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

Abstract

A surgical apparatus and a method for controlling the surgical apparatus are disclosed. The surgical apparatus comprises a first axis on which a tool extends, a mounting plate positioned on a plane parallel to a second axis intersecting the first axis, a first actuator that generates a first motion of the mounting plate in a second direction and to which the mounting plate is mounted, a second actuator that generates a rotational force that rotates the first actuator around a third axis perpendicular to the first and second axes and generates a second motion of the mounting plate, and a third actuator coupled to the second actuator that transmits the rotational force from the second actuator to the first actuator and generates a third motion that rotates the mounting plate around a rotation axis in the second axial direction.

Description

[Technical Field]

[0001] The present invention relates to a multi-degree-of-freedom surgical surgical device and control method used in procedures such as joint surgery, and more particularly to a surgical surgical device capable of aligning or positioning a surgical end-effector with 3 or more degrees of freedom and a control method therefor. [Background Art]

[0002] Joint damage caused by various causes is accompanied by pain, deformation and loss of function. Artificial joint surgery is selected when non-surgical methods for the damaged joint, and furthermore, initial surgical treatment such as osteotomy are ineffective.

[0003] Artificial joint surgery, which is one type of surgical procedure, involves inserting a prosthetic replacement into a joint site. For this purpose, a handheld saw driver and a drill driver are used as surgical devices equipped with an end-effector such as a drill type or a saw type.

[0004] The saw driver is used when partially incising bone at a joint site, and the drill driver is used when forming a tunnel (hole) in bone or when placing a pin. For example, in order to insert a surgical pin before incising bone with a saw driver, a tunnel is formed with the drill driver, and the surgical pin is placed there; in some cases, the drill that contributed to forming the tunnel may remain as the pin.

[0005] During the surgical procedure, roughly damaged portions of joints such as the damaged femur, tibia, and patella are removed using a saw driver or the like, and a precisely manufactured prosthetic replacement such as an artificial joint is inserted and fixed in this surgical site.

[0006] In order to properly insert the prosthetic replacement into the surgical site, the end-effector must maintain an accurate position and orientation relative to the surgical site canal so that bone is incised in accordance with a pre-established surgical plan.

[0007] During surgery, so-called surgical navigation systems are used for support, but conventional end effectors with low degrees of freedom, such as those with only two degrees of freedom, cannot adequately cope with the limited surgical space and the restrictive posture of the surgeon.

[0008] In this regard, the development of a highly flexible surgical device that allows the surgeon to assume a more flexible posture and align the end effector with the surgical plan pre-set in the surgical area would be extremely beneficial. [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] This invention presents a surgical device with a high degree of freedom.

[0010] This invention presents a surgical apparatus and a method for driving the same that can align and position an end effector at a desired surgical position regardless of the surgeon's posture. [Means for solving the problem]

[0011] A surgical apparatus according to one or more embodiments is to which an end effector having a tool extending in a first direction is attached, comprising: a mounting plate positioned on a plane parallel to a first axis in the first direction and a second axis in a second direction intersecting the first direction; a first actuator to which the mounting plate is attached and which generates a first motion of the mounting plate in the second direction intersecting the first direction; a second actuator which generates a rotational force that rotates the first actuator around a third axis in a third direction perpendicular to the first and second axes, thereby producing a second motion of the mounting plate; and a third actuator coupled to the second actuator, which transmits the rotational force from the second actuator to the first actuator, thereby rotating the mounting plate around a rotation axis in the second axial direction, thereby producing a third motion of the mounting plate.

[0012] In one or more embodiments of a surgical apparatus, the first actuator may include a first plate on which the mounting plate is mounted so as to be reciprocable in the second direction, a first motor for driving the mounting plate, and a first power transmission unit for transmitting power from the first motor to actuate the mounting plate.

[0013] In one or more embodiments of a surgical apparatus, the first power transmission unit may include a first conversion unit that converts the rotation of the first motor into linear reciprocating motion, and a first operating rod that transmits the linear motion from the first conversion unit as linear motion of the mounting plate.

[0014] In one or more embodiments of a surgical apparatus, the linear motion from the first converter occurs in a direction transverse to the surface of the mounting plate, and the first actuation rod may be hinged to the mounting plate and convert the linear motion from the first converter into motion of the mounting plate.

[0015] In one or more embodiments of a surgical apparatus, the first conversion unit includes a first linear moving element that performs the linear reciprocating motion by the rotation of the first motor, and the first operating rod may be hinged to the mounting plate and the first linear moving element.

[0016] In one or more embodiments of a surgical apparatus, the first, second, and third actuators are arranged within a housing that protects the first, second, and third actuators, and the second actuator may include a second plate fixed in position relative to the housing, a second motor that generates a rotational force to rotate the first actuator, and a second motor mount that supports the second motor.

[0017] In one or more embodiments of a surgical apparatus, the third actuator may include a third plate that is rotated by the second motor.

[0018] In one or more embodiments of a surgical apparatus, the third actuator may include a third motor and a fourth motor that generate rotational force to generate a third motion of the mounting plate, and a second power transmission unit that generates the third motion using the rotations of the third motor and the fourth motor, respectively.

