KR101241811B1 - Surgical instrument - Google Patents

Abstract

Surgical instruments are disclosed. A handle, a shaft that is detachably coupled to the handle and extends in one direction, a bending portion formed on a portion of the shaft, a driving portion mounted to the handle and generating a predetermined driving force, And a position changer configured to receive a driving force and change a position of one end of the shaft to bend the shaft in a direction different from the direction in which the shaft is extended, and a power transmission means for bending the bending part corresponding to the curved shaft. The instrument can be flexibly freely bent the shaft, the shaft can be attached to and detached from the handle, the user can conveniently combine the shaft to the handle when detachable.

Description

Surgical Instrument

TECHNICAL FIELD The present invention relates to medical devices, and more particularly to surgical instruments.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars.

On the contrary, instead of dissecting the skin, a small insertion hole is drilled, and through this, a medical device such as an endoscope, a laparoscope, a surgical instrument, a microsurgical microscope is inserted to allow surgery to be performed in the body. 'Laparoscopic surgery' or 'minimally invasive surgery' is in the spotlight.

Such a conventional surgical instrument 10 used for laparoscopic surgery has a structure in which the effector 16 is coupled to the end of the shaft 14 extending from the handle 12, as shown in FIG. If it is necessary to change the orientation of the effector 16 during the surgical procedure, conventional instruments allow a person to manually unlock the lock 18 and manually move the operator 26 so that a portion of the shaft 20 bends like a joint. It was then manipulated by locking the lock 18 again.

However, such a conventional manual operation method has to manually operate the locking device 18 and the operator 26 during the operation, it is necessary to operate the instrument 10 by using both hands, respectively holding the surgical instruments in both hands In the case there was a limit that can not operate the surgical instrument (10).

In addition, the conventional surgical instrument 10 has a problem in that the handle 12 also needs to be discarded when the shaft 14 reaches the end of life because the shaft 14 is fixedly coupled to the handle 12.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

The present invention is to provide a surgical instrument that can be flexibly freely curved.

In addition, the present invention is to provide a surgical instrument that can be attached to the shaft detachable to the handle, the user can conveniently connect the shaft to the handle.

The technical problems other than the present invention can be easily understood from the following description.

According to an aspect of the present invention, the handle, a shaft coupled to the handle detachably, extending in one direction (shaft), a bending portion formed on a portion of the shaft (mounting), mounted on the handle, the predetermined driving force The driving unit for generating a, and is mounted to the handle, the position change unit for bending the shaft in a direction different from the extending direction by changing the position of one end of the shaft receives the driving force, and the bending portion corresponding to the curved shaft Surgical instruments are provided that include power transmission means.

Here, the position change unit may be coupled to one end of the shaft in a spherical trajectory, the position change unit may include a first position change unit for changing a position of one end of the shaft in a first direction, and a position of one end of the shaft in a second direction. It may include a second position changing unit for changing to.

Here, any one or more of the first position changer and the second position changer may have an arc shape, and the first position changer and the second position changer may have an arc shape perpendicular to each other.

In addition, the position change unit may be coupled in a plane in which one end of the shaft and the extended direction of the shaft is normal, and the present embodiment may further include a shaft insert portion coupled to the handle and having a tapered shape for easy insertion of the shaft. Can

Here, the number of bending portions formed on a portion of the shaft may be plural, and the bending portions may include a snake type joint.

In addition, the distal end of the shaft is coupled to the effector (effector) is operated to perform the operation required for the operation according to the user operation on the handle, the bending portion is formed adjacent to the effector, the direction of the effector is changed according to the bending of the bending portion Can be.

Here, the effector includes a pair of jaws engaged with each other, the handle is a rotational manipulator connected to the effector to rotate the effector about the extension direction of the shaft, and a pair of jaws connected to the pair of jaws A grip operator may be coupled to allow the door to open and close.

The driving unit may include a motor unit, a power supply unit for supplying electric power for driving the motor unit, and a controller for controlling driving of the motor unit, wherein the controller includes a motor unit such that the bending unit is bent in accordance with the operation direction. It may include a direction manipulator for controlling the drive, the position change unit may be coupled by the motor unit and the worm gear.

In addition, one end of the shaft coupled to the handle may be formed with an arrowhead-shaped protrusion, this embodiment may further include a fastening portion coupled to the handle, the protrusion of the shaft is inserted, in this case a protrusion inside the fastening portion The locking jaw that is fastened can be coupled.

The bender portion may include a lever portion connected to the power transmission means to move the power transmission means, in which case the present embodiment is located at one end of the shaft, and is connected to the lever portion to manipulate the position of the lever portion. The plate may further include.

In addition, the present embodiment may further include a guide rail is inserted into the shaft, the guide rail for operating the position of the lever in combination with the lever, the guide rail may be coupled to the lever and the bearing bearing.

