KR101684863B1 - Instrument of surgical apparatus having multi-function - Google Patents

Abstract

The instrument of the surgical operation apparatus having a plurality of functions according to the present invention is configured such that a pair of surgical members mutually cooperate in a plurality of directions to implement a plurality of surgical operation pairs, By applying a surgical instrument, it is possible to realize a multifunctional instrument, thereby shortening the operation time, such as replacement time of the instrument, and reducing the number of instruments to be inserted in the body. Thereby providing an effect that can be improved.

Description

[0001] The present invention relates to an instrument of a surgical instrument having multiple functions,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical operation apparatus, such as a robot or a manual surgical instrument, and more particularly to a structure of an instrument mounted on a surgical operation apparatus and adapted to perform surgery by being inserted or inserted into a human tissue.

Medically, surgery refers to the use of a medical device to cut skin, mucous membranes, or other tissues, or to repair the disease by applying other manipulations or other manipulations. Particularly, the incision of the skin of the surgical site to open and treat or mold or remove the internal organs of the internal organs is an effective method for minimizing the side effects due to bleeding, side effects, pain and scarring of the patient Laparoscopic surgery is expanding its application range.

Laparoscopic surgery refers to surgery that proceeds while observing the body with an endoscope or the like by inserting a surgical tool while minimizing the laparotomy site. To this end, various surgical instruments (scissors, forceps, clip, etc.) are mounted on the distal end, Hand-held surgical instruments that allow manual operation of a physician in vitro are widely used.

In addition, a surgical operation using a robot is also popular as an alternative. In general, such a surgical robot generally includes a master robot for generating and transmitting signals required by a physician's manipulation, And a slave robot for directly manipulating the patient to perform operations necessary for the operation. The master robot and the slave robot are integrally constructed, or they are configured as separate devices and are placed in the operating room.

FIG. 1 is a view of the apparatus disclosed in U.S. Patent No. 5,797,900, which is mounted on a robot arm of a slave robot and inserted into a skin mucous membrane or skin of a human body to perform an incision or the like of a tissue.

The instrument 10 shown in Fig. 1 is provided with a pair of surgical members 14 for surgery at one end of a tubular member 12 and a surgical member (not shown) 14 is provided with an instrument housing (not shown) coupled to the adapter of the robot arm.

Operation cables (C1, C2) connected through the inside of the tubular member (12) are connected between the surgical member (14) and the housing of the instrument (10). The operation cables C1 and C2 are connected to the respective surgical members 14a and 14b so as to move the respective surgical members 14a and 14b with the two cables forming a pair. That is, the pair of operation cables C1 are connected to move the first surgical member 14a, and the other pair of operation cables C2 are connected to move the second surgical member 14b.

The first and second surgical members 14a and 14b are connected to the wrist member 17 in accordance with the rotation of the respective rotator members 15a and 15b to which the two pairs of the operation cables C1 and C2 are connected. And is rotatably connected about the joint axis 16 in the front portion.

The wrist member 17 is rotatably connected to the tubular member 12. The axis connecting the wrist member 17 and the tubular member 12 guides movement of the two pairs of the operation cables C1 and C2 And an idler pulley 19 for supporting and supporting the idler pulleys 19 are provided.

The instrument 10 configured as described above operates the driving unit of the instrument 10 by the doctor operating the master robot in a state where the instrument 10 is connected to the robot arm of the slave robot, The pair of operation cables (C1, C2) can be pulled or pushed so that the pair of surgical members (14a, 14b) can be put in close contact with each other or separated from each other to cut the body tissue.

However, since the conventional instruments including the instrument 10 disclosed in the above-mentioned U.S. patent are constructed so as to be able to perform the operation while two pairs of the surgical members are arranged, a single surgical tool As shown in FIG.

In general, one operation requires a medical instrument with each function. In surgical robots, a plurality of instruments (10) having different functions must be used. However, if an operation is performed using an instrument having an independent function, a plurality of instruments may be inserted into the body at once, and an instrument corresponding to each function may be operated. Alternatively, an instrument having a desired function may be replaced It is necessary to perform surgery after inserting it in the body again. Therefore, it takes a long time to perform the operation, and the operation procedure becomes complicated.

