Surgical instrument and surgical robot system comprising same

Abstract

The present invention provides a surgical instrument and a surgical robot system comprising same. The surgical instrument may comprise: an end tool that is rotatable in at least one direction; a driving unit that has a base plate and adjusts the rotation of the end tool; a shaft having one end passing through the base plate and the other end connected to the end tool; and a sensor assembly having a shaft sensor unit that generates a sensing signal for an external force applied to the end tool by sensing the movement of the shaft.

Description

Surgical instruments and surgical robot systems including the same

[0001] The present invention relates to a surgical instrument and a surgical robot system including the same, and more particularly, to a surgical instrument mounted on a robot arm or manually operable for use in laparoscopic surgery or various other surgeries, and a surgical robot system including the same.

[0002] In medical terms, surgery refers to the use of medical instruments to cut, incise, or manipulate the skin, mucous membranes, or other tissues to treat disease. In particular, open surgery, which involves incising the skin at the surgical site and treating, shaping, or removing internal organs, can lead to problems such as bleeding, side effects, patient pain, and scarring.

[0003] Therefore, recently, surgeries that are performed by creating a small hole in the skin and inserting only medical devices such as laparoscopes, surgical instruments, and microsurgical microscopes, or surgeries using robots, are gaining attention as alternatives.

[0004] Here, a surgical robot refers to a robot capable of performing surgical procedures previously performed by a surgeon. These surgical robots possess the advantages of being able to perform more precise and accurate movements than humans and enabling remote surgery.

[0005] Surgical robots currently being developed worldwide include bone surgery robots, laparoscopic surgery robots, and stereotactic surgery robots. Laparoscopic surgery robots perform minimally invasive surgeries using a laparoscope and small surgical instruments.

[0006] Laparoscopic surgery is a cutting-edge surgical technique that involves making one or more small incisions in the abdomen and inserting a laparoscope, an endoscope for viewing the interior, into the abdomen. This field holds significant promise for future advancements. Recent laparoscopy devices are equipped with computer chips, providing clearer, magnified images than the naked eye. Furthermore, using specially designed laparoscopic surgical instruments while viewing the screen on a monitor, advancements have made it possible to perform virtually any surgical procedure.

[0007] Moreover, while laparoscopic surgery encompasses nearly the same surgical scope as open surgery, it has fewer complications, allows for much earlier treatment, and offers superior support for patients' physical strength and immune function. For this reason, laparoscopic surgery is increasingly becoming the standard treatment for colon cancer in countries like the United States and Europe.

[0008] Meanwhile, surgical robots typically consist of a master robot and a surgical robot. When the surgeon manipulates a control lever (e.g., a handle) on the master robot, the surgical tools attached to the robot arm of the surgical robot or held by the robot arm are manipulated, allowing the surgery to be performed.

[0009] The background technology described above is technical information that the inventor possessed for the purpose of deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be considered as publicly known technology disclosed to the general public prior to the application for the present invention.

[0010] The present invention aims to provide a surgical instrument and a surgical robot system including the same, which can detect and feed back an unintentionally applied external force, in a surgical instrument mounted on a robot arm or manually operable for use in laparoscopic surgery or various other surgeries, and a surgical robot system including the same.

[0011] In order to achieve the above object, one aspect of the present invention provides a surgical instrument including a sensor assembly having an end tool rotatable in at least one direction, a base plate, a driving unit for controlling the rotation of the end tool, a shaft having one end penetrating the base plate and the other end to which the end tool is connected, and a shaft sensor unit for detecting movement of the shaft and generating a detection signal for an external force applied to the end tool.

[0012] The surgical instrument of the present invention and the surgical robot system including the same can detect when an unintended external force is applied to the instrument and implement a force feedback function, thereby improving stability during surgery. The surgical instrument of the present invention can be provided with a sensor assembly connected to a shaft and a motor sensor unit connected to a driving motor, either selectively or together, to generate a detection signal for an external force applied to the instrument and implement a force feedback function based on the signal.

[0013] The sensor assembly of the surgical instrument of the present invention can be attached or placed on a shaft to detect an omnidirectional external force applied to the shaft, and the motor sensor unit can detect a rotational external force applied to the end tool. Through this, the surgical instrument of the present invention and the surgical robot system including the same can precisely detect the minute movement, force, and torque of the instrument during a surgical process, and through this, can detect an unintentional external force applied to the instrument as a whole and use it for force feedback.

[0014] FIG. 1 is a conceptual diagram showing a surgical robot system equipped with a surgical instrument according to one embodiment of the present invention.

[0015] Fig. 2 is a block diagram showing the internal configuration of the surgical robot system of Fig. 1.

[0016] Figure 3 is a perspective view showing the robot arm of the surgical robot system of Figure 1 and the surgical instrument mounted thereon.

[0017] Figures 4 and 5 are drawings showing a state in which a surgical instrument is mounted in Figure 3.

[0018] Figure 6 is a perspective view showing a surgical instrument according to one embodiment of the present invention.

[0019] Figures 7 and 8 are perspective views of the end tool of the surgical instrument of Figure 6.

[0020] Figures 9a and 9b are perspective views of the end tool hub of Figure 6.

[0021] Figures 10a and 10b are plan views showing the end tool of the surgical instrument of Figure 6.

[0022] Fig. 11 is a drawing showing the surgical instrument of Fig. 6 with the instrument case removed.

[0023] Fig. 12 is a perspective view of the driving unit and sensor assembly of the surgical instrument of Fig. 6.

[0024] Fig. 13 is a perspective view of the sensor assembly of the surgical instrument of Fig. 6.

[0025] Figures 14 to 16 are perspective views showing the process of combining a sensor assembly with a driving unit in the surgical instrument of Figure 6.

[0026] Figures 17 to 19 are cross-sectional views showing the process of combining a sensor assembly with a driving unit in the surgical instrument of Figure 6.

[0027] FIGS. 20a to 24b are drawings showing a process in which an external force is sensed in a sensor assembly when an external force is applied to the surgical instrument of FIG. 6.

[0028] Figures 25a to 29b are drawings showing a modified example of the surgical instrument of Figure 6.

[0029] Fig. 30 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0030] Figure 31 is a drawing showing the surgical instrument of Figure 30 with the instrument case removed.

[0031] Fig. 32 is a perspective view of the drive unit and sensor assembly of the surgical instrument of Fig. 30.

[0032] Fig. 33 is a cross-sectional view of the drive unit and sensor assembly of the surgical instrument of Fig. 30.

[0033] Figures 34a to 36b are drawings showing a process in which an external force is sensed in a sensor assembly when an external force is applied to the surgical instrument of Figure 30.

[0034] Figure 37 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0035] Figure 38 is a drawing showing the surgical instrument of Figure 37 with the instrument case removed.

[0036] Figure 39 is a perspective view of the drive unit and sensor assembly of the surgical instrument of Figure 37.

[0037] Fig. 40 is a cross-sectional view of the drive unit and sensor assembly of the surgical instrument of Fig. 37.

[0038] Figures 41a to 42b are drawings showing a process in which an external force is sensed by a sensor assembly when an external force is applied to the surgical instrument of Figure 37.

[0039] Fig. 43 is a drawing showing a modified example of the surgical instrument of Fig. 37.

[0040] Fig. 44 is a drawing showing another modified example of the surgical instrument of Fig. 37.

[0041] Figures 45a to 47b are drawings showing a process in which an external force is sensed by a sensor assembly when an external force is applied to the surgical instrument of Figure 44.

[0042] Fig. 48 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0043] Fig. 49 is a drawing showing the surgical instrument of Fig. 48 with the instrument case removed.

[0044] Figure 50 is a drawing showing a state in which a motor pack is mounted on the surgical instrument of Figure 48.

[0045] Fig. 51 is a perspective view showing the driving unit and motor pack of the surgical instrument of Fig. 48.

[0046] Fig. 52 is a side view showing a motor pack mounted on the surgical instrument of Fig. 48.

[0047] Figures 53a to 54b are drawings showing the process of sensing external force in the motor sensor unit when an external force is applied to the surgical instrument of Figure 48.

[0048] Figure 55 is a drawing showing the surgical instrument of Figure 48 mounted on a translation arm.

[0049] Figure 56 is an enlarged perspective view of the translation arm of Figure 55.

[0050] Figure 57 is an enlarged cross-sectional view of the translation arm of Figure 55.

[0051] Fig. 58 is a drawing showing a process of sensing the translation operation of the translation arm of Fig. 55.

[0052] Figure 59 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0053] Figure 60 is a drawing showing the surgical instrument of Figure 59 with the instrument case removed.

[0054] Fig. 61 is a perspective view showing the driving unit and motor pack of the surgical instrument of Fig. 59.

[0055] Figure 62 is a side view showing a motor pack mounted on the surgical instrument of Figure 59.

[0056] Figure 63 is a perspective view showing the drive unit and motor pack of the surgical instrument of Figure 59 from a different angle.

[0057] Figures 64a to 65b are drawings showing the process of sensing external force in the motor sensor unit when an external force is applied to the surgical instrument of Figure 59.

[0058] Figures 66 and 67 are drawings showing the surgical instrument of Figure 59 mounted on a translation arm.

[0059] Figure 68 is an enlarged perspective view of the translation arm of Figure 59.

[0060] Figure 69 is an enlarged cross-sectional view of the translation arm of Figure 59.

[0061] Fig. 70 is a cross-sectional view showing a process of sensing the translation operation of the translation arm of Fig. 59.

[0062] Fig. 71 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0063] Figure 72 is a perspective view showing the sensor assembly of the surgical instrument of Figure 71 coupled to the motor pack.

[0064] Figure 73 is a perspective view showing the surgical instrument of Figure 71 from a different angle.

[0065] Figure 74 is a perspective view showing the sensor assembly of the surgical instrument of Figure 71 coupled to the motor pack from a different angle.

[0066] Fig. 75 is a cross-sectional view of the surgical instrument of Fig. 71.

[0067] Figures 76 and 77 are perspective views showing the sensor assembly of the surgical instrument of Figure 71.

[0068] Fig. 78 is a cross-sectional view showing the sensor assembly of the surgical instrument of Fig. 71.

[0069] Fig. 79 is a drawing showing a modified example of the surgical instrument of Fig. 71.

[0070] Figures 80a to 81b are drawings showing a process in which an external force is sensed by a sensor assembly when an external force is applied to the surgical instrument of Figure 71.

[0071] Fig. 82 is a perspective view showing a surgical instrument according to another embodiment of the present invention.

[0072] Figure 83 is a drawing showing the surgical instrument of Figure 82 with the instrument case removed.

[0073] Figures 84 to 88 are drawings showing a process in which an external force is sensed by a sensor assembly when an external force is applied to the surgical instrument of Figure 82.

[0074] One embodiment of the present invention provides a surgical instrument, comprising a sensor assembly having an end tool rotatable in at least one direction, a base plate, a driving unit for controlling rotation of the end tool, a shaft having one end penetrating the base plate and the other end to which the end tool is connected, and a shaft sensor unit for detecting movement of the shaft and generating a detection signal for an external force applied to the end tool.

[0075] In one embodiment of the present invention, the shaft sensor portion has a hollow portion and can surround one end of the shaft inserted into the hollow portion.

[0076] In one embodiment of the present invention, the base plate includes a plate hole through which the shaft passes, and the sensor assembly may further include a fixing part connected to the shaft sensor part and disposed between the plate hole and the shaft to support the shaft.

[0077] In one embodiment of the present invention, the plate hole may have at least a portion of the inner surface thereof at a predetermined distance from the outer surface of the fixing portion.

[0078] In one embodiment of the present invention, the driving unit may further include a shaft coupling member connecting one end of the shaft and the sensor unit, and a support member extending from the base plate to support the shaft sensor unit.

[0079] In one embodiment of the present invention, the base plate may include a plate hole through which the shaft passes, and at least a portion of the inner surface thereof has a predetermined gap from the outer surface of the shaft.

[0080] In one embodiment of the present invention, the diameter of the plate hole may be larger than the outer diameter of the shaft.

[0081] In one embodiment of the present invention, the plate hole may have a protrusion that protrudes from the inner surface and supports the outer surface of the shaft.

[0082] In one embodiment of the present invention, the driving unit may further include a rotational shaft rotatably arranged on the base plate, a driving wire wound around the rotational shaft and passing through the interior of the shaft to be connected to the end tool, and an intermediate pulley guiding the path of the driving wire within the interior of the shaft coupling member.

[0083] In one embodiment of the present invention, the shaft coupling member is at least partially open so as to guide the drive wire, which is wound and extended from the rotational axis, into the interior of the shaft.

[0084] In one embodiment of the present invention, the driving unit may further include a base frame extending from the base plate and inserted into an open side of the shaft coupling member, on which the intermediate pulley is arranged.

[0085] In one embodiment of the present invention, the support members are provided in pairs to be coupled on both sides of the shaft sensor portion, and the intermediate pulley can be arranged on a pulley shaft connecting the pair of support members.

[0086] In one embodiment of the present invention, the sensor assembly can detect at least one of a displacement of one end of the shaft and a force applied by the shaft to the shaft sensor portion when an external force is applied to the end tool, thereby generating the detection signal.

[0087] In one embodiment of the present invention, the sensor assembly can generate the detection signal by measuring displacement according to elastic deformation of one end of the shaft when an external force is applied to the end tool.

[0088] In one embodiment of the present invention, the shaft sensor unit includes a 6-axis force-torque sensor, and the sensor assembly can generate the detection signal by measuring a change in force transmitted to the shaft sensor unit through the shaft when an external force is applied to the end tool.

[0089] One embodiment of the present invention provides a surgical instrument including an end tool rotatable in at least one direction, a driving unit for controlling rotation of the end tool, a motor pack having a driving motor for providing power to the end tool and a motor pack case for accommodating the driving motor, and a motor sensor unit for detecting driving of the driving motor and generating a detection signal for an external force applied to the end tool.

[0090] In one embodiment of the present invention, the driving unit has a rotatable rotational shaft that penetrates the motor pack case and is connected to one end of the driving motor, and a driving wire that is wound around the rotational shaft and is connected to the end tool, and the motor sensor unit is arranged in the motor pack and can detect a torque applied to the driving motor as the rotational shaft rotates by the driving wire when an external force is applied to the end tool.

[0091] In one embodiment of the present invention, the motor sensor unit is disposed between the motor pack case and the other end of the driving motor and can be connected to the driving motor.

[0092] In one embodiment of the present invention, the motor pack may further include a motor gear box disposed between one end of the drive motor and the motor pack case to control the output of the motor, and an encoder disposed between the motor sensor unit and the other end of the drive motor.

[0093] In one embodiment of the present invention, the driving unit and the motor pack are coupled, and further include a translation arm capable of linearly moving the end tool, wherein the translation arm may include a translation motor that provides power for linearly moving the end tool, a translation frame that is disposed within a translation case forming an exterior and to which one end of the translation motor is connected, and a translation sensor unit that is disposed on one side of the translation case and is connected to the other end of the translation motor to detect driving of the translation motor.

[0094] In one embodiment of the present invention, the translation motor is controlled to be driven in a direction that offsets an external force applied to the end tool, and the translation sensor unit can detect a change in torque when the translation motor is controlled and generate the detection signal.

[0095] In one embodiment of the present invention, the motor pack case has a case hole through which the rotation shaft passes, and the motor sensor unit is disposed in the case hole and can be connected to the driving motor.

[0096] In one embodiment of the present invention, the motor sensor unit may have a hollow space so that the driving motor and the rotation shaft are connected.

[0097] In one embodiment of the present invention, the motor pack may further include a motor gear box disposed between one end of the driving motor and the motor sensor unit, which adjusts the output of the motor, and an encoder disposed between the motor pack case and the other end of the driving motor.

[0098] In one embodiment of the present invention, the driving unit and the motor pack are coupled, and further include a translation arm capable of linearly moving the end tool, wherein the translation arm may include a translation motor that provides power for linearly moving the end tool, a translation frame that is disposed within a translation case forming an exterior and to which one end of the translation motor is connected, and a translation sensor unit that is disposed in a frame hole of the translation frame and to which one end of the translation motor is connected to detect the driving of the translation motor.

[0099] In one embodiment of the present invention, the translation motor is controlled to be driven in a direction that offsets an external force applied to the end tool, and the translation sensor unit can detect a change in torque when the translation motor is controlled and generate the detection signal.

[0100] In one embodiment of the present invention, the driving motor is controlled to drive in a direction that offsets an external force applied to the end tool, and the motor sensor unit can detect a change in torque when the driving motor is controlled and generate the detection signal.

[0101] In one embodiment of the present invention, the motor sensor unit is connected to the driving motor and fixedly coupled to the motor pack case, so as to detect rotation of the driving motor.

[0102] In one embodiment of the present invention, the motor pack has a plurality of independently controllable driving motors, and the motor sensor unit is provided in plurality corresponding to the plurality of driving motors and can be connected to each of the plurality of driving motors.

[0103] One embodiment of the present invention provides a surgical instrument including an end tool rotatable in at least one direction, a driving unit for controlling rotation of the end tool, a shaft having one end connected to the driving unit and the other end connected to the end tool, and a sensor assembly mounted on the shaft from the outside of the driving unit, wherein the sensor assembly includes a sensor case having a hollow space into which the shaft is inserted, and a shaft sensor unit disposed inside the sensor case to detect movement of the shaft and generate a detection signal for an external force applied to the end tool.

[0104] In one embodiment of the present invention, the shaft sensor unit may be arranged to surround the hollow space inside the sensor case.

[0105] In one embodiment of the present invention, the shaft sensor unit is provided in multiple numbers and can be arranged symmetrically around the hollow space inside the sensor case.

[0106] In one embodiment of the present invention, the shaft sensor unit may include a thin-film piezoelectric element.

[0107] In one embodiment of the present invention, the sensor assembly may further include an insertion portion that protrudes from one side of the sensor case and is inserted into the coupling portion of the driving unit.

[0108] In one embodiment of the present invention, the sensor assembly may further include a sensor connector that is electrically connected to the drive connector of the drive unit and transmits the detection signal to the drive unit.

[0109] In one embodiment of the present invention, the shaft includes a first shaft body to which the end tool is coupled, and a second shaft body having a portion of the first shaft body inserted therein and connected to the driving unit, and the first shaft body can be coupled to the second shaft body so as to be linearly movable within the second shaft body.

[0110] In one embodiment of the present invention, the device further comprises an auxiliary sensor unit disposed at one end of the second shaft body into which the first shaft body is inserted, wherein the auxiliary sensor unit can detect at least one of movement of the first shaft within the second shaft body and a longitudinal external force component of the shaft transmitted to the second shaft body when an external force is applied to the end tool.

[0111] In one embodiment of the present invention, a motor pack connected to the driving unit and accommodating one or more driving motors therein may be further included, wherein the motor pack may have a sensor receiving portion concavely provided on one side to accommodate the sensor case.

[0112] In one embodiment of the present invention, the sensor assembly can be accommodated in the sensor receiving portion by sliding the sensor case coupled to the shaft.

[0113] In one embodiment of the present invention, the sensor assembly may further include a cleaning hole communicating with the interior of the sensor case and through which fluid is injected or discharged.

[0114] In one embodiment of the present invention, the sensor assembly can detect the detection signal by detecting at least one of a displacement of one end of the shaft and a force applied by the shaft to the shaft sensor portion when an external force is applied to the end tool.

[0115] In one embodiment of the present invention, the sensor assembly can generate the detection signal by measuring displacement according to elastic deformation of the shaft inserted into the hollow when an external force is applied to the end tool.

[0116] In one embodiment of the present invention, the shaft sensor unit includes a 6-axis force-torque sensor, and the sensor assembly can generate the detection signal by measuring a change in force transmitted to the shaft sensor unit through the shaft when an external force is applied to the end tool.

[0117] One embodiment of the present invention provides a surgical instrument including an end tool rotatable in at least one direction, a driving unit for controlling rotation of the end tool, a driving motor for providing power to the end tool, and a motor pack having a motor pack case for accommodating the driving motor, a shaft having one end connected to the driving unit and the other end connected to the end tool, and a sensor unit for detecting driving of at least one of the driving motor and the shaft to generate a detection signal for an external force applied to the end tool.

[0118] In one embodiment of the present invention, the driving unit may include a shaft coupling member coupled to one end of the shaft, and the sensor unit may include a sensor assembly inserted into the shaft coupling member to sense movement of one end of the shaft.

[0119] In one embodiment of the present invention, the driving unit may further include a base plate through which the shaft passes, a base frame extending from the base plate, and a fastening member that is axially coupled to the base frame and fastens the base frame with one of the shaft coupling member and the sensor assembly.

