Tendon-sheath driving device

Abstract

A tendon-sheath driving device is disclosed. The tendon-sheath driving device, according to one aspect of the present invention, comprises: a tendon-sheath pair which is composed of a tendon and a sheath; and a cartridge which is operatively connected to the tendon-sheath pair and operates so as to enable the tendon and the sheath to move relative to each other. The cartridge may comprise: a body which extends in the front-rear direction, has a predetermined thickness, and has any one among the tendon and the sheath fixed thereto; a moving member which is disposed on one side or the other side in the thickness direction of the body, is coupled so as to be movable in the front-rear direction with respect to the body, and has the other one among the tendon and the sheath fixed thereto; and a locking part which is at least partially disposed on a moving path of the moving member and supports the moving member, which is positioned in an initial position set with respect to the body, so as to fix the position of the moving member.

Description

Tendon-sheath drive device

[0001] The present invention relates to a tendon-sheath drive device, and more particularly, to a tendon-sheath drive device that drives an end effector for an endoscope using a tendon and a sheath.

[0002] In recent years, there has been a growing demand for remotely controllable drive mechanisms for mechanical devices that must pass through narrow spaces or operate within limited installation spaces in various industrial and medical fields.

[0003] Recently, so-called tendon-sheath drive devices that perform specific movements of mechanical devices through the relative motion of tendons and sheaths connected to the mechanical device are attracting attention.

[0004] Tendon-sheath actuators are designed to transmit linear or rotational motion through relative movement of tendons (cables) and their surrounding sheaths (outer sheaths). They offer the advantage of transmitting driving force to remote end effectors without complex joint structures. This design is widely used in medical robots, endoscopic surgical instruments, and industrial inspection equipment.

[0005] However, in such a drive device, if the tendon and sheath are not aligned in the exact initial position before the relative movement of the tendon and sheath begins, or if pre-movement occurs due to an external force, problems such as reduced drive precision or failure of repeatable alignment may occur.

[0006] Additionally, introducing a separate device to fix the position before starting relative movement may lead to increased structural complexity or cost.

[0007] Therefore, there is a need to develop a driving device that can stably fix a moving member with a tendon or sheath fixed in an initial position with a simple structure while solving these problems.

[0008] The present invention is intended to solve the above problems, and an object of the present invention is to provide a tendon-sheath drive device configured so that a movable member to which a tendon or sheath is fixed is aligned at an initial position before relative movement of the tendon and sheath begins.

[0009] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0010] According to one aspect of the present invention, there is provided a tendon-sheath pair comprising a tendon and a sheath; and a cartridge operably connected to the tendon-sheath pair so that the tendon and the sheath move relative to each other, wherein the cartridge comprises: a body extending in the front-rear direction, having a predetermined thickness, to which one of the tendon and the sheath is fixed; a moving member disposed on one side or the other side of the body in the thickness direction, the moving member being movably coupled to the body in the front-rear direction, and to which the other of the tendon and the sheath is fixed; and a locking member at least a portion of which is disposed on a movement path of the moving member, the locking member supporting and fixing the moving member at an initial position set with respect to the body.

[0011] At this time, the locking part is coupled to the body so as to be relatively movable, and a part thereof is positioned on the movement path of the movable member to support the movable member located at the initial position and fix the position, but the part may be formed so as to be sunk into the interior of the body by an external force.

[0012] At this time, the locking part includes a locking plate arranged on the inside of the body and having one surface thereof facing the movable member arranged on the outside of the body; and a locking protrusion set including at least one protrusion that protrudes from the one surface of the locking plate and supports and fixes the movable member located at the initial position by protruding from the inside of the body to the outside, and when the locking plate is pressed inwardly of the body by the external force, the locking protrusion set can be recessed into the inside of the body.

[0013] At this time, an external force transmission through hole may be formed in the body to transmit the external force from the outside to the locking plate.

[0014] At this time, an external force transmission protrusion may be formed protruding on the one side of the lock plate, which is inserted into the external force transmission through-hole and on which the external force is applied.

[0015] Meanwhile, the locking projection set includes a plurality of locking projections, and the plurality of locking projections can partially surround and support the movable member.

[0016] Meanwhile, the locking part may further include an elastic body that is disposed inside the body and elastically supports the locking plate in a direction in which the locking protrusion set protrudes outside the body.

[0017] Meanwhile, a guide groove is formed in the body to guide movement of the movable member by extending in a forward and backward direction and recessed inwardly along the thickness direction of the body so that the movable member can be inserted, and the locking protrusion set can support the movable member located at the initial position by protruding from the bottom surface of the guide groove.

[0018] Meanwhile, the moving member is provided in plurality, and the body includes a first body and a second body that are arranged to face each other with a joint surface that extends in the front-back direction and passes through the center in the thickness direction, and are coupled to each other, and a plurality of first guide grooves that are sunken from the outside to the inside along the thickness direction and extend in the front-back direction are formed in parallel on the first body, and a plurality of second guide grooves that are sunken from the outside to the inside along the thickness direction and extend in the front-back direction are formed in parallel on the second body, and the plurality of moving members are inserted into different ones of the plurality of first guide grooves and the plurality of second guide grooves, and the total number of the plurality of first guide grooves and the plurality of second guide grooves is greater than or equal to the number of the plurality of moving members, and the locking part includes a first locking plate that is arranged on the inside of the first body and has one surface facing the plurality of first guide grooves; And a first locking projection set including at least one first locking projection protruding from the one surface of the first locking plate and protruding through the bottom surface of each of the plurality of first guide grooves on the inside of the first body; a second locking plate disposed on the inside of the second body, one surface facing the plurality of second guide grooves and the other surface facing the other surface of the first locking plate; and a second locking projection set including at least one second locking projection protruding from the one surface of the second locking plate and protruding through the bottom surface of each of the plurality of second guide grooves on the inside of the second body, wherein when the first locking plate is pressed inwardly of the first body by an external force, the plurality of first locking projection sets can be recessed into the inside of the first body, and when the second locking plate is pressed inwardly of the second body by an external force, the plurality of second locking projection sets can be recessed into the inside of the second body.

[0019] Meanwhile, the locking portion may further include at least one of a first guide protruding from the other surface of the first locking plate and penetrating the second locking plate, and a second guide protruding from the other surface of the second locking plate and penetrating the first locking plate.

[0020] At this time, each of the first guide and the second guide may have a bar or rod shape.

[0021] Meanwhile, the first guide may be formed with a snap-fit ​​structure so as not to be detached from the second locking plate while penetrating the second locking plate, and the second guide may be formed with a snap-fit ​​structure so as not to be detached from the first locking plate while penetrating the first locking plate.

[0022] Meanwhile, the locking part may further include an elastic body interposed between the first locking plate and the second locking plate, and arranged so that the first locking plate and the second locking plate elastically support each other.

[0023] Meanwhile, a guide groove is formed in the body to guide movement of the movable member by extending in the front-back direction and recessed inwardly along the thickness direction of the body so that the movable member can be inserted, and the locking portion may include a locking member that protrudes from the bottom surface or side of the guide groove toward the inside of the guide groove to support the movable member located at the initial position, but is broken by an external force.

[0024] At this time, the driving force that moves the movable member acts on the locking part, which can act as an external force that breaks the locking part.

[0025] Meanwhile, the tendon-sheath pair may include a sheath pipe extending in the front-rear direction, having a hollow shape, one side of the sheath inserted and fixed into the front side thereof, and the rear side thereof being fixed to one of the body and the movable member; and a tendon pipe extending in the front-rear direction, having a hollow shape, surrounding a predetermined region of one side of the tendon, the rear side thereof being fixed to the other of the body and the movable member, and the front side thereof being inserted into the rear side of the sheath pipe and moving relative to the sheath pipe.

[0026] Meanwhile, the body may be provided with a slot-forming portion having a predetermined thickness and positioned in front of the moving member, and a slot may be formed in the slot-forming portion that extends in the front-rear direction and through which the sheath pipe is positioned.

[0027] Meanwhile, if the sheath moves along with the movable member as it moves relative to the body, the sheath pipe can move along the slot, and if the sheath is fixed when the movable member moves relative to the body, the sheath pipe can be fixed to the slot.

[0028] Meanwhile, when the movable member moves relative to the body, if the sheath is fixed, a fixing ring may be installed on the outer surface of the sheath pipe, and a fixing ring insertion groove into which the fixing ring is inserted may be formed in the slot.

[0029] At this time, the slot is formed by recessing inward to a predetermined depth along the thickness direction of the slot forming portion, and the open ceiling surface facing the bottom surface of the slot can be covered by a slot cover to prevent the sheath pipe from coming off.

[0030] Meanwhile, the slot forming portion may have a section that is thinner than other sections along the extension direction, and the slot cover may be coupled to the section.

[0031] Meanwhile, a guide groove is formed in the body to extend in the front-back direction and to guide the movement of the movable member, which is recessed inwardly along the thickness direction of the body to a predetermined depth so that the movable member is inserted therein, and the cartridge further includes a cover coupled to the body to prevent the movable member from coming off through an open ceiling surface facing the bottom surface of the guide groove, and an opening may be formed in the cover to extend in the front-back direction corresponding to the open ceiling surface and have a narrower width than the open ceiling surface so that the movable member inserted into the guide groove is exposed to the outside through the open ceiling surface.

[0032] Meanwhile, a fixing pin insertion hole may be formed in the body, into which an external fixing pin is inserted to fix the body in position during the process in which the movable member moves forward and backward by an external force.

