Robot arm driving device for endoscope

Abstract

This endoscope robot arm driving device comprises: a tendon sheath unit including a pair of tendon sheaths for pivot motions spaced apart from each other and extending in the forward / backward direction, a tendon sheath for forceps driving, and a pair of tendon sheaths for forward / backward movements; a robot arm assembly connected to one side of the tendon sheath unit; and an operation unit connected to the other side opposite to one side of the tendon sheath unit. The operation unit may include: a fixing unit having an accommodation space defined on the lower surface thereof; a forward / backward movement operation unit connected to the pair of tendon sheaths for forward / backward movements and disposed in the accommodation space so as to reciprocate in the forward / backward direction with respect to the fixing unit; a pivot motion operation unit connected to the pair of tendon sheaths for pivot motions and coupled to the forward / backward movement operation unit so as to rotate about a rotation axis parallel to the upward / downward direction intersecting the forward / backward direction in the accommodation space; and a forceps driving operation unit connected to the pair of tendon sheaths for forceps driving and coupled to the operation unit for pivot motions.

Description

Endoscopic robotic arm drive device

[0001] The present invention relates to a robot arm driving device for an endoscope.

[0002] An endoscope is a device that inserts a camera directly into the body of a person or animal to examine internal organs. Endoscopes allow examination of internal organs, joints, and blood vessels without making incisions, making the procedure simpler and easier than traditional invasive procedures.

[0003] Furthermore, from the patient's perspective, it allows for easy and accurate assessment of the internal condition without excessive damage to the body. Therefore, technologies utilizing endoscopes to assess the condition of various organs within the body are gaining attention.

[0004] Procedures performed in conjunction with endoscopic examinations include incisional or suturing procedures. The most widely known procedure, colonoscopy, utilizes an endoscope to determine the presence of tumors and, if found, to remove them immediately, preventing the progression of the disease to more serious consequences.

[0005] The above procedures, including the process of confirming the presence of a tumor and removing it, require various devices to be inserted into the body. Examples include a standard endoscope to confirm the presence of a tumor, an incision tool to remove the discovered tumor, and a suture tool to close the wound after tumor removal.

[0006] At this time, it is assumed that the endoscope and other tools mentioned above are inserted into the body through the oral cavity or other means. Therefore, it is desirable for the tools to be as miniaturized as possible, and preferably to be combined with the endoscope and inserted into the body together. This is to minimize unnecessary contact with other organs in the body and to minimize human error that may occur when multiple tools are individually controlled. The tools mentioned above, combined with the endoscope, may include a robotic arm assembly and a control unit for manipulating the robotic arm assembly.

[0007] An object of the present invention is to provide an endoscopic robot arm driving device including a manipulation unit capable of manipulating a robot arm assembly.

[0008] According to one embodiment of the present invention, an endoscopic robot arm driving device may include a tendon sheath unit including a pair of tendons for pivot motion, a tendon sheath for forceps driving, and a pair of tendons for forward and backward driving, which are spaced apart from each other and extend in the front-back direction, a robot arm assembly connected to one side of the tendon sheath unit, and an operating unit connected to the other side opposite to one side of the tendon sheath unit, wherein the operating unit may include a fixed unit having an accommodation space defined on a lower surface thereof, a forward and backward operating unit connected to the pair of tendons for forward and backward driving and arranged in the accommodation space to reciprocate in the front-back direction with respect to the fixed unit, a pivot motion operating unit connected to the pair of tendons for pivot motion and coupled on the forward and backward operating unit so as to rotate about a rotation axis parallel to an up-down direction intersecting the front-back direction within the accommodation space, and a forceps driving operating unit connected to the pair of tendons for forceps driving and coupled on the operating unit for pivot motion.

[0009] According to one embodiment of the present invention, a user can intuitively understand the operation of the robot arm assembly by manipulating the robot arm assembly through the operation unit. Accordingly, the user can easily operate the robot arm assembly through the operation unit.

[0010] Figure 1 is a configuration diagram of a robot arm driving device according to one embodiment of the present invention.

[0011] FIG. 2 is a perspective view of a robot arm assembly according to another embodiment of the present invention.

[0012] FIG. 3 is a front view of a robot arm assembly according to one embodiment of the present invention.

[0013] FIG. 4 is a schematic diagram of a tendon sheath drive unit coupled to a robot arm assembly according to one embodiment of the present invention.

[0014] Figure 5 is a perspective view showing the robot arm assembly illustrated in Figure 4 in an exploded view.

[0015] Figure 6 is a perspective view of the operating unit illustrated in Figure 1.

[0016] Figure 7 is an exploded perspective view of the operating unit illustrated in Figure 6.

[0017] Figure 8 is a perspective view of the lower main case and tendon sheath joint shown in Figure 6.

[0018] Figures 9a to 9d are drawings for explaining the rotation operation unit illustrated in Figure 7.

[0019] Figures 10a to 10e are drawings for explaining the combination of a rotation operation unit and a rotation tendon sheath for rotation of a rotation member.

[0020] Figure 11 is a perspective view illustrating the combination of the lower main case and the rotary operation unit.

[0021] Fig. 12 is a perspective view for explaining the rotation of the base portion shown in Fig. 4.

[0022] Figures 13a to 13c are drawings for explaining a pivot motion drive unit, a second rotation gear, and a forward and backward handle.

[0023] Figure 14a is a perspective view illustrating a pair of tendons for pivot motion.

[0024] Figure 14b is a perspective view illustrating the coupling of a pivot motion drive unit and a pair of tendon sheaths for pivot motion.

[0025] Figure 14c is a side view illustrating the coupling of a pivot motion drive unit and a pair of tendon sheaths for pivot motion.

[0026] Figure 15a is a plan view showing the lower surface of the forward and backward operating unit.

[0027] Figure 15b is a perspective view illustrating a tendon sheath for driving the forceps and a pair of tendons for forward and backward movement.

[0028] Figures 15c and 15d are plan views of the lower surface of the forward-backward operating unit for explaining the combination of the forward-backward operating unit and the forward-backward tendon sheath pair, and the forward-backward operating unit and the forceps driving tendon sheath.

[0029] Figure 15e is a perspective view illustrating the combination of the forward / reverse operating unit and the forward / reverse tendon sheath pair, and the forward / reverse operating unit and the tendon sheath for forceps driving.

[0030] Figure 16a is a perspective view illustrating the combination of the lower main case and the forward / reverse operating unit.

[0031] Fig. 16b is a cross-sectional view of the forward / reverse handle and the first side wall corresponding to the line Ⅰ-Ⅰ' shown in Fig. 16a.

[0032] Figure 17a is a perspective view for explaining the first cover part.

[0033] Figure 17b is a perspective view showing the first cover part illustrated in Figure 17a flipped upside down.

[0034] Figure 17c is a perspective view for explaining the combination of the first cover part and the forward / reverse operation part (430).

[0035] Figure 18a is a perspective view of the fixed part.

[0036] Figure 18b is a perspective view showing the fixed part illustrated in Figure 18a flipped upside down.

[0037] Fig. 18c is a drawing for explaining the combination of the fixed part and the first cover part shown in Fig. 17c.

[0038] Figure 18d is a perspective view showing the fixed part and the first cover part shown in Figure 18c flipped upside down.

[0039] Figure 19 is a perspective view illustrating the combination of the upper main case and the lower main case.

[0040] Figures 20a to 20c are drawings for explaining the lower case of the forceps driving operation unit.

[0041] Fig. 21 is a perspective view illustrating the combination of the lower case of Fig. 20a and the pivot motion driving unit of Fig. 19.

[0042] FIG. 22a is a plan view showing a state in which the forceps assembly of the robot arm assembly according to one embodiment of the present invention is moved backward.

[0043] FIG. 22b is a plan view showing a forceps assembly of a robot arm assembly according to one embodiment of the present invention protruding forward.

[0044] FIGS. 23a and 23b are perspective views illustrating a pivot rotation operation of a robot arm assembly according to one embodiment of the present invention.

[0045] Figure 24 is a perspective view for explaining the forceps drive unit.

[0046] Figure 25 is an exploded perspective view of the forceps assembly illustrated in Figure 4.

[0047] FIGS. 26a and 26b are plan views of a forceps structure of a robot arm assembly according to one embodiment of the present invention.

[0048] Fig. 27a is a perspective view for explaining the combination of the forceps drive unit and tendon cover unit of Fig. 24.

[0049] Figure 27b is a perspective view of the tendon cover.

[0050] Figure 28 is a perspective view for explaining the combination of the button part and the forceps drive part.

[0051] Figure 29a is a perspective view for explaining the combination of the fixed button part and the forceps drive part.

[0052] Figure 29b is a perspective view of the fixed button portion illustrated in Figure 29a.

[0053] Figure 29c is a perspective view showing the fixed button portion shown in Figure 29b flipped upside down.

[0054] Figures 30a and 30b are cross-sectional views of the fixed button portion and holder corresponding to the line Ⅰ-Ⅰ' shown in Figure 29a.

[0055] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings 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.

[0056] 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.

[0057] 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.

[0058] In the following description, descriptions of some components may be omitted to clarify the features of the present invention.

[0059] The term "fluid communication" as used herein refers to one or more elements being fluidly connected to one another. In one embodiment, the fluid communication may be formed by elements such as conduits, pipes, or piping. In the following description, the fluid communication may be used in the same sense as one or more elements being "fluidly connected" to one another.

[0060] The term "conduction" as used herein refers to the connection of one or more elements to enable the transmission of current or electrical signals. In one embodiment, the conduction may be formed in a wired form, such as by a conductor element, or in a wireless form, such as Bluetooth, Wi-Fi, or RFID. In one embodiment, the conduction may also include the meaning of "communication."

[0061] The term "fluid" used in the following description refers to any form of material that can flow and change shape or volume, etc., due to an external force. In one embodiment, the fluid may be a liquid such as water or a gas such as air.

[0062] The terms “upper side,” “lower side,” “left side,” “right side,” “front side,” and “rear side” used in the following description are to be understood with reference to the coordinate system depicted throughout the attached drawings.

[0063]

[0064] Fig. 1 is a schematic diagram of a robot arm driving device according to one embodiment of the present invention. Fig. 2 is a perspective view of a robot arm assembly according to one embodiment of the present invention. Fig. 3 is a front view of a robot arm assembly according to one embodiment of the present invention.

[0065] Referring to FIGS. 1 and 2, the tip (2a) of the endoscope (2) in the present specification is defined to mean the front end edge of the endoscope including the front end surface (4) of the endoscope (2), and the end (2b) of the endoscope (2) is defined to mean the front part of the endoscope, to which the base member (110) of the robot arm assembly (100) of the present invention is coupled. In addition, in describing the robot arm assembly (100), as shown in FIG. 2, the direction in which the front surface of the endoscope (2) faces is defined as “forward”, the opposite direction is defined as “rear”, and the direction in which the forceps assembly (200) of the robot arm assembly (100) is positioned from the center of the endoscope is defined as “upward”, and the opposite direction is defined as “downward”.

[0066] A robot arm driving device (1) according to one embodiment of the present invention may include a robot arm assembly (100), a tendon sheath (20), an operating member (30), and a manipulation member (40). The robot arm assembly (100) may be coupled to an endoscope end (2b) of an endoscope (2). For example, an operating member (30) may be coupled to the robot arm assembly (100) and configured to be operable at a tip end (2a) of the endoscope. At this time, the operation of the operating member (30) by the robot arm assembly (100) at the tip end (2a) of the endoscope may include, for example, a protruding and retracting movement of the operating member (30) forward from the tip end (2a), a pivot rotation toward or away from the tip end (2a) of the endoscope toward a central axis (C) of the endoscope, and a circumferential movement centered on the central axis (C). However, the operation of the operating member (30) is not limited to this.

[0067] In one embodiment of the present invention, the operating member (30) may be, for example, a forceps assembly (200) in the form of a forceps. However, the operating member (30) that can be coupled to the robot arm assembly (100) according to one embodiment of the present invention is not limited to the forceps assembly (200), and various members or devices that can be used for various endoscopic surgeries may be coupled to the robot arm assembly (100) as the operating member.

[0068] Meanwhile, according to one embodiment of the present invention, the robot arm assembly (100) may be configured with a plurality of components assembled so that the operating member (30) performs various operations at the endoscope tip (2a). A detailed description thereof will be provided later.

[0069] Meanwhile, an endoscope robot arm driving device (1) according to one embodiment of the present invention may include a tendon sheath (20) to operate a robot arm assembly (100). The tendon sheath (20) may include an operating member (30) coupled to an endoscope tip (2a) and a plurality of tendons connected to a plurality of components of the robot arm assembly (100) to support the operating member (30).

[0070] In one embodiment of the present invention, the tendon sheath (20) can connect the robot arm assembly (100) and the operating unit (40) to each other. Each of the ends of the plurality of tendons of the tendon sheath (20) can be connected to the operating member (30) and the plurality of components constituting the robot arm assembly (100).

[0071] A plurality of tendons of the tendon sheath section (20) can be operatively coupled by the operating section (40). In this case, the fact that the other ends of the plurality of tendons are operatively coupled to the operating section (40) means that each of the plurality of tendons can be operated individually or simultaneously by the operating section (40).

[0072] In one embodiment of the present invention, the tendon sheath comprises a tendon, which is an elongated wire, and a sheath wrapping a portion of the tendon, and actuating the tendon sheath means moving the tendon forward or backward relative to the sheath wrapping the tendon. This will be described in detail below.

[0073] The robot arm assembly (100) according to one embodiment of the present invention of FIGS. 1 and 2 may be a part of the robot arm driving device (1) described above. The robot arm assembly (100) according to one embodiment of the present invention may be operated using a tendon sheath, and may be coupled to an endoscope tip (2a) and controlled by an operating unit (40), so that the endoscope tip (2a) may be used for surgery on a diseased part inside the patient's body while being inserted into the patient's body.

[0074]

[0075] Fig. 4 is a schematic diagram of a tendon sheath drive unit coupled to a robot arm assembly according to one embodiment of the present invention. Fig. 5 is an exploded perspective view of the robot arm assembly illustrated in Fig. 4.

