KR101301783B1 - Tool for Minimally Invasive Surgery - Google Patents

Abstract

The present invention relates to a minimally invasive surgical tool that can be easily manipulated, and according to an aspect of the present invention, as a surgical tool for minimally invasive surgery, a shaft formed in a predetermined length, an adjustable handle operable by a user, and the shaft A first pitch shaft portion and a first yaw shaft portion disposed at one end of the shaft and transmitting the movements in the pitch direction and the yaw direction according to the manipulation of the adjustment knob, respectively; A second yaw axis portion and a second pitch axis portion operating in correspondence with an operation from the first yaw axis portion, and an end effector controllable by the second pitch axis portion and the second yaw shaft portion, wherein the first pitch shaft portion The second pitch shaft portion is driven by at least one pitch shaft operation cable, and the first yaw axis portion is at least one yaw axis operation cable The minimally invasive surgical instruments which comprises driven is provided.

Description

Minimally Invasive Surgery

The present invention relates to a minimally invasive surgery tool that can be easily manipulated. More specifically, an end effector connected to the other end of the shaft by an operation of an adjustment knob connected to one end of a predetermined shaft is provided. The present invention relates to a minimally invasive surgical tool that allows an effector to operate to perform a minimally invasive surgery.

Minimally invasive surgery is a surgical technique that allows surgery to be performed on an organ or tissue around a patient's affected area through several small incisions.

Such minimally invasive surgery can relatively reduce the change in the metabolic process of the patient after surgery, thus helping to shorten the patient's recovery period. Therefore, when minimally invasive surgery is applied, the patient's post-operative hospitalization period is shortened and the patient can return to normal life within a short time after the operation. More importantly, minimally invasive surgery may reduce pain experienced by the patient while reducing scarring remaining on the patient after the surgery.

The most common form of minimally invasive surgery will be endoscopic surgery. Among them, the most common type of endoscopic surgery is laparoscopic surgery, which involves minimally invasive irradiation and surgery within the abdominal cavity. When performing standard laparoscopic surgery, the patient's abdomen is filled with gas, a small incision (approximately 1/2 inch) is made to provide an entrance to the laparoscopic surgical tool, and then a trocar is inserted through it. do. Laparoscopic surgical instruments generally include laparoscopy (for surgical site observation) and other work tools. Here, the work tool is similar to that used in conventional incision surgery, except that the work end or end action of each tool is spaced from its handle by an expansion shaft. That is, the work tool may include, for example, a clamp, grasper, scissors, stapler, needle holder, and the like. To perform the surgery, a surgeon or the like user introduces a work tool through the trocar to the surgical site and manipulates them from outside the abdominal cavity. Meanwhile, the surgeon monitors the progress by a monitor that displays an image of the surgical site taken by the laparoscope. Similar endoscopic techniques are used throughout laparoscopy, pelvis, arthroscopy, hydrocephalus, paranasal, uterine, kidney, bladder, urethral, renal and so on.

Such minimally invasive surgery has many advantages, but conventional conventional minimally invasive surgical instruments have a drawback in that the end effector is connected to a hard and long shaft, and access to the surgical site is difficult and the operation is not free. In particular, the existing end effector has a disadvantage that it is difficult to perform a delicate operation required for surgery because there is no bending portion like a joint. These shortcomings are the biggest inhibitors to the widespread use of minimally invasive surgery.

In order to overcome the shortcomings of the conventional minimally invasive surgery, a robotic surgical system was recently developed by daVinci. Such current robotic surgical system is mainly a surgical system using a master-slave-type robot, the operating console (operating console) in which the operator performs the operation, the robot cart (robotic cart) to perform the operation and the laparoscopic part connected thereto (endoscpic stack). The laparoscopic part of the robotic surgical system has joints capable of movement in the pitch and yaw directions, and thus can almost transmit the hand movements of the operator. In addition, according to the robotic surgical system, it is possible to implement a motion forwarding prevention function or a motion scaling function for varying the size of the hand motion and the robot motion, and in addition, it may be advantageous to secure a three-dimensional view. .

However, such a robotic surgical system has been a problem that the first installation cost and the maintenance cost after installation are too expensive as the expensive equipment. In addition, the large size of the equipment occupies a large volume and weight (only robot cart has a weight of 544kg at a height of about 2m), because of the difficulty of moving the equipment there was a problem that the operation is possible only in the pre-equipped system . In addition, when using such a robotic system, there is a problem that the tactile sense of the surgeon is inferior to the conventional laparoscopic surgical instruments.

An object of the present invention is to solve all the above problems.

It is also an object of the present invention to provide a minimally invasive surgical tool in which the end effector operates in response to an operation amount and / or opening and closing operation in the pitch direction and yaw direction of the adjustment knob.

It is also an object of the present invention to provide a minimally invasive surgical tool that can be freely manipulated by a user without a separate driving element.

It is also an object of the present invention to provide a minimally invasive surgical tool that is small in volume and weight and is convenient to move.

In order to accomplish the above object, a representative structure of the present invention is as follows.

According to one aspect of the present invention, a surgical tool for minimally invasive surgery, the shaft is formed of a predetermined length, the adjustment knob operable by the user, disposed on one end of the shaft, the pitch direction according to the operation of the adjustment knob And a second pitch that is disposed at the other end of the first pitch shaft portion and the first yaw shaft portion and the shaft, respectively, to transmit the motion in the yaw direction, and operates in response to the operation from the first pitch shaft portion and the first yaw shaft portion, respectively. A shaft portion and a second pitch shaft portion, and an end effector controllable by the second pitch shaft portion and the second yaw shaft portion, wherein the first pitch shaft portion is formed by at least one pitch shaft operation cable. And the first yaw axis portion drives the second yaw axis portion by at least one yaw axis actuating cable.

