Robot arm assembly and endoscopic robot arm driving apparatus using same

Abstract

A robot arm assembly is disclosed. A robot arm assembly, according to one aspect of the present invention, is a robot arm assembly that can be coupled to the distal end of an endoscope, and comprises: a base member which is coupled to the distal end of the endoscope; a sliding member which is coupled to the base member and is movable in a front-rear direction of the endoscope; one or more arm link members which are coupled to the sliding member and arranged adjacent to each other in the front-rear direction of the endoscope; and an actuating member which is coupled to the arm link member positioned at the very front from among the one or more arm link members, wherein when the actuating member is positioned in front of a distal tip of the endoscope, the actuating member is movable in a direction toward or away from a central axis of the endoscope, and when the actuating member is positioned behind the distal tip of the endoscope, the actuating member is movable in a direction away from the central axis of the endoscope.

Description

Robot arm assembly and endoscopic robot arm driving device using the same

[0001] The present invention relates to a robot arm assembly and an endoscope robot arm driving device using the same, and more specifically, to a robot arm assembly that can be installed and used in an endoscope and an endoscope robot arm driving device using the same.

[0002] In the past, open surgery, which involved directly making an incision in the surgical site within the abdominal cavity, was the most common surgical method, but recently, endoscopic surgery has been proposed, and endoscopic surgery is becoming more widely used in cases of simple resection surgeries such as those for early-stage gastric cancer or colon cancer.

[0003] Endoscopic surgery minimizes incisions and pain, and shortens hospital stays. However, endoscopic surgery has the disadvantage that some of the incised mucosa can sag during the incision process, obstructing the endoscope's view. This makes endoscopic surgery highly challenging and requires specialized expertise.

[0004] To address this issue, we introduced an endoscopic surgical robot that allows even inexperienced surgeons to perform endoscopic surgery, drastically reducing the difficulty of the surgery.

[0005] Furthermore, Natural Orifice Transluminal Endoscopic Surgery (NOTES; a surgery performed by inserting an endoscope and surgical tools through the mouth, anus, or vagina to make a hole in an organ such as the stomach) has recently been attracting attention as a next-generation surgical technique.

[0006] One method of remotely controlling a surgical robot or a control interface for controlling an endoscope or surgical tool in natural orifice endoscopic surgery involves directly attaching an actuator to a link structure.

[0007] However, this method has the disadvantage of the actuator itself being very heavy. To address this, a cable-driven method has been developed, in which the actuator is fixed externally and power is transmitted to the surgical tool via a flexible cable.

[0008] As an example of cable-driven methods, technologies utilizing tendons have been developed. A representative example of tendon-based technology is one that uses tendons to move an endoscopic robotic arm installed on an endoscope to perform a specific function.

[0009] An endoscopic robotic arm operated by a tendon sheath can assist the work of other surgical instruments attached to the endoscope by fixing lesion tissue or surrounding lesion tissue inside an organ.

[0010] However, in the past, the range of motion of the endoscopic robotic arm was often limited during the surgical procedure performed by the doctor, and there were cases where the endoscopic robotic arm did not operate as the doctor intended.

[0011] Accordingly, there is a need for the development of an endoscopic robotic arm with high degree of freedom and flexibility in movement so that it can operate as the doctor intends during the surgical procedure.

[0012] In addition, there has been a demand for the development of a flexible endoscopic robotic arm that can perform its original function with less influence from the movements of other surgical instruments installed together with the endoscope or the movements of the endoscope itself.

[0013] In response to this demand, the inventor of the present invention has disclosed in Korean Patent Application No. 10-2022-0081014 an endoscopic robotic arm configured to have flexibility using an arm member formed of elastic pieces. This endoscopic robotic arm can perform movements with a wide operating range and a high degree of freedom through the relative movement of a rotating member and an operating member.

[0014] However, the endoscopic robot arm of the above patent application has many problems in that the robot arm cannot be moved in front of the endoscope, and the movement of the robot arm radially inward or outward with respect to the central axis of the endoscope is not active, so there are many limitations in operation.

[0015] The present invention is intended to solve the above problems, and the purpose of the present invention is to provide a robot arm assembly that can be operated using tendons, and a robot arm assembly that can expand the operating range of a robot arm provided at the tip of an endoscope, and a robot arm driving device provided with the same.

[0016] Another object of the present invention is to provide a robot arm assembly in which an operating member of a robot arm assembly provided at the tip of an endoscope can move in the forward and backward direction of the endoscope, and a robot arm driving device provided with the same.

[0017] Another object of the present invention is to provide a robot arm assembly and a robot arm driving device having the same, which can rotate a working member of a robot arm assembly provided at a tip of an endoscope in a circumferential direction around the tip of the endoscope, move forward and backward so as to protrude forward of the endoscope or retract backward from the tip of the endoscope, or pivotally move about the central axis of the endoscope.

[0018] Another object of the present invention is to provide a robot arm assembly and a robot arm driving device having the same, in which an operating member provided at an end of the robot arm can be moved away from the center of the endoscope through pivot movement of the robot arm even when the operating member of the robot arm assembly provided at the end of the endoscope is in a retracted state in which the operating member does not protrude beyond the endoscope end.

[0019] Another object of the present invention is to provide a robot arm assembly having a structure in which an operating member can be protected so that the inside of a patient's body is not damaged by the operating member when the operating member is provided at the tip of the endoscope and the endoscope enters the inside of the patient's body together with the operating member, and a robot arm driving device having the same.

[0020] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0021] According to one aspect of the present invention, a robot arm assembly that can be coupled to an end of an endoscope is provided, comprising: a base member coupled to the end of the endoscope; a sliding member coupled to the base member and movable in the front-back direction of the endoscope; one or more arm link members coupled to the sliding member and arranged adjacently in the front-back direction of the endoscope; and an actuating member coupled to an arm link member positioned most forward among the one or more arm link members, wherein the actuating member is movable in a direction approaching or away from a central axis of the endoscope when the actuating member is positioned forward of a distal end of the endoscope, and the actuating member is movable in a direction away from a central axis of the endoscope when the actuating member is positioned rearward of a distal end of the endoscope.

[0022] At this time, a rotating member is included that is rotatable and coupled to the outer periphery of the base member around the extension direction central axis of the endoscope, and the sliding member can be coupled to the outer surface of the rotating member.

[0023] At this time, the base member includes a base member body, and one end of the base member body is provided with a catch that protrudes inwardly and outwardly, and the inner peripheral surface of the base member body may be provided with a plurality of protrusions that protrude inwardly but are spaced apart from each other along the circumferential direction.

[0024] At this time, the rotating member may include a rotating member rotation tendon coupled to the rotating member and the base member to rotate the rotating member relative to the base member, and a first driving unit that drives the rotating member rotation tendon.

[0025] At this time, the tendon sheath for rotation of the rotating member includes a first tendon and a first sheath wrapping one end side of the first tendon and a second sheath wrapping the other end side of the first tendon, one end of the first tendon is fixed to one side of the circumferential direction of the base member, a part of the first tendon adjacent to one side of the first tendon is formed to be wound around the base member in the circumferential direction, and the remaining part of the first tendon is not wound in the circumferential direction of the base member, and includes a first extension part and a second extension part extending from both ends of a part of the first tendon toward the rear side of the rotating member, and the first sheath and the second sheath are provided at the first extension part and the second extension part of the first tendon, respectively, and the first sheath and the second sheath are provided at the ends of the first extension part and the second extension part. The first driving unit may be coupled to move the first tendon relatively forward and backward with respect to the sheath.

[0026] At this time, the rotating member may include a rotating member body through which the base member penetrates and a sliding part formed in the extension direction of the rotating member body on the outer peripheral side of the rotating member body.

[0027] At this time, the sliding member includes a sliding member moving hole having a sliding space open in the front-back direction so that the sliding member can slide, and the sliding member moving hole may be provided with an upward opening open in the outer direction of the rotating member.

[0028] At this time, the operating member may be formed so as to protrude forward of the endoscope tip or retract backward from the endoscope tip according to the movement of the sliding member.

[0029] At this time, the sliding member moving hole may be provided with a pair of sliding grooves on both sides in the moving direction of the sliding member, and the sliding member may include a sliding member body that is movably positioned inside the sliding member moving hole and a pair of sliding groove receiving portions that are protruded on both sides of the sliding member body and are slidably received in each of the pair of sliding grooves.

[0030] At this time, the sliding member may include a pair of sliding member forward / backward tendons and a second driving unit for operating the pair of sliding member forward / backward tendons to move the sliding member in the forward / backward direction inside the sliding member moving hole.

[0031] At this time, one of the pair of sliding member forward / backward tendon sheaths includes a second tendon that penetrates one of the pair of sliding groove receiving portions and is coupled to a front end of one of the pair of sliding grooves and a third sheath that is coupled to one of the sliding groove receiving portions, and the other of the pair of sliding member forward / backward tendon sheaths includes a third tendon that is coupled to the other of the pair of sliding groove receiving portions and a fourth sheath that is coupled to a rear end of the other of the pair of sliding grooves, and the second driving unit may be coupled to an extended end extending rearwardly of the pair of sliding member forward / backward tendon sheaths to relatively move the second and third tendons in the forward / backward direction with respect to the third and fourth sheaths.