[0120] In one embodiment of the present invention, the fastening member may include a connecting portion rotatably coupled to a reference axis of the base frame, a first fastening portion extending from the connecting portion and coupled to the shaft coupling member when the connecting portion rotates in one direction about the reference axis, and a second fastening portion extending from the connecting portion and coupled to the sensor assembly when the connecting portion rotates in another direction about the reference axis.

[0121] In one embodiment of the present invention, when the sensor assembly is inserted into the shaft coupling member, the fastening member can rotate around the reference axis to release the coupling with the shaft coupling member and be coupled with the sensor assembly.

[0122] In one embodiment of the present invention, the sensor assembly may include a main body having a fastening portion inserted into the shaft coupling member, a fastening groove into which the fastening member is coupled, and a shaft sensor portion disposed in the main body and detecting movement of the shaft to generate the detection signal.

[0123] In one embodiment of the present invention, the sensor assembly may further include a sensor connector electrically connected to a driving connector disposed on the base frame to transmit the detection signal to the driving unit.

[0124] In one embodiment of the present invention, the sensor assembly can detect at least one of a displacement of one end of the shaft and a force applied by the shaft to the shaft sensor portion when an external force is applied to the end tool, thereby generating the detection signal.

[0125] In one embodiment of the present invention, the sensor assembly can generate the detection signal by measuring displacement according to elastic deformation of one end of the shaft when an external force is applied to the end tool.

[0126] In one embodiment of the present invention, the shaft sensor unit includes a 6-axis force-torque sensor, and the sensor assembly can generate the detection signal by measuring a change in force transmitted to the shaft sensor unit through the shaft when an external force is applied to the end tool.

[0127] In one embodiment of the present invention, the shaft coupling member has a hollow portion, and the driving unit is disposed in the hollow portion of the shaft coupling member, and may further include a bearing to which the shaft is coupled.

[0128] In one embodiment of the present invention, the driving unit may further include a rotatable rotational shaft through which one end of the driving motor is connected and which penetrates the motor pack case, and a driving wire which is wound around the rotational shaft and is connected to the end tool, and the sensor unit may further include a motor sensor unit which is disposed in the motor pack and detects a torque applied to the driving motor as the rotational shaft rotates by the driving wire when an external force is applied to the end tool.

[0129] In one embodiment of the present invention, the motor sensor unit is disposed between the motor pack case and the other end of the driving motor and can be connected to the driving motor.

[0130] In one embodiment of the present invention, the motor pack case has a case hole through which the rotation shaft passes, and the motor sensor unit is disposed in the case hole and can be connected to the driving motor.

[0131] Hereinafter, the following embodiments will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals and redundant descriptions thereof will be omitted.

[0132] These embodiments are capable of various modifications. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of these embodiments, as well as the methods for achieving them, will become clearer with reference to the detailed descriptions below, along with the drawings. However, these embodiments are not limited to the embodiments disclosed below and may be implemented in various forms.

[0133] In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description is omitted.

[0134] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise. Terms such as "first" and "second" may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0135] In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification exists, and do not preclude the possibility that one or more other features or components may be added.

[0136] In the examples below, when a part such as a unit, region, or component is said to be on or above another part, this includes not only the case where it is directly above the other part, but also the case where another unit, region, component, etc. is interposed in between.

[0137] In the examples below, terms such as connect or combine do not necessarily mean a direct and / or fixed connection or combination of two members, unless the context clearly indicates otherwise, and do not exclude the presence of another member between the two members.

[0138] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the following embodiments are not necessarily limited to those shown.

[0139] FIG. 1 is a conceptual diagram showing a surgical robot system (1) equipped with a surgical instrument according to one embodiment of the present invention, and FIG. 2 is a block diagram showing the internal configuration of the surgical robot system (1) of FIG. 1. FIG. 3 is a perspective view showing a robot arm (20) of the surgical robot system (1) of FIG. 1 and a surgical instrument (30) equipped thereon. FIG. 4 and FIG. 5 are drawings showing a state in which the surgical instrument (30) is equipped in FIG. 3. FIG. 6 is a perspective view showing a surgical instrument (30) according to one embodiment of the present invention.

[0140] Referring to FIGS. 1 to 6, the surgical robot system (1) includes a master console (10), a robot arm (20), and a surgical instrument (30).

[0141] The master console (10) includes an operating member (10a) and a display member (10b), and the robot arm (20) includes one or more robot arm units (21)(22)(23).

[0142] In detail, the master console (10) is provided with an operating member (10a) that the surgeon can hold and operate with each hand. The operating member (10a) can be implemented with two or more handles as illustrated in FIG. 1, and an operating signal according to the surgeon's manipulation of the handles is transmitted to the robot arm (20) via a wired or wireless communication network to control the robot arm units (21), (22), and (23). That is, surgical operations such as position movement, rotation, and cutting operations of the robot arm units (21), (22), and (23) can be performed by the surgeon's manipulation of the handles.

[0143] For example, the surgeon can operate the robot arm unit (21)(22)(23) using a handle-shaped operation lever. Such an operation lever may have various mechanical configurations depending on the operation method, and may be provided in various forms for operating the robot arm unit (21)(22)(23) of the robot arm (20) and / or other surgical equipment, such as a master handle that operates the operation of the robot arm unit (21)(22)(23), and various input tools such as a joystick, a keypad, a trackball, a foot pedal, and a touch screen added to the master console (10) to operate the function of the entire system. Here, the operation member (10a) is not limited to the shape of a handle, and may be applied without any limitation as long as it has a form that can control the operation of the robot arm unit (21)(22)(23) through a network such as a wired or wireless communication network.

[0144] Alternatively, voice input or motion input may also be applied for user input. That is, if a user wears glasses or a head-mounted display (HMD) with sensors attached to the head, the laparoscope (not shown in the drawing) included in the robot arm (20) may move depending on the direction in which the user turns his or her gaze. Alternatively, if the user gives voice commands such as "left," "right," "arm 1," or "arm 2," the system may recognize these and perform actions.

[0145] The display member (10b) of the master console (10) displays images captured via a laparoscope, which will be described later, as video images. Furthermore, a virtual control panel may be displayed on the display member (10b) together with the images captured via the laparoscope, or independently. Detailed descriptions of the arrangement, configuration, etc. of such virtual control panels will be omitted.

[0146] Here, the display member (10b) may be composed of one or more monitors, each of which may individually display information required during surgery. The number of monitors may vary depending on the type or kind of information required to be displayed.

[0147] Meanwhile, the robot arm (20) may include one or more robot arm units (21)(22)(23). Here, each of the robot arm units (21)(22)(23) may be provided in a module form that can operate independently of each other, and at this time, an algorithm for preventing collision between each of the robot arm units (21)(22)(23) may be applied to the surgical robot system (1).

[0148] In general, a robot arm refers to a device that has functions similar to a human arm and / or wrist and can attach a specific tool to the wrist area. In this specification, the term "robot arm unit (21)(22)(23)" may be defined as a concept encompassing all components such as the upper arm, lower arm, wrist, and elbow, as well as surgical instruments connected to the wrist area. Alternatively, the term may be defined as a concept encompassing only components for driving surgical instruments, excluding surgical instruments connected to the wrist area.

[0149] As such, the robot arm unit (21)(22)(23) of the robot arm (20) can be implemented to have multiple degrees of freedom and be driven. The robot arm unit (21)(22)(23) can be configured to include, for example, a surgical instrument inserted into a surgical site of a patient, a yaw drive unit that rotates the surgical instrument in the yaw direction according to the surgical position, a pitch drive unit that rotates the surgical instrument in the pitch direction orthogonal to the rotational drive of the yaw drive unit, a transport drive unit that moves the surgical instrument in the longitudinal direction, a rotational drive unit that rotates the surgical instrument, and a surgical instrument drive unit that drives an end effector at the end of the surgical instrument to incise or cut the surgical lesion. However, the configuration of the robot arm unit (21)(22)(23) is not limited thereto, and it should be understood that such examples do not limit the scope of the present invention. Here, a detailed description of the actual control process, such as the robot arm unit (21)(22)(23) rotating and moving in the corresponding direction by the operator manipulating the operating member (10a), is omitted.

[0150] Here, two of the robot arm units (21)(22)(23) may be equipped with surgical instruments (30), and one may be equipped with a laparoscope. Furthermore, the surgeon may select the robot arm unit (21)(22)(23) he or she wishes to control via the master console (10). In this way, the surgeon may directly control three or more surgical instruments via the master console (10), thereby enabling the surgeon to accurately and freely control multiple instruments as intended without the need for a surgical assistant.

[0151] Meanwhile, one or more robot arms (20) may be provided for operating on a patient, and a laparoscope for displaying the surgical site as a video image through a display member (10b) may be implemented as an independent robot arm (20). In addition, as described above, embodiments of the present invention can be universally used in surgeries that utilize various surgical endoscopes other than a laparoscope (e.g., a thoracoscope, an arthroscope, a nasaloscope, etc.).

[0152] Referring to FIG. 2, in one embodiment of the present invention, the master console (10) may include a video input unit (11), a screen display unit (12), a user input unit (13), an operation signal generation unit (14), a control unit (15), a memory (16), a storage unit (17), and a communication unit (18).

[0153] The image input unit (11) can receive images captured by a camera equipped on the laparoscope of the robot arm (20) through a wired or wireless communication network.

[0154] The screen display unit (12) outputs a video image corresponding to the image received through the image input unit (11) as visual information. In addition, the screen display unit (12) can further output corresponding information when the biometric information of the subject is input. In addition, the screen display unit (12) can further output patient-related image data (e.g., X-ray image, CT image, MRI image, etc.) for the surgical site. Here, the screen display unit (12) can be implemented in the form of a display member (see 10b of FIG. 1), etc., and an image processing process for outputting the received image as a video image through the screen display unit (12) can be performed by the control unit (15).

[0155] In the embodiment illustrated in FIG. 2, the image input unit (11) and the screen display unit (12) are illustrated as being included in the master console (10), but the present invention is not limited thereto. That is, the display member may be provided as a separate member spaced apart from the master console (10). Alternatively, the display member may be provided as a component of the master console (10). In addition, in another embodiment, a plurality of display members may be provided, one of which may be positioned adjacent to the master console (10), and the other may be positioned somewhat spaced apart from the master console (10).

[0156] Here, the screen display unit (12) (i.e., the display member (10b) of FIG. 1) may be provided as a stereoscopic display device. Specifically, the stereoscopic display device refers to an image display device that applies stereoscopic technology to add depth information to a two-dimensional image and uses this depth information to allow the viewer to feel three-dimensional vividness and reality. The surgical robot system (1) according to one embodiment of the present invention may be provided with a stereoscopic display device as the screen display unit (12) to provide a more realistic virtual environment to the user.

[0157] The user input unit (13) is a means for allowing the surgeon to manipulate the positions and functions of the robot arm units (21), (22), and (23) of the robot arm (20). The user input unit (13) may be formed in the form of a handle-shaped manipulation member (see 10a in FIG. 1) as illustrated in FIG. 1, but its shape is not limited thereto and may be modified and implemented in various shapes to achieve the same purpose. In addition, for example, some may be formed in the shape of a handle and other parts may be formed in different shapes such as a clutch button, and a finger insertion tube or insertion ring may be further formed to allow the surgeon's finger to be inserted and fixed in order to facilitate manipulation of the surgical tool.

[0158] When the surgeon manipulates the user input unit (13) to move the position of the robot arm unit (21), (22), or (23) or to manipulate the surgical operation, the manipulation signal generation unit (14) generates a corresponding manipulation signal and transmits it to the robot arm (20) via the communication unit (18). The manipulation signal can be transmitted and received via a wired or wireless communication network.

[0159] The control unit (15) is a type of central processing unit that controls the operation of each component so that the above-described function can be performed. For example, the control unit (15) may perform a function of converting an image input through the image input unit (11) into a video image to be displayed through the screen display unit (12).

[0160] The memory (16) can perform the function of temporarily or permanently storing data processed by the control unit (15). Here, the memory (16) may include a magnetic storage media or a flash storage media, but the scope of the present invention is not limited thereto.

[0161] The storage unit (17) can store data received from the robot arm (20). In addition, the storage unit (17) can store various input data (e.g., patient data, device data, surgical data, etc.).

[0162] The communication unit (18) provides a communication interface necessary for transmitting and receiving image data transmitted from the robot arm (20) and control data transmitted from the master console (10) in conjunction with the communication network (60).

[0163] The robot arm (20) includes a plurality of robot arm unit control units (21a), (22a), and (23a). The robot arm unit control unit (21a) includes a robot arm control unit (26), an instrument control unit (27), and a communication unit (29). In addition, the robot arm unit control unit (21a) may further include a rail control unit (28).

[0164] Referring to FIGS. 2 and 3, the rail control unit (28) can control the movement path of the surgical instrument (30) in the robot arm unit (21), (22), and (23) so that the surgical instrument can move along a preset path, specifically, along the longitudinal direction of the power transmission unit (300).

[0165] The robot arm control unit (26) can receive an operation signal generated from the operation signal generation unit (14) of the master console (10) and perform a role of controlling the robot arm unit (21) (22) (23) to operate according to the operation signal.

[0166] The instrument control unit (27) can receive an operation signal generated from the operation signal generation unit (14) of the master console (10) and perform a role of controlling the surgical instrument (30) to operate according to the operation signal.

[0167] The communication unit (29) provides a communication interface necessary for transmitting and receiving image data transmitted from the robot arm (20) and control data transmitted from the master console (10) in conjunction with the communication network (60).

[0168] Meanwhile, the communication network (60) serves to connect the master console (10) and the robot arm (20). That is, the communication network (60) refers to a communication network that provides a connection path so that the master console (10) and the robot arm (20) can transmit and receive data to each other after being connected. The communication network (60) may include wired networks such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), or wireless networks such as wireless LANs, CDMA, Bluetooth, and satellite communication, but the scope of the present invention is not limited thereto.

[0169] Referring to FIGS. 3 to 6, a surgical instrument (30) to be described later can be connected and installed to the robot arm unit (21), (22), and (23). An instrument case (40) covers the surgical instrument (30) and can be connected to the robot arm unit (21). By covering one side of the surgical instrument (30) that is exposed to the outside, the instrument case (40) can block external foreign substances from reaching the surgical instrument (30) and prevent the surgical instrument (30) from being damaged by external impact.

[0170] The motor pack (500) is connectable to a surgical instrument (30), and can be coupled to a robot arm (20), specifically a robot arm unit (21), and fixed in position.

[0171] An instrument case (40) is connected to one side of a surgical instrument (30), and a motor pack (500) is connected and coupled to the opposite side thereof. The motor pack (500) receives power from an external source to generate power, and the power generated by the motor pack (500) can be transmitted to the surgical instrument (30), thereby enabling the surgical instrument (30) to perform pitch motion, yaw motion, actuation motion, and roll motion.

[0172]

[0173] (surgical instruments)

[0174] Referring to FIG. 6, a surgical instrument (30) according to one embodiment of the present invention includes an end tool (100), a driving unit (200), and a power transmission unit (300), and the power transmission unit (300) may include a shaft (310).

[0175] Here, the shaft (310) is formed in the shape of a hollow tube, and one or more wires (described later) can be accommodated therein. A driving unit (200) is coupled to one end of the shaft (310), and an end tool (100) is coupled to the opposite end, so that the driving unit (200) and the end tool (100) can be connected.

[0176] The driving unit (200) is formed at one end of the shaft (310) and provides an interface that can be coupled with a robot arm unit (see 21 of FIG. 1, etc.). Therefore, when the master robot (see 10 of FIG. 1) is operated by a user, the motor pack (500) connected to the robot arm unit (see 21 of FIG. 1, etc.) operates so that the end tool (100) of the surgical instrument (30) can perform a corresponding operation, and the driving force of the motor pack (500) can be transmitted to the end tool (100) through the driving unit (200). From another perspective, it can be explained that the driving unit (200) itself serves as an interface that connects the surgical instrument (30) and the robot arm (20).

[0177] An end tool (100) is formed at the other end of the shaft (310) and is inserted into the surgical site to perform the necessary movements for the surgery. As an example of such an end tool (100), a pair of jaws (101) (102) for performing a gripping movement, as illustrated in FIG. 7, may be used. However, the spirit of the present invention is not limited thereto, and various surgical devices may be used as the end tool (100). For example, a configuration such as a one-armed cauterizer may also be used as the end tool.

[0178] Such an end tool (100) is connected to a driving unit (200) by a power transmission unit (300), and receives driving force generated from a motor pack (500) and transmitted to the driving unit (200) through the power transmission unit (300), thereby performing operations necessary for surgery, such as gripping, cutting, and suturing operations.

[0179] Here, the end tool (100) of the surgical instrument (30) according to one embodiment of the present invention may be formed to be rotatable in at least two directions. For example, the end tool (100) may be formed to perform a pitch motion around the rotation axis (143) of FIG. 7, while simultaneously performing a yaw motion and an actuation motion around the rotation axis (141) of FIG. 7.

[0180] Here, the pitch, yaw, and actuation movements used in the present invention are defined as follows.

[0181] First, the pitch motion refers to a motion in which the end tool (100) rotates up and down with respect to the extension direction of the shaft (310) (the X-axis direction in FIG. 7), i.e., a motion in which the end tool (100) extending from the shaft (310) in the extension direction of the shaft (310) (the X-axis direction in FIG. 7) rotates up and down with respect to the shaft (310) with respect to the Y-axis.

[0182] Next, the yaw motion refers to a motion in which the end tool (100) rotates left and right with respect to the extension direction of the shaft (310) (X-axis direction in FIG. 7), that is, a motion in which the end tool (100) rotates left and right with respect to the shaft (310) in the extension direction of the shaft (310) (X-axis direction in FIG. 7), that is, a motion in which the end tool (100) rotates left and right with respect to the shaft (310) with respect to the Z-axis in FIG. 7. That is, it refers to a motion in which two jaws (101) (102) formed on the end tool (100) rotate in the same direction with respect to the Z-axis.

[0183] Meanwhile, the actuation motion refers to a motion in which the end tool (100) rotates around the same rotational axis as the yaw motion, but the two jaws (101) (102) rotate in opposite directions while the jaws are retracted or opened. In other words, it refers to a motion in which the two jaws (101) (102) formed on the end tool (100) rotate in opposite directions around the Z-axis of FIG. 7.

[0184] From another perspective, this rotation can be defined as a motion in which the end tool jaw pulley, which will be described later, rotates around the rotation axis (141), which is the end tool jaw pulley rotation axis, and the pitch rotation can be defined as a motion in which the end tool jaw pulley revolutionizes around the rotation axis (143), which is the end tool pitch rotation axis.

[0185] The power transmission unit (300) connects the driving unit (200) and the end tool (100) and serves to transmit the driving force of the driving unit (200) to the end tool (100), and may include a plurality of wires, pulleys, links, joints, gears, etc.

[0186] Below, the end tool (100), driving unit (200), power transmission unit (300), etc. of the surgical instrument (30) of FIG. 6 will be described in more detail.

[0187]

[0188] (power transmission)

[0189] Below, the power transmission unit (300) of the surgical instrument (30) of Fig. 6 will be described in more detail.

[0190] Referring to FIG. 8, FIG. 10A, 10B, etc. to be described later, the power transmission unit (300) of the surgical instrument (30) according to one embodiment of the present invention may include a wire (301), a wire (302), a wire (303), a wire (304), a wire (305), and a wire (306).

[0191] Here, wire (301) and wire (305) can form a pair and function as a first jaw wire. Wire (302) and wire (306) can form a pair and function as a second jaw wire. Here, a component including wire (301) and wire (305), which are first jaw wires, and wire (302) and wire (306), which are second jaw wires, can be referred to as a jaw wire.

[0192] In addition, wire (303) and wire (304) can form a pair and function as a pitch wire.

[0193] Here, the drawing illustrates that one pair of wires is associated with the rotational motion of the first clause (101) and one pair of wires is associated with the rotational motion of the second clause (102), but the spirit of the present invention is not limited thereto. For example, one pair of wires may be associated with the yaw motion and one pair of wires may be associated with the actuation motion.

[0194] The power transmission unit (300) of the surgical instrument (30) according to one embodiment of the present invention may include a fastening member (326) that is fastened to each end of each wire to couple the wire and the pulley. Here, each fastening member may have various shapes, such as a ball shape or a tube shape, as needed.

