APPARATUS FOR PREVENTING BUCKLING OF FLEXIBLE SURGICAL INSTRUMENT

The present invention relates to an apparatus for preventing buckling of a flexible surgical instrument, and more particularly, to an apparatus for preventing buckling of a flexible surgical instrument for preventing the buckling when a catheter or an over-tube of a surgical instrument and the like is inserted into the human body. To this end, disclosed is a surgical-instrument feeder for preventing the buckling of flexible surgical instruments which comprises: a master driving unit for receiving a driving command from the user; and a feeder unit for feeding surgical instruments according to whether to interlock with the master driving unit or not interlock with the master driving unit, and feeding the surgical instruments supplied from the master driving unit so as to prevent the surgical instruments from buckling by means of the feeding control command.

TECHNICAL FIELD

The present invention relates to an apparatus for preventing the buckling of flexible surgical instruments and, more specifically, to an apparatus for preventing buckling of a flexible surgical instrument which prevents the buckling phenomenon when a catheter or an overtube of a surgical instrument is inserted into a human body.

BACKGROUND ART

Disclosed in Korean Patent Registration No. 10-2184889, which is a prior document, is a roller module for a medical robot, which is hygienic and can precisely transport a catheter, a driving device mounted on the medical robot, and a roller module mounted on the driving device.

At this time, the technology disclosed in the prior document uses five motors to drive forward/backward and to rotate the catheter, and two roller modules to move the catheter are used to always move the entire module up and down during sliding, thereby complicating the feature of the apparatus.

DISCLOSURE

Technical Problem

Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an apparatus for preventing a buckling phenomenon from occurring by disposing a roller module and a feeding mechanism for feeding a flexible surgical instrument to a human body as close as possible to the human body.

Another object of the present invention is to provide an invention in which a feature of a two-degree-of-freedom (translational motion and rotational motion) feeding mechanism is small and compact.

Further, another object of the present invention is to provide an invention in which a feeding mechanism is simple and easily detachable since a roller module must be disposable.

Further, the present invention has an object to provide an invention in which a drape is considered.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned may be clearly understood by the skilled person in the art from the following description.

Technical Solution

The purpose of the present invention can be achieved by providing a surgical instrument feeder apparatus for preventing the buckling of flexible surgical instruments, the apparatus comprising: a master driving unit for receiving a driving command from a user; and a feeder unit for feeding surgical instruments according to whether to interlock with the master driving unit or not interlock with the master driving unit, and feeding the surgical instruments supplied from the master driving unit so as to prevent the surgical instruments from buckling by means of the feeding control command.

In addition, the apparatus further includes a connection support unit mechanically connecting and supporting the master driving unit and the feeder unit.

The feeder unit includes a plurality of rollers disposed parallel to each other on a plurality of roller driving shafts while being disposed at an end of the connection support unit, which is being separated from the master driving unit by a predetermined distance, and the plurality of rollers is disposed near the affected area to translate and rotate the surgical instrument, thereby preventing buckling of the surgical instrument.

Also, the feeder unit includes: a plurality of roller-driving shafts disposed in parallel to each other; a plurality of roller-rotation driving units in which the plurality of driving shafts interlock with each other by means of a gear to rotate in different directions so that the surgical instrument translates; and a roller-horizontal-movement driving unit in which a driving force is generated to horizontally move the plurality of roller-driving shafts in different directions and transmitted to the driving shaft to rotate the surgical instrument.

Further, the roller driving shaft and the driving shaft are coupled together such that the driving shaft and the driving shaft are attachable/detachable in a horizontal direction, to thereby prevent mechanical restraint.

In addition, the plurality of roller rotation driving units rotate the plurality of roller driving shafts in different directions by interlocking operation of one motor and a gear.

Also, a driving shaft of the roller rotation driving unit is disposed on a roller driving shaft to transmit rotational driving force such that the roller driving shaft rotates in different directions, and a driving shaft of the roller horizontal movement driving unit is disposed perpendicular to the driving shaft of the roller rotation driving unit to transmit horizontal movement driving force to the driving shaft such that the roller driving shaft horizontally moves in different directions.