[0076] Referring to FIGS. 4 and 5, the tendon sheath (20) may include a plurality of tendons (21a, 21b, 22a, 22b, 23a, 23b, 24) connected to a plurality of components of a robot arm assembly (100) for supporting the operating member (30, see FIG. 1) and an operating member (30, see FIG. 1) coupled to an endoscope tip (2a, see FIG. 2). The tendons (21a, 21b, 22a, 22b, 23a, 23b, 24) will be described in detail below.

[0077] A robot arm assembly (100) according to one embodiment of the present invention may include a base member (110), a rotation member (120), a sliding member (170), an arm link portion (60), a front frame (140), a rear coupling member (150), and a forceps assembly (200).

[0078] The base member (110) is formed in a cylindrical shape, and the endoscope tip (2a) can be inserted into and penetrated through the cylindrical base member (110). At this time, the base member (110) can be fixed to the end portion (2b) of the endoscope.

[0079] The rotating member (120) may be coupled to the outer circumference of the base member (110). The rotating member (120) may be coupled to the base member (110) so as to rotate around a first rotation axis (R1) extending in the front-back direction. For example, the rotating member (120) may be coupled to rotate around a central axis (C) of an extension direction of the endoscope (2) extending in the front-back direction. In order to circumferentially rotate the rotating member (120) around the base member (110), a pair of tendons (21a, 21b) for rotating the rotating member may be coupled to the base member (110) and the rotating member (120).

[0080] At this time, in one embodiment of the present invention, the sliding member (170) may be coupled to one side of the outer circumference of the rotating member (120). The sliding member (170) may reciprocate in the forward and backward direction along the extension direction of the rotating member (120). The sliding member (170) may slide in the forward and backward direction along the extension direction of the rotating member (120).

[0081] In one embodiment of the present invention, the sliding member (170) and the arm link portion (60) may be arranged in the front-back direction. The arm link portion (60) including a plurality of arm link portions (160) may be coupled to the front of the sliding member (170). The arm link portion (60) may be arranged adjacent to the front of the sliding member (170). The forceps assembly (200) connected to the arm link portion (60) may be rotated around a rotational axis parallel to the left-right direction by the arm link portion (60).

[0082] A forceps assembly (200) may be coupled to the front of the arm link portion (60). The forceps assembly (200) may be formed to protrude forward from the endoscope tip (2a) or to retreat backward from the endoscope tip (2a) and be positioned inside the sliding member movement hole (132) according to the movement of the sliding member (170) and the arm link portion (60) in front of the arm link portion (60).

[0083] In one embodiment of the present invention, a front frame (140) may be coupled to the front end of the rotating member (120). The front end surface of the front frame (140) is positioned forward of the endoscope tip (2a) so as to protect the endoscope tip (2a) and the front end of the rotating member (120) when the endoscope (2) is inserted into the patient's body.

[0084] The rear coupling member (150) may be fixed to the rear side of the rotating member (120) and configured to allow the tendons and sheaths of a plurality of tendon sheath pairs to pass through, fix the sheaths, or guide the tendons and sheaths. In addition, by fixing the rear coupling member (150) to the rear side of the rotating member (120), the sliding member (170) may be prevented from moving further rearward than the rear of the rotating member (120).

[0085] According to one embodiment of the present invention, the tendon sheath (20) may include a plurality of, for example, three tendon sheath pairs (21a, 21b, 22a, 22b, 23a, 23b) and one tendon sheath for forceps driving (24).

[0086] More specifically, in one embodiment of the present invention, the three tendon pairs (21a, 21b, 22a, 22b, 23a, 23b) may include a tendon pair (21a, 21b) for rotation of the aforementioned rotating member, a tendon pair (22a, 22b) for pivot motion of the arm link portion (60), and a tendon pair (23a, 23b) for forward and backward movement of the sliding member (170). At this time, it should be understood that the tendon being 'coupled to a predetermined member' in the present specification does not only mean that the tendon is physically fixed to the predetermined member, but also includes the meaning that the tendon is operatively coupled to the predetermined member, such as penetrating the predetermined member and moving together so that the predetermined member can move.

[0087] In one embodiment of the present invention, the pair of tendons (21a, 21b) for rotating the rotating member is a component for rotating the rotating member (120), and is composed of a pair of tendons, and the pair of tendons (21a, 21b) can be coupled to the base member (110) and the rotating member (120).

[0088] In more detail, the rotating member rotation tendon sheath pair (21a, 21b) may include a first tendon (61a) and a first sheath (71a) and a second sheath (71b) respectively connected to both ends of the first tendon (61a).

[0089] When viewed from the rear side of the rotating member (120), the pair of tendon sheaths (21a, 21b) for rotating the rotating member can be divided into a left side and a right side of the first tendon (61a) based on the center of the first tendon (61a).

[0090] The left side of the first tendon (61a) and the first sheath (71a) may form one tendon sheath, and the right side of the first tendon (61a) and the second sheath (71b) may form another tendon sheath.

[0091] At this time, the first tendon (61a) may be a single tendon as in the present embodiment, but this is exemplary, and the first tendon (61a) may be a tendon divided into two. In the present embodiment, a single tendon is used, but the sheaths connected to the tendon may be formed as a pair. In the present specification, the tendon sheath pair (21a, 21b) for rotating the rotating member (120) may be referred to as the first tendon sheath pair.

[0092] Hereinafter, the center of the first tendon (61a) coupled to the base member (110) and the rotating member (120) may be referred to as a ring tendon, and among the portions of the first tendon (61a) extending rearward from the ring tendon, the portion of the first tendon (61a) arranged on the left may be referred to as a first extension, and the portion of the first tendon (61a) arranged on the right may be referred to as a second extension. That is, the first sheath (71a) may surround the first extension, and the second sheath (71b) may surround the second extension.

[0093] In addition, in one embodiment of the present invention, the tendon sheath pair (22a, 22b) for pivot motion of the arm link portion (60) may be configured to be coupled to the arm link portion (60) to operate the pivot motion of the arm link portion (60). The tendon sheath pair (22a, 22b) for pivot motion of the arm link portion (60) may include a second tendon (62a) and a third sheath (72a) and a fourth sheath (72b) coupled to both ends of the second tendon (62a), respectively.

[0094] When viewed from the rear side of the rotating member (120), the tendon sheath pair (22a, 22b) for pivot motion can be divided into upper and lower parts of the second tendon (62a) based on the center of the second tendon (62a). Hereinafter, the central part of the second tendon (62a) coupled to the arm link part (60) can be defined as a pivot tendon, and parts of the second tendon (62a) extending rearward from the pivot tendon can be defined as a third extension and a fourth extension. In FIGS. 4 and 5, the third extension is illustrated as being positioned higher than the fourth extension, but the arrangement of the third extension and the fourth extension is not limited thereto.

[0095] The third sheath (72a) and the fourth sheath (72b) can wrap around both ends of the second tendon (62a) extending rearward from the rear coupling member (150). The third sheath (72a) can wrap around the third extension of the second tendon (62a). The fourth sheath (72b) can wrap around the fourth extension of the second tendon (62a). At this time, the second tendon (62a) may be a single tendon as in the present embodiment, but this is exemplary, and the second tendon (62a) may be a tendon divided into two. In the present embodiment, one tendon is used, but the sheaths connected to the tendon may be formed as a pair. In the present specification, the tendon sheath pair (22a, 22b) for pivot motion of the arm link portion (60) may be referred to as a second tendon sheath pair.

[0096] In addition, in one embodiment of the present invention, the pair of tendons (23a, 23b) for forward and backward movement of the sliding member is a component that is coupled to the rotating member (120) and the sliding member (170) to move the sliding member (170) forward and backward.

[0097] The forward / backward tendon sheath pair (23a, 23b) of the sliding member (170) may include forward / backward tendons (63a, 63b), a first forward / backward sheath (73a), and a second forward / backward sheath (73b). The forward / backward tendons (63a, 63b) may include a first forward / backward tendon (63a) and a second forward / backward tendon (63b). The first forward / backward sheath (73a) and the second forward / backward sheath (73b) may be connected to the first forward / backward tendon (63a) and the second forward / backward tendon (63b), respectively.

[0098] In this specification, the tendon pair (23a, 23b) for forward and backward movement of the sliding member may be referred to as the third tendon pair.

[0099] Also, in one embodiment of the present invention, the forceps drive tendon sheath (24) is a component that is coupled to the forceps assembly (200) and operates the forceps assembly (200). The forceps drive tendon sheath (24) may include one drive tendon (64) and a drive sheath (74) coupled to the drive tendon (64). In the present specification, the forceps drive tendon sheath (24) may be referred to as a fourth tendon sheath.

[0100]

[0101] Fig. 6 is a perspective view of the operating unit illustrated in Fig. 1. Fig. 7 is an exploded perspective view of the operating unit illustrated in Fig. 6. Fig. 8 is a perspective view of the lower main case and tendon sheath joint illustrated in Fig. 6.

[0102] Referring to FIGS. 6 and 7, the operating unit (40) may include a lower main case (400), a rotation operating unit (410), a first sub-guide unit (420), a forward / backward operating unit (430), a pivot motion driving unit (440), a third rotation gear (450), a fixing unit (460), an upper main case (470), a forceps driving operating unit (480), and a tendon sheath coupling unit (490).

[0103] Referring to FIGS. 7 and 8, the upper surface of the lower main case (400) may include a bottom surface (4001) and a plurality of side walls (4002a, 4002b) surrounding the bottom surface (4001). The bottom surface (4001) may be parallel to a plane defined by the front-back direction and the left-right direction. The side walls (4002a, 4002b) may extend upward from the edge of the bottom surface (4001). The bottom surface (4001) may be surrounded by the side walls (4002a, 4002b).

[0104] A groove (4003) can be defined by the bottom surface and side walls of the lower main case (400). A rotation operation unit (410), a first sub-guide unit (420), a forward / backward operation unit (430), a pivot motion driving unit (440), a third rotation gear (450), and a fixing unit (460) can be accommodated in the groove (4003).

[0105] The side walls (4002a, 4002b) may include first side wall portions (4002a) and second side wall portions (4002b). The first side wall portions (4002a) may extend upward from opposite sides of the bottom surface (4001) in the left-right direction. The first side wall portions (4002a) may face each other in the left-right direction. The first side wall portions (4002a) may extend longer in the front-back direction than in the up-down direction.

[0106] The second side wall portions (4002b) may extend upward from both sides of the bottom surface (4001) that are opposite to each other in the front-back direction. The second side wall portions (4002b) may face each other in the front-back direction. The second side wall portions (4002b) may extend longer in the left-right direction than in the up-down direction. In practice, the first side wall portions (4002a) and the second side wall portions (4002b) may be formed integrally.

[0107] The second side wall portions (4002b) may include a second-first side wall portion (4002b-1) and a second-second side wall portion (4002b-2). The second-first side wall portion (4002b-1) may be defined as a side wall adjacent to the tendon sheath joint (490) among the second side wall portions (4002b). The second-second side wall portion (4002b-2) may be defined as a side wall spaced apart from the tendon sheath joint (490) among the second side wall portions (4002b).

[0108] A first groove (4004) may be defined on the upper surface of the second-first side wall portion (4002b-1). The first groove (4004) may extend downward from the upper surface of the second-first side wall portion (4002b-1). The first groove (4004) may have a shape corresponding to a portion of a circle.

[0109] A second groove (4005) may be defined on the upper surface of the second-second side wall portion (4002b-2). The second groove (4005) may extend downward from the upper surface of the second-second side wall portion (4002b-2). The second groove (4005) may have a shape corresponding to a portion of a circle.

[0110] The tendon joint (490) can be coupled to the lower main case (400). The tendon joint (490) can be coupled to the second-first side wall portion (4002b-1). The tendon joint (490) can be positioned within the first groove (4004).

[0111] A banding opening (490a) may be defined at the center of the tendon sheath joint (490). The banding opening (490a) may extend in the front-rear direction. The tendon sheath joint (20, see FIG. 1) may pass through the tendon sheath joint (490) through the banding opening (490a). The tendon sheath joint (490) will be described in detail below.

[0112]

[0113] Figures 9a to 9d are drawings for explaining the rotation operation unit illustrated in Figure 7.

[0114] For example, FIGS. 9a, 9b, 9d, and 9e are illustrated as perspective views, and FIG. 9c is illustrated as a plan view.

[0115] For example, in FIGS. 9b, 9c, and 9d, the first rotation guide part (4110), the second rotation guide part (4150), the rotation tendon fixing part (4130), and the first rotation gear (4120) are shown in a state in which they are flipped upside down.

[0116] Referring to FIGS. 9a and 9b, the rotation operation unit (410) may include a first rotation guide unit (4110), a first rotation gear (4120), a rotation tendon fixing unit (4130), a rotation handle unit (4140), and a second rotation guide unit (4150).

[0117] The first rotation guide part (4110) may include a first part (4110a) and a second part (4110b). The first part (4110a) may be parallel to a plane defined by the up-down direction and the left-right direction. The second part (4110b) may be positioned on one side of the first part (4110a) that faces the rotation tendon fixing part (4130) among the two opposing sides in the front-back direction. The second part (4110b) may have a ring-shaped shape.

[0118] A coupling hole (4110c) may be defined in the first rotation guide part (4110). The coupling hole (4110c) may extend in a forward-backward direction from the other side of the first rotation guide part (4110) toward one side.

[0119] The first rotation gear (4120) can be coupled to the first rotation guide part (4110). The first rotation gear (4120) can be placed in the coupling hole (4110c). The first rotation gear (4120) can be coupled to the other side of the first rotation guide part (4110) that is spaced apart from the rotation tendon fixing part (4130) among the opposite sides in the front-back direction. The first rotation gear (4120) can be coupled to the other side of the rotation tendon fixing part (4130) and extend in the front-back direction toward one side. Accordingly, as illustrated in FIG. 9b, a part of the first rotation gear (4120) can be exposed to the outside from one side of the rotation tendon fixing part (4130). When viewed in a plan view, the first rotation gear (4120) can be surrounded by the second part (4110b).

[0120] Referring to FIG. 7 and FIGS. 9a to 9c, the rotation tendon fixing portion (4130) can be coupled to the first rotation guide portion (4110). The rotation tendon fixing portion (4130) can be coupled to the second portion (4110b). Among the two sides of the rotation tendon fixing portion (4130) that oppose each other in the front-back direction, one side facing one side of the rotation tendon fixing portion (4130) can be placed in the coupling hole (4110c). One side of the rotation tendon fixing portion (4130) and the first rotation gear (4120) can face each other in the front-back direction.

