KR101330256B1 - Flexible surgical tool for laparoscopic operation - Google Patents

Abstract

The flexible laparoscopic surgical instrument according to the present invention is slidably coupled to a support rod, the support rod, an actuating rod that is multi-articulated, an end effector coupled to one end of the actuating rod, and connected to the end effector. A rod driving module for providing a driving force to the actuating rod in a state connected to the flexible tube, the support rod and the actuating rod, and an operation unit coupled to the rod driving module and providing a driving force to the end effector through the flexible tube. It includes.
The present invention manipulates the articulating rod of the articulated joint to freely change the position in the abdominal cavity of the end effector coupled to one end of the rod, thereby performing the procedure for the affected part in the abdominal cavity. Facilitate access to affected areas.

Description

Flexible surgical tool for laparoscopic operation

The present invention relates to a flexible laparoscopic surgical instrument, and more particularly, to a flexible laparoscopic surgical instrument that can perform a surgical operation through the abdominal cavity through a single port using a multi-joint operating rod.

In general, laparoscopic surgery is a method of surgery using a surgical instrument while observing the inside of the abdominal cavity after inserting a laparoscope through a hole about 1 cm into the abdomen, unlike conventional open surgery. Such laparoscopic surgery is applied to various long-term tumor resections such as gallbladder resection and appendix, and there are few postoperative pains, less complications, shorter recovery period, and small scars. It is being performed. For surgery, a large number of trocars are inserted into the abdomen of the patient, and then gas is blown to facilitate the observation of the inside of the abdominal cavity, and the surgical site is observed using an endoscope and a surgical instrument inserted through the trocar. While performing the affected area.

Conventional laparoscopic surgery is performed through the image with the formation of about five holes on the abdomen and inserting various surgical tools, the method as described above can be a lot of wounds and surgery If there is a problem that a large number of people need to support the problem to be improved through a single port access laparoscope surgery can be improved. Single-port approach laparoscopic surgery is the most similar to conventional laparoscopic surgery and has the advantage of limiting the wound to the umbilicus (umbilicus) area. In the single-port approach laparoscopic surgery, the surgical procedure proceeds with the necessary surgical instruments inserted through a hole in the abdomen, so the possibility of collision between the surgical instruments due to the condensation of the instruments may be large. Because of this, there is a problem that it is difficult to secure the perspective that the operator can see through the image.

In addition, there is a problem that it becomes difficult to multiangulation (triangulation) to triangulation to facilitate the surgical access that was possible in the conventional laparoscopic surgery that was approaching through a plurality of holes.

An object of the present invention for solving the above problems is a flexible laparoscopic which can freely change the position in the abdominal cavity of the end effector coupled to one end of the operating rod by operating the articulated rod To provide surgical instruments.

Flexible laparoscopic surgical instruments according to the present invention provided to achieve the above object is a support rod, slidably coupled to the support rod, an articulated working rod, an end coupled to one end of the operating rod An effector, a flexible tube connected to the end effector, a rod drive module providing driving force to the actuating rod in connection with the support rod and the actuating rod, and coupled to the rod drive module, through the flexible tube It includes an operation unit for providing a driving force to the end effector.

The rod driving module may include a fixed portion coupled to the support rod, a variable portion rotatably coupled to the fixed portion, and one end rotatably coupled to the variable portion, and the other end pivotable to the other end of the working rod. It may be desirable to include a connecting portion that is securely coupled.

It may be preferable that the other end of the connecting portion enables sliding of the working rod by moving along a sliding hole formed in the fixing portion.

The guide protrusion formed in the variable portion may be moved along the guide hole formed in the fixed portion.

The actuating rod includes a slide rod sliding along the support rod, an effector mounting rod having one end coupled to the end effector, and an intermediate rod having both ends hinged to the slide rod and the effector mounting rod, respectively. It may be desirable to include.

The flexible tube may be installed to penetrate the inside of the working rod in the axial direction.

The flexible tube may be installed to penetrate the inside of the working rod in the axial direction.

The wire disposed inside the flexible tube may be preferably connected between the operation unit and the end effector.

The flexible laparoscopic surgical instrument may further include a latch portion for maintaining a coupling angle between the fixed portion and the variable portion.

The clasp portion is fixed to the locking groove detachably fastened to the locking groove formed on the outer surface of the fixing portion, a pull latch is spaced apart from the fixed clasp a predetermined distance rotatably coupled to the variable portion, and the fixing clasp and the pull It may be desirable to include connecting bars that are rotatably coupled between the clasps, respectively.

The flexible laparoscopic surgical instrument according to the present invention as described above is to manipulate the articulating rod of the articulated joint to freely change the position in the abdominal cavity of the end effector coupled to one end of the rod to the affected area in the abdominal cavity It facilitates access to the affected area of the end effector during the procedure.

