KR101063281B1 - Single Port Surgical Adapter - Google Patents

Single Port Surgical Adapter Download PDF

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Publication number
KR101063281B1
KR101063281B1 KR20090122212A KR20090122212A KR101063281B1 KR 101063281 B1 KR101063281 B1 KR 101063281B1 KR 20090122212 A KR20090122212 A KR 20090122212A KR 20090122212 A KR20090122212 A KR 20090122212A KR 101063281 B1 KR101063281 B1 KR 101063281B1
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South Korea
Prior art keywords
surgical
plurality
connector
bending
single port
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KR20090122212A
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Korean (ko)
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KR20110065634A (en
Inventor
최승욱
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주식회사 이턴
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Priority to KR20090122212A priority Critical patent/KR101063281B1/en
Priority claimed from PCT/KR2010/007314 external-priority patent/WO2011052939A2/en
Publication of KR20110065634A publication Critical patent/KR20110065634A/en
Application granted granted Critical
Publication of KR101063281B1 publication Critical patent/KR101063281B1/en

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Abstract

A single port surgical adapter is disclosed. Body portion, coupled to the body portion, the surgical instrument is inserted, and includes a plurality of connectors including a bending portion that can be bent, and a connector control module for controlling the movement of each connector, connector control The module is controlled by a control means coupled with a surgical instrument, the single port surgical adapter enables the insertion of a plurality of surgical instruments, is implemented flexibly, and the bending and rotation angles control the robot arm. Controllable by the module, corresponding to the flexible surgical instrument can be freely controlled the curvature has the effect of increasing the degree of freedom of the surgical instrument.
Surgical adapters, instruments and single ports.

Description

Single port surgical adapter

The present invention relates to medical devices, and more particularly to a single port surgical adapter.

Medically, surgery refers to healing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with a medical device. Open surgery during this operation corresponds to surgery to split the abdominal cavity or the skin of the face (skin) and to treat, shape or remove the organs therein.

In particular, when performing a laparotomy or the like, a predetermined space is formed between the skin and the tissue by cutting off the skin and then performing a surgical operation through the space. Therefore, laparotomy is a problem that is slow to heal after surgery because a lot of wounds, laparoscopic surgery is currently attracting attention. In general, laparoscopic surgery is performed by observing the surgical site of the abdominal cavity through a small hole in the patient's abdomen, and performing surgery such as gallbladder removal, appendectomy, gastrectomy, and colorectal surgery, and urology and obstetrics and gynecology. It is also widely used in the field. In addition, single port surgery is an operation performed by drilling a hole in the abdomen of the patient, there is an advantage that the scar can be minimized compared to the conventional laparoscopic surgery, there is a disadvantage that the surgical method is not easy.

In order to perform a single port operation according to the prior art, there is a problem in that a separate development or introduction of a surgical robot designed separately to correspond to the number and control specification for the operation control of the surgical instrument to be inserted is performed.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention is to provide a single port surgical adapter that allows the insertion of a plurality of surgical instruments, is implemented flexibly, the bending and rotation angle is controllable by the control module of the robot arm.

In addition, the present invention is to provide a single port surgical adapter that can increase the degree of freedom of the surgical instrument by freely controlling the bending corresponding to the flexible surgical instrument.

Technical problems other than the present invention will be easily understood through the following description.

According to an aspect of the present invention, a plurality of connectors including a body portion, coupled to the body portion, a surgical instrument is inserted, the bent portion can be bent, and connector control for controlling the movement of each connector Including a module, the connector control module is provided with a single port surgical adapter characterized in that the control is coupled to a separate control means provided on the external device.

Here, the control means may be coupled to a surgical robot or a handheld surgical instrument, or may be a dedicated control means for controlling the connector control module, the connector control module, so that the bending portion is bent in a predetermined direction Tension applying means for applying tension is coupled, and the tension applying means can be a wire or steel belt.

Here, the connector control module may control any one or more of the axial rotational movement, the axial movement of the connector and the bending direction movement of the bending portion.

Here, the surgical instrument, when inserted into the connector can be bent the portion corresponding to the bending portion.

In addition, the number of bending parts may be plural, and the plurality of bending parts may operate in conjunction with each other in correspondence with a preset method.

