Abstract:
A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a Divisional Application of co-pending U.S. patent application No. 13/129,334 filed May 13, 2011, which is the National Phase of PCT/KR2009/007290 filed on Dec. 8, 2009, which claims priority under 35 U.S.C. 119(a) to Patent Application No. 10-2008-0126415 filed in the Republic of Korea on Dec. 12, 2008, Patent Application No. 10-2008-0136859 filed in the Republic of Korea on Dec. 30, 2008, Patent Application No. 10-2008-0136840 filed in the Republic of Korea on Dec. 30, 2008, and Patent Application No. 10-2009-0004872 filed in the Republic of Korea on Jan. 21, 2009. All of those applications are hereby expressly incorporated by reference into the present application. 
     
    
     BACKGROUND 
       [0002]    The present invention relates to a medical apparatus, more particularly to a surgical instrument. 
         [0003]    In the field of medicine, surgery refers to a procedure in which a medical apparatus is used to make a cut or an incision in or otherwise manipulate a patient&#39;s skin, mucosa, or other tissue, to treat a pathological condition. A surgical procedure such as a laparotomy, etc., in which the skin is cut open and an internal organ, etc., is treated, reconstructed, or excised, may entail problems of blood loss, side effects, pain, and scars. Thus, current methods of surgery that involve making an incision in the skin and inserting only a medical apparatus, such as a laparoscope, a surgical instrument, and a microscope, for example, or those that involve the use of surgical robots are currently regarded as popular alternatives. 
         [0004]    A set of surgical robots may include a master robot, which is manipulated by the doctor to generate and transmit the necessary signals, and a slave robot, which receives the signals from the master robot to actually apply the manipulation to the patient. The master robot and the slave robot can be arranged in the operating room as an integrated unit or as separate devices. 
         [0005]    A slave robot may be equipped with a robot arm to make manipulations for surgery, while an instrument may be mounted on the front end of the robot arm. As illustrated in  FIG. 1 , a conventional instrument  54  for mounting on a robot arm may include a driving part  108 , a shaft  102  extending from the driving part  108 , and a forceps-like effector  112  mounted on the far end  106  of the shaft  102  that is to be inserted into the surgical site. 
         [0006]    A conventional instrument  54  may have an adapter part that joins to the robot arm. The driving forces may be transferred from the robot arm to rotate the driving wheels (not shown) that are pulley-joined by wires to the respective parts of the effector  112 , and as a result, the parts of the effector  112  may be moved. In the case of a manually operated instrument, the surgeon may manipulate the driving part to move the effector, when holding or cutting the surgical site. 
         [0007]    However, for a type of surgery that is performed with just one incision made in the surgical site, such as single port access (SPA) surgery and microsurgery, etc., a conventional surgical instrument may not be used with a high level of freedom, since a laparoscope and the instrument may all be inserted through the one incision for surgery. 
         [0008]    The information in the background art described above was obtained by the inventors for the purpose of developing the present invention or was obtained during the process of developing the present invention. As such, it is to be appreciated that this information did not necessarily belong to the public domain before the patent filing date of the present invention. 
       SUMMARY 
       [0009]    An aspect of the present invention is to provide a surgical instrument that can be used in multiple numbers simultaneously without interfering with or obstructing one another and can be manipulated intuitively as if the surgeon were using one&#39;s own hands. 
         [0010]    Other technical problems addressed by the present invention will be readily understood from the descriptions that follow. 
         [0011]    One aspect of the present invention provides a surgical instrument that includes: a driving part; a shaft joined to the driving part that extends along one direction and has an elbow formed in the middle; and an effector joined to the far end of the shaft that operates in correspondence with a user manipulation on the driving part, where the shaft can be configured to curve at the elbow. 
         [0012]    The elbow can include a hinge axis, formed on one side as seen from a cross section of the shaft, and an expandable part, formed on the other side of the cross section of the shaft, where the shaft can be configured to curve at the hinge axis in a direction that compresses the expandable part. The expandable part can include an elastic body that applies an elastic force in a direction that expands the expandable to straighten the shaft or compresses the expandable part to curve the shaft. In this case, the driving part can include a driver, with a wire connecting the driver with a particular point in a vicinity of the elbow, and the shaft can be curved at the elbow by manipulating the driver to apply a tensional force on the wire. 
