WO2025154835A1 - Surgical device - Google Patents

Abstract

Provided is a surgical device capable of facilitating various motions of a surgical tool and preventing twisting of an actuation tendon for manipulating the surgical tool. The surgical device according to one aspect of the present invention comprises: a surgical unit driven by means of a tendon; a connection unit which is connected to the surgical unit and in which the tendon is accommodated; and a driving module supporting the connection unit and the tendon, and enabling driving of at least one-degree-of-freedom motion of the tendon.

Description

surgical device

The present invention relates to a surgical device, and more specifically, to a surgical device with enhanced convenience of operation.

Surgical instruments used in endoscopic surgical devices include surgical forceps with various functions, such as forceps, tongs, and scissors, which are installed at the distal end of a thin, long pipe.

Surgical instruments used in these endoscopic surgical devices are used in many fields of practice and surgical procedures. In particular, many surgical instruments with joints at the distal end are being developed for more diverse movements. For example, most of these joints are driven by pulling or pushing operating tendons composed of multiple strands.

In this way, multiple operating tendons may exist in a state of being connected to the outside for joint movement and manipulation of the surgical tool. In this case, when the surgical tool performs a rotational movement on its own, the multiple operating tendons may be twisted with each other, causing friction, or the mobility may be reduced due to tension changes caused by unexpected tendon length changes. In addition, when these problems occur, the operating tendons may be deformed or damaged.

Therefore, there is a need for an endoscopic surgical device capable of preventing twisting of multiple operating tendons during the process of performing joint movement and manipulation of the aforementioned surgical tool.

The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a surgical device that facilitates various movements of a surgical tool while preventing twisting of an operating tendon for manipulating the surgical tool.

In addition, the present invention aims to provide a surgical device capable of accurately measuring the distal force of a surgical tool by measuring the tension of an operating tendon for manipulating the surgical tool.

However, the technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

A surgical device according to one aspect of the present invention comprises a surgical unit configured to be driven by a tendon, a connecting unit connected to the surgical unit and accommodating the tendon therein, and a driving module supporting the connecting unit and the tendon and enabling motion driving of at least one degree of freedom of the tendon.

Preferably, the driving module may include a housing that rotatably supports the connecting portion and accommodates the tendon therein, a first driving unit provided in the housing to support a single first tendon among the tendons and configured to move along the longitudinal direction of the housing or rotate around a central axis of the housing, and a second driving unit provided in the housing to support a plurality of second tendons among the tendons and configured to move along the longitudinal direction of the housing or rotate around a central axis of the housing.

Preferably, the driving module may further include an operating guide portion provided in the housing and configured to guide movement of the first driving portion and the second driving portion in the longitudinal direction of the housing, and a guide shaft provided in the housing and configured to guide movement of the first driving portion and the second driving portion in the longitudinal direction of the housing or rotational driving about the central axis of the housing.

Preferably, the first driving unit may include a driving block configured to support the first tendon and move along the longitudinal direction of the housing or rotate around the central axis of the housing, a driving block operating unit arranged on the operating guide unit and configured to move the driving block along the longitudinal direction of the housing, and a power transmission unit provided on the driving block and configured to move the driving block along the longitudinal direction of the housing when combined with the driving block operating unit.

Preferably, the drive block operating portion includes a fixing projection configured to be insertable into a fixing groove of the operating guide portion, and the drive block operating portion can be configured to be released from engagement with the power transmission portion when the fixing projection is inserted into the fixing groove.

Preferably, the power transmission unit includes a groove into which an end of the drive block operating unit is configured to be insertable, and the power transmission unit can be configured such that rotation about the central axis of the housing is limited when the end of the drive block operating unit is inserted into the groove.

Preferably, the second driving unit may include a first guide block configured to support one of the second tendons and move along the longitudinal direction of the housing or rotate around a central axis of the housing, and a second guide block arranged to face the first guide block in the longitudinal direction of the housing and support the other of the second tendons and move along the longitudinal direction of the housing or rotate around a central axis of the housing.

Preferably, the second driving unit may further include a guide gear disposed between the first guide block and the second guide block and configured to guide movement of the first guide block and the second guide block in different directions in the longitudinal direction of the housing.

Preferably, the first guide block includes a first driving guide portion formed to extend in the longitudinal direction of the housing from one side of the first guide block, the second guide block includes a second driving guide portion formed to extend in the longitudinal direction of the housing from one side of the second guide block opposite to one side of the first guide block, and the guide gear can be configured to be rotatably positioned between the first driving guide portion and the second driving guide portion with respect to a direction perpendicular to the longitudinal direction of the housing.

Preferably, the first driving guide portion and the second driving guide portion can be configured to move the same distance in the longitudinal direction of the housing according to the rotation of the guide gear.

Preferably, the device may include a guide block operating unit arranged in the operating guide unit and configured to move the first guide block along the longitudinal direction of the housing, and a guide power transmission unit provided on the first guide block and configured to move the first guide block along the longitudinal direction of the housing when combined with the guide block operating unit.

Preferably, the guide block operating portion includes a fixing projection configured to be insertable into a fixing groove of the operating guide portion, and the guide block operating portion can be configured to be released from engagement with the guide power transmission portion when the fixing projection is inserted into the fixing groove.

Preferably, the guide power transmission unit includes a groove into which an end of the guide block operating unit can be inserted, and the guide power transmission unit can be configured such that rotation about the central axis of the housing is limited when the end of the guide block operating unit is inserted into the groove.

Preferably, the driving module may include a rotation guide unit having a rotation block provided in the housing and connected to the first driving unit and the second driving unit through a guide shaft to rotate the first driving unit and the second driving unit around the central axis of the housing.

Preferably, the driving module may further include a guide shaft provided in the housing and configured to guide motion driving of at least one degree of freedom of the tendon by the driving module, and a force measuring unit coupled to the guide shaft and configured to measure tension of the tendon according to driving of the driving module and measure force acting on an end of the surgical section.

Preferably, the force measuring unit may include an elastic body configured to apply an initial tension to the tendon by elastic force before driving the driving module, and to be elastically deformed according to the tension applied to the tendon by driving the driving module.

Preferably, the force measuring unit may further include a measuring guide block coupled to the guide shaft and configured to support the elastic body and the tendon, and an elastic body guide unit provided on the measuring guide block and configured to guide compression of the elastic body or tension of the elastic body according to tension applied to the tendon by driving of the driving module.

