Treatment tool control device

Abstract

A treatment tool control device according to one embodiment includes a main housing, a treatment tool control assembly provided in the main housing and controlling at least one treatment tool, and a guide catheter control assembly located on the front side of the main housing and controlling a guide catheter that guides a path of the at least one treatment tool, the guide catheter control assembly including a frame located on the front section of the main housing, and a first roller module and a second roller module provided on the frame, the second roller module being horizontally movable toward the first roller module so that the guide catheter is gripped between the first roller module and the second roller module.

Description

Technical Field

[0001] The following embodiments relate to a surgical tool control device.

Background Art

[0002] In the process of conventional vascular arbitration surgery (PCI, Percutaneous Coronary Intervention), the surgeon has the risk of continuous exposure to radiation, and a large amount of time and cost are spent to train skilled doctors to a level where stable surgery is possible. There are significant differences among surgeons / regions / hospitals in the completion of surgery, and it is difficult to provide high-level medical services universally.

[0003] To compensate for such disadvantages, auxiliary robots for arbitration surgery have been introduced, but many auxiliary robots are configured to be able to control only a pair of surgical tools. Here, the conventional auxiliary robots for arbitration surgery are applicable only to surgeries for lesions with low difficulty, and there is a limitation in that they are difficult to apply when the use of multiple surgical tools is required, such as in the case of lesions of chronic total occlusion (CTO, chronic total occlusion).

[0004] Therefore, there is a current situation where a surgical tool control device that can independently control multiple surgical tools and guide catheters is required so that it can also be applied to complex vascular arbitration surgery (Complex PCI).

[0005] The background art described above is what the inventor retained or acquired in the process of deriving the disclosure content of this specification, and it cannot necessarily be said to be publicly known technology that was publicly disclosed to the general public before this application.

Summary of the Invention

Problems to be Solved by the Invention

[0006] An object of one embodiment is to provide a surgical tool control device that can also be applied to complex vascular arbitration surgery.

[0007] One embodiment aims to provide a treatment tool control device that can independently control multiple treatment tools and guide catheters. [Means for solving the problem]

[0008] A treatment tool control device according to one embodiment includes a main housing, a treatment tool control assembly provided in the main housing for controlling at least one treatment tool, and the front of the main housing. end The device includes a guide catheter control assembly located on the side and controlling a guide catheter that guides the path of at least one surgical instrument, wherein the guide catheter control assembly is located in front of the main housing. end The system includes a frame located at a certain position, and a first roller module and a second roller module provided on the frame, wherein the second roller module is horizontally movable toward the first roller module so that the guide catheter is grasped between the first roller module and the second roller module.

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

[0010] With the guide catheter being held, the guide catheter can be moved in the longitudinal direction by rotating the roller members of the first roller module and the second roller module.

[0011] With the guide catheter being held, the held guide catheter can be rotated by moving at least one of the roller members of the first roller module and the second roller module in the vertical direction.

[0012] The roller plate includes an upper roller plate connected to the frame and a lower roller plate located below the upper roller plate and to which the roller member is rotatably connected, and the first roller module or the second roller module may further include a vertical movement section that moves the lower roller plate vertically relative to the upper roller plate.

[0013] The vertical movement section may include a vertical movement drive motor, a vertical movement pulley to which rotational power is transmitted from the vertical movement drive motor, a vertical movement lead screw nut that rotates integrally with the vertical movement pulley, and a vertical movement lead screw fastened to the vertical movement lead screw nut, to which the lower roller plate is connected on one side, and which moves the lower roller plate in the vertical direction by the rotation of the vertical movement lead screw nut.

[0014] The first roller module or the second roller module may further include a rotation drive unit for rotating the roller member relative to the roller plate.

[0015] The rotational drive unit may include a rotational drive motor, a rotational drive pulley to which rotational power is transmitted from the rotational drive motor, a spline nut that rotates integrally with the rotational drive pulley, and a spline shaft fastened to the spline nut and to which the roller member is connected on one side, and which rotates the roller member by the rotation of the spline nut.

[0016] The rotational drive unit may further include a shaft support unit located between the rotational drive pulley and the spline shaft, which prevents the spline shaft from wobbling.

[0017] The guide catheter control assembly may further include a horizontal movement unit for moving the second roller module horizontally.

[0018] The horizontal movement part may include a horizontal movement drive motor, a horizontal movement lead screw horizontally connected to the frame and receiving rotational power transmitted from the horizontal movement drive motor, and a horizontal movement lead screw nut fastened to the horizontal movement lead screw and having the roller plate connected to one side thereof, the horizontal movement lead screw nut moving the roller plate in the horizontal direction by rotation of the horizontal movement lead screw.

[0019] The main housing further includes a connecting arm for connecting the guide catheter control assembly, and the guide catheter control assembly is tiltable or translatable with respect to the main housing via the connecting arm.

Advantages of the Invention

[0020] The surgical instrument control device according to one embodiment can independently control a plurality of surgical instruments and a guide catheter.

[0021] The surgical instrument control device according to one embodiment can also be applied to complex vascular arbitration surgery.

[0022] The effects of the surgical instrument control device according to one embodiment are not limited to those mentioned above, and different effects not mentioned can be clearly understood by those skilled in the art from the following description.

[0023] That is the case.

Brief Description of the Drawings

[0024] [Figure 1] It is a perspective view of a surgical instrument control device according to one embodiment. [[ID=3,3]] [Figure 2] It is a plan view of a surgical instrument control device according to one embodiment. [Figure 3] It is a view of the usage state of a surgical instrument control device according to one embodiment. [Figure 4] It shows the process in which the roller module of the surgical instrument control assembly according to one embodiment moves the surgical instrument forward / backward. [Figure 5]The process in which the roller module of the treatment tool control assembly according to an embodiment rotates the treatment tool is shown. [Figure 6] It is a perspective view of the treatment tool control assembly according to an embodiment. [Figure 7] It is a bottom perspective view of the treatment tool control assembly according to an embodiment. [Figure 8] It is a front view of the treatment tool control assembly according to an embodiment. [Figure 9] It is a bottom view of the treatment tool control assembly according to an embodiment. [Figure 10] It is a perspective view of the roller module of the treatment tool control assembly according to an embodiment. [Figure 11] It is a cross-sectional view of the roller module of the treatment tool control assembly according to an embodiment. [Figure 12] It is a perspective view of the housing tilting part according to an embodiment. [Figure 13] It is a perspective view of the clamping part and the Y connector holder according to an embodiment. [Figure 14] It is a plan view showing the operation mode of the clamping part according to an embodiment. [Figure 15] It is a plan view showing the operation mode of the clamping part according to an embodiment. [Figure 16] It is a plan view showing the operation mode of the clamping part according to an embodiment. [Figure 17] It is a side view of the treatment tool control device according to an embodiment. [Figure 18] It is a perspective view of the guide catheter control assembly according to an embodiment. [Figure 19] It is a bottom perspective view of the guide catheter control assembly according to an embodiment. [Figure 20] It is a plan view of the guide catheter control assembly according to an embodiment. [Figure 21] It is a perspective view of the roller module of the guide catheter control assembly according to an embodiment. [Figure 22]This is a cross-sectional view of a roller module of a guide catheter control assembly according to one embodiment. [Modes for carrying out the invention]