The present invention can be caused by the difficulty of surgical access to the affected area during the surgical operation through a single port formed in the abdominal cavity and the collision between surgical instruments and by arranging the surgical instruments in a straight line through the single port of the abdominal cavity. You can solve the problem of perspective loss.

1 is a perspective view in one direction of a flexible laparoscopic surgical instrument according to an embodiment of the present invention,
FIG. 2 is an enlarged view of portion A of FIG. 1 to specifically show a structure of an actuating rod made of multiple joints; FIG.
3 is an enlarged view of a portion B of FIG. 1 showing a layout of a rod driving module for forming a second state in which a working rod is deformed;
4 is a view for showing a first state in which the actuating rod is in line with the support rod;
5 is a state diagram showing an arrangement of a rod driving module for achieving the state of FIG. 4, and
6 is a view showing a state in which both handles of the operation unit in the state in which the fixed portion and the variable portion is bent at a predetermined angle.

These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. The described embodiments are provided by way of example for purposes of illustration, and do not limit the technical scope of the present invention.

Each component of the flexible laparoscopic surgical instrument of the present invention may be manufactured in one piece or separately separated as necessary. In addition, some components may be omitted depending on the form of use.

Hereinafter, a flexible laparoscopic surgical instrument according to an embodiment of the present invention with reference to the accompanying drawings will be described in detail. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be described based on the contents throughout this specification.

Flexibility  Description of the overall configuration of the laparoscopic surgical instrument (100)

First, the overall configuration of the flexible laparoscopic surgical instrument 100 according to the present invention with reference to FIGS. 1 and 2.

The flexible laparoscopic surgical instrument 100 according to the present invention is an end effector coupled to one side of the support rod 10, the operation rod 20 slidably coupled to the support rod 10, and the operation rod 20. 30, a flexible tube 40 connected to the end effector 30, a rod drive module 50 providing driving force to the actuation rod 20 while being connected to the support rod 10 and the actuation rod 20. And an operation unit 80 coupled to the rod driving module 50 and providing a driving force to the end effector 30 through the flexible tube 40.

The support rod 10 forms a straight bar shape in which the sliding groove 12 is formed and is stably coupled to the rod driving module 50 without shaking. The support rod 10 is made of a light material harmless to the human body and should have a high rigidity. This feature enables a stable procedure in a state inserted into the human body in the process of performing laparoscopic surgery.

The actuating rod 20 includes a slide rod 21 sliding along the support rod 10, an effector mounting rod 25 having one end coupled to the end effector 30, and both ends of the slide rod 21. And an intermediate rod 23 hinged to the effector mounting rod 25, respectively. On the other hand, the actuating rod 20 is provided between the first rod hinge 22 and the effector mounting rod 25 and the intermediate rod 23 which are rotatably coupled between the slide rod 21 and the intermediate rod 23. It further comprises a second rod hinge 24 which is rotatably coupled. The actuation rod 20 is rotatably coupled to one end of the support rod 10 via a third rod hinge 26.

 The end effector 30 includes an effect connecting rod 35 rotatably coupled to one end of the actuating rod 20 and a pair of forceps 31 and 33 coupled to the effect connecting rod 35. . The effector connecting rod 35 and the pair of tongs 31 and 33 are connected to a wire extending from the operation unit 80 through the inside of the flexible tube 40. The operation unit 80 allows the pair of tongs 31 and 33 to be opened and closed via the wire.

The flexible tube 40 may have a corrugated stretch tube shape, and may be a structure that can be freely moved through the intermediate rod 23 while being fixed to the slide rod 21 and the effector mounting rod 25 without shaking. have. That is, the flexible tube 40 can freely move freely through the through hole 24 formed in the intermediate rod 23.

The rod driving module 50 may be fixed to the fixed portion 60 coupled to the support rod 10, the variable portion 70 rotatably coupled to the fixed portion 60, and one end thereof may be rotated to the variable portion 70. Is coupled to the other end and the other end is rotatably coupled to the other end of the operating rod (20). The other end of the connection portion 75 enables the sliding of the working rod 20 by moving along the sliding hole 62 formed in the fixing portion 60.

On the other hand, the adjustment dial 78 is rotatably mounted to the variable portion 70 enables the rotation drive of the end effector (30). That is, the end effector 30 whose angle of placement changes according to the positional change of the actuating rod 20 rotates around the effector mounting rod 25.

The operation unit 80 includes a pair of first handle 81 and second handle 83. The second handle 83 is rotatably coupled to the first handle 81 by a handle pivot 85. The operation unit 80 is connected to the end effector 30 through a wire (not shown) passing through the flexible tube 40.