On the other hand, even in the case of a hand-held surgical instrument, there is a difference in that the manipulation at the distal end is performed manually, such as a physician's hand, rather than a robot. The structure and operation principle of the instrument itself are substantially similar to those described above There is a problem.

SUMMARY OF THE INVENTION The present invention is conceived to solve the problems described above, and it is an object of the present invention to provide a surgical instrument which can perform a plurality of surgical operations using a pair of surgical members without replacing a surgical tool, And to provide an instrument for a surgical apparatus having the same.

According to an aspect of the present invention, there is provided an instrument for a surgical operation apparatus having a plurality of functions, including: a body; A pair of surgical members provided at an end of the body to perform a surgical operation while being in contact with a human body; A joint portion connected between the body and the pair of surgical members so that the pair of surgical members mutually cooperate in a plurality of directions to implement a plurality of pairs of surgical operations; And a driving force transmitting member connected to at least one of the pair of the surgical member and the joint unit to allow the pair of surgical members to perform a surgical operation.

According to an embodiment of the present invention, the joint portion may include a pair of rotatable members rotatable about a first axis supported by the body so as to be rotatable relative to each other, And a pair of second shafts connecting the first and second shafts.

At this time, it is preferable that the first axis and the pair of second shafts are arranged in directions orthogonal to each other.

According to another embodiment of the present invention, the pair of surgical members are divided into a stationary surgical member which does not move, and a movable surgical member which moves in a plurality of directions around the fixed surgical member, A fixed connection part for connecting the surgical member to the body, and a movable connection part for connecting the movable surgical member to the fixed surgical member or the body.

The movable connection unit may include a rotating body rotating about a first axis supported by the fixed surgical member or the body, and a second shaft connecting the rotating body and the movable surgical member in a relatively rotatable manner .

Alternatively, the movable connection portion may be formed of a ball joint or a free-flex joint.

According to another embodiment of the present invention, the joint portion may be composed of a plurality of ball joints connected between the body and the respective surgical members, or may be composed of a plurality of free-bending joints connected between the body and the respective surgical members have.

Meanwhile, the driving force transmitting member may be constituted by a manipulation cable connected to at least one of the joint portion and the pair of surgical members.

Alternatively, the driving force transmitting member may be composed of a rod or a wire connected to at least one of the joint portion and the pair of surgical members.

The driving force transmitting member may include a plurality of rods, and at least one rod may be formed in a pipe-like structure so that the driving force can be transmitted in a state where another rod is inserted.

According to an embodiment of the present invention, the pair of surgical members may be configured to perform a gripping function in a first cooperation direction and a scissoring function in a second cooperation direction.

The above and other objects and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which: In addition to the principal task solutions as described above, various task solutions according to the present invention will be further illustrated and described.

The instrument of the surgical operation apparatus having a plurality of functions according to the present invention enables the use of a plurality of surgical instruments in one instrument so that the operation can be performed easily and quickly without replacing the instrument.

That is, the present invention can realize a multifunctional instrument by allowing a plurality of surgical instruments to be applied by using one instrument having a pair of surgical members, thereby shortening the operation time, such as replacement time of the instrument, It is possible to reduce the number of instruments and simplify the operation procedure. In addition, the surgical robot can simplify the overall configuration of the robot. In addition, since the surgery can be performed quickly for the patient, It is possible to greatly improve convenience and efficiency of the system.

1 is a perspective view showing a conventional instrument.
2 to 8 are diagrams showing the instrument of the first embodiment according to the present invention,
2 is a perspective view,
3 is an exploded perspective view,
4 is a schematic view of the operation cable connection state,
FIGS. 5 and 6 are diagrams showing the state of use of the clip,
Figs. 7 and 8 are diagrams illustrating the use of the scissors.
9A to 11 are views showing an instrument of a second embodiment according to the present invention,
Figs. 9A and 9B are side views showing a state of use of the pincers,
10A and 10B are plan views showing a state of use of scissors,
11 is a rear view.
12A to 14 illustrate an instrument according to a third embodiment of the present invention,
Figs. 12A and 12B are side views showing a state of using a tongue,
13A and 13B are plan views showing the state of use of the scissors,
14 is a rear view.
15 is a side view of an instrument according to a fourth embodiment of the present invention.
16 to 19 are views showing an instrument of a fifth embodiment according to the present invention,
Figs. 16 and 17 are side views showing the state of use of the clip,
18 and 19 are plan views showing the state of use of the scissors.
20 to 23 are views showing an instrument of a sixth embodiment according to the present invention,
Figs. 20 and 21 are side views showing the state of use of the clip,
22 and 23 are plan views showing the state of use of the scissors.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

Various embodiments of the present invention will be described below focusing on a surgical member, which is a major part of the present invention, and a driving force transmitting member such as a driving unit (operation driving mechanism) and an operating cable for operating the driving force transmitting member, And the slave robot to be connected can be variously modified and applied by applying a known technology, so that the drawings and detailed description thereof will be omitted.