[0033] At this time, the movable members are provided in plurality, the tendon-sheath pairs are provided in plurality, and one or two different tendon-sheath pairs among the plurality of tendon-sheath pairs are operably connected to each of the plurality of movable members, and the locking member is arranged such that at least a portion thereof is on a movement path of each of the plurality of movable members, and can position and fix each of the plurality of movable members at a respective initial position set with respect to the body.

[0034] Meanwhile, a convergent penetration portion may be provided on the front side of the body through which the sheaths of each of the plurality of tendon-sheath pairs pass in a convergent state.

[0035] Meanwhile, an empty space is formed at the rear of the converging penetration portion of the body, and the sheath of each of the plurality of tendon-sheath pairs can extend to the outside of the body through the converging penetration portion via the empty space.

[0036] Meanwhile, a plurality of guide grooves extending in the front-back direction are formed in the body, and each of the plurality of moving members can be inserted into a different one of the plurality of guide grooves.

[0037] Meanwhile, the number of the plurality of guide grooves may be formed to be greater than the number of the plurality of moving members.

[0038] At this time, the plurality of moving members may be distributed and arranged on at least one of one side and the other side in the thickness direction of the body.

[0039] Meanwhile, the tendon-sheath drive device may further include a housing into which the cartridge is inserted; and a gripper disposed within the housing and configured to grip the moving member and move it in the forward and backward direction relative to the body.

[0040] At this time, the tendon-sheath drive device is disposed within the housing and further includes a load cell coupled to the gripper, wherein the load cell can measure a load generated when the gripper moves the moving member in the forward and backward direction relative to the body.

[0041] Meanwhile, the tendon-sheath drive device may further include a fixed pin disposed within the housing and configured to be inserted into a fixed pin insertion hole formed in the body.

[0042] Meanwhile, the tendon-sheath drive device may include a housing into which the cartridge is inserted; a gripper disposed within the housing and operable to grip the moving member and move it forward and backward with respect to the body; and a pressure pin disposed within the housing and operable to press the locking portion to provide the external force.

[0043] According to the above configuration, the tendon-sheath drive device according to one aspect of the present invention has a cartridge including a body and a moving member, at least part of which is disposed on a movement path of the moving member, and supports and positions the moving member located at an initial position set with respect to the body, so that the moving member can be aligned at the initial position set with respect to the body before the cartridge is inserted into the housing and the tendon and sheath of each tendon-sheath pair are operated to move relative to each other, thereby improving the driving precision of the drive device.

[0044] Furthermore, since no additional means are required for alignment of the moving member, the structure of the driving device can be simplified and the manufacturing cost can be reduced.

[0045] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0046] FIG. 1 is a drawing showing a tendon-sheath drive device according to one embodiment of the present invention.

[0047] FIG. 2 is an enlarged view of a portion of the tendon-sheath drive device illustrated in FIG. 1, and additionally illustrates some configurations not illustrated in FIG. 1.

[0048] Figure 3 is a perspective view of a cartridge according to one embodiment of the present invention.

[0049] Figure 4 is an exploded perspective view of a cartridge according to one embodiment of the present invention viewed from one direction.

[0050] FIG. 5 is a drawing of a cartridge body and a moving member separated from one direction according to one embodiment of the present invention.

[0051] FIG. 6 is a drawing of a body and a moving member of another cartridge coupled to each other in one embodiment of the present invention, viewed from another direction.

[0052] FIG. 7 is a side view of the body of a cartridge according to one embodiment of the present invention.

[0053] Figure 8 is an exploded view illustrating the coupling relationship between the body and the locking part of the cartridge according to one embodiment of the present invention.

[0054] FIG. 9 is a drawing showing a cross-section of a cartridge according to one embodiment of the present invention.

[0055] FIG. 10 is a side view of a portion of a body of a cartridge according to one embodiment of the present invention.

[0056] FIG. 11 is an enlarged view of a convergent penetration provided in a body of a cartridge according to another embodiment of the present invention.

[0057] Fig. 12 is a drawing for explaining a locking part according to another embodiment of the present invention.

[0058] This invention was derived as part of the performance of the following national project.

[0059] [Project ID]2420016085

[0060] [Assignment Number] 00321839 (RS-2023-00321839)

[0061] [Ministry Name] Ministry of SMEs and Startups

[0062] [Name of Project Management (Specialist) Agency] Small and Medium Business Technology Information Promotion Agency

[0063] [Research Project Name] High-Risk, High-Performance R&D Project

[0064] [Research Project Title] Development of a High-Reflection Flexible Surgical Robot Platform for Minimally Invasive Surgery

[0065] [Name of the project performing organization] Endrobotics Co., Ltd.

[0066] Research Period: March 1, 2024 - February 28, 2027

[0067] Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts irrelevant to the description are omitted in the drawings, and the same reference numerals designate identical or similar components throughout the specification.

[0068] The words and terms used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted in a way that is consistent with the technical idea of ​​the present invention, in accordance with the principles by which the inventor can define terms and concepts in order to best explain his or her invention.

[0069] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings correspond to a preferred embodiment of the present invention, and do not represent all of the technical ideas of the present invention, so there may be various equivalents and modified examples that can replace the configuration at the time of filing of the present invention.

[0070] In this specification, terms such as “include” or “have” are intended to describe the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0071] When a component is said to be "in front of," "behind," "above," or "below" another component, this includes not only being placed "in front of," "behind," "above," or "below" the other component in direct contact with it, but also if there is another component intervening therebetween. Furthermore, when a component is said to be "connected" to another component, this includes not only being directly connected to one another, but also being indirectly connected to one another, unless there are special circumstances.

[0072] Hereinafter, a tendon-sheath drive device according to one embodiment of the present invention will be described with reference to the drawings.

[0073] FIG. 1 is a drawing showing a tendon-sheath drive device according to one embodiment of the present invention, FIG. 2 is a drawing showing an enlarged portion of the tendon-sheath drive device shown in FIG. 1 and additionally showing some components not shown in FIG. 1, FIG. 3 is a perspective view of a cartridge according to one embodiment of the present invention, FIG. 4 is an exploded perspective view of a cartridge according to one embodiment of the present invention when viewed from one direction, FIG. 5 is a drawing showing a state in which a body and a moving member of a cartridge are separated from one embodiment of the present invention when viewed from one direction, FIG. 6 is a drawing showing a state in which a body and a moving member of another cartridge are coupled from another direction when viewed from another embodiment of the present invention, FIG. 7 is a side view of a body of a cartridge according to one embodiment of the present invention, FIG. 8 is an exploded view for explaining a coupling relationship between a body of a cartridge and a locking portion according to one embodiment of the present invention, FIG. 9 is a cross-sectional view of a cartridge according to one embodiment of the present invention, and FIG. 10 is a side view of a part of a body of a cartridge according to one embodiment of the present invention.

[0074] In FIGS. 2 to 10, the X-axis represents the length direction of the cartridge (200), the Z-axis represents the width direction of the cartridge (200), and the Y-axis represents the thickness direction of the cartridge (200). The +X direction represents the front of the cartridge (200), and the -X direction represents the rear of the cartridge (200).

[0075] Referring to FIGS. 1 to 7, a tendon-sheath drive device (10) according to one embodiment of the present invention includes a plurality of tendon-sheath pairs (110, 120, 130, 140), a cartridge (200), a housing (710), and a gripper (720).

[0076] Each of the plurality of tendon-sheath pairs (110, 120, 130, 140) includes a hollow sheath (112, 122, 132, 142) extended to a predetermined length and a tendon (111, 121, 131, 141) disposed through the sheath (112, 122, 132, 142) and movable relative to the sheath (112, 122, 132, 142).

[0077] The tendons (111, 121, 131, 141) constituting each tendon-sheath pair (110, 120, 130, 140) are generally longer than the sheaths (112, 122, 132, 142).

[0078] The technical idea of ​​transmitting driving force by the relative movement of tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) is well known, and a detailed description thereof is omitted.

[0079] Each tendon-sheath pair (110, 120, 130, 140) is extended between a cartridge (200) and an end effector (5) for an endoscope, the cartridge (200) is inserted into the interior of a housing (710), and a gripper (720) disposed inside the housing (710) moves a moving member (510, 520, 530) of the cartridge (200) corresponding to each tendon-sheath pair (110, 120, 130, 140) in the forward and backward directions.

[0080] For reference, in FIG. 2, one gripper (720) is illustrated corresponding to one moving member (510), but grippers (not illustrated) that operate in the same manner as the gripper (720) are also provided for the remaining moving members (520, 530).

[0081] When the moving member (510, 520, 530) of the cartridge (200) moves in the forward and backward direction, the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) move relative to each other. At this time, the end effector (5) connected to each tendon-sheath pair () can perform one or multiple movements.

[0082] The end effector (5) may be a known device or component such as a gripper, clamp, forceps, etc. The end effector (5) may be attached to or formed integrally with the endoscope.

[0083] Each tendon-sheath pair (110, 120, 130, 140) is connected to a cartridge (200), and the cartridge (200) operates to cause the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) to move relative to each other.

[0084] In the present embodiment, each tendon-sheath pair (110, 120, 130, 140) may further include a tendon pipe (114, 124, 134, 144) and a sheath pipe (113, 123, 133, 143) to prevent buckling of the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140).

[0085] The tendon pipes (114, 124, 134, 144) and sheath pipes (113, 123, 133, 143) are described later.

[0086] The structure of each tendon-sheath pair (110, 120, 130, 140) and the relative movement mechanism of the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) will be described later along with the operation of the cartridge (200).

[0087] The cartridge (200) includes a body (300), a plurality of moving members (510, 520, 530) and a locking member (600).

[0088] Specifically, the body (300) extends in the front-back direction to a predetermined length and has a predetermined thickness and width.