         [0013]    There can be a multiple number of elbows formed in the shaft, and the elbows can be formed to curve the shaft in opposite directions, so that the effector may move closer to the driving part as the shaft is curved. 
         [0014]    The shaft can include a core and a guide member, where the core may be made from a flexible material, and the guide member may surround the core, with the elbow formed in a portion of the guide member. Thus, the core can be curved as the guide member is curved. In this case, the guide member can be used as a surgical trocar. 
         [0015]    A wire can be connected to a point near the guide member, and by applying a tensional force on the wire, the guide member may be curved at the elbow. A driving wheel may be joined to the guide member, and the wire may be connected to the driving wheel, where a tensional force can be applied on the wire by manipulating the driving wheel. In this case, the driving part can include a driver, with the driving wheel connected to the driver, to be manipulated in linkage with a manipulation of the driver. 
         [0016]    The wire can be installed exposed at a surface of the shaft, and the wire may be pulled out of the shaft as a tensional force is applied on the wire to curve the shaft. In this case, the shaft can have a cylindrical shape, and the wire can form a portion of the perimeter of the shaft. Also, the shaft can be formed with a channel processed in its cross section to hold the wire. 
         [0017]    The driving part can be coupled to a surgical robot arm to be manipulated by a driving force transferred from the robot, or alternatively, can be formed as a handle to be manually manipulated by a user. 
         [0018]    Another aspect of the present invention provides a master interface for a surgical robot. The master interface is mounted on a master robot and enables a user to conduct robotic surgery by manipulating a surgical instrument mounted on a slave robot connected to the master robot. This master interface includes an elbow handle that generates a particular manipulation signal for operating the instrument, where an elbow is formed in a shaft of the instrument, the shaft is configured to curve at the elbow, and the elbow handle is configured to generate the manipulation signal for curving the shaft. In this case, the elbow handle can be worn on an elbow of a user, to be operated in accordance with the movement of the user&#39;s elbow. 
         [0019]    Yet another aspect of the present invention provides a method of driving a surgical instrument mounted on a slave robot by connecting the slave robot to a master robot and manipulating the master robot. This method includes: generating a particular manipulation signal in correspondence with the movement of an elbow handle, which is included on the master robot, and which is worn on an elbow of a user; converting the manipulation signal into a driving signal that corresponds to a curving operation of a shaft of the instrument; and transmitting the driving signal to the slave robot. After the transmitting, the method can further include: curving the shaft to correspond with a movement of the elbow of the user, using the driving signal. 
         [0020]    The general and specific aspects above can be implemented as a system, method, or a computer program, or as any combination of systems, methods, and computer programs. 
         [0021]    Additional aspects, features, and advantages, other than those described above, will be obvious from the claims and written description below. 
         [0022]    Certain embodiments of the present invention make it possible to conduct surgery using several surgical instruments without having the instruments obstruct one another, and a surgical instrument can be made to have different usage modes according to what length it is set to. 
         [0023]    Also, by forming an elbow in the shaft of a surgical instrument and enabling the shaft to bend according to a manipulation on the driving part, the shaft of the instrument can be made to perform articular movements similar to those of a wrist or an elbow. Thus, a surgeon may manipulate the instrument intuitively, just as if the surgeon were using his or her own hands. 
         [0024]    Since the shaft of the instrument can be bent as necessary, several instruments can be inserted from different directions through a single insertion hole, and for each instrument, the shaft can be bent such that the effector faces a particular surgical site. Thus, even when using more than one instruments at once, the instruments may not interfere with or obstruct one another, and an effective mode of “minimally invasive surgery” can be implemented. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0025]      FIG. 1  is a perspective view of a surgical instrument according to the related art. 
           [0026]      FIG. 2  is a diagram schematically illustrating a surgical instrument according to an embodiment of the present invention. 
           [0027]      FIG. 3  is a magnified view of the elbow portion of a surgical instrument according to an embodiment of the present invention. 
           [0028]      FIG. 4  is a diagram illustrating the operation of a surgical instrument according to an embodiment of the present invention. 
           [0029]      FIG. 5  is a diagram illustrating the operation of a surgical instrument according to another embodiment of the present invention. 
