Steerable medical instrument

Abstract

The present invention relates to a steerable medical instrument comprising: a first link having teeth for gear operations formed thereon, the contour of the teeth comprising curves of a tangent circle; a second link having an action surface formed thereon such that the teeth contact same; and a driving wire connected to apply a force to the first link or the second link. The teeth and the action surface make contact with each other by the force applied to the first link and the second link through the driving wire, thereby driving gear operations.

Description

Steerable medical devices

[0001] The present invention relates to a medical device for a surgical robot system, and more particularly, to a steerable medical device configured to enable remote control.

[0002]

[0003] Minimally invasive surgery is a surgical technique that involves making small incisions in the patient's body to insert surgical instruments and perform procedures. This surgical technique offers numerous advantages over open surgery, including faster patient recovery, reduced risk of infection, and superior cosmetic results. With the continuous advancement of medical technology, minimally invasive surgery is evolving into robotic-assisted surgical systems that enable remote surgery.

[0004] Medical instruments used in surgical robotic systems for minimally invasive medical procedures require joint mechanisms for precise manipulation. In particular, ensuring smooth movement and durability at the joints of the surgical instrument's wrist and overtube is a critical technical challenge.

[0005] Various types of gear mechanisms have been applied to the joints of medical devices. Gear mechanisms can be classified into involute, cycloidal, trochoidal, and epitrochoidal gears based on their design characteristics.

[0006] A cycloid curve is defined as the trajectory traced by a point on a first circle as it rolls around another circle. If the rolling circle rolls outside the reference circle, it is an epicycloid, and if it rolls inside, it is a hypocycloid. Korean Patent No. 10-1727724 (hereinafter referred to as "Prior Document 1") discloses a "Mechanical Wrist with Cycloidal Surfaces." This prior document proposes a structure capable of supporting a load while maintaining the spacing between reference points by interlocking members with epicycloid and hypocycloidal surfaces and rolling. In particular, the hypocycloid surface is described as providing a concave contact, thereby improving resistance to deformation under load. Furthermore, Korean Patent No. 10-2499270 (hereinafter referred to as "Prior Document 2") discloses a "Mechanical Wrist Joint with an Enhanced Range of Motion." This document presents a structure that achieves a maximum rotational range of motion greater than 45 degrees through a joint comprising multiple teeth and pins.

[0007] An epitrochoid is a curve distinct from a cycloid. A cycloid is the path traced by a point on the circumference of a rolling circle, whereas an epitrochoid is the path traced by an arbitrary point inside or outside the rolling circle. Here, an arbitrary point outside is called a trace point. An epitrochoid is the path traced by a trace point located at an arbitrary distance inside or outside the rolling circle as it rolls around a fixed circle.

[0008] Cycloidal gear structures typically operate using a single-point contact mechanism. While this single-point contact mechanism offers the advantage of smooth operation, it also has the disadvantage of concentrating contact stress at a specific point, which can lead to wear over long periods of use. In particular, in applications requiring both precision and durability, such as medical devices, this wear characteristic can directly impact the lifespan and performance of the device. Furthermore, existing cycloid-based gear systems often have limited design freedom due to specific geometric constraints, limiting optimization to meet diverse operating requirements.

[0009]

[0010] An object of the present invention is to provide a medical device having a gear mechanism capable of improving wear durability through contact stress distribution while maintaining smooth operation characteristics of the gear.

[0011]

[0012] The present invention relates to a steerable medical device, comprising: a first link having a tooth profile for gear operation, the tooth profile including a curve of a tangent circle in its outer shape; a second link having an operating surface with which the tooth profile comes into contact; and a driving wire connected to apply force to the first link or the second link; wherein the gear operation is driven by a force applied to the first link and the second link through the driving wire, causing the tooth profile and the operating surface to come into contact.

[0013] In one embodiment, the second link may include a tooth surface having an outer shape formed by an epitrochoid offset curve. Here, there may be one or more tooth surfaces.

[0014] In one embodiment, the first link may have a contact point formed on the curve of the tangent circle where the tooth shape and the working surface come into contact, and the curve of the tangent circle may be partially formed on a region of the outer shape of the tooth shape.

[0015] In one embodiment, the second link is a tooth surface whose outer shape is formed as an offset curve of the epitrochoid curve, and the first link may have a radius of the tangent circle corresponding to the offset length of the epitrochoid curve.

[0016] In one embodiment, the first link may have a center of the tangent circle positioned on the epitrochoid curve.

[0017] In one embodiment, the first link includes a link body; and a fastening portion formed on one side of the link body and having the tooth shape; wherein the fastening portion has an opening formed through the inside, and the tooth shape may include a first tooth shape formed on an outer circumferential surface of the fastening portion, and a second tooth shape formed on an outer curved surface of the opening.

[0018] In one embodiment, the first link may have a first tangential surface of the tangent circle forming the first tooth shape, a second tangential surface of the tangent circle forming the second tooth shape, and the first tangential surface and the second tangential surface may be formed at opposing positions on the tangent circle.

[0019] In one embodiment, the first link may be formed with a first contact point where the first tooth shape contacts the working surface, and a second contact point where the second tooth shape contacts the working surface, and a distance from the first contact point to the second contact point may define a diameter of the tangent circle.

[0020] In one embodiment, the second link is a tooth surface having an outer shape formed by an epitrochoid offset curve as the working surface, and the tooth surface is a mathematical curve drawn by a tracking point having a predetermined distance (L) from the center of a rolling circle that rolls on the outer surface of a fixed circle, and a curve offset based on the epitrochoid curve having a condition that the distance (L) from the center of the rolling circle to the tracking point is greater than the radius of the rolling circle can form the tooth surface.

[0021] In one embodiment, the second link may be formed by a first offset curve in which the tooth surface is offset by a positive value from the epitrochoid curve, and a second offset curve in which the tooth surface is offset by a negative value.

[0022] In one embodiment, the second link may have the first offset curve forming a first tooth surface and the second offset curve forming a second tooth surface, such that the tooth profile may contact the first tooth surface or the second tooth surface to drive gear operation.

[0023] In one embodiment, the second link may form a first contact point by allowing the surface of the first offset curve to contact a first tangential surface of the tangent circle, and a second contact point by allowing the surface of the second offset curve to contact a second tangential surface of the tangent circle.

[0024] In another embodiment of the present invention, a first link of a medical device may include a link body having a first guide surface formed as a pair of inclined surfaces converging in the direction of the tooth shape; and a fastening portion having the tooth shape; and a second link of the medical device may include a link body having a second guide surface formed as a pair of inclined surfaces converging in the direction of the working surface.

[0025] In one embodiment, the medical device is such that when the gear operation of the first link and the second link is driven by the rolling motion of the tooth profile on the working surface, the contact point of the tooth profile with the working surface can be varied on the curve of the tangent circle.

[0026] In one embodiment, when the gear operation of the first link and the second link is driven by the rolling motion of the tooth profile on the working surface, the outermost point of the tooth profile located on the center line connecting the first link and the second link while passing through the center of the tangent circle may be a non-contact point that does not come into contact with the working surface.

[0027] In one embodiment, the first link may have a virtual vertex at which the first guide surface converges, which may be the center of the tangent circle.

[0028] In one embodiment, the second link may have a virtual vertex at which the second guide surface converges, positioned on an imaginary perpendicular line to the center of the tangent circle.

[0029] In one embodiment, the gear operation of the first link and the second link may include an operation of a maximum displacement in which the center of the tangent circle moves from a fixed position at an imaginary vertex where the first guide surface converges to an operable angle, and an operation of a vertical section in which the tooth shape moves to a height up to an imaginary vertex where the second guide surface converges.

[0030] In one embodiment, the second link may have a groove formed on the working surface having a width equal to the diameter of the tangent circle plus an operating clearance length, and the operating clearance length may be a distance from a virtual vertex where the first guide surface converges to a virtual vertex where the second guide surface converges.

[0031] In one embodiment, the medical device may be such that the angle formed by the first guide surface and the second guide surface is an operating angle at which gear operation of the first link and the second link is permitted.

[0032] In one embodiment, the second link may have a protrusion formed at a tip of the link body where the second guide surface converges, and an inner curved surface forming the protrusion may define the working surface.

[0033] In another embodiment of the present invention, the tooth profile of the first link of the medical device is a main tooth profile, and the working surface of the second link of the medical device may be formed with a main tooth surface formed by an epitrochoid offset curve, and a sub tooth profile that performs a rolling motion on the curved surface of the main tooth profile.

[0034] In one embodiment, the medical device may be configured such that the main tooth and the main tooth surface contact each other and the sub tooth and the main tooth contact each other through a force applied to the first link and the second link via the drive wire, thereby driving the gear operation.

[0035] In one embodiment, the medical device includes an outer surface of the tangent circle on one side of the main tooth shape, a curved surface excluding one side of the main tooth shape is formed as a curve of a non-tangent circle, and the sub tooth shape can be in tangential contact with the curved surface formed as the curve of the non-tangent circle.

[0036] In one embodiment, the sub-tooth includes a first sub-tooth and a second sub-tooth, and a first contact point where the main tooth is in contact with the main tooth surface, a second contact point where the first sub-tooth is in contact with the main tooth, and a third contact point where the second sub-tooth is in contact with the main tooth are formed, so that three-point contact can be continuously formed during gear operation.

[0037] In one embodiment, the first link may include a tip surface formed by a curve of the tangent circle and a side surface formed by an offset epitrochoid curve, wherein the side surface may be a curve of a non-tangent circle.

[0038] In one embodiment, the first link may be a surface in which the side surface of the main tooth is offset in both phase and distance from the epitrochoid curve.

[0039] In one embodiment, the side surface of the main tooth shape may be a surface formed by a curve in which the phase is first offset from the epitrochoid curve and then the distance is offset.

[0040] In one embodiment, the main tooth profile of the first link may include a surface formed as an offset epitrochoid curve in an area excluding the surface of the tangent circle, so that both the main tooth profile and the main tooth surface may have surfaces formed as offset epitrochoid curves.

[0041] In one embodiment, the main tooth profile of the first link may be formed by a virtual second circle having a radius (R) formed in the second link area centered on a contact point that contacts the main tooth surface on the curve of the tangent circle, and a virtual first circle circumscribed in the first link area with the same radius (R) as the second circle may be a fixed circle, and a side surface may be formed by an epitrochoid offset curve that is additionally offset by a second value from an epitrochoid curve drawn at a position where the phase of the tracking point rolling on the outer surface of the first circle is offset by a first value, with the center point of the sub-tooth profile in the second circle as a tracking point, and may be tangent to the sub-tooth profile on the side surface.

[0042] In one embodiment, the sub-tooth of the second link may be formed as a curve of a tangent circle, and the tangent circle of the sub-tooth may have a length of the second value offset from the epitrochoid curve of the side surface by a radius.

[0043] In one embodiment, the sub-tooth is positioned at an angular position of a phase angle relative to the geometric center axis of the second link, and the phase angle may be equal to the first value offset in phase from the epitrochoid curve of the side surface.

[0044] In one embodiment, the main tooth surface of the second link may be a curved surface formed by a mathematical curve drawn by a tracking point having a predetermined distance (L) from the center of the first circle that rolls on the outer surface of the second circle, when a virtual first circle having a radius (R) formed in the first link area is a rolling circle centered on a contact point that contacts the main tooth surface on the curved surface of the tangent circle, and a virtual second circle circumscribed in the second link area with the same radius (R) as the first circle is a fixed circle, and a curve offset by a distance based on an epitrochoid curve having a condition that the distance (L) from the center of the rolling circle to the tracking point is greater than the radius of the rolling circle.

[0045] In one embodiment, the first link may have a radius of the tangent circle equal to the length of an offset distance of the epitrochoid curve of the main tooth surface.

