Roller assembly and surgical tool control device comprising same

Abstract

A surgical tool control device according to an embodiment comprises: a roller assembly comprising a base frame, and a pivot roller module and a fixed roller module which are connected to the base frame; and a driving assembly for transmitting rotational power to the roller assembly, wherein the pivot roller module may comprise: a first pivot cage which is connected to the base frame so as to be pivotable about a first pivot shaft with respect to the base frame in a direction closer to or away from the fixed roller module; a second pivot cage which is connected to the first pivot cage so as to be pivotable with respect to the first pivot cage about a second pivot shaft which is parallel to the first pivot shaft; and a first roller member and a second roller member which are rotatably connected to the second pivot cage.

Description

Roller assembly and treatment tool control device including the same

[0001] The following embodiments relate to a roller assembly and a surgical tool control device including the same.

[0002] Conventional Percutaneous Coronary Intervention (PCI) procedures expose practitioners to the risk of continuous radiation exposure. Training skilled surgeons to a level capable of performing the procedure reliably requires significant time and resources. Furthermore, the disparity in the quality of procedures across practitioners, regions, and hospitals hinders the universal provision of high-quality medical services. To address these shortcomings, interventional assist robots are being introduced. For example, interventional assist robots can be configured to advance, retract, or rotate surgical tools based on user input.

[0003] The background technology described above is something that the inventor possessed or acquired in the process of deriving the disclosure of the present application, and cannot necessarily be said to be a publicly known technology disclosed to the general public prior to the present application.

[0004] An object of one embodiment is to provide a roller assembly capable of independently controlling a plurality of treatment tools and a treatment tool control device including the same.

[0005] An object of one embodiment is to provide a roller assembly capable of gripping and / or controlling various types of surgical tools and a surgical tool control device including the same.

[0006] In one embodiment, a surgical tool control device may include a roller assembly comprising a base frame and a pivot roller module and a fixed roller module connected to the base frame; and a drive assembly for transmitting rotational power to the roller assembly, wherein the pivot roller module may include a first pivot cage connected to the base frame and pivotable relative to the base frame about a first pivot axis in a direction toward or away from the fixed roller module; a second pivot cage connected to the first pivot cage and pivotable relative to the first pivot cage about a second pivot axis parallel to the first pivot axis; and a first roller member and a second roller member rotatably connected to the second pivot cage.

[0007] In one embodiment, the fixed roller module may include a fixed cage connected to the base frame; and a third roller member and a fourth roller member rotatably connected to the fixed cage.

[0008] In one embodiment, the pivot roller module further comprises an elastic member connected to the second pivot shaft, the elastic member being capable of urging the second pivot cage against the first pivot cage in a direction in which the second pivot cage approaches the adjacent fixed roller module.

[0009] In one embodiment, the drive assembly comprises a pivot arm pivotable about a third pivot axis parallel to the first pivot axis and including a protrusion formed to protrude upward, the second pivot cage including an opening into which the protrusion is inserted, and the pivot roller module can be pivotable toward or away from the fixed roller module by the pivoting motion of the pivot arm.

[0010] In one embodiment, a cross-section of the opening along a plane perpendicular to the first pivot axis may have a first shape, and a cross-section of the protrusion along a plane perpendicular to the first pivot axis may have a second shape having a smaller size than the first shape.

[0011] In one embodiment, the protrusion may be slidable and rotatable within a specified range within the opening.

[0012] In one embodiment, when the pivot arm is pivoted in one direction about the third pivot axis, the first pivot cage can pivot in the one direction relative to the base frame about the first pivot axis, and the second pivot cage can pivot in the other direction opposite to the one direction relative to the first pivot cage about the second pivot axis.

[0013] In one embodiment, the second roller member is positioned relatively proximal to the first roller member, the fourth roller member is positioned relatively proximal to the third roller member, and during the process of gripping the treatment tool between the pivot roller module and the fixed roller module, the second roller member and the fourth roller member may begin to contact the treatment tool before the first roller member and the third roller member.

[0014] In one embodiment, the opening may be positioned closer to the first roller member than to the second roller member.

[0015] In one embodiment, the first roller member may be rotatable about the second pivot axis.

[0016] In one embodiment, the third pivot axis may be colinear with the first pivot axis.

[0017] In one embodiment, when the pivot roller module and the fixed roller module are referred to as one roller set, the roller sets are provided in multiple numbers, and the multiple roller sets can be arranged at an angle to each other so that the channels formed between each of the pivot roller modules and the fixed roller modules become closer to each other as they move toward the distal end.

[0018] In one embodiment, the roller assembly further includes a drive gear that receives rotational power from the drive assembly, and the first roller member and the third roller member can receive rotational power from the drive gear so as to rotate in opposite directions.

[0019] In one embodiment, the pivot roller module may include a first gear rotatable about the first pivot axis and meshing with the drive gear; and a second gear rotatable about the second pivot axis and meshing with the first gear, and the fixed roller module may include a third gear rotatable together with the third roller member and meshing with the drive gear.