[0025] Embodiments will be described in detail below with reference to the attached drawings. However, the specific structural or functional descriptions disclosed herein are merely illustrative for the purpose of illustrating the embodiments, and the embodiments can be carried out in various different forms, and the present invention is not limited to the embodiments described herein. All modifications, equivalents, or substitutions to the embodiments should be understood to be included within the scope of the rights.

[0026] The terms used in the embodiments are for illustrative purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “includes” or “having” indicate the presence of features, figures, steps, actions, components, parts, or combinations thereof described in the specification, and should not be understood as preemptively excluding the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0027] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this embodiment belongs. Commonly used, predefined terms should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0028] Furthermore, when explaining with reference to the attached drawings, the same components will be assigned the same reference numerals regardless of the reference numerals used in the drawings, and redundant explanations will be omitted. In the description of embodiments, if a specific explanation of related prior art is deemed to unnecessarily obscure the gist of the embodiment, such detailed explanation will be omitted.

[0029] Furthermore, in describing the components of the embodiments, terms such as First, Second, A, B, (a), (b), etc., may be used. These terms are used to distinguish a component from other components, and the terms do not limit the nature, order, or sequence of the component in question. If it is stated that any component is "linked," "joined," or "connected" to another component, it can be understood that the component is directly linked or connected to the other components, but that other components may be "linked," "joined," or "connected" between each component.

[0030] Components that have functions common to components included in any of the embodiments will be described using the same name in the other embodiments. Unless otherwise stated, the descriptions in one embodiment will also apply to the other embodiments, and specific descriptions will be omitted to the extent that they overlap.

[0031] Figure 1 is a perspective view of a treatment tool control device according to one embodiment. Figure 2 is a plan view of the treatment tool control device according to one embodiment. Figure 3 is a diagram showing the treatment tool control device in use according to one embodiment. Figure 4 shows the process by which the roller module of the treatment tool control assembly according to one embodiment moves the treatment tool forward / backward. Figure 5 shows the process by which the roller module of the treatment tool control assembly according to one embodiment rotates the treatment tool.

[0032] Referring to Figures 1 to 5, the treatment tool control assembly 100 can independently control multiple treatment tools T. Here, treatment tool T means a treatment tool having a longitudinal direction. For example, treatment tool T may include various treatment tools such as guide wires and / or balloon catheters having a longitudinal direction. However, this is illustrative and not limited to the type of treatment tool T. The treatment tool control device 100 can achieve forward / backward movement and rotation of the treatment tool T via the rotation and vertical movement of the roller module 22, which will be described later. Specifically, as shown in Figure 4, with the first roller module 22a and the second roller module 22b positioned adjacent to each other and gripping the first treatment tool Ta between them, the first treatment tool Ta gripped between them can be moved forward or backward along its longitudinal direction by rotating each roller member 222a, 222b in one direction or the other. Furthermore, as shown in Figure 5, the first roller module 22a and the second roller module 22b are located adjacent to each other, and by moving at least one of the roller modules 22 vertically while gripping a treatment tool between them, the treatment tool being gripped can be rotated.

[0033] Referring to Figure 3, the treatment tool control device 100 can independently control four treatment tools Ta, Tb, Tc, and Td via five roller modules 22a, 22b, 22c, 22d, and 22e. The treatment tool control device 100 can grip and release the treatment tool T between each roller module 22 via the horizontal movement of the roller modules 22. For example, Figure 3 shows a state in which the first treatment tool Ta is gripped by the first roller module 22a and the second roller module 22b, and the third treatment tool Tc is gripped by the third roller module 22c and the fourth roller module 22d. More specific methods for gripping treatment tools will be described later.

[0034] One embodiment of the treatment tool control device 100 includes a main housing 1, a treatment tool control assembly 2, a guide catheter control assembly 3, a connecting arm 4, a housing tilting section 5, a clamping section 6, a treatment tool supporter 7, and a Y connector holder 8.

[0035] Referring to Figures 1 and 2, the main housing 1 can form the appearance of the treatment tool control device 100. For example, the main housing 1 may be connected to a slave-based robot arm. That is, the treatment tool control device 100 functions as an end effector connected to a slave-based robot arm. The main housing 1 may be provided with switches or handles for position adjustment and / or tilting of the main housing 1. The main housing 1 may be provided with a display panel for conveying information to the user regarding how to use the device and the status of the device.

[0036] Figure 6 is a perspective view of a treatment tool control assembly according to one embodiment. Figure 7 is a bottom perspective view of a treatment tool control assembly according to one embodiment. Figure 8 is a front view of a treatment tool control assembly according to one embodiment. Figure 9 is a bottom view of a treatment tool control assembly according to one embodiment.

[0037] Referring to Figures 3 and 6-9, the treatment tool control assembly 2 can control the treatment tool T. The treatment tool control assembly 2 can grasp and release the treatment tool T. The treatment tool control assembly 2 can move and rotate the grasped treatment tool T in the longitudinal direction.

[0038] The treatment tool control assembly 2 includes a frame 21, a roller module 22, and a horizontal movement section 23.

[0039] nothing.

[0040] The frame 21 can form a base frame on which the roller module 22 and horizontal movement section 23, described later, are provided. That is, the frame 21 is connected to the main housing 1, and the roller module 22 and horizontal movement section 23 are connected to the frame 21.

[0041] Multiple roller modules 22 may be provided and connected to the frame 21. For example, the roller module 22 includes a first roller module 22a, a second roller module 22b, a third roller module 22c, a fourth roller module 22d, and a fifth roller module 22e. The first roller module 22a, the second roller module 22b, the third roller module 22c, the fourth roller module 22d, and the fifth roller module 22e may be arranged side by side. However, this is illustrative and the number of roller modules 22 is not limited thereto.