Preferably, the elastic guide part may include an elastic guide rod provided with the elastic body and configured to guide compression or tension of the elastic body according to tension applied to the tendon by driving of the driving module, an elastic guide housing provided on the measuring guide block and configured to support the elastic body guide rod, and a tendon connecting part having one end connected to the elastic body guide rod and the other end connected to the tendon, configured to come into contact with one end of the elastic body on the elastic body guide rod, and configured to move along the elastic body guide rod to compress the elastic body when tension greater than the initial tension is applied to the tendon by driving of the driving module.

Preferably, the force measuring unit may further include a displacement measuring sensor provided on the tendon connecting unit and configured to measure displacement of the tendon toward the surgical unit when the tendon connecting unit moves along the elastic body guide rod to compress the elastic body when a tension greater than the initial tension is applied to the tendon by driving the driving module.

According to an embodiment of the present invention, various motions of the tendon can be driven by manipulating the driving module. Accordingly, various movements of the surgical part can be easily performed.

Additionally, various movements of the surgical part can be performed according to the user's needs by a structure that drives a single tendon or multiple tendons.

In addition, the twisting of the tendon can be minimized when performing various operations of the drive module.

In addition, the force acting on the end of the surgical section can be accurately measured through the displacement of the tendon generated by the operation of the driving module. By measuring the force acting on the end of the surgical section, it is possible to easily determine whether the surgical operation on the human body performed by the surgical device is safe.

In addition, since the structure minimizes the twisting of the tendon when performing various operations of the drive module, accurate and stable tension measurement of the tendon is possible regardless of the gripping, rotation, bending, etc. of the surgical section, the force acting on the end of the surgical section can be accurately measured.

In addition, various other additional effects can be achieved by various embodiments of the present invention. These various effects of the present invention will be described in detail in each embodiment, or the description of effects that can be easily understood by those skilled in the art will be omitted.

The following drawings attached to this specification illustrate preferred embodiments of the present invention and, together with the detailed description of the invention described below, serve to further understand the technical idea of the present invention; therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

FIG. 1 is a drawing showing a surgical device according to one embodiment of the present invention.

Figures 2 and 3 are projection drawings showing the interior of the surgical device of Figure 1.

Figure 4 is a drawing showing a driving module of the surgical device of Figure 1.

FIGS. 5 and 6 are drawings showing the first driving unit of the driving module of FIG. 4.

Figure 7 is a drawing showing the tendon arrangement structure in the first driving unit.

Fig. 8 is a drawing showing the operation guide part of the driving module of Fig. 4.

Figures 9 to 11 are drawings showing the second driving unit of the driving module of Figure 4.

Fig. 12 is a drawing showing the rotation guide part of the driving module of Fig. 4.

FIG. 13 is a drawing showing a surgical device according to another embodiment of the present invention.

Figures 14 and 15 are drawings exemplarily showing the operation of the force measuring unit in the surgical device of Figure 13.

A surgical device according to one aspect of the present invention comprises a surgical unit configured to be driven by a tendon, a connecting unit connected to the surgical unit and accommodating the tendon therein, and a driving module supporting the connecting unit and the tendon and enabling motion driving of at least one degree of freedom of the tendon.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Prior to this, the terms or words used in this specification and claims should not be interpreted as limited to their usual or dictionary meanings, and should be interpreted as meanings and concepts that conform to the technical idea of the present invention based on the principle that the inventor can appropriately define the concept of the term in order to explain his or her own invention in the best possible way.

Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, and it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

FIG. 1 is a drawing showing a surgical device (1) according to one embodiment of the present invention, FIGS. 2 and 3 are drawings showing the interior of the surgical device (1) of FIG. 1 by projecting it, and FIG. 4 is a drawing showing a driving module (30) of the surgical device (1) of FIG. 1.

In an embodiment of the present invention, the X-axis direction shown in the drawing may mean the longitudinal direction of the surgical device (1), the Y-axis direction may mean the left-right direction of the surgical device (1) perpendicular to the X-axis direction and the horizontal plane (XY plane), and the Z-axis direction may mean the up-down direction perpendicular to both the X-axis direction and the Y-axis direction.

Referring to FIGS. 1 to 4, a surgical device (1) according to one embodiment of the present invention may include a surgical unit (10), a connecting unit (20), and a driving module (30). As an example, the surgical device (1) may be a surgical device used in an endoscopic surgical robot.

The above surgical unit (10) can perform operations such as grasping, bending, and rotation through a surgical tip installed at the end. The surgical unit (10) can be configured to be driven by a tendon (W). For example, the surgical unit (10) can have at least two joints and can include surgical forceps with various functions such as tweezers, forceps, and scissors.

The above connecting portion (20) is connected to the surgical section (10) and can accommodate a tendon (W) inside. As an example, the connecting portion (20) can be configured in a tube shape so as to accommodate a tendon (W) inside.

The above driving module (30) can support the connecting portion (20) and the tendon (W), and enable motion driving of at least one degree of freedom of the tendon (W). As an example, the motion driving of at least one degree of freedom of the tendon (W) by the driving module (30) can include linear driving of the tendon (W), rotational driving of the tendon (W), etc. In this case, according to the motion driving of the tendon (W) by the driving module (30), the surgical portion (10) can perform operations such as grasping, bending, and rotation.

According to this embodiment of the present invention, various motions of the tendon (W) can be driven by manipulating the driving module (30). Accordingly, various operations of the surgical unit (10) can be easily performed.

Referring again to FIGS. 1 to 4, the driving module (30) may include a housing (31), a first driving unit (32), and a second driving unit (33).

The above housing (31) can rotatably support the connecting portion (20) and accommodate a tendon (W) therein. At this time, the tendon (W) can include a single first tendon (W1) and a plurality of second tendons (W2).

The first driving unit (32) may be provided within the housing (31) to support the first tendon (W1). In addition, the first driving unit (32) may be configured to move along the longitudinal direction of the housing (31) or rotate around the central axis of the housing (31).

According to the driving of this first driving unit (32), a translational motion (movement in the X-axis direction) or a rotational motion of a single first tendon (W1) can be achieved. In addition, a motion of the surgical unit (10) can be performed through the motion driving of this single first tendon (W1).