[0089] One of the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) is fixed to the body (300). At this time, the remaining one of the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) constituting each tendon-sheath pair (110, 120, 130, 140) may be fixed to the same movable member among a plurality of movable members (510, 520, 530) or to different movable members.

[0090] In this embodiment, a plurality of guide grooves (311, 321) are formed on one side and the other side in the thickness direction of the body (300). Alternatively, although not shown, a plurality of guide grooves may be formed on only one side or the other side in the thickness direction of the body (300).

[0091] A plurality of guide grooves (311, 321) are arranged in parallel and spaced apart in the width direction of the body (300), that is, in the Z-axis direction as seen in FIG. 3.

[0092] In this embodiment, a movable member (510, 520, 530) is inserted into some of the plurality of guide grooves (311, 321). In addition, a new additional movable member (not shown) may be inserted into the remaining plurality of guide grooves (311, 321) according to the user's selection.

[0093] Alternatively, although not shown, a movable member may be inserted into all of the plurality of guide grooves (311, 321) formed in the body (300).

[0094] The body (300) includes a first body (310) and a second body (320) that are coupled to each other.

[0095] The first body (310) and the second body (320) are arranged to face each other with a connecting surface (not shown) extending in the front-back direction as the center. At this time, the connecting surface (not shown) may pass through the center of the thickness direction of the body (300).

[0096] A plurality of first guide grooves (311) are formed in the first body (310) and are sunken from the outside to the inside of the first body (310), extend in the front-back direction, and are spaced apart from each other in parallel.

[0097] A plurality of second guide grooves (321) are formed in the second body (320) and are sunken from the outside to the inside of the second body (320), extend in the front-back direction, and are spaced apart from each other in parallel.

[0098] When the body (300) is configured to include the first body (310) and the second body (320) in this way, the assemblability of the cartridge (100) is improved.

[0099] The first body (310) and the second body (320) can be mutually coupled by a known coupling method such as a bolt coupling.

[0100] The first body (310) and the second body (320) may have a symmetrical structure centered on the joining surface (not shown). In this case, the convenience of manufacturing the body (300) is improved.

[0101] A convergent penetration portion (340) is provided on the front side of the body (300) through which the sheaths (112, 122, 132, 142) of each of a plurality of tendon-sheath pairs (110, 120, 130, 140) converge and pass. The convergent penetration portion (340) has a tunnel or tube shape extended to a predetermined length. A part of the convergent penetration portion (340) is provided on the front side of the first body (310), and the remainder of the convergent penetration portion (340) is provided on the front side of the second body (320), so that when the first body (310) and the second body (320) are joined, the convergent penetration portion (340) is completed.

[0102] The body (300) may further include a front closure member (350) that is coupled to the front side of the assembly in which the first body (310) and the second body (320) are coupled. The assembly and the front closure member (350) may be coupled by a known coupling method such as a fitting coupling or a bolt coupling.

[0103] The front closure member (350) may have a closure body (351) that is coupled to the front side of the assembly and a connecting penetration portion (355) that extends from the front side of the closure body (351) and is connected to the convergent penetration portion (340) in a convergent state. The connecting penetration portion (355) may have a tube shape that extends forward.

[0104] Each of the plurality of tendon-sheath pairs (110, 120, 130, 140) may extend forwardly through the converging penetration portion (340) and the connecting penetration portion (355) within the body (300).

[0105] In this case, the cartridge (200) is easy to store and use because it is extended in an organized form of multiple tendon-sheath pairs (110, 120, 130, 140).

[0106] A hollow space (305) is formed in the body (300) located at the rear of the converging penetration portion (340). A plurality of sheaths (112, 122, 132, 142) of a plurality of tendon-sheath pairs (110, 120, 130, 140) extend to the outside of the body (300) through the converging penetration portion (340) via the hollow space (305).

[0107] At this time, the empty space (305) allows multiple tendon-sheath pairs (110, 120, 130, 140) to naturally converge into a converging penetration portion (340).

[0108] The body (300) may further include a rear closing member (360) that closes an open portion at the rear side of the combination of the first body (310) and the second body (320). In the present embodiment, the rear closing member (360) may have a plate shape, but rear closing members of various shapes may be used depending on the shape of the open portion.

[0109] In this embodiment, a first slot forming portion (315) is formed in the first body (310) and is positioned in front of a moving member (510, 520, 530) or an additional moving member (not shown). At this time, the first slot forming portion (315) is positioned in front of a plurality of first guide grooves (311).

[0110] The first slot forming portion (315) has a predetermined thickness. A plurality of first slots (315a) are formed in the first slot forming portion (315) corresponding to a plurality of first guide grooves (311).

[0111] In this embodiment, each first slot (315a) is provided with a sheath pipe (113, 123, 133, 143) of a tendon-sheath pair (110, 120, 130, 140) operably connected to each movable member (510, 520, 530) or a sheath pipe (not shown) of an additional tendon-sheath pair (not shown) operably connected to an additional movable member (not shown).

[0112] Alternatively, if each tendon-sheath pair (110, 120, 130, 140) does not include a tendon pipe (114, 124, 134, 144) and a sheath pipe (113, 123, 133, 143), and if the additional tendon-sheath pair (not shown) does not include a tendon pipe (not shown) and a sheath pipe (not shown), each first slot (315a) has a sheath (112, 122, 132, 142) operably connected to one or both of the respective moving members (510, 520, 530) or a sheath (not shown) operably connected to the additional moving member (not shown) penetrating therethrough.

[0113] Each of the plurality of first slots (315a) is formed by recessing a predetermined depth from the outside to the inside of the first body (310) along the thickness direction of the first body (310) or the first slot forming portion (315).

[0114] Each of the plurality of first slots (315a) has an open ceiling surface facing its floor surface. Through the open ceiling surface of each first slot (315a), the sheath pipes (113, 123, 133, 143) of each tendon-sheath pair (110, 120, 130, 140) or the sheath pipes (not shown) of additional tendon-sheath pairs (not shown) can be inserted.

[0115] At this time, a first slot cover (316) for covering the open ceiling surface of each first slot (315a) can be coupled to the first slot forming portion (315).

[0116] The first slot forming section (315) is provided with some sections (3151) that are thinner than other sections along the extension direction. Here, some sections (3151) that are thinner than other sections are called small-thickness sections.

[0117] At this time, the first slot cover (316) can be combined with the thin section (3151). In this case, the overall thickness of the body (300) can be prevented from increasing by the first slot cover (316).

[0118] In this embodiment, a second slot forming portion (325) is provided in the second body (320). The second slot forming portion (325) is located in front of an additional movable member (not shown) that is movably coupled to the outside of the second body (320) in the forward and backward directions. At this time, the second slot forming portion (325) is located in front of a plurality of second guide grooves (321).

[0119] The second slot forming portion (325) has a predetermined thickness. The second slot forming portion (325) has a plurality of second slots (325a) formed corresponding to a plurality of second guide grooves (321).

[0120] In this embodiment, each second slot (325a) is provided with a sheath pipe (not shown) or sheath (not shown) of an additional tendon-sheath pair (not shown) operably connected to each of a plurality of additional moving members (not shown).

[0121] Each of the plurality of second slots (325a) is formed by recessing a predetermined depth from the outside to the inside of the second body (320) along the thickness direction of the second body (320) or the second slot forming portion (325).

[0122] Each of the plurality of second slots (325a) has an open ceiling surface facing the floor surface. An additional tendon-sheath pair (not shown) of sheath pipes (not shown) can be inserted through the open ceiling surface of each second slot (325a).

[0123] At this time, a second slot cover (326) can be coupled to the second slot forming portion (325) to cover the open ceiling surface of each second slot (325a).

[0124] In the second slot forming section (325), a section (3251) is provided that is thinner than other sections along the extension direction. At this time, the second slot cover (326) can be joined to the section (3151) that is thinner than the other sections.

[0125] A second fixed ring insertion groove (325b) having the same function as the first fixed ring insertion groove (315b) described above may be formed in a portion of the extension direction of the second slot (325a).

[0126] In this embodiment, a fixed pin insertion hole (310a, 320a) may be formed in the body (300).

[0127] Specifically, a first fixing pin insertion hole (310a) may be formed on the outside of the first body (310), and a second fixing pin insertion hole (320a) may be formed on the outside of the second body (320).

[0128] The first fixed pin insertion hole (310a) and the second fixed pin insertion hole (320a) may have a through hole structure. There is no limitation on the number of the first fixed pin insertion holes (310a) and the second fixed pin insertion holes (320a).

[0129] When the cartridge (200) is inserted into the housing (710), the fixing pins (731, 732) arranged inside the housing (710) are inserted into the fixing pin insertion holes (310a, 320a) formed in the body (300), and the cartridge (200) can be positionally fixed with respect to the housing (710).

[0130] For reference, in Fig. 2, only the fixing pins (731, 732) corresponding to the first fixing pin insertion hole (310a) are illustrated, and the fixing pins (not illustrated) corresponding to the second fixing pin insertion hole (320a) are omitted. Furthermore, in Fig. 3, only the fixing pins (731, 732) corresponding to some of the first fixing pin insertion holes (310a) are illustrated, and the fixing pins corresponding to the remaining other first fixing pin insertion holes are omitted.

[0131] Inside the housing (710), a first linear actuator (not shown) is arranged that is operably connected to a fixed pin (731, 732), and the fixed pin (731, 732) can be inserted into a fixed pin insertion hole (310a, 320a) by the first linear actuator.

[0132] In the present embodiment, each of the plurality of moving members (510, 520, 530) is disposed on one side of the body (300) in the thickness direction and is coupled to the body (300) so as to be movable in the front-back direction. Alternatively, although not shown, each of the plurality of moving members (510, 520, 530) may be disposed on the other side of the body (300) in the thickness direction or may be distributed on one side and the other side in the thickness direction.