[0020] In one embodiment, the drive gear may include an alignment guide formed on the upper side of the drive gear to align the initial orientation of the drive assembly and the drive gear.

[0021] In one embodiment, a roller assembly for use in a surgical tool control device may include a base frame for connecting to the surgical tool control device; and a pivot roller module and a fixed roller module connected to the base frame, wherein the pivot roller module may include a first pivot cage pivotally connected about a first pivot axis toward or away from the fixed roller module; a second pivot cage pivotally connected about a second pivot axis parallel to the first pivot axis with respect to the first pivot cage; and a roller member rotatably connected to the second pivot cage.

[0022] A roller assembly and a treatment tool control device including the same according to one embodiment can independently control a plurality of treatment tools.

[0023] A roller assembly and a surgical tool control device including the same according to one embodiment can grip and / or control surgical tools of various thicknesses.

[0024] FIG. 1 is a front perspective view of a surgical tool control device according to one embodiment.

[0025] FIG. 2 is a rear perspective view of a surgical tool control device according to one embodiment.

[0026] FIG. 3 is an exploded perspective view of a drive assembly, a drape plate, a roller assembly, a coupling guide cover, and a surgical tool guide according to one embodiment.

[0027] Figure 4 is a perspective view of a roller assembly according to one embodiment.

[0028] Figure 5 is a plan view of a second roller unit according to one embodiment.

[0029] Figure 6 is a perspective view of a pivot roller module according to one embodiment.

[0030] Figure 7 is a perspective view of a fixed roller module according to one embodiment.

[0031] Figure 8 is a plan view of a drive assembly according to one embodiment.

[0032] FIG. 9 is a plan view of a pivot roller module and a fixed roller module according to one embodiment, showing the pivot roller module in a state where the pivot roller module is close to the fixed roller module.

[0033] FIG. 10 is a plan view of a pivot roller module and a fixed roller module according to one embodiment, showing the pivot roller module positioned away from the fixed roller module.

[0034] FIG. 11 is a cross-sectional view of a protrusion and an opening according to one embodiment, showing a cross-section obtained along a plane perpendicular to the Z-axis in FIG. 9.

[0035] Hereinafter, embodiments are described in detail with reference to the attached drawings. However, the embodiments may be modified in various ways, and the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included within the scope of the patent application.

[0036] The terms used in the examples are for the purpose of description only and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood to not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiments pertain. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0038] In addition, when describing with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted. When describing embodiments, if a detailed description of a related known technology is judged to unnecessarily obscure the gist of the embodiment, the detailed description will be omitted.

[0039] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the embodiments. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms. When a component is described as being "connected," "coupled," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but another component may also be "connected," "coupled," or "connected" between each component.

[0040] Components included in one embodiment and components with common functions will be described using the same names in other embodiments. Unless otherwise stated, the descriptions given in one embodiment may also apply to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

[0041]

[0042] Figure 1 is a front perspective view of a surgical tool control device according to one embodiment. Figure 2 is a rear perspective view of a surgical tool control device according to one embodiment. Figure 3 is an exploded perspective view of a drive assembly, a drape plate, a roller assembly, a coupling guide cover, and a surgical tool guide according to one embodiment.

[0043] In describing the surgical tool control device (100) below, it may be understood that the upper side means the +Z direction side, the lower side means the -Z direction side, the proximal side means the -X direction side, and the distal side means the +X direction side (see FIG. 3). For example, when the surgical tool control device (100) is used, the distal side may be understood as the direction toward the patient, and the proximal side may be understood as the direction away from the patient.

[0044] Referring to FIGS. 1 to 3, the surgical tool control device (100) may be configured to control various surgical tools (not shown). For example, the surgical tool control device (100) may be a robotic system for vascular intervention. The surgical tool (not shown) may be a longitudinal surgical tool. For example, the surgical tool may include various surgical tools such as a guide catheter, a balloon catheter, or a micro catheter. For example, the surgical tool control device (100) may move the surgical tool forward and backward in the longitudinal direction, or rotate the surgical tool with respect to the longitudinal direction.

[0045] A treatment tool control device (100) according to one embodiment may include a housing (1), a drive assembly (2), a drape plate (3), a roller assembly (4), a treatment tool guide (5), a guide catheter drive device (6), a connection assembly (7), and a coupling guide cover (8).