           [0030]      FIG. 6  is a diagram illustrating the operation of a surgical instrument according to another embodiment of the present invention. 
           [0031]      FIG. 7  is a diagram illustrating possible cross sections for the shaft of a surgical instrument according to an embodiment of the present invention. 
           [0032]      FIG. 8  is a diagram illustrating the composition of a surgical robot according to an embodiment of the present invention. 
           [0033]      FIG. 9  is a perspective view of a master interface for a surgical robot according to an embodiment of the present invention. 
           [0034]      FIG. 10  is a flowchart illustrating a method of driving a surgical robot according to an embodiment of the present invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0035]    As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to particular modes of practice, and it is to be appreciated that all changes, equivalents, and substitutes that do not depart from the spirit and technical scope of the present invention are encompassed in the present invention. 
         [0036]    While terms including ordinal numbers, such as “first” and “second,” etc., may be used to describe various components, such components are not limited to the above terms. The above terms are used only to distinguish one component from another. For example, a first component can be referred to as a second component without departing from the scope of claims of the present invention, and likewise, a second component can be referred to as a first component. If a component is said to be “connected to” or “accessing” another component, it is to be appreciated that the two components can be directly connected to or directly accessing each other but can also include one or more other components in-between. 
         [0037]    The terms used in the present specification are merely used to describe particular embodiments, and are not intended to limit the present invention. An expression used in the singular encompasses the expression of the plural, unless it has a clearly different meaning in the context. In the present specification, it is to be understood that the terms “including” or “having,” etc., are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the specification, and are not intended to preclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof may exist or may be added. 
         [0038]      FIG. 2  is a diagram schematically illustrating a surgical instrument according to an embodiment of the present invention, and  FIG. 3  is a magnified view of the elbow portion of a surgical instrument according to an embodiment of the present invention. Illustrated in  FIG. 2  and  FIG. 3  are an instrument  10 , a driving part  20 , a shaft  30 , elbows  32 , a hinge axis  34 , an expandable part  36 , and an effector  50 . 
         [0039]    A feature of this embodiment is that an elbow structure is applied to the middle of the shaft  30  in the surgical instrument, so that the shaft  30  may be curved in the middle. Thus, when the far end of the shaft  30 , i.e. the effector  50 , is inserted into the body during a surgical procedure, a surgeon may manipulate the surgical instrument just as if the surgeon&#39;s own arms are moved inside the body. 
         [0040]    An instrument  10  according to this embodiment can be composed mainly of a driving part  20 , a shaft  30  extending in one direction from the driving part  20 , and an effector  50  joined to the far end of the shaft  30 . In the case of a robotic surgical instrument, the driving part  20  may be the part that is mounted on a surgical robot to receive driving forces transferred from the surgical robot, and in the case of a manually operated instrument, the driving part  20  may be the part that is held and manipulated by the user to receive its driving forces directly from the hands of the user. 
         [0041]    Onto this driving part  20 , a driving wheel or driver can be installed which engages an actuator of the robot, or a handgrip such as a wheel, lever, switch, etc., can be installed which may be held by the user. When a driving force is transferred from the robot, or when the user manually manipulates the driving part  20 , the effector  50  may accordingly move in a gripping, rotating, tilting movement, etc., to implement a maneuver required for surgery. 
         [0042]    In other words, the driving part  20  according to this embodiment can be configured to couple onto a surgical robot arm and be manipulated by driving forces transferred from the robot, in the case of a robotic surgical instrument, and can be configured to be manually manipulated by the user, in the case of a manually operated instrument. 
         [0043]    The shaft  30  can be shaped as a straight line extending in one direction, and by using a tube member having a typical cylindrical shape, etc., the shaft  30  can hold the pulley-wires that connect the driving part  20  with various portions of the effector  50  to transfer the driving forces from the driving part  20  to the effector  50 . Thus, when portions of the driving part  20  are manipulated, the respective portions of the effector  50  connected by pulley-wires may be moved. 
         [0044]    As illustrated in  FIG. 2 , the shaft  30  of an instrument  10  according to this embodiment can have elbows  32  formed in the middle, enabling the shaft  30  to curve at the elbows  32 . An elbow  32  may serve as an articulation at which the straight shaft  30  may bend by a particular angle. The function of the elbow  32  can be implemented by forming the elbow  32  portion, or the entire shaft  30 , in the shape of a corrugated tube or bellows. 