[0121] A rotation groove (4130a) may be defined on one side of the rotation tendon fixing member (4130). The rotation groove (4130a) may have a shape corresponding to the first rotation gear (4120). When the rotation tendon fixing member (4130) is coupled to the first rotation guide member (4110), the first rotation gear (4120) may be positioned within the rotation groove (4130a). The first rotation gear (4120) may be engaged with the inner surface of the rotation tendon fixing member (4130) defining the rotation groove (4130a).

[0122] Accordingly, when the rotary tendon fixing member (4130) rotates around a rotation axis parallel to the forward and backward direction, frictional force can be generated between the outer surface of the first rotary gear (4120) and the inner surface of the rotary tendon fixing member (4130). Therefore, the operation of the operating member (40, see FIG. 1) can be made precise.

[0123] Additionally, when there is no external force from the user, the rotating tendon fixing member (4130) can be stopped without rotating due to frictional force.

[0124] The rotating handle part (4140) can be coupled to the other side of the rotating tendon fixing part (4130). As the rotating handle part (4140) is coupled to the rotating tendon fixing part (4130), a user can hold the rotating handle part (4140) and rotate it around a rotation axis parallel to the forward and backward direction. As the rotating handle part (4140) rotates, the rotating tendon fixing part (4130) can be rotated around a rotation axis parallel to the forward and backward direction. Accordingly, a user can easily rotate the rotating tendon fixing part (4130).

[0125] Referring to FIG. 9a and FIG. 9d, the second rotation guide part (4150) can be coupled to the other side of the first rotation guide part (4110) that opposes each other in the front-back direction.

[0126] The second rotation guide portion (4150) may extend in the forward and backward directions. A first guide groove (4150a) may be defined on the lower surface of the second rotation guide portion (4150). The first guide groove (4150a) may extend in an up-and-down direction from the upper surface of the second rotation guide portion (4150) toward the lower surface.

[0127] A plurality of rotational sheath guide grooves (4150b) may be defined on the lower surface of the second rotational guide part (4150). The rotational sheath guide grooves (4150b) may extend in the front-back direction on the lower surface of the second rotational guide part (4150). The rotational sheath guide grooves (4150b) may be arranged in the left-right direction.

[0128] The first guide groove (4150a) and the rotational sheath guide grooves (4150b) can be defined to be continuous in the front-back direction. Accordingly, the rotational member rotational tendon sheath pair (21a, 21b, see FIG. 10b) can extend in the front-back direction through the first guide groove (4150a) and along the rotational sheath guide grooves (4150b). The arrangement of the rotational member rotational tendon sheath pair (21a, 21b, see FIG. 10b) within the first guide groove (4150a) and the rotational sheath guide grooves (4150b) will be described in detail below.

[0129]

[0130] Figures 10a to 10e are drawings for explaining the combination of a rotation operation unit and a rotation tendon sheath for rotation of a rotation member.

[0131] For example, FIGS. 10a, 10b, 10c, and 10d are perspective views, and FIG. 10e is a plan view.

[0132] For example, in FIGS. 10a, 10b, 10c, and 10d, the pair of tendons (21a, 21b) for rotating the rotating member, the first rotating guide part (4110), the second rotating guide part (4150), the rotating tendon fixing part (4130), and the first rotating gear (4120) are shown in an upside-down state, and FIG. 10e is a plan view of the rotating tendon fixing part (4130) as viewed from above.

[0133] Among the components illustrated in FIGS. 10a to 10d, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0134] Referring to FIGS. 4 and 10a, the rotational tendon sheath pair (21a, 21b) of the rotational member may further include a plurality of rotational tensioners (61c) and a plurality of rotational sheath beads (71c).

[0135] The rotational tensioners (61c) may have a cylindrical shape with a defined hollow space. Although not illustrated, the radius of the hollow space may vary. The radius of one side adjacent to the lid (61c-1) described below may be larger than the radius of the other side. Accordingly, the inner surface of the rotational tensioners (61c) defining the hollow space may have a protrusion.

[0136] Rotational tensioners (61c) can be connected to both ends of the first tendon (61a). The rotational tensioners (61c) can be connected to one side of the first extension and one side of the second extension. Both ends of the first tendon (61a) can be inserted from the other side toward one side of the rotational tensioners (61c). Although not shown, tendon beads can be connected to both ends of the first tendon (61a) that protrude from one side of the rotational tensioners (61c). The first tendon (61a) can be clamped after being connected to the tendon beads. The tendon beads can be caught on the jaws on the inner surface of the rotational tensioners (61c). Accordingly, the first tendon (61a) and the tendon bead may not move toward the other side of the rotational tensioners (61c).

[0137] Caps (61c-1) may be coupled to the other side of the rotation tensioners (61c) to prevent tendon beads from leaking. Accordingly, the first tendon (61a) and the tendon beads may be prevented from moving toward one side of the rotation tensioners (61c). Accordingly, the first tendon (61a) may be fixed to the rotation tensioners (61c). The first tendon (61a) and the rotation tensioners (61c) may be moved together.

[0138] The rotational sheath beads (71c) can surround a portion of the first sheath (71a) and the second sheath (71b). The rotational sheath beads (71c) can include a first sheath bead (71c-1) and a second sheath bead (71c-2). The first sheath bead (71c-1) can surround one side of the first sheath (71a) that is spaced apart from the robot arm assembly (100) among the opposite sides of the first sheath (71a) that are spaced apart from the robot arm assembly (100) among the opposite sides of the second sheath (71b) that are spaced apart from the robot arm assembly (100).

[0139] Referring to FIGS. 9d, 10a, 10b, and 10c, the pair of rotational tension sheaths (21a, 21b) for the rotational member can be coupled to the first and second rotational guide parts (4110, 4150).

[0140] Specifically, the pair of tendon sheaths (21a, 21b) for rotating the rotating member can extend from the upper surface of the second rotating guide portion (4150) through the first guide groove (4150a) to the rotating sheath guide grooves (4150b) defined on the lower surface of the second rotating guide portion (4150). Parts of the first sheath (71a) and the second sheath (71b) can be arranged in the rotating sheath guide grooves (4150b). The first sheath (71a) and the second sheath (71b) can extend in the front-back direction toward the first rotating guide portions (4110) along the rotating sheath guide grooves (4150b).

[0141] A plurality of rotational sheath fixing grooves (4110d) may be defined on the lower surface of the first rotational guide part (4110). The rotational sheath fixing grooves (4110d) may be arranged in the left-right direction. The width of the rotational sheath fixing grooves (4110d) may be variable. The width of the rotational sheath fixing grooves (4110d) adjacent to one side and the other side among the opposite sides of the first rotational guide part (4110) in the front-rear direction may be smaller than the width of the rotational sheath fixing grooves (4110d) defined between the one side and the other side. Among the opposite sides of the first rotational guide part (4110) in the front-rear direction, one side may be defined as a side adjacent to the rotational tensioners (61c).

[0142] The first sheath bead (71c-1) and the second sheath bead (71c-2) can be arranged in the rotating sheath fixing grooves (4110d). As the width of the rotating sheath fixing grooves (4110d) is varied, the positions of the first sheath bead (71c-1) and the second sheath bead (71c-2) can be fixed. Accordingly, the positions of the first sheath (71a) and the second sheath (71b) surrounded by the first sheath bead (71c-1) and the second sheath (71c-2) can also be fixed.

[0143] Referring to FIG. 10c, for convenience of explanation, the second rotation guide part (4150), the rotation tendon fixing part (4130), and the rotation handle part (4140) are omitted in FIG. 10b.

[0144] The first tendon (61a) exposed to the outside from the first sheath (71a) and the second sheath (71b) can extend along the inner surfaces of the first rotation guide portion (4110) defining the rotation sheath fixing grooves (4110d). The first tendon (61a) can pass through the rotation sheath fixing grooves (4110d) and be arranged in the coupling hole (4110c). The first tendon (61a) can be arranged on the inner surfaces of the second portion (4110b) defining the coupling hole (4110c) within the coupling hole (4110c). When viewed from the other side of the first rotation guide portion (4110), the first tendon (61a) can surround the first rotation gear (4120).

[0145] Referring to FIG. 10 c, FIG. 10 d, and FIG. 10 e, the rotation handle portion (4140), the first rotation guide portion (4110), and the second rotation guide portion (4150) are omitted in FIG. 10 d and FIG. 10 e.

[0146] When the rotating tendon fixing member (4130) is coupled to the coupling hole (4110c) of the first rotating guide member (4110), one side of the rotating tendon fixing member (4130) can be positioned within the coupling hole (4110c). When one side of the rotating tendon fixing member (4130) is positioned within the coupling hole (4110c), the first tendon (61a) can be positioned between the inner surfaces of the second portion (4110b) defining the coupling hole (4110c) and one side of the rotating tendon fixing member (4130). The first tendon (61a) can surround one side of the rotating tendon fixing member (4130).

[0147] A plurality of rotation tensioner fixing grooves (4130b) may be defined in the rotation tendon fixing member (4130). Each of the rotation tensioner fixing grooves (4130b) may extend in the vertical direction. The rotation tensioner fixing grooves (4130b) may be arranged in the left-right direction.

[0148] A first tendon (61a) surrounding one side of a rotation tendon fixing portion (4130) can extend toward rotation tensioner fixing grooves (4130b). Rotational tensioners (61c) coupled to both ends of the first tendon (61a) can be inserted into the rotation tensioner fixing grooves (4130b). The rotational tensioners (61c) can be fixed inside the rotational tensioner fixing grooves (4130b). As the rotational tensioners (61c) are fixed to the rotational tendon fixing portion (4130), the first tendon (61a) connected to the rotational tensioners (61c) can be fixed to the rotational tendon fixing portion (4130).

[0149] When the rotating tendon fixing member (4130) rotates around a rotation axis parallel to the forward-backward direction, the first tendon (61a) can rotate around the rotation axis parallel to the forward-backward direction. Accordingly, the first tendon (61a) can move in the forward-backward direction relative to the first and second sheaths (71a, 71b).

[0150] When the rotating tendon fixing member (4130) rotates, one side and the other side of the first tendon (61) can move in different directions. One side of the first tendon (61a) can be defined as the side wrapped by the first sheath (71a), and the other side of the first tendon (61b) can be defined as the side wrapped by the second sheath (71b).

[0151] For example, when viewed from the rearward direction of the rotating tendon fixing member (4130), when the rotating tendon fixing member (4130) rotates clockwise, one side of the first tendon (61a) may move forward with respect to the first sheath (71a), and the other side of the first tendon (61a) may move backward with respect to the second sheath (71b).

[0152] Although not shown, when the tension of the first tendon (61a) is loosened, the user can rotate the rotational tensioners (61c) downward from the rotational tensioner fixing grooves (4130b) using a driver or a hexagonal wrench, etc., to move them upward. Accordingly, the tension of the first tendon (61a) can be easily adjusted.

[0153]

[0154] Fig. 11 is a perspective view illustrating the combination of the lower main case and the rotation operation unit. Fig. 12 is a perspective view illustrating the rotation of the base unit illustrated in Fig. 4.

[0155] Referring to the drawings described above among the components illustrated in FIGS. 11 and 12, descriptions of components identical to the described components will be omitted or simplified.

[0156] Referring to FIGS. 8 and 11, the first rotation guide part (4110), the second rotation guide part (4150), the rotation tendon fixing part (4130), and the first rotation gear (4120) may be disposed on the lower main case (400). The first rotation guide part (4110), the second rotation guide part (4150), the rotation tendon fixing part (4130), and the first rotation gear (4120) may be disposed on the bottom surface (4001). The first rotation guide part (4110), the second rotation guide part (4150), and the rotation tendon fixing part (4130) may be surrounded by side walls (4002a, 4002b).

[0157] The second groove (4005) may have a shape corresponding to the rotational tendon fixing member (4130). For example, the second groove (4005) may have a shape corresponding to a portion of a circle. The rotational tendon fixing member (4130) may be positioned in the second groove (4005). Accordingly, the rotational tendon fixing member (4130) may be rotated about a rotational axis parallel to the forward and backward direction within the second groove (4005).

[0158] Referring to FIGS. 11 and 12, when the rotating tendon fixing member (4130) rotates around a rotation axis parallel to the forward and backward direction, the first tendon (61a) connected to the rotating tendon fixing member (4130) can move in the forward and backward direction relative to the first sheath (71a) and the second sheath (71b).

[0159] For example, when looking forward from the rear of the rotating tendon fixing member (4130), when the rotating tendon fixing member (4130) is rotated clockwise, the first tendon (61a) can be relatively pushed against the first sheath (71a) located on the left side of the first tendon (61a) connected to the rotating member (120) and the first tendon (61a) can be relatively pulled against the second sheath (71b). Accordingly, when looking forward from the rear, the rotating member (120) can be rotated clockwise about the first rotation axis (R1).

[0160] In order to rotate the rotating member (120) counterclockwise around the first rotation axis (R1), the first tendon (61a) can be relatively pulled with respect to the first sheath (71a) located on the left side of the first tendon (61a) and the first tendon (61a) can be relatively pushed with respect to the second sheath (71b). Accordingly, when viewed from the rear to the front, the rotating member (120) can be rotated counterclockwise around the first rotation axis (R1).

[0161]

[0162] Figures 13a to 13c are drawings for explaining a pivot motion drive unit, a second rotation gear, and a forward and backward handle.

[0163] For example, FIGS. 13a and 13b are perspective views, and FIG. 13c is a plan view of the lower surface of the pivot motion drive unit (4402) and the lower surface of the second rotation gear (500).

[0164] Among the components illustrated in FIGS. 13a to 13c, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0165] Referring to FIG. 7, FIG. 13a, and FIG. 13b, the forward / reverse operation unit (430) may include a moving block (4301), a plurality of damper parts (4302), and a handle coupling part (4303). The forward / reverse operation unit (430) may have a shape corresponding to a portion of a rectangular solid.

[0166] A pivot motion coupling groove (4301a) may be defined on the upper surface of the moving block (4301). The pivot motion coupling groove (4301a) may extend from the upper surface of the moving block (4301) toward the lower surface.