According to another aspect of the present invention, as a surgical tool for minimally invasive surgery, a shaft formed of a predetermined length, an adjustment knob operable by a user, disposed on one end of the shaft, the pitch direction according to the operation of the adjustment knob And a second pitch that is disposed at the other end of the first pitch shaft portion and the first yaw shaft portion and the shaft, respectively, to transmit the motion in the yaw direction, and operates in response to the operation from the first pitch shaft portion and the first yaw shaft portion, respectively. A shaft portion and a second pitch shaft portion, and an end effector controllable by the second pitch shaft portion and the second yaw shaft portion, wherein the first pitch shaft portion and the first yaw shaft portion are respectively the second pitch shaft portion and the second pitch shaft portion. There is provided a minimally invasive surgical tool characterized in that the yaw axis is driven by at least one operating cable.

According to still another aspect of the present invention, a surgical tool for minimally invasive surgery, the shaft is formed of a predetermined length, the adjustment knob operable by the user, disposed on one end of the shaft, the pitch according to the operation of the adjustment knob A first pitch shaft portion and a first yaw shaft portion for transmitting movements in a direction and a yaw direction, respectively, and a second end disposed at the other end of the shaft and operating in response to an operation from the first pitch shaft portion and the first yaw shaft portion, respectively. A yaw axis portion and a second pitch shaft portion, and an end effector controllable and openable by the second pitch shaft portion and the second yaw shaft portion, wherein the first pitch shaft portion and the first yaw shaft portion are the second pitch shaft portion, respectively. And drive the second yaw axis by at least one first cable and at least one second cable, wherein the end effector is connected to the at least one first cable and the top. The minimally invasive surgical tool, characterized in that to be opened and closed according to the difference in the displacement amount of the at least one second cable is provided.

According to the present invention having the configuration as described above, there is provided a minimally invasive surgical tool in which the end effector operates with a high degree of freedom in response to the manipulation of the adjustment knob of the user.

In addition, according to the present invention, there is provided a minimally invasive surgical tool that the user is easy to learn how to use.

In addition, according to the present invention, there is provided a minimally invasive surgical tool that is easy to disseminate due to low manufacturing cost and low supply cost and small volume and weight.

1 is a perspective view showing the external appearance of a minimally invasive surgical tool according to a first embodiment of the present invention.
Figure 2 is a detailed block diagram of a minimally invasive surgical tool according to a first embodiment of the present invention.
3 is an exploded perspective view showing a connection state of the shaft and the adjustment knob according to the first embodiment of the present invention.
4 is an exploded perspective view illustrating a connection state between the shaft and the end effector according to the first embodiment of the present invention.
Fig. 5 is a view showing an installation state according to the first embodiment of the present invention of the pitch axis operation cable and the yaw axis operation cable on the adjustment knob side.
Fig. 6 is a diagram showing an installation state according to the first embodiment of the present invention of the pitch axis operation cable and the yaw axis operation cable on the end effector side.
7 is a view showing an example of use of the minimally invasive surgical tool according to the first embodiment of the present invention.
8 is a conceptual diagram illustrating an operation transfer principle of the first and second connection pulleys according to the first embodiment of the present invention.
9 is a view showing the configuration of a minimally invasive surgical tool according to a second embodiment of the present invention.
10 is a view showing the configuration of a minimally invasive surgical tool according to a third embodiment of the present invention.
11 is a view showing the configuration of a minimally invasive surgical tool according to a fourth embodiment of the present invention.
12 is a view showing a modified configuration of the minimally invasive surgical tool according to the fourth embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Also, it is to be understood that the terminology relating to a particular direction of operation included herein as the name of a particular component of the present invention is not used in the sense that the component is necessarily involved only in that direction or only in motion in that direction. It should be understood that each component contributes to the present invention in consideration of the specific operation of the component.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.

1st Example

1 is a perspective view showing the outline of a minimally invasive surgical tool 1 according to a first embodiment of the present invention. According to FIG. 1, the minimally invasive surgical tool 1 according to the first embodiment of the present invention has a predetermined length and has one or a plurality of spaces (for example, a tubular, soft root or spiral space) inside. It includes a shaft 100 and the adjustment knob 110 is formed.

FIG. 2A is a side view illustrating a detailed configuration of main components of the pitch shaft 200 and the yaw shaft 300 according to the first embodiment of the present invention, and FIG. 2B illustrates the yaw portion according to the first embodiment of the present invention. It is a top view which shows the structure of main components, such as 300. FIG.

As shown in Figures 2a and 2b, the minimally invasive surgical tool 1 according to the first embodiment of the present invention is provided with a shaft 100, both ends of the shaft 100 and the adjustment knob 110 and The end effector 600 is disposed. Here, the manipulation of the adjustment knob 110 is configured to be transmitted to the end effector 600 through the pitch shaft portion 200, the yaw shaft portion 300, and the opening and closing portion 400. The end effector 600 connected to the shaft 100 according to the first embodiment of the present invention operates in response to the opening and closing operation of the adjustment knob 110, a tool that is used for surgery in the human body, that is, a clamp, Used as graspers, scissors, staplers, needle holders and the like.

In addition, if necessary, the end effector 600 according to the present invention may be a component that does not require the opening and closing operation, such as a hook electrode (hook electrode). An embodiment of the end effector in which the opening and closing operation is not required will be described later.