         [0045]    As illustrated in  FIG. 3 , an elbow  32  according to this embodiment can be composed with a hinge axis  34  formed on one side and an expandable structure on the other, when looking at the cross section of the shaft  30 . In this way, the shaft  30  may be curved at the elbow  32 , to be more specific, at the hinge axis  34 , in a direction that contracts the expandable part  36 . Thus, for a shaft  30  according to this embodiment, the direction and the degree in which the shaft  30  is curved can be determined by the structure of the elbows  32  formed in the middle. 
         [0046]    The expandable part  36  is a component that enables to shaft  30  to bend or unbend while maintaining its shape. The expandable part  36  can be shaped as a corrugated tube or bellows, or can be made from a flexible material. 
         [0047]    Furthermore, the expandable part  36  can include an elastic body that applies an elastic force in a direction that expands the expandable part. That is, an elastic body such as a spring, etc., can be included in the expandable part, while a stopper, etc., can be formed in the hinge axis to prevent the expandable part from expanding excessively. Then, the shaft may normally remain in a straight, unbent state, but when it is pulled using a wire, etc., the expandable part may contract and the shaft may bend at the elbow, and when the tensional force on the wire is removed, the shaft may return to its unbent state due to the restoring force of the elastic body. 
         [0048]    Alternatively, the expandable part  36  can include an elastic body such as a spring, etc., that applies an elastic force in a direction that contracts the expandable part. Then, the shaft may normally (when there is no force applied) remain in a bent state, but when a force is applied using a wire, etc., the expandable part may expand and the shaft may be unbent into a straight form, and when the external force is removed, the shaft may return to its bent state due to the restoring force of the elastic body. Such configurations can be used to improve safety during surgical procedures. 
         [0049]    A description will now be provided as follows on the operation of an instrument  10  according to this embodiment, using an example that includes the elbow structure illustrated in  FIG. 3 . 
         [0050]      FIG. 4  is a diagram illustrating the operation of a surgical instrument according to an embodiment of the present invention. Illustrated in  FIG. 4  are a driving part  20 , a driver  22 , a shaft  30 , an elbow  32 , a hinge axis  34 , an expandable part  36 , and a wire  44 . 
         [0051]    A shaft  30  in which an elbow  32  is formed according to this embodiment can be operated by the tension of the wire  44 . That is, a wire  44  can be connected near the elbow  32  and connected to the driving part  20 , whereby the shaft  30  can be made to fold at the elbow  32  by manipulating the driving part  20  to apply a tensional force on the wire  44 . 
         [0052]    Referring to the portion of the driving part  20  where the wire  44  is connected as the driver  22 , the shaft  30  of an instrument  10  according to this embodiment may be curved at the elbow  32  according to the manipulation of the driver  22 . The driving part  20  can be equipped with other drivers  22  for operating the effector  50 , and these other drivers  22  can be connected with other wires, which connect to the effector  50 . Details on the structure, function, operating method, etc., of the drivers  22  and wires for operating the effector  50  will be omitted here, and in the descriptions that follow, the terms “driver” and “wire” will refer to the driver  22  and wire  44  for curving the shaft  30 , respectively, unless otherwise stated. 
         [0053]    As already described above, a shaft  30  according to this embodiment can be made from a tube-shaped member having a typical cylindrical shape, etc. In this case, the wire  44  may be held within the shaft  30  and extend along the lengthwise direction of the shaft  30  to be connected to a particular position near the elbow  32 . 
         [0054]    As illustrated in  FIG. 4 , a shaft  30  according to this embodiment can include a multiple number of elbows  32 . For example, if a shaft  30  according to this embodiment were to be compared to a human arm, the elbows  32  illustrated in  FIG. 4  can be regarded as corresponding to the elbow and wrist joints. 
         [0055]    In certain cases where the effector  50  joined to the end of the shaft  30  is to be drawn close to or away from the driving part  20  by curving the shaft  30 , it is possible to form the structure of the elbows  32  such that the shaft  30  is folded in a zigzag shape, i.e. with each elbow curving the shaft in opposite directions. Thus, just as a person is able to move one&#39;s hand closer to or further from the shoulder according to the movement of the elbow and wrist joints, the effector  50  can be moved closer to or further from the driving part  20  by bending or unbending the shaft  30  at each of the elbows  32 . 