[0195] Here, the fastening member (326), which is a second-layer wire fastening member, can be coupled to the end tool (100) side ends of the second-layer wires (302 and 306), thereby performing the role of a second-layer wire-end tool fastening member. Meanwhile, although not shown in the drawing, a second-layer wire drive fastening member (not shown) can be coupled to the drive unit (200) side ends of the second-layer wires (302 and 306).

[0196] Meanwhile, although not shown in the drawing, a fastening member (not shown) having the same shape as the fastening member (326) may be coupled to the end portions of the first wires, i.e., wires (301) and (305), on the end tool (100) side, to serve as the first wire-end tool fastening member. Meanwhile, although not shown in the drawing, a first wire-drive unit fastening member (not shown) may be coupled to the end portions of the first wires, i.e., wires (301) and (305), on the drive unit (200) side.

[0197] In addition, although not shown in the drawing, a pitch wire-end tool fastening member (not shown) may be fastened to the end of the wire (303) and wire (304) on the end tool (100) side of the pitch wire, and a pitch wire-driver fastening member (not shown) may be fastened to the end of the wire (303) and wire (304) on the drive part (200) side.

[0198] Here, each fastening member is classified as being included in the power transmission unit (300), but the fastening member on the end tool (100) side may be classified as being included in the end tool (100), and the fastening member on the drive unit (200) side may be classified as being included in the drive unit (200).

[0199] The detailed description of the connection between the wires, fastening members, and each pulley is as follows.

[0200] First, the wire (302) and wire (306), which are the second wires, may be a single wire. The second wire-end tool fastening member, the fastening member (326), is inserted into the middle point of the second wire, which is a single wire, and after the fastening member (326) is pressed (crimped) to secure it, the two strands of the second wire may be referred to as wire (302) and wire (306), respectively, with the fastening member (326) as the center.

[0201] Alternatively, the wire (302) and the wire (306), which are Article 2 wires, may be formed as separate wires, and the wire (302) and the wire (306) may be connected by a fastening member (326).

[0202] And, by coupling this fastening member (326) to the pulley (121), the wire (302) and the wire (306) can be fixedly coupled to the pulley (121). As a result, the pulley (121) can rotate as the wire (302) and the wire (306) are pulled and released.

[0203] Meanwhile, the opposite ends of the wires (302) and (306) to which the fastening members (326) are fastened can be joined with a second wire-drive member fastening member (not shown). That is, the opposite ends of the wires (302) and (306) are inserted into the second wire-drive member fastening member (not shown), and by crimping the fastening member (not shown), the wires (302) and (306) and the second wire-drive member fastening member (not shown) can be fixed, respectively.

[0204] And, since the second wire-drive unit fastening member (not shown) coupled with the wire (302) and the wire (306) is coupled to the rotation shaft (242), the wire (302) and the wire (306) can be fixedly coupled to the rotation shaft (242), respectively. Consequently, when the rotation shaft (242) is rotated by the motor pack (500) (or manpower), the wire (302) and the wire (306) are pulled and released, thereby allowing the pulley (121) of the end tool (100) to rotate.

[0205] In the same manner, the first wires, wire (301) and wire (305), are respectively connected to the first wire-end tool fastening member (not shown) and the first wire-driver fastening member (not shown). Then, the first wire-end tool fastening member (not shown) is connected to the pulley (111), and the first wire-driver fastening member (not shown) is connected to the rotation shaft (241). Consequently, when the rotation shaft (241) is rotated by the motor pack (500) (or manpower), the wires (301) and (305) are pulled and released, thereby allowing the pulley (111) of the end tool (100) to rotate.

[0206] In the same manner, one end of the wire (303) and the wire (304), which are pitch wires, are respectively coupled to a pitch wire-end tool fastening member (not shown), and the other end of the wire (303) and the wire (304) are coupled to a pitch wire-driver fastening member (not shown). Then, the pitch wire-end tool fastening member (not shown) is coupled to a pulley (131), and the pitch wire-driver fastening member (not shown) is coupled to a rotation shaft (243). Consequently, when the rotation shaft (243) is rotated by the motor pack (500) (or manpower), the wire (303) and the wire (304) are pulled and released, thereby allowing the pulley (131) of the end tool (100) to rotate.

[0207] As a result, the two strands of the first wire, wire (301) and wire (305), can be combined with the first wire-end tool fastening member (not shown) and the first wire-drive unit fastening member (not shown) to form a closed loop as a whole. Similarly, the second wire and the pitch wire can also be formed to form a closed loop, respectively.

[0208]

[0209] (end tool)

[0210] Below, the end tool (100) of the surgical instrument (30) of FIGS. 7 to 10 will be described in more detail.

[0211] FIGS. 7 and 8 are perspective views of the end tool (100) of the surgical instrument (30) of FIG. 6. FIG. 7 illustrates a state in which the end tool hub (180) and the pitch hub (107) are combined, and FIG. 8 illustrates a state in which the end tool hub (180) and the pitch hub (107) are removed. In addition, FIGS. 9a and 9b are perspective views of the end tool hub (180) of FIG. 6, and FIGS. 10a and 10b are plan views showing the end tool (100) of the surgical instrument (30) of FIG. 6.

[0212] Referring to FIGS. 7 to 10b, an end tool (100) of one embodiment of the present invention comprises a pair of jaws for performing a gripping operation, namely, a first jaw (101) and a second jaw (102). Here, each of the first jaw (101) and the second jaw (102), or a component encompassing the first jaw (101) and the second jaw (102), may be referred to as a jaw (103).

[0213] Additionally, the end tool (100) may include pulleys (111), (113), (114), (115), and (116) related to the rotational motion of the first jaw (101). Additionally, it may include pulleys (121), (123), (124), (125), and (126) related to the rotational motion of the second jaw (102).

[0214] Here, although the drawing illustrates that one group of pulleys is associated with the rotational motion of the first group (101) and one group of pulleys is associated with the rotational motion of the second group (102), the spirit of the present invention is not limited thereto. For example, one group of pulleys within the end tool may be associated with the yaw motion, and one group of pulleys may be associated with the actuation motion. Here, the pulleys included within the end tool (100), including the pulleys described above, may be collectively referred to as end tool pulleys.

[0215] Here, the drawing shows that the facing pulleys are formed parallel to each other, but the idea of ​​the present invention is not limited thereto, and each pulley can be formed in various positions and sizes suitable for the configuration of the end tool.

[0216] Additionally, the end tool (100) of one embodiment of the present invention may include an end tool hub (180) and a pitch hub (107).

[0217] The end tool hub (180) has a rotary shaft (141) inserted therethrough, and at least a portion of the pulley (111) and the pulley (121) coupled to the rotary shaft (141), and the first and second jaws (101) and (102) coupled thereto can be accommodated inside the end tool hub (180). Here, one embodiment of the present invention is characterized in that the end tool hub (180) is provided with a first guide portion (183) and a second guide portion (187) that perform both the role of an auxiliary pulley and the role of a pitch spare pulley. That is, the end tool hub (180) may be provided with a first guide portion (183) and a second guide portion (187) that guide the paths of the wire (305) and the wire (302).

[0218] The first guide portion (183) and the second guide portion (187) of the end tool hub (180) can change the path of the wire by performing the functions of both an auxiliary pulley and a pitch spare pulley. The first guide portion (183) and the second guide portion (187) of the end tool hub (180), which perform the functions of an auxiliary pulley and a pitch spare pulley, will be described in more detail later.

[0219] Meanwhile, a pulley (131) that functions as an end tool pitch pulley may be formed at one end of the end tool hub (180). As illustrated in FIG. 7, the pulley (131) may be formed as a single body with the end tool hub (180). In this case, the pulley (131) may be formed inside the end tool hub (180) in the form of a kind of guide channel to guide the paths of the wires (303) and (304). Alternatively, the pulley (131) may be formed as a separate member from the end tool hub (180) and coupled to the end tool hub (180). Then, the wires (303) and (304) are coupled to the pulley (131) that functions as an end tool pitch pulley, and the pulley (131) rotates around the rotation axis (143) to perform a pitch motion.

[0220] A rotation shaft (143) and a rotation shaft (144) are inserted through the pitch hub (107), and the pitch hub (107) can be axially coupled with the end tool hub (180) and the pulley (131) by the rotation shaft (143). Therefore, the end tool hub (180) and the pulley (131) can be formed to be able to pitch rotate with respect to the pitch hub (107) with the rotation shaft (143) as the center.

[0221] In addition, the pitch hub (107) can accommodate at least a portion of the pulley (113), pulley (114), pulley (123), and pulley (124) that are axially coupled to the rotation shaft (143) inside. In addition, the pitch hub (107) can accommodate at least a portion of the pulley (115), pulley (116), pulley (125), and pulley (126) that are axially coupled to the rotation shaft (144) inside.

[0222] In addition, the end tool (100) according to one embodiment of the present invention may include a rotational shaft (141), a rotational shaft (143), and a rotational shaft (144). As described above, the rotational shaft (141) may be inserted through the end tool hub (180), and the rotational shaft (143) and the rotational shaft (144) may be inserted through the pitch hub (107).

[0223] The rotation axis (141), rotation axis (143), and rotation axis (144) may be sequentially arranged from the distal end (104) of the end tool (100) toward the proximal end (105). Accordingly, starting from the distal end (104), the rotation axis (141) may be sequentially referred to as the 1st pin, the rotation axis (143) may be sequentially referred to as the 3rd pin, and the rotation axis (144) may be sequentially referred to as the 4th pin.

[0224] Here, the rotation axis (141) can function as a pulley rotation axis, the rotation axis (143) can function as a pitch main rotation axis, and the rotation axis (144) can function as a pitch sub rotation axis of the end tool (100).

[0225] Each of these rotation axes (141)(143)(144) can have one or more pulleys fitted to it, which will be described in detail below.

[0226] Pulley (111) functions as a first pulley, and pulley (121) functions as a second pulley, and these two components may be collectively referred to as a first pulley.

[0227] The jaw pulley (111) and the pulley (121) are formed to face each other and are formed to be able to rotate independently of each other around a rotation axis (141), which is the jaw pulley rotation axis. Here, in the drawing, the pulley (111) and the pulley (121) are formed to rotate around one rotation axis (141), but it goes without saying that each jaw pulley can be formed to be able to rotate around a separate axis. Here, the first jaw (101) is fixedly coupled to the pulley (111) and rotates together with the pulley (111), and the second jaw (102) is fixedly coupled to the pulley (121) and rotates together with the pulley (121).

[0228] The yaw motion and actuation motion of the end tool (100) are performed according to the rotation of the pulley (111) and the pulley (121). That is, when the pulley (111) and the pulley (121) rotate in the same direction around the rotation axis (141), the yaw motion is performed, and when the pulley (111) and the pulley (121) rotate in opposite directions around the rotation axis (141), the actuation motion is performed.

[0229] Here, the first jaw (101) and the pulley (111) may be formed as separate members and coupled to each other, or the first jaw (101) and the pulley (111) may be formed as one body. Similarly, the second jaw (102) and the pulley (121) may be formed as separate members and coupled to each other, or the second jaw (102) and the pulley (121) may be formed as one body.

[0230] Here, the groove (111a) in which the first wire (301) / wire (305) is wound in the first group pulley (111) is arranged adjacent to the first group pulley coupling portion (181) of the end tool hub (180), and the groove (121a) in which the second wire (302) / wire (306) is wound in the second group pulley (121) is arranged adjacent to the second group pulley coupling portion (182) of the end tool hub (180). Accordingly, a predetermined space can be formed between the first group wire (301) / wire (305) and the second group wire (302) / wire (306).

[0231] In this way, the first wire (301) / wire (305) and the second wire (302) / wire (306) are arranged to be spaced apart from each other, so that the wires can be wound around each pulley while maintaining a straight line.

[0232] Pulley (113) and pulley (114) function as the first pitch main pulley, and pulley (123) and pulley (124) function as the second pitch main pulley, and these two components may be collectively referred to as the pitch main pulley.

[0233] Pulleys (115) and (116) function as first pitch sub-pulleys, and pulleys (125) and (126) function as second pitch sub-pulleys, and these two components may be collectively referred to as pitch sub-pulleys.

[0234] Hereinafter, an end tool hub (180) of one embodiment of the present invention will be described in more detail, and in particular, a first guide portion (183) and a second guide portion (187) of the end tool hub (180), which perform the roles of an auxiliary pulley and a pitch spare pulley, will be described in detail.

[0235] The end tool hub (180) includes a pair of jaw pulley coupling parts (181) (182), a first guide part (183), a first guide groove (184), a pitch pulley part (185), a main body part (186), a second guide part (187), and a second guide groove (188).

[0236] In detail, a pair of jaw pulley coupling parts (181)(182) are formed to face each other, and a pulley (111) and a pulley (121) are accommodated therein. In addition, a through hole is formed in each jaw pulley coupling part (181)(182), so that a rotation shaft (141) passes through the jaw pulley coupling parts (181)(182) and the pulley (111) and the pulley (121) to axially couple them.

[0237] A pair of jaw pulley coupling parts (181)(182) are connected by a main body part (186). That is, a pair of jaw pulley coupling parts (181)(182) that are parallel to each other are connected by a main body part (186) that is formed in a direction approximately perpendicular thereto, so that the pair of jaw pulley coupling parts (181)(182) and the main body part (186) form an approximately “U” shape, and a pulley (111) and a pulley (121) are accommodated therein.

[0238] From another perspective, it can be seen that a pair of pulley coupling parts (181)(182) are formed by extending in the X-axis direction from both ends of the main body part (186) that is formed long in the Z-axis direction.

[0239] A first guide portion (183) may be formed on one side of the main body (186), and a second guide portion (187) may be formed on the other side.

[0240] In detail, on both sides of the main body (186), a first guide portion (183) and a second guide portion (187) may be formed, which protrude to a certain extent from the main body (186) and have a groove formed on the outer surface thereof in which a wire can be wound.

[0241] And, the first wire (305) can be wound around the first guide part (183), and the second wire (302) can be wound around the second guide part (187).

[0242] Meanwhile, the first wire (301) can pass through the side of the first guide part (183), and the second wire (306) can pass through the side of the second guide part (187).

[0243] Here, one side of each of the first guide portion (183) and the second guide portion (187) may be formed to protrude from the main body portion (186) to a certain extent and have an arc-shaped cross-section to guide the path of the wire. That is, at least a portion of the cross-section of the first guide portion (183) on the XZ plane is illustrated to have a predetermined arc shape. However, the spirit of the present invention is not limited thereto, and the cross-section may be formed to have a predetermined curvature, such as an ellipse or a parabola, or the corners of a polygonal pillar may be formed to be rounded to a certain extent, and may be formed in various shapes and sizes suitable for guiding the paths of the wire (305) and the wire (302).

[0244] To put it another way, it can be said that the first guide part (183) functions as a kind of pulley member that guides the path of the wire (305) and the wire (302) by winding the wire (305) and the wire (302) around its outer surface. However, here, the first guide part (183) is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub (180), and it can be said that it partially performs the function of a pulley that guides the path of the wire by winding the wire around it.

[0245] Here, a first guide groove (184) may be further formed on one side of the first guide portion (183) in contact with the wire (305) to better guide the path of the wire (305). The first guide groove (184) may be formed in the shape of a groove that is sunken to a certain extent from the protruding surface of the first guide portion (183).

[0246] Here, the drawing shows that the first guide groove (184) is formed on the entire arc surface of the first guide portion (183), but the idea of ​​the present invention is not limited thereto, and it is also possible for the first guide groove (184) to be formed on only a part of the arc surface of the first guide portion (183) as needed.

[0247] By forming a first guide groove (184) in the first guide portion (183) in this way, unnecessary friction with the wires can be reduced, thereby improving the durability of the wires.

[0248] Likewise, a second guide groove (188) may be further formed on one side of the second guide portion (187) in contact with the wire (302) to better guide the path of the wire (302).

[0249] In the main body (186), a pitch pulley part (185) may be further formed in the direction opposite to the formation direction of the pulley coupling parts (181) (182). In addition, a pulley (131), which is a pitch pulley on which a pitch wire (303) and a wire (304) can be wound, may be formed in the pitch pulley part (185). However, the pulley (131) here is not a member that rotates around a predetermined axis like a pulley in the original sense, but is formed to be fixed as a part of the end tool hub (180), and it can be said that it performs some of the functions of a pulley similar to that of a pulley by having a wire wound around it. That is, the pulley (131) may be formed in a kind of groove shape in the pitch pulley part (185) of the end tool hub (180), and such a pulley (131) may serve as a guide channel for the wire (303) and the wire (304). Here, the pitch pulley part (185) can be formed on the XZ plane. And, a through hole through which a rotation shaft (143) can be inserted can be formed in the pitch pulley part (185).

[0250] Meanwhile, although not shown in the drawing, the pitch pulley portion and the pitch pulley may be formed as separate members and combined, and the rotation axis (143) may be formed to penetrate the pitch pulley portion and the pulley.

[0251] Below, the role and function of the first guide part (183) as an auxiliary pulley will be described in more detail.

[0252] The first guide portion (183) can play a role of expanding the rotation radius of the first group (101) by making contact with the wire (305) and changing the arrangement path of the wire (305) to a certain degree. Similarly, the second guide portion (187) can play a role of expanding the rotation radius of the second group (102) by making contact with the wire (302) and changing the arrangement path of the wire (302) to a certain degree.

[0253] That is, when the auxiliary pulley (not shown) or the first guide part (183) and the second guide part (187) are not arranged, the first pulley (111) and the second pulley (121) can only rotate up to a right angle, but in one embodiment of the present invention, by additionally providing the first guide part (183) and the second guide part (187) to the end tool hub (180), the effect of increasing the maximum rotation angle of each pulley can be obtained.

[0254] This enables an operation in which the two groups of the end tool (100) must be separated for actuation operation while the two groups are rotated 90°. In other words, the end tool hub (180) has the characteristic of being able to expand the range of yaw rotation in which actuation operation is possible through the configuration of the first guide portion (183) and the second guide portion (187).

[0255] Furthermore, by forming the first guide portion (183) and the second guide portion (187) on the existing end tool hub (180) without adding a separate structure such as an auxiliary pulley, it has the characteristic of being able to implement an expansion of the rotation range without adding parts and manufacturing processes.

[0256] In this way, since a separate structure for expanding the rotation angle is not additionally placed, the number of parts is reduced and the manufacturing process is simplified, and the length of the end tool is shortened by the size of the auxiliary pulley, so that the length of the end tool is shortened when performing a pitch motion, and thus, the effect of making it easier to perform a surgical motion in a narrow space can be obtained.

[0257] To elaborate further, this is as follows:

[0258] In an end tool (100) of a surgical instrument according to one embodiment of the present invention, a first guide portion (183) and a second guide portion (187) capable of changing the path of a wire are formed on the inner wall of an end tool hub (180), thereby changing the arrangement path of the wire without a separate structure. In this way, by forming the first guide portion (183) and the second guide portion (187) on the end tool hub (180), the arrangement paths of the wires (305) and the wires (302) are changed to a certain extent, thereby changing the tangential directions of the wires (305) and the wires (302). Accordingly, the rotation angle of the fastening member (not shown) that connects each wire and pulley can be expanded.

[0259] That is, the fastening member (not shown) that connects the wire (302) and the pulley (121) is rotatable until it is positioned on the common inner tangent line of the pulley (121) and the second guide portion (187). Similarly, the fastening member (not shown) that connects the wire (305) and the pulley (111) is rotatable until it is positioned on the common inner tangent line of the pulley (111) and the first guide portion (183), so that the rotation angle of the fastening member (not shown) can be expanded.

[0260] To explain this from another perspective, the wire (301) and wire (305) wound around the pulley (111) by the first guide part (183) are arranged on one side based on a plane that is perpendicular to the Y-axis and passes through the X-axis. At the same time, the wire (302) and wire (306) wound around the pulley (121) by the second guide part (187) are arranged on the other side based on a plane that is perpendicular to the Y-axis and passes through the X-axis.

[0261] In other words, pulleys (113) and pulleys (114) are arranged on one side relative to a plane that is perpendicular to the Y-axis and passes through the X-axis, and pulleys (123) and pulleys (124) are arranged on the other side relative to a plane that is perpendicular to the Y-axis and passes through the X-axis.

[0262] In other words, the wire (305) is positioned on the inner tangent line of the pulley (111) and the first guide part (183), and the rotation angle of the pulley (111) is expanded by the first guide part (183). In addition, the wire (302) is positioned on the inner tangent line of the pulley (121) and the second guide part (187), and the rotation angle of the pulley (121) is expanded by the first guide part (183).

