Surgical robot system

Abstract

The present invention relates to a surgical robot system and a control method thereof. The surgical robot system according to the present invention includes: a distribution module for transmitting a datagram command including control information for driving a plurality of surgical instruments; a continuum module for receiving the datagram command and outputting and transmitting a first driving signal to a terminal module; and the terminal module for receiving the datagram command and outputting a second driving signal. In addition, the present invention provides a modular manipulator assembly including: a translation module mounted on a movable platform; and a plurality of driving modules that are mounted on the translation module and translate within a stroke section. An overtube module and a surgical instrument module are mounted on the driving module, and the surgical instruments are guided by being inserted into overtubes. The overtubes and the surgical instruments are integrated into a single assembly, thus increasing space efficiency, and a separate control packet change is unnecessary even when replacing the surgical instruments, thus improving the stability of the system.

Description

surgical robotic system

[0001] The present invention relates to a surgical robot system in which a plurality of surgical instruments are driven, and to a universal surgical robot system capable of selective replacement and control of various surgical instruments.

[0002]

[0003] Minimally invasive surgery is a surgical technique that involves making small incisions in the patient's body to insert surgical instruments and perform procedures. This surgical technique offers numerous advantages over open surgery, including faster patient recovery, reduced risk of infection, and superior cosmetic results. With the continuous advancement of medical technology, minimally invasive surgery is evolving into robotic-assisted surgical systems that enable remote surgery.

[0004] Conventional robot-assisted surgical systems have limitations, as they can only control specialized surgical instruments for specific procedures. These systems have limited utility beyond the specific procedure, and require separate robotic systems for each surgical procedure, potentially resulting in space constraints and excessive costs for medical institutions.

[0005] To address the above issues, the introduction of a universal surgical robot system is required. A universal surgical robot system is a surgical robot capable of selectively using and replacing various surgical instruments, and must provide precise control of each instrument. A related patent document is Korean Patent No. 10-2478907.

[0006]

[0007] (Prior art document) Korean Patent No. 10-2478907

[0008]

[0009] The present invention aims to provide a universal surgical robot system capable of replacing surgical instruments according to the type of surgery. Another objective of the present invention is to provide a modular manipulator assembly capable of modularizing and detaching system components. A further objective of the present invention is to provide a data structure and communication system for integrated control of various surgical instruments.

[0010]

[0011] In a surgical robot system in which a plurality of surgical instruments are driven according to an embodiment of the present invention, the system comprises: a distribution module for transmitting a datagram command including control information for driving the plurality of surgical instruments; a continuum module for receiving the datagram command from the distribution module, outputting a first driving signal, and transmitting the datagram command to a terminal module; and a terminal module for receiving the datagram command from the continuum module and outputting a second driving signal; wherein the first driving signal causes a first operation of the surgical instrument, and the second driving signal causes a second operation of the surgical instrument based on the first operation.

[0012] In a method for driving a plurality of surgical instruments in a surgical robot system according to an embodiment of the present invention, the method comprises: a step in which a master station constructs a datagram command including control information and transmits the datagram command to a node of a distribution module; a step in which the distribution module receives the datagram command and transmits the datagram command to a node of a continuum module; a step in which the continuum module receives the datagram command, outputs a first driving signal, and transmits the datagram command to a terminal module; and a step in which the terminal module receives the datagram command and outputs a second driving signal, wherein the first driving signal causes a first operation of the surgical instrument, and the second driving signal is a signal for driving a second operation of the surgical instrument based on the first operation.

[0013] In a surgical robot system according to an embodiment of the present invention, a computer-readable recording medium storing a datagram command having control information for driving a plurality of surgical instruments comprises: a header field providing frame information of the entire datagram; a data field in which dependent datagrams having a subheader field, a subdata field, and a subprocessing confirmation field are arranged; and a processing confirmation field (FCS); wherein the datagram is a nested data structure hierarchically formed, and control information corresponding to each surgical instrument is provided in the payload of the subdata field, and a datagram command in which the number of dependent datagrams to be driven is arranged in the data field is recorded, wherein the datagram command is another feature.

[0014] In a surgical robot system in which a plurality of surgical instruments are driven according to an embodiment of the present invention, the system comprises: a distribution module that receives control information for driving a plurality of surgical instruments from a master station and transmits the control information in a first direction; a continuum module that receives the control information from the distribution module, outputs a first driving signal, and transmits the control information in the first direction; and a terminal module that receives the control information from the continuum module, outputs a second driving signal, and transmits the control information in a second direction; wherein the first direction is a forward direction, the second direction is a reverse direction, and a communication path is formed so that the control information transmitted from the terminal module is transmitted to the master station in the second direction, or is reversed from the second direction to the first direction and transmitted to another continuum module.

[0015] In a method for driving a plurality of surgical instruments in a surgical robot system according to an embodiment of the present invention, the method comprises: a step in which a master station transmits control information for driving a plurality of surgical instruments in a first direction, and a distribution module receives the control information; a step in which the distribution module receives the control information, outputs a first driving signal, and transmits the control information to a continuum module; and a step in which the continuum module receives the control information, outputs a second driving signal, and transmits the control information in a second direction, and a terminal module receives the control information; wherein the first direction is a forward direction, the second direction is a reverse direction, and a communication path is formed so that the control information transmitted from the terminal module is transmitted to the master station in the second direction, or is reversed from the second direction to the first direction and transmitted to another continuum module.

[0016] A modular manipulator assembly for a surgical robot system according to an embodiment of the present invention comprises: a movable platform; a translational module mounted on the movable platform and having a driving range of a stroke section defined; and a driving module mounted on the translational module and performing a translational movement within the range of the stroke section from a first position to a second position and outputting power for performing a surgical operation; wherein the driving modules are a plurality, and another feature is that the first position of one of the driving modules is offset to a position advanced from the first position of another driving module.

[0017] A modular manipulator assembly for a surgical robot system according to an embodiment of the present invention comprises: a movable platform; a drive module mounted on the movable platform and outputting power for performing a surgical operation; a plurality of drive modules, an overtube module mounted on one drive module and provided with an overtube operated by the power output from the one drive module; and a surgical instrument module mounted on another drive module and provided with a surgical instrument whose distal end or end effector is operated by the power output from the other drive module; wherein another feature is that the overtube module is mounted at a position advanced from a position at which the surgical instrument module is mounted on the other drive module.

[0018] A modular manipulator assembly for a surgical robot system according to an embodiment of the present invention comprises: a movable platform; a drive module mounted on the movable platform and outputting power for performing a surgical operation; a plurality of drive modules, an overtube module mounted on one drive module and provided with an overtube operated by the power output from the one drive module; and a surgical instrument module mounted on another drive module and provided with a surgical instrument guided by penetrating the overtube, wherein a distal end or end effector is operated by the power output from the other drive module; and another feature is that the overtube and the surgical instrument are mounted together on the movable platform.

[0019] In a surgical robot system in which a plurality of surgical instruments are driven according to an embodiment of the present invention, the system comprises: a master station for transmitting control information for driving a plurality of surgical instruments; a positioning cart for docking a modular manipulator assembly to a surgical site; and a modular manipulator assembly for receiving the control information from the master station and on which a plurality of surgical instruments are modularized and mounted; wherein the modular manipulator assembly is characterized in that a plurality of drive modules, on which modularized surgical instruments are mounted, are provided on a movable platform forming a base, and one of the plurality of drive modules is provided on the movable platform at a position advanced relative to other drive modules.

[0020] In accordance with an embodiment of the present invention, a surgical robot system for driving a plurality of surgical instruments comprises: a master station for transmitting control information for driving a plurality of surgical instruments; a positioning cart for docking a modular manipulator assembly to a surgical site; and a modular manipulator assembly for receiving the control information from the master station and having a plurality of surgical instruments modularized and mounted thereon; wherein the modular manipulator assembly comprises a plurality of drive modules provided on a movable platform forming a base, wherein the modularized surgical instruments comprise: an overtube module provided with an overtube that is mounted on one drive module and is operated by power output from the one drive module; and a surgical instrument module provided with a surgical instrument that is mounted on another drive module and has a distal end or end effector operated by power output from the other drive module and is guided by penetrating the overtube; wherein the overtube and the surgical instrument are mounted together on the modular manipulator assembly.

[0021] In accordance with an embodiment of the present invention, a surgical robot system for driving a plurality of surgical instruments comprises: a master station for transmitting control information for driving a plurality of surgical instruments; a positioning cart for docking a modular manipulator assembly to a surgical site; and a modular manipulator assembly for receiving the control information from the master station and having a plurality of surgical instruments modularized and mounted thereon; wherein the manipulator assembly accommodates a plurality of modularized surgical instruments on a movable platform forming a base, wherein one of the modularized surgical instruments is an overtube module for penetrating and guiding another surgical instrument, and the other surgical instrument module is a surgical instrument module for manipulating a distal end or an end effector by penetrating the overtube module, and wherein the overtube module forms an entry guide gap, which is a space for penetrating the surgical instrument, and is provided on the movable platform together with the surgical instrument module.

[0022] As another means of solving the problem, the surgical robot includes a drive module, a rotation module, and / or a translation module, which can be combined in various ways for various surgeries. The translation module provides translational motion to the drive module, and the rotation module rotates the drive module. The surgical instrument module and the overtube module including the same are selectively attached to the drive module depending on the type of surgery. The drive module includes a casing and a rotatable coupling member on the front thereof, and the coupling member may have a detachment means and a power transmission means. The coupling members pass through a through hole in the front support plate of the casing, and each may be rotated by the drive member. The ends of the coupling members may form a coupling protrusion comprising first and second protrusions. A sterile drape comprising a body having a rotatable coupling member may be detachably coupled to the front of the drive module. The coupling member of the drape may include a detachment means for detaching the drive module and the instrument module, and a power cutting means for power transmission. The drape body has a first surface and a second surface protruding on both sides, and a narrowing engaging groove may be formed on the second surface for engaging with a mechanism module. The first surface has an engaging member protruding on one side and concave on the opposite side, and the protruding member may be formed of first and second protruding engaging portions. The second protruding engaging portion may have the same shape as the protruding engaging member on the front surface of the mechanism module. The second engaging portion is concave and includes first and second concave engaging portions, which are formed in a groove shape and may correspond to the first and second protruding engaging portions of the drape, respectively.

[0023] The surgical robotic system may additionally comprise a terminal module connected to an endoscopic surgical overtube or surgical tool module, and a continuum module that receives control signals from a master station to operate them and transmits them to the terminal module. The terminal / continuum module can be selectively detached depending on the type of surgery. If the electrical connection between the terminal module and the overtube / surgical tool module is disconnected, only physical driving force can be transmitted.

[0024] It is divided into a first module group (terminal / continuum module) and a second module group (overtube / surgical tool module). Within the first module group, electrical / mechanical connections are made, within the second module group, only mechanical connections are made, and there may be no electrical connection between the first and second groups. A communication path connecting the continuum-terminal module is formed, and the terminal module may be located at the end. The first and second modules are sequentially arranged from the top to the near part, and power / control signals can be transmitted from the first module at the top to the second module, and then through the first module to the second module.

[0025] The communication path between the continuum and terminal modules can form a ring topology. A distribution module for distributing power / control signals is included, and power / signals can be distributed to multiple continuum modules. Data packets transmitted from the distribution module can pass through the continuum module and terminal module, be processed, and then returned to the distribution module. The terminal module can convert electrical signals into rotational force and transmit them to the overtube / surgical tool module. Removal of each module can enable electrical / mechanical coupling and power / signal transmission between modules.

[0026] The distribution module, the continuum module, and the terminal module can form a three-stage series structure. The first and second modules are either distribution / continuum modules, with the first module implementing a first movement with one degree of freedom and the second module implementing a second movement with another degree of freedom, and are connected in series so that they can operate in a superimposed state during the first movement of the first module. The distribution module includes multiple terminals connected to the continuum module and a switch unit connecting them. When the continuum module is removed, the connection with the corresponding terminal can be disconnected and the communication path can be restored by connecting to the next terminal.

[0027] A rotation / linear motion / actuating module that rotates / translates / drives the overtube / surgical tool module may be included. The continuum module may correspond to the rotation / linear motion module, and the terminal module may correspond to the actuating module. A plurality of linear motion modules may be connected in parallel to one rotation module, so that they rotate together during rotation and translate the actuating / surgical tool module during linear motion, and the connected actuating modules may operate in conjunction with the linear motion.

[0028] Instead of the motor power transmission unit, the entire motor and power transmission unit can be replaced with a single modular unit. The terminal module acts as a connection node in the ring topology of the communication path. The continuum / terminal module may include at least one of a control signal input / output, a motor, and a motor controller. Power / control signals between the first and second modules (continuum / terminal modules) can be transmitted via an elastic connection between the terminals of both modules. Each module includes an electrical connection and a mechanical connection, and the electrical connection is surrounded by the mechanical connection to block external exposure. When selecting a module for each surgical type, the master station control unit can replace the settings with the corresponding module software.

[0029] A surgical robot system may include a master device having a screen and a controller, and a surgical robot configured to receive signals from the master device and perform a surgical operation. The surgical robot includes a drive module and a rotation / translation module, which may be combined in various ways for various surgeries. The translation module provides translational motion to the drive module, and the rotation module may rotate the drive module. A surgical instrument module and an overtube module including the same may be selectively attached to the drive module depending on the type of surgery. The rotation-translation module may be detachably attached to one side of the drive module, so that the drive module and the translation module can be simultaneously rotated by the rotation module. There may be multiple translation modules.

[0030] The rotation module provides rotational force and includes a plurality of groups of parallel detachable rotation modules, and the translation module and the drive module can be detachably coupled. The groups of translational-drive modules can be detachably coupled in parallel with each other and with the drive module. The parallel detachable multiple module group of the rotation module can be included together with a second module group including a drive module. The parallel detachable multiple module group of the rotation module can include first to third module groups including a translational movement-providing drive-surgical instrument module, and a fourth module group including a drive-overtube module. A detachable means can be provided between the drive module and the surgical instrument / overtube module. An attachment-detachment means using a coupling protrusion and a coupling hole can be included.

[0031] The translation-drive module is mechanically / electrically connected and may be detachable. The electrical connection may include power and electrical signals. The operation of the third motor of the drive module causes movement of the surgical tool through the surgical tool drive unit of the surgical instrument module, and the operation of the overtube drive unit of the overtube module may cause joint movement. The translation module includes a moving means for translational movement of the drive module, and may be composed of various types of moving plates, motors, guides, etc. The rotation module may include a rotating plate having a rotation axis and a coupling socket, and may be detachably connected to the drive / translation module. The moving means of the translation module may have a telescopic structure of multiple moving plates for variable movement distance.

[0032] When power is supplied through the rotation module, power / electrical signals are transmitted to the translation-drive module, and the surgical instrument / overtube module can be moved by the power of the rotation / drive module by being mechanically connected without power supply. The drive module includes a casing, a plurality of rotatable engaging protrusions on one side of the casing, a plurality of internal third motors for rotating the casing, and a third control unit for controlling the third motors, and when the casing is detachably coupled with the surgical instrument / overtube module, the surgical instrument / overtube module can be operated by the rotation of the engaging protrusions of the third motors. The engaging protrusions include first and second protrusions that are spaced apart from each other, and the robot can further include first and second pins that are spaced apart from each other. The first and second pins have a predetermined length for circumferential reinforcement during rotation, and their sides can be inclined in the circumferential direction for easy attachment to the surgical instrument / overtube module. One side of the drive module is detachably coupled to the rotation-translation module, each of which includes an operating motor and a control unit, and the surgical robot can further include a master that controls the control units thereof.

[0033] The drive module is removably coupled to the rotation module so as to be rotated by the rotation module, and the rotation module can rotate forward and backward by less than 360 degrees depending on the surgery. A sterile drape is included between the drive module and the surgical instrument / overtube module, and may include multiple through holes for power transmission from the drive module and multiple engagement protrusions protruding from the drape for power transmission and mechanical coupling with the instrument / overtube module.

[0034] The overtube module may include an overtube drive unit, a flexible tube having a joint arranged at one end thereof, a coupling unit arranged at one end of the flexible tube and coupled to the overtube drive unit, and a coupling unit including one or more sealing rings for sealing.

[0035] The translation module may include a connection socket for mechanical / electrical coupling on both sides, and the drive module may include a connection socket for mechanical / electrical coupling on one side. The connection socket may include a second connection socket for power / electrical signal input and a 2-1 arrangement socket for power / electrical signal output. A detachable means may be arranged on one side of the drive module and the surgical instrument module to enable selective detachment and coupling of the surgical instrument module depending on the type of surgery. The drive module may include a casing and a coupling member rotatably provided on the front surface of the casing. The coupling member may include a detachable means allowing detachment and a power transmission means.

[0036] A plurality of coupling members may pass through a through hole in a front support plate of the casing. Each coupling member may include a driving means coupled to the inside of the casing to rotate the coupling member. An end of the coupling member may form a protrusion for coupling. The protrusion may include a first protrusion of a predetermined length and a second protrusion formed at one end of the first protrusion. The protrusion may have an asymmetrical structure due to the first and second protrusions. The second protrusion may be circular and have a diameter greater than a width of the first protrusion. The protrusion may include a first protrusion of a predetermined length and second and third protrusions formed on both sides of the first protrusion, and the widths of the second and third protrusions may be greater than the width of the first protrusion. The diameters of the second and third protrusions may be different from each other to make the protrusion asymmetrical.

[0037] A sterile drape detachably coupled to the front of the drive module may be included, and the drape may include a body and a plurality of coupling members rotatably formed on the body. The plurality of coupling members formed on the drape may be provided on a coupling plate, and each coupling member may include a detachment means for detachably coupling the drive-surgical instrument module and a power cutting means for transmitting power from the drive module.

[0038] The drape body may include a first surface and a second surface protruding from both sides of the first surface. A longitudinal engagement groove for engagement with a surgical instrument module may be formed on the second surface. The engagement groove may narrow from top to bottom. The first surface may include an engagement member having one end protruding and the opposite end concave. The engagement member may include a first protrusion and a concave groove on one end of the first surface. The first protrusion may include a first protruding engagement member and a second protruding engagement member protruding from the first protruding engagement member. The second protruding engagement member may be formed in the same shape as a protruding structure of the engagement member protruding from the front surface of the surgical instrument module.

[0039] The second connecting portion may be concave and may include first and second concave connecting portions. The first and second concave connecting portions may be formed as grooves. The first concave connecting portion may correspond to the first protruding connecting portion formed on the first drape connecting portion, and the second concave connecting portion may correspond to the second protruding connecting portion. The first protruding connecting portion may be included on an opposite side of the first concave connecting portion, and the second protruding connecting portion may be included on an opposite side of the second concave connecting portion.

[0040] A sterile drape is detachably coupled to a front surface of a drive module, and a surgical instrument module can be detachably coupled to a front surface of the drape. The surgical instrument module can include a housing and fixing plates provided on both sides of the housing. The drape is detachably coupled to a portion of the fixing plate, and the fixing plate includes a plurality of coupling holes, each of which can include a coupling member. The coupling member of the surgical instrument module can include a detaching means for detachably coupling the drape.

[0041] A coupling member configured to be detachably coupled to the drape may protrude from both sides of the housing. The coupling member may have a shape that narrows from top to bottom. The second surface of the drape includes a coupling groove, and the coupling member is formed on both sides of the surgical instrument module housing and can be detachably coupled to the coupling groove. When the surgical instrument module is coupled to the drape, the coupling may be guided from top to bottom in the coupling groove.

[0042] The connecting member may include a circular first connecting portion and a second connecting portion formed within the first connecting portion. The connecting member of the surgical instrument module may include a second connecting portion having a concave shape, and the drape may include a first surface, with the first connecting portion protruding from one side of the first surface and the second connecting portion having a concave shape on the opposite side.

[0043] The external computing device may be a cloud-based system. A data storage module integrated into the surgical tool or external computing device may be included to store surgical procedure data and / or patient information. An encryption module integrated into the surgical tool system or external computing device may be included to encrypt surgical procedure data and patient information during transmission via the communication module.

[0044] Through the detailed description of the present invention, those skilled in the art can more clearly understand the embodiments of the present invention and realize various advantages.

[0045]

[0046] One benefit of the surgical robot system according to the present invention is improved versatility and cost-effectiveness. The system allows for the selective attachment and removal of surgical instruments for each type of surgery. Consequently, medical institutions no longer need to purchase individual robot systems, reducing costs.

[0047] Another benefit of the present invention is improved space efficiency. The overtube and surgical instruments are integrated into a single assembly, minimizing the system's volume. This can alleviate spatial constraints in the operating room and improve operating efficiency. Furthermore, since there is no need to assign a separate overtube platform to the arm or frame of the positioning cart, the operating range can be minimized. Furthermore, according to an embodiment of the present invention, the length of the entry guide gap, which inserts surgical instruments into the overtube, can be controlled by the translation module. In other words, the entry guide gap can be adjusted to ensure sufficient space when inserting surgical instruments before surgery, and the entry guide gap can be controlled to narrow after the instruments are installed. This can improve the controllability of surgical instruments inserted into the overtube and has the advantage of superior instrument operational stability.

[0048] Another benefit of the present invention is improved control stability. It provides a communication system that facilitates the establishment of integrated control information even when surgical instruments are replaced. In particular, the system eliminates the need for a separate control packet change process each time a surgical instrument is replaced, thereby improving surgical continuity and system stability.

[0049]

[0050] FIG. 1 is a perspective view of a surgical robot system according to an embodiment of the present invention.

[0051] FIG. 2 is an embodiment of a modular manipulator assembly configured in a surgical robot system.

[0052] FIG. 3 is a schematic diagram of a module that is attached to and detached from a modular manipulator assembly according to an embodiment of the present invention.

[0053] Figure 4 is a schematic diagram of a modular manipulator assembly according to an embodiment of the present invention in which modules are formed into multiple operating lines.

[0054] Figures 5 (a) to (c) are schematic diagrams of various combinations of modules in a modular manipulator assembly according to an embodiment of the present invention.

[0055] Figures 6 (a) to (d) are schematic diagrams showing examples of combinations of hardware modules that constitute the operating line of a modular manipulator assembly.

[0056] FIG. 7 is an embodiment of a movable platform configured in a modular manipulator assembly according to an embodiment of the present invention.

[0057] Figure 8 is a side view of a movable platform according to an embodiment of the present invention.

[0058] Figure 9 is a front view of a movable platform according to an embodiment of the present invention.

[0059] Figure 10 illustrates a state before fastening of a translation module and a driving module according to an embodiment of the present invention.

[0060] Figure 11 is an exploded perspective view of a translation module according to an embodiment of the present invention.

[0061] Fig. 12 (a) is a front perspective view of a translation module according to an embodiment of the present invention, and Fig. 12 (b) is a rear perspective view of a translation module according to an embodiment of the present invention.

[0062] Fig. 13 (a) is a perspective view showing a combined translation module and a driving module according to an embodiment of the present invention, and Fig. 13 (b) is a drawing of an embodiment of a driving module to which a drape module is connected.

[0063] FIG. 14 illustrates a docking interface and drape module of a drive module according to an embodiment of the present invention.

[0064] FIG. 15 is a front view of a coupling protrusion formed on a docking interface according to an embodiment of the present invention.

[0065] FIG. 16 illustrates a perspective view of a drive module and a drape module coupled to the drive module according to an embodiment of the present invention.

[0066] Figure 17 is a rear perspective view of a drive module according to an embodiment of the present invention.

[0067] Figure 18 is a front perspective view of a drape module according to an embodiment of the present invention.

[0068] FIG. 19 is a rear perspective view of a drape module according to an embodiment of the present invention.

[0069] FIG. 20 is a perspective view illustrating the relationship between an overtube module and a surgical instrument module according to an embodiment of the present invention.

[0070] Fig. 21 is a partial perspective view of an overtube according to an embodiment of the present invention.

[0071] Figure 22 is a perspective view of a surgical instrument module according to an embodiment of the present invention.

[0072] Figure 23 illustrates the internal configuration of a surgical instrument coupler according to an embodiment of the present invention.

[0073] Figure 24 is a rear perspective view of a surgical instrument coupler according to an embodiment of the present invention.

[0074] FIG. 25 (a) is a drawing illustrating an overtube interface according to an embodiment of the present invention, and FIG. 25 (b) is a drawing illustrating a surgical instrument interface according to an embodiment of the present invention.

[0075] FIG. 26 is a front view illustrating an overtube interface and a surgical instrument interface mounted on a modular manipulator assembly according to an embodiment of the present invention.

[0076] Figures 27 (a) and (b) are schematic diagrams showing various combinations of an overtube interface and a surgical instrument interface mounted on a modular manipulator assembly according to an embodiment of the present invention.

[0077] Figure 28 is a communication structure diagram of a surgical robot system according to an embodiment of the present invention.

[0078] FIG. 29 is a schematic diagram for explaining a communication path between one translation module and one drive module in a communication structure according to an embodiment of the present invention.

[0079] FIG. 30 is a diagram illustrating a data structure of control information according to an embodiment of the present invention.

[0080] FIG. 31 is a diagram illustrating a data structure of control information according to another embodiment of the present invention.

[0081] Fig. 32 is an embodiment in which a distribution module according to an embodiment of the present invention is provided in a rotation module.

[0082] Figure 33 is an embodiment in which a continuum module according to an embodiment of the present invention is provided in a translation module.

[0083] Figure 34 is an embodiment in which a terminal module according to an embodiment of the present invention is provided in a drive module.

[0084] Figure 35 is an explanatory diagram of elements constituting a communication structure according to an embodiment of the present invention.

[0085] Fig. 36 is an example of a terminal provided in a hardware module according to an embodiment of the present invention.

[0086] FIG. 37 is a diagram illustrating a communication path in a communication structure according to an embodiment of the present invention when a terminal continuum module or terminal module is missing.

[0087] FIG. 38 is a diagram illustrating a communication path in a communication structure according to an embodiment of the present invention when a continuum module or terminal module is missing in the middle.

[0088] Figure 39 shows examples of hardware modules being serially attached and detached according to an embodiment of the present invention.

[0089] Figure 40 shows examples of hardware modules being detached in parallel according to an embodiment of the present invention.

[0090] Figure 41 is a communication structure diagram according to another embodiment of the present invention.

[0091]

[0092] The various embodiments described in this document are exemplified for the purpose of clearly explaining the technical concepts of the present invention and disclosure, and are not intended to limit them to specific embodiments. The technical concepts of the present invention and disclosure include various modifications, equivalents, alternatives, and embodiments selectively combined from all or part of the embodiments described in this document. Furthermore, the scope of the technical concepts of the present invention and disclosure is not limited to the embodiments presented below or the specific descriptions thereof.

[0093] Terms used in this document, including technical or scientific terms, unless otherwise defined, may have the meaning commonly understood by one of ordinary skill in the art to which the present invention and disclosure pertain.

[0094] The expressions "includes," "may include," "comprises," "may have," "have," and "may have" used in this document imply the presence of a function, operation, or component as the target feature, and do not exclude the presence of other additional features. In other words, such expressions should be understood as open-ended terms that imply the possibility of including other embodiments.

[0095] The singular forms used in this document may include the plural form unless the context clearly indicates otherwise, and this also applies to the singular forms set forth in the claims.

[0096] As used herein, the expressions "A, B, and C," "A, B, or C," "A, B, and / or C," or "at least one of A, B, and C," "at least one of A, B, or C," "at least one of A, B, and / or C," "at least one selected from A, B, and C," "at least one selected from A, B, or C," "at least one selected from A, B, and / or C," and the like can mean each of the listed items or all possible combinations of the listed items. For example, "at least one selected from A and B" can refer to (1) A, (2) at least one of A, (3) B, (4) at least one of B, (5) at least one of A and at least one of B, (6) at least one of A and B, (7) at least one of B and A, and (8) both A and B.