[0167] The damper parts (4302) may be arranged on one side of the movable block (4301) that is opposite to each other in the left-right direction, and is spaced apart from the forward-backward handle (4401) to be described later. The damper parts (4302) may be arranged in the forward-backward direction. The damper parts (4302) may be closer to the lower surface of the movable block (4301) than to the upper surface of the movable block (4301).

[0168] The handle coupling portion (4303) may be positioned on the other side of the moving block (4301) that opposes each other in the left-right direction. A forward-backward handle (4401), which will be described later, may be coupled to the handle coupling portion (4303).

[0169] The pivot motion control unit (440) may include a forward / backward handle (4401), a pivot motion driving unit (4402), a second gear (4403), and a first cover unit (4404, see FIG. 7). The pivot motion driving unit (4402) may be disposed on the upper surface of the moving block (4301). The pivot motion driving unit (4402) may be disposed within the pivot motion coupling groove (4301a). The pivot motion driving unit (4402) may be rotated about a rotation axis parallel to the vertical direction within the pivot motion coupling groove (4301a).

[0170] The pivot motion driving unit (4402) may include a body portion (4402-1) and a plurality of rotational protrusions (4402-2). The body portion (4402-1) may have a cylindrical shape. The body portion (4402-1) may rotate around a rotational axis parallel to the vertical direction.

[0171] The body part (4402-1) may include a first rotating part (4402-1a) and a second rotating part (4402-1b). The first rotating part (4402-1a) may have a disk shape. The first rotating part (4402-1a) may be coupled to a moving block (4301). The first rotating part (4402-1a) may be placed in a pivot motion coupling groove (4301a) of the moving block (4301).

[0172] The second rotating part (4402-1b) may have a disk shape. The second rotating part (4402-1b) may be placed on the first rotating part (4402-1a).

[0173] A plurality of pivot tensioner fixing grooves (4402-1c) may be defined on the side of the second rotating part (4402-1b). The pivot tensioner fixing grooves (4402-1c) may be arranged in the left-right direction. Although not illustrated, the pivot tensioner fixing grooves (4402-1c) may extend from one side of the second rotating part (4402-1b) that opposes each other in the front-back direction toward the other side. One side of the second rotating part (4402-1b) that opposes each other in the front-back direction may be defined as a side adjacent to a second gear (4403) to be described later.

[0174] A coupling groove (4402-1d) may be defined on the upper surface of the second rotating portion (4402-1b). The coupling groove (4402-1d) may extend from the upper surface of the second rotating portion (4402-1b) toward the lower surface. The coupling groove (4402-1d) may have a shape corresponding to a polygon. For example, the coupling groove (4402-1d) may have a hexagonal shape, but the shape of the coupling groove (4402-1d) is not limited thereto.

[0175] A first through hole (4402-1e) may be defined on the upper surface of the second rotating part (4402-1b). When viewed from the top to the bottom, the first through hole (4402-1e) may be positioned within the coupling groove (4402-1d). For example, the first through hole (4402-1e) may have a circular shape.

[0176] A plurality of rotational protrusions (4402-2) extending rearward from a body portion (4402-1) may be included. The rotational protrusions (4402-2) may extend rearward from a first rotational portion (4402-1a). The rotational protrusions (4402-2) may be arranged along an outer circumferential surface of the first rotational portion (4402-1a).

[0177] The second rotation gear (4403) may be placed on the forward / backward operation unit (430). The second rotation gear (4403) may be placed on the upper surface of the moving block (4301). The second rotation gear (4403) may be placed within the pivot motion coupling groove (4301a). The second rotation gear (4403) and the pivot motion driving unit (4402) may be arranged in the forward / backward direction within the pivot motion coupling groove (4301a).

[0178] Referring to FIG. 13C, the rotary protrusions (4402-2) can be engaged with the second rotary gear (4403). Accordingly, when the pivot motion driving unit (4402) rotates around a rotation axis parallel to the vertical direction, the second rotary gear (4403) can be rotated around a rotation axis parallel to the vertical direction. As the rotary protrusions (4402-2) and the second rotary gear (4403) are engaged with each other and come into contact with each other, a frictional force can be generated between the rotary protrusions (4402-2) and the second rotary gear (4403). Accordingly, the pivot motion driving unit (4402) can be prevented from rotating excessively. Accordingly, the rotation of the pivot motion driving unit (4402) can be made precise.

[0179] Referring to Fig. 13b, the forward / reverse handle (4401) can be coupled to the forward / reverse operation unit (430). The forward / reverse handle (4401) can be coupled to the handle coupling unit (4303).

[0180]

[0181] Fig. 14a is a perspective view illustrating a tendon sheath pair for pivot motion. Fig. 14b is a perspective view illustrating the connection between a pivot motion drive unit and a tendon sheath pair for pivot motion. Fig. 14c is a side view illustrating the connection between a pivot motion drive unit and a tendon sheath pair for pivot motion.

[0182] For example, FIG. 14c is a drawing showing a pivot motion drive unit (4402) viewed from the rear toward the front.

[0183] Among the components illustrated in FIGS. 14a to 14c, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0184] Referring to FIGS. 4 and 14a, the tendon sheath pair (22a, 22b) for pivot motion may further include a pivot rotation sheath bead (72c) and a plurality of pivot rotation tensioners (62c). The pivot rotation sheath bead (72c) may include a third sheath bead (72c-1) and a fourth sheath bead (72c-2).

[0185] The third sheath bead (72c-1) can wrap a portion of the third sheath (72a). The third sheath bead (72c-1) can wrap one side of the third sheath (72a) that is spaced from the robot arm assembly (100, see FIG. 4).

[0186] The fourth sheath bead (72c-2) can wrap a portion of the fourth sheath (72b). The fourth sheath bead (72c-2) can wrap one side of the fourth sheath (72b) that is spaced from the robot arm assembly (100, see FIG. 4).

[0187] The pivot rotation tensioners (62c) can be connected to both ends of the second tendon (62a). The pivot rotation tensioners (62c) can be connected to one side of the third extension and one side of the fourth extension. Since the coupling method of the rotation tensioners (61c) and the first tendon (61a) can also be applied to the coupling of the pivot rotation tensioners (62c) and the second tendon (62a), the description of the coupling of the rotation tensioners (62c) and the second tendon (62a) will be omitted. Accordingly, the second tendon (62a) and the pivot rotation tensioners (62c) can move together.

[0188] Referring to FIGS. 14b and 14c, a pair of tendon sheaths (22a, 22b, see FIG. 14a) for pivot motion can be coupled to a pivot motion driving unit (4402). Specifically, a second tendon (62a) can extend from the front of the pivot motion driving unit (4402) toward the rear of the pivot motion driving unit (4402). A second tendon (62a) exposed to the outside from a third sheath (72a) and a fourth sheath (72b) can surround the pivot motion driving unit (4402).

[0189] The pivot rotation tensioners (62c) coupled to both ends of the second tendon (62a) can be inserted into the pivot tensioner fixing grooves (4402-1c). The pivot rotation tensioners (62c) can be inserted from the rear to the front of the pivot motion driving unit (4402) through the pivot tensioner fixing grooves (4402-1c). The pivot rotation tensioners (62c) can be fixed to the pivot motion driving unit (4402). Therefore, when the pivot motion driving unit (4402) rotates around a rotation axis parallel to the up-down direction, the second tendon (62a) can move in the front-back direction relatively to the third sheath (72a) and the fourth sheath (72b).

[0190] Although not shown, when the tension of the second tendon (62a) is loosened, the user can rotate the pivot rotation tensioners (62c) by inserting a driver or a hexagonal wrench, etc., into the pivot tensioner fixing grooves (4402-1c) from the forward direction to the rearward direction, thereby moving them forward. Accordingly, the tension of the second tendon (62a) can be easily adjusted.

[0191]

[0192] Fig. 15a is a plan view showing the lower surface of the forward-reverse operating unit. Fig. 15b is a perspective view for explaining the forceps driving tendons and the forward-reverse tendon pair. Figs. 15c and 15d are plan views of the lower surface of the forward-reverse operating unit for explaining the combination of the forward-reverse operating unit and the forward-reverse tendon pair, and the forward-reverse operating unit and the forceps driving tendons. Fig. 15e is a perspective view for explaining the combination of the forward-reverse operating unit and the forward-reverse tendon pair, and the forward-reverse operating unit and the forceps driving tendons.

[0193] Referring to the drawings described above, among the components illustrated in FIGS. 15a to 15e, descriptions of components identical to the described components will be omitted or simplified.

[0194] Referring to FIG. 15a, a main guide groove (4301b), a first sub-guide groove (4301c), a first forward-backward tendon fixing groove (4301d), a second sub-guide groove (4301e), a first forward-backward sheath fixing groove (4301f), a cover placement groove (4301g), a third sub-guide groove (4301h), and a second through hole (4301i) can be defined on the lower surface of the forward-backward operating unit (430).

[0195] The main guide home (4301b) can extend in the forward and backward direction from one side of the moving block (4301) that is in contact with the handle coupling portion (4303) toward the other side, which are opposite to each other in the forward and backward direction.

[0196] The first sub-guide home (4301c) may be defined apart from the main guide home (4301b). The first sub-guide home (4301c) may extend in the forward-backward direction from one side of the opposing moving block (4301) toward the other side.

[0197] The first forward-backward tendon fixing groove (4301d) may extend in the forward-backward direction from one side of the first sub-guide groove (4301c). One side of the first sub-guide groove (4301c) may be defined as a side spaced apart from one side of the two opposing movable blocks (4301) in the forward-backward direction. The width of the first sub-guide groove (4301c) in the vertical direction may be smaller than the width of the first forward-backward tendon fixing groove (4301d) in the vertical direction.

[0198] The second sub-guide groove (4301e) can extend forward and backward from the main guide groove (4301b) toward the other side of the moving block (4301). The main guide groove (4301b) and the second sub-guide groove (4301e) can be defined continuously in the forward and backward direction.

[0199] The first forward / reverse sheath fixing groove (4301f) may be defined on one side of the second sub-guide groove (4301e). The first forward / reverse sheath fixing groove (4301f) may extend in the forward / reverse direction from one side of the second sub-guide groove (4301e) toward the other side of the moving block (4031). The second sub-guide groove (4301e) and the first forward / reverse sheath fixing groove (4301f) may be defined continuously in the forward / reverse direction.

[0200] The inner surface of the moving block (4301) defining the first forward-reverse sheath fixing groove (4301f) may have a step. When viewed from a plan view, the width in the left-right direction of the second sub-guide groove (4301e) may be smaller than the width in the left-right direction of the first forward-reverse sheath fixing groove (4301f).

[0201] The cover placement groove (4301g) can be defined to overlap with the first forward / reverse sheath fixing groove (4301f). That is, the cover placement groove (4301g) can be defined to be vertically continuous with the first forward / reverse sheath fixing groove (4301f).

[0202] The third sub-guide groove (4301h) can extend forward and backward from the main guide groove (4301b) toward the other side of the moving block (4301). The main guide groove (4301b) and the third sub-guide groove (4301h) can be defined to be continuous with each other in the forward and backward direction.

[0203] The second through hole (4301i) may be arranged on one side of the opposite sides of the third sub-guide groove (4301h) in the front-back direction. The second through hole (4301i) may be defined to be continuous with the third sub-guide groove (4301h) in the front-back direction. Although not illustrated, the second through hole (4301i) may overlap with the first through hole (4402-1e, see FIG. 14b) in the vertical direction. One side of the opposite sides of the third sub-guide groove (4301h) in the front-back direction may be defined as a side spaced apart from one side of the moving block (4301).

[0204] Referring to FIG. 15b, the forward / backward tendon sheath pair (23a, 23b) may further include forward / backward beads (73c-1, 73c-2) and a plurality of forward / backward tensioners (63c-1, 63c-2). The forward / backward beads (73c-1, 73c-2) may surround a portion of the first forward / backward sheath (73a) and a portion of the second forward / backward sheath (73b).

[0205] The forward / reverse beads (73c-1, 73c-2) may include a first forward / reverse bead (73c-1) and a second forward / reverse bead (73c-2). The first forward / reverse bead (73c-1) may surround a portion of the first forward / reverse sheath (73a). The second forward / reverse bead (73c-2) may surround a portion of the second forward / reverse sheath (73b).

[0206] The forward / backward tensioners (63c-1, 63c-2) can be coupled to the first forward / backward tendon (63a) and the second forward / backward tendon (63b). The forward / backward tensioners (63c-1, 63c-2) can include the first forward / backward tensioner (63c-1) and the second forward / backward tensioner (63c-2).

[0207] The first forward / reverse tensioner (63c-1) can be coupled to the first forward / reverse tendon (63a). The second forward / reverse tensioner (63c-2) can be coupled to the second forward / reverse tendon (63b). The method of coupling the rotation tensioners (61c) and the first tendon (61a) can also be applied to the coupling of the first forward-backward tensioner (63c-1) and the first forward-backward tendon (63a), and to the coupling of the second forward-backward tensioner (63c-2) and the second forward-backward tendon (63b), so that the description of the coupling of the first forward-backward tensioner (63c-1) and the first forward-backward tendon (63a), and to the coupling of the second forward-backward tensioner (63c-2) and the second forward-backward tendon (63b) will be omitted. Accordingly, when the forward-backward tensioners (63c) are moved, the first and second forward-backward tendons (63a, 63b) can be moved relatively to the first and second forward-backward sheaths (73a, 73b).

[0208] The tendon sheath (24) for driving the forceps may further include a driving bead (74a) and a driving tensioner (64a). The driving bead (74a) may wrap around a portion of the driving sheath (74).

[0209] The drive tensioner (64a) can be coupled to one end of the drive tendon (64). The drive tensioner (64a) and the drive tendon (64) can be coupled to each other. Since the coupling method of the rotation tensioners (61c) and the first tendon (61a) can also be applied to the coupling of the drive tensioner (64a) and the drive tendon (64), the description of the coupling of the drive tensioner (64a) and the drive tendon (64) will be omitted. Accordingly, when the drive tensioner (64a) moves, the drive tendon (64) can move relatively to the drive sheath (74).

[0210] Referring to FIGS. 15b and 15c, the forward-backward tendon sheath pair (23a, 23b) can be coupled to the forward-backward operating unit (430). Specifically, the first forward-backward tendon (63a) exposed to the outside from the first forward-backward sheath (73a) can be placed within the main guide groove (4301b) and the first forward-backward tendon fixing groove (4301d).

