Remote center-of-motion module and medical device including same

Abstract

In a remote center-of-motion module and a medical device including same, the center-of-motion module comprises a link unit having an end portion which is driven to rotate around a pivot. The link unit comprises: a link portion including a plurality of links; a joint unit including at least one rotation portion which connects the links; and a linear movement unit including at least one linear movement portion which connects the links intersecting each other.

Description

Remote central motion module and medical device including the same

[0001] The present invention relates to a remote center of motion module and a medical device including the same, and more particularly, to a remote center of motion module that enables mechanical pivot movement while having no physical joints in the insertion portion, thereby enabling precise and rapid movement while having low inertia, and a medical device including the same.

[0002] Medical devices that invade the human body to perform certain diagnoses, collections, or treatments are being developed in various ways. In particular, when invasion is performed, the importance of developing mechanical mechanisms that can secure a relatively wide treatment space even with minimal invasion is increasing.

[0003] For example, Japanese Patent Publication No. 2022-016327 discloses a medical arm device that enables precise posture change at the end of the device by combining multiple links and multiple rotary joints.

[0004] However, simply varying the position of the end has limitations in performing minimally invasive procedures, and thus, there is a need for the development of a technology that secures a wide treatment space with relatively minimal invasion by performing pivot operation at the invasive location through a mechanical mechanism driven by the so-called remote center of motion.

[0005] Accordingly, in the case of Korean Patent Registration No. 10-2603046, a remote center motion-based specimen collection robot capable of being changed into various postures is disclosed by applying two arc-shaped frame structures to implement remote center motion.

[0006] However, in the case of the above arc type remote center motion mechanism, there is a problem that the rotational inertia is relatively large, and there is a limitation that the rotational precision is largely dependent on the machining precision of the arc gear.

[0007] Accordingly, the technical problem of the present invention is conceived from this point, and the purpose of the present invention is to provide a remote center of motion module that is capable of mechanical pivot movement while having no physical joints in the insertion portion, thereby enabling precise and rapid movement while having low inertia.

[0008] In addition, another object of the present invention is to provide a medical device including the remote central motion module.

[0009] In order to achieve the above-described object of the present invention, a central motion module according to one embodiment includes a link unit whose end is driven to pivot. At this time, the link unit includes a link portion including a plurality of links, a joint unit including at least one rotational portion connecting the links, and a linear movement unit including at least one linear movement portion connecting the links that intersect each other.

[0010] In one embodiment, the link unit may further include a rotation unit that rotates the link unit in a direction perpendicular to the pivot rotation direction of the link unit.

[0011] In one embodiment, the link portion includes a first link having a fixed end, and a second link connected to the first link, and the joint unit includes a first rotation portion connected between the first link and the second link to rotate the second link relative to the first link, and the end of the link unit can pivotally rotate as the first rotation portion rotates.

[0012] In one embodiment, the link portion includes a first link having a fixed end, a second link rotatably connected to the first link, and a third link rotatably connected to the second link, and the joint unit includes a second rotation portion connected between the second link and the third link to rotate the third link relative to the second link, and the end of the link unit can pivotally rotate as the second rotation portion rotates.

[0013] In one embodiment, the link portion includes a first link having a fixed end, a second link rotatably connected to the first link, a third link rotatably connected to the second link, and a fourth link rotatably connected to the third link, and the joint unit includes a third rotation portion connected between the third link and the fourth link to rotate the fourth link relative to the third link, and the end of the link unit can pivotally rotate as the second rotation portion rotates.

[0014] In one embodiment, the link portion includes a first link having a fixed end, a second link rotatably connected to the first link, a third link rotatably connected to the second link, and a fourth link rotatably connected to the third link, and the joint unit includes a first rotation portion connected between the first link and the second link to rotate the second link with respect to the first link, a second rotation portion connected between the second link and the third link to rotate the third link with respect to the second link, and a third rotation portion connected between the third link and the fourth link to rotate the fourth link with respect to the third link, and the end portion of the link unit can pivotally rotate as at least one of the first to third rotation portions rotates.

[0015] In one embodiment, the link portion may include a first link having a fixed end, a third link extending parallel to the first link, and a fifth link extending in a direction perpendicular to the first link and intersecting the third link, and the linear moving portion may include a first linear moving portion connected to an intersection position of the third link and the fifth link to vary the intersection position of the third link and the fifth link.

[0016] In one embodiment, the link portion further includes a second link rotatably connected to the first link, a fourth link extending parallel to the second link, and a sixth link extending in a direction perpendicular to the second link and intersecting the fourth link, and the linear movement portion may further include a second linear movement portion connected to an intersection position of the fourth link and the sixth link to vary the intersection position of the fourth link and the sixth link.

[0017] In one embodiment, one of the first and second linear moving parts is driven so that the end of the link unit can pivotally rotate.