In describing various embodiments of the present invention, the same reference numerals are assigned to the same or similar constituent elements, and a repetitive description thereof will be omitted.

A first embodiment of the present invention will be described.

2 to 8 are a perspective view (Fig. 2), an exploded perspective view (Fig. 3), a schematic diagram of the operation cable connection state (Fig. 4) And Fig. 6), and the state of using the scissors (Figs. 7 and 8).

In Fig. 2, reference numeral 21 denotes a body.

The body 21 may be a shaft or a tube member extending from the driving portion of the instrument so as to be capable of supporting the pair of surgical members 30 and the joint portion 40. Also, the body 21 may be assembled to a wrist member connected to the shaft or the tube member.

It is preferable that the body 21 is formed in a hollow tubular structure so that the driving force such as the operation cables C1, C2, C3, C4 for operating the pair of the surgical members 30 into the body 21 So that the transmitting member can pass through.

The body 21 may have a configuration in which both the support portions 23 are projected forward (in the direction of the surgical member) so that the joint portion 40 can be rotatably supported. The configuration in which the both support portions 23 are projected forward prevents the pair of surgical members 30 from interfering with each other when the pair of the surgical members 30 move in a plurality of directions. The shape and structure of the joint portion 40 can be variously modified.

It is needless to say that the body 21 can be appropriately modified in accordance with the structure of the instrument as long as the structure can support the pair of the surgical members 30 and the joint unit 40. [

A pair of surgical members 30 for performing a surgical operation while being in contact with a human body are provided at an end (or front side) of the body 21 as described above, and between the pair of surgical members 30 and the body 21 There is provided a joint unit 40 in which a plurality of pairs of the surgical members 30 are mutually cooperated to connect the surgical members 30 so as to realize a plurality of surgical operation pairs. The operation cables C1, C2, C3, and C4 are connected to the pair of surgical members 30 and the joint unit 40 to operate the pair of surgical members 30, respectively.

Each of these components will be described in detail as follows.

First, the pair of surgical members 30 are each formed into a long bar-shaped structure, and the end portions are configured to come into close contact with or come into contact with each other, thereby realizing a specific surgical function.

Referring to FIG. 3, the first and second surgical members 31 and 32 have a structure in which a pair of the surgical members 30 illustrated in the drawing illustrate a structure capable of performing a pulling function and a scissors function. The 'A' surfaces facing each other perform the function of tongs, and the 'B' surfaces facing each other on the sides are configured to be able to perform the function of scissors in mutual contact.

That is, the pair of the surgical members 30 are moved in the first cooperative direction (directions D and U in FIG. 2) with the first surgical member 31 and the second surgical member 32 about the joint 40 The first and second surgical members 31 and 32 are configured to perform a scissors function when the first and second surgical members 31 and 32 move in the second cooperative direction (R and L directions in FIG. 2) .

The pair of the surgical members 30 can be variously modified in shape and mutual contact structure depending on the inherent function of realizing a surgical operation. In the drawing, a structure in which a pair of surgical members 30 are bent in a direction facing each other from an intermediate portion to an end portion of each surgical member is illustrated so that the pair of surgical members 30 can smoothly come into contact with each other.

Next, the joint unit 40 connecting the pair of surgical members 30 so as to realize a surgical operation while moving in a plurality of cooperation directions will be described.

3, the joint unit 40 includes a pair of rotors 41 and 42 connected to each other so as to be relatively rotatable about a first axis X supported by the body 21, And a pair of second axes Y1 and Y2 for connecting the entire body 41 and the respective surgical members 31 and 32 in a relatively rotatable manner.