[0046] In one embodiment, the housing (1) may form a housing of a surgical tool control device (100). A drive assembly (2), a drape plate (3), a roller assembly (4), and a surgical tool guide (5) may be sequentially connected to an upper side of the housing (1) (e.g., the +Z direction side in FIG. 3). The surgical tool may be gripped and / or controlled by the roller assembly (4). The roller assembly (4) may control the surgical tool by receiving rotational power from the drive assembly (2). A drape plate (3) may be positioned between the drive assembly (2) and the roller assembly (4). The drape plate (3) may be a portion for mounting a disposable sterile drape. When the drape plate (3) is positioned between the drive assembly (2) and the roller assembly (4), the drape plate (3) may be fixed on the drive assembly (2) by a locking lever (e.g., 26 in FIG. 8). A coupling guide cover (8) may be connected between the roller assembly (4) and the surgical tool guide (5). As described below, the coupling guide cover (8) may be configured to align the roller assembly (4) in an initial state during the process of coupling the roller assembly (4) to the drive assembly (2). After the roller assembly (4) is coupled to the drive assembly (2), the coupling guide cover (8) may be removed. The surgical tool guide (5) may guide a path of a surgical tool controlled by the roller assembly (4). For example, the surgical tool guide (5) may be formed with a groove capable of guiding a path of the surgical tool. The groove formed in the surgical tool guide (5) may be positioned corresponding to a channel (e.g., 425 in FIG. 9) formed by the roller assembly (4). By opening a side of the groove, the surgical tool may come into contact with the roller module (e.g., 411 in FIG. 4) of the roller assembly (4). The guide catheter driving device (6) may be configured to grip and / or control the guide catheter.The guide catheter drive device (6) may be positioned distal to the roller assembly (4) (e.g., in the +X direction in FIG. 3). The guide catheter drive device (6) may be translationally movable relative to the housing (1) along the longitudinal direction of the rail (72).

[0047] In one embodiment, the drape plate (3), the roller assembly (4), and / or the surgical tool guide (5) may be sealed and packaged after sterilization and provided as disposable items. The drape plate (3), the roller assembly (4), and / or the surgical tool guide (5) may be opened on-site for each procedure, connected to the surgical tool control device (100), and then removed from the surgical tool control device (100) and disposed of after the procedure is completed.

[0048] Referring to FIG. 2, a connecting assembly (7) may be connected to one side of a housing (1). The connecting assembly (7) according to one embodiment may include a rail (72) and a connecting member (71) movably connected to the rail (72). The rail (72) may be formed to have a longitudinal direction on one side of the housing (1) of the surgical tool control device (100). The surgical tool control device (100) may be connected to a robot arm (not shown) via the connecting member (71). As the connecting member (71) moves along the rail (72), the surgical tool control device (100) may be translationally movable along the longitudinal direction of the rail (72) with respect to the robot arm.

[0049]

[0050] Figure 4 is a perspective view of a roller assembly according to one embodiment.

[0051] Referring to FIG. 4, a roller assembly (4) according to one embodiment may include a first roller unit (41), a second roller unit (42), and a base frame (43).

[0052] In one embodiment, the base frame (43) can provide a space in which each component of the roller assembly (4) (e.g., the first roller unit (41) and the second roller unit (42)) is installed. The base frame (43) can be connected to a drive assembly (e.g., 2 of FIG. 8). For example, the base frame (43) can be connected to the upper side (e.g., the +Z direction side) of the drive assembly (2).

[0053] In one embodiment, the first roller unit (41) may be configured to grip and / or control a treatment tool. The first roller unit (41) may include a plurality of roller modules (411). A treatment tool may be gripped between the roller modules (411). The first roller unit (41) may control the treatment tool by receiving rotational power from a drive assembly (e.g., 2 of FIG. 8) while the treatment tool is gripped. For example, the first roller unit (41) may move the gripped treatment tool forward and backward in the longitudinal direction. For example, the first roller unit (41) may rotate the gripped treatment tool in the longitudinal direction.

[0054] In one embodiment, the second roller unit (42) may be configured to grip and / or control a treatment tool. The second roller unit (42) may control the treatment tool by receiving rotational power from a drive assembly (e.g., 2 of FIG. 8) while the treatment tool is gripped. For example, the second roller unit (42) may move the gripped treatment tool forward and backward in the longitudinal direction.

[0055] In one embodiment, the channel formed by the second roller unit (42) may be different from the channel formed by the first roller unit (41). For example, the surgical tool held by the second roller unit (42) may be separate from the surgical tool held by the first roller unit (41). The surgical tool accommodated in the first roller unit (41) and the surgical tool accommodated in the second roller unit (42) may be joined at a Y connector located distal (e.g., on the +X direction side) of the surgical tool guide (e.g., 5 of FIG. 3). For example, the second roller unit (42) may hold a surgical tool that does not need to rotate longitudinally. For example, the second roller unit (42) may hold and / or control a balloon stent. By using the second roller unit (42) to hold and / or control a surgical tool that does not need to rotate longitudinally, space can be saved while reducing the complexity of the roller assembly (4). In Fig. 4, the second roller unit (42) is shown as being formed on the same component as the first roller unit (41), but it may also be possible for the second roller unit (42) to be formed on a separate component from the first roller unit (41).