[0046]

[0047] According to the present invention, a novel gear mechanism with a multi-point contact structure and a tooth profile designed as a tangent circle is presented. The gear mechanism according to the present invention effectively achieves a balance between wear resistance and smooth operation. The medical device according to the present invention maintains stable performance even during long-term use through the distribution of contact stress, while simultaneously enabling precise steering control.

[0048]

[0049] Figure 1 is a perspective view of a surgical robot system.

[0050] FIG. 2 is an embodiment of a modular manipulator assembly configured in a surgical robot system.

[0051] Figure 3 (a) is an example of an overtube module and a surgical instrument module connected to the overtube module, and (b) is a partial perspective view of the overtube.

[0052] Figure 4 is a perspective view of a surgical instrument.

[0053] FIG. 5 is a drawing showing a joint configuration of a medical device according to an embodiment of the present invention, wherein (a) is an exploded perspective view of a first link and a second link, and (b) is a cross-sectional view of a joint portion where the first link and the second link are connected.

[0054] Figure 6 is a conceptual diagram for explaining an epitrochoid curve. Figure 6 (a) shows an epitrochoid curve when the tracking point is outside the circle, and Figure 6 (b) shows an epitrochoid curve when the tracking point is inside the circle.

[0055] Figure 7 is a conceptual diagram illustrating an epitrochoid offset curve. Figure 7 (a) shows the initial position where the rolling circle begins to roll along the outer circumference of the reference circle, and Figure 7 (b) shows the entire trajectory of the completed epitrochoid offset curve when the rolling circle has completely circled the circumference of the reference circle.

[0056] Fig. 8 is a drawing showing an embodiment of a first link and a second link in which a surface is formed by an epitrochoid offset curve and a tangent circle curve.

[0057] FIG. 9 is a drawing showing a joint configuration of a medical device according to another embodiment of the present invention, wherein (a) is an exploded perspective view of a first link and a second link, and (b) is a cross-sectional view of a joint portion where the first link and the second link are connected.

[0058] Figure 10 is a drawing for explaining the design characteristics of a joint part. (a) is a drawing showing the design characteristics when the first link and the second link are connected, and (b) is an enlarged drawing showing the design characteristics of the tooth shape of the first link and the working surface of the second link.

[0059] Figure 11 is a drawing showing a geometric relationship for vertical section length design. (a) is a drawing showing a first right triangle for vertical section length design, and (b) is a drawing showing a second right triangle for vertical section length design.

[0060] FIG. 12 is a drawing showing a joint driving process of a medical device according to an embodiment of the present invention, (a) is a drawing showing a fixed position state of the first link, (b) is a drawing showing an intermediate operating displacement state, and (c) is a drawing showing a state operated at maximum displacement.

[0061] Fig. 13 is a drawing showing a joint driving state of a medical device having another tooth groove embodiment, (a) is a drawing showing a joint part in the fixed position of the first link, and (b) is a drawing showing a state in which it is operated at maximum displacement.

[0062] FIG. 14 is a drawing showing a medical device according to another embodiment of the present invention, in which (a) is an exploded perspective view of a first link and a second link, and (b) is a cross-sectional view of a joint portion where the first link and the second link are connected.

[0063] Figure 15 is a conceptual diagram for explaining the phase offset of the epitrochoid curve. (a) is a diagram showing a tracking point whose phase is offset from the rolling circle, and (b) is a diagram showing an offset trajectory of the tracking point as the rolling circle rolls around the fixed circle.

[0064] Fig. 16 is a design diagram for explaining the design characteristics of a second link according to an embodiment of the present invention.

[0065] Fig. 17 is a design diagram for explaining the design characteristics of a first link according to an embodiment of the present invention.

[0066]

[0067] The various embodiments described in this document are exemplified for the purpose of clearly explaining the technical concepts of the present invention and disclosure, and are not intended to limit them to specific embodiments. The technical concepts of the present invention and disclosure include various modifications, equivalents, alternatives, and embodiments selectively combined from all or part of the embodiments described in this document. Furthermore, the scope of the technical concepts of the present invention and disclosure is not limited to the embodiments presented below or the specific descriptions thereof.

[0068] Terms used in this document, including technical or scientific terms, unless otherwise defined, may have the meaning commonly understood by one of ordinary skill in the art to which the present invention and disclosure pertain.

[0069] The expressions "includes," "may include," "comprises," "may have," "have," and "may have" used in this document imply the presence of a function, operation, or component as the target feature, and do not exclude the presence of other additional features. In other words, such expressions should be understood as open-ended terms that imply the possibility of including other embodiments.

[0070] The singular forms used in this document may include the plural form unless the context clearly indicates otherwise, and this also applies to the singular forms set forth in the claims.

[0071] As used herein, the expressions "A, B, and C," "A, B, or C," "A, B, and / or C," or "at least one of A, B, and C," "at least one of A, B, or C," "at least one of A, B, and / or C," "at least one selected from A, B, and C," "at least one selected from A, B, or C," "at least one selected from A, B, and / or C," and the like can mean each of the listed items or all possible combinations of the listed items. For example, "at least one selected from A and B" can refer to (1) A, (2) at least one of A, (3) B, (4) at least one of B, (5) at least one of A and at least one of B, (6) at least one of A and B, (7) at least one of B and A, and (8) both A and B.

[0072] The expression "based on" as used in this document is used to describe one or more factors that influence the decision, act of judgment, or action described in the phrase or sentence containing the expression, and this expression does not exclude additional factors that influence the decision, act of judgment, or action.

[0073] As used herein, the expression that a component (e.g., a first component) is “connected” or “connected” to another component (e.g., a second component) may mean that the component is directly connected or connected to the other component, as well as connected or connected via a new other component (e.g., a third component).

[0074] The expression "configured to" used in this document can have the meanings of "set to do", "having the ability to do", "changed to do", "made to do", and "capable of doing" depending on the context, and is distinct from the meaning of "consist".

[0075] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. In the attached drawings and the description of the drawings, identical or substantially equivalent components may be assigned the same reference numerals. Furthermore, in the description of various embodiments below, duplicate descriptions of identical or corresponding components may be omitted, but this does not mean that the corresponding components are not included in the embodiments.

[0076] In particular, components referred to as “control device,” “module,” “unit,” etc. in the present invention are implemented as devices having a specific physical hardware structure, and mean specific circuits or programmed electronic devices having an actual physical configuration rather than simple functional blocks.

[0077] Fig. 1 is a perspective view of a surgical robot system (1). A medical device according to an embodiment of the present invention may be mounted on the surgical robot system (1) illustrated in Fig. 1 and configured to enable remote steering control. Here, the medical device may be understood as a concept including a surgical device or an overtube. However, the medical device of the present invention is not limited to the specific type of surgical robot system illustrated in Fig. 1, and can be applied to various types of surgical robot systems capable of remote control. In other words, it can be applied to various surgical robot systems within the scope that does not deviate from the technical spirit of the present invention.

[0078] Referring to FIG. 1, a surgical robot system (1) may include a positioning cart (3), a modular manipulator assembly (10), and an operator console (5). In an embodiment, the positioning cart (3) may be a mobile platform on which the modular manipulator assembly (10) is mounted. The positioning cart (3) may perform a function of precisely positioning the modular manipulator assembly (10) to a surgical site of a patient. The positioning cart (3) may be provided with a movable wheel at the bottom for access to an operating table. The positioning cart (3) may include a frame composed of a plurality of arms and links. The frame may be configured to enable the modular manipulator assembly (10) to move up and down and move toward and away from a patient. The frame of the positioning cart (3) may be configured in various forms in consideration of a kinematic structure that allows access to the operating table and approaching the modular manipulator assembly (10) to the surgical site of a patient. In an embodiment of the present invention, an overtube may be disclosed as an entry guide that guides to a single entry port. Furthermore, a system in which the overtube and a surgical instrument are mounted together on a modular manipulator assembly (10) may be disclosed. According to an embodiment of the present invention, the modular manipulator assembly (10) may be configured by integrating the overtube and the surgical instrument into a single assembly. Accordingly, the positioning cart (3) may not require an arm, link, or frame for separately supporting the overtube. In other words, the positioning cart (3) can be designed with a kinematic structure that only considers the degrees of freedom of the modular manipulator assembly (10). Such a structure can contribute to improved design freedom, increased structural stability, and minimizing system volume.

[0079] The operator console (5) is a medical control device capable of confirming surgical-related images and controlling the positioning cart (3) and the modular manipulator assembly (10). The operator console (5) is a remote control device that controls the entire system and can be installed inside the surgical space or in a separate space. The operator console (5) includes one or more manipulators, and the manipulators can include at least one of a handgrip, a joystick, a trackball, a data glove, a trigger gun, a manual controller, a clutch, a foot motion controller, a voice recognition device, and a touch screen.

[0080] Although not shown in the drawings, depending on the embodiment, the surgical robot system (1) may further include a vision cart, which is an auxiliary imaging device. The vision cart can provide visual prompts and step-by-step surgical guidance through a touchpad or touchscreen monitor. In addition, medical imaging devices for surgical assistance, such as CT or X-ray, may be linked to the system, if necessary.

[0081] In an embodiment, a system configuration device including a positioning cart (3) and an operator console (5) may be equipped with one or more processors. The processor may process information input from various sensors. For example, the sensor information may include a drape state, a state of the positioning cart (3), a state of the modular manipulator assembly (10), and a state of a surgical instrument. The processor may analyze the sensor information to determine a hazardous situation in the surgical environment. The hazardous situation may include, but is not limited to, a state in which equipment or a surgical instrument is abnormally close to a patient, a hazardous state of a surgical instrument, a malfunction of a surgical instrument, and an inappropriate control command. In addition, the processor may output a warning signal or automatically limit the operation of the system when a hazardous situation occurs.

[0082] In an embodiment, the processor may be mounted on a positioning cart (3), an operator console (5), a modular manipulator assembly (10), or may be mounted on each piece of equipment. The processor may be provided as a separate device, in which case it may process data through wired or wireless communication with each piece of equipment constituting the surgical robot system (1).

[0083] FIG. 2 is an embodiment of a modular manipulator assembly (10) configured in a surgical robot system (1). Referring to FIG. 2, the modular manipulator assembly (10) may include a movable platform (11), a manipulator housing (12), a rotation module (100), a drive module (300), an overtube module (400), and a surgical instrument module (500). In the embodiment of FIG. 2, a translation module is additionally provided inside the manipulator housing (12) to enable the drive module (300) to translate, but this is omitted.

[0084] The movable platform (11) may refer to the base of the modular manipulator assembly (10). In the following embodiments, it will be described that various modules are mounted on the movable platform (11). A rotation module (100) and a drive module (300) may be mounted on the movable platform (11). The various modules mounted on the movable platform (11) may be packaged through a manipulator housing (12). The rotation module (100) may be provided on the movable platform (11) to rotate the manipulator housing (12). The movable platform (11) may be understood as a mounting platform for hardware modules on which a plurality of surgical instruments are operated.

[0085] The movable platform (11) can be transported to the surgical area by the arm of the positioning cart (3). The movable platform (11) may be provided with a coupling means for docking with the arm of the positioning cart (3). Although not illustrated in FIG. 2, the coupling means may be implemented in various forms according to the arm structure of the positioning cart (3). For example, methods such as clamps, latches, snap fittings, and bolt fastening may be applied.

