Surgery device and operating method using same

Abstract

Provided are a surgery device capable of being stably and precisely manipulated, and an operating method using same. A surgery device according to an aspect of the present invention includes: a surgical tool module; a double parallelogram module which is connected to the rear side of the surgical tool module, includes multiple power transmission parts, and is configured such that each of the power transmission parts performs motion driving having two degrees of freedom of pitch and roll driving; and a linear driving module connected to the multiple power transmission parts and configured to be linearly driven in one direction so as to transmit a linear driving force to the double parallelogram module.

Description

Surgical device and method of operating the surgical device using the same

[0001] The present invention relates to a surgical device and an operating method of the surgical device using the same, and more particularly, to a surgical device capable of stable and precise operation and an operating method of the surgical device using the same.

[0002] Typically, parallelograms only offer one degree of freedom. To achieve two degrees of freedom, pitch rotation is implemented using parallelograms, and roll rotation is achieved using motors, often in a single-axis rotational configuration. Conventional two-degree-of-freedom devices utilizing parallelograms and motors suffer from insufficient precision and rigidity in the corresponding degrees of freedom.

[0003] Accordingly, Patent No. 10-2502444 provides a surgical device that improves the above-mentioned problem by forming a double parallelogram while each pitch and roll module part rotates dependently in pitch and roll.

[0004] However, there is a need for a surgical device that can operate the surgical device forming this double parallelogram more stably and precisely.

[0005]

[0006] Furthermore, in medical terms, surgery refers to the use of surgical instruments to cut, incise, or manipulate the skin, mucosa, or other tissues to treat disease. In particular, open surgery, which involves incising the skin at the surgical site and treating, shaping, or removing internal organs, can lead to problems such as bleeding, side effects, patient pain, and scarring.

[0007] In response, minimally invasive surgery (MIS) is gaining attention. Instead of making skin incisions, small incisions are made, and surgical instruments such as endoscopes, laparoscopes, surgical instruments, and microsurgical microscopes are inserted through these small incisions to perform the operation inside the body. While such minimally invasive surgery can be performed manually by a surgeon, robotic surgery, which uses a surgical robot to precisely manipulate the instruments instead of the surgeon directly, has been proposed as an alternative.

[0008] In these robotic surgeries, there is a need for a surgical device that can implement various surgical movements while maximizing stability during robotic surgery.

[0009] The purpose of the present invention is to provide a surgical device capable of stable and precise operation and an operating method of the surgical device using the same.

[0010] In addition, the present invention aims to provide a surgical device capable of stably implementing various surgical operations and an operating method of the surgical device using the same.

[0011] However, the technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0012] A surgical device according to one aspect of the present invention comprises a surgical tool module, a dual parallelogram module connected to the rear side of the surgical tool module and including a plurality of power transmission units, each of which is configured to perform two-degree-of-freedom motion driving of pitch and roll driving, and a linear drive module connected to the plurality of power transmission units and configured to linearly drive in one direction to transmit driving force to the dual parallelogram module.

[0013] In addition, a surgical device according to one aspect of the present invention includes a surgical tool module, a dual parallelogram module connected to the rear side of the surgical tool module and including a plurality of power transmission units, each of which is configured to perform two-degree-of-freedom motion driving of pitch and roll driving, and a linear driving module connected to the plurality of power transmission units and configured to linearly drive in one direction to transmit linear driving force to the dual parallelogram module, and the surgical tool module includes a holder connected to the plurality of power transmission units and configured to perform two-degree-of-freedom motion driving, a surgical tool supported by the holder, and a preload unit configured to pressurize a coupling shaft provided on the holder and rotatably connected to the plurality of power transmission units, the coupling shaft being configured to rotatably connect the holder to the plurality of power transmission units.

[0014] In addition, a surgical device according to one aspect of the present invention includes a surgical tool, a holder for supporting the surgical tool, and a holder driving unit configured to simultaneously guide rotational driving and linear driving of the holder.

[0015] According to an embodiment of the present invention, since a linear driving force is transmitted to the dual parallelogram module, two degrees of freedom of motion driving of the surgical tool module through the dual parallelogram module can be implemented, and thus the surgical tool module can be driven more precisely than a method of simply driving the dual parallelogram module through a rotational driving force. Accordingly, a more precise surgery can be performed by the surgical tool module, and safety accidents during surgery can be prevented in advance through the precise driving of the surgical tool module.

[0016] In addition, according to an embodiment of the present invention, since the linear driving force of the linear driving unit can be transmitted to the dual parallelogram module through a link unit configured to be rotatable with respect to both the linear driving unit and the power transmission unit, the two-degree-of-freedom motion driving force resulting from the driving of the dual parallelogram module can be easily transmitted to the surgical tool module. Accordingly, more precise surgery can be performed by the surgical tool module.

[0017] In addition, according to an embodiment of the present invention, a linear driving unit that generates a linear driving force and a link unit that is rotatably connected to the linear driving unit and the power transmission unit can be provided as a left and right pair, so that pitch and roll driving by a dual parallelogram module can be performed more stably.

[0018] In addition, according to an embodiment of the present invention, since the first rotary joint that rotatably supports the link part with respect to the moving block can also be rotatably connected with respect to the moving block that is driven linearly along the guide rail, when the linear driving force of the linear driving unit is transmitted to the link part and converted into a rotational driving force, more diverse types of motion driving can be performed by the link part. Accordingly, pitch and roll driving by the dual parallelogram module can be performed more stably.

[0019] In addition, since the preload section provided on the holder and rotatably connected to a plurality of power transmission units can pressurize the coupling shaft configured to rotatably connect the holder to the plurality of power transmission units, even if vibration occurs in the surgical device due to the operation of the dual parallelogram module and the linear drive module, the coupling between the holder of the surgical tool module and the dual parallelogram module can be stably performed. Accordingly, the surgery can be performed more precisely and stably by the surgical tool module.

[0020] According to an embodiment of the present invention, a surgical tool can perform a wider range of operations than conventional surgical devices that only perform rotational or linear driving.

[0021] Specifically, according to an embodiment of the present invention, since the holder driving unit can simultaneously guide rotational driving and linear driving of the holder supporting the surgical tool on the same line, the surgical tool can perform more diverse operations with a more compact configuration.

[0022] In addition, according to an embodiment of the present invention, since the linear movement of the holder can be guided by the pressing and releasing action between the pressing disk having a predetermined area and the pressing portion, there is an advantage in that the linear movement of the surgical tool can be guided more stably.

[0023] Furthermore, according to an embodiment of the present invention, interference between the rotational motion guide of the surgical tool by the rotary drive unit and the linear motion guide of the surgical tool by the linear drive unit can be minimized. Accordingly, the surgical tool can perform a wider variety of motions simultaneously.

[0024] In addition, various additional effects can be achieved through various embodiments of the present invention. These various effects of the present invention will be described in detail in each embodiment, or descriptions of effects easily understandable to those skilled in the art will be omitted.

[0025] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to further understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

[0026] FIG. 1 is a drawing showing a surgical device according to one embodiment of the present invention.

[0027] Figures 2 and 3 are drawings showing a dual parallelogram module equipped in the surgical device of Figure 1.

[0028] Figure 4 is an enlarged view of part A of Figure 1.

[0029] Figure 5 is an enlarged view of part B of Figure 1.

[0030] Fig. 6 is a drawing showing a first driving example of the surgical device of Fig. 1.

[0031] Fig. 7 is a drawing showing a second driving example of the surgical device of Fig. 1.

[0032] Fig. 8 is a drawing showing a third driving example of the surgical device of Fig. 1.

[0033] Fig. 9 is a drawing showing a fourth driving example of the surgical device of Fig. 1.

[0034] Fig. 10 is a flowchart showing an operating method of a surgical device using the surgical device of Fig. 1.

[0035] Fig. 11 is a drawing exemplarily showing a surgical device according to the present invention.

[0036] Figure 12 is an enlarged view of part A of Figure 11.

[0037] Fig. 13 is a cross-sectional view taken along the BB' direction of Fig. 12.

[0038] Figure 14 is an enlarged view of part C of Figure 13.

[0039] Figure 15 is a drawing showing a surgical device according to another embodiment of the present invention.

[0040] Figure 16 is a drawing showing a surgical device according to the present invention.

[0041] Figures 17 and 18 are drawings showing in detail some configurations of the surgical device of Figure 16.

[0042] Figure 19 is a partially enlarged view of Figure 18.

[0043] Fig. 20 is a cross-sectional view taken along the AA' direction of Fig. 16.

[0044] Figures 21 and 22 are drawings for explaining the linear drive of the surgical device of Figure 16.

[0045] Fig. 23 is a flowchart showing the operation method of a surgical device using the surgical device of Fig. 16.

[0046] Figure 24 is an exploded perspective view of a surgical device including a parallelogram module of the present invention.

[0047] Figure 25 is an assembled perspective view of a surgical device including a parallelogram module of the present invention.

[0048] Figure 26 is a side view schematically illustrating Figure 25.

[0049] Figure 27 is a side view schematically illustrating Figure 24.

[0050] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that aligns with the technical spirit of the present invention.

[0051] Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, and it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

[0052] FIG. 1 is a drawing showing a surgical device (10) according to one embodiment of the present invention, and FIGS. 2 and 3 are drawings showing a dual parallelogram module (200) equipped in the surgical device (10) of FIG. 1.

[0053] In an embodiment of the invention, the X-axis direction shown in the drawing may mean the front-back direction of the surgical device (10) described later, the Y-axis direction may mean the left-right direction of the surgical device (10) perpendicular to the X-axis direction and the horizontal plane (XY plane), and the Z-axis direction may mean the up-down direction perpendicular to both the X-axis direction and the Y-axis direction.

[0054] In the surgical device (10) according to the present invention, Roll means that the surgical device (10) is rotated in the left-right direction (rotated around the X-axis), and Pitch means that the surgical device (10) is rotated in the front-back direction (rotated around the Y-axis).

[0055] Referring to FIGS. 1 to 3, a surgical device (10) according to one embodiment of the present invention may include a surgical tool module (100), a dual parallelogram module (200), and a linear drive module (300). As an example, the surgical device (10) may perform surgery on a human body.

[0056] The above surgical tool module (100) may include a configuration (surgical tool (120) described below) for grasping a part of the human body (e.g., retina, etc.).

[0057] The above-described dual parallelogram module (200) is connected to the rear side of the surgical tool module (100) and includes a plurality of power transmission units (210), and each power transmission unit (210) can be configured to perform two degrees of freedom motion driving of pitch and roll driving.

[0058] The above linear drive module (300) can be configured to be linearly driven in one direction (the front-back direction (X-axis direction) of the surgical device (10)) by being connected to a plurality of power transmission units (210) to transmit linear driving force to the dual parallelogram module (200). Specifically, the plurality of power transmission units (210) of the dual parallelogram module (200) can include a first power transmission unit (210a), a second power transmission unit (210b), a third power transmission unit (210c), and a fourth power transmission unit (210d).

[0059] Additionally, the dual parallelogram module (200) may further include a plurality of pitch link units (220).

[0060] The plurality of pitch link parts (220) may be configured to be spaced apart from each other by a certain distance in parallel in the front-rear direction (X-axis direction) of the surgical device (10) and jointly connected to the plurality of power transmission parts (210), and to form a double parallelogram by jointly connecting the plurality of power transmission parts (210) in the up-and-down direction of the surgical device (10). As an example, the plurality of pitch link parts (220) may include a first left pitch link part (222a), a second left pitch link part (222b), and a third left pitch link part (222c). In addition, the plurality of pitch link parts (220) may include a first right pitch link part (224a), a second right pitch link part (224b), and a third right pitch link part (224c).

[0061] In addition, each of the plurality of power transmission units (210) may include a base link unit (212), a roll link unit (214), a pitch joint unit (216), and a roll joint unit (218). The base link unit (212) may be jointly connected to the plurality of pitch link units (220) in the vertical direction of the surgical device (10). The base link unit (212) may include a left base link unit (212a) and a right base link unit (212b).

[0062] The above roll link portion (214) can be connected to the base link portion (212) to enable roll rotation. The roll link portion (214) can include a front roll link portion (214a) and a rear roll link portion (214b).