[0018] In one embodiment, the link portion may include a first link having a fixed end and extending in one direction, a second link rotatably connected to the first link, a third link rotatably connected to the second link, a fourth link rotatably connected to the third link, a fifth link fixed to the first link and extending in a direction perpendicular to the first link, and a sixth link fixed to the second link and extending in a direction perpendicular to the second link.

[0019] In one embodiment, regardless of the pivot rotation of the link unit, the first link and the third link may extend parallel to each other, and the second link and the fourth link may extend parallel to each other.

[0020] In one embodiment, the joint unit includes a first rotational member interposed between the first link and the second link and rotatable, a second rotational member interposed between the second link and the third link and rotatable, and a third rotational member interposed between the third link and the fourth link and rotatable, wherein any one of the first to third rotational members can be actively driven.

[0021] In one embodiment, the linear movement unit includes a first linear movement unit connecting the third link and the fifth link at an intersection position where the third link and the fifth link intersect, and a second linear movement unit connecting the fourth link and the sixth link at an intersection position where the fourth link and the sixth link intersect, wherein either of the first and second linear movement units can be actively driven.

[0022] According to another embodiment of the present invention, a medical device includes a frame portion, a rotation unit fixed to the frame portion, and a link unit having one end fixed to the rotation unit and the other end driven to pivotally rotate with respect to the one end. In this case, the link unit includes a link portion including a plurality of links, a joint unit including at least one rotation unit connecting between the links, and a linear movement unit including at least one linear movement unit connecting links that intersect each other.

[0023] In one embodiment, the link unit can rotate in a direction perpendicular to the pivot rotation direction of the link unit according to the driving of the rotation unit.

[0024] In one embodiment, the link portion comprises at least two links that are rotatably connected to each other, and as the at least two links rotate relative to each other, the other end of the link unit can pivotally rotate.

[0025] In one embodiment, the same location can be approached in different directions as the other end of the link unit pivots.

[0026] According to embodiments of the present invention, by implementing a mechanism that performs remote central motion through a joint unit that performs rotation and a linear movement unit that performs linear driving, it is possible to achieve compact and easy driving while having relatively small rotational inertia, thereby enabling stability and precise control of the system.

[0027] In particular, by operating only one of the above joint unit and the above linear movement unit, remote center movement can be implemented, thereby minimizing the driving unit, facilitating system design, and enabling rapid and precise driving.

[0028] In addition, in the case of a conventional parallelogram-shaped link unit, remote center of gravity motion could only be realized if it was configured to include a total of 8 links and 7 rotation parts, but since the same remote center of gravity motion can be realized by configuring the link unit to include a total of 6 links, 3 rotation parts, and 4 linear joints, the configuration and design of the link unit is relatively simple, making it easy to manufacture and enabling stable system operation.

[0029] At this time, remote center of gravity motion can be implemented by driving any one of the three rotary parts and four linear joints, so that the optimal drive can be selected by considering the system design, etc., thereby ensuring design flexibility.

[0030] In addition, when the center motion module that implements the above remote center motion is mounted on a medical device, surgery or treatment can be performed through pivot motion while inserted into the body, thereby minimizing damage to the body with minimal invasion, while securing the maximum range of motion inside the body, thereby improving efficiency.

[0031] Figure 1 is a perspective view illustrating a medical device according to one embodiment of the present invention.

[0032] Figure 2 is a perspective view illustrating the remote center motion module of Figure 1.

[0033] Figure 3 is a schematic diagram briefly illustrating the link unit of Figure 2.

[0034] Fig. 4a is a schematic diagram showing a parallelogram link unit that implements a conventional remote center of gravity movement, and Fig. 4b is a schematic diagram showing the link unit of Fig. 3 arranged in contrast to Fig. 4a.

[0035] Fig. 5a is a schematic diagram showing the rotational state of the parallelogram link unit of Fig. 4a, and Fig. 5b is a schematic diagram showing the rotational state of the link unit of Fig. 4b in contrast to Fig. 5a.

[0036] Fig. 6a is a schematic diagram showing a state in which the link unit of Fig. 3 rotates by the first rotating part, and Fig. 6b is a schematic diagram showing a state in which the link unit rotates by the driving of Fig. 6a.

[0037] Fig. 7a is a schematic diagram showing a state in which the link unit of Fig. 3 rotates by the first linear moving part, and Fig. 7b is a schematic diagram showing a state in which the link unit rotates by the driving of Fig. 7a.

[0038] Figure 8 is a perspective view illustrating a state in which a link unit rotates according to the driving of the rotation unit of Figure 2.

[0039] Figure 9 is a perspective view illustrating the remote center movement of the link unit of Figure 2.