[0263] Compared to a surgical instrument having a separate auxiliary pulley formed therein, the length of the end tool of the surgical instrument of the present embodiment, in which the auxiliary pulley is not formed and a first guide portion (183) capable of changing the path of the wire is formed on the inner wall of the end tool hub (180), can be shortened. By shortening the length of the end tool in this way, the operator's manipulation becomes easier when performing surgery in a narrow surgical space within the human body, and the side effects of the surgery can be reduced.

[0264] According to the present invention, the rotation radius of the first pulley (111) and the second pulley (121) is widened, thereby obtaining the effect of widening the range of motion in which normal opening and closing actuation can be performed.

[0265] Meanwhile, the roles and functions of the first guide part (183) and the second guide part (187) as pitch redundant pulleys will be described in more detail. The first guide part (183) functions as a first pitch redundant pulley, and the second guide part (187) functions as a second pitch redundant pulley, and these two components may be collectively referred to as pitch redundant pulleys. Such pitch redundant pulleys may play a role in changing the inlet / outlet path of the jaw wire that enters from the proximal part to the distal part of the end tool or exits from the distal part to the proximal part.

[0266] Below, the components related to the rotation of the pulley (111) are described.

[0267] Pulley (113) and pulley (114) form a pair and function as the first pitch main pulley. That is, they function as the main rotation pulley for the pitch motion of the first (101) pitch. Here, wire (301), which is the first wire, is wound around pulley (113), and wire (305), which is the first wire, is wound around pulley (114).

[0268] Pulley (115) and pulley (116) form a pair and function as a first pitch sub-pulley. That is, they function as a sub-rotation pulley for the pitch motion of the first (101) pitch. Here, wire (301), which is a first wire, is wound around pulley (115), and wire (305), which is a first wire, is wound around pulley (116).

[0269] The first guide section (183) functions as a first-order spare pulley. That is, it functions as a spare rotation pulley for the pitch motion of the first article (101). Here, the first-order wire (305) is wound around the first guide section (183).

[0270] Here, a first guide part (183) is arranged on one side of the pulley (111). In addition, a pulley (113) and a pulley (114) are arranged on one side of the first guide part (183) so as to face each other. Here, the pulley (113) and the pulley (114) are formed to be able to rotate independently of each other around a rotation axis (143), which is a pitch main rotation axis. In addition, a pulley (115) and a pulley (116) are arranged on one side of each of the pulleys (113) and (114). Here, the pulley (115) and the pulley (116) are formed to be able to rotate around a rotation axis (144), which is a pitch sub rotation axis. Here, the drawing shows that the pulley (113), pulley (114), pulley (115), and pulley (116) are all formed to be rotatable around the Y-axis direction, but the spirit of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions as appropriate for the configuration.

[0271] Article 1 Wire (301) is sequentially wound so that at least a portion of the wire is in contact with the pulley (115), the pulley (113), and the pulley (111). Then, the wire (305) connected to the wire (301) by a fastening member (not shown) is sequentially wound so that at least a portion of the wire is in contact with the pulley (111), the first guide portion (183), the pulley (114), and the pulley (116).

[0272] To explain this from another perspective, the first wire, wire (301) and wire (305), are wound sequentially so that at least a portion of the wire is in contact with the pulley (115), pulley (113), pulley (111), first guide part (183), pulley (114), and pulley (116), and the wire (301) and wire (305) are formed so that they can move along the pulleys while rotating the pulleys.

[0273] Accordingly, when the wire (301) is pulled toward the arrow 301 of Fig. 10a, the fastening member (323) to which the wire (301) is coupled and the pulley (111) coupled thereto rotate in the direction of arrow L of Fig. 10b. Conversely, when the wire (305) is pulled toward the arrow 305 of Fig. 10a, the fastening member (323) to which the wire (305) is coupled and the pulley (111) coupled thereto rotate in the direction of arrow R of Fig. 10b.

[0274] Next, the components related to the rotation of the pulley (121) are described.

[0275] Pulley (123) and pulley (124) form a pair and function as a second pitch main pulley. That is, they function as a main rotation pulley for the pitch motion of the second pitch (102). Here, a second wire, wire (306), is wound around pulley (123), and a second wire, wire (302), is wound around pulley (124).

[0276] Pulley (125) and pulley (126) form a pair and function as a second pitch sub-pulley. That is, they function as a sub-rotation pulley for the pitch motion of the second (102). Here, wire (306), which is a second wire, is wound around pulley (125), and wire (302), which is a second wire, is wound around pulley (126).

[0277] The second guide section (187) functions as a second pitch spare pulley. That is, it functions as an extra rotation pulley for the pitch operation of the second section (102). Here, a second wire (302), which is a second wire, is wound around the second guide section (187).

[0278] Here, a second guide part (187) is arranged on one side of the pulley (121). In addition, a pulley (123) and a pulley (124) are arranged on one side of the second guide part (187) so as to face each other. Here, the pulley (123) and the pulley (124) are formed to be able to rotate independently of each other around a rotation axis (143), which is a pitch main rotation axis. In addition, a pulley (125) and a pulley (126) are arranged on one side of each of the pulleys (123) and (124). Here, the pulley (125) and the pulley (126) are formed to be able to rotate around a rotation axis (144), which is a pitch sub rotation axis. Here, the drawing shows that the pulley (123), pulley (124), pulley (125), and pulley (126) are all formed to be rotatable around the Y-axis direction, but the spirit of the present invention is not limited thereto, and the rotation axes of each pulley may be formed in various directions as appropriate for the configuration.

[0279] The wire (306), which is a second wire, is wound sequentially so that at least a portion thereof is in contact with the pulley (125), the pulley (123), and the pulley (121). In addition, the wire (302), which is connected to the wire (306) by a fastening member (not shown), is wound sequentially so that at least a portion thereof is in contact with the pulley (121), the second guide portion (187), the pulley (124), and the pulley (126).

[0280] To explain this from another perspective, the second wire, wire (306) and wire (302), are wound sequentially so that at least a portion of the wire is in contact with the pulley (125), pulley (123), pulley (121), second guide part (187), pulley (124), and pulley (126), and the wire (306) and wire (302) are formed so that they can move along the pulleys while rotating the pulleys.

[0281] Accordingly, when the wire (306) is pulled toward the arrow 306 of Fig. 10a, the fastening member (326) to which the wire (306) is coupled and the pulley (121) coupled thereto rotate in the direction of the arrow R of Fig. 10b. Conversely, when the wire (302) is pulled toward the arrow 302 of Fig. 10a, the fastening member (326) to which the wire (302) is coupled and the pulley (121) coupled thereto rotate in the direction of the arrow L of Fig. 10b.

[0282] Here, the present invention is characterized in that the pitch motion is easily controlled by winding two strands of wire around one pulley in opposite directions around the pitch main pulley.

[0283] In detail, when the +Z-axis direction is defined as the upper side and the -Z-axis direction as the lower side based on the plane (i.e., XY plane) passing between the first group pulley (111) and the second group pulley (121), one of the two strands of the first wire (e.g., wire (301)) may enter the first group pitch main pulley (113) from the lower side of the XY plane, and the other strand (e.g., wire (305)) may come out from the first group pitch main pulley (114) from the upper side of the XY plane. In other words, the first wire may be expressed as a structure in which the first wire enters the lower side of the first group pitch main pulley and comes out the upper side. Similarly, the second wire may be expressed as a structure in which the second wire enters the upper side of the second group pitch main pulley and comes out the lower side.

[0284] To explain this from another perspective, one strand of the first wire, the wire (301), sequentially contacts the upper side of the pulley (115) and the lower side of the pulley (113), and then contacts the pulley (111). Next, the other strand of the first wire, the wire (305), is wound around the pulley (111) and the first guide portion (183), and then contacts the upper side of the pulley (114) and then exits into the shaft (310). As a result, the first wire exits the shaft (310), enters the lower side of the pulley (113), passes through each of the pulleys, passes through the upper side of the pulley (114), and then re-enters the shaft (310).

[0285] Likewise, one strand of the second wire, wire (306), sequentially contacts the lower side of the pulley (125) and the upper side of the pulley (123), and then contacts the pulley (121). Next, the other strand of the second wire, wire (302), is wound around the pulley (121) and the second guide portion (187), and then contacts the lower side of the pulley (124) and then exits into the shaft (310). As a result, the second wire exits the shaft (310), enters the upper side of the pulley (123), passes through each of the pulleys, passes through the lower side of the pulley (124), and then re-enters the shaft (310).

[0286] To put it another way, among the two first-strand wires, one wire is wound around the first-strand pitch main pulley in either a clockwise or counterclockwise direction, and the other wire is wound around the first-strand pitch main pulley in the other direction, either a clockwise or counterclockwise direction. That is, as seen in FIG. 8, the wire (301) is wound clockwise as it enters from the shaft (310) toward the end tool (100), and the wire (305) is wound counterclockwise as it enters from the shaft (310) toward the end tool (100).

[0287] Likewise, among the two second-row wires, one wire may be said to be wound around the second-row pitch main pulley in either a clockwise or counterclockwise direction, and the other wire may be said to be wound around the second-row pitch main pulley in the other direction, either a clockwise or counterclockwise direction. That is, as seen in FIG. 8, the wire (302) is wound clockwise as it enters from the shaft (310) toward the end tool (100), and the wire (306) is wound counterclockwise as it enters from the shaft (310) toward the end tool (100).

[0288] In this way, by winding two strands of wire around one pulley in opposite directions around the pitch main pulley, the effect of making it easier to control the pitch movement can be obtained.

[0289] Meanwhile, when viewed from the perspective of the XZ plane, the two strands of each group wire are arranged on the same side based on the XZ plane. In detail, when the +Y-axis direction is defined as the first side and the -Y-axis direction as the second side based on the plane (i.e., the XZ plane) passing between the first group pitch main pulley (114) and the second group pitch main pulley (124), one of the two strands of the first group wire (e.g., wire (301)) is arranged on the first side of the XZ plane, and the other strand (e.g., wire (305)) can also be arranged on the same first side.

[0290] Similarly, one of the two strands of the second wire (e.g., wire (306)) may be placed on the second side of the XZ plane, and the other strand (e.g., wire (302)) may also be placed on the same second side. In other words, this can be expressed as a structure in which one wire enters the first side and comes out of the first side. (This can also be expressed as a structure in which the other wire enters the second side and comes out of the second side.)

[0291]

[0292] (Force Feedback)

[0293] Here, the surgical robot system (1) according to one embodiment of the present invention is characterized in that it improves safety during surgery by applying a predetermined reaction force that modifies or increases the reaction force detected by the robot arm to a user operation unit to a certain degree in order to limit the movement of the working robot arm (20) within a preset range.

[0294] Specifically, in a surgical robot system with a master-slave structure, malfunctions that can cause tissue and organ damage due to unintended movements of the slave robot during operation can occur for two main reasons. The first reason is due to errors within the system itself, such as control and communication. The second reason is due to careless or unnoticed malfunctions by the surgeon controlling the slave robot through the master robot being directly transmitted to the slave robot.

[0295] In the former case, improvements could be made through technical considerations to enhance the safety of the system itself (e.g., control system redundancy, automatic communication error correction, and implementation of countermeasures against electromagnetic noise). In contrast, in the latter case, the surgeon's intended surgical actions coexist with unintended actions resulting from the surgeon's carelessness. Therefore, the implementation of a mechanism to prevent malfunctions while minimizing disruption to the intended surgical actions is required.

[0296] To prevent unintended movements of the operator, the concept of a virtual fixture and force feedback for telepresence were proposed.

[0297] First, a virtual fixed wall is a virtual restricted area or restricted path that does not actually exist, and restricts the movement of the robot arm or impedes its movement by applying a virtual reaction force so that it does not go beyond the set area or path.

[0298] For example, a controllable robot arm can be achieved by setting up a virtual wall (i.e., a virtual fixture) at the boundary and arbitrarily assigning a stiffness (i.e., a weight for the reaction force) to it so that the robot arm can never go over the virtual wall, or by allowing the robot arm to push through the wall to a certain extent, but only if a greater force than the actual force is applied to manipulate the robot arm.

[0299] In terms of control principles, this involves giving weight to the velocity command given to the robot arm. If the weight is 1 or an identity matrix, the robot will unconditionally follow the specified velocity command as in general control. However, manipulating this weight matrix has the effect of giving arbitrary restrictions on movement in a specific direction in space, thereby obtaining a virtual fixed wall effect.

[0300] Meanwhile, in a robot system with a master-slave structure or a teleoperation (telemanipulation) structure, the reaction force felt by a remote slave robot can be felt by the master robot as well, or in a broader sense, the remote environment can be sensed by the master robot as is, which is collectively called telepresence.

[0301] Typically, the primary goal of this type of remote control is to maximize "transparency," that is, to provide the user with a sense of remote control as close as possible. In the case of surgical robots, remote control technology is implemented with the goal of transmitting the reaction force experienced by the slave robot when it collides with tissue or surrounding organs during the operation to the master robot as transparently as possible.

[0302] To implement such remote display technology, the concept of so-called force-feedback control can be applied. The basic concept of force-feedback control is to feed back the reaction force value detected by a sensor at the attachment of the robot arm of the slave robot and the current position value of the attachment of the robot arm to the master robot, and the master robot controls the reaction force felt at the most peripheral part where the user interacts so that it is as similar as possible to the value fed back from the slave robot, taking into account its own kinematic structure.

[0303] In general, the concept is defined as a so-called bilateral control structure, which expands the general feedback control structure when a robot and a target are together locally, so that the local system and the remote external environment are interconnected to form a feedback control structure. Here, the sensor for measuring the reaction force value may be installed on the attachment of the robot arm of the slave robot, or for ease of installation, it may be installed at a certain distance from the attachment of the robot arm and measure the reaction force value directly or indirectly.

[0304] Here, a surgical robot system (1) according to one embodiment of the present invention is characterized in that it is equipped with a sensor assembly (400) for sensing the movement of a surgical instrument (30) by being coupled to the surgical instrument (30) in order to implement a force feedback function. In addition, a motor pack (500) is characterized in that it is equipped with one or more motor sensors for sensing the operation of each driving motor.

[0305] First, the following describes a surgical instrument (30) having a sensor assembly (400) centered on FIGS. 11 to 19.

[0306] FIG. 11 is a drawing showing a state in which the instrument case (40) is removed from the surgical instrument (30) of FIG. 6. FIG. 12 is a perspective view of the driving unit (200) and the sensor assembly (400) of the surgical instrument (30) of FIG. 6, and FIG. 13 is a perspective view of the sensor assembly (400) of the surgical instrument (30) of FIG. 6. FIGS. 14 to 16 are perspective views showing the process in which the sensor assembly (400) is coupled to the driving unit (200) of the surgical instrument (30) of FIG. 6, and FIGS. 17 to 19 are cross-sectional views showing the process in which the sensor assembly (400) is coupled to the driving unit (200) of the surgical instrument (30) of FIG. 6.

[0307] Below, the components of the driving unit (200) for implementing force feedback are described in more detail.

[0308] Referring to FIGS. 11 to 19, the driving unit (200) may include a base plate (210), a shaft coupling member (250), a bearing (255), a base frame (260), and a fastening member (270). Furthermore, the driving unit (200) may further include a cable (280) and a motor pack connection member (285).

[0309] The base plate (210) may have a plate hole (211) in which a rotation axis (241), (242), (243), and (244) are arranged and a shaft (310) is inserted. The shaft (310) may pass through the base plate (210) through the plate hole (211).

[0310] A predetermined gap may be formed between at least a portion of the inner surface of the plate hole (211) and the outer surface of the shaft (310). That is, rather than the diameter of the shaft (310) and the diameter of the plate hole (211) being formed to be substantially the same so that the shaft (310) is inserted into and fixed in the plate hole (211), the diameter of the plate hole (211) may be formed to be larger than the diameter of the shaft (310). Through this, the shaft (310) penetrating the plate hole (211) can move by an external force applied to the end tool (100), and the sensor assembly (400) can sense the movement of the shaft (310).

[0311] The base frame (260) can be formed to protrude in one direction from the base plate (210), and more specifically, can be formed to protrude in the extension direction of the shaft (310). The base frame (260) can be fixedly connected to the base plate (210).

[0312] A pulley shaft (261) may be formed protrudingly on the base frame (260). One or more intermediate pulleys (235) that guide the path of the wire may be coupled by the pulley shaft (261). In other words, the relative positions of the intermediate pulleys (235) with respect to the base frame (260) may be fixed.

[0313] Meanwhile, a drive connector (265) may be further formed on one side of the base frame (260). The drive connector (265) formed on the base frame (260) may be in electrical contact with a sensor connector (440) of a sensor assembly (400) to be described later. In addition, the drive connector (265) is connected to a cable (280), and the cable (280) may pass through the base plate (210) and be connected to a motor pack connection portion (285).

[0314] The shaft coupling member (250) is placed inside the base frame (260) and can be coupled with the shaft (310) to perform the role of connecting the shaft (310) and the driving unit (200).

[0315] In detail, a hollow space is formed inside the shaft coupling member (250), and a bearing (255) can be coupled to this hollow space. In addition, a shaft (310) can be fitted into this bearing (255). Accordingly, the shaft (310) can roll rotate about the axis of the shaft (310) with respect to the shaft coupling member (250).

[0316] Here, the shaft coupling member (250) can be coupled to the base frame (260) via the fastening member (270) before the sensor assembly (400) is coupled to the driving unit (200) (i.e., in the states of FIGS. 14 and 17). Meanwhile, the shaft coupling member (250) can be released from the fastening member (270) after the sensor assembly (400) is coupled to the driving unit (200). Therefore, in this state, the shaft coupling member (250) coupled to the shaft (310) applies a predetermined force to the sensor assembly (400) by the external force applied to the shaft (310), and this force is sensed by the sensor assembly (400), thereby allowing the external force applied to the end tool (100) to be measured. This will be described in more detail later.

[0317] The fastening member (270) is axially coupled to the base frame (260) and is combined with the shaft coupling member (250) or the sensor assembly (400), so that either the shaft coupling member (250) or the sensor assembly (400) can be selectively coupled to the base frame (260). At this time, the fastening members (270) are formed as a pair and can be coupled to both sides of the shaft coupling member (250) or the sensor assembly (400).

[0318] In detail, the fastening member (270) may be axially coupled to the base frame (260) through a reference axis (271) and may have a connecting portion (272) rotatable about the reference axis (271). In addition, the fastening member (270) may have a first fastening portion (273) extending from the connecting portion (272) and capable of contacting the shaft coupling member (250), and a second fastening portion (274) extending from the connecting portion (272) and capable of coupling with the sensor assembly (400).

[0319] As shown in FIG. 14 and FIG. 17, when the fastening member (270) rotates in one direction around the reference axis (271), the first fastening portion (273) can be fastened to the shaft coupling member (250). In other words, it can be said that the base frame (260) coupled with the fastening member (270) and the shaft coupling member (250) are coupled to each other.

[0320] Meanwhile, as shown in FIGS. 16 and 19, when the fastening member (270) rotates in another direction about the reference axis (271), the second fastening portion (274) can be fastened to the sensor assembly (400). In other words, it can be said that the base frame (260) coupled with the fastening member (270) and the sensor assembly (400) are coupled to each other. In this state, the shaft (310) and the shaft coupling member (250) coupled with the shaft (310) can move relatively to the sensor assembly (400) and the base frame (260) to which the sensor assembly (400) is coupled, and in this state, the sensor assembly (400) senses the movement of the shaft (310) to implement force feedback.

[0321] Here, when the fastening member (270) rotates in one direction around the reference axis (271), the first fastening portion (273) is formed to simultaneously contact the upper and lower surfaces of the shaft fastening member (250), thereby preventing the shaft fastening member (250) from moving in the up-and-down direction.

[0322] Likewise, when the fastening member (270) rotates in another direction around the reference axis (271), the upper and lower surfaces of the second fastening member (274) are formed to simultaneously contact the sensor assembly (400), thereby preventing movement of the sensor assembly (400) in the up-and-down direction. Through this, the sensor assembly (400) can precisely sense the movement of the shaft (310) and the shaft coupling member (250) coupled thereto when an external force is applied to the end tool (100).

[0323]

[0324] (Sensor assembly)

[0325] The sensor assembly (400) can perform a role of sensing the movement of the end portion of the drive unit (200) of the shaft (310). Here, the sensor assembly (400) is formed in a detachable form and can be coupled / separated from the shaft (310).