[0032] Meanwhile, the apparatus further includes a front frame coupled to a front end of the rotating member, wherein the front frame has a first inner surface forming a central hole having a diameter corresponding to the endoscope tip and a second inner surface partially in contact with an outer surface of the rotating member having a diameter larger than the first inner surface, and a step portion may be formed between the first inner surface and the second inner surface.

[0033] Meanwhile, the rear coupling member is further comprised of a rear end portion of the rotating member, wherein the rear coupling member may have at least one through hole formed to allow a tendon sheath for operating at least one of the rotating member, the sliding member, the arm link member, and the operating member to pass through the through hole, which may be formed to penetrate in the front-rear direction of the rear coupling member.

[0034] At this time, the one or more female link members are arranged in a row in front of the sliding member, and each of the one or more female link members may include a body having a through hole formed in the center in a front-back direction for operating the operating member; a protrusion formed on a front or rear surface of the body, and a contact groove formed on an opposite surface of the surface on which the protrusion is formed, with which the protrusion of an adjacent female link member comes into contact.

[0035] At this time, the protrusion and the contact groove are formed in the central portion in the height direction of the body, and may be formed as a pair on both sides of the through hole.

[0036] At this time, it may include a pair of tendons for operating the arm link members that move the front end of the arm link member located most forward among the one or more arm link members closer to or away from the center of the endoscope, and a third driving unit for operating the tendons for operating the pair of arm link members.

[0037] At this time, the tendon sheath for operating the pair of female link members includes fourth and fifth tendons penetrating at least a portion of the one or more female link members and fifth and sixth sheaths wrapping portions of the fourth and fifth tendons, and the third driving unit may be coupled to an extended end extending rearwardly of the tendon sheath for operating the pair of female link members to move the fourth and fifth tendons relatively forward and backward with respect to the fifth and sixth sheaths.

[0038] At this time, a through hole through which the tendon sheath for driving the operating member penetrates is formed in the central portion of the body of the arm link member in the height direction, and a pair of tendon through holes through which the fourth and fifth tendons penetrate are formed in the height direction on the upper and lower sides of the through hole through which the tendon sheath for driving the operating member penetrates, and the fifth and sixth sheaths can be fixed to the sliding member body.

[0039] At this time, the operating member includes a forceps assembly, and the forceps assembly includes a pair of forceps parts that can pivotally rotate to be interlocked with each other; a forceps assembly body that rotatably supports the forceps parts; and a moving member that is coupled to the pair of forceps parts to pivotally operate the pair of forceps parts and can move forward and backward with respect to the forceps assembly body, and the moving member can be formed to be movable in the forward and backward direction by a tendon sheath coupled to the moving member.

[0040] Meanwhile, according to another aspect of the present invention, an endoscopic robot arm driving device is provided, comprising: the above-described robot arm assembly; a plurality of driving units coupled to the plurality of tendons to drive the plurality of tendons respectively coupled to the rotating member, the sliding member, the arm link member, and the operating member of the robot arm assembly; and a controller connected to the plurality of driving units by wire or wirelessly to drive the plurality of driving units.

[0041] At this time, the robot arm driving device includes a first housing and a second housing, wherein rear ends of the plurality of tendons are provided as cartridges built into the first housing, the second housing has a cartridge insertion portion into which the cartridge can be detachably inserted, and the plurality of driving units are provided therein, and the plurality of driving units can be operatively connected so that driving force of the plurality of driving units is transmitted to each of the rear ends of the plurality of tendons in a state in which the cartridge is inserted into the cartridge insertion portion.

[0042] At this time, each of the plurality of driving units may be a linear actuator.

[0043] According to the above configuration, a robot arm assembly according to one embodiment of the present invention can configure a robot arm using one or more arm link members, and provide an operating member in front of the arm link member to expand the operating range of the robot arm.

[0044] A robot arm assembly according to one embodiment of the present invention is configured such that one or more arm link members are coupled to a sliding member that can move forward and backward with respect to a distal end of an endoscope, so that one or more arm link members can move forward and backward with respect to the distal end of the endoscope.

[0045] According to one embodiment of the present invention, a robot arm assembly comprises a sliding member that can move forward and backward with respect to a distal end of an endoscope, one or more arm link members, and an operating member coupled to a rotating member, and the rotating member is coupled to a base member coupled to the distal end of the endoscope so as to be rotatable about a central axis of the endoscope, thereby enabling the operating member to rotate about the central axis of the endoscope.

[0046] According to one embodiment of the present invention, a robot arm assembly can be protected by housing a sliding member, one or more arm link members, and an operating member within a sliding member moving hole of a rotating member in a state where the sliding member, one or more arm link members, and an operating member are retracted toward the rear side of the endoscope tip end, so that when the endoscope tip is moved inside the patient's body, the operating member can prevent damage to the inside of the patient's body.

[0047] According to one embodiment of the present invention, a robot arm assembly has an open upper portion of a sliding member movement hole through which a sliding member can move in the forward-backward direction of an endoscope, so that the arm link member and the operating member can rotate upward while the sliding member is retracted toward the rear of the endoscope's distal end. Accordingly, the operating member can move away from the center of the endoscope without protruding forward from the endoscope's distal end, thereby expanding the range of motion of the operating member.

[0048] In addition, the robot arm assembly according to one embodiment of the present invention includes a forceps assembly as an operating member, and can perform an operation of grasping or moving tissue at a surgical site of a patient while the tip of the endoscope is brought close to the surgical site of the patient by operating the forceps assembly with a tendon sheath.

[0049] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0050] Figure 1 is a configuration diagram of an endoscopic robot arm driving device according to one embodiment of the present invention.

[0051] FIG. 2 is a perspective view of a robot arm assembly according to one embodiment of the present invention.

[0052] FIG. 3 is a front view of a robot arm assembly according to one embodiment of the present invention.

[0053] FIG. 4 is a schematic diagram of a tendon sheath drive unit coupled to a robot arm assembly according to one embodiment of the present invention.

[0054] Figure 5 is a perspective view showing the robot arm assembly in Figure 4 in an exploded view.

[0055] FIG. 6 is a perspective view showing a forceps structure coupled to a robot arm assembly according to one embodiment of the present invention in a state in which the forceps structure protrudes forward and opens.

[0056] FIG. 7 is a rear perspective view of a base member of a robot arm assembly according to one embodiment of the present invention.

[0057] FIG. 8 is a front perspective view of a base member of a robot arm assembly according to one embodiment of the present invention.

[0058] FIG. 9 is a rear view of a base member of a robot arm assembly according to one embodiment of the present invention.

[0059] FIG. 10 is a rear perspective view of a rotating member of a robot arm assembly according to one embodiment of the present invention.

[0060] FIG. 11 is a front perspective view of a rotating member of a robot arm assembly according to one embodiment of the present invention.

[0061] FIG. 12 is a rear view of a rotating member of a robot arm assembly according to one embodiment of the present invention.

[0062] FIG. 13 is a front perspective view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention.

[0063] FIG. 14 is a rear perspective view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention.

[0064] FIG. 15 is a rear view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention.

[0065] FIG. 16 is a rear perspective view of the front frame of a robot arm assembly according to one embodiment of the present invention.

[0066] FIG. 17 is a rear view of the front frame of a robot arm assembly according to one embodiment of the present invention.

[0067] FIG. 18 is a drawing of a robot arm assembly viewed from above according to one embodiment of the present invention.

[0068] FIG. 19 is a perspective view of a sliding member of a robot arm assembly according to one embodiment of the present invention.

[0069] FIG. 20 is a perspective view of an arm link member of a robot arm assembly according to one embodiment of the present invention.

[0070] FIG. 21 is an exploded perspective view of a forceps structure, an arm link member, and a sliding member of a robot arm assembly according to one embodiment of the present invention.

[0071] Figure 22 is an enlarged perspective view of part A in Figure 21.

[0072] Figure 23 is a state diagram of a forceps structure of a robot arm assembly according to one embodiment of the present invention in a closed state.

[0073] Figure 24 is an operational state diagram of a forceps structure of a robot arm assembly according to one embodiment of the present invention in an open state.

[0074] Figure 25 is a partially enlarged view showing a state in which a tendon sheath is coupled to a robot arm assembly according to one embodiment of the present invention.

[0075] Fig. 26 is a plan view showing a state in which a forceps structure of a robot arm assembly according to one embodiment of the present invention protrudes forward.

[0076] FIG. 27 is a perspective view showing the forceps structure of a robot arm assembly according to one embodiment of the present invention rotated upward while protruding forward.

[0077] FIG. 28 is a perspective view showing a forceps structure of a robot arm assembly according to one embodiment of the present invention rotated downward while protruding forward.

[0078] FIG. 29 is a perspective view showing a forceps structure of a robot arm assembly according to one embodiment of the present invention rotated upward in a retracted state without protruding forward.

[0079] FIG. 30 is a side view showing the forceps structure of a robot arm assembly according to one embodiment of the present invention rotated upward in a retracted state without protruding forward.