[0040] <Explanation of symbols>

[0041] 10: Remote centering motion device 20: Remote centering motion module

[0042] 100: Frame part 200: Rotating unit

[0043] 220: Rotation drive unit 300: Link unit

[0044] 310: First Link 320: Second Link

[0045] 330: Third Link 340: Fourth Link

[0046] 350: 5th link 360: 6th link

[0047] 400: Joint unit 410: First rotation unit

[0048] 420: Second rotation part 430: Third rotation part

[0049] 500: Linear movement unit 510: First linear movement unit

[0050] 511: First linear joint 512: Second linear joint

[0051] 520: Second linear moving part 521: Third linear joint

[0052] 522: 4th linear joint 600: Mechanical unit

[0053] 620(A): End

[0054] The present invention is susceptible to various modifications and takes various forms, and thus embodiments are described in detail herein. However, this is not intended to limit the present invention to a specific disclosed form, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Similar reference numerals have been used to designate similar components throughout the description of each drawing. While terms such as "first," "second," etc. may be used to describe various components, these components should not be limited by these terms.

[0055] The above terms are used solely for the purpose of distinguishing one component from another. The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "consists of" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0056] Hereinafter, with reference to the attached drawings, a preferred embodiment of the present invention will be described in more detail.

[0057] Figure 1 is a perspective view illustrating a medical device according to one embodiment of the present invention.

[0058] Referring to FIG. 1, the medical device (10) according to the present embodiment includes a frame portion (100) and a remote center motion module (20, hereinafter referred to as center motion module).

[0059] The above medical device (10) may be a device that invades the inside of the body to perform various actions such as a specific surgery, procedure, collection of other specimens, or treatment, but the scope of application of the actions performed through the above medical device (10) is not limited.

[0060] In the case of the above medical device (10), the movement is implemented centering around the central motion module (20) mounted on the frame portion (100).

[0061] The above frame part (100) includes a base frame (110), a vertical frame (120), a horizontal frame (130), and an upper frame (140), and corresponds to a frame on which the central motion module (20) is mounted.

[0062] In the case of the above base frame (110), although not illustrated, it may be fixed on a separate structure, and the structure may be a non-moving structure such as the ground, or may be a movable structure such as a specific part of a separate surgical device. Accordingly, the base frame (110) may be various structures other than the structures illustrated in the drawing.

[0063] Accordingly, the central motion module (20) performs separate operation while mounted on the frame portion (100), but since the frame portion (100) itself is mounted on the structure, its posture or position may vary depending on the posture change or movement of the structure. However, a description of such additional posture or position change is omitted, and the following description focuses on the driving state of the central motion module (20) itself while the central motion module (20) is simply mounted on the frame portion (100).

[0064] The above vertical frame (120) and the upper frame (140) are frames that extend from the base frame (110) in the third direction (Z) and the first direction (X), respectively, and their structure and extension length are design variables. At this time, the illustrated first to third directions (X, Y, Z) are defined as directions that are perpendicular to each other.

[0065] The above horizontal frame (130) is a frame to which the vertical frame (120) and the upper frame (140) are each fixed, and as described above, is not limited to the structure illustrated.

[0066] The above-mentioned central motion module (20) is fixed to the end of the upper frame (140), and the central motion module (20) changes its posture through a kinematic movement as described below while being fixed to the upper frame (140).

[0067] Hereinafter, the specific configuration of the above-mentioned central motion module (20) will be described with reference to the drawings.

[0068] Fig. 2 is a perspective view illustrating the remote center motion module of Fig. 1. Fig. 3 is a schematic diagram briefly illustrating the link unit of Fig. 2. That is, Fig. 3 is a drawing that briefly illustrates the link structure of the center motion module (20) of Fig. 2 in the form of a frame to more easily explain the structural features of the center motion module (20) of Fig. 2.

[0069] Referring to FIGS. 2 and 3, the central motion module (20) includes a rotation unit (200) and a link unit (300).

[0070] The above rotation unit (200) is fixed to the end (141) of the upper frame (140), and includes a fixed frame (210), a rotation driving unit (220), a bearing (230), and a rotation frame (240).

[0071] The above fixed frame (210) is fixed to the end (141) of the upper frame (140) and has a frame structure that forms a predetermined internal space as shown.

[0072] Accordingly, the rotation driving unit (220) is positioned in the internal space formed by the fixed frame (210). The rotation driving unit (220) generates a rotational driving force and may be, for example, a driving motor. In this case, the fixed frame (210) does not form a separate internal space and may be formed only as a structure that simply fixes the rotation driving unit (220).

[0073] The rotational driving force of the above-mentioned rotational driving unit (220) is provided to the rotational frame (240) through the bearing (230) connected to the upper and lower parts of the rotational driving unit (220). Accordingly, the rotational frame (240) rotates around the rotational driving unit (220) in the third direction (Z) as the rotational center axis by the driving of the rotational driving unit (220).

[0074] At this time, the rotation frame (240) has an overall 'ㄷ' shape, and the lower end is connected to the link unit (300) described later. In addition, the fixed frame (210) is fixed to the end (141) of the upper frame (140). Therefore, according to the driving of the rotation driving unit (220), the link unit (300) rotates overall with respect to the frame portion (100) in the third direction (Z) about the rotation center axis.