According to another aspect of the present invention, a plurality of connectors including a body portion, coupled to the body portion, a surgical instrument is inserted, and bendable, and a connector for controlling the movement of each connector Including a control module, the connector control module is provided with a single-port surgical trocar, characterized in that it is controlled by a surgical robot arm coupled to the surgical instrument.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

The single port surgical adapter according to the present invention enables the insertion of a plurality of surgical instruments, is implemented flexibly, the flexion and rotation angle is controllable by the control module of the robot arm, and corresponds to the flexible surgical instruments By controlling the curvature freely, there is an effect that can increase the degree of freedom of surgical instruments.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not 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 the second component, and similarly, the second component may also be referred to as the first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. In the following description of the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a plan view showing the overall structure of a surgical robot according to an embodiment of the present invention, Figure 2 is a conceptual diagram showing a master interface of a surgical robot according to an embodiment of the present invention.

The surgical adapter according to the present embodiment enables the insertion of a plurality of surgical instruments, and can be bent in correspondence with the bending of the flexible surgical instrument by implementing a flexible material and / or structure, and bending and rotation angles Is controllable by the control module of the robotic arm. Surgical adapters are medical instruments used to insert surgical instruments into the abdominal cavity during laparoscopic surgery.

The single port surgical adapter according to the present embodiment is not necessarily implemented to be limited to a surgical robot system as shown, and may be applicable to a system for operating using a surgical instrument. Hereinafter, the case where the single port surgical adapter according to the present embodiment is applied to the surgical robot system will be described.

1 and 2, the surgical robot system includes a slave robot 2 performing surgery on a patient lying on an operating table and a master robot 1 remotely controlling the slave robot 2. . The master robot 1 and the slave robot 2 are not necessarily separated into separate devices that are physically independent, but may be integrated into one and integrally formed, in which case the master interface 4 may be, for example, of an integrated robot. May correspond to an interface portion.

The master interface 4 of the master robot 1 comprises a monitor 6 and a master manipulator, and the slave robot 2 comprises a robot arm 3 and an instrument 5. The instrument 5 is an endoscopic, such as a laparoscope, or a surgical instrument, such as a surgical instrument for directly manipulating the affected part. Hereinafter, a case where the surgical instrument is inserted into the single port surgical adapter will be described.

The master interface 4 is provided with a master controller so that the operator can be gripped and manipulated by both hands. As illustrated in FIGS. 1 and 2, the master controller may be implemented with two handles 10. An operation signal according to the manipulation of the operator's handle 10 is transmitted to the slave robot 2 so that the robot arm 3 may be moved. Controlled. By operating the handle 10 of the operator, the position movement, rotation, and cutting of the robot arm 3 and / or the instrument 5 may be performed.

For example, the handle 10 may be composed of a main handle and a sub handle. The slave robot arm 3, the instrument 5, etc. can be operated with only one handle, or a plurality of surgical equipment can be operated at the same time by adding a sub handle. The main handle and the sub handle may have various mechanical configurations depending on the operation method thereof. For example, the robot arm 3 and / or other surgery of the slave robot 2, such as a joystick type, a keypad, a trackball, and a touch screen, may be used. Various input means for operating the equipment can be used.

The master controller is not limited to the shape of the handle 10 and may be applied without any limitation as long as it can control the operation of the robot arm 3 through a network.

The instrument 5 is mounted on the distal end of the surgical robot arm 3 equipped with an actuator, and receives a driving force from an actuator of the slave robot 2 to provide a driving wheel (not shown) in the driving unit (not shown) of the instrument 5. (Not shown) is operated, the operator is connected to the driving wheel and inserted into the body of the surgical patient to perform a predetermined operation, the operation. The driving wheel is formed in a disc shape, and may be clutched to the actuator to receive the driving force. In addition, the number of driving wheels may be determined corresponding to the number of objects to be controlled, and the description of such driving wheels will be apparent to those skilled in the art related to surgical instruments, and thus detailed description thereof will be omitted.