[0326] In detail, the sensor assembly (400) can be connected by being inserted from the rear to the front of the shaft (310) at the end of the drive unit (200) of the shaft (310). (That is, the sensor assembly (400) can be connected to the shaft (310) by being inserted from the drive unit (200) side toward the end tool (100).)

[0327] Before the sensor assembly (400) is coupled to the shaft (310), the shaft (310) is coupled to the driving unit (200) by the fastening member (270). Therefore, the shaft (310) is not separated from the driving unit (200).

[0328] Meanwhile, when the sensor assembly (400) is completely coupled to the shaft (310), the coupling between the shaft (310) and the driving unit (200) is released by the rotation of the coupling member (270). Therefore, in a state where the shaft (310) and the sensor assembly (400) are coupled to each other, the shaft (310) can move relative to the sensor assembly (400) to a certain degree, and the relative movement of the shaft (310) with respect to the sensor assembly (400) is measured, thereby sensing the six-axis movement of the shaft (310).

[0329] To elaborate further, this is as follows:

[0330] The sensor assembly (400) may include a main body (410), a fastening portion (420), a shaft sensor portion (430), and a sensor connector (440).

[0331] The main body (410) forms the main body of the sensor assembly (400) and can serve as a gripping part when the sensor assembly (400) is coupled to the driving part (200). Here, the main body (410) can be formed to extend in the opposite direction to the direction in which the shaft (310) is arranged.

[0332] The fastening portion (420) is formed on the opposite side of the main body (410), that is, on the side adjacent to the shaft (310), and can be inserted into the shaft fastening member (250) to perform a role of directly contacting the shaft fastening member (250). Here, the fastening portion (420) can be formed to extend in the direction in which the shaft (310) is arranged.

[0333] A shaft sensor unit (430) may be formed between the main body (410) and the fastening unit (420). The shaft sensor unit (430) may perform a function of sensing the movement of the shaft (310) connected to the shaft coupling member (250).

[0334] Here, the shaft sensor unit (430) may include a multi-axis force-torque sensor. Accordingly, when the sensor assembly (400) is coupled to the end of the shaft (310) on the drive unit (200) side, all multi-axis movements of the shaft (310) can be sensed. The sensor assembly (400) may be formed in a hollow, disc-shaped, or detachable form. The present embodiment describes the detachable form among these.

[0335] Here, the shaft sensor unit (430) may be a 6-axis force torque sensor. The 6-axis force torque sensor is a sensor that senses force in the X, Y, and Z axes on the spatial coordinate system and simultaneously measures rotational force (torque) in the Roll axis, Pitch axis, and Yaw axis directions, and includes a stress gauge type that measures force and torque using a stress gauge, a piezoelectric / piezoelectric type sensor that detects force and torque using a piezoelectric material or a piezoelectric body, an optical fiber type sensor that uses optical fiber, a microvoltage measurement type sensor, a capacitive type sensor, etc., but the present invention is not limited to a specific type of sensor.

[0336] The sensor connector (440) may be formed to be in electrical contact with the drive connector (265) of the drive unit (200). A detection signal generated in the shaft sensor unit (430) may be transmitted to the outside through the sensor connector (440).

[0337] In detail, the sensor connector (440) of the sensor assembly (400) is in electrical contact with the drive connector (265) of the drive unit (200). In addition, the drive connector (265) of the drive unit (200) is connected to the motor pack connection portion (285) via a cable (280). In addition, the motor pack connection portion (285) is in electrical contact with the motor pack (500). Therefore, the sensor assembly (400) can detect the movement of the instrument (30), particularly the shaft (310), and generate a detection signal for an external force applied to the instrument (30), and this detection signal can be transmitted to the master console (10) through the drive unit (200) and the motor pack (500) via the sensor connector (440).

[0338] FIGS. 20a to 24b are drawings showing a process in which an external force is sensed in a sensor assembly (400) when an external force is applied to the surgical instrument (30) of FIG. 6.

[0339] As illustrated in FIG. 20a, when an external force in the direction of arrow A is applied to the end tool (100), the shaft (310) and the shaft coupling member (250) coupled with the shaft (310) move in the direction of arrow A' (i.e., receive a force), and such movement of the shaft coupling member (250) can be sensed by the sensor assembly (400).

[0340] As illustrated in FIG. 20b, when an external force in the direction of arrow B is applied to the end tool (100), the shaft (310) and the shaft coupling member (250) coupled with the shaft (310) move in the direction of arrow B' (i.e., receive a force), and such movement of the shaft coupling member (250) can be sensed by the sensor assembly (400).

[0341] As illustrated in FIG. 21a, when an external force is applied to the end tool (100) in the direction of arrow C (i.e., when the end tool (100) is translated), the shaft (310) and the shaft coupling member (250) coupled to the shaft (310) move in the direction of arrow C' (i.e., receive a force), and such movement of the shaft coupling member (250) can be sensed by the sensor assembly (400).

[0342] As illustrated in FIG. 21b, when an external force is applied to the end tool (100) in the direction of arrow D (i.e., when the end tool (100) is translated), the shaft (310) and the shaft coupling member (250) coupled to the shaft (310) move in the direction of arrow D' (i.e., receive a force), and such movement of the shaft coupling member (250) can be sensed by the sensor assembly (400).

[0343] FIGS. 20A to 21B are two-dimensional cross-sectional views illustrating an external force applied to a shaft and a direction of a force detected by a sensor unit according to an embodiment of the present invention, and FIGS. 22A to 24B are three-dimensional perspective views illustrating the same example. The two-dimensional cross-sectional views and three-dimensional perspective views arranged in succession are each drawings illustrating the same example, and thus, a description thereof will be omitted.

[0344] Meanwhile, when the end tool wires, wire (301), wire (302), wire (305), and wire (306), are wound around the rotation axis (or pulley mounted on the rotation axis) of the driving unit (200), they may be wound under tension. At this time, since the intermediate pulley (235) through which the wire is bent is fixed to the driving unit (200), the shaft (310) is subjected to an upward force (toward the sensor assembly), and the sensor assembly (400) can basically be subjected to a force that pushes the shaft (310).

[0345] Accordingly, when an upward force is applied to the end tool (100), the force exerted by the shaft (310) on the sensor assembly (400) may increase. This allows the upward force on the end tool (100) to be calculated. In addition, the upward force on the shaft (310) may also be sensed due to the bonding force with the portion to which the sensor assembly (400) is fastened.

[0346] Likewise, when a downward force is applied to the end tool (100), the force with which the shaft (310) pushes the sensor assembly (400) can be reduced. This allows the downward force on the end tool (100) to be calculated, and also allows the downward force on the shaft (310) to be sensed due to the engagement with the portion to which the sensor assembly (400) is fastened.

[0347] Meanwhile, although not shown in the drawing, piezoelectric elements or sensors may be provided in various directions along the outer surface of the fastening portion (420) of the sensor assembly (400), so as to sense force in the bending direction of the shaft (310).

[0348] Figures 25a to 29b are drawings showing a modified example of the surgical instrument (30) of Figure 6.

[0349] Referring to FIGS. 25A to 29B, the surgical instrument may have a protrusion (2111') in a plate hole (211') through which a shaft (310) passes through a base plate (210'). The protrusion (2111') may protrude from the inner surface of the plate hole (211') and may support the shaft (310) by contacting a portion of the shaft (310).

[0350] Through this, the shaft (310) can be stably supported on the base plate (210') by contacting the protrusion (2111') and can move by an external force applied to the end tool (100). In addition, the sensor assembly (400) can effectively detect the movement of the shaft (310).

[0351] In detail, as illustrated in FIG. 25a, when an external force in the direction of arrow A is applied to the end tool (100), the shaft (310) and the shaft coupling member (250') coupled with the shaft (310) move in the direction of arrow A'' (i.e., receive a force), and such movement of the shaft coupling member (250') can be sensed by the sensor assembly (400).

[0352] As illustrated in FIG. 25b, when an external force in the direction of arrow B is applied to the end tool (100), the shaft (310) and the shaft coupling member (250') coupled with the shaft (310) move in the direction of arrow B'' (i.e., receive a force), and such movement of the shaft coupling member (250') can be sensed by the sensor assembly (400).

[0353] As illustrated in FIG. 26a, when an external force is applied to the end tool (100) in the direction of arrow C (i.e., when the end tool (100) is translated), the shaft (310) and the shaft coupling member (250') coupled to the shaft (310) move in the direction of arrow C'' (i.e., receive a force), and such movement of the shaft coupling member (250') can be sensed by the sensor assembly (400).

[0354] As illustrated in FIG. 26b, when an external force is applied to the end tool (100) in the direction of arrow D (i.e., when the end tool (100) is translated), the shaft (310) and the shaft coupling member (250') coupled to the shaft (310) move in the direction of arrow D' (i.e., receive a force), and such movement of the shaft coupling member (250') can be sensed by the sensor assembly (400).

[0355] That is, when compared with FIGS. 19 to 24, which illustrate a state in which an external force is applied to the surgical instrument (30) of FIG. 6 in which the plate hole (211) does not have a protrusion, since the protrusion (2111') of the plate hole (211') supports one side of the shaft (310), the direction of some of the force applied to the shaft (310) and the shaft coupling member (250') coupled with the shaft (310) can be changed and sensed.

[0356] FIGS. 25a to 26b are two-dimensional cross-sectional views illustrating an external force applied to a shaft and a direction of a force detected by a sensor unit according to an embodiment of the present invention, and FIGS. 27a to 29b are three-dimensional perspective views illustrating the same example. The two-dimensional cross-sectional views and three-dimensional perspective views arranged in succession are each drawings illustrating the same example, and thus, a description thereof will be omitted.

[0357]

[0358] (Sensor of motor pack)

[0359] Meanwhile, although not shown in the drawing, a motor sensor unit capable of sensing the output of each motor may be formed on the motor pack side.

[0360] The motor pack (500) may include a first drive motor for driving a rotational shaft (241) connected to the first group through a first wire, a second drive motor for driving a rotational shaft (242) connected to the second group through a second wire, a pitch drive motor for driving a rotational shaft (243) connected to a pitch pulley through a pitch wire, and a roll drive motor for driving a rotational shaft (244) connected to a shaft and causing the shaft to roll. In addition, the motor pack (500) may further include an auxiliary drive motor for driving the rotational shaft (245) connected to the end tool (100).

[0361] Each motor is connected to a gearbox, and a torque sensor is placed at the front or rear of the motor to sense the rotation of the motor.

[0362] The operation of the instrument (30) based on the first and second groups, pitch axis, and roll axis can be performed by driving the motor included in the motor pack (500), and at this time, the control unit of the master robot or slave robot can generate a movement command to be transmitted to the instrument (30) according to a user operation. At this time, the movement command may be a command to move / rotate components of the instrument (30) to a target point.

[0363] For example, if a movement command to move / rotate to a target point is generated (reference torque value) based on a torque value in an (ideal) situation where there is no external force, and the torque value (actual torque value) actually applied to move / rotate the instrument (30) to the target point is different from the reference torque value, the difference between the reference torque value and the actual torque value can be determined to be due to the influence of an external force, and a detection signal for the external force can be generated through this.

[0364] Meanwhile, the motor sensor unit that senses the rotation of the motor can sense the torque value of the motor that is forcibly rotated by an external force and generate a detection signal for the external force.

[0365] The method of detecting external force applied to the instrument (30) based on the first and second sections, pitch axis, and roll axis by the multiple motor sensor sections of the motor pack (500) will be described through another embodiment, and a detailed description will be omitted.

[0366] In summary, the external force applied to the shaft (310) in all directions is detected through the shaft sensor unit (430), and the external force applied to the end tool (100) of the instrument (30) in the rotational direction (rotation of the first and second groups, pitch axis rotation, roll axis rotation) can be detected by the motor sensor unit of the motor pack (500), so that unintentional external force applied to the instrument (30) during the surgical process can be detected as a whole.

[0367] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0368]

[0369] Fig. 30 is a perspective view showing a surgical instrument (30A) according to another embodiment of the present invention, and Fig. 31 is a drawing showing a state in which an instrument case (40A) is removed from the surgical instrument (30A) of Fig. 30. Fig. 32 is a perspective view of a driving unit (200A) and a sensor assembly (400A) of the surgical instrument (30A) of Fig. 30, and Fig. 33 is a cross-sectional view of a driving unit (200A) and a sensor assembly (400A) of the surgical instrument (30A) of Fig. 30.

[0370] The surgical instrument (30A) of FIG. 30 differs primarily from the surgical instrument (30) of FIG. 6 in the structure and arrangement of the drive unit and sensor assembly. Therefore, the following description will focus on these differences, and for other configurations, reference will be made to the description above regarding FIG. 6, etc.

[0371] Referring to FIGS. 30 to 33, the sensor assembly (400A) may have a shaft sensor unit (430A) that detects movement of the shaft (310A). The shaft sensor unit (430A) may be fixedly coupled to the shaft (310A) to sense movement of the end portion of the drive unit (200A) of the shaft (310A).

[0372] The shaft sensor unit (430A) can be mounted at the end of the long cylindrical shaft (310A) of the instrument by having a hollow structure. For example, the shaft sensor unit (430A) can be equipped with a hollow 6-axis force-torque sensor to detect an external force applied to the end effector (hereinafter referred to as “end tool”) and transmit it to the user. At this time, the intermediate pulley (235A) that connects the path of the wire is fixed within the instrument case (40A), so that the reaction force due to the tension of the wire may not be transmitted to the shaft sensor unit (430A). Through this, the shaft sensor unit (430A) can precisely detect the reaction force applied through the shaft (310A) by the external force applied to the end tool (100A) while excluding the tension of the wire.

[0373] Specifically, the shaft sensor unit (430A) may be arranged as a hollow multi-axis force-torque sensor at the end of the shaft (310A) on the drive unit (200A) side in a manner that surrounds the outer diameter of the shaft (310A). That is, the shaft (310A) may be inserted into the hollow part of the shaft sensor unit (430A) so that the inner diameter of the shaft sensor unit (430A) and the outer diameter of the shaft (310A) may be in contact with each other or may be arranged at a predetermined distance apart from each other.

[0374] Meanwhile, the shaft sensor unit (430A) may be disposed so that one end is disposed outside the instrument case (40A) and the other end is disposed inside the instrument case (40A) by penetrating the base plate (210A).

[0375] On the other hand, the shaft sensor unit (430A) may be disposed entirely inside the instrument case (40A) without penetrating the base plate (210A), or entirely outside the instrument case (40A), and may be disposed at various locations capable of sensing movement of the end portion of the drive unit (200A) of the shaft (310A).

[0376] For example, the shaft sensor unit (430A) may be a 6-axis force-torque sensor. The 6-axis force-torque sensor is a sensor that senses forces in the X, Y, and Z axes on a spatial coordinate system and simultaneously measures rotational forces (torque) in the roll, pitch, and yaw directions. There are a stress gauge type that measures forces and torques using a stress gauge, a piezoelectric / piezoelectric type sensor that detects forces and torques using a piezoelectric material or a piezoelectric body, an optical fiber type sensor that uses optical fibers, a microvoltage measurement type sensor, a capacitive type sensor, etc., but the present invention is not limited to a specific type of sensor.

[0377] When an external force is applied to the end tool (100A), a reaction force is applied to the shaft sensor unit (430A) through the shaft (310A), and the shaft sensor unit (430A) senses this and transmits a detection signal to the motor pack (500A). This signal is transmitted to the user performing the surgery, so that the user can feel the external force applied to the instrument being operated through his / her hand.

[0378] The sensor assembly (400A) may further include a fixing member (470A) that is connected to the shaft sensor member (430A) and supports the shaft (310A). The fixing member (470A) is disposed in the plate hole (211A), has a hollow shape, and can surround the shaft (310A). That is, the fixing member (470A) may be disposed between the shaft (310A) and the base plate (210A) to surround the shaft (310A). In addition, a predetermined gap may be formed between the fixing member (470A) and the plate hole (211A). Through this, the sensor assembly (400A) can be stably coupled to the shaft (310A) and precisely detect minute movements of the end of the shaft (310A) by penetrating the base plate (210A).

[0379] Figures 34a to 36b are drawings showing a process in which an external force is sensed in a sensor assembly (400A) when an external force is applied to the surgical instrument (30A) of Figure 30.

[0380] Hereinafter, with reference to FIGS. 34a to 36b, the principle of detecting the direction and magnitude of the force applied to the end tool (100A) by detecting the deformation of the shaft (310A) caused by the force applied to the end tool (100A) by the sensor assembly (400A) will be described.

[0381] First, the direction of the force applied to the end tool (100A) and the direction of the force transmitted to the shaft sensor unit (430A) are the same as the arrow directions in the drawing.

[0382] Depending on the magnitude and direction of the external force applied to the end tool (100A), various force and moment components can be sensed. When a predetermined algorithm is applied to these sensing results and calculated, the external force applied to the actual shaft (310A) and / or the end tool (100A) can be calculated / estimated, and a detailed description thereof is omitted here.

[0383] In addition, if necessary, in order to supplement the external force detection by the sensor assembly (400A), the method of sensing the external force through the torque sensor detection described in another embodiment may be applied in parallel to this embodiment, but the present invention is not limited thereto.

[0384] For convenience of explanation, the present invention has been explained based on external forces in the vertical / horizontal direction based on the central axis of the shaft (310A), but according to the present invention, various external forces can be detected in addition to this.

[0385] Figures 34a and 34b illustrate a method in which a shaft sensor unit (430A) detects the direction and magnitude of a force applied in a vertical direction based on the central axis of a shaft (310A).

[0386] As illustrated in Fig. 34a, when an external force is applied to the end tool (100A) in the direction of arrow A, the external force is transmitted to the shaft sensor unit (430A) in the direction A' through the shaft (310A) and can be detected. The external force transmitted to the shaft sensor unit (430A) can be expressed as various moment and force components, and the external force can be measured by calculating these components.

[0387] As illustrated in Fig. 34b, when an external force is applied to the end tool (100A) in the direction of arrow B, the external force can be transmitted to the shaft sensor unit (430A) in the direction of B' through the shaft (310A) and detected. The external force transmitted to the shaft sensor unit (430A) can be expressed as various moment and force components, and the external force can be measured by calculating these components.

[0388] For convenience of explanation, the description is centered on the case where external forces in the left and right directions are applied to the end tool (100A) based on the drawing as shown in FIGS. 34a and 34b. Meanwhile, when the shaft sensor unit (430A) is a 6-axis force-torque sensor, as shown in FIGS. 36a and 36b, the shaft sensor unit (430A) can also detect other directions of force (direction and magnitude) applied to the end tool (100A) in a vertical direction based on the central axis (axis from the proximal to the distal end) of the shaft (310A), and a detailed description thereof is omitted.

[0389] Figures 35a and 35b explain the principle by which the shaft sensor unit (430A) detects the direction and magnitude of force applied in a direction parallel to the central axis of the shaft (310A).

[0390] As illustrated in FIG. 35A, when an external force in the direction of arrow C (from the distal to the proximal end of the instrument) is applied to the end tool (100A), the shaft (310A) may change in response to the applied external force by i) performing a minute level of elastic compressive deformation in the direction from the distal to the proximal end of the instrument compared to a state without deformation, ii) applying direct pressure in a direction perpendicular to the shaft sensor unit (430A), or iii) moving an indicator detectable by the shaft sensor unit (430A) in a direction closer to the shaft sensor unit (430A), so that the application of an external force in the direction of arrow C' (from the distal to the proximal end of the instrument) may be detected by the shaft sensor unit (430A).

[0391] As a result, the shaft sensor unit (430A) arranged at the end of the driving unit (200A) can detect that an external force has been applied in the direction of arrow C' (from the distal to the proximal part of the instrument), such as by i) detecting a displacement due to a minute elastic compression deformation of the shaft (310A), ii) detecting an increase in force applied in a vertical direction to the shaft sensor unit (430A), or iii) detecting that an indicator is approaching the shaft sensor unit (430A).

[0392] Conversely, as illustrated in FIG. 35b, when an external force in the direction of arrow D (from the proximal to the distal end of the instrument) is applied to the end tool (100A), the shaft (310A) may change in response to the applied external force by i) undergoing a slight level of elastic tensile deformation in the direction from the proximal to the distal end of the instrument compared to a state without deformation, ii) decreasing the pressure applied in the direction perpendicular to the shaft sensor unit (430A), or iii) moving away from the shaft sensor unit (430A) an indicator detectable by the shaft sensor unit (430A) so that the application of an external force in the direction of arrow D' (from the proximal to the distal end of the instrument) can be detected by the shaft sensor unit (430A).