[0086] Typically, a single-port surgical robotic system disclosed herein consists of two movable platforms: a manipulator platform and an overtube platform equipped with an overtube. Various surgical instruments are attached and detached to the manipulator platform, while the overtube platform houses an overtube manipulator. Both the overtube and the surgical instruments are driven by motor mechanisms and can be remotely controlled. The overtube and the surgical instrument manipulators are configured independently for the following reasons: the overtube typically has one or more lumens formed into which endoscopic probes and surgical instruments are inserted. The overtube guides the surgical instruments into the body, and once the instruments reach the target tissue, they are withdrawn from the overtube and remotely controlled. Therefore, the overtube and the surgical instruments must be controlled separately. Surgical instruments must be inserted through the overtube, and while the overtube is typically not replaced during surgery, surgical instruments inserted into the overtube can be replaced with other instruments during the procedure. While both the overtube and the surgical instrument can be considered surgical instruments used in surgical operations within the body, they serve different roles as upper and lower tools and are controlled independently. For this reason, the overtube and the surgical instrument are each provided with a manipulator and a platform for independent control. In a surgical robot system, the platform for the overtube is positioned in the front (distal direction), leaving sufficient space behind it for inserting the surgical instrument, and the platform for the surgical instrument is positioned in the back (proximal direction). Therefore, the positioning cart required two robot arms to support the platform for the overtube and the platform for the surgical instrument, respectively. On the other hand, according to an embodiment of the present invention, the surgical instrument (501) and the overtube (401) can be mounted together on a single movable platform (11). Therefore, the positioning cart in the present embodiment may be equipped with only one movable platform (11). In addition, the movable platform (11) accommodates both the overtube (401) and the surgical instrument (501), and various hardware modules can be detached and attached, allowing for module-by-module replacement.

[0087] The manipulator housing (12) can accommodate one or more translation modules. In an embodiment, a drive module (300) can be detachably attached to the translation module. In this specification, attachment / detachment means a coupling relationship that allows for fastening and detachment. Considering the coupling relationship, the manipulator housing (12) can accommodate one or more drive modules (300). In an embodiment, a surgical instrument module (500) or an overtube module (400) can be detachably attached to the drive module (300). In this specification, a unit of a configuration that performs an independent function may be referred to as a module.

[0088] The modular unit-based detachable embodiment defined herein relates to the universal characteristic that hardware modules can be combined in various ways. Furthermore, the modular manipulator assembly (10) according to the embodiment of the present invention provides detachable hardware modules that drive tools, thereby considering the user's convenience in maintenance. Furthermore, from the user's perspective, the system can be proposed to flexibly respond to various needs that can accommodate a surgical robot system, such as system installation costs, surgical scope, and space constraints.

[0089] Figure 3 (a) is an example of an overtube module (400) and a surgical instrument module (500) connected to the overtube module (400), and (b) is a partial perspective view of the overtube (401).

[0090] Referring to FIG. 3, the overtube module (400) may include an overtube (401), an overtube coupler (402), and an overtube holder (403). The overtube module (400) may be provided with an overtube (401) that is mounted on one of the drive modules (300) and into which a surgical instrument (501) is inserted and guided. The overtube (401) may be provided in the overtube holder (403). A surgical instrument (501) may be inserted into the inside of the overtube (401).

[0091] A surgical instrument module (500) may include a surgical instrument (501) and a surgical instrument coupler (502). The surgical instrument (501) may be provided in a flexible, elongated shape. The surgical instrument (501) may be in the form of a catheter having various types of tools mounted as end effectors. End effectors may include forceps for grasping, cutting, or suturing tissue, an Endoscopic Submucosal Dissection (ESD) knife for removing tumors or lesions, a biopsy instrument for collecting tissue samples, a basket for removing foreign substances or collecting gallstones, a laser probe for burning or hemostasis of the lesion area, a balloon catheter for expanding a narrowed tube, a stent for supporting the narrowed area and reinforcing detached tissue, a clip for tying up a bleeding or lesion area, a stapler for suturing tissue or organs, an endoscopic camera for obtaining images inside a body cavity, and an ultrasound probe. These various surgical tools may be replaced depending on the type and method of surgery, and various surgical instruments (501) may be configured as respective surgical instrument modules (500).

[0092] Referring to (a) of FIG. 3, a surgical instrument (501) is inserted into the inside of the overtube (401). The overtube module (400) and the surgical instrument module (500) must be able to penetrate into the overtube (401) while being mounted on different drive modules (300). It will be understood that a distance is required between the overtube module (400) and the surgical instrument module (500) as a space for the surgical instrument (501) to penetrate into the overtube (401). This is made possible in the present embodiment by the translation module advancing to form an entry guide gap.

[0093] Referring to (b) of FIG. 3, the overtube (401) may be provided in an elongated shape with flexibility. Each region of the overtube (401) divided into a distal portion (4013), a body (4012), and a proximal portion (4011) may have different characteristics. One or more joints (4014) may be formed in the distal portion (4013) of the overtube (401). The joints (4014) may be implemented in various ways, and may be a link structure in which gears such as a trochoidal gear or a cycloidal gear are segmented and meshed. A tension wire is connected to the joints (4014) configured in each link, so that the bending direction and angle of the joints (4014) can be controlled by pulling or releasing the tension wire in the proximal portion (4011) of the overtube (401). Through this, the distal portion (4013) of the overtube (401) can be implemented as a flexible tube that can flexibly bend according to changes in the length of the tension wire and actively control movement.

[0094] The body (4012) of the overtube (401) may be a hollow tube having a constant diameter and rigidity. The body (4012) may be made of a durable and biocompatible material, such as a polymer, and has an inner diameter sufficient to allow a surgical instrument (501) to be inserted and passed through.

[0095] An insertion portion (4010) is formed in the proximal portion (4011) of the overtube (401) so that a surgical instrument (501) can be inserted. The insertion portion (4010) includes a through hole that matches the diameter of the surgical instrument (501) and can additionally support the surgical instrument (501) by including a fastening mechanism such as a gasket or clamp made of a sealing material. In addition, the fastening mechanism of the insertion portion (4010) can prevent dust or foreign substances from entering the interior of the overtube (401). The overtube (401) serves as an insertion passage and a guiding means for the surgical instrument (501), and enables stable and precise movement of the surgical instrument (501) within the body cavity.

[0096] The overtube coupler (402) may have an overtube interface (4020) formed on one side that is connected to one of the driving modules (300), and a wire mechanism that operates the overtube (401) with the power transmitted by being connected to one of the driving modules (300). The wire mechanism of the overtube coupler (402) may be implemented in various ways.

[0097] As an embodiment of the wire mechanism, a plurality of pulleys, a capstan, and a wire guide are installed inside the overtube coupler (402), through which the rotational power generated from the driving module (300) can be converted into linear motion of the wire. When the power from the driving module (300) is transmitted as rotational power, the pulley connected to the motor shaft rotates to wind or unwind the wire, and accordingly, the connected wire is pulled or stretched in the longitudinal direction along the inside of the overtube (401). The joint formed at the distal portion of the overtube (401) can actively bend according to changes in the tensile force of the wire.

[0098] In another embodiment, the overtube coupler (402) may be equipped with a built-in linear motor to directly push or pull the wire. A linear motor is a device that performs linear motion based on the position of a permanent magnet moving within a magnetic field, and is suitable for linearly driving a wire. By connecting a wire to the mover of the linear motor, the wire can be pushed or pulled according to a motor control signal, thereby inducing joint movement of the overtube.

[0099] In another embodiment, the wire mechanism of the overtube coupler (402) may include additional devices, such as a preload system for tension control and position feedback. A tension sensor connected to the wire measures the amount of tension applied to the wire, thereby maintaining an appropriate bending strength. Alternatively, the preload system may compensate for and compensate for any slack in the tension. A position sensor, such as a potentiometer or encoder, that detects the displacement of the wire may be utilized to predict and control the bending angle of the overtube joint. These feedback mechanisms may contribute to improving the precision and safety of the overtube movement.

[0100] The overtube coupler (402) may have a wire mechanism provided inside the housing, and an overtube holder (403) may be formed on one side of the housing. The overtube (401) may be coupled to the overtube holder (403), so that the overtube (401) may be arranged laterally of the overtube coupler (402). When the overtube coupler (402) is coupled to one of the driving modules (300), the overtube interface (4020) may form a coupling area, while the overtube holder (403) may form a non-coupling area. A coupling terminal may be formed on the overtube interface (4020). The coupling terminal may be provided in a negative shape complementary to the protruding structure of the coupling member provided on the driving module (300). The overtube coupler (402) is coupled to the driving module (300) through the overtube interface (4020), and the coupling interface surface is referred to as a coupling area. On the other hand, the overtube coupler (402) may have a non-connected area formed in the area of ​​the overtube holder (403) that is not connected to the drive module (300). The overtube coupler (402) may be provided in an asymmetrical shape by the overtube holder (403).

[0101] The overtube coupler (402) can be fastened so that, when fastened to one of the driving modules (300), the overtube holder (403) is positioned at the center of the manipulator housing (12) in which the translation module (200) is accommodated. That is, the overtube coupler (402) can be fastened at a designated position with the driving module (300). The overtube coupler (402) can be fastened at a position in which the area of ​​the overtube holder (403) among the asymmetrical shapes is oriented toward the center of the manipulator housing (12).

[0102] Fig. 4 is a perspective view of a surgical instrument (501). Referring to Fig. 4, the surgical instrument (501) may have various types of operating members for surgery combined as end effectors at the end thereof, and a wrist portion may be formed to provide a degree of freedom to the end effector and for steering control.

[0103] In general, the wrist portion of the surgical instrument (501) can be implemented as a joint structure. The joint (70) can be configured to include a first link (71) and a second link (72). A drive wire (5010) can be formed to penetrate the inner side of the first link (71) and the second link (72). Through the wire mechanism of the drive wire (5010), a bending motion of the joint (70) can be implemented.

[0104] The surgical instrument (501) or overtube (401) is configured to be inserted into the body and remotely controlled through a wire mechanism or the like. In this specification, these are collectively referred to as medical instruments, and such medical instruments require a joint structure capable of performing precise bending movements through a wire mechanism.

[0105] Hereinafter, specific embodiments of the first link (71) and the second link (72) applicable to the joint structure of the overtube (401) or the surgical instrument (501) illustrated in FIG. 3 or FIG. 4 will be described in detail.

[0106] FIG. 5 is a drawing showing a joint configuration of a medical device according to an embodiment of the present invention, (a) is an exploded perspective view of a first link (71) and a second link (72), and (b) is a cross-sectional view of a joint portion where the first link (71) and the second link (72) are connected.

[0107] Referring to the drawing, the first link (71) may include a tooth profile (74) for gear operation. The tooth profile (74) may be formed on the outer surface of the first link (71) and may be an area where gear operation is performed through a rolling motion with a corresponding other mechanism. The tooth profile (74) may have a shape that convexly protrudes outward. The outer shape of the tooth profile (74), i.e., the curve forming the outline, may be designed based on a predefined mathematical trajectory. In one embodiment of the present invention, the outer shape of the tooth profile (74) may be designed based on the curve of a tangent circle (TC). Here, the tangent circle (TC) may mean a virtual reference circle for designing the curved surface of the tooth profile (74). That is, the tangent circle (TC) forms a part of the circumference of the working surface of the tooth (74), and its diameter and center position can be set according to the required pressure angle, the trajectory of the contact point, or the relationship with the mating gear.

[0108] The term 'Tangent Circle (TC)' used in this specification is a reference element introduced to define the shape of a specific curved surface constituting a gear structure and to describe its motion trajectory. In particular, the term 'Tangent Circle', which includes the functional design characteristics of a 'circle', was used to distinguish it from a general 'circle' while also clarifying its function by including the characteristic of forming a 'tangential' relationship with other geometric elements. Geometrically, a tangent circle can be defined as a circle that meets (touches) one or more given straight lines or curves at only one point.