[0056]

[0057] Figure 5 is a plan view of a second roller unit according to one embodiment.

[0058] Referring to FIGS. 4 and 5, a second roller unit (42) according to one embodiment may include a base frame (421), a pivot roller module (423), a fixed roller module (424), and a driving gear (426).

[0059] In one embodiment, a pivot roller module (423) and a fixed roller module (424) may be connected to a base frame (421). The pivot roller module (423) may be connected to the base frame (421) so as to be pivotable with respect to the base frame (421). The fixed roller module (424) may be fixedly connected with respect to the base frame (421). Although FIG. 5 illustrates that the base frame (421) of the second roller unit (42) is separable from the base frame (43) of the roller assembly (4), it may also be possible for the base frame (421) of the second roller unit (42) to be formed integrally with the base frame (43) of the roller assembly (4).

[0060] In one embodiment, a treatment tool may be held between a pivot roller module (423) and a fixed roller module (424). A channel (425) for accommodating the treatment tool may be formed between the pivot roller module (423) and the fixed roller module (424). When the pivot roller module (423) and the fixed roller module (424) are referred to as one roller set (422), the roller sets (422) may be provided in multiple numbers. When the roller sets (422) are provided in multiple numbers, the channels (425) may also be provided in multiple numbers. The multiple roller sets (422) may be arranged to be inclined with respect to each other such that the channels (425) formed between each pivot roller module (423) and the fixed roller module (424) become closer to each other as they move toward the distal side (e.g., toward the +X direction). When the channels (425) are arranged at an angle to each other so that they become closer to each other as they move toward the distal (e.g., +X direction) side, compared to when the channels (425) are arranged in parallel, the surgical tool accommodated in the channels (425) may not have an inflection point to be assembled into the Y connector.

[0061] In one embodiment, the driving gear (426) can receive rotational power from the driving assembly (e.g., 2 in FIG. 8). For example, a driving connection structure (not shown) formed on the lower side (e.g., -Z direction side) of the driving gear (426) can be formed in a shape that matches the driving connection structure (e.g., 25 in FIG. 8) formed on the upper side (e.g., +Z direction side) of the driving assembly (2). In a state where the roller assembly (4) is connected to the upper side (e.g., +Z direction side) of the driving assembly (2), the driving connection structure (not shown) of the driving gear (426) can be connected to the driving connection structure (25) of the driving assembly (2) to rotate together, thereby receiving rotational power. The driving gear (426) can rotate the first roller member (4235) and the second roller member (4236) of the pivot roller module (423). The driving gear (426) can rotate the third roller member (4242) and the fourth roller member (4243) of the fixed roller module (424).

[0062] In one embodiment, the drive gear (426) may include an orientation alignment guide (4261) for aligning the initial orientation of the drive gear (426) with the drive assembly (e.g., 2 of FIG. 8). The orientation alignment guide (4261) may be formed on the upper side (e.g., +Z direction side) of the drive gear (426). For example, the orientation alignment guide (4261) formed on the upper side (e.g., +Z direction side) of the drive gear (426) may be formed in a shape that matches an orientation alignment guide (not shown) formed on the lower side (e.g., -Z direction side) of a coupling guide cover (e.g., 8 of FIG. 3). In the initial state, the drive gear (426) may be oriented in a predetermined direction by the orientation alignment guide (4261). The coupling guide cover (8) can cover the upper side (e.g., +Z direction side) of the roller assembly (4) before the surgical tool guide (e.g., 5 in FIG. 3) is connected to the upper side (e.g., +Z direction side) of the roller assembly (4). At this time, the drive gear (426) can be rotated to engage with the orientation alignment guide of the coupling guide cover (8), and the initial orientations of the drive gear (426) and the drive assembly (2) can be aligned. The roller assembly (4) can be coupled to the drive assembly (2) in a state where the initial orientations are aligned. Thereafter, the coupling guide cover (8) can be separated and removed from the roller assembly (4). After the coupling guide cover (8) is separated and removed from the roller assembly (4), the surgical tool guide (5) can be connected to the upper side (e.g., +Z direction side) of the roller assembly (4). Although not shown in FIG. 5, the second roller unit (42) may include a drive gear cover (not shown) that covers the upper side (e.g., +Z direction side) of the drive gear (426).

[0063]

[0064] Fig. 6 is a perspective view of a pivot roller module according to one embodiment. Fig. 7 is a perspective view of a fixed roller module according to one embodiment.

[0065] Referring to FIGS. 5 to 7, the pivot roller module (423) may be pivotable relative to the base frame (421) toward or away from the fixed roller module (424). According to one embodiment, the pivot roller module (423) may include a first pivot shaft (4231), a first pivot cage (4232), a second pivot shaft (4233), a second pivot cage (4234), a first roller member (4235), a second roller member (4236), an elastic member (4237), a first gear (4238), and a second gear (4239).

