KR101237893B1 - Surgical joint, surgical tool, and apparatus - Google Patents

Abstract

The present invention relates to a surgical joint, a surgical surgical tool and a drive device, and relates to a surgical joint and a surgical surgical tool that enables a single-pass operation by driving a joint using a plurality of links during laparoscopic surgery. To this end, the first rod 100; A first ring 11 coupled to an outer circumferential surface of the first rod 100; A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100; A second ring 13 coupled to one side of the bearing 35 and the outer circumferential surface of the first rod 100; A second rod 700 coupled with one end of the first rod 100; A third ring 15 coupled to the outer circumferential surface of the second rod 700; A first link 21 engaging with one side of the first ring 11; And a second link 23 coupled to the second ring 13 and the third ring 15.

Description

Surgical joint, surgical tool, and apparatus

The present invention relates to a surgical joint, a surgical surgical tool and a drive device, and more particularly, to a surgical joint, a surgical tool and a drive device to enable the operation by driving the joint using a plurality of links during laparoscopic surgery. will be.

Robots are mechanical devices that use electric or magnetic action to perform movements like human motion. Recently, in the medical field, a robotic arm for surgery that resembles a human being similar to a human being is increasingly being modeled after a human body or an animal's body mechanism or motion, and expectations for commercialization are also increasing.

As one use of such a surgical robot arm, a surgical robot arm may be used in place of a human hand to operate a body part of a patient during surgery.

However, in the case of a conventional laparoscopic robotic arm, various driving devices and motors are installed at joints and wrists, and due to a complicated mechanism, there was a burden of manufacturing cost along with an increase in the volume and size of the laparoscopic robotic arm.

In addition, laparoscopic surgery has recently increased the tendency to operate through a single incision in order to minimize the incision of the patient. Such surgery is commonly referred to as single port surgery. In the case of a general straight robot arm in such a single-pass operation, even when a plurality of surgical robot arms are inserted into one incision site, it is difficult to concentrate the procedure on the surgical object 1200.

As such, the use of such a robotic arm with such a driving device is difficult in a surgical operation requiring detailed work through one incision site of the patient, and in the case of a linear robotic arm, there have been problems described above.

Therefore, in the technical field to which the present invention belongs, there is a demand for the development of a surgical robot arm that is simple in mechanical driving apparatus for laparoscopic surgery and can be concentrated on a surgical object even when a plurality of surgical robot arms are inserted through a single passage. .

Accordingly, the present invention has been made to solve the problems as described above, to provide a robot arm-shaped surgical tool that can perform a complex and precise surgery that is difficult to perform with a conventional straight surgical tool in single-pass surgery There is a purpose.

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

An object of the present invention described above, the first rod 100 of the hollow gripped by the user; A first inner shaft 200 inserted into the first rod 100; A flexible flexible shaft 400 coupled to one side of the first inner shaft 200; A hollow second rod 700 coupled to one side of the first rod 100; A second inner shaft 500 inserted into the second rod 700 and engaged with the other side of the flexible shaft 400; A first ring 11 coupled to an outer circumferential surface of the first rod 100; A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100; A second ring 13 coupled to one side of the bearing 35 and the outer circumferential surface of the first rod 100; A third ring 15 coupled to the outer circumferential surface of the second rod 700; A first link 21 engaging with one side of the first ring 11; And a second link 23 coupled to the second ring 13 and the third ring 15, wherein the first inner shaft 200 and the second inner shaft 500 are linearly moved in the axial direction. Or it can be achieved by providing a surgical joint, characterized in that the configuration to rotate relative to the first, second rods (100, 700).

In addition, the flexible shaft 400 is curved according to the traction of the first link 21.

In addition, the hollow first linear bushing 300 coupled to the outer circumferential surface of the first inner shaft 200; characterized in that it further comprises.

In addition, a hollow second linear bushing 300 coupled to the outer circumferential surface of the second inner shaft 500, characterized in that it further comprises.

In addition, a bearing 31 is provided inside the first linear bushing 300 to enable linear movement or relative rotational movement of the first inner shaft 200.

In addition, a bearing 33 is provided inside the second linear bush 600 to enable linear movement or relative rotational movement of the second inner shaft 500.