[0097] The expression "based on" as used in this document is used to describe one or more factors that influence the decision, act of judgment, or action described in the phrase or sentence containing the expression, and this expression does not exclude additional factors that influence the decision, act of judgment, or action.

[0098] As used herein, the expression that a component (e.g., a first component) is “connected” or “connected” to another component (e.g., a second component) may mean that the component is directly connected or connected to the other component, as well as connected or connected via a new other component (e.g., a third component).

[0099] The expression "configured to" used in this document can have the meanings of "set to do", "having the ability to do", "changed to do", "made to do", and "capable of doing" depending on the context, and is distinct from the meaning of "consist".

[0100] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. In the attached drawings and the description of the drawings, identical or substantially equivalent components may be assigned the same reference numerals. Furthermore, in the description of various embodiments below, duplicate descriptions of identical or corresponding components may be omitted, but this does not mean that the corresponding components are not included in the embodiments.

[0101] Surgical systems, such as those used in minimally invasive medical procedures, may include large and complex equipment to precisely control and operate relatively small tools or instruments.

[0102] A remotely controlled surgical robot system with a single entry port for operating various surgical instruments in a single system can be used for various surgeries. In an embodiment of the present invention, the surgical robot system may be disclosed as a remote surgical system capable of operating various surgical instruments through a single entry port. The surgical robot system can be applied to various surgeries by selectively combining multiple surgical instruments that are inserted into a patient's body through the single entry port. Depending on the characteristics of the shaft, the surgical instruments may include general surgical instruments, advanced surgical instruments, and camera instruments such as endoscopes, and the term "surgical instruments" herein may collectively refer to these instruments. The surgical instruments may be controlled manually, computer-aided, or remotely via an operator console.

[0103] A surgical robot system according to an embodiment of the present invention can perform surgeries using a single entry port in various parts of the patient's body. Specifically, the surgical instrument can be inserted through the patient's oral cavity, intercostal space, femoral region, or other natural openings or incisions in the body to perform the surgery.

[0104] In an embodiment, a single entry port may refer to a single incision or a single natural opening of a patient. An overtube, which will be described later, may be inserted into a port entering a single incision or a single natural opening. The following describes a surgical robot system that utilizes a single entry port as an example, but this does not limit the embodiments of the present invention to use with a single entry port. Embodiments of the present invention are applicable to all surgical robot systems in which multiple surgical instruments are inserted through an overtube. For example, embodiments of the present invention may be applied even when multiple entry ports for entering a patient's body are formed, and an overtube having multiple channels is used for each entry port.

[0105] FIG. 1 is a perspective view of a surgical robot system (1) according to an embodiment of the present invention. Referring to FIG. 1, the surgical robot system (1) may include a positioning cart (3), a modular manipulator assembly (10), and an operator console (5). In an embodiment, the positioning cart (3) may be a movable platform on which the modular manipulator assembly (10) is mounted. The positioning cart (3) may perform a function of precisely positioning the modular manipulator assembly (10) to a surgical site of a patient. The positioning cart (3) may be provided with a moving wheel at the bottom for access to an operating table. The positioning cart (3) may include a frame composed of a plurality of arms and links. The frame may be configured to enable the modular manipulator assembly (10) to move up and down and move toward and away from a patient. The frame of the positioning cart (3) can be configured in various forms considering the kinematic structure that can approach the operating table and the patient's surgical site and the modular manipulator assembly (10). In an embodiment of the present invention, an overtube may be disclosed as an entry guide that guides to a single entry port. In addition, a system in which the overtube and the surgical instrument are mounted together on the modular manipulator assembly (10) may be disclosed. According to an embodiment of the present invention, the modular manipulator assembly (10) may be configured by integrating the overtube and the surgical instrument into a single assembly. Accordingly, the positioning cart (3) may not require an arm, link, or frame for separately supporting the overtube. In other words, the positioning cart (3) can be designed with a kinematic structure that considers only the degrees of freedom of the modular manipulator assembly (10). Such a structure can contribute to improving the degree of design freedom, increasing structural stability, and minimizing the system volume.

[0106] The operator console (5) is a medical control device capable of confirming surgical-related images and controlling the positioning cart (3) and the modular manipulator assembly (10). The operator console (5) is a remote control device that controls the entire system and can be installed inside the surgical space or in a separate space. The operator console (5) includes one or more manipulators, and the manipulators can include at least one of a handgrip, a joystick, a trackball, a data glove, a trigger gun, a manual controller, a clutch, a foot motion controller, a voice recognition device, and a touch screen.

[0107] Although not shown in the drawings, depending on the embodiment, the surgical robot system (1) may further include a vision cart, which is an auxiliary imaging device. The vision cart can provide visual prompts and step-by-step surgical guidance through a touchpad or touchscreen monitor. In addition, medical imaging devices for surgical assistance, such as CT or X-ray, may be linked to the system, if necessary.

[0108] In an embodiment, a system configuration device including a positioning cart (3) and an operator console (5) may be equipped with one or more processors. The processor may process information input from various sensors. For example, the sensor information may include a drape state, a state of the positioning cart (3), a state of the modular manipulator assembly (10), and a state of a surgical instrument. The processor may analyze the sensor information to determine a hazardous situation in the surgical environment. The hazardous situation may include, but is not limited to, a state in which equipment or a surgical instrument is abnormally close to a patient, a hazardous state of a surgical instrument, a malfunction of a surgical instrument, and an inappropriate control command. In addition, the processor may output a warning signal or automatically limit the operation of the system when a hazardous situation occurs.

[0109] In an embodiment, the processor may be mounted on a positioning cart (3), an operator console (5), a modular manipulator assembly (10), or may be mounted on each piece of equipment. The processor may be provided as a separate device, in which case it may process data through wired or wireless communication with each piece of equipment constituting the surgical robot system (1).

[0110] FIG. 2 is an embodiment of a modular manipulator assembly (10) configured in a surgical robot system (1). Referring to FIG. 2, the modular manipulator assembly (10) may include a movable platform (11), a manipulator housing (12), a rotation module (100), a translation module (200), a drive module (300), an overtube module (400), and a surgical instrument module (500). In the embodiment of FIG. 2, the translation module (200) is omitted as it is coupled to the inside of the manipulator housing (12), and will be described in detail with reference to FIGS. 10 to 13.

[0111] The movable platform (11) may refer to the base of the modular manipulator assembly (10). In the following embodiments, it will be described that various modules are mounted on the movable platform (11). A rotation module (100), a translation module (200), and a driving module (300) may be mounted on the movable platform (11). The various modules mounted on the movable platform (11) may be packaged through a manipulator housing (12). The rotation module (100) may be provided on the movable platform (11) to rotate the manipulator housing (12). The movable platform (11) may be understood as a mounting platform for hardware modules on which a plurality of surgical instruments are operated.

[0112] The movable platform (11) can be transported to the surgical area by the arm of the positioning cart (3). The movable platform (11) may be provided with a coupling means for docking with the arm of the positioning cart (3). Although not illustrated in FIG. 2, the coupling means may be implemented in various forms according to the arm structure of the positioning cart (3). For example, methods such as clamps, latches, snap fittings, and bolt fastening may be applied.

[0113] Typically, a single-port surgical robotic system disclosed herein consists of two movable platforms: a manipulator platform and an overtube platform equipped with an overtube. Various surgical instruments are attached and detached to the manipulator platform, while the overtube platform houses an overtube manipulator. Both the overtube and the surgical instruments are driven by motor mechanisms and can be remotely controlled. The overtube and the surgical instrument manipulators are configured independently for the following reasons: the overtube typically has one or more lumens formed into which endoscopic probes and surgical instruments are inserted. The overtube guides the surgical instruments into the body, and once the instruments reach the target tissue, they are withdrawn from the overtube and remotely controlled. Therefore, the overtube and the surgical instruments must be controlled separately. Surgical instruments must be inserted through the overtube, and while the overtube is typically not replaced during surgery, surgical instruments inserted into the overtube can be replaced with other instruments during the procedure. While both the overtube and the surgical instrument can be considered surgical instruments used in surgical operations within the body, they serve different roles as upper and lower tools and are controlled independently. For this reason, the overtube and the surgical instrument are each provided with a manipulator and a platform for independent control. In a surgical robot system, the platform for the overtube is positioned in the front (distal direction), leaving sufficient space behind it for inserting the surgical instrument, and the platform for the surgical instrument is positioned in the back (proximal direction). Therefore, the positioning cart required two robot arms to support the platform for the overtube and the platform for the surgical instrument, respectively. On the other hand, according to an embodiment of the present invention, the surgical instrument (501) and the overtube (401) can be mounted together on a single movable platform (11). Therefore, the positioning cart in the present embodiment may be equipped with only one movable platform (11). In addition, the movable platform (11) accommodates both the overtube (401) and the surgical instrument (501), and various hardware modules can be detached and attached, allowing for module-by-module replacement.Accordingly, in this specification, the significance of the configuration should be considered by distinguishing between the overtube and the tools that operate within the overtube, which fall within the category of surgical instruments. In addition, the base on which the manipulator that drives the overtube or the surgical instrument is mounted should be understood as a movable platform. In addition, although the comprehensive term “surgical instrument” is used, in order to distinguish between the overtube and the surgical instrument as a tool controlled separately within the overtube, the terms for each configuration that will be described later will be referred to separately as the overtube and the surgical instrument. Among the categories of surgical instruments, the overtube (401) and the surgical instrument (501) as a tool that operates within the overtube (401) will be clearly defined and described with each drawing, so that those skilled in the art can understand them clearly.

[0114] The manipulator housing (12) can accommodate one or more translation modules (200). In an embodiment, a drive module (300) can be attached or detached to the translation module (200). In this specification, attachment or detachment means a coupling relationship that allows fastening and separation. Considering the coupling relationship, the manipulator housing (12) can accommodate one or more drive modules (300). In an embodiment, a surgical instrument module (500) or an overtube module (400) can be attached or detached to the drive module (300). In this specification, a unit of a configuration that performs an independent function may be referred to as a module. The communication module, which will be described later, is one of them, and the overtube module (400), the surgical instrument module (500), the drive module (300), the translation module (200), and the rotation module (100) are referred to as hardware modules. The hardware module can be understood as a definition of a term to distinguish the communication module from various modules and its functions. The manipulator housing (12) accommodates various hardware modules as described above, and even the manipulator housing (12) equipped with various hardware modules can be detachably mounted on the movable platform (11) as a single module by those skilled in the art.

[0115] The modular unit-based detachable embodiment defined herein relates to the universal characteristic that hardware modules can be combined in various ways. In addition, the modular manipulator assembly (10) according to the embodiment of the present invention presents detachable characteristics up to the hardware module that drives the tool, taking into account the aspect of user maintenance convenience. In addition, from the user's perspective, it is possible to propose a system that can flexibly respond to various needs that can accommodate a surgical robot system, such as the cost of system installation, surgical scope, and space constraints. The diversity of combinations of the modular manipulator assembly (10) according to the embodiment of the present invention can be exemplified as follows.

[0116] FIG. 3 is a schematic diagram of a module that is attached to and detached from a modular manipulator assembly (10) according to an embodiment of the present invention. FIG. 3 explains the attachment and detachment relationship of hardware modules that are connected in series. In FIG. 3, it is assumed that a rotation module (100) is installed on a movable platform (11), and hardware modules that can be additionally attached and detached from the rotation module (100) are exemplified. A translation module (200) is attached and detached to one end of the rotation module (100). In the embodiment of FIG. 2, the rotation module (100) can be coupled to the manipulator housing (12), and the translation module (200) can be attached and detached to the rotation module (100) while being supported by the manipulator housing (12), thereby forming a coupling relationship. If one end of the translation module (200) is attached and detached from the rotation module (100), the other end of the translation module (200) can be attached and detached from the drive module (300). If one end of the drive module (300) is attached to and detached from the translation module (200), the other end of the drive module (300) can be attached to and detached from the surgical instrument module (500) or the overtube module (400). Here, a drape module (600) can be additionally attached to the drive module (300) before the surgical instrument module (500) or the overtube module (400) is attached. The drape module (600) may be omitted if a separate sterilization means is attached to the drive module (300) as an adapter for sterilization. Hereinafter, the fastening relationship between the drive module (300) and the surgical instrument module (500) or the overtube module (400) will be described on the premise that the drape module (600) can be attached and detached from the drive module (300). Therefore, expressively, the attachment or detachment of the surgical instrument module (500) or the overtube module (400) to the drive module (300) can be understood as meaning that the surgical instrument module (500) or the overtube module (400) can be attached or detached to the drive module (300) to which the drape module (600) is connected.Based on the schematic diagram of FIG. 3, an embodiment of a serial connection between hardware modules can be confirmed, which can constitute one operating line configured in the modular manipulator assembly (10). In addition, such operating lines can be configured in multiple numbers, and can be representatively divided into an operating line of an overtube module (400) and an operating line of a surgical instrument module (500). The operating line of the surgical instrument module (500) can be formed in one or more lines depending on the type of surgical instrument. Meanwhile, although FIG. 3 illustrates an embodiment in which the surgical instrument module (500) is detachably attached to a drape module (600), the surgical instrument module (500) may be replaced with the overtube module (400). That is, the drive module (300) according to the present embodiment can be detached from either the surgical instrument module (500) or the overtube module (400). The above embodiment assumes that the drive module (300) functions as a power transmission means, and that the form in which the power is used is configured in a hardware module that is subsequently installed. Given the aforementioned background, the technical significance of the hardware module configuration, which serves as a detachable unit according to the present embodiment, will be readily apparent to those skilled in the art.

[0117] FIG. 4 is a schematic diagram of a modular manipulator assembly (10) according to an embodiment of the present invention, in which modules are formed into multiple operating lines. Different from FIG. 3, the embodiment of FIG. 4 discloses a case in which four operating lines are formed in one rotation module (100). Each operating line is formed by serially attaching and detaching a plurality of hardware modules. Referring to FIG. 4, four translational modules (200) are detachably attached to the rotational module (100) to form four operating lines. The four operating lines can be understood as the translational modules (200) being connected in parallel to the rotational module (100). In the embodiments of FIGS. 3 and 4, it can be confirmed that the modular manipulator assembly (10) can be configured with various combinations of serial and parallel hardware modules. In Fig. 4, a plurality of translation modules (200) can be attached or detached from a single rotation module (100), and a plurality of driving modules (300) can be attached or detached from the plurality of translation modules (200). An overtube module (400) or a surgical instrument module (500) can be attached or detached from the plurality of driving modules (300). In the embodiment of Fig. 4, three surgical instruments (G1, G2, G3) are mounted on the movable platform (11), and an overtube (G4) that guides the three surgical instruments (G1, G2, G3) into the body is also mounted. Among the modules detached from the rotation module (100), the overtube (G4) and the surgical instruments (G1, G2, G3) are all expressed in a parallel relationship, which may be mistaken for a simple configuration of the coupling relationship. However, in actual implementations, the characteristics of the surgical instruments (G1, G2, G3) that must penetrate the overtube (G4) must be taken into consideration. Actual implementations will be described in detail with reference to FIGS. 7 to 41.

[0118] FIGS. 5(a) to 5(c) are schematic diagrams illustrating various combinations of modules in a modular manipulator assembly (10) according to an embodiment of the present invention. Compared with the embodiment of FIG. 4, FIG. 5 suggests that one hardware module may be omitted or one hardware module may be duplicated and detached. FIG. 5(a) shows a combination in which two translation modules (200) are detachable from one rotation module (100), and a drive module (300) is detachable from each of the two translation modules (200). FIG. 5(b) shows an embodiment in which a translation module (200) and a drive module (300) are detachable from a first operation line in one rotation module (100), and only a drive module (300) is detachable from a second operation line without a translation module (200). In the embodiments described below, it will be explained that communication and output for control are independently formed for each module unit. Therefore, the embodiment according to the present invention is not limited to the attachment / detachment order illustrated in FIGS. 3 and 4 in the attachment / detachment relationship between hardware modules. FIG. 5 (c) shows an embodiment in which a translation module (200) and a drive module (300) are attached / detachable from a first operating line in one rotation module (100), and two translation modules (200) are connected to a second operating line, and then the drive module (300) is attached / detachable.

[0119] FIG. 6 (a) to (d) are schematic diagrams showing an embodiment of a combination of hardware modules constituting an operating line of a modular manipulator assembly (10). FIG. 6 (a) shows a view in which a drive module (300) is directly attached to and detached from a rotation module (100). If a translational movement function is not required, it suggests that the translational module (200) may be omitted from the module combination and the drive module (300) may be attached and detached from the rotational module (100). FIG. 6 (b) shows a view in which a drive module (300) is attached and detached from a translational module (200). FIG. 6 (c) shows a view in which a translational module (200) is attached and detached from a rotational module (100) and a drive module is attached and detached from a translational module (200). Figure 6 (d) shows a view in which two translation modules (200) are serially attached and detached from a rotation module (100), and a drive module (300) is attached and detached from the translation module (200) at the rear end. As in the embodiment of Figure 6, the serial combination of hardware modules constituting the operating line of the modular manipulator assembly (10) can be configured in various ways. Each hardware module is described in detail below.

[0120] Fig. 7 is an embodiment of a movable platform (11) configured in a modular manipulator assembly (10) according to an embodiment of the present invention. Fig. 8 is a side view of a movable platform (11) according to an embodiment of the present invention. Fig. 9 is a front view of a movable platform (11) according to an embodiment of the present invention. The configuration of the movable platform (11) and the rotation module (100) mounted on the movable platform (11) will be described with reference to Figs. 7 to 9.

[0121] The movable platform (11) may include a support (13) and a support plate (14) for accommodating the rotation module (100). The support (13) may be fastened to the base of the movable platform (11) and assembled. The support (13) may form a height direction from the base of the movable platform (11). The support (13) may form a clearance distance for accommodating the manipulator housing (12) by forming a height direction from the base of the movable platform (11). A rod forming a rotation axis (R) may be coupled to the support (13) in the longitudinal direction of the base. The rod forming the rotation axis (R) may be rotated by a motor of the rotation module (100). A support plate (14) for reinforcement may be additionally formed on the rear surface of the support (13) on the movable platform (11). A control unit (15) may be formed on the rear surface of the support (13) on the base of the movable platform (11). In the present embodiment, the control unit (15) may refer to a space where auxiliary hardware components for controlling the rotation module (100) are stored. The formation location of the control unit (15) on the movable platform (11) may be designed to be changed. For example, the control unit (15) may be configured to be coupled to the support plate (14). The movable platform (11) may be provided with a configuration of the control unit (15) and a rotation module (100) controlled by the control unit (15).

[0122] The rotation module (100) includes a motor that rotates when a driving signal is input, and a rotation plate (1000) having a rotation axis, and is installed on a movable platform (11) to which a translation module (200) is connected, and can rotate with a driving signal input to the motor. The function of the motor (101) of the rotation module (100) will be described later in FIG. 28. A motor, a motor controller, and a communication module may be mounted in the control unit (15). The motor may be configured in the control unit (15), but is not necessarily limited thereto, and may be formed together with a rod that configures the rotation axis (R) in the support plate (14). The motor may be coupled to the rear of the support plate (14), and a means for electrical connection with the motor controller and the communication module may be provided in the control unit (15).

[0123] The turntable (1000) refers to a member that rotates by driving the turntable module (100). A docking connector portion (120) may be formed on the turntable (1000). A plurality of connecting interfaces may be formed on the docking connector portion (120). In an embodiment, a first connecting interface (120(a)), a second connecting interface (120(b)), a third connecting interface (120(c)), and a fourth connecting interface (120(d)) are exemplified. Each of the one or more connecting interfaces may include a terminal (C) to be described later. As an example, the first connecting interface (120(a)) may include an in connector (121) and an out connector (122), which are terminals (C). In addition, additional terminals for connecting a power cable or auxiliary hardware may be provided. However, in order to explain the function of the docking connector portion (120) to be described in the following embodiment, the explanation is limited to an embodiment of a terminal (C) configured with an in connector (121) and an out connector (122). Each connecting interface can be a connecting means to which an additional hardware module is connected. In the present embodiment, each of the four connecting interfaces (120 (a), 120 (b), 120 (c), 120 (d)) can accommodate up to four translation modules (200) by serving as a connecting means. Hereinafter, one or more connecting interfaces will be collectively referred to as a docking connector portion (120).

[0124] The rotation module (100) may have a frame connector portion (110) formed in the opposite direction of the docking connector portion (120). The frame connector portion (110) is electrically or mechanically connected to the master station (28) in the control portion (15) and may receive control information from the master station (28).

[0125] In an embodiment, the rotary plate (1000) can be fastened to the manipulator housing (12). The rotary plate (1000) can be formed with a fastening means for fastening to the manipulator housing (12), and the fastening means may be a means for fixed coupling. The manipulator housing (12) can be in the shape of a cylinder with a hollow space formed therein. The manipulator housing (12) may be provided in a polygonal shape other than a cylinder, but in the case of a polygonal shape, a spatial disadvantage may occur due to an asymmetrical shape when the entirety is rotated.

[0126] The rotation module (100) can rotate the manipulator housing (12) in which one or more translation modules (200) are accommodated. As the manipulator housing (12) is fastened to the rotation plate (1000), the rotation module (100) can rotate the rotation plate (1000) to thereby rotate the manipulator housing (12). The rotation plate (1000) rotates around the rotation axis (R). In the above-described embodiment, since the docking connector part (120) is formed on the rotation plate (1000), when the rotation plate (1000) rotates, other hardware modules attached to and detached from the docking connector part (120) can also rotate together. Other hardware modules attached to and detached from the docking connector part (120) will be fastened parallel to the base of the movable platform (11) along the longitudinal direction of the rotation axis (R). The fastening direction of other hardware modules attached to and detached from the docking connector part (120) will be horizontal to the ground. Since the fastening direction of other hardware modules attached to and detached from the docking connector portion (120) is not vertical, fastening stability must be considered. In the present embodiment, the manipulator housing (12) can support other hardware modules attached to the docking connector portion (120) by internally receiving the other hardware modules attached to the turntable (1000) after being coupled with the turntable (1000).

[0127] In the following embodiments, an embodiment in which a translation module (200) and a driving module (300) are connected to other hardware modules connected to a rotating plate (1000) will be described. As an embodiment of hardware modules connected in a series relationship, an embodiment in which the rotation module (100), the translation module (200), and the driving module (300) illustrated in (c) of FIG. 6 are sequentially connected and detached will be described. As an embodiment of hardware modules connected in a parallel relationship, an embodiment in which four translation modules (200) illustrated in FIG. 4 are configured, and an overtube module (400) is connected and detached to one of the operating lines will be described.

[0128] Fig. 10 illustrates a state before fastening of a translation module (200) and a drive module (300) according to an embodiment of the present invention. Fig. 11 is an exploded perspective view of a translation module (200) according to an embodiment of the present invention. Fig. 12 (a) is a front perspective view of a translation module (200) according to an embodiment of the present invention, and Fig. 12 (b) is a rear perspective view of a translation module (200) according to an embodiment of the present invention. The configuration of the translation module (200) will be described with reference to Figs. 10 to 12.

[0129] The translation module (200) is mounted on a movable platform (11) and can form a driving range of a stroke (S) section. The translation module (200) can include a frame connector section (210) and a docking connector section (220) as fastening means for fastening to other hardware modules. The stroke (S) section can form a distance of translational movement by the operation of the translation module (200).

[0130] In one embodiment, the translation module (200) includes a moving means (2000) that slides in a stroke section (S), and the moving means (2000) may be formed as a telescopic type by including a plurality of moving plates for varying the moving distance. In this case, the stroke section (S) may mean a maximum translational moving distance formed by all of the plurality of moving plates moving. In another embodiment, the moving means (2000) may be formed with one moving plate for varying the moving distance, and in this case, the distance by which one moving plate is translated may be the stroke section (S). In the telescopic type embodiment, one moving plate can be moved relative to another moving plate, and by fixing one moving plate at an arbitrary distance, the initial position of the driving module (300) to be described later can be determined.

[0131] In the example of FIG. 10, the driving module (300) can be mounted on a moving means (2000). The translation module (200) can include a first moving plate (2023) as a moving means (2000) that slides in a stroke section (S), and a second moving plate (2026) that is provided to be movable on the first moving plate (2023). A docking connector part (220) that is connected to another hardware module can be provided on the second moving plate (2026). In the present embodiment, the second moving plate (2026) can refer to a moving plate whose moving distance can be maximally varied. The second moving plate (2026) has a frame of a base on which the driving module (300) is mounted, and a docking connector part (220) to which a frame connector part (310) of the driving module (300) is connected can be positioned at the rear end of the base. In the present embodiment, the initial position of the drive module (300) when it is connected to the translation module (200) is referred to as a first position (P1, FIG. 13), and the translationally moved position is referred to as a second position. The second position can be regarded as a point where the drive module (300) is located as a result of translationally moving within the range of the maximum stroke section (S) from the first position (P1). The first position (P1) of the drive module (300) may vary depending on the translation module (200) to which the drive module (300) is connected. In addition, the first position (P1) of the drive module (300) can distinguish the drive module (300) on which the overtube module (400) and the surgical instrument module (500) are mounted.

[0132] The translation module (200) may include a base member (2020), a first guide member (2021), a first guide rail (2022), a second guide member (2024), and a second guide rail (2025) configured to move a first moving plate (2023) or a second moving plate (2026). The base member (2020) of the translation module (200) may be provided with accessory hardware for translationally moving the moving means. The base member (2020) may be provided in a shape in which an outer surface thereof is attached to an inner surface of the manipulator housing (12). In the present embodiment, the manipulator housing (12) may have a cylindrical shape, and in this case, the outer surface of the base member (2020) may include an arcuate surface. The base member (2020) is inserted into the inside of the manipulator housing (12) with a phase difference, and at this time, a plurality of base members (2020) are oriented with the same phase difference and then inserted so as to engage with the inner cylindrical surface of the manipulator housing (12).

[0133] A first guide rail (2022) may be formed on the first guide member (2021). The first moving plate (2023) may be translated through the first guide rail (2022). The translation module (200) may include one or more motors and a motor controller, and the motor of the translation module (200) may translate the first moving plate (2023) or the second moving plate (2026) on the first guide rail (2022) or the second guide rail (2025). The function of the motor (201) of the translation module will be described later with reference to FIG. 28. The motor (201) and the motor controller may be accommodated on the base member (2020), but are not limited thereto. The second guide member (2024) may be a member on which the second guide rail (2025) is formed. The second guide member (2024) may be formed on the first moving plate (2023). The second moving plate (2026) may be provided to be able to slide through the second guide rail (2025). Depending on the design, the second guide rail (2025) may be omitted, in which case the second moving plate (2026) may be fixedly coupled to the second guide member (2024). In other words, the second moving plate (2026) may be fixedly coupled to the first moving plate (2023). However, the position at which the second moving plate (2026) is fixedly coupled to the first moving plate (2023) may be adjusted, which may be used as an embodiment to offset the first position (P1) of the detachable drive module (300). In an embodiment in which a second guide rail (2025) is formed, the first position (P1) of the drive module (300) can be adjusted as the second moving plate (2026) is moved from the second guide member (2024) and then locked. The first position (P1) refers to the initial position of the drive module (300), and the initial position offset of the drive module (300) can serve as a solution for mounting the overtube module (400) and the surgical instrument module (500) together on the movable platform (11).