[0080] FIG. 31 is a perspective view illustrating an operating state in which a rotating member of a robot arm assembly according to one embodiment of the present invention rotates around a base member.

[0081] Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts irrelevant to the description are omitted in the drawings, and the same reference numerals designate identical or similar components throughout the specification.

[0082] The words and terms used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted in a way that is consistent with the technical idea of ​​the present invention, in accordance with the principles by which the inventor can define terms and concepts in order to best explain his or her invention.

[0083] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings correspond to a preferred embodiment of the present invention, and do not represent all of the technical ideas of the present invention, so there may be various equivalents and modified examples that can replace the configuration at the time of filing of the present invention.

[0084] In this specification, terms such as “include” or “have” are intended to describe the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0085] When a component is said to be "in front of," "behind," "above," or "below" another component, this includes not only being placed "in front of," "behind," "above," or "below" the other component in direct contact with it, but also if there is another component intervening therebetween. Furthermore, when a component is said to be "connected" to another component, this includes not only being directly connected to one another, but also being indirectly connected to one another, unless there are special circumstances.

[0086] Hereinafter, a robot arm assembly and an endoscopic robot arm driving device according to one embodiment of the present invention will be described with reference to the drawings.

[0087] FIG. 1 is a block diagram of an endoscope robot arm driving device according to one embodiment of the present invention. FIG. 2 is a perspective view of a robot arm assembly according to one embodiment of the present invention. At this time, referring to FIG. 2, the tip (2a) of the endoscope (2) in the present specification is defined to mean a front end edge of the endoscope including the front surface (4) of the endoscope (2), and the end (2b) of the endoscope (2) is defined to mean a front part of the endoscope, a part to which a base member (110) of the robot arm assembly of the present invention is coupled. In addition, in describing the robot arm assembly, as shown in FIG. 2, the direction in which the front surface of the endoscope faces is defined as 'forward', the opposite direction is defined as 'rear', the direction in which the sliding part of the robot arm assembly is located from the center of the endoscope is defined as 'upward', and the opposite direction is defined as 'downward'.

[0088] Referring to FIG. 1, an endoscope robot arm driving device (1) according to one embodiment of the present invention includes a robot arm assembly (100), a tendon sheath (20), an operating member (30), a driving unit (50), and a controller (40).

[0089] The robot arm assembly (100) can be coupled to the endoscope end (2b) of the endoscope (2), and for example, the operating member (30) is coupled to the robot arm assembly (100) and configured to be operated at the endoscope tip (2a). At this time, the operation of the operating member (30) performed by the robot arm assembly (100) at the endoscope tip (2a) may include, for example, protruding and retracting movement of the operating member (30) forward from the endoscope tip (2a), pivot rotation toward or away from the endoscope tip (2a) in the direction of the endoscope central axis (C), and circumferential movement about the endoscope central axis (C). However, the operation of the operating member (30) is not limited thereto.

[0090] In one embodiment of the present invention, the operating member (30) may be, for example, a forceps assembly (200) in the form of a forceps. However, the operating member (30) that can be coupled to the robot arm assembly (100) according to one embodiment of the present invention is not limited to the forceps assembly (200), and various members or devices that can be used for various endoscopic surgeries may be coupled to the robot arm assembly (100) as the operating member.

[0091] Meanwhile, according to one embodiment of the present invention, the robot arm assembly (100) may be configured with a plurality of components assembled so that the operating member (30) performs various operations at the endoscope tip (2a). A detailed description thereof will be provided later.

[0092] Meanwhile, an endoscope robot arm driving device (1) according to one embodiment of the present invention may include a tendon sheath (20) to operate a robot arm assembly (100). The tendon sheath (20) may include an operating member (30) coupled to an endoscope tip (2a) and a plurality of tendons connected to a plurality of components of the robot arm assembly (100) to support the operating member (30).

[0093] In one embodiment of the present invention, each of one end of a plurality of tendons of the tendon sheath section (20) may be coupled to a plurality of components constituting the operating member (30) and the robot arm assembly (100). In addition, each of the other ends of the plurality of tendons may be formed so as to be all housed within a first housing (32) that may be provided in the form of a cartridge. At this time, the first housing (32) may have a rectangular parallelepiped shape, but the shape of the first housing (32) is not limited thereto.

[0094] At this time, referring to FIG. 1, the first housing (32) can be detachably coupled to a second housing (34) having a plurality of drive units (50) built therein. A cartridge insertion portion (36) can be provided in the second housing (34) so ​​that the first housing (32) can be detachably coupled to the second housing (34). In the present embodiment, when the first housing (32) is coupled to the cartridge insertion portion (36) of the second housing (34), each of the other ends of the plurality of tendons inside the first housing (32) can be operatively coupled to a drive unit (50) provided in the second housing (34).

[0095] At this time, the fact that the other ends of the plurality of tendon sheaths are operatively coupled to the driving unit (50) means that the other ends of the plurality of tendon sheaths are coupled to the driving unit (50) by the driving unit (50), and each of the plurality of tendon sheaths can be operated individually or simultaneously by the operation of the driving unit (50). In one embodiment of the present invention, the tendon sheath is composed of a tendon, which is a long wire, and a sheath that wraps a part of the tendon, and operating the tendon sheath means moving the tendon forward or backward relative to the sheath that wraps the tendon.

[0096] In one embodiment of the present invention, the driving unit (50) may be a plurality of linear actuators that may be respectively coupled to the other ends of a plurality of tendons. Unless otherwise explicitly stated, in the present specification, the driving unit (50) may be used to mean one driving device for operating a tendon, for example, a linear actuator, or an entire driving device including a plurality of driving devices for operating a plurality of tendon pairs.

[0097] At this time, the driving unit (50) may include each tendon pair or first to fourth driving units (51, 52, 53, 54) connected to the tendons. In the present specification, when referring to individual tendon pairs or driving units connected to the tendons, they are referred to as the 'first driving unit', the 'second driving unit', the 'third driving unit', and the 'fourth driving unit', and when there is no need to refer to them individually when describing the operation, they are collectively referred to as the 'driving unit'.

[0098] According to one embodiment of the present invention, a plurality of linear actuators are provided as a driving unit (50) within the second housing (34), and when the first housing (32) is coupled to the second housing (34), the plurality of linear actuators are each coupled to one side of a plurality of tendon sheaths, and as the linear actuators operate, relative movement between the tendons and sheaths can occur.

[0099] In one embodiment of the present invention, the operation of the driving unit (50) may be performed by a controller (40) connected to the driving unit (50) by wire or wirelessly. In one embodiment of the present invention, the controller (40) may be coupled to one side of the endoscope and may be controlled by a user who operates the robot arm driving device (1).

[0100] The relative movement of the tendons, the coupling of the drive unit (50) and the tendons, and the controller are disclosed in Korean Patent Publication No. 2022-0162035 (published on December 7, 2022) filed by the applicant of the present invention, and therefore, a detailed description thereof will be omitted in this specification.

[0101] A robot arm assembly (100) according to one embodiment of the present invention may be a part of the robot arm driving device (1) described above. The robot arm assembly (100) according to one embodiment of the present invention may be operated using a tendon sheath, and may be coupled to an endoscope tip (2a) and controlled by a controller (40), so that the endoscope tip (2a) may be used for surgery on a diseased part inside a patient's body while being inserted into the patient's body.

[0102] The detailed structure and operation of a robot arm assembly (100) according to one embodiment of the present invention will be described below with reference to different drawings.

[0103] FIG. 3 is a front view of a robot arm assembly according to an embodiment of the present invention. FIG. 4 is a schematic diagram showing a tendon sheath drive unit coupled to a robot arm assembly according to an embodiment of the present invention. FIG. 5 is an exploded perspective view of the robot arm assembly of FIG. 4. FIG. 6 is a perspective view showing a forceps structure coupled to the robot arm assembly according to an embodiment of the present invention in a state in which the forceps structure protrudes forward and opens. In describing the robot arm assembly according to an embodiment of the present invention, the schematic configuration of the robot arm assembly will first be described with reference to FIGS. 2 to 6, and then the detailed structures of individual components constituting the robot arm assembly will be described using different drawings.

[0104] Referring to FIGS. 2 to 6, a robot arm assembly (100) according to one embodiment of the present invention includes a base member (110), a rotation member (120), a sliding member (170), an arm link portion (60) including one or more arm link members (160), and a forceps assembly (200).

[0105] The base member (110) may be formed in a cylindrical shape. The endoscope tip (2a) may be inserted into and penetrate the cylindrical base member (110). At this time, the base member (110) is formed so as to be fixed to the end portion (2b) of the endoscope.

[0106] The base member (110) is connected to an outer peripheral portion of a rotation member (120) so as to be rotatable in the circumferential direction around the extension direction central axis (C) of the endoscope (2) with the base member (110) as the center. In order to enable the rotation member (120) to rotate in the circumferential direction around the base member (110), a pair of rotation tendons (21a, 21b) are connected to the base member (110) and the rotation member (120).

[0107] At this time, in one embodiment of the present invention, a sliding member (170) is formed on one side of the outer circumference of the rotating member (120) so as to be able to slide forward and backward in the extension direction of the rotating member (120).