In addition, the bender may further include a guide rail operation unit on which a bar having a predetermined length for pushing or pulling the guide rail is formed to control the inclination of the guide rail.

The bender may further include a gimbal plate positioned at one end of the shaft and connected to the power transmission means to move the power transmission means, and the bender part may be configured to control a tilt of the gimbal plate. It may further include a gamble plate operation unit is formed to push or pull a bar of a predetermined length, the gamble plate operation unit is movable in the extension direction of the shaft, the extension direction is rotatable about the axis.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

Surgical instrument according to the present invention can be conveniently bent the shaft freely, detachable shaft to the handle, there is an effect that the user can conveniently combine the shaft on the handle.

1 is a perspective view of a surgical instrument according to the prior art.
Figure 2 is a side view conceptually showing a surgical instrument according to an embodiment of the present invention.
Figure 3 is a plan view showing a bending state of the bending portion according to an embodiment of the present invention.
4 is an enlarged cross-sectional view of portion 'A' of FIG. 3;
5 is a perspective view of a handle according to an embodiment of the present invention.
6 is a side view of a handle according to an embodiment of the present invention.
7A is a top view of the handle in accordance with one embodiment of the present invention.
7B is a front view of a handle in accordance with one embodiment of the present invention.
8 is a rear internal perspective view of the surgical instrument according to another embodiment of the present invention.
Figure 9 is a conceptual diagram that is inserted into the surgical instrument according to another embodiment of the present invention.
Figure 10 is a partial conceptual view of the surgical instrument is inserted according to another embodiment of the present invention.
Figure 11a is a side conceptual view of a surgical instrument according to another embodiment of the present invention.
Figure 11b is a side conceptual view of a surgical instrument according to another embodiment of the present invention.
12A and 12B are side conceptual views of a surgical instrument according to another embodiment of the present invention.
13A and 13B are side conceptual views of a surgical instrument according to another embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the 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 a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

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. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations 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. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

2 is a side view conceptually showing a surgical instrument according to an embodiment of the present invention. 2, the handle 30, the grip operator 34, the shaft 40, the bending part 42, the effector 44, the first motor 52, the first worm gear 53, and the second motor. (54), the second worm gear 55, the power supply unit 56, the direction manipulator 58, the first position change unit 62, the second position change unit 64, the support portion 66, the shaft insertion portion 68 ) Is shown.

The present embodiment uses a predetermined structure within the handle 30 to facilitate bending of a surgical instrument having a shaft 40 that is bendable and has an effector 44 at one end thereof. ) Bending the bending part 42 provided on the side or part of the shaft 40.

Hereinafter, an operation of bending the bending part 42 is applied, and a part provided in the handle 30 is called a bender part, and the bender part bends one end of the shaft 40 to bend the bending part 42. It demonstrates centering on an Example. That is, the present embodiment changes the position of one end of the shaft 40 by using the first position changing portion 62 and the second position changing portion 64 to bend the bending portion 42 that is bent in conjunction with it. There is a characteristic.

Surgical instrument according to this embodiment relates to a so-called 'motorized handheld instrument (Motorized Handheld Instrument)', the bending portion 42 is formed on the distal end or other part of the shaft 40, such as a motor The bending part 42 is bent freely using power, and the end of the instrument can be easily bent up, down, left, or right by bending the shaft 40 using a force such as a motor in a manually operated instrument. You can move right.

The instrument according to the present embodiment is based on a structure in which the shaft 40 extends to the handle 30 for operation, and a bending portion 42 that is bent freely is formed at the end of the shaft 40, and the handle ( 30 is a driving unit (first motor 52, first worm gear 53, second motor 54, second worm gear 55, power source 56) for generating a driving force to bend the bending portion 42 It is mounted), the drive unit and the bending unit 42 is connected to the power transmission means 70 so that the bending unit 42 is bent in the desired direction in accordance with the driving of the drive unit. The shaft 40 passes through the shaft insert 68 and is inserted into the handle 30.

The end of the shaft 40 may be coupled to the effector 44, such as tongs, hooks, spatters, etc. consisting of a pair of jaws, the user is to handle the handle 30 By holding and operating the effector 44 performs various operations required for surgery such as cutting, grip, and rotation. In the present specification, the effector 44 will be described based on a case in which a pair of jaws is formed of a tong. The handle 30 includes a rotation operator (not shown) for rotation of the effector 44 or the shaft 40, and each of the effectors 44 such as a grip operator 34 for opening and closing a pair of jaws to perform a grip operation. Operators corresponding to the actions may be combined. Here, the rotation operator can cause the effector 44 to rotate in the axial direction of the effector 44 or the shaft 40 in the axial direction of the shaft 40 by direct or indirect power transmission.