Looking further as shown, in more detail, the pitch shaft portion 200 is composed of a first pitch shaft cable pulley 220, a second pitch shaft cable pulley 240 and a pitch shaft operation cable, yaw axis portion 300 ) Is composed of the first yaw axis cable pulley 320, the second yaw axis cable pulley 340 and the yaw axis operation cable, the opening and closing portion 400 is the first opening and closing cable pulley 420, the second opening and closing cable pulley 440 and The third opening and closing cable pulley 460 is configured.

3 is an exploded perspective view showing a connection state of the shaft 100 and the adjustment knob 110 according to the first embodiment of the present invention.

As shown, the first and second rods (110A, 110B) are connected to each other by a rotary shaft constitutes an adjustment knob 110, one side of the first and second rods (110A, 110B) connected by a rotary shaft Semi-circular handle wool 112 is formed in a symmetrical shape. The first opening / closing cable pulley 420 is installed at one side of the rotating shaft of the adjusting knob 110 to rotate according to the opening and closing operation of the adjusting knob 110. The first opening and closing cable pulley 420 may be formed to have a width equal to the width of the opening and closing cable.

On the opposite side, the first rod 110A is elongated, and the first pitch shaft cable pulley 220 and the first constituting the pitch shaft portion 200 and the opening and closing portion 400 are formed at both ends of the extended first rod 110A. 2 switching cable pulleys 440 are provided respectively. While the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 are coaxially installed, the first pitch shaft cable pulley 220 is fixedly installed so as not to rotate while the second open / close cable pulley The 440 is installed to be freely rotatable. In FIG. 3, the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 have the same diameter, but these diameters may be formed differently according to a user's needs.

On the other hand, the width of the first pitch shaft cable pulley 220 is formed at the same level as the width of the pitch axis operation cable, the width of the second opening and closing cable pulley 440 is formed to be three times the width of the opening and closing cable. desirable.

In addition, between the first pitch shaft cable pulley 220 and the first yaw axis cable pulley 320, a first shaft having a first pitch axis connecting end 520A and a second yaw axis connecting end 540A respectively formed at both ends thereof. Since the connection part 500A is interposed, the pitch direction motion and the yaw direction motion of the adjustment knob 110 can be smoothly transmitted to the end effector.

In more detail, the first shaft connection part 500A includes a pair of first pitch axis connection ends 520A and a pair of first yaw axis connection ends 540A formed in a circularly spaced plate formed at predetermined intervals. Is done. At this time, as shown in FIG. 3, the first pitch axis connecting end 520A and the first yaw axis connecting end 540A are coupled in a direction perpendicular to each other, and thus, the first pitch axis connecting end 520A is disposed inside the first pitch axis connecting end 520A. Is the first pitch shaft cable pulley 220 is rotatably installed on one end of the adjustment knob 110, the first yaw axis cable pulley 320 is fixed to the inside of the first yaw axis connecting end (540A). Is installed. The first yaw axis cable pulley 320 may have a width equal to the width of the yaw axis operation cable.

A pair of first connection pulleys 560A may be rotatably disposed on both outer sides of the first yaw axis connecting end 540A, respectively. At this time, the first connection pulley 560A and the first yaw axis cable pulley 320 are coaxially installed and can rotate independently of each other. Each first connection pulley 560A is preferably formed to have a width about twice the width of the pitch axis actuation cable or the opening and closing cable.

On the other hand, at one end of the shaft 100 to which the adjustment knob 110 is connected, a pair of first connection ends 105A protrude in parallel to a predetermined length. Between the first connection ends 105A, the first yaw axis cable pulley 320 is positioned at the first yaw axis connection end 540A and installed to rotate about the central axis.

4 is an exploded perspective view illustrating a connection state between the shaft 100 and the end effector 600 according to the first embodiment of the present invention. As shown in FIG. 4, at one end of the shaft 100, that is, at the end where the end effector 600 is installed, the second pitch axis cable pulley 240 and the second yaw axis cable pulley 340 are paired with each other. It is connected by two connection stages 105B. Preferably, the second connection terminal 105B may be configured in the same form as the first connection terminal 105A.

As shown, the installation state of the second pitch shaft cable pulley 240 and the second yaw axis cable pulley 340 will be described in detail as follows.

First, a pair of second connection ends 105B protrude in parallel at one end of the shaft 100 where the end effector 600 is installed, and second pitch axis connection ends 520B and second yaw axis connections at both ends. The second shaft connection part 500B including the stage 540B is connected to the second connection end 105B. Here, since the second shaft connecting portion 500B including the second pitch shaft connecting end 520B and the second yaw axis connecting end 540B is configured in the same manner as the first shaft connecting part 500A, a detailed description thereof will be provided. It will be omitted.

The second yaw axis cable pulley 340 is fixedly installed between the second yaw axis connecting end 540B, and the center axis of the second yaw axis cable pulley 340 is coaxial with the center axis of the second yaw axis connecting end 540B. Is formed on the phase. At this time, the second yaw axis cable pulley 340 is formed to have a width equal to the width of the yaw axis operation cable. When the user wants the yaw direction manipulation amount of the adjustment knob 110 to be the same as the yaw direction operation amount of the end effector 600, the diameter of the second yaw axis cable pulley 340 is equal to the diameter of the first yaw direction cable pulley 320. Although the same may be formed, when the user wants the yaw direction operation amount of the adjustment knob 110 and the yaw direction operation amount of the end effector 600 to be different from each other, the diameters of the two components may be formed differently.

