Multi-joint type surgical device

Abstract

To provide a multi-joint type surgical device capable of being mounted on a robot arm or operated manually for use in a laparoscopic surgery or various surgeries.SOLUTION: A multi-joint type surgical device includes a driving part configured to control a pitch rotation of an end tool. The driving part includes a driving part pitch relay pulley formed such that at least a portion of a wire is wound therearound, and a driving part pitch satellite pulley which changes a position thereof relative to the driving part pitch relay pulley by moving relative to the driving part pitch relay pulley while being spaced a certain distance from the driving part pitch relay pulley, and which is formed such that at least a portion of the wire is wound therearound. When the driving part pitch satellite pulley is moved relative to the driving part pitch relay pulley, the pitch rotation of the end tool is controlled as an overall length of the wire in the driving part is changed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to articulated surgical devices, and more particularly to articulated surgical devices that can be attached to a robotic arm or manually actuated for use in laparoscopic or various surgical procedures. [Background technology]

[0002] In medicine, surgery refers to the use of medical instruments to cut, incise, or manipulate skin, mucous membranes, or other tissues to treat illness. In particular, open surgery, in which the skin at the surgical site is incised and the organs inside are treated, reshaped, or removed, can cause problems such as bleeding, side effects, pain, and scars. Therefore, surgeries that involve making specific holes in the skin and inserting only medical instruments such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgeries using robots, have recently gained attention as alternatives.

[0003] Here, a surgical robot is a robot that can replace the surgical procedures performed by a surgeon. Such a surgical robot has the advantage of being able to perform more accurate and precise movements than a human and enabling remote surgery.

[0004] Currently, surgical robots being developed around the world include bone surgery robots, laparoscopic surgery robots, stereotactic surgery robots, etc. Here, laparoscopic surgery robots are robots that perform minimally invasive surgery using a laparoscope and small surgical tools.

[0005] Laparoscopic surgery is a cutting-edge surgical technique that involves performing surgery after making one or more small holes in the abdomen and inserting a laparoscope, an endoscope that allows for viewing inside the abdomen. Recent laparoscopes are equipped with computer chips, allowing for clearer and more magnified images than can be seen with the naked eye. Laparoscopic surgery has also advanced to the point where any surgery can be performed by viewing the screen on a monitor and using specially designed laparoscopic surgical instruments.

[0006] Furthermore, while the scope of surgery is almost the same as that of open surgery, laparoscopic surgery has the advantages of fewer complications than open surgery, allowing treatment to begin much sooner after surgery, and being better able to maintain the patient's physical strength and immune function. For these reasons, laparoscopic surgery is gradually becoming recognized as the standard surgery for colon cancer treatment in the United States and Europe.

[0007] On the other hand, surgical robots generally consist of a master robot and a slave robot. When a surgeon operates a control lever (e.g., a handle) on the master robot, a surgical tool connected to the robot arm of the slave robot or held by the robot arm is operated to perform surgery. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention aims to provide an articulated surgical device that can be attached to a robot arm or manually operated for use in laparoscopic surgery or various other surgeries, and that compensates for jaw wire movement that occurs during pitch movement, thereby allowing pitch movement and yaw movement / actuation movement to be performed smoothly and independently. [Means for solving the problem]

[0009] According to one embodiment of the present invention, there is provided an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and formed to be rotatable together with the jaws around a first axis, the end tool being formed to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moving in response to the rotation of the end tool jaw pulley; a connection part formed to extend in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; and a drive part coupled to the other end of the connection part and controlling the pitch rotation and yaw rotation of the end tool, the drive part comprising: a drive part jaw pulley formed to be rotatable around a second axis and coupled to the jaw wire; a drive part intermediate pulley formed adjacent to the drive part jaw pulley and formed to be rotatable around an axis whose position is fixed and around which at least a portion of the jaw wire is wound; and a drive part intermediate pulley formed adjacent to the drive part intermediate pulley and and a drive unit satellite pulley formed to be movable relatively to the drive unit intermediate pulley so that its position relative to the drive unit intermediate pulley can be changed, and formed so that at least a portion of the jaw wire is wound around it, wherein the jaw wire moves due to rotation of the drive unit jaw pulley, thereby rotating the end tool jaw pulley and the jaw, and the two jaw wires unwound from the drive unit jaw pulley are wound sequentially around the drive unit intermediate pulley, the drive unit satellite pulley, and the drive unit intermediate pulley before extending towards the end tool, and when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the overall length of the jaw wire in the drive unit is changed, thereby causing the end tool to rotate by the pitch. [Effects of the Invention]

[0010] According to the present invention, the movement of the jaw wire that occurs during the pitch movement is compensated for, and the pitch movement and the yaw movement / actuation movement can be performed independently and smoothly. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a conceptual diagram showing a surgical robot system to which an articulated surgical device according to one embodiment of the present invention is attached. [Figure 2] FIG. 2 is a block diagram showing the internal configuration of the surgical robot system of FIG. [Figure 3] FIG. 3 is a perspective view showing a slave robot of the surgical robot system of FIG. 1 and an articulated surgical device attached thereto. [Figure 4] FIG. 4 is a perspective view showing an articulated surgical device according to one embodiment of the present invention. [Figure 5] 5 is a perspective view of an endotool of the articulated surgical apparatus of FIG. 4. FIG. [Figure 6] 6 is a perspective view of an endotool of the articulated surgical apparatus of FIG. 4. FIG. [Figure 7] 7 is a plan view of an endotool of the articulated surgical apparatus of FIG. 4. FIG. [Figure 8] 8 is a perspective view of a drive unit of the articulated surgical apparatus of FIG. [Figure 9] 9 is a perspective view of a drive unit of the articulated surgical apparatus of FIG. [Figure 10] 10 is a plan view of the drive unit of the articulated surgical device of FIG. [Figure 11] 11 is a rear view of the drive unit of the articulated surgical apparatus of FIG. 4. FIG. [Figure 12] 12 is a side view of the drive unit of the articulated surgical apparatus of FIG. 4. FIG. [Figure 13] FIG. 13 is a diagram illustrating the configuration of the pulleys and wires of the articulated surgical apparatus shown in FIG. 4, with the configuration related to the first jaw removed. [Figure 14] FIG. 14 is a diagram illustrating the configuration of the pulleys and wires of the articulated surgical apparatus shown in FIG. 4, with the configuration related to the second jaw removed. [Figure 15] FIG. 15 is a diagram showing the pitch movement of the articulated surgical apparatus shown in FIG. [Figure 16] FIG. 16 is a diagram showing the pitch movement of the articulated surgical apparatus shown in FIG. [Figure 17] FIG. 17 is a diagram showing the yaw movement of the articulated surgical apparatus shown in FIG. [Figure 18] FIG. 18 is a diagram showing the yaw movement of the articulated surgical apparatus shown in FIG. [Figure 19] FIG. 19 is a conceptual diagram showing an articulated surgical device according to a second embodiment of the present invention. [Figure 20] FIG. 20 is a conceptual diagram showing an articulated surgical device according to a second embodiment of the present invention. [Figure 21] FIG. 21 is a conceptual diagram showing an articulated surgical device according to a third embodiment of the present invention. [Figure 22] FIG. 22 is a conceptual diagram showing the pitch movement of the articulated surgical apparatus of FIG. [Figure 23] FIG. 23 is a conceptual diagram showing an articulated surgical device according to a fourth embodiment of the present invention. [Figure 24] FIG. 24 is a conceptual diagram showing the pitch movement of the articulated surgical apparatus of FIG. [Figure 25] FIG. 25 is a conceptual diagram showing the yaw operation of the articulated surgical apparatus of FIG. [Figure 26] FIG. 26 is a conceptual diagram showing the state in which the articulated surgical device of FIG. 23 is simultaneously performing pitch and yaw movements. [Figure 27] FIG. 27 is a conceptual diagram showing the actuation operation of the articulated surgical device of FIG. [Figure 28] FIG. 28 is a conceptual diagram showing an articulated surgical apparatus according to a fifth embodiment of the present invention. [Figure 29] FIG. 29 is a conceptual diagram showing the pitch movement of the articulated surgical apparatus of FIG. [Figure 30] FIG. 30 is a conceptual diagram showing the yaw operation of the articulated surgical apparatus of FIG. [Figure 31] FIG. 31 is a conceptual diagram showing the state in which the articulated surgical device of FIG. 28 is simultaneously performing pitch and yaw movements. [Figure 32] FIG. 32 is a conceptual diagram showing the actuation operation of the articulated surgical device of FIG. [Figure 33] FIG. 33 is a conceptual diagram relating to pitch motion compensation of an articulated surgical apparatus according to one embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

[0012] According to one embodiment of the present invention, there is provided an end tool including one or more jaws and an end tool jaw pulley coupled to the jaws and formed to be rotatable together with the jaws around a first axis, the end tool being formed to be capable of at least pitch rotation and yaw rotation; a jaw wire coupled to the end tool jaw pulley and moving in response to the rotation of the end tool jaw pulley; a connection part formed to extend in one direction, through which the jaw wire passes and to which the end tool is coupled at one end; and a drive part coupled to the other end of the connection part and controlling the pitch rotation and yaw rotation of the end tool, the drive part comprising: a drive part jaw pulley formed to be rotatable around a second axis and coupled to the jaw wire; a drive part intermediate pulley formed adjacent to the drive part jaw pulley and formed to be rotatable around an axis whose position is fixed and around which at least a portion of the jaw wire is wound; and a drive part intermediate pulley formed adjacent to the drive part intermediate pulley and and a drive unit satellite pulley formed to be movable relatively to the drive unit intermediate pulley so that its position relative to the drive unit intermediate pulley can be changed, and formed so that at least a portion of the jaw wire is wound around it, wherein the jaw wire moves due to rotation of the drive unit jaw pulley, thereby rotating the end tool jaw pulley and the jaw, and the two jaw wires unwound from the drive unit jaw pulley are wound sequentially around the drive unit intermediate pulley, the drive unit satellite pulley, and the drive unit intermediate pulley before extending toward the end tool, and when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the overall length of the jaw wire in the drive unit is changed, causing the end tool to rotate by the pitch.

[0013] In one embodiment of the present invention, the drive unit may further include a driver pitch pulley disposed adjacent to the driver jaw pulley and configured to be rotatable around a third axis different from the second axis, and the driver satellite pulley may be configured to be movable relative to the driver pitch pulley such that when the driver pitch pulley rotates, the relative position of the driver satellite pulley with respect to the driver pitch pulley changes.

[0014] In an embodiment of the present invention, the relative position between the drive unit pitch pulley and the drive unit intermediate pulley may be maintained constant.

[0015] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit satellite pulley can move in conjunction with the drive unit pitch pulley.

[0016] In one embodiment of the present invention, when the driver pitch pulley rotates around the third axis, the driver satellite pulley moves relative to the driver pitch pulley, thereby changing the overall length of the jaw wire within the driver.

[0017] In one embodiment of the present invention, by changing the overall length of the jaw wire within the driver by rotating the driver pitch pulley, the overall length of the jaw wire within the end tool can also be changed.

[0018] In an embodiment of the present invention, even if the overall length of the jaw wire in the driver is changed by rotation of the driver pitch pulley, the overall length of the jaw wire can be maintained constant.

[0019] In one embodiment of the present invention, the end tool jaw pitch main pulley may be formed adjacent to the end tool jaw pulley and rotatable around a fourth axis different from the first axis, and an end tool jaw pitch sub pulley may be formed adjacent to the end tool jaw pitch main pulley and rotatable around a fifth axis different from the first axis.

[0020] In one embodiment of the present invention, when the end tool pitch rotates, the two jaw wires that are unwound from the end tool jaw pulley and pass through the end tool jaw pitch main pulley and the end tool jaw pitch sub pulley can move simultaneously in the same direction.

[0021] In one embodiment of the present invention, based on a plane that is perpendicular to the first axis and includes the fourth axis, the two jaw wires that are unwound from the end tool jaw pulley may be arranged on the same side of the plane.

[0022] In one embodiment of the present invention, the jaws include a first jaw and a second jaw, the end tool jaw pulleys include an end tool first jaw pulley coupled to the first jaw and an end tool second jaw pulley coupled to the second jaw, and the jaw wires include a first jaw wire coupled to the end tool first jaw pulley and a second jaw wire coupled to the end tool second jaw pulley.

[0023] In one embodiment of the present invention, based on a plane perpendicular to the first axis and including the fourth axis, the two first jaw wires wound around the end tool first jaw pulley may be disposed on one side of the plane, and the two second jaw wires wound around the end tool second jaw pulley may be disposed on the other side of the plane.

[0024] In one embodiment of the present invention, the jaw wire may be configured to contact the end tool jaw pulley, the end tool jaw pitch main pulley, and the end tool jaw pitch sub pulley in sequence.

[0025] In one embodiment of the present invention, the end tool pitch pulley may further include an end tool pitch pulley disposed adjacent to the end tool jaw pulley and rotatable around the fourth axis or the fifth axis, and pitch wires coupled to the end tool pitch pulley and the drive unit pitch pulley, respectively, to connect the end tool pitch pulley and the drive unit pitch pulley.

[0026] In one embodiment of the present invention, the rotation amount of the drive pitch pulley and the rotation amount of the end tool pitch pulley may be substantially the same.

[0027] In one embodiment of the present invention, (diameter of the end tool pitch pulley: diameter of the end tool jaw pitch main pulley) can be substantially the same as (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley).

[0028] In one embodiment of the present invention, when the drive unit pitch pulley rotates by a first angle, the drive unit satellite pulley revolves by the first angle, and when the drive unit pitch pulley rotates by the first angle, the end tool pitch pulley and the end tool jaw pitch main pulley can rotate by a second angle.

[0029] In one embodiment of the present invention, the drive unit intermediate pulley includes a drive unit first intermediate pulley and a drive unit second intermediate pulley, and the jaw wire can pass through the drive unit first intermediate pulley, the drive unit satellite pulley, and the drive unit second intermediate pulley in sequence.

[0030] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the path length of the jaw wire from the entry point into the drive unit first intermediate pulley, through the drive unit satellite pulley, to the exit point from the drive unit second intermediate pulley can be changed.

[0031] In one embodiment of the present invention, when the drive unit pitch pulley rotates, the path length of the jaw wire connecting the end tool jaw pulley and the drive unit jaw pulley can be changed from a position where the jaw wire first contacts the drive unit intermediate pulley to a position where the jaw wire finally contacts the drive unit intermediate pulley.

[0032] In one embodiment of the present invention, the diameter of the first drive unit intermediate pulley and the diameter of the second drive unit intermediate pulley may be the same.

[0033] In one embodiment of the present invention, the diameter of the first intermediate pulley of the driving unit and the diameter of the second intermediate pulley of the driving unit may be different.

[0034] In one embodiment of the present invention, the diameter of the drive unit intermediate pulley may be the sum of the diameter of the drive unit first intermediate pulley and the diameter of the drive unit second intermediate pulley.

[0035] In one embodiment of the present invention, the driving unit intermediate pulley may be configured to be rotatable about the third shaft, and the driving unit satellite pulley may be configured to be revolutionable about the third shaft.

[0036] In one embodiment of the present invention, when the driver pitch pulley rotates about the third axis, the driver satellite pulley connected to the driver pitch pulley revolves about the third axis, thereby changing the overall length of the jaw wire within the driver.

[0037] In one embodiment of the present invention, when the driving unit pitch pulley rotates around the third axis, the rotation axis of the driving unit satellite pulley maintains a certain distance from the third axis while being spaced apart from the third axis, so that the entire driving unit satellite pulley can rotate around the third axis.

[0038] In one embodiment of the present invention, the drive unit may further include a pitch-yaw connector formed to rotate together with the drive unit pitch pulley around the third axis, and the drive unit satellite pulley may be formed on at least one end of the pitch-yaw connector.

[0039] In one embodiment of the present invention, the pitch-yaw connector may be formed to have two or more extensions extending from a center, and a central axis of a satellite pulley of a driving unit may be formed at an end of at least some of the extensions.

[0040] In one embodiment of the present invention, the pitch-yaw connector rigidly connects the drive unit pitch pulley and the drive unit satellite pulley, and when the drive unit pitch pulley rotates about the third axis, the drive unit satellite pulley can revolve about the third axis.

[0041] In one embodiment of the present invention, when the drive unit satellite pulley revolves around the third axis, the length of the jaw wire wound around the drive unit intermediate pulley may be changed.

[0042] In one embodiment of the present invention, the driving mechanism may further include a driving part pitch gear formed to rotate together with the driving part pitch pulley around the third shaft, and a compensation gear formed on one side of the driving part pitch gear to mesh with the driving part pitch gear.

[0043] In an embodiment of the present invention, when the driving part pitch pulley performs a rotational movement, the compensation gear formed to mesh with the driving part pitch gear may perform a linear movement.

[0044] In one embodiment of the present invention, the drive unit planetary pulley is disposed on the compensation gear, and the drive unit planetary pulley can perform linear motion together with the compensation gear.

[0045] In one embodiment of the present invention, even if the drive unit satellite pulley moves linearly, the length of the jaw wire wound around the drive unit intermediate pulley may be constant.

[0046] In one embodiment of the present invention, the compensation gear may function as a rack, and the drive pitch gear may function as a pinion.

[0047] In one embodiment of the present invention, even when the jaw pulley of the driver rotates, the overall length of the jaw wire within the driver can be maintained constant.

[0048] In an embodiment of the present invention, the jaw wire may be coupled to the end tool jaw pulley and the drive jaw pulley, respectively, to form a closed loop as a whole.

[0049] In one embodiment of the present invention, the driver intermediate pulley and the driver satellite pulley may be formed in pairs so that the two jaw wires to be unwound are wound around the driver jaw pulleys, respectively.