The second driving unit (33) may be provided within the housing (31) to support the second tendon (W2). In addition, the second driving unit (33) may be configured to move along the longitudinal direction of the housing (31) or rotate around the central axis of the housing (31).

According to the driving of the second driving unit (33), translational movement (movement in the X-axis direction) or rotational movement of the plurality of second tendons (W2) can be performed. In this case, more diverse operations of the surgical unit (10) can be performed through the motion driving of the plurality of second tendons (W2).

In this way, various movements of the surgical part (10) can be performed according to the user's needs by a structure that drives a single tendon (first tendon (W1)) or multiple tendons (second tendons (W2)).

FIGS. 5 and 6 are drawings showing the first driving unit (32) of the driving module (30) of FIG. 4, FIG. 7 is a drawing showing the tendon arrangement structure in the first driving unit (32), and FIG. 8 is a drawing showing the operation guide unit (34) of the driving module (30) of FIG. 4.

Referring to FIGS. 2 to 8, the driving module (30) may further include an operating guide portion (34) and a guide shaft (35).

The above-mentioned operating guide part (34) is provided in the housing (31) and can be configured to guide the movement of the first driving part (32) and the second driving part (33) in the longitudinal direction of the housing (31).

The above guide shaft (35) is provided in the housing (31) and can be configured to guide the movement of the first driving unit (32) and the second driving unit (33) in the longitudinal direction of the housing (31) or the rotational drive about the central axis of the housing (31). This guide shaft (35) can connect the first driving unit (32) and the second driving unit (33).

According to this implementation configuration, the translational or rotational motion of the first driving unit (32) and the second driving unit (33) can be more easily performed. Accordingly, various movements of the surgical unit (10) can be performed more naturally.

Referring again to FIGS. 2 to 8, the first driving unit (32) may include a driving block (321), a driving block operating unit (322), and a power transmission unit (323).

The above drive block (321) can be configured to support the first tendon (W1) and move along the longitudinal direction of the housing (31) or rotate around the central axis of the housing (31).

Specifically, the drive block (321) may include a block body (321a), a tendon hole (321b), and a shaft hole (321c).

The above block body (321a) may have a circular plate shape, but is not limited thereto.

The tendon hole (321b) may be formed approximately at the center of the block body (321a). At this time, the first tendon (W1) may be inserted into and supported by the tendon hole (321b). As an example, as shown in FIG. 7, a sleeve (S) may be press-fitted into the tendon hole (321b) to support the first tendon (W1) in the radial direction. Accordingly, when the drive block (321) rotates, the first tendon (W1) rotates together, thereby preventing the first tendon (W1) from being twisted within the housing (31).

The above shaft holes (321c) may be formed radially spaced apart from the center of the block body (321a). As an example, the shaft holes (321c) may be configured in numbers of four, but are not limited thereto. At this time, the guide shaft (35) may be provided in a number corresponding to the shaft holes (321c) and may be inserted into and supported by the shaft holes (321c).

In one embodiment, a protruding portion (C) may be formed on the inner surface of the shaft hole (321c). The protruding portion (C) may form a plurality of gaps between the guide shaft (35) and the inner surface of the shaft hole (321c), thereby preventing excessive restraint of the guide shaft (35) relative to the drive block (321). Meanwhile, the protruding portion (C) may be formed only on half of the inner surface of the shaft hole (321c).

In addition, in the block body (321a), a flexible portion (F) may be formed around the shaft hole (321c). The flexible portion (F) may be provided in the form of a groove having a shape that at least partially corresponds to the shaft hole (321c). In this case, when the guide shaft (35) is inserted into the shaft hole (321c), the shaft hole (321c) may open toward the flexible portion (F). Accordingly, the guide shaft (35) may be more easily inserted into the shaft hole (321c).

The above driving block operating part (322) may be arranged in the operating guide part (34) and configured to move the driving block (321) along the longitudinal direction of the housing (31).

This driving block operating part (322) may include a body (322a). The body (322a) may be inserted into the insertion hole (341) of the operating guide part (34). At this time, the body (322a) may be moved in the longitudinal direction of the housing (31) along the insertion hole (341) of the operating guide part (34).

The above power transmission unit (323) is provided on the drive block (321) and, when combined with the drive block operating unit (322), can be configured to move the drive block (321) along the longitudinal direction of the housing (31). This power transmission unit (323) can be combined with a flange portion (321d) formed on the outer surface of the block body (321a).

In addition, the body (322a) of the drive block operating portion (322) can be combined with the power transmission portion (323) by being pressed toward the power transmission portion (323) on the insertion hole (341) of the operating guide portion (34). In this case, when the body (322a) of the drive block operating portion (322) moves along the longitudinal direction of the housing (31), the drive block (321) can be moved along the longitudinal direction of the housing (31).

Meanwhile, the body (322a) of the drive block operating part (322) can be moved in the opposite direction of the power transmission part (323) on the insertion hole (341) of the operating guide part (34) so that the coupling with the power transmission part (323) can be released. In this case, the movement of the housing (31) of the drive block (321) in the longitudinal direction is restricted, and the rotational drive about the central axis of the housing (31) of the drive block (321) can be enabled.

According to this implementation configuration, when the first driving unit (32) is translated, the driving block operating unit (322) and the driving block (321) can be coupled, and when the first driving unit (32) is rotated, the driving block operating unit (322) and the driving block (321) can be released, so that the twisting of the tendon (the first tendon (W1)) can be minimized when each operation is performed.

In particular, the drive block operating part (322) may further include a fixing projection (322b).

The above-mentioned fixing projection (322b) may be configured to be insertable into the fixing groove (342) of the operating guide portion (34). The driving block operating portion (322) may be configured to be released from engagement with the power transmission portion (323) when the fixing projection (322b) is inserted into the fixing groove (342).

Specifically, the fixing projection (322b) may be formed to protrude from the body (322a) of the driving block operating portion (322) toward the operating guide portion (34). In addition, the fixing groove (342) may be formed on a surface of the operating guide portion (34) toward the fixing projection (322b). In particular, a plurality of fixing grooves (342) may be provided along the longitudinal direction of the housing (31). As an example, the interval between the plurality of fixing grooves (342) may be set to a fine interval.

According to this implementation configuration, not only is the translational motion of the first driving unit (32) easily achieved with simple operation, but there is also an advantage in that fine adjustment of the translational motion of the first driving unit (32) is possible.

