Surgical tool control apparatus

Abstract

To provide a surgical tool control apparatus capable of independently controlling a plurality of surgical tools to be applicable to complex percutaneous coronary intervention (PCI).SOLUTION: A surgical tool control apparatus is provided, comprising: a housing; and a control assembly including a frame connected to the housing, and a first roller module 22a, a second roller module 22b, and a third roller module 22c which are installed on the frame. The second roller module 22b can horizontally move toward the first roller module 22a so that a first surgical tool Ta can be held between the first roller module 22a and the second roller module 22b, and can horizontally move toward the third roller module 22c so that a second surgical tool Tb can be held between the second roller module 22b and the third roller module 22c.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The following embodiment relates to a surgical tool control device. [Background technology]

[0002] In the process of conventional percutaneous coronary intervention (PCI), the practitioner is exposed to continuous radiation exposure, and it takes a lot of time and money to train skilled doctors to a level where they can perform stable procedures. In addition, there are large disparities in the level of completion of procedures between practitioners, regions, and hospitals, making it difficult to universally provide high-quality medical services.

[0003] To overcome these shortcomings, surgical assistant robots have been introduced, but most of them are configured to control only one surgical tool. Conventional surgical assistant robots are only applicable to treatments for lesions with low difficulty, and are limited in that they are difficult to apply to cases that require the use of multiple surgical tools, such as chronic total occlusion (CTO) lesions.

[0004] Therefore, there is a demand for a surgical tool control device capable of independently controlling a plurality of surgical tools so that it can be applied to complex PCI.

[0005] The above-mentioned background art was possessed or acquired by the inventors in the process of deriving the contents of the disclosure of this specification, and cannot necessarily be considered as publicly known art disclosed to the general public prior to the filing of this application. Summary of the Invention [Problem to be solved by the invention]

[0006] An object of one embodiment is to provide a surgical tool control device that is applicable to complex vascular intervention procedures.

[0007] An object of one embodiment is to provide a surgical tool control device capable of independently controlling a plurality of surgical tools. [Means for solving the problem]

[0008] A treatment tool control device in one embodiment includes a control assembly including a housing, a frame connected to the housing, and a first roller module, a second roller module, and a third roller module mounted on the frame, wherein the second roller module is horizontally movable toward the first roller module so that a first treatment tool is grasped between the first roller module and the second roller module, and is horizontally movable toward the third roller module so that a second treatment tool is grasped between the second roller module and the third roller module.

[0009] The first roller module, the second roller module, and the third roller module may each include a roller plate connected to the frame, and a roller member rotatably provided on the roller plate.

[0010] With the first treatment tool or the second treatment tool being grasped, the roller members of a pair of roller modules holding the first treatment tool or the second treatment tool can be rotated to move the grasped first treatment tool or the second treatment tool in the longitudinal direction.

[0011] With the first treatment tool or the second treatment tool being grasped, at least one of the roller members of a pair of roller modules holding the first treatment tool or the second treatment tool can be moved vertically to rotate the grasped first treatment tool or the second treatment tool.

[0012] The roller plate may include a lower roller plate connected to the frame and an upper roller plate positioned above the lower roller plate and to which the roller member is rotatably connected, and the second roller module may further include a vertical movement unit that moves the upper roller plate vertically relative to the lower roller plate.

[0013] The second roller module may further include a link structure support portion that supports the upper roller plate relative to the lower roller plate and has a length that is vertically variable in accordance with a distance between the lower roller plate and the upper roller plate.

[0014] The vertical movement unit may include a vertical movement drive motor, a vertical movement pulley to which rotational power is transmitted from the vertical movement drive motor, a vertical movement lead screw nut rotated integrally with the vertical movement pulley, and a vertical movement lead screw fastened to the vertical movement lead screw nut to connect the upper roller plate to one side thereof and move the upper roller plate vertically by rotation of the vertical movement lead screw nut.

[0015] The second roller module may further include a rotation drive that rotates the roller member relative to the roller plate.

[0016] The rotation drive unit may include a rotation drive motor, a rotation drive pulley to which rotational power is transmitted from the rotation drive motor, a spline nut that rotates integrally with the rotation drive pulley, and a spline shaft that is fastened to the spline nut and has the roller member connected to one side thereof and rotates the roller member by rotation of the spline nut.

[0017] The rotation driving part may further include a shaft support part located between the rotation driving pulley and the spline shaft to prevent the spline shaft from shaking.

[0018] The control assembly may further include a horizontal movement section that moves the second roller module in a horizontal direction.

[0019] The horizontal movement unit may include a horizontal movement drive motor, a horizontal movement lead screw horizontally connected to the frame and receiving rotational power from the horizontal movement drive motor, and a horizontal movement lead screw nut fastened to the horizontal movement lead screw, having the roller plate connected to one side thereof, and moving the roller plate horizontally as the horizontal movement lead screw rotates.

[0020] The surgical tool control device may further include a guide catheter rotation unit provided in the housing to rotate a guide catheter connected to a shear of the surgical tool control device.

[0021] The surgical tool control device may further include a housing translation unit that advances or retreats the housing relative to a position where the surgical tool control device is provided in order to advance or retreat a guide catheter connected to the shear of the surgical tool control device.

[0022] The surgical instrument may further include a housing tilting unit that tilts the housing with respect to a position where the surgical instrument control device is installed.

[0023] The treatment device may further include a first clamping unit that clamps the first treatment tool when the first treatment tool is not gripped by the first roller module and the second roller module, and a second clamping unit that clamps the second treatment tool when the second treatment tool is not gripped by the second roller module and the third roller module.