The pair of rotating bodies 41 and 42 are configured to rotate relative to each other while being arranged side by side about the first axis X as illustrated in the figure. Each of the surgical members 31 and 32, The portion where the second axis Y1 and the second axis Y2 are connected may be configured to have a relatively large area for smooth construction of the second axis.

The pair of rotating bodies 41 and 42 are relatively rotatable between the supporting portions 23 of the body 21 as described above. The first axis X is supported by the both supporting portions 23 So that the pair of rotatable members 41 and 42 can be supported rotatably relative to each other.

The first axis X is not limited to a single shaft structure but may be configured to support the pair of rotors 41 and 42 so as to be rotatable while being fixed to both the support portions 23, It is possible to protrude from the rotating bodies 41 and 42 and be rotatably supported by the both supporting portions 23. [

The pair of surgical members 30 are rotatably assembled to the pair of rotors 41 and 42 through the respective second axes Y1 and Y2. The second axes Y1 and Y2 are also rotatable It is possible to adopt a structure in which the surgical members 31 and 32 are fixed to either of the rotating bodies 41 and 42 relative to the rotating bodies 41 and 42 and are not fixed but sandwiched in a single shaft structure.

In the drawing, the first axis X and the pair of second axes Y1 and Y2 are arranged in a direction perpendicular to the first axis X and the second axis Y1, (Y2) are arranged in a cross shape as a whole, so that the whole structure is compact and the operation is smooth. However, the present invention is not necessarily limited to this, and the pair of second axes Y1 and Y2 may be disposed on different axial lines rather than on the same axial line.

Next, a pair of the surgical members 30 configured as described above and the driving force transmitting member for operating the joint unit 40 will be described.

The driving force transmitting member can be constructed using a known operation connecting member such as a wire, a cable, a rod rod, or the like as long as the connecting member can rotate the surgical member 30 and the joint unit 40.

In the first embodiment shown in the figure, a configuration using a cable is shown.

3 and 4, the driving force transmitting member is provided with cable connecting ports 31a, 32a, 41a and 42a in the respective surgical members 31 and 32 and the rotating bodies 41 and 42, C2, C3, and C4 are connected to the cable connection ports 31a, 32a, 41a, and 42a, respectively.

At this time, each of the cable connecting ports 31a, 32a, 41a, and 42a is fixed so as not to be rotatable relative to the respective surgical members 31 and 32 and the rotors 41 and 42, X) and the second axis (Y1) and the second axis (Y2), respectively.

The fixing structure of the cable connection ports 31a, 32a, 41a and 42a may be formed as a single structure with the respective surgical members 31 and 32 or the respective rotors 41 and 42, Can be configured.

The operation cables C1, C2, C3 and C4 are configured to pass through the respective cable connecting ports 31a, 32a, 41a and 42a through the inside of the body 21 described above, 31 or 32 or each of the rotors 41 and 42 through the guide members 31a, 32a, 41a and 42a.

Reference numeral 35 in the drawing denotes an idler roller for pressing the operation cables C3 and C4. The idler roller 35 is connected to the cable connection ports 41a and 42a even when the pair of the surgical members 31 and 32 are opened. The operation cables C3 and C4 are stably connected to each other.

It is also possible to configure the idler roller 35 not only to push the operation cables C3 and C4 but also to support it under the respective operation cables (on the side of the surgical member with respect to the cable). At this time, the operation cables C3 and C4 are connected to the cable connection ports 41a and 42a while passing between the pair of idler rollers installed up and down, regardless of the direction in which the pair of the surgical members 31 and 32 move , It becomes possible to transmit the operating force in a more stable connection state.

It is also possible to constitute a guide mechanism having a hole structure instead of the idler roller 35. [ That is, the operating cables C3 and C4 are passed through the circular ring structure or the tube-shaped guide so that the operating force can be transmitted in a state where the operating cables C3 and C4 are stably connected to the cable connecting ports 41a and 42a can do. At this time, the guide mechanism may be installed at the same position as the position where the idler roller 35 is installed.

The configuration for operating each of the operation cables C1, C2, C3, and C4 as described above is well known in the prior art including the patented invention of the applicant, and a detailed description thereof will be omitted.

The use state of the instrument of the first embodiment of the present invention as described above will be described with reference to Figs. 5 to 8. Fig.

