KR101502446B1 - Spine surgical instrument and surgical robot system employing the same - Google Patents

Spine surgical instrument and surgical robot system employing the same Download PDF

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Publication number
KR101502446B1
KR101502446B1 KR20140010358A KR20140010358A KR101502446B1 KR 101502446 B1 KR101502446 B1 KR 101502446B1 KR 20140010358 A KR20140010358 A KR 20140010358A KR 20140010358 A KR20140010358 A KR 20140010358A KR 101502446 B1 KR101502446 B1 KR 101502446B1
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KR
South Korea
Prior art keywords
tool
tool holder
guide
holder
external force
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KR20140010358A
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Korean (ko)
Inventor
권영식
한승철
한정민
정재헌
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주식회사 고영테크놀러지
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Priority to KR20140010358A priority Critical patent/KR101502446B1/en
Priority to PCT/KR2015/000925 priority patent/WO2015115807A1/en
Application granted granted Critical
Publication of KR101502446B1 publication Critical patent/KR101502446B1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
    • A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
    • A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3472—Trocars; Puncturing needles for bones, e.g. intraosseus injections
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A61B2090/571—Accessory clamps for clamping a support arm to a bed or other supports

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Neurology (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Surgical Instruments (AREA)

Abstract

The vertebral surgical instrument includes a tool, a tool holder, and a tool holder guide. The tool is inserted into the patient's body to drill the spine. The tool holder is combined with the tool to hold the tool and is rotated together with the tool by a first external force externally provided to advance forward. The tool holder guide is disposed so as to surround at least a part of the tool holder and is detachably joined to the tool holder. The tool holder guide receives the first external force from the tool holder when it is joined with the tool holder and advances forward, The tool is released from the tool holder to be detached from the tool holder by the second external force. Thus, the risk of the patient during the procedure can be prevented.

Description

TECHNICAL FIELD [0001] The present invention relates to a surgical instrument for vertebrae, and a surgical robot system using the same.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a surgical instrument for vertebrae and a surgical robot system employing the same. More particularly, the present invention relates to a surgical instrument for vertebrae and a surgical robot system employing the same.
The present invention has been derived from research carried out as part of the industrial source technology development project of the Ministry of Knowledge Economy [Task No.: 10040097, Title: Minimally Invasive Multi-Degree-of-Freedom Surgical Robot System for Otolaryngology- Technology development].

In general, spinal surgery is performed by incising the skin of the injured vertebrae of a patient, inserting the pedicle screw into the vertebra bone, connecting it with a rod, fixing the rod by fastening the bolt to the pedicle screw, etc. Lt; / RTI >

These spinal procedures have a problem that the patient's pain is increased and the recovery is delayed because of the large infiltration site of the patient. Therefore, we do not open the entire surgical site and use surgical instruments such as endoscope or surgical microscope Minimally invasive methods have been developed for the operation.

In order to adopt such a minimally invasive method, recently, a spinal surgical instrument has been developed and used. A tube such as a cannula is inserted into a surgical site, and a tool having a drill is inserted therein, A method of performing a drilling operation is utilized.

However, in such a case, since a tube such as the cannula only includes a function of guiding the tool, it is inconvenient for a practitioner such as a doctor to use it, There is a problem that it is difficult for an operator to quickly and easily remove the danger.

Therefore, the problem to be solved by the present invention is that it is convenient to use, and when the drilling operation is performed on the patient's spine, the operator can quickly and easily remove the danger And to provide a surgical instrument for vertebrae.

Another object of the present invention is to provide a surgical robot system employing the above-described surgical instrument.

A surgical instrument for vertebra according to an exemplary embodiment of the present invention includes a tool, a tool holder, and a tool holder guide. The tool is inserted into the patient's body to drill the spine. The tool holder is coupled with the tool to hold the tool, and is rotated together with the tool by a first external force provided from the outside, and is advanced forward. Wherein the tool holder guide is disposed so as to surround at least a part of the tool holder and is detachably joined to the tool holder and receives the first external force from the tool holder when the tool holder is joined to the tool holder, The tool is separated from the tool holder rearwardly so that the tool can be released from the affected part by a second external force externally provided to the tool holder.