Additionally, the power transmission unit (323) may include a home unit (323a).

The above-mentioned home portion (323a) may be configured such that the end of the drive block operating portion (322) can be inserted therein. This power transmission portion (323) may be configured such that rotation about the central axis of the housing (31) is restricted when the end of the drive block operating portion (322) is inserted into the home portion (323a).

Specifically, the body (322a) of the drive block operating portion (322) can be combined with the power transmission portion (323) by being pressed toward the power transmission portion (323) on the insertion hole (341) of the operating guide portion (34). In this case, the end of the body (322a) of the drive block operating portion (322) can be inserted into the groove portion (323a), and the drive block (321) provided with the power transmission portion (323) can be configured so that its rotation about the central axis of the housing (31) is restricted. In this state, when the body (322a) of the drive block operating portion (322) moves along the longitudinal direction of the housing (31), the drive block (321) can be moved along the longitudinal direction of the housing (31).

According to this implementation configuration, not only can the translational motion of the first driving unit (32) be easily achieved with a simple operation, but also the rotation of the first driving unit (32) can be limited during the translational motion of the first driving unit (32), thereby minimizing the twisting of the tendon (the first tendon (W1)).

Figures 9 to 11 are drawings showing the second driving unit (33) of the driving module (30) of Figure 4.

Referring to FIGS. 2 to 4 and 9 to 11, the second driving unit (33) may include a first guide block (331), a second guide block (332), and a guide gear (333).

The above first guide block (331) can be configured to support one of the second tendons (W2) and move along the longitudinal direction of the housing (31) or rotate around the central axis of the housing (31).

Specifically, the first guide block (331) may include a first guide block body (331a), a tendon hole (331b), and a shaft hole (331c).

The above first guide block body (331a) may have a circular plate shape, but is not limited thereto.

The above tendon hole (331b) may be formed in the first guide block body (331a). At this time, one of the second tendons (W2) may be inserted into and supported by the tendon hole (331b). Although not illustrated in detail, the sleeve (S) described above may be press-fitted into the tendon hole (331b) to support one of the second tendons (W2) in the radial direction. Accordingly, when the first guide block (331) rotates, one of the second tendons (W2) may rotate together, thereby preventing one of the second tendons (W2) from being twisted within the housing (31).

The above shaft holes (331c) may be formed radially spaced apart from the center of the first guide block body (331a). As an example, the shaft holes (331c) may be configured in numbers of four, but are not limited thereto. In this case, the guide shaft (35) may be provided in a number corresponding to the shaft holes (331c) and may be inserted into and supported by the shaft holes (331c).

In one embodiment, a recessed portion (C) may be formed on the inner surface of the shaft hole (331c). The recessed portion (C) may form a plurality of gaps between the guide shaft (35) and the inner surface of the shaft hole (331c), thereby preventing excessive restraint of the guide shaft (35) relative to the first guide block (331). Meanwhile, the recessed portion (C) may be formed only on half of the inner surface of the shaft hole (331c).

In addition, in the first guide block body (331a), a flexible portion (F) may be formed around the shaft hole (331c). The flexible portion (F) may be provided in a groove shape having a shape that at least partially corresponds to the shaft hole (331c). In this case, when the guide shaft (35) is inserted into the shaft hole (331c), the shaft hole (331c) may open toward the flexible portion (F). Accordingly, the guide shaft (35) may be more easily inserted into the shaft hole (331c).

The second guide block (332) may be arranged to face the first guide block (331) in the longitudinal direction of the housing (31), support the other of the second tendons (W2), and be configured to move along the longitudinal direction of the housing (31) or rotate around the central axis of the housing (31). The second guide block (332) may be connected to the first guide block (331) through a guide shaft (35).

Specifically, the second guide block (332) may include a second guide block body (332a), a tendon hole (332b), and a shaft hole (332c).

The above second guide block body (332a) may have a circular plate shape, but is not limited thereto.

The above tendon hole (332b) may be formed in the second guide block body (332a). At this time, another one of the second tendons (W2) may be inserted into and supported by the tendon hole (332b). Although not illustrated in detail, the sleeve (S) described above may be press-fitted into the tendon hole (332b) to support another one of the second tendons (W2) in the radial direction. Accordingly, when the second guide block (332) rotates, another one of the second tendons (W2) may rotate together, thereby preventing another one of the second tendons (W2) from being twisted within the housing (31).

The above shaft holes (332c) may be formed radially apart from the center of the second guide block body (332a). As an example, the shaft holes (332c) may be configured in numbers of four, but are not limited thereto. In this case, the guide shaft (35) may be provided in a number corresponding to the shaft holes (332c) and may be inserted into and supported by the shaft holes (332c).

In one embodiment, a recessed portion (C) may be formed on the inner surface of the shaft hole (332c). The recessed portion (C) may form a plurality of gaps between the guide shaft (35) and the inner surface of the shaft hole (332c), thereby preventing excessive restraint of the guide shaft (35) relative to the second guide block (332). Meanwhile, the recessed portion (C) may be formed only on half of the inner surface of the shaft hole (332c).

In addition, in the second guide block body (332a), a flexible portion (F) may be formed around the shaft hole (332c). The flexible portion (F) may be provided in a groove shape having a shape that at least partially corresponds to the shaft hole (332c). In this case, when the guide shaft (35) is inserted into the shaft hole (332c), the shaft hole (332c) may open toward the flexible portion (F). Accordingly, the guide shaft (35) may be more easily inserted into the shaft hole (332c).

According to the driving of the second driving unit (33), translational movement (movement in the X-axis direction) or rotational movement of the plurality of second tendons (W2) can be performed. In this case, more diverse operations of the surgical unit (10) can be performed through the motion driving of the plurality of second tendons (W2).

Referring to FIGS. 2 to 4 and 9 to 11, the guide gear (333) may be arranged between the first guide block (331) and the second guide block (332), and may be configured to guide movement of the first guide block (331) and the second guide block (332) in different directions in the longitudinal direction of the housing (31). The guide gear (333) may be, for example, a pinion gear.

Specifically, the guide gear (333) can guide the first guide block (331) supporting one of the second tendons (W2) and the second guide block (332) supporting the other of the second tendons (W2) to move in different directions in the longitudinal direction of the housing (31).