In addition, as shown in FIG. 4, the end effector 600 formed by connecting one end of two rods formed in the shape of a long right triangle with a rotational shaft includes a second pitch axis connecting end of the second axis connecting part 500B ( 520B) is rotatably connected. A second pitch shaft cable pulley 240 is fixedly installed at one end of the connecting shaft connecting the end effector 600 and the second pitch shaft connecting end 520B to the end effector according to the rotation of the second pitch shaft cable pulley 240. The pitch direction operation of the 600 may be made, and the third end opening and closing cable pulley 460 may be installed at the opposite end thereof to open and close the end effector 600. Here, the second pitch shaft cable pulley 240 and the third open / close cable pulley 460 operate independently of each other.

Meanwhile, although the second pitch shaft cable pulley 240 and the third opening and closing cable pulley 460 are shown to have the same diameter, the diameters may be formed differently according to a user's needs. In addition, the second pitch shaft cable pulley 240 and the third opening and closing cable pulley 460 is preferably formed to have a width equal to the width of each cable.

Next, the configuration of the pitch shaft portion 200 and the yaw shaft portion 300 for rotating the end effector 600 in the required direction according to the manipulation of the adjustment knob 110 will be described. As described above, the pitch shaft operation cable and the yaw axis operation cable are connected to the pitch shaft part 200 and the yaw shaft part 300 to transmit the manipulation of the adjustment knob 110, respectively. Figures 5a, 5b and 5c is a view showing the installation state according to the first embodiment of the present invention of the various cables on the adjustment knob 110 side, Figures 6a, 6b and 6c is the end effector 600 side Is a diagram showing an installation state of various cables according to the first embodiment of the present invention.

The drawings will be described below with reference to the previous drawings.

First, the connection state of the yaw axis operation cable 360 will be described. The yaw axis actuation cable 360 is wound around the first yaw axis cable pulley 320 and the second yaw cable pulley 340 provided at both ends of the shaft 100, and thus the yaw direction movement of the adjustment knob 110 is applied to the end effector. Forward to 600. According to a preferred embodiment, although the yaw axis operation cable 360 is wound so that the first yaw axis cable pulley 320 and the second yaw axis cable pulley 340 operate in the same direction, the direction of operation is reversed according to the needs of the user. In order to achieve this, the yaw axis operation cable 360 may be wound in a long 8 shape. In either case, the yaw axis actuation cable 360 is wound through a shaft 100 having a space therein. Here, according to the user's needs, the diameter of the first yaw axis cable pulley 320 and the second yaw axis cable pulley 340 is different, the operation amount of the adjustment knob 110 and the operation of the end effector 600. The quantities may be different.

Here, even if the diameters of the first yaw axis cable pulley 320 and the second yaw axis cable pulley 340 are different from each other, the diameter ratio of the first yaw axis cable pulley 320 and the second yaw cable pulley 340 is equal to the first. If the diameter of the first connection pulley 560A and the second connection pulley 560B is not the same, the end effector 600 may not operate even when the adjustment knob 110 is operated, which may cause deterioration of operating performance. The diameter ratio of the first yaw axis cable pulley 320 and the second yaw cable pulley 340 is the same as the diameter ratio of the first connection pulley 560A and the second connection pulley 560B so that the end effector 600 It is desirable to be able to operate smoothly.

On the other hand, as described above, the first opening and closing cable pulley 420 is fixedly installed on the rotating shaft that is connected to each other the first and second rods (110A, 110B) constituting the adjustment knob 110, the opening and closing cable ( 480 is connected to the first opening and closing cable pulley 420, and is connected to the second opening and closing cable pulley 440 which is installed at a portion where the adjustment knob 110 and the first shaft connection portion 500A are connected to each other. At this time, the opening and closing cable 480 connected to the second opening and closing cable pulley 440 is wound as shown in the second opening and closing cable pulley 440, and then installed on both sides of the first shaft connection portion 500A. Among the first connection pulleys 560A, the second shaft connection portion 500B is connected to the first connection pulleys 560A selected on both sides, respectively, and through the inner space of the shaft 100 in a wound state as shown in the drawing. ). The opening / closing cable 480 wound around the first connection pulley 560A is then selected from each of the second connection pulleys 560B installed at both sides of the second shaft connection part 500B, respectively, on each of the second connection pulleys 560B. It is wound around the third open / close cable pulley 460 on the end effector 600 side.

As shown, the opening and closing cable 480 between the first opening and closing cable pulley 420 and the second opening and closing cable pulley 440 is preferably wound in a long 8 shape, according to another embodiment of the present invention, Opening and closing cable 480 between the first opening and closing cable pulley 420 and the second opening and closing cable pulley 440 by forming the first opening and closing cable pulley 420 on the first rod (110A) of the adjustment knob 110. You can also make sure that they are not staggered. Here, according to the user's needs, the diameter of the first opening and closing cable pulley 420 and the third opening and closing cable pulley 460 is different from each other, so that the opening and closing amount of the end effector 600 It can also be different from the opening and closing amount.

In addition, the pitch shaft operation cable 260 is wound around the first pitch shaft cable pulley 220 installed at one end of the adjustment knob 110. The other end of the pitch shaft operation cable 260 is connected to the first shaft connection portion 500A. Among the first connection pulleys 560A connected to the first yaw axis connecting portion 540A of), the opening / closing cable 480 is wound around the unconnected first connection pulley 560A, and again, the inside of the shaft 100 It is wound around the second connection pulley 560B of the second shaft connection part 500B connected to the other end of the shaft 100 through the space.