[0063] The above pitch joint portion (216) can jointly connect the base link portion (212) and a plurality of pitch link portions (220) to enable pitch rotation. The pitch joint portion (216) can include a left pitch joint portion (216a) and a right pitch joint portion (216b).

[0064] The above roll joint part (218) can jointly connect the base link part (212) and the roll link part (214) to enable roll rotation. This roll joint part (218) can include a left front roll joint part (218a), a right front roll joint part (218b), a left rear roll joint part (218c), and a right rear roll joint part (218d). In this case, left and right can be replaced with different terms depending on the attitude position of the dual parallelogram module (200). Meanwhile, the left base link part (212a) and the right base link part (212b) are separated from each other, but may be formed integrally as needed.

[0065] Specifically, in the first power transmission unit (210a), the left base link unit (212a), the first left pitch link unit (222a), and the second left pitch link unit (222b) can be jointly connected to each other at two points to enable pitch rotation by a plurality of left pitch joint units (216a).

[0066] In addition, in the first power transmission unit (210a), the first left pitch link unit (222a) and the second left pitch link unit (222b) can be jointly connected to the left base link unit (212a) while being spaced apart from each other by a certain distance in the front-rear direction (X-axis direction) of the surgical device (10).

[0067] Additionally, in the first power transmission unit (210a), the right base link unit (212b), the first right pitch link unit (224a), and the second right pitch link unit (224b) can be jointly connected to each other at two points to enable pitch rotation by a plurality of right pitch joint units (216b).

[0068] In addition, in the first power transmission unit (210a), the first right pitch link unit (224a) and the second right pitch link unit (224b) may be jointly connected to the right base link unit (212b) while being spaced apart from each other by a certain distance in the front-back direction (X-axis direction) of the surgical device (10). Accordingly, in the first power transmission unit (210a), the base link unit (212) and the plurality of pitch link units (220) may be jointly connected to each other at a total of four points on the left and right.

[0069] And, in the first power transmission unit (210a), the joint connection between the left base link unit (212a) and the first left pitch link unit (222a) and the second left pitch link unit (222b), and the joint connection between the right base link unit (212b) and the first right pitch link unit (224a) and the second right pitch link unit (224b) can be made symmetrically to each other when viewed in the left-right direction (Y-axis direction) of the surgical device (10).

[0070] And, in the first power transmission unit (210a), the left and right base link units (212a, 212b) and the front roll link unit (214a) arranged at the front can be jointly connected to each other so that they can roll rotate by the left and right front roll joint units (218a, 218b). In addition, the left and right base link units (212a, 212b) and the rear roll link unit (214b) arranged at the rear can be jointly connected to each other so that they can roll rotate by the left and right rear roll joint units (218c, 218d).

[0071] According to the above-described implementation configuration, the first power transmission unit (210a) can pitch-rotate based on a plurality of left pitch joint units (216a) and a plurality of right pitch joint units (216b). In addition, the first power transmission unit (210a) can roll-rotate based on the front and rear roll link units (214a, 214b) and the left and right and front and rear roll joint units (218a, 218b, 218c, 218d).

[0072] Additionally, in the second power transmission unit (210b), the left base link unit (212a), the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c) can be jointly connected to each other at three points to enable pitch rotation by a plurality of left pitch joint units (216a).

[0073] In addition, in the second power transmission unit (210b), the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c) are arranged at a certain distance from each other in the front-back direction (X-axis direction) of the surgical device (10) and can be jointly connected at three points with the left base link unit (212a).

[0074] Additionally, in the second power transmission unit (210b), the right base link unit (212b), the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) can be jointly connected to each other at three points to enable pitch rotation by a plurality of right pitch joint units (216b).

[0075] In addition, in the second power transmission unit (210b), the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) are arranged at a predetermined distance from each other in the front-back direction (X-axis direction) of the surgical device (10) and can be jointly connected to each other at three points with the right base link unit (212b). Therefore, in the second power transmission unit (210b), the base link unit (212) and the plurality of pitch link units (220) can be jointly connected to each other at a total of six points on the left and right.

[0076] And, in the second power transmission unit (210b), the joint connection between the left base link unit (212a) and the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c), and the joint connection between the right base link unit (212b) and the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) can be made symmetrical to each other when viewed in the left-right direction (Y-axis direction) of the surgical device (10).

[0077] And, in the second power transmission unit (210b), the left and right base link units (212a, 212b) and the front roll link unit (214a) arranged at the front can be jointly connected to each other so that they can roll rotate by the left and right front roll joint units (218a, 218b). In addition, the left and right base link units (212a, 212b) and the rear roll link unit (214b) arranged at the rear can be jointly connected to each other so that they can roll rotate by the left and right rear roll joint units (218c, 218d).

[0078] According to the aforementioned implementation configuration, the second power transmission unit (210b) can pitch rotate based on a plurality of left pitch joint units (216a) and a plurality of right pitch joint units (216b). In addition, the second power transmission unit (210b) can roll rotate by the front and rear roll link units (214a, 214b) and the left and right and front and rear roll joint units (218a, 218b, 218c, 218d).

[0079] Additionally, in the third power transmission unit (210c), the left base link unit (212a), the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c) can be jointly connected to each other at three points to enable pitch rotation by a plurality of left pitch joint units (216a).

[0080] In addition, in the third power transmission unit (210c), the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c) are arranged at a certain distance from each other in the front-back direction (X-axis direction) of the surgical device (10) and can be jointly connected to the left base link unit (212a) at three points.

[0081] Additionally, in the third power transmission unit (210c), the right base link unit (212b), the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) can be jointly connected to each other at three points to enable pitch rotation by a plurality of right pitch joint units (216b).

[0082] In addition, in the third power transmission unit (210c), the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) are arranged at a predetermined distance from each other in the front-back direction (X-axis direction) of the surgical device (10) and can be jointly connected to each other at three points with the right base link unit (212b). Therefore, in the third power transmission unit (210c), the base link unit (212) and the plurality of pitch link units (220) can be jointly connected to each other at a total of six points on the left and right.

[0083] And, in the third power transmission unit (210c), the joint connection between the left base link unit (212a) and the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c), and the joint connection between the right base link unit (212b) and the first right pitch link unit (224a), the second right pitch link unit (224b), and the third right pitch link unit (224c) can be made symmetrical to each other when viewed in the left-right direction (Y-axis direction) of the surgical device (10).

[0084] And, in the third power transmission unit (210c), the left and right base link units (212a, 212b) and the front roll link unit (214a) arranged at the front can be jointly connected to each other so that they can roll rotate by the left and right front roll joint units (218a, 218b). In addition, the left and right base link units (212a, 212b) and the rear roll link unit (214b) arranged at the rear can be jointly connected to each other so that they can roll rotate by the left and right rear roll joint units (218c, 218d).

[0085] According to the aforementioned implementation configuration, the third power transmission unit (210c) can pitch rotate based on a plurality of left pitch joint units (216a) and a plurality of right pitch joint units (216b). In addition, the third power transmission unit (210c) can roll rotate by the front and rear roll link units (214a, 214b) and the left and right and front and rear roll joint units (218a, 218b, 218c, 218d).

[0086] Additionally, in the fourth power transmission unit (210d), the left base link unit (212a), the first left pitch link unit (222a), and the second left pitch link unit (222b) can be jointly connected to each other at two points to enable pitch rotation by a plurality of left pitch joint units (216a).

[0087] Additionally, in the fourth power transmission unit (210d), the first left pitch link unit (222a) and the second left pitch link unit (222b) can be jointly connected to the left base link unit (212a) while being spaced apart from each other by a certain distance in the front-rear direction (X-axis direction) of the surgical device (10).

[0088] Additionally, in the fourth power transmission unit (210d), the right base link unit (212b), the first right pitch link unit (224a), and the second right pitch link unit (224b) can be jointly connected to each other at two points to enable pitch rotation by a plurality of right pitch joint units (216b).

[0089] Additionally, in the fourth power transmission unit (210d), the first right pitch link unit (224a) and the second right pitch link unit (224b) can be jointly connected to the right base link unit (212b) while being positioned at a certain distance from each other in the front-back direction (X-axis direction) of the surgical device (10).

[0090] Therefore, in the fourth power transmission unit (210d), the base link unit (212) and the plurality of pitch link units (220) can be jointly connected to each other at a total of four points on the left and right.

[0091] And, in the fourth power transmission unit (210d), the joint connection between the left base link unit (212a) and the first left pitch link unit (222a) and the second left pitch link unit (222b), and the joint connection between the right base link unit (212b) and the first right pitch link unit (224a) and the second right pitch link unit (224b) can be made symmetrical to each other when viewed in the left-right direction (Y-axis direction) of the surgical device (10).

[0092] And, in the fourth power transmission unit (210d), the left and right base link units (212a, 212b) and the front roll link unit (214a) arranged at the front can be jointly connected to each other so that they can roll rotate by the left and right front roll joint units (218a, 218b). In addition, the left and right base link units (212a, 212b) and the rear roll link unit (214b) arranged at the rear can be jointly connected to each other so that they can roll rotate by the left and right rear roll joint units (218c, 218d).

[0093] According to the aforementioned implementation configuration, the fourth power transmission unit (210d) can pitch rotate based on a plurality of left pitch joint units (216a) and a plurality of right pitch joint units (216b). In addition, the fourth power transmission unit (210d) can roll rotate by the front and rear roll link units (214a, 214b) and the left and right and front and rear roll joint units (218a, 218b, 218c, 218d).

[0094] The first power transmission unit (210a) is arranged at the uppermost side as seen in FIGS. 2 and 3, and the second power transmission unit (210b), the third power transmission unit (210c), and the fourth power transmission unit (210d) can be arranged sequentially in a stage format when viewed from the top and bottom. In addition, the first left pitch link unit (222a), the second left pitch link unit (222b), and the third left pitch link unit (222c) can jointly connect the left sides of the first to fourth power transmission units (210a, 210b, 210c, 210d) in the top and bottom directions. In addition, the first right pitch link portion (224a), the second right pitch link portion (224b), and the third right pitch link portion (224c) can be jointly connected in the vertical direction to the right sides of the first to fourth power transmission portions (210a, 210b, 210c, 210d).

[0095] In addition, the first to third left pitch link parts (222a, 222b, 222c) and the first to third right pitch link parts (224a, 224b, 224c) can be jointly connected to the first to fourth power transmission parts (210a, 210b, 210c, 210d) symmetrically when viewed in the left-right direction (Y-axis direction) of the surgical device (10).

[0096] When the joint connection points of the plurality of left pitch joint parts (216a) of the first power transmission part (210a) described above, the plurality of left pitch joint parts (216a) of the second power transmission part (210b), the plurality of left pitch joint parts (216a) of the third power transmission part (210c), and the plurality of left pitch joint parts (216a) of the fourth power transmission part (210d) are connected in the vertical direction, three virtual vertical lines can be formed in parallel at a predetermined distance apart from each other. In addition, on the right side of the first to fourth power transmission parts (210a, 210b, 210c, 210d), three virtual vertical lines can be formed in parallel at a predetermined distance apart from each other by the same principle.

[0097] Meanwhile, if the joint connection points of the plurality of left pitch joint parts (216a) of the first power transmission part (210a) described above, the plurality of left pitch joint parts (216a) of the second power transmission part (210b), the plurality of left pitch joint parts (216a) of the third power transmission part (210c), and the plurality of left pitch joint parts (216a) of the fourth power transmission part (210d) are connected in the front-back direction (X-axis direction) of the surgical device (10), four virtual horizontal lines can be formed in parallel at a predetermined distance apart from each other. In addition, on the right side of the first to fourth power transmission parts (210a, 210b, 210c, 210d), four virtual horizontal lines can be formed in parallel at a predetermined distance apart from each other according to the same principle.

[0098] And, the first power transmission unit (210a) and the fourth power transmission unit (210d) can be jointly connected at two points with a plurality of pitch link units (220) in the front-back direction (X-axis direction) of the surgical device (10). At this time, the two-point joint connection of the first power transmission unit (210a) and the fourth power transmission unit (210d) can be connected so that one of the joint connection points meets and is misaligned on an imaginary vertical line. In addition, the second power transmission unit (210b) and the third power transmission unit (210c) can be jointly connected at three points with a plurality of pitch link units (220) in the front-back direction (X-axis direction) of the surgical device (10). Here, the dual parallelogram module (200) can form a dual parallelogram when connecting each joint connection point in the front-back direction (X-axis direction) and the up-down direction of the surgical device (10).