[0050] In one embodiment of the present invention, the yaw rotation may be an operation in which the end tool jaw pulley rotates around the first axis, and the pitch rotation may be an operation in which the end tool jaw pulley revolves around a fourth axis different from the first axis.

[0051] Another embodiment of the present invention includes an end tool including one or more end tool pulleys and configured to be capable of at least pitch rotation; a wire coupled to the end tool pulley and moving in response to the rotation of the end tool pulley; a connection part extending in one direction, through which the wire passes and to which the end tool is coupled at one end; and a drive part coupled to the other end of the connection part and controlling the pitch rotation of the end tool, wherein the drive part includes a drive part drive pulley configured to be rotatable about a second axis and coupled to the wire; a drive part intermediate pulley formed adjacent to the drive part drive pulley and configured to be rotatable about an axis whose position is fixed and around which at least a portion of the wire is wound; and a drive part intermediate pulley formed adjacent to the drive part intermediate pulley and configured to rotate relative to the drive part intermediate pulley. and a drive unit satellite pulley formed so that its position relative to the drive unit intermediate pulley can be changed by being movable in a direction perpendicular to the axis of rotation, and around which at least a portion of the wire is wound, wherein the end tool pulley is rotated as the wire moves with the rotation of the drive unit drive pulley, and the two wires unwound from the drive unit drive pulley are wound sequentially around the drive unit intermediate pulley, the drive unit satellite pulley, and another drive unit intermediate pulley, and then extend toward the end tool, and when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the overall length of the wire in the drive unit is changed, causing the end tool to rotate at the pitch.

[0052] Other aspects, features, and advantages, in addition to those described above, will become apparent from the following drawings, claims, and detailed description of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0053] The present invention can be modified in various ways and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail. However, it should be understood that this is not intended to limit the present invention to the specific embodiments, and includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may interfere with the gist of the present invention, the detailed description will be omitted.

[0054] Terms such as "first" and "second" may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0055] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described herein, and should be understood not to preclude the presence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0056] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components will be given the same drawing numbers, and duplicate descriptions thereof will be omitted.

[0057] Furthermore, in describing various embodiments of the present invention, it should be understood that each embodiment does not need to be interpreted or implemented independently, and that the technical ideas described in each embodiment can be interpreted or implemented in combination with other embodiments that are described separately.

[0058] FIG. 1 is a conceptual diagram showing a surgical robot system to which an articulated surgical device according to one embodiment of the present invention is attached. FIG. 2 is a block diagram showing the internal configuration of the surgical robot system of FIG. 1. FIG. 3 is a perspective view showing a slave robot of the surgical robot system of FIG. 1 and the articulated surgical device attached thereto.

[0059] 1 to 3, a surgical robot system 1 includes a master robot 10, a slave robot 20, and an articulated surgical device 30. The master robot 10 is a master robot, and the slave robot 20 is a slave robot.

[0060] The master robot 10 includes an operation member 10a and a display member 10b, and the slave robot 20 includes one or more robot arm units 21, 22, 23.

[0061] In detail, the master robot 10 is provided with an operating member 10a so that the surgeon can hold and operate it in each hand. The operating member 10a can be realized as two or more handles as shown in Fig. 1, and an operation signal corresponding to the surgeon's handle operation is transmitted to the slave robot 20 via a wired or wireless communication network to control the robot arm units 21, 22, and 23. In other words, the surgeon can operate the handles to perform surgical operations such as positioning, rotation, and cutting of the robot arm units 21, 22, and 23.

[0062] For example, a surgeon can operate the robot arm units 21, 22, and 23 using a handle-shaped operating lever. Such operating levers can have various mechanical configurations depending on the operation method, and can be provided in various forms for operating the robot arm units 21, 22, and 23 of the slave robot 20 and / or other surgical devices, such as a master handle for operating the operations of the robot arm units 21, 22, and 23, and various input tools such as a joystick, keypad, trackball, foot pedal, and touch screen attached to the master robot 10 for operating the functions of the entire system. Here, the operating member 10a is not limited to a handle shape, and can be any shape that can control the operations of the robot arm units 21, 22, and 23 via a network such as a wired or wireless communication network.

[0063] Alternatively, voice input or motion input may be applied for user input. That is, the laparoscope 50 may move according to the direction of the user's gaze when wearing glasses or a head-mounted display (HMD) with sensors attached to the user's head. Alternatively, the laparoscope 50 may recognize and perform operations when the user issues voice commands such as "left," "right," "arm 1," "arm 2," etc.

[0064] The display member 10b of the master robot 10 displays an image of a video captured through a laparoscope 50, which will be described later. A predetermined virtual control panel can be displayed on the display member 10b together with the video captured through the laparoscope 50, or can be displayed independently. Detailed descriptions of the arrangement, configuration, etc. of such a virtual control panel will be omitted.

[0065] Here, the display member 10b may be configured with one or more monitors, and each monitor may display information required during surgery individually. The number of monitors may be determined in various ways depending on the type and variety of information required to be displayed.

[0066] Meanwhile, the slave robot 20 may include one or more robot arm units 21, 22, 23. Here, each robot arm unit 21, 22, 23 may be provided in a modular form that allows them to operate independently of each other, and in this case, an algorithm for preventing collisions between each robot arm unit 21, 22, 23 may be applied to the surgical robot system 1.

[0067] Generally, a robot arm refers to a device that has functions similar to a human arm and / or wrist and can attach a predetermined tool to the wrist. In this specification, the robot arm units 21, 22, and 23 can be defined as a concept that encompasses all components such as the upper arm, lower arm, wrist, and elbow, as well as an articulated surgical device connected to the wrist. Alternatively, they can be defined as a concept that includes only the components for driving the articulated surgical device, excluding the articulated surgical device connected to the wrist.

[0068] As such, the robot arm units 21, 22, and 23 of the slave robot 20 can be embodied to be driven with multiple degrees of freedom. The robot arm units 21, 22, and 23 can include, for example, a surgical instrument inserted into a patient's surgical site, a yaw driver that rotates the surgical instrument in a yaw direction according to the surgical position, a pitch driver that rotates the surgical instrument in a pitch direction perpendicular to the rotational drive of the yaw driver, a transport driver that moves the surgical instrument longitudinally, a rotation driver that rotates the surgical instrument, and a surgical instrument driver that drives an end effector at the tip of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm units 21, 22, and 23 is not limited thereto, and it should be understood that this example does not limit the scope of the present invention. Here, a detailed description of the actual control process, such as the rotation and movement of the robot arm units 21, 22, and 23 in the corresponding direction when the surgeon operates the operating member 10a, will be omitted.

[0069] Here, two of the robot arm units 21, 22, and 23 can be attached with an articulated surgical device 30, and one can be attached with a laparoscope 50. The surgeon can then select the robot arm unit 21, 22, or 23 that he or she wishes to control via the master robot 10. In this way, by directly operating a total of three or more surgical instruments via the master robot 10, the surgeon can operate multiple instruments accurately and freely as intended, without the need for a surgical assistant.

[0070] Meanwhile, one or more slave robots 20 may be provided to operate on a patient, and the laparoscope 50 for displaying an image of the surgical site via the display member 10b may be implemented in an independent slave robot 20. Furthermore, as described above, the embodiments of the present invention may be generally used in surgeries using various surgical endoscopes other than laparoscopes (e.g., thoracoscopes, arthroscopes, nasal endoscopes, etc.).

[0071] Referring to FIG. 2, in one embodiment of the present invention, the master robot 10 may include a video input unit 11, a screen display unit 12, a user input unit 13, an operation signal generation unit 14, a control unit 15, a memory 16, a storage unit 17, and a communication unit 18.

[0072] The video input unit 11 can receive the video captured by the camera provided on the laparoscope 50 of the slave robot 20 via a wired or wireless communication network.

[0073] The screen display unit 12 outputs an image corresponding to the image received through the image input unit 11 as visual information. In addition, when biometric information of the patient is input, the screen display unit 12 can further output information corresponding to the input information. In addition, the screen display unit 12 can further output image data (e.g., X-ray images, CT images, MRI images, etc.) related to the patient's surgical site. Here, the screen display unit 12 can be embodied in the form of a display member (see 10b in FIG. 1), and an image processing process for outputting the received image as an image through the screen display unit 12 can be performed by the control unit 15.

[0074] 2, the image input unit and the screen display unit are shown as being included in the master robot 10, but this is not limiting. That is, the display member may be provided as a separate member separated from the master robot 10. Alternatively, the display member may be provided as a component of the master robot 10. In other embodiments, multiple display members may be provided, one of which may be located adjacent to the master robot 10 and the others may be located at some distance from the master robot 10.

[0075] Here, the screen display unit 12 (i.e., the display member 10b in FIG. 1) may be provided as a stereoscopic display device. Specifically, a stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and uses this depth information to allow the observer to feel three-dimensional dynamism and realism. The surgical robot system 1 according to one embodiment of the present invention may be provided with a stereoscopic display device in the screen display unit 12 to provide the user with a more realistic virtual environment.

[0076] The user input unit 13 is a means for allowing a surgeon to operate the positions and functions of the robot arm units 21, 22, and 23 of the slave robot 20. The user input unit 13 may be formed in the form of a handle-shaped operating member (see 10a in FIG. 1) as exemplified in FIG. 1, but the shape is not limited thereto and may be embodied in various shapes to achieve the same purpose. Also, for example, one part may be formed in a handle shape and another part in a different shape, such as a clutch button, and a finger insertion tube or insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed to facilitate operation of a surgical tool.

[0077] When the surgeon operates the user input unit 13 to move the positions of the robot arm units 21, 22, 23 or to operate a surgical operation, the operation signal generation unit 14 generates a corresponding operation signal and transmits it to the slave robot 20 via the communication unit 18. The operation signal can be transmitted and received via a wired or wireless communication network.

[0078] The control unit 15 is a kind of central processing unit and controls the operation of each component so that the above-mentioned functions can be performed. For example, the control unit 15 can perform a function of converting a video input via the video input unit 11 into an image to be displayed on the screen display unit 12.

[0079] The memory 16 may temporarily or permanently store data processed by the control unit 15. Here, the memory 16 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto.

[0080] The storage unit 17 can store data received from the slave robot 20. The storage unit 17 can also store various input data (for example, patient data, equipment data, surgery data, etc.).

[0081] The communication unit 18 provides a communication interface required for transmitting and receiving video data transmitted from the slave robot 20 and control data transmitted from the master robot 10 in conjunction with the communication network 60 .

[0082] The slave robot 20 includes a plurality of robot arm unit control units 21a, 22a, and 23a. The robot arm unit control unit 21a includes a robot arm control unit 26, an instrument control unit 27, and a communication unit 29. The robot arm unit control unit 21a may further include a rail control unit 28.

[0083] The robot arm control unit 26 receives the operation signal generated by the operation signal generation unit 14 of the master robot 10, and serves to control the robot arm units 21, 22, and 23 to operate in accordance with this operation signal.

[0084] The instrument control unit 27 can receive the operation signal generated by the operation signal generation unit 14 of the master robot 10 and play a role in controlling the multi-joint surgical device 30 to operate in accordance with this operation signal.

[0085] The communication unit 29 provides a communication interface required for transmitting and receiving the video data transmitted from the slave robot 20 and the control data transmitted from the master robot 10 in conjunction with the communication network 60 .

[0086] Meanwhile, the communication network 60 serves to connect the master robot 10 and the slave robot 20. That is, the communication network 60 refers to a communication network that provides a connection path so that the master robot 10 and the slave robot 20 can send and receive data to and from each other after they are connected. The communication network 60 may include, for example, wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MaNs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), and wireless networks such as wireless LANs, CDMA, Bluetooth (registered trademark), and satellite communications, but the scope of the present invention is not limited thereto.

[0087] (Articulated surgical device)

[0088] Fig. 4 is a perspective view showing a multi-joint surgical device according to one embodiment of the present invention, Figs. 5 and 6 are perspective views of an endotool of the multi-joint surgical device of Fig. 4, and Fig. 7 is a plan view of the endotool of the multi-joint surgical device of Fig. 4. Figs. 8 and 9 are perspective views of a drive unit of the multi-joint surgical device of Fig. 4, Fig. 10 is a plan view of the drive unit of the multi-joint surgical device of Fig. 4, Fig. 11 is a rear view of the drive unit of the multi-joint surgical device of Fig. 4, and Fig. 12 is a side view of the drive unit of the multi-joint surgical device of Fig. 4.

[0089] First, referring to FIG. 4, the articulated surgical device 30 according to the first embodiment of the present invention includes an end tool 100, a driving unit 200, and a power transmission unit 300, and the power transmission unit 300 can include a connection unit 310.

[0090] Here, the connection part 310 is formed in the shape of a hollow shaft, and can accommodate one or more wires (described later) therein. One end of the connection part 310 is connected to the driving part 200, and the other end of the connection part 310 is connected to the end tool 100, and the connection part 310 can serve to connect the driving part 200 and the end tool 100.

[0091] The driving unit 200 is formed at one end of the connecting unit 310 and provides an interface that can be coupled to a robot arm unit (see 21 in FIG. 1, etc.). Therefore, when the user operates the master robot (see 10 in FIG. 1), a motor (not shown) of the robot arm unit (see 21 in FIG. 1, etc.) is activated so that the endotool 100 of the articulated surgical apparatus 30 can perform a corresponding operation, and the driving force of this motor (not shown) is transmitted to the endotool 100 via the driving unit 200. In other words, the driving unit 200 itself can be described as an interface that connects the articulated surgical apparatus 30 and the slave robot 20.

[0092] The endotool 100 is formed at the other end of the connecting portion 310 and inserted into the surgical site to perform the operations required for surgery. As an example of such an endotool 100, a pair of jaws 101, 102 for performing a gripping operation, as shown in FIG. 5, can be used. However, the concept of the present invention is not limited thereto, and various surgical devices can be used as the endotool 100. For example, a one-arm cauterization device can also be used as the endotool. Such an endotool 100 is connected to the driving unit 200 by the power transmission unit 300, and receives the driving force of the driving unit 200 via the power transmission unit 300 to perform the operations required for surgery, such as gripping, cutting, and suturing.

[0093] Here, the end tool 100 of the articulated surgical device 30 according to the first embodiment of the present invention is formed to be rotatable in at least two or more directions, and for example, the end tool 100 can be formed to perform a pitch movement around the rotation axis 143 in FIG. 5, as well as a yaw movement and an actuation movement around the rotation axis 141 in FIG. 5.

[0094] Here, the pitch, yaw, and actuation movements used in the present invention are defined as follows.

[0095] First, the pitch movement refers to the movement of the end tool 100 rotating up and down relative to the extension direction of the connection part 310 (the X-axis direction in FIG. 4), i.e., the movement of rotating around the Y-axis in FIG. 4. In other words, it refers to the movement of the end tool 100, which is formed extending from the connection part 310 in the extension direction of the connection part 310 (the X-axis direction in FIG. 4), rotating up and down relative to the connection part 310 around the Y-axis.

[0096] Next, yaw movement refers to the movement of the end tool 100 rotating left and right with respect to the extension direction of the connection part 310 (X-axis direction in FIG. 4), i.e., the movement of rotating around the Z-axis in FIG. 4. In other words, it refers to the movement of the end tool 100 formed extending from the connection part 310 in the extension direction of the connection part 310 (X-axis direction in FIG. 4) rotating left and right around the Z-axis with respect to the connection part 310. In other words, it refers to the movement of two jaws 101 and 102 formed on the end tool 100 rotating in the same direction with each other around the Z-axis.

[0097] Meanwhile, the actuation operation refers to the movement of the end tool 100 rotating around the same rotation axis as the yaw operation, but the two jaws 101 and 102 rotating in opposite directions to each other, causing the jaws to contract or open. In other words, it refers to the movement of the two jaws 101 and 102 formed on the end tool 100 rotating in opposite directions to each other around the Z axis.

[0098] Defining this from another perspective, yaw rotation can also be defined as the rotation of the end tool jaw pulley (described later) around rotation axis 141, which is the end tool jaw pulley rotation axis, and pitch rotation can also be defined as the revolution of the end tool jaw pulley around rotation axis 143, which is the end tool pitch rotation axis.

[0099] The power transmission unit 300 connects the drive unit 200 and the end tool 100 and serves to transmit the driving force of the drive unit 200 to the end tool 100, and may include a plurality of wires, pulleys, links, sections, gears, etc.

[0100] The end tool 100, the drive unit 200, the power transmission unit 300, etc. of the articulated surgical device 30 of FIG. 4 will be described in more detail below.

[0101] (Power transmission section)

[0102] The power transmission unit 300 of the articulated surgical apparatus 30 of FIG. 4 will now be described in more detail.

[0103] 4 to 12, the power transmission section 300 of the articulated surgical device 30 according to one embodiment of the present invention can include wires 301, 302, 303, 304, 305, and 306.

[0104] Here, the wire 301 and the wire 305 can function as a pair of first jaw wires. The wire 302 and the wire 306 can function as a pair of second jaw wires. Here, a component including the wires 301 and 305 that are the first jaw wires and the wires 302 and 306 that are the second jaw wires can be referred to as jaw wires. In addition, the wires 303 and 304 can function as a pair of pitch wires.

[0105] Here, in the drawings, a pair of wires is shown as being associated with the rotational movement of the first jaw 101 and a pair of wires is shown as being associated with the rotational movement of the second jaw 102, but the concept of the present invention is not limited thereto. For example, a pair of wires may be associated with yaw movement and a pair of wires may be associated with actuation movement.