In one embodiment, the tool may include a tool body having a rod shape and a drill disposed at an end of the tool body to drill the spine.

In one embodiment, the tool holder includes a holder body having a cylindrical shape, a tool drill handle formed integrally with the holder body and to which the first external force is applied, and at least one of the holder body and the tool drill handle And a first joint formed on the tool holder guide and joined to the tool holder guide.

In one embodiment, the tool holder guide has a cylindrical shape and is formed to surround the holder body, and includes a guide body for guiding the holder body and a guide body integrally formed with the guide body, 1 < / RTI > junction.

In one embodiment, the apparatus may further include a support portion that receives and supports at least a part of the tool holder guide and is mounted and fixed to a fixing mechanism provided from the outside. In one embodiment, the support portion may include a support body and a support unit disposed in the support body, the support member supporting the tool holder guide penetrating through the tool holder guide. In one embodiment, the support may further include a tool stopper that interrupts advancement of the toolholder guide when the toolholder guide reaches a predetermined hazardous position in response to advancement of the toolholder guide have. For example, a drill can be formed at one end of the tool, and the tool stopper is disposed at one end of the support body corresponding to the drill, and the tool holder guide according to the first external force, And an elastic member for pressing the tool holder guide backward in accordance with advancement.

A surgical robot system according to an exemplary embodiment of the present invention includes a surgical instrument, a robot arm, and a fixation portion. The surgical instrument includes a tool inserted into a patient's body to perform a treatment of the affected part, a tool holder coupled with the tool to hold the tool and advance forward with the tool by an external force, at least a portion of the tool holder Wherein the tool is detachably connected to the tool holder, and when the tool is coupled with the tool holder, the tool receives the external force from the tool holder and advances forward, and by the second external force provided from the outside to the tool holder, And a support for receiving and supporting at least a part of the tool holder guide. The robot arm moves the surgical instrument to a first position. The fixing part is installed on the robot arm to fix the surgical instrument.

In one embodiment, the surgical robot system may further include a transfer unit installed on the robot arm and coupled to the fixed unit, and configured to move the surgical instrument from the first position to the second position.

The surgical instrument for vertebra according to the present invention includes a tool, a tool holder, and a tool holder guide, and the tool and the tool holder are engaged, and the tool holder and the holder guide are detachably joined, When an abnormality occurs in the patient's body or a dangerous state occurs during the operation, the operator who senses the abnormality can quickly and easily remove the tool from the affected part.

In addition, since the spinal surgery instrument is simple in structure and easy to use, the operator can easily perform the operation of the patient.

In addition, when the spinal operative instrument includes a tool stopper, the tool stopper can limit the depth of insertion of the drill with respect to advancement of the tool according to the drill motion, thereby avoiding the risk of the patient.

1 is a side view showing a surgical instrument for vertebra according to an embodiment of the present invention.
FIGS. 2 and 3 are conceptual diagrams for explaining driving of the surgical instrument for vertebrae shown in FIG.
FIG. 4 is a side view showing an embodiment in which a supporting portion is coupled to the vertebral surgical instrument of FIG. 1; FIG.
5 is a perspective view illustrating a surgical robot system according to an embodiment of the present invention.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

1 is a side view showing a surgical instrument for vertebra according to an embodiment of the present invention.

1, a spinal surgical instrument 100 according to an exemplary embodiment of the present invention includes a tool 110, a tool holder 120, and a tool holder guide 130, .

The tool 110 is inserted into the patient's body to drill the vertebrae.

In one embodiment, the tool 110 may include a tool body 112 and a drill 114.

The tool body 112 may have, for example, a rod shape. 1, the tool body 112 may be disposed to penetrate through an inner space of a tool holder 120 and a tool holder guide 130, which will be described later.