[0133] Each moving member (510, 520, 530) may be operably connected to one or two different tendon-sheath pairs among a plurality of tendon-sheath pairs (110, 120, 130, 140).

[0134] Here, a particular movable member is operably connected to a particular tendon-sheath pair, which means that the tendon-sheath pair is connected to the movable member, and the tendons and sheaths constituting the tendon-sheath pair are configured to move relative to each other in accordance with the movement of the movable member.

[0135] Each movable member (510, 520, 530) is secured with one of a tendon (111, 121, 131, 141) and a sheath (112, 122, 132, 142) forming a tendon-sheath pair (110, 120, 130, 140) operably connected to each movable member (510, 520, 530).

[0136] The specific connection relationship and operating mechanism of each moving member (510, 520, 530) and its corresponding tendon-sheath pair (110, 120, 130, 140) will be described below.

[0137] Each movable member (510, 520, 530) can move forward and backward with respect to the body (300) by an external force. Here, the driving force for moving each movable member (510, 520, 530) forward and backward with respect to the body (300) is provided by a gripper (720) arranged inside the housing (710).

[0138] A plurality of grippers (720) are provided corresponding to a plurality of moving members (510, 520, 530). For reference, only the gripper (720) corresponding to the first moving member (510) is illustrated in FIG. 2, and the grippers corresponding to the remaining moving members (520, 530) are omitted. Furthermore, the grippers corresponding to additional moving members (not illustrated) to be newly added to the body (300) are also omitted.

[0139] The gripper (720) includes a U-shaped finger. At this time, the finger may have a variable structure that opens and closes in a direction in which both ends become narrower or wider, or may have a fixed structure whose shape does not change.

[0140] The gripper (720) grips each moving member (510, 520, 530) of the cartridge (200) inserted into the housing (710) and moves the cartridge (200) in the forward and backward direction. At this time, the gripper (720) is operably coupled to a second linear actuator (not shown) and a third linear actuator (not shown). The second linear actuator (not shown) provides a driving force to move the gripper (720) in the direction for gripping the moving members (510, 520, 530), and the third linear actuator (not shown) provides a driving force to move the moving members (510, 520, 530) gripped by the gripper (720) in the forward and backward direction.

[0141] Each of the plurality of moving members (510, 520, 530) is inserted into a different guide groove among the plurality of guide grooves (311, 321).

[0142] In this embodiment, the number of the plurality of guide grooves (311, 321) is greater than the number of the plurality of moving members (510, 520, 530). In other words, the moving members (510, 520, 530) may not be inserted into all of the guide grooves (311, 321) formed in the body (300).

[0143] In this case, during the use of the cartridge (200), a new additional moving member (not shown) can be inserted into the remaining guide grooves (311, 321) into which the moving member (510, 520, 530) is not inserted.

[0144] Alternatively, although not shown, a movable member may be inserted into all of the plurality of guide grooves (311, 321). In other words, a movable member may be inserted into all of the guide grooves (311, 321) formed in the body (300). In this case, the number of guide grooves (311, 321) and the number of movable members are the same.

[0145] Each of the plurality of guide grooves (311, 321) is recessed inwardly to a predetermined depth along the thickness direction of the body (300) and extends in the front-back direction.

[0146] Each guide groove (311, 321) has an open structure with a ceiling surface facing the bottom surface of the guide groove (311, 321). At this time, the cross section of each guide groove (311, 321) has a U shape. In this case, a moving member (510, 520, 530) or an additional moving member (not shown) can be inserted and fitted through the open ceiling surface of each guide groove (311, 321), thereby improving the assembly of the cartridge (200).

[0147] In this embodiment, each guide groove (311, 321) guides the forward and backward movement of the movable member (510, 520, 530) or the additional movable member (not shown) by inserting a movable member (510, 520, 530) or an additional movable member (not shown). At this time, each guide groove (311, 321) provides a movement path of the movable member (510, 520, 530) or the additional movable member (not shown).

[0148] The cartridge (200) may further include a cover (400) coupled to the body (300) to prevent each moving member (510, 520, 530) or additional moving member (not shown) from being dislodged from the open ceiling surface of the corresponding guide groove (311, 321).

[0149] In this embodiment, the cover (400) may include a first cover (410) and a second cover (420) corresponding to the first body (310) and the second body (320).

[0150] The first cover (410) is formed to cover the outer side of the first body (310) in which a plurality of first guide grooves (311) are formed.

[0151] At this time, a first opening (411) extending in the front-back direction is formed in the first cover (410) corresponding to the open ceiling surfaces of the plurality of first guide grooves (311). The first opening (411) is narrower than the open ceiling surfaces of the first guide grooves (311).

[0152] In this case, the moving member (510, 520, 530) or additional moving member (not shown) inserted into the first guide groove (311) is caught in the edge area of ​​the first opening (411) and does not come out of the first guide groove (311).

[0153] Furthermore, the gripper (720) can grip a movable member (510, 520, 530) or an additional movable member (not shown) through the corresponding first opening (411) and the open ceiling surface of the guide groove (311).

[0154] A first fixing pin through hole (410a) corresponding to the first fixing pin insertion hole (310a) formed in the first body (310) is formed in the first cover (410).

[0155] A first through hole (410b) is formed in the first cover (410) corresponding to the first external force transmission through hole (310b) formed in the first body (310).

[0156] The second cover (420) is formed to cover the outer side of the second body (320) in which a plurality of second guide grooves (321) are formed.

[0157] At this time, a second opening (421) extending in the front-back direction is formed in the second cover (420) corresponding to the open ceiling surface of the plurality of second guide grooves (321). The second opening (421) is narrower than the open ceiling surface of the second guide groove (321).

[0158] In this case, an additional moving member (not shown) inserted into the second guide groove (321) is caught in the edge area of ​​the second opening (421) and does not come out of the second guide groove (321).

[0159] Furthermore, the gripper (not shown) can grip an additional movable member (not shown) through the corresponding second opening (421) and the open ceiling surface of the second guide groove (312).

[0160] A second fixing pin through hole (420a) corresponding to the second fixing pin insertion hole (320a) formed in the second body (320) is formed in the second cover (420).

[0161] A second through hole (420b) is formed in the second cover (420) corresponding to the second external force transmission through hole (320b) formed in the second body (320).

[0162] Referring to FIGS. 2 to 5, the plurality of moving members (510, 520, 530) according to the present embodiment can be classified into a first type and a second type. The first type moving member refers to a moving member connected to one tendon-sheath pair, and the second type moving member refers to a moving member connected to two tendon-sheath pairs.

[0163] In the present embodiment, the plurality of tendon-sheath pairs (110, 120, 130, 140) can be classified into a first type and a second type. The first type tendon-sheath pair has a structure in which the sheath is fixed to the body in front of the movable member and the tendon penetrates the sheath and is fixed to the movable member, and the second type tendon-sheath pair has a structure in which the sheath is fixed to the movable member and the tendon penetrates the sheath and is fixed to the body in the rear of the movable member.

[0164] In this embodiment, the number of movable members (510, 520, 530) is three. For convenience, the three movable members (510, 520, 530) are sequentially named as the first movable member (510), the second movable member (520), and the third movable member (530) from top to bottom as seen in FIG. 5.

[0165] In the present embodiment, the number of tendon-sheath pairs (110, 120, 130, 140) is four. For convenience, one tendon-sheath pair operably connected to the first movable member (510) is referred to as the first tendon-sheath pair (110), another tendon-sheath pair operably connected to the second movable member (520) is referred to as the second tendon-sheath pair (120), and the other two tendon-sheath pairs operably connected to the third movable member (530) are referred to as the third tendon-sheath pair (130) and the fourth tendon-sheath pair (140).

[0166] In this embodiment, the first movable member (510) and the second movable member (520) are each connected to one tendon-sheath pair and thus correspond to a first type movable member, and the third movable member (530) is connected to two tendon-sheath pairs and thus corresponds to a second type movable member.

[0167] And, a first tendon-sheath pair (110) corresponding to the first type is connected to the first movable member (510), a second tendon-sheath pair (120) corresponding to the second type is connected to the second movable member (520), and a third tendon-sheath pair (130) corresponding to the first type and a fourth tendon-sheath pair (140) corresponding to the second type are connected to the third movable member (530).

[0168] Specifically, a first tendon-sheath pair (110) corresponding to the first type is operably connected to the first moving member (510).

[0169] One side of the first sheath (112) constituting the first tendon-sheath pair (110) is fixed to the first body (310) in front of the first movable member (510). And one side of the first tendon (111) constituting the first tendon-sheath pair (110) is fixed to the first movable member (510) by penetrating the first sheath (112).

[0170] When the first movable member (510) moves in the forward and backward direction, the tendons (111, 121, 131, 141) fixed to the first movable member (510) move relative to the first sheath (112) fixed to the first body (310) in the forward and backward direction. In this case, the end effector (5) connected to the other side of the first tendon (111) and the other side of the first sheath (112) can perform a specific operation.

[0171] The first tendon-sheath pair (110) may further include a first sheath pipe (113) and a first tendon pipe (114).

[0172] The first sheath pipe (113) extends in the forward and backward direction and has a hollow shape. The first sheath pipe (113) has greater rigidity than the first sheath (112) constituting the first tendon-sheath pair (110).

[0173] The first sheath pipe (113) is fixed to the first body (310) in front of the first moving member (510), and one side of the first sheath (112) can be inserted and fixed into the first sheath pipe (113). At this time, the first sheath (112) is fixed to the first body (310) via the first sheath pipe (113).

[0174] For example, the first sheath pipe (113) is fixed by penetrating into the corresponding first slot (315a) of the first slot forming portion (315).