[0106] Furthermore, the power transmission unit 300 of the articulated surgical device 30 according to one embodiment of the present invention may include fastening members 321, 326, etc., which are coupled to the ends of the wires to couple the wires to the pulleys. Here, each fastening member may have various shapes, such as a ball shape or a tube shape, as needed.

[0107] Here, fastening member 321, which is a pitch wire fastening member, is coupled to the end of wires 303 and 304, which are pitch wires, on the side of end tool 100, and can serve as a pitch wire end tool fastening member. Meanwhile, although not shown in the figure, a pitch wire driver fastening member (not shown) can be coupled to the end of wires 303 and 304, which are pitch wires, on the side of driver 200.

[0108] Meanwhile, fastening member 326, which is a second jaw wire fastening member, is coupled to the end of wire 302 and wire 306, which are second jaw wires, on the side of end tool 100, and can function as a second jaw wire end tool fastening member. Meanwhile, although not shown in the figure, a second jaw wire driver fastening member (not shown) can be coupled to the end of wire 302 and wire 306, which are second jaw wires, on the side of driver 200.

[0109] Meanwhile, although not shown in the figures, a fastening member (not shown) having the same shape as fastening member 326 is coupled to the end of wire 301 and wire 305, which are the first jaw wires, on the side of end tool 100, and can serve as a first jaw wire end tool fastening member. Meanwhile, although not shown in the figures, a first jaw wire drive unit fastening member (not shown) can be coupled to the end of wire 301 and wire 305, which are the first jaw wires, on the side of drive unit 200.

[0110] Here, each fastening member is classified as being included in the power transmission unit 300, but the fastening member on the end tool 100 side can also be classified as being included in the end tool 100, and the fastening member on the drive unit 200 side can also be classified as being included in the drive unit 200.

[0111] The connection relationship between the wire, the fastening member and the pulley will be described in detail below.

[0112] First, the second jaw wires, wire 302 and wire 306, may be one single wire. After fastening member 326, which is a second jaw wire end tool fastening member, is fitted to the midpoint of the second jaw wire, which is a single wire, and fastening member 326 is crimped and fixed, both strands of the second jaw wire centered on fastening member 326 may be referred to as wire 302 and wire 306, respectively.

[0113] Alternatively, the second jaw wires 302 and 306 may be formed of separate wires, and the wires 302 and 306 may be connected by the fastening member 326 .

[0114] Then, by connecting this fastening member 326 to the pulley 121, the wire 302 and the wire 306 can be fixedly connected to the pulley 121. This allows the pulley 121 to rotate depending on whether the wire 302 and the wire 306 are pulled or unwound.

[0115] Meanwhile, a second jaw wire driving unit fastening member (not shown) may be coupled to the ends of the wires 302 and 306 opposite to the position where the fastening member 326 is fastened. That is, the ends of the wires 302 and 306 opposite to the position where the fastening member 326 is fastened may be fitted into the second jaw wire driving unit fastening member (not shown), and the fastening member (not shown) may be crimped to fix the wires 302 and 306 to the second jaw wire driving unit fastening member (not shown).

[0116] Then, second jaw wire driving unit fastening members (not shown) coupled to the wires 302 and 306 are coupled to the pulleys 221 and 222, respectively, so that the wires 302 and 306 can be fixedly coupled to the pulleys 221 and 222, respectively. As a result, when the pulleys 221 and 222 are rotated by a motor or by human power, the wires 302 and 306 are pulled or unwound, and the pulley 121 of the end tool 100 can be rotated.

[0117] Here, the drive unit second jaw pulley includes two pulleys, pulley 221 and pulley 222, and therefore the second jaw wire drive unit fastening member can also include two fastening members. Alternatively, the drive unit second jaw pulley can include one pulley, and the second jaw wire drive unit fastening member can also include one fastening member, and wire 302 and wire 306 can be coupled to one fastening member and coupled to one drive unit second jaw pulley.

[0118] Similarly, wire 301 and wire 305, which are first jaw wires, are coupled to a first jaw wire end tool fastening member (not shown) and a first jaw wire drive unit fastening member (not shown), respectively. The first jaw wire end tool fastening member (not shown) is coupled to pulley 111, and the first jaw wire drive unit fastening member (not shown) is coupled to pulley 211 and pulley 212. As a result, when pulley 211 and pulley 212 are rotated by a motor or manual power, wire 301 and wire 305 are pulled or unwound, and pulley 111 of end tool 100 can be rotated.

[0119] Similarly, one end of wire 303 and wire 304, which are pitch wires, is coupled to fastening member 321, which is a pitch wire end tool fastening member, and the other end of wire 303 and wire 304 is coupled to a pitch wire drive fastening member (not shown). Fastening member 321 is coupled to pulley 131, and pitch wire drive fastening member (not shown) is coupled to pulley 231. As a result, when pulley 231 is rotated by a motor or manual power, wires 303 and 304 are pulled or unwound, allowing pulley 131 of end tool 100 to rotate.

[0120] As a result, wire 301 and wire 305, which are both strands of the first jaw wire, can be coupled to fastening member 323, which is a first jaw wire end tool fastening member, and a first jaw wire driver fastening member (not shown), and can be formed to form a closed loop as a whole. Similarly, the second jaw wire and the pitch wire can also be formed to form closed loops, respectively.

[0121] (end tool)

[0122] The endotool 100 of the articulated surgical device 30 of FIG. 4 will now be described in more detail.

[0123] Figures 5 and 6 are perspective views showing the end tool of the articulated surgical apparatus of Figure 4, and Figure 7 is a plan view showing the end tool of the articulated surgical apparatus of Figure 4. Here, Figure 5 shows a state in which the end tool hub 106 and the pitch hub 107 are coupled, and Figure 6 shows a state in which the end tool hub 106 and the pitch hub 107 have been removed.

[0124] 5, 6 and 7, an end tool 100 according to a first embodiment of the present invention includes a pair of jaws for performing a gripping operation, namely, a first jaw 101 and a second jaw 102. Here, each of the first jaw 101 and the second jaw 102, or a component including the first jaw 101 and the second jaw 102, can be referred to as a jaw 103.

[0125] The end tool 100 may also include pulleys 111, 112, 113, 114, 115, and 116 for rotational movement of the first jaw 101. The end tool 100 may also include pulleys 121, 122, 123, 124, 125, and 126 for rotational movement of the second jaw 102.

[0126] Although the figure shows one group of pulleys associated with the rotational movement of the first jaw 101 and one group of pulleys associated with the rotational movement of the second jaw 102, the concept of the present invention is not limited thereto. For example, one group of pulleys in the end tool may be associated with yaw movement, and another group of pulleys may be associated with actuation movement. Here, the pulleys included in the end tool 100, including the pulleys described above, may be generally referred to as end tool pulleys.

[0127] Here, although the figures show opposing pulleys formed parallel to each other, the concept of the present invention is not limited to this, and it can be said that each pulley can be formed in various positions and sizes suitable for the configuration of the end tool.

[0128] The end tool 100 of the first embodiment of the present invention may also include an end tool hub 106 and a pitch hub 107 .

[0129] The end tool hub 106 has a rotary shaft 141 and a rotary shaft 142, which will be described later, inserted therethrough, and can accommodate at least a portion of the first jaw 101 and the second jaw 102, which are axially coupled to the rotary shaft 141, inside the end tool hub 106. The end tool hub 106 can also accommodate at least a portion of the pulley 112 and the pulley 122, which are axially coupled to the rotary shaft 142, inside the end tool hub 106.

[0130] In addition, a pulley 131 that serves as an end tool pitch pulley may be formed at one end of the end tool hub 106. As shown in FIG. 5, the pulley 131 may be formed as a separate member from the end tool hub 106 and coupled to the end tool hub 106. Although not shown, the pulley 131 may be formed integrally with the end tool hub 106. That is, one end of the end tool hub 106 may be formed in a disk or semicircular shape like a pulley, and a groove around which a wire can be wound may be formed on the outer circumferential surface. The wires 303 and 304 described above are coupled to the pulley 131 that serves as the end tool pitch pulley, and the pulley 131 performs pitch motion while rotating about the rotation axis 143.

[0131] Rotation shafts 143 and 144, which will be described later, are inserted through the pitch hub 107, and the end tool hub 106 and the pulley 131 can be axially coupled to the pitch hub 107 by the rotation shaft 143. Therefore, the end tool hub 106 and the pulley 131 (coupled thereto) can be formed to be rotatable relative to the pitch hub 107 around the rotation shaft 143.

[0132] Furthermore, pitch hub 107 can accommodate at least a portion of pulleys 113, 114, 123, and 124 axially coupled to rotation shaft 143. Pitch hub 107 can accommodate at least a portion of pulleys 115, 116, 125, and 126 axially coupled to rotation shaft 144.

[0133] Furthermore, the end tool 100 according to the first embodiment of the present invention may include the rotation shaft 141, the rotation shaft 142, the rotation shaft 143, and the rotation shaft 144. As described above, the rotation shaft 141 and the rotation shaft 142 may be inserted through the end tool hub 106, and the rotation shaft 143 and the rotation shaft 144 may be inserted through the pitch hub 107.

[0134] The rotation shafts 141, 142, 143, and 144 may be arranged sequentially from the distal end 104 to the proximal end 105 of the end tool 100. Therefore, in order from the distal end 104, the rotation shaft 141 may be referred to as the first pin, the rotation shaft 142 as the second pin, the rotation shaft 143 as the third pin, and the rotation shaft 144 as the fourth pin.

[0135] Here, rotation axis 141 can function as the end tool jaw pulley rotation axis, rotation axis 142 can function as the end tool jaw auxiliary pulley rotation axis, rotation axis 143 can function as the end tool pitch rotation axis, and rotation axis 144 can function as the end tool pitch auxiliary rotation axis of end tool 100.

[0136] Each of these rotating shafts 141, 142, 143, 144 may be fitted with one or more pulleys, which will be described in detail below.

[0137] Pulley 111 functions as an end tool first jaw pulley, and pulley 121 functions as an end tool second jaw pulley, and these two components may be collectively referred to as end tool jaw pulleys.

[0138] Pulleys 111 and 121, which are end tool jaw pulleys, are formed to face each other and are rotatable independently of each other around a rotation axis 141, which is the rotation axis of the end tool jaw pulleys. Although the pulleys 111 and 121 are shown to rotate around one rotation axis 141 in the drawing, it goes without saying that each jaw pulley can be formed to rotate around a different axis. A first jaw 101 is fixedly connected to the pulley 111 and rotates together with the pulley 111, and a second jaw 102 is fixedly connected to the pulley 121 and rotates together with the pulley 121. Yaw and actuation of the end tool 100 are performed in response to the rotation of the pulleys 111 and 121. That is, when pulley 111 and pulley 121 rotate in the same direction around rotation axis 141, a yaw operation is performed, and when pulley 111 and pulley 121 rotate in opposite directions around the rotation axis, an actuation operation is performed.

[0139] Here, the first jaw 101 and the pulley 111 may be formed of separate members and coupled to each other, or the first jaw 101 and the pulley 111 may be formed as a single body. Similarly, the second jaw 102 and the pulley 121 may be formed of separate members and coupled to each other, or the second jaw 102 and the pulley 121 may be formed as a single body.

[0140] Pulley 112 functions as an end tool first jaw assist pulley and pulley 122 functions as an end tool second jaw assist pulley, and these two components may be collectively referred to as end tool jaw assist pulleys.

[0141] Specifically, the end tool jaw auxiliary pulleys, pulleys 112 and 122, may be additionally provided on one side of pulleys 111 and 121. That is, pulley 112, which is an auxiliary pulley, may be disposed between pulley 111 and pulleys 113 and 114. Also, pulley 122, which is an auxiliary pulley, may be disposed between pulley 121 and pulleys 123 and 124. Pulleys 112 and 122 may be formed to be rotatable independently of each other about a rotation axis 142. Here, although pulleys 112 and 122 are shown to be rotatable about a single rotation axis 142, it goes without saying that pulleys 112 and 122 may be formed to be rotatable about separate axes. Such auxiliary pulleys will be described in more detail later.

[0142] Pulleys 113 and 114 function as end tool first jaw pitch main pulleys, and pulleys 123 and 124 function as end tool second jaw pitch main pulleys, and these two components can also be collectively referred to as end tool jaw pitch main pulleys.

[0143] Pulleys 115 and 116 function as end tool first jaw pitch sub-pulleys, and pulleys 125 and 126 function as end tool second jaw pitch sub-pulleys, and these two components can also be collectively referred to as end tool jaw pitch sub-pulleys.

[0144] The components involved in the rotation of the pulley 111 will be described below.

[0145] Pulley 113 and pulley 114 function as end tool first jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of first jaw 101. Here, a wire 301 serving as a first jaw wire is wound around pulley 113, and a wire 305 serving as a first jaw wire is wound around pulley 114.

[0146] Pulley 115 and pulley 116 function as end tool first jaw sub-pulleys. That is, they function as sub-rotating pulleys for the pitch motion of first jaw 101. Here, a wire 301 which is the first jaw wire is wound around pulley 115, and a wire 305 which is the first jaw wire is wound around pulley 116.

[0147] Here, pulleys 113 and 114 are disposed on one side of pulleys 111 and 112 so as to face each other. Here, pulleys 113 and 114 are formed to be rotatable independently of each other about a rotation axis 143, which is an end tool pitch rotation axis. In addition, pulleys 115 and 116 are disposed on one side of pulleys 113 and 114 so as to face each other. Here, pulleys 115 and 116 are formed to be rotatable independently of each other about a rotation axis 144, which is an end tool pitch auxiliary rotation axis. Here, in the drawing, pulleys 113, 115, 114, and 116 are all formed to be rotatable about the Y-axis direction, but the concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0148] Wire 301, which is the first jaw wire, is wound around pulley 115, pulley 113, and pulley 111 in order so that at least a portion of the wire comes into contact with pulley 115, pulley 113, and pulley 111. Wire 305, which is connected to wire 301 by fastening member 323, is wound around pulley 111, pulley 112, pulley 114, and pulley 116 in order so that at least a portion of the wire comes into contact with pulley 115, pulley 113, and pulley 111.

[0149] In other words, the first jaw wires, wire 301 and wire 305, are wound sequentially so as to be in at least partial contact with pulley 115, pulley 113, pulley 111, pulley 112, pulley 114 and pulley 116, and wire 301 and wire 305 are formed so as to be able to move along the pulleys while rotating them.

[0150] Therefore, when wire 301 is pulled toward arrow 301 in Fig. 7, the fastening member (not shown) to which wire 301 is connected and pulley 111 connected thereto rotate in the direction of arrow L in Fig. 7. Conversely, when wire 305 is pulled toward arrow 305 in Fig. 7, the fastening member (not shown) to which wire 305 is connected and pulley 111 connected thereto rotate in the direction of arrow R in Fig. 7.

[0151] Pulleys 112 and 122, which act as auxiliary pulleys, will be described in more detail below.

[0152] Pulley 112 and pulley 122 can play a role in expanding the rotation angle of each of first jaw 101 and second jaw 102 by contacting wire 305, which is the first jaw wire, and wire 302, which is the second jaw wire, and changing the arrangement paths of wire 305 and wire 302 to a certain extent.

[0153] That is, without the auxiliary pulleys, the first and second jaws could only rotate up to a right angle. However, in one embodiment of the present invention, the auxiliary pulleys 112 and 122 are additionally provided, which increases the maximum rotation angle by θ as viewed from FIG. 7 . This enables the two jaws of the end tool 120 to open for actuation when they are yaw-rotated together by 90° in the L direction. This is because the second jaw 102 can rotate by an additional angle θ, as in FIG. 7 . Similarly, actuation is possible even when the two jaws are yaw-rotated in the R direction. In other words, the pulleys 112 and 122 have the advantage of expanding the range of yaw rotation within which actuation is possible.

[0154] This will be explained in more detail as follows.

[0155] When the auxiliary pulley is not provided, the first jaw wire is fixedly connected to the end tool first jaw pulley and the second jaw wire is fixedly connected to the end tool second jaw pulley, so the end tool first jaw pulley and the end tool second jaw pulley can only rotate up to 90°. In this case, if an actuation operation is performed with the first jaw and the second jaw positioned on the 90° line, the first jaw can be opened, but the second jaw cannot rotate more than 90°. Therefore, there was a problem in that the actuation operation was not performed smoothly when the first jaw and the second jaw were performing a yaw operation more than a certain angle.

[0156] To solve this problem, in the case of the articulated surgical apparatus 30 of the present invention, auxiliary pulleys 112 and 122 are additionally disposed on one side of the pulley 111 and the pulley 121. By disposing the pulleys 112 and 122 in this manner and changing the arrangement paths of the wire 305 (the first jaw wire) and the wire 302 (the second jaw wire) to a certain extent, the tangential directions of the wires 305 and 302 are changed, and therefore the fastening member 326 connecting the wire 302 and the pulley 121 can rotate up to the N line in FIG. 7. That is, the fastening member 326 connecting the wire 302 and the pulley 121 can rotate until it is positioned on the common inscribed line of the pulleys 121 and 122. Similarly, the fastening member 323 connecting the wire 305 and the pulley 111 can rotate until it is positioned on the common inscribed line of the pulleys 111 and 112, thereby expanding the rotation range in the L direction.

[0157] In other words, the two wires of the first jaw wire, wire 301 and wire 305, wound around pulley 111 by pulley 112 are perpendicular to the Y axis and are disposed on either side of a plane passing through the X axis. At the same time, the two wires of the second jaw wire, wire 302 and wire 306, wound around pulley 121 by pulley 122 are perpendicular to the Y axis and are disposed on the other side of a plane passing through the X axis.