[0393] As a result, the shaft sensor unit (430A) arranged at the end of the driving unit (200A) can detect that an external force has been applied in the direction of arrow D' (from the distal to the proximal part of the instrument) by i) detecting a displacement due to a minute elastic tensile deformation of the shaft (310A), ii) detecting a decrease in a force applied in a vertical direction to the shaft sensor unit (430A), or iii) detecting that the indicator is moving away from the shaft sensor unit (430A).

[0394] In summary, the shaft sensor unit (430A) can detect the direction and magnitude of the force applied to the shaft (310A) in all directions by comprehensively detecting the vertical force and the horizontal force based on the central axis of the shaft (310A).

[0395] Meanwhile, although not shown in the drawing, a motor sensor unit capable of sensing the output of each motor may be provided on the motor pack (500A). A method for detecting external force applied to the instrument (30A) based on the first and second groups, pitch axis, and roll axis by a plurality of motor sensor units of the motor pack (500A) will be described through another embodiment, and a detailed description thereof will be omitted.

[0396] That is, as described above with respect to the surgical instrument (30) of FIG. 6, the omnidirectional external force applied to the shaft (310A) is detected through the shaft sensor unit (430A), and the external force in the rotational direction (rotation of the first and second groups, pitch axis rotation, roll axis rotation) applied to the end tool (100A) of the instrument (30A) can be detected by the multiple motor sensor units of the motor pack (500A), so that unintentional external force applied to the instrument (30A) during the surgical process can be detected as a whole.

[0397] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0398]

[0399] Fig. 37 is a perspective view showing a surgical instrument (30B) according to another embodiment of the present invention, and Fig. 38 is a drawing showing a state in which an instrument case (40B) is removed from the surgical instrument (30B) of Fig. 37. Fig. 39 is a perspective view of a driving unit (200B) and a sensor assembly (400B) of the surgical instrument (30B) of Fig. 37, and Fig. 40 is a cross-sectional view of a driving unit (200B) and a sensor assembly (400B) of the surgical instrument (30B) of Fig. 37.

[0400] The surgical instrument (30B) of FIG. 37 differs primarily in the structure and arrangement of the driving unit and sensor unit compared to the surgical instruments (30) (30A) of FIG. 6 and FIG. 30. Therefore, the following description will focus on these differences, and for other configurations, reference will be made to the above-described aspects of FIG. 6 and FIG. 30.

[0401] Referring to FIGS. 37 to 40, the sensor assembly (400B) may have a shaft sensor unit (430B) that detects the movement of the shaft (310B). The shaft sensor unit (430B) may be fixedly coupled to a location within the instrument case (40B) where elastic deformation or minute displacement of the shaft (310B) can be measured, in order to sense the movement of the end portion of the drive unit (200B) of the shaft (310B).

[0402] Specifically, the shaft sensor unit (430B) can be fixedly connected to the base plate (210B) via the support member (290B). The support member (290B) can extend from the base plate (210B) to fix the position of the shaft sensor unit (430B). The shaft sensor unit (430B) can detect elastic deformation or minute displacement of the shaft (310B) by receiving the same through the shaft connection member (250B) while being supported by the support member (290B).

[0403] For example, the shaft sensor unit (430B) may be a 6-axis force-torque sensor. The 6-axis force-torque sensor is a sensor that senses forces in the X, Y, and Z axes on a spatial coordinate system and simultaneously measures rotational forces (torque) in the roll axis, pitch axis, and yaw axis directions. There are a stress gauge type that measures forces and torques using a stress gauge, a piezoelectric / piezoelectric type sensor that detects forces and torques using a piezoelectric material or a piezoelectric body, an optical fiber type sensor that uses optical fibers, a microvoltage measurement type sensor, a capacitive type sensor, etc., but the present invention is not limited to a specific type of sensor.

[0404] The shaft sensor unit (430B) is mounted at the end of the instrument's long cylindrical shaft (310B) to detect external force applied to the end tool (100B) and transmit it to the user. In addition, the intermediate pulley (235B) that connects the wire path is fixed inside the instrument case (40B), so that the reaction force due to wire tension is not transmitted to the shaft sensor unit (430B).

[0405] In detail, the driving unit (200B) may further include a shaft coupling member (250B) coupled to the shaft (310B). The shaft coupling member (250B) is coupled to an end of the shaft (310B) on the driving unit (200B) side, and the shaft sensor unit (430B) may be coupled to the shaft coupling member (250B). That is, the shaft sensor unit (430B) is connected to the shaft (310B) by the shaft coupling member (250B), and may detect the movement of the shaft (310B).

[0406] The shaft coupling member (250B) is at least partially open so that a wire can extend through the shaft coupling member (250B) into the shaft (310B). The wire, which is connected to receive power from the motor through the rotational shaft (241B), (242B), and (243B), can pass through the inside of the shaft (310B) via an intermediary pulley (235B) arranged in the hollow interior of the shaft coupling member (250B) and be connected to the end tool (100B). Through this, the wire can mediate the first step, second step, and pitch driving operations of the end tool (100B) by the rotational force generated from the motor, but a detailed description thereof is omitted.

[0407] Here, the intermediary pulley (235B) can be fixed by a separate base frame (260B) that is fixedly connected to the base plate (210B). The base frame (260B) can extend from the base plate (210B) as shown in FIG. 39 and a portion thereof can be positioned inside the shaft coupling member (250B). The intermediary pulley (235B) can be fixed in position inside the shaft coupling member (250B) by the base frame (260B).

[0408] As the position of the intermediate pulley (235B) that connects the path of the wire is fixed, the axial reaction force of the shaft (310) among the reaction forces due to the tension of the wire can be transmitted to the shaft sensor unit (430B), and the reaction forces in other directions may not be transmitted. Through this, the shaft sensor unit (430B) can precisely detect the reaction force applied through the shaft (310B) by the external force applied to the end tool (100B) while excluding the influence of the tension of the wire.

[0409] Meanwhile, the support member (290B), shaft coupling member (250B), and base frame (260B) illustrated in the drawing are examples for transmitting elastic deformation or minute displacement of the shaft (310B) to the shaft sensor unit (430B) so that it can be detected, but the present invention is not limited thereto.

[0410] In summary, when an external force is applied to the end tool (100B), a reaction force is applied to the shaft sensor unit (430B) through the shaft (310B), and the shaft sensor unit (430B) senses this and transmits a detection signal to the motor pack (500B). This signal is transmitted to the user performing the surgery, so that the user can feel the external force applied to the instrument being operated through his / her hand.

[0411] Figures 41a to 42b are drawings showing a process in which an external force is sensed by a sensor assembly (400B) when an external force is applied to the surgical instrument (30B) of Figure 37.

[0412] Hereinafter, with reference to FIGS. 41a to 42b, the principle of detecting the direction and magnitude of the force applied to the end tool (100B) by detecting the deformation of the shaft (310B) caused by the force applied to the end tool (100B) by the sensor assembly (400B) will be described.

[0413] First, the direction of the force applied to the end tool (100B) and the direction of the force transmitted to the shaft sensor unit (430B) are the same as the arrow directions in the drawing.

[0414] Depending on the magnitude and direction of the external force applied to the end tool (100B), various force and moment components can be sensed. When a predetermined algorithm is applied to these sensing results and calculated, the external force applied to the actual shaft (310B) and / or the end tool (100B) can be calculated / estimated, and a detailed description thereof is omitted here.

[0415] In addition, if necessary, in order to supplement the external force detection by the sensor assembly (400B), the method of sensing the external force through the torque sensor detection described in another embodiment may be applied in parallel to this embodiment, but the present invention is not limited thereto.

[0416] For convenience of explanation, the present invention has been explained based on external forces in the vertical / horizontal direction based on the central axis of the shaft (310B), but according to the present invention, various external forces can be detected in addition to this.

[0417] Figures 41a and 41b illustrate a method in which the shaft sensor unit (430B) detects the direction and magnitude of a force applied in a vertical direction based on the central axis of the shaft (310B).

[0418] As illustrated in Fig. 41a, when an external force in the direction of arrow A is applied to the end tool (100B), the external force can be transmitted to the shaft sensor unit (430B) through the shaft (310B) and detected. The external force transmitted to the shaft sensor unit (430B) can be expressed as various moment and force components, and the external force can be measured by calculating these components.

[0419] As illustrated in Fig. 41b, when an external force in the direction of arrow B is applied to the end tool (100B), the external force can be transmitted to the shaft sensor unit (430B) through the shaft (310B) and detected. The external force transmitted to the shaft sensor unit (430B) can be expressed as various moment and force components, and the external force can be measured by calculating these components.

[0420] For convenience of explanation, the description is centered on the case where external forces in the left and right directions are applied to the end tool (100B) based on the drawings as shown in FIGS. 41a and 41b. Meanwhile, when the shaft sensor unit (430B) is a 6-axis force-torque sensor, the shaft sensor unit (430B) can also detect other directions of force (direction and magnitude) applied to the end tool (100B) in a vertical direction based on the central axis (axis from the proximal to the distal end) of the shaft (310B), and a detailed description thereof is omitted.

[0421] Figures 42a and 42b illustrate a method in which the shaft sensor unit (430B) detects the direction and magnitude of a force applied in a direction parallel to the central axis of the shaft (310B).

[0422] As illustrated in FIG. 42a, when an external force is applied to the end tool (100B) in the direction of arrow C (from the distal to the proximal end of the instrument), the shaft (310B) responds to the applied external force by i) performing a minute level of elastic compressive deformation in the direction from the distal to the proximal end of the instrument compared to a state without deformation, ii) applying direct pressure in a direction perpendicular to the shaft sensor unit (430B), or iii) moving in a direction in which an indicator detectable by the shaft sensor unit (430B) approaches the shaft sensor unit (430B), and such deformation or movement of the shaft (310B) can be transmitted to the shaft sensor unit (430B) through the shaft coupling member (250B). As a result, the shaft coupling member (250B) can be changed so that it can be detected by the shaft sensor unit (430B) that an external force has been applied in the direction of arrow C' (from the distal to the proximal portion of the instrument).

[0423] As a result, the shaft sensor unit (430B) arranged at the end of the driving unit (200B) can detect that an external force is applied in the direction of arrow C' (from the distal to the proximal part of the instrument) by i) detecting displacement due to minute elastic compression deformation of the shaft (310B) through the shaft coupling member (250B), ii) detecting an increase in force applied in a vertical direction to the shaft sensor unit (430B), or iii) detecting that an indicator is approaching the shaft sensor unit (430B).

[0424] Conversely, as illustrated in FIG. 42b, when an external force is applied to the end tool (100B) in the direction of arrow D (from the proximal to the distal end of the instrument), the shaft (310B) responds to the applied external force by i) undergoing a minute level of elastic tensile deformation in the direction from the proximal to the distal end of the instrument compared to a state without deformation, ii) decreasing the pressure applied in the direction perpendicular to the shaft sensor unit (430B), or iii) moving an indicator detectable by the shaft sensor unit (430B) away from the shaft sensor unit (430B), and such deformation or movement of the shaft (310B) can be transmitted to the shaft sensor unit (430B) through the shaft coupling member (250B). As a result, the shaft coupling member (250B) can be changed so that it can be detected by the shaft sensor unit (430B) that an external force has been applied in the direction of arrow D' (from the proximal to the distal portion of the instrument).

[0425] As a result, the shaft sensor unit (430B) arranged at the end of the driving unit (200B) can detect that an external force has been applied in the direction of arrow D' (from the proximal to the distal part of the instrument) by i) detecting displacement due to minute elastic tensile deformation of the shaft (310B) through the shaft coupling member (250B), ii) detecting a decrease in force applied in a vertical direction to the shaft sensor unit (430B), or iii) detecting that the indicator is moving away from the shaft sensor unit (430B).

[0426] In summary, the shaft sensor unit (430B) can detect the direction and magnitude of the force applied to the shaft (310B) in all directions by comprehensively detecting the vertical force and the horizontal force based on the central axis of the shaft (310B).

[0427] FIG. 43 is a drawing showing a modified example (30B') of the surgical instrument of FIG. 37, FIG. 44 is a drawing showing another modified example (30B'') of the surgical instrument of FIG. 37, and FIGS. 45a to 47b are drawings showing a process in which an external force is sensed by a sensor assembly (400B'') when an external force is applied to the surgical instrument (30B'') of FIG. 44.

[0428] Referring to Fig. 43, the driving unit (200B') of the surgical instrument (30B') may be provided with a pair of support members (290B'). The pair of support members (290B') may support the shaft sensor unit (430B') on both sides of the shaft sensor unit (430B'). In addition, a pulley shaft (261B') may be arranged between the pair of support members (290B'), and an intermediate pulley (235B') may be coupled to the pulley shaft (261B') to fix its position. That is, the surgical instrument (30B') may be provided with a pair of support members (290B') instead of a separate base frame to stably support the shaft sensor unit (430B') and fix the position of the intermediate pulley (235B').

[0429] Referring to FIGS. 44 to 47b, the surgical instrument (30B'') may have a protrusion (2111B'') in a plate hole (211B'') through which a shaft (310B'') penetrates a base plate (210B''). The protrusion (2111B'') may protrude from the inner surface of the plate hole (211B'') and may support the shaft (310B'') by contacting a portion of the shaft (310B'').

[0430] Through this, the shaft (310B'') can be stably supported on the base plate (210B'') by contacting the protrusion (2111B'') and can move by the external force applied to the end tool (100B''). In addition, the sensor assembly (400B'') can effectively detect the movement of the shaft (310B''). In addition, when compared to FIG. 41, etc., the direction of some of the external force applied to the end tool (100B'') can be converted and sensed by the protrusion (2111B''). With respect to the principle of converting the external force by the protrusion (2111B''), reference will be made to the above-described contents with respect to FIG. 25, etc.

[0431] Meanwhile, although not shown in the drawing, a torque sensor capable of sensing the output of each motor may be formed on the motor pack (500B). A method for detecting external force applied to the instrument (30B) based on the first and second groups, pitch axis, and roll axis by a plurality of torque sensors of the motor pack (500B) will be described through another embodiment, and a detailed description thereof will be omitted.

[0432] That is, as described above with respect to the surgical instrument (30) of FIG. 6, the omnidirectional external force applied to the shaft (310B) is detected through the shaft sensor unit (430B), and the external force in the rotational direction (rotation of the first and second groups, pitch axis rotation, roll axis rotation) applied to the end tool (100B) of the instrument (30B) can be detected by the multiple torque sensors of the motor pack (500B), so that unintentional external force applied to the instrument (30B) during the surgical process can be detected as a whole.

[0433] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0434]

[0435] Fig. 48 is a perspective view showing a surgical instrument (30C) according to another embodiment of the present invention, and Fig. 49 is a view showing a state in which an instrument case (40C) is removed from the surgical instrument (30C) of Fig. 48. Fig. 50 is a view showing a state in which a motor pack (500C) is mounted on the surgical instrument (30C) of Fig. 48. Fig. 51 is a perspective view showing a driving unit (200C) and a motor pack (500C) of the surgical instrument (30C) of Fig. 48, and Fig. 52 is a side view showing a motor pack (500C) mounted on the surgical instrument (30C) of Fig. 48.

[0436] The surgical instrument (30C) of FIG. 48 has major differences in the structure and arrangement of the driving unit (200C) and the motor sensor unit compared to the surgical instruments (30) (30A) (30B) of the aforementioned embodiments. Therefore, the following description will focus on these differences, and for other configurations, reference will be made to the aforementioned description of FIG. 6, etc.

[0437] Referring to FIGS. 48 to 52, instead of having a separate shaft sensor unit for measuring external force applied to the shaft (310C), the surgical instrument (30C) may be provided with a motor sensor unit for at least one of the plurality of drive motors arranged inside the motor pack (500C). The surgical instrument (30C) may also detect unintentional external force as a whole using the motor sensor unit, but the present invention is not limited thereto.

[0438] Each of the driving motors (551C)(552C)(553C)(554C) arranged in the motor pack (500C) can be connected to an encoder (571C)(572C)(573C)(574C) and a motor gear box (581C)(582C)(583C)(584C). At this time, the encoder (571C)(572C)(573C)(574C) can sense various motor parameters such as the number of rotations, speed, rotation direction, and rotation angle of the motor. Additionally, the motor gear box (581C)(582C)(583C)(584C) can adjust the output of the motor (551C)(552C)(553C)(554C) so that the output is transmitted to the rotation shaft (241C)(242C)(243C)(244C) at a predetermined value using a preset gear ratio.

[0439] In addition, as described above, the motor pack (500C) may further include an auxiliary drive motor (555C), and the auxiliary drive motor (555C) may also be connected to an encoder (575C) and a motor gear box (585C). However, for convenience of explanation, the motor driving method and sensing principle will be described below focusing on the drive motors (551C) (552C) (553C) (554C) connected to the first and second groups, pitch axis, and roll axis of the end tool (100C). That is, the motor driving method and sensing principle described below may be equally applied to the auxiliary drive motor (555C).

[0440] As described in other embodiments, the first, second, and pitch axes of the end tool (100C) can receive driving force through wires that pass through the shaft (310C) and are connected to the rotational axes (241C) (242C) (243C) (244C). At this time, the rotational axes (241C) (242C) (243C) (244C) can be drivably connected to the second interface module (not shown) of the motor pack (500C) through the first interface module (not shown) arranged on the base plate (210C).

[0441] That is, as the multiple driving motors included in the motor pack (500C) are driven, the driving force can be transmitted to the first and second groups and the pitch axis of the end tool (100C).

[0442] A motor sensor unit (561C)(562C)(563C)(564C) may be coupled to one end of each of the plurality of driving motors included in the motor pack (500C), and the motor sensor unit (561C)(562C)(563C)(564C) may be coupled and arranged to the motor pack case (510C) of the motor pack (500C). Here, the motor sensor unit (561C)(562C)(563C)(564C) may be fixedly coupled to the motor pack case (510C) and may not rotate.

[0443] The motor sensor unit (561C)(562C)(563C)(564C) may be arranged adjacent to the encoder (571C)(572C)(573C)(574C). As a result, the first motor sensor unit (561C) may be arranged to face one side of the encoder (571C), one side of the first drive motor (551C) may be arranged to face the other side of the encoder (571C), and one side of the first motor gear box (581C) may be arranged to face the other side of the first drive motor (551C).

[0444] That is, the drive motor and adjacent modules arranged in the motor pack (500C) of the surgical instrument (30C) may have a structure in which the first motor sensor unit (561C), the first encoder (571C), the first drive motor (551C), and the first motor gear box (581C) are arranged sequentially.

[0445] A driving motor (551C)(552C)(553C)(554C) that drives a pulley of an instrument connected to an end tool (100C) is coupled to a motor sensor unit (561C)(562C)(563C)(564C), and the motor sensor unit (561C)(562C)(563C)(564C) can be fixed to a motor pack (500C).

[0446] As a result, the driving of the plurality of driving motors (551C)(552C)(553C)(554C) included in the motor pack (500C) for driving the first, second, and pitch axes of the end tool (100C) can be detected by the motor sensor unit (561C)(562C)(563C)(564C) arranged at one end.

[0447] Conversely, each of the motor sensor units (561C)(562C)(563C)(564C) can detect an external force applied to the instrument (30C) by detecting an unintentional loss of driving force caused by an external force or rotation of the motor.

[0448] At this time, as described above, the intermediate pulley (235) that connects the wire path is fixed within the instrument case (40C), so the reaction force due to the wire tension may not be transmitted to the motor sensor unit (430C).

[0449] Specifically, a movement command to move / rotate to a target point is generated (reference torque value) based on a torque value in an (ideal) situation where there is no external force, but when the torque value (actual torque value) applied to actually move / rotate the instrument (30) to the target point is different from the reference torque value, the difference between the reference torque value and the actual torque value can be determined to be due to the influence of an external force, and the external force can be calculated through this.

[0450] Meanwhile, the motor sensor unit (561C)(562C)(563C)(564C) that senses the rotation of the drive motor can sense the external force by sensing the torque value of the drive motor that is forcibly rotated by an external force.

[0451] According to an embodiment, the plurality of drive motors (551C) (552C) (553C) (554C) included in the motor pack (500C) may be selected from among various motors such as an alternating current (AC) motor, a direct current (DC) motor, a stepping motor, an induction motor, a blower / fan motor, a servo motor, a linear motor, a piezo motor, etc., but the present invention is not limited to the type of motor.