Meanwhile, an object of the present invention is to provide a surgical instrument including a feeder driving unit generating driving force to allow a surgical instrument to be moved in translation and to rotate, a driving shaft coupling module unit which is first coupled with the driving shaft of the feeder driving unit in a horizontal direction to be mechanically detachable, a roller module unit which is second coupled with the coupling shaft of the driving shaft coupling module unit in a horizontal direction to be mechanically detachable, and an elasticity providing unit providing elasticity to maintain mechanical coupling between the first and second couplings which are mutually restrained to be mechanically detachable.

In addition, a translation gear shaft of a feeder driving unit for translating the surgical instrument and a rotation gear shaft of the feeder driving unit for rotating the surgical instrument are disposed perpendicularly to each other, and the surgical instrument is disposed in a space between a plurality of rollers of the roller module unit while being disposed in parallel to the rotation gear shaft.

In addition, the feeder driving unit includes: a plurality of roller rotation driving units which generates rotation driving force to rotate a plurality of gear driving shafts arranged in parallel to each other in different directions by gear engagement to rotate the plurality of roller rotation shafts mechanically coupled to the plurality of gear driving shafts in different directions, thereby translating the surgical instrument; and a roller horizontal movement driving unit which generates horizontal movement driving force to horizontally move the plurality of gear driving shafts in different directions by being vertically arranged to the plurality of gear driving shafts to horizontally move the plurality of gear driving shafts in different directions, thereby rotating the surgical instrument by horizontally moving the plurality of roller rotation shafts mechanically coupled to the plurality of gear driving shafts in different directions.

Further, the plurality of roller rotation driving units includes a first roller rotation driving unit which is firstly coupled to the driving shaft coupling module unit in the horizontal direction, and a second roller rotation driving unit which is arranged in parallel to the first roller rotation driving unit and is secondly coupled to the driving shaft coupling module unit in the horizontal direction.

In addition, the first roller rotation driving unit includes: a first gear driving shaft rotating according to a rotation driving force; a first gear unit rotating according to the rotation of the first gear driving shaft; a bearing unit rotating the first gear unit and relatively rotationally restrained to horizontally move in the first direction together with the first gear driving shaft according to the transmission of a first direction horizontal movement driving force; and a roller rotation motor unit generating a rotation driving force to rotate the first gear driving shaft.

In addition, the second roller rotation driving unit includes: a second gear unit gear-meshed with the first gear unit to rotate in a direction different from the rotation direction of the first gear unit; a second gear driving shaft rotating in the same direction as the rotation direction of the second gear unit; a bearing unit rotating the second gear unit and restrained from rotating, and horizontally moving together with the second gear driving shaft in the second direction according to the transmission of the second direction horizontal movement driving force; and a motor coupler unit having a driving shaft insertion movement groove into which the second gear driving shaft is inserted to horizontally move in the second direction.

Further, the roller horizontal movement driving unit includes a pinion unit configured to rotate with respect to the pinion rotation shaft by a horizontal movement driving force, a first rack unit engaged with a gear of the pinion unit to generate a first direction horizontal movement driving force, a second rack unit engaged with a gear of the pinion unit to generate a second direction horizontal movement driving force, and a roller horizontal movement motor unit configured to generate a horizontal movement driving force to rotate the pinion rotation shaft.

Further, the present invention further includes: a first driving shaft horizontal movement coupling unit which is coupled to the first rack unit and the bearing unit of the first roller rotation driving unit, respectively, to transfer a first direction horizontal movement driving force to the bearing unit of the first roller rotation driving unit and restrains the rotation of the bearing unit of the first roller rotation driving unit; a second driving shaft horizontal movement coupling unit which is coupled to the second rack unit and the bearing unit of the second roller rotation driving unit, respectively, to transfer a second direction horizontal movement driving force to the bearing unit of the second roller rotation driving unit and restrains the rotation of the bearing unit of the second roller rotation driving unit; a first rail unit which allows the first driving shaft horizontal movement coupling unit to move in a horizontal direction; and a second rail unit which allows the second driving shaft horizontal movement coupling unit to move in a horizontal direction.

