelerometer and the measurement of the second side accelerometer is less than or equal to a preset threshold value.

12. The method of claim 1, wherein the at least one sensor comprises a plurality of accelerometers, each of the plurality of accelerometers configured to measure acceleration changes to a plurality of axes; and the at least one vibrator comprises a plurality of vibrators, each of the plurality of vibrators configured to generate a unidirectional vibration.

13. The method of claim 12, wherein generating the vibration signal comprises, generating a first vibration signal of a first vibrator of the plurality of vibrators and a second vibration signal of a second vibrator of the plurality of vibrators based on sensed values of the plurality of axes measured by each of the plurality of accelerometers.

14. The method of claim 13, wherein generating the first vibration signal and the second vibration signal comprises, assigning a weight value to sensed values associated with a first axis measured by each of the plurality of accelerometers to generate the first vibration signal of the first vibrator, and assigning a weight value to sensed values associated with a second axis measured by each of the plurality of accelerometers to generate the second vibration signal of the second vibrator.

15. The method of claim 1, wherein the amplitude information reflects an intensity of the interaction between the surgical robot and the at least one object; and the frequency information reflects a hardness of the at least one object interacting with the surgical robot.

16. The method of claim 15, wherein generating the vibration signal comprises, determining the amplitude information by reflecting a magnitude of a measurement of the at least one sensor, and determining the frequency information by reflecting a difference between a first time point measurement and a second time point measurement of the at least one sensor.

17. The method of claim 2, wherein the robot arm vibrator and the instrument vibrator have different operating bandwidths.

18. The method of claim 1, wherein generating the vibration comprises, in response to determining that a distance between gripping portions located on the user input interaction device changes; and determining that a measured value of the at least one sensor is different from a predetermined reference measured value, generating a vibration indicating that a surgical instrument of the surgical robot grips the at least one object, wherein, the reference measured value representing a measured value of the at least one sensor when the gripping portions of the surgical instrument of the surgical robot are closed in a state that the surgical instrument does not grip the at least one object.

19. An apparatus for providing feedback to a user input interaction device of a surgical robot system, the apparatus comprising: at least one processor; and at least one memory; wherein the at least one processor is configured to: acquire interaction information by using at least one sensor located on a robot arm of a surgical robot, the interaction information indicating whether an interaction between the surgical robot and at least one object occurs; generate a vibration signal containing amplitude information and frequency information of a vibration based on the interaction information; and generate a vibration by at least one vibrator located on a user input interaction device based on the vibration signal, wherein the user input interaction device is spaced apart from the surgical robot.

20. A surgical robot system comprising a surgical robot and a user input interaction device spaced apart from the surgical robot, the system comprising: at least one sensor located on a robot arm of a surgical robot and configured to acquire interaction information, the interaction information indicating whether an interaction between the surgical robot and at least one object occurs; at least one vibrator located on the user input interaction device and configured to generate a vibration based on a vibration signal; and a processor communicably connected to the at least one sensor and the at least one vibrator and configured to generate a vibration signal containing amplitude information and frequency information of the vibration based on the interaction information.

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