The drill 114 is disposed at an end of the tool 110 body and is provided for drilling the spine. The drill 114 may be integrally coupled to the tool body 112 or may be detachably coupled to the tool body 112. [

Accordingly, when performing the operation of inserting the pedicle screw into the drilled position after the drilling operation using the drill 114 is completed, the insertion operation can be performed using a tool provided with the pedicle screw, Alternatively, the insertion procedure may be performed by replacing the drill 114 with a pedicle screw, and coupling the pedicle screw to the tool body 112. FIG.

The tool holder 120 is coupled with the tool 110 to hold the tool 110 and is rotated together with the tool 110 by a first external force provided from the outside to advance forward.

In one embodiment, the tool holder 120 may include a holder body 122, a tool drill handle 124, and a first joint 126.

The holder body 122 may have, for example, a cylinder shape. 1, the holder body 122 may be disposed through an inner space of a tool holder guide 130, which will be described later.

The tool drill handle 124 is integrally formed with the holder body 122 and is applied with the first external force. For example, the first external force corresponds to a torque and a pushing force, and a practitioner such as a doctor may manually apply the force using a hand. For example, the tool drill handle 124 may have a flat cylindrical shape, and at least one groove corresponding to the shape of the finger may be formed so that the practitioner can manually apply the first external force.

The first joint 126 is formed on at least one of the holder body 122 and the tool drill handle 124 and is joined to the tool holder guide 130. 1, the first joint 126 may be formed as a projection on one side of the tool drill handle 124. As shown in FIG.

The tool holder guide 130 is disposed to surround at least a part of the tool holder 120 and is detachably joined to the tool holder 120. Accordingly, when the tool holder guide 130 is joined to the tool holder 120, the tool holder guide 130 receives the first external force from the tool holder 120 and moves forward. The tool holder guide 130 is separated from the tool holder 120 rearwardly by a second external force provided from the outside to the tool holder 120 such that the tool 110 can be detached from the ring portion.

In one embodiment, the tool holder guide 130 may include a guide body 132 and a second abutment 134.

The guide body 132 may have, for example, a cylindrical shape. The guide body 132 is formed to enclose the holder body 122 and can guide the holder body 122. 1, the holder body 122 and the guide body 132 each have a cylindrical shape, and the inner diameter of the cylindrical shape of the guide body 132 is larger than the inner diameter of the holder body 122 may be slightly larger than the outer diameter of the cylindrical shape of the cylinder. Accordingly, when the tool holder guide 130 and the tool holder 120 are joined, the whole of the holder body 122 can be disposed in the guide body 132, and the tool holder guide 130 The holder body 122 can be guided and moved by the guide body 132 in the guide body 132 when the tool holder 120 and the tool holder 120 are separated by the second external force.

The second joint 134 is integrally formed with the guide body 132 and is joined to the first joint 126 corresponding to the first joint 126. The tool holder 120 and the tool holder guide 130 are in a locking mode due to the joining of the first joint part 126 and the second joint part 134. By the first external force of the operator, A drill motion can be performed. When the first joint portion 126 and the second joint portion 134 are separated by the second external force, the tool holder 120 moves backward from the tool holder guide 130, Driving force such as external force can be removed. For example, the second external force corresponds to a pulling force, and the operator can manually apply the force using the hand

FIGS. 2 and 3 are conceptual diagrams for explaining driving of the surgical instrument for vertebrae shown in FIG. FIG. 2 is a conceptual view illustrating a locked state operation in which the tool holder 120 and the tool holder guide 130 are joined. FIG. 3 is a schematic view illustrating a state where the tool holder 120 and the tool holder guide 130 are separated Is a conceptual diagram showing the operation in the released state.

2, when the tool holder 120 and the tool holder guide 130 are joined by the first joint portion 126 and the second joint portion 134, a rotational force corresponding to the first external force The tool holder 120 and the tool holder guide 130 rotate integrally and forward (corresponding to the left side in FIG. 2) when the tool TQ and the compressive force PS are applied by the practitioner Advance. Thereby, a drilling operation can be performed on the spine of the patient.