The driving shaft coupling module unit includes a first coupling disk unit which is firstly coupled to the first gear driving shaft of the feeder driving unit in a horizontal direction and is secondly coupled to the first roller rotation shaft of the roller module unit in the horizontal direction, and a second coupling disk unit which is arranged in parallel to the first driving shaft, is firstly coupled to the second gear driving shaft of the feeder driving unit in the horizontal direction, and is secondly coupled to the second roller rotation shaft of the roller module unit in the horizontal direction.

Further, the roller module unit comprises: a first surgical instrument roller unit which is secondarily coupled to one side of the first coupling disk unit, and which is elastically supported by a first elastic unit of the elasticity providing unit and the other side thereof; and a first surgical instrument roller unit which is secondarily coupled to one side of the second coupling disk unit, and which is elastically supported by a second elastic unit of the elasticity providing unit and the other side thereof.

In addition, the plurality of rotation shafts of the roller module unit and the plurality of gear driving shafts of the feeder driving unit are respectively and mechanically restrained so as to be attachable and detachable on a shaft by first and second coupling disk units, and are first and second coupled, thereby translating or rotating the surgical instrument.

The apparatus may further include a surgical instrument guide unit to guide the surgical instrument supplied from the master driving unit to a space between the plurality of rollers of the roller module unit.

Also, the surgical instrument guide unit comprises: a guide body formed with a surgical instrument penetration hole; a body coupling unit for coupling and fixing the guide body to the driving shaft coupling module unit and the elasticity providing unit, respectively; and a tubular guide unit for guiding the surgical instrument.

In addition, the latch assembly further includes an attachable/detachable fixing latch unit which releases the restraining of the driving shaft coupling module unit mechanically restrained and fixed by moving the latch by an external force and mechanically restrains and fixes the driving shaft coupling module unit by returning to the original position of the latch as the external force is removed.

The driving shaft coupling module further includes a protection cover unit protecting the first and second coupling disk units and having a latch insertion groove into which the latch is inserted and restrained.

The feeder driving unit comprises: a protection cover coupling plate in which an L-shaped protection cover holding unit is formed so as to hold a plurality of edges of the protection cover unit and in which a latch penetration groove is formed so as to assist in attaching, detaching, restraining and fixing the latch unit; and a latch coupling plate unit to which the attaching, detaching, and fixing latch unit is coupled and fixed, together with the protection cover coupling plate, as a housing of the feeder driving unit.

In addition, the detachable fixing latch unit includes a push button unit to which an external force is applied, a latch medium unit which rotates at a predetermined angle around a rotation shaft according to an elastic pressing of the push button unit, and a latch unit which elastically moves in a horizontal direction in conjunction with the rotation of the latch medium unit.

In addition, the latch unit horizontally and elastically moves in a direction opposite to a direction in which an external force is applied, thereby releasing restraint of the driving shaft coupling module unit.

Also, the latch medium unit is disposed to be inclined at a predetermined angle from the initial state in which the external force is removed.

Further, a restraining disk is circumferentially formed at one side of the first and second coupling disk units, and a restraining disk insertion groove is circumferentially formed at the other side of the first and second coupling disk units.

Advantageous Effects

According to the present invention, the roller module and the feeding mechanism for feeding the flexible surgical instrument onto the human body are arranged as close to the human body as possible to prevent buckling.

Also, according to the present invention, there is the advantage that it is possible to provide a simple feeder mechanism wherein, when a surgical instrument is moved forwards/backwards, only upper and lower rollers that rotate in mutually different directions are rotated, and, when a surgical instrument is rotated, upper and lower driving shafts that have been mechanically restrained and engaged with a plurality of rollers are moved in mutually different directions in the horizontal direction, and hence there is no need to rotate or move the entire roller module.

MODE FOR INVENTION

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the exemplary embodiment described below does not unreasonably limit the contents of the present invention described in the claims, and it cannot be said that the entire feature described in the present embodiment is essential as a means for solving the present invention. Further, descriptions of the prior art and the skilled person in the art may be omitted, and descriptions of the omitted elements (methods) and functions may be fully referred to without departing from the technical spirit of the present invention.