[0024] The first clamping part and the second clamping part may each include a clamp and an elastic body that presses the clamp in one direction so that the clamp clamps a surgical tool.

[0025] In the process of the second roller module moving horizontally toward the first roller module to hold the first treatment tool between the first roller module and the second roller module, the second roller module can push out the clamp of the first clamping part in the other direction to release the clamping of the first treatment tool by the first clamping part, and in the process of the second roller module moving horizontally toward the third roller module to hold the second treatment tool between the second roller module and the third roller module, the second roller module can push out the clamp of the second clamping part in the other direction to release the clamping of the second treatment tool by the second clamping part.

[0026] The housing may further include a treatment tool supporter that is provided in the housing, is located rearward of the first roller module, the second roller module, and the third roller module, and supports a rear side of the first treatment tool or the second treatment tool.

[0027] The control assembly further includes a fourth roller module and a fifth roller module, the fourth roller module being horizontally movable toward the third roller module such that a third treatment tool is grasped between the third roller module and the fourth roller module, and the fourth roller module being horizontally movable toward the fifth roller module such that a fourth treatment tool is grasped between the fourth roller module and the fifth roller module.

[0028] When the first roller module and the second roller module hold the first treatment tool, and when the third roller module and the fourth roller module hold the third treatment tool, the first treatment tool and the third treatment tool can be controlled independently, and when the second roller module and the third roller module hold the second treatment tool, and when the fourth roller module and the fifth roller module hold the fourth treatment tool, the second treatment tool and the fourth treatment tool can be controlled independently. Effect of the Invention

[0029] The treatment tool control device according to one embodiment can independently control a plurality of treatment tools.

[0030] The surgical tool control device according to an embodiment can be applied to complex vascular intervention procedures.

[0031] The effects of the treatment tool control device according to one embodiment are not limited to those mentioned above, and different effects not mentioned will be clearly understood by those skilled in the art from the description below. [Brief description of the drawings]

[0032] [Figure 1] FIG. 2 is a perspective view of a treatment tool control device according to an embodiment. [Diagram 2] FIG. 2 is a plan view of a treatment tool control device according to an embodiment. [Diagram 3] FIG. 2 is a diagram showing a state in which a surgical tool control device according to an embodiment is used. [Figure 4] 13 illustrates a process in which a roller module of a surgical tool control device according to an embodiment moves a surgical tool forward / backward. [Diagram 5] 13 illustrates a process in which a roller module of a surgical tool control device according to an embodiment rotates a surgical tool. [Figure 6] FIG. 1 is a perspective view of a control assembly according to one embodiment. [Figure 7] FIG. 2 illustrates a bottom perspective view of a control assembly according to one embodiment. [Figure 8] FIG. 2 is a front view of a control assembly according to one embodiment. [Figure 9] FIG. 13 is a bottom view of a control assembly according to one embodiment. [Figure 10] FIG. 2 is a perspective view of a roller module according to one embodiment. [Figure 11] FIG. 2 is a cross-sectional view of a roller module according to one embodiment. [Figure 12] FIG. 13 is a perspective view of a guide catheter rotator according to one embodiment. [Figure 13] FIG. 2 is a perspective view of a housing translating portion and a housing tilting portion coupled to a housing according to an embodiment; [Figure 14] FIG. 1 is a perspective view of a housing translating portion and a housing tilting portion according to one embodiment. [Figure 15] 11 is a plan view showing an operation method of a clamping unit according to an embodiment; FIG. [Figure 16] 11 is a plan view showing an operation method of a clamping unit according to an embodiment; FIG. [Figure 17] 11 is a plan view showing an operation method of a clamping unit according to an embodiment; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. However, the specific structural or functional description disclosed in this specification is merely for the purpose of describing the embodiments, and the embodiments may be implemented in various different forms, and the present invention is not limited to the embodiments described in this specification. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included in the scope of the claims.

[0034] The terms used in the embodiments are merely used for the purpose of explanation and are not to be construed as being limiting. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "include" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not precluding the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant art, and should not be interpreted as ideal or overly formal unless expressly defined in this specification.

[0036] In addition, in the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and duplicated descriptions thereof will be omitted. In the description of the embodiments, if a detailed description of related known technology is determined to unnecessarily obscure the gist of the embodiments, the detailed description thereof will be omitted.

[0037] In addition, in describing components of the embodiments, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are used to distinguish the components from other components, and do not limit the nature, order, or sequence of the components. When a component is described as being "coupled," "coupled," or "connected" to another component, it will be understood that the component is directly coupled or connected to the other component, but that other components may be "coupled," "coupled," or "connected" between each component.

[0038] Components having a common function to components included in any of the embodiments will be described using the same names in the other embodiments. Unless otherwise specified, the description of any of the embodiments will be applied to the other embodiments, and detailed description will be omitted to the extent that they overlap.

[0039] FIG. 1 is a perspective view of a treatment tool control device according to an embodiment. FIG. 2 is a plan view of the treatment tool control device according to an embodiment. FIG. 3 is a view showing a state in which the treatment tool control device according to an embodiment is used. FIG. 4 shows a process in which a roller module of the treatment tool control device according to an embodiment moves a treatment tool forward / backward. FIG. 5 shows a process in which a roller module of the treatment tool control device according to an embodiment rotates a treatment tool.