In addition, the coupling of the first rod 100 and the second rod 700 is characterized in that the hinge coupling.

In addition, one side end surface of the first inner shaft 200 and the second inner shaft 500 is characterized in that the groove 1100 for coupling the flexible shaft 400 is formed.

And, the flexible shaft 400 is characterized in that a plurality of grooves are formed in the circumferential direction.

On the other hand, an object of the present invention is to combine the first rod shaft 100, the first inner shaft 200, the first inner shaft 200 is inserted into the first rod 100, the user grips the flexible The second flexible shaft 400, the hollow second rod 700 coupled to one side of the first rod 100 and the second rod 700, are inserted into the second inner coupler coupled to the other side of the flexible shaft 400. The shaft 500, the first ring 11 coupled to the outer circumferential surface of the first rod 100, the bearing 35 coupled to one side of the first ring 11 and the outer circumferential surface of the first rod 100, and a bearing ( One side of the second ring 13 and the second ring 13 to the outer peripheral surface of the first rod 100, the third ring 15 to the outer peripheral surface of the second rod 700, and one side of the first ring 11 and A surgical joint 800 having a first link 21 to be coupled and a second link 23 to be coupled to the second ring 13 and the third ring 15; And a surgical robot arm 900 coupled to one side of the second inner shaft 500 and the second rod 700 to linearly rotate or rotate in the axial direction. This can be achieved by.

In addition, the surgical joint 800 and the surgical robot arm 900 is configured in plurality, characterized in that the procedure is formed by forming a shape concentrated on the surgical object 1200 by passing through a single passage 1300 of the patient. .

In addition, the flexible shaft 400 is curved according to the traction of the first link 21.

On the other hand, an object of the present invention, the first rod 100; A first ring 11 coupled to an outer circumferential surface of the first rod 100; A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100; A second ring 13 coupled to one side of the bearing 35 and the outer circumferential surface of the first rod 100; A second rod 700 coupled with one end of the first rod 100; A third ring 15 coupled to the outer circumferential surface of the second rod 700; A first link 21 engaging with one side of the first ring 11; And a second link 23 that engages with the second ring 13 and the third ring 15, which may be achieved by providing a surgical drive.

In addition, the second rod 700 forms an angle θ relative to the first rod 100 in accordance with the traction of the first link 21.

The second rod 700 is rotated while maintaining the angle θ according to the rotation of the first rod 100.

According to the present invention described above, the configuration of the surgical tool joint is simple, easy to disassemble, move or assemble, there is an effect that can work fine and precise in the narrow surgical site due to a single passage.

In addition, the present invention has the effect of ensuring the maximum force for driving the joint by driving a plurality of links.

In addition, the present invention has the effect of ensuring the price competitiveness of the surgical tool for single-pass surgery by reducing the number of drive devices and mechanical parts of the surgical tool.

In addition, the present invention has the effect that the plurality of surgical instruments are inserted through one incision of the patient to form a triangle to focus on the surgical object.

And the present invention has the effect that only a portion of the surgical tool can rotate and linear movement as compared to the conventional surgical tools that the entire surgical tool to rotate and linear movement.

The following drawings, which are attached to this specification, illustrate one preferred embodiment of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention. It should not be construed as limited.
1 is a perspective view of a surgical joint according to the present invention,
2 is a cross-sectional view of a surgical joint according to the present invention,
3 and 4 is a configuration diagram showing the configuration of a surgical surgical tool according to the present invention,
5 is a perspective view showing a plurality of surgical instruments for surgery according to the present invention,
Figure 6 is a view showing the operation of the surgical surgical tool according to the present invention.

Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention. In addition, the embodiment described below does not unduly limit the content of the present invention described in the claims, and the entire structure described in this embodiment is not necessarily essential as the solution means of the present invention.

<Composition of Surgical Joint>

1 is a perspective view of a surgical joint according to the present invention, Figure 2 is a cross-sectional view of the surgical joint according to the present invention.

As shown in FIG. 1, the surgical joint includes a flexible shaft 400 and first and second inner shafts 200 and 500 corresponding to the joint to perform bending, linear movement, or rotational movement of the joint. Hereinafter, this will be described in detail with reference to FIGS. 1 and 2.