As shown inFIG.1, the apparatus for preventing buckling of a flexible surgical instrument (hereinafter, referred to as a surgical instrument feeder apparatus) according to an embodiment of the present invention includes a master driving unit10, a connection support unit20, and a surgical instrument feeder unit30to insert the surgical instrument1into the human body. The surgical instrument1is supplied from the master driving unit10to the surgical instrument feeder unit30according to a manipulation command of the master driving unit10, and the surgical instrument feeder unit30includes a separate roller module300to feed the supplied surgical instrument1as close to the human body as possible.

Meanwhile, the buckling phenomenon refers to a phenomenon in which, when a surgical robot inserts a surgical instrument into a human body, the surgical instrument is not further inserted into the human body and is not moved by a forward movement control command of a robot driving unit. The surgical instrument feeder apparatus according to the present invention, as shown inFIG.1, has an advantage in that the surgical instrument feeder unit30feeds the surgical instrument1as close to the human body as possible and a separate surgical instrument feeding mechanism is implemented to prevent the occurrence of buckling.

As shown inFIG.1, the master driving unit10generates an overall manipulation control command for driving the surgical instrument feeder apparatus as the master apparatus of the present invention, and supplies the surgical instrument1to the surgical instrument feeder unit30when a surgical instrument insertion control command is received from the user.

The surgical instrument1of the present invention is a flexible surgical instrument to be inserted into a human body, and includes all surgical instruments to be inserted into a human body, such as a catheter or an overtube, and is commonly referred to as a surgical instrument in the present invention.

In order to dispose the surgical instrument feeder unit30as close to the human body as possible, the master driving unit10and the surgical instrument feeder unit30are respectively supported and coupled to the connection support unit20. The master driving unit10is fixedly disposed at one side of the connection support unit20, and the surgical instrument feeder unit30is fixedly disposed at the other side of the connection support unit20. In this case, as shown inFIG.1, the surgical instrument1is disposed in a space between the master driving unit10and the surgical instrument feeder unit30, and the surgical instrument feeder unit30, in which a feeding mechanism is implemented to prevent buckling in the space between the master driving unit10and the surgical instrument feeder unit30, is disposed and fixed at one end of the connection support unit20. The surgical instrument1is supplied from the master driving unit10to the surgical instrument feeder unit30, and the surgical instrument feeder unit30feeds the surgical instrument1into the human body while preventing a buckling phenomenon by using a separate feeding mechanism.

Meanwhile, when the surgical instrument1is supplied to the surgical instrument feeder unit30according to the control operation of the master driving unit10, the roller module unit300of the surgical instrument feeder unit30interlocks with the master driving unit10to insert the supplied surgical instrument1into the human body. This operation may be implemented in an interworking operation mode. On the other hand, when the buckling phenomenon occurs due to the interlocking operation, the roller module unit300of the surgical instrument feeder unit30may be driven alone according to the non-interlocking operation mode, thereby solving the buckling phenomenon. Here, the interoperation operation mode is a mode in which the master surgical instrument supply unit of the master driving unit10and the roller module unit300of the surgical instrument feeder unit30interoperate with each other to insert the surgical instrument1into the human body, and the non-interoperation operation mode is a single driving mode of the roller module unit300of the surgical instrument feeder unit30.

As shown inFIGS.2and3, the surgical instrument guide unit100according to an embodiment of the present invention guides the surgical instrument1supplied from the master surgical instrument supply unit of the master driving unit. To this end, first and second surgical instrument guide units110and120and first and second tubular guide units131and132are included.

As shown inFIG.2, the first surgical instrument guide unit110includes a guide body111, first and second body coupling units112aand112b, and a first tubular guide unit131. A surgical instrument penetration hole111ais formed in a central region of the guide body111, and the surgical instrument1supplied from the master surgical instrument supply unit of the master driving unit10passes therethrough. First and second body coupling units112aand112bare formed at both ends of the guide body111, respectively. The first body coupling unit112ais coupled to one side of the body of the elasticity providing unit200. The second body coupling unit112bis coupled to one side of the first protection cover unit401of the driving shaft coupling module400. The first tubular guide unit131communicates with the surgical instrument penetration hole111aand is disposed and coupled in the traveling direction of the surgical instrument1. Accordingly, the surgical instrument1supplied from the master surgical instrument supply unit is guided along the first tubular guide unit131and is fed to the space between the roller units311and321that face each other and are disposed in pairs.