[0452] In addition, the motor sensor unit (561C)(562C)(563C)(564C) arranged at one end of the driving motor (551C)(552C)(553C)(554C) may be selected from among various sensors such as a strain gauge torque sensor, a piezoelectric torque sensor, an optical fiber torque sensor, a magnetic torque sensor, a hydrodynamic torque sensor, a digital torque sensor, etc., but the present invention is not limited to the type of torque sensor.

[0453] Figures 53a to 54b are drawings showing the process of sensing external force in the motor sensor unit (561C) (562C) (563C) (564C) when an external force is applied to the surgical instrument (30C) of Figure 48.

[0454] Hereinafter, with reference to FIGS. 53a to 54b, the direction of the force applied to the end tool (100C) and the direction of the force transmitted to the motor sensor unit (561C)(562C)(563C)(564C) coupled to the drive motor (551C)(552C)(553C)(554C) will be exemplarily described. Here, the position, order, etc. in which the drive motors (551C)(552C)(553C)(554C) are arranged are merely one embodiment, and the present invention is not limited to the position, order, etc. of the drive motors (551C)(552C)(553C)(554C).

[0455] As illustrated in Fig. 53a, when a force in the A direction (first yaw direction) is applied to the end tool (100C), the rotation shaft (241C) (242C) receives a force in the A' direction (counterclockwise direction), and as a result, the motor sensor units (561C) (562C) arranged in each of the first driving motor (551C) and the second driving motor (552C) receive a force in the A' direction (counterclockwise direction).

[0456] In other words, when a force in the A direction (first yaw direction) is applied to the end tool (100C) to maintain the position of the end tool (100C) under the condition of controlling the position of the end tool (100C), the first driving motor (551C) and the second driving motor (552C) can be controlled to generate a rotational force in the P direction (clockwise direction), thereby offsetting the A' direction force generated by the external force.

[0457] As illustrated in Fig. 53b, when a force in the B direction (the second direction) is applied to the end tool (100C), the rotation shaft (241C) (242C) receives a force in the B' direction (clockwise direction), and as a result, the motor sensor units (561C) (562C) arranged in each of the first driving motor (551C) and the second driving motor (552C) receive a force in the B' direction.

[0458] In other words, when a force in the B direction (yaw-second direction) is applied to the end tool (100C) to maintain the position of the end tool (100C) under the condition of controlling the position of the end tool (100C), the first driving motor (551C) and the second driving motor (552C) can be controlled to generate a rotational force in the Q direction (counterclockwise) to offset the B' direction (clockwise) force generated by the external force.

[0459] In summary, when an external force related to the yaw direction is applied to the end tool (100C), the external force is transmitted to the driving motor (551C) (552C) that provides a driving force for yaw rotation to the end tool (100C), which transmits a force in a specific direction to the motor sensor unit (561C) (562C) arranged in each driving motor.

[0460] In other words, when an external force related to the yaw direction is applied to the end tool (100C) under the condition of controlling the position of the end tool (100C), the driving motor (551C) (552C) that provides a driving force for yaw rotation to the end tool (100C) can be controlled to generate a rotational force in the opposite direction to offset the external force.

[0461] As illustrated in Fig. 54a, when a force in the C direction (pitch-first direction) is applied to the end tool (100C), the motor sensor unit (563C) arranged in the third driving motor (553C) receives a force in the C' direction (clockwise direction). In addition, as illustrated in Fig. 54b, when a force in the D direction (pitch-second direction) is applied to the end tool (100C), the motor sensor unit (563C) arranged in the third driving motor (553C) receives a force in the D' direction (counterclockwise direction).

[0462] In other words, when a force in the C direction (pitch-first direction) is applied to the end tool (100C) to maintain the position of the end tool (100C) under the condition of controlling the position of the end tool (100C), the third driving motor (553C) can be controlled to generate a rotational force in the R direction to offset the C' direction (clockwise direction) force generated by the external force. When a force in the D direction (pitch-second direction) is applied to the end tool (100C) to maintain the position of the end tool (100C) under the same condition, the third driving motor (553C) can be controlled to generate a rotational force in the R direction (clockwise direction) to offset the D' direction (counterclockwise direction) force generated by the external force.

[0463] In summary, when an external force related to the pitch direction is applied to the end tool (100C), the external force is transmitted to the driving motor (553C) that provides driving force for pitch rotation to the end tool (100C), which transmits a specific directional force to the motor sensor unit (563C) arranged in the driving motor (553C).

[0464] In other words, when an external force related to the pitch direction is applied to the end tool (100C) under the condition of controlling the position of the end tool (100C), the driving motor (553C) that provides a driving force for pitch rotation to the end tool (100C) can be controlled to generate a rotational force in the opposite direction to offset the external force.

[0465] In some cases, as shown in the drawing, the force applied to the end tool (100C) may not only affect the rotation of the end tool (100C), but may also affect the shaft (310C). In this case, the motor sensor unit (561C) (562C) (563C) (564C) (565C) may simultaneously detect the force associated with the rotation of the end tool (100C) and the force applied to the shaft (310C).

[0466] In summary, the operation of the surgical instrument of the surgical robot can be performed by a drive motor. The surgical instrument can be equipped with multiple drive motors to control the position of each element for the operation of the end tool (yaw rotation and pitch rotation of the first and second jaws). In order to move the end tool to a position intended by the user, the drive motor can apply torque to a pulley connected to the end tool by a wire, etc. At this time, if the drive motor is fixedly connected to the motor sensor unit and the motor sensor unit is fixedly connected to a support unit (e.g., a frame, a case, etc.), a torque in the opposite direction to the torque generated by the drive motor can be sensed by the motor sensor unit through action-reaction.

[0467] At this time, when an external force is applied to the end tool, the torque required to control the position of the end tool changes, and the motor sensor unit can sense the difference between the changed torque and the torque required when no external force is applied, and calculate the external force applied to the end tool. The surgical robot system (1) transmits the calculated external force to the user performing the surgery, so that the user can detect the external force applied to the instrument being controlled.

[0468] Fig. 55 is a drawing showing a state in which the surgical instrument (30C) of Fig. 48 is mounted on a translation arm (600C), Fig. 56 is an enlarged perspective view of the translation arm (600C) of Fig. 55, and Fig. 57 is an enlarged cross-sectional view of the translation arm (600C) of Fig. 55. In addition, Fig. 58 is a drawing showing a process of sensing the translation operation of the translation arm (600C) of Fig. 55.

[0469] Referring to FIGS. 55 to 58, an external force applied in the insertion / retraction direction of the end tool (100C) can be transmitted to the translation motor (655C) through the ball screw (620C) connected to the motor pack (500C). At this time, when the translation motor (655C) is driven, a reaction force that offsets the external force is generated, and the translation sensor unit (665C) can detect this reaction force. The torque signal sensed by the translation sensor unit (665C) is transmitted to the user performing the surgery, so that the user can feel the external force applied to the instrument being controlled through his / her hand.

[0470] In detail, the translation sensor unit (665C) is fixedly arranged within the translation case (605C) forming the exterior of the translation arm (600C) and can face one side of the encoder (675C). The translation motor (655C) is arranged to face the other side of the encoder (675C) and can be connected to the translation sensor unit (665C). The translation sensor unit (665C) can detect the operation of the translation motor (655C).

[0471] Specifically, a force in a direction parallel to the shaft (310C) applied in the insertion / retraction direction of the end tool (100C) moves the motor pack (500C) in the horizontal direction, and as a result, the ball screw (620C) arranged inside the translation arm (600C) can rotate. The rotation of the ball screw (620C) applies a rotational force to the translation motor (655C), and as a result, the translation motor (655C) can rotate to correspond to the insertion / retraction direction of the end tool (100C). The translation sensor unit (665C) can detect the rotation of the translation motor (655C). Here, the translation sensor unit (665C) may be arranged on one side of the translation case (605C) and may not rotate.

[0472] In other words, in order to offset the force in the horizontal direction applied to the shaft (310C) in the insertion / retraction direction of the end tool (100C) under the condition of controlling the position of the end tool (100C), the translation motor (655C) can be controlled to generate a rotational force in the opposite direction.

[0473] That is, the omnidirectional force applied to the end tool (100C) can be detected by a sensor unit arranged at one end of each motor that provides driving force for the rotation (first step, second step, pitch) of the end tool (100C) and insertion / retraction of the end tool (100C). In addition, although not shown in the drawing, a shaft sensor unit can be coupled to the shaft (310C) as in the above-described embodiment to detect the movement of the shaft (310C) as well. Through this, the surgical instrument (30C) can detect the entire unintentional external force applied during the surgical process.

[0474] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0475]

[0476] Fig. 59 is a perspective view showing a surgical instrument (30D) according to another embodiment of the present invention, and Fig. 60 is a drawing showing a state in which an instrument case (40D) is removed from the surgical instrument (30D) of Fig. 59. Fig. 61 is a perspective view showing a driving unit (200D) and a motor pack (500D) of the surgical instrument (30D) of Fig. 59, and Fig. 62 is a side view showing a motor pack (500D) mounted on the surgical instrument (30D) of Fig. 59, and Fig. 63 is a perspective view showing the driving unit (200D) and the motor pack (500D) of the surgical instrument (30D) of Fig. 59 from a different angle.

[0477] The surgical instrument (30D) of Fig. 59 has a difference in the position of the motor sensor portion disposed on the motor compared to the surgical instrument (30C) of Fig. 48. Below, the surgical instrument (30D) of Fig. 59 will be described in comparison with the surgical instrument (30C) of Fig. 48, focusing on these differences, and any redundant description will be omitted.

[0478] Referring to FIGS. 59 to 63, the first motor sensor unit (561D) may be fixedly coupled to the motor pack case (510D) and may not rotate. Depending on the embodiment, the first motor sensor unit (561D) may be fixedly coupled to various locations other than the motor pack case (510D), and the present invention is not limited to the fixed location of the torque sensor. Although not shown in the drawing, a motor sensor unit disposed in another driving motor may also be fixedly coupled to the motor pack case (510D). Therefore, the following description will focus on the first motor sensor unit (561D) shown in the drawing, but it is obvious that the following description can be applied to other motor sensor units as well.

[0479] For example, the first motor sensor unit (561D) may be hollow. In this case, the shaft (not shown) of the first motor gear box (581D) may be connected to the rotation shaft (241D) through the hollow formed in the first motor sensor unit (561D), thereby transmitting power to the end tool (100D).

[0480] In detail, the motor pack case (510D) may be provided with a case hole (511D). The rotation shaft (241D) and the shaft (not shown) of the first motor gear box (581D) may be connected through the case hole (511D). At this time, the first motor sensor unit (561D) is fixedly positioned in the case hole (511D) but has a hollow shape, so that the rotation shaft (241D) and the first motor gear box (581D) may be connected.

[0481] The first motor sensor unit (561D) may be arranged adjacent to the first motor gear box (581D). As a result, one side of the first drive motor (551D) may be arranged to face one side of the encoder (571D), one side of the first motor gear box (581D) may be arranged to face the other side of the first drive motor (551D), and the first motor sensor unit (561D) may be arranged to face the other side of the first motor gear box (581D).

[0482] That is, the motor and adjacent modules arranged in the motor pack (500D) of the surgical instrument (30D) may have a structure in which the first encoder (571D), the first drive motor (551D), the first motor gear box (581D), and the first motor sensor unit (561D) are arranged sequentially.

[0483] Figures 64a to 65b are drawings showing a process in which an external force is sensed by a motor sensor unit (561D) (562D) when an external force is applied to the surgical instrument (30D) of Figure 59.

[0484] Referring to FIGS. 64a to 65b, the motor sensor unit (561D) (562D) can sense the force transmitted to the drive motor (551D) (552D) when an external force is applied to the end tool (100D). Here, the position, order, etc. in which the drive motors are arranged are merely an example and are not particularly limited.

[0485] Figures 64a and 64b illustrate a case where an external force related to the yaw direction is applied to the end tool (100D), in which case the external force can be transmitted to the drive motor (551D) (552D) that provides a driving force for yaw rotation to the end tool (100D) as described above with respect to Figures 53a and 53b. In addition, the drive motors (551D) (552D) transmit a force in a specific direction to the motor sensor units (561D) (562D) connected to them, respectively.

[0486] In other words, when an external force related to the yaw direction is applied to the end tool (100D) under the condition of controlling the position of the end tool (100D), the driving motor (551D) (552D) that provides a driving force for yaw rotation to the end tool (100D) can be controlled to generate a rotational force in the opposite direction to offset the external force.

[0487] Figures 65a and 65b illustrate a case where an external force related to the pitch direction is applied to the end tool (100D), in which case the external force can be transmitted to the drive motor (553D) that provides a driving force for pitch rotation to the end tool (100D) as described above with respect to Figures 54a and 54b. In addition, the drive motor (553D) transmits a force in a specific direction to the motor sensor unit (563D).

[0488] In other words, when an external force related to the pitch direction is applied to the end tool (100D) under the condition of controlling the position of the end tool (100D), the driving motor (553D) that provides a driving force for pitch rotation to the end tool (100D) can be controlled to generate a rotational force in the opposite direction to offset the external force.

[0489] In addition, in some cases, the force applied to the end tool (100D) as shown in the drawing may not only affect the rotation of the end tool (100D) but also affect the shaft (310D). In this case, the motor sensor unit (561D) (562D) (563D) (564D) (565D) may simultaneously detect the force associated with the rotation of the end tool (100D) and the force associated with the rotation of the shaft (310D).

[0490] In this way, the motor sensor unit senses the torque of the driving motor when an external force is applied to the end tool, and can calculate the external force applied to the end tool from this. The surgical robot system (1) transmits the calculated external force to the user performing the surgery, thereby enabling the user to detect the external force applied to the instrument being operated.

[0491] FIG. 66 and FIG. 67 are drawings showing a state in which the surgical instrument (30D) of FIG. 59 is mounted on a translation arm (600D), FIG. 68 is an enlarged perspective view of the translation arm (600D) of FIG. 59, and FIG. 69 is an enlarged cross-sectional view of the translation arm (600D) of FIG. 59. In addition, FIG. 70 is a drawing showing a process of sensing a translation operation of the translation arm (600D) of FIG. 59.

[0492] Referring to FIGS. 66 to 70, an external force applied in the insertion / retraction direction of the end tool (100D) can be transmitted to the translation motor (655D) through the ball screw (620D) connected to the motor pack (500D). At this time, when the translation motor (655D) is driven, a reaction force that offsets the external force is generated, and the translation sensor unit (665D) can detect the reaction force. The torque signal sensed by the translation sensor unit (665D) is transmitted to the user performing the surgery, so that the user can feel the external force applied to the instrument being operated through his or her hand.

[0493] In detail, the translation sensor unit (665D) may be fixedly arranged within the translation case (605D) forming the exterior of the translation arm (600D). In particular, the translation sensor unit (665D) may be arranged in a translation frame (610D) having a hollow space. In other words, an encoder (675D), a translation motor (655D), and a translation sensor (665D) may be arranged in sequence within the translation arm (600D). The translation sensor (665D) may be directly connected to the translation motor (655D) to detect the operation of the translation motor (655D).

[0494] For example, the translation sensor unit (665D) may be hollow. In this case, the shaft (not shown) of the translation motor (655D) may be connected to the ball screw (620D) through the hollow formed in the translation sensor unit (665D). By the screw connection between the ball screw (620D) and the motor pack connecting member (690D), the rotational motion of the translation motor (655D) may be converted into linear motion and transmitted to the motor pack (500D).

[0495] Specifically, a force in a direction parallel to the shaft (310D) applied in the insertion / retraction direction of the end tool (100D) moves the motor pack (500D) in a horizontal direction, and as a result, the ball screw (620D) arranged inside the translation arm (600D) can rotate. The rotation of the ball screw (620D) applies a rotational force to the translation motor (655D), and as a result, the translation motor (655D) can rotate to correspond to the insertion / retraction direction of the end tool (100D). The translation sensor unit (665D) can detect the rotation of the translation motor (655D). Here, the translation sensor unit (665D) is fixedly connected to the translation frame (610D) and thus may not rotate.

[0496] In other words, in order to offset the force in the horizontal direction applied to the shaft (310D) in the insertion / retraction direction of the end tool (100D) under the condition of controlling the position of the end tool (100D), the translation motor (655D) can be controlled to generate a rotational force in the opposite direction.

[0497] That is, the omnidirectional force applied to the end tool (100D) can be detected by a torque sensor arranged at one end of each motor that provides driving force for the rotation (first step, second step, pitch) of the end tool (100D) and insertion / retraction of the end tool (100D). In addition, although not shown in the drawing, a shaft sensor unit may be coupled to the shaft (310D) as in the above-described embodiment, so that the movement of the shaft (310D) can be detected together. Through this, the surgical instrument (30D) can detect the entire unintentional external force applied during the surgical process.

[0498] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0499]

[0500] FIG. 71 is a perspective view showing a surgical instrument (30E) according to another embodiment of the present invention, and FIG. 72 is a perspective view showing a state in which a sensor assembly (400E) of the surgical instrument (30E) of FIG. 71 is coupled to a motor pack (500E). In addition, FIG. 73 is a perspective view showing the surgical instrument (30E) of FIG. 71 from another angle, and FIG. 74 is a perspective view showing a state in which a sensor assembly (400E) of the surgical instrument (30E) of FIG. 71 is coupled to a motor pack (500E) from another angle, and FIG. 75 is a cross-sectional view of the surgical instrument (30E) of FIG. 71. FIG. 76 and FIG. 77 are perspective views showing the sensor assembly (400E) of the surgical instrument (30E) of FIG. 71, and FIG. 78 is a cross-sectional view showing the sensor assembly (400E) of the surgical instrument (30E) of FIG. 71.

[0501] The surgical instrument (30E) of FIG. 71 differs primarily from the aforementioned embodiments in the structure and arrangement of the shaft (310E) and the sensor assembly (400E). Therefore, the following description will focus on these differences, and for other configurations, reference will be made to the descriptions of other embodiments.

[0502] Referring to FIGS. 71 to 78, the surgical instrument (30E) may be equipped with a separate sensor assembly (400E) to detect an external force applied to the shaft (310E). In this case, the external force applied to the shaft (310E) can be easily detected by mounting the sensor assembly (400E) without a separate design change for an instrument (30E) of a type that cannot detect an external force applied to the shaft (310E).

[0503] The sensor assembly (400E) may include a sensor case (405E) and a shaft sensor unit (430E). The sensor case (405E) forms the body of the sensor assembly (400E), and the shaft sensor unit (430E) is disposed in the sensor case (405E) to detect movement of the shaft (310E).

[0504] The sensor case (405E) has a hollow portion, and the end tool (100E) and the shaft (310E) can be inserted into the hollow portion of the sensor case (405E). The sensor case (405E) can be coupled / released from the instrument case (40E) and / or the motor pack (500E) by sliding along the longitudinal direction of the shaft (310E).

[0505] For example, the sensor case (405E) can be accommodated in the motor pack (500E) by moving along the longitudinal direction of the shaft (310E), as shown in FIGS. 71 to 74. The sensor case (405E) can be accommodated in a sensor receiving portion (505E) formed concavely in the motor pack (500E) and coupled to the instrument case (40E).

[0506] According to one embodiment, the sensor assembly (400E) is disposed on one side of the sensor case (405E), and an insertion portion (450E) that can be detachably coupled to the instrument case (40E) and / or the motor pack (500E) may be formed. The sensor assembly (400E) having a built-in strain gauge or piezo sensor, etc. may be coupled to the surgical instrument (30E) to which the motor pack (500E) is coupled. The insertion portion (450E) may be inserted into the interior of the surgical instrument (30E), particularly into the instrument case (40E) and / or the motor pack (500E), to prevent the sensor assembly (400E) from being detached during use of the surgical instrument (30E).

[0507] In addition, the sensor assembly (400E) is arranged on one side of the sensor case (405E), and a sensor connector (440E) capable of transmitting and receiving information with the instrument case (40E) and / or the motor pack (500E) may be formed. The sensor connector (440E) and the insertion portion (450E) may be arranged together on one side of the sensor case (405E) as in FIG. 77, or may be arranged on different sides. That is, the positions of the insertion portion (450E) and the sensor connector (440E) are exemplary, and the insertion portion (450E) and the sensor connector (440E) may be arranged anywhere where they can be coupled with the instrument case (40E) and / or the motor pack (500E) and transmit and receive information.

[0508] For example, the information transmitted and received by the sensor assembly (400E) through the sensor connector (440E) may include various types of information, including sensing values ​​for external force applied to the shaft (310E), information identifying whether the product is genuine, and information on the number of uses. In other words, the "information" referred to in the present invention is not limited to specific information.