[0099] By combining a linear driving module (300) that is driven linearly in the front-back direction (X-axis direction) of the surgical device (10) with a dual parallelogram module (200) having the aforementioned configuration, a driving force for the dual parallelogram module (200) to perform two-degree-of-freedom motion driving of pitch and roll driving can be provided through driving of the linear driving module (300).

[0100] According to this embodiment of the present invention, since a linear driving force is transmitted to the dual parallelogram module (200), a two-degree-of-freedom motion driving of the surgical tool module (100) through the dual parallelogram module (200) can be implemented, the surgical tool module (100) can be driven more precisely than a method of simply driving the dual parallelogram module (200) through a rotational driving force. Accordingly, a more precise surgery can be performed by the surgical tool module (100), and safety accidents during surgery can be prevented in advance through the precise driving of the surgical tool module (100).

[0101] Referring to FIG. 1, the surgical tool module (100) may include a holder (110) and a surgical tool (120).

[0102] The holder (110) may constitute the exterior of the surgical tool module (100). In addition, the holder (110) may be configured to be connected to a plurality of power transmission units (210) to perform the two-degree-of-freedom motion drive. That is, the holder (110) may perform the two-degree-of-freedom motion drive of pitch or roll drive according to the driving of the plurality of power transmission units (210). As an example, the holder (110) may be connected to a first power transmission unit (210a) and a second power transmission unit (210b) among the plurality of power transmission units (210).

[0103] The above surgical tool (120) may be supported by a holder (110). As an example, the surgical tool (120) may have a gripping portion in the shape of a forceps at an end thereof so as to be able to grip a part of the human body. That is, when the holder (110) is driven in a pitch or roll manner according to the driving of a plurality of power transmission units (210), the surgical tool (120) may be driven in a pitch or roll manner in conjunction with the driving of the holder (110).

[0104] Fig. 4 is an enlarged view of portion A of Fig. 1. Referring to Fig. 4, the holder (110) may further include a rotation bearing (112). The rotation bearing (112) may be rotatably connected to a plurality of power transmission units (210). Specifically, the rotation bearing (112) may be connected to a first power transmission unit (210a) and a second power transmission unit (210b) among the plurality of power transmission units (210). Accordingly, a two-degree-of-freedom motion driving force resulting from the operation of the dual parallelogram module (200) may be easily transmitted to the surgical tool module (100).

[0105] Meanwhile, the linear driving module (300) may include a module body (310), a linear driving unit (320), and a link unit (330). The module body (310) may constitute the exterior of the linear driving module (300). The linear driving unit (320) may be provided in the module body (310) and configured to be driven linearly along the front-back direction (X-axis direction) of the module body (310). The link unit (330) may have one end rotatably connected to the linear driving unit (320), and the other end rotatably connected to a plurality of power transmission units (210). In one embodiment, the link unit (330) may be connected to a second power transmission unit (210b) connected to a holder (110) among the plurality of power transmission units (210).

[0106] In this way, since the linear driving force of the linear driving unit (320) can be transmitted to the dual parallelogram module (200) through the link unit (330) that is configured to be rotatable with respect to both the linear driving unit (320) and the power transmission unit (210), the two-degree-of-freedom motion driving force resulting from the driving of the dual parallelogram module (200) can be easily transmitted to the surgical tool module (100). Accordingly, more precise surgery can be performed by the surgical tool module (100).

[0107] As shown in Fig. 1, the linear driving unit (320) and the link unit (330) may be provided as a pair in the left and right directions (Y-axis direction) of the module body (310). Specifically, the linear driving unit (320) may include a first linear driving unit (320a) provided on the left side of the module body (310) and a second linear driving unit (320b) provided on the right side of the module body (310).

[0108] In addition, the link unit (330) may include a first link unit (330a) and a second link unit (330b). The first link unit (330a) may have one end rotatably connected to the first linear driving unit (320a) and the other end rotatably connected to the second power transmission unit (210b). The second link unit (330b) may have one end rotatably connected to the second linear driving unit (320b) and the other end rotatably connected to the second power transmission unit (210b). In this way, since the linear driving unit (320) that generates the linear driving force and the link units (330) that are rotatably connected to the linear driving unit (320) and the power transmission unit (210) may be provided as a left and right pair, the pitch and roll driving by the dual parallelogram module (200) can be performed more stably.

[0109] Specifically, the linear drive unit (320) may include a guide rail (322) and a moving block (324).

[0110] The above guide rail (322) may be configured to extend along the front-back direction (X-axis direction) of the module body (310). Specifically, the guide rail (322) may include a first rail (322a) provided on the left side of the module body (310) and a second rail (322b) provided on the right side of the module body (310).

[0111] The above-mentioned moving block (324) may be configured to be rotatably connected to one end of the link portion (330) and to be driven linearly along the guide rail (322) in the front-back direction (X-axis direction) of the module body (310). Specifically, the moving block (324) may include a first block (324a) and a second block (324b).

[0112] The above first block (324a) can be configured such that one end of the first link portion (330a) is rotatably connected and driven linearly along the first rail (322a) in the front-back direction (X-axis direction) of the module body (310).

[0113] The second block (324b) may be configured such that one end of the second link portion (330b) is rotatably connected and driven linearly along the second rail (322b) in the forward / reverse direction (X-axis direction) of the module body (310).

[0114] In particular, the linear drive module (300) may further include a first rotation joint (340). The lower side of the first rotation joint (340) may be rotatably connected to a moving block (324). In addition, one end of a link part (330) may be rotatably connected to the side of the first rotation joint (340). These first rotation joints (340) may be provided as a pair in the left and right directions (Y-axis direction) of the module body (310).

[0115] According to this implementation configuration, the first rotary joint (340) that rotatably supports the link unit (330) with respect to the moving block (324) can also be rotatably connected with respect to the moving block (324) that is driven linearly along the guide rail (322), so that when the linear driving force of the linear driving unit (320) is transmitted to the link unit (330) and converted into a rotational driving force, more diverse types of motion driving can be performed by the link unit (330). Accordingly, the pitch and roll driving by the dual parallelogram module (200) can be performed more stably.

[0116] Fig. 5 is an enlarged view of part B of Fig. 1. Referring to Figs. 1 and 5, any one of the plurality of power transmission units (210) may include a support unit (H). In this case, the second power transmission unit (210b) may include the support unit (H). This support unit (H) may be configured to support the other end of the link unit (330).

[0117] In addition, the linear drive module (300) may further include a second rotational joint (350). The second rotational joint (350) may be rotatably coupled to a support member (H). In addition, the second rotational joint (350) may be rotatably connected to the other end of the link member (330). Specifically, the support member (H) may include an upper surface (H1) and a lower surface (H2).

[0118] The above upper surface (H1) can be configured to extend in the front-back direction (X-axis direction) of the surgical device (10) from the second power transmission unit (210b).

[0119] The above-mentioned lower surface (H2) may be arranged to face the upper surface (H1) in the vertical direction and may be configured to extend from the second power transmission unit (210b) in the front-rear direction (X-axis direction) of the surgical device (10).

[0120] And the second rotation joint (350) can be provided as a pair in the left and right direction (Y-axis direction) of the support (H). At this time, the upper and lower ends of the pair of second rotation joints (350) can be rotatably connected to the upper surface (H1) and the lower surface (H2) of the support (H), respectively.

[0121] And, the other end of the first link part (330a) can be rotatably connected to the second left rotation joint (350), and the other end of the second link part (330b) can be rotatably connected to the second right rotation joint (350).

[0122] According to this implementation configuration, the second rotary joint (350) that rotatably supports the link unit (330) with respect to the power transmission unit (210) can also be rotatably connected to the support unit (H) of the power transmission unit (210), so that when the linear driving force of the linear driving unit (320) is transmitted to the link unit (330) and converted into a rotational driving force, more diverse types of motion driving can be performed by the link unit (330). Accordingly, the pitch and roll driving by the dual parallelogram module (200) can be performed more stably.

[0123] Referring to FIG. 5, the second rotation joint (350) may be configured to surround a portion of the other end of the link portion (330). Specifically, the second rotation joint (350) may be configured to surround the other end of the link portion (330) through the upper surface, the lower surface, and one side connecting the upper surface and the lower surface, as shown in FIG. 5.

[0124] And, the other end of the link portion (330) can be rotatably coupled to a side surface of the second rotary joint (350). Specifically, the other end of the link portion (330) can be rotatably coupled to one side surface of the second rotary joint (350) connecting the upper and lower surfaces of the second rotary joint (350), as shown in FIG. 5.

[0125] According to this implementation configuration, the other end of the link portion (330) connected to the double parallelogram module (200) closer to the surgical tool module (100) than one end of the link portion (330) can be more stably connected to the power transmission portion (210), so that the pitch and roll driving by the double parallelogram module (200) can be performed more stably, and the precision during driving of the surgical tool module (100) can be more reliably secured.

[0126] Meanwhile, the power transmission unit (210) located at the lowest side among the plurality of power transmission units (210) may be configured to be connected to the module body (310). Specifically, as shown in FIG. 1, the fourth power transmission unit (210d) may be coupled to the lower side of the module body (310).

[0127] According to this implementation configuration, since two degrees of freedom motion driving can be performed while the lower side of the dual parallelogram module (200) is supported by the linear drive module (300), pitch and roll driving by the dual parallelogram module (200) can be performed more stably.

[0128] Based on the configuration of the surgical device (10) described below, the pitch and roll drive of the surgical device (10) will be described in detail with reference to FIGS. 6 to 9.

[0129] Fig. 6 is a drawing showing a first driving example of the surgical device (10) of Fig. 1.

[0130] Referring to FIG. 6, when both of the pair of linear driving units (320) are linearly driven toward the front of the module body (310), the surgical tool module (100) can be configured to pitch-drive forward. Specifically, as shown in FIG. 6, when the first block (324a) is linearly driven toward the front of the module body (310) along the first rail (322a) and the second block (324b) is linearly driven toward the front of the module body (310) along the second rail (322b), the first link unit (330a) and the second link unit (330b) connected to the first block (324a) and the second block (324b), respectively, can face toward the front of the module body (310). Accordingly, the entire dual parallelogram module (200) can face forward while the surgical tool module (100) can pitch-drive forward.

[0131] Fig. 7 is a drawing showing a second driving example of the surgical device (10) of Fig. 1.

[0132] Referring to FIG. 7, when both of the pair of linear driving units (320) are driven linearly toward the rear of the module body (310), the surgical tool module (100) can be configured to pitch-drive backward. Specifically, as shown in FIG. 7, when the first block (324a) is driven linearly toward the rear of the module body (310) along the first rail (322a) and the second block (324b) is driven linearly toward the rear of the module body (310) along the second rail (322b), the first link unit (330a) and the second link unit (330b) connected to the first block (324a) and the second block (324b), respectively, can face the rear of the module body (310). Accordingly, the entire dual parallelogram module (200) can face the rear, and the surgical tool module (100) can pitch-drive backward.

[0133] Fig. 8 is a drawing showing a third driving example of the surgical device (10) of Fig. 1, and Fig. 9 is a drawing showing a fourth driving example of the surgical device (10) of Fig. 1. At this time, Fig. 8 is a drawing showing a state in which the surgical tool module (100) is rolled to the left, and Fig. 9 is a drawing showing a state in which the surgical tool module (100) is rolled to the right.

[0134] Referring to FIGS. 8 and 9, when one of the pair of linear driving units (320) is driven linearly toward the front side of the module body (310) and the other of the pair of linear driving units (320) is driven linearly toward the rear side of the module body (310), the surgical tool module (100) can be configured to roll-drive to the left or right.

[0135] Specifically, as shown in FIG. 8, when the first block (324a) is driven linearly toward the rear of the module body (310) along the first rail (322a) and the second block (324b) is driven linearly toward the front of the module body (310) along the second rail (322b), the first link part (330a) connected to the first block (324a) can face the rear of the module body (310), and the second link part (330b) connected to the second block (324b) can face the front of the module body (310). Accordingly, the entire double parallelogram module (200) can face the left, and the surgical tool module (100) can be rolled to the left.