First, the single passage 1300 generally refers to using one incision site without forming a plurality of incision sites of a patient during laparoscopic surgery.

The first rod 100 according to the present invention may be gripped by the user to move the position of the surgical joint or to perform the surgery. In addition, since the first rod 100 is hollow, the first inner shaft 200, the first linear bushing 300, and the flexible shaft 400 may be inserted into the first rod 100. .

On the other hand, the first rod 100 is hinged or screwed with the second rod 700, the flexible shaft 400 can be bent at a predetermined angle (θ) in accordance with the traction of the first link 21 to be described later. .

The second rod 700 according to the present invention is hinged or screwed with the first rod 100. The second rod 700 is bent at a predetermined angle θ about the hinge axis 1000 as the first link 21 is pulled together with the flexible shaft 400. Therefore, the user may adjust the bending angle of the second rod 700 and the flexible shaft 400 constantly by adjusting the pulling force of the first link 21.

On the other hand, the second rod 700 is formed in the same hollow as the first rod 100, so that the flexible shaft 400, the second inner shaft 500, and the second linear bush inside the second rod 700. 600 is inserted.

The first inner shaft 200 according to the present invention is inserted into the first rod 100 to perform a rotational movement or a linear movement. The outer circumferential surface of the first inner shaft 200 is coupled to the inner circumferential surface of the first linear bush 300 that is hollow. One end of the first inner shaft 200 is formed with the same groove as that of the groove 1100 provided in the second inner shaft 500 in order to couple with the flexible shaft 400.

On the other hand, the cross section of the first inner shaft 200 may be any one of a column shape which is a circle, an ellipse, or a polygon. In the present invention, one embodiment is configured in the form of a cylinder. In addition, one end of the first inner shaft 200 to be coupled to the flexible shaft 400 is preferably larger in diameter than the other side to facilitate coupling with the flexible shaft 400.

The hollow first linear bushing 300 according to the present invention is coupled to the inner circumferential surface of the hollow first rod 100 and the outer circumferential surface of the first inner shaft 200. Therefore, it is interposed between the first rod 100 and the first inner shaft 200.

On the other hand, a bearing 31 is provided inside the first linear bush 300 to enable linear movement and rotational movement of the first inner shaft 200. In addition, it is possible to use a tube such as a peak tube or a Teflon guide instead of a bearing to simultaneously perform linear or rotary motion.

The flexible shaft 400 according to the present invention is fit-fitted (matched) to the groove 1100 formed at one end of the first inner shaft 200 and the second inner shaft 500. The flexible shaft 400 corresponds to the joint of the laparoscopic surgical tool, and a plurality of grooves are formed in the transverse direction along the outer circumferential surface to make the bending natural. This is to allow the flexible shaft 400 to bend at a certain angle, as shown in FIG.

Here, the flexible shaft 400 may be formed of any one of columnar shapes having a circle, an ellipse, and a polygon. However, in the present invention, the embodiment of the flexible shaft 400 has a cylindrical shape.

The second linear bush 600 and the second inner shaft 500 provided inside the second rod 700 according to the present invention have a function and a configuration of the first linear bush 300 and the first inner shaft ( 200 and the description thereof will be omitted.

The ring 10 according to the invention consists of a first ring 11, a second ring 13, and a third ring 15, and the link 20 according to the invention comprises a first link 21 and It consists of a second link (23).

The first ring 11 is coupled to the outer circumferential surface of the first rod 100, the bearing 35 is coupled to one side of the first ring 11. In addition, the first link 21 is coupled to one side of the first ring 11. At this time, it is preferable that the bearing 35 uses a thrust bearing.

The second ring 13 is coupled to the outer circumferential surface of the first rod 100 and one side of the bearing 35. The third ring 15 is engaged with and fixed to the outer circumferential surface of the second rod 700.

The second ring 13 and the third ring 15 are coupled to the second link 23, and the first and second rings 11 and 13 and the bearing 35 are connected with the traction of the first link 21. By performing a linear movement in the axial direction, it is possible to fold the joint at an angle θ.

<Configuration of Surgical Instruments>

3 and 4 is a block diagram showing the configuration of a surgical surgical tool according to the present invention.