[0175] For this purpose, a fixing ring (115) may be fixedly connected to a portion of the extension direction of the first sheath pipe (113). The inner surface of the fixing ring (115) is tightly fixed to the outer surface of the first sheath pipe (113).

[0176] A first fixing ring insertion groove (315b) may be formed in a portion of the extension direction of the first slot (315a) corresponding to the first sheath pipe (113), into which a fixing ring (115) fixedly coupled to the first sheath pipe (113) is inserted and fixed. When the fixing ring (115) is inserted into the first fixing ring insertion groove (315b), the movement of the first sheath pipe (113) in the front-back direction of the first body (310) is fixed.

[0177] The first tendon pipe (114) extends in the front-rear direction and has a hollow shape. The first tendon pipe (114) wraps around a predetermined area on one side of the first tendon (111). The first tendon pipe (114) is in close contact with the first tendon (111) and becomes an integral part of it. The rear side of the first tendon pipe (114) is fixed to the first movable member (510). At this time, the first tendon (111) is fixed to the first movable member (510) via the first tendon pipe (114).

[0178] A fixing ring (not shown) may be fixedly connected to the rear side of the first tendon pipe (114). In addition, a fixing ring insertion groove (not shown) into which the fixing ring (not shown) is inserted and fixed may be formed inside the first movable member (510).

[0179] The first tendon pipe (114) is inserted at its front side into the rear side of the first sheath pipe (113) and can move relative to the first sheath pipe (113). At this time, the first sheath pipe (113) provides a movement passage for the first tendon pipe (114) and the first tendon (111).

[0180] These first sheath pipe (113) and first tendon pipe (114) prevent buckling of the first sheath (112) and the first tendon (111) when the first sheath (112) and the first tendon (111) move relative to each other.

[0181] A second tendon-sheath pair (120) corresponding to the second type is operably connected to the second moving member (520).

[0182] Specifically, one side of the second sheath (122) constituting the second tendon-sheath pair (120) is fixed to the second movable member (520). And one side of the second tendon (121) constituting the second tendon-sheath pair (120) is fixed to the first body (310) at the rear of the second movable member (520) by penetrating the second sheath (122).

[0183] When the second movable member (520) moves in the forward-backward direction, the second sheath (122) fixed to the second movable member (520) moves relative to the second tendon (121) fixed to the first body (310) in the forward-backward direction. In this case, the end effector (5) connected to the other side of the second tendon (121) and the other side of the second sheath (122) can perform different operations.

[0184] The second tendon-sheath pair (120) may further include a second sheath pipe (123) and a second tendon pipe (124).

[0185] The second sheath pipe (123) extends in the forward-backward direction and has a hollow shape. The rear side of the second sheath pipe (123) is fixed to the second movable member (520), and one side of the second sheath (122) is inserted and fixed to the front side of the second sheath pipe (123). At this time, the second sheath (122) is fixed to the second movable member (520) via the second sheath pipe (123).

[0186] The rear side of the second shis pipe (123) can be fixedly connected to the second movable member (520) by a fixing ring (not shown). At this time, a fixing ring insertion groove (not shown) into which the fixing ring (not shown) is inserted and fixed can be formed inside the second movable member (520).

[0187] The second sheath pipe (123) moves together with the second moving member (520) when it moves forward and backward. At this time, the second sheath pipe (123) is positioned penetrating the corresponding first slot (315a) of the first slot forming portion (315) and can slide. In this case, the fixing ring (115) applied to the first sheath pipe (113) is not fixedly connected to the second sheath pipe (123).

[0188] The second tendon pipe (124) extends in the forward and backward directions and has a hollow shape. The second tendon pipe (124) wraps around a predetermined area on one side of the second tendon (121). The second tendon pipe (124) is in close contact with the first tendon (111) and becomes integral with it.

[0189] The rear side of the second tendon pipe (124) is fixed to the first body (310) at the rear of the second movable member (520). At this time, the second tendon (121) can be fixed to the first body (310) via the second tendon pipe (124).

[0190] A fixing ring (126) can be fixedly connected to the rear side of the second tendon pipe (124). A fixing ring insertion groove (301a) into which the fixing ring (126) is inserted and fixed can be formed in the first body (310) located at the rear of the second movable member (520).

[0191] The front side of the second tendon pipe (124) is inserted into the rear side of the second sheath pipe (123). At this time, the second tendon pipe (124) can move relative to the second sheath pipe (123) while being inserted therein.

[0192] These second sheath pipes (123) and second tendon pipes (124) prevent buckling of the second sheath (122) and second tendon (121) when the second sheath (122) and second tendon (121) move relative to each other.

[0193] A third tendon-sheath pair (130) corresponding to a first type tendon-sheath pair and a fourth tendon-sheath pair (140) corresponding to a second type tendon-sheath pair are operably connected to the third moving member (530).

[0194] One side of the third sheath (132) constituting the third tendon-sheath pair (130) is fixed to the first body (310) in front of the third movable member (530). And one side of the third tendon (131) constituting the third tendon-sheath pair (130) is fixed to the third movable member (530) by penetrating the third sheath (132).

[0195] At this time, the third tendon (131) can be fixed to the third moving member (530) via the third tendon pipe (134), and the third sheath (132) can be fixed to the first body (310) in front of the third moving member (530) via the third sheath pipe (133).

[0196] One side of the fourth sheath (142) constituting the fourth tendon-sheath pair (140) is fixed to the third movable member (530). And one side of the fourth tendon (141) constituting the fourth tendon-sheath pair (140) passes through the fourth sheath and is fixed to the first body (310) at the rear of the third movable member (530).

[0197] At this time, the fourth tendon (141) can be fixed to the first body (310) at the rear of the third moving member (530) via the fourth tendon pipe (144), and the fourth sheath (142) can be fixed to the third moving member (530) via the fourth sheath pipe (143).

[0198] A fixing ring (146) can be fixedly connected to the rear side of the fourth tendon pipe (144). A fixing ring insertion groove (301a) into which the fixing ring (146) is inserted and fixed can be formed in the first body (310) located at the rear of the third movable member (530).

[0199] When the third moving member (530) moves in the forward and backward direction, the end effector (5) connected to the other side of the third tendon (131) fixed to the third moving member (530) and the other side of the third sheath (132), and connected to the other side of the fourth tendon (141) and the other side of the fourth sheath (142) can perform another operation.

[0200] The third sheath pipe (133) and the fourth sheath pipe (143) may be disposed together penetrating the corresponding first slot (315a) of the first slot forming portion (315). At this time, the third sheath pipe (133) and the fourth sheath pipe (143) may be sequentially inserted into and disposed penetrating the same first slot (315a). In other words, the third sheath pipe (133) is disposed closer to the bottom surface of the first slot (315a) than the fourth sheath pipe (143). For reference, in FIG. 6, the third sheath pipe (133) is not visible because it is covered by the fourth sheath pipe (143).

[0201] The third sheath pipe (133) is fixed by penetrating into the corresponding first slot (315a).

[0202] At this time, a fixing ring (135) is fixedly connected to the outside of the third sheath pipe (133), and a first fixing ring insertion groove (315b) is formed in the first slot (315a) corresponding to the third sheath pipe (133).

[0203] The fixed ring (115) fixedly connected to the third sheath pipe (133) is inserted into the corresponding first fixed ring insertion groove (315b), thereby fixing the front-rear position of the third sheath pipe (133).

[0204] Meanwhile, the fourth sheath pipe (143) can be configured to be slidably moved by penetrating through the corresponding first slot (315a).

[0205] The first slots (315a) corresponding to the third sheath pipe (133) and the fourth sheath pipe (143) are formed by being sunken inwardly of the first body (310). In other words, the first slots (315a) corresponding to the third sheath pipe (133) and the fourth sheath pipe (143) are formed by being sunken inwardly along the thickness direction of the first slot forming portion (315).

[0206] The third sheath pipe (133) and the fourth sheath pipe (143) can be spaced apart from each other in the thickness direction of the first slot forming portion (315), i.e., in the depth direction of the first slot (315a), within the corresponding first slot (315a).

[0207] At this time, the width of the first slot (315a) can be appropriately set so that the third sheath pipe (133) and the fourth sheath pipe (143) can be easily inserted, but the spacing can be maintained in the thickness direction of the first slot forming portion (315).

[0208] At this time, the plurality of first slots (315a) of the first slot forming portion (315) can be manufactured to have the same depth and width. In this case, the first slot forming portion (315) in which first slots (315a) having the same specifications are formed is easy to manufacture.

[0209] At this time, the rear side of the fourth sheath pipe (143) into which the fourth sheath (142) is inserted and fixed, and the rear side of the third tendon pipe (134) into which the third tendon (131) is inserted and fixed, can be fixed in a spaced manner in the height direction of the third movable member (530), that is, in the depth direction of the guide groove (311, 321) into which the third movable member (530) is inserted.

[0210] Meanwhile, in one embodiment of the present invention, a first type tendon-sheath pair and a second type tendon-sheath pair are operably connected to the third movable member (530). Alternatively, although not shown, two first type tendon-sheath pairs or two second type tendon-sheath pairs may be operably connected to the third movable member (530).

[0211] Fig. 11 is an enlarged view of a convergent penetration provided in a body of a cartridge according to another embodiment of the present invention. Referring to Fig. 11, when all of a plurality of tendon-sheath pairs (110', 120', 130', 140') correspond to the first type tendon-sheath pairs, the sheaths (112', 122', 132', 142') of each tendon-sheath pair (110', 120', 130', 140') are fixed to the body (300).

