KR20090119366A - Laparoscopic Surgery Robot with Freedom of Freedom - Google Patents

Abstract

The present invention is a laparoscopic surgical robot consisting of a surgical tool and a drive unit for driving and controlling the surgical tool, the drive unit is fixed to the ground and the base; A yaw drive unit connected to one side of the base to rotate the surgical tool in a yaw direction; A pitch drive unit connected to one side of the base to rotate the surgical tool in a pitch direction; A passive joint part comprising a plurality of links connected to the pitch driver; A transfer part connected to one side of the manual joint part to transfer the laparoscopy surgical tool back and forth; And a laparoscopic surgical robot having a degree of freedom, characterized in that it is connected to the upper portion of the transfer unit and coupled to separate and separate the surgical tool and the drive unit, even if the end of the surgical tool is fixed can take a variety of postures, By using the information about the doctor's arm movements there is an effect that can be similar to the doctor's arm movements. Therefore, the doctor can easily predict the movement of the surgical robot, there is an effect that can be performed laparoscopic surgery smoothly with the same degree of freedom as open surgery. Accordingly, it is possible to improve the operation work speed and shorten the operation time. In addition, there is an effect that can be performed even a variety of operations in the minute region using a computer.

Description

Laparoscopic Surgical Robot with Additional Degree of Freedom}

The present invention relates to a laparoscopic surgical robot having a degree of freedom, and more particularly, it is composed of a laparoscopic surgical tool and a surgical tool which are inserted into the abdominal cavity and have 5 degrees of freedom, and are detachable and attachable and have a driving part having 3 degrees of freedom. By having a laparoscopic surgical robot that can take a variety of positions even if the end of the surgical tool is fixed.

In general, laparoscopic surgery robot is a robot that performs minimally invasive surgery using a laparoscope and a small surgical tool. Here, minimally invasive surgery refers to a surgery that minimizes damage to surrounding organs or tissues through a plurality of small incisions and accurately and stably performs a desired surgery. Therefore, minimally invasive surgery can relatively reduce the change in metabolic process after surgery, and thus has an advantage of speeding up the recovery period. In addition, the hospitalization period is also shortened and it is possible to return to normal life within a short time after the operation.

Conventional laparoscopic surgical robots use long, thin surgical instruments to move the surgical tools in four degrees of freedom, such as rotation in the pitch, yaw and roll directions, and axial movement. Surgical instruments with these 4 degrees of freedom can move the surgical instruments to the desired position, but the direction of approach of the tools can not be controlled. The movement of 4 degrees of freedom is enough for a simple operation, but the work for making a suture or knot of the surgeon is not smooth. Due to this problem, there is a problem that surgery is difficult and surgery takes longer than open surgery. In addition, when the operation for a long time, there is a problem that goes to the arm and leg of the doctor.

In order to solve this problem, a laparoscopic surgical robot system composed of a master-slave system has emerged. The chief physician controls the manipulator attached to the master system, and the slave system directly performs the operation through the information transmitted from the master system. As an example of such a surgical robot, US Pat. No. 6,364,888 discloses a serial robot system consisting of one endoscope control robot and two slave robots. In addition, US Pat. No. 6,102,850 discloses a laparoscopic surgical robot in which an endoscope adjusting robot and two slave robots are integrated. However, such a laparoscopic surgical robot system has the same degree of freedom as the conventional laparoscopic surgery or there is a problem that can not implement the movement of the arm of the gypsy as in the case of open surgery. In addition, these devices require a large installation space, there is a problem that is not suitable for surgery of a wide lesion such as colon cancer surgery.

Therefore, the present invention was created to solve the above problems, and even when the end of the robot is fixed, such as a doctor's arm, it takes various postures, and the laparoscope having a degree of freedom to perform the movement of the same degree of freedom as the doctor's arm. The purpose is to provide a surgical robot.