[0040] 1 to 5, the treatment tool control device 100 can independently control a plurality of treatment tools T. Here, the treatment tool T means a treatment tool having a longitudinal direction. For example, the treatment tool T may include various treatment tools such as a guide wire and a balloon catheter having a longitudinal direction. The treatment tool control device 100 can realize forward / backward movement and rotation of the treatment tool T through the rotation and vertical movement of the roller module 22 described later. Specifically, as shown in FIG. 4, in a state in which the first roller module 22a and the second roller module 22b are positioned adjacent to each other and hold the first treatment tool Ta therebetween, the roller members 222a and 222b rotate in one direction or the other, so that the first treatment tool Ta held therebetween can be moved forward or backward along the longitudinal direction. Also, as shown in FIG. 5, in a state in which the first roller module 22a and the second roller module 22b are positioned adjacent to each other and hold the treatment tool therebetween, at least one of the roller modules 22 moves in the vertical direction, so that the treatment tool held therebetween can be rotated.

[0041] Referring to Fig. 3, the treatment tool control device 100 can independently control four treatment tools Ta, Tb, Tc, and Td through five roller modules 22a, 22b, 22c, 22d, and 22e. The treatment tool control device 100 can grip or release the treatment tool T between each roller module 22 through the horizontal movement of the roller modules 22. For example, Fig. 3 shows a state in which the first treatment tool Ta is gripped by the first roller module 22a and the second roller module 22b, and the third treatment tool Tc is gripped by the third roller module 22c and the fourth roller module 22d. A more specific method of gripping the treatment tools will be described later.

[0042] The surgical tool control device 100 according to one embodiment includes a housing 1, a control assembly 2, a guide catheter rotation unit 3, a housing translation unit 4, a housing tilting unit 5, a clamping unit 6, a surgical tool supporter 7, and a Y connector holder 8.

[0043] 1 and 2, the housing 1 may form a housing of the treatment tool control device 100. For example, the housing 1 may be connected to a slave-based robot arm. That is, the treatment tool control device 100 functions as an end effector connected to the slave-based robot arm. The housing 1 may be provided with a switch or a handle for adjusting the position and tilting of the housing 1. The housing 1 may be provided with a display panel for transmitting information on a method of using the device, a status of the device, and the like to a user.

[0044] Figure 6 is a perspective view of a control assembly according to one embodiment, Figure 7 is a bottom perspective view of a control assembly according to one embodiment, Figure 8 is a front view of a control assembly according to one embodiment, and Figure 9 is a bottom view of a control assembly according to one embodiment.

[0045] 3 and 6 to 9, the control assembly 2 can grip and release the surgical tool T. The control assembly 2 can move and rotate the gripped surgical tool T in the longitudinal direction.

[0046] The control assembly 2 includes a frame 21 , a roller module 22 and a horizontal mover 23 .

[0047] The frame 21 can form a base frame on which a roller module 22 and a horizontal moving unit 23, which will be described later, are provided. That is, the frame 21 is connected to the housing 1, and the roller module 22 and the horizontal moving unit 23 are connected to the frame 21.

[0048] A plurality of roller modules 22 may be provided and connected to the frame 21. For example, the roller modules 22 include a first roller module 22a, a second roller module 22b, a third roller module 22c, a fourth roller module 22d, and a fifth roller module 22e. The first roller module 22a, the second roller module 22b, the third roller module 22c, the fourth roller module 22d, and the fifth roller module 22e may be arranged side by side. However, this is merely an example, and the number of roller modules 22 is not limited thereto.

[0049] A treatment tool T may be held between two adjacent roller modules 22. To this end, at least one of the roller modules 22 can move horizontally toward the other roller modules 22. For example, as shown in FIG. 3, the second roller module 22b can move horizontally toward the first roller module 22a so that the first treatment tool Ta is held between the first roller module 22a and the second roller module 22b. In this case, the second treatment tool Tb located between the second roller module 22b and the third roller module 22c can be released from the grip. Conversely, the second roller module 22b can move horizontally toward the third roller module 22c so that the second treatment tool Tb is held between the second roller module 22b and the third roller module 22c. In this case, the first treatment tool Ta located between the first roller module 22a and the second roller module 22b can be released from the grip.

[0050] Similarly, the fourth roller module 22d can move horizontally toward the third roller module 22c so that the third treatment tool Tc is held between the third roller module 22c and the fourth roller module 22d. In this case, the fourth treatment tool Td located between the fourth roller module 22d and the fifth roller module 22e can be released from the grip. Conversely, the fourth roller module 22d can move horizontally toward the fifth roller module 22e so that the fourth treatment tool Td is held between the fourth roller module 22d and the fifth roller module 22e. In this case, the third treatment tool Tc located between the third roller module 22c and the fourth roller module 22d can be released from the grip.

[0051] In this way, according to the structure in which the movable roller module 22 can move horizontally toward the roller modules 22 on both sides between the roller modules 22 located on both sides, it is possible to selectively hold each treatment tool T. Also, since the distance between the roller modules 22 can be sufficiently widened in order to load the treatment tool T, the thickness of the treatment tool T that can be held is not limited. In other words, the versatility of the treatment tool control device 100 can be improved in terms of being able to apply and hold treatment tools T of any thickness without being limited by the thickness of the treatment tool T.

[0052] As shown in FIG. 3, in a state where the first roller module 22a and the second roller module 22b hold the first treatment tool Ta, and the third roller module 22c and the fourth roller module 22d hold the third treatment tool Tc, the first treatment tool Ta and the third treatment tool Tc can be independently controlled (forward / reverse and rotated). Specifically, the first treatment tool Ta may be moved forward or backward in the longitudinal direction by the rotation of the roller members 222a and 222b of the first roller module 22a and the second roller module 22b (see FIG. 4). Also, the first treatment tool Ta may be rotated by the vertical movement of at least one of the roller members 222a and 222b of the first roller module 22a and the second roller module 22b (see FIG. 5). Similarly, the third treatment tool Tc may be moved forward or backward in the longitudinal direction by the rotation of the roller members 222c and 222d of the third roller module 22c and the fourth roller module 22d. Also, the third treatment tool Tc may be rotated by vertical movement of at least one of the roller members 222c, 222d of the third roller module 22c and the fourth roller module 22d. In summary, the first treatment tool Ta is controlled by the first roller module 22a and the second roller module 22b, and the third treatment tool Tc is controlled by the third roller module 22c and the fourth roller module 22d. Therefore, the first treatment tool Ta and the third treatment tool Tc can be controlled simultaneously as one set while being independent of each other. In this case, for example, one of the first treatment tool Ta and the third treatment tool Tc may be a balloon catheter, and the other may be a guidewire.