[0136] Specifically, as shown in FIG. 9, when the first block (324a) is driven linearly toward the front of the module body (310) along the first rail (322a) and the second block (324b) is driven linearly toward the rear of the module body (310) along the second rail (322b), the first link part (330a) connected to the first block (324a) can face the front of the module body (310), and the second link part (330b) connected to the second block (324b) can face the rear of the module body (310). Accordingly, the entire double parallelogram module (200) can face the right, and the surgical tool module (100) can be rolled to the right.

[0137] In one embodiment, the rotation angle in the roll drive may be determined based on the difference between the forward displacement of one module body (310) of a pair of linear driving units (320) and the rearward displacement of the other module body (310) of a pair of linear driving units (320).

[0138] Specifically, as shown in FIG. 8, the rotation angle at which the surgical tool module (100) rolls to the left may vary depending on the difference in the displacement at which the first block (324a) is driven linearly toward the rear of the module body (310) along the first rail (322a) and the displacement at which the second block (324b) is driven linearly toward the front of the module body (310) along the second rail (322b).

[0139] In addition, as shown in FIG. 9, the rotation angle at which the surgical tool module (100) is rolled to the rear may vary depending on the difference in the displacement at which the first block (324a) is linearly driven to the front of the module body (310) along the first rail (322a) and the displacement at which the second block (324b) is linearly driven to the rear of the module body (310) along the second rail (322b).

[0140] Fig. 10 is a flowchart showing the operation method of a surgical device using the surgical device (10) of Fig. 1.

[0141] Referring to FIG. 10 together with FIGS. 1 to 9 above, a method of operating a surgical device according to one embodiment of the present invention may include the following steps S1 to S3.

[0142] In the above step S1, the guide rail (322) is rotated by the control signal of the control unit (328). Here, the linear driving unit (320) described above may include the control unit (328). As an example, the control unit (328) may include a processor. Here, the processor may be implemented in the form of a CPU, GPU, AP, or a combination thereof having an arithmetic processing function, and may be provided with DRAM, flash memory, SSD, or other various types of memory as needed. This control unit (328) may control the surgical tool module (100) to perform two-degree-of-freedom motion driving of pitch and roll driving according to a user's command input.

[0143] Specifically, the linear driving unit (320) may include a driving force providing unit (326) configured to rotate a guide rail (322) according to a control signal of a control unit (328). At this time, the guide rail (322) may be a lead screw, but is not limited thereto. More specifically, the driving force providing unit (326) may include a motor (326a) and a driving belt (326b).

[0144] The above motor (326a) may be placed at the bottom of the module body (310) as shown in Fig. 1. In addition, the motor (326a) may be configured to be driven according to a control signal of the control unit (328).

[0145] The above drive belt (326b) may be rotatably supported on one end of a guide rail (322) disposed on the upper portion of the module body (310) as shown in FIG. 1. In addition, the drive belt (326b) may also be rotatably supported on one end of a motor (326a) disposed on the lower portion of the module body (310). Accordingly, when the motor (326a) is rotationally driven according to a control signal of the control unit (328), the guide rail (322) supporting the drive belt (326b) may also be rotated together with the rotational driving force of the motor (326a) transmitted from the drive belt (326b) as the motor (326a) is rotated.

[0146] In the above step S2, the moving block (324) is driven in a straight line along the guide rail (322) in the front-back direction of the module body (310) by the rotation of the guide rail (322). At this time, the aforementioned driving force providing unit (326) may be provided at the lower part of the module body (310) corresponding to each of the first rail (322a) and the second rail (322b). In addition, each of the driving force providing units (326) may drive the first rail (322a) and the second rail (322b) in the same direction or in opposite directions when viewed from the front-back direction of the module body (310). Accordingly, the first block (324a) and the second block (324b) may also be driven in the same direction or in opposite directions when viewed from the front-back direction of the module body (310).

[0147] In the above S3 step, as the moving block (324) is driven linearly, the link part (330) rotates, and each power transmission part (210) is driven in a pitch or roll. At this time, the rotation of the link part (330) can be more easily achieved by the configuration of the first rotation joint (340) and the second rotation joint (350) connected to the link part (330). As described above, the guide rail (322), the moving block (324), and the link part (330) can be provided as a pair in the left and right directions of the module body (310).

[0148] At this time, the S3 step may include a step in which the surgical tool module (100) is driven forward in a pitch direction when both of the pair of moving blocks (324) are driven linearly toward the front of the module body (310), and a step in which the surgical tool module (100) is driven backward in a pitch direction when both of the pair of moving blocks (324) are driven linearly toward the rear of the module body (310).

[0149] In addition, the S3 step may further include a step in which the surgical tool module (100) is rolled to the left or right when one of the pair of moving blocks (324) is driven linearly toward the front of the module body (310) and the other of the pair of moving blocks (324) is driven linearly toward the rear of the module body (310).

[0150] Fig. 11 is a drawing exemplarily showing a surgical device according to the present invention, Fig. 12 is an enlarged view of part A of Fig. 11, Fig. 13 is a cross-sectional view taken along the BB' direction of Fig. 11, and Fig. 14 is an enlarged view of part C of Fig. 13.

[0151] Referring to FIGS. 11 to 14, a surgical device (10) according to one embodiment of the present invention may include a surgical tool module (100), a dual parallelogram module (200), and a linear drive module (300). As an example, the surgical device (10) may perform surgery on a human body. Specifically, the surgical tool module (100) may include a holder (110), a surgical tool (120), and a pre-load part (130).

[0152] The holder (110) may constitute the exterior of the surgical tool module (100). In addition, the holder (110) may be configured to be connected to a plurality of power transmission units (210) to perform the two-degree-of-freedom motion drive. That is, the holder (110) may perform the two-degree-of-freedom motion drive of pitch or roll drive according to the driving of the plurality of power transmission units (210). As an example, the holder (110) may be connected to a first power transmission unit (210a) and a second power transmission unit (210b) among the plurality of power transmission units (210).

[0153] The above surgical tool (120) may be supported by a holder (110). As an example, the surgical tool (120) may have a gripping portion in the shape of a forceps at an end thereof so as to be able to grip a part of the human body. That is, when the holder (110) is driven in a pitch or roll manner according to the driving of a plurality of power transmission units (210), the surgical tool (120) may be driven in a pitch or roll manner in conjunction with the driving of the holder (110).

[0154] The above preload unit (130) may be provided on the holder (110) and may be rotatably connected to a plurality of power transmission units (210). In addition, the preload unit (130) may be configured to pressurize a coupling shaft (130a) configured to rotatably connect the holder (110) to a plurality of power transmission units (210).

[0155] In an embodiment of the present invention, when a dual parallelogram module (200) that performs two-degree-of-freedom motion driving of pitch and roll driving by a plurality of power transmission units (210) and a linear driving module (300) that transmits linear driving force to the dual parallelogram module (200) are driven, a fine vibration may occur throughout the entire surgical device (10), and the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) may become unstable. Such fine vibration may significantly reduce precision and stability when performing a surgery by the surgical tool module (100).

[0156] Meanwhile, as in the above-described embodiment of the present invention, since the preload unit (130) provided in the holder (110) and rotatably connected to a plurality of power transmission units (210) can press the coupling shaft (130a) configured to rotatably connect the holder (110) to the plurality of power transmission units (210), even if vibration occurs in the surgical device (10) due to the driving of the dual parallelogram module (200) and the linear drive module (300), the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be stably performed. Accordingly, the surgery can be performed more precisely and stably by the surgical tool module (100).

[0157] Referring to FIGS. 13 and 14, the preload unit (130) may include a reference bearing (132) and a pressure bearing (134). The reference bearing (132) may be configured to rotatably support the coupling shaft (130a). The pressure bearing (134) may be configured to pressurize the reference bearing (132). At this time, the pressure bearing (134) may be provided on the outside of the reference bearing (132) and configured to pressurize the outer circumferential surface of the reference bearing (132). In particular, the pressure bearings (134) may be arranged as a pair on both sides of the reference bearing (132). That is, a pair of pressure bearings (134) may be arranged on both left and right sides (Y-axis direction) of the reference bearing (132) and configured to pressurize the outer circumferential surface of the reference bearing (132) from the outside of the reference bearing (132). In this way, since the reference bearing (132) that rotatably supports the coupling shaft (130a) can be pressurized through the pressurized bearings (134) arranged on both sides of the reference bearing (132), even if vibration occurs in the surgical device (10) due to the driving of the dual parallelogram module (200) and the linear drive module (300), the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably achieved.

[0158] In one embodiment, the pressurized bearing (134) may be configured to pressurize the reference bearing (132) obliquely. That is, a pair of pressurized bearings (134) may be arranged on both left and right sides (Y-axis direction) of the reference bearing (132) so as to pressurize the outer surface of the reference bearing (132) obliquely from the outside of the reference bearing (132). In particular, the radial center of the pressurized bearing (134) may be arranged to be spaced apart from the radial center of the reference bearing (132) when viewed from the top and bottom. That is, when viewed from the top and bottom, the radial center of the pressurized bearing (134) may be arranged to be spaced apart from the radial center of the reference bearing (132) so as to pressurize the outer surface of the reference bearing (132) obliquely from the outside of the reference bearing (132).

[0159] In this way, since a pair of pressure bearings (134) can pressurize the reference bearing (132) at an angle from both sides of the reference bearing (132), a greater pressing force can be applied to the reference bearing (132) compared to the case where the pressure bearings (134) pressurize the reference bearing (132) on the same horizontal plane. Accordingly, even if vibration occurs in the surgical device (10) due to the driving of the dual parallelogram module (200) and the linear drive module (300), the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably achieved.

[0160] Referring again to FIGS. 11 to 14, the holder (110) may include a first frame (112) and a second frame (114). The first frame (112) may be connected to any one of the plurality of power transmission units (210). For example, the first frame (112) may be connected to the first power transmission unit (210a). The second frame (114) may be connected to another one of the plurality of power transmission units (210) and may be disposed on the upper side of the first frame (112). For example, the second frame (114) may be connected to the second power transmission unit (210b). In addition, the preload unit (130) may be provided on the first frame (112) and the second frame (114). That is, one of the preload units (130) may be provided on the first frame (112) and rotatably connected to the first power transmission unit (210a). And, the other of the preload units (130) may be provided on the second frame (114) and rotatably connected to the second power transmission unit (210b).

[0161] According to this implementation configuration, both of the pair of coupling shafts (130a) connected to the two power transmission units (the first power transmission unit (210a) and the second power transmission unit (210b)) can be inclined and pressed, so that the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably achieved.

[0162] Meanwhile, as shown in FIGS. 13 and 14, in the preload unit (130) provided in the first frame (112), the pressure bearing (134) may be configured to pressurize the reference bearing (132) downwardly. In addition, in the preload unit (130) provided in the second frame (114), the pressure bearing (134) may be configured to pressurize the reference bearing (132) upwardly. According to this embodiment, since both of the pair of coupling shafts (130a) connected to the two power transmission units (the first power transmission unit (210a) and the second power transmission unit (210b)) can be pressed, the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably performed.

[0163] In particular, the preload unit (130) may further include an auxiliary bearing (132a). The auxiliary bearing (132a) may be arranged between the inner surface of the reference bearing (132) and the outer surface of the coupling shaft (130a). The auxiliary bearing (132a) may be a ball bearing, but is not limited thereto. Specifically, the auxiliary bearing (132a) may be configured to surround the coupling shaft (130a). In addition, the coupling shaft (130a) may be coupled to the center of the vertical direction and the left and right direction (Y-axis direction) of the side that is connected to the dual parallelogram module (200) in the holder (110).

[0164] At this time, when the pressurized bearing (134) pressurizes the outer surface of the reference bearing (132), the gap between the auxiliary bearing (132a) configured to surround the coupling shaft (130a) inside the reference bearing (132) and the inner surface of the reference bearing (132) can be minimized.

[0165] In particular, since the coupling shaft (130a) is coupled to the center of the vertical and left-right directions (Y-axis direction) of the side that is connected to the dual parallelogram module (200) in the holder (110), when the pressure bearing (134) presses the coupling shaft (130a) so that the gap between the auxiliary bearing (132a) and the inner surface of the reference bearing (132) is minimized, even if vibration occurs in the surgical device (10) due to the driving of the dual parallelogram module (200) and the linear drive module (300), the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably achieved.