The bending part 42 is formed in a part of the shaft 40 and serves as a joint to allow the shaft 40 to be bent in an arbitrary direction. In the embodiment shown in FIG. 2, an end portion of the shaft 40, That is, the case where the bending part 42 is formed in the part adjacent to the effector 44 is shown. The position of the bending part 42 may be implemented in various ways such as a portion adjacent to the effector 44, a middle portion of the shaft 40, and a portion adjacent to the handle 30, and may be one or more.

The driving unit generates and transmits a driving force so that the bending part 42 is bent so that the part after the bending part 42, that is, the part to which the effector 44 is coupled, moves toward the predetermined direction. Therefore, the direction in which the effector 44 faces by the bending of the bending part 42 is changed.

The position change units 62 and 64 are mounted to the handle 30 and receive the driving force generated by the drive unit to change the position of one end of the shaft 40 inserted into the handle 30 to thereby change the shaft 40. It bends in a direction different from the extending direction. The position change parts 62 and 64 are rotatably coupled to the support part 66 to be supported.

The position change parts 62 and 64 may be coupled to one end of the shaft 40 and a spherical (including hemispherical) trajectory. The manner in which the position change parts 62 and 64 are coupled to one end of the shaft 40 is not only to be coupled by direct contact, but also to be indirectly coupled via the predetermined pipe housing the shaft 40 via the pipe. May include cases.

The position change units 62 and 64 change the position of one end of the shaft 40 and the first position change unit 62 to change the position of one end of the shaft 40 in the first direction. It may include a second position changing unit 64 to change to.

For example, referring to FIG. 2, the first position change unit 62 and the second position change unit 64 may have an arc shape and are arranged perpendicular to each other in space. The first position changing unit 62 rotates in the normal direction of FIG. 2 as the axis, and the second position changing unit 64 rotates the upper direction of FIG. The point where the two position changing portions 64 meet each other may exist in the spherical trajectory by the rotation angle. In this case, when one end of the shaft 40 penetrates the point where the first position change unit 62 and the second position change unit 64 meet each other, one end of the shaft 40 is bent.

Here, one end of the shaft 40 is bent and implemented in the same or different structure as the structure of the bending portion 42 as described above. For example, one end of the shaft 40 and the bending part 42 may be connected to each other by a wire so that the bending part 42 may be bent when one end of the shaft 40 is bent. One end of the shaft 40 and each point of the bending part 42 may be connected to a power transmission means 70 such as a wire. For example, one end of the shaft 40 may be bent by a predetermined wire 42. Can be connected to two points. When one end of the shaft 40 is bent through this structure and various other structures, the bending portion 42 correspondingly is a technique generally used in surgical instruments including a snake-type joint. Therefore, detailed description thereof will be omitted.

The first position change unit 62 and the second position change unit 64 may be coupled to the motors 52 and 54 by a worm gear. That is, the first position change unit 62 is coupled by the first motor 52 and the first worm gear 53, and the second position change unit 64 is the second motor 54 and the second worm gear 55. Combined by). For example, the worm gears 53 and 55 include a worm and a worm wheel engaged with the worm, and the motors 52 and 54 combine with the worm to rotate the worm wheel, and accordingly, the worm wheel engaged with the worm rotates to change the position ( 62, 64).

Further, according to another embodiment, the first position change unit 62 and the second position change unit 64 may be coupled in a plane in which one end of the shaft 40 and the extended direction of the shaft 40 are normal. . That is, the first position changer 62 and the second position changer 64 meet each other on a specific plane where the extension direction of the shaft 40 is normal, and the first position changer 62 It may move in one direction, for example, in the X-axis direction of the plane, and the second position change unit 64 may move in a second direction, for example, in the Y-axis direction of the plane. In this case, the point where the first position change unit 62 and the second position change unit 64 meet each other may be an arbitrary point of the corresponding plane, and the position of one end of the shaft 40 penetrating it may be arbitrarily set. have.

The driving unit according to the present exemplary embodiment may include a controller for controlling the driving of the motors 52 and 54, the power supply unit 56, and the motors 52 and 54. In the present embodiment, since the motors 52 and 54 are used only for the bending operation of the bending part 42, a motor having a capacity sufficient to generate power required for the bending part 42 may be used, in which case it is accommodated in the handle 30. As large a motor as possible can be used.

However, the motors 52 and 54 according to the present embodiment are not necessarily to be accommodated in the handle 30, and the motors 52 and 54 are installed outside the handle 30, and a driving force such as 'cable conduit' is transmitted. By connecting the motors 52 and 54 to the handle 30 by means, the driving force may be supplied from the outside.