The second surgical instrument guide unit120includes a guide body121, first and second body coupling units122aand122b, and a second tubular guide unit132. The guide body121has a surgical instrument penetration hole121aformed at a central region thereof, and the surgical instrument1supplied from the first tubular guide unit131is guided along the second tubular guide unit132and finally passes. The passed surgical instrument1is inserted into the human body. First and second body coupling units122aand122bare formed at both ends of the guide body121, respectively. The first body coupling unit122ais coupled to the other side of the body of the elasticity providing unit200. The second body coupling unit122bis coupled to the other side of the first protection cover unit401of the driving shaft coupling module400. The second tubular guide unit132communicates with the surgical instrument penetration hole121a, and is disposed and coupled in the traveling direction of the surgical instrument so as to face the first tubular guide unit131.

As shown inFIGS.2and3, the guide body111of the first surgical instrument guide unit110and the guide body121of the second surgical instrument guide unit120are disposed to face each other, and the first and second tubular guide units131and132and the roller module unit300are disposed in a space between the guide bodies111and121. As shown inFIG.2, the first and second tubular guide units131and132are disposed to face each other, and feed the surgical tool1into a space between the roller units311and321that are disposed in pairs while facing each other up and down.

As shown inFIGS.4to7, the elasticity providing unit200according to an embodiment of the present invention includes a first elastic unit230and a second elastic unit240which are disposed in parallel to each other. The first elastic unit230includes a spring insertion shaft231and a spring232. The pair of second elastic units240also include a spring insertion shaft241and a spring242. As illustrated inFIG.5, the first protection cover unit211aprotects the springs232and242, and the second protection cover unit211bprotects the first roller rotation shafts312and322. The first body coupling units112aand122aare coupled to both sides of the first protective cover unit211a, respectively.

The spring insertion shafts231and241are supported and coupled to the spring support unit220at a predetermined distance from each other in the vertical direction, and the springs232and242are inserted into the spring insertion shafts231and241, respectively, to provide elasticity to the first roller rotation shafts312and322. As shown inFIGS.6and7, the first roller rotation shafts312and322are elastically supported by the first and second elastic units230and240, respectively, so that the driving shaft coupling module unit400mechanically restrained and coupled to the driving shaft coupling module unit can be detachably attached to the driving shaft coupling module unit while maintaining coupling.

The roll module unit300according to the exemplary embodiment of the present invention includes a first surgical instrument roller unit310and a second surgical instrument roller unit320that are disposed in parallel to each other in a pair.

The first surgical instrument roller unit310includes a roller unit311and first and second roller rotation shafts312and313, and the second surgical instrument roller unit320includes a roller unit321and first and second roller rotation shafts322and323.

The roller units311and321include roller support shafts311aand321aand rollers311band321b, respectively. Each of the rollers311band321bis coupled to each of the roller support shafts311aand321a. The surgical tool1guided by the surgical tool guide unit100is supplied to a space between the roller311band the roller321b, and the surgical tools engaged by the rollers311band321bmay move straight or backward by rollers rotating in opposite directions. Here, the straight line is the direction in which the surgical instrument is inserted into the patient's body. The rotation directions of the rollers311band321billustrated inFIG.8are, for example, illustrated and rotate in opposite directions. In addition, the first and second roller rotation shafts312and313and the first and second roller rotation shafts322and323may be horizontally moved in different directions to rotate the surgical tool1. The horizontal movement direction of the roller rotation shaft shown inFIG.8is shown as an example, and the surgical instrument may be rotated clockwise or counterclockwise by always moving in opposite directions.

One side of each of the first roller rotation shafts312and322is inserted into and coupled to each of the roller support shafts311aand321a, and the other side of each of the first roller rotation shafts312and322is inserted into and coupled to each of the spring insertion shafts231and241. One side of each of the second roller rotation shafts313and323is inserted into and coupled to each of the roller support shafts311aand321a, and coupling disk coupling units313aand323aare formed on the other side of each of the second roller rotation shafts313and323.