[0066] In one embodiment, the first pivot cage (4232) can be connected to the base frame (421) so as to be pivotable relative to the base frame (421). For example, the first pivot cage (4232) can be pivotable about the first pivot axis (4231) toward or away from the fixed roller module (424).

[0067] In one embodiment, the second pivot cage (4234) can be connected to the first pivot cage (4232) so as to be pivotable with respect to the first pivot cage (4232). For example, the second pivot cage (4234) can be pivotable about a second pivot axis (4233). The first pivot axis (4231) and the second pivot axis (4233) can be parallel to each other. For example, the first pivot axis (4231) and the second pivot axis (4233) can be parallel to the Z-axis. The second pivot cage (4234) can include an opening (42341) into which a protrusion (e.g., 231 of FIG. 8) of a drive assembly (e.g., 2 of FIG. 8) is inserted, as described below. For example, the opening (42341) can be formed through the second pivot cage (4234) in the Z-axis direction.

[0068] In one embodiment, the first roller member (4235) and the second roller member (4236) can be rotatably connected to the second pivot cage (4234). While the pivot roller module (423) is pivoted relative to the base frame (421) toward or away from the fixed roller module (424), the first roller member (4235) and the second roller member (4236) can contact or release contact with a surgical tool accommodated in the channel (425). The first roller member (4235) can be rotatable about the second pivot axis (4233). The second roller member (4236) can be positioned relatively proximal (e.g., in the -X direction) relative to the first roller member (4235). Although FIGS. 5 and 6 illustrate that the pivot roller module (423) includes two roller members, it is also possible for the pivot roller module (423) to include three or more roller members.

[0069] In one embodiment, the elastic member (4237) can be connected to the second pivot shaft (4233) between the first pivot cage (4232) and the second pivot cage (4234). The elastic member (4237) can urge the second pivot cage (4234) against the first pivot cage (4232) in a direction that brings the second pivot cage (4234) closer to the adjacent fixed roller module (424). For example, the elastic member (4237) can be a torsion spring connected to the second pivot shaft (4233).

[0070] In one embodiment, the first gear (4238) and the second gear (4239) can receive rotational power from the drive gear (426). The first gear (4238) can rotate about the first pivot shaft (4231) and can mesh with the drive gear (426). The second gear (4239) can rotate about the second pivot shaft (4233) and can mesh with the first gear (4238). With this structure, rotational power can be sequentially transmitted from the drive assembly (e.g., 2 of FIG. 8) to the drive gear (426), the first gear (4238), and the second gear (4239). The first roller member (4235) can rotate together with the second gear (4239). The second roller member (4236) is connected to the first roller member (4235) by a belt and can rotate in the same direction as the first roller member (4235). However, this is merely exemplary, and the rotational power of the drive gear (426) may be transmitted to the first roller member (4235) and / or the second roller member (4236) through various mechanisms.

[0071] A fixed roller module (424) according to one embodiment may include a fixed cage (4241), a third roller member (4242), a fourth roller member (4243), and a third gear (4244).

[0072] In one embodiment, the fixed cage (4241) may be connected to the base frame (421). For example, the fixed cage (4241) may be fixedly connected to the base frame (421).

[0073] In one embodiment, the third roller member (4242) and the fourth roller member (4243) can be rotatably connected to the fixed cage (4241). While the pivot roller module (423) pivots relative to the base frame (421) toward or away from the fixed roller module (424), the third roller member (4242) and the fourth roller member (4243) can contact or release contact with a surgical tool accommodated in the channel (425). The fourth roller member (4243) can be positioned relatively proximal (e.g., toward the -X direction) relative to the third roller member (4242). While FIGS. 5 and 7 illustrate the fixed roller module (424) as including two roller members, it will be appreciated that the fixed roller module (424) may include three or more roller members.

[0074] In one embodiment, the first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243) may include an elastically deformable material. The first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243) may be formed as a cylindrical structure having a thickness and may be formed as a double hardness roller structure. For example, the first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243) may have a low internal hardness, thereby being deformed due to compression when a surgical tool is gripped, thereby expanding the contact area. The first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243) may include silicone and / or rubber materials. However, this is merely exemplary, and the materials of the first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243) are not limited thereto.

[0075] In one embodiment, the third gear (4244) can receive rotational power from the drive gear (426). The third gear (4244) can mesh with the drive gear (426). With this structure, rotational power can be sequentially transmitted from the drive assembly (e.g., 2 of FIG. 8) to the drive gear (426) and the third gear (4244). The third roller member (4242) can rotate together with the third gear (4244). The fourth roller member (4243) can be connected to the third roller member (4242) by a belt and can rotate in the same direction as the third roller member (4242). However, this is exemplary, and the rotational power of the drive gear (426) can be transmitted to the third roller member (4242) and / or the fourth roller member (4243) through various mechanisms.