[0019] In one or more embodiments of a surgical apparatus, the second power transmission unit may include a second converter and a third converter that convert the rotations of the third motor and the fourth motor, respectively, into linear reciprocating motion, and a third operating rod and a fourth operating rod that transmit the linear motions of the second converter and the third converter, respectively, to the mounting plate to generate the third motion.

[0020] In one or more embodiments of a surgical apparatus, the third actuator may be configured such that the second and third converters of the second power transmission unit move simultaneously by the same distance, thereby generating a fourth motion in which the mounting plate translates in the third direction without changing its tilt.

[0021] A method for controlling a surgical apparatus according to one or more embodiments includes mounting an end effector, which has a tool positioned in a first direction, to a mounting plate positioned on a plane parallel to a first axis in the first direction and a second axis in a second direction intersecting the first direction; a first actuator causes a first motion of the mounting plate in the second direction; a second actuator causes a second motion of the mounting plate by rotating the first actuator around a third axis in a third direction perpendicular to the first and second axes; a third actuator causes a third motion of the mounting plate, the third actuator being coupled to the second actuator and transmitting rotational force from the second actuator to the first actuator, causing the mounting plate to rotate around a rotation axis in the second axis.

[0022] In a control method for a surgical device according to one or more embodiments, a first plate provided on the first actuator supports the mounting plate reciprocally in a second direction, and a first power transmission unit provided on the first actuator may generate the first movement of the mounting plate.

[0023] In a control method for a surgical device according to one or more embodiments, a first conversion unit provided on the first power transmission unit converts rotation of a first motor into linear reciprocating motion, and a first actuation rod connected to the first conversion unit may transmit linear motion from the first conversion unit to the mounting plate.

[0024] In a control method for a surgical device according to one or more embodiments, the first conversion unit generates linear motion in a direction crossing the surface of the mounting plate, and the first actuation rod is hinge-coupled to the mounting plate, and may convert the linear motion from the first conversion unit into movement of the mounting plate.

[0025] In a control method for a surgical device according to one or more embodiments, a housing protects the first, second and third actuators provided inside the housing, and a second plate provided on the second actuator is fixed in position relative to the housing, and may support the first, second and third actuators as a whole.

[0026] In a control method for a surgical device according to one or more embodiments, the third actuator transmits rotational motion from the second actuator to the mounting plate to generate the second movement, and may generate the third movement using a second conversion unit and a third conversion unit that convert rotation of a third motor and rotation of a fourth motor respectively into linear reciprocating motion.

[0027] In a control method for a surgical device according to one or more embodiments, the third actuator causes the second conversion unit and the third conversion unit to move an equal distance, whereby the attachment plate may generate a fourth movement of translational movement in the third direction without changing its tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] [Figure 1] It is a schematic perspective view of an end effector-type surgical device that is a surgical device according to an embodiment of the present invention. [Figure 2] It is a schematic perspective view of a driver of a surgical device with an end effector removed according to an embodiment of the present invention. [Figure 3] It is a schematic perspective view of a surgical device with a housing removed according to an embodiment of the present invention. [Figure 4] It is a partially exploded perspective view of an end effector of a surgical device and an actuator assembly of a driver that drives the end effector according to an embodiment of the present invention. [Figure 5] It is a partial cross-sectional view according to another embodiment showing in more detail the coupling structure of the second actuation rod of a surgical device according to an embodiment of the present invention. [Figure 6] It is a partial perspective view of an actuator assembly in a state where a housing and an end effector are removed from a surgical device according to an embodiment of the present invention. [Figure 7] In the surgical device according to an embodiment of the present invention, it is a schematic perspective view of the actuator assembly viewed from a direction different from the direction of FIG. 6. [Figure 8] In the surgical device according to an embodiment of the present invention, it is a diagram showing the translational movement or shift movement of an attachment plate and the corresponding posture or position of the end effector. [Figure 9] In the surgical device according to an embodiment of the present invention, it is a diagram showing the result of the rotational (yawing) movement of an attachment plate and the posture or position of the end effector resulting therefrom. [Figure 10]This figure shows a surgical device according to one embodiment of the present invention, comprising a third motion which is a pitching motion of the mounting plate, and a fourth motion which is a vertical lifting or translational motion. [Modes for carrying out the invention]

[0029] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. However, embodiments of the present invention may be modified to various other forms, and the scope of the present invention should not be construed as being limited by the embodiments described below. It is preferable that embodiments of the present invention be construed as being provided to those skilled in the art to more fully illustrate the present invention. The same reference numerals mean the same elements throughout this specification. Furthermore, various elements and areas in the drawings are depicted schematically. Thus, the present invention is not limited by the relative sizes or spacings depicted in the attached drawings.

[0030] Terms such as "first" or "second" may be used to describe various components, but these components are not limited by those terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the claims as defined by the present invention, the first component may be referred to as the second component, and vice versa.

[0031] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the concepts of the invention. Singular expressions include plural expressions unless the context clearly indicates a different meaning. Furthermore, in this specification, terms such as “includes” or “having” are understood to identify the presence of features, numbers, stages, operations, components, parts and / or combinations thereof described in the specification, and not to exclude the presence or addition of one or more other features, numbers, stages, operations, components, parts and / or combinations thereof.