[0134] Hereinafter, in an embodiment of a plurality of translation modules (200) and a driving module (300), the operation of the translation module (200) that forms the first position (P1) of one of the driving modules (300) differently will be described. In an embodiment, the translation module (200) forms the first position (P1) of the driving module (300) at a position where the first moving plate (2023) is stopped, and one of the plurality of translation modules (200) can be locked after the first moving plate (2023) moves forward a predetermined distance. Here, the second moving plate (2026) is offset to the same position in all of the plurality of translation modules (200). Therefore, the positions of the second moving plates (2026) of the plurality of translation modules (200) are the same, but only one of the translation modules (200) moves the position of the first moving plate (2023) forward a predetermined distance. As a result, the initial state can be configured such that the moving means (2000) of one translation module (200) is advanced relative to the other translation module (200). Accordingly, one driving module (300) connected to the moving means (2000) can be offset to a position advanced relative to the other driving module (300).

[0135] In another embodiment, the translation module (200) may be configured such that the first position (P1) of the drive module (300) is formed at a position where the second moving plate (2026) is stopped. In this case, one translation module (200) may be locked after the second moving plate (2026) has moved forward a predetermined distance. Here, the first moving plate (2023) is offset to the same position in all of the plurality of translation modules. Accordingly, the positions of the first moving plates (2023) in the plurality of translation modules (200) are the same, but only one translation module (200) has the second moving plate (2026) moved forward a predetermined distance. As a result, the initial state may be configured such that the moving means (2000) of one translation module (200) is moved forward more than the other translation modules (200). Accordingly, one drive module (300) attached to the means of transportation (2000) can be offset to a more advanced position than the other drive module (300).

[0136] In another embodiment, the moving means (2000) may be offset and fixed to the same position in all of the plurality of translation modules (200). However, in this case, one translation module (200) may be fastened so that the position at which it is mounted on the turntable (1000) of the rotation module (100) moves forward. In the present embodiment, the translation module (200) on which the overtube module (400) is mounted may be designed to have a designated position. One of the translation modules (200) may have its fastening position offset forward by forming the frame connector portion (210) to be further extended or by protruding one of the interface areas of the docking connector portion (120) of the turntable (1000) forward.

[0137] The frame connector part (210) can be electrically and mechanically connected to the movable platform (11), and the translation module (200) can be attached to and detached from the movable platform (11) using the frame connector part (210) as a fastening means.

[0138] The docking connector (220) may be a connecting means that is detachable from another hardware module. The docking connector (220) may be provided on a moving means (2000) that slides in the stroke section (S). In the embodiment of FIG. 10, the other hardware module from which the docking connector (220) is detachable may be a drive module (300).

[0139] In an embodiment, the translation module (200) may be a plurality corresponding to the driving module (300), and any one translation module (200) on which any one driving module (300) is mounted may receive an offset command from the processor of the surgical robot system to advance a predetermined distance during the stroke section (S), and may be driven in a straight line and then locked. In the present embodiment, an offset process may be performed in which the moving means (2000) of any one of the plurality of translation modules (200) is operated and advanced according to a software control command. The translation module (200) may be advanced a predetermined distance during the stroke section (S) by the length of the entry guide gap. In an embodiment to be described later, an operating line from which the driving module (300) and the overtube module (400) are attached and detached, and an operating line from which the driving module (300) and the surgical instrument module (500) are attached and detached are formed on one movable platform (11). In this state, the length by which the translation module (200) is advanced can form a space in which a surgical instrument (501) can be inserted into the overtube (401). The translation module (200) is driven forward by the length of the entry guide gap and then locked, but this locking is not permanent and is performed in the procedure of inserting the surgical instrument (501) into the overtube (401). In other words, the translation module (200) is driven forward by the length of the entry guide gap and then locked, and when the surgical instrument (501) is completely inserted into the overtube (401), the locking is released so that the entry guide gap can be varied. The variation of the entry guide gap can be performed by retracting the first position (P1) of the driving module (300) on which the overtube module (400) is mounted. It is desirable that the entry guide gap form a sufficient distance initially, and a minimum distance after the surgical instrument (501) is inserted.

[0140] FIG. 13 (a) is a perspective view of a translation module (200) and a drive module (300) coupled according to an embodiment of the present invention, and is an exemplary drawing of a drive module (300) to which a drape module (600) of FIG. 13 is connected. Referring to FIG. 13, an embodiment of forming an entry guide gap will be summarized. Since one translation module (200) is mounted and fixed at a position advanced relative to another translation module (200), one drive module (300) can be offset to a position advanced relative to the first position (P1) of the other drive module (300). The translation module (200) can offset the position of the docking connector portion (220) in various embodiments as described above to configure the first position (P1) of one drive module (300) to be advanced relative to the other drive module (300). The offset at this time includes a form in which the frame is formed so that only the translation module (200) on which one drive module (300) is mounted has its docking connector (220) specially advanced and positioned without adjusting the stroke section (S), or the frame connector (210) is configured so that the position at which it is connected to the rotation module (100) is advanced further.

[0141] In addition, one translation module (200) on which one drive module (300) is mounted may be fixed at a position in which the initial position of the stroke section (S) is advanced compared to the initial position of the stroke section (S) of the other translation module (200), so that one drive module (300) may be offset to a position in which the first position (P1) of the other drive module (300) is advanced. In an embodiment, an embodiment in which the first moving plate (2023) is advanced by the length of the entry guide gap and locked is illustrated. In this case, additional translational movement may be achieved by sliding the second moving plate (2026).

[0142] In Fig. 11, a driving module (300) is shown being connected to a moving means (2000) of a translation module (200). A frame connector portion (310) is formed at the rear end of the driving module (300). The frame connector portion (310) of the driving module (300) can be connected to a docking connector portion (220) of the translation module. A second moving plate (2026) on which a docking connector portion (220) is formed forms a base for securing the main body of the driving module (300). The second moving plate (2026) can be used as a means for adjusting the mounting position of the driving module (300), and does not necessarily have to be formed to be relatively movable with respect to the first moving plate (2023). The second moving plate (2026) can refer to a mounting frame of the driving module (300). The entry guide gap described above may be formed by adjusting the initial position of the second moving plate (2026) mounted on the first moving plate (2023). The first moving plate (2023) is mounted on the first guide rail (2022) and can be translated by the motor output of the translation module (200).

[0143] Meanwhile, in the embodiment of FIG. 9, the docking connector portions (120, 220) of the rotation module (100) are arranged along the circumference of the circle with a phase difference of 90° between the connecting interfaces (120(a), 120(b), 120(c), 120(d)). The translation module (200) illustrated in FIG. 12 may be provided in a system in a number corresponding to the connecting interfaces (120(a), 120(b), 120(c), 120(d)), and at this time, the frame connector portion (210) may be fastened to the connecting interfaces (120(a), 120(b), 120(c), 120(d)) along the circumference of the circle with a phase difference of 90°.

[0144] The driving module (300) is mounted on the translation module (200) and can perform a translational movement within the range of the stroke section (S) from the first position (P1) to the second position, and can output power for performing a surgical operation. In the plurality of driving modules (300), the first position (P1) of one driving module (300) can be offset to a position that is more advanced than the first position (P1) of another driving module (300). Here, one driving module (300) refers to a driving module (300) in which the detachable hardware module is an overtube module (400). Either the overtube module (400) or the surgical instrument module (500) may be detached from the driving module (300). In this specification, the drive module (300) on which the overtube module (400) is mounted is referred to as one drive module (300), and the drive module (300) on which the surgical instrument module (500) is mounted is referred to as another drive module (300).

[0145] An entry guide gap may be formed so that a surgical instrument (501) mounted on another driving module (300) can be inserted into another surgical instrument (501) mounted on one driving module (300) by a distance that the first position (P1) of one driving module (300) is advanced relative to the first position (P1) of the other driving module (300). As described above, the means by which the first position (P1) of the driving module (300) can be advanced can be offset-adjusted in various embodiments of the translation module (200).

[0146] The drive module (300) may include a frame connector portion (310) and a docking connector portion. In an embodiment of the drive module (300), the docking connector portion may be a docking interface (320). FIG. 14 illustrates the docking interface (320) of the drive module (300) and the drape module (600) according to an embodiment of the present invention. The docking connector portion of other hardware modules is a fastening means through which electrical and mechanical connections are made. The docking connector portion of the drive module (300) may transmit power through a mechanical connection without an electrical connection. For the purpose of clear distinction of functions, the docking connector portion of the drive module (300) is referred to as a docking interface (320).

[0147] The frame connector portion (310) can be attached to and detached from other hardware modules. In the present embodiment, the other hardware module may be a translation module (200). The drive module (300) can be attached and detached to and from the docking connector portion (220) of the translation module (200) using the frame connector portion (310) as a fastening means.

[0148] The docking interface (320) can be attached to and detached from other hardware modules. In the present embodiment, the other hardware module from which the docking interface (320) is attached and detached may be a surgical instrument module (500) or an overtube module (400). In addition, in the present embodiment, the meaning that the docking interface (320) of the drive module (300) is attached and detached from the surgical instrument module (500) or the overtube module (400) means that the surgical instrument module (500) or the overtube module (400) can be attached and detached after the drape module (600) is fastened to the docking interface (320) of the drive module (300). A coupling protrusion (340) for mechanically transmitting power output from the drive module (300) may be formed on the docking interface (320). The coupling protrusion (340) may have a protruding structure for transmitting rotational force to the inserted member.

[0149] In the embodiment of the surgical robot system (1), when one side of the drive module (300) is connected to the translation module (200), the other side from which the power of the drive module (300) is output may further include a drape module (600) having a through hole (611) formed therein for transmitting the power output from the drive module (300) as a means for sterilization. Referring to FIG. 14, the drape module (600) may include a fastening member (640) and an accessory member of a plate (610). A sealing sheet for sterilizing the modular manipulator assembly (10) may be connected to the drape module (600), but is omitted in this drawing.

[0150] The drape module (600) may be a detachable means as well as a power transmission means. The drape module (600) may be configured to be mounted to sterilize the previous connection ends of the surgical instrument module (500) and the overtube module (400), and may be viewed as a sterilization adapter. The drape module (600) may be connected to a docking interface (320) formed at the front end of the drive module (300). However, in this case, the drape module (600) may be connected to the docking interface (320) while transmitting the power of the docking interface (320) to another hardware module. The drape module (600) may receive a connection protrusion (340) of the docking interface (320), and a connection member (640) having a corresponding connection shape may be fitted to the connection protrusion (340) of the docking interface (320). The plate (610) can be fastened to a housing in which a through hole (611) of the drape module (600) is formed and a fastening member (640) is fixed.

[0151] Fig. 15 is a front view of a coupling protrusion (340) formed on a docking interface (320) according to an embodiment of the present invention. The cross-section of the coupling protrusion (340) illustrated in Fig. 15 may have a slight difference in size from the front view of the fastening member (640), and the front view of the fastening member (640) may also have a cross-sectional shape corresponding to the example of Fig. 15. The following description will be based on the coupling protrusion (340). In one embodiment, the coupling protrusion (340(a)) may include a first protrusion (341) and a second protrusion (342). The coupling protrusion (340(a)) may form an asymmetrical structure with the combined shape of the first protrusion (341) and the second protrusion (342). The coupling protrusion (340(a)) may be coupled to another hardware module in a designated orientation through the protrusion structure of the asymmetrical structure. Here, the other hardware module may be a drape module (600). The first protrusion (341) may have a curved shape. The first protrusion (341) may have a portion of a curved arc shape and a portion thereof may be extended in an open manner. The open end of the first protrusion (341) may form a second protrusion (342). The second protrusion (342) may have a shape that extends in a straight line for a predetermined distance. The first protrusion (341) may have a larger diameter than the second protrusion (342).

[0152] In another embodiment, the coupling protrusion (340(b)) may include a first protrusion (341), a second protrusion (342), and a third protrusion (343). The first protrusion (341) may have a part that is a curved arc shape and a part that is open and extends. The open and extended end of the first protrusion (341) may form a second protrusion (342). The second protrusion (342) may have a shape that extends in a straight line for a predetermined distance. The first protrusion (341) may have a larger diameter than the second protrusion (342). The third protrusion (343) may have a curved surface at an end of the second protrusion (342). The diameter of the third protrusion (343) may be smaller than that of the first protrusion (341). The diameter of the third protrusion (343) may be formed to be larger than that of the second protrusion (342). The first protrusion (341) may be formed on one side of the second protrusion (342) and the third protrusion (343) may be formed on the other side.

[0153] FIG. 16 is a perspective view of a drive module (300) according to an embodiment of the present invention and illustrates a drape module (600) coupled to the drive module (300). Referring to FIG. 16, the drive module (300) may be provided with one or more motors (306) and a control unit (305) for controlling the motors (306) inside a case (301). A motor controller for controlling the motors and a communication module may be mounted in the control unit (305). One or more motors (306) may be connected to one or more coupling protrusions (340). Each motor (306) is connected to and rotates with its respective coupling protrusion (340), and the coupling protrusions (340) may be rotated by the rotational power of the motors (306). The coupling protrusions (340) may be exposed through a through hole (611) of the drape module (600). That is, when the docking interface (320) of the drive module (300) is coupled with the drape module (600), a coupling protrusion (340), which is a part of the component, may be exposed. However, the drape module (600) may be provided with a plate (610) and a coupling member (640) for shielding the coupling protrusion (340) exposed through the through hole. The coupling member (640) may be rotated within the through hole (611). The coupling member (640) may be provided with an inner surface in a negative shape corresponding to the embodiment of FIG. 15 so as to be fitted into the coupling protrusion (340). In another embodiment, if the coupling protrusion (340) is provided in a negative shape, the inner surface of the coupling member (640) may be provided in a positive shape so as to be fitted into the coupling protrusion (340). The outer surface of the fastening member (640) is provided with a positive shape corresponding to the embodiment of FIG. 15, so that an asymmetric fastening structure can be formed as is. The surgical instrument module (500) or the overtube module (400) can be attached or detached from the outer surface of the fastening member (640). The power generated from the motor (306) of the driving module (300) can rotate the fastening protrusion (340). When the fastening protrusion (340) rotates, the fastening member (640) of the drape module (600) can rotate.When the fastening member (640) of the drape module (600) rotates, rotational force can be transmitted to the surgical instrument module (500) or the overtube module (400) attached or detached to the fastening member (640). When the rotational force is transmitted to the surgical instrument module (500) or the overtube module (400), the intended motion can be implemented by a wire mechanism using a wire-pulley-capstan mounted on each module. By this embodiment, the docking interface (320) of the drive module (300) can transmit power through a mechanical connection without an electrical connection.

[0154] Fig. 17 is a rear perspective view of a drive module (300) according to an embodiment of the present invention. Referring to Fig. 17, a frame connector portion (310) may be formed on the rear of the drive module (300). The frame connector portion (310) may include an in connector (311) and an out connector (312). The in connector (311) and the out connector (312) constitute a terminal (C), and additional terminals for other power connections may be formed in the frame connector portion (310). The in connector (311) and the out connector (312) may constitute a communication path in an embodiment to be described later.

[0155] Fig. 18 is a front perspective view of a drape module (600) according to an embodiment of the present invention. Fig. 19 is a rear perspective view of a drape module (600) according to an embodiment of the present invention. The drape module (600) may have a plate (610) and a fastening member (640) engaged with a body (620) that supports a surgical instrument module (500) or an overtube module (400) to be fastened. The body (630) may have a through hole (611) formed on an interface surface that is fastened with a docking interface (320). The fastening member (640) may be rotatably engaged at the position of the through hole (611). The plate (610) may be coupled to the body (620) to support the fastening member (640).

[0156] FIG. 20 is a perspective view illustrating the relationship between an overtube module (400) and a surgical instrument module (500) according to an embodiment of the present invention. The overtube module (400) may include an overtube (401), an overtube coupler (402), and an overtube holder (403). The overtube module (400) may be provided with an overtube (401) that is mounted on one of the drive modules (300) and into which a surgical instrument (501) is inserted and guided. The overtube (401) may be provided in the overtube holder (403). The surgical instrument (501) may be inserted into the inside of the overtube (401).

[0157] A surgical instrument module (500) may include a surgical instrument (501) and a surgical instrument coupler (502). The surgical instrument (501) may be provided in a flexible, elongated shape. The surgical instrument (501) may be in the form of a catheter having various types of tools mounted as end effectors. End effectors may include forceps for grasping, cutting, or suturing tissue, an Endoscopic Submucosal Dissection (ESD) knife for removing tumors or lesions, a biopsy instrument for collecting tissue samples, a basket for removing foreign bodies or collecting gallstones, a laser probe for burning or hemostasis of lesioned areas, a balloon catheter for expanding a narrowed tube, a stent for supporting a narrowed area and reinforcing detached tissue, a clip for tying up a bleeding or lesioned area, a stapler for suturing tissues or organs, an endoscopic camera for obtaining images inside a body cavity, and an ultrasound probe. These various surgical tools may be replaced depending on the type and method of surgery, and various surgical instruments (501) may be configured as respective surgical instrument modules (500). Referring to FIG. 20, a surgical instrument (501) is inserted into the inside of an overtube (401). The overtube module (400) and the surgical instrument module (500) must be mounted on different drive modules (300) so that the surgical instrument (501) can be inserted into the overtube (401). It will be understood that a distance is required between the overtube module (400) and the surgical instrument module (500) as a space for the surgical instrument (501) to be inserted into the overtube (401). This is defined by the aforementioned entry guide gap, and it will also be understood by those skilled in the art that the translation module (200) can vary the entry guide gap.

[0158] Fig. 21 is a partial perspective view of an overtube (401) according to an embodiment of the present invention.

[0159] The overtube (401) may be provided in an elongated shape with flexibility. Each region of the overtube (401), which is divided into a distal portion (4013), a body (4012), and a proximal portion (4011), may have different characteristics.

[0160] One or more joints (4014) may be formed at the distal portion (4013) of the overtube (401). The joints (4014) may be implemented in various ways, and may be a link structure in which gears such as trochoidal gears and cycloidal gears are segmented and meshed. A tension wire is connected to the joints (4014) configured in each link, so that the bending direction and angle of the joints (4014) can be controlled by pulling or releasing the tension wire at the proximal portion (4011) of the overtube (401). Through this, the distal portion (4013) of the overtube (401) can be implemented as a flexible tube that flexibly bends according to changes in the length of the tension wire and can actively control movement.

[0161] The body (4012) of the overtube (401) may be a hollow tube having a constant diameter and rigidity. The body (4012) may be made of a durable and biocompatible material, such as a polymer, and has an inner diameter sufficient to allow a surgical instrument (501) to be inserted and passed through.

[0162] An insertion portion (4010) is formed in the proximal portion (4011) of the overtube (401) so that a surgical instrument (501) can be inserted. The insertion portion (4010) includes a through hole that matches the diameter of the surgical instrument (501) and can additionally support the surgical instrument (501) by including a fastening mechanism such as a gasket or clamp made of a sealing material. In addition, the fastening mechanism of the insertion portion (4010) can prevent dust or foreign substances from entering the interior of the overtube (401). The overtube (401) serves as an insertion passage and a guiding means for the surgical instrument (501), and enables stable and precise movement of the surgical instrument (501) within the body cavity.

[0163] Referring again to FIG. 20, the overtube coupler (402) may have an overtube interface (4020) formed on one side that is connected to one of the driving modules (300), and a wire mechanism that operates the overtube (401) with the power transmitted by being connected to one of the driving modules (300). The wire mechanism of the overtube coupler (402) may be implemented in various ways.

[0164] As an embodiment of the wire mechanism, a plurality of pulleys, a capstan, and a wire guide are installed inside the overtube coupler (402), through which the rotational power generated from the driving module (300) can be converted into linear motion of the wire. When the power from the driving module (300) is transmitted as rotational power, the pulley connected to the motor shaft rotates to wind or unwind the wire, and accordingly, the connected wire is pulled or stretched in the longitudinal direction along the inside of the overtube (401). The joint formed at the distal portion of the overtube (401) can actively bend according to changes in the tensile force of the wire.

[0165] In another embodiment, the overtube coupler (402) may be equipped with a built-in linear motor to directly push or pull the wire. A linear motor is a device that performs linear motion based on the position of a permanent magnet moving within a magnetic field, and is suitable for linearly driving a wire. By connecting a wire to the mover of the linear motor, the wire can be pushed or pulled according to a motor control signal, thereby inducing joint movement of the overtube.

[0166] In another embodiment, the wire mechanism of the overtube coupler (402) may include additional devices, such as a preload system for tension control and position feedback. A tension sensor connected to the wire measures the amount of tension applied to the wire, thereby maintaining an appropriate bending strength. Alternatively, the preload system may compensate for and compensate for any slack in the tension. A position sensor, such as a potentiometer or encoder, that detects the displacement of the wire may be utilized to predict and control the bending angle of the overtube joint. These feedback mechanisms may contribute to improving the precision and safety of the overtube movement.

[0167] The overtube coupler (402) may have a wire mechanism provided inside the housing, and an overtube holder (403) may be formed on one side of the housing. The overtube (401) may be coupled to the overtube holder (403), so that the overtube (401) may be arranged laterally of the overtube coupler (402). When the overtube coupler (402) is coupled to one of the driving modules (300), the overtube interface (4020) may form a coupling area, while the overtube holder (403) may form a non-coupling area. The overtube interface (4020) may have coupling terminals formed into which the coupling member (640) illustrated in FIG. 16 is inserted. The overtube interface (4020) may have coupling terminals formed on the interface surface, the same number as the coupling members (640). The coupling terminals may be provided in a negative shape complementary to the protruding structure of the coupling member (640). The overtube coupler (402) is connected to the drive module (300) through the overtube interface (4020), and the interface surface where it is connected is referred to as a connection area. On the other hand, the overtube coupler (402) may have a non-connected area formed in the area of ​​the overtube holder (403) where it is not connected to the drive module (300). The overtube coupler (402) may be provided in an asymmetrical shape by the overtube holder (403).

[0168] The overtube coupler (402) can be fastened so that, when fastened to one of the driving modules (300), the overtube holder (403) is positioned at the center of the manipulator housing (12) in which the translation module (200) is accommodated. That is, the overtube coupler (402) can be fastened at a designated position with the driving module (300). The overtube coupler (402) can be fastened at a position in which the area of ​​the overtube holder (403) among the asymmetrical shapes is oriented toward the center of the manipulator housing (12).

[0169] Fig. 22 is a perspective view of a surgical instrument module (500) according to an embodiment of the present invention. The surgical instrument module (500) is mounted on another drive module (300), and a surgical instrument (501) whose distal end or end effector (5014) is operated by power output from the mounted drive module (300) may be provided. In the embodiment of Fig. 22, the surgical instrument (501) has an elongated flexible body (5012), and a stapler is exemplified as the end effector (5014). The outer diameter of the body (5012) of the surgical instrument (501) is formed to be smaller than the inner diameter of the body (4012) of the overtube (401).

[0170] Fig. 23 illustrates the internal configuration of a surgical instrument coupler (502) according to an embodiment of the present invention. The surgical instrument coupler (502) may have a surgical instrument interface (5020) having one surface formed to be connected to another driving module (300), and a wire mechanism (5030) that is connected to another driving module (300) and operates the end effector (5014) of the surgical instrument (501) with the transmitted power. The embodiment of the wire mechanism (5030) may be the embodiment described in the overtube coupler (402) above. However, unlike the wire mechanism of the overtube, the wire mechanism (5030) of the surgical instrument may operate the end effector (5014). The operation of the end effector (5014) may include movements of pinch, roll, and yaw. The wire mechanism (5030) can implement the operation of the surgical instrument (501) by distributing the rotational force transmitted from the surgical instrument interface (5020) through the auxiliary members of the pulley, capstan, and wire.

[0171] The surgical instrument module (500) may be provided with a wire mechanism (5030) inside the housing, and a surgical instrument holder (503) may be formed on one side of the housing. The surgical instrument (501) may be coupled to the surgical instrument holder (503) and may be positioned laterally of the surgical instrument coupler (502). The surgical instrument holder (503) may have a holder surface that forms a flat surface based on one surface (5020) that is coupled to another drive module (300) of the surgical instrument interface (5020), and a proximal portion of the surgical instrument (501) may be formed on the holder surface.

[0172] FIG. 24 is a rear perspective view of a surgical instrument coupler (502) according to an embodiment of the present invention. A surgical instrument interface (5020) may be formed with a fastening terminal (540) into which a fastening member (640) illustrated in FIG. 16 is inserted. The surgical instrument interface (5020) may have the same number of fastening terminals (540) as the fastening members (640) formed on the interface surface. The fastening terminals (540) may be provided in a negative shape complementary to the protruding structure of the fastening member (640). When the surgical instrument coupler (502) is fastened to another drive module (300), the surgical instrument interface (5020) may form a fastening area, while the surgical instrument holder (503) may form a non-fastening area. The surgical instrument coupler (502) is fastened to the drive module (300) through the surgical instrument interface (5020), and the interface surface where the coupler is fastened may be referred to as a fastening area. On the other hand, the surgical instrument coupler (502) may have a non-connected area formed in the area of ​​the surgical instrument holder (503) that is not connected to the driving module (300). Accordingly, the surgical instrument coupler (502) may be provided in an asymmetrical shape by the surgical instrument holder (503).

[0173] The surgical instrument coupler (502) can be coupled so that, when coupled with one of the driving modules (300), the surgical instrument holder (503) is positioned at the center of the manipulator housing (12) in which the translation module (200) is accommodated. That is, the surgical instrument coupler (502) can be fixed at a predetermined position where it is coupled with the driving module (300). The surgical instrument coupler (502) can be fixed at a predetermined position when the area of ​​the surgical instrument holder (503) among the asymmetrical shapes is oriented toward the center of the manipulator housing (12).

[0174] FIG. 25 (a) is a drawing illustrating an overtube interface (4020) according to an embodiment of the present invention, and FIG. 25 (b) is a drawing illustrating a surgical instrument interface (5020) according to an embodiment of the present invention. The overtube holder (403) has a holder surface that is concavely recessed in the other direction based on one surface of the overtube interface (4020) that is connected to one of the driving modules (300), and a proximal portion (4011) of the overtube can be connected to the holder surface. FIG. 25 (a) is a cross-sectional view of the overtube interface (4020), and discloses an embodiment in which the holder surface of the overtube holder (403) is concavely recessed. The structural design in which the holder surface of the overtube holder (403) is recessed contributes to maximizing the entry guide gap by advancing the proximal portion (4011) of the overtube (401) in a more distal direction.

[0175] FIG. 26 shows a front view of an overtube interface (4020) and a surgical instrument interface (5020) mounted on a modular manipulator assembly (10) according to an embodiment of the present invention. This embodiment exemplifies a configuration in which one overtube module (400) and three surgical instrument modules (500) are mounted on the modular manipulator assembly (10).

[0176] Referring to the drawing, the overtube holder (403) of the overtube interface (4020) is positioned at the rearmost (distal) position. A plurality of surgical instrument interfaces (5020a, 5020b, 5020c) are arranged at the front (proximal) side of the overtube holder (403). A surgical instrument holder (503) of the surgical instrument module (500) is coupled to each surgical instrument interface (5020).

[0177] The holder surface of the surgical instrument holder (503) may be designed to have an asymmetrical structure so that multiple surgical instruments can be densely arranged in the center without interference with each other. For example, as illustrated in the drawing, the holder surface of the surgical instrument holder (503) may have a tapered shape at one end. This asymmetrical structure allows for efficient use of the space between adjacent surgical instrument holders (503).

[0178] This arrangement allows for the compact integration of the overtube and multiple surgical instruments within a limited space. The overtube's posterior (distal) position allows for stable support and guidance of the surgical instruments, while the asymmetrical holder surface allows for dense, simultaneous operation of the instruments without interference. This can contribute to increased instrument placement efficiency in the surgical work area and improved surgical performance.