[0076] In one embodiment, the first roller member (4235) and the third roller member (4242) can receive rotational power from the drive gear (426) to rotate in opposite directions. The second gear (4239), the first roller member (4235), and the second roller member (4236) can rotate in the same direction as the drive gear (426). The first gear (4238), the third gear (4244), the third roller member (4242), and the fourth roller member (4243) can rotate in the opposite direction to the drive gear (426). By rotating the first roller member (4235) and the third roller member (4242) in opposite directions, a surgical tool held between the first roller member (4235) and the third roller member (4242) can be moved forward and backward. Additionally, by rotating a single drive gear (426) through the first gear (4238), the second gear (4239), and the third gear (4244), rotational power can be transmitted to all of the first roller member (4235), the second roller member (4236), the third roller member (4242), and the fourth roller member (4243).

[0077]

[0078] Figure 8 is a plan view of a drive assembly according to one embodiment.

[0079] Referring to FIGS. 3 and 8, the drive assembly (2) may be a structure for transmitting rotational power to the roller assembly (4). The drive assembly (2) according to one embodiment may include a base plate (21), a third pivot shaft (22), a pivot arm (23), a drive connection structure (25), and an actuator (not shown).

[0080] In one embodiment, the base plate (21) may be connected to a housing (e.g., 1 in FIG. 1). For example, the base plate (21) may be connected to the upper side (e.g., the +Z direction side) of the housing (1). Each component of the drive assembly (2) may be arranged on the base plate (21).

[0081] In one embodiment, the pivot arm (23) may be pivotable with respect to the base plate (21). For example, the pivot arm (23) may be pivotable about a third pivot axis (22). The pivot arm (23) may be pivoted by receiving rotational power from an actuator. For example, the pivot arm (23) may be pivoted by a rack and pinion gear. The base plate (21) may be formed with a space and / or a guide for the pivot arm (23) to pivot in a designated section. For example, a guide rail (24) may be formed on the base plate (21) so that the pivot arm (23) may pivot. The guide rail (24) may limit the pivotable range of the pivot arm (23). The third pivot axis (22) may be parallel to the first pivot axis (4231). For example, the third pivot axis (22) and the first pivot axis (4231) may be parallel to the Z-axis. For example, the third pivot axis (22) may be collinear with the first pivot axis (4231). The pivot arm (23) may include a protrusion (231) that protrudes upward (e.g., toward the +Z direction). As described below, the protrusion (231) may be inserted into an opening (e.g., 42341 of FIG. 5) of a second pivot cage (e.g., 4234 of FIG. 5), and the pivot roller module (e.g., 423 of FIG. 5) may be pivoted by the pivoting motion of the pivot arm (23).

[0082] In one embodiment, the drive connection structure (25) can transmit the rotational power of the actuator to a roller assembly (e.g., 4 in FIG. 4), for example, a drive gear (e.g., 426 in FIG. 5) of the roller assembly (4). The drive connection structure (25) formed on the upper side (e.g., +Z direction side) of the drive assembly (2) can be formed in a shape that matches a drive connection structure (not shown) formed on the lower side (e.g., -Z direction side) of the drive gear (426). The drive gear (426) can be connected to the drive assembly (2) by the drive connection structure (25) and receive the rotational power from the actuator.

[0083]

[0084] FIG. 9 is a plan view of a pivot roller module and a fixed roller module according to one embodiment, showing a state in which the pivot roller module is close to the fixed roller module. FIG. 10 is a plan view of a pivot roller module and a fixed roller module according to one embodiment, showing a state in which the pivot roller module is away from the fixed roller module. FIG. 11 is a cross-sectional view of a protrusion and an opening according to one embodiment, showing a cross-section obtained along a plane perpendicular to the Z-axis in FIG. 9.

[0085] In one embodiment, when the pivot arm (23) pivots in one direction about the third pivot axis (22), the first pivot cage (4232) pivots in one direction with respect to the base frame (421) about the first pivot axis (4231), and the second pivot cage (4234) pivots in the other direction opposite to the one direction with respect to the first pivot cage (4232) about the second pivot axis (4233). Hereinafter, the process of the pivot roller module (423) pivoting toward or away from the fixed roller module (424) will be specifically described with reference to FIGS. 8 to 11. For convenience of explanation, the clockwise direction is referred to as the first direction, and the counterclockwise direction is referred to as the second direction, with reference to FIGS. 9 and 10.