5 and 6 are state diagrams showing a state in which a pair of rotators 41 and 42 are rotated around a first axis X by manipulating the first cable C1 and the second cable C2, As shown in FIG. 5, the pair of surgical members 30 may be opened or the pair of surgical members 30 may be closely contacted to each other as shown in FIG.

FIGS. 7 and 8 are state diagrams when the scissors are used. By operating the third cable C3 and the fourth cable C4, the pair of surgical members 30 are moved around the respective second axes Y1 and Y2 As shown in FIG. 7, the pair of surgical members 30 may be rotated or the pair of surgical members 30 may be overlapped with each other as shown in FIG. 8 to be used as scissors.

A second embodiment of the present invention will be described.

9A to 11 are a side view (Figs. 9A and 9B), a top view (Figs. 10A and 10B) and a rear view (Fig. 11) of the instrument of the second embodiment of the present invention.

The second embodiment of the present invention is configured in the same manner as the first embodiment described above except for the configuration of the driving force transmitting member.

The driving force transmitting member of the second embodiment is different from the driving force transmitting member of the second embodiment in that the driving force transmitting member of the first embodiment is composed of the rods 51, 51 '(52, 52') connected in a link structure, . At this time, the rods 51 and 51 '(52 and 52') are preferably made of a rod having a thickness and rigidity enough to transmit a linear movement operation force.

The rods 51, 51 ', 52, 52' illustrated in the figure have first rods 51, 51 'connected to a pair of rotators 41, 42, a pair of surgical members 31, And a second rod 52, 52 'connected to the second rod 52'.

The first rod is connected to the two rods 51 'branched from the main rod 51 to the pair of rotors 41 and 42 respectively (see FIG. 9A) Are connected to a pair of surgical members 31 and 32, respectively (see Fig. 10A).

At this time, the main rods 51 and 52 and the branch rods 51 'and 52' are relatively rotatably connected by the hinge joints 51c and 52c, and the branch rods 51 'and 52' And the rotating members 41 and 42 and the surgical members 31 and 32 are connected to each other by the ball joints 51a, 51b, 52a and 52b so as to be freely rotatable. The joint portions connected to the rotating bodies 41 and 42 may be connected by a hinge joint method instead of the ball joints 51a and 51b.

The positions where the branch rods 51 'of the first rods are connected to the respective rotors 41 and 42 by the ball joints 51a and 51b are vertically and horizontally centered on the first axis X And the position where the branch rod 52 'of the second rod is connected to the surgical members 31 and 32 by the ball joints 52a and 52b is connected to the second axis Y1 and Y2 And is connected to a position spaced apart from the center by a certain distance (see FIG. 11).

Fig. 11 is a rear view showing the installation positions of the ball joints 51a, 51b, 52a and 52b. In the case of the pair of surgical members 30, sufficient rotational force is exerted through the second rods 52 and 52 ' The branch rods 52 'may be connected to each other so as to form an extension protruding in the opposite direction to each other.

The pair of rotating members 41 and 42 are rotated relative to each other through the pulling and pulling operation of the rods 51 and 52 'and the connecting members 51 and 52' ) Relative to each other.

That is, when the first rods 51 and 51 'are pulled as shown in FIG. 9A, the pair of rotating bodies 41 and 42 are moved in the direction in which the pair of the surgical members 30 9b, the pair of rotating bodies 41 and 42 are paired with the pair of surgical members 30 around the first axis X. In this case, As shown in Fig.

When the second rods 52 and 52 'are pulled as shown in FIG. 10A, the pair of surgical members 31 and 32 are rotated in the direction of widening about the second axes Y1 and Y2, The pair of surgical members 31 and 32 are rotated about the second axes Y1 and Y2 when the second rods 52 and 52 'are pushed as shown in FIG.

However, it is also possible to constitute four rods connected to the respective rotating bodies 41 and 42 and the respective surgical members 31 and 32, respectively, Do.

In the case of a rod, the rod may be connected to the rotors 41, 42 and the respective surgical members 31, 32 by a relatively rotatable link structure as described above. A gear structure (pinion) is formed on each of the rotating bodies 41 and 42 and the respective surgical members 31 and 32 and the gear structure (rack) of the rod is coupled to the rotating body 41 42 and each of the surgical members 31, 32 may be rotationally driven.