An object of the present invention as described above is a laparoscopic surgical robot consisting of a surgical tool and a drive unit for driving and controlling the surgical tool, the drive unit is fixed to the ground and the base; A yaw drive unit connected to one side of the base to rotate the surgical tool in a yaw direction; A pitch drive unit connected to one side of the base to rotate the surgical tool in a pitch direction; A passive joint part comprising a plurality of links connected to the pitch driver; A transfer part connected to one side of the manual joint part and transferring the surgical tool back and forth; And it can be achieved by a laparoscopic surgical robot having a margin of freedom characterized in that consisting of a connecting portion connected to the upper portion of the transfer unit and coupling and separating the surgical tool and the drive.

According to the present invention, even if the end of the surgical tool is fixed, it can take various postures, and there is an effect that the operation similar to the doctor's arm movement by using information about the doctor's arm movement during surgery. Therefore, the doctor can easily predict the movement of the surgical robot, there is an effect that can be performed laparoscopic surgery smoothly with the same degree of freedom as open surgery. Accordingly, it is possible to improve the operation work speed and shorten the operation time. In addition, there is an effect that can be performed even a variety of operations in the minute region using a computer.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

<Configuration of Laparoscopic Surgery Robot>

1 is a perspective view showing one side of the laparoscopic surgical robot having a degree of freedom according to the present invention. As shown in FIG. 1, the laparoscopic surgical robot 1 moves in the abdominal cavity of the patient, and consists of a surgical tool 100 having 5 degrees of freedom and a driving unit 200 having 3 degrees of freedom and driving the surgical tool 100. .

(Configuration of Driving Unit)

1 is a perspective view of a laparoscopic surgical robot having a degree of freedom in accordance with the present invention. As shown in FIG. 1, the driving unit 200 according to the present invention includes a base 280, a yaw driving unit 260, a pitch driving unit 240, a manual joint 250, a transfer unit 220, and a connection unit 210. It is composed.

As shown in FIG. 1, the base 280 according to the present invention is fixed to the ground and provides a place where members constituting the driving unit 200 are installed at one side thereof. It may be made in any shape.

Figure 2 shows a schematic view showing the joint of the laparoscopic surgical robot having a degree of freedom in accordance with the present invention, Figure 3 shows a front view of the yaw drive unit according to the present invention. As shown in Figures 2 and 3, the yaw drive unit 260 according to the present invention is installed at one end in the longitudinal direction of the base 280 consists of a configuration for rotating the surgical tool 100 in the yaw direction (Yaw) direction . Accordingly, the yaw rotation shaft 262 connected to the base 280 and the yaw rotation means 261 is formed in a semi-circular shape that rotates around the yaw rotation shaft 262. In this case, the yaw rotation means 261 and the eighth driving means M8 connected to the yaw rotation shaft 262 and the third wire W3 are provided to transmit power capable of rotating the yaw rotation shaft 262. Here, the eighth drive means is preferably a servo motor, a step motor or a linear servo motor capable of forward and reverse rotation.

Figure 2 shows a schematic view showing the joint of the laparoscopic surgical robot having a degree of freedom according to the present invention, Figure 4 shows a side view of the passive joint and the pitch drive of the drive unit according to the present invention. 2 and 4, the pitch drive unit 240 according to the present invention is configured to rotate the surgical tool 100 in the pitch (Pitch) direction. A pitch rotating shaft 242 perpendicular to the yaw rotating shaft 262 and a pitch rotating means 241 having a semicircular shape rotating around the pitch rotating shaft 242 are provided. At this time, the pitch rotating shaft 242 is provided with a seventh driving means (M7) connected to the pitch rotating means 241 and the pitch rotating shaft 242 and the second wire (W2) to transmit power. Here, the seventh driving means M7 may use a servo motor, a step motor, or a linear servo motor capable of forward and reverse rotation.