[0211] The first forward / reverse tensioner (63c-1) coupled to the end of the first forward / reverse tendon (63a) may be embedded in the inner surface of the movable block (4301) defining the first forward / reverse tendon fixing groove (4301d). For example, although not shown, an opening may be defined in the inner surface of the movable block (4301) defining the first forward / reverse tendon fixing groove (4301d), and the first forward / reverse tensioner (63c-1) may be inserted into the opening.

[0212] The second forward / reverse sheath (73b) can be arranged in the main guide groove (4301b), the second sub-guide groove (4301e), and the first forward / reverse sheath fixing groove (4301f). The second forward / reverse bead (73c-2) can be arranged in the first forward / reverse sheath fixing groove (4301f). Since the inner surface of the moving block (4301) defining the first forward / reverse sheath fixing groove (4301f) has a step, the second forward / reverse bead (73c-2) can be arranged in the first forward / reverse sheath fixing groove (4301f).

[0213] The second forward / backward tendon (63b) may extend toward the other side of the moving block (4301). The second forward / backward tendon (63b) and the second forward / backward tensioner (63c-2) coupled to the second forward / backward tendon (63b) may be arranged adjacent to the other side of the moving block (4301).

[0214] Referring to FIGS. 15c and 15e, for convenience of explanation, the third sheath (72a), the fourth sheath (72b), and the sheath bead (72c) are omitted in FIG. 15e.

[0215] The tendon sheath (24) for driving the forceps can be arranged in the main guide groove (4301b) and the third sub-guide groove (4301h). The driving sheath (74) can extend toward the second through hole (4301i) along the main guide groove (4301b) and the third sub-guide groove (4301h). The driving sheath (74) can be arranged in the second through hole (4301i). The driving sheath (74) can pass through the moving block (4301) through the second through hole (4301i).

[0216] The driving sheath (74) passing through the second through hole (4301i) can pass through the pivot motion driving unit (4402) through the first through hole (4402-1e). A portion of the driving tendon (64), the driving tensioner (64a), and the driving bead (74a) can be placed on the pivot motion driving unit (4402).

[0217] Referring to FIG. 15d, the first sub-guide part (420) may be placed on the lower surface of the moving block (4301). The first sub-guide part (420) may cover the main guide groove (4301b). The first sub-guide part (420) may cover a part of the first sub-guide groove (4301c), a part of the second sub-guide groove (4301e), and a third sub-guide groove (4301h).

[0218] Accordingly, the first sub-guide part (420) can cover the first forward / reverse tendon (63a), the driving sheath (74), and the second forward / reverse sheath (73b). Therefore, the first sub-guide part (420) can prevent the first forward / reverse tendon (63a), the driving sheath (74), and the second forward / reverse sheath (73b) from being separated from the moving block (4301).

[0219]

[0220] Fig. 16a is a perspective view illustrating the combination of the lower main case and the forward / reverse operating unit. Fig. 16b is a cross-sectional view of the forward / reverse handle and the first side wall corresponding to the line Ⅰ-Ⅰ' shown in Fig. 16a.

[0221] Referring to the drawings described above, among the components illustrated in FIGS. 16a and 16b, the description of components identical to the described components will be omitted or simplified.

[0222] Referring to FIG. 11 and FIG. 16a, the forward / backward operation unit (430), the forward / backward handle (4401), the pivot motion drive unit (4402), and the second gear (4403) can be placed on the lower main case (400).

[0223] Referring to FIGS. 16A and 16B, a handle guide groove (4401a) may be defined on the lower surface of a forward / reverse handle (4401). The handle guide groove (4401a) may be positioned on a first side wall portion (4002a). The forward / reverse handle (4401) may reciprocate in the forward / reverse direction along the first side wall portion (4002a) positioned within the handle guide groove (4401a).

[0224] Accordingly, when the forward / reverse handle (4401) moves back and forth, the forward / reverse operating unit (430) connected to the forward / reverse handle (4401), the pivot motion driving unit (4402) positioned on the forward / reverse operating unit (430), and the second gear (4403) can move back and forth in the forward / reverse direction.

[0225]

[0226] Fig. 17a is a perspective view illustrating the first cover part. Fig. 17b is a perspective view illustrating the first cover part illustrated in Fig. 17a upside down. Fig. 17c is a perspective view illustrating the combination of the first cover part and the forward / reverse operation part (430).

[0227] Referring to the drawings described above, among the components illustrated in FIGS. 17a to 17c, descriptions of components identical to the described components will be omitted or simplified.

[0228] Referring to FIGS. 17A and 17B , the first cover portion (4404) may have a partial shape of a rectangular parallelepiped. The upper surface of the first cover portion (4404) may extend longer in the front-back direction than in the left-right direction. The upper surface of the first cover portion (4404) may be parallel to a plane defined by the front-back direction and the left-right direction. A hole (4404a) may be defined in the upper surface of the first cover portion (4404). The hole (4404a) may have a circular shape.

[0229] A gear receiving groove (4404d) may be defined on the lower surface of the first cover portion (4404). The gear receiving groove (4404b) may have a shape corresponding to the upper surface of the second rotary gear (4403) of FIG. 16A. The gear receiving groove (4404b) may be defined to be continuous with the hole (4404a) in the front-rear direction.

[0230] A plurality of pivot sheath fixing grooves (4404c) may be defined on the lower surface of the first cover portion (4404). The pivot sheath fixing grooves (4404c) may extend in the front-rear direction from one side of the first cover portion (4404) that is spaced apart from the gear receiving groove (4404b) among the two opposing sides in the front-rear direction toward the hole (4404a). The pivot sheath fixing grooves (4404c) may be arranged in the left-right direction. The pivot sheath fixing grooves (4404c) may have a shape corresponding to a portion of a square.

[0231] Referring to FIGS. 16A, 17A, and 17C, the first cover part (4404) can be placed on the forward / reverse operation part (430). The first cover part (4404) can be placed on the pivot motion driving part (4402) and the second rotation gear (4403). The first cover part (4404) can cover the second rotation gear (44003).

[0232] A portion of the pivot motion driving unit (4402) may be positioned in a groove (4404a) defined on the upper surface of the first cover portion (4404). The upper surface of the pivot motion driving unit (4402) may be exposed to the outside from the first cover portion (4404) by the groove (4404a). The coupling groove (4402-1d) and the first through hole (4402-1e) defined on the upper surface of the pivot motion driving unit (4404) may be exposed to the outside from the first cover portion (4404).

[0233] Referring to FIG. 14b and FIG. 17b, when the first cover part (4404) is placed on the forward / reverse operation part (430), the third sheath bead (72c-1) and the fourth sheath bead (72c-2) can be placed within the pivot sheath fixing grooves (4404c). The third sheath bead (72c-1) and the fourth sheath bead (72c-2) can be fixed to the pivot sheath fixing grooves (4404c).

[0234] Accordingly, even if the second tendon (62a) coupled to the pivot motion driving unit (4402) moves, the third sheath (72a) and the fourth sheath (72b) may not move. Accordingly, the second tendon (62a) may move in the forward and backward direction relative to the third sheath (72a) and the fourth sheath (72b).

[0235] The tendon sheath section (20) may include a first band (20a) and a second band (20b). The first band (20a) may wrap the tendon sheath section (20) except for the tendon sheath pairs for rotation of the rotating member (21a, 21b, see FIG. 4), the first forward-backward tendon (63a), and the first forward-backward sheath (73a). The second band (20b) may wrap the tendon sheath pairs for rotation of the rotating member (21a, 21b, see FIG. 4), the first forward-backward tendon (63a), and the first forward-backward sheath (73a). The first band (20a) and the second band (20b) may prevent the tendon sheath sections (20) from becoming entangled with each other.

[0236]

[0237] Fig. 18a is a perspective view of the fixing part. Fig. 18b is a perspective view of the fixing part illustrated in Fig. 18a, flipped upside down. Fig. 18c is a drawing for explaining the combination of the fixing part and the first cover part illustrated in Fig. 17c. Fig. 18d is a perspective view of the fixing part and the first cover part illustrated in Fig. 18c, flipped upside down.

[0238] Among the components illustrated in FIGS. 18a to 18d, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0239] Referring to FIGS. 18A to 18C, the fixing portion (460) may have a rectangular parallelepiped shape. The fixing portion (460) may extend longer in the front-back direction than in the left-right direction.

[0240] The fixed portion (460) may include a support portion (4601), a plurality of gear coupling portions (4602), and a lower plate (4603). A first fixed opening (4601a) may be defined on an upper surface of the support portion (4601). The first fixed opening (4601a) may extend downward from the upper surface of the support portion (4601).

[0241] An accommodation space (4601-1) can be defined within the support member (4601). The accommodation space (4601-1) can extend upward from the lower surface of the support member (4601). The accommodation space (4601-1) and the first fixed opening (4601a) can be defined to be continuous in the vertical direction.

[0242] A first guide hole (4601b) and a second guide hole (4601c) may be defined on one side of the support member (4601) that is spaced apart from the rotation handle member (4140) of FIG. 18c among the two opposing sides in the forward-reverse direction. The first guide hole (4601b) may be positioned above the second guide hole (4601c). The first guide hole (4601b) may have a shape corresponding to a portion of a circle. The second guide hole (4601c) may have a shape corresponding to a portion of a square.

[0243] A second forward-backward sheath fixing groove (4601d) may be defined on the inner surface of the support member (4601) defining the second guide hole (4601c). The second forward-backward sheath fixing groove (4601d) may be adjacent to one of the two opposing sides of the support member (4601) in the left-right direction. The second forward-backward sheath fixing groove (4601d) may extend in the forward-backward direction from one side of the support member (4601) toward the other side.

[0244] The second forward / reverse sheath fixing groove (4601d) can be positioned between the first guide hole (4601b) and the second guide hole (4601c). The second forward / reverse sheath fixing groove (4601d) can be defined to be vertically continuous with the second guide hole (4601c).

[0245] The lower plate (4603) may be positioned below the support member (4601). The lower plate (4603) may be adjacent to the other side of the support member (4601) that opposes each other in the front-back direction. The lower plate (4603) may overlap a portion of the receiving space (4601-1).

[0246] A second forward / backward tendon fixing groove (4603a) may be defined on the side of the lower plate (4603). The second forward / backward tendon fixing groove (4603a) may have a circular shape. Although not illustrated, the second forward / backward tendon fixing groove (4603a) may extend in a diagonal direction intersecting the left / right direction and the forward / backward direction.

[0247] The gear couplings (4602) may be arranged on one side of the support (4601) that is opposite to each other in the left-right direction and is spaced apart from the forward-backward handle (4401). The gear couplings (4602) may be arranged in the forward-backward direction on one side of the support (4601).

[0248] The third rotation gear (450) can be coupled to the fixed part (460). The third rotation gear (450) can be coupled to one of the two sides of the support part (4601) that are opposite to each other in the left-right direction. The third rotation gear (450) can include a coupling plate (450a) and a gear (450b). The coupling plate (450a) can be coupled to the gear coupling parts (4602).

[0249] A gear (450b) may be coupled to one side of a joining plate (450a) facing the support member (4601). The gear (450b) may be coupled to the joining plate (450a) so as to rotate around a rotation axis parallel to the left and right directions.

[0250] Referring to FIGS. 18c and 18d, for convenience of explanation, the pair of tendons for rotation of the rotating member (21a, 21b, see FIG. 4) and the second rotation guide portion (4150) are omitted in FIG. 18d. In addition, the tendon joint portion (490) illustrated in FIG. 7 is omitted in FIGS. 18c and 18d.

[0251] The fixed part (460) can be placed on the first cover part (4404) and the pivot motion driving part (4402). The fixed part (460) can cover a part of the first cover part (4404).

[0252] When the fixed part (460) is placed on the first cover part (4404), the first cover part (4404), the forward / backward operation part (430), and the pivot motion driving part (4402) can be placed within the receiving space (4601-1). The forward / backward operation part (430) can move back and forth in the forward / backward direction within the receiving space (4601-1) of the fixed part (460).

[0253] When the forward / reverse operation unit (430) is arranged in the receiving space (4601-1), a plurality of damper parts (4302) and the third rotation gear (450) can be meshed with each other. The damper parts (4302) and the gear (450b) are in contact with each other, and when the forward / reverse operation unit (430) moves in the forward / reverse direction, the gear (450b) can be rotated around a rotation axis parallel to the left / right direction. As the damper parts (4302) and the third rotation gear (450) are in contact with each other, the operation of the forward / reverse operation unit (430) can be made precise. In addition, when the forward / reverse operation unit (430) is not reciprocated, the position can be fixed by the third rotation gear (450).

[0254] A portion of the upper surface of the pivot motion driving unit (4402) and the upper surface of the forward / reverse operating unit (430) may be exposed to the outside from the support unit (4601) through the first fixed opening (4601a). The coupling groove (4402-1d) and the first through hole (4402-1e) defined on the upper surface of the pivot motion driving unit (4402) may be exposed to the outside from the fixed unit (460).

[0255] When the fixed portion (460) is placed on the first cover portion (4404), the first band (20a) can pass through the fixed portion (460). The first band (20a) can be inserted into the first guide hole (2601b). Accordingly, the tendon sheath portion (20) surrounded by the first band (20a) except for the tendon sheath pair for rotation of the rotation member (21a, 21b, see FIG. 4), the first forward-backward tendon (63a), and the first forward-backward sheath (73a) can pass through the fixed portion (460).

[0256] The first forward / reverse bead (73c-1) can be positioned within the second forward / reverse sheath fixing groove (4601d). The first forward / reverse bead (73c-1) can be fixed within the second forward / reverse sheath fixing groove (4601d). Accordingly, the first forward / reverse sheath (73a) surrounded by the first forward / reverse bead (73c-1) can be fixed to the second forward / reverse sheath fixing groove (4601d).

[0257] Accordingly, when the first forward / reverse tendon (63a) moves in the forward / reverse direction, the first forward / reverse sheath (73a) may not move in the forward / reverse direction. Therefore, the first forward / reverse tendon (63a) can move relative to the first forward / reverse sheath (73a) in the forward / reverse direction.