3, when the tensile force PL corresponding to the second external force is applied by the practitioner, the tool holder 120 and the tool holder guide 130 are moved to the first joint 126 and / The second joint 134 is separated and the tool holder 120 moves backward (corresponding to the right side in FIG. 2). Accordingly, the tool 110 and the tool holder 120, which are integrally combined, are guided by the tool holder guide 130 and are released rearward, and the driving force can be completely removed.

Accordingly, when an abnormality occurs in the patient's body or a dangerous state occurs during the drilling operation, the operator who senses the abnormality can quickly and easily remove the tool 110 from the affected part.

FIG. 4 is a side view showing an embodiment in which a supporting portion is coupled to the vertebral surgical instrument of FIG. 1; FIG.

Referring to FIG. 4, the vertebral surgical instrument 100 may further include a support portion 140.

The support part 140 receives and supports at least a part of the tool holder guide 130, and can be mounted and fixed to a fixing mechanism provided from the outside.

In one embodiment, the support 140 may include a support body 142 and a support unit 144.

The support body 142 may have a cylindrical shape, for example, and may receive at least a portion of the tool holder guide 130.

The support unit 144 is disposed in the support body 142 and penetrates the tool holder guide 130 to support the penetrated tool holder guide 130. For example, the support unit 144 may include a bearing capable of supporting the holder guide 130 so as to be rotatable.

In one embodiment, the support 140 may further include a tool stopper 146. The tool stopper 146 may prevent advancement of the tool holder guide 130 when the tool holder guide 130 reaches a predetermined dangerous position corresponding to advancement of the tool holder guide 130.

For example, the tool stopper 146 may be disposed at one end of the support body 142 corresponding to the drill 114 formed at one end of the tool 110. The tool stopper 146 may include an elastic member such as a spring that presses the tool holder guide 130 backward as the tool holder guide 130 advances according to a first external force provided from the outside have. In Fig. 4, the elastic member shows a coil spring, but the elastic member is not limited thereto, but may be another member having elasticity.

Therefore, the tool stopper 146 can limit the depth of insertion of the drill 114 with respect to advancement of the tool 110 according to the drill motion, thereby avoiding the risk of the patient.

Hereinafter, an embodiment of a surgical robot system including the spinal surgical instrument 100 will be described in detail with reference to the drawings.

5 is a perspective view illustrating a surgical robot system according to an embodiment of the present invention.

Referring to FIG. 5, a surgical robot system 1000 according to an exemplary embodiment of the present invention includes a surgical instrument 100a, a robot arm 200, and a fixation portion 300. FIG.

The surgical instrument 100a is substantially the same as the surgical instrument 100 for vertebrae described with reference to FIGS. 1 to 4, so that redundant description will be omitted. Meanwhile, the surgical instrument 100a has the same structure as the spinal surgical instrument 100, but can also be used for a procedure other than the spine.

The robot arm 200 moves the surgical instrument 100a to the first position. The robot arm 200 may be installed on the treatment table 10 on which the patient is placed and may be provided with the surgical instrument 100a in a predetermined position on the three- 1 position.

The fixing part 300 is installed on the robot arm 200 to fix the surgical instrument 100a. For example, the support portion 140 (see FIG. 4) of the surgical instrument 100a may be mounted on the fixing portion 300 and fixed.

In one embodiment, the surgical robot system 1000 may further include a transfer unit 400.

The transfer unit 400 is installed on the robot arm 200 and is coupled to the fixing unit 300 to move the surgical instrument 100a from the first position to the second position. Specifically, after the surgical instrument 100a is moved to the first position by the robot arm 200, the practitioner can use the transfer unit 400 to precisely align the surgical instrument 100a with the second Position.

According to the present invention as described above, the surgical instrument for vertebrae includes a tool, a tool holder, and a tool holder guide, and the tool and the tool holder are engaged, and the tool holder and the holder guide are detachably joined, The operator can quickly and easily remove the tool from the affected part when the body of the patient experiences an anomaly or a dangerous state during the drilling operation.