3 and 4, since the surgical joint 800 is as described above, a description thereof will be omitted, and the coupling relationship between the surgical joint 800 and the surgical robot arm 900 will be described. do.

As shown in FIGS. 3 and 4, the surgical robot arm 900 is coupled to one side of the second inner shaft 500 and the second rod 700 of the surgical joint 800. By combining with the second inner shaft 500, the surgical forceps rotate or linearly move according to the rotation or linear motion of the second inner shaft 500.

5 is a perspective view showing a plurality of surgical instruments for surgery according to the present invention. As shown in FIG. 5, the surgical surgical tool 1400 includes a plurality of surgical joints 800 and a surgical robot arm 900 through a trocar (not shown) during laparoscopic surgery. Several can be inserted at the same time. Therefore, the plurality of surgical tools 1400 according to the present invention forms a shape concentrated on the surgical object 1200.

The trocar is a device that forms a single passage (1300) during laparoscopic surgery.

<Linear and rotary motions of the driving device and the surgical tool>

Figure 6 is a view showing the operation of the surgical surgical tool according to the present invention.

(Linear motion of surgical drive device)

As shown in FIG. 6, when the first link 21 is pushed or pulled, the bearing 35 and the first and second rings 11 and 13 linearly move in the axial direction accordingly. . At this time, when the bearing 35 and the first and second rings 11 and 13 are pushed toward the third ring 15, the joint is straightened. Will be broken.

(Rotational Movement of Surgical Driving Device)

In the case where the joint is to be rotated with the desired angle θ and the rotation is maintained while maintaining the angle θ, when the first rod 100 is rotated, the first link 21 is fixed to the operation unit and rotates. The first ring 11 coupled with the first link 21 does not rotate.

Accordingly, the first and second rods 100 and 700, the second and third rings 13 and 15, and the second link 23, except for the first link 21 and the first ring 11, are rotated so that a predetermined angle θ is achieved. You can rotate while keeping).

(Linear motion of surgical instruments)

As shown in Figure 6, the linear motion of the surgical surgical tool 1400 operates as follows. A plurality of bearings 31 and 33 are attached to the inner side of the first linear bush 300 and the second linear bush 600 of the surgical joint 800. Therefore, when the first inner shaft 200 is pushed or pulled, the first inner shaft 200, the second inner shaft 500, and the flexible shaft 400 integrally linearly move in the axial direction.

At this time, the forceps attached to the surgical robot arm 900 performs a linear motion corresponding thereto according to the traction of the first inner shaft 200.

(Rotational Movement of Surgical Instruments)

On the other hand, the rotary motion of the surgical surgical tool 1400 operates as follows. When the first inner shaft 200 is rotated in the horizontal direction, the first inner shaft 200, the second inner shaft 500, and the flexible shaft 400 with respect to the first rod 100 and the second rod 700. Relatively rotate relative.

Accordingly, when the first inner shaft 200 of the surgical tool 1400 for surgery is rotated, the forceps attached to the front portion of the surgical robot arm 900 rotates.

General laparoscopic surgical instruments are not suitable for laparoscopic single-pass surgery because the entire surgical tool must be a linear movement or rotational movement. However, the surgical surgical tool 1400 according to the present invention, if the first rod 100 and the second rod 700 does not move when the first inner shaft 200 moves forward or backward or rotates in the horizontal axis direction. Only one part can move linearly or rotationally, which is suitable for single-pass surgery.

As mentioned above, although demonstrated with reference to one Embodiment of this invention, this invention is not limited to this, A various deformation | transformation and an application are possible. In other words, those skilled in the art can easily understand that many variations are possible without departing from the gist of the present invention.