[0042] A treatment tool T may be held between two adjacent roller modules 22. To this end, at least one of the roller modules 22 can be moved horizontally toward the other roller module 22. For example, as shown in Figure 3, the second roller module 22b can be moved horizontally toward the first roller module 22a so that the first treatment tool Ta is held between the first roller module 22a and the second roller module 22b. In this case, the second treatment tool Tb located between the second roller module 22b and the third roller module 22c may be released from its grip. Conversely, the second roller module 22b can be moved horizontally toward the third roller module 22c so that the second treatment tool Tb is held between the second roller module 22b and the third roller module 22c. In this case, the first treatment tool Ta located between the first roller module 22a and the second roller module 22b may be released from its grip.

[0043] Similarly, the fourth roller module 22d can be moved horizontally toward the third roller module 22c so that the third treatment tool Tc is gripped between the third roller module 22c and the fourth roller module 22d. In this case, the fourth treatment tool Td, which is located between the fourth roller module 22d and the fifth roller module 22e, may be released from grip. Conversely, the fourth roller module 22d can be moved horizontally toward the fifth roller module 22e so that the fourth treatment tool Td is gripped between the fourth roller module 22d and the fifth roller module 22e. In this case, the third treatment tool Tc, which is located between the third roller module 22c and the fourth roller module 22d, may be released from grip.

[0044] Thus, with a structure in which a movable roller module 22 can move horizontally toward the roller modules 22 located on both sides, it is possible to selectively grip each treatment tool T. Furthermore, since the distance between the roller modules 22 can be sufficiently widened to load the treatment tools T, the thickness of the treatment tools T that can be gripped is not limited. In other words, the versatility of the treatment tool control device 100 can be improved because it is not limited by the thickness of the treatment tool T and can be applied to and gripped with any thickness of treatment tool T.

[0045] As shown in Figure 3, with the first roller module 22a and the second roller module 22b gripping the first treatment tool Ta, and the third roller module 22c and the fourth roller module 22d gripping the third treatment tool Tc, the first treatment tool Ta and the third treatment tool Tc can be independently controlled (forward / backward and rotated). Specifically, the first treatment tool Ta may move forward or backward in the longitudinal direction by the rotation of the roller members 222a and 222b of the first roller module 22a and the second roller module 22b (see Figure 4). Also, the first treatment tool Ta may rotate by the vertical movement of at least one of the roller members 222a and 222b of the first roller module 22a and the second roller module 22b (see Figure 5). Similarly, the third treatment tool Tc may move forward or backward in the longitudinal direction by the rotation of the roller members 222c and 222d of the third roller module 22c and the fourth roller module 22d. Furthermore, the third treatment tool Tc may be rotated by the vertical movement of at least one of the roller members 222c and 222d of the third roller module 22c and the fourth roller module 22d. In summary, the first treatment tool Ta is controlled by the first roller module 22a and the second roller module 22b, and the third treatment tool Tc is controlled by the third roller module 22c and the fourth roller module 22d. Therefore, the first treatment tool Ta and the third treatment tool Tc can be controlled simultaneously as a set, independently of each other. In this case, for example, one of the first treatment tool Ta and the third treatment tool Tc may be a balloon catheter, and the other may be a guidewire.

[0046] Similarly, with the second roller module 22b and the third roller module 22c gripping the second surgical instrument Tb, and the fourth roller module 22d and the fifth roller module 22e gripping the fourth surgical instrument Td, the second surgical instrument Tb and the fourth surgical instrument Td can be independently controlled (forward / backward and rotated). To avoid repetition, the specific control of the second surgical instrument Tb and the fourth surgical instrument Td is based on the above description. With this structure, the second surgical instrument Tb is controlled by the second roller module 22b and the third roller module 22c, and the fourth surgical instrument Td is controlled by the fourth roller module 22d and the fifth roller module 22e. Thus, the second surgical instrument Tb and the fourth surgical instrument Td can be controlled simultaneously, independently of each other, as a further set. In this case, for example, one of the second surgical instrument Tb and the fourth surgical instrument Td may be a balloon catheter, and the other may be a guidewire.

[0047] As a result, the treatment tool control device 100 can control the first treatment tool Ta and the third treatment tool Tc as one set, and the second treatment tool Tb and the fourth treatment tool Td as another set, with each of the two sets being controlled independently. Therefore, the treatment tool control assembly 100 can be easily applied to complex arbitration procedures that require multiple treatment tools.

[0048] On the other hand, the above-described set of treatment tools is illustrative, and various sets of treatment tools may be assembled by changing the horizontal position of the roller module 22 as needed. Also, although it has been explained that the second roller module 22b and the fourth roller module 22d move horizontally between the roller modules 22a, 22c, and 22e located on either side, this is illustrative, and the first roller module 22a, the third roller module 22c, and the fifth roller module 22e may also be formed to move horizontally.

[0049] Figure 10 is a perspective view of the roller module of a treatment tool control assembly according to one embodiment. Figure 11 is a cross-sectional view of the roller module of a treatment tool control assembly according to one embodiment.

[0050] The roller module 22 shown in Figures 10 and 11 may be a roller module in which the roller member 222 is formed to be movable in the vertical direction. For example, as shown in Figure 6, the second roller module 22b, the third roller module 22c, and the fourth roller module 22d may be formed in the roller module 22 shown in Figures 10 and 11.

[0051] The roller module 22 shown in Figures 10 and 11 includes a roller plate 221, a roller member 222, a roller housing 223, a rotational drive unit 224, a vertical movement unit 225, and a link structure support unit 226.

[0052] The roller plate 221 can be connected to the frame 21. That is, the roller plate 221 can perform the function of connecting the roller module 22 to the frame 21. A roller member 222 may be rotatably connected to the roller plate 221.

[0053] The roller plate 221 includes a lower roller plate 2211 and an upper roller plate 2212. The lower roller plate 2211 is the part connected to the frame 21. The lower roller plate 2211 is equipped with a rotation drive unit 224 and a vertical movement unit 225, which will be described later. The upper roller plate 2212 is located above the lower roller plate 2211 and is the part to which the roller member 222 is rotatably connected. The upper roller plate 2212 can be moved vertically relative to the lower roller plate 2211 by the vertical movement unit 225, which will be described later.

[0054] The roller members 222 may be rotatably connected to the upper roller plate 2212. The axis of rotation of the roller members 222 may be perpendicular to the upper roller plate 2212. The roller members 222 are provided in pairs and are spaced apart along the longitudinal direction of the upper roller plate 2212.

[0055] The roller housing 223 is connected to the upper side of the upper roller plate 2212 and can provide space for the roller member 222 to rotate. For example, the roller housing 223 may be fastened to the upper roller plate 2212 via a latch.