[0109] In this embodiment, the 'curve of the tangent circle (TC)' corresponds to a trajectory that serves as a design criterion for defining the shape of the tooth profile (74) on a two-dimensional plane. The tangent circle (TC) can be a virtual design tool for designing the tooth profile (74). In this embodiment, the tangent circle (TC) forms a tangent relationship with the working surface (75). Therefore, it is safe to understand that the tooth profile (74) is designed based on the circle that forms a tangent relationship with the working surface (75). When such a two-dimensional curve is implemented as a three-dimensional gear structure having a depth or thickness, the curve becomes a 'curved surface' that forms the outer surface of the tooth profile (74). Therefore, the curved shape of the tooth profile (74) can be defined by the curve of the tangent circle (TC). This means that the gear structure according to the embodiment of the present invention can be precisely manufactured based on a mathematically defined trajectory. In addition, the technical idea of ​​the present invention may include a method for manufacturing a medical device that is manufactured by reflecting the design characteristics of the gear described below.

[0110] The second link (72) may include a working surface (75) that meshes with and interacts with the teeth (74) of the first link (71). The working surface (75) may be defined as a region that directly contacts the teeth (74) and transmits force and motion through rolling motion or sliding motion. The specific shape of the working surface (75) may be implemented in various ways depending on the shape of the teeth (74) and the relative motion between the two links (71, 72). In one embodiment, the working surface (75) may be a tooth surface shape having a concave surface corresponding to the convex surface of the teeth (74). In this case, smooth power transmission can be achieved by the two surfaces contacting each other and performing rolling motion. In another embodiment, the working surface (75) may be an inner wall surface shape of a tooth space into which the teeth (74) are inserted and driven. In this case, the working surface (75) does not necessarily need to have a shape complementary to the outer shape of the tooth shape (74), and may have a structure in which contact is made at a specific point while allowing entry and exit of the tooth shape (74).

[0111] In one embodiment of the present invention, a driving force for gear operation may be provided through a driving wire (5010). The driving wire (5010) may be connected to at least one of the first link (71) and the second link (72) to transmit an externally applied force. The driving wire (5010) may be arranged to penetrate the interior of the first link (71) and the second link (72). When a tensile force or a compressive force is applied to the driving wire (5010), this force causes a relative flexural motion between the first link (71) and the second link (72). This flexural motion may cause the teeth (74) of the first link (71) and the working surface (75) of the second link (72) to mesh with each other, thereby implementing gear operation.

[0112] The connection method of the drive wire (5010) can be implemented in various ways. As one embodiment, one end of the drive wire (5010) may be fixed to the first link (71), and the other part of the wire may have a structure that freely passes through the second link (72). In this case, the first link (71) can be moved relative to the second link (72) by pulling or pushing the wire. As another embodiment, the drive wire (5010) may have connection points on both the first link (71) and the second link (72). For example, a single wire may be fixed to both links, or two or more wires may be individually connected to each link to pull antagonistically, thereby enabling more precise bidirectional bending control.

[0113] Below, various embodiments of the first link (71) and the second link (72) are described.

[0114] FIG. 5 illustrates an embodiment of the present invention. In this embodiment, the working surface (75) of the second link (72) may be implemented as a tooth surface (750) having a specific geometric trajectory. Specifically, the outline, i.e., the outer shape, of the tooth surface (750) may be designed based on an epitrochoid offset curve. This may be to align with the tooth profile (74) of the first link (71) to implement an ideal conjugate motion. Here, the 'epitrochoid curve' refers to a trajectory drawn by a tracing point fixed at an arbitrary position inside or outside a virtual rolling circle when the virtual rolling circle rolls without slipping around the outer circumference of a fixed base circle. This is an extended concept of a cycloid trajectory drawn by a point on the circumference of the rolling circle. In addition, 'offset' means a mathematical process in which the distance or phase can be offset, and each point of the reference curve (epitrochoid curve in this embodiment) is spaced a constant distance in the direction of each normal line, or the tracking point changes by a predetermined phase angle in the rolling circle from the starting position. Therefore, the tooth surface (750) of this embodiment has a curve whose appearance is offset by a constant value in distance or phase from the theoretical epitrochoid trajectory. Such a precise curved surface design can reduce friction occurring in contact with the tooth form (74) and enable smooth power transmission.

[0115] The first link (71) and the second link (72) may each include a link body (710) forming a main body. The first link (71) includes the link body (710) and one or more fastening portions (711) formed on one side of the link body (710) and interlocked with the second link (72). The teeth (74) are formed on a portion of the outer surface of the fastening portion (711), and the surface thereof may include a tip curved surface based on the curve of a tangent circle (TC).

[0116] As one embodiment, the fastening portions (711) may be formed as a pair symmetrically on both sides of the link body (710). Similarly, the working surfaces (75) may also be formed as a pair symmetrically on both sides of the link body (720). The drawing illustrates a case where one fastening portion (711) is formed for clarity of explanation, but the scope of the present invention is not limited thereto.

[0117] Meanwhile, a convex-shaped rolling surface (not shown) may be additionally formed on the inner surface of the link body (710) so that the two links contact each other and roll. This rolling surface can directly support a significant portion of the compressive load acting between the two links, separately from the meshing of the teeth (74). In order to clearly explain the geometrical shapes of the teeth and the working surface, the drawings in this specification omit the illustration of the three-dimensional structure of the rolling surface. In this embodiment, the structure in which the teeth (74) of the fastening portion (711) and the working surface (75) of the second link (72) precisely mesh with each other can realize the intended relative rotational motion (gear motion) between the two links (71, 72) while effectively restraining unwanted motion such as axial misalignment or twisting.

[0118] In the embodiment of FIG. 5, the fastening portion (711) may have an opening (713) formed through the inside, and the tooth shape (74) may include a first tooth shape (741) formed by the outer peripheral surface of the fastening portion (711) and a second tooth shape (742) formed by the outer curved surface of the opening (713). Hereinafter, the design characteristics of the tooth shape (74) including the first tooth shape (741) and the second tooth shape (742) will be described.

[0119] Fig. 6 is a conceptual diagram for explaining the principle of generating an epitrochoid curve (EL). Referring to Fig. 6, the epitrochoid curve (EL) is a trajectory drawn by a fixed tracking point (93) for a rolling circle (91) when the rolling circle (91) rolls without slipping along the outer surface of the reference circle (90). At this time, the shape of the epitrochoid curve (EL) is determined according to the relationship between the distance (L) from the center of the rolling circle (91) to the tracking point (93) and the radius (r) of the rolling circle (91). Fig. 6 (a) illustrates a case where the distance (L) is greater than the radius (R) of the rolling circle (91) (L > R). In this case, the tracking point (93) is located outside the spherical circle (91), and the generated epitrochoid curve (EL) becomes a prolate epitrochoid forming a loop.

[0120] Figure 6 (b) illustrates a case where the distance (L) is smaller than the radius (R) of the circle (91) (L < R). In this case, the tracking point (93) is located inside the circle (91), and the generated epitrochoid curve (EL) becomes a curtate epitrochoid with a gentle waveform without a loop. In this way, epitrochoid curves (EL) of various shapes can be generated by designing the distance (L) and the radius (r).

[0121] The epitrochoid curve (EL) can be defined from three parameters.

[0122] [Relationship 1]

[0123]

[0124] Here, x(t) and y(t) are the time-dependent trajectories of the epitrochoid curve (EL), r is the radius of the fixed circle (90), R is the radius of the rolling circle (91), and L is the distance from the center of the rolling circle (91) to the tracking point. R, r, and L are all constants. x(t) is the time-dependent x-axis coordinate of the epitrochoid curve (EL), and y(t) is the time-dependent y-axis coordinate of the epitrochoid curve (EL).

[0125] FIG. 7 is a conceptual diagram illustrating a process for generating an epitrochoid offset curve according to an embodiment of the present invention. First, an epitrochoid curve (EL), which is a reference trajectory, can be generated from the relative motion of a reference circle (90) and a rolling circle (91) according to the principle described in FIG. 6. FIG. 7 illustrates a process for generating a curve offset by a constant distance (d) based on the epitrochoid curve (EL). The offset curve is generated by applying offsets in opposite directions based on the normal line of the epitrochoid curve (EL). One offset curve may be a first offset curve (EL_off1) formed by being offset by a distance (d) in a positive direction from the epitrochoid curve (EL). The other offset curve may be a second offset curve (EL_off2) formed by being offset by the same distance (d) in a negative direction opposite to the first direction. Here, expressions such as positive direction (+d) and negative direction (-d) do not refer to mathematical positive and negative numbers. They may be relative expressions referring to two distinct curves generated on either side of the reference trajectory, the epitrochoid curve (EL).

[0126] Figure 7 (a) shows the initial state in which the roller (91) starts rolling on the reference circle (90). Figure 7 (b) shows the entire trajectories of the completed first offset curve (EL_off1) and second offset curve (EL_off2) when the roller (91) has completely circled the circumference of the reference circle (90). One or a combination of two of these offset curves can be used to define the tooth surface (750) of the second link (72). The offset curve (EL) of the epitrochoid can be calculated by the following relationship.

[0127] [Relationship 2]

[0128]

[0129] Here, d is the offset distance and x offset (t) is the x-coordinate of the curve offset by a distance d, and y offset (t) is the y-axis coordinate of the curve offset by a distance d. x'(t) and y'(t) can be calculated by the following [Relationship 3].

[0130] [Relationship 3]

[0131]

[0132] r is the radius of the fixed circle (90), R is the radius of the rolling circle (91), and L represents the distance from the center of the rolling circle (91) to the tracking point.

[0133] Fig. 8 is a drawing showing an embodiment of a first link (71) and a second link (72) in which a curve is formed by an epitrochoid offset curve (EL_off1, EL_off2) and a tangent circle curve (TC).

[0134] The first link (71) has a contact point (P1, P2) formed on the curve of the tangent circle (TC) where the tooth profile (74) and the working surface (75) come into contact, and the curve of the tangent circle (TC) can be partially formed in a region of the outer shape of the tooth profile (74). The curve of the tangent circle (TC) can be partially formed in the region of the tip curved surface of the tooth profile (74).

[0135] The tooth profile (74) of the first link (71) is designed based on a tangent circle (TC) that satisfies specific conditions so as to perform rolling motion within the tooth surface (750). As a design rule according to the present embodiment, the condition of the tangent circle (TC) is that the tangent circle (TC) is simultaneously tangent to both the first offset curve (EL_off1) and the second offset curve (EL_off2). In order to satisfy this geometric condition, the radius (r) of the tangent circle (TC) can be set equal to the offset distance (d) of the epitrochoid curve (EL), which is a reference orbit. In this case, the center of the tangent circle (TC) is located on the epitrochoid curve (EL). By these design conditions, the tangent circle (TC) maintains a state in which its circumference is always in contact with the first offset curve (EL_off1) and the second offset curve (EL_off2) simultaneously while its center moves along the epitrochoid curve (EL). This means that the tooth profile (74) of the first link (71) is mechanically constrained within the working surface (75) of the second link (72).

[0136] The first link (71) has a first tangential surface of a tangent circle (TC) forming a first tooth profile (741), a second tangential surface of the tangent circle (TC) forming a second tooth profile (742), and the first tangential surface and the second tangential surface are located at opposite positions on the tangent circle (TC). The tangential surface of the tangent circle (TC) refers to a surface where the tangent circle (TC) makes tangential contact with the working surface (75), and in the present embodiment, the tangent circle (TC) makes tangential contact with the tooth surface (750) of the working surface (75). Depending on the type of tooth surface (750), the curved portion of the tangent circle (TC) that is in tangential contact with the first tooth surface (751) may become the first tangential surface, and the curved portion of the tangent circle (TC) that is in tangential contact with the second tooth surface (752) may become the second tangential surface.

[0137] The first link (71) is formed with a first contact point (P1) where the first tooth (741) contacts the working surface (75), and a second contact point (P2) where the second tooth (742) contacts the working surface (75), and the distance from the first contact point (P1) to the second contact point (P2) can define the diameter of a tangent circle (TC).