[0179] FIGS. 27(a) and 27(b) are schematic diagrams showing various combinations of an overtube interface (4020) and a surgical instrument interface (5020) mounted on a modular manipulator assembly (10) according to an embodiment of the present invention. FIG. 27(a) shows an embodiment in which three hardware modules are mounted on a manipulator housing (12). One of the three hardware modules is an overtube module (400), and its arrangement is represented by a cross-section of the overtube interface (4020). The other two of the three hardware modules are surgical instrument modules (500), and its arrangement is represented by a cross-section of the surgical instrument interface (5020). As in the embodiment of FIG. 27(a), the modular manipulator assembly (10) can be implemented in a form in which three hardware modules are mounted. FIG. 27(b) shows an embodiment in which five hardware modules are mounted on the manipulator housing (12). One of the hardware modules is an overtube module (400), and its arrangement is represented by a cross-section of the overtube interface (4020). The other four of the five hardware modules are surgical instrument modules (500), and their arrangement is represented by a cross-section of the surgical instrument interface (5020). As in the embodiment of Fig. 27(b), the modular manipulator assembly (10) can be implemented in a form in which five hardware modules are mounted. In the embodiment of Fig. 27, the hardware modules are arranged along the periphery of the manipulator housing (12), and one of the hardware modules can be configured as an overtube module (400).

[0180] Figure 28 is a communication structure diagram of a surgical robot system (1) according to an embodiment of the present invention.

[0181] Referring to FIG. 28, a surgical robot system that operates multiple surgical instruments may include a distribution module (1100), a continuum module (2100), and a terminal module (3100). In an embodiment of the surgical robot system (1), a master station (28) that establishes control information of modules mounted on a movable platform (11) may be further included. The present embodiment proposes a protocol for transmitting and receiving control information of the surgical robot system (1). In the above-described embodiment, it has been described that the modular manipulator assembly (10) is implemented in a form in which various hardware modules can be detachably attached. Considering that various hardware modules are independently detachable, the control protocol of the surgical robot system (1) must also be established in consideration of the compatibility and replaceability of various hardware modules.

[0182] The rotation module (100) may include a motor (101) that provides power, a motor controller that outputs a driving signal to control the motor (101), and a communication module that receives control information and generates a driving signal. In the present embodiment, the communication module mounted on the rotation module (100) may be a distribution module (1100).

[0183] The translation module (200) and the driving module (300) may include a motor (201, 301) that provides power, a motor controller that outputs a driving signal to control the motor (201, 301), and a communication module that receives control information and generates a driving signal. In the present embodiment, the communication module mounted on the translation module (200) may be a continuum module (2100). In addition, the communication module mounted on the driving module (300) may be a terminal module. According to the present embodiment, the modules mounted on the movable platform (11) may be independently controlled, so that the translation module (200) or the driving module (300) may be detachable.

[0184] The master station (28) reconfigures and constructs control information according to the type of surgical instrument (501) mounted on the drive module (300). At this time, the control information can be reconfigured by changing the order, arrangement, type, etc. of dependent datagrams. The control information in the master station (28) can be replaced with new control information, but communication compatible with various modules is possible even without replacement.

[0185] For example, the master station (28) can easily adjust control information by changing or removing the order of subordinate datagrams controlling surgical instruments as needed. This is an operation that constitutes a single control information called a mastergram command (280), and does not change the entire communication protocol to make it compatible with other surgical instruments.

[0186] In this way, the master station can secure flexible compatibility with various surgical instrument modules without defining a new communication protocol by adjusting the order and arrangement of dependent datagrams while maintaining the structure of the control information. This can be an effective way to increase the scalability and maintainability of master-slave communication in a modular robotic system. Depending on the type of surgical instrument (501), it performs unique functions such as high voltage application and gripper operation, and thus the operation limits and control mechanisms may vary. Generally, since a separate control protocol is formed for each surgical instrument, a control protocol change task may also be required at the master station (28) when the surgical instrument is replaced.

[0187] In this embodiment, the master station (28) can include control information of a surgical instrument (501) mounted on a drive module (300) in the control information transmitted to the translation module (200) and the drive module (300). The master station (28) provides a communication system that can control surgical instruments that are replaced in modules in a compatible manner without a separate protocol change by comprehensively constructing control information of multiple surgical instruments. Prior to describing the communication path embodiment of FIG. 28, an embodiment of each communication module will be described.

[0188] The distribution module (1100) can transmit a datagram command (280) containing control information for driving a plurality of surgical instruments. The master station (28) can reconfigure the datagram command (280) according to the type of surgical instrument (501) and transmit the datagram command (280) to the distribution module (1100).

[0189] The distribution module (1100) can receive control information for driving a plurality of surgical instruments (501) from the master station (28) and transmit it in a first direction. In the present embodiment, the first direction is described to distinguish the direction in which information is transmitted from one communication module to another. The first direction transmitted from the distribution module (1100) may refer to a communication path transmitted from the distribution module (1100) to the continuum module (2100). In addition, the first direction may also include a communication path in which control information is transmitted from the master station (28) to the distribution module (1100). With reference to FIG. 28, the first direction may be a term referring to a communication path from the master station (28) toward the terminal where the surgical instrument module (500) is located. On the other hand, the second direction may refer to a communication path from the surgical instrument module (500), which is the terminal of the communication path, toward the master station (28). In other words, the first direction may mean a forward direction from the end of the communication path where transmission of control information begins toward the end of the communication path, and the second direction may mean a reverse direction from the end of the communication path toward the end of the communication path where the initial control information was transmitted.

[0190] Referring to FIG. 28, the distribution module (1100) receives control information and outputs a rotational drive signal that drives the motor (101) of the hardware module in which the distribution module (1100) is provided, and the rotational drive signal can cause a rotational movement of the surgical instrument (501). The hardware module in which the distribution module (1100) is provided may be the rotational module (100). In the present embodiment, the rotational drive signal is a command for controlling the motor (101), and as the motor (101) of the rotational module (100) rotates, the manipulator housing (12) in which the surgical instrument (501) is mounted can be rotated. As the manipulator housing (12) rotates, the surgical instrument (501) mounted on the manipulator housing (12) can be rotated, and therefore, the rotational drive signal can cause a rotational movement of the surgical instrument (501).

[0191] In an embodiment, in the modular manipulator assembly (10), the number of distribution modules (1100) may be one and the number of continuum modules (2100) may correspond to the number of surgical instruments (501). In an embodiment, the number of hardware modules provided with the continuum module (2100) and the terminal module (3100) may be one or more, and the number of hardware modules provided with the continuum module (2100) and the terminal module (3100) may be the same. In an embodiment, in the modular manipulator assembly (10), the terminal module (3100) may include a first group of terminal modules provided in a plurality of hardware modules in which the terminal module (3100) is provided, and a second group of terminal modules provided in a plurality of other hardware modules in which the terminal module (3100) is provided, so that a plurality of grouped terminal modules (3100) may be provided.

[0192] The continuum module (2100) can receive control information from the distribution module (1100), output a first driving signal, and transmit the control information in the first direction. The continuum module (2100) can receive a datagram command (280) from the distribution module (1100), and then transmit the datagram command (280) to the terminal module (3100). One of the control information may be the datagram command (280). In an embodiment, the datagram command (280) may include various information necessary for motor control, such as a motor operation limit value, a current / voltage command value for motor operation, a control gain, a PID parameter, a control mode selection, an operation sequence, a feedback sensor setting, and a safety-related command.

[0193] The continuum module (2100) can output a first driving signal to drive the motor (201) of the hardware module in which the continuum module (2100) is provided. The hardware module in which the continuum module (2100) is provided may be a translation module (200). In FIG. 28, four translation modules (200(a), 200(b), 200(c), 200(d)) are exemplified. Each translation module (200(a), 200(b), 200(c), 200(d)) may be provided with a respective continuum module (2100(a), 2100(b), 2100(c), 2100(d)). The first driving signal may be a signal for driving the motor (201) of the translation module (200). The first driving signal can drive the motor (201) to operate the translational motion of the translational module (200).

[0194] The terminal module (3100) receives a datagram command (280) from the continuum module (2100) and outputs a second drive signal. The first drive signal causes a translational motion, which is a first motion of the surgical instrument (501), and the second drive signal is a signal that drives a control motion of the surgical instrument, which is a second motion based on the translational motion. In other words, the first motion is an upper motion that forms the starting point and basis for the second motion, and the second motion can be viewed as a lower motion performed based on this. However, the first motion and the second motion are mutually independent and separate motions, and do not imply a dependent relationship.

[0195] In general, the signal of the second operation performed in the first operation that is the basis is controlled by a separate protocol, but in this embodiment, the control information of the first operation, which is a higher-order command, and the control information of the second operation, which is a lower-order command, can be integrated together in one datagram command (280).

[0196] The terminal module (3100) can receive control information from the continuum module (2100), output a second drive signal, and transmit the control information in a second direction. A communication path can be formed so that the control information transmitted from the terminal module (3100) can be transmitted to the master station (28) in the second direction, or can be reversed from the second direction to the first direction and transmitted to another continuum module (2100). In Fig. 28, four drive modules (300(a), 300(b), 300(c), 300(d)) are exemplified. Among them, the drive module (300(a)) is equipped with an overtube module (400), and the other drive modules (300(b), 300(c), 300(d)) are equipped with different surgical instrument modules (500(a), 500(b), 500(c)). Each drive module (300(a), 300(b), 300(c), 300(d)) may be formed with a plurality of terminal modules (3100).

[0197] FIG. 29 is a schematic diagram for explaining a communication path between one translation module (200(a)) and one drive module (300(a)) in a communication structure according to an embodiment of the present invention. In the embodiment of FIG. 29, a first group of terminal modules (3100) provided in a drive module (300(a)) is illustrated. A plurality of terminal modules (3100(a), 3100(b)) belonging to one drive module (300(a)) may be collectively referred to as the first group of terminal modules (3100). Similarly, other drive modules (300(b), 300(c), 300(d)) may also be configured with their respective grouped terminal modules (3100). In order to explain a communication path according to the present embodiment, the connector of the hardware module and the connector of the communication module must be distinguished.

[0198] As described above, the distribution module (1100), the continuum module (2100), and the terminal module (3100) may be provided in each hardware module. In this case, the hardware module may be formed with a frame connector portion (110, 210, 310) that is connected to another hardware module, and a docking connector portion (120, 220) that is connected to another hardware module. The frame connector portions (110, 210, 310) and the docking connector portions (120, 220) may each include a terminal (C) configured as a pair of in connectors (111, 121, 211, 221, 311) and out connectors (112, 122, 212, 222, 312). The frame connector portions (110, 210, 310) and the docking connector portions (120, 220) can be formed for each hardware module. A terminal (C) composed of a pair of in connectors (111, 121, 211, 221, 311) and out connectors (112, 122, 212, 222, 312) can also be formed for each frame connector portion (110, 210, 310) or docking connector portion (120, 220).

[0199] Referring again to FIG. 28, an in connector (111) and an out connector (112) are illustrated as terminals (C) formed in the frame connector portion (110) of the rotation module (100). The docking connector portion (120) of the rotation module (100) is illustrated with four terminals (C), and an in connector (121) and an out connector (122) are formed on each terminal (C). The distribution module (1100) illustrated inside the rotation module (100) may include an inlet (1101), an outlet (1102), and a buffer (1103). The inlet (1101) is communicatively connected to the in connector (111). The outlet (1102) is communicatively connected to the out connector (122). However, since the docking connector portion (120) of the rotation module (100) is configured with four terminals (C), four out connectors (122) may be provided. There may be one out connector (122) communicatively connected to the outlet (1102), and the remaining out connectors (122) may be communicatively connected to the in connector (121). Any one of the in connectors (121) may be communicatively connected to the out connector (112) of the frame connector section (110).

[0200] In the translation module (200), a frame connector portion (210) is communicatively connected to a docking connector portion (120), and an in connector (211) and an out connector (212) are illustrated in the frame connector portion (210). In the translation module (200), a docking connector portion (220) is communicatively connected to a frame connector portion (310) of a drive module (300), and an in connector (221) and an out connector (222) are illustrated in the docking connector portion (220). The same connector structure can be formed in each of the four translation modules (200(a), 200(b), 200(c), 200(d)).

[0201] Referring to FIG. 29, a translation module (200(a)) may be provided with one continuum module (2100(a)). The continuum module (2100(a)) may include an inlet (2101), an outlet (2102), and a buffer (2103). The terminal module (3100(a)) may include an inlet (3101(a)), an outlet (3102(a)), and a buffer (3103(a)). The terminal module (3100(b)) may include an inlet (3101(b)), an outlet (3102(b)), and a buffer (3103(b)).

[0202] Referring to FIGS. 28 and 29, the outlet (2102) of the continuum module (2100(a)) can transmit control information to the inlet (3101(a)). In this case, the control information transmitted from the translation module (200(a)) to the driving module (300(a)) can be viewed as Si.

[0203] Control information input into the inlet (3101(a)) is output to the outlet (3102(a)), and after passing through all of the terminal modules (3100(a) to 3100(b)) of the first group, is input to the inlet (3101(b)) of the terminal module (3100(b)). Control information is output from the inlet (3101(b)) of the terminal module (3100(b)) through the outlet (3102(b)), and is transmitted to the translation module (200(a)). In this case, the control information transmitted from the driving module (300(a)) to the translation module (200(a)) can be viewed as So. In the city of Fig. 29, the terminal module (3100(a)) receiving Si and the terminal module (3100(b)) transmitting So may be different terminal modules. For convenience of diagramming, a communication path through which control information is transmitted and received from one terminal module (3100) to a translation module (200) is depicted in FIG. 28, but it is preferable to understand the communication path in the drive module (300) through FIG. 29.

[0204] FIG. 30 is a diagram illustrating a data structure of control information according to an embodiment of the present invention. FIG. 30 illustrates the data structure of a datagram command (280) as control information. In an embodiment, the datagram command (280) may include a header field (281), a data field (282), and a processing confirmation field (283) as data sections. Generally, a datagram command refers to a control packet for data transmission between a master and a slave in a communication protocol. The header field (281) may include the length of the packet, address information, and a protocol version. The data field generally consists of control commands and parameter values ​​that are actually transmitted. The processing confirmation (FCS) field is a section that verifies the integrity of data transmission, including a 32-bit cyclic redundancy check (CRC) value. Generally, the length information of the header field represents the size of the entire packet in 2 bytes, and the address information stores the physical address of the destination slave in 4 bytes. The protocol version represents the version of the communication standard in 1 byte. The data field can be of variable length, up to 1024 bytes, and can transmit control commands and related parameters. The CRC value of the processing confirmation field is calculated for every byte in the header and data fields to detect transmission errors.

[0205] In the present embodiment, a data field (282) may be arranged with a sub-header field (2810), a sub-data field (2820), and a sub-processing confirmation field (2830) as a data section. In the present embodiment, the datagram command (280) may be provided as a nested data structure in which datagrams are hierarchically formed. In the embodiment, the datagram command (280) may include a first payload that generates a first drive signal and a second payload that generates a second drive signal in the sub-data field (2820). At this time, the datagram command (280) may have multiple second payloads that generate a second drive signal, and among the multiple second payloads, the 2-1 payload may generate a drive signal that drives the overtube (401), and the 2-2 payload may generate a drive signal that drives the first surgical instrument (501) coaxially inserted into the overtube (401). In an embodiment, the first payload may be translational motion data of the continuum module (2100), and the second payload may be motion data of the drive module (300). In another embodiment, the first payload may be rotational motion data of the distribution module (1100), the second payload may be translational motion data of the continuum module (2100), and the third payload may be motion data of the drive module (300). In this case, the 3-1 payload may be motion data for driving the overtube (401), and the 3-2 payload may be motion data for driving the first surgical instrument (501) coaxially inserted into the overtube (401).

[0206] The header field (281) may provide frame information for the entire datagram, including length information of the data field (282). In an embodiment, the header field (281) may include 2-byte length information indicating the entire length of the packet, 1-byte version information indicating the version of the communication standard, 1-byte priority information specifying the priority of the packet, and 2-byte type information identifying the type of packet.

[0207] The subheader field (2810) may provide access information of data, including logical address information of a node of the continuum module (2100) or a node of the terminal module (3100). In an embodiment, the subheader field (2810) may include 2-byte continuum ID information indicating a logical address of the continuum module (2100), 2-byte terminal ID information indicating a logical address of the terminal module (3100), 1-byte access permission information specifying read / write permission of data, and 1-byte synchronization flag indicating whether data is synchronized. In the present embodiment, the header field (281) does not include logical address information, and the logical address information may be configured in the subheader field (2810) configured in the data field (282). The sub-processing confirmation field (2830) verifies the integrity of data transmission for each sub-data field (2820).

[0208] FIG. 31 is a diagram illustrating a data structure of control information according to another embodiment of the present invention. The embodiment of FIG. 31 discloses a data structure in which a plurality of dependent datagrams (2800(a), 2800(b)) are formed in a data field (282). In a datagram command (280), a first dependent datagram (2800) included in a data field (282) may be provided with a first payload for generating a first drive signal as a first sub-data field (2820). A second dependent datagram (2800) included in a data field (282) may be provided with a second payload for generating a second drive signal as a second sub-data field (2820).

[0209] A payload may refer to a data packet for controlling a motor. Examples of the payload may include information for performing time synchronization, information on the operating status of a node, and parameter information for controlling a node. Since the payload is a data packet that forms each driving signal, a number corresponding to the number of driving signals must be provided. Accordingly, the number of dependent datagrams (2800) may be configured in the data field (282) equal to the number of communication modules. For example, if eight terminal modules (3100) are provided in a driving module (300), a total of 13 payloads are required, which are a combination of eight driving signals output from the terminal modules (3100), four driving signals output from four continuum modules (2100), and one driving signal output from one distribution module (1100). That is, in the embodiments of FIGS. 28 and 29, the datagram command (280) may include 13 dependent datagrams (2800) in the data field (282).

[0210] As multiple dependent datagrams (2800) are formed in the data field (282), multiple subheader fields (2810) may also be formed in the datagram command (280). The first subheader field (2810) designates a node of the continuum module (2100) as a destination, and the second subheader field (2810) designates a node of the terminal module (3100) as a destination, so that information on two or more destinations may be included in the data field (282). In addition, the second subheader field (2810) may again be formed in multiple, so that nodes of different terminal modules (3100) may be designated. In another embodiment, the subheader field (2810) may include a node of the rotation module (100) or the distribution module (1100) as destination information. Depending on the combination of various hardware modules, when the rotation module (100) is included, the destination of the distribution module (1100) may be included in the first sub-header field (2810), the destination of the continuum module may be included in the second sub-header field (2810), and the destination of the terminal module (3100) may be included in the third sub-header field. In the present embodiment, the third sub-header field may be formed again in multiple numbers so that nodes of different terminal modules (3100) may be designated.

[0211] The datagram command (280) can be assigned as a signal that commands the operation of the upper (base)-lower (subordinate) part of the surgical instrument (501) as a subordinate datagram (2800) having a first payload and a subordinate datagram (2800) having a second payload. In the data field (282), the subordinate datagram (2800(a)) having the first payload can be positioned before the subordinate datagram (2800(b)) having the second payload.

[0212] The datagram command (280) may be allocated as a 2-1 payload and a 2-2 payload a command signal for the overall operation including the first surgical instrument (501) of the overtube (401) and the independent operation of the interpolated first surgical instrument (501), so that the data field (282) may have a data structure of a hierarchical control command. The overall operation including the first surgical instrument (501) of the overtube (401) may ultimately be understood as a driving signal for controlling the overtube (401) and may be the 2-1 payload. The driving signal for controlling the first surgical instrument (501) may be the 2-2 payload. In the data field (282), a dependent datagram (2800) having a 2-1 payload may be positioned in front of a dependent datagram (2800) having a 2-2 payload.

[0213] A communication embodiment of a datagram command (280) is disclosed. In the present embodiment, a rotation module (100) may additionally include a junction box. The junction box may receive a datagram command (280) output from an outlet (1102) of a distribution module (1100). The junction box may be formed with a plurality of output terminals. The junction box may simultaneously transmit a datagram command (280) to a plurality of continuum modules (2100). The plurality of continuum modules (2100) may each simultaneously receive a datagram command (280) from an inlet (2101). The plurality of continuum modules (2100) may output a datagram command (280) from an outlet (2102) and transmit the datagram command (280) to a plurality of drive modules (300). In the present embodiment, the terminal module (3100) of the drive module (300) can receive a datagram command (280) and terminate communication. That is, in the present embodiment, a communication path of the datagram command (280) can be formed only in the first direction. The communication path according to the present embodiment can form a star topology.

[0214] FIG. 32 is an example in which a distribution module (1100) according to an embodiment of the present invention is provided in a rotation module (100). Referring to FIG. 32, the distribution module (1100) may be mounted on a control unit (15, 305) of the rotation module (100). The distribution module (1100) may be a communication module including an inlet (1101), an outlet (1102), and a buffer (1103). A datagram command (280) may be input into the inlet (1101). The outlet (1102) may output the datagram command (280). The buffer (1103) may extract and store a payload from the datagram command (280). In an embodiment, the buffer (1103) may extract and store a payload related to a rotational drive signal of a motor (101) that causes a rotational movement of a surgical instrument (501) among control information. At this time, the distribution module (1100) can output control information to the outlet (1102) without changing the control information.

[0215] The distribution module (1100) receives control information transmitted from the master station (28) through an inlet (1101) and outputs it to an outlet (1102). In this case, the control information output from the outlet (1102) can be input to the inlet (2101) of one of the plurality of continuum modules (2100).

[0216] The distribution module (1100) may include an electrical connection for transmitting and receiving power and control signals. The electrical connection may be electrically connected to a connector of a hardware module in which the distribution module (1100) is provided. In an embodiment, the electrical connection may be a cable. In an embodiment, a communication path of the distribution module (1100) may be formed by mechanically connecting the connector of the hardware module. The distribution module (1100) may be connected to a frame connector (110) of a rotation module (100) through the electrical connection. The distribution module (1100) may be connected to a docking connector (120) of the rotation module (100) through the electrical connection. In an embodiment, the electrical connection of the distribution module (1100) may be connected to an in connector (111) of the frame connector (110). The electrical connection of the distribution module (1100) may be connected to an out connector (122) of the docking connector (120). Fig. 36 is an example of a terminal (C) provided in a hardware module according to an embodiment of the present invention. The terminal (C) may be formed with an in connector (111, 121, 211, 221, 311) and an out connector (112, 122, 212, 222, 312) as separate areas. Additional terminals to which power lines and ground lines are connected may be further included.

[0217] FIG. 35 is a diagram illustrating elements constituting a communication structure according to an embodiment of the present invention. Referring to FIG. 35 and FIG. 28, the rotation module (100) includes one terminal (C) through which control information is transmitted and received in the frame connector portion (110), so that one transmission and reception path of control information communicated with the master station (28) can be formed. The rotation module (100) includes multiple terminals (C) through which control information is transmitted and received in the docking connector portion (120), so that multiple transmission and reception paths of control information communicated with the continuum module (2100) can be formed.

[0218] The rotation module (100) can be connected such that the in connector (111) of the frame connector portion (110) is connected to the out connector of the master station (28), and the out connector (112) of the frame connector portion (110) is connected to the in connector of the master station (28). Since the rotation module (100) transmits control information from the out connector of the master station (28) to the in connector (111) based on the connection state, this is a forward direction and corresponds to the first direction.

[0219] Based on the connection state, the rotation module (100) transmits a datagram command (280) from the out connector (112) of the frame connector portion (110) to the in connector of the master station (28). The communication path through which the datagram command (280) is transmitted from the out connector (112) of the frame connector portion (110) to the in connector of the master station (28) is reverse and corresponds to the second direction. Although the reverse direction does not exist in the distribution module (1100), a communication path in the second direction, which is reverse, can be formed in the rotation module (100) in which the distribution module (1100) is provided.

[0220] The distribution module (1100) can receive a datagram command (280) from the frame connector portion (110) of the rotation module (100). The distribution module (1100) can receive a datagram command (280) from the in connector (111) of the frame connector portion (110). On the other hand, the second direction datagram command (280) transmitted to the docking connector portion (120) of the rotation module (100) may not be transmitted to the distribution module (1100), but may be transmitted to the out connector (112) of the frame connector portion (110) formed in the rotation module (100). The datagram command (280) transmitted from the rotation module (100) to the docking connector unit (120) passes through the continuum module (2100) and the drive module (300), and then again passes through the continuum module (2100) to be received at the in connector (121) of the rotation module (100). The datagram command (280) transmitted from the in connector (121) of the docking connector unit (120) does not form a communication path to be transmitted to the distribution module (1100), and may be transmitted to another out connector (122) formed in the docking connector unit (120) or to the out connector (112) of the frame connector unit (110).

[0221] In summary, the communication path is such that the distribution module (1100) transmits control information in the first direction. Afterwards, a datagram command (280) is transmitted in the second direction from the docking connector portion (120) formed in the rotation module (100) to the frame connector portion (110), so that a communication path can be formed in which the datagram command (280) returns from the master station (28) to the master station (28). In addition, the rotation module (100) may have a section in which an internal communication path is formed in which control information is transmitted from the in connector (121) to the out connector (122) in the plurality of terminals (C) formed in the docking connector portion (120).

[0222] The rotation module (100) can be connected to the frame connector portion (210) of the translation module (200) through the docking connector portion (120). In an embodiment, there may be one or more translation modules (200). In this case, a plurality of terminals (C) formed on the docking connector portion (120) of the rotation module (100) can be connected to the frame connector portion (210) of the translation module (200), respectively.

[0223] FIG. 33 is an example in which a continuum module (2100) according to an embodiment of the present invention is provided in a translation module (200). A first driving signal output from the continuum module (2100) is a signal for controlling a motor (201), and the motor (201) controlled by the first driving signal can cause a first operation of translating a surgical instrument (501). The continuum module (2100) may be a communication module including an inlet (2101), an outlet (2102), and a buffer (2103). A datagram command (280) may be input into the inlet (2101). The outlet (2102) may output the datagram command (280). The buffer (2103) may extract and store a payload from the datagram command (280). The buffer (2103) can extract and store a payload related to the first driving signal that causes translational movement of the surgical instrument (501) among the datagram commands (280). The continuum module (2100) can output the datagram command (280) to the outlet (2102) without changing the datagram command (280).

[0224] In an embodiment, one continuum module (2100) may receive a datagram command (280) from a distribution module (1100), and another continuum module (2100) may receive a datagram command (280) transmitted from a terminal module (3100). The continuum module (2100) may further include an electrical connection for transmitting and receiving power and control signals. The electrical connection may be electrically connected to a connector of a hardware module on which the continuum module (2100) is provided. As the connectors of the hardware modules are mechanically connected, a communication path of the continuum module (2100) may be formed.

[0225] The translation module (200) can be connected to the docking connector (120) formed on the rotation module (100) by the frame connector (210). The translation module (200) can be connected to the frame connector (310) formed on the drive module (300) by the docking connector (220). The translation module (200) can have one terminal (C) formed on the frame connector (210) through which a datagram command (280) is transmitted and received. The translation module (200) can have one terminal (C) formed on the docking connector (220) through which a datagram command (280) is transmitted and received. In the translation module (200), the in connector (211) of the frame connector (210) can transmit the datagram command (280) to the continuum module (2100). In the docking module (200), the out connector (222) of the docking connector section (220) can receive a datagram command (280) from the continuum module (2100).