As shown inFIGS.11and16, the driving shaft coupling module unit400according to the embodiment of the present invention includes first and second protective cover units401and402for protecting the coupling disk, and first and second coupling disk units410and420.

The first and second protective cover units401and402are provided with grooves, through which the coupling disk body units411and421and the second roller rotation shafts313and323mechanically connected to and restrained by the coupling disk body units411and421, respectively, may pass, in parallel to each other, and are formed to penetrate along the length of the body

The first protective cover unit401is provided with a latch coupling groove to which the latch body unit631is coupled and restrained. In addition, second body coupling units112band122bare coupled to the second protective cover unit402, respectively. A drape may be inserted between the first protective cover unit401and the second protective cover unit402for a clinical trial, etc.

As shown inFIGS.13to16, the first coupling disk unit410includes a coupling disk body unit411, and the second coupling disk unit420includes a coupling disk body unit421. First coupling coupling members412aand422aand second coupling members412band422bare formed at both ends of the coupling disk bodies411and421, respectively, and mechanically restrained to each other.

The first coupling coupling units412aand422aare mechanically coupled to the coupling disk coupling units313aand323a, respectively, and are detachably restrained. In addition, the second coupling coupling coupling units412band422bare mechanically coupled to the upper and lower coupling disk coupling units521aand531a, respectively, and are detachably restrained. The first coupling coupling units412aand422aand the coupling disk coupling units521aand531arespectively include restraint disks formed in circumferential directions, and the second coupling units412band422band the coupling disk coupling units313aand323arespectively include restraint disk insertion grooves formed in circumferential directions. The restraint disks are mechanically coupled by being inserted into and restrained in the restraint disk insertion grooves, respectively.

The upper driving shaft unit and the lower driving shaft unit, which mechanically connect and restrain the elasticity providing unit200, the roller module unit300, and the driving shaft coupling module unit400, are arranged in pairs in parallel while being spaced apart from each other by a predetermined distance.

As shown inFIG.17, the protection cover coupling plate510is a housing of the feeder driving unit500, and has four protection cover holders511,512,513, and514capable of supporting the protection cover body unit400aon four surfaces in the circumferential direction. In addition, the protective cover coupling plate510is provided with a latch penetration groove through which the latch body units631may penetrate and a gear driving shaft penetration groove through which the first and second gear driving shafts521and531may penetrate.

As shown inFIGS.17to26, the feeder driving unit500according to the embodiment of the present invention rotates the rollers311band312bin different directions to move the surgical tool1forward or backward, and horizontally moves the upper driving shaft unit and the lower driving shaft unit in different directions to provide driving force for rotating tool1clockwise or the surgical counterclockwise.

As shown inFIGS.18and19, the upper roller rotation driving unit520includes an upper gear driving shaft521, an upper gear unit522, and upper bearing units523and524, and the lower roller rotation driving unit530includes a lower gear driving shaft531, a lower gear unit532, a lower bearing unit533, and a motor coupler unit534.

The upper and lower gear driving shafts521and531and the upper and lower gear units522and532are disposed in pairs in parallel with each other, and the upper gear unit522and the lower gear unit532are engaged with each other. Therefore, the upper gear unit522is gear-interlocked by the rotation of the lower gear unit532in the first direction to rotate in the second direction (the direction opposite to the first direction).FIG.18shows the rotation direction of each gear as an example, but the gears always rotate in opposite directions.

The upper gear unit522and the lower gear unit532are inserted into and coupled to the upper gear driving shaft521and the lower gear driving shaft531, respectively. In addition, an upper coupling disk coupling unit521aand a lower coupling disk coupling unit531aare formed at one end of the upper gear driving shaft521and the lower gear driving shaft531, respectively.

The lower bearing unit533and the motor coupler unit534are inserted into and coupled to the lower gear driving shaft531. In addition, the first and second upper bearing units523and524are insertedly coupled to the upper gear driving shaft521. Therefore, the lower gear unit532, the lower bearing unit533, and the motor coupler unit534are sequentially inserted and disposed based on the lower gear driving shaft531. In addition, the upper gear unit522, the first upper bearing unit523, and the second upper bearing unit524are sequentially inserted and disposed with respect to the upper gear driving shaft521.