[0032] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as those generally understood by those skilled in the art. Furthermore, terms that are commonly used and have dictionary definitions should be understood to have a meaning consistent with their corresponding terms in the context of the relevant technical field, and unless explicitly defined herein, the meanings of such terms should not be understood in an overly formal manner.

[0033] The following describes surgical apparatuses and methods according to one or more embodiments.

[0034] The surgical apparatus relating to this disclosure basically comprises the following components, which are a mounting plate, a first actuator, a second actuator, and a third actuator.

[0035] The mounting plate is fitted with an end effector that has a surgical tool extending in the first direction, and is positioned on a plane parallel to both the first axis in the first direction and the second axis in the second direction that intersects the first direction.

[0036] The first actuator is fitted with a mounting plate and generates a first motion M1 in a second direction of the mounting plate.

[0037] The second actuator generates a rotational force that rotates the first actuator around a third axis in a third direction perpendicular to the first and second axes, thereby generating a second motion M2 of the mounting plate.

[0038] The third actuator is coupled with the second actuator to transmit rotational force from the second actuator to the first actuator, causing the mounting plate to rotate around the second axial axis of rotation and generating the third motion M3.

[0039] These actuators include a power transmission unit, that is, a power transmission unit as a powertrain system that transmits rotational power from a motor to rotational power or linear power. The first actuator includes a first plate on which a mounting plate is provided so as to be able to reciprocate in a second direction, a first motor for driving the mounting plate, and a first power transmission unit that transmits power from the first motor to actuate the mounting plate.

[0040] The first power transmission unit comprises a first conversion unit that converts the rotational motion of the first motor into linear reciprocating motion, and a first operating rod that transmits the linear motion from the first conversion unit as linear motion of the mounting plate.

[0041] The first conversion unit includes a first linear moving element that moves in a linear reciprocating motion by the rotation of the first motor, and the first operating rod is hinged to the mounting plate and the first linear moving element.

[0042] The third actuator includes a third motor and a fourth motor that generate rotational force to produce a third motion of the mounting plate, and a second power transmission unit that uses the rotation of the third motor and the fourth motor respectively to cause the first three motions.

[0043] The second power transmission unit comprises a second conversion unit and a third conversion unit that convert the rotations of the third motor and the fourth motor, respectively, into linear reciprocating motion, and a third operating rod and a fourth operating rod that transmit the linear motions of the second and third conversion units, respectively, to a mounting plate to generate a third motion.

[0044] The second and third converter units have a structure based on a similar concept to the first converter unit. Specifically, they are provided with a second linear motion unit and a third linear motion unit that reciprocate linearly due to the rotation of the third and fourth motors, respectively, and each of the second and third linear motion units includes a third and fourth operating rod. This structure will be clearly understood through the corresponding description in the specification, accompanied by references to the drawings.

[0045] Figure 1 is a schematic perspective view of an end-effector type surgical device according to one embodiment of the present invention.

[0046] Referring to Figure 1, the end-effector type surgical device 1 (hereinafter referred to as the "surgical device") comprises an end-effector 200 and an end-effector driver 100 (hereinafter referred to as the "driver") to which the end-effector 200 is attached.

[0047] The driver 100 comprises a housing 102 having a grip 101, a mounting plate 115 exposed on the housing 102 to which the end effector 200 is attached, and protective fences 103 on both sides to protect the mounting plate 115.

[0048] The end effector 200 includes, for example, a surgical tool 220 such as a saw or drill, a drive device for driving the surgical tool 220, for example, a case 210 containing a drive motor, and, in this embodiment, a mounting foot 230 provided at the bottom of the case 210 and coupled to a mounting plate 115. The mounting foot 230 is coupled to the mounting plate 115 by a fixed coupling structure or a fastening structure, both of which are removable.

[0049] Figure 2 is a schematic perspective view of the driver 100 with the end effector 200 removed from the surgical apparatus shown in Figure 1, with the housing 102 and grip 101 indicated by dotted lines so that the actuator assembly 100A inside the housing 102 is visible.

[0050] The housing 102, on which a grip 101 is formed, has a box-like shape with an open top corresponding to the end effector 200. An actuator assembly 100A that actsuates the mounting plate 115 is fixed inside the housing 102. The actuator assembly 100A has multiple parts that move the mounting plate 115 with multiple degrees of freedom, and these parts are directly or indirectly supported by a second plate 121a which functions as a main frame and is firmly fixed to the inner wall of the housing 102. As will be described in detail later, the main frame, i.e., the second plate 121a, functions as a base structure that fixes the actuator assembly 100A inside the housing 102 and is a component of the second bracket 121, which will be described in detail with reference to Figure 4.

[0051] Returning to Figure 1, in the surgical apparatus 1 having the structure described above, the end effector 200 is mounted on the driver 100 and driven by the driver 100 to produce diverse movements of 3 or 4 degrees of freedom within the three axial directions (XYZ). Here, the X-axis is in the first direction, the Y-axis is in the second direction which is orthogonal to or intersects the first direction, and the Z-axis is in the third direction which is orthogonal to or intersects both the first and second directions.