In addition, as shown in Figures 2 and 4, the passive joint part 250 according to the present invention is rotated about the manual joint rotation axis 257 by the rotation of the pitch axis of rotation 242 without a separate driving device, surgery Drive tool 100. The configuration is fixed to one side of the pitch rotation means 241, and the sixth link 256 made in parallel with the ground is provided. The fifth link 255 is rotatable about the manual joint rotation axis 257 and is connected to the other end opposite to one side of the sixth link 256 to which the sixth link 256 and the pitch rotation means 241 are connected. do. The fourth link 254 is installed to be connected to the other end opposite to one end of the fifth link 255 to which the fifth link 255 and the sixth link 256 are connected. do. In this case, the fourth link 254 is formed relatively longer than the sixth link 256. The pitch rotation shaft 242 and one end thereof are connected and rotatable, and a middle one side thereof is connected to the middle one side of the fourth link 254, and a third link 253 is installed in parallel with the fifth link 255. . The second link 253 is connected to the other end opposite to one end of the third link 253 to which the pitch rotation shaft 242 is connected, and is parallel to the fourth link 254 and the sixth link 256. Link 252 is installed.

Finally, the other end opposite to one end of the second link 252 to which the second link 252 and the third link 253 are connected, and the fourth to which the fourth link 254 and the fifth link 255 are connected. The first link 251 connecting the other end opposite to one end of the link 254 is provided. In this case, the first link 251 is installed to be parallel to the third link 253 and the fifth link 255. In this way, the first link 251, the second link 252, the third link 253, and the fourth link 254 are formed in one parallelogram. In addition, the third link 253, the fourth link 254, the fifth link 255 and the sixth link 256 are made of another parallel yarn deformation. That is, the passive joint 250 has a double parallelogram structure.

Figure 5 shows a side view showing the connection of the connection portion and the transfer unit according to the present invention. As shown in FIG. 5, the transfer part 220 according to the present invention is installed at one side of the first link 251 of the manual joint part 250 to provide a path through which the surgical tool 100 can move in the front-rear direction. A plate-shaped linear guide 221 is formed. When the connecting portion 210 is coupled to the upper side of the linear guide 221, the fixing plate 222 for fixing the connecting portion 210 is coupled with the bolt B, and the fixing plate 222 is connected with the first wire W1. And an eighth driving means M8 for transmitting power for transporting the connection portion 210.

As shown in Figure 5, the connection portion 210 according to the present invention is to connect the surgical tool 100 and the driving unit 200, consisting of a hollow rectangular parallelepiped five joints of the surgical tool 100 therein Five pulleys are provided which are connected to the wires connected to the wires. And, the outer one side is provided with first driving means (M1) to fifth driving means (M1) for transmitting power to each of the five pulleys. The connection part 210 is provided on the linear guide 221 of the transfer part 220 and is fixed by the fixing plate 222 and the bolt B, and the linear guide (8) by the eighth driving means M8 connected to the fixing plate 222. 221) Advance and / or retract the upper part.

Surgical tool 100 of the laparoscopic surgical robot 1 according to the present invention is a line extending the central axis of rotation of the yaw rotation device 261 of the drive unit 200 and the surgical tool 100 as shown in FIG. It is composed of a configuration that operates with the center of the remote center 290 is the intersection point. That is, even if the surgical tool 100 is rotated in the pitch direction and yaw direction is to rotate around the remote center (290). Therefore, even if the surgical tool 100 is inserted into the abdominal cavity of the patient can be performed smoothly without disturbing the movement due to the invasion point.

(Configuration of Surgical Tools)

1 is a perspective view of a laparoscopic surgical robot having a degree of freedom in accordance with the present invention. As shown in FIG. 1, the laparoscopic surgical robot 1 is inserted into the abdominal cavity and has a surgical tool 100 having 5 degrees of freedom for performing surgery and a driving unit 200 having 3 degrees of freedom for driving the surgical tool 100. It consists of.

Surgical tool 100 according to the present invention may be used as long as the surgical tool 100 can be inserted into the abdominal cavity. However, it is preferable to use a laparoscopic surgical robot disclosed in Korean Patent No. 0778387, "Laparoscopic Surgery Robot with Multiple Degrees of Freedom and a Force Measurement Method", which the applicant has already applied for and registered. For a smooth description, the contents related to the surgical tool 100 in the Republic of Korea Patent No. 0778387 will be described once again using new reference numerals to fit the drawings attached to the present invention.