The first upper bearing unit523and the second upper bearing unit524are restrained so as not to rotate by themselves, and allow the upper gear driving shaft521to rotate. The lower bearing unit533is restrained not to rotate by itself, and allows the lower gear driving shaft531to rotate.

One side of the motor coupler unit534is restrained and coupled to the roller rotation motor unit540, and the other side is restrained and coupled to the lower gear driving shaft531. Accordingly, when the roller rotation motor unit540provides a rotation driving force, the motor coupler unit534and the lower gear driving shaft531are rotated in conjunction with the rotation driving force. A driving shaft insertion movement groove534ainto which the lower gear driving shaft531is inserted and moved is formed at an inner center of the motor coupler unit534. Therefore, a space in which the lower gear driving shaft531may horizontally move according to driving of the roller horizontal movement driving unit550to be described later is provided.

As shown inFIG.21, the roller horizontal movement driving unit550according to an embodiment of the present invention generates horizontal movement driving force for horizontally moving the upper and lower gear driving shafts521and531in opposite directions.

As shown inFIGS.22to26, the roller horizontal movement driving unit550includes a pinion unit551, first and second rack units552aand552b, first and second driving shaft horizontal movement coupling units553aand553b, and first and second rail units554aand554b.

As shown inFIGS.23and24, the pinion unit551is gear-engaged with each rack unit at the center of the first and second rack units552aand552b. In addition, the pinion unit551is inserted into and restrained by the pinion rotation shaft551aand rotates according to the rotation of the pinion rotation shaft551a. The pinion rotation shaft551arotates according to a horizontal movement driving force provided by the roller horizontal movement motor unit560. The latch coupling plate unit555is a housing of the feeder driving unit500and has a through-groove through which the pinion rotation shaft551apasses.

The first rack unit552ais gear-engaged with the pinion unit551at the lower unit of the pinion unit551, and the second rack unit552bis gear-engaged with the pinion unit551at the upper unit of the pinion unit551. Therefore, as illustrated inFIG.23, when the pinion551rotates clockwise, the first rack552ahorizontally moves to the left and the second rack552bhorizontally moves to the right.

As shown inFIGS.23and24, the first and second driving shaft horizontal movement coupling units553aand553binclude a first coupling unit coupled to the first and second rack units552aand552band a second coupling unit coupled to the first and second rail units554aand554bby rails, and the first and second coupling units are coupled to each other. In addition, the first and second rail units554aand554bare coupled to the latch coupling plate unit555.

Meanwhile, when the pinion551is rotated in any one direction according to the horizontal movement driving force, the first rack552ais horizontally moved in the first direction, and the second rack552bis horizontally moved in the second direction different from the first direction. The second coupling unit of the first driving shaft horizontal movement coupling unit553acoupled to the first rack unit552ahorizontally moves in the first direction along the first rail unit554a, and the second coupling unit of the second driving shaft horizontal movement coupling unit553bcoupled to the second rack unit552bhorizontally moves in the second direction along the second rail unit554b.

In addition, the first coupling unit of the first driving shaft horizontal movement coupling unit553ais coupled to the first rack unit552aand is coupled to the driving shaft horizontal movement coupling unit533aof the lower bearing unit533as illustrated inFIG.26. The first coupling unit of the second driving shaft horizontal movement coupling unit553bis coupled to the driving shaft horizontal movement coupling unit524aof the second upper bearing unit524while being coupled to the second rack unit552b. The rotation of the lower bearing unit533and the second upper bearing unit524is restrained, and the lower bearing unit and the second upper bearing unit move horizontally along the horizontal movement directions of the first rack unit552aand the second rack unit552b, respectively.

The roller horizontal movement driving unit550may provide a driving force exceeding the elastic force of the elasticity providing unit200described above, and thus may horizontally move the upper driving shaft unit and the lower driving shaft unit in different directions to rotate the surgical instrument1clockwise or counterclockwise.

As illustrated inFIG.27, the upper and lower gear driving shafts521and531and the pinion rotation shaft551aare disposed to be perpendicular to each other.

As shown inFIG.28, the latch coupling plate unit555includes a push button through-groove555aand a pinion rotation shaft551athrough-groove, and the coupling body units624and634of the detachable fixing latch unit600are coupled to each other.