[0166] Fig. 15 is a drawing showing a surgical device (12) according to another embodiment of the present invention. Since the surgical device (12) according to the present embodiment is similar to the surgical device (10) according to the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0167] Referring to FIG. 15, in the surgical device (12), the pressure bearing (134) in the preload unit (130) provided in the first frame (112) may be configured to pressurize the reference bearing (132) in an upward incline. In addition, the pressure bearing (134) in the preload unit (130) provided in the second frame (114) may be configured to pressurize the reference bearing (132) in a downward incline. According to this implementation configuration, since both of the pair of coupling shafts (130a) connected to the two power transmission units (the first power transmission unit (210a) and the second power transmission unit (210b)) can be pressed, the coupling between the holder (110) of the surgical tool module (100) and the dual parallelogram module (200) can be more stably achieved.

[0168] FIG. 16 is a drawing showing a surgical device (100) according to one embodiment of the present invention, FIGS. 17 and 18 are drawings showing in detail a part of the configuration (100) of the surgical device of FIG. 16, FIG. 19 is a partial enlarged view of FIG. 18, and FIG. 20 is a cross-sectional view taken along the line AA' of FIG. 16.

[0169] Referring to FIGS. 16 to 20, a surgical device (100) according to an embodiment of the present invention may include a surgical tool (1000), a holder (2000), and a holder driving unit (3000). As an example, the surgical device (100) may perform surgery on a human body. The surgical tool (1000) may have a gripper at its tip for holding a part of the human body (e.g., a retina, etc.). The holder (2000) may support the surgical tool (1000). The holder driving unit (3000) may be configured to simultaneously guide rotational and linear movements of the holder (2000). That is, the holder driving unit (3000) may be configured to simultaneously guide rotational and linear movements of the surgical tool (1000) supported by the holder (2000). Accordingly, the surgical tool (1000) may perform more diverse operations by simultaneously performing rotational and linear movements. The detailed configuration and operation of this holder drive unit (3000) will be described in more detail in the related description that follows.

[0170] According to this implementation configuration, the surgical tool (1000) can perform a wider range of movements compared to conventional surgical devices that only perform rotational or linear driving.

[0171] Referring to FIGS. 17 to 20, the holder driving unit (3000) may include a rotary driving unit (3100) and a linear driving unit (3200). The rotary driving unit (3100) may be configured to guide the rotary driving of the holder (2000). As an example, the rotary driving unit (3100) may be driven by a separate servo motor (not shown). The linear driving unit (3200) may be configured to guide the linear driving of the holder (2000). As an example, the linear driving unit (3200) may be driven by a separate servo motor (not shown).

[0172] Meanwhile, the holder driving unit (3000) may further include a connector (3300). The connector (3300) may be configured to connect the rotary driving unit (3100) and the linear driving unit (3200) and the holder (2000) in the front-back direction (X-axis direction) of the surgical device (100). As an example, the connector (3300) may be configured to extend long in the front-back direction (X-axis direction) of the surgical device (100).

[0173] That is, the connector (3300) can connect the rotary drive unit (3100) that guides the rotational drive of the holder (2000) and the linear drive unit (3200) that guides the linear drive of the holder (2000) along the same line in the front-back direction (X-axis direction) of the surgical device (100), as shown in FIGS. 17 to 20. In other words, the central axis (X-axis) of the drive line of the linear drive unit (3200) in the front-back direction (X-axis direction) of the surgical device (100) and the drive axis (X-axis) of the rotary drive unit (3100) can be the same.

[0174] According to this implementation configuration, since the holder drive unit (3000) can simultaneously guide the rotational drive and linear drive of the holder (2000) supporting the surgical tool (1000) on the same line, the surgical tool (1000) can perform more diverse operations with a more compact configuration. In particular, a plurality of connectors (3300) may be provided. In addition, the plurality of connectors (3300) may be arranged at a predetermined interval in the circumferential direction of the holder (2000). Accordingly, the connection between the rotational drive unit (3100) and the linear drive unit (3200) and the holder (2000) in the front-back direction (X-axis direction) of the surgical device (100) can be more stably achieved.

[0175] Specifically, referring to FIGS. 17 to 19, the rotary drive unit (3100) may be positioned in front of the linear drive unit (3200) when viewed in the front-back direction (X-axis direction) of the surgical device (100). Conversely, although not illustrated, the rotary drive unit (3100) may also be positioned in the rear of the linear drive unit (3200) when viewed in the front-back direction (X-axis direction) of the surgical device (100). In this way, since the rotary drive unit (3100) and the linear drive unit (3200) may be spaced apart from each other when viewed in the front-back direction (X-axis direction) of the surgical device (100), interference between the rotary drive and the linear drive of the holder (2000) may be minimized.

[0176] Referring to FIGS. 18 and 20, the rotary drive unit (3100) may include a main gear (3120) and a drive gear (3140). The main gear (3120) may be configured to guide the rotation of the holder (2000). At this time, the rotation axis of the main gear (3120) may be arranged coaxially (X-axis) with the rotation axis of the holder (2000). The drive gear (3140) may be configured to be coupled with the main gear (3120) to rotate the main gear (3120). At this time, the aforementioned servo motor (not shown) may be connected to the drive gear (3140). In addition, referring to FIG. 18, the drive gear (3140) may be arranged on the outside of the main gear (3120) to be in contact with the main gear (3120).

[0177] Figures 21 and 22 are drawings for explaining the linear drive of the surgical device (100) of Figure 16. Here, Figure 21 is a drawing showing a state in which the pressure part (3220) of the linear drive part (3200) moves forward, and Figure 22 is a drawing showing a state in which the pressure part (3220) of the linear drive part (3200) moves backward.

[0178] Referring to FIGS. 18 to 22, the linear driving unit (3200) may include a pressurizing unit (3220) and a pressurizing disk (3240).

[0179] The above-mentioned pressurizing unit (3220) may be configured to move the holder (2000) forward or backward in the forward-backward direction (X-axis direction) of the surgical device (100). In one embodiment, the pressurizing unit (3220) may be provided so that one side thereof is connected to the inside of a housing (H, see FIGS. 16 and 20) that houses a part of the holder (2000) and the holder driving unit (3000) therein and protrudes toward the front side (X-axis direction) of the surgical device (100). In addition, the pressurizing unit (3220) may be driven by a separate servo motor (not shown).

[0180] The above-mentioned pressurized disk (3240) can be connected to the holder (2000) through a connector (3300). In addition, the pressurized disk (3240) can be configured to guide the holder (2000) to move forward or backward in the front-back direction of the surgical device (100) according to the pressurization or depressurization of the pressurizing unit (3220) in the front-back direction (X-axis direction) of the surgical device (100). In one embodiment, the pressurized disk (3240) can be provided in a plate shape having a predetermined area on a horizontal plane (YZ plane) and a predetermined thickness in the front-back direction (X-axis direction) of the surgical device (100).

[0181] Specifically, the pressurizing disk (3240) can be brought into surface contact with the tip of the pressurizing portion (3220) when the pressurizing portion (3220) presses the surgical device (100) in the front-back direction (X-axis direction). In addition, when the pressurizing disk (3240) is moved forward in the front direction of the surgical device (100) by the pressurizing portion (3220), the pressurizing disk (3240) can move the connector (3300) forward in the front direction of the surgical device (100). Accordingly, as the holder (2000) is moved forward in the front direction of the surgical device (100), the surgical tool (1000) can also be moved forward in the front direction of the surgical device (100).

[0182] In addition, the pressure disk (3240) can be released from surface contact with the tip of the pressure unit (3220) when the pressure unit (3220) moves backward in the rearward direction of the surgical device (100). In this case, the pressure disk (3240) can be moved backward in the rearward direction of the surgical device (100). In addition, the pressure disk (3240) can move the connector (3300) connected to the pressure disk (3240) backward in the rearward direction of the surgical device (100). Accordingly, as the holder (2000) moves backward in the rearward direction of the surgical device (100), the surgical tool (1000) can also be moved backward in the rearward direction of the surgical device (100).

[0183] Meanwhile, when viewed from the front-rear direction of the surgical device (100), an elastic member (e.g., spring, not shown) is interposed between the main gear (3120) and the pressure disk (3240) to elastically support the pressure disk (3240) toward the rear of the surgical device (100). That is, when the pressure by the pressure unit (3220) is released, the pressure disk (3240) can be moved backward toward the rear of the surgical device (100) by the elastic force of the elastic member (not shown) and easily returned to its original position.

[0184] According to this implementation configuration, the linear movement of the holder (2000) can be guided by the pressing and releasing action between the pressing disk (3240) having a predetermined area and the pressing portion (3220), so there is an advantage in that the linear movement of the surgical tool (1000) can be guided more stably. In particular, the connector (3300) can be configured to pass through the radially inner side of the main gear (3120) and be connected to the pressing disk (3240). As an example, the main gear (3120) can be configured to be hollow. In addition, the connector (3300) connected to the holder (2000) can pass through the hollow part of the main gear (3120) and be connected to the pressing disk (3240).

[0185] According to this implementation configuration, interference between the rotational motion guide of the surgical tool (1000) by the rotary drive unit (3100) and the linear motion guide of the surgical tool (1000) by the linear drive unit (3200) can be minimized. Accordingly, the surgical tool (1000) can perform a wider variety of motions simultaneously.

[0186] Referring to FIGS. 20 to 22, the linear driving unit (3200) may further include a pressure disk receiving unit (3260). The pressure disk receiving unit (3260) may receive a pressure disk (3240) therein, and may be configured to guide the driving of the pressure disk (3240) in the front-back direction (X-axis direction) of the surgical device (100) according to the driving of the pressure unit (3220). Specifically, the pressure disk (3240) may be driven in the front-back direction of the surgical device (100) along the inner circumferential surface of the pressure disk receiving unit (3260). Accordingly, the driving of the pressure disk (3240) in the front-back direction of the surgical device (100) may be performed more stably.

[0187] Referring to FIGS. 20 to 22, the pressurizing disk (3240) may include a protrusion (3240a). The protrusion (3240a) may be connected to the connector (3300) and the surgical device (100) in the front-rear direction (X-axis direction), and may be configured to come into contact with the pressurizing portion (3220) according to the operation of the pressurizing portion (3220). As an example, the protrusion (3240a) may be a bolt. In particular, the protrusion (3240a) may be formed to protrude in the direction of the pressurizing portion (3220). That is, since the protrusion (3240a) is formed to protrude in the direction of the pressurizing portion (3220), when the pressurizing portion (3220) moves forward in the front direction of the surgical device (100), the pressurizing disk (3240) can move forward in the front direction of the surgical device (100) more easily as the pressurizing portion (3220) presses the protrusion (3240a). In addition, the protrusion (3240a) may be provided in multiple numbers. In addition, the multiple protrusions (3240a) may be arranged to be spaced apart from each other by a predetermined interval in the circumferential direction of the pressurizing disk (3240). In particular, the multiple protrusions (3240a) may be configured to form an insertion space (S) into which the tip of the pressurizing portion (3220) can be inserted at the radial center side of the pressurizing disk (3240).

[0188] Specifically, as shown in FIGS. 21 and 22, when the pressure unit (3220) advances in the forward direction of the surgical device (100), a plurality of protrusions (3240a) may be configured to surround the front end of the pressure unit (3220) on a horizontal plane (YZ plane) within the insertion space (S). Accordingly, when the pressure unit (3220) advances toward the pressure disk (3240) to pressurize the pressure disk (3240), the pressure unit (3220) can stably pressurize the pressure disk (3240) in the front-back direction (X-axis direction) of the surgical device (100) without being misaligned on the horizontal plane (YZ plane) with respect to the pressure disk (3240).

[0189] At this time, the tip of the pressure part (3220) may be configured to be inclined as it goes toward the front side of the surgical device (100), as in FIGS. 21 and 22. Meanwhile, when the pressure part (3220) advances in the front-back direction (X-axis direction) of the surgical device (100), the outer peripheral surfaces of the plurality of protrusions (3240a) may be configured to come into contact with the tip of the pressure part (3220). That is, when the pressure part (3220) advances in the front-back direction (X-axis direction) of the surgical device (100), the outer peripheral surfaces of the plurality of protrusions (3240a) may come into contact with the tip of the pressure part (3220) which is configured to be inclined as it goes toward the front side of the surgical device (100).