[0052] In Figure 1, the driver 100 maintains the end effector 200 in a neutral position at the operating center p. Based on this state, the XYZ coordinate system and the X'-Y'-Z' coordinate system, which has a different origin coordinate, are defined.

[0053] In the X'-Y'-Z' coordinate system, the X'-Y' plane is the plane on which the bottom 102b of the housing 102 of the driver 100 is located, and is parallel to the XY plane that passes through the working center p of the end effector 200. The Z' axis, which is perpendicular to the XY plane, extends in the vertical direction when the housing 102 of the driver is upright, and is parallel to the Z axis that passes through the working center p of the end effector 200, and the X' axis is parallel to the X axis on which the surgical tool 220 extends.

[0054] The origin coordinates of the aforementioned XYZ coordinate system are located at the operating center p of the end effector 200, and therefore, the movement of the end effector 200 is described in relation to these origin coordinates.

[0055] Describing the movement of the end effector 200, i.e., its motion, using the aforementioned XYZ coordinate system is intended to facilitate understanding of the various motions described in this disclosure, or the compound motions resulting from combinations of these motions.

[0056] Due to the diverse motions of the driver 100, the end effector 200 to which the surgical tool 220 is attached can perform a variety of movements in a three-axis coordinate system. Some or all of the terminology used to define the motion of aircraft or automobiles is used to describe the motion of the end effector 200.

[0057] The diverse motions of the end effector 200 include a first motion M1 which is shift or translation, a second motion M2 which is yaw, and a third motion which is pitch, in addition to a fourth motion M4 which is vertical rise or bounce in the vertical direction of the Z axis.

[0058] Translation refers to the state in which an end effector, which is moved in one direction by the first and fourth motions, changes its position laterally along the Y-axis or perpendicular to the Z-axis, without changing its orientation.

[0059] Each movement in the X, Y, or Z direction is either aligned with or parallel to the X, Y, or Z axis, or slightly inclined with a similar directionality to these axes.

[0060] In this disclosure, these various forms of motion are performed in combination. These various forms of motion are generated by driver 100, which will be described in detail later.

[0061] Figure 3 is a schematic perspective view of the surgical apparatus 1 with the housing 102 (see Figures 1 and 2) removed, and Figure 4 is a partially exploded perspective view of the actuator assembly 100A of the end effector 200 and the driver 100 that drives it.

[0062] Referring to Figure 3, the end effector 200 is connected to the mounting plate 115 of the driver 100 by mounting legs 230 provided on the lower part of the end effector 200, and the mounting plate 115 is connected to the actuator assembly 100A.

[0063] The mounting plate 115 ultimately generates all movement of the end effector 200, all of which occurs as movement relative to the second plate 121a. As previously mentioned, the second plate 121a is fixed to the housing 102 of the driver 100, fixes the actuator assembly 100A within the housing 102, and acts as a component of the second bracket 121 that supports the second actuator 120, which will be described later.

[0064] In the following description of actuator assembly 100A, Figure 4 will be primarily referenced along with Figure 3. However, Figures 5 and 6 will also be partially referenced to aid understanding, but Figures 5 and 6 will be explained again separately.

[0065] Referring to both Figures 3 and 4, the actuator assembly 100A that operates the end effector 200 is a combination in which the first actuator 110, the second actuator 120, and the third actuator 130 are operably coupled to each other.

[0066] The first actuator 110 includes a first bracket 111 that supports a mounting plate 115 so that it can be shifted laterally within a predetermined working distance by a linear rail device 117 including two slide rails 117a and 117b. The first bracket 111 includes a first plate 111a and a first motor mount 111b, which are assembled or formed as a single unit from multiple parts.

[0067] A linear rail device 117 is provided on the first plate 111a, and a first motor 112 is mounted on the first motor mount 111b to generate a lateral shift motion of the mounting plate 115. The rotation axis of the first motor 112 is connected to a linear lead screw 114 via a first coupler 116, and the linear lead screw 114 is screw-coupled to a screw nut 114a (see Figure 6) which is coupled to a first linear mover 113a that moves the operating rod assembly 119 (see Figure 6), thereby causing the first linear mover 113a to reciprocate within its operating range. Here, the first linear mover 113a and the first motor mount 111b have parallel portions to each other, and a guide rail structure 118 (Figure 6) is provided between these two parallel portions to guide the linear reciprocating motion of the first linear mover 113a in the direction in which the linear lead screw 114 extends.

[0068] The second actuator 120 comprises a second motor 122 that generates rotational (yaw or pivot) motion of the mounting plate 115, and a second bracket 121 that supports the second motor 122. The second motor 122 rotates the second plate 121a within a predetermined angular range to produce yaw motion of the mounting plate 115, which is mounted laterally shiftable on the first plate 111a.

[0069] The second bracket 121 includes a second motor mount 121b to which the second motor 122 is attached, and a second plate 121a which functions as the main frame as described above. The second motor mount 121b is integrally coupled with the second plate 121a, and according to other embodiments, the second bracket 121 is formed integrally with the second plate 121a.