[0053] Similarly, in a state where the second roller module 22b and the third roller module 22c hold the second surgical tool Tb, and the fourth roller module 22d and the fifth roller module 22e hold the fourth surgical tool Td, the second surgical tool Tb and the fourth surgical tool Td can be independently controlled (forward / backward and rotated). In order to avoid repetition, the above-mentioned contents are incorporated for the specific control of the second surgical tool Tb and the fourth surgical tool Td. According to this structure, the second surgical tool Tb is controlled by the second roller module 22b and the third roller module 22c, and the fourth surgical tool Td is controlled by the fourth roller module 22d and the fifth roller module 22e. Therefore, the second surgical tool Tb and the fourth surgical tool Td can be controlled simultaneously while being independent of each other as a further set. In this case, for example, one of the second surgical tool Tb and the fourth surgical tool Td may be a balloon catheter, and the other may be a guidewire.

[0054] As a result, the treatment tool control device 100 can independently control the first treatment tool Ta and the third treatment tool Tc as one set, and the second treatment tool Tb and the fourth treatment tool Td as another set. Therefore, the treatment tool control device 100 can be easily applied to complicated intervention treatments that require multiple treatment tools.

[0055] Meanwhile, the above-mentioned set arrangement of the treatment tools is merely exemplary, and various sets of treatment tools may be arranged as necessary by changing the horizontal position of the roller module 22. Also, the second roller module 22b and the fourth roller module 22d have been described as moving horizontally between the roller modules 22a, 22c, and 22e located on both sides, respectively, but this is merely exemplary, and the first roller module 22a, the third roller module 22c, and the fifth roller module 22e may also be formed to be movable horizontally.

[0056] 10 and 11 are perspective and cross-sectional views of a roller module according to an embodiment.

[0057] The roller module 22 shown in Figures 10 and 11 may be a roller module in which the roller member 222 is formed to be vertically movable. For example, as shown in Figure 6, the second roller module 22b, the third roller module 22c, and the fourth roller module 22d may be formed in the roller module 22 shown in Figures 10 and 11.

[0058] The roller module 22 shown in FIGS. 10 and 11 includes a roller plate 221 , a roller member 222 , a roller housing 223 , a rotational drive portion 224 , a vertical movement portion 225 , and a link structure support portion 226 .

[0059] The roller plate 221 may be connected to the frame 21. That is, the roller plate 221 may function to connect the roller module 22 to the frame 21. The roller plate 221 may have a roller member 222 rotatably connected thereto.

[0060] The roller plate 221 includes a lower roller plate 2211 and an upper roller plate 2212. The lower roller plate 2211 is a part that is connected to the frame 21. The lower roller plate 2211 is provided with a rotation drive unit 224 and a vertical movement unit 225, which will be described later. The upper roller plate 2212 is a part that is located above the lower roller plate 2211 and to which the roller member 222 is rotatably connected. The upper roller plate 2212 can be moved vertically relative to the lower roller plate 2211 by the vertical movement unit 225, which will be described later.

[0061] The roller members 222 may be rotatably coupled to the upper roller plate 2212. The rotation axis of the roller members 222 may be perpendicular to the upper roller plate 2212. The roller members 222 are provided in a pair and are spaced apart along the longitudinal direction of the upper roller plate 2212.

[0062] The roller housing 223 may be coupled to an upper side of the upper roller plate 2212 and provide space for the roller members 222 to rotate. For example, the roller housing 223 may be fastened to the upper roller plate 2212 via a latch.

[0063] The rotation drive 224 is capable of rotating the roller members 222 relative to the roller plate 221. The rotation drive 224 may rotate the roller members 222 in one direction or the other. The rotation drive 224 may be provided on the lower roller plate 2211.

[0064] The rotation drive unit 224 includes a rotation drive motor 2241 , a rotation drive pulley 2242 , a spline nut 2243 , a spline shaft 2244 , and a shaft support unit 2245 .

[0065] The rotary drive motor 2241 can generate a rotary power for rotating the roller members 222. The rotary drive motor 2241 may be a motor that realizes both rotation in one direction and the other direction. The rotary drive pulley 2242 can receive the rotary power from the rotary drive motor 2241. For example, the rotary drive pulley 2242 can receive the rotary power via a timing belt or the like. The rotary drive pulleys 2242 are provided so as to correspond to the number of the roller members 222. For example, the rotary drive pulleys 2242 can be provided in a pair. The pair of rotary drive pulleys 2242 can be connected to a timing belt or the like to transmit the rotary power.

[0066] The spline nut 2243 may be rotated integrally with the rotation drive pulley 2242. For example, the spline nut 2243 may be disposed inside the rotation drive pulley 2242. The spline shaft 2244 may be fastened to the spline nut 2243. The spline shaft 2244 may be rotated integrally with the spline nut 2243. The roller member 222 may be connected to one side of the spline shaft 2244. According to this structure, the roller member 222 connected to one side of the spline shaft 2244 may be rotated by the rotation of the spline nut 2243.