[0190] In this case, when the tip of the pressurizing part (3220) is configured to be inclined as it goes toward the front side of the surgical device (100), friction and vibration caused by surface contact between the tip of the pressurizing part (3220) and the pressurizing disk (3240) can be minimized compared to the case where the cross-sectional area on the horizontal plane (YZ plane) of the tip of the pressurizing part (3220) is the same in the front-back direction (X-axis direction) of the surgical device (100).

[0191] According to this implementation configuration, when the linear driving of the holder (2000) by the pressurizing part (3220) and the rotational driving of the holder (2000) by the rotation of the main gear (3120) are performed simultaneously, friction and vibration caused by the surface contact between the tip of the pressurizing part (3220) and the pressurizing disk (3240) can be minimized, so that various movements by the surgical tool (1000) can be stably implemented simultaneously.

[0192] FIG. 23 is a flowchart illustrating an operating method of a surgical device using the surgical device (100) of FIG. 16. Referring to FIG. 23 together with FIGS. 16 to 22, the operating method of the surgical device according to an embodiment of the present invention may include steps S4 to S7 below. In step S4, the driving gear is rotated by a control signal of a control unit (not shown). Here, the holder driving unit (3000) described above may include the control unit. As an example, the control unit may include a processor. Here, the processor may be implemented in the form of a CPU, GPU, AP, or a combination thereof having an arithmetic processing function, and may be provided with DRAM, flash memory, SSD, or other various types of memory as needed. The control unit may control the rotational driving and linear driving of the holder (2000) supporting the surgical tool (1000) to be performed simultaneously according to a user's command input.

[0193] Specifically, the rotary drive unit (3100) may further include a drive shaft (3140a) and the aforementioned servo motor (not shown). At this time, the drive gear (3140) may be axially coupled to the drive shaft (3140a), and the drive shaft (3140a) may be connected to the servo motor and rotate according to the driving of the servo motor. In addition, the aforementioned control unit may control the driving of the servo motor. In one embodiment, the drive shaft (3140a) may be a lead screw, but is not limited thereto.

[0194] In the above step S5, the holder (2000) rotates as the main gear (3120) rotates due to the rotation of the drive gear (3140). Accordingly, the surgical tool (1000) connected to the holder (2000) can also rotate.

[0195] In the above step S6, the housing (H) connected to the drive shaft (3140a) to which the drive gear (3140) is axially coupled moves forward or backward in the forward-backward direction of the surgical device (100) through the drive shaft (3140a) according to the rotation of the drive gear (3140). At this time, the housing (H) may be screw-coupled with the drive shaft (3140a) so that the forward-backward movement of the surgical device (100) through the drive shaft (3140a) is facilitated when the drive gear (3140) rotates.

[0196] In the above step S7, the pressurizing unit (3220) connected to the inside of the housing (H) and protruding toward the front side of the surgical device (100) pressurizes or depressurizes the insertion space (S) while moving forward or backward in the front-back direction of the surgical device (100) in conjunction with the forward or backward driving of the housing (H). Accordingly, the surgical tool (1000) connected to the holder (2000) can be moved forward or backward in the front-back direction of the surgical device (100). In this way, since the rotational driving and linear driving of the surgical tool (1000) can be performed simultaneously through the rotation of the driving gear (3140) according to the control signal of the control unit, various surgical operations by the surgical tool (1000) can be stably implemented simultaneously.

[0197] The surgical device (5300) may include an arm module (5100) and a surgical tool module (5200).

[0198] The arm module (5100) may include at least one of a base (5101), a guide tube (5104), a motor (5102), a first interface (5110), and a first coupler (5112).

[0199] The surgical tool module (5200) may include at least one of a housing (5201), a second interface (5210), a second coupler (5230), an elongated body (510), and an end effector (501).

[0200] The arm module (5100) can maintain the position and angle of the guide tube (5104) at a fixed position for the eye, which is a target of precision surgery. The arm module (5100) can include a plurality of operating arms having a parallelogram structure. The operating arm having a parallelogram structure can be more robust against positional errors, angular errors, translational motion errors, rotational motion errors, vibrations, backlash, hysteresis, nonlinear errors, etc., compared to a robot arm having a cantilever structure. It is preferable that a plurality of operating arms form a moving means for precision surgery.

[0201] A cantilever-structured robotic arm is used for general surgeries requiring average precision, but for surgeries requiring high precision, such as the ocular surgery of the present invention, the arm module (5100) of the present invention is preferably used. For example, when the arm module (5100) of the present invention has an x-axis rotational degree of freedom, multiple arms of a parallelogram structure move to implement the corresponding degree of freedom. Therefore, it is more robust to various errors and can improve surgical precision than a case using a single arm such as a cantilever.

[0202] The guide tube (5104) can support the elongated body (510) of the surgical tool module (5200) at a position close to the eye, which is the surgical target. The elongated body (510), which may be vulnerable to vibration or bending during high-precision surgery, can be supported at both ends by the guide tube (5104) and the housing (5201). The elongated body (510) can have a support structure in the form of a double-end support beam in which both ends are supported by the guide tube (5104) of the arm module (5100) and the surgical tool module (5200).

[0203] For example, when the arm module (5100) is capable of two-degree-of-freedom rotational motion and two-degree-of-freedom translational motion, the arm module (5100) can set the position and angle of the guide tube (5104) to a desired position and angle while performing two-degree-of-freedom rotational motion and two-degree-of-freedom rotational motion. Various types of surgical tool modules (5200) can be attached and detached to the arm module (5100) for replacement according to the surgical procedure. As a result, the elongated body (510) of the surgical tool module (5200) can be attached and detached to the guide tube (5104) set to a desired position and angle by the arm module (5100). The joining surface of the arm module (5100) and the surgical tool module (5200) can be completed in such a way that the first interface (5110) of the arm module (5100) and the second interface (5210) of the surgical tool module (5200) are connected while facing each other. The mating surface of the surgical tool module (5200) and the arm module (5100) may include a first interface (5110) of the arm module (5100) and a second interface (5210) of the surgical tool module (5200) that are mutually connected.

[0204] The joining surface of the surgical tool module (5200) and the arm module (5100) or the joining surface of the first interface (5110) and the second interface (5210) may correspond to a sterile interface. With the sterile interface as the reference surface, the part where the arm module (5100) is located corresponds to a sterile part and is preferably surrounded by a sterile vinyl (6000) to enable repeated use. With the sterile interface as the reference surface, the part where the surgical tool module (5200) is located corresponds to a non-sterile part and can be discarded after a certain number of uses.

[0205] The surgical tool module (5200) may be a part that is discarded after a certain number of uses, as it is exposed to the same space as the surgical target and is only sterilized to a certain degree. Therefore, it is preferable that the surgical tool module (5200), which is a disposable part, be equipped with only a minimum number of parts. The surgical tool module (5200) may include a housing (5201), a wire, a pulley around which the wire is wound, and a second coupler (5230) connected to the pulley. It is preferable that expensive parts such as the motor (5102) and the motor control unit be installed in the arm module (5100), which is a sterilization part.

[0206] For vibration reduction or mass distribution, the motor (5102) may be arranged in a ring shape or at equal intervals around the first hole (5111) or the guide tube hole (5105). It would be preferable for the pulley on which the wire is wound to be installed in the arm module (5100), but in that case, the coupling surfaces of the first interface (5110) and the second interface (5210) must have a structure in which the wire can be coupled and decoupled, which may be practically impossible to implement. Therefore, inevitably, the first interface (5110) and the second interface (5210) are made to have a structure in which the first coupler (5112) and the second coupler (5230) can be detached, and the surgical tool module (5200) to be discarded may have a structure in which the pulley and the wire are installed inside the housing (5201) as a minimum number of parts.

[0207] When the surgical tool module (5200) is mounted on the arm module (5100), the surgical tool module (5200) can be approached from the distal direction, which is a direction far from the surgical target, to the proximal direction, which is a direction close to the surgical target.

[0208] When the second interface (5210) of the surgical tool module (5200) is coupled to the first interface (5110) of the arm module (5100), the mounting of the surgical tool module (5200) can be completed. When the surgical tool module (5200) is coupled, the elongated module and the end effector (501) can sequentially pass through the first hole (5111) of the first interface (5110) and the guide tube hole (5105) of the guide tube (5104). The motor (5102) of the arm module (5100) can be placed between the first hole (5111) and the guide tube hole (5105). The first hole (5111), the guide tube hole (5105), and the arm module (5100) correspond to sterile parts that are not discarded but reused, and can be wrapped by a sterilizing vinyl (6000). The open portion of the sterilizing vinyl (6000) may be the first hole (5111) and the guide tube hole (5105), which are the portions where the elongated module is mounted. It is preferable that the portions other than the first hole (5111) and the guide tube hole (5105) be sealed by the sterilizing vinyl (6000).

[0209] When the surgical tool module (5200) is separated from the arm module (5100), the second interface (5210) of the surgical tool module (5200) can be separated from the first interface (5110) of the arm module (5100). When the surgical tool module (5200) is moved from the proximal direction to the distal direction, the separation of the surgical tool module (5200) can be completed. When the surgical tool module (5200) is separated, the elongated module and the end effector (501) can sequentially pass through the guide tube hole (5105) and the first hole (5111) of the first interface (5110). The motor (5102) of the arm module (5100) can be placed between the first hole (5111) and the guide tube hole (5105). Various types of surgical tool modules (5200) can be combined or separated during the surgical process. A surgical tool module (5200) that has been repeatedly used may be discarded and replaced with a new surgical tool module (5200) to prevent infection of the patient. For this purpose, a first hole (5111) and a guide tube hole (5105) may be provided.

[0210] From the proximal end to the distal end, the arm module (5100) may have a structure in which a guide tube hole (5105), a motor (5102), and a first hole (5111) of a first interface (5110) are sequentially arranged.

[0211] From the proximal end to the distal end, the surgical tool module (5200) may have a structure in which an end effector (501), an elongated module, a second interface (5210), and a housing (5201) are sequentially arranged.

[0212] The first interface (5110) may include a first coupler (5112) connected to a motor (5102). The second interface (5210) may include a second coupler (5230) connected to a wire or pulley within the housing (5201). The torque of the motor (5102) may be transmitted to the pulley within the housing (5201) by the axially coupled first coupler (5112) and second coupler (5230). The rotation of the pulley may be converted into tension of the wire. The wire extending into the interior of the elongated body (510) may apply tension and operate the end effector (501).

[0213] Since the first interface (5110) and the second interface (5210) form a mating surface, the housing (5201) of the surgical tool module (5200) can be exposed to the same space as the non-sterile part or surgical target.

[0214] As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited thereto, and various modifications and variations are possible by a person having ordinary skill in the art to which the present invention pertains within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below.

[0215] Meanwhile, although terms indicating directions such as up, down, left, right, front, and back are used in the present invention, it is obvious to those skilled in the art that these terms are only for convenience of explanation and may vary depending on the location of the target object or the location of the observer.

[0216] (Explanation of symbols)

[0217] 10: Surgical device

[0218] 100: Surgical Tool Module

[0219] 110: Holder

[0220] 111: Rotating bearing

[0221] 112: First frame

[0222] 114: Second frame

[0223] 120: Surgical instruments

[0224] 130: Preload section

[0225] 130a: Coupling axis

[0226] 132: Reference bearing

[0227] 132a: Auxiliary bearing

[0228] 134: Pressurized bearing

[0229] 200: Dual Parallelogram Module

[0230] 300: Linear drive module

[0231] 310: Module body

[0232] 320: Linear drive unit

[0233] 322: Guide rail

[0234] 324: Moving block

[0235] 330: Link section

[0236] 340: 1st rotary joint

[0237] 350: Second rotary joint

[0238] 100: Surgical device

[0239] 1000: Surgical instruments

[0240] 2000: Holder 3000: Holder drive unit

[0241] 3100: Rotating drive unit

[0242] 3120: Main Gear

[0243] 3140: Drive Gear

[0244] 3200: Straight drive

[0245] 3220: Pressurized section

[0246] 3240: Pressurized disc

[0247] 3240a: Protrusion

[0248] 3260: Pressurized disc receiving section

[0249] 3300: Connector

[0250] 5100: Arm Module

[0251] 5101: Base

[0252] 5102: Motor

[0253] 5104: Guide Hall

[0254] 5105: Guide tube hole

[0255] 5110: First interface

[0256] 5111: Hole 1

[0257] 5112: First coupler

[0258] 5200: Surgical Tool Module

[0259] 501: End Effector

[0260] 510: Long body

[0261] 5201: Housing 5210: Second interface

[0262] 5230: Second coupler

[0263] 5300: Surgical Device

[0264] 6000: Sterile vinyl

Claims

1. A surgical tool module having one end and another end opposite to the first end; A dual parallelogram module coupled to the other end of the above surgical tool module and including at least one power transmission unit for providing motion driving; and A drive module coupled to at least one of the above power transmission units; Here, the driving module transmits driving force to the dual parallelogram module, and the dual parallelogram module is a surgical device having at least two degrees of freedom.