[0158] In other words, pulleys 113 and 114 are perpendicular to the Y axis and are arranged on one side of a plane passing through the X axis, and pulleys 123 and 124 are perpendicular to the Y axis and are arranged on the other side of a plane passing through the X axis.

[0159] In other words, the wire 305 is located on the inscribed line between the pulleys 111 and 112, and the rotation angle of the pulley 111 is increased by the pulley 112. The wire 302 is located on the inscribed line between the pulleys 121 and 122, and the rotation angle of the pulley 121 is increased by the pulley 122.

[0160] According to the present invention, the rotation radius of the jaws 101 and 102 is increased, thereby achieving the effect of expanding the yaw operation range in which normal opening and closing actuation operations can be performed.

[0161] Next, components related to the rotation of the pulley 121 will be described.

[0162] Pulley 123 and pulley 124 function as end tool second jaw pitch main pulleys. That is, they function as main rotating pulleys for the pitch operation of second jaw 102. Here, a wire 306 serving as the second jaw wire is wound around pulley 123, and a wire 302 serving as the second jaw wire is wound around pulley 124.

[0163] Pulley 125 and pulley 126 function as end tool second jaw sub-pulleys. That is, they function as sub-rotating pulleys for the pitch movement of second jaw 102. Here, a wire 306 serving as a second jaw wire is wound around pulley 125, and a wire 302 serving as a second jaw wire is wound around pulley 126.

[0164] Pulleys 123 and 124 are disposed on one side of pulley 121 so as to face each other. Pulleys 123 and 124 are formed to be rotatable independently of each other around rotation axis 143, which is the end tool pitch rotation axis. Pulleys 125 and 126 are disposed on one side of pulleys 123 and 124 so as to face each other. Pulleys 125 and 126 are formed to be rotatable independently of each other around rotation axis 144, which is the end tool pitch auxiliary rotation axis. Although the drawing shows that pulleys 123, 125, 124, and 126 are all formed to be rotatable around the Y-axis direction, the concept of the present invention is not limited thereto, and the rotation axis of each pulley may be formed in various directions as appropriate for the configuration.

[0165] Wire 306, which is the second jaw wire, is wound around pulley 125, pulley 123, and pulley 121 in sequence so that at least a portion of the wire comes into contact with pulley 125, pulley 123, and pulley 121. Wire 302, which is connected to wire 306 by fastening member 326, is wound around pulley 121, pulley 122, pulley 124, and pulley 126 in sequence so that at least a portion of the wire comes into contact with pulley 125, pulley 123, and pulley 121.

[0166] In other words, the second jaw wires, wire 306 and wire 302, are wound sequentially so as to be in at least partial contact with pulley 125, pulley 123, pulley 121, pulley 122, pulley 124 and pulley 116, and wire 306 and wire 302 are formed so as to be able to move along the pulleys while rotating them.

[0167] Therefore, when wire 306 is pulled in the direction of arrow 306 in Fig. 7, fastening member 326 to which wire 306 is coupled and pulley 121 coupled thereto rotate in the direction of arrow R in Fig. 7. Conversely, when wire 302 is pulled in the direction of arrow 302 in Fig. 7, fastening member 326 to which wire 302 is coupled and pulley 121 coupled thereto rotate in the direction of arrow L in Fig. 7.

[0168] The pitch movement of the present invention will be described in more detail below.

[0169] First, for the pitch movement, pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, are formed on the end tool 100 side so as to be rotatable around a rotation axis 143. Meanwhile, pulleys 115, 116, 125, and 126, which are end tool jaw pitch sub-pulleys, are formed on the proximal end 105 side so as to be rotatable around a rotation axis 144.

[0170] Then, with reference to a plane (i.e., the XY plane) that is perpendicular to the rotation axis 141 and includes the rotation axis 143, the two wires 301 and 305 of the first jaw wire are located on the same side of the XY plane. That is, the wires 301 and 305 are formed so as to pass below the pulleys 113 and 114 that are end tool jaw pitch main pulleys and above the pulleys 115 and 116 that are end tool jaw pitch sub pulleys.

[0171] Similarly, the two second jaw wires, wire 302 and wire 306, are located on the same side of the XY plane. That is, wire 302 and wire 306 are formed so as to pass above pulleys 123 and 124, which are end tool jaw pitch main pulleys, and below pulleys 125 and 126, which are end tool jaw pitch sub pulleys.

[0172] When the two wires of the first jaw wire, wire 301 and wire 305, are pulled in the direction of arrow 301 in FIG. 7 and simultaneously pulled in the direction of arrow 305 in FIG. 7 (i.e., when both strands of the first jaw wire are pulled in the same direction), as shown in FIG. 5, wire 301 and wire 305 are wound around the lower part of pulley 113 and pulley 114, which are rotatable around rotation axis 143, which is the end tool pitch rotation axis. Therefore, pulley 111 to which wire 301 and wire 305 are fixedly connected and end tool hub 106 to which this pulley 111 is connected rotate together counterclockwise around rotation axis 143 as a whole, and as a result, end tool 100 performs a pitch motion while rotating downward. At this time, the second jaw 102 and the wires 302 and 306 fixedly connected thereto are wound around the pulleys 123 and 124 which are rotatable around the rotation axis 143, so that the wires 302 and 306 are unwound in the opposite directions to the arrows 302 and 306, respectively.

[0173] On the other hand, when the wire 302, which is the two wires of the second jaw wire, the wire 305 and the wire 306, is pulled toward the arrow 302 in FIG. 7 and at the same time the wire 306 is pulled toward the arrow 306 in FIG. 7 (i.e., when both strands of the second jaw wire are pulled in the same direction), as shown in FIG. 5, the wire 302 and the wire 306 are wound around the pulleys 123 and 124, which are rotatable around the rotation axis 143, which is the end tool pitch rotation axis. Therefore, the pulley 111 to which the wire 302 and the wire 306 are fixedly connected and the end tool hub 106 to which this pulley 111 is connected rotate together in the clockwise direction around the rotation axis 143 as a whole, and as a result, the end tool 100 rotates upward while performing a pitch motion. At this time, since the first jaw 101 and the wires 301 and 305 fixedly connected thereto are wound around the lower part of the pulleys 113 and 114 which are rotatable around the rotation axis 143, the wires 302 and 306 move in the opposite direction to the wires 301 and 305, respectively.

[0174] In other words, when the end tool 100 is rotated in pitch, both strands of each jaw wire move simultaneously in the same direction.

[0175] Meanwhile, the endotool 100 of the articulated surgical apparatus 30 of the present invention further includes a pulley 131 that is an endotool pitch pulley, and the drive unit 200 further includes a pulley 231 that is a drive unit pitch pulley. The power transmission unit 300 may further include wires 303 and 304 that are pitch wires. In particular, the pulley 131 of the endotool 100 is rotatable around a rotation axis 143 that is an endotool pitch rotation axis, and may be formed integrally with the endotool hub 106 (or fixedly connected to the endotool hub 180). In addition, the wires 303 and 304 may serve to connect the pulley 131 of the endotool 100 and the pulley 231 of the drive unit 200.

[0176] 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 end tool 100 via the wires 303 and 304, and the pulley 131 also rotates together, resulting in the end tool 100 performing a pitch motion while rotating.

[0177] That is, the multi-joint surgical device 30 according to the first embodiment of the present invention is provided with a pulley 131 of the end tool 100, a pulley 231 of the drive unit 200, and wires 303 and 304 of the power transmission unit 300 for transmitting power for pitch movement, and by more completely transmitting the driving force of the pitch movement of the drive unit 200 to the end tool 100, operational reliability can be improved.

[0178] Here, the diameters of pulleys 113, 114, 123, and 124, which are end tool jaw pitch main pulleys, and the diameter of pulley 131, which is the end tool pitch pulley, may be the same as or different from each other. In this case, the ratio of the diameter of the end tool jaw pitch main pulley to the diameter of the end tool pitch pulley may be the same as the ratio of the diameter of a drive unit intermediate pulley to the diameter of a drive unit pitch pulley of drive unit 200, which will be described later. This will be described in detail later.

[0179] (Drive unit)

[0180] The drive unit 200 of the articulated surgical apparatus 30 of FIG. 4 will now be described in more detail.

[0181] 8 to 14, the drive unit 200 of the articulated surgical apparatus 30 according to the first embodiment of the present invention can include pulleys 211, 212, 213, 214, 215, 216, 217, 218, 219, and 220 associated with the rotational movement of the first jaw 101. The drive unit 200 can also include pulleys 221, 222, 223, 224, 225, 226, 227, 228, 229, and 230 associated with the rotational movement of the second jaw 102.

[0182] Here, although the figures show opposing pulleys formed parallel to each other, the spirit of the present invention is not limited thereto, and it can be said that each pulley can be formed in various positions and sizes suitable for the configuration of the drive unit.

[0183] In addition, the drive unit 200 of the multi-joint surgical device 30 according to the first embodiment of the present invention may further include a pulley 231 that serves as a drive unit pitch pulley, and a pitch-yaw connector 232 that connects this pulley 231 to the drive unit jaw pulley described above.

[0184] Furthermore, the driver 200 according to the first embodiment of the present invention may include a rotation shaft 241, a rotation shaft 242, a rotation shaft 243, a rotation shaft 244, a rotation shaft 245, and a rotation shaft 246. Here, the rotation shaft 241 may function as a first jaw rotation shaft of the driver, and the rotation shaft 242 may function as a second jaw rotation shaft of the driver. The rotation shaft 243 may function as a pitch rotation shaft of the driver, and the rotation shaft 244 may function as a roll rotation shaft of the driver. The rotation shaft 245 may function as a first jaw auxiliary rotation shaft of the driver, and the rotation shaft 246 may function as a second jaw auxiliary rotation shaft of the driver. One or more pulleys may be fitted to each of the rotation shafts 241, 242, 243, 244, 245, and 246, which will be described in detail later.

[0185] Furthermore, the driver 200 according to the first embodiment of the present invention may include motor coupling parts 251, 252, 253, and 254. Here, the motor coupling part 251 may function as a first jaw drive motor coupling part, the motor coupling part 252 may function as a second jaw drive motor coupling part, the motor coupling part 253 may function as a pitch drive motor coupling part, and the motor coupling part 254 may function as a roll drive motor coupling part. Here, each of the motor coupling parts 251, 252, 253, and 254 may be formed in a rotatable flat plate shape and may have one or more coupling holes formed therein to which a motor (not shown) can be coupled.

[0186] The motor coupling parts 251, 252, 253, 254 of the driving part 200 are coupled to motors (not shown) formed on the robot arm units 21, 22, 23, and the driving part 200 is operated by the driving of the motors (not shown).

[0187] Furthermore, the driving unit 200 according to the first embodiment of the present invention may include a gear 261, a gear 262, a gear 263, and a gear 264. Here, the gears 261 and 262 may function as pitch driving gears, and the gears 263 and 264 may function as roll driving gears.

[0188] Each component will be described in more detail below.

[0189] Pulley 211 and pulley 212 function as a first jaw pulley of the drive unit, and pulley 221 and pulley 222 function as a second jaw pulley of the drive unit, and these components can also be collectively referred to as drive unit jaw pulleys.

[0190] Here, in the figure, pulley 211 is shown as being associated with the rotational movement of the first jaw 101 of the end tool 100, and pulley 221 is shown as being associated with the rotational movement of the second jaw 102 of the end tool 100, but the concept of the present invention is not limited thereto. For example, a group of pulleys in the drive unit may be associated with yaw movement, and a group of pulleys may be associated with actuation movement. Therefore, pulleys 211 and 212 may be collectively referred to as drive unit drive pulleys. Furthermore, a group of pulleys described below may also be associated with yaw movement, and a group of pulleys may be associated with actuation movement.

[0191] Pulleys 213 and 214 function as drive unit first jaw auxiliary pulleys, and pulleys 223 and 224 function as drive unit second jaw auxiliary pulleys, and these components may also be referred to collectively as drive unit jaw auxiliary pulleys.

[0192] Pulleys 215 and 216 function as drive unit first jaw first transfer pulleys, and pulleys 217 and 218 function as drive unit first jaw second transfer pulleys, and these components may be collectively referred to as drive unit first jaw transfer pulleys. Meanwhile, pulleys 225 and 226 function as drive unit second jaw first transfer pulleys, and pulleys 227 and 228 function as drive unit second jaw second transfer pulleys, and these components may be collectively referred to as drive unit second jaw transfer pulleys. Meanwhile, pulleys 215, 216, 225, and 226 may be collectively referred to as drive unit first transfer pulleys, and pulleys 217, 218, 227, and 228 may be collectively referred to as drive unit second transfer pulleys. Additionally, pulley 215, pulley 216, pulley 217, pulley 218, pulley 225, pulley 226, pulley 227, and pulley 228 may be collectively referred to as drive transfer pulleys.

[0193] Although the drawings show a pair of two drive unit intermediate pulleys for each jaw, the concept of the present invention is not limited thereto. For example, pulley 215, which is the drive unit first jaw first intermediate pulley, and pulley 217, which is the drive unit first jaw second intermediate pulley, are shown as a pair, and wire 301 passes through pulley 215 and pulley 217 in sequence. However, the drive unit first jaw intermediate pulley may be configured with three or more pulleys instead of two pulleys.

[0194] Meanwhile, pulleys 219 and 220 function as drive unit first jaw satellite pulleys, and pulleys 229 and 230 function as drive unit second jaw satellite pulleys, and these two components can also be collectively referred to as drive unit satellite pulleys.

[0195] A plurality of rotation shafts including rotation shaft 241, rotation shaft 242, rotation shaft 243, rotation shaft 244, rotation shaft 245, and rotation shaft 246 may be formed on a first surface of base plate 201. In addition, a plurality of intermediate pulleys 202 may be formed on the first surface of base plate 201, and may serve to redirect wires 301, 302, 303, 304, 305, and 306 that pass through connection part 310 and enter driver 200 toward pulley 231.

[0196] In addition, a shaft-shaped connection portion 310 is connected to the second surface of the base plate 201 opposite to the first surface, and motor connection portions 251, 252, 253, and 254 to which a motor (not shown) for driving the pulley is connected may be formed.

[0197] Here, each motor coupling portion and the rotating shaft may be directly connected, or may be indirectly connected via a gear.

[0198] For example, the motor coupling 251, which is the first jaw drive motor coupling, is directly coupled to the rotation shaft 241, which is the first jaw rotation shaft of the drive unit, so that when the motor coupling 251, which is coupled to the first jaw drive motor (not shown), rotates, the rotation shaft 241, which is directly coupled thereto, can rotate together. Similarly, the motor coupling 252, which is the second jaw drive motor coupling, is directly coupled to the rotation shaft 242, which is the second jaw rotation shaft of the drive unit, so that when the motor coupling 252, which is coupled to the second jaw drive motor (not shown), rotates, the rotation shaft 242, which is directly coupled thereto, can rotate together.

[0199] As another example, the motor coupling part 253, which is a pitch drive motor coupling part, and the rotation shaft 243, which is a drive part pitch rotation shaft, may be spaced apart to a certain extent in a plan view perpendicular to the rotation shaft 243. The motor coupling part 253 and the rotation shaft 243 may be connected by gears 261 and 262, which are pitch drive gears.

[0200] Similarly, the motor coupling part 254, which is a roll drive motor coupling part, and the rotation shaft 244, which is a drive unit roll rotation shaft, may be spaced apart to a certain extent in a plan view perpendicular to the rotation shaft 244. The motor coupling part 254 and the rotation shaft 244 may be connected by gears 263 and 264, which are roll drive gears.

[0201] The reason why some motor coupling parts are directly connected to the rotation shafts and the remaining motor coupling parts are indirectly connected to the rotation shafts is that the coupling position and direction of the articulated surgical device 30 and the slave robot 20 must be taken into consideration. That is, the rotation shafts that are not affected by the coupling position with the slave robot 20 are directly connected to the motor coupling parts, but the rotation shafts that may interfere with the coupling position with the slave robot 20 can be indirectly connected to the motor coupling parts.

[0202] In the figure, motor coupling parts 251 and 252 are shown as being directly connected to the rotation shaft, and motor coupling parts 253 and 254 are shown as being indirectly connected via gears, but the concept of the present invention is not limited to this, and it can be said that various configurations are possible depending on the coupling position and direction with respect to the slave robot 20.

[0203] Pulleys 211 and 212, which are first jaw pulleys of the driving unit, may be coupled to a rotation shaft 241, which is a first jaw rotation shaft of the driving unit. Here, the pulleys 211 and 212 may be configured to rotate together with the rotation shaft 241.

[0204] A rotation shaft 245, which is an auxiliary rotation shaft of the first jaw of the driving unit, may be disposed in an area adjacent to the rotation shaft 241. Pulleys 213 and 214, which are auxiliary pulleys of the first jaw of the driving unit, may be coupled to the rotation shaft 245. Here, the pulleys 213 and 214 may be formed to be rotatable around the rotation shaft 245.

[0205] Here, in the figure, the first jaw pulley of the driving part is shown as being formed of two pulleys 211 and 212, with wire 301 coupled to one pulley 211 and wire 305 coupled to the other pulley 212. However, the concept of the present invention is not limited to this, and the first jaw pulley of the driving part may be formed of a single pulley, with both wires 301 and 305 coupled to this single pulley.

[0206] As described above, the rotating shaft 241 is connected to the first jaw drive motor (not shown) by the motor coupling part 251. Therefore, when the first jaw drive motor (not shown) rotates to drive the first jaw 101, the pulleys 211 and 212, which are the drive unit first jaw pulleys, rotate together with the rotating shaft 241, thereby pulling and rewinding the wires 301 and 305, which are the first jaw wires.