[0075] Ultimately, the above-mentioned rotation unit (200) provides a rotational driving force, thereby inducing the link unit (300) connected to the lower portion of the above-mentioned rotation unit (200) to rotate relative to the above-mentioned rotation unit (200) in the third direction (Z) as a rotation center.

[0076] The above link unit (300) is connected to the lower part of the above rotation unit (200), and in addition to the rotational movement described above for the above rotation unit (200), its structure and posture are variable on its own.

[0077] The above link unit (300) includes first to sixth links (310, 320, 330, 340, 350, 360) (hereinafter, the first to sixth links are collectively referred to as “link portion”), a joint unit (400), and a linear movement unit (500). In addition, the link unit (300) may further include a mechanism unit (600).

[0078] At this time, the joint unit (400) includes first to third rotation parts (410, 420, 430), and the linear movement unit (500) includes first and second linear movement parts (510, 520).

[0079] Specifically, the connection relationship between the link portion, joint unit, and linear movement unit of the link unit (300) is described as follows. At this time, in the case of the connection structure of the link unit (300), the initial state illustrated in Fig. 2 is described, and the operating state of the link unit (300) is described separately through the drawings described later.

[0080] First, the first link (310) is fixed at the lower end (311) of the rotation frame (240) of the rotation unit (200) and extends a predetermined length in the third direction (Z).

[0081] The second link (320) is connected to the second end (312) of the first link (310) and extends a predetermined length along a predetermined inclined direction with respect to the third direction (Z). At this time, the extension length of the second link (320) is not necessarily the same as the extension length of the first link (310), and this is a design change that can be selected in various ways. As illustrated, an acute angle can be formed between the first and second links (310, 320).

[0082] The second end (312) of the first link (310) and the first end (321) of the second link (320) are connected to each other through the first rotation part (410), and thus, by the rotation of the first rotation part (410), the second link (320) can rotate about the first direction (X) with respect to the first link (310) as the rotation center. At this time, the first rotation part (410) is sufficient as long as it is a connecting member that allows relative rotation between the first and second links (310, 320), and its type is not limited. The same applies to the second and third rotation parts (420, 430) described below.

[0083] The third link (330) is connected to the second end (322) of the second link (320) and extends a predetermined length along the third direction (Z), i.e., in a direction parallel to the first link (310). At this time, the extension length of the third link (330) is also a design change that can be varied.

[0084] The second end (322) of the second link (320) and the first end (331) of the third link (330) are connected to each other through the second rotating part (420), and thus, by the rotation of the second rotating part (420), the third link (330) and the second link (320) can relatively rotate about the first direction (X) as the rotation center. The angle between the second and third links (320, 330) may also be an acute angle as illustrated.

[0085] The fourth link (340) is connected to the second end (332) of the third link (330), forms a predetermined angle in the third direction (Z), and extends a predetermined length. In this case, the extension direction of the fourth link (340) may be parallel to the second link (320). At this time, the extension length of the fourth link (340) is also a design change that can be varied. The angle between the third and fourth links (330, 340) may also be an acute angle, as illustrated.

[0086] The second end (332) of the third link (330) and the first end (341) of the fourth link (340) are connected to each other through the third rotating part (430), and thus, by the rotation of the third rotating part (430), the fourth link (340) and the third link (330) can relatively rotate about the first direction (X) as the rotation center.

[0087] At this time, the mechanism unit (600) may be mounted on the second end (341) of the fourth link (340) so as to be additionally extended in the same direction as the extension direction of the fourth link (340).

[0088] That is, the mounting portion (610) of the mechanism unit (600) is mounted on the second end (341) of the fourth link (340), and the mechanism unit (600) extends in the same direction as the extension direction of the fourth link (340). At this time, the extension length of the mechanism unit (600) is also subject to various design changes. The end portion (620, A) of the mechanism unit (600) is a part that is ultimately inserted into the body, and the link unit (300) is configured so that the end portion (A) rotates in a so-called pivot manner.

[0089] That is, although the drawing illustrates the rotation of the end portion (A) through the covering, in reality, a separate surgical tool or the like may be additionally mounted on the end portion (A) in order to perform a specific procedure or surgery.

[0090] The fifth link (350) is connected at its first end (351) to the first link (310) and extends a predetermined length along the second direction (Y). That is, the extension direction of the fifth link (350) is perpendicular to the extension direction of the first link (310). At this time, the extension length of the fifth link (350) is also a design change that can be varied.

[0091] The second end (352) of the fifth link (350) intersects vertically with the third link (330), and the first linear moving unit (510) is provided at the portion where the fifth link (350) and the third link (330) intersect each other. That is, the fifth link (350) and the third link (330) are connected to each other by intersecting each other by the first linear moving unit (510), and as described below, the position of the first linear moving unit (510) on the third link (330) as well as the fifth link (350) can be changed.

[0092] At this time, the first linear moving part (510) includes first and second linear joints (511, 512). The first linear joint (511) is a joint that is connected to the third link (330) and moves linearly along the third link (330), and the second linear joint (512) is a joint that is connected to the fifth link (350) and moves linearly along the fifth link (350). In addition, the first and second linear joints (511, 512) are fixed perpendicular to each other, so that relative movement is limited.