In addition, the single port surgical adapter according to the present embodiment can also be coupled to the actuator of the slave robot 2 as described above, the bending angle and rotation angle by receiving the driving force can be controlled. That is, according to this embodiment, there is a feature that can control the surgical instrument and the single port surgical adapter using the standard of the surgical robot according to the prior art as it is. Therefore, according to the present embodiment, by developing a single port surgical adapter that can be applied to the driving force corresponding to the actuator of the robot, it is not necessary to further develop the interface of the robot dedicated to single port surgery.

On the monitor unit 6 of the master interface 4, a laparoscope image input by a laparoscope or the like is displayed as an image image. In addition, the information displayed on the monitor unit 6 may vary according to the type of the selected image.

The slave robot 2 and the master robot 1 may be coupled to each other through a wired communication network or a wireless communication network so that an operation signal and an endoscope image input through the instrument 5 may be transmitted to the counterpart. If two operation signals by the two handles 10 provided in the master interface 4 and / or operation signals for adjusting the position of the instrument 5 need to be transmitted at the same time and / or at a similar time point, Each operation signal may be transmitted to the slave robot 2 independently of each other. Herein, when each operation signal is 'independently' transmitted, it means that the operation signals do not interfere with each other and one operation signal does not affect the other signal.

Therefore, when the master robot 1 generates an operation signal for controlling the surgical instrument and the single port surgical adapter, each operation signal is transmitted to the slave robot 2 independently of each other, which is described in each device as described above. The combined actuator can be driven.

As described above, in order to transmit the plurality of operation signals independently of each other, in the generation step of each operation signal, header information for each operation signal is added and transmitted, or each operation signal is transmitted in the generation order thereof, or Various methods may be used such as prioritizing each operation signal in advance and transmitting the operation signal accordingly. In this case, the transmission path through which each operation signal is transmitted may be provided independently so that interference between each operation signal may be fundamentally prevented.

One or more slave robots 2 may be used to operate the patient, and the instrument 5 for allowing the surgical site to be displayed as an image image through the monitor unit 6 may be implemented as an independent slave robot 2. In addition, the master robot 1 may also be implemented integrally with the slave robot 2.

3 is a view showing a single port surgical adapter according to an embodiment of the present invention. 3, the body portion 11, the first connector 12a, the second connector 12b, the first bending part 13a, the second bending part 13b, the first connector control module 14a, the second connector control module 14b, and the first to fourth wires 15a, 15b, 15c, and 15d are shown.

Body portion 11 is inserted and fixed in a hole drilled in the abdominal cavity of the patient, a plurality of connecting pipes (12a, 12b) is coupled. Referring to FIG. 3, an insertion state of the body part 11 is illustrated, and two connecting tubes 12a and 12b are formed, but the present invention is not limited thereto. The number of 12b) may be combined corresponding to the number of surgical instruments to be inserted.

The first connector 12a and the second connector 12b may respectively include predetermined bending portions 13a and 13b that are coupled to the body portion 11, the surgical instrument is inserted, and bendable. have. That is, the first connector 12a and the second connector 12b may be guide means for guiding the surgical instrument to be inserted into the abdominal cavity, and the bending part 13a formed of a flexible material and / or structure. , 13b).

Each of the first connector 12a and the second connector 12b may be coupled to the body portion 11 in a structure movable in the extension axis direction or in a structure rotatable about the extension axis. This coupling structure and function will be described in detail below.

The first bending part 13a and the second bending part 13b may be provided in predetermined regions of the first connecting pipe 12a and the second connecting pipe 12b, respectively. That is, the first connecting pipe 12a and the second connecting pipe 12b are implemented in a rigid rod shape, and as shown, predetermined portions of the first bending part 13a and the second bending part 13b. It can be implemented as.

In addition, according to another embodiment, the bending parts 13a and 13b are not provided only at specific points of the connection pipes 12a and 12b, but are formed of a material or a structure in which the entire connection pipes 12a and 12b can be bent. Can be. In this case, a position controlled to be bent may be referred to as bending parts 13a and 13b.

The bending parts 13a and 13b are formed of a structure or material that can be bent. For example, the bending parts 13a and 13b may include a plurality of joint parts spaced apart from each other, and may have a structure that may be bent when a predetermined force acts in a specific direction. In addition, the bending portions 13a and 13b may be formed of a material having a high bending property such as a synthetic resin tube, and may be formed of a structure and a material free of bending such as a so-called bellows tube.