[0056] The rotary drive unit 224 can rotate the roller member 222 relative to the roller plate 221. The rotary drive unit 224 may rotate the roller member 222 in one direction or in another. The rotary drive unit 224 may be provided on the lower roller plate 2211.

[0057] The rotary drive unit 224 includes a rotary drive motor 2241, a rotary drive pulley 2242, a spline nut 2243, a spline shaft 2244, and a shaft support unit 2245.

[0058] The rotary drive motor 2241 can generate rotational power to rotate the roller member 222. The rotary drive motor 2241 may be a motor that can achieve rotation in both one and two directions. The rotary drive pulley 2242 can receive rotational power from the rotary drive motor 2241. For example, the rotary drive pulley 2242 may receive rotational power via a timing belt or the like. The rotary drive pulleys 2242 are provided in a number corresponding to the number of roller members 222. For example, the rotary drive pulleys 2242 may be provided in pairs. The pair of rotary drive pulleys 2242 can be connected to a timing belt or the like to transmit rotational power.

[0059] The spline nut 2243 can be rotated integrally with the rotary drive pulley 2242. For example, the spline nut 2243 may be positioned inside the rotary drive pulley 2242. The spline shaft 2244 may be fastened to the spline nut 2243. The spline shaft 2244 can be rotated integrally with the spline nut 2243. A roller member 222 may be connected to one side of the spline shaft 2244. With such a structure, the rotation of the spline nut 2243 can rotate the roller member 222 connected to one side of the spline shaft 2244.

[0060] In other words, the rotary drive motor 2241 rotates the rotary drive pulley 2242 via a timing belt or the like, and as the rotary drive pulley 2242 rotates, the spline nut 2243 and the spline shaft 2244 rotate together, thereby allowing the roller member 222 connected to the spline shaft 2244 to rotate.

[0061] On the other hand, since the roller member 222 moves vertically by the vertical movement section 225, it is important to prevent the spline shaft 2244 from swaying. To this end, the shaft support section 2245 may be provided between the rotary drive pulley 2242 and the spline shaft 2244. For example, the shaft support section 2245 may be fitted and connected to fill the space between the rotary drive pulley 2242 and the spline shaft 2244. For example, the shaft support section 2245 can fill the gaps that occur above and below the spline nut 2243 in the internal space of the rotary drive pulley 2242. In this way, by positioning the shaft support section 2245 between the rotary drive pulley 2242 and the spline shaft 2244, the swaying of the spline shaft 2244 can be prevented. For example, the support force of the shaft support section 2245 can be improved by including a flange shape. To prevent pinching due to thermal expansion during operation, the shaft support portion 2245 is preferably formed with an internal diameter tolerance of +0.0005 to +0.01 mm after assembly. For example, the shaft support portion 2245 may contain Teflon® material or acetal material.

[0062] The vertical movement unit 225 can move the upper roller plate 2212 vertically relative to the lower roller plate 2211. In other words, by moving the upper roller plate 2212 vertically, the vertical movement unit 225 can move the roller member 222 vertically. The vertical movement unit 225 may be provided on the lower roller plate 2211.

[0063] The vertical movement section 225 includes a vertical movement drive motor 2251, a vertical movement pulley 2252, a vertical movement lead screw nut 2253, and a vertical movement lead screw 2255.

[0064] The vertical movement drive motor 2251 can generate rotational power to move the roller member 222 in the vertical direction. The vertical movement drive motor 2251 may be a motor that enables rotation in both one and other directions. The vertical movement pulley 2252 may receive rotational power from the vertical movement drive motor 2251. For example, the vertical movement pulley 2252 may receive rotational power via a timing belt or the like. The vertical movement pulleys 2252 may be provided in pairs. For example, a pair of vertical movement pulleys 2252 may be spaced apart on one side and the other side of the lower roller plate 2211. The pair of vertical movement pulleys 2252 can be connected to a timing belt or the like to receive rotational power.

[0065] The vertical movement screw nut 2253 can rotate integrally with the vertical movement pulley 2252. For example, the vertical movement screw nut 2253 may be positioned inside the vertical movement pulley 2252. The vertical movement lead screw 2254 may be fastened to the vertical movement screw nut 2253. The vertical movement screw 2254 may move longitudinally by the rotation of the vertical movement screw nut 2253. An upper roller plate 2212 may be connected to one side of the vertical movement screw nut 2254. With such a structure, the rotation of the vertical movement screw nut 2253 allows the vertical movement screw 2254 to move the upper roller plate 2212 vertically.

[0066] In other words, the vertical movement drive motor 2251 rotates the vertical movement pulley 2252 and the vertical movement lead screw nut 2253 together via a timing belt or the like. The rotation of the vertical movement lead screw nut 2253 causes the vertical movement lead screw 2254 to move in the longitudinal direction, thereby moving the roller member 222 connected to the upper roller plate 2212 in the vertical direction.

[0067] It is important to prevent the problem of the upper roller plate 2212 becoming oblique to the lower roller plate 2211, i.e., the axis of the spline shaft 2244 swaying, because the vertical movement section 225 increases the separation distance between the lower roller plate 2211 and the upper roller plate 2212. To this end, the link structure support section 226 can support the upper roller plate 2212 relative to the lower roller plate 2211. Since the separation distance between the upper roller plate 2212 and the lower roller plate 2211 can be changed, the link structure support section 226 can have a link structure whose length can be changed vertically in accordance with the separation distance between the lower roller plate 2211 and the upper roller plate 2212. For example, the link structure support section 226 may have a pantograph-like structure. For example, the link structure support section 226 includes a link frame 2261 and a link 2262. The link frame 2261 may be provided between the lower roller plate 2211 and the upper roller plate 2212. Link 2262 can connect both sides of the link frame 2261 to the lower roller plate 2211 and the upper roller plate 2212, respectively. Link 2262 can be rotatably connected to both sides of the link frame 2261 and to the lower roller plate 2211 and the upper roller plate 2212, respectively, so that the vertical length of the link structure support 226 can be changed. With such a structure, the link structure support 226 is located between the lower roller plate 2211 and the upper roller plate 2212, and can support both sides of the upper roller plate 2212 with respect to the lower roller plate 2211, while being able to change its length vertically in response to changes in the distance between them. This prevents the problem of the upper roller plate 2212 being at an angle to the lower roller plate 2211, that is, the problem of the axis of the spline shaft 2244 swaying.