[0093] Accordingly, the first and second linear joints (511, 512) move as a unit along the third link (330) or along the fifth link (350) as the first linear moving part (510), and consequently move between the third and fifth links (330, 350).

[0094] To this end, as illustrated, a fifth rail (353) is provided on the fifth link (350) so that the second linear joint (512) can move along the fifth rail (353). Similarly, a third rail (inner side of 333) is provided on the third link (330) so that the first linear joint (511) can move along the third rail. At this time, the third and fifth rails (333, 353) are exemplified as having a rail-like structure, but are not limited thereto, and various sliding guides can be applied, so that it is sufficient to guide the transport in the direction described above.

[0095] As described above, the third link (330) and the fifth link (350) are always overlapped so as to be orthogonal to each other, and the relative positional relationship of the third and fifth links (330, 350) is limited by the first linear movement unit (510) (thereby always extending vertically), and the position at which the third and fifth links (330, 350) are orthogonal to each other and overlap is varied according to the driving of the first linear movement unit (510).

[0096] At this time, driving of the first linear moving part (510) means that at least one of the first linear joint (511) and the second linear joint (512) is driven.

[0097] The sixth link (360) is connected at its first end (361) to the second link (320), and the extension direction of the sixth link (360) is perpendicular to the extension direction of the second link (320). At this time, the extension length of the sixth link (360) is also a design change that can be varied.

[0098] In addition, the second end (362) side of the sixth link (360) intersects vertically with the fourth link (340), and the second linear moving unit (520) is provided at the portion where the sixth link (360) and the fourth link (340) intersect each other. That is, the sixth link (360) and the fourth link (340) are connected to each other while intersecting each other by the second linear moving unit (550), and as described below, the position of the second linear moving unit (520) on the fourth link (340) as well as the sixth link (360) can be changed.

[0099] At this time, the second linear moving part (520) includes third and fourth linear joints (521, 522). The third linear joint (521) is a joint that is connected to the fourth link (340) and moves linearly along the fourth link (340), and the fourth linear joint (522) is a joint that is connected to the sixth link (360) and moves linearly along the sixth link (360). In addition, the third and fourth linear joints (521, 522) are fixed perpendicular to each other, so that relative movement is limited.

[0100] Accordingly, the third and fourth linear joints (521, 522) move as a unit along the fourth link (340) or along the sixth link (360) as the second linear moving part (520), and as a result, move between the fourth and sixth links (340, 360).

[0101] To this end, as illustrated, a fourth rail (343) is provided on the fourth link (340) so that the third linear joint (521) can move along the fourth rail (343). Similarly, a sixth rail (inner side of 363) is provided on the sixth link (360) so that the fourth linear joint (522) can move along the sixth rail. At this time, the fourth and sixth rails (343, 363) are exemplified as having a rail-like structure, but are not limited thereto, and various sliding guides can be applied, so it is sufficient to guide the transport in the direction described above.

[0102] As described above, the fourth link (340) and the sixth link (360) are always overlapped so as to be orthogonal to each other, and the relative positional relationship of the fourth and sixth links (340, 360) is limited by the second linear movement unit (520) (thereby always extending vertically), and the position at which the fourth and sixth links (340, 360) are orthogonal to each other and overlap is varied according to the driving of the second linear movement unit (520).

[0103] At this time, driving of the second linear moving part (520) means that at least one of the third linear joint (521) and the fourth linear joint (522) is driven.

[0104] Below, a state in which the so-called remote center movement is implemented through the link unit (300) connected as shown in FIGS. 2 and 3 is described.

[0105] Fig. 4a is a schematic diagram illustrating a parallelogram link unit that implements a conventional remote center of gravity motion, and Fig. 4b is a schematic diagram illustrating the link unit of Fig. 3 arranged to contrast with Fig. 4a. Fig. 5a is a schematic diagram illustrating a rotational state of the parallelogram link unit of Fig. 4a, and Fig. 5b is a schematic diagram illustrating a rotational state of the link unit of Fig. 4b to contrast with Fig. 5a.

[0106] FIGS. 4a and 4b illustrate the initial state of a conventional parallelogram-shaped link unit and the initial state of a link unit (300) according to the present embodiment described with reference to FIG. 3, respectively, and FIGS. 5a and 5b illustrate the state of a conventional parallelogram-shaped link unit pivotally rotating and the state of a link unit (300) according to the present embodiment described with reference to FIG. 3 pivotally rotating, respectively.

[0107] First, referring to FIG. 4A, in the case of a conventional parallelogram-shaped link unit, a first link portion (30) composed of four links (31, 32, 33, 34) and four joints (41, 42, 43, 44) forms a predetermined first parallelogram. In addition, a second link portion (50) composed of four links (51, 52, 53, 54) and four joints (44, 45, 46, 47, wherein the fourth joint (44) overlaps) forms a predetermined second parallelogram.