[0212] In this case, a pair of friction pads (346, 347) may be installed within the convergent penetration portion (340). The pair of friction pads (346, 347) may be fixed to a portion of the convergent penetration portion (340) provided in the first body (310) and the remaining portion of the convergent penetration portion (340) provided in the second body (320), respectively.

[0213] A plurality of sheaths (111', 121', 131', 141') passing through the convergent penetration portion (340) pass between a pair of friction pads (346, 347) and can be effectively positioned and fixed to the convergent penetration portion (340) and further to the body (300) by frictional force with the pair of friction pads (346, 347).

[0214] Referring to FIGS. 2 to 10, a locking member (600) according to one embodiment of the present invention is positioned at least partially on a movement path of a movable member (510, 520, 530) and supports and fixes the movable member (510, 520, 530) located at an initial position set with respect to the body (300).

[0215] By means of these locking members (600), the cartridge (200) is inserted into the housing (710) so that the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) of each tendon-sheath pair (110, 120, 130, 140) can be aligned to the initial position set with respect to the body (300) before the relative movement of the tendons (111, 121, 131, 141) and sheaths (112, 122, 132, 142) of each tendon-sheath pair (110, 120, 130, 140) is operated, thereby improving the driving precision of the driving device (10).

[0216] Furthermore, since no additional means are required for alignment of the moving members (510, 520, 530), the structure of the driving device (10) can be simplified and the manufacturing cost can be reduced.

[0217] In this embodiment, the locking member (600) is coupled to the body (300) so as to be relatively movable. The locking member (600) is formed so that a portion thereof is positioned on the movement path of the movable member (510, 520, 530) to support and fix the movable member (510, 520, 530) located at the initial position, but is recessed into the body (300) by an external force.

[0218] Furthermore, the locking member (600) is formed so that a part of it is positioned on the movement path of an additional moving member (not shown) and supports and fixes the additional moving member (not shown) located at the initial position, but is sunk into the interior of the body (300) by an external force.

[0219] For example, the locking member (600) includes a first locking plate (610) and a first set of locking protrusions (620).

[0220] The first locking plate (610) is arranged on the inside of the first body (310), and one side thereof is arranged to face the moving members (510, 520, 530) arranged on the outside of the first body (310) and the additional moving member (not shown).

[0221] In other words, the first locking plate (610) is arranged so that one side of the first locking plate (610) faces a plurality of first guide grooves (311) arranged on the outside of the first body (310) on the inside of the first body (310).

[0222] At this time, the first locking plate (610) extends in the front-back direction, i.e., the extension direction of the first guide groove (311), and the arrangement direction of the plurality of first guide grooves (311), i.e., the width direction of the cartridge (200). At this time, it is formed so as to entirely cross the plurality of first guide grooves (311) formed on the outside of the first body (310).

[0223] In this case, production costs are reduced and assembly is improved compared to when individual first locking plates (610) are provided for each of the plurality of first guide grooves (311). However, although not shown, individual first locking plates (not shown) may be applied to each of the plurality of first guide grooves (311).

[0224] The first locking protrusion set (620) is formed to protrude from one surface facing the plurality of first guide grooves (311) of the first locking plate (610). The first locking protrusion set (620) is provided in plurality corresponding to the plurality of first guide grooves (311).

[0225] Each of the plurality of first locking projection sets (620) includes at least one first locking projection (621). In the present embodiment, each first locking projection set (620) is configured to include four first locking projections (621).

[0226] Each first locking projection set (620) protrudes outward from the inside of the first body (310) and supports and positions a movable member (510, 520, 530) or an additional movable member (not shown) positioned at a set initial position, thereby fixing the position.

[0227] At this time, each first locking projection set (620) protrudes through the bottom surface of each first guide groove (311) into which the moving member (510, 520, 530) or the additional moving member (not shown) is inserted, thereby fixing each moving member (510, 520, 530) or the additional moving member in the initial position.

[0228] The four locking projections (621) constituting each first set of locking projections (620) partially surround the movable member (510, 520, 530) or the additional movable member (not shown) located in the initial position.

[0229] When the first locking plate (610) is pressed inwardly of the first body (310) by an external force, the first locking projection set (620) is recessed inwardly of the first body (310). In this case, the position fixation of the movable member (510, 520, 530) or the additional movable member (not shown) is released, and the movable member (510, 520, 530) or the additional movable member (not shown) can move forward and backward along the first guide groove (311).

[0230] In the first body (310), a first external force transmission through-hole (310b) is formed to transmit an external force from the outside to the first locking plate (610).

[0231] For example, when a pressure pin (740) such as FIG. 2, which is arranged on the outside of the cartridge (200), is introduced through the first external force transmission through-hole (310b) and presses the first locking plate (610) described later, the first locking plate (610) moves toward the inside of the first body (310).

[0232] Accordingly, the first locking protrusion set (620) protruding from the bottom surface of the first guide home (311) is sunk into the interior of the first body (310).

[0233] A first external force transmitting protrusion (611) may be formed to protrude from one side of the first locking plate (610). An external force for pressing the first locking plate (610) toward the inside of the first body (310) is applied to the first external force transmitting protrusion (611). At this time, the external force pressing the first locking plate (610) can be quickly transmitted first to the first external force transmitting protrusion (611).

[0234] The first external force transmission protrusion (611) may protrude from one surface of the lock plate (610) and may be partially inserted into the first external force transmission through-hole (310b). At this time, the first external force transmission protrusion (611) may be fitted into and coupled to the first external force transmission through-hole (310b).

[0235] In this case, the first locking plate (610) can be effectively supported by the first body (310) before the external force is transmitted to the first external force transmitting projection (611).

[0236] The locking member (600) further includes a second locking plate (650) and a second locking protrusion set (660).

[0237] The second locking plate (650) is arranged on the inside of the second body (320), and one side thereof is arranged to face an additional moving member (not shown) arranged on the outside of the second body (320).

[0238] In other words, the second locking plate (650) is positioned so that one side of the second locking plate (650) faces a plurality of second guide grooves (321) formed on the outer side of the second body (320) on the inner side of the second body (320). In the present embodiment, the plurality of second guide grooves (321) are empty because the moving members (510, 520, 530) are not inserted therein.

[0239] At this time, the second locking plate (650) extends in the forward-backward direction, i.e., the extension direction of the second guide groove (321), and the arrangement direction of the plurality of second guide grooves (321), i.e., the width direction of the cartridge (200). At this time, it is arranged so as to entirely cross the plurality of second guide grooves (321) formed on the outside of the second body (320).

[0240] The second locking protrusion set (660) is formed to protrude from one surface facing the plurality of second guide grooves (321) of the second locking plate (650). The second locking protrusion set (660) is provided in plurality corresponding to the plurality of second guide grooves (321).

[0241] Each of the plurality of second locking projection sets (660) includes at least one second locking projection (661). In the present embodiment, each second locking projection set (660) is configured to include four second locking projections (661).

[0242] Each second locking protrusion set (660) supports and fixes an additional movable member (not shown) that protrudes outward from the inside of the second body (320) and is placed in a set initial position.

[0243] At this time, each second locking protrusion set (660) protrudes through the bottom surface of each second guide groove (321) into which an additional movable member (not shown) is inserted, thereby fixing the additional movable member (not shown) in the initial position.

[0244] The four locking projections (661) constituting each second set of locking projections (660) partially surround an additional movable member (not shown) positioned in the initial position.

[0245] A second external force transmission through-hole (320b) is formed in the second body (320) to transmit an external force from the outside to the second locking plate (650). At this time, a second external force transmission protrusion (651) may be formed to protrude on one surface of the second locking plate (650) corresponding to the second external force transmission through-hole (320b).

[0246] In this embodiment, the first locking plate (610) and the second locking plate (650) may be arranged to face each other. At this time, the other side of the first locking plate (610) on which the first locking protrusion set (620) is not formed and the other side of the second locking plate (650) on which the second locking protrusion set (660) is not formed face each other.

[0247] In this embodiment, the locking portion (600) may further include a first guide (612) that protrudes from the other surface of the first locking plate (610) and penetrates the second locking plate (650), and a second guide (652) that protrudes from the other surface of the second locking plate (650) and penetrates the first locking plate (610).

[0248] The first guide (612) is formed so that one side thereof is fixed to the other side of the first locking plate (610) and the other side thereof extends through the second locking plate (650).

[0249] The second guide (652) is formed so that one side thereof is fixed to the other side of the second locking plate (650) and the other side thereof extends through the first locking plate (610).

[0250] When the first locking plate (610) and the second locking plate (650) are pressed into the interior of the body (300) by an external force, the first guide (612) and the second guide (652) guide the movement of the first locking plate (610) and the second locking plate (650).

[0251] At this time, the first locking plate (610) and the second locking plate (650) can move toward or away from each other by the first guide (612) and the second guide (652). At this time, the first locking plate (610) and the second locking plate (650) can move relative to each other along the thickness direction of the body (300).

[0252] The first guide (612) and the second guide (652) may have bars or rods.

[0253] Alternatively, the locking member (600) may further include a first guide (612) protruding from the other surface of the first locking plate (610) and penetrating the second locking plate (650), or a second guide (652) protruding from the other surface of the second locking plate (650) and penetrating the first locking plate (610). In other words, in other embodiments, the locking member may further include only one of the first guide (612) and the second guide (652).

[0254] In this embodiment, the first guide (612) and the second guide (652) are formed in a snap-fit ​​structure. That is, hooks are formed at the ends of the first guide (612) and the second guide (652).

[0255] The first guide (612) formed in a snap-fit ​​structure is not separated from the second locking plate (650) by the hook while penetrating the second locking plate (650). In addition, the second guide (652) formed in a snap-fit ​​structure is not separated from the first locking plate (610) by the hook at the end while penetrating the first locking plate (610).