[0207] Pulleys 221 and 222, which are second jaw pulleys of the driving unit, may be coupled to a rotation shaft 242, which is a second jaw rotation shaft of the driving unit. Here, the pulleys 221 and 222 may be configured to rotate together with the rotation shaft 242.

[0208] A rotation shaft 246, which is an auxiliary rotation shaft for the second jaw of the driving unit, may be disposed in an area adjacent to the rotation shaft 242. Pulleys 223 and 224, which are auxiliary pulleys for the second jaw of the driving unit, may be coupled to the rotation shaft 245. Here, the pulleys 223 and 224 may be formed to be rotatable around the rotation shaft 246.

[0209] Here, the figure shows that the second jaw pulley of the driving unit is formed of two pulleys 221 and 222, with the wire 302 connected to one pulley 221 and the wire 306 connected to the other pulley 222. However, the concept of the present invention is not limited to this, and the second jaw pulley of the driving unit may be formed of a single pulley, with both the wire 302 and the wire 306 connected to this single pulley.

[0210] As described above, the rotating shaft 242 is connected to the second jaw drive motor (not shown) by the motor coupling portion 252. Therefore, when the second jaw drive motor (not shown) rotates to drive the second jaw 102, the pulleys 221 and 222, which are the drive unit second jaw pulleys, rotate together with the rotating shaft 242, thereby pulling and rewinding the wires 302 and 306, which are the second jaw wires.

[0211] A pulley 231 serving as a driver pitch pulley may be coupled to the rotation shaft 243 serving as a driver pitch rotation shaft. Here, the pulley 231 may be configured to rotate together with the rotation shaft 243.

[0212] As described above, the rotating shaft 243 is connected to the pitch drive motor (not shown) by the motor coupling part 253. Therefore, when the pitch drive motor (not shown) rotates for pitch operation, the pulley 231, which is the drive unit pitch pulley, rotates together with the rotating shaft 243, thereby pulling and rewinding the wires 303 and 304, which are pitch wires.

[0213] Meanwhile, pulleys 215, 216, 217, 218, 225, 226, 227, and 228, which are intermediate pulleys of the driving unit, may be inserted through a rotation shaft 243 and be rotatable around the rotation shaft 243. Here, pulleys 215, 216, 217, and 218, which are intermediate pulleys of the first jaw of the driving unit, may be disposed on one side of pulley 231, which is a pitch pulley, and pulleys 225, 226, 227, and 228, which are intermediate pulleys of the second jaw of the driving unit, may be disposed on the other side of pulley 231.

[0214] In other words, the rotating shaft 243 may be formed by sequentially stacking pulleys 225 and 226, which are the second jaw first intermediate pulley of the driving unit, pulleys 227 and 228, which are the second jaw second intermediate pulley of the driving unit, pulley 231, which is the pitch pulley of the driving unit, pulleys 217 and 218, which are the first jaw second intermediate pulley of the driving unit, and pulleys 215 and 216, which are the first jaw first intermediate pulley of the driving unit.

[0215] In addition, a pitch-yaw connector 232 may be coupled to the rotation shaft 243. The pitch-yaw connector 232 rigidly connects the pulley 231, which is the pitch pulley of the driving unit, to the pulleys 219, 220, 229, and 230, which are the satellite pulleys of the driving unit, so that when the pulley 231 rotates, the satellite pulleys of the driving unit revolve around the rotation shaft 243. This will be described in more detail later.

[0216] Here, the pitch-yaw connector 232 may be configured to rotate together with the rotation shaft 243. That is, the pulley 231 and the pitch-yaw connector 232 may be coupled to the rotation shaft 243 and rotate together with the rotation shaft 243.

[0217] 10, the pitch-yaw connector 232 may be generally Y-shaped, or may have at least two extensions 232a and 232b extending from the center. A drive unit first jaw satellite pulley central axis 233 and a drive unit second jaw satellite pulley central axis 234 may be formed at each end of the extensions 232a and 232b.

[0218] Pulleys 219 and 220, which are the first jaw satellite pulleys of the driving part, may be connected to the central shaft 233 of the first jaw satellite pulley, and pulleys 229 and 230, which are the second jaw satellite pulleys of the driving part, may be connected to the central shaft 234 of the second jaw satellite pulley.

[0219] As a result, when pulley 231, which is the driver pitch pulley, rotates together with rotation axis 243, pulleys 219, 220, 229, and 230, which are driver satellite pulleys, revolve around rotation axis 243. In other words, it can be expressed that driver first jaw satellite pulley central axis 233 and driver second jaw satellite pulley central axis 234 rotate around rotation axis 243 while maintaining a certain distance from rotation axis 243, with driver first jaw satellite pulley central axis 233 and driver second jaw satellite pulley central axis 234 being spaced apart from rotation axis 243 to a certain extent.

[0220] That is, the drive unit satellite pulley is formed to be movable relative to the drive unit intermediate pulley and the rotation shaft 243, so that the relative position of the drive unit satellite pulley to the drive unit intermediate pulley and the rotation shaft 243 can be changed. On the other hand, the relative position of the drive unit pitch pulley and the drive unit intermediate pulley is maintained constant.

[0221] When pulley 231, which is the drive unit pitch pulley, rotates around rotation axis 243, pulleys 219, 220, 229 and 230, which are drive unit satellite pulleys, move relative to pulley 231, which is the drive unit pitch pulley, thereby changing the overall length of wires 301, 302, 305 and 306, which are jaw wires, within drive unit 200.

[0222] The first jaw wire, wire 301, is wound around pulley 211, pulley 213, pulley 215, pulley 219 and pulley 217 in order so that at least a portion of the wire is in contact with pulley 211, pulley 213, pulley 215, pulley 219 and pulley 217, with one end of the wire connected to pulley 211 by a first jaw wire drive unit fastening member (not shown), and then connected to end tool 100 via connection part 310.

[0223] In other words, the wire 301, which is the first jaw wire, passes through the drive unit first jaw pulley 211, the drive unit first jaw auxiliary pulley 213, the drive unit first jaw first intermediate pulley 215, the drive unit first jaw satellite pulley 219 and the drive unit first jaw second intermediate pulley 217 in sequence, and is then connected to the end tool 100 via the connection part 310.

[0224] In other words, the first jaw wire, wire 301, passes through end tool 100 and connection part 310 and enters drive part 200, is wound sequentially around pulley 217, pulley 219, pulley 215 and pulley 213, and then is fixedly connected to pulley 211, which is the first jaw pulley of the drive part.

[0225] Meanwhile, the first jaw wire, wire 305, has one end connected to pulley 212 by a first jaw wire-drive unit fastening member (not shown), and is wound around pulleys 212, 214, 216, 220, and 218 in sequence so that at least a portion of the wire is in contact with the pulleys, and then connected to end tool 100 via connecting portion 310.

[0226] The second jaw wire, wire 302, has one end connected to pulley 221 by a second jaw wire-drive unit fastening member (not shown), and is wound sequentially around pulleys 221, 223, 225, 229, and 227 so that at least a portion of the wire is in contact with the pulleys, and then connected to end tool 100 via connection part 310.

[0227] Meanwhile, the second jaw wire, wire 306, has one end connected to pulley 222 by a second jaw wire-drive unit fastening member (not shown), and is wound around pulleys 222, 224, 226, 230, and 228 in sequence so that at least a portion of the wire is in contact with the pulleys, and then connected to end tool 100 via connecting portion 310.

[0228] (Pitch movement)

[0229] Figures 15 and 16 are diagrams showing the pitch movement of the articulated surgical device shown in Figure 4. For convenience of explanation, Figures 15(a) and 16(a) show only the pulleys and wires associated with the rotation of the first jaw, and Figures 15(b) and 16(b) show only the pulleys and wires associated with the rotation of the second jaw. Figures 15(c) and 16(c) show the pitch movement of the end tool caused by the pitch movement of the drive unit.

[0230] Here, the articulated surgical device 30 according to one embodiment of the present invention is characterized in that when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the overall length of the jaw wire in the drive unit 200 is changed, thereby performing pitch operation of the end tool 100. In particular, the articulated surgical device 30 according to one embodiment of the present invention is characterized in that when the drive unit pitch pulley rotates, the drive unit satellite pulley revolves around the (common) rotation axis of the drive unit intermediate pulley and the drive unit pitch pulley, thereby changing the path length of the jaw wire wound around the drive unit intermediate pulley, thereby performing pitch operation of the end tool.

[0231] Specifically, if the driving unit does not perform a separate motion compensation for the pitch motion, the end tool will not be able to perform the pitch motion itself.

[0232] Referring to FIG. 33 showing a conceptual diagram of pitch motion compensation, in order for the end tool to perform pitch motion, the wire 301 and the wire 305 must be moved to the pulley 113 by a force of ΔS. pitch The wire 302 and the wire 306 are wound by an amount of ΔS pitch If such compensation is not performed in the drive unit, the end tool will not perform pitch movement at all.

[0233] In order to compensate for the pitch movement in this manner, the articulated surgical device 30 according to one embodiment of the present invention is characterized in that the drive unit pitch pulley rotates and the drive unit satellite pulley revolves at the same time, causing the jaw wire to be wound around or unwound from the drive unit intermediate pulley, thereby compensating for the movement of the jaw wire due to the rotation of the drive unit pitch pulley.

[0234] In other words, when pulley 231, which is the drive unit pitch pulley, rotates together with rotation shaft 243, the drive unit satellite pulley revolves around rotation shaft 243. As the drive unit satellite pulley revolves around rotation shaft 243, the length of the jaw wire wound around the drive unit intermediate pulley is changed. That is, the jaw wire wound on the end tool 100 side by the rotation of pulley 231 is unwound by the same amount on the drive unit 200 side, and the jaw wire unwound on the end tool 100 side is wound by the same amount on the drive unit 200 side, so that the pitch movement does not affect the yaw movement.

[0235] In other words, when the end tool performs a pitch movement due to the rotation of the drive unit pitch pulley, the jaw wire (responsible for the yaw movement and actuation movement) also moves due to the pitch movement. That is, pitch rotation occurs around the rotation axis 143 of the end tool 100, and both strands of the jaw wire connected to one jaw are pulled, and both strands connected to the other jaw are unwound. Therefore, in order to compensate for such jaw wire movement, the present invention can also be expressed as follows: when the end tool performs a pitch movement, the drive unit satellite pulley moves relative to the drive unit intermediate pulley, changing the overall length of the jaw wire in the drive unit; and by unwinding (or pulling) the jaw wire on the drive unit side by the amount that the jaw wire was pulled (or unwound) on the end tool side, the movement of the jaw wire is compensated when the end tool performs a pitch movement.

[0236] Pitch motion is described in more detail below.

[0237] When pulley 231, which serves as the driver's pitch pulley, rotates in the direction of arrow A1 (i.e., clockwise in the figure) for pitch operation, the pitch-yaw connector (see 232 in FIG. 8) rotates together with pulley 231 in the direction of arrow A1. As a result, pulleys 219 and 220, which serve as driver's satellite pulleys and are fixedly connected to the pitch-yaw connector (see 232 in FIG. 8), revolve θ around rotation axis 243 in the direction of A2 in FIG. 16(a) (i.e., clockwise in the figure). In other words, when pulley 231 rotates, pulleys 219 and 220 rotate θ from position P1 in FIG. 15(a) to position P2 in FIG. 16(a). In other words, when the driver's pitch pulley rotates, the driver's satellite pulley moves in conjunction with the driver's pitch pulley.

[0238] At the same time, when pulley 231, which serves as the driver's pitch pulley, rotates in the direction of arrow A1 (i.e., clockwise in the figure), the pitch-yaw connector (see 232 in FIG. 8) rotates together with pulley 231 in the direction of arrow A1. As a result, pulleys 229 and 230, which serve as driver's satellite pulleys and are fixedly connected to the pitch-yaw connector (see 232 in FIG. 8), revolve θ around rotation axis 243 in the direction of A3 in FIG. 16(b) (i.e., clockwise in the figure). In other words, when pulley 231 rotates, pulleys 229 and 230 rotate θ from position P3 in FIG. 15(b) to position P4 in FIG. 16(b). In other words, when the driver's pitch pulley rotates, the driver's satellite pulley moves in conjunction with the driver's pitch pulley.

[0239] Meanwhile, at this time, the positions of pulleys 215, 216, 217, 218, 225, 226, 227, and 228, which are driver intermediate pulleys connected to rotation shaft 243, do not change. That is, the relative positions of pulley 211, which is the driver jaw pulley, pulley 231, which is the driver pitch pulley, and driver intermediate pulleys 215, 216, 217, and 218 remain constant. Similarly, the relative positions of pulley 221, which is the driver jaw pulley, pulley 231, which is the driver pitch pulley, and driver intermediate pulleys 225, 226, 227, and 228 remain constant.

[0240] As the drive unit satellite pulley revolves in this manner, the relative position of the drive unit satellite pulley with respect to the drive unit intermediate pulley changes, and this changes the length of each wire wound around the drive unit intermediate pulley, i.e., the path length. Here, the drive unit intermediate pulley includes pulley 215, which is the drive unit first jaw first intermediate pulley, and pulley 217, which is the drive unit first jaw second intermediate pulley, and therefore the path length also means the sum of the length of wire 301 wound around pulley 215 and the length of wire 301 wound around pulley 217 (or the length of wire 305 wound around pulley 216 and the length of wire 305 wound around pulley 218).

[0241] 15(a), the path length L2 of the first jaw wire wound around the drive unit intermediate pulley is shorter, and the first jaw wire is further rewound on the drive unit 200 side by the shortened path length (L1-L2). That is, the total length of the first jaw wire, the wire 301 and the wire 305, inside the drive unit 200 is shortened. Thus, the total length of the first jaw wire inside the drive unit 200 is shortened, and the total length of the first jaw wire inside the end tool 100 is lengthened by the amount of the first jaw wire being rewound.

[0242] In contrast, when pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A1, L4, which is the path length along which the second jaw wire is wound around the drive unit intermediate pulley at the position of Fig. 16(b), becomes longer than L3, which is the path length along which wires 302 and 306, which are the second jaw wires, are wound around the drive unit intermediate pulley at the position of Fig. 15(b), and the second jaw wire is further pulled on the drive unit 200 side by the increased path length (L4 - L3). That is, the total length of wires 302 and 306, which are the second jaw wires, within drive unit 200 becomes longer. Thus, the total length of the second jaw wire within drive unit 200 becomes longer, and the total length of the second jaw wire within end tool 100 becomes shorter by the amount of pulling the second jaw wire.

[0243] When pulley 231, which is the driver pitch pulley, rotates in the direction of arrow A1 due to the pitch movement, the driver satellite pulley moves relative to the driver pitch pulley and the driver intermediate pulley, thereby changing their relative positions. The relative movement of the driver satellite pulley shortens the overall length of the first jaw wire within driver 200, and lengthens the overall length of the first jaw wire within end tool 100. At the same time, the relative movement of the driver satellite pulley lengthens the overall length of the second jaw wire within driver 200, and lengthens the overall length of the second jaw wire within end tool 100.

[0244] As a result, when viewed from the end tool 100 side, when pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A1, the two first jaw wires, wires 301 and 305, are unwound, and the two second jaw wires, wires 302 and 306, are pulled, causing the end tool 100 to pitch in the direction of arrow A4 around the rotation axis 143.

[0245] Here, the path length can be defined as the length of the jaw wire from the point of entry into the first drive unit intermediate pulley, via the drive unit satellite pulley, to the point of exit from the second drive unit intermediate pulley. In other words, the path length can be defined as the length of the jaw wire from the position where wire 301, which is the jaw wire, enters pulley 215, which is the first drive unit intermediate pulley, via pulley 219, which is the drive unit satellite pulley, to the exit position from pulley 217, which is the second drive unit intermediate pulley.

[0246] In other words, the path length can be defined as the length of the jaw wire, on the arrangement path of the jaw wire connecting the end tool jaw pulley and the drive unit jaw pulley, from the position where the jaw wire first contacts the drive unit intermediate pulley to the position where the jaw wire finally contacts the drive unit intermediate pulley. In other words, the path length can also be defined as the length of the jaw wire from the position where wire 301, which is the jaw wire, first contacts pulley 215, which is the drive unit first intermediate pulley, to the position where wire 301 finally contacts pulley 217, which is the drive unit second intermediate pulley.

[0247] On the other hand, as the path length described above is changed by the movement of the drive unit satellite pulley relative to the drive unit intermediate pulley, the overall length of the jaw wire in the drive unit 200 is also changed. Furthermore, as the overall length of the jaw wire in the drive unit 200 is changed, the overall length of the jaw wire in the end tool 100 is also changed. However, since the overall length of the jaw wire in the drive unit 200 is increased (or decreased) by the amount that the overall length of the jaw wire in the end tool 100 is also decreased (or increased), it can be said that the overall length of the jaw wire does not change (assuming that elastic deformation and the like are not taken into consideration).

[0248] As a result, when the drive unit pitch pulley rotates, the first jaw wire, wire 301 / wire 305, is pulled on the end tool 100 side, and the first jaw wire, wire 301 / wire 305, is unwound on the drive unit 200 side by the same amount, thereby enabling pitch motion.

[0249] Meanwhile, as described above, the endotool 100 of the articulated surgical apparatus 30 of the present invention further includes the pulley 131, which is an endotool pitch pulley, and the drive unit 200 further includes the pulley 231, which is a drive unit pitch pulley. The power transmission unit 300 may further include the wires 303 and 304, which are pitch wires.