Figure 6 is a view showing a perspective view of the surgical tool according to the present invention. As shown in FIG. 6, the first surgical tool 110 and the second surgical tool 120 serve as fingers of the surgical tool 100 and may be manufactured by scissors, tongs, cauterizers, and the like. The first surgical tool 110 and the second surgical tool 120 can be controlled independently of each other. If the first surgical tool 110 and the second surgical tool 120 are rotated in the same direction, the direction change of the surgical tool 100 may be represented, and if the first surgical tool 110 and the second surgical tool 120 are rotated in different directions, scissors or tongs may be represented. . The first surgical tool 110 and the second surgical tool 120 may rotate about the surgical tool rotation axis 130.

Wrist portion 105 according to the present invention includes a surgical tool rotation axis 130 and is rotatable about the wrist rotation axis 150.

The load cell 160 according to the present invention has four beams, and is a sensor for measuring the force acting on the first surgical tool 110 and the second surgical tool 120. The load cell 160 measures such a force to control a force suitable for the procedure to be applied to the first surgical tool 110 and the second surgical tool 120. The load cell 160 is connected to the elbow portion 170 and rotates based on the longitudinal central axis (C axis) of the elbow portion 170.

The elbow 170 according to the present invention is connected to the upper arm 180 and rotates based on the elbow rotation axis 180. The other end opposite to one side of the upper arm 180 connected to the elbow 170 is connected to the connection portion 210 of the driving unit 200.

<How to Drive Laparoscopic Surgery Robot>

(Drive method of driving part)

The driving unit 200 of the laparoscopic surgical robot 1 according to the present invention is the first wire (W1) to the third wire (W3) by using the power generated from the sixth driving means (M6) to eighth driving means (M8). ) Wound around the fifteenth pulley (P15) to the 24th pulley (P24) to rotate the surgical tool 100 in the front and rear movement, pitch direction and yaw direction.

Figure 3 shows a side view of the passive joint and the pitch drive of the drive unit according to the present invention. As shown in FIG. 3, the surgical tool 100 is moved forward and backward by using the first wire W1, the eighteenth pulley P18 to the twenty-fourth pulley P24, and the eighth driving means M8. . The first wire W1 is wound around the eighth drive means M8. The first wire W1 passes through a nineteenth pulley P19 provided at one side to which the third link 253 and the second link 252 are connected, so that the first wire W1 is passively connected to the third link 253 and the second link 252. It is connected to the eighteenth pulley P18 provided in the joint rotation shaft 257.

The first wire W1 passing through the eighteenth pulley P18 passes through the seventeenth pulley P17 provided on the other side opposite to one side of the second link 252 provided with the eighteenth pulley P18. The first wire W1 passing through the seventeenth pulley P17 passes the sixteenth pulley P16 provided to be spaced a predetermined distance to one side of the first link 251 connected to the second link 252, and the sixteenth pulley Pass through the fifteenth pulley (P15) installed adjacent to (P16). The first wire W1 passing through the fifteenth pulley P15 is wound around the fixing plate 222 provided in the conveying part 220 to face one side of the first link 251 provided with the fifteenth pulley P15. Pass the 20th pulley (P20) provided on the other side.

The first wire W1 passing through the twentieth pulley P20 passes through the twenty-first pulley P21 provided near the twentieth pulley P20. The first wire W1 passing through the twenty-first pulley P21 passes through the twenty-second pulley P22 provided on an axis connecting the first link 251 and the fourth link 254. The first wire W1 passing through the twenty-second pulley P22 passes through the twenty-fourth pulley P24 provided in the passive joint shaft 257 connecting the third link 253 and the fourth link 254. Pass the twenty-third pulley (P23) provided in close proximity to the 24 pulley (P24). The first wire W1 passing through the twenty-third pulley P23 returns to the eighth driving means M8 to form a fifth loop L5. In the fifth loop L5 formed as described above, the first wire W1 rotates along the fifth loop L5 according to the forward rotation or the reverse rotation of the eighth driving means M8, and the fixing plate 222 of the transfer unit 220. Move in the forward and backward direction. Accordingly, the connecting portion 210 coupled to the fixing plate 222 and the surgical tool 100 coupled to the connecting portion 210 are moved together. Here, the first wire W1 connected to the seventeenth pulley P17, the eighteenth pulley P18, the twenty-second pulley P22, and the twenty-fourth pulley P24 may have a second link 252 and a fourth link, respectively. Parallel to (254). Therefore, even if the passive joint 250 rotates, the length of the fifth loop L5 may drive the respective links without change.