The power supply unit 56 is a component for supplying power required for driving the motors 52 and 54 and may receive power from the outside, and to improve portability of the surgical instrument according to the present embodiment. Batteries such as batteries or rechargeable batteries accommodated in the handle 30 may be used. As described above, a small motor may be used to generate the power required for the bending of the bending part 42, and accordingly, the power supply unit 56 may also be designed with a smaller capacity, thereby configuring the driving unit at a low cost. Can be.

The controller is a part for controlling the driving of the motors 52, 54. In this embodiment, a specific part of the handle 30, for example, the front end of the handle 30, corresponds to the bending direction of the bending part 42. Alternatively, a direction manipulator 58 such as a small joystick or a direction key may be installed at the rear end as a controller to control the bending direction of the bending part 42 more intuitively. For example, when the bending part 42 is configured to be bent in the up, down, left, and right directions, a joystick or the like which is operated in the up, down, left, and right directions may be installed so that the bending direction of the bending part 42 may be adjusted. By making the bending direction of the bending part 42 coincide, the user can intuitively operate the direction manipulator 58 to bend the bending part 42.

The overall structure of the surgical instrument according to the present embodiment has been described above. However, the motor is not necessarily used in the driving unit according to the present embodiment, and various other driving force generating means capable of bending the bending part 42, for example, a device using pneumatic or hydraulic pressure may be used. In addition, the driving force generated and transmitted from the driving unit is not necessarily used to bend the bending unit 42, but may be used as a driving force for various operations such as the operation of the effector 44.

Furthermore, the surgical instrument according to the present embodiment is not necessarily limited to the manual type used by the user by hand, and the handle 30 is mounted on the surgical robot arm and operated by receiving a driving force from the robot arm. It may be implemented. Hereinafter, the operation of each part of the surgical instrument according to the present embodiment will be described in more detail.

Figure 3 is a plan view showing a bending state of the bending portion according to an embodiment of the present invention. Referring to FIG. 3, the handle 30, the shaft 40, the bending portion 42, the effector 44, the direction manipulator 58, and the power transmission means 70 are shown.

In order to implement various operations on the effector 44, each operator and the effector 44 may be connected in various ways. For example, a rotating operator coupled to the handle 30 to be rotatable may be connected to the shaft 40. , The effector 44 connected to the shaft 40 and / or its end may rotate according to the rotation of the rotation operator, and the grip operator 34 coupled to the handle 30 in the form of a lever has a pair of jaws. And a wire, a steel belt, or the like, the tension is transmitted through the wire as the grip operator 34 pulls the effector 44 to allow the grip operation. In addition, various connection methods may be applied according to the operation method of the effector 44 and the operation method of each operator.

In order to bend the bending part 42 by operating the direction manipulator 58 in the directions of up, down, left and right, the motor according to the present embodiment has a pair of motors 52 as shown in FIG. , 54).

That is, the first motor 52 is driven by operating the direction manipulator 58 in the vertical direction, and the second motor 54 is driven by manipulating the direction manipulator 58 in the left and right directions. As the first position change unit 62 rotates in accordance with the driving of the motor 52, and the second position change unit 64 rotates in response to the drive of the second motor 54, the bending portion 42 moves upward and downward. And by bending in the left-right direction, the operation direction of the direction operator 58, the rotation direction of the position change parts 62 and 64, and the bending direction of the bending part 42 can be matched.

However, it is not necessary to set the operation direction of the direction operator 58 and the bending direction of the bending part 42 in the up-down direction and the left-right direction according to the present embodiment, and the direction operator 58 has two directions, that is, the first direction. It is also possible to match the operation direction and the second operation direction, the position change unit 62, 64 is rotated correspondingly, and the bending unit 42 is bent in the first direction and the second direction bend.

4 is an enlarged cross-sectional view of a portion 'A' of FIG. 3. Referring to FIG. 4, the shaft 40, the bending portion 42, the first wires 72, 72 ′, and the second wire 74 are shown.

The bending part 42 may be able to operate by bending a part of the shaft 40 even in a situation in which the direction or position of the entire instrument cannot be changed, thereby changing the direction in which the effector 44 faces. That is, by operating the surgical instrument according to the present embodiment, the effector 44 can perform various operations (cutting, grip, rotation, etc.) required for the operation, and also by changing the direction in which the effector 44 is directed to the instrument. Various surgical operations can be performed on the desired surgical site without changing the overall direction.

As such, to bend a portion of the shaft 40, the bending part 42 according to the present embodiment may be implemented by combining various mechanisms such as hinges, pivots, bellows, and the like. Flexible joints can be implemented in the form of a so-called 'snake' type of speech.