The bending parts 13a and 13b are controlled by the operation of the connector control modules 14a and 14b. For this purpose, the bending parts 13a and 13b and the driving wheel may be connected to each other by a tension applying means such as a wire. The tension applying means is a means for applying a tension to the bending parts 13a and 13b to bend it in a predetermined direction, and may be a wire, a steel belt, or the like. The steel belt may be formed of a material resistant to high temperature, extension resistance, and chemical resistance, and may be applied to the present invention without being limited to its name and structure, such as a plain belt and a perforated belt.

The connector control module 14a, 14b may be implemented as a driving wheel that is coupled to the robot arm 3 which is an external device and receives a driving force from the actuator of the slave robot 2 as described above. The connector control module 14a or 14b may be controlled by receiving an electrical signal or a mechanical signal from the slave robot 2.

According to another embodiment, the connector control module (14a, 14b) can be directly lifted and operated by the user, it can also be controlled through a separate independent control means provided in the external device. Such control means may be a dedicated control means separately provided for coupling to handheld surgical instruments or for controlling the connector control modules 14a, 14b. For example, the surgical instrument may be a smart instrument that can be manually operated by the user instead of the robot arm 3, in this case, for controlling the connector control modules 14a and 14b to the handheld surgical instrument. Control means may be provided.

The first to fourth wires 15a, 15b, 15c, and 15d connect the connector control modules 14a and 14b and the bending parts 13a and 13b, and are operated by the connector control modules 14a and 14b. The movement of the bending portions 13a and 13b can be controlled.

For example, one end of the first and second wires 15a and 15b may be attached to two parts, for example, 180 degrees apart from the inside of the first bending part 13a, and the other end of the first connector control module. The first and second wires 15a and 15b are contracted or relaxed by the rotational movement of the drive wheels in conjunction with the drive wheels 14a to adjust the tension to bend the angle and direction of the first bending part 13a. Can be determined. In addition, a separate wire is connected to the first connector (12a) and the first connector control module 14a in the axial direction in which the first connector (12a) extends by the rotational movement of the drive 바와 as described above Can be rotated. Therefore, the direction in which one end of the first connecting pipe 12a is freely set in the abdominal cavity by the rotation of the first connecting pipe 12a and the bending of the first bending part 13a. In addition, four wires are coupled to the inside of the first bending portion 13a at intervals of 90 degrees to control the bending direction of the first bending portion 13a by using wires, or to control the shaft of the first connecting pipe 12a. Of course, various mechanisms capable of controlling the directional rotational movement can be applied to this embodiment.

In addition, the structure of the single port surgical adapter according to the present embodiment may be applied to the surgical trocar inserted into the skin of the patient to guide the surgical instrument to the affected area. That is, the surgical trocar is inserted into the surgical instrument as described above, a plurality of connectors (12a, 12b) including the bent portion (13a, 13b) that can be bent and each connector (12a, 12b) It can be configured to include a connector control module (14a, 14b) for controlling the movement of the. In this case, the surgical trocar not only plays a passive role of guiding the surgical instrument to the affected part, but also has an advantage of actively controlling the position of the surgical instrument by bending itself.

These surgical adapters and trocar connector control modules 14a, 14b may be controlled by the surgical robot arm 3 or by any control means or dedicated control means for handheld surgery as described above. have. In the case of the handheld control means or the dedicated control means, a predetermined driving part (not shown), for example, an interface (stick shape, button shape, tong shape, lever shape, etc.) which can be directly manipulated by a doctor, is provided. When the control is performed, the direction of the bending parts 13a and 13b can be controlled by the connector control modules 14a and 14b connected to the corresponding interface by the tension applying means as described above.

Therefore, according to the present embodiment, while using the driving wheels (for example, four) provided in the existing robot surgical instrument as it is, in addition to the integration of the surgical adapter and the trocar to implement the bending of the surgical instrument, or By using the connecting tubes 12a and 12b inserted into the trocar and implementing three degree of freedom movements such as extension direction movement, extension axis rotation, and bending with respect to the connector tubes 12a and 12b, existing surgical robots and While using the structure of the instrument as it is, there is an advantage that can expand the function for the user's convenience.