[0256] A first receiving groove (313) may be formed in the first body (310). When the second locking plate (610) is pressed by an external force and approaches the first body (310), a second guide (652) protruding from the other surface of the second locking plate (610) and penetrating the first locking plate (610) is received in the first receiving groove (313).

[0257] The first receiving groove (313) is positioned so as to face the second guide (652) on the inside of the first body (310), and is formed in a shape that is sunken from the inside of the first body (310) toward the outside. At this time, the first receiving groove (313) can be defined by the facing side walls of a pair of adjacent first guide grooves (311).

[0258] A second receiving groove (323) may be formed in the second body (320). When the first locking plate (610) is pressed by an external force and approaches the second body (320), the first guide (612) protruding from the other surface of the first locking plate (610) and penetrating the second locking plate (610) is received in the second receiving groove (323).

[0259] The second receiving groove (323) is positioned so as to face the first guide (612) on the inside of the second body (301), and is formed in a shape that is sunken from the inside of the second body (320) toward the outside. At this time, the second receiving groove (323) can be defined by the facing side walls of a pair of adjacent second guide grooves (321).

[0260] The locking member (600) may include an elastic member (640) interposed between the first locking plate (610) and the second locking plate (650). The elastic member (640) is positioned so that the first locking plate (610) and the second locking plate (650) elastically support each other.

[0261] Specifically, one end of the elastic body (640) is supported on the second locking plate (650), and the first locking protrusion set (620) elastically supports the first locking plate (610) in a direction in which it protrudes outward from the first body (310). At this time, the second locking plate (650) functions as a support for elastically supporting the first locking plate (610) inside the body (300) together with the elastic body (640).

[0262] The other end of the elastic body (640) is supported on the first locking plate (610), and the second locking protrusion set (660) elastically supports the second locking plate (650) in a direction in which it protrudes outward from the second body (320). At this time, the first locking plate (610) functions as a support for elastically supporting the second locking plate (650) inside the body (300) together with the elastic body (640). In this case, when the first locking plate (610) and further the second locking plate (650) are pressed into the body (300) by an external force and the external force is removed, they can return to the original position by the elastic body (640). In this case, the cartridge (200) can be reused.

[0263] Fig. 12 is a drawing for explaining a locking part according to another embodiment of the present invention. Referring to Fig. 12, a locking part (600') according to another embodiment of the present invention includes a locking part (670) that is positioned on the movement path of a moving member (510, 520, 530) to support the moving member (510, 520, 530) located at an initial position and is then broken by an external force.

[0264] In this embodiment, the locking member (670) protrudes toward the inside of the first guide groove (311) from the side of the first guide groove (311) into which the moving member (510, 520, 530) is inserted and which provides a movement path of the moving member (510, 520, 530).

[0265] However, although not shown, the locking member (670) may protrude from the bottom surface of the first guide groove (311) toward the inside of the first guide groove (311).

[0266] The locking member (670) may have a bar, rod, or plate shape. In this case, a plurality of locking members (670) form a set to support corresponding moving members (510, 520, 530).

[0267] The locking member (670) may be formed in a configuration to protrude toward the inside of the empty first guide groove (311) from the side of the empty first guide groove (311) into which the moving member (510, 520, 530) has not yet been inserted, so as to support a newly inserted additional moving member (not shown). In this case as well, a plurality of locking members (670) operate as a set.

[0268] The external force that breaks the locking member (670) may be a driving force that moves the movable member (510, 520, 530). For example, when the movable member (510, 520, 530) moves in the forward and backward direction by the gripper (720 of FIG. 2), the locking member (670) may be broken by the driving force that moves the gripper (720 of FIG. 2).

[0269] When the locking member (670) is broken, the moving members (510, 520, 530) are released from their initial position and can move freely in the forward and backward directions.

[0270] Referring to FIGS. 1 to 4 and FIG. 8, the cartridge (200) is inserted into the housing (710).

[0271] The cartridge (200) inserted into the housing (710) is fixed in position by a fixing pin (731, 732) placed inside the housing (710).

[0272] The fixed pins (731, 732) do not interfere with the cartridge (200) when the cartridge (200) is inserted into the housing (710).

[0273] When the cartridge (200) is inserted to the set position of the housing (710), the fixing pins (731, 732) move toward the cartridge (200) and are inserted into the first fixing pin penetration hole (410a) of the first cover (410) and the first fixing pin insertion hole (310a) of the first body (310).

[0274] However, in Fig. 2, the fixing pin corresponding to the second fixing pin through hole (420a in Fig. 4) of the second cover (420 in Fig. 4) and the second fixing pin insertion hole (320a in Fig. 2) of the second body (320) is omitted, but it is of course possible for the fixing pin to be inserted into the second fixing pin through hole (420a in Fig. 4) and the second fixing pin insertion hole (320a in Fig. 2).

[0275] The fixed pins (731, 732) are operably connected to a first linear actuator (not shown) disposed inside the cartridge (200). The first linear actuator is a known linear actuator, such as an electric linear actuator including a motor and a ball screw, a pneumatic linear actuator including a pneumatic cylinder, or a hydraulic linear actuator including a hydraulic cylinder.

[0276] The first linear actuator operates the fixed pins (731, 732) so that the fixed pins (731, 732) are inserted into the first fixed pin through hole (410a) and the first fixed pin insertion hole (310a).

[0277] The fixed pins (731, 732) have a predetermined length in the direction in which they are inserted into the first fixed pin through hole (410a) and the first fixed pin insertion hole (310a), i.e., in the thickness direction of the cartridge (200). The fixed pins (731, 732) have first and second types with different lengths. The first type fixed pin (731) is longer than the second type fixed pin (732).

[0278] The first type fixing pin (731) and the second type fixing pin (732) may be formed to protrude from one surface of the base (750) toward the cartridge (200). When the base (750) moves toward the cartridge (200) by the first linear actuator, the first type fixing pin (731) and the second type fixing pin (732) may be sequentially inserted into the first fixing pin through-hole (410a) and the first fixing pin insertion hole (310a) corresponding thereto.

[0279] When the cartridge (200) inserted into the housing (710) is fixed in position by the first fixing pin (731), the pressure pin (740) arranged inside the housing (710) is inserted into the first through-hole (410b) of the first cover (410) and the first external force transmission through-hole (310b) of the first body (310) to press and press the first locking plate (610) of the locking part (600) arranged inside the body (300).

[0280] In this case, the first locking protrusion set (620) formed on one side of the first locking plate (610) is sunk into the body (300) so that the position fixation of the moving member (510, 520, 530) is released.

[0281] In this embodiment, the pressure pin (740) is formed integrally with the fixed pins (731, 732). That is, the pressure pin (740) and the fixed pins (731, 732) have a structure that protrudes from one surface of the base (750) toward the cartridge (200).

[0282] The pressure pin (740) and the fixed pins (731, 732) can be formed on the base (750) so as to correspond to the first fixed pin insertion hole (310a) and the first external force transmission through-hole (310b) of the cartridge (200) inserted in the housing (710).

[0283] A first linear actuator (not shown) may be operably connected to a base (750). In this case, when the first linear actuator moves the base (750) toward the cartridge (200), the fixing pins (731, 732) and the pressure pin (740) formed in the base (750) may be inserted into the first fixing pin insertion hole (310a) and the first external force transmission through-hole (310b), respectively.

[0284] For example, the protrusion length from one side of the base (750) is the longest for the first type fixing pin (731), the next longest for the pressure pin (740), and the shortest for the second type fixing pin (732).

[0285] In this case, in the process of the base (750) moving toward the cartridge (200), the first type fixing pin (731) is first inserted into the first fixing pin insertion hole (310a) to primarily fix the cartridge (200), and then the pressure pin (740) is inserted into the first external force transmission through-hole (310b) to pressurize the first locking plate (610) to release the position fixation of the moving member (510, 520, 530) located at the initial position, and then the second type fixing pin (732) is inserted into another first fixing pin insertion hole (310a) to secondary fix the cartridge (200).

[0286] However, the fixed pins (731, 732) and the pressure pin (740) may not be operated by the same actuator, but may be operated by separate actuators.

[0287] In the process of releasing the position fixation for the movable member (510, 520, 530) by pressing the first locking plate (610) with the pressure pin (740), the gripper (720) can grip each movable member (510, 520, 530).

[0288] Afterwards, when the position fixation for the moving member (510, 520, 530) is completely released by the pressure pin (740), the gripper (720) can move each moving member (510, 520, 530) in the forward and backward direction of the cartridge (200).

[0289] At this time, the gripper (720) can move in a direction to grip the movable member (510, 520, 530) by the first linear actuator (not shown) for moving the pressure pin (740) and the fixed pin (731, 732).

[0290] Alternatively, the gripper (720) may be moved in a direction to grip the moving member (510, 520, 530) by a second linear actuator (not shown) that is different from the first linear actuator (not shown).

[0291] Thereafter, the gripper (720) can move forward and backward by a third linear actuator (not shown) while holding the moving member (510, 520, 530). The third linear actuator (not shown) is operably coupled to the gripper (720).

[0292] In this embodiment, the gripper (720) can be integrally connected to the load cell (760). At this time, the load generated when the gripper (720) moves in the forward and backward direction while holding the moving member (510, 520, 530) is measured.

[0293] The load measured by the load cell (760) can be used as data for precise movement of the moving member (510, 520, 530) and precise relative motion of the tendon and sheath of the tendon-sheath pair operably connected to the moving member (510, 520, 530).