[0258] Referring to FIGS. 15D and 18D, the second forward-backward tendon (63b) and the second forward-backward tensioner (63c-2) coupled to the second forward-backward tendon (63b) can be coupled to the fixing member (460). The second forward-backward tendon (63b) can extend in the forward-backward direction toward the plate (4603). The second forward-backward tendon (63b) can extend toward the second forward-backward tendon fixing groove (4603a). The second forward-backward tensioner (63c-2) coupled to the second forward-backward tendon (63b) can be inserted into the second forward-backward tendon fixing groove (4603a). The second forward-backward tensioner (63c-2) can be fixed to the second forward-backward tendon fixing groove (4603a).

[0259] As the second forward / backward tensioner (63c-2) and the second forward / backward tendon (63b) are fixed to the fixed part (460), and the second forward / backward bead (73c-2) is fixed to the forward / backward operating part (430), when the forward / backward operating part (430) moves back and forth in the forward / backward direction with respect to the fixed part (460), the second forward / backward tendon (63b) can move relative to the second forward / backward sheath (73b) in the forward / backward direction.

[0260]

[0261] Figure 19 is a perspective view illustrating the combination of the upper main case and the lower main case.

[0262] Among the components illustrated in FIG. 19, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0263] Referring to FIGS. 18c and 19, the first band (20a) and the second band (20b) may be positioned within the tendon sheath joint (490). The first band (20a) and the second band (20b) may be positioned within the banding opening (490a).

[0264] The upper main case (470) can be placed on the lower main case (400). The upper main case (470) can be coupled to the lower main case (400). The upper main case (470) can be placed on the pivot motion driving unit (440) and the first cover unit (4404).

[0265] A second fixed opening (470a) may be defined on the upper surface of the upper main case (470). The second fixed opening (470a) may have an oval shape that extends longer in the front-back direction than in the left-right direction.

[0266] The second fixed opening (470a) can overlap with the first fixed opening (4601a, see FIG. 18c) in the vertical direction. Through the second fixed opening (470a), the pivot motion driving unit (4402) can be exposed to the outside from the upper main case (470).

[0267] The drive tendon (64), the drive sheath (74), the drive bead (74a), and the drive tensioner (64a) may extend to the upper portion of the upper main case (470) through the second fixed opening (470a). The drive tendon (64), the drive sheath (74), the drive bead (74a), and the drive tensioner (64a) may be disposed outside the upper main case (470).

[0268]

[0269] Figures 20a to 20c are drawings for explaining the lower case of the forceps driving operation unit. Figure 21 is a perspective view for explaining the combination of the lower case of Figure 20a and the pivot motion driving unit of Figure 19.

[0270] For example, FIG. 20a is a perspective view of the lower case (481), FIG. 20b is a side view of the lower case (481) as viewed from the right side, and FIG. 20c is a plan view of the lower surface of the lower case (481).

[0271] Among the components illustrated in FIGS. 20a to 20c, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0272] Referring to FIG. 7 and FIGS. 20A to 20C, the forceps driving operation unit (480) may include a lower case (481). When viewed from a plan view, the lower case (481) may have a shape corresponding to a portion of an ellipse.

[0273] The lower case (481) may include a receiving portion (4811), a connecting portion (4812), a coupling protrusion (4813), a core portion (4814), a plurality of first elastic fixing portions (4815), and a second elastic fixing portion (4816). The receiving portion (4811) may have a shape that is sunken from the top to the bottom. Accordingly, the receiving portion (4811) may receive a fixing button portion (484, see FIG. 29a) and a forceps drive portion (481, see FIG. 24) to be described later on the upper portion.

[0274] The connecting portion (4812) may be positioned on the lower surface of the receiving portion (4811). The connecting portion (4812) may extend downward from the lower surface of the receiving portion (4811). In practice, the connecting portion (4812) and the receiving portion (4811) may be formed integrally. The connecting portion (4812) may have a cylindrical shape.

[0275] The coupling protrusion (4813) may be positioned on the lower surface of the connecting portion (4812). The coupling protrusion (4813) may extend downward from the lower surface of the connecting portion (4812). In practice, the connecting portion (4812) and the coupling protrusion (4813) may be formed integrally.

[0276] The core portion (4814) may be placed on the receiving portion (4811). The core portion (4814) may be placed on the upper surface of the receiving portion (4811). The core portion (4814) may be placed to overlap the connecting portion (4812) as illustrated in FIG. 20b.

[0277] A forceps through hole (4814a) may be defined on the upper surface of the core portion (4814). The forceps through hole (4814a) may be defined by the core portion (4814), the connecting portion (4812), and the coupling protrusion (4813). That is, the forceps through hole (4814a) may extend in an up-and-down direction from the lower surface of the coupling protrusion (4813) toward the upper surface of the core portion (4814).

[0278] A drive sheath fixing groove (4814b) may be defined on the upper surface of the core portion (4814). The drive sheath fixing groove (4814b) may extend in the front-back direction from the forceps through hole (4814a). The drive sheath fixing groove (4814b) and the forceps through hole (4814a) may be defined to be continuous in the front-back direction.

[0279] Referring to FIGS. 19, 20c, and 21, the lower case (481) can be coupled to the pivot motion driving unit (440). Specifically, the coupling protrusion (4813) of the lower case (481) can have a shape corresponding to the coupling groove (4402-1d). For example, the coupling protrusion (4813) can have a hexagonal shape corresponding to the coupling groove (4402-1d), but is not limited thereto, and the shape of the coupling protrusion (4813) can have a polygonal shape such as a triangle or a square.

[0280]

[0281] FIG. 22a is a plan view showing a state in which the forceps assembly of the robot arm assembly according to one embodiment of the present invention is moved backward. FIG. 22b is a plan view showing a state in which the forceps assembly of the robot arm assembly according to one embodiment of the present invention is protruded forward.

[0282] Referring to the drawings described above, among the components illustrated in FIGS. 22a and 22b, the description of components identical to the described components will be omitted or simplified.

[0283] Referring to FIGS. 15d, 18d, and 21 to 22b, as the coupling protrusion (4813) is positioned within the coupling groove (4402-1d), when the user applies an external force to the forceps driving operation unit (480, see FIG. 7) to move it forward and backward, the pivot motion driving unit (4402) connected to the forceps driving operation unit (480, see FIG. 7) and the first cover unit (4404) connected to the pivot motion driving unit (4402) can move in the forward and backward direction.

[0284] Specifically, when the forward / reverse operation unit (430) moves forward, the first forward / reverse tendon (63a) fixed to the forward / reverse operation unit (430) can move relatively in the forward / reverse direction with respect to the first forward / reverse bead (73c-1) and the first forward / reverse sheath (73a) fixed to the second forward / reverse sheath fixing groove (4601d) illustrated in FIG. 18d. The first forward / reverse tendon (63a) can apply a force in a direction parallel to the forward / reverse direction to the forceps assembly (200) connected to the first forward / reverse tendon (63a).

[0285] When the forward / reverse operating unit (430) moves forward, the second forward / reverse bead (73c-2) coupled to the forward / reverse operating unit (430) and the second forward / reverse sheath (73b) surrounded by the second forward / reverse bead (73c-2) can move relatively in the forward / reverse direction with respect to the second forward / reverse tendon (63b). The second forward / reverse sheath (73b) can apply a force in a direction parallel to the forward / reverse direction to the forceps assembly (200) coupled to the second forward / reverse sheath (73b).

[0286] Accordingly, as shown in FIGS. 22a and 22b, the forceps assembly (200) can be reciprocated in the forward and backward direction toward the inside or outside of the sliding member moving hole (132).

[0287]

[0288] FIGS. 23a and 23b are perspective views illustrating a pivot rotation operation of a robot arm assembly according to one embodiment of the present invention.

[0289] Referring to the drawings described above, among the components illustrated in FIGS. 23a and 23b, descriptions of components identical to the described components will be omitted or simplified.

[0290] Referring to FIGS. 4, 14b, 14c, 21, and 23a to 23b, when the engaging projection (4813) is positioned within the engaging groove (4402-1d), when the user rotates the forceps driving operation unit (480, see FIG. 7) about a rotation axis parallel to the up-down direction, the pivot motion driving unit (4402) can be rotated about a rotation axis parallel to the up-down direction.

[0291] Specifically, when the user rotates the forceps drive operating unit (480, see FIG. 7) around a rotation axis parallel to the up-down direction, the pivot motion driving unit (4402) can be rotated around the rotation axis parallel to the up-down direction.

[0292] When the pivot motion driving unit (4402) rotates, the second tendon (62a) connected to the pivot motion driving unit (4402) can move relative to the third and fourth sheaths (72a, 72b) in the forward and backward direction.

[0293] For example, the second tendon (62a) placed on the left side of FIG. 14b may be the second tendon (62a) placed on the upper side of FIG. 4, and the second tendon (62a) placed on the right side may be the second tendon (62a) placed on the lower side of FIG. 4.

[0294] When viewed from a plane, when the pivot motion driving unit (4402) is rotated clockwise, the second tendon (62a) arranged on the left can be moved rearward with respect to the third sheath (72a), and the second tendon (62a) arranged on the right can be moved forward with respect to the fourth sheath (72b).

[0295] Accordingly, the second tendon (62a) arranged at the top of FIG. 4 can pull the forceps assembly (200), and the second tendon (62a) arranged at the bottom can push the forceps assembly (200). Accordingly, as illustrated in FIG. 23a, the forceps assembly (200) can be pivotally rotated upward about the second rotation axis (R2) parallel to the left-right direction.

[0296] When viewed from a flat surface, when the pivot motion driving unit (4402) is rotated counterclockwise, the second tendon (62a) arranged on the left can be moved forward with respect to the third sheath (72a), and the second tendon (62a) arranged on the right can be moved backward with respect to the fourth sheath (72b).

[0297] Accordingly, the second tendon (62a) arranged at the top of FIG. 4 can push the forceps assembly (200), and the second tendon (62a) arranged at the bottom can pull the forceps assembly (200). Accordingly, as illustrated in FIG. 23b, the forceps assembly (200) can be pivotally rotated downward about a third rotation axis (R3) parallel to the left-right direction.

[0298]

[0299] Figure 24 is a perspective view for explaining the forceps drive unit.

[0300] Among the components illustrated in Fig. 24, reference will be made to the drawings described above, and descriptions of components identical to the described components will be omitted or simplified.

[0301] Referring to FIGS. 21 and 24, the lower case (481) may further include a plurality of first elastic fixing parts (4815). The first elastic fixing parts (4815) may be arranged on one side of the receiving part (4811) that is spaced apart from the driving tensioner (64a) among the two opposite sides in the front-rear direction. The first elastic fixing parts (4815) may be arranged in the left-right direction.

[0302] The first elastic fixing members (4815) may include fixing bulkhead members (4815-1) and fixing protrusions (4815-2). The fixing bulkhead members (4815-1) may have a rectangular shape and may be arranged in the left-right direction.

[0303] The fixed protrusions (4815-2) may be arranged on one side of the fixed bulkheads (4815-1) that are opposite to each other in the front-back direction, adjacent to one side of the receiving portion (4811). The fixed protrusions (4815-2) may extend in the front-back direction from one side of the fixed bulkheads (4815-1) toward one side of the receiving portion (4811). The fixed protrusions (4815-2) may be referred to as first elastic fixing portions (4815-2).

[0304] The forceps driving operation unit (480) may further include a forceps driving unit (482). The forceps driving unit (482) may be disposed on the lower case (481). The forceps driving unit (482) may be disposed on the upper surface of the lower case (481).

[0305] The forceps drive unit (482) may include a base plate (4821) and a plurality of holders (4822). The base plate (4821) may be placed on the receiving unit (4811). The length of the base plate (4821) in the front-back direction may be smaller than the length of the base plate (4821) in the left-right direction.

[0306] A plurality of elastic member fixing grooves (4821a) may be defined adjacent to one side of the receiving portion (4811) among the two sides of the base plate (4821) that are opposed to each other in the front-back direction. The plurality of elastic member coupling grooves (4821a) may be arranged in the left-right direction. The elastic member coupling grooves (4821a) may extend in the front-back direction. The elastic member coupling grooves (4821a) may have a shape corresponding to a portion of a rectangular parallelepiped.

[0307] When the base plate (4821) is placed on the upper surface of the receiving portion (4811), the first elastic fixing portions (4815) can be placed within the elastic member fixing grooves (4821a). As the fixing protrusions (4815-2) are placed within the elastic member fixing grooves (4821a), when the forceps drive portion (482) moves forward and backward with respect to the lower case (481), the forceps drive portion (482) can be prevented from being dislodged in the left and right direction by the first elastic fixing portions (4815).

[0308] The movable protrusions (4823, see FIG. 29a) to be described later may be positioned on the inner surfaces of the base plate (4821) defining the elastic member fixing grooves (4821a). The movable protrusions (4823, see FIG. 28) may face each other in the front-back direction with the fixed protrusions (4815-2). The movable protrusions (4823, see FIG. 28) will be described in detail below.

[0309] A central hole (4821b) may be defined in the center of the base plate (4821). The base plate (4821) may be defined between two opposite sides of the base plate (4821) in the front-rear direction. When the base plate (4821) is placed on the upper surface of the receiving portion (4811), the core portion (4814) may be placed within the central hole (4821b).

[0310] The dummy groove (4821c) may be defined adjacent to the other side of the base plate (4821) that opposes each other in the front-rear direction. The dummy groove (4821c) may have a shape corresponding to a portion of a rectangular parallelepiped. When viewed in plan view, the dummy groove (4821c) may be defined as being continuous with the central hole (4821b) in the front-rear direction.

[0311] A drive tensioner fixing groove (4821d) may be defined on the inner surface of the base plate (4821) defining the dummy groove (4821c). The drive tensioner fixing groove (4821d) may extend in the front-back direction on the inner surface of the base plate (4821) defining the dummy groove (4821c).

[0312] The drive tendon (64) can extend forward and backward toward the drive tensioner fixing groove (4821d). The drive tensioner (64a) coupled to the end of the drive tendon (64) can be inserted into the drive tensioner fixing groove (4821d). The drive tendon (64) and the drive tensioner (64a) can be fixed to the drive tensioner fixing groove (4821d).

[0313] Fig. 25 is an exploded perspective view of the forceps assembly illustrated in Fig. 4. Figs. 26a and 26b are plan views of the forceps structure of the robot arm assembly according to one embodiment of the present invention.