[0226] In the translation module (200), a communication path can be formed in which a datagram command (280) is transmitted between the out connector (212) of the frame connector portion (210) and the in connector (221) of the docking connector portion (220) without going through the continuum module (2100). In the translation module (200), a forward communication path can be formed in which a datagram command (280) is transmitted from the in connector (211) of the frame connector portion (210) to the out connector (222) of the docking connector portion (220) via the continuum module (2100). In addition, in the translation module (200), a reverse communication path can be formed in which a datagram command (280) is transmitted from the in connector (221) of the docking connector portion (220) to the out connector (212) of the frame connector portion (210).

[0227] The second driving signal output from the terminal module (3100) is a signal for controlling the motor (301), and the motor (301) controlled by the second driving signal can drive a second operation in which the distal end or end effector (5014) of the surgical instrument (501) is manipulated. FIG. 34 is an example in which the terminal module (3100) according to an embodiment of the present invention is provided in the driving module (300). The driving module (300) may be formed with a control unit (305), and one or more motor packs may be provided in the control unit (305). The terminal module (3100) may be provided in the motor pack that drives the overtube module (400). In addition, the terminal module (3100) may be provided in the motor pack that drives the surgical instrument module (500).

[0228] The terminal module (3100) may be a communication module including an inlet (3101), an outlet (3102), and a buffer (3103). A datagram command (280) may be input into the inlet (3101). The outlet (3102) may output the datagram command (280). The buffer (3103) may extract and store a payload from the datagram command (280). The buffer (3103) may extract and store a payload related to a second drive signal that operates the distal end or end effector (5014) of the surgical instrument (501) among the control information. The terminal module (3100) may output the datagram command (280) to the outlets (1102, 2102, 3102) without changing the datagram command (280).

[0229] Referring back to FIG. 29, the terminal module (3100) may constitute a first group of terminal modules (3100(a), 3100(b)) provided in plurality in the drive module (300). According to the embodiment, a communication path may be such that one terminal module (3100(a)) receives a datagram command (280)(Si) output from an outlet (2102) of a continuum module (2100) through an inlet (3101(a)), and the datagram command (280) may sequentially pass through other terminal modules (3100) and then be output to another continuum module (2100) through an outlet (3102(b)) of the last terminal module (3100(b)) on the path. In this case, a terminal module (3100(a)) provided with an inlet (3101(a)) into which a datagram command (280) output from an outlet (2102) of a continuum module (2100) is input, and a terminal module (3100(b)) provided with an outlet (3102(b)) that outputs a datagram command (280) (So) to another continuum module (2100) may be different terminal modules (3100).

[0230] Referring again to FIG. 28, a datagram command (280) output from an outlet (3102(b)) of a terminal module (3100) is not transmitted in the second direction and input to a continuum module (2100(a)), but is transmitted to a rotation module (100) via a translation module (200(a)), and then the communication path is reversed to the first direction and transmitted to another translation module (200(b)) provided with another continuum module (2100(b)).

[0231] In addition, the control information output from the outlet (3102) of the terminal module (3100) located in the drive module (300(d)) may be transmitted in the second direction and may not be input to the continuum module (2100(d)) and the distribution module (1100), but may be transmitted to the master station (28) via the translation module (200(d)) and the rotation module (100). In an embodiment, a communication path may be formed in which the communication path is received by the master station (28) via the distribution module (1100), the first continuum module (2100), the first terminal module (3100), the second continuum module (2100), and the second terminal module (3100).

[0232] The terminal module (3100) may further include an electrical connection for transmitting and receiving power and control signals. The electrical connection may be electrically connected to a connector of a hardware module on which the terminal module (3100) is provided. In an embodiment, a communication path of the terminal module (3100) may be formed by mechanically connecting the connector of the hardware module.

[0233] The drive module (300) can control the degree of freedom of the surgical instrument (501) by accommodating a plurality of terminal modules (3100) and operating the motors with a plurality of second drive signals outputted. The drive module (300) may include one terminal (C) to which a datagram command (280) is transmitted and received in the frame connector portion (310). The drive module (300) may include a terminal that transmits the output of the motor (301) operated by the second drive signal outputted by the terminal module (3100) without transmitting and receiving control information to the docking connector portion. In this case, the terminal may be an embodiment of the above-described coupling protrusion (340).

[0234] The drive module (300) can be connected to the docking connector (220) of the translation module (200) through the frame connector (310). The drive module (300) can receive a datagram command (280) transmitted from the continuum module (2100) through the in connector (311) of the frame connector (310). In this case, it can be understood that the terminal module (3100) provided in the drive module (300) receives the datagram command (280) in the first direction. The terminal module (3100) that receives the datagram command (280) transmits the datagram command (280) in the second direction to the out connector (312) of the frame connector (310), thereby allowing the datagram command (280) to be transmitted from the terminal module (3100) in the second direction. A communication path can be formed in which a datagram command (280) transmitted through the in connector (311) of the frame connector section (310) passes through all of the terminal modules (3100) forming the group and then is transmitted to the out connector (312) of the frame connector section (310).

[0235] FIG. 37 is a diagram illustrating a communication path when a continuum module (2100) or terminal module (3100) constituting a terminal operating line is missing in a communication structure according to an embodiment of the present invention. In the embodiment of FIG. 37, if any operating line in the rotation module (100) is missing, control information originating from the master station (28) may not return to the master station (28). However, since the datagram command (280) is received by all terminal modules (3100), there may be no abnormality in the operation of the surgical robot. In order to continuously and stably control, a communication path according to the embodiment described above can be formed. In this method, the communication path of the embodiment described above can be maintained by connecting the terminal (C) of the docking connector part (120) of the missing operating line. In an embodiment, the in connector (121) and the out connector (122) of the missing operating line can be connected by a cable forming an electrical path.

[0236] FIG. 38 is a diagram illustrating a communication path in a case where a continuum module (2100) or a terminal module (3100) is missing in an intermediate operating line in a communication structure according to an embodiment of the present invention. As in the embodiment of FIG. 37, a continuous communication path can be formed by connecting an in connector (121(b)) and an out connector (122(b)) formed in an intermediate operating line with a cable having an electrical path connected thereto. A datagram command (280) can be transmitted to the terminal module (3100(c)) at the end and then returned to the master station (28). In another embodiment, a switch unit (410) is configured in a terminal (C) lacking an operating line. The switch unit (410) can connect the electrical path of the in connector (121(b)) and the out connector (122(b)) if there is a missing operating line, and can open the electrical path of the in connector (121(b)) and the out connector (122(b)) if there is no missing operating line.

[0237] FIG. 39 illustrates examples of hardware modules according to an embodiment of the present invention in which they are serially attached and detached. FIG. 40 illustrates examples of hardware modules according to an embodiment of the present invention in which they are parallelly attached and detached. FIGS. 39 and 40 are module configuration diagrams of a surgical robot system (1) utilized in different types of surgery, respectively. In the embodiment of FIG. 39, (a) illustrates a case in which the translation module (200) is missing, and (b) illustrates a case in which the rotation module (100) is missing. In the embodiment of FIG. 39, (c) illustrates a case in which the rotation module (100), the translation module (200), and the drive module (300) are sequentially connected in series, and (d) illustrates a case in which the translation module (200) is serially connected in two stages. FIG. 40 illustrates the flow of the communication path described above in the parallel combination of hardware modules according to FIG. 5.

[0238] Figure 41 is a communication structure diagram according to another embodiment of the present invention. Figure 41 is a communication structure diagram when the translation module (200) is connected in series in two stages. Referring to Figures 28 and 41, the communication path can be configured in the same manner even with the addition of hardware modules. It can be understood that the communication path of the aforementioned embodiment can be expanded while maintaining the communication path depending on the combination of hardware modules.

[0239] In another embodiment, a method for driving a plurality of surgical instruments (501) in a surgical robot system (1) may include a step in which a master station (28) constructs a datagram command (280) including control information and transmits the datagram command (280) to a node of a distribution module (1100); a step in which the distribution module (1100) receives the datagram command (280) and transmits the datagram command (280) to a node of a continuum module (2100); a step in which the continuum module (2100) receives the datagram command (280) and outputs a first driving signal and transmits the datagram command (280) to a terminal module (3100); and a step in which the terminal module (3100) receives the datagram command (280) and outputs a second driving signal.

[0240] In another embodiment, a method for driving a plurality of surgical instruments (501) in a surgical robot system (1) may include the steps of: a master station (28) transmitting control information for driving a plurality of surgical instruments (501) in a first direction so that the distribution module (1100) receives it; a distribution module (1100) receiving the control information, outputting a first driving signal, and transmitting the control information to a continuum module (2100); and a continuum module (2100) receiving the control information, outputting a second driving signal, and transmitting the control information in a second direction so that the terminal module (3100) receives it. In the present embodiment, the first direction is a forward direction, the second direction is a reverse direction, and a communication path may be formed so that the control information transmitted from the terminal module (3100) is transmitted to the master station (28) in the second direction, or is reversed from the second direction to the first direction and transmitted to another continuum module (2100). The method of driving multiple surgical instruments (501) in the surgical robot system (1) may be a process performed in each hardware module of the aforementioned surgical robot system (1).

[0241] In another embodiment, a computer-readable recording medium storing a datagram command (280) having control information for driving a plurality of surgical instruments (501) in a surgical robot system (1) may record the datagram command (280) including a header field (281) providing frame information of the entire datagram; a data field (282) in which a subordinate datagram (2800) having a subheader field (2810), a subdata field (2820), and a subprocessing confirmation field (2830) is arranged; and a processing confirmation field (FCS) (283). The datagram command (280) recorded in the computer-readable recording medium may be a nested data structure in which datagrams are hierarchically formed. In the embodiment of the nested data structure, control information corresponding to each surgical instrument (501) may be provided in the payload of the sub data field (2820), and dependent datagrams (2800) may be arranged in the data field (282) as many as the number of surgical instruments (501) being driven.

[0242] While the technical concept of the present invention and disclosure has been illustrated by the embodiments described above, the technical concept of the present invention encompasses various substitutions, modifications, and variations that can be made within the scope understandable to those of ordinary skill in the art. Furthermore, it should be understood that such substitutions, modifications, and variations are encompassed within the scope of the appended claims.

[0243]

[0244] For more diverse examples,

[0245] Experimental Example 1

[0246] In a surgical robot system in which multiple surgical instruments are driven,

[0247] A surgical robot system comprising: a distribution module for transmitting a datagram command including control information for driving a plurality of surgical instruments; a continuum module for receiving the datagram command from the distribution module, outputting a first driving signal, and transmitting the datagram command to a terminal module; and a terminal module for receiving the datagram command from the continuum module and outputting a second driving signal; wherein the first driving signal causes a first operation of the surgical instrument, and the second driving signal drives a second operation of the surgical instrument based on the first operation.

[0248] Experimental Example 2

[0249] In Experimental Example 1, the datagram command includes a header field, a data field, and a processing confirmation field as a data section, and the data field has a subordinate datagram including a subheader field, a subdata field, and a subprocessing confirmation field as a data section, so that the datagram has a nested data structure formed hierarchically.

[0250] Experimental Example 3

[0251] In Experimental Example 2,

[0252] A surgical robot system, characterized in that the datagram command, in the first subordinate datagram included in the data field, the first subordinate datagram is provided with a first payload for generating the first drive signal as a first sub-data field, and in the second subordinate datagram included in the data field, the second subordinate datagram is provided with a second payload for generating the second drive signal as a second sub-data field.

[0253] Experimental Example 4

[0254] In any one of Experimental Examples 1 to 3, the datagram command is:

[0255] A surgical robot system characterized in that the header field provides frame information of the entire datagram including length information of the data field, and the subheader field provides access information of data including logical address information of a node of the continuum module or a node of the terminal module.

[0256] Experimental Example 5

[0257] In any one of Experimental Examples 1 to 4, the datagram command is a surgical robot system characterized in that the subheader fields are plural, the first subheader field designates a node of the continuum module as a destination, and the second subheader field designates a node of the terminal module as a destination, so that the data field includes information on two or more destinations.

[0258] Experimental Example 6

[0259] A surgical robot system according to any one of Experimental Examples 1 to 5, wherein the datagram command includes a plurality of subheader fields in the data field, and the plurality of subheader fields designate nodes of different terminal modules.

[0260] Experimental Example 7

[0261] A surgical robot system according to any one of Experimental Examples 1 to 6, wherein the datagram command includes a first payload generating the first drive signal and a second payload generating the second drive signal in the sub data field.

[0262] Experimental Example 8

[0263] A surgical robot system according to any one of Experimental Examples 1 to 7, wherein the datagram command comprises a plurality of second payloads that generate the second drive signal, and among the plurality of second payloads, the second-first payload generates a drive signal that drives an overtube, and the second-second payload generates a drive signal that drives a first surgical instrument coaxially inserted into the overtube.

[0264] Experimental Example 9

[0265] In any one of Experimental Examples 1 to 8, the datagram command is a surgical robot system characterized in that a signal for commanding the upper (base)-lower (subordinate) operation of the surgical instrument is allocated as a subordinate datagram having the first payload and a subordinate datagram having the second payload, and a command signal for the overall operation including the first surgical instrument of the overtube and an independent operation of the interpolated first surgical instrument are allocated as the 2-1 payload and the 2-2 payload, so that the data field has a data structure of a hierarchical control command.

[0266] Experimental Example 10

[0267] A surgical robot system, characterized in that in any one of Experimental Examples 1 to 9, the distribution module receives the datagram command from the master station, outputs a driving signal causing rotation of the surgical instrument, and transmits the datagram command to the continuum module.

[0268] Experimental Example 11

[0269] A surgical robot system according to any one of Experimental Examples 1 to 10, wherein the distribution module controls a motor that causes the outputted driving signal to rotate the surgical instrument, so that the rotational motion of the surgical instrument becomes the basis of the first motion.

[0270] Experimental Example 12

[0271] In any one of Experimental Examples 1 to 11, the continuum module,

[0272] A surgical robot system characterized in that the first driving signal output is a signal for controlling a motor, and the motor controlled by the first driving signal causes the first motion for translational movement of the surgical instrument.

[0273] Experimental Example 13

[0274] In any one of Experimental Examples 1 to 12, the terminal module,

[0275] A surgical robot system characterized in that the second driving signal output is a signal for controlling a motor, and the motor controlled by the second driving signal drives a second motion in which the distal end or end effector of the surgical instrument is manipulated.

[0276] Experimental Example 14

[0277] A surgical robot system according to any one of Experimental Examples 1 to 13, further comprising a rotation module that rotates the plurality of surgical instruments, and wherein the distribution module is provided in the rotation module.

[0278] Experimental Example 15

[0279] A surgical robot system according to any one of Experimental Examples 1 to 14, further comprising a translation module for translating the surgical instrument, wherein the continuum module is provided in the translation module.

[0280] Experimental Example 16

[0281] A surgical robot system characterized in that in any one of Experimental Examples 1 to 15, one of the surgical instruments is an overtube module including an overtube for endoscopic surgery, and the terminal module is provided in a motor pack that drives the overtube module.

[0282] Experimental Example 17

[0283] A surgical robot system according to any one of Experimental Examples 1 to 16, further comprising a surgical instrument module including the surgical instrument, wherein the terminal module is provided in a motor pack that drives the surgical instrument module.

[0284] Experimental Example 18

[0285] A surgical robot system according to any one of Experimental Examples 1 to 17, wherein the distribution module, the continuum module, and the terminal module are communication modules including an inlet through which the datagram command is input, an outlet through which the datagram command is output, and a buffer through which the payload of the datagram command is extracted and stored.

[0286] Experimental Example 19

[0287] A surgical robot system according to any one of Experimental Examples 1 to 18, wherein the distribution module, the continuum module, and the terminal module include electrical connections for transmitting and receiving power and control signals, and the electrical connections are electrically connected to connectors of hardware modules in which the distribution module, the continuum module, and the terminal module are respectively provided.

[0288] Experimental Example 20

[0289] A surgical robot system according to any one of Experimental Examples 1 to 19, wherein a communication path between the distribution module, the continuum module, and the terminal module is formed by mechanically connecting the connectors of the hardware modules.

[0290] Experimental Example 21

[0291] A surgical robot system according to any one of Experimental Examples 1 to 20, further comprising a master station for constructing the datagram command, wherein the master station reconstructs the datagram command according to the type of the surgical instrument and transmits the datagram command to the distribution module.

[0292] Experimental Example 22

[0293] In a method for driving multiple surgical instruments in a surgical robot system,

[0294] A step in which a master station constructs a datagram command containing control information and transmits the datagram command to a node of a distribution module;

[0295] A step in which the distribution module receives the datagram command and transmits the datagram command to a node of the continuum module;

[0296] A step in which the continuum module receives the datagram command, outputs a first driving signal, and transmits the datagram command to the terminal module; and

[0297] The terminal module includes a step of receiving the datagram command and outputting a second driving signal,

[0298] A method characterized in that the first driving signal causes a first operation of the surgical instrument, and the second driving signal is a signal that drives a second operation of the surgical instrument based on the first operation.

[0299] Experimental Example 23

[0300] A computer-readable recording medium storing a datagram command having control information for driving a plurality of surgical instruments in a surgical robot system, the datagram having a nested data structure hierarchically formed, including a header field providing frame information of the entire datagram; a data field in which dependent datagrams having a subheader field, a subdata field, and a subprocessing confirmation field are arranged; and a processing confirmation field (FCS);

[0301] A computer-readable recording medium in which control information corresponding to each surgical instrument is provided in the payload of the sub data field and a datagram command is recorded in which the number of dependent datagrams is arranged in the data field as many as the number of surgical instruments being operated.

[0302] Experimental Example 24 ※ Ring Topology

[0303] In a surgical robot system in which a plurality of surgical instruments are driven, a distribution module that receives control information for driving a plurality of surgical instruments from a master station and transmits the control information in a first direction; a continuum module that receives the control information from the master distribution module, outputs a first driving signal, and transmits the control information in the first direction; and

[0304] A terminal module that receives the control information from the continuum module, outputs a second driving signal, and transmits the control information in a second direction;

[0305] A surgical robot system characterized in that a communication path is formed so that the first direction is forward, the second direction is reverse, and the control information transmitted from the terminal module is transmitted to the master station in the second direction, or is reversed from the second direction to the first direction and transmitted to another continuum module.

[0306] Experimental Example 25

[0307] In Experimental Example 24, the distribution module, the continuum module, and the terminal module include electrical connections for transmitting and receiving power and control signals, and the electrical connections are characterized in that they are electrically connected to connectors of hardware modules in which the distribution module, the continuum module, and the terminal module are respectively provided.

[0308] Experimental Example 26

[0309] A surgical robot system according to any one of Experimental Examples 24 to 25, wherein the hardware module is formed with a frame connector portion that is connected to another hardware module and a docking connector portion that is connected to another hardware module, and wherein the frame connector portion and the docking connector portion each include a terminal configured as a pair of an in connector and an out connector.

[0310] Experimental Example 27

[0311] In any one of Experimental Examples 24 to 26, the hardware module provided with the distribution module is characterized in that the frame connector section includes one terminal through which the control information is transmitted and received, thereby forming one transmission and reception path of the control information communicated with the master station, and the docking connector section includes multiple terminals through which the control information is transmitted and received, thereby forming multiple transmission and reception paths of the control information communicated with the continuum module.

[0312] Experimental Example 28

[0313] In any one of Experimental Examples 24 to 27, the hardware module provided with the distribution module is a surgical robot system, characterized in that the in connector of the frame connector part is connected to the out connector of the master station, and the out connector of the frame connector part is connected to the in connector of the master station, and the direction in which the control information is transmitted from the out connector of the master station to the in connector is defined as a forward direction based on the connection state, and the direction in which the control information is transmitted from the out connector of the frame connector part to the in connector of the master station is defined as a reverse direction based on the connection state.

[0314] Experimental Example 29

[0315] In any one of Experimental Examples 24 to 28, the distribution module,

[0316] A surgical robot system characterized in that the control information is received from the frame connector portion of the hardware module provided with the distribution module, and the control information transmitted to the docking connector portion of the hardware module provided with the distribution module is not transmitted to the distribution module, but is transmitted to the out connector of the frame connector portion formed in the hardware module provided with the distribution module.

[0317] Experimental Example 30

[0318] In any one of Experimental Examples 24 to 29, a surgical robot system characterized in that the hardware module provided with the distribution module transmits the control information in the first direction, and the control information is transmitted in the second direction from the docking connector portion formed in the hardware module provided with the distribution module to the frame connector portion, thereby forming a communication path through which the control information returns from the master station to the master station.

[0319] Experimental Example 31

[0320] In any one of Experimental Examples 24 to 30, a surgical robot system, characterized in that the hardware module provided with the distribution module has the docking connector portion connected to the frame connector portion of the hardware module provided with the continuum module, the hardware module provided with the continuum module is one or more, and the docking connector portion of the hardware module provided with the distribution module includes a plurality of terminals, each terminal being connected to the frame connector portion of the hardware module provided with the continuum module.

[0321] Experimental Example 32

[0322] A surgical robot system according to any one of Experimental Examples 24 to 31, wherein the hardware module provided with the distribution module has a plurality of terminals for transmitting and receiving the control information in the docking connector portion, and a section in which an internal communication path for transmitting the control information from an in connector to an out connector is formed in the plurality of terminals formed in the docking connector portion.

[0323] Experimental Example 33

[0324] A surgical robot system according to any one of Experimental Examples 24 to 32, wherein the hardware module provided with the continuum module is characterized in that the frame connector portion is connected to a docking connector portion formed in the hardware module provided with the distribution module, and the docking connector portion is connected to a frame connector portion formed in the hardware module provided with the terminal module.

[0325] Experimental Example 34

[0326] In any one of Experimental Examples 24 to 33, the hardware module provided with the continuum module is characterized in that one terminal for transmitting and receiving the control information is formed in the frame connector section, one terminal for transmitting and receiving the control information is formed in the docking connector section, the in connector of the frame connector section and the out connector of the docking connector section transmit the control information to the continuum module or receive the control information from the continuum module, and the out connector of the frame connector section and the in connector of the docking connector section form a communication path for transmitting the control information without going through the continuum module.

[0327] Experimental Example 35

[0328] In any one of Experimental Examples 24 to 34, a surgical robot system characterized in that the hardware module provided with the continuum module forms a forward communication path in which the control information is transmitted from the in connector of the frame connector part to the out connector of the docking connector part through the continuum module, and a reverse communication path in which the control information is transmitted from the in connector of the docking connector part to the out connector of the frame connector part.

[0329] Experimental Example 36

[0330] In any one of Experimental Examples 24 to 35, a hardware module provided with the terminal module is characterized in that the degree of freedom movement of the surgical instrument is controlled by a mechanism of motors that are operated by second drive signals output in a plurality of units by accommodating a plurality of the terminal modules.

[0331] Experimental Example 37

[0332] A surgical robot system according to any one of Experimental Examples 24 to 26, wherein the hardware module provided with the terminal module includes one terminal for transmitting and receiving the control information in the frame connector section, and the docking connector section includes a terminal for transmitting the output of a motor operated by the second driving signal output by the terminal module without transmitting and receiving the control information.

[0333] Experimental Example 38

[0334] In any one of Experimental Examples 24 to 37, a surgical robot system characterized in that the hardware module provided with the terminal module is such that the frame connector portion is connected to the docking connector portion of the hardware module provided with the continuum module, the control information transmitted from the continuum module is transmitted to the in connector of the frame connector portion, the terminal module receives the control information in the first direction, and the terminal module that received the control information transmits the control information in the second direction and transmits it to the out connector of the frame connector portion, thereby transmitting the control information from the terminal module in the second direction.

[0335] Experimental Example 39

[0336] A surgical robot system according to any one of Experimental Examples 24 to 38, wherein the hardware module provided with the terminal module accommodates a plurality of the terminal modules, and the terminal module that receives the control information through the in connector of the frame connector part and the terminal module that transmits the control information to the out connector of the frame connector part are different.

[0337] Experimental Example 40

[0338] A surgical robot system according to any one of Experimental Examples 24 to 39, wherein the hardware module provided with the terminal module forms a communication path through which the control information transmitted through the in connector of the frame connector part passes through all of the terminal modules and is then transmitted to the out connector of the frame connector part.

[0339] Experimental Example 41

[0340] A surgical robot system according to any one of Experimental Examples 24 to 40, wherein the distribution module, the continuum module, and the terminal module are communication modules including an inlet through which the control information is input, an outlet through which the control information is output, and a buffer through which a payload of the control information is extracted and stored.

[0341] Experimental Example 42

[0342] In any one of Experimental Examples 24 to 41, the distribution module,

[0343] The control information transmitted from the above master station is received at the inlet,

[0344] A surgical robot system characterized in that, among the above control information, a payload related to a rotational drive signal of a motor that causes rotational movement of the surgical instrument is extracted and stored in a buffer, and the control information is output to an outlet without changing the control information.

[0345] Experimental Example 43

[0346] A surgical robot system, characterized in that in any one of claims 24 to 42, the distribution module receives the control information transmitted from the master station from an inlet and outputs it to an outlet, and the control information output from the outlet of the distribution module is input to the inlet of one of a plurality of continuum modules.

[0347] Experimental Example 44

[0348] A surgical robot system according to any one of Experimental Examples 24 to 43, wherein the continuum module receives the control information transmitted from the distribution module through an inlet, extracts a payload related to the first drive signal causing translational movement of the surgical instrument from among the control information and stores it in a buffer, and outputs the control information to an outlet without changing the control information.

[0349] Experimental Example 45

[0350] A surgical robot system according to any one of Experimental Examples 24 to 44, wherein the continuum modules are plural, and one continuum module receives the control information from the distribution module, while another continuum module receives the control information transmitted from the terminal module.

[0351] Experimental Example 46

[0352] In any one of Experimental Examples 24 to 45, the terminal module receives the control information transmitted from the continuum module through an inlet, extracts a payload related to the second drive signal for operating the distal end or end effector of the surgical instrument from the control information and stores it in a buffer, and outputs the control information to an outlet without changing the control information.

[0353] Experimental Example 47

[0354] In any one of Experimental Examples 24 to 46, the terminal module,

[0355] A surgical robot system comprising a first group of terminal modules provided in plurality on a hardware module on which the terminal module is provided, wherein the terminal modules of the first group receive the control information output from the outlet of the continuum module through an inlet of one terminal module, and the control information sequentially passes through other terminal modules and is then output to another continuum module through the outlet of the last terminal module on the path.

[0356] Experimental Example 48

[0357] A surgical robot system according to any one of Experimental Examples 24 to 47, wherein a terminal module having an inlet for inputting the control information output from an outlet of the continuum module and a terminal module having an outlet for outputting the control information to another continuum module are different terminal modules.

[0358] Experimental Example 49

[0359] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 48, the control information output from the outlet of the terminal module is transmitted in the second direction and is not input to the continuum module, but is transmitted to the hardware module provided with the distribution module via the hardware module provided with the continuum module, and then the communication path is reversed to the first direction and transmitted to another hardware module provided with the continuum module.

[0360] Experimental Example 50

[0361] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 49, the control information output from the outlet of the terminal module is transmitted in the second direction and is not input to the continuum module and the distribution module, but passes through a hardware module provided with the continuum module and a hardware module provided with the distribution module and then is transmitted to the master station.

[0362] Experimental Example 51

[0363] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 50, the continuum module and the terminal module are one or more, and the control information is transmitted from the master station through the distribution module, the first continuum module, the first terminal module, the second continuum module, and the second terminal module and then received by the master station.

[0364] Experimental Example 52

[0365] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 51, the distribution module is one, and the continuum modules are provided in a number corresponding to the number of surgical instruments.

[0366] Experimental Example 53

[0367] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 52, the number of hardware modules provided with the continuum module and the terminal module is at least one, and the number of hardware modules provided with the continuum module and the terminal module is the same.