In addition, as shown in FIG. 3, the surgical tool 100 is rotated in the pitch direction by using the second wire W2, the pitch rotating means 241, and the seventh driving means M7. The second wire W2 is wound around the seventh driving means M7. The second wire W2 passes along one side of the outer circumferential surface of the pitch rotation means 241. The second wire W2 passing one side of the outer circumferential surface of the pitch rotating means 241 passes through the pitch rotating shaft 242 of the pitch rotating means 241 connected to one end of the third link 253, and the first pitch rotating means 241 passes. The sixth loop L6 is formed by returning to the seventh driving means M7 along the outer circumferential surface in the opposite direction. In the sixth loop L6 formed as described above, the second wire W2 is driven by the forward rotation or the reverse rotation of the seventh driving means M7, and rotates the pitch rotation shaft 242 of the pitch rotation means 241. At this time, the third link 243 connected to the pitch rotation axis 242 of the pitch rotation means 241 rotates in the pitch direction along the rotation direction of the pitch rotation axis 242. The passive joint 250 directly or indirectly connected to the third link 243 rotates about the passive joint rotation axis 257 in accordance with the rotation of the third link 243. Accordingly, the connecting portion 210 coupled to the first link 241 and the surgical tool 100 coupled to the connecting portion 210 rotate in the pitch direction with respect to the remote center 290 together.

Figure 4 shows a front view of the yaw drive unit according to the present invention. As shown in FIG. 4, the surgical tool 100 is rotated in the yaw direction by using the third wire W3, the yaw rotation means 261, and the sixth driving means M6. The third wire W3 is wound around the sixth drive means M6. The third wire W3 passes along one side of the outer circumferential surface of the yaw rotation means 261. The third wire W3 past the outer circumferential surface of the yaw rotation means 261 passes through the yaw rotation axis 262 of the yaw rotation means 251 connected to the axis connecting the fifth link 255 and the sixth link 256. The seventh loop L6 is formed by returning to the sixth driving means M6 along the outer circumferential surface of the yaw rotation means 261 which has passed first.

In the seventh loop L7 formed as described above, the third wire W3 is driven according to the forward rotation or the reverse rotation of the sixth driving means M6, and rotates the yaw rotation shaft 262 of the yaw rotation means 261. At this time, an axis connecting the fifth link 255 and the sixth link 256 connected to the yaw rotation axis 262 of the yaw rotation means 261 rotates in the yaw direction along the rotation direction of the yaw rotation axis 262, The manual joint part 250 is rotated in the yaw direction as a whole. Accordingly, the connector 210 coupled to the first link 241 and the surgical tool 100 coupled to the connector 210 rotate together in the yaw direction with respect to the remote center 290.

Thus, the driving unit 200 according to the present invention is the eighth driving means (M8) for moving the surgical tool 100 in the front and rear direction, the seventh driving means (M7) for rotating in the pitch direction and the agent for rotating in the yaw direction 6 drive means (M6) it is possible to move in three degrees of freedom.

(How to Operate Surgical Tools)

7 is a view showing the connection configuration of the pulley and the wire for the wrist of the surgical tool according to the present invention, Figure 9 is a perspective view showing the overall wire connection configuration of the surgical tool according to the present invention. As shown in FIGS. 7 and 9, the second wire C2 passes the second pulley P2 once and passes through the A pulley PA integral with the first surgical tool 110. The third wire C3 passing through the A pulley PA passes back through the third pulley P3 and the sixth pulley P6 to the second pulley P2 to form a second loop L2. Here, the sixth pulley P6 is connected to the second driving means M2 provided in the connection part 210 of the driving part 200. At this time, the second pulley (P2) and the third pulley (P3) is wound around one or more times so that the tension of the wire can be maintained even when the wrist axis of rotation (150) rotates. When the second driving means M2 is rotated by the wiring as described above, the second loop L2 rotates to operate the first surgical tool 110.