         [0056]      FIG. 5  is a diagram illustrating the operation of a surgical instrument according to another embodiment of the present invention. Illustrated in  FIG. 5  are a driving part  20 , a driver  22 , a shaft  30 , an elbow  32 , a hinge axis  34 , an expandable part  36 , a core  38 , a guide member  40 , a driving wheel  42 , and a wire  44 . 
         [0057]    This embodiment relates to forming the shaft  30  as a dual structure, i.e. including an inner core  38  that serves as a channel for holding the wire  44  and a guide member  40  that surrounds the core  38 . The core  38  can be made from a flexible material, to be capable of bending freely, and the rigid guide member  40  can surround the perimeter of the core  38 , with an elbow  32  such as that described above formed in the middle of the guide member  40 . Thus, the core  38  can be curved, i.e. the shaft  30  can be curved, by curving the guide member  40 . 
         [0058]    In this case, the core  38  may be made from a material and/or structure, such as of a corrugated tube, etc., which is flexible but does not change shape unless an external force is applied. The core  38  may then maintain a certain shape (e.g. a straight line), until the guide member  40  is curved at the elbow  32 , when the core  38  may change to a curved shape, after which the core  38  may remain in this changed state. 
         [0059]    A guide member  40  according to this embodiment can also be used as a surgical trocar. In this case, the guide member  40  (trocar) may first be inserted into the surgical site, and then the core  38  of the instrument  10  may be inserted through the trocar, so that the core  38  inserted through the guide member  40  (trocar) may, as a whole, serve as the shaft  30 . If the shaft  30  is to be curved to a particular angle, the guide member  40  may be bent at the elbow  32  formed in the guide member  40 , causing the core  38  to change shape accordingly, and consequently causing the shaft  30  to curve. 
         [0060]    For curving the guide member  40 , it is possible to connect a wire  44  to the vicinity of the elbow  32  of the guide member  40  and apply a tensional force on the wire  44  to curve the guide member  40  at the elbow  32 , similar to the previously described embodiments. Moreover, the guide member  40  can be made to curve at the elbow  32  due to the tension on the wire  44 , by including a driver  22  in the driving part  20 , connecting the wire  44  to the driver  22 , and manipulating the driver  22 . 
         [0061]    It is also possible to join a separate driving wheel  42  to the guide member  40  and connect the wire  44  to the driving wheel  42 , so that the guide member  40  may be curved when a tensional force is applied on the wire  44  according to the manipulation of the driving wheel  42 . In cases where the guide member  40  is used as a trocar as described above, the instrument  10  may be inserted through the guide member  40 , and afterwards the trocar, i.e. the guide member  40 , can be bent by a particular angle by manipulating the driving wheel  42  joined to the guide member  40 . 
         [0062]    The manipulation for bending the guide member  40  after joining a separate driving wheel  42  can be performed manually, or the driving wheel  42  can be connected to the driver  22  included in the driving part  20 , so that the driving wheel  42  may be manipulated in linkage with a manipulation on the driver  22 . Of course, various mechanical connection methods, such as pulley-wires and links, etc., can be applied for linking the operation of the driving wheel  42  to that of the driver  22 . 
         [0063]    In such cases where a driving wheel  42  is joined to the guide member  40  and a driver  22  is included in the driving part  20 , the driving wheel  42  can be made to operate in linkage with the manipulation of the driver  22  by connecting the driving wheel  42  with the driver  22  during or after the process of inserting the core  38  of the instrument  10  through the guide member  40 . 
         [0064]      FIG. 6  is a diagram illustrating the operation of a surgical instrument according to another embodiment of the present invention. Illustrated in  FIG. 6  are a driving part  20 , a driver  22 , a shaft  30 , an elbow  32 , a hinge axis  34 , an expandable part  36 , and a wire  44 . 
         [0065]    The wire  44  used for applying a tensional force to curve the shaft  30  at the elbow  32  can be held within the shaft  30  as described above, but can also be exposed at the surface of the shaft  30 , or configured to be pulled out of the shaft  30 . 