[0138] The second link (72) can be a tooth surface (750) whose working surface (75) is formed as an outer shape of an epitrochoid offset curve. In this embodiment, the tooth surface (750) is formed as a mathematical curve drawn by a tracking point (93) having a predetermined distance (L) from the center of a rolling circle (91) that rolls on the outer surface of a fixed circle (90), and a curve offset based on the epitrochoid curve (EL) having a condition that the distance (L) from the center of the rolling circle (91) to the tracking point is greater than the radius of the rolling circle (91) can form the tooth surface (750).

[0139] The tooth surface (750) of the second link (72) may include two tooth surfaces with the first offset curve (EL_off1) and the second offset curve (EL_off2) as boundaries on both sides. The tooth surface (750) of the second link (72) may be formed by the first offset curve (EL_off1) offset by a positive value from the epitrochoid curve (EL) and the second offset curve (EL_off2) offset by a negative value.

[0140] In the second link (72), the first offset curve (EL_off1) forms the first tooth surface (751), and the second offset curve (EL_off2) forms the second tooth surface (752), so that the tooth profile (74) can be brought into contact with the first tooth surface (751) or the second tooth surface (752) to drive gear operation. In the second link (72), the surface of the first offset curve (EL_off1) can be brought into contact with the first tangential surface of the tangent circle (TC) to form a first contact point (P1), and the surface of the second offset curve (EL_off2) can be brought into contact with the second tangential surface of the tangent circle (TC) to form a second contact point (P2).

[0141] In summary, the first tooth profile (741) contacts the first tooth surface (751) and the contact point is the first contact point (P1), and the second tooth profile (742) contacts the second tooth surface (752) and the contact point is the second contact point (P2). As a result, the tooth profile (74) of the first link (71) has a shape with a radius d on the tip curve, and the tooth surface (750) of the second link (72) forms a channel with a width of 2d. In this way, since the shapes of the two links (71, 72) are defined by mutually constraining design rules, the tooth profile (74) can maintain rolling contact with minimized contact points while being structurally stable within the tooth surface (750). This can serve as a structural basis for ensuring smooth relative motion with little backlash between the two links.

[0142] Fig. 9 illustrates a joint configuration of a medical device according to another embodiment of the present invention. Specifically, Fig. 9 (a) is an exploded perspective view of a first link (71) and a second link (72), and Fig. 9 (b) is a cross-sectional view of a joint portion where the two links are connected. This embodiment discloses a tooth profile (74) and a corresponding working surface (75) having a different structure from the previous embodiment by changing the method of applying a tangent circle (TC) for designing the tooth profile (74) of the first link (71).

[0143] The first link (71) may include a link body (710) having a first guide surface (714), which is a pair of inclined surfaces converging toward the tooth profile (74), and a fastening portion (711) having the tooth profile (74). The second link (72) may include a link body (720) having a second guide surface (724), which is a pair of inclined surfaces converging toward the working surface (75). The angle formed by the first guide surface (714) and the second guide surface (724) may be an operating angle at which gear operation of the first link (71) and the second link (72) is permitted. The tangent circle (TC) of the tooth profile (74) according to the present embodiment may be formed based on the design conditions of the first and second guide surfaces (714, 724).

[0144] The second link (72) may include a protrusion (725) at the tip of its link body (720). The protrusion (725) is formed at a point where a pair of second guide surfaces (724) converge, and a curved surface formed on the inner side thereof may define an operating surface (75). Correspondingly, a concave shape capable of accommodating the protrusion (725) is formed at the periphery of the tooth (74) in the fastening portion (711) of the first link (71). When the two links (71, 72) reach the maximum displacement point through gear operation, the first guide surface (714) and the second guide surface (724) come into contact with each other. At the same time, the protrusion (725) of the second link (72) is completely seated within the concave shape of the first link (71). As a result, the protrusion (725) performs a mechanical stop role together with the first and second guide surfaces (714, 724) when the joint reaches the maximum operating angle, and can stably support the stress occurring at that point.

[0145] In the present embodiment, the working surface (75) of the second link (72) can be implemented as a tooth groove (753) having a specific width (H). The width (H) of the tooth groove (753) is determined by a value obtained by adding a predetermined 'operating clearance' to the diameter of the tangent circle (TC) defining the tooth profile (74) of the first link (71). Unlike the previous embodiment, the shape of the tooth groove (753) is not based on a curve of the cycloid or epitrochoid series. The tooth groove (753) is provided for interaction in which the tooth profile (74) and the tooth profile (74) roll each other, but the contact point is not fixed at one location but continuously changes. Therefore, the value of the operating clearance that determines the width (H) of the tooth groove (753) can be a major design variable that affects the performance of the gear. If the clearance is excessively large, the play between the tooth profile (74) and the tooth groove (753) may increase, which may lower precision. On the other hand, if the clearance is excessively small, the frictional resistance may increase, which may lower driving efficiency. In the present embodiment, the length of the operating clearance may be set as the distance between the virtual vertices where the first guide surfaces (714) meet and the virtual vertices where the second guide surfaces (724) meet.

[0146] In this embodiment, the width (H) of the groove (753) is determined by the length obtained by adding the value of the clearance (c) to the diameter (2R) of the tangent circle (TC) of the tooth profile (74) that makes internal contact. The maximum condition of the size of the clearance (c) may vary depending on the steering degree of the link. Assuming that the steering of the first and second links (71, 72) is 45°, when the clearance exceeds about 2.5% of the radius of the rolling surface on which the tooth profile (74) rolls, the play becomes too severe, resulting in a reduction in the precision of torsion or gear operation. Therefore, the clearance (c) may be set to a maximum condition of not exceeding 2.5% of the width radius of the groove (753).

[0147] Figure 10 is a drawing for explaining the design characteristics of the joint part. (a) is a drawing showing the design characteristics when the first link (71) and the second link (72) are connected, and (b) is an enlarged drawing showing the design characteristics of the tooth shape of the first link (71) and the working surface of the second link (72).

[0148] The geometric shape of the first link (71) may be subject to the following design rule. The virtual vertex (CP2) formed by the intersection of a pair of first guide surfaces (714) is set as the center of the tangent circle (TC) defining the tooth profile (74). This design rule may be based on a design sequence in which the maximum operating angle (θ) between the two links (71, 72) is first set, and the positions and angles of the first and second guide surfaces (714, 724) are determined based on this, and then the center position of the tangent circle (TC) is finally determined.

[0149] The second link (72) may have a virtual vertex (CP1) at which the second guide surface (724) converges, which may be located on an imaginary vertical line and the center of the tangent circle (TC). Referring to FIG. 10, the imaginary vertical line (C) may be a central axis (C) of geometric symmetry of the first and second links (71, 72). Based on the imaginary vertical line (C), the virtual vertex (CP1) at which the first guide surface (724) converges is located higher than the imaginary vertex (CP2) at which the first guide surface (714) converges.

[0150] The gear operation of the first link (71) and the second link (72) may include an operation of a vertical section (M) in which the tooth (74) moves up to a height of the virtual vertex (CP1) to which the second guide surface (724) converges, from an operation of a maximum displacement (θ) in which the center of the tangent circle (TC) moves from a fixed position located at the virtual vertex (CP2) to which the first guide surface (714) converges, to an angle at which the tooth (74) can operate. The vertical section M may refer to a section from CP2 to CP1. It is noted that the gear operation of the first and second links (71, 72) according to the present embodiment includes an operation section in which the tooth (74) moves up and down along the vertical section (M) while rolling. In addition, in the present embodiment, when the gear operation of the first link (71) and the second link (72) is driven by the rolling motion of the tooth profile (74) on the working surface (75), the contact point of the tooth profile (74) with the working surface (75) varies on the curve of the tangent circle (TC). This corresponds to the fixed contact point in a conventional gear design such as a cycloid or an epitrochoid. The tooth profile (74) according to the present embodiment has a variable contact point and rolls on the working surface (75).

[0151] For the design of the tooth profile (74) and the tooth groove (753) according to the present embodiment, the geometric relationship illustrated in Fig. 11 may be utilized. Fig. 11 is a drawing explaining the principle and relationship for setting the length of a vertical section (M) using a specific geometric relationship, wherein (a) illustrates a first right triangle and (b) illustrates a second right triangle, respectively.

[0152] Referring to (a) of Fig. 11, the first right triangle may be configured to include a common side (P) and another side (R). Here, the common side (P) may be defined as a line segment connecting a contact point (P4) of the rolling surface where the tooth (74) comes into contact with the working surface (75), and a point where the curvature line of the tooth (74) and the curvature line of the tooth groove (753) intersect each other. The side (R) is set based on the length of the rolling surface on which the tooth (74) rolls, and may be a value corresponding to the radius of curvature of the rolling surface.

[0153] Referring to (b) of Fig. 11, the second right triangle includes the common side (P) and another side (l). The length of the side (l) is set to a value corresponding to half (M / 2) of the total length of the vertical section (M) that is the design target.

[0154] The first right triangle has a vertical side P, a horizontal side perpendicular to it R, and has the condition that Tan(A) = p / R. The second right triangle has a vertical side l, a horizontal side perpendicular to it P, and has the condition that tan(B) = l / P. When the first and second right triangles satisfy the trigonometric conditions of having a side of common length P and angles A and B respectively, the vertical section M is as in [Relationship 4].

[0155] [Relationship 4]

[0156]

[0157] Here, θ is the maximum operating angle (θ) between the two links (71, 72), M is the vertical section, and has the relationship 4A=θ, 2B=θ.

[0158] Figure 12 illustrates step-by-step the joint driving process of a medical device according to an embodiment of the present invention. Specifically, (a) represents a fixed position state, (b) represents an intermediate displacement state, and (c) represents a maximum displacement state, respectively.

[0159] In the fixed position state shown in (a) of Fig. 12, the first link (71) and the second link (72) are symmetrical with respect to the geometric center axis (C). At this time, the center of the tangent circle (TC) defining the tooth shape (74) is located on the center axis (C), which may coincide with the virtual vertex (CP2) of the first guide surface (714).

[0160] Referring to (b) of Fig. 12, when the first link (71) is driven and in an intermediate operating displacement state, the center of the tangent circle (TC) temporarily deviates from the central axis (C). In this process, the contact point between the tooth (74) and the working surface (75) moves along the circumference of the tangent circle (TC).

[0161] As shown in (c) of Fig. 12, when the first link (71) reaches the maximum displacement point, the center of the tangent circle (TC) returns to the central axis (C). At this maximum displacement point, the center position of the tangent circle (TC) may coincide with the virtual vertex (CP1) where the second guide surface (724) converges.

[0162] In conclusion, the entire gear operation process from the fixed position state of (a) to the maximum displacement state of (c) can be interpreted as the process in which the center of the tangent circle (TC) starts from the virtual vertex (CP2) and moves to the virtual vertex (CP1). The straight-line distance between these two vertices (CP1, CP2) can correspond to the length of the vertical section (M) described above.

[0163] Figure 13 illustrates an embodiment having a different shape of a tooth groove (753), (a) showing a fixed position state and (b) showing a maximum displacement state, respectively. This embodiment shows one example of how the degree of design freedom for the shape of the tooth groove (753) can be improved.

[0164] Specifically, the gear operation of the present embodiment can be performed even if the concave bottom surface of the tooth groove (753) does not necessarily come into contact with the tooth profile (74). For example, as shown in (a) of FIG. 13, the outermost point (P4) of the tooth profile (74) located on the center line (C) in the fixed position may be a non-contact point that does not come into contact with the working surface (75), and this non-contact state may be maintained even during the maximum displacement operation of (b).