4, a state in which a surgical instrument is coupled to a single port surgical adapter according to an embodiment of the present invention is shown. The surgical instrument inserted into the single port surgical adapter includes a first driver 21a, a second driver 21b, a first shaft 22a, a second shaft 22b, a first operator 23a, and a second operator. (23b) may be included.

The driving wheels provided in the driving units 21a and 21b receive a driving force from the actuator of the slave robot 2 as described above, and perform surgery by operating the operators 23a and 23b for applying manipulation to the surgical affected area. The shafts 22a and 22b may be formed of a flexible material and / or structure. In order to change the direction of the bending part (13a, 13b) included in the surgical adapter as described above, the connector control module (14a, 14b) is operated, the surgical instrument receives power from the drive (21a, 21b) It works. That is, as described above, the connector control module 14a, 14b and the driver 21a, 21b receive the operation signals independent from each other from the master robot 1 and are driven corresponding to the operation signals, respectively, 12a and 12b and the operator 23a and 23b can be controlled. Therefore, according to the present embodiment, there is an advantage that the degree of freedom of the surgical instrument can be increased by freely controlling the curvature corresponding to the flexible surgical instrument.

Referring to FIG. 5, there is shown a diagram illustrating a state in which a surgical instrument is coupled to a single port surgical adapter according to another embodiment of the present invention. This embodiment is characterized by controlling the position of the surgical instrument coupled thereto by moving along the axial direction extending the connector (12a, 12b). That is, when the connecting tubes 12a and 12b move along the axial direction while the surgical instrument is bent or extended, the operators 23a and 23b of the surgical instrument may be positioned according to the movement of the connecting tubes 12a and 12b. Can be determined.

The connecting pipes 12a and 12b may be coupled to the body 11 so as to be movable in the extension direction thereof. For example, the connection pipes 12a and 12b may be slide-coupled using predetermined grooves and protrusions inside the body portion 11. The connecting pipes 12a and 12b may be controlled in their extension direction by a robot arm 3 that is coupled with a surgical instrument or a dedicated robot arm 3 provided separately for its control. Here, when there are a plurality of robot arms 3 coupled to the slave robot 2, the robot arms 3 coupled with the connectors 12a and 12b are the same as the robot arms 3 coupled with the surgical instrument or Or different robot arms 3.

In addition, various structures in which the connection pipes 12a and 12b are movably coupled to the body portion 11 and various mechanisms in which the connector control modules 14a and 14b move the connection pipes 12a and 12b are provided in this embodiment. Of course, it can be applied.

In addition, referring to Figure 6, there is shown a view showing a state in which a surgical instrument is coupled to a single port surgical adapter according to another embodiment of the present invention. The present embodiment is characterized in that the surgical instrument coupled with the connector (12a, 12b) is movable in its extension direction separately from the connector (12a, 12b). That is, the surgical instruments as well as the surgical instruments (12a, 12b) can be moved in the extending direction of the operation can be determined the position of the operator (23a, 23b) of the surgical instrument.

Further, according to another embodiment, the connecting pipes (12a, 12b) can be rotated about its extension axis direction. That is, the coupling pipes 12a and 12b are rotatably coupled to the body portion 11 and the extension shaft thereof, and the rotational movement thereof may be controlled by the connection pipe control modules 14a and 14b. For example, the connection pipes 12a and 12b are connected to the connection control module 14a and 14b with a predetermined wire, steel belt, etc., and rotate in the axial direction by an applied tension or the connection control module 14a, By rotating in the axial direction by the roller controlled by 14b), its rotational motion can be controlled by the connector control module 14a, 14b.

As described above, the connectors 12a, 12b are themselves movable forward and backward, bent or rotatable separately from the surgical instrument, and also by the movement and rotational movement, and also the motion of the connectors 12a, 12b. Apart from the various possible operations such as the surgical instrument to move the movement, the present invention has the advantage that the user can set the position of the operator (23a, 23b) of the surgical instrument through a variety of methods.