         [0066]    That is, if the wire  44  connecting the driver  22  with the elbow  32  is held inside the shaft  30 , the process of curving the shaft  30  by applying tension on the wire  44  can entail an amount of friction generated between the wire  44  and the bent portion within the shaft  30 . This may create a risk of damage to the wire  44  and/or the shaft  30  as well as a risk of malfunctioning in the curving operation. 
         [0067]    To prevent such risks, a different material can be used for a portion of the shaft  30 , or a separate bearing member, etc., can be used, to minimize friction between the wire  44  and the bent portion of the shaft  30 . Alternatively, a portion of the can be uncovered, as illustrated in  FIG. 6 , so that the wire  44  may be pulled out of the shaft  30  when a tensional force is applied on the wire  44 . 
         [0068]    For example, a slit can be perforated in a portion of the shaft  30 , and the shaft  30  can be installed in such a way that the wire  44  can be exposed through the slit at the surface of the shaft  30 . Then, as the shaft  30  is curved, the wire  44  can be pulled out of the shaft  30  in correspondence to the shortest distance between the elbow  32  and the driving part  20 , so that unnecessary friction between the wire  44  and the shaft  30  can be minimized, and the tensional force can be effectively delivered through the wire  44 . 
         [0069]      FIG. 7  is a diagram illustrating possible cross sections for the shaft of a surgical instrument according to an embodiment of the present invention.  FIG. 7  shows illustrations of shafts  30  and wires  44 . 
         [0070]    The following relates to examples of cross sections for the shaft  30 , in cases where the wire  44  is held inside the shaft  30  or exposed at the surface of the shaft  30 , as mentioned with regard to the previously described embodiment. 
         [0071]    Drawing (a) of  FIG. 7  illustrates a shaft  30  having a circular cross section, where the channels for holding a multiple number of wires are perforated separately. Not only the wire  44  according to this embodiment but also other wires for operating the effector  50  can be held within the perforated channels. This allows the wires to effectively transfer the tensional forces generated according to the manipulation of the driving part  20  without interfering or causing friction with one another within the shaft  30 . 
         [0072]    Drawing (b) of  FIG. 7  illustrates a shaft  30  having a circular cross section, where the wires for operating the effector  50  are held inside, and the wire  44  according to this embodiment is exposed at the surface of the shaft  30 . In order to provide a smooth surface for the shaft  30 , without having the wire  44  protrude out from the surface of the shaft  30 , a portion of the exterior of the shaft  30  can be recessed to form a trough, such as that illustrated in drawing (b) of  FIG. 7 , and the wire  44  can be installed with a cross section corresponding with that of the trough. 
         [0073]    Drawing (c) of  FIG. 7  illustrates the cross section of a shaft  30  that is formed as a partially opened cylinder, where the wires for operating the effector  50  are held inside, and the wire  44  according to this embodiment is installed to cover the open portion of the shaft  30 . That is, the wire  44  may form a portion of the perimeter of the shaft  30 , so that normally, the wire  44  may close off the space within the shaft  30 . 
         [0074]    For the examples shown in drawings (b) and (c) of  FIG. 7 , the wire  44  may be pulled out of the shaft  30  when a tensional force is applied on the wire  44  to curve the shaft  30 , as described above with reference to  FIG. 6 , so that unnecessary friction between the wire  44  and the shaft  30  can be minimized, and the tensional force can be effectively delivered through the wire  44 . 
         [0075]    Although it is not illustrated in the drawings, it is also conceivable, instead of using the tube-shaped shaft  30 , to have the wire  44  according to this embodiment and the wires for operating the effector  50  combine together and form a cross section for a shaft  30 . In this case, the wire  44  according to this embodiment can be exposed at the surface of the shaft  30  and may be naturally pulled out of the shaft  30  as the shaft  30  is curved. 
         [0076]      FIG. 8  is a diagram illustrating the composition of a surgical robot according to an embodiment of the present invention, and  FIG. 9  is a perspective view of a master interface for a surgical robot according to an embodiment of the present invention. Illustrated in  FIG. 8  and  FIG. 9  are a master robot  1 , an interface  3 , elbow handles  5 , a slave robot  7 , robot arms  9 , an instrument  10 , a shaft  30 , and an elbow  32 . 