Subsequently, the pitch axis operation cable 260 wound on the second connection pulley 560B is wound on the second pitch axis cable pulley 240 installed at one end of the end effector 600, and the pitch direction of the adjustment knob 110 is adjusted. Transfer operation to end effector 600.

Look at Figure 6a. As shown in FIG. 6A, the pitch axis operation cable 260 is the leftmost pulley of the pair of second connection pulleys 560B on the left side of the second pitch axis connection end 520B, and the opening and closing cable 480. Is wound around the pulley next to it, but the two cables are wound so that they do not rub or tangle with each other.

By connecting the pitch axis operation cable 260 as described above, the first pitch axis cable pulley 220 operates in the same direction as the second pitch axis cable pulley 240, but the pitch axis operation cable ( 260 may be wound so that the direction of operation is reverse to each other. In any case, the pitch axis operation cable 260 is wound through the shaft 100 in which a space is formed. Here, according to the needs of the user, the diameter of the first pitch shaft cable pulley 220 and the second pitch shaft cable pulley 240 are different from each other, the operation amount of the adjustment knob 110 and the operation of the end effector 600. The quantities may be different. However, in order to prevent deterioration of the operating performance of the end effector 600, the diameter ratio of the first pitch shaft cable pulley 220 and the second pitch shaft cable pulley 240 is equal to the second open / close cable pulley 440. And it is preferable to be equal to the diameter ratio of the third opening and closing cable pulley 460.

Referring to the operation of the minimally invasive surgical tool 1 according to the first embodiment of the present invention that can be configured as described above are as follows.

First, the minimally invasive surgical tool 1 is aligned in a date as shown in FIG. 1.

The surgeon performing the minimally invasive surgery puts a hand on the handle wool 112 of the adjusting handle 110 installed at one end of the minimally invasive surgical tool 1 to grip the adjusting handle 110.

In order to facilitate the description of the yaw direction operation of the adjustment knob 110, the + and-motions of the yaw direction will be described with reference to the right and left motions based on the surgeon, respectively. In addition, in order to facilitate the description of the pitch direction operation of the adjustment knob 110 will be described by exemplifying the plus and minus motion in the pitch direction to the upper and lower motion relative to the surgeon.

7A is a view showing an example of use of the minimally invasive surgical tool 1 according to the first embodiment of the present invention. 7B is a detailed view of the portion B of FIG. 7A, and FIG. 7C is a detailed view of the portion A of FIG. 7A.

With the surgeon holding the adjusting knob 110 of the minimally invasive surgical tool 1 aligned as shown in FIG. 1, the adjusting knob 110 is moved upward (A direction as shown in FIG. 7B). When rotated by), the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 installed at one end of the adjustment knob 110 are rotated to the extent corresponding to the amount of rotation of the adjustment knob 110. . As such, when the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 rotate, the pitch shaft operation cable 260 wound around the first pitch shaft cable pulley 220 and the second open / close cable pulley 440. And opening and closing cable 480 is pulled from the bottom and released from the top. By the above operation, the pitch axis operation cable 260 and the opening and closing cable 480 rotates the second pitch axis cable pulley 240 and the third opening and closing cable pulley 460, according to Figure 7a and Figure As shown in 7c, the end effector 600 having the second pitch shaft cable pulley 240 and the third open / close cable pulley 460 fixed thereto faces downward.

Then, when the adjusting knob 110 is operated to the left (B direction), the yaw axis operation cable 360 wound around the first yaw axis cable pulley 320 and the second yaw axis cable pulley 340 is pulled from the right side, and left Is solved. In addition, the pitch-axis operation cable 260 is pulled at the same time from the top and bottom at the same time as the first connection pulley 560A is connected thereto, the opening and closing cable 480 is the top and bottom as the first connection pulley 560A is rotated. It will be released at the same time from the bottom. By the operation as described above, the pitch axis operation cable 260, yaw axis operation cable 360 and the opening and closing cable 480 rotates the second axis connecting portion 500B in the yaw direction, and thus is shown in Figure 7c As is the end effector 600 is directed to the right.

In addition, when the surgeon unfolds the hand holding the control knob 110, the control knob 110 is opened while the second rod (110B) is rotated to the lower side (C direction). According to the opening of the adjusting knob 110, the first opening and closing cable pulley 420 is rotated in the clockwise direction. The second opening and closing cable pulley 440 is rotated through the opening and closing cable 480 by the rotational force of the first opening and closing cable pulley 420. In this case, the first opening and closing cable pulley 420 and the second opening and closing cable pulley 440 are rotated in the opposite direction by the opening and closing cable 480. The operation of the second open / close cable pulley 440 is transmitted to the third open / close cable pulley 460. This operation is transmitted to the lower rod of the end effector 600 to which the third opening and closing cable pulley 460 is fixed so that the end effector 600 is opened in the C direction.

The operation description as described above has been made in order of pitch direction operation, yaw direction operation, and opening effect of the end effector 600 for clarity, but the order of the above operations may be different or even at least two of each operation may be performed simultaneously. Even if it is done, the same operation result can be obtained according to the operation principle as described above.

On the other hand, when the operation of the adjustment knob 110 is transmitted to the end effector 600 as described above, the operation may not be smoothly transmitted depending on the direction in which the end effector 600 is rotated. For example, when the adjusting knob 110 is operated in the yaw direction, the first and second yaw axis cable pulleys 320 and 340 which are connected in parallel with the shaft 100 in parallel with each other are easily transferred in the yaw direction. Although it will be made, the pitch direction operation or opening and closing operation of the adjustment knob 110 may not be effectively transmitted to the end effector 600 actually.