[0068] Referring to Figure 6, the first roller module 22a and the fifth roller module 22e include roller plates 221a, 221e, roller members 222a, 222e, roller housings 223a, 223e, and rotational drive units 224a, 224e. The first roller module 22a and the fifth roller module 22e may be formed as roller modules that do not move vertically. The roller plates 221a, 221e of the first roller module 22a and the fifth roller module 22e are formed as a single plate and directly connected to the frame 21, and do not include separate vertical movement parts and link structure support parts. Also, the first roller module 22a and the fifth roller module 22e may include one roller member 222a, 222e. However, this is illustrative, and the first roller module 22a and the fifth roller module 22e may also be formed as roller modules according to Figures 10 and 11.

[0069] Referring again to Figures 6 to 9, the horizontal movement unit 23 can move the roller modules 22 in the horizontal direction. For example, in Figures 6 to 9, the horizontal movement unit 23 can move the second roller module 22b and the fourth roller module 22d in the horizontal direction. However, this is illustrative, and the first roller module 22a, the third roller module 22c, and the fifth roller module 22e can also be made to move in the horizontal direction. The number of horizontal movement units 23 is provided corresponding to the number of roller modules 22 to be moved. The horizontal movement units 23 may be provided on the frame 21.

[0070] The horizontal movement section 23 includes a horizontal movement drive motor 231, a horizontal movement lead screw 232, a horizontal movement lead screw nut 233, and a connecting member 234.

[0071] The horizontal movement drive motor 231 can generate rotational power to move the roller module 22 in the horizontal direction. The horizontal movement drive motor 231 may be a motor that can perform rotation in both one and two directions.

[0072] The horizontally moving lead screws 232 are horizontally connected to the frame 21. Rotational power can be transmitted to the horizontally moving lead screws 232 from the horizontally moving drive motor 231 via a timing belt and pulleys, etc. The horizontally moving lead screws 232 may be provided in pairs. For example, a pair of horizontally moving lead screws 232 may be arranged on one side and the other side of the frame 21, respectively. The pair of horizontally moving lead screws 232 can be connected via a timing belt and pulleys, etc., to transmit rotational power.

[0073] The horizontally moving lead screw nut 233 can be fastened to the horizontally moving lead screw 232. One side of the horizontally moving lead screw nut 233 is connected to the roller plate 221. For example, the horizontally moving lead screw nut 233 may be connected to the lower roller plate 2211 via a connecting member 234. A pair of horizontally moving lead screw nuts 233 may be connected to one side and the other side of the lower roller plate 2211, respectively. With this structure, the rotation of the horizontally moving lead screw 232 causes the horizontally moving lead screw nut 233 to move in the longitudinal direction of the horizontally moving lead screw 232, so that the roller plate 221 connected to the horizontally moving lead screw nut 233 can move horizontally.

[0074] In other words, the horizontal movement drive motor 231 rotates the horizontal movement lead screw 232 via a timing belt and pulleys, and as the horizontal movement lead screw 232 rotates, the horizontal movement lead screw nut 233 and the lower roller plate 2211 connected to it move horizontally along the longitudinal direction of the horizontal movement lead screw 232, that is, the roller module 22 can be moved horizontally.

[0075] Figure 12 is a perspective view of the housing tilting section according to one embodiment.

[0076] Referring to Figure 12, the housing tilting unit 5 can tilt the main housing 1 relative to the location where the treatment tool control device 100 is installed (for example, a robot arm). As shown in Figure 12, the housing tilting unit 5 can tilt the main housing 1 relative to the location where the treatment tool control device 100 is installed (for example, a robot arm) via a configuration such as a motor, a worm gear, and a worm wheel. However, this is illustrative, and the configuration of the housing tilting unit 5 is not limited to this.

[0077] Figure 13 is a perspective view of the clamping section and Y-connector holder according to one embodiment. Figures 14 to 16 are plan views showing the operation method of the clamping section according to one embodiment.

[0078] Referring to Figures 13 to 16, the clamping unit 6 can fix the position of the treatment tool T by clamping it when it is not being gripped by the roller module 22. With this configuration, it is possible to prevent the treatment tool T from moving in an unintended direction when it is not being gripped by the roller module 22. Furthermore, the clamping unit 6 can release the clamping of the treatment tool T when it is being gripped by the roller module 22, allowing for controllable clamping.

[0079] The clamping section 6 can be provided to correspond to the number of treatment tools T. For example, referring to Figure 3, the clamping section 6 includes a first clamping section 6a, a second clamping section 6b, a third clamping section 6c, and a fourth clamping section 6d. Each clamping section 6a, 6b, 6c, and 6d may be applied to each treatment tool Ta, Tb, Tc, and Td.

[0080] The clamping section 6 has a structure that allows the treatment tool T to be automatically clamped or released by the horizontal movement of the roller module 22. The clamping section 6 includes a clamp 61 and an elastic body 62.

[0081] The clamp 61 may be a member that clamps the treatment tool T. For example, the clamp 61 may be provided on the Y connector holder 8 (see Figure 13). In this case, a step 81 is formed on the Y connector holder 8, and the treatment tool T is clamped between the clamp 61 and the step 81 of the Y connector holder 8. However, this is illustrative, and the member located opposite the clamp 61 is not limited to the step 81 of the Y connector holder 8. That is, the treatment tool T can be clamped between the clamp 61 and any member located opposite it.

[0082] The elastic body 62 applies pressure to the clamp 61 in one direction so that the clamp 61 can clamp the treatment tool T. For example, the elastic body 62 may apply pressure to the clamp 61 toward the step 81 of the Y connector holder 8. Figure 14 shows the roller module 22 in the neutral position, i.e., the adjacent roller module 22 is not gripping the treatment tool T. In the state shown in Figure 14, the clamp 61 is applied pressure in one direction by the elastic force of the elastic body 62, allowing the treatment tool T to be clamped between the clamp 61 and the step 81 of the Y connector holder 8.

[0083] Figure 15 shows the state in which the second roller module 22b has moved horizontally toward the first roller module 22a in order to grip the first treatment tool Ta between the first roller module 22a and the second roller module 22b. Referring to Figure 15, in the process of the second roller module 22b moving horizontally toward the first roller module 22a, the second roller module 22b can push the clamp 61a of the first clamping part 6a in the other direction, thereby releasing the clamping of the first treatment tool Ta. Therefore, as the first treatment tool Ta is gripped between the first roller module 22a and the second roller module 22b, the clamping of the first clamping part 6a is released, and the first treatment tool Ta can be freely controlled. Also, in the state shown in Figure 15, the second treatment tool Tb that is not gripped by the second roller module 22b and the third roller module 22c may be clamped by the second clamping part 6b and its movement may be restricted.