[0165] Therefore, in this embodiment, the actual power transmission takes place in different areas. That is, in the second link (72), the wall surfaces on both sides of the tooth groove (753) serve as the main working surfaces, and in the first link (71), the side surfaces of the tooth profile (74) formed in the shape of a tangent circle (TC) curve, excluding the tip portion, contact the wall surfaces on both sides to transmit the driving force. In this structure where there is an intended gap between the bottom surface of the tooth profile (74) and the tooth groove (753), the function of supporting the load by engaging the two links (71, 72) can be mainly performed by the rolling surface on the inside of the link body (710, 720), which is not shown.

[0166] FIG. 14 is a drawing showing a medical device according to another embodiment of the present invention, in which (a) is an exploded perspective view of a first link (71) and a second link (72), and (b) is a cross-sectional view of a joint portion where the first link (71) and the second link (72) are connected. The first link (71) and the second link (72) are another embodiment of the tooth shape and tooth surface of a tangent circle (TC).

[0167] The present embodiment may include a first link (71) in which a tooth profile (74) for gear operation is formed, and the tooth profile (74) includes a curve of a tangent circle (TC) in its outer shape, and a second link (72) in which an operating surface (7500, 7501) with which the tooth profile (74) comes into contact is formed.

[0168] In this embodiment, the tooth profile (74) of the first link (71) is a main tooth profile (7400), and the working surface (7500, 7501) of the second link (72) may be formed with a main tooth surface (7500) formed by an epitrochoid offset curve, and a sub tooth profile (7501) that performs a rolling motion on the curved surface of the main tooth profile (7400).

[0169] In this embodiment, the main tooth (7400) and the main tooth surface (7500) are brought into contact with each other and the sub tooth (7501) and the main tooth (7400) are brought into contact with each other by a force applied to the first link (71) and the second link (72) through the drive wire (5010), so that the gear operation can be driven.

[0170] In one embodiment, the outer surface of a tangent circle (TC) is included on one side of the main tooth shape (7400), the surface except for one side of the main tooth shape (7400) is formed as a curve of a non-tangent circle, and the sub tooth shape (7501) can be in tangential contact with the surface (7401) formed as a curve of a non-tangent circle.

[0171] The sub-tooth shape (7501) may include a first sub-tooth shape and a second sub-tooth shape. In the present embodiment, the sub-tooth shape (7501) is a sub-tooth shape based on two different tangent circles, which is expressed as TC2. It is preferable that the first and second sub-tooth shapes (TC2) have the same design specifications.

[0172] The link structure according to this embodiment is formed with a first contact point (P5) where the tip curve of the main tooth (7400) comes into contact with the main tooth surface (7500), a second contact point (P6) where the first sub tooth (TC2) comes into contact with the main tooth (7400), and a third contact point (P7) where the second sub tooth (TC2) comes into contact with the main tooth, so that three-point contact can be configured during gear operation.

[0173] The first link (71) includes a main tooth (7400) formed as a curve of a tangent circle (TC1) and a side surface (7401) formed as an offset epitrochoid curve (EL_off4), and the side surface (7401) is a curve of a non-tangent circle.

[0174] The first link (71) may be a surface in which the side surface (7401) of the main tooth form (7400) is offset in both phase and distance from the epitrochoid curve. In one embodiment, the side surface (7401) of the main tooth form (7400) may be a surface formed as a curve in which the phase is first offset from the epitrochoid curve and then the distance is offset. Since the trajectory of the epitrochoid offset differs depending on the order, the offset of the phase and distance will be described below.

[0175] Fig. 15 is a conceptual diagram for explaining the phase offset (EL_off3) of the epitrochoid curve (EL). (a) is a diagram showing a tracking point (93') with a phase (Φ) offset from a rolling circle (91), and (b) is a diagram showing an offset trajectory (EL_off3) of a tracking point (93') as the rolling circle (91) rolls around a fixed circle (90).

[0176] In this embodiment, the tracking point (93') draws a trajectory (EL_off3) whose phase is firstly offset. Thereafter, the distance is secondarily offset based on the phase offset trajectory (EL_off3) to form an offset epitrochoid curve (EL_off4), and this offset epitrochoid curve (EL_off4) forms a side surface (7401) of the main tooth shape (7400). The phase-offset epitrochoid curve, which is a firstly offset trajectory, can be calculated according to [Relationship 5].

[0177] [Relationship 5]

[0178]

[0179] xangle_offset(t) is the x-coordinate over time of the epitrochoid curve whose phase is offset by θ(rad), and yangle-offset(t) is the y-coordinate over time of the epitrochoid curve whose phase is offset by θ(rad). r is the radius of the fixed circle (90), R is the radius of the rolling circle (91), and L is the distance from the center of the rolling circle (91) to the tracking point. R, r, and L are all constants.

[0180] A trajectory (EL_off4) offset by a distance b based on a phase-offset trajectory (EL_off3) can be calculated according to [Relationship 6].

[0181] [Relationship 6]

[0182]

[0183] Here, x af_offet (t) is the x-axis coordinate over time of the quadratically offset epitrochoid curve (EL_off4, Fig. 17), and y af_offet (t) is the time-dependent y-coordinate of the quadratically offset epitrochoid curve (EL_off4, Fig. 17). b is the distance-offset value.

[0184] The first link (71) includes a surface formed by the offset epitrochoid curve (EL_off4) in the area excluding the surface of the tangent circle (TC1) of the main tooth profile (7400), so that both the main tooth profile (7400) and the main tooth surface (7500) of the second link (72) can have surfaces formed by the offset epitrochoid curve. In other words, it is possible to design a surface on which gear operation is performed by the offset epitrochoid curve.

[0185] Below, the design characteristics of the tangent circle, which is the tip surface of the main tooth shape (7400) of the first and second links (71, 72), the side surface (7401) of the main tooth shape (7400), the sub tooth shape (7501), and the main tooth surface (7500) are described.

[0186] The main tooth profile (7400) of the first link (71) is formed with a virtual second circle (C2) with a radius (R) formed in the second link (72) area centered on the contact point (P5) that contacts the main tooth surface (7500) on the curve of the tangent circle (TC1), and the virtual first circle (C1) circumscribed with the same radius (R) as the second circle (C2) in the first link (71) area is a fixed circle (90), and the center point of the sub tooth profile (7501) in the second circle (C2) is a tracking point (93), and the phase of the tracking point (93) rolling on the outer surface of the first circle (C1) is drawn at a position offset by the first value (Φ), and the epitrochoid offset curve (EL_off4) is additionally offset by the second value (d). A curved surface (7401) is formed, and a sub-tooth shape (7501) can be tangent to the side curved surface (7401).

[0187] Fig. 16 is a design diagram for explaining the design characteristics of a second link (72) according to an embodiment of the present invention. Fig. 17 is a design diagram for explaining the design characteristics of a first link (71) according to an embodiment of the present invention.

[0188] The sub-tooth shape (7501) of the second link (72) is formed as a curve of a tangent circle (TC2), and the tangent circle (TC2) of the sub-tooth shape (7501) can be designed to have a length of a second value (d) whose radius is offset from the epitrochoid curve of the side surface (7401).

[0189] The sub-tooth (7501) of the second link (72) is arranged at an angular position of a phase angle (Φ) based on the geometric center axis (C) of the second link (72), and the phase angle (Φ) can be designed to be equal to a first value (Φ) whose phase is offset from the epitrochoid curve of the side surface (7401). The curvature of the sub-tooth (7501) is different from the curvature of the main tooth surface (7500). In Fig. 16 (a), the main tooth surface (7500) forms the bottom surface, and the surface of the side surface is formed by the sub-tooth (7501). A discontinuity point due to the difference in curvature may be formed at the boundary of the sub-tooth (7501) and the boundary of the main tooth surface (7500).

[0190] The main tooth surface (7500) of the second link (72) is formed by a virtual first circle (C1) with a radius (R) formed in the first link (71) area, centered on the contact point (P5) that contacts the main tooth surface (7500) on the surface of the tangent circle (TC1), and a virtual second circle (C2) circumscribed with the same radius (R) as the first circle (C1) in the second link (72) area is a fixed circle (90), in the epitrochoid curve (EL) formed by a mathematical curve drawn by a tracking point (93) having a predetermined distance (L) from the center of the first circle (C1) rolling on the outer surface of the second circle (C2), the distance (L) from the center of the rolling circle (91) to the tracking point (93) is offset based on the epitrochoid curve (EL) having a condition that it is larger than the radius of the rolling circle (91). It may be a surface formed by a curve (EL_off5). In the present embodiment, the offset epitrochoid curve (EL_off5) when the main tooth surface (7500) of the second link (72) is designed is a curve in which only the distance is offset. On the other hand, when the side surface (7401) of the first link (71) is designed, the offset epitrochoid curve (EL_off4) is a curve in which both the phase and the distance are offset.

[0191] The first link (71) can be designed so that the radius of the tangent circle (TC1) is equal to the length (d) of the offset distance of the epitrochoid curve of the main tooth surface (7500). In Fig. 17 (a), the main tooth has a tip surface (7400) and a side surface (7401), and the curvatures of the tip surface (7400) and the side surface (7401) can be different. The tip surface (7400) is based on the design of the tangent circle (TC1) described above. The side surface (7401) is based on the offset design of the phase and distance of the epitrochoid curve. Therefore, the contact point of the tip surface (7400) and the side surface (7401) can form a discontinuity point due to different curvatures.

[0192] While the technical concept of the present invention and disclosure has been illustrated by the embodiments described above, the technical concept of the present invention encompasses various substitutions, modifications, and variations that can be made within the scope understandable to those of ordinary skill in the art. Furthermore, it should be understood that such substitutions, modifications, and variations are encompassed within the scope of the appended claims.

[0193] In the first embodiment of FIGS. 5 to 8, the 'opening' may be referred to as Opening, the 'first tooth surface' may be referred to as the contact surface of the first joint member, the 'second tooth surface' may be referred to as the additional contact surface of the protrusion formed on the protrusion member, the 'first tooth shape' may be referred to as the contact surface of the second joint member, and the 'second tooth shape' may be referred to as the additional contact surface of the second joint member, respectively.

[0194] In the second embodiment of FIGS. 9 to 13, the 'tooth shape' may be referred to as a circular portion, the 'protrusion' as a first protrusion and a second protrusion, the 'tooth groove' as a contact surface of the first joint member, 'TC' as a circular portion, the 'inner wall of the tooth groove' as a vertical path, the 'concave portion forming the joint member' as a first groove and a second groove, the 'central axis (C)' as an imaginary line, the 'first guide surface' as a first curvature line and a second curvature line, and the 'second guide surface' as a third and fourth curvature line, respectively.

[0195] In the third embodiment of FIGS. 14 to 17, the 'first link' may be referred to as the first joint member, the 'second link' may be referred to as the second joint member, the 'sub-tooth' may be referred to as the first protrusion and the second protrusion, the 'first circle' may be referred to as the first imaginary rolling circle, the 'second circle' may be referred to as the second imaginary rolling circle, 'TC2' may be referred to as the first circle portion or the second circle portion, the 'phase angle (Φ)' may be referred to as the first angle, the 'central axis (C)' may be referred to as the imaginary line, the 'radius of the second circle (C2)' may be referred to as the intermediate contact portion, the 'side curved surface' may be referred to as the first surface and the second surface, and 'TC1' may be referred to as the circular portion.

[0196]

[0197] Embodiment 1. A joint apparatus comprising:

[0198] a first joint member which is convex, wherein the first joint member include a contact surface continuously contacts with the contact surface of the second joint member at at least one contact point of the second joint member,

[0199] a second joint member including a first protrusion at a first side of the second joint member, a second protrusion at a second side of the second joint member, and a contact surface which is concave and disposed between the first and second protrusions; and

[0200] wherein the second joint member and the first joint member are disposed so that a second imaginary rolling circle of the second joint member as a rolling surface of the second joint member and a first imaginary rolling circle of the first joint member as a rolling surface of the first joint member continuously contact to each other.