On the other hand, in the second embodiment of the present invention, the embodiment in which the driving force transmitting member is composed of a rod has been described, but it is also possible to constitute a wire having sufficient rigidity.

A third embodiment of the present invention will be described.

12A to 14 are a side view (Figs. 12A and 12B), a plan view (Figs. 13A and 13B) and a rear view (Fig. 14) of the instrument of the third embodiment of the present invention.

The third embodiment of the present invention is similar to the second embodiment described above, but shows an embodiment in which the main rods 51 and 52 are coaxially formed. In the third embodiment of the present invention, when the rod is pushed, the pair of surgical members 31 and 32 are opened, and the structure of pulling the rod is different from that of the second embodiment.

First, a structure in which the main rods 51 and 52 are arranged on one axial line will be described.

In the first rod connected to the pair of rotators 41 and 42, the main rod 51 may be configured to be the same as or similar to that of the second embodiment, but may be connected to the pair of the surgical members 31 and 32 In the second rod, the main rod 52 has a pipe-like structure.

That is, when the main rod 51 of the rod-shaped first rod is inserted into the main rod 52 of the second rod having the pipe structure, the pair of rotors 41 and 42 are moved . Also, the main rod 52 of the second rod having the pipe structure is configured to move the pair of the surgical members 31 and 32 while moving linearly.

Like the second embodiment, each of the main rods 51 and 52 and the branch rods 51 'and 52' are connected by the hinge joints 51c and 52c so as to be relatively rotatable, and the branch rods 51 ' 52b and the respective rotating members 41 and 42 and the surgical members 31 and 32 can be freely rotatably connected by the ball joints 51a, 51b, 52a and 52b.

The connecting positions of the respective ball joints 51a, 51b, 52a, 52b may be arranged and arranged as shown in Fig.

The ball joints 51a and 51b connected to the rotors 41 and 42 may be disposed on the side surfaces of the rotors. In this case, instead of the ball joints 51a and 51b, it is also possible to connect them to the rotors 41 and 42 using a hinge joint.

The ball joints 52a and 52b connected to the surgical members 31 and 32 may be installed in the extended portion 45 extending from the respective surgical members 31 and 32 to the first axis X have. 14 shows an embodiment in which the ball joints 52a and 52b are positioned on the first axis X. FIG.

The mounting positions of the ball joints 51a, 51b, 52a and 52b in the third embodiment of the present invention are different from those of the mounting position and the first shaft X or the second shaft Y1, and Y2. This can be confirmed by comparing Fig. 11 and Fig.

When the mounting positions of the respective ball joints 51a, 51b, 52a and 52b are installed opposite to those of the second embodiment as described above, when the rod is pushed and pulled, the operation is reversed to the second embodiment.

That is, when the first rods 51 and 51 'are pushed as shown in FIG. 12A, the pair of rotating bodies 41 and 42 move in the direction in which the pair of the surgical members 30 12b, the pair of rotating members 41 and 42 are paired with the pair of surgical members 30 around the first axis X. In this case, As shown in Fig.

When the second rod 52 or 52 'having a pipe structure is pushed as shown in FIG. 13A, the pair of the surgical members 31 and 32 are moved in the direction in which the pair of the surgical members 31 and 32 extend around the second axes Y1 and Y2 When the second rods 52 and 52 'are pulled as shown in FIG. 13B, the pair of surgical members 31 and 32 are rotated in the direction in which they are gathered about the second axes Y1 and Y2.

In the above description, the main rod 51 of the first rod is formed in a rod-like structure and the main rod 52 of the second rod is formed in a pipe-type structure. In contrast, And the main rod 52 of the second rod is formed in a rod-like structure and inserted into the main rod 51 of the first rod.

It is also possible that the two main rods 51 and 52 are both formed in a pipe-like structure and coaxially arranged in a double pipe structure. In this way, it is also possible to arrange three or more main rods coaxially with a pipe structure of three or more. In this case, it is also possible to constitute the main rods in the innermost form as a single rod or wire.

In addition, the rod inserted in the main rod made of a pipe structure is not limited to a rigid (not bendable) rod-like structure but can be made of a flexible (relatively well-bendable) wire.

It is also possible that a plurality of rods having a rod-shaped or wire-like structure are inserted in the main rod made of a pipe structure and configured to transmit operating force through the main rods of the pipe structure and the plurality of rods inserted therein.