[0084] Figure 16 shows the state in which the second roller module 22b has moved horizontally toward the third roller module 22c in order to grip the second treatment tool Tb between the second roller module 22b and the third roller module 22c. Referring to Figure 16, in the process of the second roller module 22b moving horizontally toward the third roller module 22c, the second roller module 22b can push the clamp 61b of the second clamping part 6b in the other direction, thereby releasing the clamping of the second treatment tool Tb. Therefore, as the second treatment tool Tb is gripped between the second roller module 22b and the third roller module 22c, the clamping of the second clamping part 6b is released, and the second treatment tool Tb can be freely controlled (forward / backward and rotated). At the same time, in the process of the second roller module 22b moving horizontally toward the third roller module 22c, the clamp 61a of the first clamping part 6a may be pressed again in one direction by the elastic force of the elastic body 62a, thereby clamping the first treatment tool Ta. Therefore, even when the first treatment tool Ta is not being held, the clamping of the first clamping part 6a prevents the first treatment tool Ta from moving in an unintended direction.

[0085] The clamp 61 can be rotatably mounted with respect to the thread axis, as shown in Figures 13 to 16. In this case, the elastic body 62 can generate an elastic force that rotates the clamp 61 in the direction toward the step 81 of the Y connector holder 8 (one direction). Alternatively, the clamp 61 may rotate in the other direction around the thread axis by contacting the roller housing 223 during the horizontal movement process of the roller module 22. The end of the roller housing 223 may be formed as an inclined surface to allow the clamp 61 to rotate smoothly. On the other hand, this is illustrative, and the clamp 61 may be configured to move translationally in one direction and in other directions.

[0086] The above explanation has been based on the first clamping section 6a and the second clamping section 6b, but the third clamping section 6c and the fourth clamping section 6d can also clamp the third treatment tool Tc and the fourth treatment tool Td, respectively, in the same manner as described above. To avoid repetition, a detailed explanation of the third clamping section 6c and the fourth clamping section 6d will be omitted.

[0087] Referring to Figures 1 to 3, the treatment tool supporter 7 is provided in the main housing 1 and may be positioned behind the roller module 22. The treatment tool supporter 7 can support the rear of the treatment tool T behind the roller module 22. For example, the treatment tool supporter 7 includes a groove into which the treatment tool T is secured and a cover that covers the groove once the treatment tool T is secured in the groove. Thus, the user can open the cover to secure the treatment tool T in the groove and close the cover to allow the treatment tool T to be supported by the treatment tool supporter 7. The number of treatment tool supporters 7 may correspond to the number of treatment tools T. Multiple treatment tool supporters 7 may be connected and fixed to a single frame.

[0088] Figure 17 is a side view of a treatment tool control device according to one embodiment. Figure 18 is a perspective view of a guide catheter control assembly according to one embodiment. Figure 19 is a lower perspective view of a guide catheter control assembly according to one embodiment. Figure 20 is a top view of a guide catheter control assembly according to one embodiment.

[0089] Referring to Figures 17-20, the guide catheter control assembly 3 can control the guide catheter. The guide catheter is in front of the surgical instrument control device 100. end It is positioned and can guide the path of at least one surgical instrument T. The guide catheter control assembly 3 may grasp or release the guide catheter. The guide catheter control assembly 3 can move or rotate the grasped guide catheter longitudinally.

[0090] The guide catheter control assembly 3 is located in front of the surgical instrument control device 100. end It is positioned on the side (i.e., the proximal end side). The guide catheter control assembly 3 is connected to the main housing 1 via a connecting arm 4. For example, one side of the connecting arm 4 may be connected to one side of the main housing 1, and the other side of the connecting arm 4 may be connected to a cover 30 on which the guide catheter control assembly 3 is mounted. The connecting arm 4 is rotatably connected to the main housing 1. The cover 30 may be rotatably and / or translatably connected to the connecting arm 4. The guide catheter control assembly 3 can tilt and / or translate relative to the main housing 1 via the connecting arm 4. That is, the position of the guide catheter control assembly 3 can be adjusted by the connecting arm 4.

[0091] The guide catheter control assembly 3 can control the guide catheter in substantially the same manner as the treatment tool control assembly (for example, the treatment tool control assembly 2 in Figure 6). The guide catheter control assembly 3 includes a frame 31, a roller module 32, and a horizontal movement section 33.

[0092] Frame 31 forms a base frame on which the roller module 32 and horizontal movement section 33, described later, are provided. Frame 31 is located in front of the main housing 1. end It may be positioned at the proximal end (i.e., the end of the connecting arm 4). The frame 31 may be fixedly positioned inside the cover 30 connected to the end of the connecting arm 4. The roller module 32 and the horizontal movement section 33 may be connected to the frame 31.

[0093] Multiple roller modules 32 can be provided and connected to the frame 31. For example, the roller module 32 includes a first roller module 32a and a second roller module 32b. The first roller module 32a and the second roller module 32b may be arranged side by side. However, this is illustrative and the number of roller modules 32 is not limited thereto.

[0094] A guide catheter can be grasped between two adjacent roller modules 32. To this end, at least one of the roller modules 32 can move horizontally toward the other roller module 32. For example, the second roller module 32b can move horizontally toward the first roller module 32a so that a guide catheter is grasped between the first roller module 32a and the second roller module 32b. However, this is illustrative, and the first roller module 32a can also move horizontally toward the second roller module 32b.

[0095] With this structure, the distance between the roller modules 32 can be sufficiently widened to grasp the guide catheter, so the diameter of the guide catheter being grasped is not limited. In other words, the versatility of the treatment tool control device 100 is improved because it is not limited by the diameter of the guide catheter and can grasp any guide catheter of any diameter.

[0096] With the first roller module 32a and the second roller module 32b gripping the guide catheter, the guide catheter can be controlled (forward / backward and rotated). Specifically, the guide catheter may move forward or backward in the longitudinal direction by the rotation of the roller members 322a and 322b of the first roller module 32a and the second roller module 32b. In addition, the guide catheter can be rotated by the vertical movement of at least one of the roller members 322a and 322b of the first roller module 32a and the second roller module 32b.

[0097] Figure 21 is a perspective view of the roller module of a guide catheter control assembly according to one embodiment. Figure 22 is a cross-sectional view of the roller module of a guide catheter control assembly according to one embodiment.

[0098] The roller module 32 shown in Figures 21 and 22 includes a roller plate 321, a roller member 322, a roller housing 323, a rotational drive unit 324, and a vertical movement unit 325.