Similar to the connection of the first surgical tool 110, the second surgical tool 120 also has a first pulley P1, a second pulley P1 integrated with the second surgical tool 120, a fourth pulley P4 and a first pulley. 5 pulleys P5 are sequentially returned to the first pulley P1 to form a first loop L1. Here, the fifth pulley P5 is connected to the first driving means M1 provided in the connection part 210 of the driving part 200.

The fifth wire C5 and the sixth wire C6 are tied to the fifth pulley P5 and the sixth pulley P6 and meet each other through the seventh pulley P7. Here, the seventh pulley P7 is connected to the third driving means M3 provided in the connection portion 210 of the driving unit 200. Therefore, when the third driving means M3 is turned, the fifth pulley P5 or the sixth pulley P6 is pulled out. If the sixth pulley P6 is pulled toward the seventh pulley P7, that is, if the sixth pulley P6 is reduced, the second wire C2 and the third wire C3 are simultaneously pulled off the seventh pulley. Pulled toward (P7) the surgical tool rotation axis 130 is rotated about the wrist rotation axis 150. At this time, the first wire C1 and the fourth wire C4 are pulled in the opposite direction to the seventh pulley P7, and the fifth wire is extended to compensate for it.

The opposite direction can also be moved in the same way. Here, the second driving means M2 is rotated in the same direction as the third driving means M3, and the first driving means M1 is rotated in a different direction from the third driving means M3, so that the first wire C1 is rotated. ) To fourth wire C4 can be pulled by the same length. Therefore, the movement of three degrees of freedom is possible with the first driving means M1 to the third driving means M3.

8 is a view showing the connection configuration of the pulley and the wire for the elbow portion according to the present invention, Figure 9 is a perspective view showing the overall wire connection configuration of the surgical tool according to the present invention. As shown in Figs. 8 and 9, the fourth driving means M4 and the fifth driving means M5 are used to describe the elbow movement. The eighth wire C8 is connected to the seventh wire C7 by turning the ninth pulley P9 and passing through S1 to the lower end of the elbow portion. The seventh wire C7 is wound around the eighth pulley P8 after S2, and then turns around the eleventh pulley P11 to be connected to the eighth wire C8 to form a third loop. Here, the eleventh pulley P11 is connected to the fourth driving means M4 provided in the connecting portion 210 of the driving unit 200. Accordingly, when the fourth driving means M4 rotates, the third loop L3 is driven and the elbow 170 rotates about the C axis.

In addition, the ninth wire C9 is wound around the tenth pulley P10 and connected to the tenth wire C10. The tenth wire C10 turns the twelfth pulley P12 and returns to the tenth pulley P10 to form a fourth loop. Here, the twelfth pulley P12 is connected to the fifth driving means M5 provided in the connecting portion 210 of the driving unit 200. Therefore, when the fifth driving means M5 rotates, the elbow portion 180 rotates along the elbow rotation shaft 180.

Accordingly, the two degrees of freedom of rotation of the elbow 170 may be expressed by the two fourth driving means M4 and the fifth driving means M5. As described above, the surgical tool 100 is capable of movement of a total of five degrees of freedom using the first driving means M1 to the fifth driving means M5 as the first degree of freedom, two degrees of freedom and two degrees of elbow freedom. .

<Variation example>

Laparoscopic surgical robot having a degree of freedom according to the present invention is applicable to a variety of fields, such as robot manipulators in harmful environments that require fine work in addition to laparoscopic surgery.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. Therefore, the above-described embodiments are to be understood in all respects as illustrative and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention.

The following drawings, which are attached in this specification, illustrate preferred embodiments of the present invention, and together with the detailed description of the present invention serve to further understand the technical spirit of the present invention, the present invention is limited to the matters described in such drawings. It should not be construed as limited.