[0250] Therefore, when pulley 231, which is the drive unit pitch pulley, rotates in the direction of arrow A1, the rotation of pulley 231 causes wire 304 to be wound around pulley 231 and wire 303 to be unwound from pulley 231. As a result, pulley 131, which is the end tool pitch pulley connected to the opposite side of wire 303 and wire 304, rotates in the direction of arrow A2 around rotation axis 143, thereby enabling pitch operation to be performed more reliably and securely.

[0251] (pulley size ratio)

[0252] Here, among the pulleys that rotate around the rotation axis 143, which is the end tool pitch rotation axis, pulley 131, which is the end tool pitch pulley that contacts the pitch wires, wires 303 and 304, and pulleys 113, 114, 123, and 124, which are the end tool jaw pitch main pulleys that contact the jaw wires, wires 301, 305, 302, and 306, may be formed to have different diameters.

[0253] In this case, the lengths of the wire wound or unwound on each pulley will differ when the rotary shaft 143 rotates. For example, if the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, and the rotary shaft 143 rotates 90°, the length of the pitch wire wound on the end tool pitch pulley will be 1.5π, while the length of the jaw wire wound on the end tool jaw pitch main pulley will be 1π.

[0254] From this perspective, the "length" of the wire wound around or unwound 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 calculated as (diameter x angle of rotation / 360° x π).

[0255] In this case, pulley 231, which is the drive unit pitch pulley, and pulley 131, which is the end tool pitch pulley, are basically directly connected by pitch wires 303 and 304, so the rotation amounts of the drive unit pitch pulley and the end tool pitch pulley are the same. In other words, the pitch wire is wound on or unwound by the drive unit pitch pulley by the same amount as the pitch wire is wound on or unwound by the end tool pitch pulley.

[0256] On the other hand, (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) = (amount of rotation of wire wound around end tool pitch pulley: amount of rotation of wire wound around end tool jaw pitch main pulley).

[0257] In this way, if the length of the pitch wire wound around the end tool pitch pulley and the length of the jaw wire wound around the end tool jaw pitch main pulley are different in the end tool 100, the length of the pitch wire unwound and the length of the jaw wire unwound must also be different from each other in the drive unit 200 at the same ratio.

[0258] Therefore, the relationship (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) = (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) can be established.

[0259] For example, if the ratio (diameter of the end tool pitch pulley: diameter of the end tool jaw pitch main pulley) is 6:4, the ratio (diameter of the drive unit pitch pulley: diameter of the drive unit intermediate pulley) can also be 6:4. According to this ratio, the diameter of the drive unit pitch pulley can be 9φ and the diameter of the drive unit intermediate pulley can be 6φ.

[0260] However, here, the drive unit intermediate pulley can include two (or more) pulleys, i.e., a drive unit first intermediate pulley and a drive unit second intermediate pulley, and 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.

[0261] For example, if the diameter of the drive unit intermediate pulley is 6φ, the possible numbers (diameter of the drive unit first intermediate pulley, diameter of the drive unit second intermediate pulley) are (1φ, 5φ), (2φ, 4φ), (3φ, 3φ), (4φ, 2φ), (5φ, 1φ), etc. Here, the drawing shows that the diameter of pulley 215, which is the drive unit first intermediate pulley, is 4φ, and the diameter of pulley 217, which is the drive unit second intermediate pulley, is 2φ.

[0262] It can also be expressed as (the amount of rotation of the drive unit first intermediate pulley + the amount of rotation of the drive unit second intermediate pulley) being proportional to the amount of rotation of the drive unit pitch pulley.

[0263] However, even if the ratio of (end tool pitch pulley diameter: end tool jaw pitch main pulley diameter) does not exactly match the ratio of (drive unit pitch pulley diameter: drive unit intermediate pulley diameter), if the pulley diameters are selected so that the ratios are similar to each other, the object of the present invention, which is to compensate for the movement of the jaw wire due to the rotation of the drive unit pitch pulley, can be achieved to some extent.

[0264] The final pitch operation process will be explained again as follows.

[0265] In the following, we will explain an example where the diameter of the end tool pitch pulley is 6φ, the diameter of the end tool jaw pitch main pulley is 4φ, the diameter of the drive unit pitch pulley is 9φ, and the diameter of the drive unit intermediate pulley is 6φ.

[0266] First, for pitch operation, pulley 231, which is the drive unit pitch pulley of drive unit 200, rotates 60° to wind wire 304, which is the pitch wire, and simultaneously unwind wire 303. At this time, the lengths of wire 303 / wire 304 wound / unwound, respectively, are 1.5π.

[0267] As a result, in the end tool 100, the wire 304 is pulled by 1.5π, the wire 303 is unwound by 1.5π, and the pulley 131, which is the end tool pitch pulley, rotates by 90°, which corresponds to 1.5π.

[0268] On the other hand, when pulley 131 makes a pitch rotation about rotation axis 143, jaws 101, 102 and pulley 111 / pulley 112 also make a pitch rotation about rotation axis 143. Therefore, wires 301 and 305, which are the first jaw wires connected to pulley 111, are both pulled, and wires 302 and 306, which are the second jaw wires connected to pulley 121, are both unwound. At this time, the angles through which the end tool pitch pulley and the end tool jaw pitch main pulley rotate are equal at 90°, and therefore the length of the jaw wire wound or unwound around the end tool jaw pitch main pulley is 1π.

[0269] On the other hand, since pulley 231 and pulley 219 / pulley 220 are rigidly connected by pitch-yaw connector 232, when pulley 231 rotates by 60° around rotation axis 243, pulley 219 / pulley 220 will revolve by 60° around rotation axis 243.

[0270] As pulley 219 / pulley 220 revolves in this manner, the jaw wire is wound or unwound by 1π, which corresponds to the revolution angle of 60°, around pulley 215 and pulley 216, whose sum of diameters is 6φ. That is, wires 301 and 305, which are the first jaw wires, are unwound as a whole, and wires 302 and 306, which are the second jaw wires, are pulled as a whole.

[0271] In other words, the overall path length of the wires 301 and 305 wound around the drive unit first jaw intermediate pulleys, pulleys 215, 216, 217, and 218, is reduced, and the wires 301 and 305 are unwound by the reduced path length. The overall path length of the wires 302 and 306 wound around the drive unit second jaw intermediate pulleys, pulleys 225, 226, 227, and 228, is increased, and the wires 302 and 306 are pulled by the increased path length.

[0272] That is, the wires 301 and 305, which are the first jaw wires, are rewound on the drive unit 200 side by an amount equivalent to the amount pulled on the end tool 100 side, thereby compensating for the movement of the jaw wires in accordance with the pitch movement. Similarly, the wires 302 and 306, which are the second jaw wires, are rewound on the drive unit 200 side by an amount equivalent to the amount pulled on the end tool 100 side, thereby compensating for the movement of the jaw wires in accordance with the pitch movement.

[0273] As a result, by winding (or pulling) the jaw wire on the drive unit 200 side by the same length as the length by which the jaw wire is wound (or unwound) on the end tool 100 side in response to the pitch movement, the pitch movement can be performed independently without affecting the rotation of the jaw in the yaw axis direction.

[0274] That is, the drive unit pitch pulley and drive unit satellite pulley are rigidly connected, and when the drive unit pitch pulley rotates about the rotation axis 243, the drive unit satellite pulley revolves about the rotation axis 243, thereby changing the path length of the jaw wire wound around the drive unit intermediate pulley. This change in the path length of the jaw wire compensates for the movement of the jaw wire on the end tool side due to the pitch movement, thereby achieving the result that the pitch movement is performed independently.

[0275] (Yaw movement)

[0276] 17 and 18 are diagrams showing the yaw movement of the articulated surgical apparatus shown in FIG.

[0277] 13, 14, 17, 18, etc., when pulley 211, which is the drive unit first jaw pulley, rotates in the direction of arrow A3 for yaw operation, one of wires 301 and 305, which are first jaw wires, is wound around pulley 211 and the other is unwound from pulley 211 in accordance with the rotation of pulley 211. As a result, pulley 111, which is the end tool first jaw pulley connected to the opposite side of wires 301 and 305, rotates in the direction of arrow A4, thereby performing yaw operation.

[0278] At this time, the positions of the drive unit satellite pulleys, pulleys 219, 220, 229, and 230, and the drive unit intermediate pulleys, pulleys 215, 216, 217, 218, 225, 226, 227, and 228, do not change, and only the wires 301 and 305 are wound around and unwound from the drive unit satellite pulleys and the drive unit intermediate pulleys.

[0279] Therefore, the drive unit pitch pulley, which is rigidly connected to the drive unit satellite pulley, does not rotate, and the pitch wires, wires 303 and 304, maintain their positions without being wound or unwound.

[0280] Similarly, when pulley 221, which is the drive unit second jaw pulley, rotates for yaw operation, one of wires 302 and 306, which are second jaw wires, is wound around pulley 221 and the other is unwound from pulley 221 in accordance with the rotation of pulley 221. As a result, pulley 121, which is the end tool second jaw pulley connected to the opposite side of wires 302 and 306, rotates in either direction, thereby performing yaw operation.

[0281] At this time, the positions of the drive unit satellite pulleys, pulleys 219, 220, 229, and 230, and the drive unit intermediate pulleys, pulleys 215, 216, 217, 218, 225, 226, 227, and 228, do not change, and only the wires 302 and 306 are wound around and unwound from the drive unit satellite pulleys and the drive unit intermediate pulleys.

[0282] Therefore, the drive unit pitch pulley, which is rigidly connected to the drive unit satellite pulley, does not rotate, and the pitch wires, wires 303 and 304, maintain their positions without being wound or unwound.

[0283] As a result, even if the drive unit jaw pulley, pulley 211 or pulley 221, rotates due to yaw or actuation operation, the overall length of the jaw wires, wires 301, 302, 305 and 306, within drive unit 200 remains constant.

[0284] In this way, in the multi-joint surgical device 30 according to one embodiment of the present invention, when the drive unit pitch pulley rotates, the drive unit satellite pulley revolves around the rotation axis of the drive unit pitch pulley, thereby changing the path length of the jaw wire wound around the drive unit intermediate pulley, and the jaw wire is wound or unwound in response to the rotation of the drive unit pitch pulley, thereby canceling out or compensating for the movement of the jaw wire due to the pitch drive, thereby achieving the effect of separating pitch movement and yaw movement.

[0285] Second Embodiment

[0286] 19 and 20 are conceptual diagrams showing an articulated surgical device according to a second embodiment of the present invention.

[0287] The articulated surgical device 70 according to the second embodiment of the present invention is characterized by a different configuration of the drive unit intermediate pulley compared to the first embodiment shown in Figures 4 to 18. The following will focus on the differences from the first embodiment.

[0288] Referring to Figures 19 and 20, the articulated surgical device 70 according to the second embodiment of the present invention is characterized in that the diameters of the first drive unit intermediate pulley and the second drive unit intermediate pulley are both substantially the same.

[0289] That is, the diameters of pulleys 415 and 416, which are the first jaw first intermediate pulleys of the driving unit, and pulleys 417 and 418, which are the second jaw second intermediate pulleys of the driving unit, are both formed to be the same. In addition, the diameters of pulleys 425 and 426, which are the second jaw first intermediate pulleys of the driving unit, and pulleys 427 and 428, which are the second jaw second intermediate pulleys of the driving unit, may also be formed to be the same as the diameters of the first jaw first intermediate pulleys of the driving unit and the second jaw second intermediate pulleys of the driving unit.

[0290] Furthermore, in this embodiment as well, as described in the first embodiment, the relationship (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) = (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) can be established.

[0291] For example, if the ratio (diameter of end tool pitch pulley: diameter of end tool jaw pitch main pulley) is 6:4, the ratio (diameter of drive unit pitch pulley: diameter of drive unit intermediate pulley) can also be 6:4.

[0292] Here, the drive unit intermediate pulley may include two (or more) pulleys, i.e., a drive unit first intermediate pulley and a drive unit second intermediate pulley. The sum of the diameters of the drive unit first intermediate pulley and the drive unit second intermediate pulley may be defined as the diameter of the drive unit intermediate pulley.

[0293] It can also be expressed as (the amount of rotation of the drive unit first intermediate pulley + the amount of rotation of the drive unit second intermediate pulley) being proportional to the amount of rotation of the drive unit pitch pulley.

[0294] However, even if the ratio of (end tool pitch pulley diameter: end tool jaw pitch main pulley diameter) does not exactly match the ratio of (drive unit pitch pulley diameter: drive unit intermediate pulley diameter), if the pulley diameters are selected so that the ratios are similar to each other, the object of the present invention, which is to compensate for the movement of the jaw wire due to the rotation of the drive unit pitch pulley, can be achieved to some extent.

[0295] According to this embodiment, the number of types of parts is reduced by using pulleys of the same size, which makes manufacturing easier and reduces manufacturing costs.

[0296] <Third embodiment>

[0297] FIG. 21 is a conceptual diagram showing an articulated surgical device according to a third embodiment of the present invention, and FIG. 22 is a conceptual diagram showing the pitch movement of the articulated surgical device of FIG.

[0298] An articulated surgical device 80 according to a third embodiment of the present invention is characterized by employing a rack / pinion structure to change the path length of the jaw wire as the drive pitch pulley rotates. That is, this embodiment can be considered as a structure in which the rotational motion using the pulley and wire in the first embodiment of Fig. 4 is replaced with linear motion using a rack / pinion structure.

[0299] 21 and 22, the driver pitch gear 531 is formed to be rotatable about the same axis as the driver pitch pulley (not shown). A compensation gear 532 is formed on one side of the driver pitch gear 531 to mesh with the driver pitch gear 531, and is configured to translate up and down when the driver pitch gear 531 rotates together with the driver pitch pulley (not shown). In other words, the compensation gear acts as a type of rack, and the pitch gear acts as a type of pinion.

[0300] Meanwhile, articulated surgical device 80 according to the third embodiment of the present invention includes a drive unit first jaw first intermediate pulley 515, a drive unit first jaw second intermediate pulley 517, and a drive unit first jaw satellite pulley 519, around which wire 301 / wire 305, which are first jaw wires, are wound. It also includes a drive unit second jaw first intermediate pulley 525, a drive unit second jaw second intermediate pulley 527, and a drive unit second jaw satellite pulley 529, around which wire 302 / wire 306, which are second jaw wires, are wound.

[0301] The pitching motion of the articulated surgical apparatus 80 according to the third embodiment of the present invention will be described below.

[0302] 21 and 22, when the driver pitch gear 531 rotates in the direction of arrow A5 in FIG. 22 together with the driver pitch pulley (not shown) in the state of FIG. 21, the compensation gear 532 can be configured to move in translation in the direction of arrow A6 in FIG. 20.

[0303] The translational movement of the compensation gear 532 changes the path lengths of the wires 301 and 302 that are jaw wires.

[0304] That is, compared with L3, which is the path length of wire 301, which is the first jaw wire, at the position shown in Fig. 21, L4, which is the path length of first jaw wire, at the position shown in Fig. 22, is longer, and the first jaw wire is pulled further on the drive unit side by the increased path length (L4 - L3). As a result, wire 301, which is the first jaw wire, is unwound on the end tool 100 side by the amount that wire 301, which is the first jaw wire, is pulled on the drive unit 200 side, and as a result, pitch motion is possible.

[0305] Similarly, the path length of the second jaw wire 302 in the position of Fig. 22 is shorter than the path length of the second jaw wire 302 in the position of Fig. 21, and the second jaw wire is further unwound on the drive unit side by the amount of the shortened path length. As a result, the second jaw wire 302 is wound on the end tool 100 side by the amount that the second jaw wire 302 is unwound on the drive unit 200 side, and as a result, pitch motion is possible.

[0306] In this way, in the multi-joint surgical device 80 according to the third embodiment of the present invention, when the drive unit pitch gear 531 rotates, the compensation gear 532 meshed with the drive unit pitch gear 531 and the drive unit satellite pulleys 519 and 529 connected thereto move linearly, thereby changing the overall length of the jaw wire within the drive unit, and the jaw wire is wound or unwound according to the rotation of the drive unit pitch pulley, resulting in the effect of being able to perform pitch movement.

[0307] <Fourth embodiment>

[0308] Fig. 23 is a conceptual diagram showing a multi-joint surgical device according to a fourth embodiment of the present invention, Fig. 24 is a conceptual diagram showing the pitch movement of the multi-joint surgical device of Fig. 23, Fig. 25 is a conceptual diagram showing the yaw movement of the multi-joint surgical device of Fig. 23, Fig. 26 is a conceptual diagram showing the multi-joint surgical device of Fig. 23 simultaneously performing pitch movement and yaw movement, and Fig. 27 is a conceptual diagram showing the actuation movement of the multi-joint surgical device of Fig. 23. In each figure, a plan view of the pulley 111 and the first jaw 101 connected to the pulley 111 is shown on one side of the pulley 111, which is the first jaw pulley, and a plan view of the pulley 121 and the second jaw 102 connected to the pulley 121 is shown on one side of the pulley 121, which is the second jaw pulley.

[0309] In the first to third embodiments of the present invention described above, the pulley configuration of the drive unit includes a drive unit first jaw pulley for driving the first jaw, a drive unit second jaw pulley for driving the second jaw, and a drive unit pitch pulley for realizing pitch movement. A motor connected to the drive unit first jaw pulley is operated to rotate the first jaw (i.e., yaw or actuation), a motor connected to the drive unit second jaw pulley is operated to rotate the second jaw (i.e., yaw or actuation), and a motor connected to the drive unit pitch pulley is operated to pitch rotation.

[0310] In contrast, the articulated surgical device 90 according to the fourth embodiment of the present invention is configured with a drive unit pitch pulley for driving pitch movement, a drive unit yaw pulley for driving yaw movement, and a drive unit actuation pulley for driving actuation movement. A motor connected to the drive unit pitch pulley is operated for pitch rotation, a motor connected to the drive unit yaw pulley is operated for yaw rotation, and a motor connected to the drive unit actuation pulley is operated for actuation rotation.