For example, when the first guide block (331) moves toward the surgical section (10) along the longitudinal direction of the housing (31) and the second guide block (332) moves in the opposite direction to the surgical section (10) according to the driving of the guide gear (333), one of the second tendons (W2) can be pulled toward the surgical section (10), and the other of the second tendons (W2) can be pulled toward the opposite side to the surgical section (10). Meanwhile, when the first guide block (331) moves in the opposite direction of the surgical section (10) along the longitudinal direction of the housing (31) and the second guide block (332) moves toward the surgical section (10) according to the driving of the guide gear (333), one of the second tendons (W2) can be pulled toward the opposite side of the surgical section (10) and the surgical section (1), and the other of the second tendons (W2) can be pulled toward the surgical section (10).

That is, the guide gear (333) can adjust the relative gap between the first guide block (331) and the second guide block (332).

With this implementation configuration, more diverse operations of the surgical part (10) can be performed through more diverse motion drives of the plurality of second tendons (W2).

Referring to FIGS. 2 to 4 and FIGS. 9 to 11, the first guide block (331) may include a first driving guide portion (331d).

The above first driving guide portion (331d) may be formed to extend in the longitudinal direction of the housing (31) from one side of the first guide block (331). At this time, the first driving guide portion (331d) may support one of the second tendons (W2). In addition, the first driving guide portion (331d) may be connected to the tendon hole (331b) of the above-described first guide block (331). As an example, the first driving guide portion (331d) may be a rack gear corresponding to the guide gear (333).

Additionally, the second guide block (332) may include a second driving guide portion (332d).

The second driving guide portion (332d) may be formed to extend in the longitudinal direction of the housing (31) from one side of the second guide block (332) opposite to one side of the first guide block (331). At this time, the second driving guide portion (332d) may support another of the second tendons (W2). In addition, the second driving guide portion (332d) may be connected to the tendon hole (332b) of the second guide block (332) described above. As an example, the second driving guide portion (332d) may be a rack gear corresponding to the guide gear (333).

Meanwhile, a guide passage hole (331e) having a size through which a second driving guide part (332d) can pass may be formed in the first guide block (331). In addition, a guide passage hole (332e) having a size through which a first driving guide part (331d) can pass may be formed in the second guide block (332). Accordingly, when the first guide block (331) and the second guide block (332) come closer to each other by driving the guide gear (333), the first driving guide part (331d) can pass through the guide passage hole (332e) of the second guide block (332), and the second driving guide part (332d) can pass through the guide passage hole (331e) of the first guide block (331). Therefore, when the first guide block (331) and the second guide block (332) move translationally toward each other, interference between the first guide block (331) and the second guide block (332) can be prevented.

In addition, the guide gear (333) may be configured to be rotatable between the first driving guide part (331d) and the second driving guide part (332d) in a direction perpendicular to the longitudinal direction of the housing (31). As an example, the guide gears (333) may be configured as a pair.

Specifically, the second driving unit (33) may further include a support block (B). The support block (B) may be arranged between the first guide block (331) and the second guide block (332). In addition, a guide shaft (35) may pass through the support block (B).

And the guide gear (333) can be coupled to the support block (B) through the support shaft (333a). In addition, the guide gear (333) can be configured to be rotatable around the support shaft (333a).

At this time, the guide gear (333) can be positioned between the first guide portion (331d) and the second driving guide portion (332d) with respect to the direction perpendicular to the longitudinal direction of the housing (31), and the first guide portion (331d) and the second guide portion (332d) can be configured to extend in opposite directions from the first guide block (331) and the second guide block (332), respectively. Accordingly, when the guide gear (333) rotates in one direction, the first driving guide portion (331d) and the second driving guide portion (332d) can be driven in different directions.

In this way, the relative gap between the first guide block (331) and the second guide block (332) can be adjusted according to the rotational drive of the guide gear (333) arranged between the first guide block (331) and the second guide block (332). Accordingly, more diverse motion drives of a plurality of second tendons (W2) can be achieved with a simple structure.

As described above, when the guide gear (333) rotates in one direction, the first driving guide part (331d) and the second driving guide part (332d) can be driven in different directions, and in this case, the guide gear (333) and the support block (B) supporting the guide gear (333) may not move in the longitudinal direction of the housing (31).

Accordingly, the first driving guide part (331d) and the second driving guide part (332d) can be configured to move the same distance in the longitudinal direction of the housing (31) according to the rotation of the guide gear (333).

Referring to FIGS. 2 to 4 and FIGS. 8 to 11, the second driving unit (33) may further include a guide block operating unit (334) and a guide power transmission unit (335).

The above guide block operating part (334) is arranged in the operating guide part (34) and can be configured to move the first guide block (331) along the longitudinal direction of the housing (31).

This guide block operating part (334) may include a body (334a). The body (334a) may be inserted into the insertion hole (341) of the operating guide part (34). At this time, the body (334a) may be moved in the longitudinal direction of the housing (31) along the insertion hole (341) of the operating guide part (34).

The above guide power transmission unit (335) is provided on the first guide block (331) and, when combined with the guide block operating unit (334), can be configured to move the first guide block (331) along the longitudinal direction of the housing (31). This guide power transmission unit (335) can be combined with a flange portion (331f) formed on the outer surface of the first guide block (331).

In addition, the body (334a) of the guide block operating portion (334) can be combined with the guide power transmitting portion (335) by being pressed toward the guide power transmitting portion (335) on the insertion port (341) of the operating guide portion (34). In this case, when the body (334a) of the guide block operating portion (334) moves along the longitudinal direction of the housing (31), the first guide block (331) can be moved along the longitudinal direction of the housing (31). At this time, when the first guide block (331) moves along the longitudinal direction of the housing (31), the second guide block (332) can be moved in the opposite direction to the driving direction of the first guide block (331) as the aforementioned guide gear (333) rotates.

Meanwhile, the body (334a) of the guide block operating portion (334) can be moved in the opposite direction of the guide power transmission portion (335) on the insertion port (341) of the operating guide portion (34) so that the coupling with the guide power transmission portion (335) can be released. In this case, the movement in the longitudinal direction of the housing (31) of the first guide block (331) and the second guide block (332) is restricted, and the rotational drive about the central axis of the housing (31) of the first guide block (331) and the second guide block (332) can be enabled.