In addition, since the spinal surgery instrument is simple in structure and easy to use, the operator can easily perform the operation of the patient.

In addition, when the spinal operative instrument includes a tool stopper, the tool stopper can limit the depth of insertion of the drill with respect to advancement of the tool according to the drill motion, thereby avoiding the risk of the patient.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Accordingly, the foregoing description and drawings are to be regarded as illustrative rather than limiting of the present invention.

100: surgical instrument for spine 110: tool
120: Tool holder 130: Tool holder guide
140: Support part 200: Robot arm
300: Fixing unit 400:
1000: Surgical robot system

Claims (10)

A tool inserted into the patient's body to drill the spine;
A tool holder coupled with the tool to hold the tool and rotated together with the tool by a first external force externally provided and advanced forward; And
The tool holder according to any one of claims 1 to 3, further comprising: a tool holder for holding the tool holder, wherein the tool holder is detachably attached to at least a portion of the tool holder, And a tool holder guide which is separated rearward from the tool holder such that the tool is released from the affected part by a second external force provided. 2. The apparatus of claim 1,
A tool body having a rod shape; And
And a drill disposed at an end of the tool body for drilling the vertebrae. The tool holder according to claim 1,
A holder body having a cylindrical shape;
A tool drill handle formed integrally with the holder body and to which the first external force is applied; And
And a first joint formed on at least one of the holder body and the tool drill handle and joined to the tool holder guide. The tool holder according to claim 3,
A guide body having a cylindrical shape and configured to surround the holder body, the guide body guiding the holder body; And
And a second joint portion formed integrally with the guide body and corresponding to the first joint portion and joined to the first joint portion. The method according to claim 1,
Further comprising: a support portion that receives and supports at least a portion of the tool holder guide and is mounted and fixed to a fixing mechanism provided from the outside. 6. The apparatus according to claim 5,
A support body; And
And a support unit disposed in the support body to penetrate the tool holder guide and support the penetrated tool holder guide. 7. The apparatus according to claim 6,
Further comprising a tool stopper interfering with advancement of the toolholder guide when the toolholder guide reaches a predetermined hazardous position in response to advancement of the toolholder guide. 8. The method of claim 7,
A drill is formed at one end of the tool,
The tool stopper
And an elastic member disposed at one end of the support body corresponding to the drill and pressing the tool holder guide backward in accordance with advancement of the tool holder guide according to a first external force provided from the outside Surgical instrument for spine. A tool holder inserted in the body of the patient to manipulate the affected part; a tool holder coupled with the tool to hold the tool and advance forward with the tool by an external force; The tool holder being detachably connected to the tool holder and being adapted to receive the external force from the tool holder when the tool holder is coupled with the tool holder and to forward the tool holder and to allow the tool to be detached from the foreign matter portion by a second external force, A tool holder guide retracted rearward from the tool holder, and a support for receiving and supporting at least a portion of the tool holder guide;
A robot arm for moving the surgical instrument to a first position; And
And a fixing unit installed on the robot arm to fix the surgical instrument. 10. The method of claim 9,
Further comprising a transfer unit installed on the robot arm and coupled to the fixed unit, for transferring the surgical instrument from the first position to the second position.
KR20140010358A 2014-01-28 2014-01-28 Spine surgical instrument and surgical robot system employing the same KR101502446B1 (en)

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PCT/KR2015/000925 WO2015115807A1 (en) 2014-01-28 2015-01-28 Surgical instrument for spine, and surgical robot system using same

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WO2022103165A1 (en) * 2020-11-13 2022-05-19 주식회사 이지엔도서지컬 Apparatus for locking surgical instrument by using magnetic force
KR20220065276A (en) * 2020-11-13 2022-05-20 주식회사 이지엔도서지컬 Locking apparatus of surgical instruments using magnetic force
KR102463770B1 (en) 2020-11-13 2022-11-04 주식회사 로엔서지컬 Locking apparatus of surgical instruments using magnetic force

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