[0314] For example, FIG. 26a may be a closed forceps assembly (200), and FIG. 26b may be a opened forceps assembly (200).

[0315] Referring to the drawings described above, among the components illustrated in FIGS. 25 to 26b, descriptions of components identical to the described components will be omitted or simplified.

[0316] Referring to FIG. 25, in one embodiment of the present invention, a forceps assembly (200) includes a forceps assembly body (210), a first forceps member (230), a second forceps member (220), and a moving member (240). In this embodiment, the first forceps member (230) and the second forceps member (220) may be combined to perform the function of forceps.

[0317] The forceps assembly body (210) is a part where the first forceps member (230) and the second forceps member (220) are rotatably coupled.

[0318] A rear protrusion (214) protruding rearwardly to correspond to the front groove (165) of the female link member (160) is formed on the rear surface of the forceps assembly body (210).

[0319] On the front surface of the forceps assembly body (210), referring to FIG. 26, a first forceps member coupling portion (212a) and a second forceps member coupling portion (212b) are protrudingly formed on both sides of the body (210) facing forward. Each of the first forceps member coupling portion (212a) and the second forceps member coupling portion (212b) has coupling holes (213a, 213b) so that the first forceps member (230) and the second forceps member (220) are rotatably coupled by coupling pins (252a, 252b).

[0320] The first forceps member (230) and the second forceps member (220) are provided with a first forceps tip portion (234) and a second forceps tip portion (224) that are opposed to each other and are engaged with each other on the front side. In addition, the first forceps member (230) and the second forceps member (220) include a body (231, 221) in which a coupling hole (233, 223) through which a coupling pin (252a, 252b) passes and an inclined guide (235, 225) is formed so that a guide protrusion (242b, 242a) of a moving member (240) described later is guided.

[0321] The inclined guide (235) formed on the body (231) of the first forceps member (230) and the inclined guide (225) formed on the body (221) of the second forceps member (220) are formed symmetrically to each other and are formed to become closer toward the rear side.

[0322] Meanwhile, as shown in Fig. 26, guide protrusions (242b, 242a) protruding from the upper and lower sides of the moving member (240) are inserted into a pair of inclined guides (235, 225) of the first forceps member (230) and the second forceps member (220).

[0323] And, the moving member (240) is formed so that the end of the sixth tendon (64) of the forceps driving tendon sheath (24) is coupled to the moving member (240). The driving sheath (74) of the forceps driving tendon sheath (24) is formed so that the tip end is coupled to the forceps assembly body (210).

[0324] Referring to FIGS. 4 and 24 to 26b, the drive tendon (64) and the drive tensioner (64a) can be fixed to the drive tensioner fixing groove (4821d). Accordingly, when the forceps drive unit (482) moves forward and backward with respect to the lower case (481), the drive tendon (64) and the drive tensioner (64a) can move relative to the drive sheath (74) fixed to the lower case (481) in the forward and backward direction.

[0325] As the drive tendon (64) moves forward and backward relative to the drive sheath (74), the forceps assembly (200) can be converted from an open state to a closed state or from a closed state to an open state. For example, when the forceps drive unit (482) moves back and forth in the forward and backward direction, the movable member (240) connected to the drive tendon (64) is formed to be able to move in the forward and backward direction.

[0326] Accordingly, when the movable member (240) is retracted, as shown in Fig. 26a, the first forceps tip (234) of the first forceps member (230) and the second forceps tip (224) of the second forceps member (220) are formed to interlock with each other.

[0327] When the movable member (240) is moved forward, as shown in Fig. 26a, the first forceps tip (234) of the first forceps member (230) and the second forceps tip (224) of the second forceps member (220) are separated or open from each other.

[0328] In this way, by driving the tendon sheath (24) for driving the forceps, the first forceps member (230) and the second forceps member (220) can be formed to be spread apart or interlocked with each other.

[0329]

[0330] Fig. 27a is a perspective view illustrating the connection of the forceps drive unit and tendon cover unit of Fig. 24. Fig. 27b is a perspective view of the tendon cover unit.

[0331] Referring to the drawings described above, among the components illustrated in FIGS. 27a and 27b, descriptions of components identical to the described components will be omitted or simplified.

[0332] Referring to Fig. 27a, a tendon cover part (483) may be placed in a dummy groove (2821c) of a forceps drive part (482). The tendon cover part (483) may include a first tendon cover part (483a) and a second tendon cover part (483b). The upper surface of the first tendon cover part (483a) and the upper surface of the second tendon cover part (483b) may be parallel to a plane defined by the front-back direction and the left-right direction.

[0333] A first drive tendon guide groove (483a-1) may be defined on one side of the first cover portion (483a) that faces the second cover portion (483b) among the two opposite sides in the left-right direction. One side of the first cover portion (483a) defining the first drive tendon guide groove (483a-1) may be a concave surface that is sunken toward the other side.

[0334] A second drive tendon guide groove (483b-1) may be defined on one side of the second cover portion (483b) that faces the first cover portion (483a) among the two opposite sides in the left-right direction. One side of the second cover portion (483b) defining the second drive tendon guide groove (483b-1) may be a concave surface that is sunken toward the other side.

[0335] The first driving tendon guide groove (483a-1) and the second driving tendon guide groove (483b-1) may have shapes corresponding to each other. The first driving tendon guide groove (483a-1) and the second driving tendon guide groove (483b-1) are defined to be continuous with each other and may have a circular shape.

[0336] When the tendon cover part (483) is placed in the dummy groove (2821c), the driving tendon (64) can be placed in the first driving tendon guide groove (483a-1) and the second driving tendon guide groove (483b-1). The driving tendon (64) can be surrounded by one side of the first driving tendon guide groove (483a-1) and one side of the second cover part (483b). Accordingly, the driving tendon (64) can be prevented from being separated from the dummy groove (3821c).

[0337]

[0338] Fig. 28 is a perspective view illustrating the combination of the button portion and the forceps drive portion. Fig. 29a is a perspective view illustrating the combination of the fixed button portion and the forceps drive portion. Fig. 29b is a perspective view of the fixed button portion illustrated in Fig. 29a. Fig. 29c is a perspective view illustrating the fixed button portion illustrated in Fig. 29b upside down.

[0339] Referring to the drawings described above, among the components illustrated in FIGS. 29a to 29c, descriptions of components identical to the described components will be omitted or simplified.

[0340] Referring to FIGS. 28 and 29a, the forceps drive unit (482) may further include movable protrusions (4823). The movable protrusions (4823) may be positioned within the elastic member fixing groove (4821a). The movable protrusions (4823) may extend in the front-back direction on the inner surface of the forceps drive unit (482) defining the elastic member fixing groove (4821a). The movable protrusions (4823) may face the fixed protrusions (4815-2).

[0341] The button portion (484) may be positioned on one side of the forceps drive portion (482) that is adjacent to the rotation handle portion (4140) among the two opposing sides in the forward-backward direction. The button portion (484) may be brought into contact with one side of the forceps drive portion (482). Accordingly, when a user applies an external force to the button portion (484) in a direction parallel to the forward direction, the forceps drive portion (482) may be moved in the forward direction.

[0342] The forceps driving operation unit (480) may further include a first elastic member (485). In practice, the forceps driving operation unit (480) includes a plurality of first elastic members (485), but for convenience of explanation, only one first elastic member (485) is illustrated. Hereinafter, one first elastic member (485) will be described.

[0343] The first elastic member (485) may be positioned within the elastic member fixing groove (4821a). The first elastic member (485) may be positioned between the fixing protrusions (4815-2) and the movable protrusions (4823). For example, the first elastic member (485) may be a spring.

[0344] When the forceps driving unit (482) moves forward and the distance between the movable protrusions (4823) and the fixed protrusions (4815-2) becomes closer, the first elastic member (485) can be compressed. When the first elastic member (485) is compressed, the first elastic member (485) can apply an elastic force to the forceps driving unit (482) in a direction parallel to the rearward direction. Accordingly, the forceps driving unit (482) can be retracted in the rearward direction.

[0345] The forceps driving operation unit (480) may include a plurality of holders (4822). The holders (4822) may be arranged on a base plate (4821). The holders (4822) may be arranged in the left and right directions with a central hole (4821b) between them.

[0346] The upper surfaces (4822a, 4822b) of the holders (4822) may have steps. The upper surfaces of the holders (4822) may have first surfaces (4822a) and second surfaces (4822b). The first surfaces (4822a) may be positioned on the second surfaces (4822b). That is, the height of the first surfaces (4822a) may be higher than the height of the second surfaces (4822b).

[0347] The first faces (4822a) may have a slope. The height of the first faces (4822a) may decrease as they move away from the second faces (4822b).

[0348] Referring to FIGS. 20A, 21, 24, 27A, and 29A, the second elastic fixing portion (4816) may be disposed on the inner surface of the receiving portion (4811). The second elastic fixing portion (4816) may extend in the left-right direction from the inner surface of the receiving portion (4811). Hereinafter, among the two opposite sides of the receiving portion (4811) in the left-right direction, the side on which the second elastic fixing portion (4816) is disposed may be defined as one side.

[0349] The forceps driving operation unit (480) may further include a fixed button portion (486) and a second elastic member (487). The fixed button portion (486) may be positioned on the forceps driving unit (482). The fixed button portion (496) may extend in the left and right directions.

[0350] Among the two sides of the fixed button portion (486) that oppose each other in the left-right direction, one side that is spaced apart from the second elastic fixed portion (4816) can be exposed to the outside from the receiving portion (4811). Accordingly, when a user applies an external force to the fixed button portion (486), the fixed button portion (486) can be moved in the left-right direction on the receiving portion (4811).

[0351] A second elastic member (487) may be placed between the fixed button portion (486) and the second elastic fixed portion (4816). When an external force is applied to the fixed button portion (486) and the distance between the fixed button portion (486) and the second elastic fixed portion (4816) is reduced, the second elastic member (487) may contract. When the external force applied to the fixed button portion (486) is removed, the second elastic member (487) may apply an elastic force to the fixed button portion (486) in a rightward direction. The fixed button portion (486) may be reciprocated in the left and right directions on the receiving portion (4811).

[0352] The lower surface (485a) of the fixed button portion (486) may be parallel to a plane defined by the front-back direction and the left-right direction. A plurality of forceps fixing grooves (485b) may be defined on the lower surface (485a) of the fixed button portion (486). The forceps fixing grooves (485b) may extend in an up-and-down direction from the lower surface (485a) toward the upper surface. The forceps fixing grooves (485b) may extend from one side facing the tendon cover portion (483) among the two sides of the fixed button portion (486) that are opposed to each other in the front-and-back direction toward the other side. The forceps fixing grooves (485b) may be arranged in a left-right direction.

[0353] The bottom surfaces (4852) may include first bottom surfaces (4852a) and second bottom surfaces (4852b). When the fixing button portion (486) is flipped upside down, the second bottom surfaces (4852b) may be positioned higher than the first bottom surfaces (4852a). The height of the second bottom surfaces (4852b) may be higher than the height of the first bottom surfaces (4852a). The bottom surfaces (4852) of the fixing button portion (486) defining the forceps fixing grooves (485b) may have a step.

[0354] The first bottom surfaces (4852a) may be planes parallel to the planes defined by the left-right and front-back directions. The second bottom surfaces (4852b) may have an incline. As illustrated in FIG. 29c, when the fixed button portion (486) is flipped upside down, the second bottom surfaces (4852b) may have a lower height as they move from one side of the fixed button portion (486) toward the other side, which are opposite to each other in the front-back direction.

[0355]

[0356] Figures 30a and 30b are cross-sectional views of the fixed button portion and holder corresponding to the line Ⅰ-Ⅰ' shown in Figure 29a.

[0357] Referring to the drawings described above, among the components illustrated in FIGS. 30a and 30b, descriptions of components identical to the described components will be omitted or simplified.

[0358] Referring to FIGS. 29a to 29c, 30a, and 30b, when no external force is applied to the button portion (484), the fixed button portion (486) can overlap the holders (4822). The second bottom surfaces (4852b) of the fixed button portion (486) can overlap the holders (4822). The second bottom surfaces (4852b) and the first surfaces (4822a) can have slopes that are symmetrical to each other. Hereinafter, a state in which the holders (4822) are arranged within the forceps fixing grooves (485b) can be defined as a first state.

[0359] When a user applies force to the button portion (484) in a direction parallel to the forward and backward direction, the holders (4822) can move in the forward and backward direction. The holders (4822) can apply an external force to the second bottom surface (4852b). The external force causes the fixing button portion (486) to move upward, and the holders (4822) can move outward from the forceps fixing grooves (485b). Hereinafter, a state in which the holders (4822) are arranged outside the forceps fixing grooves (485b) can be defined as a second state.

[0360] In the second state, the holders (4822) can contact one side of the fixed button portion (486) that is adjacent to the tendon cover portion (483) among the opposite sides in the forward-backward direction. Accordingly, the holders (4822) can be prevented from moving backward by the fixed button portion (486). Accordingly, the user can easily operate the forceps assembly (200) to maintain the closed state, as illustrated in FIG. 27b.

[0361] In the second state, the user can apply an external force to the fixing button portion (486) to move it in the left direction. The holders (4822) can overlap with the forceps fixing grooves (485b) in the front-back direction. The holders (4822) can be moved rearward toward the inside of the forceps fixing grooves (485b) to enter the first state. As the holders (4822) move rearward, the forceps assembly (200) can be brought into an open state.

[0362] Although the embodiments of the present invention have been described, 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.

[0363] The national research and development projects that supported this application are as follows.

[0364] [Project ID]2420016085

[0365] [Assignment Number] 00321839 (RS-2023-00321839)

[0366] [Ministry Name] Ministry of SMEs and Startups

[0367] [Name of Project Management (Specialist) Agency] Small and Medium Business Technology Information Promotion Agency

[0368] [Research Project Name] High-Risk, High-Performance R&D Project

[0369] [Research Project Title] Development of a High-Reflection Flexible Surgical Robot Platform for Minimally Invasive Surgery

[0370] [Name of the project performing organization] Endrobotics Co., Ltd.