7 and 8, there is shown a single port surgical adapter with a plurality of bends according to another embodiment of the present invention. That is, the present embodiment is provided with two or more bending parts 17a, 17b, 19a, and 19b in one connector 12a and 12b, so that the connector 12a and 12b may be bent in various ways. There is this.

Referring to FIG. 7, each of the connecting pipes 12a and 12b includes a plurality of bending parts 17a, 17b, 19a and 19b, and each of the bending parts 17a, 17b, 19a and 19b is connected as described above. Can be controlled by the tube control module (14a, 14b). That is, each of the bending parts 17a, 17b, 19a, and 19b and the above-described driving wheel may be connected to each other by a tension applying means such as a wire or a steel belt.

Referring to FIG. 8, each of the bending parts 17a, 17b, 19a, and 19b may be controlled in cooperation with each other. For example, when the bending part 17a is bent in the first direction by the control of the connector control module 14a, the other bending part 19a provided in the same connector 12a is in a different second direction. Each of the bending parts 17a and 19a may be interlocked with each other to bend. Such interlocking may be performed by coupling the above-described wire or steel belt to the respective bending parts 17a and 19a and the connector control module 14a in correspondence with a preset interlocking operation. In addition, various bending methods such as bending portions 17a and 19a are bent in the same direction or bending portions 17a, 17b, 19a and 19b provided in different connection pipes 12a and 12b interlock with each other. Of course, it can be applied to the present invention.

9, a surgical instrument is shown coupled to a single port surgical adapter in accordance with an embodiment of the present invention. The surgical instrument is provided with a third bending portion 24 which can be bent and formed of a structure or material as described above at any position, for example, an intermediate position of the shaft 22.

The surgical instrument is bent by the bending portions 13a and 13b of the above-described surgical adapter. That is, when the surgical instrument is inserted into the connecting pipes 12a and 12b, the connecting pipes 12a and 12b are straightened in a straight direction, and after the insertion, the operator 23 faces the direction in which the surgical lesion is located. As described above, when the operation pipes are bent to rotate or rotate the connection pipes 12a and 12b, the third bending part 24 located at a portion corresponding to the bending parts 13a and 13b is bent. Therefore, as the connecting pipes 12a and 12b are bent, surgical instruments may also be bent.

The surgical instrument receives the operation signal through the driving unit 21 as described above in a curved state and transmits power to the operator 23 to perform the surgery. In addition, when the surgical instrument is removed from the connector (12a, 12b), since the operator 23 and the shaft 22 adjacent thereto may not be flexible, the connector (12a, 12b) can be straightened and pulled out.

In addition, a specific device design for a single port surgical adapter according to an embodiment of the present invention and a surgical robot operating in conjunction with this, standardization of common platform technologies such as embedded systems, O / S, communication protocols, I / O interfaces, etc. Detailed descriptions of technologies and component standardization techniques such as actuators, batteries, cameras, sensors, etc. will be omitted since they are obvious to those skilled in the art.

Those skilled in the art will appreciate that various modifications and changes can be made in the present invention without departing from the spirit and scope of the invention as set forth in the claims below.

1 is a plan view showing the overall structure of a surgical robot according to an embodiment of the present invention.

Figure 2 is a conceptual diagram showing a master interface of the surgical robot according to an embodiment of the present invention.

Figure 3 shows a single port surgical adapter according to an embodiment of the present invention.

4 is a view showing a state in which a surgical instrument is coupled to a single port surgical adapter according to an embodiment of the present invention.

5 is a view showing a state in which a surgical instrument is coupled to a single port surgical adapter according to another embodiment of the present invention.

6 is a view showing a state in which a surgical instrument is coupled to a single port surgical adapter according to another embodiment of the present invention.

Figure 7 illustrates a single port surgical adapter according to another embodiment of the present invention.

Figure 8 illustrates a single port surgical adapter according to another embodiment of the present invention.