The bending part 42 formed of the snake type can be bent in the desired direction by fixing the wire to the inner wall and transmitting tension through the wire as described later. For example, when pulling the wire on the left side and loosening the wire on the right side while fixing the four wires corresponding to the up, down, left, and right directions on the inner wall of the bending part 42, the bending part 42 ) Is bent to the left due to the tension of the wire. As described above, each wire may be connected to an inner wall of one end of the shaft 40 inserted into the handle 30 so that one end of the shaft 40 may be bent to correspond to the corresponding movement. The direction in which one end of the shaft 40 is bent and the direction in which the bending part 42 is bent may be the same direction or different directions.

5-7B are internal design views of handles in accordance with one embodiment of the present invention. 5 to 7, the handle 30, the grip operator 34, the first motor 52, the first worm gear 53, the second motor 54, the second worm gear 55, the direction operator 58, a first position changer 62, a second position changer 64, a support 66, and a shaft insert 68 are shown.

The first position change unit 62 and the second position change unit 64 are embodied in an arc shape positioned to be perpendicular to each other in space, and are driven by the motors 52 and 54, respectively. The first position change unit 62 and the second position change unit 64 may be provided with holes formed therein in the extending direction thereof so that one end of the shaft 40 may be inserted at the point where they meet each other.

The motors 52 and 54 and the position changing parts 62 and 64 are coupled by the worm gears 53 and 55 so that the motors 52 and 54 correspond to the position changing parts when the motors 52 and 54 drive the worm gears 53 and 55. As the 62 and 64 rotate, one end of the shaft 40 inserted therein is bent. The direction operator 58 is located at the rear end of the handle 30 so that when the user grips the grip with his hand, he or she can conveniently operate it with the thumb.

The handle 30 is detachably coupled to the shaft 40 so that the handle 40 may be reused regardless of the life of the shaft 40 and / or the effector 44, and is conveniently formed by the user. There is also a feature that can bend the shaft 40.

8 is a side view conceptually showing a surgical instrument according to another embodiment of the present invention. Referring to FIG. 8, the handle 30, the grip operator 34, the shaft 40, the bending part 42, the effector 44, the first motor 52, the second motor 54, and the second worm gear 55, a power supply 56, a direction manipulator 58, a first position changer 62, a second position changer 64, a support 66, and a shaft insert 68 are shown. The differences from the above will be explained mainly.

The handle 30 of the surgical instrument according to the present embodiment is the shaft insertion portion 68 is formed in a funnel shape so that the shaft 40 can be easily inserted. That is, the shaft insertion portion 68 has a wide surface in the direction in which the shaft 40 is inserted, and its area decreases toward the direction toward the position change portions 62 and 64, thus changing the position of one end of the shaft 40. It can lead to the point where the parts 62 and 64 meet each other.

The shaft insertion portion 68 may be formed in a tapered shape in which the shaft 40 is inserted from the outside and coupled to the handle 30 in an open direction. The longitudinal section of the shaft insertion portion 68 may be a polygon such as a circle or a square, and the area thereof decreases toward the position change portions 62 and 64 so that the shaft 40 may be positioned as the position change portions 62 and 64. To be inserted at the point where In addition, unlike shown, the shaft insertion portion 68 may be connected to the handle 30 without opening the surface in the direction in which the shaft 40 is inserted. Even with this structure, the shaft insertion portion 68 can guide the shaft 40 to a portion where the position change portions 62 and 64 meet.

9 and 10 is a conceptual diagram in which the surgical instrument is inserted according to another embodiment of the present invention. 9 and 10, a shaft 40, a bending portion 42, an effector 44, a protrusion 46, a fastening portion 81, a locking jaw 82, and a cable 83 are illustrated.

This embodiment has a feature that one end of the shaft 40 can be fastened to the handle 30 through a predetermined structure so that the shaft 40 can be easily detached to the handle 30. That is, according to the present embodiment, an arrowhead-shaped protrusion 46 is formed at one end of the shaft 40, and the protrusion 46 is caught when the shaft 40 is fastened to the inside of the handle 30, and the shaft 40 is formed. By forming a locking step 82 is not caught when the projection 46 is removed, it is possible to be firmly coupled, there is a feature that the shaft 40 can be easily removed.

Referring to FIG. 9, an arrowhead-shaped protrusion 46 is formed at one end of the shaft 40 inserted into the handle 30. Here, the arrowhead shape is a cone shape such as a cone, an elliptical cone, a polygonal pyramid, and the vertex direction has a small area so that it can be easily inserted into a small hole, but the bottom surface thereof has a large area and is not easily removed after insertion into the hole. The longitudinal section of the protrusion 46 may have various shapes such as a circle, an ellipse, a rectangle, a rhombus, and a polygon.

The fastening part 81 may be provided inside the handle 30 and may be positioned to correspond to one end of the shaft insertion part 68. One surface of the fastening part 81 may contact the shaft insert 68 or may be spaced apart by a predetermined distance. As described above, when the shaft insertion portion 68 is formed in a funnel shape, the fastening portion 81 is provided with an open surface at a position where the shaft 40 passes through the shaft insertion portion 68 to provide the shaft 40. It can be easily inserted.