[0070] The second plate 121a or the second bracket 121 including the second plate 121a, as described above, supports the second actuator 120 and functions as a basic support structure for fixing the entire actuator assembly 100A within the housing 102, and may be deformed into various shapes depending on the shape design.

[0071] In this embodiment, the second plate 121a has an L-shaped form with two extensions, which are fixed ends 121a' fixed to the internal elements of the housing 102, such as the inner wall. Such a second plate 121a is fixed to the corresponding position in the housing 102 and functions as a basic support structure for the entire actuator assembly 100A.

[0072] Meanwhile, the rotating shaft of the second motor 122, which is attached to the second bracket 121, is directly connected to the second coupler 123, and the second coupler 123 is directly connected to the rotary second actuation rod 124 that rotates the third actuator 130. The second actuation rod 124 passes through the second plate 121a and is firmly fixed to the shaft fixing portion 131c formed on the bottom surface of the third bracket 131 of the third actuator 130. The second plate 121a through which the second actuation rod 124 passes is provided with a bearing 125 (see Figure 6) that assists the rotation of the second actuation rod 124 within a specified range of rotation, along with a component that supports the bearing.

[0073] Figure 5 is a partial cross-sectional view of another embodiment showing details of the coupling structure of the second operating rod 124.

[0074] Referring to Figure 5, the second operating rod 124a, which has a different shape from the second operating rod 124 described above, has a column portion connected to the second coupler 123 and a head portion that overlaps around the upper surface of the through hole 131d formed in the third plate 131b. The head portion of the second operating rod 124a is fixed to the third plate 131b by a fixing bolt 124b, and the rotational motion of the waist portion of the second operating rod 124a is supported by a bearing 125 in a bearing housing 125a provided in the through hole 126 of the second plate 121a, as in the embodiment described above.

[0075] With this structure, the second actuator 120 rotates within a predetermined angular range due to the rotation of the second motor 122, thereby causing the yaw (rotation) motion of the end effector 200 described above.

[0076] Figure 6 is a partial perspective view of the actuator assembly with the housing and end effector removed.

[0077] Referring to Figure 6, the third actuator 130 comprises two motors, namely a third motor 132a and a fourth motor 132b, and a third bracket 131 that supports the motors. Here, the third bracket 131 comprises a third motor mount 131a that supports the third motor 132a and motor 132b adjacent to each other, and a third plate 131b which is integrally coupled with the third motor mount 131a and was mentioned in the description of the second actuator 120.

[0078] As described above, the third plate 131b is rotated by the second motor 122, and therefore all components of the third actuator 130 coupled to the third plate 131b rotate together. The third actuator 130 is operably connected to the first plate 111a of the first bracket 111 by an actuation rod structure 135, which is actuated by the third motor 132a and the fourth motor 132b, respectively.

[0079] In detail, the actuation rod structure 135 comprises a third actuation rod 135a operably connected to a third motor 132a and a fourth actuation rod 135b operably connected to a fourth motor 132b.

[0080] The lower ends of the third actuation rod 135a and actuation rod 135b are coupled to the second linear moving element 133a and the third linear moving element 133b, respectively, which reciprocate within a predetermined operating range of a predetermined operating distance by the third motor 132a and motor 132b. Although not described in detail here, the aforementioned third and fourth couplers 136a and 136b have a coupler structure and are coupled to the respective rotation axes of the third motor 132a and the fourth motor 132b.

[0081] The upper parts of the third actuation rod 135a and the fourth actuation rod 135b are hinged to the first plate so as to be swingable, i.e., rotatable relative to it.

[0082] Specifically, the upper part of the third actuation rod 135a is pivotably hinged to the first hinge portion 111e provided on the first plate 111a. The upper part of the fourth actuation rod 135b is pivotably connected to the second hinge portion 111f provided on the first plate 111a via the fifth actuation rod 135c. Here, the fifth actuation rod 135c functions to transmit the force from the fourth actuation rod 135b to the first plate 111a via the second hinge portion 111f, while allowing for offset or mismatch between the end of the fourth actuation rod 135b and the second hinge portion 111f due to the tilting operation of the first plate 111a.

[0083] With this swinging structure of the third actuator rod 135a and the fourth actuator rod 135b, the synchronous reciprocating motion of the third actuator rod 135a and the fourth actuator rod 135b can lift the first plate 111a in the vertical Z direction or cause it to bounce up and down. Different movements of the third actuator rod 135a and the fourth actuator rod 135b, for example, the fourth actuator rod 135b reciprocating over a relatively longer distance than the third actuator rod 135a, or the fourth actuator rod 135b reciprocating while the third actuator rod 135a is stationary, can cause the first plate 111a to perform a pitch motion around the first hinge portion 111e. In other words, the third actuator 130 can perform either a pitch motion or a vertical lifting motion, and can even perform a combined pitch-bounce motion.

[0084] Figure 7 is a schematic perspective view of the actuator assembly 100A, viewed from a different direction than that shown in Figure 6, and shows a more detailed structure of the first actuator 110. However, to aid in understanding the structure, some elements, such as the second plate 121a which functions as the main frame, have been removed from this perspective view.