[0067] In other words, in summary, the rotary drive motor 2241 rotates the rotary drive pulley 2242 via a timing belt or the like, and as the rotary drive pulley 2242 rotates, the spline nut 2243 and the spline shaft 2244 rotate together, thereby allowing the roller member 222 connected to the spline shaft 2244 to rotate.

[0068] On the other hand, since the roller member 222 is moved in the vertical direction by the vertical moving part 225, it is important to prevent the spline shaft 2244 from shaking. To that end, the shaft support part 2245 may be provided between the rotation drive pulley 2242 and the spline shaft 2244. For example, the shaft support part 2245 may be fitted and connected so as to fill the empty space between the rotation drive pulley 2242 and the spline shaft 2244. For example, the shaft support part 2245 can fill the gaps generated on the upper and lower sides of the spline nut 2243 in the internal space of the rotation drive pulley 2242. In this way, by positioning the shaft support part 2245 between the rotation drive pulley 2242 and the spline shaft 2244, it is possible to prevent the spline shaft 2244 from shaking. For example, the shaft support part 2245 can improve the supporting force by including a flange shape. In order to prevent pinching due to thermal expansion during operation, it is preferable that the inner diameter tolerance of the shaft support 2245 after assembly is +0.0005 to +0.01 mm. For example, the shaft support 2245 may include a Teflon (registered trademark) material or an acetal material.

[0069] The vertical movement unit 225 can move the upper roller plate 2212 in the vertical direction relative to the lower roller plate 2211. That is, the vertical movement unit 225 can move the roller member 222 in the vertical direction by moving the upper roller plate 2212 in the vertical direction. The vertical movement unit 225 may be provided on the lower roller plate 2211.

[0070] The vertical movement unit 225 includes a vertical movement drive motor 2251 , a vertical movement pulley 2252 , a vertical movement lead screw nut 2253 , and a vertical movement lead screw 2255 .

[0071] The vertical movement drive motor 2251 can generate a rotational force for moving the roller member 222 in the vertical direction. The vertical movement drive motor 2251 may be a motor that realizes both rotation in one direction and the other direction. The vertical movement pulley 2252 may receive the rotational force from the vertical movement drive motor 2251. For example, the vertical movement pulley 2252 may receive the rotational force via a timing belt or the like. The vertical movement pulley 2252 may be provided in a pair. For example, the pair of vertical movement pulleys 2252 may be disposed at a distance on one side and the other side of the lower roller plate 2211. The pair of vertical movement pulleys 2252 may be connected to a timing belt or the like to transmit the rotational force.

[0072] The vertical movement screw nut 2253 can rotate integrally with the vertical movement pulley 2252. For example, the vertical movement screw nut 2253 may be disposed inside the vertical movement pulley 2252. The vertical movement lead screw 2254 may be fastened to the vertical movement screw nut 2253. The vertical movement screw 2254 may move in the longitudinal direction by the rotation of the vertical movement screw nut 2253. The upper roller plate 2212 may be connected to one side of the vertical movement screw 2254. According to this structure, the vertical movement screw 2254 can move the upper roller plate 2212 in the vertical direction by the rotation of the vertical movement screw nut 2253.

[0073] In other words, in summary, the vertical movement drive motor 2251 rotates the vertical movement pulley 2252 and the vertical movement lead screw nut 2253 together via a timing belt or the like, and the rotation of the vertical movement lead screw nut 2253 moves the vertical movement lead screw 2254 in the longitudinal direction, thereby moving the roller member 222 connected to the upper roller plate 2212 in the vertical direction.

[0074] Since the vertical moving part 225 increases the distance between the lower roller plate 2211 and the upper roller plate 2212, it is important to prevent the problem of the upper roller plate 2212 becoming inclined with respect to the lower roller plate 2211, that is, the problem of the axis of the spline shaft 2244 shaking. For this purpose, the link structure support part 226 can support the upper roller plate 2212 with respect to the lower roller plate 2211. Since the distance between the upper roller plate 2212 and the lower roller plate 2211 can be changed, the link structure support part 226 can have a link structure whose length can be changed in the vertical direction corresponding to the distance between the lower roller plate 2211 and the upper roller plate 2212. For example, the link structure support part 226 can have a structure like a pantograph. For example, the link structure support part 226 includes a link frame 2261 and a link 2262. The link frame 2261 can be provided between the lower roller plate 2211 and the upper roller plate 2212. The links 2262 may connect both sides of the link frame 2261 to the lower roller plate 2211 and the upper roller plate 2212, respectively. The links 2262 may be rotatably connected to both sides of the link frame 2261 and to the lower roller plate 2211 and the upper roller plate 2212, respectively, so that the vertical length of the link structure support part 226 can be changed. According to this structure, the link structure support part 226 is located between the lower roller plate 2211 and the upper roller plate 2212 and can support both sides of the upper roller plate 2212 with respect to the lower roller plate 2211, while being able to change its length in the vertical direction in accordance with the change in the distance therebetween, thereby preventing a problem in which the upper roller plate 2212 is inclined with respect to the lower roller plate 2211, i.e., a problem in which the axis of the spline shaft 2244 shakes.

[0075] Meanwhile, referring to FIG. 6, the first roller module 22a and the fifth roller module 22e include roller plates 221a, 221e, roller members 222a, 222e, roller housings 223a, 223e, and rotational drivers 224a, 224e. The first roller module 22a and the fifth roller module 22e may be formed as roller modules that do not move vertically. The roller plates 221a, 221e of the first roller module 22a and the fifth roller module 22e are formed as a single plate and directly connected to the frame 21, and do not include a separate vertical moving part and a link structure support part. Also, the first roller module 22a and the fifth roller module 22e may include one roller member 222a, 222e. However, this is merely an example, and the first roller module 22a and the fifth roller module 22e may also be formed as roller modules according to FIG. 10 and FIG. 11.