[0509] For example, a sensor unit (430E) capable of detecting contact, bending, force, torque, etc. may be arranged inside the sensor assembly (400E). At this time, the sensor unit (430E) may be provided as a single sensor surrounding the hollow, or may be provided as a plurality of sensors symmetrically arranged on the outer surface of the hollow, as in FIG. 77. The sensor unit (430E) may transmit information to the instrument (30E) and the motor pack (500E) through the sensor connector (440E).

[0510] According to one embodiment, the sensor connector (440E) formed in the sensor assembly (400E) can be electrically connected to the drive connector (265E) formed in the drive unit (200E). Depending on the connection of the sensor connector (440E) and the drive connector (265E), the sensor assembly (400E) and the drive unit (200E) can transmit and receive information between each other. Here, examples of information that can be transmitted and received are the same as those described in other embodiments, and thus, redundant descriptions are omitted.

[0511] For example, information transmitted from the sensor assembly (400E) to the instrument case (40E) can be transmitted to the motor pack (500E) based on the electrical connection between the instrument case (40E) and the motor pack (500E), and the information transmitted to the motor pack (500E) can serve as reference information for subsequent calculations, such as calculating an external force applied to the shaft (310E).

[0512] In one embodiment, a separate cleaning hole (not shown) may be formed in the sensor case (405E). Water, cleaning liquid, etc. may be injected into the cleaning hole (not shown) that communicates with the interior of the sensor case (405) to clean the sensor assembly (400E). Alternatively, water, cleaning liquid, etc. that has been stored or injected into the interior of the sensor case (405) and used to clean the sensor assembly (400E) may be discharged to the outside through the cleaning hole (not shown).

[0513] According to one embodiment, the shaft sensor unit (430E) may include various sensors such as a contact switch capable of detecting contact, a mechanical contact sensor, a pressure sensor, a capacitive sensor, an electrical contact sensor, a light sensor, a magnetic contact sensor, a piezoelectric element, a strain gauge sensor, and the like, and the present invention is not limited to a specific type of sensor.

[0514] According to another embodiment, the shaft sensor unit (430E) may be configured with various types of sensors capable of detecting external force applied to the shaft (310E), such as a force-torque sensor capable of detecting bending of the shaft (310E), a Hall sensor capable of detecting a magnetic material inside the shaft (310E), etc.

[0515] Alternatively, the shaft sensor unit (430E) may be a thin-film flexible piezoelectric sensor element. In this case, the shaft sensor unit (430E) may be arranged to entirely surround the hollow portion of the sensor case (405E).

[0516] Fig. 79 is a drawing showing a modified example (30E') of the surgical instrument of Fig. 71.

[0517] Referring to Fig. 79, the surgical instrument (30E') may further include an auxiliary sensor unit (350E'). The surgical instrument (30E') of the present invention may have a dual shaft structure, and the auxiliary sensor unit (350E') may detect the extensional movement of the inner shaft in this dual shaft structure.

[0518] Specifically, the shaft (310E') may have a first shaft body (311E') and a second shaft body (312E'). The first shaft body (311E') may have an end tool (100E') ​​coupled to an end thereof and may pass through the second shaft body (312E'). The second shaft body (312E') may have a portion of the first shaft body (311E') disposed therein and may be connected to the driving unit (200E'). In addition, a sensor assembly (400E') ​​may be mounted on the second shaft body (312E') as described above with respect to FIG. 71, etc.

[0519] The first shaft body (311E') can move linearly within a predetermined range within the second shaft body (312E'). When an external force is applied to the end tool (100E'), the first shaft body (311E') can be slightly pushed into or pushed out within the second shaft body (312E') by the force component in the extension direction of the shaft (310E'). The auxiliary sensor unit (350E') described above can detect this longitudinal movement of the first shaft body (311E').

[0520] The auxiliary sensor unit (350E') may be positioned at the end of the second shaft body (312E') on the end tool (100E') ​​side. For example, the auxiliary sensor unit (350E') may be formed integrally with the second shaft body (312E'), such as by surrounding the end of the second shaft body (312E') or positioned on the inside of the end.

[0521] The auxiliary sensor unit (350E') is arranged on the second shaft body (312E') and can detect the movement of the first shaft body (311E'). At this time, the auxiliary sensor unit (350E') may be various types of sensors that can detect the displacement according to the longitudinal movement of the first shaft body (311E') or the force transmitted to the first shaft body (311E'). In addition, although not shown in the drawing, the auxiliary sensor unit (350E') may be connected to the instrument case (40E') and / or the motor pack (500E') ​​with or without wires to transmit and receive a detection signal.

[0522] Meanwhile, a separate sensor unit may be provided in the sensor assembly (400E') ​​to detect longitudinal movement or longitudinal external force component of the shaft (310E'). For example, when the sensor assembly (400E') ​​is coupled to the driving unit (200E') ​​and / or the motor pack (500E'), a marker unit (not shown) having a different material, color, etc. and functioning as a marker may be placed in a part of the area covered by the hollow of the sensor case on the outer surface of the shaft (310E'). At this time, the sensor assembly (400E') ​​may be provided with various types of sensors, such as an optical sensor, to recognize the marker unit (not shown) of the shaft (310E') or detect the longitudinal external force component based on the movement of the marker unit or the marker unit.

[0523] In this way, the type and arrangement of the sensor parts mounted or arranged to detect external force applied to the surgical instrument (30E') are not particularly limited, and the surgical instrument (30E) can selectively or simultaneously have the above sensor parts to detect the external force applied to the end tool (100E) in all directions.

[0524] Figures 80a to 81b are drawings showing a process in which an external force is sensed by a sensor assembly (400E) when an external force is applied to the surgical instrument (30E) of Figure 71.

[0525] Hereinafter, with reference to FIGS. 80a to 81b, the direction of the force applied to the end tool (100E) and the direction of the force transmitted to the sensor assembly (400E) will be described. For convenience of explanation, the drawings illustrate a case where external forces are applied from a total of four directions; however, it is self-evident that the sensor assembly (400E) can detect forces and / or rotational forces in various directions.

[0526] As illustrated in FIGS. 80a to 81b, when an external force in a direction perpendicular to the shaft (310E) is applied to the end tool (100E) or the shaft (310E), the sensor unit (430E) positioned inside the sensor assembly (400E) can detect that the shaft (310E) has come into contact based on elastic deformation caused by bending of the shaft (310E), and as a result, can detect the external force applied to the shaft (310E).

[0527] That is, an external force applied to the end tool (100E) applies a reaction force to the sensor assembly (400E) through the shaft (310E), and a strain gauge or piezo sensor built into the sensor assembly (400E) senses this and transmits a signal to the motor pack (500E). The surgical robot system (1) can transmit this signal to the user performing the surgery, and the user can feel the external force applied to the instrument (30E) being controlled through his or her hand.

[0528] In summary, the sensor assembly (400E) can detect a force in a vertical direction based on the central axis of the shaft (310E).

[0529] Meanwhile, in order to detect the force applied to the shaft (310E) in a direction perpendicular to the central axis of the shaft (310E), the sensing value of the torque sensor disposed on the ball screw drive motor can be utilized. This operating method is similar to the method described above for the surgical instrument (30D) of FIG. 59, and therefore, reference will be made to the above-described content.

[0530] As illustrated in Fig. 80a, when an external force in the A direction is applied to the end tool (100E) or the shaft (310E), or when a rotational force in the A' direction (counterclockwise) that rotates the end tool (100E) around its yaw axis is applied, the shaft (310E) can be elastically deformed by bending in the A direction. Accordingly, the sensor assembly (400E) can detect that an external force in the A direction has been applied.

[0531] As illustrated in FIG. 80b, when an external force in the B direction is applied to the end tool (100E) or the shaft (310E), or when a rotational force in the B' direction (clockwise) that rotates the end tool (100E) around its yaw axis is applied, the shaft (310E) can be elastically deformed by bending in the B direction. Accordingly, the sensor assembly (400E) can detect that an external force in the B direction has been applied.

[0532] As illustrated in Fig. 81a, when an external force in the C direction is applied to the end tool (100E) or the shaft (310E), or when a rotational force in the C' direction (clockwise) that rotates the end tool (100E) around the pitch axis is applied, the shaft (310E) can be elastically deformed by bending in the C direction. Accordingly, the sensor assembly (400E) can detect that an external force in the C direction has been applied.

[0533] As illustrated in Fig. 81b, when an external force in the D direction is applied to the end tool (100E) or the shaft (310E), or when a rotational force in the D' direction (counterclockwise) that rotates the end tool (100E) around the pitch axis is applied, the shaft (310E) can be elastically deformed by bending in the D direction. Accordingly, the sensor assembly (400E) can detect that an external force in the D direction has been applied.

[0534] As described above, the sensor assembly (400E) can detect not only a force linearly applied to the end tool (100E) or shaft (310E), but also a rotational force applied to the end tool (100E). This is because the rotational force applied to the end tool (100E) can be divided into a plurality of linear components; however, the present invention is not particularly limited thereto.

[0535] Meanwhile, a torque sensor capable of sensing the output of each motor may be formed on the motor pack (500E) side shown in Fig. 71. The method for detecting external force applied to the instrument (30E) by a plurality of torque sensors of the motor pack (500E) will be described with reference to the contents described above for the surgical instruments (30C) (30D) of Figs. 48 and 59.

[0536] In summary, the surgical instrument (30E) of the present invention detects an external force applied in a direction perpendicular to the central axis of the shaft (310E) through the sensor assembly (400E), and other external forces can be detected by a plurality of torque sensors of the motor pack (500E). Through this, the surgical instrument (30E) can detect an unintentional external force applied throughout the surgical procedure.

[0537] Here, by performing a predetermined operation on the detected external force, the level of force feedback to be transmitted to the user through the operating member (10a, 10b) of the master console (10) can be determined.

[0538]

[0539] FIG. 82 is a perspective view showing a surgical instrument (30F) according to another embodiment of the present invention, and FIG. 83 is a drawing showing a state in which an instrument case (40F) is removed from the surgical instrument (30F) of FIG. 82.

[0540] The surgical instrument (30F) of FIG. 82 is a combined form of the surgical instrument (30) equipped with the sensor assembly of FIG. 6 and the surgical instrument (30C) equipped with a motor sensor unit, and can sense all movements in the seven-axis directions. Therefore, the surgical instrument (30F) will be described below with reference to FIGS. 11 to 29 and FIGS. 48 to 70.

[0541] Referring to FIGS. 82 and 83, the surgical instrument (30F) may include a sensor assembly (400F) and a motor sensor unit (561F)(562F)(563F)(564F)(565F). The sensor assembly (400F) may be mounted on a shaft (310F) to detect movement of the shaft (310F), and the motor sensor unit (561F)(562F)(563F)(564F)(565F) may be disposed on a drive motor to detect operation of the motor.

[0542] In detail, a shaft coupling member (250F) can be coupled to the end of the drive member (200F) of the shaft (310F), and a sensor assembly (400F) can be inserted into the shaft coupling member (250F) to sense the movement of the shaft (310F). At this time, the fastening member (280F) of the drive member (200F) can be coupled to the shaft coupling member (250F) and / or the sensor assembly (400F).

[0543] When the fastening member (280F) is fastened to the sensor assembly (400F), the base frame (260F) and the sensor assembly (400F) can be coupled. At this time, the shaft (310F) and the shaft coupling member (250F) can move relatively to the sensor assembly (400F) and the base frame (260F), and in this state, the sensor assembly (400F) can sense the movement of the shaft (310F) to implement force feedback.

[0544] Meanwhile, the detailed configuration, embodiment, and external force detection principle of the driving unit (200F) and sensor assembly (400F), including the fastening member (280F), will be referred to the contents described above with respect to FIGS. 11 to 29, etc.

[0545] In addition, a motor sensor unit (561F)(562F)(563F)(564F)(565F) may be connected to each of the driving motors arranged inside the motor pack case (510F). The motor sensor unit (561F)(562F)(563F)(564F)(565F) is fixedly connected to the motor pack case (510F) and the driving motor is fixedly connected to the motor sensor unit (561F)(562F)(563F)(564F)(565F), so that a torque in the opposite direction to the torque of the driving motor can be detected by the motor sensor unit (561F)(562F)(563F)(564F)(565F). In Fig. 83, etc., an embodiment is shown in which the motor sensor unit (561F) (562F) (563F) (564F) (565F) is arranged at the front end of the driving motor, i.e., at one side close to the end tool (100F). However, as described above with respect to Fig. 59, etc., the motor sensor unit may be inserted and fixedly arranged at the rear end of the driving motor, i.e., at the case hole of the motor pack case.

[0546] Meanwhile, specific examples and external force detection principles for the motor sensor unit placed in the motor pack (500F) will be described with reference to the contents described above with respect to FIGS. 48 to 70, etc.

[0547] In this way, the surgical instrument (30F) may be equipped with a sensor assembly (400F) that is connected to the shaft (310F) to detect the movement of the shaft (310F) and a motor sensor unit (561F) (562F) (563F) (564F) (565F) that is arranged on the motor pack (500F). In addition, although not shown in the drawing, the shaft (310F) of the surgical instrument (30F) may also be formed with a double shaft structure, and the surgical instrument (30F) may further be equipped with an auxiliary sensor that can detect the longitudinal movement of the internal shaft and / or the longitudinal external force component applied to the end tool (100F). Through this, the surgical instrument (30F) can detect the entire unintentional external force applied during the surgical process.

[0548] Figures 84 to 88 are drawings showing a process in which an external force is sensed by a sensor assembly (400F) when an external force is applied to the surgical instrument (30F) of Figure 82.

[0549] Referring to FIG. 84, when an external force in the A direction is applied to the end tool (100F) or a rotational force in the A' direction (counterclockwise) with respect to the yaw axis is applied, the sensor assembly (400F) can receive and detect the force in the A'' direction. In addition, the first motor sensor unit (561F) and the second motor torque sensor (562F) can also detect that an external force in the A''' direction (counterclockwise) is applied through the rotational axis (241F) (242F). Alternatively, the first motor sensor unit (561F) and the second motor torque sensor (562F) can detect that a force in the P direction (clockwise) is required to maintain the posture of the end tool (100F).

[0550] Referring to FIG. 85, when an external force in the B direction is applied to the end tool (100F), or when a rotational force in the B' direction (clockwise direction) with respect to the yaw axis is applied, the sensor assembly (400F) can receive and detect the force in the B'' direction. In addition, the first motor sensor unit (561F) and the second motor torque sensor (562F) can also detect that an external force in the B''' direction (clockwise direction) is applied through the rotational axis (241F) (242F). Alternatively, the first motor sensor unit (561F) and the second motor torque sensor (562F) can detect that a force in the Q direction (counterclockwise direction) is required to maintain the posture of the end tool (100F).

[0551] Referring to Fig. 86, when an external force in the C direction is applied to the end tool (100F), or when a rotational force in the C' direction (counterclockwise) with respect to the pitch axis is applied, the sensor assembly (400F) can receive and detect the force in the C'' direction. In addition, the third motor sensor unit (563F) can detect that an external force in the C''' direction (counterclockwise) is applied through the rotational axis (243F). Alternatively, the third motor sensor unit (563F) can detect that a force in the R direction (clockwise) is required to maintain the posture of the end tool (100F).

[0552] Referring to Fig. 87, when an external force in the D direction is applied to the end tool (100F), or when a rotational force in the D' direction (clockwise direction) is applied with respect to the pitch axis, the sensor assembly (400F) can receive and detect the force in the D'' direction. In addition, the third motor sensor unit (563F) can detect that an external force in the D''' direction (clockwise direction) is applied through the rotational axis (243F). Alternatively, the third motor sensor unit (563F) can detect that a force in the S direction (counterclockwise direction) is required to maintain the posture of the end tool (100F).

[0553] Likewise, referring to FIG. 88, when an external force is applied to the end tool (100F) based on the roll axis, the sensor assembly (400F) and the fourth motor torque sensor (564F) can sense the external force, or detect the force required to maintain the posture of the end tool (100F).

[0554] In this way, when force is applied to the end tool (100F), the sensor assembly (400F) and the motor sensor unit (561F)(562F)(563F)(564F)(565F) can detect the external force complementarily. In this case, the control unit (15) can calculate the external force applied to the instrument (30F) by calculating the external force detected by the sensor assembly (400F) and the motor sensor unit (561F)(562F)(563F)(564F)(565F), respectively. However, the method for calculating the external force for force feedback in the surgical robot system (1) of the present invention is not limited thereto.

[0555]

[0556] The surgical instrument of the present invention and the surgical robot system including the same can detect an external force applied to the surgical instrument and implement a force feedback function. The surgical instrument can be selectively or together provided with a sensor assembly that is attached or detachably placed on a shaft and a motor sensor unit that is placed on a motor pack. The sensor assembly can detect an omnidirectional external force applied to the shaft, and the motor sensor unit can detect a rotational external force applied to the end tool. Through this, the surgical instrument of the present invention and the surgical robot system including the same can precisely detect the minute movements, forces, and torques of the instrument during a surgical process, thereby detecting an unintentional external force applied to the instrument as a whole.

[0557] The present invention has been described above, focusing on preferred embodiments. Those skilled in the art will appreciate that variations and modifications can be made to the invention without departing from its essential characteristics. Therefore, the disclosed embodiments should be considered illustrative rather than limiting. The scope of the present invention is set forth in the claims, not the foregoing description, and all differences within the scope equivalent thereto should be construed as being encompassed by the invention.

[0558] The present invention relates to a surgical instrument and a surgical robot system including the same, and more particularly, to a surgical instrument mounted on a robot arm or manually operable for use in laparoscopic surgery or various other surgeries, and a surgical robot system including the same.

Claims

1. An end tool capable of rotating in at least one direction; A driving unit having a base plate and controlling the rotation of the end tool; A shaft having one end penetrating the base plate and the other end to which the end tool is connected; and A surgical instrument, comprising a sensor assembly having a shaft sensor unit that detects movement of the shaft and generates a detection signal for an external force applied to the end tool.

2. In paragraph 1, The above shaft sensor part, A surgical instrument having a hollow body and surrounding one end of the shaft inserted into the hollow body.

3. In paragraph 2, The above base plate, including a plate hole through which the shaft passes; The above sensor assembly, A surgical instrument further comprising a fixing part connected to the shaft sensor part and positioned between the plate hole and the shaft to support the shaft.

4. In paragraph 3, A surgical instrument in which at least a portion of the inner surface of the above plate hole has a predetermined gap from the outer surface of the above fixed part.

5. In paragraph 1, The above driving part, a shaft coupling member connecting one end of the shaft and the sensor unit; and A surgical instrument further comprising a support member extending from the base plate and supporting the shaft sensor unit.

6. In paragraph 5, The above base plate, A surgical instrument comprising a plate hole through which the shaft passes, and at least a portion of the inner surface thereof has a predetermined gap from the outer surface of the shaft.

7. In paragraph 6, A surgical instrument wherein the diameter of the above plate hole is larger than the outer diameter of the above shaft.

8. In paragraph 6, The above plate hole is, A surgical instrument having a protrusion that protrudes from the inner surface and supports the outer surface of the shaft.

9. In paragraph 5, The above driving part, A rotary shaft rotatably arranged on the above base plate; A drive wire wound around the above rotation axis and passing through the inside of the shaft and connected to the end tool; and A surgical instrument further comprising an intermediate pulley for guiding the path of the driving wire inside the shaft coupling member.

10. In paragraph 9, The above shaft coupling member is, A surgical instrument, wherein at least a portion of the shaft is open, and the drive wire extending from the rotating shaft is guided into the interior of the shaft.

11. In paragraph 10, The above driving part, A surgical instrument further comprising a base frame extending from the base plate and inserted into an open side of the shaft coupling member, on which the intermediate pulley is arranged.

12. In paragraph 10, The above support members are provided in pairs to be joined on both sides of the shaft sensor section, A surgical instrument, wherein the above-mentioned intermediate pulley is placed on a pulley shaft connecting the pair of support members.

13. In paragraph 1, The above sensor assembly, A surgical instrument that detects at least one of a displacement of one end of the shaft and a force applied by the shaft to the shaft sensor portion when an external force is applied to the end tool, thereby generating the detection signal.

14. In paragraph 13, The above sensor assembly, A surgical instrument that generates the detection signal by measuring displacement due to elastic deformation of one end of the shaft when an external force is applied to the end tool.

15. In paragraph 13, The above shaft sensor unit includes a 6-axis force-torque sensor, The above sensor assembly, A surgical instrument that generates the detection signal by measuring a change in force transmitted to the shaft sensor unit through the shaft when an external force is applied to the end tool.

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