[0311] In this case, the pulley / wire configuration for pitch movement and the pulley / wire configuration for yaw movement can each be considered to be similar to the third embodiment described above to some extent.

[0312] 23, an articulated surgical device 90 according to a fourth embodiment of the present invention includes a drive unit pitch pulley (not shown), a drive unit pitch gear 631, and a pitch compensation gear 632 for pitch operation. Here, the drive unit pitch pulley (not shown) and the drive unit pitch gear 631 are configured to rotate together around the same axis. A pitch compensation gear 632 is formed on one side of the drive unit pitch gear 631 to mesh with the drive unit pitch gear 631. When the drive unit pitch gear 631 rotates together with the drive unit pitch pulley (not shown), the pitch compensation gear 632 translates up and down. In other words, the compensation gear serves as a type of rack, and the pitch gear serves as a type of pinion.

[0313] Furthermore, the articulated surgical device 90 according to the fourth embodiment of the present invention includes a drive unit first pitch first transfer pulley 615, a drive unit first pitch second transfer pulley 617, and a drive unit first pitch satellite pulley 619, around which the first jaw wires, wire 301 / wire 305, are wound, for pitch operation. The articulated surgical device 90 further includes a drive unit second pitch first transfer pulley 625, a drive unit second pitch second transfer pulley 627, and a drive unit second pitch satellite pulley 629, around which the second jaw wires, wire 302 / wire 306, are wound. Meanwhile, although not shown in the drawings, each drive unit transfer pulley and drive unit satellite pulley may be provided in pairs so that both strands of each wire are wound around them.

[0314] Here, the driver pitch gear 631 and the driver intermediate pulleys, pulleys 615, 617, 625, and 627, may be formed so that their relative positions are fixed. The driver satellite pulleys, pulleys 619 and 629, may be formed so that they can move relatively to the driver pitch gear 631 and the driver intermediate pulleys. When the driver satellite pulley moves relative to the driver pitch pulleys and the driver intermediate pulleys, the overall length of the jaw wire in the driver changes, causing the end tool to perform pitch rotation.

[0315] 23, an articulated surgical device 90 according to a fourth embodiment of the present invention includes a drive unit yaw pulley (not shown), a drive unit yaw gear 661, and a yaw compensation gear 662 for yaw operation. Here, the drive unit yaw pulley (not shown) and the drive unit yaw gear 661 are formed to be rotatable together around the same axis. A compensation gear 662 is formed on one side of the drive unit yaw gear 661 to mesh with the drive unit yaw gear 661, and is configured to translate up and down when the drive unit yaw gear 661 rotates together with the drive unit yaw pulley (not shown). In other words, the compensation gear functions as a type of rack, and the yaw gear functions as a type of pinion.

[0316] Furthermore, the articulated surgical device 90 according to the fourth embodiment of the present invention includes a drive unit first yaw first transfer pulley 645, a drive unit first yaw second transfer pulley 647, and a drive unit first yaw satellite pulley 649, around which the wires 305 and 306 are wound for yaw operation. It also includes a drive unit second yaw first transfer pulley 655, a drive unit second yaw second transfer pulley 657, and a drive unit second yaw satellite pulley 659, around which the wires 301 and 302 are wound. Meanwhile, although not shown, each drive unit transfer pulley and drive unit satellite pulley may be provided in pairs so that both strands of each wire are wound around them.

[0317] Here, the relative positions of the drive unit yaw gear 661 and the drive unit intermediate pulleys, pulleys 645, 647, 655, and 657, may be fixed. The drive unit satellite pulleys, pulleys 649 and 659, may be formed to be movable relative to the drive unit yaw gear 661 and the drive unit intermediate pulleys. When the drive unit satellite pulley moves relative to the drive unit yaw pulley and the drive unit intermediate pulleys, the overall length of the jaw wire in the drive unit changes, causing the end tool to yaw rotate.

[0318] The pitching motion of the articulated surgical apparatus 90 according to the fourth embodiment of the present invention will be described below.

[0319] 23 and 24, when the drive unit pitch gear 631 rotates in the direction of arrow A7 in FIG. 24 together with the drive unit pitch pulley (not shown) in the state of FIG. 23, the pitch compensation gear 632 moves in a translational motion (linear motion) in the direction of arrow A8 in FIG. 24.

[0320] By the translational movement of the pitch compensation gear 632 in this way, the path lengths of the wires 301 and 305 which are the first jaw wires and the wires 302 and 306 which are the second jaw wires are changed.

[0321] That is, the path length of the first jaw wire in the position of Fig. 24 is longer than the path length of wires 301 and 305 that are the first jaw wire in the position of Fig. 23, and the first jaw wire is pulled further toward the driving unit by the amount of the longer path length. In other words, the total length of the first jaw wire in driving unit 600 increases, and in conjunction with this, the total length of the first jaw wire in end tool 100 decreases, causing first jaw 101 to rotate downward in Fig. 24.

[0322] Similarly, the path length of the second jaw wire in the position of Fig. 24 is shorter than the path length of wire 302 and wire 306, which are the second jaw wire in the position of Fig. 23, and the second jaw wire is further rewound on the drive unit side by the amount of the shortened path length. In other words, the total length of the second jaw wire in drive unit 600 becomes shorter, and in conjunction with this, the total length of the second jaw wire in end tool 100 becomes longer, causing second jaw 102 to rotate downward in Fig. 24.

[0323] As a result, on the drive unit 200 side, the first jaw wires, ie, wires 301 and 305, are pulled and the second jaw wires, ie, wires 302 and 306, are rewound, thereby enabling the end tool 100 to perform pitch motion.

[0324] The yaw movement of the articulated surgical apparatus 90 according to the fourth embodiment of the present invention will be described below.

[0325] 23 and 25, when the drive unit yaw gear 661 rotates in the direction of arrow A9 in FIG. 25 together with the drive unit yaw pulley (not shown) in the state of FIG. 23, the yaw compensation gear 662 performs translational movement (linear movement) in the direction of arrow A10 in FIG. 25.

[0326] The translational movement of the yaw compensation gear 652 changes the path lengths of the wires 301 and 302 and the wires 305 and 306 .

[0327] Specifically, wire 305 of the first jaw wire and wire 306 of the second jaw wire are wound around drive unit first yaw satellite pulley 649, and wire 301 of the first jaw wire and wire 302 of the second jaw wire are wound around drive unit second yaw satellite pulley 659.

[0328] Therefore, when the drive unit yaw gear 661 rotates in the direction of arrow A9 in Figure 25, causing the yaw compensation gear 662 to move linearly in the direction of arrow A10 in Figure 25, the path length of the wires 305 and 306 wound around the drive unit first yaw satellite pulley 649 becomes longer, and the path length of the wires 305 and 306 wound around the drive unit second yaw satellite pulley 659 becomes shorter.

[0329] That is, the path length of the wires 305 and 306 in the position of Fig. 25 is longer than the path length of the wires 305 and 306 in the position of Fig. 23, and the wires 305 and 306 are pulled further toward the driving unit by the amount of the longer path length. In other words, the total length of the wires 305 and 306 in the driving unit 600 increases, and in conjunction with this, the total length of the wires 305 and 306 in the end tool 100 decreases, causing the first jaw 101 to rotate clockwise when viewed from Fig. 25.

[0330] 25 is shorter than the path length of the wires 301 and 302 at the position shown in Fig. 23, and the wires 301 and 302 are further rewound on the driving unit side by the amount of the shortened path length. In other words, the total length of the wires 301 and 302 in the driving unit 600 becomes shorter, and in conjunction with this, the total length of the wires 301 and 302 in the end tool 100 becomes longer, causing the second jaw 102 to rotate clockwise when viewed from Fig. 25.

[0331] That is, when viewed from the end tool, wire 305 of the first jaw wire is pulled toward drive unit 200, and wire 301 is wound back in the opposite direction, causing first jaw 101 to rotate clockwise. On the other hand, wire 306 of the second jaw wire is pulled, and wire 302 is wound back, causing second jaw 102 to rotate clockwise. In this way, the first jaw 101 and second jaw 102 rotate in the same direction, causing a yaw movement.

[0332] As a result, on the drive unit 200 side, the wires 305 and 306 are pulled and the wires 301 and 302 are unwound, thereby enabling the end tool 100 to perform yaw motion.

[0333] The actuation operation of the articulated surgical device 90 according to the fourth embodiment of the present invention will be described below.

[0334] Referring to Figures 23 and 27, the drive unit actuation pulley 670, pulley 611 which is the drive unit first jaw pulley, and pulley 621 which is the drive unit second jaw pulley are fastened to each other in the form of gears or the like, and are configured so that when either pulley rotates, the other pulley also rotates in conjunction with it.

[0335] When drive unit actuation pulley 670 rotates in the direction of arrow A15 in FIG. 27 in the state of FIG. 23, pulley 611 and pulley 612 also rotate in the directions of the arrows.

[0336] The rotational movement of the pulleys 611 and 612 changes the path lengths of the wires 301 and 302 and the wires 305 and 306.

[0337] Specifically, wires 301 and 305, which are the first jaw wires, are wound around pulley 611, and wires 302 and 306, which are the second jaw wires, are wound around pulley 612. Therefore, when drive unit actuation pulley 670 rotates in the direction of arrow A15 in Fig. 27, pulleys 611 and 612 also rotate in the directions of the arrows, and as a result, wires 301 and 305 wound around pulley 611 and wires 302 and 306 wound around pulley 612 rotate as a whole along the pulleys.

[0338] That is, when viewed from the end tool, wire 305 of the first jaw wire is pulled toward the drive unit 200, and wire 301 is wound back in the opposite direction, causing the first jaw 101 to rotate clockwise. On the other hand, wire 302 of the second jaw wire is pulled, and wire 306 is wound back, causing the second jaw 102 to rotate clockwise. In this way, the first jaw 101 and the second jaw 102 rotate in opposite directions to each other, thereby performing an actuation operation.

[0339] However, at this time, pulleys 619 and 629, which are the drive unit satellite pulleys, do not move relative to drive unit pitch gear 631 and the drive unit intermediate pulley, and pulleys 649 and 659, which are the drive unit satellite pulleys, do not move relative to drive unit yaw gear 661 and the drive unit intermediate pulley, so the overall length of each jaw wire in the drive unit does not change.

[0340] Meanwhile, the driving part pitch gear 631 and the driving part yaw gear 661 are formed to be rotatable independently of each other. Therefore, in this embodiment, the pitch movement and the yaw movement can be performed independently of each other and simultaneously.

[0341] For example, as shown in Fig. 26, when the drive unit pitch gear 631 rotates together with the drive unit pitch pulley (not shown) in the direction of arrow A11 in Fig. 26, the pitch compensation gear 632 performs translational motion (linear motion) in the direction of arrow A12 in Fig. 26. This translational motion of the pitch compensation gear 632 changes the path lengths of the wires 301 and 305 that are the first jaw wires and the wires 302 and 306 that are the second jaw wires. As a result, on the drive unit 200 side, the wires 301 and 305 that are the first jaw wires are pulled and the wires 302 and 306 that are the second jaw wires are unwound, resulting in a pitch motion of the end tool 100.

[0342] At the same time, as shown in Fig. 26, when the drive unit yaw gear 661 rotates together with the drive unit yaw pulley (not shown) in the direction of arrow A13 in Fig. 26, the yaw compensation gear 662 performs translational motion (linear motion) in the direction of arrow A14 in Fig. 26. This translational motion of the yaw compensation gear 662 changes the path lengths of the wires 301 and 305 which are the first jaw wires and the wires 302 and 306 which are the second jaw wires. As a result, on the drive unit 200 side, the wires 305 and 306 are pulled and the wires 301 and 302 are unwound, and yaw motion of the end tool 100 is performed.

[0343] In this way, in the multi-joint surgical device 90 according to the fourth embodiment of the present invention, when the drive unit pitch gear 531 rotates, the compensation gear 532 meshed with the drive unit pitch gear 531 and the drive unit satellite pulleys 519 and 529 connected thereto move linearly, thereby changing the overall length of the jaw wire within the drive unit, and the jaw wire is wound or unwound according to the rotation of the drive unit pitch pulley, resulting in the effect of being able to perform pitch movement.

[0344] Furthermore, the articulated surgical device 90 according to the fourth embodiment of the present invention is configured with a drive unit pitch pulley for driving the pitch movement, a drive unit yaw pulley for driving the yaw movement, and a drive unit actuation pulley for driving the actuation movement. In the first embodiment described above, the yaw movement and actuation movement are performed by combining the rotation of the drive unit first jaw pulley and the drive unit second jaw pulley. In contrast, in this embodiment, a separate yaw pulley and actuation pulley are provided, and the yaw movement and actuation movement are controlled independently. This allows the input / output during the yaw movement and the input / output during the actuation movement to be controlled and measured independently. Separating the drive units for the yaw movement and actuation movement in this way provides the advantage of enabling force feedback for the operation of the end tool 100.

[0345] Fifth Embodiment

[0346] Figure 28 is a conceptual diagram showing a multi-joint surgical device according to a fifth embodiment of the present invention, Figure 29 is a conceptual diagram showing the pitch movement of the multi-joint surgical device of Figure 28, Figure 30 is a conceptual diagram showing the yaw movement of the multi-joint surgical device of Figure 28, Figure 31 is a conceptual diagram showing the multi-joint surgical device of Figure 28 simultaneously performing pitch movement and yaw movement, and Figure 32 is a conceptual diagram showing the actuation movement of the multi-joint surgical device of Figure 28.

[0347] In each figure, (a) is a diagram showing the configuration of a wire pulley related to the second jaw, and (b) is a diagram showing the configuration of a wire pulley related to the first jaw. Also, in each figure, a plan view of the pulley 111 and the first jaw 101 connected to the pulley 111 is shown on one side of the pulley 111, which is the first jaw pulley, and a plan view of the pulley 121 and the second jaw 102 connected to the pulley 121 is shown on one side of the pulley 121, which is the second jaw pulley.

[0348] In the first to third embodiments of the present invention described above, the pulley configuration of the drive unit includes a drive unit first jaw pulley for driving the first jaw, a drive unit second jaw pulley for driving the second jaw, and a drive unit pitch pulley for realizing pitch movement. A motor connected to the drive unit first jaw pulley is operated to rotate the first jaw (i.e., yaw or actuation), a motor connected to the drive unit second jaw pulley is operated to rotate the second jaw (i.e., yaw or actuation), and a motor connected to the drive unit pitch pulley is operated to pitch rotation.

[0349] In contrast, the articulated surgical device 95 according to the fifth embodiment of the present invention is configured with a drive unit pitch rotation shaft for driving pitch movement, a drive unit yaw rotation shaft for driving yaw movement, and a drive unit actuation rotation shaft for driving actuation movement. A motor connected to the drive unit pitch rotation shaft is operated for pitch rotation, a motor connected to the drive unit yaw rotation shaft is operated for yaw rotation, and a motor connected to the drive unit actuation rotation shaft is operated for actuation rotation.

[0350] In this case, the pulley / wire configuration for pitch movement and the pulley / wire configuration for yaw movement can each be considered to be similar to the first embodiment described above to some extent.

[0351] 28, an articulated surgical device 95 according to a fifth embodiment of the present invention includes, for pitch operation, a drive unit 1 pitch first transfer pulley 715, a drive unit 1 pitch second transfer pulley 717, a drive unit 1 pitch satellite pulley 719, and a drive unit 1 pitch auxiliary pulley 713, around which the first jaw wires, wire 301 / wire 305, are wound. The device also includes a drive unit 2 pitch first transfer pulley 725, a drive unit 2 pitch second transfer pulley 727, a drive unit 2 pitch satellite pulley 729, and a drive unit 2 pitch auxiliary pulley 723, around which the second jaw wires, wire 302 / wire 306, are wound. Meanwhile, although not shown in the figure, each drive unit transfer pulley and drive unit satellite pulley may be provided in pairs so that both strands of each wire are wound thereon.

[0352] Furthermore, the articulated surgical device 95 according to the fifth embodiment of the present invention includes a drive unit pitch rotation shaft 771, a drive unit pitch pulley 731, a drive unit pitch first connector 732, and a drive unit pitch second connector 733 for pitch operation.

[0353] Here, the driver pitch first connector 732 and the driver pitch second connector 733 may be configured to rotate together with the driver pitch rotation shaft 771. That is, the driver pitch pulley 731, the driver pitch first connector 732, and the driver pitch second connector 733 are coupled to the driver pitch rotation shaft 771 and can rotate together with the driver pitch rotation shaft 771.

[0354] A drive unit first pitch satellite pulley 719 can be coupled to an end of the drive unit pitch first connector 732. A drive unit second pitch satellite pulley 729 can be coupled to an end of the drive unit pitch second connector 733.

[0355] As a result, when driver pitch pulley 731 rotates together with driver pitch rotation axis 771, pulleys 719 and 729, which are driver satellite pulleys, revolve around driver pitch rotation axis 771. In other words, with the centers of pulleys 719 and 729 spaced a certain distance from driver pitch rotation axis 771, the central axes of pulleys 719 and 729 maintain a certain distance from driver pitch rotation axis 771, so that pulleys 719 and 729 rotate as a whole around driver pitch rotation axis 771.

[0356] That is, the drive unit satellite pulley is formed to be movable relative to the drive unit pitch pulley 731, so that the relative position of the drive unit satellite pulley with respect to the drive unit pitch pulley 731 can be changed. Meanwhile, the relative position between the drive unit pitch pulley 731 and the drive unit intermediate pulley is maintained constant.