[0368] Experimental Example 54

[0369] In any one of Experimental Examples 24 to 53, the terminal module is a surgical robot system characterized in that a plurality of grouped terminal modules are provided, including a first group of terminal modules provided in a plurality of hardware modules in which the terminal modules are provided, and a second group of terminal modules provided in a plurality of other hardware modules in which the terminal modules are provided.

[0370] Experimental Example 55

[0371] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 54, the continuum module outputs the first driving signal to drive the motor of the hardware module in which the continuum module is provided.

[0372] Experimental Example 56

[0373] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 55, the terminal module outputs the second driving signal to drive the motor of the hardware module in which the terminal module is provided.

[0374] Experimental Example 57

[0375] A surgical robot system, characterized in that in any one of Experimental Examples 24 to 56, the distribution module receives the control information and outputs a rotational drive signal that drives a motor of a hardware module in which the distribution module is provided, and the rotational drive signal causes a rotational movement of the surgical instrument.

[0376] Experimental Example 58

[0377] A method for driving a plurality of surgical instruments in a surgical robot system, comprising: a step in which a master station transmits control information for driving a plurality of surgical instruments in a first direction and a distribution module receives the control information; a step in which the distribution module receives the control information, outputs a first driving signal, and transmits the control information to a continuum module; and a step in which the continuum module receives the control information, outputs a second driving signal, and transmits the control information in a second direction and a terminal module receives the control information; wherein a communication path is formed so that the first direction is a forward direction, the second direction is a reverse direction, and the control information transmitted from the terminal module is transmitted to the master station in the second direction, or is reversed from the second direction to the first direction and transmitted to another continuum module.

[0378] Experimental Example 59 ※ Modular Manipulator Assembly

[0379] A modular manipulator assembly for a surgical robot system, comprising: a movable platform; a translational module mounted on the movable platform and having a driving range of a stroke section defined; and a driving module mounted on the translational module and performing a translational movement from a first position to a second position within the range of the stroke section and outputting power for performing a surgical operation; wherein the number of the driving modules is plural, and a modular manipulator assembly characterized in that the first position of one of the driving modules is offset to a position advanced from the first position of another driving module.

[0380] Experimental Example 60

[0381] A modular manipulator assembly characterized in that, in Experimental Example 1dp, the first position of one of the driving modules is advanced by a length greater than the first position of the other driving module, and an entry guide gap is formed for inserting a surgical instrument mounted on the other driving module into another surgical instrument mounted on the one of the driving modules.

[0382] Experimental Example 61

[0383] A modular manipulator assembly, characterized in that in any one of Experimental Examples 1 to 60, the other driving module is a driving module on which a surgical instrument is mounted, and the one driving module is a driving module on which an overtube into which the surgical instrument is inserted and guided is mounted.

[0384] Experimental Example 62

[0385] A modular manipulator assembly according to any one of Experimental Examples 1 to 61, wherein the one drive module is driven to a forward position in the stroke section when mounted on the translation module and then locked, thereby being offset to a forward position relative to the first position of the other drive module.

[0386] Experimental Example 63

[0387] A modular manipulator assembly according to any one of Experimental Examples 59 to 62, wherein the translation modules correspond to the driving modules in number, and any one translation module on which any one driving module is mounted receives an offset command from a processor of the surgical robot system to advance a predetermined distance during the stroke section, and is driven in a straight line and then locked.

[0388] Experimental Example 64

[0389] A modular manipulator assembly according to any one of Experimental Examples 59 to 63, wherein the translation modules correspond to the driving modules in number, and one of the translation modules on which one of the driving modules is mounted is mounted and fixed at a position more advanced than another of the translation modules when mounted on the movable platform, so that one of the driving modules is offset to a position more advanced than the first position of the other of the driving modules.

[0390] Experimental Example 65

[0391] A modular manipulator assembly according to any one of Experimental Examples 59 to 64, wherein the translational modules correspond to the driving modules in number, and one translational module on which one driving module is mounted is fixed at a position in which the initial position of the stroke section is advanced compared to the initial position of the stroke section of another translational module, so that one driving module is offset to a position in which the first position of the other driving module is advanced.

[0392] Experimental Example 66

[0393] A modular manipulator assembly, characterized in that in any one of Experimental Examples 59 to 65, an overtube module is provided, which is mounted on one of the driving modules and into which a surgical instrument is inserted and guided; and a surgical instrument module is provided, which is mounted on the other driving module and has a surgical instrument whose distal end or end effector is operated by power output from the mounted driving module; and both the surgical instrument and the overtube are mounted on the movable platform.

[0394] Experimental Example 67

[0395] A modular manipulator assembly according to any one of Experimental Examples 59 to 66, wherein the overtube module comprises: a flexible, elongated overtube; and an overtube interface formed with one surface that is connected to one of the driving modules; and an overtube coupler having a wire mechanism that operates the overtube with power transmitted by being connected to one of the driving modules.

[0396] Experimental Example 68

[0397] A modular manipulator assembly according to any one of Experimental Examples 59 to 67, wherein the overtube coupler is formed with an overtube holder on one side of a housing having the wire mechanism formed therein to form a volume, and the overtube is coupled to the overtube holder, such that the overtube is arranged laterally of the overtube coupler.

[0398] Experimental Example 69

[0399] A modular manipulator assembly according to any one of Experimental Examples 59 to 68, wherein the overtube coupler, when coupled with any one of the driving modules, forms a coupling area at the overtube interface, but the overtube holder is a non-coupling area.

[0400] Experimental Example 70

[0401] A modular manipulator assembly according to any one of Experimental Examples 59 to 69, wherein the overtube holder has a holder surface that is concavely recessed in the direction of the other side based on one surface of the overtube interface that is connected to the one drive module, and a proximal portion of the overtube is formed on the holder surface.

[0402] Experimental Example 71

[0403] A modular manipulator assembly according to any one of Experimental Examples 59 to 70, wherein the overtube coupler is fastened so that, when fastened to any one of the driving modules, the overtube holder is positioned at the center of the manipulator housing in which the translation module is accommodated.

[0404] Experimental Example 72

[0405] A modular manipulator assembly according to any one of Experimental Examples 59 to 71, wherein the surgical instrument module comprises: a flexible, elongated surgical instrument; and a surgical instrument interface having a surface formed to be connected to the other drive module; and a surgical instrument coupler having a wire mechanism that operates an end effector of the surgical instrument with power transmitted by being connected to the other drive module.

[0406] Experimental Example 73

[0407] In any one of Experimental Examples 59 to 72, the surgical instrument module is a modular manipulator assembly characterized in that a surgical instrument holder is formed on one side of a housing having a volume formed by providing the wire mechanism therein, and the surgical instrument is coupled to the surgical instrument holder, such that the surgical instrument is arranged laterally of the surgical instrument coupler.

[0408] Experimental Example 74

[0409] A modular manipulator assembly according to any one of Experimental Examples 59 to 73, wherein the surgical instrument holder has a holder surface that forms a flat surface based on a surface that is connected to the other drive module of the surgical instrument interface, and the proximal portion of the surgical instrument is formed on the holder surface.

[0410] Experimental Example 75

[0411] A modular manipulator assembly according to any one of Experimental Examples 59 to 74, wherein the surgical instrument coupler, when coupled with the other drive module, forms a coupling region at the surgical instrument interface, but the surgical instrument holder is a non-coupling region.

[0412] Experimental Example 76

[0413] A modular manipulator assembly according to any one of Experimental Examples 59 to 75, wherein the surgical instrument coupler is coupled so that, when coupled with the other drive module, the surgical instrument holder is positioned at the center of the manipulator housing in which the translation module is accommodated.

[0414] Experimental Example 77

[0415] A modular manipulator assembly characterized in that in any one of Experimental Examples 59 and 76, the assembly is mounted on the movable platform, the translational modules are in multiple numbers, and further includes a manipulator housing that accommodates the multiple translational modules.

[0416] Experimental Example 78

[0417] A modular manipulator assembly according to any one of Experimental Examples 59 to 77, wherein the translation module includes a frame connector portion electrically and mechanically connected to the movable platform, and is detachably attachable to the movable platform using the frame connector portion as a fastening means.

[0418] Experimental Example 79

[0419] A modular manipulator assembly, characterized in that in any one of Experimental Examples 59 to 78, the translation module includes a docking connector portion that is detachable from another hardware module, and the docking connector portion is provided on a moving means that slides in the stroke section.

[0420] Experimental Example 80

[0421] A modular manipulator assembly according to any one of Experimental Examples 59 to 79, wherein the drive module includes a frame connector portion that is detachable from another hardware module, and is detachable from the docking connector portion of the translation module using the frame connector portion as a fastening means.

[0422] Experimental Example 81

[0423] A modular manipulator assembly according to any one of Experimental Examples 59 to 80, wherein the drive module includes a docking connector portion that is detachable from another hardware module, and the docking connector portion is a means for attaching and detaching surgical instruments, thereby enabling replacement of a plurality of surgical instruments.

[0424] Experimental Example 82

[0425] A modular manipulator assembly according to any one of Experimental Examples 59 to 81, wherein the number of translation modules corresponds to the number of drive modules, and the translation modules and the drive modules are detachably provided on the movable platform and can be replaced in module units.

[0426] Experimental Example 83

[0427] A modular manipulator assembly characterized in that it further includes a motor that rotates when a drive signal is inputted among Experimental Examples 59 to 82, a rotary plate having a rotation axis, and a rotary module that is provided on the movable platform and to which the translation module is fastened and rotates in response to the drive signal inputted to the motor.

[0428] Experimental Example 84

[0429] A modular manipulator assembly according to any one of Experimental Examples 59 to 83, further comprising a manipulator housing accommodating one or more translational modules, wherein the rotational module rotates the manipulator housing accommodating the one or more translational modules.

[0430] Experimental Example 85

[0431] A modular manipulator assembly according to any one of Experimental Examples 59 to 84, wherein the translation module comprises a first moving plate as a moving means that slides in the stroke section, and a second moving plate provided to be movable on the first moving plate, and a docking connector part that is connected to another hardware module is provided on the second moving plate.

[0432] Experimental Example 86

[0433] A modular manipulator assembly, characterized in that in any one of Experimental Examples 59 to 85, the translation module forms the first position of the drive module at a position where the first moving plate is stopped, and one of the plurality of translation modules is locked after the first moving plate is moved forward by a predetermined distance.

[0434] Experimental Example 87

[0435] In any one of Experimental Examples 59 to 86, the translation module comprises: a first guide member for moving the first moving plate as the moving means; a second guide rail formed on the first moving plate for moving the second moving plate; and

[0436] A modular manipulator assembly further comprising a first guide rail provided to linearly reciprocate the first moving plate on the first guide member.

[0437] Experimental Example 88

[0438] In any one of Experimental Examples 59 to 87, the translation module,

[0439] Including a moving means that slides in the above stroke section,

[0440] The above means of transportation is,

[0441] A modular manipulator assembly characterized by being formed in a telescopic type including a plurality of moving plates for varying the moving distance.

[0442] Experimental Example 89

[0443] A modular manipulator assembly characterized in that in any one of Experimental Examples 59 to 88, a master station is further included that establishes control information of modules mounted on the movable platform, and the translation module and the drive module include a motor that provides power, a motor controller that outputs a drive signal to control the motor, and a communication module that receives control information and generates a drive signal, so that the modules mounted on the movable platform can be independently controlled, and the translation module or the drive module can be detached.

[0444] Experimental Example 90

[0445] A modular manipulator assembly, characterized in that in any one of Experimental Examples 59 to 89, the master station is constructed by reconfiguring the control information according to the type of surgical instrument mounted on the drive module.

[0446] Experimental Example 91

[0447] A modular manipulator assembly, characterized in that in any one of Experimental Examples 59 to 90, the master station includes control information of a surgical instrument mounted on the driving module in the control information transmitted to the translation module and the driving module.

[0448] Experimental Example 92

[0449] A modular manipulator assembly characterized in that in any one of Experimental Examples 59 to 91, one side of the drive module is connected to the translation module, and a drape module is provided on the other side to which the power of the drive module is output, and is provided as a means for sterilization, and has a through hole formed therein for transmitting the power output from the drive module.

[0450] Experimental Example 93

[0451] A modular manipulator assembly for a surgical robot system, comprising: a movable platform; a drive module mounted on the movable platform and outputting power for performing a surgical operation; a plurality of drive modules, an overtube module mounted on one drive module and provided with an overtube operated by the power output from the one drive module; and a surgical instrument module mounted on another drive module and provided with a surgical instrument whose distal end or end effector is operated by the power output from the other drive module; wherein the overtube module is mounted at a position where it is mounted on one of the drive modules, and is further forward than a position where the surgical instrument module is mounted on the other drive module.

[0452] Experimental Example 94

[0453] A modular manipulator assembly for a surgical robot system, comprising: a movable platform; a drive module mounted on the movable platform and outputting power for performing a surgical operation; a plurality of drive modules, an overtube module mounted on one drive module and provided with an overtube operated by power output from the one drive module; and a surgical instrument module mounted on another drive module and having a distal end or end effector operated by power output from the other drive module and provided with a surgical instrument guided by penetrating the overtube; A modular manipulator assembly characterized in that the overtube and the surgical instrument are mounted together on the movable platform.

[0454] Experimental Example 95

[0455] A surgical robot system in which a plurality of surgical instruments are driven, comprising: a master station for transmitting control information for driving the plurality of surgical instruments; a positioning cart for docking the modular manipulator assembly to a surgical site; and a modular manipulator assembly for receiving the control information from the master station and on which a plurality of surgical instruments are modularly mounted; wherein the modular manipulator assembly is characterized in that a plurality of drive modules are provided on a movable platform forming a base, on which modularized surgical instruments are mounted, and one of the plurality of drive modules is provided on the movable platform at a position advanced relative to other drive modules.

[0456] Experimental Example 96

[0457] In a surgical robot system in which multiple surgical instruments are driven,

[0458] A master station that transmits control information to drive multiple surgical instruments;

[0459] A positioning cart for docking the modular manipulator assembly below to the surgical site; and

[0460] A modular manipulator assembly that receives the control information from the master station and has a plurality of surgical instruments modularly mounted thereon;

[0461] The above modular manipulator assembly comprises:

[0462] A plurality of drive modules are provided on which modular surgical instruments are mounted on a movable platform that forms the base.

[0463] The above modular surgical instrument,

[0464] An overtube module provided with an overtube mounted on one of the drive modules and operated by power output from the one of the drive modules; and

[0465] A surgical instrument module including a surgical instrument that is mounted on another drive module, has a distal end or end effector operated by power output from the other drive module, and is guided by penetrating the overtube;

[0466] A surgical robot system characterized in that the above overtube and the above surgical instrument are mounted together in the above modular manipulator assembly.

[0467] Experimental Example 97

[0468] In a surgical robot system in which multiple surgical instruments are driven,

[0469] A master station that transmits control information to drive multiple surgical instruments;

[0470] A positioning cart for docking the modular manipulator assembly below to the surgical site; and

[0471] A modular manipulator assembly that receives the control information from the master station and has a plurality of surgical instruments modularly mounted thereon;

[0472] The above manipulator assembly,

[0473] A plurality of modular surgical instruments are accommodated on a movable platform that forms the base.

[0474] Any one of the above modular surgical instruments,

[0475] It is an overtube module that guides and accommodates other surgical instruments.

[0476] Another surgical instrument module is a surgical instrument module that penetrates the above overtube module and has a distal end or end effector manipulated.

[0477] A surgical robot system characterized in that the above overtube module forms an entry guide gap, which is a space through which a surgical instrument is inserted, and is provided on the movable platform together with the above surgical instrument module.

[0478]

[0479] Additionally, as a more diverse embodiment,

[0480] Embodiment 1. A surgical robot comprising:

[0481] an actuator providing power to the surgical robot; and

[0482] at least one of a rotation module or a translation module,

[0483] wherein the actuator module and the at least one of the rotation module or the translation module are configured to be coupled in more than one configuration for performing a variety of surgical procedures.

[0484]

[0485] Embodiment 2. The surgical robot of Embodiment 1, wherein the surgical robot comprises the rotation module.

[0486]

[0487] Embodiment 3. The surgical robot of Embodiment 1, wherein the surgical robot comprises the translation module.

[0488]

[0489] Embodiment 4. The surgical robot of Embodiment 1, further comprising an instrument module for performing surgery.

[0490]

[0491] Embodiment 5. The surgical robot of Embodiment 4, wherein the instrument module is singular or plural, and

[0492] wherein the instrument is selectively and detachably coupled to the actuator module depending on the type of surgery.

[0493]

[0494] Embodiment 6. The surgical robot of Embodiment 4, further comprising an overtube module containing the instrument module, and

[0495] wherein the overtube module is selectively and detachably coupled to the actual module depending on the type of surgery.

[0496]

[0497] Embodiment 7. The surgical robot of any one of the preceding Embodiments, wherein the translation module is detachably coupled to the actuator module and provides translational movement to the actuator module.

[0498]

[0499] Embodiment 8. The surgical robot of any one of the preceding Embodiments, wherein the rotation module is detachably coupled to the actuator module and rotates the actuator module.

[0500]

[0501] Embodiment 9. The surgical robot of any one of the preceding Embodiments, wherein the rotation module and the translation module are detachably coupled to one side of the actuator module, and

[0502] wherein the actuator module and the translation module are simultaneously rotated by the rotation module.

[0503]

[0504] Embodiment 10. The surgical robot of any one of the preceding Embodiments, wherein the translation module is a plurality of translation modules,

[0505] wherein the rotation module and the plurality of translation modules are detachably coupled to one side of the actuator module, and

[0506] wherein the actuator module and the plurality of translation modules are simultaneously rotated by the rotation module.

[0507]

[0508] Embodiment 11. The surgical robot of any one of the preceding Embodiments, wherein the rotation module provides rotational force,

[0509] wherein the rotation module comprises a group of rotation modules detachably coupled in parallel, and

[0510] wherein the translation module and the actuator module are detachably coupled.

[0511]

[0512] Embodiment 12. The surgical robot of any one of the preceding Embodiments, further comprising a module group comprising a translation module and an actuator module,

[0513] wherein the translation module and actuator module of the module group are detachably coupled to each other, and

[0514] wherein the module group and the actuator module are detachably coupled in parallel.

[0515]

[0516] Embodiment 13. The surgical robot of any one of the preceding Embodiments, further comprising a plurality of translation modules and a second module group, the second module group comprising the actuator module,

[0517] wherein the rotational module includes a plurality of module groups detachably coupled in parallel, and

[0518] wherein the module group comprises a translation module and an actuator module.

[0519]

[0520] Embodiment 14. The surgical robot of any one of the preceding Embodiments, wherein the rotation module comprises a plurality of module groups detachably coupled in parallel,

[0521] wherein the plurality of module groups comprise:

[0522] a first module group including a translation module providing translational movement, the actuator module, and the instrument module;

[0523] a second module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[0524] a third module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[0525] a fourth module group including the actuator module and the overtube module.

[0526]

[0527] Embodiment 15. The surgical robot of any one of Embodiments 4-6, wherein a detachable means is provided between the actuator module and the instrument module or overtube module.

[0528]

[0529] Embodiment 16. The surgical robot of any one of Embodiments 4-6 or 15, further an attachment and detachment means comprising:

[0530] a plurality of coupling protrusions formed on one surface of the actuator module;

[0531] a fastening plate formed on one side of the instrument module;

[0532] a detachable plate formed on one surface of the overtube module,

[0533] wherein a plurality of coupling holes for coupling the coupling protrusions are formed in the fastening plate or the detachable plate.

[0534]

[0535] Embodiment 17. The surgical robot of any one of the preceding Embodiments, wherein the translation module is detachably coupled to the actuator module, and

[0536] wherein the translation module and the actuator module are mechanically and electrically connected.

[0537]

[0538] Embodiment 18. The surgical robot of any one of the preceding Embodiments, wherein the electrical connection includes a power source and an electrical signal.

[0539]

[0540] Embodiment 19. The surgical robot of any one of Embodiments 4-6 or 15-16, wherein the actuator module comprises a third motor and a third control unit that controls the operation of the third motor,

[0541] wherein the instrument module comprises a surgical tool driving unit and a surgical tool having a flexible tube extending from the surgical tool driving unit,

[0542] wherein the overtube module comprises an overtube driving unit, a flexible tube connected to the overtube driving unit, and a joint formed at an end of the flexible tube,

[0543] wherein, when the instrument module or the overtube module is detachably coupled to the actuator module, movement of the surgical tool occurs through the surgical tool driving unit of the instrument module by the operation of the third motor, and

[0544] wherein movement of the joint occurs through the surgical tool driving part of the instrument module and the overtube driving part by the operation of the third motor.

[0545]

[0546]

[0547] Embodiment 20. The surgical robot of any one of the preceding Embodiments, wherein the translation module comprises a moving means for translating the actuator module, the moving means comprising:

[0548] a motor for operating the moving means,

[0549] a first moving plate,

[0550] a second moving plate movably provided on the first moving plate,

[0551] a second motor for moving the first moving plate; and

[0552] a 2-1 motor for moving the second moving plate.

[0553]

[0554] Embodiment 21. The surgical robot of any one of the preceding Embodiments, wherein the moving means comprises:

[0555] a first guide member for moving the first moving plate;

[0556] a second guide rail formed on the first moving plate to move the second moving plate, and

[0557] wherein a first guide rail is formed on the first guide member to linearly reciprocate the first moving plate.

[0558]

[0559] Embodiment 22. The surgical robot of any one of the preceding Embodiments, wherein the moving means comprises:

[0560] a first guide member for moving the first moving plate; and

[0561] a second guide rail formed on the first moving plate to move the second moving plate,

[0562] wherein a coupling member for detachably coupling the actuator module is fixed to the second moving plate,

[0563] wherein a power transmission means is provided on one side of the first moving plate and is connected to the coupling member to linearly move the second moving plate back and forth.

[0564]

[0565] Embodiment 23. The surgical robot of any one of the preceding Embodiments, wherein the translation module comprises a moving means for translating the actuator module,

[0566] wherein the moving means comprises:

[0567] a first moving plate for translating the actuator module;

[0568] a first guide member that guides the first moving plate to move linearly;

[0569] a ball screw provided to move the first moving plate in a straight line; and

[0570] a second motor that rotates the ball screw,

[0571] wherein, upon activation of the second motor, the ball screw rotates causing the first moving plate to move linearly along the length direction of the ball screw thereby enabling simultaneous translation of the actuator module with the movement of the first moving plate in a surgical robot.

[0572]

[0573] Embodiment 24. The surgical robot of any one of the preceding Embodiments, further comprising a translation module providing translational movement,

[0574] wherein the rotation module comprises:

[0575] a rotating plate with a rotation axis, and

[0576] at least one first connection socket provided on the rotating plate;

[0577] wherein the first connection socket allows detachable coupling of an actuator module or the translation module in the surgical robot.

[0578]

[0579] Embodiment 25. The surgical robot of any one of the preceding Embodiments, wherein the translation module comprises a moving means for translational movement of the actuator module,

[0580] wherein the moving means comprises a telescopic structure with a plurality of moving plates for varying a moving distance, and

[0581] wherein a coupling member is disposed on a moving plate of the plurality of moving plates to detachably couple the actuator module.

[0582]

[0583] Embodiment 26. The surgical robot of any one of Embodiments 4-6, 15-16, or 19, wherein the rotation module is detachably coupled with the translation module and the actuator module,

[0584] wherein the actuator module is detachably coupled with the instrument module or the overtube module,

[0585] wherein, when power is supplied through the rotation module, power and electrical signals are transmitted to the translation module and the actuator module, and

[0586] wherein the instrument module or the overtube module is mechanically connected without power supply and is movable via power from the rotation module or the actuator module.

[0587]

[0588] Embodiment 27. The surgical robot of any one of Embodiments 4-6, 15-16, 19, or 26, wherein the actuator module further comprises a casing,

[0589] wherein multiple coupling protrusions are rotatably provided on one side of the casing,

[0590] multiple third motors are disposed inside the casing and configured to rotate the multiple coupling protrusions,

[0591] wherein a third control unit is configured to control the operation of the multiple third motors,

[0592] wherein, when the actuator module is detachably coupled with the instrument module or the overtube module, the third motor causes rotation of the multiple coupling protrusions thereby causing the instrument module or the overtube module to operate.

[0593]

[0594] Embodiment 28. The surgical robot of any one of Embodiments 4-6, 15-16, 19, or 26-27, wherein the coupling protrusions comprise a first protrusion and a second protrusion spaced apart from the first protrusion, and

[0595] wherein the surgical robot further comprising a first pin and a second pin spaced apart from the first pin.

[0596]

[0597] Embodiment 29. The surgical robot of any one of Embodiments 4-6, 15-16, 19, or 26-28, wherein, the first pin or the second pin has a predetermined length for strengthening the circumferential direction during rotation, and

[0598] wherein the sides of the first pin or the second pin are inclined in the circumferential direction for easy attachment to the instrument module or the overtube module.

[0599]

[0600] Embodiment 30. The surgical robot of any one of the preceding Embodiments, wherein one side of the actuator module is detachably coupled with the rotation module and the translation module,

[0601] wherein the rotation module, the translation module, and the actuator module each comprise a motor and a control unit for operation, and

[0602] wherein the surgical robot further comprises a master for controlling the control units of the rotation module, the translation module, and the actuator module.

[0603]

[0604] Embodiment 31. The surgical robot of any one of the preceding Embodiments, further comprising the rotation module,

[0605] wherein the actuator module is detachably coupled to the rotation module such that the actuator module rotates via operation of the rotation module, and

[0606] wherein the rotation module rotates less than 360 degrees in a forward or reverse direction depending on the surgery.

[0607]

[0608] Embodiment 32. The surgical robot of any one of the preceding Embodiments, further comprising a drape for sterilization disposed between the actuator module the instrument module or the overtube module, and

[0609] wherein the drape comprises a plurality of penetrating holes for transmitting power from the actuator module, and

[0610] wherein multiple coupling protrusions protrude from the drape for transmitting power and mechanically coupling the drape to the instrument module or the overtube module.

[0611]

[0612] Embodiment 33. The surgical robot of any one of Embodiments 4-6, 15-16, 19, or 26-29, wherein the overtube module comprises an overtube driving unit and a flexible tube,

[0613] wherein a joint is disposed at one end of the flexible tube,

[0614] wherein a coupling portion disposed at one end of the flexible tube and coupled to the overtube driving unit, and

[0615] wherein the coupling portion comprises one or more sealing rings for sealing.

[0616]

[0617] Embodiment 34. The surgical robot of any one of the preceding Embodiments, wherein the translation module comprises connection sockets for mechanically and electrically coupling on both sides thereof, and

[0618] wherein the actuator module comprises a connection socket for mechanically and electrically coupling on one side thereof.

[0619]

[0620] Embodiment 35. The surgical robot of any one of the preceding Embodiments, wherein the connection sockets comprise a second connection socket for inputting power and electrical signals, and a socket arranged in a 2-1 configuration for outputting power and electrical signals.

[0621]

[0622] Embodiment 36. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, or 33, wherein detachable means are disposed on one side of the actuator module and the instrument module for removably coupling the actuator module and the instrument module thereby allowing selective detachment and coupling of the instrument module to the actuator module according to the type of surgery.

[0623]

[0624] Embodiment 37. The surgical robot of any one of the preceding Embodiments wherein the actuator module comprises a casing and a coupling member rotatably provided on a front of the casing.

[0625]

[0626] Embodiment 38. The surgical robot of any one of the preceding Embodiments, wherein the coupling member comprises a detachable means allowing detachment and a power transmission means for transmitting power.