[0086] In one embodiment, the pivot roller module (423) can be pivoted by the pivoting motion of the pivot arm (23) about the third pivot axis (22). The protrusion (231) of the pivot arm (23) can be inserted into the opening (42341) of the second pivot cage (4234). With the protrusion (231) of the pivot arm (23) inserted into the opening (42341) of the second pivot cage (4234), the pivot arm (23) can be pivoted in the first direction about the third pivot axis (22) so that the pivot roller module (423) is pivoted away from the fixed roller module (424) in the first direction. When the pivot arm (23) pivots in the first direction about the third pivot axis (22), the pivot arm (23) may move in the first direction within the opening (42341) and may come into contact with the side wall of the opening (42341) to press the side wall of the opening (42341). Accordingly, the first pivot cage (4232) and the second pivot cage (4234) may pivot together with the pivot arm (23) about the first pivot axis (4231) and / or the second pivot axis (4233). Here, the first pivot cage (4232) may pivot in the direction away from the fixed roller module (424) (the first direction) about the first pivot axis (4231). As the first pivot cage (4232) pivots in the first direction about the first pivot axis (4231), the second pivot cage (4234) can pivot about the second pivot axis (4233) with respect to the first pivot cage (4232) in a direction (second direction) toward the fixed roller module (424) by the pressing force of the elastic member (4237). By this process, the distance between the pivot roller module (423) and the fixed roller module (424) can be increased (e.g., FIG. 10). At this time, the distance between the first roller member (4235) and the third roller member (4242) can be substantially the same as the distance between the second roller member (4236) and the fourth roller member (4243).Additionally, by pivoting the second pivot cage (4234) in the opposite direction to the first pivot cage (4232), the space required for the pivot roller module (423) to pivot can be reduced.

[0087] In one embodiment, as shown in FIG. 10, a treatment tool may be inserted between the pivot roller module (423) and the fixed roller module (424) while the distance between the pivot roller module (423) and the fixed roller module (424) is increased. After the treatment tool is inserted, the pivot arm (23) may be pivoted in a second direction about the third pivot axis (22) so that the pivot roller module (423) is pivoted in a direction (second direction) toward the fixed roller module (424). When the pivot arm (23) is pivoted in the second direction about the third pivot axis (22), the pivot arm (23) may move in the second direction within the opening (42341) and may come into contact with a side wall of the opening (42341) to press the side wall of the opening (42341). Accordingly, the first pivot cage (4232) and / or the second pivot cage (4234) can pivot about the first pivot axis (4231) and / or the second pivot axis (4233) together with the pivot arm (23). Here, the first pivot cage (4232) can pivot in a direction (second direction) toward the fixed roller module (424). In the process in which the first pivot cage (4232) pivots in the second direction about the first pivot axis (4231), the second pivot cage (4234) can be maintained in a state of pivoting about the second pivot axis (4233) with respect to the first pivot cage (4232) in a direction (second direction) toward the fixed roller module (424) by the pressing force of the elastic member (4237). At this time, when the first pivot cage (4232) pivots to a certain degree or more, the surgical tool can come into contact with both the pivot roller module (423) and the fixed roller module (424). Thereafter, when the pivot arm (23) is further pivoted in the second direction around the third pivot axis (22), the second pivot cage (4234) receives a reaction in the first direction from the fixed roller module (424), so that it can pivot in the first direction around the second pivot axis (4233) with respect to the first pivot cage (4232).In this process, the first roller member (4235) and / or the second roller member (4236) can be elastically deformed, and the surgical tool can be strongly held between the pivot roller module (423) and the fixed roller module (424).

[0088] In one embodiment, as previously mentioned, the protrusion (231) can be slidable and / or rotatable within a specified range within the opening (42341). A cross-section of the opening (42341) along a plane perpendicular to the first pivot axis (4231) (e.g., an XY plane) can have a first shape, and a cross-section of the protrusion (231) along a plane perpendicular to the first pivot axis (4231) (e.g., an XY plane) can have a second shape having a smaller size than the first shape. The second shape can be spaced apart from the first shape, such that the protrusion (231) can be slidable and / or rotatable within the opening (42341). For example, the first shape can be substantially rectangular. For example, the second shape can be substantially elliptical. For example, the short width of the rectangle of the first shape can be greater than the length of the short axis of the ellipse of the second shape. The long width of the rectangle of the first shape may be greater than the length of the major axis of the ellipse of the second shape. Although Fig. 11 illustrates the first shape and the second shape as having a rectangular and elliptical shape, respectively, the shape and / or dimensions of the first shape and / or the second shape may differ from those illustrated in Fig. 11.

[0089] In one embodiment, during the process of gripping a surgical tool between the fixed roller module (424) and the pivot roller module (423), the second roller member (4236) and the fourth roller member (4243) may begin to contact the surgical tool before the first roller member (4235) and the third roller member (4242). Here, the opening (42341) may be positioned closer to the first roller member (4235) than to the second roller member (4236). For example, the opening (42341) may be positioned closer to the rotational axis of the first roller member (4235) than to the rotational axis of the second roller member (4236). With this structure, when the pivot arm (23) applies force to the second pivot cage (4234), the point of application of the force may be closer to the first roller member (4235). Accordingly, after the second roller member (4236) and the fourth roller member (4243) first come into contact with the surgical tool, the rotational force transmitted from the pivot arm (23) can also cause the first roller member (4235) and the third roller member (4242) to come into contact with the surgical tool. In addition, when the surgical tool is completely gripped between the fixed roller module (424) and the pivot roller module (423), the point of application of the force applied by the pivot arm (23) is closer to the first roller member (4235), so the first roller member (4235) and the third roller member (4242) can grip the surgical tool with a stronger force than the second roller member (4236) and the fourth roller member (4243).