9 is a perspective view of a surgical instrument coupled to a single port surgical adapter according to an embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

1: Master Robot 2: Slave Robot

3: robot arm 4: master interface

5: instrument 6: monitor

10: handle 11: body part

12a: first connector 12b: second connector

13a: first bending part 13b: second bending part

14a: first connector control module 14b: second connector control module

15a, 15b, 15c, 15d: first to fourth wires

21a: first drive unit 21b: second drive unit

22a: first shaft 22b: second shaft

23a: first operator 23b: second operator

Claims (10)

  1. It is installed in a hole punched in the skin of the patient to guide the insertion of the surgical instrument to perform the operation by inserting a plurality of surgical instruments into the patient's body through a predetermined hole punched in the patient's skin As an adapter,
    A body portion inserted into and fixed to a hole drilled in the skin of the patient;
    A plurality of connecting pipes coupled to the body by a number corresponding to the number of the plurality of surgical instruments so that the plurality of surgical instruments can be inserted respectively;
    A bending part provided in a predetermined region of the connection pipe and formed of a material or structure that can be bent;
    It includes a connector control module for controlling the bending motion in the bending portion of the connector,
    The connector control module is operated by receiving a driving force from a separate control means provided in an external device,
    The surgical instrument is a single port surgical adapter, characterized in that made of a structure that can be bent the portion corresponding to the bending portion when inserted into the connector.
  2. The method of claim 1,
    The control means is a single port surgical adapter, characterized in that coupled to the surgical robot or handheld surgical instruments.
  3. The method of claim 1,
    The control means is a single port surgical adapter, characterized in that the dedicated control means for controlling the connector control module.
  4. The method of claim 1,
    The connector control module,
    Single port surgical adapter, characterized in that the tension applying means for applying a tension to bend the bending portion in a predetermined direction.
  5. 5. The method of claim 4,
    Single tension surgical adapter, characterized in that the tension applying means is a wire or steel belt.
  6. The method of claim 1,
    The connector control module,
    Single port surgical adapter, characterized in that further controlling any one or more of the axial rotational movement and the axial movement of the connector.
  7. The method of claim 1,
    The bending portion is a single port surgical adapter, characterized in that a plurality provided in the connector.
  8. The method of claim 1,
    Single bent surgical adapter, characterized in that the plurality of bending portions provided in each of the plurality of connection pipes operate in conjunction with each other in a predetermined manner.
  9. A plurality of surgical instruments are mounted on a plurality of robot arms provided in the surgical robot, and the plurality of surgical instruments are inserted into a patient's body through a predetermined hole drilled in the patient's skin to perform surgery. As a trocar installed in the hole drilled in the skin of the patient,
    A body portion inserted into and fixed to a hole drilled in the skin of the patient;
    A plurality of connecting pipes coupled to the body by a number corresponding to the number of the plurality of surgical instruments so that the plurality of surgical instruments can be inserted respectively;
    A bending part provided in a predetermined region of the connection pipe and formed of a material or structure that can be bent;
    It is operated by receiving a driving force from the robot arm, including a connector control module for controlling the bending motion in the bending portion of the connector,
    The surgical instrument is a single-port surgical trocar, characterized in that the structure corresponding to the bending portion when the insertion portion is inserted into the conduit is made of a structure.
  10. 10. The method of claim 9,
    The plurality of surgical instruments are mounted to some of the plurality of robot arms, the connector control module is operated by receiving a driving force from the robot arm is not equipped with the surgical instruments of the plurality of robot arms. Single port surgical trocar.
KR20090122212A 2009-12-10 2009-12-10 Single Port Surgical Adapter KR101063281B1 (en)

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KR20090122212A KR101063281B1 (en) 2009-12-10 2009-12-10 Single Port Surgical Adapter
PCT/KR2010/007314 WO2011052939A2 (en) 2009-10-26 2010-10-25 Surgical instrument and adapter for single port surgery

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KR101643188B1 (en) * 2010-09-15 2016-07-27 (주)미래컴퍼니 Wrist device for surgical tool
KR101101274B1 (en) * 2011-07-01 2012-01-04 전남대학교산학협력단 Small-sized manipulator for single port surgery
KR101667933B1 (en) * 2014-07-18 2016-10-21 한국과학기술연구원 Tube continuum robot having a tube body capable of linear control
KR101672882B1 (en) * 2015-04-21 2016-11-07 울산대학교 산학협력단 Hybrid adapter
KR101693677B1 (en) * 2015-07-03 2017-01-10 전자부품연구원 Surgery apparatus

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