[0099] Referring to Figures 18 to 22, the roller plate 321 can be connected to the frame 31. That is, the roller plate 321 functions to connect the roller module 32 to the frame 31. A roller member 322 is rotatably connected to the roller plate 321.

[0100] The roller plate 321 includes an upper roller plate 3211 and a lower roller plate 3212. The upper roller plate 3211 is the part connected to the frame 31. The upper roller plate 3211 is equipped with a rotational drive unit 324 and a vertical movement unit 325, which will be described later. The lower roller plate 3212 is located below the upper roller plate 3211 and is the part to which the roller member 322 is rotatably connected. The lower roller plate 3212 can be moved vertically relative to the upper roller plate 3211 by the vertical movement unit 325, which will be described later.

[0101] The roller members 322 are rotatably connected to the lower roller plate 3212. The axis of rotation of the roller members 322 is perpendicular to the lower roller plate 3212. The roller members 322 are provided in pairs and are spaced apart along the longitudinal direction of the lower roller plate 3212.

[0102] The roller housing 323 is connected to the underside of the lower roller plate 3212 and provides space for the roller member 322 to rotate. For example, the roller housing 323 may be fastened to the lower roller plate 3212 via a latch.

[0103] Referring to Figures 18 to 22, the rotational drive unit 324 can rotate the roller member 322 relative to the roller plate 321. The rotational drive unit 324 can rotate the roller member 322 in one direction or the other. The rotational drive unit 324 is provided on the upper roller plate 3211.

[0104] The rotary drive unit 324 includes a rotary drive motor 3241, a rotary drive pulley 3242, a spline nut 3243, a spline shaft 3244, and a shaft support unit 3245.

[0105] The rotary drive motor 3241 generates rotational power to rotate the roller members 322. The rotary drive motor 3241 is a motor that can perform rotation in both one and two directions. The rotary drive pulley 3242 receives rotational power from the rotary drive motor 3241. For example, the rotary drive pulley 3242 may receive rotational power via a timing belt or the like. The rotary drive pulleys 3242 are provided in a manner corresponding to the number of roller members 322.

[0106] The spline nut 3243 can be rotated integrally with the rotary drive pulley 3242. For example, the spline nut 3243 may be positioned inside the rotary drive pulley 3242. The spline shaft 3244 may be fastened to the spline nut 3243. The spline shaft 3244 may rotate integrally with the spline nut 3243. A roller member 322 is connected to one side of the spline shaft 3244. With this structure, the rotation of the spline nut 3243 can cause the roller member 322 connected to one side of the spline shaft 3244 to rotate.

[0107] In other words, the rotary drive motor 3241 rotates the rotary drive pulley 3242 via a timing belt or the like, and as the rotary drive pulley 3242 rotates, the spline nut 3243 and spline shaft 3244 rotate together, and this causes the roller member 322 connected to the spline shaft 3244 to rotate.

[0108] On the other hand, since the roller member 322 moves vertically by the vertical movement section 325, it is important to prevent the spline shaft 3244 from shaking. For this purpose, the shaft support section 3245 may be located between the rotary drive pulley 3242 and the spline shaft 3244. For example, the shaft support section 3245 may be fitted to fill the space between the rotary drive pulley 3242 and the spline shaft 3244. By positioning the shaft support section 3245 between the rotary drive pulley 3242 and the spline shaft 3244 in this way, the shaking of the spline shaft 3244 can be prevented. For example, the support force of the shaft support section 3245 can be improved by including a flange shape. To prevent pinching due to thermal expansion during operation, the inner diameter tolerance of the shaft support section 3245 after assembly is preferably formed to +0.0005 to +0.01 mm. For example, the shaft support section 3245 may include Teflon material or acetal material.

[0109] Referring to Figures 18 to 22, the vertical movement unit 325 can move the lower roller plate 3212 vertically relative to the upper roller plate 3211. That is, the vertical movement unit 325 moves the roller member 322 vertically by moving the lower roller plate 3212 vertically. The vertical movement unit 325 can be provided on the upper roller plate 3211.

[0110] The vertical movement section 325 includes a vertical movement drive motor 3251, a vertical movement pulley 3252, a vertical movement lead screw nut 3253, and a vertical movement lead screw 3255.

[0111] The vertical movement drive motor 3251 can generate rotational power to move the roller member 322 in the vertical direction. The vertical movement drive motor 3251 is a motor that can achieve rotation in both one and other directions. The vertical movement pulley 3252 receives rotational power from the vertical movement drive motor 3251. For example, the vertical movement pulley 3252 may receive rotational power via a timing belt or the like. The vertical movement pulleys 3252 are provided in pairs. For example, the pair of vertical movement pulleys 3252 may be spaced apart on one side and the other side of the upper roller plate 3211. The pair of vertical movement pulleys 3252 can be connected to a timing belt or the like to transmit rotational power.

[0112] The vertical movement screw nut 3253 can be rotated integrally with the vertical movement pulley 3252. For example, the vertical movement screw nut 3253 may be positioned inside the vertical movement pulley 3252. The vertical movement lead screw 3254 may be fastened to the vertical movement screw nut 3253. The vertical movement screw 3254 may move longitudinally by the rotation of the vertical movement screw nut 3253. A lower roller plate 3212 may be connected to one side of the vertical movement screw 3254. With such a structure, the rotation of the vertical movement screw nut 3253 allows the vertical movement screw 3254 to move the lower roller plate 3212 vertically.

[0113] In other words, the vertical movement drive motor 3251 rotates the vertical movement pulley 3252 and the vertical movement lead screw nut 3253 together via a timing belt or the like, and as the vertical movement lead screw 3254 moves in the longitudinal direction due to the rotation of the vertical movement lead screw nut 3253, the roller member 322 connected to the lower roller plate 3212 can be moved in the vertical direction.

[0114] Referring to Figures 18 to 22, the horizontal movement unit 33 can move the roller module 32 in the horizontal direction. For example, the horizontal movement unit 33 may move the second roller module 32b in the horizontal direction. However, this is illustrative, and the first roller module 32a may be formed to be movable in the horizontal direction. The horizontal movement unit 33 can be provided on the frame 31.

[0115] The horizontal movement section 33 includes a horizontal movement drive motor 331, a horizontal movement lead screw 332, and a horizontal movement lead screw nut 333.

[0116] The horizontal movement drive motor 331 generates rotational power to move the roller module 32 in the horizontal direction. The horizontal movement drive motor 331 may be a motor that enables rotation in both one and two directions.