Referring to FIG. 10, a locking jaw 82 may be formed at the inner side of the fastening portion 81 to catch the protrusion 46 of the shaft 40. The locking jaw 82 is formed in a shape and size to which the arrowhead-shaped protrusion 46 can be caught, and the distance between the locking jaw 82 becomes farther or closer to each other to facilitate the detachment of the protrusion 46.

9 and 10 (A), the fastening portion 81 is divided so as to be opened, and when the divided portions of the fastening portion 81 are separated from each other in the direction of the arrow, the distance between the locking jaw 82 is The protrusions 46 may be released from the locking jaw 82 by being separated from each other. When the divided portions of the fastening portions 81 are close to each other, the distance between the locking jaws 82 is close to each other, so that the protrusions 46 are caught. (82). Due to the structure of the fastening part 81 and the locking step 82, the detachment of the shaft 40 may be facilitated.

In addition, according to another embodiment, as shown in FIG. The distance may be farther or closer to each other. In this case, the shape of the fastening part 81 itself may be easily detachable from the shaft 40 only by the movement of the locking jaw 82 in the unchanged state.

Here, the movement operation of the divided portion of the fastening portion 81 or the movement operation of the locking jaw 82 may be performed by mechanical or electrical manipulation. For example, in FIG. 10A, the fastening part 81 divided part has a property of being opened by an elastic force, and wraps the ring whose radius is adjustable by mechanical combination while surrounding the outer circumferential surface of the fastening part 81. When the radius size of the ring is controlled by a user interface such as a button, when the user pulls out the shaft 40, when the user pushes the button, the radius of the ring becomes larger, and the fastening portion 81 division part and the locking step ( The shaft 40 can be easily pulled out as 82 moves away from each other. When the user inserts the shaft 40, the button click is released to reverse the operation described above. This mechanical operation can be performed not only by the electrical signal generated by the button click, but also other mechanisms for moving the latching jaw 82 can be applied to the present invention.

The cable 83 may be a means for the grip operator 34 to transmit a driving force to the effector 44 of the shaft 40, for example, a driving force transmission means such as a 'cable conduit'.

Further, according to another embodiment, the fastening portion 81 may be the same component as the shaft insert 68 or may be implemented as a part of the shaft insert 68. In this case, the locking jaw 82 is formed in the shaft insertion portion 68 as described above so that the protrusion 46 of the shaft 40 can be fastened.

Figure 11a is a side conceptual view of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 11A, the shaft 40, the first wires 72 and 72 ′, the second wires 74 and 74 ′, the lever portions 91a, 91b, 92a and 92b, and the pulleys 93a, 93b) is shown. The differences from the above will be explained mainly.

Unlike the above-described embodiment, the present embodiment is provided with lever portions 91a, 91b, 92a, and 92b for directly operating the power transmission means 70 and can bend the bending portion 42 by moving them back and forth. There is this.

The lever portions 91a, 91b, 92a, 92b are formed so that a user applies a force directly or using a separate operation means, and may be connected to the power transmission means 70 to move the power transmission means 70. . The lever portions 91a, 91b, 92a, 92b may be formed to protrude in the shaft 40 or may be provided in a recessed groove shape in the hole formed in the shaft 40. Can be driven by inserting the lever in the groove.

The lever portions 91a, 91b, 92a, 92b are coupled to the power transmission means 70 connected to the bending portion 42, respectively, and may be provided in the number thereof. The power transmission means 70 moved in the extending direction of the shaft 40 by the lever portions 91a, 91b, 92a, 92b can be operated in pairs by the pulleys 93a, 93b.

For example, when the first wire 72 is moved to the right by the lever portion 91a, the first wire 72 'coupled by the first wire 72 and the pulley 93b is the lever portion ( 91b) to the left. Therefore, according to the present embodiment, the movement of the power transmission means 70 is possible by the manipulation of the lever parts 91a, 91b, 92a, 92b, and correspondingly, the bending of the bending part 42 is possible.

11B is a side conceptual view of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 11B, the shaft 40, the first wires 72 and 72 ′, the second wires 74 and 74 ′, the lever portions 91a, 91b, 92a and 92b, and the pulleys 93a, 93b), gimbal 94 and connecting means 95 are shown. The differences from the above will be explained mainly.

This embodiment is characterized in that it further comprises a gimbal plate (gimbal) (94) for operating the above-mentioned lever (91a, 91b, 92a, 92b). The gamble plate 94 may have a plate shape such as a circle, an ellipse, a polygon, and the like, and may be positioned at one end of the shaft 40 and connected to the lever portions 91a, 91b, 92a, and 92b, and may be tilted so that the lever portion 91a, 91b, 92a, 92b) are operated. The gimbal plate 94 and the lever portions 91a, 91b, 92a, 92b are connected by a bar-shaped connecting means 95, thereby operating the lever portions 91a, 91b, 92a and 92b are movable.