[0627]

[0628] Embodiment 39. The surgical robot of any one of the preceding Embodiments, wherein multiple coupling members pass through perforations formed in a support plate on the front of the casing.

[0629]

[0630] Embodiment 40. The surgical robot of any one of the preceding Embodiments, wherein each of the multiple coupling members comprises a driving means coupled inside the casing for rotating the coupling member.

[0631]

[0632] Embodiment 41. The surgical robot of any one of the preceding Embodiments, wherein the end of the coupling member forms a protrusion for coupling.

[0633]

[0634] Embodiment 42. The surgical robot of any one of the preceding Embodiments, wherein the protrusion comprises a first protrusion with a certain length and a second protrusion formed on one end of the first protrusion.

[0635]

[0636] Embodiment 43. The surgical robot of any one of the preceding Embodiments, wherein the protrusion is asymmetric in structure due to the first and second protrusions.

[0637]

[0638] Embodiment 44. The surgical robot of any one of the preceding Embodiments, wherein the second protrusion protrudes in a circular shape.

[0639]

[0640] Embodiment 45. The surgical robot of any one of the preceding Embodiments, wherein the second protrusion has a diameter larger than the width of the first protrusion.

[0641]

[0642] Embodiment 46. The surgical robot of any one of the preceding Embodiments, wherein the protrusion comprises a first protrusion with a certain length and second and third protrusions formed on each side of the first protrusion, and

[0643] wherein the widths of the second and third protrusions are larger than the width of the first protrusion.

[0644]

[0645] Embodiment 47. The surgical robot of any one of the preceding Embodiments, wherein the protrusion comprises a first protrusion with a certain length and second and third protrusions formed on each side of the first protrusion, and

[0646] wherein the diameters of the second and third protrusions are different to make the protrusion asymmetric.

[0647]

[0648] Embodiment 48. The surgical robot of any one of the preceding Embodiments, further comprising a drape for sterilization detachably coupled to the front of the actuator module, and

[0649] wherein the drape comprises a body and multiple coupling members rotatably formed on the body.

[0650]

[0651] Embodiment 49. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, or 36, wherein multiple coupling members formed on the drape are provided on a coupling plate, and

[0652] wherein each coupling member comprises: (i) a detachable means for removably coupling the actuator module and instrument module and (ii) a power cutting means for transmitting power from the actuator module.

[0653]

[0654] Embodiment 50. The surgical robot of any one of the preceding Embodiments, wherein the body of the drape includes a first surface and a second surface protruding on both sides of the first surface.

[0655]

[0656] Embodiment 51. The surgical robot of any one of the preceding Embodiments, wherein the second surface has a coupling groove formed along a length for coupling with the instrument module.

[0657]

[0658] Embodiment 52. The surgical robot of any one of the preceding Embodiments, wherein the coupling groove narrows from top to bottom.

[0659]

[0660] Embodiment 53. The surgical robot of any one of the preceding Embodiments, wherein the first surface comprises a coupling member, and

[0661] wherein one side of which of the coupling member protrudes and an opposite side is concave.

[0662]

[0663] Embodiment 54. The surgical robot of any one of the preceding Embodiments, wherein the coupling member comprises a first protruding part on one side of the first surface and a concave groove.

[0664]

[0665] Embodiment 55. The surgical robot of any one of the preceding Embodiments, wherein the first protruding part comprises a first protrusion coupling part and a second protrusion coupling part protruding from the first protrusion coupling part.

[0666]

[0667] Embodiment 56. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36 or 49, wherein the second protrusion coupling part is formed in a same shape as the protruding structure of the coupling member protruding from the front of the instrument module.

[0668]

[0669] Embodiment 57. The surgical robot of any one of the preceding Embodiments, wherein the second coupling part is concave and comprises a first concave coupling part and a second concave coupling part formed inside the first concave coupling part.

[0670]

[0671] Embodiment 58. The surgical robot of any one of the preceding Embodiments, wherein the first and second concave coupling parts are formed as a groove.

[0672]

[0673] Embodiment 59. The surgical robot of any one of the preceding Embodiments, wherein the first concave coupling part corresponds to the first protrusion coupling part formed on the first coupling part of the drape, and the second concave coupling part corresponds to the second protrusion coupling part formed on the second coupling part of the drape,

[0674] wherein an opposite side of the first concave coupling part comprises the first protrusion coupling part and an opposite side of the second concave coupling part comprises the second protrusion coupling part.

[0675]

[0676] Embodiment 60. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49 or 56, wherein a sterilization drape is detachably coupled to the front of the actuator module and the instrument module is detachably coupled to the front of the drape.

[0677]

[0678] Embodiment 61. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60, wherein the instrument module comprises a housing and fastening plates provided on both sides of the housing.

[0679]

[0680] Embodiment 62. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-61, wherein the drape is detachably coupled to a portion of the fastening plate,

[0681] wherein the fastening plate comprises multiple coupling holes, and

[0682] wherein each coupling hole comprises a coupling member.

[0683]

[0684] Embodiment 63. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-62, wherein the coupling member of the instrument module comprises a detachable means for detachably coupling the drape.

[0685]

[0686] Embodiment 64. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-63, further comprising coupling pieces configured to be detachably coupled to the drape protrude on both sides of the housing.

[0687]

[0688] Embodiment 65. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-64, wherein the coupling piece comprises a shape that narrows from top to bottom.

[0689]

[0690] Embodiment 66. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-65, wherein the second surface of the drape comprises a coupling groove, and

[0691] wherein the coupling pieces are formed on both sides of the housing of the instrument module and are detachably coupled to the coupling groove.

[0692]

[0693] Embodiment 67. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-66, wherein, when the instrument module is coupled to the drape, the coupling is guided from top to bottom in the coupling groove.

[0694]

[0695] Embodiment 68. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-67, wherein the coupling member comprises a first coupling part having a circular shape and a second coupling part formed inside the first coupling part.

[0696]

[0697] Embodiment 69. The surgical robot of any one of Embodiments 4-6, 15-16, 19, 26-29, 33, 36, 49, or 60-68, wherein the coupling member of the instrument module comprises a second coupling part having a concave shape and the drape includes a first surface,

[0698] wherein a first coupling part protrudes from one side of the first surface and an opposite side of the first surface has a concave shape a second coupling part.

[0699]

[0700] Embodiment 70. The surgical robot of any one of the preceding Embodiments, further comprising:

[0701] an overtube module comprising an overtube for endoscopic surgery or a terminal module connected to a surgical tool module; and

[0702] a continuum module receiving control signals for operating the overtube module or surgical tool module from a master station and transmitting them to the terminal module, and

[0703] wherein the terminal module or continuum module is selectively detachable according to the type of surgery.

[0704]

[0705] Embodiment 71. The surgical robot of any one of the preceding Embodiments, wherein when the electrical connection between the terminal module and the overtube module or the surgical tool module is disconnected, only a physical driving force is transmitted.

[0706]

[0707] Embodiment 72. The surgical robot of any one of the preceding Embodiments, wherein the surgical robot is divided into a first module group including the terminal module or the continuum module and a second module group including the overtube module or the surgical tool module,

[0708] wherein electrical and mechanical connections are made between modules in the first module group,

[0709] wherein only mechanical connections are made between modules in the second module group, and

[0710] wherein there is no electrical connection between the first module group and the second module group.

[0711]

[0712] Embodiment 73. The surgical robot of any one of the preceding Embodiments, further comprising a communication path connecting the continuum module and the terminal module, and

[0713] wherein the terminal module is located at an end of the communication path.

[0714]

[0715] Embodiment 74. The surgical robot of any one of the preceding Embodiments, wherein, when the surgical robot is in a position defined as an upper part and a surgical site position is at a near part, the first module and the second module are arranged in sequence from the upper part to the near part, either the first module or the second module is one of the continuum modules or terminal modules, power and control signals of the first module are transmitted to the second module from the upper part to the near part, and the power and control signals of the second module transmitted from the upper part are passed through the first module to the second module.

[0716]

[0717] Embodiment 75. The surgical robot of any one of the preceding Embodiments, wherein a communication path connecting the continuum module and the terminal module is formed, and

[0718] wherein the communication path follows the EtherCAT communication method such that the surgical robot comprises a ring topology.

[0719]

[0720] Embodiment 76. The surgical robot of any one of the preceding Embodiments, further comprising a distribution module for distributing power or control signals,

[0721] wherein the distribution module distributes power or control signals to multiple continuum modules, and data packets sent from the distribution module pass through multiple continuum modules and terminal modules connected to each continuum module, undergo data processing, and return to the distribution module.

[0722]

[0723] Embodiment 77. The surgical robot of any one of the preceding Embodiments, wherein the terminal module receives electrical signals containing power or control signals, converts the electrical signals into rotational power, and transmits the electrical signals to the overtube module or surgical tool module.

[0724]

[0725] Embodiment 78. The surgical robot of any one of the preceding Embodiments, wherein through the detachment of each module, electrical coupling, power supply and control signal transmission, and mechanical coupling are all performed between modules.

[0726]

[0727] Embodiment 79. The surgical robot of any one of the preceding Embodiments, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0728] wherein the continuum modules are electrically or mechanically detachable from the distribution module, and

[0729] wherein the terminal module is electrically or mechanically detachable from the continuum module.

[0730]

[0731] Embodiment 80. The surgical robot of any one of the preceding Embodiments, further comprising a distribution module for distributing power or control signals to multiple continuum modules, and

[0732] wherein the distribution module, continuum module, and terminal module are arranged in a three-stage serial structure.

[0733]

[0734] Embodiment 81. The surgical robot of any one of the preceding Embodiments, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0735] wherein the first module and the second module are one of the distribution module or the continuum module,

[0736] wherein the first module implements the first movement with one degree of freedom, the second module implements the second movement with another degree of freedom, and the first and second modules are mechanically connected in series and operate in an overlapping state when the first module performs the first movement, and

[0737] wherein the second module performs the second movement.

[0738]

[0739] Embodiment 82. The surgical robot of any one of the preceding Embodiments, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0740] wherein the distribution module comprises multiple terminals connected to the continuum modules,

[0741] wherein the distribution module comprises a switch unit connecting the terminals,

[0742] wherein, when one continuum module is removed, the switch unit disconnects the connection with the terminal corresponding to the removed continuum module and connects to the next order terminal on the communication path thereby restoring the communication path.

[0743]

[0744] Embodiment 83. The surgical robot of any one of the preceding Embodiments, further comprising:

[0745] a rotation module for rotating the overtube module or surgical tool module;

[0746] a linear motion module for translating the overtube module or surgical tool module; and

[0747] a drive module for driving the overtube module or surgical tool module,

[0748] wherein the continuum module corresponds to the rotation module or the linear motion module, and

[0749] wherein the terminal module corresponds to the drive module.

[0750]

[0751] Embodiment 84. The surgical robot of any one of the preceding Embodiments, further comprising:

[0752] a rotation module for rotating the overtube module or surgical tool module;

[0753] a linear motion module for translating the overtube module or surgical tool module;

[0754] a drive module for driving the overtube module or surgical tool module; and

[0755] a distribution module distributing power or control signals to multiple continuum modules,

[0756] wherein the distribution module corresponds to the rotation module or the linear motion module, the continuum module corresponds to the rotation module or the linear motion module, and the terminal module corresponds to the drive module.

[0757]

[0758] Embodiment 85. The surgical robot of any one of the preceding Embodiments, further comprising:

[0759] a rotation module for rotating the overtube module or surgical tool module;

[0760] a linear motion module for translating the overtube module or surgical tool module; and

[0761] a drive module for driving the overtube module or surgical tool module,

[0762] wherein multiple linear motion modules are connected in parallel to one rotation module,

[0763] wherein, when the rotation module rotates, multiple linear motion modules rotate together, the linear motion module translates the drive module or surgical tool module during linear motion, and the drive module connected to each linear motion module operates in conjunction with the linear motion.

[0764]

[0765] Embodiment 86. The surgical robot of any one of the preceding Embodiments, wherein, instead of replacing the power transmission unit of the motor, the entire motor and power transmission unit are replaced as a single module unit.

[0766]

[0767] Embodiment 87. The surgical robot of any one of the preceding Embodiments, further comprising a communication path connecting the continuum module and the terminal module, and

[0768] wherein the terminal module functions as a connection node of the ring topology formed by the communication path.

[0769]

[0770] Embodiment 88. The surgical robot of any one of the preceding Embodiments, the continuum module or terminal module comprises at least one of an inlet for receiving control signals, an outlet for outputting control signals, a motor, and at least one motor controller that controls the motor according to the control signals.

[0771]

[0772] Embodiment 89. The surgical robot of any one of the preceding Embodiments, wherein the first module or the second module is one of the continuum module or the terminal module, and

[0773] wherein power or control signals are transmitted through elastic connections between the first terminal of the first module and the second terminal of the second module facing each other.

[0774]

[0775] Embodiment 90. The surgical robot of any one of the preceding Embodiments, wherein each module comprises (i) an electrical connection part for transmitting and receiving power and control signals and (ii) a mechanical connection part for physically connecting,

[0776] wherein the electrical connection part is arranged to be surrounded by the mechanical connection part, and

[0777] wherein the external exposure is blocked by the mechanical connection part.

[0778]

[0779] Embodiment 91. The surgical robot of any one of the preceding Embodiments, wherein, when modules are selected for each type of surgery, the control unit of the master station replaces the settings with software corresponding to each selected module.

[0780]

[0781] Embodiment 92. A surgical robot comprising:

[0782] an overtube module comprising an overtube for endoscopic surgery or a terminal module connected to a surgical tool module; and

[0783] a continuum module receiving control signals for operating the overtube module or surgical tool module from a master station and transmitting them to the terminal module, and

[0784] wherein the terminal module or continuum module is selectively detachable according to the type of surgery.

[0785]

[0786] Embodiment 93. The surgical robot of Embodiment 92, wherein when the electrical connection between the terminal module and the overtube module or the surgical tool module is disconnected, only a physical driving force is transmitted.

[0787]

[0788] Embodiment 94. The surgical robot of Embodiments 92 or 93, wherein the surgical robot is divided into a first module group including the terminal module or the continuum module and a second module group including the overtube module or the surgical tool module,

[0789] wherein electrical and mechanical connections are made between modules in the first module group,

[0790] wherein only mechanical connections are made between modules in the second module group, and

[0791] wherein there is no electrical connection between the first module group and the second module group.

[0792]

[0793] Embodiment 95. The surgical robot of any one of Embodiments 91-94, further comprising a communication path connecting the continuum module and the terminal module, and

[0794] wherein the terminal module is located at an end of the communication path.

[0795]

[0796] Embodiment 96. The surgical robot of any one of Embodiments 91-95, wherein, when the surgical robot is in a position defined as an upper part and a surgical site position is at a near part, the first module and the second module are arranged in sequence from the upper part to the near part, either the first module or the second module is one of the continuum modules or terminal modules, power and control signals of the first module are transmitted to the second module from the upper part to the near part, and the power and control signals of the second module transmitted from the upper part are passed through the first module to the second module.

[0797]

[0798] Embodiment 97. The surgical robot of any one of Embodiments 91-96, wherein a communication path connecting the continuum module and the terminal module is formed, and

[0799] wherein the communication path follows the EtherCAT communication method such that the surgical robot comprises a ring topology.

[0800]

[0801] Embodiment 98. The surgical robot of any one of Embodiments 91-97, further comprising a distribution module for distributing power or control signals,

[0802] wherein the distribution module distributes power or control signals to multiple continuum modules, and data packets sent from the distribution module pass through multiple continuum modules and terminal modules connected to each continuum module, undergo data processing, and return to the distribution module.

[0803]

[0804] Embodiment 99. The surgical robot of any one of Embodiments 91-98, wherein the terminal module receives electrical signals containing power or control signals, converts the electrical signals into rotational power, and transmits the electrical signals to the overtube module or surgical tool module.

[0805]

[0806] Embodiment 100. The surgical robot of any one of Embodiments 91-99, wherein through the detachment of each module, electrical coupling, power supply and control signal transmission, and mechanical coupling are all performed between modules.

[0807]

[0808] Embodiment 101. The surgical robot of any one of Embodiments 91-100, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0809] wherein the continuum modules are electrically or mechanically detachable from the distribution module, and

[0810] wherein the terminal module is electrically or mechanically detachable from the continuum module.

[0811]

[0812] Embodiment 102. The surgical robot of any one of Embodiments 91-101, further comprising a distribution module for distributing power or control signals to multiple continuum modules, and

[0813] wherein the distribution module, continuum module, and terminal module are arranged in a three-stage serial structure.

[0814]

[0815] Embodiment 103. The surgical robot of any one of Embodiments 91-102, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0816] wherein the first module and the second module are one of the distribution module or the continuum module,

[0817] wherein the first module implements the first movement with one degree of freedom, the second module implements the second movement with another degree of freedom, and the first and second modules are mechanically connected in series and operate in an overlapping state when the first module performs the first movement, and

[0818] wherein the second module performs the second movement.

[0819]

[0820] Embodiment 104. The surgical robot of any one of Embodiments 91-103, further comprising a distribution module for distributing power or control signals to multiple continuum modules,

[0821] wherein the distribution module comprises multiple terminals connected to the continuum modules,

[0822] wherein the distribution module comprises a switch unit connecting the terminals,

[0823] wherein, when one continuum module is removed, the switch unit disconnects the connection with the terminal corresponding to the removed continuum module and connects to the next order terminal on the communication path thereby restoring the communication path.

[0824]

[0825] Embodiment 105. The surgical robot of any one of Embodiments 91-104, further comprising:

[0826] a rotation module for rotating the overtube module or surgical tool module;

[0827] a linear motion module for translating the overtube module or surgical tool module; and

[0828] a drive module for driving the overtube module or surgical tool module,

[0829] wherein the continuum module corresponds to the rotation module or the linear motion module, and

[0830] wherein the terminal module corresponds to the drive module.

[0831]

[0832] Embodiment 106. The surgical robot of any one of Embodiments 91-105, further comprising:

[0833] a rotation module for rotating the overtube module or surgical tool module;

[0834] a linear motion module for translating the overtube module or surgical tool module;

[0835] a drive module for driving the overtube module or surgical tool module; and

[0836] a distribution module distributing power or control signals to multiple continuum modules,

[0837] wherein the distribution module corresponds to the rotation module or the linear motion module, the continuum module corresponds to the rotation module or the linear motion module, and the terminal module corresponds to the drive module.

[0838]

[0839] Embodiment 107. The surgical robot of any one of Embodiments 91-106, further comprising:

[0840] a rotation module for rotating the overtube module or surgical tool module;

[0841] a linear motion module for translating the overtube module or surgical tool module; and

[0842] a drive module for driving the overtube module or surgical tool module,

[0843] wherein multiple linear motion modules are connected in parallel to one rotation module,

[0844] wherein, when the rotation module rotates, multiple linear motion modules rotate together, the linear motion module translates the drive module or surgical tool module during linear motion, and the drive module connected to each linear motion module operates in conjunction with the linear motion.

[0845]

[0846] Embodiment 108. The surgical robot of any one of Embodiments 91-107, wherein, instead of replacing the power transmission unit of the motor, the entire motor and power transmission unit are replaced as a single module unit.

[0847]

[0848] Embodiment 109. The surgical robot of any one of Embodiments 91-108, further comprising a communication path connecting the continuum module and the terminal module, and

[0849] wherein the terminal module functions as a connection node of the ring topology formed by the communication path.

[0850]

[0851] Embodiment 110. The surgical robot of any one of Embodiments 91-109, the continuum module or terminal module comprises at least one of an inlet for receiving control signals, an outlet for outputting control signals, a motor, and at least one motor controller that controls the motor according to the control signals.

[0852]

[0853] Embodiment 111. The surgical robot of any one of Embodiments 91-110, wherein the first module or the second module is one of the continuum module or the terminal module, and

[0854] wherein power or control signals are transmitted through elastic connections between the first terminal of the first module and the second terminal of the second module facing each other.

[0855]

[0856] Embodiment 112. The surgical robot of any one of Embodiments 91-111, wherein each module comprises (i) an electrical connection part for transmitting and receiving power and control signals and (ii) a mechanical connection part for physically connecting,

[0857] wherein the electrical connection part is arranged to be surrounded by the mechanical connection part, and

[0858] wherein the external exposure is blocked by the mechanical connection part.

[0859]

[0860] Embodiment 113. The surgical robot of any one of Embodiments 91-112, wherein, when modules are selected for each type of surgery, the control unit of the master station replaces the settings with software corresponding to each selected module.

[0861]

[0862] Embodiment 114. A system comprising the surgical robot of any one of the preceding Embodiments.

[0863]

[0864] Embodiment 115. A method of performing a surgery using the surgical robot of any one the preceding Embodiments.

[0865]

[0866] Embodiment 116. A medium comprising a processor to operate the surgical robot of any one of the preceding Embodiments.

[0867]

[0868] Embodiment 117. A surgical robot system comprising:

[0869] a master device having a screen and a controller;

[0870] a surgical robot configured to receive a signal from the master device;

[0871] wherein, in response to the signal from the master device, the surgical robot assembly is operable to perform a surgical operation, and

[0872] wherein the surgical robot is the surgical robot of any of Embodiments 1-116 .

[0873]

[0874] Embodiment 118. The surgical robot system of Embodiment 117, wherein the surgical robot comprises:

[0875] an actuator for providing power to the surgical robot; and

[0876] at least one of a rotation module or a translation module,

[0877] wherein the actuator module and the at least one of the rotation module or the translation module are configured to be coupled in more than one configuration for performing a variety a surgical procedures.

[0878]

[0879] Embodiment 119. The surgical robot system of Embodiment 117 or 118, wherein the surgical robot comprises the rotation module.

[0880]

[0881] Embodiment 120. The surgical robot system of any one of Embodiments 117-119, wherein the surgical robot comprises the translation module.

[0882]

[0883] Embodiment 121. The surgical robot system of any one of Embodiments 117-120, further comprising an instrument module for performing surgery.

[0884]

[0885] Embodiment 122. The surgical robot system of any one of Embodiments 117-121, wherein the instrument module is singular or plural, and

[0886] wherein the instrument is selectively and detachably coupled to the actuator module depending on the type of surgery.

[0887]

[0888] Embodiment 123. The surgical robot system of any one of Embodiments 117-122, further comprising an overtube module containing the instrument module, and

[0889] wherein the overtube module is selectively and detachably coupled to the actual module depending on the type of surgery.

[0890]

[0891] Embodiment 124. The surgical robot system of any one of Embodiments 117-123, wherein the translation module is detachably coupled to the actuator module and provides translational movement to the actuator module.

[0892]

[0893] Embodiment 125. The surgical robot system of any one of Embodiments 117-124, wherein the rotation module is detachably coupled to the actuator module and rotates the actuator module.

[0894]

[0895] Embodiment 126. The surgical robot system of any one of Embodiments 117-125, wherein the rotation module and the translation module are detachably coupled to one side of the actuator module, and

[0896] wherein the actuator module and the translation module are simultaneously rotated by the rotation module.

[0897]

[0898] Embodiment 127. The surgical robot system of any one of Embodiments 117-126, wherein the translation module is a plurality of translation modules,

[0899] wherein the rotation module and the plurality of translation modules are detachably coupled to one side of the actuator module, and

[0900] wherein the actuator module and the plurality of translation modules are simultaneously rotated by the rotation module.

[0901]

[0902] Embodiment 128. The surgical robot system of any one of Embodiments 117-127, wherein the rotation module provides rotational force,

[0903] wherein the rotation module comprises a group of rotation modules detachably coupled in parallel, and

[0904] wherein the translation module and the actuator module are detachably coupled.

[0905]

[0906] Embodiment 129. The surgical robot system of any one of Embodiments 117-128, further comprising a module group comprising a translation module and an actuator module,

[0907] wherein the translation module and actuator module of the module group are detachably coupled to each other, and

[0908] wherein the module group and the actuator module are detachably coupled in parallel.

[0909]

[0910] Embodiment 130. The surgical robot system of any one of Embodiments 117-129, further comprising a plurality of translation modules and a second module group, the second module group comprising the actuator module,

[0911] wherein the rotational module includes a plurality of module groups detachably coupled in parallel, and

[0912] wherein the module group comprises a translation module and an actuator module.

[0913]

[0914] Embodiment 131. The surgical robot system of any one of Embodiments 117-130, wherein the rotation module comprises a plurality of module groups detachably coupled in parallel,

[0915] wherein the plurality of module groups comprise:

[0916] a first module group including a translation module providing translational movement, the actuator module, and the instrument module;

[0917] a second module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[0918] a third module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[0919] a fourth module group including the actuator module and the overtube module.

[0920]

[0921] Embodiment 132. The surgical robot system of any one of Embodiments 117-131, wherein a detachable means is provided between the actuator module and the instrument module or overtube module.

[0922]

[0923] Embodiment 133. The surgical robot system of any one of Embodiments 117-132, further an attachment and detachment means comprising:

[0924] a plurality of coupling protrusions formed on one surface of the actuator module;

[0925] a fastening plate formed on one side of the instrument module;

[0926] a detachable plate formed on one surface of the overtube module,

[0927] wherein a plurality of coupling holes for coupling the coupling protrusions are formed in the fastening plate or the detachable plate.

[0928]

[0929] Embodiment 134. The surgical robot system of any one of Embodiments 117-133, wherein the translation module is detachably coupled to the actuator module, and

[0930] wherein the translation module and the actuator module are mechanically and electrically connected.

[0931]

[0932] Embodiment 135. The surgical robot system of any one of Embodiments 117-134, wherein the electrical connection includes a power source and an electrical signal.

[0933]

[0934] Embodiment 136. The surgical robot system of any one of Embodiments 117-135, wherein the actuator module comprises a third motor and a third control unit that controls the operation of the third motor,

[0935] wherein the instrument module comprises a surgical tool driving unit and a surgical tool having a flexible tube extending from the surgical tool driving unit,

[0936] wherein the overtube module comprises an overtube driving unit, a flexible tube connected to the overtube driving unit, and a joint formed at an end of the flexible tube,

[0937] wherein, when the instrument module or the overtube module is detachably coupled to the actuator module, movement of the surgical tool occurs through the surgical tool driving unit of the instrument module by the operation of the third motor, and

[0938] wherein movement of the joint occurs through the surgical tool driving part of the instrument module and the overtube driving part by the operation of the third motor.

[0939]

[0940] Embodiment 137. The surgical robot system of any one of Embodiments 117-136, wherein the translation module comprises a moving means for translating the actuator module, the moving means comprising:

[0941] a motor for operating the moving means,

[0942] a first moving plate,

[0943] a second moving plate movably provided on the first moving plate,

[0944] a second motor for moving the first moving plate; and

[0945] a 2-1 motor for moving the second moving plate.

[0946]

[0947] Embodiment 138. The surgical robot system of any one of Embodiments 117-137, wherein the moving means comprises:

[0948] a first guide member for moving the first moving plate;

[0949] a second guide rail formed on the first moving plate to move the second moving plate, and

[0950] wherein a first guide rail is formed on the first guide member to linearly reciprocate the first moving plate.

[0951]

[0952] Embodiment 139. The surgical robot system of any one of Embodiments 117-138, wherein the moving means comprises:

[0953] a first guide member for moving the first moving plate; and

[0954] a second guide rail formed on the first moving plate to move the second moving plate,

[0955] wherein a coupling member for detachably coupling the actuator module is fixed to the second moving plate,

[0956] wherein a power transmission means is provided on one side of the first moving plate and is connected to the coupling member to linearly move the second moving plate back and forth.