The other constituent parts can be configured the same as or similar to the constitution of the second embodiment described above, and repeated description will be omitted.

A fourth embodiment of the present invention will be described.

In the fourth embodiment of the present invention, a pair of the surgical members 30 are fixed and the movable surgical member 31 (31 ') moves in a plurality of directions about the fixed surgical member 32' ').

15, a fixed surgical member 32 'fixed to the body 21 is provided on the lower side, and a first axis X or a second axis X' And a movable surgical member 31 'that rotates about the two axes Y1.

At this time, the joint unit 40 includes a fixed connection part 33 connecting the fixed surgery member 32 'and the body 21, a movable surgical member 31', a fixed surgical member 32 'or a body 21, And a movable connection portion (41, Y1) for connecting the movable connection portion (41, Y1).

The fixed connection part 33 is a component part in which the body 21 and the fixed surgical member 32 'are integrally connected or fixed together.

The movable connection portion includes a rotating body 41 rotating about the first axis X and a second axis Y1 for rotating the movable surgical member 31 'relative to the rotating body 41.

Here, the first axis X may be configured to be supported by the support portion 23 of the body 21 as shown in the drawing, or may be configured to be supported by the fixed surgical member 32 '.

The rest of the configuration is the same as the configuration of the first embodiment described above, so repeated description is omitted. However, the driving force transmitting member composed of the cables C1 and C3, wires, rods and the like is not connected to the fixed surgical member 32 'but connected only to the rotating body 41 and the fixed surgical member 32' do.

In the fourth embodiment of the present invention as described above, when the basic structure is configured similar to that of the first embodiment, the rotation of the first axis (X) The movable surgical member 31 'is moved up and down to realize the fixed surgical member 32' and the clamping function. When the third cable C3 is operated, the movable surgical member 31 ' The movable surgical member 31 'moves left and right to implement the scissors function with the fixed surgical member 32'.

Although not shown in the drawing, the movable joint portion may be a ball joint connecting structure (fifth embodiment) described in the following embodiments, without using the rotating body 41, the first axis X, the second axis Y1, It is also possible to configure the movable surgical member 31 'to move in a plurality of directions by using the free flex joint connection structure (the sixth embodiment).

The fifth and sixth embodiments of the present invention described below are embodiments in which the configurations of the joint unit 40 are different from those of the first to fourth embodiments described above. This will be described in turn.

A fifth embodiment of the present invention will be described.

Figs. 16 and 17 are side views for showing the clamping operation state, and Figs. 18 and 19 are plan views for showing the scissoring operation state.

In the fifth embodiment of the present invention, the joint part 40 to which the body 21 and the pair of surgical members 30 are connected is constituted by a pair of ball joints 61 and 62.

That is, the body 21 and the respective surgical members 31 and 32 are connected to the ball joints 61 and 62, respectively, and the operation cables C1, C2, C3, and C4 are used to connect the pair of surgical members (Figs. 16 and 17) or scissors (Figs. 18 and 19) by rotating the first and second grippers 30 and 30, respectively.

The ball joints 61 and 62 are generally well known and are configured so that the respective surgical members 31 and 32 connected to the ball are freely rotatable about a ball housing fixed to the body 21. [

In the figure, reference numeral 65 denotes a cable guide for guiding the movement of each operation cable (C1, C2, C3, C4).

On the other hand, as described in the fourth embodiment, one of the pair of the surgical members 30 is fixed to the body 21 as a fixed surgical member without forming a ball joint, A plurality of functions may be realized by cooperation with the fixed surgical member by connecting the surgical member with a ball joint.

A sixth embodiment of the present invention will be described.

Figs. 20 and 21 are side views for showing the clamping operation state, and Figs. 22 and 23 are plan views for showing the scissoring operation state.

The sixth embodiment of the present invention is configured such that the joint portion 40 connected to the body 21 and the pair of surgical members 30 comprises a pair of free bending joints 71 and 72.

That is, when the body 21 and the respective surgical members 31 and 32 are connected to the free flexing joints 71 and 72 to rotate the pair of surgical members 30 in the first cooperative direction, 16 and 17) or in a second cooperating direction (see Figs. 18 and 19).