Meanwhile, the guide power transmission unit (335) is not limited to being provided in the first guide block (331), but may also be provided in a flange portion (332f) formed on the outer surface of the second guide block (332) and coupled with the guide block operating unit (334).

That is, when one of the first guide block (331) and the second guide block (332) moves along the longitudinal direction of the housing (31) according to the guide of the guide block operating unit (334), power is transmitted to the other of the first guide block (331) and the second guide block (332) by the rotation of the guide gear (333), so that both the first guide block (331) and the second guide block (332) can be driven.

According to this implementation configuration, when the second driving unit (33) is translated, the guide block operating unit (334) and one of the first guide block (331) and the second guide block (332) are coupled, and when the second driving unit (33) is rotated, the guide block operating unit (334) and one of the first guide block (331) and the second guide block (332) can be released, so that the twisting of the tendon (the second tendon (W2)) can be minimized when each operation is performed.

In particular, the guide block operating part (334) may further include a fixing projection (334b).

The above-mentioned fixing projection (334b) may be configured to be insertable into the fixing groove (342) of the operating guide portion (34). The guide block operating portion (334) may be configured to be released from engagement with the guide power transmission portion (335) when the fixing projection (334b) is inserted into the fixing groove (342).

Specifically, the fixing projection (334b) may be formed to protrude from the body (334a) of the guide block operating portion (334) toward the operating guide portion (34). In addition, the fixing groove (342) may be formed on a surface of the operating guide portion (34) toward the fixing projection (334b). In particular, a plurality of fixing grooves (342) may be provided along the longitudinal direction of the housing (31). As an example, the interval between the plurality of fixing grooves (342) may be set to a fine interval.

According to this implementation configuration, not only is the translational motion of the second driving unit (33) easily achieved with simple operation, but there is also an advantage in that fine adjustment of the translational motion of the second driving unit (33) is possible.

Additionally, the guide power transmission unit (335) may include a home unit (335a).

The above-mentioned home portion (335a) may be configured such that the end of the guide block operating portion (334) can be inserted therein. This guide power transmission portion (335) may be configured such that rotation about the central axis of the housing (31) is restricted when the end of the guide block operating portion (334) is inserted into the home portion (335a).

Specifically, the body (334a) of the guide block operating portion (334) can be combined with the guide power transmission portion (335) by being pressed toward the guide power transmission portion (335) on the insertion hole (341) of the operating guide portion (34). In this case, the end of the body (334a) of the guide block operating portion (334) can be inserted into the groove portion (335a), and the first guide block (331) or the second guide block (332) provided with the guide power transmission portion (335) can be configured so that the rotation about the central axis of the housing (31) is restricted. In this state, when the body (334a) of the guide block operating portion (334) moves along the longitudinal direction of the housing (31), the first guide block (331) or the second guide block (332) can move along the longitudinal direction of the housing (31).

According to this implementation configuration, not only can the translational motion of the second driving unit (33) be easily achieved with a simple operation, but also the rotation of the second driving unit (33) can be limited during the translational motion of the second driving unit (33), thereby minimizing the twisting of the tendon (second tendon (W2)).

Figure 12 is a drawing showing the rotation guide part (36) of the driving module (30) of Figure 4.

Referring to FIG. 12, the driving module (30) may further include a rotation guide part (36).

The above rotation guide part (36) may include a rotation block (361).

The above-mentioned rotation block (361) may be provided in the housing (31). As an example, a portion of the rotation block (361) may be exposed to the outside of the housing (31).

In addition, the rotating block (361) may be configured to be connected to the first driving unit (32) and the second driving unit (33) through a guide shaft (35) to rotate the first driving unit (32) and the second driving unit (33) about the central axis of the housing (31).

Specifically, the rotation guide part (36) may further include a rotation stopper (362) and a rotation operating part (363) in addition to the rotation block (361).

The above rotation stopper (362) may be configured to be axially coupled with the rotation block (361) and to limit the rotation of the rotation block (361).

The above rotation operating part (363) is configured to limit the rotation of the rotation stopper (362) when it comes into contact with the rotation stopper (362), and can allow the rotation of the rotation stopper (362) when the contact with the rotation stopper (362) is released.

That is, when the rotation operation part (363) comes into contact with the rotation stopper (362) so as to surround at least a part of the rotation stopper (362), the rotation of the rotation stopper (362) can be restricted, thereby restricting the rotation of the rotation block (361). In addition, when the rotation operation part (363) is released from contact with the rotation stopper (362), the rotation of the rotation stopper (362) can be enabled, thereby allowing the rotation block (361) to also be rotated. As an example, the rotation operation part (363) may have a portion configured in the form of a handle so that contact or release from the rotation stopper (362) can be easily achieved depending on the user's operation.

Meanwhile, when the drive module (30) is driven to rotate, the first drive unit (32) and the second drive unit (33) described above may be restricted from moving in the longitudinal direction of the housing (31) and may be capable of rotating about the central axis of the housing (31). In this state, when the contact between the rotation operation unit (363) and the rotation stopper (362) is released, the rotation block (361) may be capable of rotating about the central axis of the housing (31). Then, when the user rotates the portion of the housing (31) where the rotation block (361) is exposed, the rotation block (361) may rotate, and the first drive unit (32) and the second drive unit (33) may rotate simultaneously.

In one embodiment, the drive module (30) may have a separate rotary motor. This rotary motor may be configured to rotate the rotary block (361) when the contact between the rotary operating part (363) and the rotary stopper (362) is released.

According to this embodiment of the present invention, when the rotational motion is operated by the rotation guide part (36), the first driving part (32) and the second driving part (33) can be rotated simultaneously, so that the twisting of the tendon (W) can be minimized.

FIG. 13 is a drawing showing a surgical device (2) according to another embodiment of the present invention, and FIGS. 14 and 15 are drawings showing, by way of example, the driving of the force measuring unit (37) in the surgical device (2) of FIG. 13. At this time, (a) in FIG. 15 is a drawing showing a state before the driving module (30) is driven, and (b) in FIG. 15 is a drawing showing a state after the driving module (30) is driven.

Since the surgical device (2) according to the present embodiment is similar to the surgical device (1) according to the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

Referring to FIGS. 13 to 15, a force measuring unit (37) may be illustrated in the surgical device (2). Meanwhile, detailed illustrations of each component of the driving module (30) described above in the surgical device (2) according to the present embodiment will be omitted.