[0108] In this case, the first link (31) of the first link portion (30) is positioned in a fixed state (G) to a frame or the like.

[0109] At this time, referring to FIG. 5a, when the first joint (41) is driven to rotate clockwise, the first link part (30) and the second link part (50) are rotated clockwise as a whole, and thus the end part (A) is rotated in a so-called pivot manner. That is, the position of the end part (A) remains the same, but the extension direction of the mechanism unit (600) extending to the end part (A) is changed.

[0110] In contrast, referring to FIG. 4b, in the case of the link unit (300) according to the present embodiment, as described above, a predetermined link structure is formed by a link unit composed of a total of six links, a joint unit composed of three rotational units, and a linear movement unit composed of two linear movement units.

[0111] In this case, the first link (310) is fixed to a frame or the like (G).

[0112] At this time, referring to FIG. 5b, when the first rotating part (410) is driven to rotate clockwise, the link unit (300) is also rotated clockwise as a whole, and accordingly, the end part (A) is pivotally rotated in the same manner as in the preceding FIG. 5a.

[0113] As described above, the link unit (300) according to the present embodiment can also implement remote center movement in the same manner as a conventional parallelogram-shaped link unit. In particular, in the case of a conventional parallelogram-shaped link unit, a relatively large number of joints and links were required, but the link unit (300) according to the present embodiment is configured to reduce the number of links as well as the number of joints, making it easy to design and manufacture.

[0114] Furthermore, in the case of a conventional parallelogram-shaped link unit, in order to rotate the entire link unit by only rotating the first joint (41), a rotational drive unit with a relatively large torque must be provided, and thus, it was necessary for other joints to also be provided with rotational drive units and driven simultaneously. However, in the case of the link unit (300) of the present embodiment, rotation of the entire link unit can be realized by rotating one rotational part (410), so that the configuration of the rotational drive unit can be minimized, and rotational precision and driving speed can be realized through low rotational inertia.

[0115] Fig. 6a is a schematic diagram showing a state in which the link unit of Fig. 3 rotates by the first rotating part, and Fig. 6b is a schematic diagram showing a state in which the link unit rotates by the driving of Fig. 6a.

[0116] Referring to FIGS. 6a and 6b, as described with reference to the preceding FIGS. 4b and 5b, in the link unit (300), the first rotation part (410) connected between the first link (310) and the second link (320) is rotationally driven, thereby enabling pivot rotation about the end part (A).

[0117] That is, when the first rotation part (410) rotates clockwise, since the position of the first link (310) is fixed, the second link (320) rotates clockwise around the first rotation part (410). At this time, the fifth link (350) is maintained in a state of being extended in a direction perpendicular to the first link (310) while being fixed to a predetermined position of the first link (310), and the sixth link (360) is also maintained in a state of being extended in a direction perpendicular to the second link (320) while being fixed to a predetermined position of the second link (320).

[0118] Accordingly, as the second link (320) rotates clockwise, the first linear moving part (510) moves upward along the fifth link (350) and simultaneously moves toward the second rotating part (420) along the third link (330).

[0119] Accordingly, the third link (330) is positioned to extend upwardly away from the first link (310) while maintaining a state of extending horizontally with the first link (310), and the fourth link (340) rotates clockwise with respect to the third rotation part (430).

[0120] At the same time, the second linear moving part (520) moves toward the second end (362) of the sixth link (360) on the sixth link (360) and moves toward the second end (342) of the fourth link (340) on the fourth link (340).

[0121] As the link unit (300) operates as described above, the position of the end portion (A) is fixed, but the extension direction of the mechanism unit (600) is changed to rotate clockwise. Thus, the end portion (A) undergoes so-called pivot rotation.

[0122] In contrast, when the first rotating part (410) rotates counterclockwise, it returns from the posture of FIG. 6b to the posture of FIG. 6a, and accordingly, according to the driving of the first rotating part (410), the link unit (300) performs a so-called remote center movement.

[0123] Meanwhile, through Fig. 6a, only the first rotation part (410) is driven to rotate, thereby exemplifying the above-described remote center movement, but even if either the second rotation part (420) or the third rotation part (430) is driven to rotate, the remote center movement from Fig. 6a to Fig. 6b can be performed.

[0124] Fig. 7a is a schematic diagram showing a state in which the link unit of Fig. 3 rotates by the first linear moving part, and Fig. 7b is a schematic diagram showing a state in which the link unit rotates by the driving of Fig. 7a.

[0125] Referring to FIGS. 7a and 7b, in the link unit (300), the first linear moving part (510) connecting the third link (330) and the fifth link (350) is linearly driven, and pivot rotation about the end part (A) can be implemented.

[0126] That is, when the first linear moving part (510) is driven to move upward on the fifth link (350), i.e., in a direction toward the second end (352) of the fifth link (350), the first linear moving part (510) moves on the third link (330) in a direction toward the first end (331) of the third link (330).