Accordingly, the first and second connection pulleys 560A as described above with respect to the first and second axis connecting portions 500A and 500B to facilitate the transfer of the pitch direction operation and the opening and closing operation to the end effector 600. It is preferable to further comprise 560B. With regard to the configuration and function of the first and second connection pulleys 560A, 560B, further reference is made to FIG. 8. 8 is a conceptual diagram illustrating an operation transmission principle of the first and second connection pulleys 560A and 560B according to the first embodiment of the present invention.

As shown in FIG. 8, when the first and second connection pulleys 560A and 560B are used according to the first embodiment of the present invention, even if the end effector 600 is rotated in the yaw direction, It can be seen that the first and second connection pulleys 560A and 560B facilitate movement transfer by the pitch axis operation cable 260. Of course, the operation of the opening and closing cable 480 can also be facilitated by the same principle.

First, FIG. 8A will be described. 8A shows that the first pitch shaft cable pulley 220 and the second pitch shaft cable pulley 240 are aligned to the pitch shaft operation cable 260 with the adjustment knob 110 aligned with the end effector 600. It is a figure which shows the state wound up by the 1st and 2nd connection pulley 560A, 560B.

FIG. 8B is a view illustrating a state in which the adjustment knob 110 and the end effector 600 are rotated to some extent in the yaw direction. In this case, the yaw direction rotation of the end effector 600 according to the yaw direction rotation of the adjustment knob 110 may also be caused by the yaw axis operation cable 360 not shown here, but together with the first pitch axis cable pulley 220. ) And the second opening and closing cable pulley 440 may also occur as it works together. In this case, the first and second connection pulleys 560A and 560B may perform yaw direction operations of the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 to the second pitch shaft cable pulley 240. 3 acts as a transfer to the cable pulley 460.

FIG. 8C is a view showing a case where the adjusting knob 110 is operated in the pitch direction from the state shown in FIG. 8B. As shown, in this case the first and second connection pulleys 560A, 560B are configured to perform pitch direction operation of the first pitch axis cable pulley 220 and the second opening and closing cable pulley 440 to the second pitch axis cable pulley. 240 and the third opening and closing cable pulley (460).

In order that the functions of the above-described first and second connection pulleys 560A and 560B can be smoothly realized, the centers of the first pitch shaft cable pulley 220 and the second opening / closing cable pulley 440 may be respectively formed. It is desirable to be located at the same distance from the pair of one-connected pulley 560A. In addition, the centers of the second pitch shaft cable pulley 240 and the third open / close cable pulley 460 are preferably positioned at the same distance from the pair of the second connection pulleys 560A. The interval between the first pitch shaft cable pulley 220 and the second open / close cable pulley 440 is the same as the diameter of the first connection pulley 560A, and the second pitch shaft cable pulley 240 and the third An interval between the opening and closing cable pulley 460 is preferably formed to be equal to the diameter of the second connection pulley 560B.

Second Example

Although the first embodiment of the present invention described above has been disclosed with respect to the minimally invasive surgical tool 1 having an end effector 600 capable of opening and closing operation, it is also possible to assume a minimally invasive surgical tool that does not necessarily require an opening and closing operation. have. For example, the case where a hook type electrode is used as an end effector can be assumed.

9A is a perspective view showing the outline of a minimally invasive surgical tool according to a second embodiment of the present invention, and FIGS. 9B and 9C are detailed views of portions A and B of FIG. 9A, respectively.

9A to 9C, the adjusting knob 110A for controlling the operation of the end effector 600A, which is preferably a hook type electrode, is connected to one end of the shaft 100 by the first shaft connection 500A. It is shown that the end effector 600A is connected to the other end of the shaft 100 by the second shaft connection 500B. According to the present embodiment, the end effector 600A may be in the form of a rod, unlike in the first embodiment. (In the present embodiment, the end effector 600A is in the form of a rod. The end effector may therefore be in various forms (eg, in the form of a ring) as long as it does not involve an opening and closing action).

The connection of the first shaft connecting portion 500A, the second shaft connecting portion 500B and the cable according to the present embodiment is basically the same as in the first embodiment except that the yaw axis actuating cable and the opening / closing cable do not need to exist. same. This is briefly described as follows.

First, a pair of first cable pulleys 220A are formed at both sides of a portion connecting the adjustment knob 110A and the first shaft connection part 500A to interlock with the operation of the adjustment knob 110A. First and second cables 260A and 260B may be wound around each of the first cable pulleys 220A.

The other end of the shaft 100 is provided with an end effector 600A via a second shaft connecting portion 500B. On both sides of the rotating shaft connecting the second shaft connection part 500B and the end effector 600A, a pair of second cable pulleys 220B are wound around the first cable and the second cable 260A, 260B. , So that the operation of the adjustment knob 110A can be transferred to the end effector 600A. In addition, the configuration as shown in Figs. 8A to 8C (i.e., the configuration using the first connection pulley and the second connection pulley 560A, 560B via the first embodiment) is the same in this embodiment. It can be adopted.

9D and 9E illustrate an example of use of a minimally invasive surgical tool according to a second embodiment of the present invention. The operation of the minimally invasive surgical tool will be described with reference to FIGS. 9D and 9E.