[0294] Meanwhile, when the locking part (600' in FIG. 12) includes a locking member (670 in FIG. 12) that is broken by an external force, the pressure pin (740) is not arranged inside the housing (710). In this case, when the gripper (720) moves in the forward and backward direction while holding the moving member (510, 520, 530), the locking member (670 in FIG. 12) may be broken, releasing the position fixing state of the moving member (510, 520, 530).

[0295] The body (300) according to one embodiment of the present invention as described above has a structure in which a plurality of first guide grooves (311) and a plurality of second guide grooves (321) are formed on one side and the other side in the thickness direction, and a moving member (510, 520, 530) is inserted and placed in some of the plurality of first guide grooves (311).

[0296] However, in another embodiment not shown, a plurality of guide grooves may be formed only on one side in the thickness direction of the body, i.e., on the outer side of the first body, and no guide grooves may be formed on the other side, i.e., on the outer side of the second body. In this case, a movable member may be inserted into all or part of the plurality of guide grooves formed in the first body, and a locking part may be provided to fix the movable member in the initial position in response to the movable member.

[0297] Alternatively, a plurality of guide grooves may be formed only on the other side in the thickness direction of the body, i.e., on the outer side of the second body, and no guide grooves may be formed on one side, i.e., on the outer side of the first body. In this case, a movable member may be inserted into all or part of the plurality of guide grooves formed on the second body, and a locking part may be provided to fix the movable member in the initial position in response to the movable member.

[0298] Meanwhile, a cartridge (200) according to one embodiment of the present invention has a plurality of movable members (510, 520, 530) movably coupled to a body (300) in a forward-backward direction. However, in another embodiment not shown, one movable member may be movably coupled to the body in a forward-backward direction.

[0299] Although the embodiments of the present invention have been described above, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same spirit, but this will also be considered to fall within the spirit of the present invention.

Claims

1. A tendon-sheath pair comprising a tendon and a sheath; and A cartridge operatively connected to the tendon-sheath pair to cause the tendon and sheath to move relative to each other, The above cartridge, A body extending in the forward and backward direction, having a predetermined thickness, and to which one of the tendon and the sheath is fixed; A movable member arranged on one or the other side of the thickness direction of the body, movably coupled in the forward and backward direction with respect to the body, and to which the other of the tendon and the sheath is fixed; and A tendon-sheath drive device, comprising a locking member that is positioned on the movement path of the movable member at least partially and that supports and fixes the movable member in a position set with respect to the body.

2. In paragraph 1, The above locking part, It is connected to the above body so as to be relatively movable, A tendon-sheath drive device, wherein a part is positioned on the movement path of the movable member to support and fix the movable member located at the initial position, and is formed so that the part is sunk into the interior of the body by an external force.

3. In paragraph 2, The above locking part, A locking plate arranged on the inside of the body and having one side facing the moving member arranged on the outside of the body; and A set of locking protrusions including at least one protrusion formed protruding from the one surface of the locking plate and protruding from the inside to the outside of the body to support and fix the movable member located at the initial position, A tendon-sheath drive device in which, when the locking plate is pressed inwardly of the body by the external force, the locking projection set is sunk into the interior of the body.

4. In paragraph 3, A tendon-sheath drive device, wherein an external force transmission through-hole is formed in the body to transmit the external force from the outside to the locking plate.

5. In paragraph 4, A tendon-sheath drive device in which an external force transmitting projection is formed protruding on the one side of the locking plate and inserted into the external force transmitting through hole to which the external force is applied.

6. In paragraph 3, The above locking protrusion set includes a plurality of locking protrusions, A tendon-sheath drive device wherein the plurality of locking projections partially surround and support the movable member.

7. In paragraph 3, In the above body, A guide groove is formed that is sunk inwardly along the thickness direction of the body to a predetermined depth so that the movable member can be inserted, and extends forward and backward to guide the movement of the movable member. A tendon-sheath drive device in which the above locking projection set protrudes from the bottom surface of the above guide groove and supports the above moving member located in the above initial position.

8. In paragraph 3, The above moving member is provided in multiples, The above body, It includes a first body and a second body that are arranged facing each other and are mutually coupled with each other, with a joint surface extending in the front-back direction and passing through the center in the thickness direction, In the above first body, a plurality of first guide grooves are formed in parallel, which are sunken from the outside to the inside along the thickness direction and extend in the front-back direction, In the second body, a plurality of second guide grooves are formed in parallel, which are sunken from the outside to the inside along the thickness direction and extend in the front-back direction. The plurality of moving members are inserted into different ones of the plurality of first guide grooves and the plurality of second guide grooves, The total number of the plurality of first guide grooves and the plurality of second guide grooves is greater than or equal to the number of the plurality of moving members, The above locking part, A first locking plate arranged on the inside of the first body and having one side facing the plurality of first guide grooves; and A first locking projection set including at least one first locking projection protruding from the first surface of the first locking plate and protruding through the bottom surface of each of the plurality of first guide grooves on the inside of the first body; A second locking plate arranged on the inside of the second body, with one side facing the plurality of second guide grooves and the other side facing the other side of the first locking plate; and A second locking projection set including at least one second locking projection protruding from the one surface of the second locking plate and protruding through the bottom surface of each of the plurality of second guide grooves on the inside of the second body, When the first locking plate is pressed toward the inside of the first body by an external force, the first locking protrusion set is sunk toward the inside of the first body, A tendon-sheath drive device, wherein when the second locking plate is pressed inwardly of the second body by an external force, the second locking projection set is recessed inwardly of the second body.

9. In paragraph 8, The above locking part, It further includes at least one of a first guide protruding from the other surface of the first locking plate and penetrating the second locking plate, and a second guide protruding from the other surface of the second locking plate and penetrating the first locking plate. A tendon-sheath drive device, wherein each of the first guide and the second guide has a bar or rod shape.

10. In paragraph 9, The above first guide is formed with a snap-fit ​​structure so as not to be separated from the second locking plate while penetrating the second locking plate, A tendon-sheath drive device in which the second guide is formed with a snap-fit ​​structure so as not to be separated from the first locking plate while penetrating the first locking plate.

11. In paragraph 8, The above locking part, A tendon-sheath drive device further comprising an elastic body interposed between the first locking plate and the second locking plate, the elastic body being arranged so that the first locking plate and the second locking plate elastically support each other.

12. In paragraph 1, In the above body, A guide groove is formed that is sunk inwardly along the thickness direction of the body to a predetermined depth so that the movable member can be inserted, and extends in the front-back direction to guide the movement of the movable member. A tendon-sheath drive device, wherein the locking member protrudes from the bottom surface or side of the guide groove toward the inside of the guide groove to support the moving member located at the initial position, but includes a locking member that is broken by an external force.

13. In paragraph 12, A tendon-sheath drive device in which a driving force for moving the above-mentioned movable member is applied to the above-mentioned locking member, and an external force is applied to break the above-mentioned locking member.

14. In paragraph 1, The above tendon-sheath pair is, A sheath pipe extending in the forward and backward direction, having a hollow shape, one side of the sheath inserted and fixed into the front side thereof, and the rear side thereof fixed to one of the body and the movable member; and A tendon-sheath drive device including a tendon pipe extending in the forward and backward direction, having a hollow shape, surrounding a predetermined area on one side of the tendon, the rear side of which is fixed to the other of the body and the moving member, and the front side of which is inserted into the rear side of the sheath pipe and moves relative to the sheath pipe.

15. In paragraph 14, The above body has a slot-forming portion having a predetermined thickness and positioned in front of the movable member, A tendon-sheath drive device in which a slot is formed in the slot forming section extending in the front-rear direction and through which the sheath pipe is positioned.

16. In paragraph 15, When the movable member moves relative to the body and the sheath moves together, the sheath pipe moves along the slot, A tendon-sheath drive device in which the sheath is fixed when the movable member moves relative to the body, and the sheath pipe is fixed to the slot.

17. In paragraph 16, When the above moving member moves with respect to the body, the sheath is fixed; A fixing ring is installed on the outer surface of the above-mentioned sheath pipe, A fixing ring insertion groove into which the fixing ring is inserted is formed in the above slot, The above slot is formed by recessing inward to a predetermined depth along the thickness direction of the slot forming portion, The open ceiling surface facing the bottom surface of the above slot is covered by a slot cover to prevent the above-mentioned sheath pipe from coming off. In the above slot forming section, some sections are provided that are thinner than other sections along the extension direction, The above slot cover is a tendon-sheath drive device coupled to the above section.

18. In paragraph 1, The above moving member is provided in multiples, The above tendon-sheath pairs are provided in multiples, Each of the plurality of moving members is operably connected with one or two different tendon-sheath pairs among the plurality of tendon-sheath pairs, The above locking part, At least some of the plurality of moving members are positioned on the respective movement paths of the plurality of moving members, and each of the plurality of moving members is positioned and fixed at a respective initial position set with respect to the body. On the front side of the above body A convergent penetration is provided through which each of the plurality of tendon-sheath pairs passes in a convergent state, A tendon-sheath drive device, wherein a hollow space is formed at the rear of the converging penetration portion of the body, and the sheath of each of the plurality of tendon-sheath pairs extends to the outside of the body through the converging penetration portion via the hollow space.

19. In paragraph 1, A housing into which the cartridge is inserted; A gripper disposed within the housing and operable to grip the movable member and move it forward and backward relative to the body; and further comprising a load cell disposed within the housing and coupled to the gripper; The above load cell is a tendon-sheath drive device that measures the load generated when the gripper moves the movable member in the forward and backward direction relative to the body.

20. In paragraph 2, A housing into which the cartridge is inserted; A gripper disposed within the housing and operable to grip the movable member and move it forward and backward relative to the body; and A tendon-sheath drive device comprising a pressure pin disposed within the housing and operable to pressure the locking member to provide the external force.

Images