[0076] 6 to 9 again, the horizontal moving unit 23 can move the roller modules 22 in the horizontal direction. For example, in the case of FIGS. 6 to 9, the horizontal moving unit 23 can move the second roller module 22b and the fourth roller module 22d in the horizontal direction. However, this is merely an example, and the first roller module 22a, the third roller module 22c, and the fifth roller module 22e can also be formed to be movable in the horizontal direction. The horizontal moving unit 23 is provided in a number corresponding to the number of roller modules 22 to be moved. The horizontal moving unit 23 may be provided on the frame 21.

[0077] The horizontal movement unit 23 includes a horizontal movement drive motor 231 , a horizontal movement lead screw 232 , a horizontal movement lead screw nut 233 , and a connecting member 234 .

[0078] The horizontal movement drive motor 231 can generate rotational power for horizontally moving the roller module 22. The horizontal movement drive motor 231 may be a motor that realizes rotation in both one direction and the other direction.

[0079] The horizontal movement lead screw 232 is connected to the frame 21 in the horizontal direction. Rotational power can be transmitted to the horizontal movement lead screw 232 from the horizontal movement drive motor 231 via a timing belt, a pulley, etc. The horizontal movement lead screw 232 may be provided in a pair. For example, the pair of horizontal movement lead screws 232 may be disposed on one side and the other side of the frame 21, respectively. The pair of horizontal movement lead screws 232 are connected to each other via a timing belt, a pulley, etc., and can transmit rotational power.

[0080] The horizontal movement lead screw nut 233 may be fastened to the horizontal movement lead screw 232. One side of the horizontal movement lead screw nut 233 is connected to the roller plate 221. For example, the horizontal movement lead screw nut 233 may be connected to the lower roller plate 2211 via a connecting member 234. A pair of horizontal movement lead screw nuts 233 may be connected to one side and the other side of the lower roller plate 2211, respectively. According to this structure, the horizontal movement lead screw nut 233 is moved in the longitudinal direction of the horizontal movement lead screw 232 by the rotation of the horizontal movement lead screw 232, so that the roller plate 221 connected to the horizontal movement lead screw nut 233 can move in the horizontal direction.

[0081] In other words, in summary, the horizontal movement drive motor 231 rotates the horizontal movement lead screw 232 via a timing belt and pulleys, etc., and as the horizontal movement lead screw 232 rotates, the horizontal movement lead screw nut 233 and the lower roller plate 2211 connected thereto move horizontally along the longitudinal direction of the horizontal movement lead screw 232, i.e., the roller module 22 can be moved horizontally.

[0082] FIG. 12 is a perspective view of a guide catheter rotator according to one embodiment.

[0083] 1, 2 and 12, the guide catheter rotation unit 3 can rotate the guide catheter connected to the shear of the surgical tool control device 100. The guide catheter rotation unit 3 is provided in the shear of the housing 1.

[0084] The guide catheter rotating unit 3 includes a guide catheter rotation drive motor 31 and a guide catheter rotation pulley assembly 32. The guide catheter rotation drive motor 31 can generate rotation power for rotating the guide catheter. The guide catheter rotation pulley assembly 32 receives the rotation power from the guide catheter rotation drive motor 31. The guide catheter rotation pulley assembly 32 can transmit the transmitted rotation power to the guide catheter. For example, the guide catheter rotation pulley assembly 32 can rotate the guide catheter by transmitting the rotation power to a Y connector connected to the guide catheter. For this purpose, a pulley can be formed at the end of the Y connector so that the rotation power can be transmitted from the guide catheter rotation pulley assembly 32.

[0085] Figure 13 is a perspective view of a housing translation part and a housing tilting part according to an embodiment, shown coupled to a housing; and Figure 14 is a perspective view of a housing translation part and a housing tilting part according to an embodiment.

[0086] 13 and 14, the housing translation unit 4 can move the housing 1 forward or backward relative to a position (e.g., a robot arm) where the surgical tool control device 100 is provided. By such driving, the guide catheter connected to the shear of the surgical tool control device 100 can be moved forward or backward. The housing translation unit 4 can translate the housing 1 to a position (e.g., a robot arm) where the surgical tool control device 100 is provided through a configuration such as a motor, a pulley, a timing belt, a lead screw, and a lead screw nut as shown in FIG. 14. For this purpose, a slit 11 that provides a path for translation is formed in the housing 1.

[0087] The housing tilting unit 5 can tilt the housing 1 relative to a position (e.g., a robot arm) where the treatment tool control device 100 is provided. As shown in Fig. 14, the housing tilting unit 5 can tilt the housing 1 relative to a position (e.g., a robot arm) where the treatment tool control device 100 is provided via a configuration of a motor, a worm gear, a worm wheel, etc.

[0088] 15 to 17 are plan views showing an operation method of the clamping portion according to one embodiment.

[0089] 15 to 17, the clamping unit 6 can fix the position of the treatment tool T by clamping the treatment tool T when the treatment tool T is not held by the roller module 22. This configuration can prevent the treatment tool T from moving in an unintended direction when the treatment tool T is not held by the roller module 22. In addition, the clamping unit 6 can release the clamping of the treatment tool T held by the roller module 22 so that the treatment tool T can be controlled.