When the surgeon manipulates the pitch knob counterclockwise (A1 direction) while holding the adjusting knob 110A, the first and second cables 260A and 260B connected to the first cable pulley 220A are operated. The lower part is pulled and the upper part is pushed, and the pitch direction operation of the adjusting knob 110A is transmitted to the end effector 600A. At this time, the second cable pulley 220B provided on both sides of the rotation shaft of the end effector 600A is rotated in the counterclockwise direction A2 by the first cable and the second cable 260A, 260B.

Again, when the surgeon manipulates the adjustment knob 110A in the yaw axis left direction (B1 direction), the first cable wound around the connection pulley on one side of the first yaw axis connecting end 540A of the first axis connecting portion 500A ( When 260A) is pulled, the second cable 260B wound around the other pulley of the first yaw axis connecting end 540A is pushed and the yaw direction motion of the adjustment knob 110A is transmitted to the end effector 600A. The end effector 600A rotates in the yaw axis right direction (B2 direction).

Third Example

Next, referring to FIGS. 10A to 10D, a third embodiment in which the end effector 600B is operated as two rods 114A and 114B constituting the adjustment knob 110B operate simultaneously will be described.

Figure 10a is a perspective view showing the configuration of the adjustment knob 110B used in the minimally invasive surgical tool according to the third embodiment of the present invention, Figure 10b is a detailed view of the portion A of Figure 10a.

The adjusting knob 110B installed at one end of the shaft 100 has one end of the first rod and the second rod 114A, 114B connected to each other by a rotation shaft, and one side of the first and second rods 114A, 114B. The semi-circular handle wool 114C is formed in a symmetrical shape with each other. A first cable pulley 222A and a second cable pulley 422A are provided on both sides of the rotation shaft connecting the first rod and the second rod 114A, 114B. Further, the first cable pulley 222A and the second cable pulley 422A are configured to interlock with the operation of the second rod and the first rods 114B and 114A, respectively, and the first cable pulley 222A and the second cable The first cable 260A and the second cable 480A are connected to the pulley 422A, respectively. In addition, the first cable pulley 222A and the second cable pulley 422A are positioned inward of the first pitch axis connecting end 520A of the first shaft connecting part 500A and rotatably installed. The first cable 260A and the second cable 480A may be wound around connection pulleys formed at both sides of the first yaw axis connecting end 540A, respectively.

The other end of the shaft 100 is provided with a second shaft connecting portion 500B, and both sides of the second pitch connecting portion 520B included in the second shaft connecting portion 500B are respectively provided with the first cable pulley 222A and the second. Cable pulleys corresponding to the cable pulley 422A are installed. This is accomplished by using the power transmitted through the first cable 260A and the second cable 480A, respectively. The rotation of the rods 620B and 610B, which are components of the end effector 600B, is controlled. Here, too, in connection with the first embodiment, a configuration as shown in FIGS. 8A to 8C (that is, a configuration using the first connection pulley and the second connection pulley 560A and 560B) may be similarly taken.

The operation of the minimally invasive surgical tool according to the present embodiment is controlled in the pitch direction and yaw direction by the two cables (260A, 480A) as in the previous embodiments, the pitch direction of the two cables (260A, 480A) The end effector 600B may be opened or closed when the amounts of the operations are different (that is, when the directions of the operations are opposite to each other or the directions of the operations are the same but the amounts of the operations are different). That is, as shown, when the first rod and the second rod 114A, 114B are spaced apart from each other, the end effector 600B may be opened. Of course, depending on the configuration of the cable (260A, 480A), when the first rod and the second rod (114A, 114B) is spaced apart from each other, as opposed to the above case, the end effector (600B) may be closed.

Fourth Example

According to this embodiment a simpler configuration can be disclosed which reduces the number of cables used for the operation of the end effector of the minimally invasive surgical tool.

11A is a view showing the configuration of a minimally invasive surgical tool according to a fourth embodiment of the present invention, and FIGS. 11B and 11C are detailed views of part A and B of FIG. 11A, respectively.

As shown, according to the fourth embodiment of the present invention, the pitch axis operation cable 260 and the opening and closing cable 480 are used as in the first embodiment. Then, the restoring spring 700 is wound around the connection pulleys of both ends of the second yaw axis connecting end 540B of the second shaft connecting portion 500B to apply a predetermined elastic force for yaw direction operation. Here, the opening and closing cable 480 is connected to the end effector 600C through the through hole 512 on the central axis of the second shaft connecting portion 500B.

After the opening and closing cable 480 is inserted into the through hole 512, when the shaft 510 is rotated, the opening and closing cable 480 is pulled and the opening and closing operation of the end effector 600C not intended by the surgeon may occur. In order to prevent this, as shown in FIG. 11F, a cable groove 514 into which the opening and closing cable 480 can be inserted is formed around the through hole 512, so that it is not intended even when rotation of the shaft 510 occurs. It is possible to prevent the opening and closing operation of the end effector 600C from appearing. Here, it is preferable that the depth of the cable groove 514 is at least 1/2 of the diameter of the shaft 510. In addition, the configuration using the above-described cable grooves may also be employed in the central axis of the first pitch axis connecting end 520A, the second pitch axis connecting end 520B, and the first yaw axis connecting end 540A. If desired, it may also be employed for at least some of the central axes of other predetermined rotating components.

For a more detailed configuration and operation principle of the opening and closing cable according to the present embodiment can refer to the related patent application No. 2008-51248 of the present applicant.