[0357] When the drive unit pitch pulley 731 rotates around the drive unit pitch rotation axis 771, the drive unit satellite pulleys, pulleys 719 and 729, move relative to the drive unit pitch pulley 731, changing the overall length of the jaw wires, wires 301, 302, 305 and 306, within the drive unit 700, causing the end tool to perform pitch rotation.

[0358] 28, a multi-joint surgical device 95 according to a fifth embodiment of the present invention includes a drive unit first yaw first transfer pulley 745, a drive unit first yaw second transfer pulley 747, and a drive unit first yaw satellite pulley 749, around which the wires 301 and 302 are wound for yaw operation. The device also includes a drive unit second yaw first transfer pulley 755, a drive unit second yaw second transfer pulley 757, and a drive unit second yaw satellite pulley 759, around which the wires 305 and 306 are wound. Although not shown in the figure, each drive unit transfer pulley and drive unit satellite pulley may be provided in pairs so that both strands of each wire are wound around them.

[0359] Furthermore, the articulated surgical device 95 according to the fifth embodiment of the present invention includes a drive unit yaw rotation shaft 772, a drive unit yaw first connector 761, and a drive unit yaw second connector 762 for yaw operation.

[0360] Here, the first driver yaw connector 761 and the second driver yaw connector 762 may be configured to rotate together with the driver yaw rotation shaft 772 .

[0361] The drive unit first yaw satellite pulley 749 can be coupled to an end of the drive unit main part first connector 761. The drive unit second yaw satellite pulley 759 can be coupled to an end of the drive unit yaw second connector 762.

[0362] As a result, when driver yaw rotation axis 772 rotates, pulleys 749 and 759, which are driver satellite pulleys, revolve around driver yaw rotation axis 772. In other words, the centers of pulleys 749 and 759 are spaced apart from driver yaw rotation axis 772 to a certain extent, and the central axes of pulleys 749 and 759 maintain a certain distance from driver yaw rotation axis 772, so that pulleys 749 and 759 rotate as a whole around driver yaw rotation axis 772.

[0363] That is, the driver satellite pulley is configured to be movable relative to the driver yaw rotation shaft 772, so that the relative position of the driver satellite pulley with respect to the driver yaw rotation shaft 772 can be changed. Meanwhile, the relative position between the driver yaw rotation shaft 772 and the driver intermediate pulley is maintained constant.

[0364] When the drive unit yaw rotation axis 772 rotates, the drive unit satellite pulleys, pulleys 749 and 759, move relative to the drive unit yaw rotation axis 772, changing the overall length of the jaw wires, wires 301, 302, 305 and 306, within the drive unit 700, causing the end tool to yaw rotate.

[0365] The pitching motion of the articulated surgical apparatus 95 according to the fifth embodiment of the present invention will be described below.

[0366] 28 and 29, when driver pitch pulley 731 rotates in the direction of arrow A21 in Fig. 29 in the state of Fig. 28, driver pitch first connector 732 and driver pitch second connector 733 rotate in the direction of arrow A21 together with driver pitch pulley 731. As a result, driver pitch first satellite pulley 719 fixedly connected to driver pitch first connector 732 and driver pitch second satellite pulley 729 fixedly connected to driver pitch second connector 733 revolve as a whole in the direction of A21 around driver pitch rotation axis 771.

[0367] As the drive unit first pitch satellite pulley 719 and the drive unit second pitch satellite pulley 729 revolve in this manner, the path lengths of the first jaw wires, wires 301 and 305, and the second jaw wires, wires 302 and 306, are changed.

[0368] That is, the path length of the first jaw wire in the position of Fig. 29 is longer than the path length of wire 301 and wire 305, which are the first jaw wire in the position of Fig. 28, and the first jaw wire is pulled further toward the driving unit by the amount of the longer path length. In other words, the total length of the first jaw wire in driving unit 700 increases, and in conjunction with this, the total length of the first jaw wire in end tool 100 decreases, causing first jaw 101 to rotate in the downward direction of Fig. 29.

[0369] Similarly, the path length of the second jaw wire in the position of Fig. 29 is shorter than the path length of wire 302 and wire 306, which are the second jaw wire in the position of Fig. 28, and the second jaw wire is further rewound on the drive unit side by the amount of the shortened path length. In other words, the total length of the second jaw wire in drive unit 700 becomes shorter, and in conjunction with this, the total length of the second jaw wire in end tool 100 becomes longer, causing second jaw 102 to rotate in the downward direction of Fig. 24.

[0370] As a result, on the drive unit 700 side, the first jaw wires, ie, wires 301 and 305, are pulled and the second jaw wires, ie, wires 302 and 306, are rewound, thereby enabling the end tool 100 to perform pitch motion.

[0371] The yaw movement of the articulated surgical apparatus 95 according to the fifth embodiment of the present invention will be described below.

[0372] 28 and 30, when driver yaw rotation shaft 772 rotates in the direction of arrow A22 in Fig. 30 in the state of Fig. 28, driver yaw first connector 761 and driver yaw second connector 762 rotate in the direction of arrow A22 together with driver yaw rotation shaft 772. As a result, driver yaw first satellite pulley 749 fixedly connected to driver yaw first connector 761 and driver yaw second satellite pulley 759 fixedly connected to driver yaw second connector 762 revolve as a whole in the direction of A22 around driver yaw rotation shaft 772.

[0373] As the drive unit first yaw satellite pulley 749 and the drive unit second yaw satellite pulley 759 revolve in this manner, the path lengths of the wires 301 and 302 and the wires 305 and 306 are changed.

[0374] Specifically, wire 305 of the first jaw wire and wire 306 of the second jaw wire are wound around drive unit first yaw satellite pulley 749, and wire 301 of the first jaw wire and wire 302 of the second jaw wire are wound around drive unit second yaw satellite pulley 759.

[0375] Therefore, when the drive unit yaw rotation shaft 772 rotates in the direction of arrow A22 in FIG. 30, the drive unit first yaw satellite pulley 749 and the drive unit second yaw satellite pulley 759 as a whole revolve in the direction of A22 around the drive unit yaw rotation shaft 772,

[0376] The path length of the wires 305 and 306 wound around the drive unit first yaw satellite pulley 749 becomes shorter, and the path length of the wires 305 and 306 wound around the drive unit second yaw satellite pulley 759 becomes longer.

[0377] That is, the path length of the wires 305 and 306 in the position of Fig. 30 is shorter than the path length of the wires 305 and 306 in the position of Fig. 28, and the wires 305 and 306 are further rewound on the driving unit side by the amount of the shortened path length. In other words, the total length of the wires 305 and 306 in the driving unit 700 becomes shorter, and in conjunction with this, the total length of the wires 305 and 306 in the end tool 100 becomes longer, causing the first jaw 101 to rotate counterclockwise when viewed from Fig. 30.

[0378] Similarly, the path length of the wires 301 and 302 in the position of Fig. 30 is longer than the path length of the wires 301 and 302 in the position of Fig. 28, and the wires 301 and 302 are pulled further toward the driving unit by the amount of the longer path length. In other words, the total length of the wires 301 and 302 in the driving unit 700 increases, and in conjunction with this, the total length of the wires 301 and 302 in the end tool 100 decreases, causing the second jaw 102 to rotate counterclockwise when viewed from Fig. 30.

[0379] That is, when viewed from the end tool, wire 301 of the first jaw wire is pulled toward drive unit 200, and wire 305 is wound back in the opposite direction, causing first jaw 101 to rotate counterclockwise. On the other hand, wire 302 of the second jaw wire is pulled, and wire 306 is wound back, causing second jaw 102 to rotate counterclockwise. In this way, the first jaw 101 and second jaw 102 rotate in the same direction, causing a yaw movement.

[0380] As a result, on the drive unit 200 side, the wires 301 and 302 are pulled and the wires 305 and 306 are unwound, thereby enabling the end tool 100 to perform yaw motion.

[0381] The actuation operation of the articulated surgical device 95 according to the fifth embodiment of the present invention will be described below.

[0382] Referring to Figures 28 and 30, the first jaw pulley 711 of the driving unit and the second jaw pulley 721 of the driving unit are connected in the form of gears or the like, and are configured so that when one of the pulleys rotates, the other pulley also rotates in conjunction with it.

[0383] In the state of FIG. 28, the drive portion first jaw pulley 711 rotates in the direction of arrow A25, and the drive portion second jaw pulley 721 rotates in the direction of arrow A26.

[0384] As a result of the rotational movement of the drive unit first jaw pulley 711 and the drive unit second jaw pulley 712, the path lengths of the wires 301 and 302 and the wires 305 and 306 are changed.

[0385] Specifically, wires 301 and 305, which are first jaw wires, are wound around pulley 711, and wires 302 and 306, which are second jaw wires, are wound around pulley 712. Therefore, when drive unit first jaw pulley 711 rotates in the direction of arrow A25, wires 301 and 305 wound around pulley 711 rotate as a whole along the pulley. Also, when drive unit second jaw pulley 721 rotates in the direction of arrow A26, wires 302 and 306 wound around pulley 721 rotate as a whole along the pulley.

[0386] That is, when viewed from the end tool, wire 305 of the first jaw wire is pulled toward the drive unit 200, and wire 301 is rewound in the opposite direction, causing the first jaw 101 to rotate clockwise. On the other hand, wire 302 of the second jaw wire is pulled, and wire 306 is rewound, causing the second jaw 102 to rotate counterclockwise. In this way, the first jaw 101 and the second jaw 102 rotate in opposite directions to each other, thereby performing an actuation operation.

[0387] However, at this time, pulleys 719 and 729, which are the drive unit satellite pulleys, do not move relative to drive unit pitch pulley 731 and the drive unit intermediate pulley, and pulleys 749 and 759, which are the drive unit satellite pulleys, do not move relative to drive unit yaw rotation axis 772 and the drive unit intermediate pulley, so the overall length of each jaw wire in the drive unit does not change.

[0388] Meanwhile, the driver pitch rotation shaft 771 and the driver yaw rotation shaft 772 are formed to be rotatable independently of each other, so that in this embodiment, the pitch movement and the yaw movement can be performed independently of each other and simultaneously.

[0389] In this way, in the multi-joint surgical device 95 according to the fifth embodiment of the present invention, when the drive unit pitch pulley 731 rotates, the drive unit pitch pulley 731 and the drive unit satellite pulleys 719 and 729 connected thereto undergo rotational motion, thereby changing the overall length of the jaw wire within the drive unit, and the jaw wire is wound or unwound in accordance with the rotation of the drive unit pitch pulley, resulting in the effect of being able to perform pitch movements.

[0390] Furthermore, the articulated surgical device 95 according to the fifth embodiment of the present invention includes a drive unit pitch rotation axis for driving pitch movement, a drive unit yaw rotation axis for driving yaw movement, and a drive unit actuation rotation axis for driving actuation movement. In the first embodiment, the yaw movement and actuation movement are performed by combining the rotation of the drive unit first jaw pulley and the drive unit second jaw pulley. In contrast, in this embodiment, a separate yaw rotation axis and actuation rotation axis are provided, and the yaw movement and actuation movement are controlled independently. This allows the input / output during yaw movement and the input / output during actuation movement to be controlled and measured independently. Separating the drive units for the yaw movement and actuation movement in this way provides the advantage of enabling force feedback for the operation of the end tool 100.

[0391] As described above, the present invention has been described with reference to one embodiment shown in the drawings, but this is merely an example, and those skilled in the art will appreciate that various modifications and variations of the embodiment are possible from this. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. [Industrial Applicability]

[0392] The present invention relates to articulated surgical devices, and in particular to articulated surgical devices that can be attached to a robotic arm or manually actuated for use in laparoscopic or various surgical procedures.

Claims

1. a drive unit that controls pitch rotation of the end tool; The drive unit is a drive unit pitch transfer pulley formed so that at least a portion of the wire is wound therearound; a driver pitch satellite pulley that is spaced a predetermined distance from the driver pitch intermediate pulley and moves relative to the driver pitch intermediate pulley to change its position relative to the driver pitch intermediate pulley, and at least a portion of the wire is wound around the driver pitch satellite pulley; A multi-joint surgical device characterized in that when the drive unit pitch satellite pulley moves relative to the drive unit pitch transfer pulley, the overall length of the wire within the drive unit is changed, thereby controlling the pitch rotation of the end tool.

2. 2. The multi-joint surgical device of claim 1, wherein when the drive unit pitch satellite pulley moves relative to the drive unit pitch transfer pulley, the path length of the wire wound around the drive unit pitch transfer pulley is changed, thereby changing the overall length of the wire within the drive unit.

3. The drive unit further includes a drive unit pitch pulley formed to be rotatable around a drive unit pitch rotation axis, The drive unit pitch satellite pulley is formed to be movable relative to the drive unit pitch pulley, The articulated surgical device of claim 1 , wherein the drive unit pitch planetary pulley is configured to change its relative position with respect to the drive unit pitch rotation axis when the drive unit pitch pulley rotates.

4. a drive unit pitch connector that rotates together with the drive unit pitch pulley about the drive unit pitch rotation axis; The articulated surgical apparatus of claim 3 , wherein the drive pitch planet pulley is engaged to one end of the drive pitch connector.

5. The driving unit pitch pulley is formed to be rotatable around the driving unit pitch rotation axis, The articulated surgical device according to claim 3 , wherein the drive unit pitch satellite pulley is formed to be capable of revolution around the drive unit pitch rotation axis.

6. the wires include a first wire and a second wire that pass through the drive unit pitch transfer pulley and extend to the end tool; The articulated surgical device according to claim 3 , wherein when the drive unit pitch rotation shaft rotates, the first wire and the second wire move in the same direction.

7. the drive further controls yaw rotation of the end tool; The drive unit is a drive unit yaw transfer pulley formed so that at least a portion of the wire is wound therearound; a driver yaw satellite pulley that is spaced a predetermined distance from the driver yaw transfer pulley and moves relative to the driver yaw transfer pulley to change its position relative to the driver yaw transfer pulley and to have at least a portion of the wire wound around it; 4. The articulated surgical device of claim 3, wherein movement of the drive unit yaw satellite pulley relative to the drive unit yaw transfer pulley changes the overall length of the wire within the drive unit, thereby controlling yaw rotation of the end tool.

8. further comprising a drive unit yaw rotation axis different from the drive unit pitch rotation axis; the drive unit yaw satellite pulley is formed to be movable relative to the drive unit yaw rotation axis, The articulated surgical device according to claim 7 , wherein the drive unit yaw satellite pulley is configured to change a relative position with respect to the drive unit yaw rotation axis when the drive unit yaw rotation axis rotates.

9. The drive unit yaw satellite pulley is a drive unit first yaw satellite pulley formed so that at least a portion of a first wire of the wires is wound therearound; The articulated surgical device according to claim 8 , further comprising: a drive unit second yaw satellite pulley formed so that at least a portion of the second wire of the wires is wound around the drive unit second yaw satellite pulley.

10. The drive unit is the drive unit yaw rotation shaft further includes a first drive unit yaw connector and a second drive unit yaw connector formed to rotate together with the drive unit yaw rotation shaft, the drive unit first yaw satellite pulley is engaged with one end of the drive unit yaw first connector, and the drive unit second yaw satellite pulley is engaged with one end of the drive unit yaw second connector; 10. The articulated surgical apparatus of claim 9, wherein when the drive unit yaw rotation axis rotates, the drive unit first yaw satellite pulley and the drive unit second yaw satellite pulley rotate together about the drive unit yaw rotation axis.

11. The articulated surgical device according to claim 9 , wherein when the drive unit yaw rotation axis rotates, the first wire and the second wire extending from the drive unit to the end tool move in different directions from each other.

12. a drive unit for controlling pitch and yaw rotation of the end tool; The drive unit is a drive unit transfer pulley formed to be rotatable about a first axis and around which at least a portion of the wire is wound; a drive unit satellite pulley that is spaced a predetermined distance from the drive unit intermediate pulley and moves relative to the drive unit intermediate pulley to change its position relative to the drive unit intermediate pulley and to wind at least a portion of the wire around it; A multi-joint surgical device characterized in that when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the overall length of the wire within the drive unit is changed, thereby controlling the pitch rotation of the end tool.

13. The multi-joint surgical device of claim 12, characterized in that when the drive unit satellite pulley moves relative to the drive unit intermediate pulley, the path length of the wire wound around the drive unit intermediate pulley is changed, and the total length of the wire within the drive unit is changed.

14. a drive unit pitch pulley formed rotatably around the first shaft, The drive unit satellite pulley is formed to be movable relative to the first shaft, The articulated surgical device of claim 12 , wherein rotation of the drive unit pitch pulley changes the relative position of the drive unit satellite pulley with respect to the first axis.

15. The articulated surgical device of claim 14, wherein when the drive unit pitch pulley rotates, the drive unit satellite pulley moves in unison with the drive unit pitch pulley.

16. 15. The articulated surgical device of claim 14, wherein when the drive unit pitch pulley rotates about the first axis, the drive unit satellite pulley moves relative to the drive unit pitch pulley, thereby changing the overall length of the wire within the drive unit.

17. a pitch-yaw connector configured to rotate with the drive pitch pulley about the first axis; The articulated surgical apparatus of claim 14 , wherein the drive satellite pulley is engaged to one end of the pitch-yaw connector.

18. The driving part pitch pulley is formed to be rotatable about the first shaft, The articulated surgical apparatus of claim 14, wherein the drive satellite pulley is configured to be revolvable about the first axis.

19. The articulated surgical device according to claim 12, wherein the wire is wound around the drive unit intermediate pulley, the drive unit satellite pulley, and the drive unit intermediate pulley in that order, and then extends to the end tool side.

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