2. In paragraph 1, A surgical device further comprising a holder disposed between at least one power transmission unit and a surgical tool module, wherein the surgical tool module is operably coupled to the holder.

3. In paragraph 1 or 2, A surgical device further comprising at least one power transmission unit and a rotary bearing rotatably coupled to the holder.

4. In any one of paragraphs 1 to 3, A surgical device comprising at least one power transmission unit comprising a plurality of power transmission units.

5. In any one of paragraphs 1 to 4, The parallelogram further includes multiple base link sections, Here, each base link section is a surgical device connected to one of a plurality of power transmission units.

6. In any one of paragraphs 1 to 5, The plurality of links comprises a plurality of pitch link portions, each of the plurality of pitch link portions being vertically coupled to one of the plurality of base link portions; A roll link portion rotatably coupled to each of the plurality of base link portions; A pitch joint portion rotatably coupled to each of the plurality of base link portions and the plurality of links to enable pitch rotation; and Includes multiple roll joints, A surgical device in which each of the plurality of roll joints is rotatably connected to each of the plurality of base link parts, thereby enabling roll rotation.

7. In any one of paragraphs 1 to 6, A surgical device in which the above-mentioned double parallelogram modules are arranged at a predetermined distance apart in the front-rear direction of the surgical device, the above-mentioned double parallelogram modules are coupled to the plurality of power transmission units, and the above-mentioned double parallelogram modules are configured to couple the plurality of power transmission units in the vertical direction.

8. In any one of paragraphs 1 to 7, The drive module comprises a module body having a first end and a second end opposite the first end; A plurality of guide rails arranged on the above module body; A movable block slidably arranged on each of the plurality of guide rails; A link part that is rotatably connected to the above moving block; and A surgical device comprising a plurality of linear actuators operably coupled to the plurality of guide rails.

9. In any one of paragraphs 1 to 8, A surgical device wherein the plurality of guide rails include a first guide rail and a second guide rail, the plurality of linear driving units include a first linear driving unit and a second linear driving unit, the first linear driving unit is operably coupled to the first guide rail, and the second linear driving unit is operably coupled to the second guide rail.

10. In any one of paragraphs 1 to 9, Further comprising a first rotary joint disposed on the moving block and having a lower side rotatably coupled to the moving block, A surgical device in which one end of the above drive link is rotatably connected to the side.

11. In any one of paragraphs 1 to 10, A surgical device further comprising a second pivot joint disposed in one of the plurality of transmission units, wherein the second pivot joint is configured to surround a portion of the other end of the drive link such that the second drive link is rotatably coupled to the second pivot joint.

12. In any one of paragraphs 1 to 11, The drive module is a surgical device that is a linear drive module.

13. In any one of paragraphs 1 to 12, A surgical device in which at least a single power transmission unit among the plurality of power transmission units arranged at the lowest side among the plurality of power transmission units is configured to be connected to the module body.

14. In any one of paragraphs 1 to 13, A surgical device configured such that when each of the first and second driving units is linearly driven forward toward the first end of the base plate with respect to the vertical axis of the surgical device, the surgical tool module is pitch-driven forward.

15. In any one of paragraphs 1 to 14, A surgical device configured such that when each of the first and second linear driving units is linearly driven backward toward the rear of the base unit based on the vertical axis of the surgical device, the surgical tool module is pitch driven backward.

16. In any one of paragraphs 1 to 15, A surgical device that is roll-driven to move in a left or right direction with respect to the longitudinal axis of the surgical tool module surgical device when one of the first linear driving unit and the second linear driving unit is linearly driven toward the front side of the module body and the other of the first and second linear driving units is linearly driven toward the rear side of the module body.

17. In any one of paragraphs 1 to 16, A surgical device in which, when the surgical tool module is rolled in the left or right direction, the rotation angle of the surgical tool module corresponds to the difference between one of the first or second linear driving units being displaced toward the front side of the module body and the other of the first or second linear driving units being displaced toward the rear side of the module body.

18. Use of a surgical device according to any one of claims 1 to 17 for performing surgery.

19. A surgical instrument comprising a surgical tool module having surgical tools for performing a surgery; A power module operably coupled to the surgical instrument to provide power to the surgical instrument; A communication module integrated within the surgical instrument and configured to establish wireless communication between the surgical instrument and an external controller; A surgical device system wherein the external controller comprises a user interface application, the user interface application being configured to receive and process data transmitted from the surgical device system via a communication module and to present visual feedback and control options to the user.

20. In paragraph 19, The surgical tool module comprises a first side and a second side opposite the first side, wherein the surgical instrument comprises: A dual parallelogram module coupled to the other side of the above surgical tool module and having at least one power transmission unit providing movement; And a drive module coupled to at least one of the power transmission units, the drive module transmitting driving force to the dual parallelogram module, the dual parallelogram module including at least two degrees of freedom, a surgical device system.

21. In paragraph 19 or 20, The above dual parallelogram module: A plurality of base link sections, each base link section being connected to at least one power transmission unit; Each of the plurality of pitch link portions comprises a plurality of pitch link portions vertically coupled to one of the plurality of base link portions; A roll link rotatably coupled to each of the plurality of base link sections; A pitch joint unit rotatably coupled to each of the plurality of base link sections; And a surgical device system including a plurality of roll joints, each of the plurality of roll joints being rotatably coupled to each of the plurality of base link parts.

22. In any one of paragraphs 19 to 21, The above driving module comprises: a module body having a first end and a second end opposite the first end; a plurality of guide rails arranged on the module body; A movable block slidably arranged on each of the plurality of guide rails; a link part having one end rotatably coupled to the movable block; And a surgical device system including a plurality of linear actuators operably coupled to the plurality of guide rails.

23. In any one of paragraphs 19 to 22, A surgical device system, wherein the plurality of guide rails include a first guide rail and a second guide rail, the plurality of linear driving units include a first linear driving unit and a second linear driving unit, the first linear driving unit is operably coupled to the first guide rail, and the second linear driving unit is operably coupled to the second guide rail.

24. In any one of paragraphs 19 to 23, A surgical device system further comprising a first pivot joint disposed on the moving block and having a lower side rotatably coupled to the moving block, wherein one end of the link portion is rotatably connected to a side surface.

25. In any one of paragraphs 19 to 24, A surgical device system further comprising a second pivot joint disposed on one of the plurality of transmission units, wherein the second pivot joint is configured to surround a portion of the other end of the drive link such that the second drive link is rotatably coupled to the second pivot joint.

26. In any one of paragraphs 19 to 25, The above drive module is a surgical device system that is a linear drive module.

27. In any one of paragraphs 19 to 26, A surgical device system in which each of the first and second linear driving units is linearly driven forward toward the front side based on the longitudinal axis of the surgical device, and the surgical tool module in the module body is pitch-driven forward.

28. In any one of paragraphs 19 to 27, A surgical device system in which the surgical tool module is configured to be pitch driven backward when each of the first and second linear driving units is linearly driven backward toward the rear of the base unit based on the vertical axis of the surgical device.

29. In any one of paragraphs 19 to 28, A surgical device system that is roll-driven to move in a left or right direction with respect to the longitudinal axis of the surgical tool module surgical device when one of the first linear driving unit and the second linear driving unit is linearly driven toward the front side of the module body and the other of the first and second linear driving units is linearly driven toward the rear side of the module body.

30. In any one of paragraphs 19 to 29, A surgical device system in which, when the surgical tool module is rolled in the left or right direction, the rotation angle of the surgical tool module corresponds to the difference between one of the first or second linear driving units being displaced toward the front side of the module body and the other of the first or second linear driving units being displaced toward the rear side of the module body.

31. In any one of paragraphs 19 to 30, The external computing device is a surgical device system that is a cloud-based system.

32. In any one of paragraphs 19 to 31, A surgical device system further comprising a data storage module integrated within the surgical instrument or an external computing device, wherein the data storage module is configured to store surgical procedure data and / or patient information.

33. In any one of paragraphs 19 to 32, A surgical device system further comprising an encryption module integrated within the surgical instrument system or an external computing device, the encryption module configured to encrypt surgical procedure data and patient information while being transmitted via the communication module.

34. Use of a surgical device system according to any one of claims 19 to 33 for performing surgery.

35. A step of providing a surgical tool module having a surgical tool coupled to a first end, a dual parallelogram module coupled to a second end, and including at least one drive unit; A step of providing a driving module coupled to at least one driving unit; A method of operating a surgical device, comprising the step of operating a drive module to cause the surgical device to perform at least one of a first drive operation, a second drive operation, or a third drive operation.

36. In paragraph 35, The double parallelogram is: A plurality of base link sections, each base link section being connected to at least one power transmission unit; Each of the plurality of pitch link portions comprises a plurality of pitch link portions vertically coupled to one of the plurality of base link portions; A roll link rotatably coupled to each of the plurality of base link units; a pitch joint unit rotatably coupled to each of the plurality of base link units; and A method comprising a plurality of roll joints, each of the plurality of roll joints being rotatably coupled to each of the plurality of base link members.

37. In paragraph 35 or paragraph 36, The drive module comprises a module body having a first end and a second end opposite the first end; A plurality of guide rails arranged on the above module body; A movable block slidably arranged on each of the plurality of guide rails; A link part that is rotatably connected to the above moving block; And a method comprising a plurality of linear actuators operably coupled to the plurality of guide rails.

38. In any one of paragraphs 35 to 37, A method wherein the plurality of guide rails include a first guide rail and a second guide rail, the plurality of linear driving units include a first linear driving unit and a second linear driving unit, the first linear driving unit is operably coupled to the first guide rail, and the second linear driving unit is operably coupled to the second guide rail.

39. In any one of paragraphs 35 to 38, A method in which the step of operating the above driving module includes the step of operating each of the first linear driving unit and the second linear driving unit, the step of rotating the guide rail according to a control signal of the controller, and the step of moving the moving block along each of the first guide rail and the second guide rail.

40. In any one of paragraphs 35 to 39, A method wherein the step of performing the first driving operation includes a step of driving the surgical tool module in a forward pitch direction by moving the moving block on the first guide rail and the moving block on the second guide rail in a direction toward the front side of the module body.

41. In any one of paragraphs 35 to 40, A method wherein the step of performing the second driving operation includes a step of moving the moving block on the first guide rail and the moving block on the second guide rail in a direction toward the rear of the module body to drive the surgical tool module in a pitch direction in the rearward direction.

42. In any one of paragraphs 35 to 41, The step of performing the third driving operation is a method in which the moving block on the first guide rail moves in a direction toward the front or rear of the module body, and the moving block on the second guide rail moves in a direction opposite to the moving block of the module body, so that the surgical tool module rolls in a left or right direction with respect to the central longitudinal axis of the surgical device.

43. In any one of paragraphs 35 to 42, A method in which, when the surgical tool module is rolled in the left or right direction, the rotation angle of the surgical tool module corresponds to the difference between one of the first or second linear driving units being displaced toward the front side of the module body and the other of the first or second linear driving units being displaced toward the rear side of the module body.

44. Surgical tool module having a preload section; A dual parallelogram module coupled to a surgical tool module; and A driving module coupled to the above dual parallelogram module, which provides driving force to the surgical device, A surgical device in which the above-mentioned dual parallelogram module has two degrees of freedom, and the preload unit is positioned between the surgical tool module and the above-mentioned dual parallelogram module to provide stability.