[0090] The clamping portion 6 may be provided to correspond to the number of treatment tools T. For example, referring to Fig. 3, the clamping portion 6 includes a first clamping portion 6a, a second clamping portion 6b, a third clamping portion 6c, and a fourth clamping portion 6d. Each of the clamping portions 6a, 6b, 6c, and 6d may be applied to each of the treatment tools Ta, Tb, Tc, and Td.

[0091] The clamping unit 6 has a structure capable of automatically clamping and unclamping the treatment tool T by horizontal movement of the roller module 22. The clamping unit 6 includes a clamp 61 and an elastic body 62.

[0092] Clamp 61 may be a member that clamps treatment tool T. For example, clamp 61 may be provided on Y connector holder 8 (see FIG. 12). In this case, a step 81 is formed on Y connector holder 8, and treatment tool T is clamped between clamp 61 and step 81 of Y connector holder 8. However, this is merely an example, and the member located opposite clamp 61 is not limited to step 81 of Y connector holder 8. In other words, treatment tool T can be clamped between clamp 61 and any member located opposite it.

[0093] The elastic body 62 presses the clamp 61 in one direction so that the clamp 61 can clamp the treatment tool T. For example, the elastic body 62 may press the clamp 61 toward the step 81 of the Y connector holder 8. FIG. 15 shows a state in which the roller modules 22 are located in a neutral position, that is, a state in which the adjacent roller modules 22 do not grip the treatment tool T. In the state shown in FIG. 15, the clamp 61 is pressed in one direction by the elastic force of the elastic body 62, and the treatment tool T can be clamped between the clamp 61 and the step 81 of the Y connector holder 8.

[0094] FIG. 16 shows a state in which the second roller module 22b has moved horizontally toward the first roller module 22a in order to hold the first treatment tool Ta between the first roller module 22a and the second roller module 22b. Referring to FIG. 16, in the process in which the second roller module 22b moves horizontally toward the first roller module 22a, the second roller module 22b can push the clamp 61a of the first clamping unit 6a in the other direction to release the clamping of the first treatment tool Ta. Therefore, the first treatment tool Ta is held between the first roller module 22a and the second roller module 22b, and at the same time, the clamping of the first clamping unit 6a is released, so that the first treatment tool Ta can be freely controlled. In addition, in the state shown in FIG. 16, the second treatment tool Tb that is not held by the second roller module 22b and the third roller module 22c may be clamped by the second clamping unit 6b and be in a state in which its movement is restricted.

[0095] FIG. 17 shows a state in which the second roller module 22b has moved horizontally toward the third roller module 22c in order to hold the second treatment tool Tb between the second roller module 22b and the third roller module 22c. Referring to FIG. 17, in the process in which the second roller module 22b moves horizontally toward the third roller module 22c, the second roller module 22b can push the clamp 61b of the second clamping unit 6b in the other direction to release the clamping of the second treatment tool Tb. Therefore, when the second treatment tool Tb is held between the second roller module 22b and the third roller module 22c, the clamping of the second clamping unit 6b is released at the same time, so that the second treatment tool Tb can be freely controlled (forward / backward and rotated). Also, at the same time, in the process in which the second roller module 22b moves horizontally toward the third roller module 22c, the clamp 61a of the first clamping unit 6a may be pressed again in one direction by the elastic force of the elastic body 62a to clamp the first treatment tool Ta. Therefore, even if the first treatment tool Ta is placed in an unclasped state, the clamping of the first clamping portion 6a can prevent the first treatment tool Ta from moving in an unintended direction.

[0096] As shown in Figs. 15 to 17, the clamp 61 may be provided rotatably with respect to the roll axis. In this case, the elastic body 62 may generate an elastic force that rotates the clamp 61 in a direction (one direction) toward the step 81 of the Y connector holder 8. The clamp 61 may also rotate in the other direction around the roll axis by contacting the roller housing 223 during the horizontal movement of the roller module 22. An end of the roller housing 223 may be formed into an inclined surface so that the clamp 61 can be smoothly rotated. However, this is merely an example, and the clamp 61 may be formed to move translationally in one direction and the other direction.

[0097] Although the above description has been given based on the first clamping portion 6a and the second clamping portion 6b, the third clamping portion 6c and the fourth clamping portion 6d can also clamp the third treatment tool Tc and the fourth treatment tool Td, respectively, in the same manner as described above. In order to avoid repetition, detailed descriptions of the third clamping portion 6c and the fourth clamping portion 6d will be omitted.

[0098] 1 to 3, the treatment tool supporter 7 may be provided in the housing 1 and disposed behind the roller module 22. The treatment tool supporter 7 may support the rear side of the treatment tool T behind the roller module 22. For example, the treatment tool supporter 7 includes a groove in which the treatment tool T is seated, and a cover that covers the groove when the treatment tool T is seated in the groove. Thus, a user can open the cover to seat the treatment tool T in the groove, and close the cover to support the treatment tool T on the treatment tool supporter 7. The treatment tool supporters 7 may be provided in a number corresponding to the number of treatment tools T. A plurality of treatment tool supporters 7 may be connected and fixed to one frame.

[0099] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments, and a person having ordinary skill in the art may apply various technical modifications and variations based on the above. For example, the described techniques may be performed in a different order than described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different form than described, or may be replaced or substituted by other components or equivalents to achieve appropriate results.

[0100] Accordingly, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims. [Explanation of symbols]

[0101] 100: Treatment tool control device 1: Housing 2: Control Assembly 3: Guide catheter rotating part 4: Housing translation part 5: Housing tilting part 6: Clamping section 7: Treatment tool supporter 8: Y connector holder

Claims

1. Housing and a control assembly including a frame coupled to the housing, and a first roller module, a second roller module, and a third roller module mounted on the frame; A treatment tool control device, wherein the second roller module is movable horizontally toward the first roller module so that a first treatment tool is gripped between the first roller module and the second roller module, and is movable horizontally toward the third roller module so that a second treatment tool is gripped between the second roller module and the third roller module.