[0201]

[0202] Embodiment 2. The joint apparatus of Embodiment 1, wherein the contact surface of the first joint member continuously contacts with the contact surface of the second joint member at at least three contact points of the contact surface of the second joint member.

[0203]

[0204] Embodiment 3. The joint apparatus of Embodiment 2, wherein the contact surface of the second joint member comprises:

[0205] a first circle portion formed at an end of the first protrusion and including an outer circumference having a first radius, wherein the outer circumference of the first circle portion continuously contacts with the contact surface of the first joint member at a first contact point among the at least three contact points;

[0206] a second circle portion formed at an end of the second protrusion and including an outer circumference having a second radius, wherein the outer circumference of the second circle portion continuously contacts with the contact surface of the first joint member at a second contact point among the at least three contact points; and

[0207] an intermediate contact portion disposed between the first circle portion and the second circle portion and continuously contacting with the contact surface of the first joint member at a third contact point among the at least three contact points.

[0208]

[0209] Embodiment 4. The joint apparatus of Embodiment 3,

[0210] wherein centers of the first circle portion and the second circle portion are disposed on a corresponding phase-offset curve of the first joint member, and each radius of the first and second circular portions is equal to a distance offset value used for determining a corresponding distance-offset curve of the first joint member.

[0211]

[0212] Embodiment 5. The joint apparatus of Embodiment 4, wherein a first angle of the first circle portion between an imaginary line connecting the center of the first circle portion and a center of the second imaginary rolling circle and an imaginary line connecting the center of the second imaginary rolling circle and a center of the first imaginary rolling circle is equal to a second angle of the second circle portion between an imaginary line connecting the center of the second circle portion and the center of the second imaginary rolling circle and the imaginary line connecting the centers of the first and first imaginary rolling circles.

[0213]

[0214] Embodiment 6. The joint apparatus of Embodiment 5, wherein the first angle of the first circle portion and the second angle of the second circle portion are equal to a phase offset angle value applied to an epitrochoid curve of the first joint member for determining the corresponding phase-offset curve.

[0215]

[0216] Embodiment 7. The joint apparatus of Embodiment 3,

[0217] wherein the contact surface of the second joint member includes an offset epitrochoid surface determined by distance-offsetting, with a distance offset value of the second joint member, an epitrochoid surface having a tracing point following an epitrochoid curve of the second joint member, the epitrochoid curve of the second joint member formed while the first imaginary rolling circle rotates around the second imaginary rolling circle, and

[0218] wherein an end portion of the first joint member continuously contacts with the offset epitrochoid surface of the second joint member at the third contact point.

[0219]

[0220] Embodiment 8. The joint apparatus of Embodiment 7, wherein the end portion of the first joint member includes a circular portion having a predetermined radius and continuously contacting with the contact surface of the second joint member at the third contact point.

[0221]

[0222] Embodiment 9. The joint apparatus of Embodiment 8, wherein a center of the circular portion of the first joint member is disposed on the epitrochoid curve of the second joint member.

[0223]

[0224] Embodiment 10. The joint apparatus of Embodiment 8, wherein the predetermined radius of the circular portion in the first joint member is equal to the distance offset value of the second joint member.

[0225]

[0226] Embodiment 11. The joint apparatus of Embodiment 8,

[0227] wherein the first joint member further includes a first surface at a first side of the first joint member and a second surface at a second side of the first joint member, and

[0228] wherein the first surface of the first joint member and the second surface of the first joint member are connected each other to form the circular portion of the first joint member.

[0229]

[0230] Embodiment 12. The joint apparatus of Embodiment 11, wherein the first surface of the first joint member and the second surface of the first joint member are symmetrical with respect to an imaginary line connecting a center of the circular portion in the first joint member and a center of the first imaginary rolling circle in the first joint member.

[0231]

[0232] Embodiment 13. The joint apparatus of Embodiment 11,

[0233] wherein the first surface of the first joint member includes a surface having a first distance-offset curve formed by phase-offsetting a first epitrochoid curve with a first phase angle value in a first direction to form a first phase-offset curve and then distance-offsetting the first phase-offset curve at the first side of the first joint member by a first distance offset value to form the first distance-offset curve, and

[0234] wherein the second surface of the first joint member includes a surface having a second distance-offset curve formed by phase-offsetting a second epitrochoid curve with a second phase angle value in a second direction to form a second phase-offset curve and then distance-offsetting the second phase-offset curve at the second side of the first joint member by a second distance offset value to form the second distance-offset curve.

[0235]

[0236] Embodiment 14. The joint apparatus of Embodiment 13, wherein the first distance offset value and the second first distance offset value are the same.

[0237]

[0238] Embodiment 15. The joint apparatus of Embodiment 13, wherein the first phase angle value and the second phase angle value are the same.

[0239]

[0240] Embodiment 16. The joint apparatus of Embodiment 13, wherein a center of the first circle portion is disposed on the first phase-offset curve.

[0241]

[0242] Embodiment 17. The joint apparatus of Embodiment 13, wherein a center of the second circle portion is disposed on the second phase-offset curve.

[0243]

[0244] Embodiment 18. The joint apparatus of Embodiment 13, wherein the first radius of the first circle portion is equal to the first distance offset value of the first distance-offset curve.

[0245]

[0246] Embodiment 19. The joint apparatus of Embodiment 13, wherein the second radius of the second circle portion is equal to the second distance offset value of the second distance-offset curve.

[0247]

[0248] Embodiment 20. The joint apparatus of Embodiment 13, wherein a first angle of the first circle portion between an imaginary line connecting a center of the first circle portion and a center of the second imaginary rolling circle and an imaginary line connecting the center of the second imaginary rolling circle and a center of the first imaginary rolling circle is equal to the first phase angle value.

[0249]

[0250] Embodiment 21. The joint apparatus of Embodiment 20, wherein a second angle of the second circle portion between an imaginary line connecting a center of the second circle portion and the center of the second imaginary rolling circle and the imaginary line connecting the center of the second imaginary rolling circle and the center of the first imaginary rolling circle is equal to the second phase angle value.

[0251]

[0252] Embodiment 22. The joint apparatus of Embodiment 21, wherein the first angle of the first circle portion is equal to the second angle of the second circle portion.

[0253]

[0254] Embodiment 23. The joint apparatus of Embodiment 13, wherein a second angle of the second circle portion between an imaginary line connecting a center of the second circle portion and a center of the second imaginary rolling circle and an imaginary line connecting the center of the second imaginary rolling circle and a center of the first imaginary rolling circle is equal to the second phase angle value.

[0255]

[0256] Embodiment 24, The joint apparatus according to any one of Embodiments 3 to 23, wherein the contact surface of the first joint member continuously contacts with the contact surface of the second joint member at three contact points of the contact surface of the second joint member but excluding four or more contact points of the contact surface of the second joint member.

[0257]

[0258] Embodiment 25. The joint apparatus of Embodiment 1, further including:

[0259] a protrusion member formed in the second joint member and including an additional contact surface which is convex,

[0260] wherein the first joint member further includes an additional contact surface.

[0261]

[0262] Embodiment 26. The joint apparatus of Embodiment 25,

[0263] wherein the first joint member further includes an opening,

[0264] wherein the additional contact surface of the first joint member is formed at an inner surface of the opening, and

[0265] wherein the protrusion member is engaged to the opening.

[0266]

[0267] Embodiment 27. The joint apparatus of Embodiment 26,

[0268] wherein the first joint member further includes a circular portion, and a center of the circular portion follows a predetermined epitrochoid curve, and

[0269] wherein the circular portion of the first joint member includes the contact surface of first joint member at a first side of the circular portion and the additional contact surface of first joint member at a second side of the circular portion.

[0270]

[0271] Embodiment 28. The joint apparatus of Embodiment 27,

[0272] wherein the contact surface of the first joint member continuously contacts with the contact surface of the second joint member, and

[0273] wherein the additional contact surface of the first joint member continuously contacts with the additional contact surface of the protrusion member.

[0274]

[0275] Embodiment 29. The joint apparatus of Embodiment 27,

[0276] wherein the contact surface of the second joint member is a surface formed by distance-offset of the predetermined epitrochoid curve with a first distance offset value in a first direction, and

[0277] wherein the additional contact surface of the second joint member is a surface formed by distance-offset of the predetermined epitrochoid curve with a second distance offset value in a second direction opposite to the first direction.

[0278]

[0279] Embodiment 30. The joint apparatus of Embodiment 29, wherein the first distance offset value in the first direction is equal to the second distance offset value in the second direction.

[0280]

[0281] Embodiment 31. The joint apparatus of Embodiment 27,

[0282] wherein a diameter of the circular portion of the first joint member is smaller than a distance between the contact surface of the second joint member and the additional contact surface of the protrusion member in the second joint member, and

[0283] wherein the circular portion of the first joint member is configured to contact with the contact surface of the second joint member or the additional contact surface of the protrusion member.

[0284]

[0285] Embodiment 32. The joint apparatus of Embodiment 1,

[0286] wherein the contact surface of the second joint member includes a vertical path, and

[0287] wherein the first joint member includes a circular portion pivotally engaged to the vertical path and movable in a predetermined distance in the vertical path.

[0288]

[0289] Embodiment 33. The joint apparatus of Embodiment 32,

[0290] wherein a width of the vertical path is larger than a diameter of the circular portion.

[0291]

[0292] Embodiment 34. The joint apparatus of Embodiment 33,

[0293] wherein a center of the circular portion is disposed at an intersection of a first curvature line and a second curvature line of the first joint member, and

[0294] wherein the first curvature line and the second curvature line are lines tangent to the first imaginary rolling circle of the first joint member at different directions.

[0295]

[0296] Embodiment 35. The joint apparatus of Embodiment 34, wherein a center of the vertical path is disposed at a contact point of the second imaginary rolling circle and the first imaginary rolling circle.

[0297]

[0298] Embodiment 36. The joint apparatus of Embodiment 35, wherein the circular portion of the first joint member is pivotal along an inner surface of the vertical path.

[0299]

[0300] Embodiment 37. The joint apparatus of Embodiment 34, wherein the center of the circular portion is configured to revolve in the vertical path according to a pivotal movement of the first joint member.

[0301]

[0302] Embodiment 38. The joint apparatus of Embodiment 37, wherein the center of the circular portion moves along the vertical path and selectively intersects with a center line of the vertical path according to the pivotal movement of the first joint member.

[0303]

[0304] Embodiment 39. The joint apparatus of Embodiment 32,

[0305] wherein a length of the vertical path is determined based on a radius of the first imaginary rolling circle and an actuating angle of the first and first joint members, and

[0306] wherein the actuating angle is an angle between a curvature line tangent to the second imaginary rolling circle and a curvature line tangent to the first imaginary rolling circle.

[0307]

[0308] Embodiment 40. The joint apparatus of Embodiment 32, wherein a first intersection of first and second curvature lines tangent to the second imaginary rolling circle and a second intersection of third and fourth curvature lines tangent to the first imaginary rolling circle are disposed on a center line of the vertical path.

[0309]

[0310] Embodiment 41. The joint apparatus of Embodiment 40, wherein the center line of the vertical path is disposed at a contact point of the second imaginary rolling circle and the first imaginary rolling circle.

[0311]

[0312] Embodiment 42. The joint apparatus of Embodiment 32,

[0313] wherein the second joint member includes a first protrusion at a first side thereof and a second protrusion at a second side thereof and the vertical path is disposed between the first protrusion and the second protrusion,

[0314] wherein the first protrusion is selectively engaged to the first joint member to limit rotation of the second joint member in a first direction, and

[0315] wherein the second protrusion is selectively engaged to the first joint member to limit rotation of the first joint member in a second direction opposite to the first direction.