45. In paragraph 44, The above double parallelogram is: At least one power transmission unit; and a plurality of links coupled to each of said at least one power transmission unit, Here, the surgical device is configured such that two degrees of freedom are available for pitch and roll actuation.

46. ​​In paragraph 44, The above surgical tool module comprises a first end and a second end opposite the first end; A holder coupled to multiple power transmission units to perform two-degree-of-freedom motion; A surgical device comprising a surgical instrument coupled to a first end, wherein the preload portion is positioned between the holder and the double parallelogram.

47. In paragraph 45, A surgical device comprising a first frame configured to be coupled to one of the plurality of power transmission units, and a second frame coupled to another of the plurality of power transmission units.

48. In paragraph 44, A surgical device comprising a pressure bearing and a reference bearing, wherein the reference bearing is configured to press the reference bearing with a downward movement.

49. In paragraph 48, A surgical device wherein the preload section further includes an auxiliary bearing between the inner surface of the reference bearing and the outer surface of the coupling shaft disposed within the reference bearing.

50. In paragraph 49, A surgical device in which the auxiliary bearing is configured to surround the coupling shaft.

51. In paragraph 48, A surgical device comprising a first preload portion arranged on the first frame and a second preload portion arranged on the second frame.

52. A method of operating a surgical device, A step of providing a surgical device including a surgical tool module having a surgical tool and a pre-load section, and a dual parallelogram connected to the surgical tool module; A step of providing a driving module coupled to the above double parallelogram; A method comprising the step of operating a drive module to cause a surgical device to perform a drive motion.

53. In paragraph 52, The above surgical tool module comprises: a first end and a second end opposite the first end; a holder coupled to a plurality of power transmission units to perform two-degree-of-freedom motion; A method further comprising: a surgical instrument coupled to a first end; wherein the preload portion is positioned between the holder and the double parallelogram.

54. In paragraph 52, The above dual parallelogram comprises at least one power transmission unit; And a method comprising a plurality of links coupled to each of said at least one power transmission unit, wherein two degrees of freedom enable pitch and roll actuation.

55. In paragraph 53, A method wherein the above preload section further includes a pressure bearing and a reference bearing, wherein the reference bearing is configured to press the reference bearing with a downward movement.

56. In paragraph 52, The drive module comprises a module body having a first end and a second end opposite the first end; A plurality of guide rails arranged on the above module body; A movable block slidably arranged on each of the plurality of guide rails; a link part having one end rotatably coupled to the movable block; And a method comprising a plurality of linear actuators operably coupled to the plurality of guide rails.

57. In paragraph 56, A method wherein the plurality of guide rails include a first guide rail and a second guide rail, the plurality of linear driving units include a first linear driving unit and a second linear driving unit, the first linear driving unit is operably coupled to the first guide rail, and the second linear driving unit is operably coupled to the second guide rail.

58. In paragraph 57, A method wherein the step of operating the drive module comprises the step of operating each of the first linear drive unit and the second linear drive unit, and the step of moving the moving block along each of the first guide rail and the second guide rail.

59. In paragraph 52, The above preload unit is a method for minimizing the vibration force transmitted to the surgical module tool when the surgical device is driven.

60. In paragraph 58, A method in which a pressurized bearing is compressed against a reference bearing when a surgical device performs a driving motion.

61. In paragraph 60, A method in which the pressure bearing of the first frame is compressed downwardly with respect to the reference bearing of the first frame, and the pressure bearing of the second frame is compressed upwardly with respect to the reference bearing of the second frame.

62. Surgical device system comprising: A surgical instrument comprising a surgical tool module having surgical tools for performing a surgery; A power module operatively coupled to the surgical instrument for providing power to the surgical instrument; a communication module integrated within the surgical instrument and configured to establish wireless communications between the surgical instrument and an external computing device; An external computing device including a user interface application, wherein the user interface application is configured to receive and process data transmitted from the surgical instrument system via a communication module and to provide visual feedback and control options to the user.

63. Holder for supporting surgical instruments; A surgical device including a holder driving unit that provides rotational and linear driving of the holder.

64. In paragraph 63, A surgical device in which the holder driving unit includes a rotary driving unit that rotates the holder and a linear driving unit that provides linear driving of the holder.

65. In paragraph 63 or 64, A surgical device further comprising a connector that connects the rotary drive unit, the linear drive unit, and the holder.

66. In paragraphs 63 to 65, A surgical device in which the above rotary drive unit, linear drive unit and holder are connected in the front-rear direction of the surgical device through a connector.

67. In paragraphs 63 to 66, A surgical device in which the connector is a plurality of connectors, and the plurality of connectors are arranged at regular intervals along the circumferential direction of the holder.

68. In paragraphs 63 to 67, A surgical device in which the above rotary driving unit is located on the front side of the above linear driving unit.

69. In paragraphs 63 to 68, A surgical device in which the above-mentioned rotary drive unit includes a main gear and a drive gear, the main gear is configured to provide rotational drive of the holder, and the drive gear is configured to be coupled with the main gear to rotate the main gear.

70. In paragraphs 63 to 69, A surgical device comprising a linear driving unit, a pressure unit for moving the holder in a forward and backward direction along the longitudinal axis of the surgical device, and a pressure disk coupled to the holder through the connector and guiding the holder during movement.

71. In paragraphs 63 to 70, A surgical device wherein the connector is configured to penetrate the inside of the main gear and be coupled to the pressurized disk.

72. In paragraphs 63 to 71, A surgical device wherein the driving gear is arranged on the outside of the main gear and is configured to come into contact with the main gear.

73. In paragraphs 63 to 72, A surgical device wherein the linear drive further comprises a pressure disc receiving portion for receiving the pressure disc.

74. In paragraphs 63 to 73, A surgical device in which the pressurized disc receiving portion is configured to guide the pressurized disc in the forward and backward direction of the surgical device.

75. In paragraphs 63 to 74, A surgical device wherein the pressurized disk includes a protrusion connected to a connector, the protrusion being configured to contact the pressurized portion.

76. In paragraphs 63 to 75, A surgical device in which the protrusion extends in a direction toward the pressurizing portion.

77. In paragraphs 63 to 76, A surgical device in which the protrusion is a plurality of protrusions, and the plurality of protrusions are arranged at predetermined intervals in the circumferential direction on the pressure disk.

78. In paragraphs 63 to 77, A surgical device in which the plurality of protrusions form an insertion space in which the end of the pressing portion is received, and the insertion space is positioned at the center of the pressing disc.

79. In paragraphs 63 to 78, A surgical device wherein the end of the pressurizing portion is inclined toward the first side of the surgical device, and the end of the pressurizing portion is configured to contact the outer surface of the plurality of protrusions at the front end of the pressurizing portion.

80. Use of a surgical device according to any one of claims 63 to 79 for performing surgery.

81. Surgical device system comprising: A surgical tool comprising a holder for supporting a surgical tool for performing a surgery; A power module operably coupled to the surgical instrument to provide power to the surgical instrument; A communication module integrated within the surgical instrument and configured to establish wireless communication between the surgical instrument and an external computing device; and an external computing device including a user interface application, wherein the user interface application is configured to receive and process data transmitted from the surgical instrument system via the communication module and to provide visual feedback and control options to the user.

82. In paragraph 81, A surgical device system further comprising a holder drive unit configured to provide rotational drive and linear drive of the holder.

83. In paragraph 81 or 82, A surgical device system in which the holder driving unit includes a rotary driving unit that rotates the holder and a linear driving unit that provides linear driving of the holder.

84. In any one of paragraphs 81 to 83, A surgical device system further comprising a connector configured to couple a rotary drive unit, a linear drive unit, and a holder.

85. In any one of paragraphs 81 to 84, A surgical device system in which the connector is a plurality of connectors, and the plurality of connectors are arranged at regular intervals along the circumferential direction of the holder.

86. In any one of paragraphs 81 to 85, A surgical device system in which the rotary drive unit is positioned forward of the linear drive unit.

87. In any one of paragraphs 81 to 86, A surgical device system, wherein the rotary drive unit includes a main gear and a drive gear, the main gear being configured to provide rotational drive of the holder, and the drive gear being configured to be coupled with the main gear to rotate the main gear.

88. In any one of paragraphs 81 to 87, A surgical device system comprising a linear driving unit, a pressure unit for moving the holder in a forward and backward direction along the longitudinal axis of the surgical device, and a pressure disk coupled to the holder through the connector and guiding the holder during movement.

89. In any one of paragraphs 81 to 88, A surgical device system wherein the connector is configured to pass through the inner side of the main gear and engage the pressurized disc.

90. In any one of paragraphs 81 to 89, A surgical device system wherein the drive gear is arranged outside the main gear and is configured to contact the main gear.

91. In any one of paragraphs 81 to 90, A surgical device system wherein the linear drive further comprises a pressure disc receiving portion for receiving the pressure disc.

92. In any one of paragraphs 81 to 91, A surgical device system wherein the pressurized disk includes a protrusion connected to the connector, the protrusion configured to contact the pressurized portion.

93. In any one of paragraphs 81 to 92, A surgical device system in which the protrusion extends in a direction toward the pressurized portion.

94. In any one of paragraphs 81 to 93, A surgical device system in which the protrusions are a plurality of protrusions, and the plurality of protrusions are arranged at predetermined intervals in the circumferential direction on the pressure disk.

95. In any one of paragraphs 81 to 94, A surgical device seat system wherein the plurality of protrusions are configured to form an insertion space for accommodating a tip of the pressurizing portion, and the insertion space is positioned at the center of the pressing disc.

96. In any one of paragraphs 81 to 95, A surgical device system in which the front end of the pressurizing portion is inclined toward the first side of the surgical device, and the end of the pressurizing portion is configured to contact the outer surface of the plurality of protrusions at the front end of the pressurizing portion.

97. In any one of paragraphs 81 to 96, The external computing device is a surgical device system that is a cloud-based system.

98. In any one of paragraphs 81 to 97, A surgical device system further comprising a data storage module integrated within the surgical instrument or an external computing device, wherein the data storage module is configured to store surgical procedure data and / or patient information.

99. In any one of paragraphs 81 to 98, A surgical device system having an encryption module integrated within the surgical instrument system or an external computing device configured to encrypt surgical procedure data and patient information while being transmitted via the communication module.

100. To perform surgery, Use of a surgical device system according to any one of claims 81 to 99.

101. A method of operating a surgical device, A step of providing a surgical device comprising a tool, a holder coupled to an end of the tool, and a driving unit coupled to the holder; A method of operating a surgical device comprising the step of operating a drive unit to provide driving force to a tool.

102. In paragraph 101, A method wherein the step of operating the drive unit includes the step of rotating the drive gear in response to a control signal from the controller.

103. In paragraph 101 or 102, A method in which the holder also rotates as the main gear rotates due to the rotation of the drive gear.

104. In any one of paragraphs 101 to 103, A method in which the drive unit includes a rotary drive unit that rotates the holder and a linear drive unit that provides linear driving of the holder.

105. In any one of paragraphs 101 to 104, A surgical device further comprising a connector configured to couple the rotary drive unit, the linear drive unit and the holder.

106. In any one of paragraphs 101 to 105, A method in which the connector is a plurality of connectors, and the plurality of connectors are arranged at regular intervals along the circumferential direction of the holder.

107. In any one of paragraphs 101 to 106, A method in which the above-mentioned rotational driving part includes a main gear and a driving gear, the main gear is configured to provide rotational driving of the holder, and the driving gear is configured to be coupled with the main gear to rotate the main gear.

108. In any one of paragraphs 101 to 107, A method in which the above-mentioned rotational driving part includes a main gear and a driving gear, the main gear is configured to provide rotational driving of the holder, and the driving gear is configured to be coupled with the main gear to rotate the main gear.

109. In any one of paragraphs 101 to 108, A method wherein the linear drive unit comprises a pressure unit that moves the holder in a forward and backward direction along the longitudinal axis of the surgical device, and a pressure disk that is coupled to the holder through the connector and guides the holder during movement.

110. In any one of paragraphs 101 to 109, A method further comprising the step of moving a housing coupled to a drive shaft by rotation of a drive gear.

111. In any one of Articles 101 to 110, A method further comprising the step of pressurizing or releasing the pressure in the insertion space while moving the surgical device in a forward or backward direction in conjunction with the forward or backward direction of the housing.

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