[0108] Additionally, in one embodiment of the present invention, the sliding member (170) can slide in the extension direction of the rotating member (120) along the sliding member moving hole (132 in FIG. 10) formed on the outer periphery of the rotating member (120).

[0109] In one embodiment of the present invention, a female link portion (60) including a plurality of female link portions (160) is coupled to the front of a sliding member (170). A forceps assembly (200) is coupled to the front of the female link portion (60), and the forceps assembly (200) may be formed to protrude forward from the endoscope tip (2a) or retreat backward from the endoscope tip (2a) and be positioned inside the sliding member moving hole (132) according to the movement of the sliding member (170) and the female link portion (60) in front of the female link portion (60).

[0110] In one embodiment of the present invention, a front frame (140) is coupled to the front end of the rotating member (120). The front end surface of the front frame (140) is positioned forward of the endoscope tip (2a), so that the endoscope tip (2a) and the front end of the rotating member (120) can be protected when the endoscope (2) is inserted into the patient's body.

[0111] Meanwhile, a rear coupling member (150) is coupled to the rear end of the rotating member (120). The rear coupling member (150) is coupled to the rear end of the rotating member (120) and guides a plurality of tendon pairs of the tendon sheath section when the tendon sheath pairs pass through it.

[0112] According to one embodiment of the present invention, a tendon sheath (20) is provided for rotation of a rotating member (120) centered on a base member (110), forward and backward movement of a sliding member (170), operation of an arm link member (60), and operation of a forceps assembly (200).

[0113] According to one embodiment of the present invention, the tendon sheath (20) includes a plurality of, for example, three tendon sheath pairs (21a, 21b, 22a, 22b, 23a, 23b) and one tendon sheath for forceps driving (24).

[0114] More specifically, in one embodiment of the present invention, the three tendon pairs (21a, 21b, 22a, 22b, 23a, 23b) may include a tendon pair (21a, 21b) for rotation of the aforementioned rotating member, a tendon pair (22a, 22b) for forward and backward movement of the sliding member, and a tendon pair (23a, 23b) for pitch motion of the arm link portion. At this time, it should be understood that the tendon being 'coupled to a predetermined member' in the present specification does not only mean that the tendon is physically fixed to the predetermined member, but also includes the meaning that the tendon is operatively coupled to the predetermined member, such as penetrating the predetermined member and moving together so that the predetermined member can move.

[0115] In one embodiment of the present invention, the pair of tendons (21a, 21b) for rotating the rotating member is a component for rotating the rotating member (120), and is composed of a pair of tendons, and the pair of tendons is coupled to the base member (110) and the rotating member (120).

[0116] In more detail, the rotating member rotation tendon sheath pair (21a, 21b) includes a first tendon (61a) and a first sheath (71a) and a second sheath (71b) respectively connected to both ends of the first tendon (61a).

[0117] When viewed from the rear side of the rotating member (120), the pair of tendon sheaths for rotating the rotating member can be divided into a left side and a right side of the first tendon (61a) based on the center of the first tendon (61a), and the left side of the first tendon (61a) and the first sheath (71a) constitute one tendon sheath, and the right side of the first tendon (61a) and the second sheath (71b) constitute another tendon sheath. (See Fig. 25)

[0118] At this time, the first tendon (61a) may be a single tendon as in the present embodiment, or may be a tendon divided into two. In the present embodiment, a single tendon is used, but the sheaths connected to the tendon are formed as a pair. In the present specification, the tendon sheath pair (21a, 21b) for rotating the rotating member may be referred to as a 'first tendon sheath pair'.

[0119] In addition, in one embodiment of the present invention, the pair of tendons (22a, 22b) for forward and backward movement of the sliding member is a component that is coupled to the rotating member (120) and the sliding member (170) to move the sliding member (170) forward and backward.

[0120] The sliding member forward / backward tendon sheath pair (22a, 22b) includes a second tendon (62a) and a third tendon (62b), and a third sheath (72a) and a fourth sheath (72b) connected to the second tendon (62a) and the third tendon (62b), respectively. In the present specification, the sliding member forward / backward tendon sheath pair (22a, 22b) may be referred to as a second tendon sheath pair.

[0121] In addition, in one embodiment of the present invention, the tendon sheath pair (23a, 23b) for pitch motion of the female link portion is a component that is coupled to the female link portion (60) and operates the pitch motion of the female link portion (60). The tendon sheath pair (23a, 23b) for pitch motion of the female link portion (60) includes a fourth tendon (63a) and a fifth tendon (63b), and a fifth sheath (73a) and a sixth sheath (73b) coupled to the fourth tendon (63a) and the fifth tendon (63b), respectively. In the present specification, the tendon sheath pair (23a, 23b) for pitch motion of the female link portion (60) may be referred to as a third tendon sheath pair.

[0122] Also, in one embodiment of the present invention, a forceps drive tendon sheath (24) is a component that is coupled to the forceps assembly (200) to operate the forceps assembly (200). The forceps drive tendon sheath (24) includes a sixth tendon (64) and a seventh sheath (74) coupled to the sixth tendon (64). In the present specification, the forceps drive tendon sheath (24) may be referred to as a fourth tendon sheath.

[0123] In one embodiment of the present invention, a driving unit (50) is provided to drive the first to third tendon pairs (21a, 21b, 22a, 22b, 23a, 23b) and the fourth tendon pair (24).

[0124] At this time, the driving unit (50) may include first to fourth driving units (51, 52, 53, 54).

[0125] The first driving unit (51) may be coupled to the first tendon (61a) to drive the first tendon sheath pair (21a, 21b). At this time, the first driving unit (51) may include two linear actuators coupled to each end of the first tendon.

[0126] The second driving unit (52) may be coupled to the second tendon (62a) and the third tendon (62b) to drive the second tendon sheath pair (22a, 22b). At this time, the second driving unit (52) may include two linear actuators coupled to the ends of the second tendon (62a) and the third tendon (62b), respectively.

[0127] Additionally, the third driving unit (53) may include two linear actuators each coupled to the ends of the fourth tendon (63a) and the fifth tendon (63b) to drive the third tendon sheath pair (23a, 23b).

[0128] Additionally, the fourth drive unit (54) may include one linear actuator coupled to the end of the sixth tendon (64) to drive the fourth tendon sheath (24).

[0129] In Fig. 4, for the sake of simplicity, the detailed structures of the four driving parts (51, 52, 53, 54) are not illustrated, but are illustrated in the form of small boxes. In Fig. 4, the box-shaped component connected to the end of the sheath conceptually illustrates the part that secures the end of the sheath to the inside of the first housing (32) forming the cartridge.

[0130] Below, with reference to the drawings, each component constituting the robot arm assembly (100) according to one embodiment of the present invention will be described in detail.

[0131] First, the base member (110) of the robot arm assembly (100) will be described.

[0132] Fig. 7 is a rear perspective view of the base member of the robot arm assembly according to one embodiment of the present invention. Fig. 8 is a front perspective view of the base member of the robot arm assembly according to one embodiment of the present invention. Fig. 9 is a rear view of the base member of the robot arm assembly according to one embodiment of the present invention.

[0133] Referring to FIGS. 7 to 9, the base member (110) includes a base member body (111). The base member body (111) may be formed in a cylindrical shape. An endoscope end joining hole (113) is formed through the center of the extension direction of the base member body (111) in the front-back direction.

[0134] A protrusion (114) is formed protruding in the front-back direction on the inside of the base member body (111). At this time, the protrusions (114) are spaced apart from each other along the circumferential direction on the inner surface of the base member body (111).

[0135] The protrusion (114) has a contact surface (114a) so that the outer surface of the endoscope end (2b) and the protrusion (114) come into contact when the endoscope end (2b) is coupled to the endoscope end coupling hole (113), and the contact surface (114a) of the protrusion (114) comes into contact with the outer surface of the endoscope end (2b) so that the base member body (111) can be fixed to the endoscope end (2b).

[0136] Meanwhile, at the front end (112) of the base member body (111), a catch (112a, 112b) protruding inward and outward directions is formed when the center direction of the endoscope is referred to as the inside.

[0137] The endoscope end (2b) may not protrude forward of the base member body (111) when fitted into the endoscope end joining hole (113) of the base member body (111) by the inwardly protruding inwardly protruding inwardly engaging jaw (112a).

[0138] Meanwhile, referring to FIG. 8, a tendon fixing groove (115) is formed on one side of the front surface of the outwardly protruding outwardly facing catch (112b), and two tendon penetration holes (117a, 117b) are arranged adjacent to each other within the tendon fixing groove (115).

[0139] The tendon fixing groove (115) is for fixing the first tendon (61a) of the first tendon sheath pair (21a, 21b) to the base member (110), as shown in FIG. 4.

[0140] According to one embodiment of the present invention, the first tendon (61a) extends from the rear side to the front side of the base member (110) and is connected to the base member (110). At this time, one side and the other side connected to the central portion of the first tendon (61a) pass through the rotating member (120), respectively.

[0141] And, the central portion of the first tendon (61a) is formed to extend along the circumference of the base member (110) in a state where the central portion of the first tendon (61a) is positioned adjacent to the rear of the outwardly facing catch (112b) located at the front end of the base member (110).