According to the present embodiment, the end effector 600C can operate in the pitch direction by the operation of the pitch axis operation cable 260 as in the first embodiment, and the opening and closing cable as described in the related application above. It can be opened and closed by the operation of 480. Meanwhile, by using the connection pulleys as described in FIG. 8, the yaw direction operation of the end effector 600C may also be controlled by operating the pitch axis operation cable 260. In this case, the pitch axis operation cable 260 by using a restoring spring 700 which applies an elastic force to bias the end effector 600C to one side of the yaw direction (for example, B1 direction in FIG. 11D) in the natural state. It is also possible to more easily control the operation of the yaw direction of the end effector 600C. That is, for example, when the end effector 600C needs to operate in the opposite direction to B1 of the yaw axis, the corresponding yaw direction action may occur through the pitch axis operation cable 260, and the end effector 600C may occur. ) May be dependent on the restoring force of the restoring spring 700 while relieving the tension of the pitch shaft actuation cable 260 when it is necessary to operate in the direction B1 of the yaw axis.

As shown in FIG. 11B in relation to this embodiment, the restoring spring 700 is installed on both sides of the yaw axis connecting end 540B of the second shaft connecting portion 500B, but need not be limited to such a configuration. It will be apparent to those skilled in the art that the restoring spring 700 may be installed only at one side of the yaw axis connecting end 540B or at any position capable of restoring the yaw direction motion of the end effector 600C according to its elastic force.

On the other hand, as shown in Figure 12, when configuring the end effector 600C using a component that does not require the opening and closing operation, such as a hook electrode, and remove the opening and closing cable as described above A minimally invasive surgical tool may also be devised that allows both pitch and yaw movements using only the pitch axis actuation cable and restoring spring 700.

Although the present invention has been described with reference to preferred embodiments as described above, the present invention is not limited to the above embodiments, and various modifications by those skilled in the art to which the present invention pertains may be made without departing from the spirit of the present invention. Change is possible. Also, such modifications and variations are intended to fall within the scope of the invention and the appended claims.

1: minimally invasive surgical tool
100: shaft
110: Adjustable handle
112: handle wool
200: pitch axis
220: first pitch shaft cable pulley
240: second pitch axis cable pulley
260: pitch axis operation cable
300: main shaft
320: first yaw axis cable pulley
340: second yaw axis cable pulley
360: yaw axis operation cable
400: opening and closing part
420: first opening and closing cable pulley
440: second opening and closing cable pulley
460: third opening and closing cable pulley
480: opening and closing cable
500: Connection
500 A: 1st axis connection
500B: second shaft connection
600: end effector
700: restoring spring

Claims (2)

As a surgical tool for minimally invasive surgery,
A shaft formed to a predetermined length,
Adjustable knob, operable by user
A first pitch shaft portion and a first yaw shaft portion which are disposed at one end of the shaft and transmit the movements of the pitch direction and the yaw direction according to the manipulation of the adjustment knob, respectively;
A second yaw axis portion and a second pitch axis portion disposed at the other end of the shaft and operating in correspondence with the operations from the first pitch shaft portion and the first yaw shaft portion, and
An end effector controllable by the second pitch shaft portion and the second yaw shaft portion
Lt; / RTI >
The first pitch shaft portion and the first yaw shaft portion are driven by at least one operation cable, respectively, the second pitch shaft portion and the second yaw shaft portion,
The end effector is openable,
Further comprising an opening and closing portion for controlling the opening and closing operation of the end effector through the opening and closing cable,
A first shaft connecting portion connecting the adjustment knob and one end of the shaft and a second shaft connecting portion connecting the other end of the shaft and the end effector,
The first shaft connecting portion,
A pitch shaft connecting portion formed with a pair of plates spaced at predetermined intervals and connected to the first pitch shaft portion, and
A pair of plates are formed spaced apart at predetermined intervals and the yaw axis connecting portion connected to the first yaw axis portion
Lt; / RTI >
The pitch axis connecting portion and the yaw axis connecting portion is coupled in a direction perpendicular to each other,
The pitch shaft connecting portion and the yaw axis connecting portion includes a central axis, wherein the central axis includes an opening and closing cable groove into which the opening and closing cable can be inserted
Minimally invasive surgical tool characterized in that. As a surgical tool for minimally invasive surgery,
A shaft formed to a predetermined length,
Adjustable knob, operable by user
A first pitch shaft portion and a first yaw shaft portion which are disposed at one end of the shaft and transmit the movements of the pitch direction and the yaw direction according to the manipulation of the adjustment knob, respectively;
A second yaw axis portion and a second pitch axis portion disposed at the other end of the shaft and operating in correspondence with the operations from the first pitch shaft portion and the first yaw shaft portion, and
An end effector controllable by the second pitch shaft portion and the second yaw shaft portion
Lt; / RTI >
The first pitch shaft portion and the first yaw shaft portion are driven by at least one operation cable, respectively, the second pitch shaft portion and the second yaw shaft portion,
The end effector is openable,
Further comprising an opening and closing portion for controlling the opening and closing operation of the end effector through the opening and closing cable,
A first shaft connecting portion connecting the adjustment knob and one end of the shaft and a second shaft connecting portion connecting the other end of the shaft and the end effector,
The second shaft connecting portion,
A pitch shaft connecting portion formed with a pair of plates spaced at predetermined intervals and connected to the second pitch shaft portion, and
A pair of plates are formed spaced apart at predetermined intervals and the yaw axis connecting portion connected to the second yaw axis portion
Lt; / RTI >
The pitch axis connecting portion and the yaw axis connecting portion is coupled in a direction perpendicular to each other,
The pitch shaft connecting portion and the yaw axis connecting portion includes a central axis, wherein the central axis includes an opening and closing cable groove into which the opening and closing cable can be inserted
Minimally invasive surgical tool characterized in that.

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