1 is a perspective view of a laparoscopic surgical robot having a degree of freedom according to the present invention,

Figure 2 is a schematic diagram showing the joint of the laparoscopic surgical robot having a degree of freedom in accordance with the present invention,

3 is a front view of the yaw drive unit according to the present invention;

4 is a side view of the passive joint and the pitch drive of the driving unit according to the present invention;

Figure 5 is a side view showing the connection of the connecting portion and the transfer unit according to the invention,

6 is a perspective view of a surgical tool according to the present invention,

7 is a view showing the connection configuration of the pulley and the wire for the wrist of the surgical tool according to the present invention,

8 is a view showing the connection configuration of the pulley and the wire for the elbow portion according to the present invention,

9 is a perspective view showing the overall wire connection configuration of the surgical tool according to the present invention.

<Explanation of symbols for the main parts of the drawings>

1: laparoscopic surgical robot 100: surgical instruments

110: first surgical instrument 120: second surgical instrument

130: rotation axis surgical instrument 140: wrist portion

150: wrist rotation axis 160: load cell

170: elbow 180: elbow rotation axis

190: upper arm 200: driving part

210: connection portion 220: transfer portion

221: linear guide 222: fixed plate

240: pitch drive unit 241: pitch rotation means

242: pitch axis of rotation 250: manual joint

251: first link 252: second link

253: third link 254: fourth link

255: fifth link 256: sixth link

257: manual joint rotation axis 260: yaw drive unit

261: yaw rotation means 262: yaw rotation axis

280: base 290: remote center

M1 ~ M8: drive means C1 ~ C10: wire of surgical instruments

W1 ~ W3: Wire of driving part P1 ~ P24: Pulley

L1 to L7: Loop B: Bolt

Claims (14)