[0142] At this time, a part of the central portion of the first tendon (61a) passes through one tendon penetration hole (117a) while being wound around the circumference of the base member (110) and extends toward the front side of the outward hooking jaw (112b). The first tendon (61a) extended toward the front side of the outward hooking jaw (112b) passes through the tendon fixing groove (115) and extends toward the rear side of the outward hooking jaw (112b) through another tendon penetration hole (117b). The first tendon (61a) extended toward the rear side of the outward hooking jaw (112b) extends along the circumference of the base member (110) and then passes through the rotating member (120) and extends toward the rear side.

[0143] In one embodiment of the present invention, the first tendon sheath pair (21a, 21b) coupled to the base member (110) to couple the rotating member (120) includes a first tendon (61a), a first sheath (71a) wrapping one end of the first tendon (61a), and a second sheath (71b) wrapping the other end of the first tendon (61a).

[0144] At this time, the first sheath (71a) and the second sheath (71b) are positioned in two extensions extending from the center of the first tendon (61a) to the rear side of the base member (110) without being wrapped around the circumference of the base member (110). At this time, a first driving unit (51), for example, a pair of linear actuators, is coupled to the ends of the two extensions of the first tendon (61a) so as to move the first tendon (61a) relatively in the forward-backward direction with respect to the first sheath (71a) and the second sheath (71b).

[0145] Meanwhile, a stopper part (116) is formed protrudingly on the rear side of the outer surface of the base member body (111).

[0146] In one embodiment of the present invention, when the rotating member (120) described below is coupled to the base member body (111), it is coupled by moving from the rear side to the front side as shown in FIG. 5.

[0147] In this way, after the rotating member (120) is coupled to the base member body (111), when the rotating member (120) rotates while being placed on the outer surface of the base member body (111), the stopper part (116) supports the rear end of the rotating member (120) so that the rotating member (120) does not move toward the rear side of the base member body (111).

[0148] Next, the rotating member (120) coupled to the base member (110) will be described.

[0149] Fig. 10 is a rear perspective view of a rotating member of a robot arm assembly according to one embodiment of the present invention. Fig. 11 is a front perspective view of a rotating member of a robot arm assembly according to one embodiment of the present invention. Fig. 12 is a rear view of a rotating member of a robot arm assembly according to one embodiment of the present invention.

[0150] Referring to FIGS. 10 to 12, the rotating member (120) includes a rotating member body (121) in which a base member penetration hole (123) through which the base member (110) passes is formed. The rotating member body (121) may be formed in a cylindrical shape.

[0151] A sliding portion (130) is formed on one side of the outer circumference of the rotating member body (121) in the extension direction of the rotating member body (121).

[0152] A sliding member moving hole (132) having a sliding space open in the forward and backward direction is formed in the sliding member (130) so that the sliding member (170) can slide. The sliding member moving hole (132) is provided with an upward opening (133) open in the outward direction of the rotating member (120).

[0153] The upper opening (133) is an opening formed to enable an operating member such as a forceps assembly (200) to pivot in a direction away from the center of the endoscope (2), i.e., in an upward direction as seen in FIG. 10, even when positioned at the rear of the endoscope tip (2a).

[0154] Referring to Fig. 10, the front-back direction length (L1) of the sliding member moving hole (132) formed in the sliding portion (130) of the rotating member body (121) is formed to be longer than the front-back direction length (L2) of the portion where the base member through hole (123) of the rotating member body (121) is formed. This is to form the front-back direction length (L1) of the sliding member moving hole (132) longer, thereby lengthening the moving length of the forceps assembly (200), the arm link portion (60), and the sliding member (170) installed in the sliding member moving hole (132), and expanding the operating range.

[0155] In addition, referring to FIG. 12, the cross-section of the sliding member moving hole (132) can be formed into a roughly square shape with a height H1 and a width W in the front-back direction, taking into consideration the shape of the female link part (60) and the forceps assembly (200).

[0156] Again, referring to FIG. 10, a pair of first tendon through holes (137a, 137b) are formed on both sides of the sliding member moving hole (132) of the rotating member body (121), and one side and the other side of the first tendon (61a) extend to the rear side through the pair of first tendon through holes (137a, 137b).

[0157] In addition, a rear coupling member coupling protrusion (138) protruding rearwardly is formed on both sides of a pair of first tendon penetration holes (137a, 137b) on the rear end surface (124) of the rotating member body (121). The rear coupling member coupling protrusion (138) is a part that is combined with a rear coupling member (150) described later so that the rear coupling member (150) can be coupled and fixed to the rotating member body (121).

[0158] Referring to Fig. 11, a pair of sliding groove front blocking surfaces (136a, 136b) are formed on the front end side of the sliding groove (135a, 135b) of the sliding part (130) to limit the forward movement position of the sliding member (170).

[0159] Among the pair of sliding home front blocking surfaces (136a, 136b), a third tendon coupling hole (139) is formed in the front blocking surface (136b) formed on the right side as seen in FIG. 12, to which the third tendon (62b) of the second tendon sheath pair (22a, 22b) is fixed.

[0160] Accordingly, as can be seen with reference to FIGS. 2 and 6, the forceps assembly (200), the arm link portion (60), and the sliding member (170) can be moved in the forward and backward direction within the sliding member moving hole (132).

[0161] In addition, with the sliding member (170) retracted to the rearmost side, the forceps assembly (200) can be placed in a state where it is accommodated inside the sliding member moving hole (132) without protruding toward the front side of the front frame (140) as shown in FIG. 2.

[0162] Next, the rear coupling member (150) fixed to the rear side of the rotating member (120) will be described.

[0163] Fig. 13 is a front perspective view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention. Fig. 14 is a rear perspective view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention. Fig. 15 is a rear view of a rear coupling member of a robot arm assembly according to one embodiment of the present invention.

[0164] Referring to FIGS. 13 to 15, the rear coupling member (150) is fixed to the rear side of the rotating member (120) and is configured to allow the tendons and sheaths of a plurality of tendon sheath pairs to pass through, fix the sheaths, or guide the tendons and sheaths. In addition, by fixing the rear coupling member (150) to the rear side of the rotating member (120), the sliding member (170) can be prevented from moving rearward from the rear end of the sliding member moving hole (132).

[0165] Referring to FIGS. 13 to 15, a tendon guide hole (153) having a roughly triangular shape is formed in the center of the rear coupling member (150) and extends forward and backward through the rear coupling member (150). Referring to FIG. 15, a third sheath joining hole (155) is formed on the left side of the tendon guide hole (153) when viewed from the rear side, to which the front end of the third sheath (72a) of the second tendon pair (22a, 22b) is joined.

[0166] And, as seen in FIG. 15, a first sheath joining hole (159a) and a second sheath joining hole (159b) are formed on both sides of the tendon sheath guide hole (153), to which the front ends of the first sheath (71a) and the second sheath (71b) of the first tendon sheath pair (21a, 21b) are joined.

[0167] A tendon sheath peripheral wall (154) is formed around a tendon sheath guide hole (153) having a roughly triangular shape, and a tubular guide member (300 in FIG. 6) extending in the front-back direction can be coupled between the outer surface of the tendon sheath guide hole (153) and the inner surface of the tendon sheath peripheral wall (154) to guide the tendon sheath.

[0168] In addition, a pair of rotation member coupling holes (157a, 157b) may be formed facing forward on both width-wise ends of the rear coupling member (150) so that a coupling protrusion (138) formed on the rotation member (120) can be coupled thereto.

[0169] Next, the front frame (140) will be described.

[0170] Fig. 16 is a rear perspective view of the front frame of the robot arm assembly according to one embodiment of the present invention. Fig. 17 is a rear view of the front frame of the robot arm assembly according to one embodiment of the present invention.

[0171] Referring to FIG. 2, FIG. 16 and FIG. 17, the front frame (140) is formed in a cylindrical shape so as to be coupled to the endoscope tip (2a), and has an upper opening (148) so that the upper part is open when viewed in FIG. 16, and has a front opening (149) that is open forward on the upper side of the front surface adjacent to the upper opening (148).

[0172] The front opening (149) is an opening formed to allow an operating member such as a forceps assembly (200) to protrude forward of the endoscope tip (2a), and the upper opening (148) is an opening formed to allow an operating member such as a forceps assembly (200) to pivotally rotate in a direction away from the center of the endoscope (2), i.e., in an upward direction as viewed in FIG. 16, even when positioned at the rear of the endoscope tip (2a).

[0173] The inner surface of the front frame (140) which is formed in an overall cylindrical shape includes a first inner surface (142) and a second inner surface (143).

[0174] As seen in FIG. 16, the first inner side (142) is adjacent to the front end surface of the front frame (140), and a central hole (145) having a diameter corresponding to the endoscope tip (2a) is formed by the first inner side (142).

[0175] Meanwhile, a second inner surface (143) is provided on the rear side of the first inner surface (142) to contact the outer surface of the rotating member (120) having a diameter larger than that of the first inner surface (142).

[0176] And, due to the difference in diameter between the first inner surface (142) and the second inner surface (143), a step portion (144) is formed at the boundary between the first inner surface (142) and the second inner surface (143). Accordingly, the endoscope (2) is formed to be coupled with the front frame (140) at a position where the front surface (4) of the endoscope tip (2a) is in contact with the step portion (144).