[0085] Referring to Figure 7, a mounting plate 115, supported on the first plate 111a by a linear rail unit 117 including two slide rails 117a and 117b, so as to perform lateral translational motion (shifting motion) within a predetermined operating distance, is actuated by the actuating rod assembly 113 of the first actuator 110.

[0086] The actuation rod assembly 113 comprises a first linear motion element 113a that reciprocates along the linear motion feed screw 114, and a first actuation rod 113b of the rotary lever type, whose ends are hinge-connected to the first linear motion element 113a and the mounting plate 115.

[0087] For this purpose, a third hinge portion 113c and a fourth hinge portion 113d are provided at both ends of the first actuation rod 113b, so that the first actuation rod 113b can swing relative to the first linear motion element 113a and the mounting plate 115, respectively, via the third hinge portion 113c and the fourth hinge portion 113d. The third hinge portion 113c has a pin coupling structure that engages with the end of the first actuation rod 113b so as to be movable relative to it, and the fourth hinge portion 113d is swingably coupled to hinge members 115e and 115f provided on the mounting plate 115 via complementary engagement.

[0088] According to the above-described structure, the rotation of the first motor 112 transmitted via the first coupler 116 causes linear motion of the first linear motion element 113a, and such linear motion changes the posture of the first actuation rod 113b which is pivotably coupled to the first linear motion element 113a, thereby causing translational motion or shift of the mounting plate 115 in the Y-axis direction.

[0089] In the second actuator 120, which generates rotational motion of the mounting plate 115 within a specified angular range, the second actuation rod 124, connected to the second motor 122 via the second coupler 123, is firmly fixed to the shaft fixing portion 131c formed on the underside of the third plate 131b of the third actuator 130. Reference numeral 125 in the figure indicates a bearing that rotatably supports the second actuation rod 124 relative to the second bracket 121.

[0090] On the other hand, the third actuator 130, which is driven by the rotation of the second motor 122, has a third bracket 131 comprising a third motor mount 131a and a third plate 131b. Here, the third actuation rod 135a and the fourth actuation rod 135b, which are driven by the third motor 132a and the fourth motor 132b respectively, are connected directly or indirectly to the first plate 111a by passing through through holes formed in the third plate 131b.

[0091] Here, the upper end of the third actuation rod 135a is directly connected to the first plate 111a, and the upper end of the fourth actuation rod 135b is indirectly connected to the first plate 111a via the fifth actuation rod 135c and the second hinge portion 111f provided on the first plate 111a. Here, the fifth actuation rod 135c transmits the force from the fourth actuation rod 135b to the first plate 111a via the second hinge portion 111f, while allowing for misalignment or displacement between the end of the fourth actuation rod 135b and the second hinge portion 111f due to the tilting motion of the first plate 111a.

[0092] The oscillating structure of the third actuator rod 135a and the fourth actuator rod 135b allows the first plate 111a to be lifted in one direction (Z direction) or bounced up and down by the synchronous reciprocating motion of the third actuator rod 135a and the fourth actuator rod 135b. Different movements of the third actuator rod 135a and the fourth actuator rod 135b, for example, the fourth actuator rod 135b reciprocating over a relatively longer distance than the third actuator rod 135a, or the fourth actuator rod 135b reciprocating while the third actuator rod 135a is stationary, can cause the first plate 111a to tilt in one direction around the first hinge portion 111e, i.e., to perform a pitching motion. In other words, the third actuator 130 can perform either a pitching motion or a lifting motion, and can even perform a combined pitch-bounce motion.

[0093] The following describes the diverse operations of the surgical driver 100 related to this disclosure due to its multiple degrees of freedom.

[0094] The actuator assembly 100A of the surgical driver 100 according to this disclosure comprises three actuators, each of which operates independently. The synchronized operation of these actuators generates a highly diverse and complex range of end-effector movements. The operation will be described below with reference to the drawings.

[0095] <Operation of the first actuator> Figures 8(A), (B), and (C) show the results of the first motion M1 of the mounting plate 115 via the first actuator 110, which is a translational or shifting motion, and the resulting attitude or position of the end effector 200, respectively.

[0096] In Figure 8, (A) shows the state in which the first actuator 110 is in an intermediate position (initial posture), (B) shows the state in which the first motor 112 of the first actuator 110 is activated and the first linear moving element 113a is raised above the initial intermediate position (intermediate position in the operating region), and (C) shows the state in which the first actuator 110 is lowered below the intermediate position.

[0097] Therefore, in Figure 8, in state (A), the end effector 200 is in an intermediate position corresponding to the intermediate position (initial posture) of the first actuator 110; in state (B), the upward movement of the first linear moving element 113a activates the first operating rod 113b of the operating lever type (rotating lever type) and pushes the mounting plate 115, as a result, the end effector 200 above it is shifted to the left; and in state (C), the first actuator 110 descends below the intermediate position and pulls the mounting plate 115, as a result, the end effector 200 above it is shifted to the right.