[0117] The horizontally moving lead screw 332 can be connected horizontally to the frame 31. Rotational power is transmitted to the horizontally moving lead screw 332 from the horizontally moving drive motor 331 via a timing belt and pulleys, etc. The horizontally moving lead screw 332 may be provided in pairs. For example, a pair of horizontally moving lead screws 332 may be arranged on one side and the other side of the frame 31, respectively. The pair of horizontally moving lead screws 332 can be connected via a timing belt and pulleys, etc., to transmit rotational power.

[0118] The horizontally moving lead screw nut 333 can be fastened to the horizontally moving lead screw 332. One side of the horizontally moving lead screw nut 333 can be connected to the roller plate 321. For example, the horizontally moving lead screw nut 333 may be connected to the upper roller plate 3211 via a connecting member. A pair of horizontally moving lead screw nuts 333 may be connected to one side and the other side of the upper roller plate 3211, respectively. With this structure, the rotation of the horizontally moving lead screw 332 causes the horizontally moving lead screw nut 333 to move in the longitudinal direction of the horizontally moving lead screw 332, so that the roller plate 321 connected to the horizontally moving lead screw nut 333 moves horizontally.

[0119] In other words, the horizontal movement drive motor 331 rotates the horizontal movement lead screw 332 via a timing belt and pulleys, and as the horizontal movement lead screw 332 rotates, the horizontal movement lead screw nut 333 and the upper roller plate 3211 connected thereto move horizontally along the longitudinal direction of the horizontal movement lead screw 332, that is, the roller module 32 can be moved horizontally.

[0120] On the other hand, the roller module 32 shown in Figures 21 and 22 may further include a link structure support portion 226, as shown in the roller module 22 shown in Figures 10 and 11. Also, in the description of the guide catheter control assembly 3, it has been described and illustrated that the guide catheter control assembly 3 is provided in a direction in which the roller member 322 is facing downwards, but this is illustrative, and in one embodiment the guide catheter control assembly 3 may be provided in a direction in which the roller member 322 is facing upwards.

[0121] Although embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the embodiments described above, and a person with ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in a different order than described, and / or the described systems, structures, devices, circuits, and other components may be combined or assembled in a different manner than described, or substituted or replaced by other components or equivalents, and still achieve appropriate results.

[0122] Therefore, other realizations, other embodiments, and those equivalent to the claims described below also fall within the scope of the claims.

Claims

1. Main housing and The main housing includes a treatment tool control assembly that controls at least one treatment tool, The main housing includes a guide catheter control assembly located at the front end and controlling a guide catheter that guides the path of at least one surgical instrument, The aforementioned guide catheter control assembly is A frame located at the front end of the main housing, The frame includes a first roller module and a second roller module, The second roller module is movable toward the first roller module so that the guide catheter is grasped between the first roller module and the second roller module. The guide catheter control assembly is a surgical instrument control device that is tiltable relative to the main housing.

2. The first roller module and the second roller module are A roller plate connected to the frame, The treatment tool control device according to claim 1, further comprising roller members rotatably mounted on the roller plate.

3. The treatment tool control device according to claim 2, wherein, while the guide catheter is being grasped, the grasped guide catheter is moved in the longitudinal direction by rotating the roller members of the first roller module and the second roller module.

4. The treatment tool control device according to claim 2, wherein, while the guide catheter is being grasped, the grasped guide catheter is rotated by moving at least one of the roller members of the first roller module and the second roller module in the vertical direction.

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

6. The vertical movement section is Vertical movement drive motor and A vertical movement pulley to which rotational power is transmitted from the aforementioned vertical movement drive motor, A vertical moving lead screw nut that rotates integrally with the vertical moving pulley, The treatment tool control device according to claim 5, comprising a vertically moving lead screw fastened to the vertically moving lead screw nut, to which the lower roller plate is connected on one side, and which moves the lower roller plate in the vertical direction by the rotation of the vertically moving lead screw nut.

7. The treatment tool control device according to claim 3, wherein the first roller module or the second roller module further includes a rotation drive unit for rotating the roller member relative to the roller plate.

8. The aforementioned rotational drive unit is Rotary drive motor and A rotary drive pulley to which rotational power is transmitted from the aforementioned rotary drive motor, A spline nut that rotates integrally with the aforementioned rotary drive pulley, The treatment tool control device according to claim 7, comprising a spline shaft fastened to the spline nut and connected to the roller member on one side, and which rotates the roller member by the rotation of the spline nut.

9. The treatment tool control device according to claim 8, wherein the rotational drive unit further includes a shaft support unit located between the rotational drive pulley and the spline shaft, for preventing the spline shaft from shaking.

10. The treatment tool control device according to claim 2, wherein the guide catheter control assembly further includes a horizontal movement unit for moving the second roller module horizontally.

11. The aforementioned horizontal moving part is Horizontal movement drive motor and A horizontally moving lead screw is connected horizontally to the frame and receives rotational power from the horizontal moving drive motor, The treatment tool control device according to claim 10, further comprising a horizontal moving lead screw nut fastened to the horizontal moving lead screw and connected to the roller plate on one side, which moves the roller plate in the horizontal direction by the rotation of the horizontal moving lead screw.

12. The main housing further includes a connecting arm that connects the guide catheter control assembly, The treatment tool control device according to claim 1, wherein the guide catheter control assembly is tiltable or translatable relative to the main housing via the connecting arm.

13. Main housing and The main housing includes a treatment tool control assembly that controls at least one treatment tool, The main housing includes a guide catheter control assembly located at the front end and controlling a guide catheter that guides the path of at least one surgical instrument, The aforementioned guide catheter control assembly is A frame located at the front end of the main housing, The frame includes a first roller module and a second roller module, The second roller module is movable horizontally toward the first roller module so that the guide catheter is grasped between the first roller module and the second roller module. A treatment tool control device in which the direction in which the guide catheter is positioned in the guide catheter control assembly is different from the direction in which the at least one treatment tool is positioned in the treatment tool control assembly.

14. The treatment tool control device according to claim 13, wherein the direction in which the guide catheter is positioned in the guide catheter control assembly is opposite to the direction in which the at least one treatment tool is positioned in the treatment tool control assembly.

15. The treatment tool control device according to claim 13, wherein the guide catheter is arranged in the guide catheter control assembly in a direction from bottom to top, and the at least one treatment tool is arranged in the treatment tool control assembly in a direction from top to bottom.

16. The treatment tool control device according to claim 13, wherein the treatment tool control assembly is exposed on the upper side of the main housing, and the first roller module and the second roller module are exposed on the lower side of the frame.

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