[0177] Meanwhile, referring to FIG. 16, a fluid discharge hole (146) is formed in a downward direction in the step portion (144) where the boundary between the first inner surface (142) and the second inner surface (143) is formed as seen in FIG. 16.

[0178] Since the front frame (140) is coupled to the front of the endoscope end (2) when the end of the endoscope (2) advances inside the body, if the fluid discharge hole (146) is not formed, fluid may accumulate inside the front frame (140) in front of the endoscope end (2b). If fluid accumulates inside the front frame (140) in this way, the front of the endoscope end (2b) may be obscured, so the fluid accumulated inside the front frame (140) in this way is discharged through the fluid discharge hole (146).

[0179] Meanwhile, a pair of rotation member engaging protrusions (147) are formed to protrude rearward at both ends of the upper side adjacent to the front opening (149) of the front frame (140). The rotation member engaging protrusions (147) are engaged with a recessed portion formed on the front side of the rotation member (120) so that the front frame (140) can rotate together with the rotation member (120).

[0180] In one embodiment of the present invention, a front frame (140) is coupled to the front of the endoscope end and can be rotated together with the rotation member (120), thereby protecting the endoscope end (2b) when the endoscope end (2b) is inserted into the patient's body.

[0181] In addition, in a state where the front frame (140) is coupled to the rotating member (120), the forceps assembly (200) is positioned at the rear side of the front opening (149) of the front frame (140) and can be moved to protrude or retract forward and backward based on the tip of the endoscope, so that the forceps assembly (200) can be protected in a state where the forceps assembly (200) is retracted backward.

[0182] Accordingly, when the forceps assembly (200) coupled to the endoscope tip (2a) is inserted into the patient's body, the forceps assembly (200) in a state of being retracted to the rear of the endoscope tip (2a) can be inserted into the patient's body while being protected by the front frame (140).

[0183] Next, the sliding member (170) and the arm link member (160) are described.

[0184] Fig. 18 is a top view of a robot arm assembly according to one embodiment of the present invention. Fig. 19 is a perspective view of a sliding member of a robot arm assembly according to one embodiment of the present invention. Fig. 20 is a perspective view of an arm link member of a robot arm assembly according to one embodiment of the present invention.

[0185] Referring to FIGS. 2, 5, 6, and 18 to 20, in one embodiment of the present invention, the forceps assembly (200), the arm link portion (60), and the sliding member (170) can be moved forward and backward within the sliding member moving hole (132). At this time, when the forceps assembly (200) is retracted to the rear of the endoscope tip (2a), the sliding member (170) is retracted until its rear end is positioned adjacent to the rear coupling member (150).

[0186] In one embodiment of the present invention, three female link members (160) are arranged in a row in front of the sliding member (170), and a forceps assembly (200) is coupled in front of the three female link members (160).

[0187] In one embodiment of the present invention, as can be seen in FIGS. 4 and 18, a pair of tendons (22a, 22b) for forward and backward movement of the sliding member are coupled to both sides of the sliding member (170).

[0188] Referring to FIG. 19, the sliding member (170) has a sliding member body (171) having a roughly hexahedral shape and sliding groove receiving portions (176a, 176b) protruding in both lateral directions from both sides of the sliding member body (171).

[0189] At this time, among the sliding home receiving portions (176a, 176b), as seen in FIG. 19, a second tendon fixing hole (173a) to which the tip of the second tendon (62a) is fixed is formed in the sliding home receiving portion (176a) on the left, and a fourth sheath fixing hole (173b) to which the tip of the fourth sheath (72b) is fixed is formed in the sliding home receiving portion (176b) on the right.

[0190] The third tendon (62b) penetrating the fourth sheath (72b) can be connected to the third tendon coupling hole (139) of the rotating member (120) by penetrating the sliding groove receiving portion (176b). Meanwhile, the third sheath (72a) wrapping a portion of the second tendon (62a) can have its front end connected to the rear coupling member (150).

[0191] Meanwhile, a pair of sheath fixing holes (172a, 172b) are formed in the central portion of the body (171) of the sliding member (170) so that the sheaths of the tendon sheath pair (23a, 23b) for pitch motion are coupled.

[0192] Referring to Fig. 19, a pair of sheath fixing holes (172a, 172b) are arranged in an up-down direction based on the center of the body (171), and a fifth sheath (73a) and a sixth sheath (73b) are fixed to the upper and lower sheath fixing holes (172a, 172b), respectively.

[0193] A fourth tendon sheath penetration hole (175) is formed in the central portion of the body (171) of the sliding member (170) through which the tendon sheath (fourth tendon sheath) (24) for driving the forceps passes. Accordingly, the fourth tendon sheath (24) can extend forward through the body (171) of the sliding member (170) to the forceps assembly (200).

[0194] Next, referring to FIGS. 18 and 20, the arm link member (160) includes an arm link body (161) having a roughly hexahedral shape, and a front groove (165) is formed on both sides of the front surface facing forward, and a rear protrusion (163) is formed on both sides of the rear surface opposite thereto.

[0195] In a state where the female link members (160) are arranged adjacent to each other in the front and rear, the rear protrusion (163) of the female link member (160) located at the front is formed to contact the front groove (165) of the female link member (160) located at the rear.

[0196] Accordingly, when the plurality of female link members (160) perform a pitch motion by driving the fourth and fifth tendons (63a, 63b), the plurality of female link members (160) can pitch rotate while maintaining contact between the front groove (165) and the rear protrusion (163) between the adjacent female link members (160).

[0197] Meanwhile, in the center of the arm link body (161), a pair of tendon penetration holes (162a, 162b) are formed on the upper and lower sides based on the center portion, through which the fourth and fifth tendons (63a, 63b) for pitch motion pass.

[0198] And, the tip portions of the fourth and fifth tendons (63a, 63b) that pass through the tendon penetration holes (162a, 162b) are formed to be coupled to the forceps assembly (200). In one embodiment of the present invention, the fourth tendon and the fifth tendon (63a, 63b) may be formed as one tendon or may be formed as different tendons.

[0199] Meanwhile, a tendon sheath penetration hole (167) through which the tendon sheath (24) for driving the forceps, i.e. the fourth tendon sheath, passes is formed in the center of the arm link body (161).

[0200] And, a tendon sheath (24) for driving the forceps is formed to pass through a plurality of female link bodies (161) and connect to the forceps assembly (200) through the tendon sheath penetration hole (167) so as to operate the forceps assembly (200).

[0201] FIG. 21 is an exploded perspective view of a forceps assembly (200), an arm link member (160), and a sliding member (170) of a robot arm assembly (100) according to one embodiment of the present invention.

[0202] Referring to FIG. 21, a pair of tendon sheath pairs (23a, 23b) for operating the arm link members, i.e., a third tendon sheath pair, is provided to move the leading end of the most forward arm link member (160) among one or more arm link members (160) toward or away from the center of the endoscope (2).

[0203] And, a third driving unit (53) can be coupled to an extension end extending rearwardly of the third tendon pair to drive the third tendon pair.

[0204] Also, referring to FIG. 21, the tendon sheath (24) for driving the forceps, i.e., the fourth tendon sheath, is connected to the forceps assembly (200) by penetrating the sliding member (170) and the plurality of female link members (160).

[0205] And, a fourth driving unit (54) can be coupled to the extension end extending rearwardly of the fourth tendon sheath (24) to drive the fourth tendon sheath (24).

[0206] Next, the forceps assembly (200) will be described.

[0207] Fig. 22 is an enlarged perspective view of portion A in Fig. 21. Fig. 23 is a diagram showing a state in which the forceps structure of the robot arm assembly according to one embodiment of the present invention is closed. Fig. 24 is an operational state diagram showing a state in which the forceps structure of the robot arm assembly according to one embodiment of the present invention is open. Fig. 25 is a partial enlarged view showing a state in which a tendon sheath is coupled to the robot arm assembly according to one embodiment of the present invention.

[0208] Referring to FIG. 22, in one embodiment of the present invention, a forceps assembly (200) includes a forceps assembly body (210), a first forceps member (230), a second forceps member (220), and a moving member (240). In this embodiment, the first forceps member (230) and the second forceps member (220) may be combined to perform the function of forceps.

[0209] The forceps assembly body (210) is a part where the first forceps member (230) and the second forceps member (220) are rotatably coupled.

[0210] A rear protrusion (214) protruding rearwardly to correspond to the front groove (165) of the female link member (160) is formed on the rear surface of the forceps assembly body (210).

[0211] On the front surface of the forceps assembly body (210), referring to FIG. 22, a first forceps member coupling portion (212a) and a second forceps member coupling portion (212b) are protrudingly formed on both sides of the body (210) facing forward. Each of the first forceps member coupling portion (212a) and the second forceps member coupling portion (212b) has coupling holes (213a, 213b) so that the first forceps member (230) and the second forceps member (220) are rotatably coupled by coupling pins (252a, 252b).