[0098] <Operation of the second actuator> Figures 9(A), (B), and (C) show the results of the second motion M2, which is the yaw (rotation) motion of the first plate 111a by the second actuator 120, and the resulting posture of the end effector 200, respectively.

[0099] In Figure 9, (A) shows the second actuator 120 in an intermediate position (initial posture), (B) shows the second motor 122 of the second actuator 120 operating, causing the first plate 111a of the first bracket 111 to rotate in one direction (clockwise) by a predetermined angle, and (C) shows the second motor 122 operating, causing the first plate 111a of the first bracket 111 to rotate in the other direction (counterclockwise) by a predetermined angle.

[0100] Therefore, in Figure 9, in state (A), the end effector 200 is in an intermediate position facing the front of the figure, corresponding to the intermediate position (initial posture) of the second actuator 120; in state (B), the end effector 200 yawing (rotating) to the left by a specified angle; and in state (C), the end effector 200 yawing to the right by a specified angle.

[0101] <Operation of the third actuator> Figures 10(A), (B), (C), and (D) show the third motion of the end effector 200, which is a pitch motion, and the fourth motion, which is a vertical lifting or translational motion, with the surgical tool 220 of the surgical apparatus 1 facing left in the figure. Figures 10(A), (B), (C), and (D) show the results of the operation of the third motor 132a and the fourth motor 132b of the third actuator 130 that actsuates the first plate 111a of the first bracket 111, and the resulting posture or position of the end effector 200, respectively.

[0102] In Figure 10, (A) shows the third actuator 130 in its initial position, and (B) shows the state in which the second linear motion element 133a and the third linear motion element 133b have risen by the same distance due to the synchronous operation of the third motor 132a and the fourth motor 132b of the third actuator 130. Then, in Figure 10, (C) shows the state in which the second linear motion element 133a has risen to a relatively higher height than the third linear motion element 133b due to the differential operation of the third motor 132a and the fourth motor 132b, and (D) shows the opposite state in (C), in which the third linear motion element 133b has risen to a relatively higher height than the second linear motion element 133a due to the differential operation of the third motor 132a and the fourth motor 132b.

[0103] Therefore, in Figure 10, in state (B), the first plate 111a is parallel to the surface of the first plate 111a which is at a higher position compared to state (A), and undergoes translational motion as a fourth, perpendicular motion, causing the first plate 111a to rise vertically without changing its inclination.

[0104] In Figure 10, in state (C), the first plate 111a does not undergo vertical translational motion as in state (B), and the left end of the first plate 111a is higher than its right end, causing the surface of the first plate 111a to tilt to the left.

[0105] In Figure 10, in state (D), contrary to state (C), the right edge of the first plate 111a in the figure is higher than its left edge, causing the surface of the first plate 111a to be tilted to the right.

[0106] Therefore, in Figure 10, in state (B), the end effector 200 rises straight up vertically; in state (C), the tool portion of the end effector 200 is lifted upward; and in state (D), the tool portion is lowered downward, thereby generating pitch motion.

[0107] As described above, the operation of the first actuator 110 occurs with respect to the mounting plate 115 placed on the first plate 111a, and the operation of the second actuator 120 and the third actuator 130 occurs with respect to the first plate 111a. Here, the second actuator 120 produces a yaw motion with respect to the first plate 111a, and the third actuator 130 acts on the entire structure of the first actuator 110, including the first plate 111a.

[0108] Therefore, the operation of the third actuator 130 appears synchronously on the first plate 111a, independently of (separately from) the operation of the first plate 111a by the second actuator 120, and thus the first plate 111a exhibits a combined operation resulting from the operation of the second actuator 120 and the third actuator 130. That is, a combination of yaw motion by the second actuator 120 and vertical lift and pitch motion by the third actuator 130.

[0109] This complex movement is directly reflected in the mounting plate 115 located above it. At this time, the mounting plate 115 performs a complex movement due to the first plate 111a, and the first actuator 110 performs a shifting operation on the first plate 111a independently of this.

[0110] Therefore, the mounting plate 115 generates a complex four-degree-of-freedom motion that includes all of the above-mentioned movements, including the shift motion by the first actuator 110, the yaw motion by the second actuator 120, and the vertical upward and downward (bounce) and pitch motion by the third actuator 130.

[0111] As a result, the surgical tool 220, mounted on the mounting plate 115 that generates a compound motion with four degrees of freedom, can control the compound motion with four degrees of freedom.

[0112] A surgical device capable of controlling the operation of a four-degree-of-freedom tool can be used in a computer-based surgical system based on a surgical plan. Therefore, all of the aforementioned actuators can be controlled using the surgical system, and thus the surgeon will be able to perform surgery more freely based on the surgical plan, with less physical limitation and constraint of the surgical space.

[0113] Therefore, the surgical device described herein enables highly flexible surgical procedures, allowing the surgeon to assume a relatively free posture and to operate the end effector to correspond to the position and orientation of the surgical site based on a given surgical plan.

[0114] Although various embodiments relating to this disclosure have been described in detail above, those skilled in the art can modify and implement this disclosure in various ways without departing from the concepts and scope of this disclosure as set forth in the attached claims. Therefore, any future modifications to the embodiments of this disclosure will not deviate from the description herein.