In the surgical device (2) according to the present embodiment, the guide shaft (35) of the drive module (30) may be configured to guide at least one degree of freedom of motion driving of the tendon (W) by the drive module (30). As described above, the at least one degree of freedom of motion driving of the tendon (W) by the drive module (30) may include linear driving of the tendon (W), rotational driving of the tendon (W), etc. At this time, according to the motion driving of the tendon (W) by the drive module (30), the surgical part (10) may perform operations such as grasping, bending, and rotation. In addition, the surgical part (10) may perform operations such as grasping, bending, and rotation through a surgical tip installed at an end.

In addition, in the surgical device (2) according to the present embodiment, the force measuring unit (37) can be coupled to the guide shaft (35) as shown in FIGS. 13 to 15.

And the force measuring unit (37) can measure the force applied to the end of the surgical unit (10) by measuring the tension of the tendon (W) according to the driving of the driving module (30).

Specifically, the force measuring unit (37) may include an elastic body (371), a measuring guide block (372), and an elastic body guide unit (373).

The above elastic body (371) can provide initial tension to the tendon (W) by elastic force before the driving of the driving module (30). In addition, the elastic body (371) can be elastically deformed according to the tension applied to the tendon (W) by the driving of the driving module (30). That is, the elastic body (371) can provide initial tension to the tendon (W) by the stored elastic force even before the elastic deformation by the driving of the driving module (30). Meanwhile, in the surgical device (2), the configuration corresponding to the above-described elastic body (371) can also be changed to a magnet having magnetic force.

The above measurement guide block (372) can be coupled to the guide shaft (35) and configured to support the elastic body (371) and the tendon (W).

The above elastic body guide part (373) is provided in the measurement guide block (372) and can be configured to guide the compression or tension of the elastic body (371) according to the tension applied to the tendon (W) by the driving of the driving module (30).

Specifically, the elastic guide portion (373) may include an elastic guide rod (373a), an elastic guide housing (373b), and a tendon connecting portion (373c).

The elastic body guide rod (373a) may be provided in a form in which an elastic body (371) is inserted. In addition, the elastic body guide rod (373a) may be configured to guide compression of the elastic body (371) or tension of the elastic body (371) according to tension applied to the tendon (W) by driving the driving module (30).

The above elastic guide housing (373b) may be provided on the measuring guide block (372). As an example, as shown in FIGS. 13 to 15, the elastic guide housing (373b) may be formed to protrude from the measuring guide block (372) in the longitudinal direction (X-axis direction) of the surgical device (1).

And, the elastic guide housing (373b) may be configured to support the elastic guide rod (373a). At this time, the elastic guide housing (373b) may have a separate accommodation space capable of supporting the elastic guide rod (373a).

The tendon connecting portion (373c) may have one end connected to an elastic guide rod (373a) and the other end connected to a tendon (W). In addition, the tendon connecting portion (373c) may be configured to come into contact with one end of an elastic body (371) on the elastic guide rod (373a), and may be configured to move along the elastic guide rod (373a) to compress the elastic body (371) when a tension greater than the initial tension is applied to the tendon (W) by the driving of the driving module (30), as shown in Fig. 15(b).

At this time, one end of the elastic body (371) can be in contact with the tendon connecting portion (373c), and the other end of the elastic body (371) can be in contact with the measuring guide block (372). That is, the elastic body (371) can be supported on the elastic body guide rod (373a) at one end by the tendon connecting portion (373c), and at the other end by the measuring guide block (372).

In addition, one side of the elastic guide housing (373b) in the longitudinal direction (X-axis direction) of the surgical device (1) is configured to come into contact with the tendon connecting portion (373c) before the driving module (30) is driven, as shown in Fig. 15(a), thereby preventing the tendon connecting portion (373c) from being separated from the elastic guide rod (373a).

In one embodiment, the force measuring unit (37) may further include a displacement measuring sensor (374). The displacement measuring sensor (374) may be provided at the tendon connecting unit (373c). In addition, the displacement measuring sensor (374) may be configured to measure the displacement of the tendon (W) toward the surgical unit (10) when the tendon connecting unit (373c) moves along the elastic body guide rod (373a) to compress the elastic body (371) when a tension greater than the initial tension is applied to the tendon (W) by the driving of the driving module (30).

That is, when the tendon connecting portion (373c) moves along the elastic guide rod (373a) according to the driving of the driving module (30), the displacement measuring sensor (374) can measure the displacement of the tendon (W) toward the surgical section (10) through the amount of compression of the elastic body (371) that occurs when the tendon connecting portion (373c) compresses the elastic body (371) along the elastic guide rod (373a).

Meanwhile, the force measuring unit (37) may further include a processor (not shown). The processor may measure the tension of the tendon (W) according to the displacement of the tendon (W) toward the surgical unit (10) measured by the displacement measuring sensor (374) when the surgical unit (10) performs operations such as grasping, bending, and rotating. As an example, the processor may be implemented in the form of a CPU, GPU, AP, or a combination thereof having an arithmetic processing function, and may be provided with a DRAM, a flash memory, an SSD, or other various forms of memory as needed.

Accordingly, the processor can measure the tension of the tendon (W) according to the driving of the driving module (30) and measure the force applied to the end of the surgical section (10) according to the driving of the driving module (30).

As described above, according to the surgical device (2) according to the present embodiment, the force acting on the end of the surgical part (10) can be accurately measured through the displacement of the tendon (W) generated by the driving of the driving module (30). Through the measurement of the force acting on the end of the surgical part (10), it is possible to easily determine whether the surgical operation on the human body performed by the surgical device (2) is safe.

In addition, according to the surgical device (2) according to the present embodiment, the structure that minimizes the twisting of the tendon (W) when performing various operations of the driving module (30) enables accurate and stable tension measurement of the tendon (W) regardless of the gripping, rotation, bending, etc. of the surgical part (10), so that the force acting on the end of the surgical part (10) can be accurately measured.

As described above, although the present invention has been described by means of limited embodiments and drawings, the present invention is not limited thereto, and various modifications and variations are possible by those skilled in the art within the technical idea of the present invention and the scope of equivalents of the patent claims to be described below.

Meanwhile, although terms indicating directions such as up, down, left, right, front, and back are used in the present invention, it is obvious to those skilled in the art that these terms are only for convenience of explanation and may vary depending on the location of the target object or the location of the observer.