         [0077]    This embodiment relates to a surgical robot that may be driven after mounting an instrument  10  described above, as well as to a master interface for the surgical robot. That is, as a means to make manipulations for curving the shaft  30  of the instrument  10 , the master interface  3  may be equipped with handles dedicated to inputting these manipulations. A particular signal generated in accordance with a manipulation on the dedicated handles may be transferred to the slave robot  7  to correspond with a curving action of the shaft  30 . In the descriptions that follow, these handles dedicated to this purpose will be referred to as “elbow handles.” 
         [0078]    A surgical robot according to this embodiment may include a master robot  1  and a slave robot  7 . An interface  3  that enables a user to make manipulations may be installed in the master robot  1 , and when a manipulation is inputted, by way of various handles, levers, buttons, clutches, etc., equipped on the interface  3 , a corresponding signal may be transmitted to the slave robot  7  and the slave robot  7  may be operated. 
         [0079]    The slave robot  7  can be equipped with one or more robot arms  9 , to which a surgical instrument  10  may be mounted. Each robot arm  9 , as well as the instrument  10  mounted on the robot arm  9 , may be driven according to a signal transmitted from the master robot  1  to conduct surgery. 
         [0080]    On a master interface  3  according to this embodiment, a separate elbow handle  5  can be installed for generating a particular manipulation signal. As already described above, an instrument  10  according to this embodiment can include an elbow  32  formed in the shaft  30 , and the shaft  30  can curve at the elbow  32 , so the manipulation signal generated according to the manipulation of the elbow handle  5  may be transmitted to the slave robot  7  and used in curving the shaft  30  of the instrument  10 . 
         [0081]    As described above for the previously disclosed embodiments, a feature of an instrument  10  according to this embodiment is that the shaft  30  can be curved, in a manner analogous to an elbow joint. As such, the elbow handle  5  can be installed in a shape and structure that allows the elbow handle  5  to be worn on the elbow of the user. Then, the user may wear the elbow handle  5  on the elbow and move the elbow handle  5 , causing the shaft  30  to operate in correspondence with the movement of the user&#39;s elbow. 
         [0082]    For this purpose, an elbow handle  5  according to this embodiment can be formed as a U-shaped armrest into which the elbow portion of the user may be inserted. After inserting the elbow portion into this elbow handle  5 , the user may manipulate the shaft  30  of the instrument  10  just as if the user were moving one&#39;s own arm, and the user may manipulate the robot more intuitively. 
         [0083]      FIG. 10  is a flowchart illustrating a method of driving a surgical robot according to an embodiment of the present invention. This embodiment relates to a method of driving an instrument  10  mounted on a slave robot  7  by manipulating the master interface  3  described above. 
         [0084]    That is, this embodiment provides a method of driving an instrument  10 , which has a curvable shaft  30 , and which is mounted on a slave robot  7 , by manipulating a master robot  1  connected to the slave robot  7 . First, the separate elbow handle  5  installed on the master interface  3  may be manipulated. The elbow handle  5  is a dedicated handle included in the master interface  3  that is configured to be worn on the elbow of a user. In correspondence with the movement of the elbow handle  5 , a particular manipulation signal may be generated (S 10 ). 
         [0085]    The generated manipulation signal may be converted into a particular driving signal that corresponds to a curving operation of the shaft  30  (S 20 ), and the converted driving signal may be transmitted to the slave robot  7  (S 30 ), allowing the shaft  30  of the instrument  10  to operate in correspondence with the manipulation of the elbow handle  5 . Thus, in an instrument  10  according to this embodiment, the shaft  30  may undergo a curving movement according to the movement of the elbow of the user manipulating the master interface  3  (S 40 ). In this way, a user may intuitively manipulate the instrument  1  on a surgical robot according to this embodiment, just as if the user were moving his or her own arm. 
         [0086]    The driving method for the surgical robot described above can also be implemented in the form of a computer program that is read and executed by a digital processing device, such as a microprocessor, etc., which may be either built into the robot itself or connected to the robot from an external source. 
         [0087]    While the present invention has been described with reference to particular embodiments, it will be appreciated by those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the present invention, as defined by the claims appended below.