[0371] [Research Period] March 1, 2024 - February 28, 2027

[0372] Since the user can intuitively understand the operation of the robot arm assembly by manipulating the control panel, the user can easily operate the robot arm assembly through the control panel. Therefore, the endoscopic robot arm drive device of the present invention has industrial applicability.

Claims

1. A tendon sheath section including a pair of tendons for pivot motion, a tendon sheath for forceps driving, and a pair of tendons for forward and backward movement, which are spaced apart from each other and extend in the forward and backward direction; A robot arm assembly connected to one side of the tendon sheath; and Including an operating unit connected to the opposite side of one side of the tendon sheath, The above operating part, A fixed part having a defined receiving space on the surface; A forward / backward operating unit connected to the forward / backward tendon sheath pair and arranged in the receiving space to reciprocate in the forward / backward direction with respect to the fixed unit; A pivot motion operating unit coupled to the forward / backward operating unit so as to be connected to the tendon sheath pair for the pivot motion and rotate around a rotation axis parallel to the up / down direction intersecting the forward / backward direction within the receiving space; and An endoscopic robot arm driving device including a forceps driving operating unit connected to the above forceps driving tendon sheath and coupled to the pivot motion operating unit.

2. In paragraph 1, Further comprising a rotation operation unit disposed adjacent to one side of the fixed part that is spaced apart from the robot arm driving device among the two sides of the fixed part that oppose each other in the forward and backward directions, The above tendon pair is, It further includes a pair of tendons for rotating the rotating member, which are coupled to the above rotating operation unit and extend in the forward and backward direction, The above rotary operation unit is, A first rotation guide part disposed adjacent to one side of the above-mentioned fixed part and having a plurality of rotational sheath fixing grooves defined on the lower surface; and An endoscopic robot arm driving device comprising a rotating tendon fixing part that is coupled to one side of the first rotating guide part that is spaced apart from the fixing part among the two sides that oppose each other in the forward-backward direction and rotates around a rotating axis parallel to the forward-backward direction.

3. In paragraph 2, The above tendon sheath pair for rotating the rotating member is, A first tendon including a ring tendon defined as a portion coupled to the robot arm driving device, and a first extension portion and a second extension portion extending from the ring tendon toward the operating portion; A rotating sheath comprising a first sheath surrounding a portion of the first extension portion, and a second sheath surrounding a portion of the second extension portion; A rotational sheath bead including a first sheath bead that surrounds one side of the first sheath that is spaced from the ring tendon among the two sides of the first sheath that are opposed to each other in the forward-backward direction, and a second sheath bead that surrounds one side of the second sheath that is spaced from the ring tendon among the two sides of the second sheath that are opposed to each other in the forward-backward direction; and It includes a plurality of rotational tensioners coupled to one side of the first extension adjacent to one side of the first sheath and one side of the second extension adjacent to one side of the second sheath, The above first tendon is an endoscopic robot arm driving device that moves in the forward and backward direction relative to the first sheath and the second sheath.

4. In paragraph 3, The first sheath bead and the second sheath bead are arranged within the rotating sheath fixing grooves, One side of the first extension portion exposed to the outside from the first sheath and one side of the second extension portion exposed to the outside from the second sheath surround a portion of the rotating tendon fixing portion, The above rotational tensioners are fixed within a plurality of rotational tensioner fixing grooves defined in the above rotational tendon fixing member, An endoscopic robot arm driving device in which, when the above-mentioned rotating tendon fixing part is rotated around a rotation axis parallel to the forward and backward direction, the first extension part and the second extension part move in different directions.

5. In paragraph 3, The above rotary operation unit is, It further includes a first rotation gear disposed on one side of the first rotation guide portion and rotating around a rotation axis parallel to the front-back direction, A rotation groove corresponding to the first rotation gear is defined on one side of the rotation tendon fixing part facing the first rotation guide part, An endoscopic robot arm driving device in which the inner surface of the first rotation gear and the rotation tendon fixing part defining the rotation groove are in contact with each other.

6. In paragraph 3, The above rotary operation unit is, Further comprising a second rotation guide part coupled to the other side of the first rotation guide part, An endoscopic robot arm driving device in which the first sheath and the second sheath are defined on the lower surface of the second rotation guide part and arranged in rotation sheath guide grooves extending in the front-rear direction.

7. In paragraph 1, The above pivot motion control unit is, A pivot motion driving unit including a body part that is arranged on the forward / reverse operation unit and rotates around a rotation axis parallel to the up / down direction; and An endoscopic robot arm driving device including a first cover part disposed on the pivot motion driving part.

8. In paragraph 7, The tendon sheath pair for the above pivot motion is, A second tendon including a pivot tendon defined as a portion coupled to the robot arm driving device, and a third extension portion and a fourth extension portion extending from the pivot tendon toward the operating portion; A pivot rotation sheath including a third sheath surrounding a portion of the third extension, and a fourth sheath surrounding a portion of the fourth extension; A plurality of pivot rotation sheath beads surrounding one side of the third sheath that is spaced apart from the pivot tendon among the two sides of the third sheath that are opposed to each other in the forward-backward direction, and one side of the fourth sheath that is spaced apart from the pivot tendon among the two sides of the fourth sheath that are opposed to each other in the forward-backward direction; and A plurality of pivot rotation tensioners are included, one side of the third extension adjacent to one side of the third sheath, and one side of the fourth extension adjacent to one side of the fourth sheath. The second tendon moves in the forward and backward direction relative to the third sheath and the fourth sheath, The pivot rotation sheath beads are arranged in the pivot sheath fixing grooves defined on the lower surface of the first cover portion, The third extension portion exposed to the outside from the third sheath, and the fourth extension portion exposed to the outside from the fourth sheath surround a portion of the body portion, The above rotational tensioner is positioned within pivot tensioner fixing grooves defined to extend in the front-rear direction of the body portion, An endoscopic robot arm driving device in which, when the pivot motion driving unit is rotated around a rotation axis parallel to the vertical direction, the third extension unit and the fourth extension unit move in different directions.

9. In paragraph 7, The above pivot motion control unit is, Further comprising a second rotary gear adjacent to the pivot motion driving unit, The above pivot motion driving unit is, It further includes a plurality of rotating protrusions arranged on the outer surface of the body portion facing the second rotating gear, An endoscopic robot arm driving device in which the second rotating gear and the rotating protrusions are interlocked with each other.

10. In paragraph 7, A first fixing opening is defined on the upper surface of the above fixing part, The upper surface of the pivot motion driving part is exposed to the outside from the fixed part by the first fixed opening, The above forceps driving operation unit is, A lower case coupled to the pivot motion driving unit and having a driving sheath fixing groove defined on the upper surface; A button portion disposed on one side of the lower case that is spaced apart from the robot arm assembly among the two sides of the lower case that oppose each other in the forward-backward direction, and that moves back and forth in the forward-backward direction; A forceps driving unit arranged on the lower case and arranged in the front-back direction with the button unit so as to be in contact with the button unit; and An endoscopic robot arm driving device that moves back and forth in a left-right direction intersecting a plane defined by the forward-backward direction and the up-down direction on the forceps driving unit and includes a fixed button portion extending in the left-right direction.

11. In paragraph 10, The above lower case, A receiving portion that receives the button portion and the forceps driving portion; a connecting portion extending downward from the lower surface of the receiving portion toward the pivot motion driving portion; and Includes a connecting projection protruding downward from the lower surface of the above connecting portion, A coupling groove corresponding to the coupling protrusion is defined on the upper surface of the pivot motion driving part, The above-mentioned joining protrusion is positioned within the joining groove, An endoscopic robot arm driving device in which the pivot motion driving unit rotates around the rotation axis parallel to the up-down direction when the lower case rotates around the rotation axis parallel to the up-down direction.

12. In paragraph 10, The tendon sheath for driving the forceps extends from the lower surface of the forward / reverse operating unit through the fixed unit, the pivot motion operating unit, and the lower case toward the driving sheath fixing groove. The tendons for driving the above forceps are: A driving tendon penetrating the fixed part, the pivot motion operating part, and the lower case, one side of which is positioned on the upper surface of the lower case and the other side of which is coupled to the robot arm assembly; A drive sheath surrounding a portion of the above drive tendon; A drive bead surrounding one side of the drive sheath adjacent to one side of the drive tendon; and A drive tensioner coupled to one side of the above drive tendon, The above driving tendon moves in the forward and backward direction relative to the above driving sheath, The above driving bead is an endoscopic robot arm driving device fixed to the above driving sheath fixing groove.

13. In paragraph 12, The above forceps driving unit is, A base plate having a plurality of elastic member fixing grooves defined on one side adjacent to the button portion among the two sides opposing each other in the forward-backward direction, and a drive tensioner fixing groove extended in the forward-backward direction defined on the other side; A plurality of holders arranged on the upper surface of the base plate, arranged between the elastic member fixing grooves and the driving tensioner fixing grooves, and arranged in the left-right direction; and It includes a plurality of movable protrusions arranged within the elastic member fixing grooves and extending in the front-rear direction, An endoscopic robot arm driving device in which the left-right direction is defined as a direction intersecting a plane defined by the front-back direction and the up-down direction.

14. In paragraph 13, The above lower case, A receiving portion that receives the button portion and the forceps driving portion; and Includes a plurality of fixed protrusions extending in the forward and backward direction, adjacent to the button portion on both sides of the receiving portion that are opposed to each other in the forward and backward direction, When the above forceps driving part is placed on the upper surface of the lower case, the fixed protrusions are placed within the elastic member fixing grooves and face each other with the moving protrusions, The above forceps driving operation unit is, A plurality of first elastic members are disposed between the fixed protrusions and the movable protrusions, An endoscopic robot arm driving device in which the length of the first elastic members changes when the button part moves back and forth in the forward and backward direction.

15. In paragraph 13, The above driving tensioner is placed in the above driving tensioner fixing groove, An endoscopic robot arm driving device in which, when the above forceps driving unit reciprocates in the forward and backward direction, the driving tendon reciprocates in the forward and backward direction with respect to the driving sheath.

16. In paragraph 13, The above lower case, A receiving portion defining a receiving space for receiving the button portion and the forceps driving portion; and A second elastic fixing member is disposed on the inner surface of the receiving portion defining the receiving space and extends in the left and right direction, The above forceps driving operation unit is, Further comprising a second elastic member disposed between the fixed button portion and the second elastic fixed portion, An endoscopic robot arm driving device in which the length of the second elastic member changes when the fixed button part moves back and forth in the left and right directions.

17. In paragraph 13, A plurality of forceps fixing grooves arranged in the left and right directions are defined on the lower surface of the above fixed button portion, The bottom surfaces of the fixing button portion defining the above forceps fixing grooves are First floor surfaces parallel to the plane defined by the left-right direction and the front-back direction; and Including second floor surfaces adjacent to the first floor surfaces in the front-rear direction and having an incline, The height of the above first floor surfaces is higher than the height of the above second floor surfaces. When the button part moves in the forward and backward direction, the forceps driving part moves in the forward and backward direction with respect to the fixed button part, The first state of the forceps drive unit is defined as a state in which the holders are arranged within the forceps fixing grooves, and the second state of the forceps drive unit is defined as a state in which the holders are arranged outside the forceps fixing grooves. When changing from the first state to the second state, the distance between the driving tensioner and the other side of the lower case decreases, An endoscopic robot arm driving device that is converted from the first state to the second state when the holders overlap the second floor surfaces.

18. In paragraph 1, The above forward and backward tendon sheath pairs are: A forward-backward tendon including a first forward-backward tendon coupled to the robot arm driving device, and a second forward-backward tendon coupled to the robot arm driving device and adjacent to the first forward-backward tendon; A forward / backward sheath including a first forward / backward sheath that wraps around one side of the first forward / backward tendon in the forward / backward operating unit, and a second forward / backward sheath that wraps around one side of the second forward / backward tendon adjacent to the forward / backward operating unit; A forward / backward bead including a first forward / backward bead that wraps around one side of a first forward / backward sheath adjacent to one side of the first forward / backward tendon, and a second forward / backward bead that wraps around one side of the second forward / backward sheath adjacent to one side of the second forward / backward tendon; and A forward / backward tensioner including a first forward / backward tensioner coupled to one side of the first forward / backward tendon and a second forward / backward tensioner coupled to one side of the second forward / backward tendon, A first forward / reverse tendon fixing groove is defined on the lower surface of the forward / reverse operating unit, A first forward / backward tendon fixing groove and a first forward / backward sheath fixing groove spaced apart from the above are defined, A second forward / backward sheath fixing groove is defined on one side of the fixed portion that opposes each other in the forward / backward direction, adjacent to the robot arm assembly. A second forward / backward tendon fixing groove is defined on the other side of the above-mentioned fixed part, The above first forward-backward tensioner is fixed to the above first forward-backward tendon fixing groove, The above first forward-backward bead is placed in the above second forward-backward sheath fixing groove, An endoscopic robot arm driving device in which the second forward-backward tensioner is fixed to the second forward-backward tendon fixing groove, and the second forward-backward bead is placed in the first forward-backward sheath fixing groove.

19. In paragraph 1, The above forward and backward control unit is, A moving block positioned below the operating unit for the above pivot motion; A plurality of damper parts arranged on either side of the movable block that oppose each other in the left-right direction and arranged in the front-back direction; and Including a handle coupling portion arranged on the other side of the two sides of the above-mentioned moving block that are opposed to each other in the left-right direction, The above left-right direction is defined as a direction intersecting the plane defined by the above front-back direction and the above up-down direction, The above operating part, Further comprising a third rotation gear coupled to one side adjacent to the damper parts among the two sides of the fixed part that oppose each other in the left-right direction, The third rotation gear is rotated around a rotation axis parallel to the left and right directions and is meshed with the damper parts. The above operating part, Further comprising a forward / reverse handle disposed in a forward / reverse guide groove defined on one side adjacent to the handle coupling part among the two sides of the fixed part that are opposed to each other in the left / right direction, An endoscopic robot arm driving device in which a part of the forward / reverse handle is coupled to the handle coupling part within the forward / reverse guide groove, and another part of the forward / reverse handle is exposed to the outside from the guide groove.

20. In paragraph 1, An endoscopic robot arm driving device in which, when the forward-backward operating unit moves back and forth in the forward-backward direction with respect to the fixed unit, the pivot motion operating unit and the forceps driving operating unit move back and forth in the forward-backward direction.

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