For example, when the gimbal plate 94 is inclined such that the upper end thereof goes to the left and the lower end thereof to the right, the lever part 91a moves to the left side and the lever part 91b moves to the right side. As described above, the power transmission means 70 moves, and accordingly, the bending part 42 is bent in a predetermined direction. When the gamble plate 94 is inclined in the opposite direction, the bending part 42 is curved in the opposite direction, of course. In this case, the handle 30 may be provided with a separate mechanism for manipulating the tilt of the gamble plate 94.

According to another embodiment of the present invention, the power transmission means 70 may be directly connected to the gamble plate 94 to be operated. In this case, the lever portions 91a, 91b, 92a, 92b, the pulleys 93a, 93b, and the connecting means 95 can be omitted, so that the power transmission means 70 can be directly operated with a simpler structure.

12A and 12B are side conceptual views of a surgical instrument according to another embodiment of the present invention. 12A and 12B, the shaft 40, the first wires 72 and 72 ′, the second wires 74 and 74 ′, the lever portions 91a, 91b, 92a and 92b, and the pulleys 93a and 93b, guide rail 96 and bearing 97 are shown. The differences from the above will be explained mainly.

This embodiment is characterized by further comprising a guide rail 96 for manipulating the above-mentioned lever portions 91a, 91b, 92a, 92b. The guide rail 96 has a shaft 40 inserted therein, and is coupled to the lever portions 91a, 91b, 92a and 92b to manipulate the positions of the lever portions 91a, 91b, 92a and 92b.

For example, the guide rail 96 may be in the form of a cylinder, an elliptic cylinder, a polygonal pillar, or the like, and a hole is formed to allow the shaft 40 to pass therethrough, and the lever portions 91a, 91b, 92a, 92b). The guide rail 96 and the lever portions 91a, 91b, 92a, 92b are joined by a predetermined bearing 97, so that the guide rail 96 and the lever portions 91a, regardless of the inclination of the guide rail 96, 91b, 92a, 92b can be combined so that rotation is possible.

Referring to FIG. 12B, when the guide rail 96 is inclined, the respective lever parts 91a, 91b, 92a, and 92b coupled thereto also move to move the power transmission means 70 as described above. The part 42 may be bent in a predetermined direction.

In addition, the present embodiment may further include a guide rail operation unit (not shown) such as a gamble plate operation unit 99 to be described later to control the movement of the guide rail 96. That is, as will be described later, the guide rail operation part may have a bar having a predetermined length to control the inclination of the guide rail 96, and the bar may push or pull the guide rail 96 to guide the rail. It is possible to control the inclination of the 96, is movable in the extension direction of the shaft 40, it is possible to rotate the axis 40 in the extension direction of the shaft (40).

13a and 13b is a side conceptual view of a surgical instrument according to another embodiment of the present invention. 13A and 13B, the shaft 40, the first wires 72 and 72 ′, the second wires 74 and 74 ′, the gamble plate 94, the bar 98, and the gamble plate The operation unit 99 is shown. The differences from the above will be explained mainly.

This embodiment is characterized in that the power transmission means 70 is further provided with a gamble plate operation unit 99 for controlling the movement of the gamble plate 94 when the direct drive is connected to the gamble plate 94. For example, the gamble plate manipulation unit 99 may be formed with a bar 98 having a predetermined length to control the inclination of the gamble plate 94, and the bar 98 may have the gamble plate 94. The tilt of the gamble plate 94 can be controlled by pushing or pulling).

Here, the gamble plate operating unit 99 is movable in the extension direction of the shaft 40, and can be rotated about the extension direction, and the rotational movement of the gamble plate operating unit 99 may be performed using power such as a motor. Can be. The portion of pushing the gamble plate 94, that is, the inclination direction is determined by the rotational movement of the gamble plate operating unit 99, and the inclination size of the gamble plate 94 may be determined by the movement movement of the gamble plate operating unit 99. have. Therefore, according to the present embodiment, by providing a gamble plate operating portion 99 for directly controlling the movement of the gamble plate 94 coupled to the power transmission means 70, various embodiments for implementing the present invention can be presented. .

In the above-described embodiments, when the number of bending portions 42 is plural, the number of bending portions 42 of the lever portions 91a, 91b, 92a, 92b and the number of power transmission means 70 connected thereto correspond. Can be determined. In addition, when the number of the bending parts 42 is plural, the number of the gimbal plates 94 may be correspondingly corresponding to each other. In this case, the bending parts 42 may be arranged in a row to move, respectively. Control the curvature of

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.