[0090] However, this is exemplary, and depending on the shape and / or dimensions of the first shape and / or the second shape, the position of the opening (42341), and / or the thickness of the treatment tool to be received, it may be possible for the first roller member (4235) and the third roller member (4242) to begin contacting the treatment tool before the second roller member (4236) and the fourth roller member (4243).

[0091]

[0092] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0093] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In the surgical tool control device, A roller assembly comprising a base frame and a pivot roller module and a fixed roller module connected to the base frame; and Includes a drive assembly for transmitting rotational power to the above roller assembly, The above pivot roller module, A first pivot cage connected to the base frame so as to be pivotable about the base frame about a first pivot axis in a direction toward or away from the fixed roller module; A second pivot cage connected to the first pivot cage so as to be pivotable relative to the first pivot cage about a second pivot axis parallel to the first pivot axis; and A surgical tool control device comprising a first roller member and a second roller member rotatably connected to the second pivot cage.

2. In paragraph 1, The above fixed roller module, a fixed cage connected to the above base frame; and A surgical tool control device comprising a third roller member and a fourth roller member rotatably connected to the fixed cage.

3. In paragraph 2, The pivot roller module further includes an elastic member connected to the second pivot shaft, A surgical tool control device wherein the elastic member presses the second pivot cage against the first pivot cage in a direction in which the second pivot cage approaches the adjacent fixed roller module.

4. In paragraph 3, The drive assembly comprises a pivot arm pivotable about a third pivot axis parallel to the first pivot axis and including a protrusion formed to protrude upward, The second pivot cage includes an opening into which the protrusion is inserted, The pivot roller module is a surgical tool control device that can pivot in a direction closer to or away from the fixed roller module by the pivot movement of the pivot arm.

5. In paragraph 4, The cross-section of the opening along a plane perpendicular to the first pivot axis has a first shape, A surgical tool control device, wherein the cross-section of the protrusion along a plane perpendicular to the first pivot axis has a second shape having a smaller size than the first shape.

6. In paragraph 5, The above protrusion is a surgical tool control device that can slide and rotate within a specified range within the above opening.

7. In paragraph 6, When the above pivot arm pivots in one direction about the third pivot axis, The first pivot cage pivots in the one direction relative to the base frame about the first pivot axis, A surgical tool control device, wherein the second pivot cage pivots in a direction opposite to the first pivot cage about the second pivot axis.

8. In paragraph 7, The second roller member is positioned relatively proximal to the first roller member, The fourth roller member is positioned relatively proximal to the third roller member, A treatment tool control device, wherein, during the process of the treatment tool being held between the pivot roller module and the fixed roller module, the second roller member and the fourth roller member begin to contact the treatment tool before the first roller member and the third roller member.

9. In paragraph 8, A surgical tool control device, wherein the opening is positioned closer to the first roller member than to the second roller member.

10. In paragraph 1, A surgical tool control device wherein the first roller member is rotatable around the second pivot axis.

11. In paragraph 4, A surgical tool control device, wherein the third pivot axis is in the same line as the first pivot axis.

12. In paragraph 2, When the above pivot roller module and the above fixed roller module are referred to as one roller set, the roller set is provided in multiple pieces, A surgical tool control device wherein a plurality of roller sets are arranged at an angle to each other such that the channels formed between each of the pivot roller modules and the fixed roller modules become closer to each other as they move distally.

13. In paragraph 12, The roller assembly further includes a drive gear that receives rotational power from the drive assembly, A surgical tool control device, wherein the first roller member and the third roller member receive rotational power from the driving gear so as to rotate in opposite directions.

14. In paragraph 13, The above pivot roller module, a first gear rotatable about the first pivot axis and meshing with the driving gear; and A second gear is included that is rotatable around the second pivot axis and meshes with the first gear, The above fixed roller module, A surgical tool control device comprising a third gear rotatable together with the third roller member and meshed with the driving gear.

15. In paragraph 13, A surgical tool control device, wherein the drive gear includes an orientation alignment guide formed on the upper side of the drive gear to align the initial orientation of the drive assembly and the drive gear.

16. In a roller assembly for use in a surgical tool control device, a base frame for connection to the above-mentioned treatment tool control device; and Includes a pivot roller module and a fixed roller module connected to the above base frame, The above pivot roller module, A first pivot cage pivotally connected about a first pivot axis in a direction toward or away from the fixed roller module; A second pivot cage pivotally connected to the first pivot cage about a second pivot axis parallel to the first pivot axis; and A roller assembly comprising a roller member rotatably connected to the second pivot cage.

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