(Explanation of symbols)

1, 2: Surgical device

10: Surgical department

20 : Connection

30 : Drive module

31 : Housing

32: 1st drive unit

33: Second drive unit

34: Operation Guide Section

35 : Guide shaft

36: Rotating guide part

37 : Force Measuring Unit

W: Tendon

W1: 1st tendon

W2: 2nd tendon

Claims (19)

A surgical unit configured to be driven by tendons; A connecting portion connected to the above surgical section and accommodating the tendon therein; and A surgical device characterized by including a driving module that supports the connecting portion and the tendon and enables motion driving of at least one degree of freedom of the tendon. In paragraph 1, The above driving module, A housing that rotatably supports the above connecting part and accommodates the tendon therein; A first driving unit provided within the housing and configured to support a single first tendon among the tendons and move along the longitudinal direction of the housing or rotate around the central axis of the housing; and A surgical device characterized by including a second driving unit provided in the housing to support a plurality of second tendons among the tendons and configured to move along the longitudinal direction of the housing or rotate around the central axis of the housing. In the second paragraph, The above driving module, An operating guide part provided in the housing and configured to guide movement of the first driving part and the second driving part in the longitudinal direction of the housing; and A surgical device characterized in that it further includes a guide shaft provided in the housing and configured to guide movement of the first driving unit and the second driving unit in the longitudinal direction of the housing or rotational driving about the central axis of the housing. In the third paragraph, The above first driving unit is, A drive block configured to support the first tendon and move along the longitudinal direction of the housing or rotate about the central axis of the housing; A driving block operating unit arranged in the above operating guide unit and configured to move the driving block along the longitudinal direction of the housing; and A surgical device characterized by including a power transmission unit provided on the driving block and configured to move the driving block along the longitudinal direction of the housing when coupled with the driving block operating unit. In paragraph 4, The above driving block operating part includes a fixing projection configured to be inserted into the fixing groove of the operating guide part, The above drive block operating section is, A surgical device characterized in that the fixing projection is configured to be released from engagement with the power transmission unit while being inserted into the fixing groove. In paragraph 4, The above power transmission unit includes a groove portion into which an end of the drive block operating unit is configured to be insertable, The above power transmission unit, A surgical device characterized in that the rotation about the central axis of the housing is limited when the end of the driving block operating part is inserted into the groove. In the third paragraph, The above second driving unit, A first guide block configured to support one of the second tendons and move along the longitudinal direction of the housing or rotate about the central axis of the housing; and A surgical device characterized by including a second guide block arranged to face the first guide block in the longitudinal direction of the housing, supporting another one of the second tendons, and configured to move along the longitudinal direction of the housing or rotate around the central axis of the housing. In Article 7, The above second driving unit, A surgical device characterized by further comprising a guide gear disposed between the first guide block and the second guide block and configured to guide movement of the first guide block and the second guide block in different directions in the longitudinal direction of the housing. In Article 8, The above first guide block, It includes a first driving guide portion formed to extend in the length direction of the housing from one side of the first guide block, The above second guide block, A second driving guide portion is formed by extending in the longitudinal direction of the housing from one side of the second guide block opposite to one side of the first guide block, The above guide gear, A surgical device characterized in that it is configured to be rotatable between the first driving guide part and the second driving guide part in a direction perpendicular to the longitudinal direction of the housing. In Article 9, The above first driving guide part and the above second driving guide part, A surgical device characterized in that it is configured to move the same distance in the longitudinal direction of the housing according to the rotation of the guide gear. In Article 7, The above second driving unit, A guide block operating unit arranged in the above operating guide unit and configured to move the first guide block along the longitudinal direction of the housing; and A surgical device characterized by further comprising a guide power transmission unit provided on the first guide block and configured to move the first guide block along the longitudinal direction of the housing when coupled with the guide block operating unit. In Article 11, The above guide block operating part includes a fixing projection configured to be inserted into the fixing groove of the above operating guide part, The above guide block operating section is, A surgical device characterized in that the fixing projection is configured to be released from engagement with the guide power transmission unit while being inserted into the fixing groove. In Article 11, The above guide power transmission unit includes a groove into which an end of the guide block operating unit can be inserted, The above guide power transmission unit is, A surgical device characterized in that the rotation about the central axis of the housing is restricted when the end of the guide block operating part is inserted into the groove. In the third paragraph, The above driving module, A surgical device characterized by including a rotation guide unit having a rotation block provided in the housing and connected to the first driving unit and the second driving unit through a guide shaft to rotate the first driving unit and the second driving unit around the central axis of the housing. In the second paragraph, The above driving module, A guide shaft provided within the housing and configured to guide motion driving of at least one degree of freedom of the tendon by the driving module; and A surgical device characterized by further comprising a force measuring unit coupled to the guide shaft and configured to measure the tension of the tendon according to the driving of the driving module and measure the force applied to the end of the surgical section. In Article 15, The above force measuring unit, A surgical device characterized by including an elastic body configured to provide initial tension to the tendon by elastic force before the driving of the driving module and to be elastically deformed according to the tension applied to the tendon by the driving of the driving module. In Article 16, The above force measuring unit, A measuring guide block coupled to the above guide shaft and configured to support the elastic body and the tendon; and A surgical device characterized in that it further includes an elastic body guide part provided in the above measurement guide block and configured to guide compression of the elastic body or tension of the elastic body according to tension applied to the tendon by driving of the driving module. In Article 17, The above elastic guide part, An elastic body guide rod provided with the elastic body and configured to guide compression of the elastic body or tension of the elastic body according to tension applied to the tendon by driving of the driving module; An elastic guide housing provided on the above measuring guide block and configured to support the elastic guide rod; and A surgical device characterized by including a tendon connecting part, one end of which is connected to the elastic guide rod and the other end of which is connected to the tendon, and configured to contact one end of the elastic body on the elastic guide rod, and configured to move along the elastic guide rod to compress the elastic body when a tension greater than the initial tension is applied to the tendon by the driving of the driving module. In Article 18, The above force measuring unit, A surgical device characterized by further comprising a displacement measuring sensor provided on the tendon connecting portion and configured to measure displacement of the tendon toward the surgical portion when the tendon connecting portion moves along the elastic body guide rod to compress the elastic body when a tension greater than the initial tension is applied to the tendon by driving the driving module.