30: handle 34: grip operator
40 shaft 42 bending portion
44: effector 46: protrusion
52: first motor 53: first worm gear
54: second motor 55: second worm gear
56 power supply 58 direction operator
62: first position changing unit 64: second position changing unit
66: support portion 68: shaft insertion portion
70: power transmission means 72, 72 ': first wire
74, 74 ': second wire 81: fastening portion
82: jaw 83: cable
91a, 91b, 92a, 92b: lever portion 93a, 93b: pulley
94: gimbal 95: connection means
96: guide rail 97: bearing
98: bar 99: gimbal plate control panel

Claims (26)

With a handle;
A shaft detachably coupled to the handle and extending in one direction;
A bending part formed on a part of the shaft;
A bender unit coupled to one side of the shaft to generate a predetermined driving force to bend the bending part of the shaft;
It includes a power transmission means for receiving the driving force of the bender portion to bend the bending portion,
The bender section,
A driving unit generating a predetermined driving force to bend the bending part;
Surgical instrument, characterized in that it comprises a position change unit for receiving the driving force to change the position of one end of the shaft to bend the shaft in a direction different from the extending direction.
delete The method of claim 1,
The position changing unit is a surgical instrument, characterized in that coupled to the spherical trajectory of one end of the shaft.
The method of claim 1,
The position change unit,
A first position changer for changing a position of one end of the shaft in a first direction;
Surgical instrument including a second position change for changing the position of one end of the shaft in a second direction.
5. The method of claim 4,
Surgical instrument, characterized in that any one or more of the first position change unit and the second position change unit has an arc shape.
The method of claim 5,
And the first position changing unit and the second position changing unit have a circular arc shape perpendicular to each other.
The method of claim 1,
The position changing unit is a surgical instrument, characterized in that for coupling in one plane of the shaft and the extended direction of the shaft is normal.
The method of claim 1,
And a shaft insertion portion coupled to the handle and having a tapered shape to facilitate insertion of the shaft.
The method of claim 1,
Surgical instrument, characterized in that the number of the bending portion formed in a portion of the shaft.
The method of claim 1,
The bending part is a surgical instrument, characterized in that it comprises a snake (snake) type of joint.
The method of claim 1,
The distal end of the shaft is coupled to an effector (operator) is operated to perform the operation required for the operation in accordance with the user operation on the handle,
The bending part is formed adjacent to the effector, the surgical instrument, characterized in that the direction of the effector is converted according to the bending of the bending part.
The method of claim 11,
The effector includes a pair of jaws engaged with each other,
A rotation manipulator connected to the effector to rotate in at least one of an axial direction when the effector is bent and an axial direction of the shaft;
And a grip operator coupled to the pair of jaws to open and close the pair of jaws.
The method of claim 1, wherein the driving unit,
A motor unit;
A power supply unit supplying power required for driving the motor unit;
Surgical instrument comprising a controller for controlling the drive of the motor unit.
The method of claim 13,
And the controller comprises a direction manipulator for controlling the driving of the motor unit to bend the bending part corresponding to the operation direction thereof.
The method of claim 13,
The position changing unit is a surgical instrument, characterized in that coupled by the motor unit and the worm gear.
The method of claim 1,
One end of the shaft coupled to the handle is a surgical instrument, characterized in that an arrowhead-shaped protrusion is formed.
17. The method of claim 16,
And a fastening part coupled to the handle and into which the protrusion of the shaft is inserted.
18. The method of claim 17,
Surgical instrument, characterized in that the engaging jaw coupled to the protrusion is coupled to the inside of the fastening portion.
The method of claim 1,
The bender section,
And a lever portion connected to the power transmission means for moving the power transmission means.
20. The method of claim 19,
Located on one end of the shaft, the surgical instrument further comprises a gimbal (gimbal) plate for controlling the position of the lever unit.
20. The method of claim 19,
The shaft is inserted, the surgical instrument further comprises a guide rail for engaging the lever portion to manipulate the position of the lever portion.
The method of claim 21,
The guide rail is a surgical instrument, characterized in that the bearing coupling with the lever.
The method of claim 21,
The bender section,
In order to control the inclination of the guide rail, the surgical instrument further comprises a guide rail operation portion is formed a bar (bar) of a predetermined length for pushing or pulling the guide rail.
The method of claim 1,
The bender section,
And a gimbal plate positioned at one end of the shaft and connected to the power transmission means to move the power transmission means.
The method of claim 20 or 24,
The bender section,
In order to control the inclination of the gamble plate, the surgical instrument further comprises a gamble plate operating portion is formed bar (bar) of pushing or pulling the gamble plate.
26. The method of claim 25,
The gimbal plate operating portion is movable in the extension direction of the shaft, the surgical instrument, characterized in that the axis of rotation in the extension direction.

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