The free flexing joints 71 and 72 may be constructed using a known wrist structure that manipulates the end members (the surgical members) in various directions using a plurality of ring-coupled structures, coiled wires, Which are known from U.S. Patent Nos. US07618066, US06053907, US07547311, US07323700, U.S. Patent Nos. 2310/0087711, and US2310 / 0190735, and the drawings and detailed description thereof will be omitted.

The driving force transmitting member also has a structure that passes through the free bending joints 71 and 72 or is connected to the respective surgical members 31 and 32 through the inside thereof. And the detailed description thereof will be omitted.

On the other hand, as described in the fourth embodiment with the basic structure of the present embodiment, one of the pair of the surgical members 30 is fixed to the body 21 directly as a fixed surgical member without constituting a free-flex joint , And the other surgical member, that is, the movable surgical member may be connected to the free-bending operation member to realize a plurality of functions.

In addition to the above-described various embodiments of the present invention, various embodiments can be configured by applying the technical idea of the present invention. It is to be understood that other embodiments may be readily implemented by those skilled in the art without departing from the spirit and scope of the present invention, And the configuration of each embodiment will be briefly described.

Although the above-described various embodiments of the present invention exemplify the configuration using two, that is, the pair of the surgical members 30, three or more surgical members may be combined with each other.

In addition, although the embodiments of the present invention have been described with reference to the configuration in which the scissors and the tongue are used together, if only one of the pair of the surgical members 30 can function in cooperation with each other, It is also possible to have various other feasible functions such as rods, bows, and the like.

Further, even if the pair of surgical members 30 are the same kind of surgical members, they may be configured to have slightly different sizes or functions. For example, referring to FIG. 3, the 'A' portion facing each other is used as a forceps having a relatively large area, and the 'B' side surface is not a sharp structure such as scissors, It is possible to use it as a forceps.

As described above, the technical ideas described in the embodiments of the present invention can be implemented independently of each other, and can be implemented in combination with each other. While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. It is possible. Accordingly, the technical scope of the present invention should be determined by the appended claims.

Claims (12)

A body;
A pair of surgical members provided at an end of the body to perform a surgical operation while being in contact with a human body;
A joint part connected between the body and the pair of surgical members so that the pair of surgical members are mutually co-operating in two directions so as to realize two pairs of surgical operations;
And a driving force transmitting member connected to at least one of the pair of the surgical member and the joint unit to allow the pair of surgical members to implement a surgical operation,
Wherein the pair of surgical members are configured to perform a gripping function in a first cooperative direction and a scissor function in a second cooperative direction.
The method according to claim 1,
Wherein the joint portion includes a pair of rotatable members rotatable relative to each other about a first axis supported by the body and a pair of second shafts connecting the rotatable members and the respective surgical members in a relatively rotatable manner Wherein the instrument is a surgical instrument.
The method of claim 2,
Wherein the first axis and the pair of second shafts are arranged in a direction orthogonal to each other.
The method according to claim 1,
Wherein the pair of surgical members are divided into a non-moving fixed surgical member and a movable surgical member moving in a plurality of directions around the fixed surgical member,
Wherein the joint portion includes a fixed connection portion connecting the fixed surgery member and the body, and a movable connection portion connecting the movable surgery member to the fixed surgery member or the body.
The method of claim 4,
Wherein the movable connection portion comprises a rotating body rotating about a first axis supported by the fixed surgical member or the body and a second shaft connecting the rotating body and the movable surgical member in a relatively rotatable manner Instrument of surgical instruments.
The method of claim 4,
Wherein the movable joint comprises a ball joint or a free-flex joint. ≪ RTI ID = 0.0 > 18. < / RTI >
The method according to claim 1,
Wherein the joint portion is a plurality of ball joints connected between the body and each surgical member. ≪ RTI ID = 0.0 > 8. < / RTI >
The method according to claim 1,
Wherein the joint portion is a plurality of free flexure joints connected between the body and each surgical member. ≪ RTI ID = 0.0 > 8. < / RTI >
The method according to any one of claims 1 to 8,
Wherein the driving force transmitting member is an operating cable connected to at least one of the joint portion and the pair of surgical members.
The method according to any one of claims 1 to 8,
Wherein the driving force transmitting member is a rod or wire connected to at least one of the joint portion and the pair of surgical members.
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