[0127] Accordingly, the movement of the first linear moving part (510) on the third link (330) and the fifth link (350) as described above is substantially the same as the driving result when the first rotating part (410) rotates clockwise in FIG. 6a.

[0128] Ultimately, as described above with reference to FIGS. 6A and 6B, as the first linear moving part (510) is driven as described above, the position of the end part (A) is fixed, but the extension direction of the mechanism unit (600) is changed to rotate clockwise. Thus, the end part (A) is rotated in a so-called pivot manner.

[0129] In contrast, when the first linear moving part (510) moves in the direction toward the first link (310) on the fifth link (350) and moves in the direction toward the third rotating part (430) on the third link (330), it returns from the posture of FIG. 7b to the posture of FIG. 7a, and accordingly, according to the driving of the first linear moving part (510), the link unit (300) performs a so-called remote center movement.

[0130] Meanwhile, through Fig. 7a, only the first linear moving part (510) is linearly driven to perform the above-described remote center movement, but even if the second linear moving part (520) is linearly driven, the remote center movement from Fig. 7a to Fig. 7b can be performed.

[0131] Figure 8 is a perspective view illustrating a state in which a link unit rotates according to the driving of the rotation unit of Figure 2.

[0132] As described above, the link unit (300) is mounted on the rotation frame (240) of the rotation unit (200), and the rotation frame (240) rotates with respect to the fixed frame (210) in the third direction (Z) as the rotation center axis.

[0133] Accordingly, as shown in FIG. 8, when the rotation driving part (220) is driven in the rotation unit (200), if the fixed frame (210) is fixed on the frame part (100), the central motion module (20) rotates entirely about the rotation center axis in the third direction (Z).

[0134] That is, while the end portion (A) of the device unit (600) is fixed in position, the device unit (600) itself rotates around the third direction (Z) with the end portion (A) as the pivot center. Accordingly, when performing an invasive surgery or procedure using the medical device (10), the invasive location is maintained at a constant level at the end portion (A), but inside the body, the device rotates around the third direction (Z), thereby expanding the scope of the surgery or procedure.

[0135] In particular, due to the various structural characteristics of the body's interior, the final invasion location must remain constant at the distal end (A), but the direction of invasion toward the distal end (A) can vary. Accordingly, by varying the direction of approach to the same invasion location in this way, the convenience of surgery or treatment can be improved.

[0136] Figure 9 is a perspective view illustrating the remote center movement of the link unit of Figure 2.

[0137] In addition, as described above, the link unit (300) implements pivot rotation at the end (A) through rotational driving of any one of the first to third rotational parts (410, 420, 430) or linear driving of any one of the first and second linear moving parts (510, 520).

[0138] Accordingly, as in Fig. 9, when the link unit (300) is mounted on the rotation unit (200), the rotation drive unit (220) is not driven and only the link unit (300) is driven, the central motion module (20) rotates in the first direction (X) with the rotation center axis as the center axis.

[0139] That is, while the end portion (A) of the device unit (600) is fixed in position, the device unit (600) itself rotates around the first direction (X) with the end portion (A) as the pivot center. Accordingly, when performing an invasive surgery or procedure using the medical device (10), the invasive location is maintained at a constant level at the end portion (A), but inside the body, the device rotates around the first direction (X), thereby expanding the scope of the surgery or procedure.

[0140] As described above, the central motion module (20) can perform a rotational motion with the first direction (X) and the third direction (Z) as the rotational center and the end portion (A) as the pivot center.

[0141] Furthermore, although not shown, if the frame portion (100) itself or a separate surgical device on which the frame portion (100) is mounted is configured to be rotatable around the second direction (Y), the central motion module (20) can be rotated with three degrees of freedom of rotation around the end portion (A) as a pivot center.

[0142] According to the embodiments of the present invention as described above, by implementing a mechanism that performs remote central movement through a joint unit that performs rotation and a linear movement unit that performs linear driving, it is possible to achieve compact and easy driving while having relatively small rotational inertia, thereby enabling stability and precise control of the system.

[0143] In particular, by operating only one of the above joint unit and the above linear movement unit, remote center movement can be implemented, thereby minimizing the driving unit, facilitating system design, and enabling rapid and precise driving.

[0144] In addition, in the case of a conventional parallelogram-shaped link unit, remote center of gravity motion could only be realized if it was configured to include a total of 8 links and 7 rotation parts, but since the same remote center of gravity motion can be realized by configuring the link unit to include a total of 6 links, 3 rotation parts, and 4 linear joints, the configuration and design of the link unit is relatively simple, making it easy to manufacture and enabling stable system operation.

[0145] At this time, remote center of gravity motion can be implemented by driving any one of the three rotary parts and four linear joints, so that the optimal drive can be selected by considering the system design, etc., thereby ensuring design flexibility.

[0146] In addition, when the center motion module that implements the above remote center motion is mounted on a medical device, surgery or treatment can be performed through pivot motion while inserted into the body, thereby minimizing damage to the body with minimal invasion, while securing the maximum range of motion inside the body, thereby improving efficiency.