In the laparoscopic surgical robot 1 including a surgical tool 100 and a driving unit 200 for driving and controlling the surgical tool 100, the driving unit 200 is One side is fixed to the base 280; A yaw driver 260 connected to one side of the base 280 to rotate the surgical tool 100 in a yaw direction; A pitch drive unit 240 connected to one side of the base 280 to rotate the surgical tool 100 in a pitch direction; A passive joint part 250 formed of a plurality of links connected to the pitch driver 240; A transfer part 220 connected to one side of the manual joint part 250 to transfer the surgical tool 100 back and forth; And Laparoscopic surgical robot having a degree of freedom, characterized in that consisting of a connection portion 210 is connected to the upper portion of the transfer unit 220 and coupled to and separated from the surgical tool 100 and the drive unit (200). The method of claim 1, The yaw driving unit 260 is a laparoscopic surgical robot having a degree of freedom, characterized in that consisting of a yaw rotation device (261) and the sixth drive means (M6) for driving the yaw rotation device (261). The method of claim 2, The yaw driver 260 sequentially rotates the yaw rotation shaft 262 of the sixth driving means M6, the yaw rotating device 261, and the yaw rotating device 261, which are capable of reverse rotation. Laparoscopic surgical robot having a degree of freedom, characterized in that the third wire (W3) returning to (M6) is driven by forming a seventh loop (L7). The method of claim 1, The pitch drive unit 240 is a laparoscopic surgical robot having a degree of freedom, characterized in that consisting of a pitch rotation device 241 and the seventh driving means (M7) for driving the pitch rotation device (241). The method of claim 4, wherein The pitch drive unit 240, The seventh driving means M7 capable of forward and reverse rotation, the pitch rotating device 241 and the pitch rotating shaft 242 of the pitch rotating device 241 are sequentially returned to the seventh driving means M7. Laparoscopic surgical robot having a degree of freedom, characterized in that the two wire (W2) is driven by forming a sixth loop (L6). The method of claim 1, The links of the passive joint 250, A first link 251 coupled to the connection part 210; A second link 252 connected to one end of the first link 251; A second end connected to the other end opposite to one end of the second link 252 to which the second link 252 and the first link 251 are connected and installed in parallel with the first link 251. Three links 253; The other end facing the one end of the first link 251 to which the first link 251 and the second link 252 are connected and the middle one side and the middle one side of the third link 253 are connected. A fourth link 254 installed in parallel with the second link 252; The first link 251 and the fourth link 254 are connected to the other end opposite to one end of the fourth link 254 to which the first link 251 and the fourth link 254 are connected; A fifth link 255 installed in parallel; And The second link is opposite to one end of the fifth link 255 to which the fourth link 254 and the fifth link 255 are connected, and the second link 252 is connected to one side of the pitch rotating means 241. Laparoscopic surgical robot having a degree of freedom, characterized in that consisting of; and a sixth link (256) installed in parallel with the fourth link (254). The method of claim 6, Laparoscopic surgical robot having a degree of freedom, characterized in that the links of the passive joint portion 250 is made of a double parallelogram (Double Parallelogram) structure. The method of claim 1, The transfer unit 220, A linear guide 221 provided at one side of the manual joint part 250 to provide a path for transferring the surgical tool 100 in the front-rear direction; Fixing plate 222 for fixing the linear guide 221 and the connecting portion 210 and Laparoscopic surgical robot having a degree of freedom, characterized in that consisting of the eighth drive means (M8) is connected to the fixed plate 222 to transfer the power for transferring the connection portion 210 in the front and rear direction. The method of claim 8, The transfer unit 220, A nineteenth pulley P19 provided at one side to which the eighth driving means M8, the third link 253, and the second link 252 are connected; An eighteenth pulley P18 provided on the rotation shafts of the third link 253 and the second link 252, A seventeenth pulley P17 provided on the other side of the second link 252 provided with the eighteenth pulley P18, A sixteenth pulley P16 provided to be spaced a predetermined distance to one side of the first link 251 connected to the second link 252, A fifteenth pulley P15 installed adjacent to the sixteenth pulley P16, The 20th pulley (P20) provided on the other side facing the one side of the first link 251, the fixing plate 222, the fifteenth pulley (P15) provided in the transfer unit 220, Twenty-first pulley (P21) provided in close proximity to the twentieth pulley (P20), A twenty-second pulley (P22) provided on an axis connecting the first link 251 and the fourth link 254, A twenty-fourth pulley (P24) provided on an axis connecting the third link 253 and the fourth link 254, In order to turn around the twenty-third pulley (P23) provided in close proximity to the twenty-fourth pulley (P24), Laparoscopic surgical robot having a degree of freedom, characterized in that the first wire (W1) coming back to the eighth drive means (M8) is driven by forming a fifth loop (L5). The method of claim 9, Wires W1 connecting the seventeenth pulley P17, the eighteenth pulley P18, the twenty-second pulley P22, and the twenty-fourth pulley P24 are respectively the second link 252 and the first pulley. Laparoscopic surgical robot having a degree of freedom, characterized in that formed parallel to the four links (254). The method of claim 1, The connection part 210 provides a place where the first driving means M1 to the fifth driving means M5 for driving the surgical tool 100 are provided, and the surgical tool 100 to the driving part 200. Laparoscopic surgical robot having a degree of freedom, characterized in that the removable structure. The method of claim 1, The surgical tool 100 is characterized in that consisting of a configuration that operates with the center of the center of the center of the line extending the rotation center axis of the yaw rotation device 261 of the drive unit and the surgical tool 100 as a center point. Laparoscopic surgical robot with a degree of freedom. The method of claim 1, The surgical tool 100, A first surgical tool 110 and a second surgical tool 120 rotatable about the surgical tool rotating shaft 130, respectively, Wrist portion 140 including the surgical tool rotation axis 130 and rotatable around the wrist rotation axis 150, A load cell 160 having one end connected to the wrist rotating shaft 150; Is connected to the other end of the load cell 160, elbow portion 170 rotatable in the axial direction, Consists of the upper arm 190 connected to one end of the elbow 170 around the elbow rotation axis 180, First driving means (M1) for driving the first surgical tool 110, Second driving means M2 for driving the second surgical tool 120; Third drive means (M3) for driving the surgical tool rotating shaft 130, Fourth driving means M4 for driving rotation of the elbow 170 in the axial direction; Laparoscopic surgical robot having a degree of freedom, characterized in that each having a fifth drive means (M5) for driving the elbow rotation axis (180). The method according to any one of claims 1 to 13, The driving means (M) is a laparoscopic surgical robot having a degree of freedom, characterized in that any one of a step motor, servo motor or linear servo motor.

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