10: ring
11: first ring
13: second ring
15: third ring
20: link
21: the first link
23: second link
31,33,35: Bearing
100: first load
200: first inner shaft
300: first linear bushing
400: Flexible Shaft
500: second inner shaft
600: second linear bush
700: second load
800: Surgical Joint
900: surgical robot arm
1000: hinge axis
1100: home
1200: surgical object
1300: single passage
1400: Surgical Instruments

Claims (15)

A hollow first rod 100 held by the user;
A first inner shaft 200 inserted into the first rod 100;
A flexible flexible shaft 400 coupled to one side of the first inner shaft 200;
A hollow second rod 700 coupled to one side of the first rod 100;
A second inner shaft 500 inserted into the second rod 700 and coupled to the other side of the flexible shaft 400;
A first ring 11 coupled to an outer circumferential surface of the first rod 100;
A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100;
A second ring 13 coupled to one side of the bearing 35 and an outer circumferential surface of the first rod 100;
A third ring 15 coupled to an outer circumferential surface of the second rod 700;
A first link 21 coupled to one side of the first ring 11; And
And a second link (23) engaging the second ring (13) and the third ring (15),
The first inner shaft 200 and the second inner shaft 500 is a surgical structure, characterized in that the linear movement in the axial direction or the relative rotational movement relative to the first, second rods (100, 700) joint.
The method of claim 1,
Surgical joints, characterized in that the flexible shaft 400 is curved in accordance with the traction of the first link (21).
The method of claim 1,
Surgical joints further comprises; a first hollow linear bushing 300 coupled to the outer circumferential surface of the first inner shaft (200).
The method of claim 1,
Surgical joints further comprises; a second hollow linear bushing 300 coupled to the outer circumferential surface of the second inner shaft (500).
The method of claim 3, wherein
Surgical joint, characterized in that the bearing (31) is provided inside the first linear bush (300) to enable the linear movement or the relative rotational movement of the first inner shaft (200).
The method of claim 4, wherein
Surgical joint, characterized in that the bearing (33) is provided inside the second linear bush (600) to enable the linear movement or the relative rotational movement of the second inner shaft (500).
The method of claim 1,
Surgical joints, characterized in that the coupling of the first rod (100) and the second rod (700) is a hinge coupling.
The method of claim 1,
Surgical joints, characterized in that the groove (1100) for coupling the flexible shaft 400 is formed in one end surface of the first inner shaft (200) and the second inner shaft (500).
The method of claim 1,
The flexible shaft 400 is a surgical joint, characterized in that a plurality of grooves are formed in the circumferential direction.
Hollow first rod 100 held by the user,
A first inner shaft 200 inserted into the first rod 100,
Flexible flexible shaft 400 coupled to one side of the first inner shaft 200,
Hollow second rod 700 coupled to one side of the first rod 100,
A second inner shaft 500 inserted into the second rod 700 and coupled to the other side of the flexible shaft 400,
A first ring 11 coupled to an outer circumferential surface of the first rod 100,
A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100,
A second ring 13 coupled to one side of the bearing 35 and an outer circumferential surface of the first rod 100,
A third ring 15 coupled to the outer circumferential surface of the second rod 700,
A first link 21 engaging with one side of the first ring 11, and
A surgical joint (800) having; a second link (23) coupled with the second ring (13) and the third ring (15); And
And a surgical robot arm 900 coupled to one side of the second inner shaft 500 and the second rod 700 to linearly rotate or rotate in the axial direction.
11. The method of claim 10,
Configure the surgical joint 800 and the surgical robot arm 900 in plurality,
Surgical surgical tool, characterized in that the procedure is formed by forming a shape that is concentrated to the surgical object 1200 by passing through a single passage (1300) of the patient.
11. The method of claim 10,
Surgical surgical tool, characterized in that the flexible shaft 400 is curved in accordance with the traction of the first link (21).
First rod 100;
A first ring 11 coupled to an outer circumferential surface of the first rod 100;
A bearing 35 coupled to one side of the first ring 11 and an outer circumferential surface of the first rod 100;
A second ring 13 coupled to one side of the bearing 35 and an outer circumferential surface of the first rod 100;
A second rod 700 coupled to one end of the first rod 100;
A third ring 15 coupled to an outer circumferential surface of the second rod 700;
A first link 21 coupled to one side of the first ring 11; And
And a second link (23) coupled with the second ring (13) and the third ring (15).
The method of claim 13,
Surgical drive device, characterized in that the second rod (700) forms an angle (θ) relative to the first rod (100) in accordance with the traction of the first link (21).
15. The method of claim 14,
Surgical drive device, characterized in that the second rod 700 is maintained while maintaining the angle (θ) in accordance with the rotation of the first rod (100).

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