2. The first roller module, the second roller module, and the third roller module include: A roller plate connected to the frame; The treatment tool control device according to claim 1 , further comprising a roller member rotatably provided on each of the roller plates.

3. The treatment tool control device according to claim 2, wherein, when the first treatment tool or the second treatment tool is grasped, the roller members of a pair of roller modules grasping the first treatment tool or the second treatment tool are rotated to move the grasped first treatment tool or the second treatment tool in the longitudinal direction.

4. The treatment tool control device according to claim 2, wherein, when the first treatment tool or the second treatment tool is grasped, at least one of the roller members of a pair of roller modules grasping the first treatment tool or the second treatment tool is moved vertically to rotate the grasped first treatment tool or the second treatment tool.

5. the roller plate includes a lower roller plate connected to the frame, and an upper roller plate located above the lower roller plate and to which the roller member is rotatably connected, The treatment tool control device according to claim 4 , wherein the second roller module further includes a vertical movement section that moves the upper roller plate vertically relative to the lower roller plate.

6. The treatment tool control device according to claim 5, wherein the second roller module further includes a link structure support portion that supports the upper roller plate relative to the lower roller plate and whose length can be changed vertically in accordance with a separation distance between the lower roller plate and the upper roller plate.

7. The vertical moving part is A vertical movement drive motor; a vertical movement pulley to which rotational power is transmitted from the vertical movement drive motor; a vertical movement lead screw nut that rotates integrally with the vertical movement pulley; a vertical movement lead screw, the vertical movement lead screw being engaged with the vertical movement lead screw nut to connect the upper roller plate to one side thereof, and moving the upper roller plate in a vertical direction by rotation of the vertical movement lead screw nut; The treatment tool control device according to claim 5 ,

8. The treatment tool control device according to claim 3 , wherein the second roller module further includes a rotation drive unit that rotates the roller member relative to the roller plate.

9. The rotation drive unit is A rotary drive motor; a rotary drive pulley to which rotary power is transmitted from the rotary drive motor; a spline nut that rotates integrally with the rotary drive pulley; a spline shaft having one side connected to the spline nut and configured to rotate the roller member by rotation of the spline nut; The treatment tool control device according to claim 8 ,

10. The treatment tool control device according to claim 9 , wherein the rotation drive unit further includes a shaft support unit located between the rotation drive pulley and the spline shaft, the shaft support unit preventing the spline shaft from shaking.

11. The treatment tool control device according to claim 2 , wherein the control assembly further includes a horizontal movement section that moves the second roller module in a horizontal direction.

12. The horizontal movement unit is A horizontal movement drive motor; a horizontal movement lead screw connected to the frame in a horizontal direction and receiving rotational power from the horizontal movement drive motor; The treatment tool control device according to claim 11, further comprising a horizontal movement lead screw nut fastened to the horizontal movement lead screw to connect the roller plate to one side thereof, the horizontal movement lead screw rotating to move the roller plate in a horizontal direction.

13. The surgical tool control device according to claim 1 , further comprising a guide catheter rotation section provided on the housing for rotating a guide catheter coupled to a shear of the surgical tool control device.

14. The surgical tool control device according to claim 1 , further comprising a housing translation unit that advances or retreats the housing relative to a position where the surgical tool control device is provided in order to advance or retreat a guide catheter connected to the shear of the surgical tool control device.

15. The treatment tool control device according to claim 1 , further comprising a housing tilting portion that tilts the housing relative to a position where the treatment tool control device is provided.

16. a first clamping unit that clamps the first treatment tool in a state in which the first treatment tool is not gripped by the first roller module and the second roller module; The treatment tool control device according to claim 1 , further comprising a second clamping unit that clamps the second treatment tool in a state in which the second treatment tool is not gripped by the second roller module and the third roller module.

17. The first clamping portion and the second clamping portion are A clamp and The treatment tool control device according to claim 16, further comprising an elastic body that presses the clamp in one direction so as to clamp the treatment tool.

18. In a process in which the second roller module moves horizontally toward the first roller module in order to hold the first treatment tool between the first roller module and the second roller module, the second roller module pushes the clamp of the first clamping part in another direction to release the clamping of the first treatment tool by the first clamping part, The treatment tool control device described in claim 17, wherein, during the process of the second roller module moving horizontally toward the third roller module to grip the second treatment tool between the second roller module and the third roller module, the second roller module pushes the clamp of the second clamping section in the other direction to release the clamping of the second treatment tool by the second clamping section.

19. The treatment tool control device according to claim 1, further comprising a treatment tool supporter provided in the housing, positioned rearward of the first roller module, the second roller module and the third roller module, and supporting the rear side of the first treatment tool or the second treatment tool.

20. the control assembly further includes a fourth roller module and a fifth roller module; The treatment tool control device of claim 1, wherein the fourth roller module is horizontally movable toward the third roller module so that a third treatment tool is gripped between the third roller module and the fourth roller module, and is horizontally movable toward the fifth roller module so that a fourth treatment tool is gripped between the fourth roller module and the fifth roller module.

21. In a state in which the first roller module and the second roller module hold the first treatment tool, and the third roller module and the fourth roller module hold the third treatment tool, the first treatment tool and the third treatment tool can be independently controlled, The treatment tool control device according to claim 20, wherein the second treatment tool and the fourth treatment tool can be independently controlled when the second roller module and the third roller module are holding the second treatment tool and the fourth roller module and the fifth roller module are holding the fourth treatment tool.

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