[0212] The first forceps member (230) and the second forceps member (220) are provided with a first forceps tip portion (234) and a second forceps tip portion (224) that are opposed to each other and are engaged with each other on the front side. In addition, the first forceps member (230) and the second forceps member (220) include a body (231, 221) in which a coupling hole (233, 223) through which a coupling pin (252a, 252b) passes and an inclined guide (235, 225) is formed so that a guide protrusion (242b, 242a) of a moving member (240) described later is guided.

[0213] The movable member (240) includes a movable member body (221) and guide protrusions (242b, 242a) protruding from the upper and lower sides of the movable member body (211).

[0214] Referring to FIG. 22, the inclined guide (235) formed on the first forceps member body (231) of the first forceps member (230) and the inclined guide (225) formed on the second forceps member body (221) of the second forceps member (220) are formed symmetrically to each other and are formed to become closer toward the rear side.

[0215] Meanwhile, as shown in Fig. 22, guide protrusions (242b, 242a) protruding from the upper and lower sides of the moving member (240) are inserted into a pair of inclined guides (235, 225) of the first forceps member (230) and the second forceps member (220).

[0216] And, the movable member (240) is formed so that the end of the sixth tendon (64) of the fourth tendon sheath (24) is coupled to the movable member (240). At this time, a sixth tendon fixing hole (245) to which the end of the sixth tendon (64) is fixedly coupled may be formed in the movable member (240). The seventh sheath (74) of the fourth tendon sheath (24) is formed so that the tip end is coupled to the forceps assembly body (210).

[0217] And, as the fourth driving unit (54) for driving the fourth tendon sheath (24) is driven, the sixth tendon (64) is moved in the forward and backward direction with respect to the seventh sheath (74), and the moving member (240) is formed so that it can move in the forward and backward direction.

[0218] Accordingly, when the movable member (240) is retracted, as shown in FIG. 23, the first forceps tip (234) of the first forceps member (230) and the second forceps tip (224) of the second forceps member (220) are interlocked or closed with each other.

[0219] And, in a state where the movable member (240) is moved forward, as shown in FIG. 24, the first forceps tip (234) of the first forceps member (230) and the second forceps tip (224) of the second forceps member (220) are separated or open from each other.

[0220] In this way, by driving the fourth tendon sheath (24), the first forceps member (230) and the second forceps member (220) can be formed to spread apart or engage with each other.

[0221] In one embodiment of the present invention, the forceps assembly (200) is exemplified as the operating member, but the structure or device that can be coupled to the front of the arm link member (160) may be various known structures or devices that can be operated using one or more tendons.

[0222] Hereinafter, the operation of the robot arm assembly described above will be described with reference to the drawings.

[0223] FIG. 26 is a plan view showing a state in which the forceps assembly (200) of the robot arm assembly (100) according to one embodiment of the present invention protrudes forward.

[0224] Movement Rotation (rolling) Sliding (advance / retreat) Pitch (up / down) Forceps (open / close) Related tendons Sheath 1st tendon (left) 1st tendon (right) 2nd tendon 3rd tendon 4th tendon 5th tendon 6th tendon Related drive unit movement--Push / Pull---

[0225] Table 1 is written to explain the tendon sheath pairs and related driving unit operations related to each member in relation to the operations of the rotating member (120), the sliding member (170), the arm link member (160), and the forceps assembly (200) in one embodiment of the present invention, and explains the related tendon sheath pairs and related driving unit operations during the sliding operation. As an example of the operation of the robot arm driving device (1) according to one embodiment of the present invention, referring to Table 1, the forceps assembly (200) can slide forward as illustrated in FIG. 26 by pushing the second tendon (62a) connected to the sliding member (170) and pulling the third tendon (62b) without operating the other tendon sheath pairs.

[0226] At this time, the pushing and pulling motions can be performed by the drive unit connected to the tendon as a movement of the tendon relative to the sheath.

[0227] FIG. 27 is a perspective view showing the forceps assembly (200) of the robot arm assembly (100) according to one embodiment of the present invention rotated upward while protruding forward.

[0228] Movement Rotation (rolling) Sliding (advance / retreat) Pitch (up / down) Forceps (open / close) Related tendons Sheath 1st tendon (left) 1st tendon (right) 2nd tendon 3rd tendon 4th tendon 5th tendon 6th tendon Related drive unit movement--Push Pull Pull Push-

[0229] As another example of the operation of the robot arm drive device (1) according to one embodiment of the present invention, Table 2 describes the operation of the associated tendon sheath pair and associated drive unit in a state in which the sliding member (170) is advanced, the forceps assembly (200) is maintained in a closed state, and the arm link member (160) is allowed to pitch rotate upward. In one embodiment of the present invention, the second tendon (62a) connected to the sliding member (170) is pushed, the third tendon (62b) is pulled, and the fourth tendon (63a) connected to the arm link member (160) is pulled, and the fifth tendon (63b) is pushed.

[0230] By doing so, the sliding member (170) is allowed to advance as in FIG. 27, the forceps assembly (200) is kept closed, and the female link member (160) can pitch rotate upward.

[0231] However, if the sixth tendon (64) connected to the forceps assembly (200) is pushed out, the forceps assembly (200) can be opened.

[0232] FIG. 28 is a perspective view showing the forceps assembly (200) of the robot arm assembly (100) according to one embodiment of the present invention rotated downward while protruding forward.

[0233] Movement Rotation (rolling) Sliding (advance / retreat) Pitch (up / down) Forceps (open / close) Related tendons Sheath 1st tendon (left) 1st tendon (right) 2nd tendon 3rd tendon 4th tendon 5th tendon 6th tendon Related drive unit movement--Push Pull Push Pull-

[0234] As another example of the operation of the robot arm driving device (1) according to one embodiment of the present invention, Table 3 describes the operation of the associated tendon sheath pair and associated driving unit in a state in which the sliding member (170) is advanced, the forceps assembly (200) is maintained in a closed state, and the arm link member (160) is allowed to pitch downward. In one embodiment of the present invention, the second tendon (62a) connected to the sliding member (170) is pushed, and the third tendon (62b) is pulled. In addition, the fourth tendon (63a) connected to the arm link member (160) is pushed, and the fifth tendon (63b) is pulled. Accordingly, as shown in FIG. 28, the sliding member (170) is allowed to advance, the forceps assembly (200) is maintained in a closed state, and the arm link member (160) can pitch downward.

[0235] However, if the sixth tendon (64) connected to the forceps assembly (200) is pushed out, the forceps assembly (200) can be opened.

[0236] FIG. 29 is a perspective view showing the forceps structure of a robot arm assembly according to one embodiment of the present invention rotated upward in a retracted state without protruding forward. FIG. 30 is a side view showing the forceps structure of a robot arm assembly according to one embodiment of the present invention rotated upward in a retracted state without protruding forward.

[0237] Movement Rotation (rolling) Sliding (advance / retreat) Pitch (up / down) Forceps (open / close) Related tendons Sheath 1st tendon (left) 1st tendon (right) 2nd tendon 3rd tendon 4th tendon 5th tendon 6th tendon Related drive unit movement--pull push push pull-

[0238] As another example of the operation of the robot arm drive device (1) according to one embodiment of the present invention, Table 4 describes the operation of the associated tendon sheath pair and associated drive unit in a state in which the sliding member (170) is retracted, the forceps assembly (200) is maintained in a closed state, and the arm link member (160) is allowed to pitch rotate upward. In one embodiment of the present invention, the second tendon (62a) connected to the sliding member (170) is pulled, the third tendon (62b) is pushed, and the fourth tendon (63a) connected to the arm link member (160) is pushed, and the fifth tendon (63b) is pulled.

[0239] By doing so, the sliding member (170) is retracted as shown in FIGS. 29 and 30, the forceps assembly (200) is maintained in a closed state, and the arm link member (160) can pitch rotate upward.

[0240] However, if the sixth tendon (64) connected to the forceps assembly (200) is pushed out, the forceps assembly (200) can be opened.

[0241] According to one embodiment of the present invention, the robot arm assembly (100) can rotate the arm link member (160) in an upward pitch direction while the sliding member (170) is retracted rearward, as shown in FIG. 29.

[0242] Accordingly, when performing surgery on a patient, the affected area is rotated upward while the forceps assembly (200) is gripping the affected area, and in that state, the sliding member (170) is retracted rearward, allowing the tip of the endoscope to be brought very close to the surgical site, and endoscopic surgery becomes possible in this state. Accordingly, endoscopic surgery can be performed more effectively.

[0243] FIG. 31 is a perspective view illustrating an operating state in which a rotating member of a robot arm assembly according to one embodiment of the present invention rotates around a base member.

[0244] MovementClockwise rotation(rolling)Counterclockwise rotation(rolling)Related tendonSheath1st tendon(left)1st tendon(right)1st tendon(left)1st tendon(right)Related driveMovementPushPullPullPush

[0245] As another example of the operation of the robot arm driving device (1) according to one embodiment of the present invention, as can be seen in Table 5, the first tendon (61a) is relatively pushed against the first sheath (71a) located on the left side of the first tendon (61a) connected to the rotating member (120) and the first tendon (61a) is relatively pulled against the second sheath (71b) located on the right side of the first tendon (61a), thereby rotating the rotating member (120) clockwise when viewed from the rear to the front. In order to rotate the rotating member (120) counterclockwise, the first tendon (61a) can be relatively pulled with respect to the first sheath (71a) located on the left side of the first tendon (61a) and the first tendon (61a) can be relatively pushed with respect to the second sheath (71b) located on the right side of the first tendon (61a).