[0316]

[0317] Embodiment 43. The joint apparatus of Embodiment 42,

[0318] wherein the first joint member including a first groove and a second groove, and

[0319] wherein the first protrusion is selectively disposed in the first groove to limit the rotation of the second joint member in the first direction and the second protrusion is selectively disposed in the second groove to limit the rotation of the second joint member in the second direction.

[0320]

[0321] Embodiment 44. A surgical device comprising the joint apparatus according to any one of the preceding Embodiments.

[0322]

[0323] Embodiment 45. A method for driving the joint apparatus of Embodiment 1, the method comprising:

[0324] rotating one of the second joint member and the first joint member with respect to another of the second joint member and the first joint member.

[0325]

[0326] Embodiment 46. A method for driving the joint apparatus according to any one of Embodiments 2, 25 and 32, the method comprising:

[0327] rotating one of the second joint member and the first joint member with respect to another of the second joint member and the first joint member.

[0328]

[0329] Embodiment 47. A method for driving the joint apparatus according to Embodiment 2, the method comprising:

[0330] rotating one of the second joint member and the first joint member with respect to another of the second joint member and the first joint member so that the contact surface of the first joint member continuously contacts with the contact surface of the second joint member at at least three contact points of the contact surface of the second joint member.

[0331]

[0332] Embodiment 48. A method for driving the joint apparatus of Embodiment 25, the method comprising:

[0333] rotating the first joint member so that the contact surface of the first joint member continuously contacts with the contact surface of the second joint member at a first contact point, and

[0334] rotating the first joint member so that the additional contact surface of the first joint member continuously contacts with the additional contact surface of the protrusion member at a second contact point.

[0335]

[0336] Embodiment 49. A method for driving the joint apparatus of Embodiment 31, the method comprising:

[0337] rotating the first joint member so that the circular portion of the first joint member contacts with the contact surface of the second joint member or the additional contact surface of the protrusion member.

[0338]

[0339] Embodiment 50. A method for driving the joint apparatus of Embodiment 36, the method comprising:

[0340] rotating the first joint member so that the circular portion of the first joint member is pivotal along an inner surface of the vertical path.

[0341]

[0342] Embodiment 51. A method for driving the joint apparatus of Embodiment 37, the method comprising:

[0343] rotating the first joint member so that a center of the circular portion revolves in the vertical path according to a pivotal movement of the first joint member

[0344]

[0345] 본 발명은 의료기구에 관한 것으로, 산업상 이용가능성이 있다.

Claims

1. In steerable medical devices, A first link having a tooth profile for gear operation, the tooth profile including an outer shape of a tangent circle; A second link having a working surface formed with the above-mentioned teeth; and a drive wire connected to apply force to the first link or the second link; A medical device characterized in that the gear operation is driven by the force applied to the first link and the second link through the driving wire, causing the teeth and the working surface to come into contact.

2. In paragraph 1, The second link above is, A medical device characterized in that the above working surface includes a tooth surface whose outer shape is formed by an epitrochoid offset curve.

3. In paragraph 1, The first link above is, A contact point is formed where the tooth shape and the working surface come into contact on the curve of the tangent circle, A medical device characterized in that the curve of the above tangent circle is partially formed in one area of ​​the outer shape of the above tooth shape.

4. In paragraph 1, The second link above is, The above working surface is a tooth surface whose outer shape is formed by an offset curve of the epitrochoid curve, The first link above is, The radius of the above tangent circle is, A medical device characterized by corresponding to the offset length of the above epitrochoid curve.

5. In paragraph 4, The first link above is, A medical device characterized in that the center of the tangent circle is located on the epitrochoid curve.

6. In paragraph 1, The first link above is, Link body; and A fastening part formed on one side of the above link body and having the above tooth shape; The above fastening part is, A perforated opening is formed on the inside, The above tooth shape is a first tooth shape formed on the outer surface of the above-mentioned fastening portion, A medical device characterized by including a second tooth formed by the outer curved surface of the opening.

7. In paragraph 6, The first link above is, The first tangent plane of the above tangent circle constitutes the first tooth shape, The second tangent plane of the above tangent circle constitutes the second tooth shape, A medical device characterized in that the first tangential surface and the second tangential surface are formed at opposing positions on the tangent circle.

8. In paragraph 6, The first link above is, The first contact point where the first tooth shape comes into contact with the working surface, A second contact point is formed where the second tooth shape comes into contact with the working surface, A medical device characterized in that the distance from the first contact point to the second contact point defines the diameter of the tangent circle.

9. In paragraph 1, The second link above is, The above working surface is a tooth surface whose outer shape is formed by an epitrochoid offset curve, The above tooth surface is, In the epitrochoid curve, which is formed by a mathematical curve drawn by a trace point having a distance (L) from the center of a rolling circle that rolls on the outer surface of a fixed circle, A medical device characterized in that the tooth surface is formed by a curve offset based on an epitrochoid curve having a condition that the distance (L) from the center of the above-mentioned circle to the above-mentioned tracking point is greater than the radius of the above-mentioned circle.

10. In paragraph 9, The second link above is, The above tooth surface, A first offset curve offset by a positive value from the above epitrochoid curve, A medical device characterized by being formed by a second offset curve offset by a negative value.

11. In paragraph 10, The second link above is, The above first offset curve constitutes the first tooth surface, The above second offset curve constitutes the second tooth surface, A medical device characterized in that the gear movement is driven by the above tooth shape coming into contact with the first tooth surface or the second tooth surface.

12. In paragraph 10, The second link above is, The surface of the first offset curve contacts the first tangential surface of the tangent circle to form a first contact point, A medical device characterized in that the surface of the second offset curve contacts the second tangential surface of the tangent circle to form a second contact point.

13. In paragraph 1, The first link above is, A link body having a first guide surface formed as a pair of inclined surfaces converging in the direction of the tooth shape; and a fastening part having the tooth shape; The second link above is, A medical device characterized by including a link body having a second guide surface formed thereon, which is a pair of inclined surfaces converging in the direction of the working surface.

14. In paragraph 13, When the gear operation of the first link and the second link is driven by the cloud movement of the above-mentioned tooth shape on the above-mentioned working surface, The above tooth shape is, A medical device characterized in that the contact point in contact with the above working surface is variable on the curve of the tangent circle.

15. In paragraph 13, When the gear operation of the first link and the second link is driven by the cloud movement of the above-mentioned tooth shape on the above-mentioned working surface, The above tooth shape is, The outermost point located on the center line connecting the first link and the second link while passing through the center of the tangent circle is A medical device characterized by a non-contact point that does not come into contact with the above-mentioned working surface.

16. In paragraph 13, The first link above is, A medical device characterized in that the virtual vertex to which the first guide surface converges is the center of the tangent circle.

17. In paragraph 13, The second link above is, A medical device characterized in that the virtual vertex to which the second guide surface converges is located on an imaginary perpendicular line to the center of the tangent circle.

18. In paragraph 13, The gear operation of the first link and the second link is as follows: In the operation of maximum displacement from the fixed position where the center of the above tangent circle is located at the virtual vertex where the first guide surface converges to the applicable angle, A medical device characterized in that it includes a vertical section movement in which the tooth shape moves to a height up to an imaginary vertex where the second guide surface converges.

19. In paragraph 18, The second link above is, The above working surface is formed with a groove whose width is the value obtained by adding the operating clearance length to the diameter of the above tangent circle, The above operating clearance length is, A medical device characterized in that the distance is from the virtual vertex where the first guide surface converges to the virtual vertex where the second guide surface converges.

20. In paragraph 13, A medical device characterized in that the angle formed by the first guide surface and the second guide surface is an operating angle at which gear operation of the first link and the second link is permitted.

21. In paragraph 13, The second link above is, A medical device characterized in that a protrusion is formed at the tip of the link body where the second guide surface converges, and an inner curved surface forming the protrusion defines the working surface.

22. In paragraph 1, The tooth shape of the above first link is the main tooth shape, A medical device characterized in that the working surface of the second link is formed with a main tooth surface formed by an epitrochoid offset curve, and a sub tooth shape that performs a rolling motion on the curved surface of the main tooth shape.

23. In paragraph 22, A medical device characterized in that the main tooth and the main tooth surface come into contact with each other and the sub tooth and the main tooth come into contact with each other through a force applied to the first link and the second link through the driving wire, thereby driving the gear operation.

24. In paragraph 22, The outer surface of the tangent circle is included on one side of the above main tooth shape, A medical device characterized in that the surface except for one side of the main tooth shape is formed as a curve of a non-tangent circle, and the sub tooth shape is in tangential contact with the surface formed as a curve of the non-tangent circle.

25. In paragraph 22, The above sub-tooth shape includes a first sub-tooth shape and a second sub-tooth shape, A first contact point where the tip curve of the above main tooth shape comes into contact with the above main tooth surface, A second contact point where the first sub-tooth shape comes into contact with the main tooth shape, A third contact point is formed where the second sub-tooth shape comes into contact with the main tooth shape, A medical device characterized by continuous three-point contact during gear operation.

26. In paragraph 22, The first link above is, The above main tooth shape, It includes a tip surface formed by the curve of the above tangent circle and a side surface formed by the offset epitrochoid curve, A medical device characterized in that the above side surface is a non-tangent circle surface.

27. In paragraph 26, The first link above is, The above side curve of the above main tooth shape, A medical device characterized by a surface in which both phase and distance are offset from the epitrochoid curve.

28. In paragraph 26, The above side curve of the above main tooth shape is, A medical device characterized by a surface formed by a curve in which the phase is first offset from the epitrochoid curve and then the distance is offset.

29. In paragraph 22, The above main tooth shape of the above first link is, Including a surface formed by an offset epitrochoid curve in an area excluding the surface of the above tangent circle, A medical device characterized in that the main tooth shape and the main tooth surface are both formed with an offset epitrochoid curve.

30. In paragraph 22, The above main tooth shape of the above first link is, A virtual second circle with a radius (R) formed in the second link area, centered on the contact point that contacts the main tooth surface on the curve of the tangent circle, is a rolling circle. When a virtual first circle circumscribed in the first link area with the same radius (R) as the second circle is a fixed circle, a side surface is formed by an epitrochoid offset curve that is additionally offset by a second value from an epitrochoid curve drawn at a position where the phase of the tracking point rolling on the outer surface of the first circle is offset by a first value, with the center point of the sub-tooth in the second circle as a tracking point. A medical device characterized in that the side surface is tangent to the sub-tooth shape.

31. In paragraph 30, The sub-tooth shape of the second link is formed as a curve of a tangent circle, A medical device characterized in that the tangent circle of the above sub-tooth shape has a length of the second value offset from the epitrochoid curve of the side surface.

32. In paragraph 30, The above sub-type is, It is positioned at an angular position of the phase angle based on the geometric center axis of the second link, The above phase angle is, A medical device characterized in that the phase is the same as the first value offset from the epitrochoid curve of the side surface.

33. In paragraph 22, The above main tooth surface of the above second link is, A virtual first circle with a radius (R) formed as the first link area, centered on the contact point that contacts the main tooth surface on the curved surface of the tangent circle, is a rolling circle. In the epitrochoid curve formed by a mathematical curve drawn by a tracking point having a distance (L) from the center of the first circle that rolls on the outer surface of the second circle when the second circle is a virtual second circle circumscribed with the same radius (R) as the first circle in the second link area, A medical device characterized in that the surface is formed by a curve offset from an epitrochoid curve having a condition that the distance (L) from the center of the above-mentioned circle to the above-mentioned tracking point is greater than the radius of the above-mentioned circle.

34. In paragraph 33, The first link above is, The radius of the above tangent circle is, A medical device characterized in that the length of the offset distance of the epitrochoid curve of the main tooth surface is the same.

Images