[0147] Although the present invention has been described above with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

Claims

1. Includes a link unit whose end is driven to pivot and rotate, The above link unit is, A link section comprising multiple links; A joint unit including at least one rotating part connecting between the above links; and A central motion module characterized by comprising a linear motion unit including at least one linear motion part connecting intersecting links.

2. In paragraph 1, A central motion module further comprising a rotation unit that rotates the link unit in a direction perpendicular to the pivot rotation direction of the link unit.

3. In paragraph 1, The above link portion includes a first link including a fixed end, and a second link connected to the first link, The joint unit includes a first rotation part connected between the first link and the second link to rotate the second link relative to the first link, A central motion module characterized in that the end of the link unit pivotally rotates as the first rotating part rotates.

4. In paragraph 1, The link portion includes a first link having a fixed end, a second link rotatably connected to the first link, and a third link rotatably connected to the second link, The joint unit includes a second rotation unit connected between the second link and the third link to rotate the third link relative to the second link, A central motion module characterized in that the end portion of the link unit pivotally rotates as the second rotating portion rotates.

5. In paragraph 1, The link portion includes a first link having a fixed end, a second link rotatably connected to the first link, a third link rotatably connected to the second link, and a fourth link rotatably connected to the third link. The above joint unit includes a third rotation part connected between the third link and the fourth link to rotate the fourth link relative to the third link, A central motion module characterized in that the end portion of the link unit pivotally rotates as the third rotating portion rotates.

6. In paragraph 1, The link portion includes a first link having a fixed end, a second link rotatably connected to the first link, a third link rotatably connected to the second link, and a fourth link rotatably connected to the third link. The joint unit includes a first rotation unit connected between the first link and the second link to rotate the second link with respect to the first link, a second rotation unit connected between the second link and the third link to rotate the third link with respect to the second link, and a third rotation unit connected between the third link and the fourth link to rotate the fourth link with respect to the third link. A central motion module characterized in that the end portion of the link unit pivotally rotates as at least one of the first to third rotating parts rotates.

7. In paragraph 1, The link portion includes a first link having a fixed end, a third link extending parallel to the first link, and a fifth link extending in a direction perpendicular to the first link and intersecting the third link. A center motion module characterized in that the linear moving part includes a first linear moving part connected to the intersection position of the third link and the fifth link and changing the intersection position of the third link and the fifth link.

8. In paragraph 7, The link portion further includes a second link rotatably connected to the first link, a fourth link extending parallel to the second link, and a sixth link extending in a direction perpendicular to the second link and intersecting the fourth link. A center motion module characterized in that the linear moving part further includes a second linear moving part connected to the intersection position of the fourth link and the sixth link and changing the intersection position of the fourth link and the sixth link.

9. In paragraph 8, A central motion module characterized in that one of the first and second linear moving parts is driven so that the end portion of the link unit pivotally rotates.

10. In the first paragraph, the link part, A first link having a fixed end and extending in one direction; A second link rotatably connected to the first link; A third link rotatably connected to the second link; A fourth link rotatably connected to the third link; A fifth link fixed to the first link and extending in a direction perpendicular to the first link; and A central motion module characterized by including a sixth link fixed to the second link and extending in a direction perpendicular to the second link.

11. In paragraph 10, A central motion module characterized in that, regardless of the pivot rotation of the link unit, the first link and the third link extend parallel to each other, and the second link and the fourth link extend parallel to each other.

12. In the 10th paragraph, the joint unit, A first rotating part interposed between the first link and the second link and rotating; A second rotating part that is interposed between the second link and the third link and rotates; and It includes a third rotating part that is interposed and rotates between the third link and the fourth link, A central motion module characterized in that any one of the first to third rotating parts is actively driven.

13. In the 10th paragraph, the linear movement unit, A first linear moving part connecting the third link and the fifth link at an intersection position where the third link and the fifth link intersect; and At an intersection position where the fourth link and the sixth link intersect, a second linear moving part connecting the fourth link and the sixth link is included, A central motion module characterized in that one of the first and second linear moving parts is actively driven.

14. Frame section; A rotating unit fixed to the above frame portion; and A link unit is included, one end of which is fixed to the rotating unit, and the other end is driven to pivotally rotate with respect to the one end. The above link unit is, A link section comprising multiple links; A joint unit including at least one rotating part connecting between the above links; and A medical device characterized by comprising a linear movement unit including at least one linear movement part connecting intersecting links.

15. In the 14th paragraph, the link unit, A medical device characterized in that it rotates in a direction perpendicular to the pivot rotation direction of the link unit according to the driving of the rotation unit.

16. In paragraph 14, The above link portion includes at least two links that are rotatably connected to each other, A medical device characterized in that the other end of the link unit pivotally rotates as the at least two links rotate relative to each other.

17. In paragraph 14, A medical device characterized in that the other end of the link unit approaches the same position in different directions as the pivot rotates.

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