[0246] As described above, various operations of the robot arm assembly (100) according to one embodiment of the present invention can be achieved by connecting a tendon pair or tendons to each member to operate the rotation member (120), the sliding member (170), the arm link member (160), and the forceps assembly (200), and operating the tendon pair or tendons using a driving unit.

[0247] At this time, the rotation of the rotating member (120), the sliding movement of the sliding member (170), the pivot rotation of the arm link member (160), and the opening and closing operations of the forceps assembly (200) can be performed independently, simultaneously, or individually, and such operations can be selectively performed by a user who operates the robot arm drive device (1) having the robot arm assembly (100) while performing endoscopic surgery.

[0248] At this time, the rotation member (120), sliding member (170), arm link member (160) and forceps assembly (200) exemplified in the present invention and the coupling position of the tendon sheath pair or tendon sheath, coupling method and adjustment method using the driving unit are only examples, and these can be variously changed according to the user's design.

[0249] Although the embodiments of the present invention have been described above, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same spirit, but this will also be considered to fall within the spirit of the present invention.

Claims

1. A robotic arm assembly that can be connected to the end of an endoscope, A base member coupled to the end of the endoscope; A sliding member coupled to the base member and movable in the forward and backward direction of the endoscope; One or more female link members coupled to the sliding member and arranged adjacently in the front-rear direction of the endoscope; and An operating member coupled to the most forward-positioned female link member among the one or more female link members, A robot arm assembly in which the operating member is positioned forward of the tip of the endoscope and the operating member can move in a direction toward or away from the central axis of the endoscope, and in which the operating member is positioned rearward of the tip of the endoscope and the operating member can move in a direction away from the central axis of the endoscope.

2. In paragraph 1, It includes a rotating member that is rotatable and connected to the outer periphery of the base member around the extension direction central axis of the endoscope, A robot arm assembly in which the sliding member is coupled to the outer surface of the rotating member.

3. In paragraph 2, The above base member Including the base member body, One end of the above base member body is provided with a catch that protrudes inward and outward, A robot arm assembly, wherein the inner surface of the base member body is provided with a plurality of protrusions that protrude inwardly and are spaced apart from each other along the circumferential direction.

4. In paragraph 3, A robot arm assembly comprising a tendon for rotating the rotating member coupled to the rotating member and the base member to rotate the rotating member relative to the base member, and a first driving unit for driving the tendon for rotating the rotating member.

5. In paragraph 4, The above rotating member rotation tendon sheath includes a first tendon and a first sheath wrapping one end side of the first tendon and a second sheath wrapping the other end side of the first tendon, One side of the above first tendon is fixedly positioned on one side of the circumferential direction of the base member, A portion of the first tendon adjacent to one side of the first tendon is formed to be wrapped circumferentially around the base member, The remaining portion of the first tendon is not wound in the circumferential direction of the base member, and includes a first extension portion and a second extension portion extending from each end of the portion of the first tendon toward the rear side of the rotating member, The first extension portion and the second extension portion of the first tendon are provided with the first sheath and the second sheath, respectively. A robot arm assembly, wherein the first driving unit is coupled to the ends of the first extension and the second extension to move the first tendon relatively forward and backward with respect to the first sheath and the second sheath.

6. In paragraph 2, The above rotating member A rotating member body through which the base member penetrates; and A robot arm assembly comprising a sliding portion formed in the extension direction of the rotating member body on the outer peripheral side of the rotating member body.

7. In paragraph 6, The above sliding part includes a sliding member moving hole having a sliding space open in the front-back direction so that the sliding member can slide, A robot arm assembly, wherein the sliding member movement hole is provided with an upward opening open in the outer direction of the rotating member.

8. In paragraph 7, A robot arm assembly in which the operating member is formed so that it can protrude forward of the endoscope tip or retract backward from the endoscope tip according to the movement of the sliding member.

9. In paragraph 8, The above sliding member movement hole is provided with a pair of sliding grooves on both sides in the movement direction of the sliding member, The above sliding member, A sliding member body movably positioned inside the sliding member moving hole; and A robot arm assembly comprising a pair of sliding groove receiving portions that are protruded on both sides of the sliding member body and are slidably received in each of the pair of sliding grooves.

10. In paragraph 9, A robot arm assembly comprising a pair of sliding member forward / backward tendons to move the sliding member forward / backward within the sliding member moving hole, and a second driving unit for operating the pair of sliding member forward / backward tendons.

11. In paragraph 10, One of the pair of sliding member forward / backward tendon sheaths includes a second tendon that penetrates one of the pair of sliding groove receiving portions and is coupled to the front end of one of the pair of sliding grooves, and a third sheath that is coupled to one of the sliding groove receiving portions. The other of the pair of sliding member forward and backward tendon sheaths includes a third tendon coupled to the other of the pair of sliding groove receiving portions and a fourth sheath coupled to the rear end of the other of the pair of sliding grooves, A robot arm assembly, wherein the second driving unit is coupled to an extended end extending rearwardly of the pair of sliding member forward-backward tendon sheaths to relatively move the second and third tendons in the forward-backward direction with respect to the third and fourth sheaths.

12. In paragraph 2, Further comprising a front frame coupled to the front end of the above rotating member, The above front frame A first inner surface forming a central hole having a diameter corresponding to the tip of the endoscope, It has a second inner surface that partially contacts the outer surface of the rotating member having a diameter larger than the first inner surface, A step is formed between the first inner surface and the second inner surface, Robot arm assembly.

13. In paragraph 2, Further comprising a rear coupling member coupled to the rear end of the above rotating member, A robot arm assembly, wherein at least one through hole is formed through the rear coupling member in the front-rear direction, through which a tendon sheath for operating at least one of the rotating member, the sliding member, the arm link member, and the operating member passes.

14. In paragraph 2, The one or more female link members are arranged in a row in front of the sliding member, Each of the above one or more female link members A body having a through hole formed in the front and rear direction for operating the operating member in the center; A protrusion formed on the front or rear surface of the body and A contact groove formed on the opposite surface of the surface where the protrusion is formed, and in which the protrusion of the neighboring female link member comes into contact, Robot arm assembly.

15. In paragraph 14, A robot arm assembly, wherein the protrusion and the contact groove are formed in the central portion of the body in the height direction, and are formed as a pair on both sides of the through hole.

16. In paragraph 15, A robot arm assembly comprising a pair of tendon sheaths for operating the arm link members, the tendon sheaths for operating the pair of arm link members moving the leading end of the most forward arm link member among the one or more arm link members closer to or away from the center of the endoscope, and a third driving unit for operating the tendon sheaths for operating the pair of arm link members.

17. In paragraph 16, The tendon sheath for operating the above pair of female link members comprises fourth and fifth tendons penetrating at least a portion of the one or more female link members and fifth and sixth sheaths wrapping portions of the fourth and fifth tendons, A robot arm assembly, wherein the third driving unit is coupled to an extended end extending rearwardly of the pair of arm link member actuating tendon sheaths to relatively move the fourth and fifth tendons in the forward and backward direction with respect to the fifth and sixth sheaths.

18. In paragraph 17, A through hole is formed in the central portion of the body of the above arm link member in the height direction through which the tendon sheath for driving the operating member penetrates. A pair of tendon penetration holes through which the fourth and fifth tendons penetrate are formed in the height direction on the upper and lower sides of the penetration holes through which the tendon sheath for driving the above-mentioned operating member penetrates, A robot arm assembly in which the fifth and sixth sheaths are fixed to the sliding member body.

19. In paragraph 1, The above operating member includes a forceps assembly, The above forceps assembly is, A pair of pivotable forceps that can be interlocked with each other; A forceps assembly body that rotatably supports the above forceps portion and A pair of forceps parts are coupled to the pair of forceps parts to pivotally operate the pair of forceps parts, and a moving member is provided that is movable in the forward and backward direction with respect to the forceps assembly body, The above movable member is formed to be movable in the forward and backward direction by tendons connected to the above movable member. Robot arm assembly.

20. A robot arm assembly according to any one of claims 2 to 19; A plurality of driving members coupled to a plurality of tendons to drive a plurality of tendons respectively coupled to the rotating member, the sliding member, the arm link member and the operating member of the robot arm assembly, and An endoscopic robot arm driving device comprising a controller connected to the plurality of driving units by wire or wirelessly to drive the plurality of driving units.

21. In paragraph 20, Including a first housing and a second housing, The rear ends of the above plurality of tendons are provided as cartridges built into the first housing, The second housing has a cartridge insertion portion into which the cartridge can be detachably inserted, and the plurality of driving parts are provided therein. An endoscopic robot arm driving device, wherein the plurality of driving units are operatively connected so that the driving force of the plurality of driving units is transmitted to each of the rear ends of the plurality of tendons while the cartridge is inserted into the cartridge insertion portion.

22. In paragraph 21, An endoscopic robot arm driving device, wherein each of the plurality of driving units is a linear actuator.

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