Claims

1. An end effector equipped with a surgical tool extending in a first direction is attached, and the mounting plate is positioned on a plane parallel to a first axis in the first direction and a second axis in a second direction intersecting the first direction, The mounting plate is attached to a first actuator that generates a first motion of the mounting plate in a second direction intersecting the first direction, A second actuator generates a rotational force that causes the mounting plate to move by rotating the first actuator around a third axis in a third direction perpendicular to the first and second axes, A surgical apparatus comprising: a third actuator coupled to the second actuator, which transmits the rotational force from the second actuator to the first actuator, causing the mounting plate to rotate around the second axial rotation axis to produce a third motion of the mounting plate.

2. The surgical apparatus according to claim 1, wherein the first actuator comprises a first plate on which the mounting plate is mounted so as to be reciprocable in the second direction, a first motor for driving the mounting plate, and a first power transmission unit for transmitting power from the first motor to operate the mounting plate by the first motor.

3. The surgical apparatus according to claim 2, wherein the first power transmission unit comprises a first conversion unit that converts the rotation of the first motor into linear reciprocating motion, and a first operating rod that transmits the linear motion from the first conversion unit as linear motion of the mounting plate.

4. The surgical apparatus according to claim 3, wherein the linear motion from the first conversion unit occurs in a direction transverse to the surface of the mounting plate, the first operating rod is hinged to the mounting plate, and the linear motion from the first conversion unit is converted into motion of the mounting plate.

5. The surgical apparatus according to claim 3, wherein the first conversion unit comprises a first linear moving element that performs the linear reciprocating motion by the rotation of the first motor, and the first operating rod is hinge-coupled to the mounting plate and the first linear moving element.

6. The first, second, and third actuators are arranged within a housing that protects the first, second, and third actuators. The surgical apparatus according to claim 1, wherein the second actuator comprises a second plate fixed in position with respect to the housing, a second motor that generates a rotational force to rotate the first actuator, and a second motor mount that supports the second motor.

7. The surgical apparatus according to claim 6, wherein the third actuator comprises a third plate that is rotated by the second motor.

8. The third actuator is A third motor and a fourth motor that generate rotational force to generate the third motion of the mounting plate, The surgical apparatus according to claim 1, further comprising a second power transmission unit that generates the third motion using the rotations of the third motor and the fourth motor, respectively.

9. The second power transmission unit is, A second conversion unit and a third conversion unit that convert the rotation of the third motor and the fourth motor, respectively, into linear reciprocating motion, The surgical apparatus according to claim 8, comprising a third operating rod and a fourth operating rod that transmit the linear motion of the second and third conversion units, respectively, to the mounting plate to generate the third motion.

10. The surgical apparatus according to claim 9, wherein the third actuator is configured such that the second and third conversion units of the second power transmission unit move simultaneously by the same distance, thereby generating a fourth motion in which the mounting plate translates in the third direction without changing its tilt.

11. The steps include: attaching an end effector equipped with a tool positioned in a first direction to a mounting plate positioned on a plane parallel to the first axis in the first direction and the second axis in a second direction intersecting the first direction; The first actuator generates a first movement of the mounting plate in the second direction, The second actuator rotates the first actuator around a third axis in a third direction perpendicular to the first and second axes, thereby generating a second motion of the mounting plate. A method for controlling a surgical apparatus, comprising the steps of: causing a third actuator to generate a third motion of the mounting plate; the third actuator being coupled to the second actuator to transmit the rotational force from the second actuator to the first actuator, thereby rotating the mounting plate around a rotation axis in the second axis.

12. A control method for a surgical apparatus according to claim 11, wherein a first plate provided on the first actuator supports the mounting plate so as to be reciprocable in a second direction, and a first power transmission unit provided on the first actuator generates the first motion of the mounting plate.

13. A control method for a surgical apparatus according to claim 12, wherein a first conversion unit provided in the first power transmission unit converts the rotation of the first motor into linear reciprocating motion, and a first operating rod connected to the first conversion unit transmits the linear motion from the first conversion unit to the mounting plate.

14. A control method for a surgical apparatus according to claim 13, wherein the first conversion unit generates linear motion from a direction transverse to the surface of the mounting plate, and the first operating rod is hinged to the mounting plate and converts the linear motion from the first conversion unit into the direction of motion of the mounting plate.

15. The housing protects the first, second, and third actuators provided within the housing. A control method for a surgical apparatus according to claim 11, wherein a second plate provided on the second actuator is fixed in position relative to the housing and supports the first, second and third actuators as a whole.

16. A control method for a surgical apparatus according to claim 11, wherein the third actuator transmits rotational motion from the second actuator to the mounting plate to generate the second motion, and generates the third motion using a second conversion unit and a third conversion unit that convert the rotations of the third motor and the fourth motor, respectively, into linear reciprocating motion.

17. A control method for a surgical apparatus according to claim 16, wherein the third actuator causes the second and third conversion units to move by the same distance, thereby generating a fourth motion in which the mounting plate translates in the third direction without changing its tilt.

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