[0957]

[0958] Embodiment 140. The surgical robot system of any one of Embodiments 117-139, wherein the translation module comprises a moving means for translating the actuator module,

[0959] wherein the moving means comprises:

[0960] a first moving plate for translating the actuator module;

[0961] a first guide member that guides the first moving plate to move linearly;

[0962] a ball screw provided to move the first moving plate in a straight line; and

[0963] a second motor that rotates the ball screw,

[0964] wherein, upon activation of the second motor, the ball screw rotates causing the first moving plate to move linearly along the length direction of the ball screw thereby enabling simultaneous translation of the actuator module with the movement of the first moving plate in a surgical robot.

[0965]

[0966] Embodiment 141. The surgical robot system of any one of Embodiments 117-140, further comprising a translation module providing translational movement,

[0967] wherein the rotation module comprises:

[0968] a rotating plate with a rotation axis, and

[0969] at least one first connection socket provided on the rotating plate;

[0970] wherein the first connection socket allows detachable coupling of an actuator module or the translation module in the surgical robot.

[0971]

[0972] Embodiment 142. The surgical robot system of any one of Embodiments 117-141, wherein the translation module comprises a moving means for translational movement of the actuator module,

[0973] wherein the moving means comprises a telescopic structure with a plurality of moving plates for varying a moving distance, and

[0974] wherein a coupling member is disposed on a moving plate of the plurality of moving plates to detachably couple the actuator module.

[0975]

[0976] Embodiment 143. The surgical robot system of any one of Embodiments 117-142, wherein the rotation module is detachably coupled with the translation module and the actuator module,

[0977] wherein the actuator module is detachably coupled with the instrument module or the overtube module,

[0978] wherein, when power is supplied through the rotation module, power and electrical signals are transmitted to the translation module and the actuator module, and

[0979] wherein the instrument module or the overtube module is mechanically connected without power supply and is movable via power from the rotation module or the actuator module.

[0980]

[0981] Embodiment 144. The surgical robot system of any one of Embodiments 117-143, wherein the actuator module further comprises a casing,

[0982] wherein multiple coupling protrusions are rotatably provided on one side of the casing,

[0983] multiple third motors are disposed inside the casing and configured to rotate the multiple coupling protrusions,

[0984] wherein a third control unit is configured to control the operation of the multiple third motors,

[0985] wherein, when the actuator module is detachably coupled with the instrument module or the overtube module, the third motor causes rotation of the multiple coupling protrusions thereby causing the instrument module or the overtube module to operate.

[0986]

[0987] Embodiment 145. The surgical robot system of any one of Embodiments 117-144, wherein the coupling protrusions comprise a first protrusion and a second protrusion spaced apart from the first protrusion, and

[0988] wherein the surgical robot further comprising a first pin and a second pin spaced apart from the first pin.

[0989]

[0990] Embodiment 146. The surgical robot system of any one of Embodiments 117-145, wherein, the first pin or the second pin has a predetermined length for strengthening the circumferential direction during rotation, and

[0991] wherein the sides of the first pin or the second pin are inclined in the circumferential direction for easy attachment to the instrument module or the overtube module.

[0992]

[0993] Embodiment 147. The surgical robot system of any one of Embodiments 117-146, wherein one side of the actuator module is detachably coupled with the rotation module and the translation module,

[0994] wherein the rotation module, the translation module, and the actuator module each comprise a motor and a control unit for operation, and

[0995] wherein the surgical robot further comprises a master for controlling the control units of the rotation module, the translation module, and the actuator module.

[0996]

[0997] Embodiment 148. The surgical robot system of any one of Embodiments 117-147, further comprising the rotation module,

[0998] wherein the actuator module is detachably coupled to the rotation module such that the actuator module rotates via operation of the rotation module, and

[0999] wherein the rotation module rotates less than 360 degrees in a forward or reverse direction depending on the surgery.

[1000]

[1001] Embodiment 149. The surgical robot system of any one of Embodiments 117-148, further comprising a drape for sterilization disposed between the actuator module the instrument module or the overtube module, and

[1002] wherein the drape comprises a plurality of penetrating holes for transmitting power from the actuator module, and

[1003] wherein multiple coupling protrusions protrude from the drape for transmitting power and mechanically coupling the drape to the instrument module or the overtube module.

[1004]

[1005] Embodiment 150. The surgical robot system of any one of Embodiments 117-149, wherein the overtube module comprises an overtube driving unit and a flexible tube,

[1006] wherein a joint is disposed at one end of the flexible tube,

[1007] wherein a coupling portion disposed at one end of the flexible tube and coupled to the overtube driving unit, and

[1008] wherein the coupling portion comprises one or more sealing rings for sealing.

[1009]

[1010] Embodiment 151. The surgical robot system of any one of Embodiments 117-150, wherein the translation module comprises connection sockets for mechanically and electrically coupling on both sides thereof, and

[1011] wherein the actuator module comprises a connection socket for mechanically and electrically coupling on one side thereof.

[1012]

[1013] Embodiment 152. The surgical robot system of any one of Embodiments 117-151, wherein the connection sockets comprise a second connection socket for inputting power and electrical signals, and a socket arranged in a 2-1 configuration for outputting power and electrical signals.

[1014]

[1015] Embodiment 153. The surgical robot system of any one of Embodiments 117-152, wherein detachable means are disposed on one side of the actuator module and the instrument module for removably coupling the actuator module and the instrument module thereby allowing selective detachment and coupling of the instrument module to the actuator module according to the type of surgery.

[1016]

[1017] Embodiment 154. The surgical robot system of any one of Embodiments 117-153, wherein the actuator module comprises a casing and a coupling member rotatably provided on a front of the casing.

[1018]

[1019] Embodiment 155. The surgical robot system of any one of Embodiments 117-154, wherein the coupling member comprises a detachable means allowing detachment and a power transmission means for transmitting power.

[1020]

[1021] Embodiment 156. The surgical robot system of any one of Embodiments 117-155, wherein multiple coupling members pass through perforations formed in a support plate on the front of the casing.

[1022]

[1023] Embodiment 157. The surgical robot system of any one of Embodiments 117-156, wherein each of the multiple coupling members comprises a driving means coupled inside the casing for rotating the coupling member.

[1024]

[1025] Embodiment 158. The surgical robot system of any one of Embodiments 117-157, wherein the end of the coupling member forms a protrusion for coupling.

[1026]

[1027] Embodiment 159. The surgical robot system of any one of Embodiments 117-158, wherein the protrusion comprises a first protrusion with a certain length and a second protrusion formed on one end of the first protrusion.

[1028]

[1029] Embodiment 160. The surgical robot system of any one of Embodiments 117-159, wherein the protrusion is asymmetric in structure due to the first and second protrusions.

[1030]

[1031] Embodiment 161. The surgical robot system of any one of Embodiments 117-160, wherein the second protrusion protrudes in a circular shape.

[1032]

[1033] Embodiment 162. The surgical robot system of any one of Embodiments 117-161, wherein the second protrusion has a diameter larger than the width of the first protrusion.

[1034]

[1035] Embodiment 163. The surgical robot system of any one of Embodiments 117-162, wherein the protrusion comprises a first protrusion with a certain length and second and third protrusions formed on each side of the first protrusion, and

[1036] wherein the widths of the second and third protrusions are larger than the width of the first protrusion.

[1037]

[1038] Embodiment 164. The surgical robot system of any one of Embodiments 117-163, wherein the protrusion comprises a first protrusion with a certain length and second and third protrusions formed on each side of the first protrusion, and

[1039] wherein the diameters of the second and third protrusions are different to make the protrusion asymmetric.

[1040]

[1041] Embodiment 165. The surgical robot system of any one of Embodiments 117-164, further comprising a drape for sterilization detachably coupled to the front of the actuator module, and

[1042] wherein the drape comprises a body and multiple coupling members rotatably formed on the body.

[1043]

[1044] Embodiment 166. The surgical robot system of any one of Embodiments 117-165, wherein multiple coupling members formed on the drape are provided on a coupling plate, and

[1045] wherein each coupling member comprises: (i) a detachable means for removably coupling the actuator module and instrument module and (ii) a power cutting means for transmitting power from the actuator module.

[1046]

[1047] Embodiment 167. The surgical robot system of any one of Embodiments 117-166, wherein the body of the drape includes a first surface and a second surface protruding on both sides of the first surface.

[1048]

[1049] Embodiment 168. The surgical robot system of any one of Embodiments 117-167, wherein the second surface has a coupling groove formed along a length for coupling with the instrument module.

[1050]

[1051] Embodiment 169. The surgical robot system of any one of Embodiments 117-168, wherein the coupling groove narrows from top to bottom.

[1052]

[1053] Embodiment 170. The surgical robot system of any one of Embodiments 117-169, wherein the first surface comprises a coupling member, and

[1054] wherein one side of which of the coupling member protrudes and an opposite side is concave.

[1055]

[1056] Embodiment 171. The surgical robot system of any one of Embodiments 117-170, wherein the coupling member comprises a first protruding part on one side of the first surface and a concave groove.

[1057]

[1058] Embodiment 172. The surgical robot system of any one of Embodiments 117-171, wherein the first protruding part comprises a first protrusion coupling part and a second protrusion coupling part protruding from the first protrusion coupling part.

[1059]

[1060] Embodiment 173. The surgical robot system of any one of Embodiments 117-172, wherein the second protrusion coupling part is formed in a same shape as the protruding structure of the coupling member protruding from the front of the instrument module.

[1061]

[1062] Embodiment 174. The surgical robot system of any one of Embodiments 117-173, wherein the second coupling part is concave and comprises a first concave coupling part and a second concave coupling part formed inside the first concave coupling part.

[1063]

[1064] Embodiment 175. The surgical robot system of any one of Embodiments 117-174, wherein the first and second concave coupling parts are formed as a groove.

[1065]

[1066] Embodiment 176. The surgical robot system of any one of Embodiments 117-175, wherein the first concave coupling part corresponds to the first protrusion coupling part formed on the first coupling part of the drape, and the second concave coupling part corresponds to the second protrusion coupling part formed on the second coupling part of the drape,

[1067] wherein an opposite side of the first concave coupling part comprises the first protrusion coupling part and an opposite side of the second concave coupling part comprises the second protrusion coupling part.

[1068]

[1069] Embodiment 177. The surgical robot system of any one of Embodiments 117-176, wherein a sterilization drape is detachably coupled to the front of the actuator module and the instrument module is detachably coupled to the front of the drape.

[1070]

[1071] Embodiment 178. The surgical robot system of any one of Embodiments 117-177, wherein the instrument module comprises a housing and fastening plates provided on both sides of the housing.

[1072]

[1073] Embodiment 179. The surgical robot system of any one of Embodiments 117-178, wherein the drape is detachably coupled to a portion of the fastening plate,

[1074] wherein the fastening plate comprises multiple coupling holes, and

[1075] wherein each coupling hole comprises a coupling member.

[1076]

[1077] Embodiment 180. The surgical robot system of any one of Embodiments 117-179, wherein the coupling member of the instrument module comprises a detachable means for detachably coupling the drape.

[1078]

[1079] Embodiment 181. The surgical robot system of any one of Embodiments 117-180, further comprising coupling pieces configured to be detachably coupled to the drape protrude on both sides of the housing.

[1080]

[1081] Embodiment 182. The surgical robot system of any one of Embodiments 117-181, wherein the coupling piece comprises a shape that narrows from top to bottom.

[1082]

[1083] Embodiment 183. The surgical robot system of any one of Embodiments 117-182, wherein the second surface of the drape comprises a coupling groove, and

[1084] wherein the coupling pieces are formed on both sides of the housing of the instrument module and are detachably coupled to the coupling groove.

[1085]

[1086] Embodiment 184. The surgical robot system of any one of Embodiments 117-183, wherein, when the instrument module is coupled to the drape, the coupling is guided from top to bottom in the coupling groove.

[1087]

[1088] Embodiment 185. The surgical robot system of any one of Embodiments 117-184, wherein the coupling member comprises a first coupling part having a circular shape and a second coupling part formed inside the first coupling part.

[1089]

[1090] Embodiment 186. The surgical robot system of any one of Embodiments 117-185, wherein the coupling member of the instrument module comprises a second coupling part having a concave shape and the drape includes a first surface,

[1091] wherein a first coupling part protrudes from one side of the first surface and an opposite side of the first surface has a concave shape a second coupling part.

[1092]

[1093] Embodiment 187. The surgical robot system of any one of Embodiments 117-186, wherein the external computing device is a cloud-based system.

[1094]

[1095] Embodiment 188. The surgical robot system of any one of Embodiments 117-187, further comprising a data storage module integrated within the surgical instrument or the external computing device, the data storage module configured to store surgical procedure data and / or patient information.

[1096]

[1097] Embodiment 189. The surgical robot system of any one of Embodiments 117-188, further comprising an encryption module integrated within the surgical instrument system or the external computing device, configured to encrypt the surgical procedure data and patient information during transmission via the communication module.

[1098]

[1099] Embodiment 190. A method of using a surgical robot for performing a surgery, the method comprising:

[1100] providing a surgical robot comprising:

[1101] an actuator for providing power to the surgical robot; and

[1102] at least one of a rotation module or a translation module,

[1103] assembling the actuator and the at least one of the rotation module or the translation module based on the surgical procedure to be performed, and

[1104] wherein the surgical robot is the surgical robot of any of Embodiments 1-189 .

[1105]

[1106] Embodiment 191. The method of Embodiment 190, wherein the surgical robot comprises the rotation module.

[1107]

[1108] Embodiment 192. The method of Embodiment 190 or 191, wherein the surgical robot comprises the translation module.

[1109]

[1110] Embodiment 193. The method of any one of Embodiment 190-192, wherein the surgical robot further comprises an instrument module for performing surgery.

[1111]

[1112] Embodiment 194. The method of any one of Embodiments 190-193, wherein the instrument module is singular or plural, and

[1113] wherein the instrument is selectively and detachably coupled to the actuator module depending on the type of surgery.

[1114]

[1115] Embodiment 195. The method of any one of Embodiments 190-194, further comprising an overtube module containing the instrument module, and

[1116] wherein the overtube module is selectively and detachably coupled to the actual module depending on the type of surgery.

[1117]

[1118] Embodiment 196. The method of any one of Embodiments 190-195, wherein the translation module is detachably coupled to the actuator module and provides translational movement to the actuator module.

[1119]

[1120] Embodiment 197. The method of any one of Embodiments 190-196, wherein the rotation module is detachably coupled to the actuator module and rotates the actuator module.

[1121]

[1122] Embodiment 198. The method of any one of Embodiments 190-197, wherein the rotation module and the translation module are detachably coupled to one side of the actuator module, and

[1123] wherein the actuator module and the translation module are simultaneously rotated by the rotation module.

[1124]

[1125] Embodiment 199. The method of any one of Embodiments 190-198, wherein the translation module is a plurality of translation modules,

[1126] wherein the rotation module and the plurality of translation modules are detachably coupled to one side of the actuator module, and

[1127] wherein the actuator module and the plurality of translation modules are simultaneously rotated by the rotation module.

[1128]

[1129] Embodiment 200. The method of any one of Embodiments 190-199, wherein the rotation module provides rotational force,

[1130] wherein the rotation module comprises a group of rotation modules detachably coupled in parallel, and

[1131] wherein the translation module and the actuator module are detachably coupled.

[1132]

[1133] Embodiment 197. The method of any one of Embodiments 190-196, wherein the rotation module is detachably coupled to the actuator module and rotates the actuator module.

[1134]

[1135] Embodiment 198. The method of any one of Embodiments 190-197, wherein the rotation module and the translation module are detachably coupled to one side of the actuator module, and

[1136] wherein the actuator module and the translation module are simultaneously rotated by the rotation module.

[1137]

[1138] Embodiment 199. The method of any one of Embodiments 190-198, wherein the translation module is a plurality of translation modules,

[1139] wherein the rotation module and the plurality of translation modules are detachably coupled to one side of the actuator module, and

[1140] wherein the actuator module and the plurality of translation modules are simultaneously rotated by the rotation module.

[1141]

[1142] Embodiment 200. The method of any one of Embodiments 190-199, wherein the rotation module provides rotational force,

[1143] wherein the rotation module comprises a group of rotation modules detachably coupled in parallel, and

[1144] wherein the translation module and the actuator module are detachably coupled.

[1145]

[1146] Embodiment 201. The method of any one of Embodiments 190-200, further comprising a module group comprising a translation module and an actuator module,

[1147] wherein the translation module and actuator module of the module group are detachably coupled to each other, and

[1148] wherein the module group and the actuator module are detachably coupled in parallel.

[1149]

[1150] Embodiment 202. The method of any one of Embodiments 190-201, further comprising a plurality of translation modules and a second module group, the second module group comprising the actuator module,

[1151] wherein the rotational module includes a plurality of module groups detachably coupled in parallel, and

[1152] wherein the module group comprises a translation module and an actuator module.

[1153]

[1154] Embodiment 203. The method of any one of Embodiments 190-202, wherein the rotation module comprises a plurality of module groups detachably coupled in parallel,

[1155] wherein the plurality of module groups comprise:

[1156] a first module group including a translation module providing translational movement, the actuator module, and the instrument module;

[1157] a second module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[1158] a third module group including a translation module providing translational movement, the actuator module, and the instrument module; and

[1159] a fourth module group including the actuator module and the overtube module.

[1160] Embodiment 204. The method of any one of Embodiments 190-203, wherein a detachable means is provided between the actuator module and the instrument module or overtube module.

[1161]

[1162] Embodiment 205. The method of any one of Embodiments 190-204, further an attachment and detachment means comprising:

[1163] a plurality of coupling protrusions formed on one surface of the actuator module;

[1164] a fastening plate formed on one side of the instrument module;

[1165] a detachable plate formed on one surface of the overtube module,

[1166] wherein a plurality of coupling holes for coupling the coupling protrusions are formed in the fastening plate or the detachable plate.

[1167]

[1168] Embodiment 206. The method of any one of Embodiments 190-205, wherein the translation module is detachably coupled to the actuator module, and

[1169] wherein the translation module and the actuator module are mechanically and electrically connected.

[1170]

[1171] Embodiment 207. The method of any one of Embodiments 190-206, wherein the electrical connection includes a power source and an electrical signal.

[1172]

[1173] Embodiment 208. The method of any one of Embodiments 190-207, wherein the actuator module comprises a third motor and a third control unit that controls the operation of the third motor,

[1174] wherein the instrument module comprises a surgical tool driving unit and a surgical tool having a flexible tube extending from the surgical tool driving unit,

[1175] wherein the overtube module comprises an overtube driving unit, a flexible tube connected to the overtube driving unit, and a joint formed at an end of the flexible tube,

[1176] wherein, when the instrument module or the overtube module is detachably coupled to the actuator module, movement of the surgical tool occurs through the surgical tool driving unit of the instrument module by the operation of the third motor, and

[1177] wherein movement of the joint occurs through the surgical tool driving part of the instrument module and the overtube driving part by the operation of the third motor.

[1178]

[1179] Embodiment 209. The method of any one of Embodiments 190-208, wherein the translation module comprises a moving means for translating the actuator module, the moving means comprising:

[1180] a motor for operating the moving means,

[1181] a first moving plate,

[1182] a second moving plate movably provided on the first moving plate,

[1183] a second motor for moving the first moving plate; and

[1184] a 2-1 motor for moving the second moving plate.

[1185]

[1186] Embodiment 210. The method of any one of Embodiments 190-209, wherein the moving means comprises:

[1187] a first guide member for moving the first moving plate;

[1188] a second guide rail formed on the first moving plate to move the second moving plate, and

[1189] wherein a first guide rail is formed on the first guide member to linearly reciprocate the first moving plate.

[1190]

[1191] Embodiment 211. The method of any one of Embodiments 190-210, wherein the moving means comprises:

[1192] a first guide member for moving the first moving plate; and

[1193] a second guide rail formed on the first moving plate to move the second moving plate,

[1194] wherein a coupling member for detachably coupling the actuator module is fixed to the second moving plate,

[1195] wherein a power transmission means is provided on one side of the first moving plate and is connected to the coupling member to linearly move the second moving plate back and forth.

[1196]

[1197] Embodiment 212. The method of any one of Embodiments 190-211, wherein the translation module comprises a moving means for translating the actuator module,

[1198] wherein the moving means comprises:

[1199] a first moving plate for translating the actuator module;

[1200] a first guide member that guides the first moving plate to move linearly;

[1201] a ball screw provided to move the first moving plate in a straight line; and

[1202] a second motor that rotates the ball screw,

[1203] wherein, upon activation of the second motor, the ball screw rotates causing the first moving plate to move linearly along the length direction of the ball screw thereby enabling simultaneous translation of the actuator module with the movement of the first moving plate in a surgical robot.

[1204]

[1205] Embodiment 213. The method of any one of Embodiments 190-212, further comprising a translation module providing translational movement,

[1206] wherein the rotation module comprises:

[1207] a rotating plate with a rotation axis, and

[1208] at least one first connection socket provided on the rotating plate;

[1209] wherein the first connection socket allows detachable coupling of an actuator module or the translation module in the surgical robot.

[1210]

[1211] Embodiment 214. The method of any one of Embodiments 190-213, wherein the translation module comprises a moving means for translational movement of the actuator module,

[1212] wherein the moving means comprises a telescopic structure with a plurality of moving plates for varying a moving distance, and

[1213] wherein a coupling member is disposed on a moving plate of the plurality of moving plates to detachably couple the actuator module.

[1214]

[1215] Embodiment 215. The method of any one of Embodiments 190-214, wherein the rotation module is detachably coupled with the translation module and the actuator module,

[1216] wherein the actuator module is detachably coupled with the instrument module or the overtube module, ...

Claims

1. In a modular manipulator assembly for a surgical robot system, operating platform; A translation module mounted on the above-mentioned movable platform and having a driving range of a stroke section formed; and A driving module mounted on the above translation module, which translates from a first position to a second position within the range of the stroke section and outputs power for performing a surgical operation; The above driving modules are multiple, A modular manipulator assembly, wherein one drive module has its first position offset to a position that is further forward than the first position of the other drive module.

2. In paragraph 1, The first position of one of the above driving modules is advanced by a distance greater than the first position of the other driving module, A modular manipulator assembly characterized in that a surgical instrument mounted on said other drive module forms an entry guide gap for insertion into another surgical instrument mounted on said one drive module.

3. In any one of paragraphs 1 and 2, The above other driving modules are, It is a drive module equipped with a surgical instrument, Any one of the above drive modules, A modular manipulator assembly characterized by having a drive module equipped with an overtube into which the above surgical instrument is inserted and guided.

4. In any one of paragraphs 1 to 3, Any one of the above drive modules, When mounted on the above translation module, it is driven to a forward position in the above stroke section and then locked. A modular manipulator assembly characterized in that the other drive module is offset to a position advanced from the first position of the other drive module.

5. In any one of paragraphs 1 to 4, An overtube module mounted on one of the above drive modules and having an overtube into which the surgical instrument described below is inserted and guided; and A surgical instrument module further includes a surgical instrument mounted on the other driving module and having a distal end or end effector operated by power output from the mounted driving module; A modular manipulator assembly characterized in that both the surgical instrument and the overtube are mounted on the above movable platform.

6. In any one of paragraphs 1 to 5, The above overtube module, A stretched overtube of the galactic character; and A modular manipulator assembly comprising: an overtube coupler having an overtube interface formed on one side to be connected to one of the above driving modules; and a wire mechanism that operates the overtube with power transmitted by being connected to one of the above driving modules.

7. In any one of paragraphs 1 to 6, The above overtube coupler, An overtube holder is formed on one side of a housing that forms a volume by providing the wire mechanism inside, The above overtube is coupled to the above overtube holder, A modular manipulator assembly characterized in that the overtube is arranged laterally of the overtube coupler.

8. In any one of paragraphs 1 to 7, The above surgical instrument module, Extended surgical instruments of the galactic type; and A modular manipulator assembly comprising: a surgical instrument interface formed with one side connected to the other driving module; and a surgical instrument coupler having a wire mechanism that operates an end effector of the surgical instrument with power transmitted by being connected to the other driving module.

9. In any one of paragraphs 1 to 8, Based on one side of the surgical instrument interface that includes the holder of the surgical instrument and is connected to the other driving module, Having a holder surface forming a flat surface, A modular manipulator assembly characterized in that the proximal portion of the surgical instrument is formed on the holder surface.

10. In any one of paragraphs 1 to 9, The above translation module, Including a frame connector part electrically and mechanically connected to the above movable platform, A modular manipulator assembly characterized in that the frame connector section is detachably attachable to the movable platform using the frame connector section as a fastening means.

11. In a modular manipulator assembly for a surgical robotic system, operating platform; A driving module mounted on the above-mentioned movable platform and outputting power for performing surgical operations; The above driving modules are multiple, An overtube module provided with an overtube mounted on one of the drive modules and operated by power output from said one of the drive modules; and A surgical instrument module comprising a surgical instrument mounted on another driving module and having a distal end or end effector operated by power output from the other driving module; The above overtube module is mounted at a position on any one of the above drive modules, A modular manipulator assembly characterized in that the surgical instrument module is mounted at a position advanced from the position at which the other drive module is mounted.

12. In a modular manipulator assembly for a surgical robotic system, operating platform; A driving module mounted on the above-mentioned movable platform and outputting power for performing surgical operations; The above driving modules are multiple, An overtube module provided with an overtube mounted on one of the drive modules and operated by power output from said one of the drive modules; and A surgical instrument module, which is mounted on another driving module and has a distal end or end effector operated by power output from the other driving module and has a surgical instrument guided by penetrating the overtube; A modular manipulator assembly characterized in that the overtube and the surgical instrument are mounted together on the above-described movable platform.

13. In a surgical robot system in which multiple surgical instruments are operated, A master station that transmits control information to drive multiple surgical instruments; A positioning cart for docking the modular manipulator assembly below to the surgical site; and A modular manipulator assembly that receives the control information from the master station and has a plurality of surgical instruments mounted in a modular manner; The above modular manipulator assembly comprises: A plurality of drive modules are provided on which modular surgical instruments are mounted on a movable platform forming a base. A surgical robot system, characterized in that one of a plurality of driving modules is provided on the movable platform at a position advanced relative to the other driving modules.

14. In a surgical robot system in which multiple surgical instruments are operated, A master station that transmits control information to drive multiple surgical instruments; A positioning cart for docking the modular manipulator assembly below to the surgical site; and A modular manipulator assembly that receives the control information from the master station and has a plurality of surgical instruments modularly mounted thereon; The above modular manipulator assembly comprises: A plurality of drive modules are provided on which modular surgical instruments are mounted on a movable platform forming a base. The above modular surgical instrument, An overtube module provided with an overtube mounted on one of the drive modules and operated by power output from said one of the drive modules; and A surgical instrument module, which is mounted on another driving module and has a distal end or end effector operated by power output from the other driving module and has a surgical instrument guided by penetrating the overtube; including; A surgical robot system characterized in that the above overtube and the above surgical instrument are mounted together in the modular manipulator assembly.

15. In a surgical robot system in which multiple surgical instruments are operated, A master station that transmits control information to drive multiple surgical instruments; A positioning cart for docking the modular manipulator assembly below to the surgical site; and A modular manipulator assembly that receives the control information from the master station and has a plurality of surgical instruments modularly mounted thereon; The above manipulator assembly, A plurality of modular surgical instruments are accommodated on a movable platform forming the base. Any one of the above modular surgical instruments, It is an overtube module that guides and accommodates other surgical instruments. Another surgical instrument module is a surgical instrument module that penetrates the above overtube module and has a distal end or end effector manipulated. A surgical robot system characterized in that the above overtube module forms an entry guide gap, which is a space through which a surgical instrument penetrates, and is provided on the movable platform together with the surgical instrument module.

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