The detachable fixing latch unit600in accordance with the embodiment of the present invention is configured to attach and detach the protection cover body unit400ato and from the module, and the protection cover holding units511,512,513, and514are formed on the protection cover coupling plate510in order to reinforce the coupling restraint of the detachable fixing latch unit600. To this end, the detachable fixing latch unit600includes a push button unit610, a latch medium unit620, and a latch unit630, as shown inFIGS.29to34.

As shown inFIGS.29and30, the push button unit610is inserted into and coupled to the push button through-groove555aof the latch coupling plate unit555so that an external force parallel to the pinion rotation shaft551ais applied. In this case, when an external force is applied, the latch coupling restraint of the protective cover body unit400ais released, and when the external force is removed, the latch coupling restraint is performed.

As an external force is applied to the push button610, the latch intermediate unit620rotates at a predetermined angle with respect to the rotation shaft625. To this end, the latch intermediate unit620includes a latch intermediate body unit621, a movement central shaft622a, a rotation central shaft622b, first and second springs623aand623b, a coupling body unit624, and a rotation shaft625.

As shown inFIG.31, the latch intermediate body unit621has an insertion groove into which the first central shaft622ais inserted. The latch intermediate body unit621is elastically supported by a second central shaft622b. As illustrated inFIG.31, the second central shaft622bmay be inserted into the first central shaft622a, and first and second springs623aand623bmay be disposed at both ends of the second central shaft622bto elastically support the latch intermediate body unit621. Accordingly, when an external force is applied to the push button unit610, the second central shaft622bpushes the latch intermediate body unit621along the first central shaft622a, and accordingly, the latch intermediate body unit621is rotated by a predetermined angle with respect to the rotation shaft625. Meanwhile, when the external force applied to the push button unit610is removed, the external force returns to its original position by elasticity.

The coupling body unit624shown inFIG.33is coupled to the latch coupling plate unit555and has an insertion hole into which the first central shaft622ais inserted.

As shown inFIG.31, the latch unit630is interlocked with the rotation of the latch coupling plate unit555and elastically moves horizontally along the first central shaft632a, thereby releasing the restraint of the latch body unit631. To this end, the latch unit630includes a latch body unit631, first and second central axes632aand632b, first and second springs633aand633b, and a coupling body unit634.

The latch body unit631is inserted into the first central shaft632aand elastically moves horizontally along the first central shaft632a. As illustrated inFIG.32, the second central shaft632bis inserted into the first central shaft632a, and first and second springs633aand633bare disposed at both ends of the second central shaft632bto elastically support the latch body unit631. Accordingly, when the latch intermediate body unit621is elastically rotated at a predetermined angle, the latch intermediate body unit621applies force to the latch body unit631according to the elastic rotation, and the latch body unit631is elastically moved horizontally along the first central shaft632a. When the external force is removed, all are returned to their original positions by elasticity.

As shown inFIG.33, the coupling body634is coupled and fixed to the latch coupling plate unit555, and has an insertion hole into which the first central shaft632ais inserted.

As shown inFIG.34, when an external force is applied to the push button610, the latch body unit631is elastically and horizontally moved in a direction opposite to a direction in which the external force is applied, thereby releasing the restraint of the latch body unit631from the protection cover body unit400a.

In describing the present invention, descriptions of matters apparent to the prior art and the skilled person in the art may be omitted, and descriptions of elements (methods) and functions omitted may be fully referred to without departing from the technical spirit of the present invention. In addition, the above-described components of the present invention have been described for convenience of description of the present invention, but the components not described herein may be added within a range that does not deviate from the technical spirit of the present invention.

The description of the feature and the function of each of the above-described components is separately described for convenience of description, but any one feature and function may be integrated into other components or may be implemented in a more subdivided manner as necessary.

As described above, the present invention has been described with reference to an embodiment of the present invention, but the present invention is not limited thereto, and various modifications and applications are possible. That is, it will be easily understood by a skilled person in the art that many modifications are possible without departing from the gist of the present invention. In addition, it should be noted that when it is determined that a detailed description of a known function related to the present invention and a feature thereof or a coupling relation to each feature of the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.