Hereinafter, the driving principle of the operation rod 20 will be described with reference to FIGS. 1, 2, and 4.

First, the actuation rod 20 maintains a first state in which the rods 21, 23, 25 are in a straight line on the support rod 10. The first state is to minimize the volume in the process of inserting the flexible laparoscopic surgical instrument 100 according to the present invention in the human body to minimize the impact on the perforated human tissue. 4 shows the first state.

Next, a connection angle formed between the effector mounting rod 25 and the intermediate rod 23 in the process of pushing the slide rod 21 toward the end effector 30 by manipulating the rod driving module 50. (α) becomes smaller and smaller.

Specifically, as the slide rod 21 moves toward the end effector 30, the first rod hinge 22 moves closer to the third rod hinge 26, and the first rod hinge 22 and the first rod hinge 22 move toward the end effector 30. The second rod hinge 24, which is disposed between the third rod hinges 26, is increasingly spaced apart from the support rod 10. Through this principle, the end effector 30 positioned on the extension line in the axial direction of the support rod 10 in the first state has a second state inclined with respect to the support rod 10. In the present invention, as the second state is variable, the end effector 30 may be defined as a general term in which the end effector 30 is inclined at a predetermined angle, not parallel to the axial direction of the support rod 10. 1 and 2 show the second state.

On the other hand, the flexible laparoscopic surgical instrument 100 further includes a clasp 90 for maintaining the coupling angle β of the fixed portion 60 and the variable portion 70. 3, 5 and 6 will be described the structure and function of the clasp 90.

The clasp 90 is a fixing clasp 95 which is detachably fastened to the catching groove 64 formed in the fixing part 60, a pulling clasp 91 which is spaced apart from the fixing clasp 95 by a predetermined distance, and fixed. And a connecting bar 93 rotatably coupled between the clasp 95 and the pull clasp 91. The pull clasp 91 is rotatably coupled to the variable portion 70 about the pull clasp rotating shaft 91a disposed at an intermediate point thereof, and an upper end thereof is connected to the connecting bar 93 through the first clasp rotating shaft 92. ) Is combined. The pull clasp rotation shaft 91a may have a structure fixed to the variable portion 70. On the other hand, the fixing clasp 95 is coupled to the connecting bar 93 via the second clasp rotation shaft 94.

The pull clasp 91 is provided with a torsion spring (not shown) having an elastic force on the pull clasp rotating shaft 91a. The torsion spring is a spring structure that connects between the pull clasp 91 and the pull clasp rotating shaft 91a. Through the structure, when the user removes the applied force after applying a force in the direction of the operation unit 80 through the lower end of the pull clasp 91 enables the return of the pull latch 91 to its original position. In FIG. 5, when the lower end of the pull clasp 91 is pulled in the a direction and rotated clockwise to push out the connecting bar 93, the fixing clasp 95 rotates counterclockwise about the second clasp rotating shaft 94. do. In this case, the fixing latch 95 is driven to rotate along the outer circumferential surface of the stop projection 72 formed on the fixing portion 60. When the user maintains the external force in the a direction, the fixing latch 95 is free from the locking groove 64, so that the angle of engagement between the fixed portion 60 and the variable portion 70 is adjusted. .

On the other hand, when the coupling angle adjustment of the fixing part 60 and the variable part 70 is completed, the external force applied from the user is removed, the pull clasp rotating shaft 91a is rotated counterclockwise by the torsion spring, and consequently the fixing clasp ( 95) to rotate the clockwise to create a state of catching the locking groove (64). As described above, the latch portion 90 stably fixes the shape formed by the fixing portion 60, the variable portion 70, and the connecting portion 75, thereby enabling the function of the flexible laparoscopic surgical instrument of the present invention.

Flexibility  Describe the overall operation of the laparoscopic surgical instrument 100

Hereinafter, the overall operation of the flexible laparoscopic surgical instrument 100 according to the present invention will be described with reference to FIGS. 1 to 6 again.

1 to 3 show a second state in which the end effector 30 located on the axial extension of the support rod 10 is inclined with respect to the support rod 10, and FIGS. 4 to 5 are operated. Represents a first state in which all the components of the rod 20 are arranged parallel to the support rod 10. Hereinafter, the operation of the flexible laparoscopic surgical instrument 100 will be described by explaining a process of changing from the second state to the first state.

3 and 5, the variable part 70 of the rod driving module 50 is rotated in a clockwise direction with respect to the fixed part 60 so that the variable part 70 and the fixed part 60 are in a straight line. Leads to the prize. That is, the arrangement between the variable portion 70 and the fixed portion 60 in a state where the coupling angle β is bent in a state of less than 180 ° in FIG. 3 by rotating the variable portion 70 is in a straight line as shown in FIG. 5. Shall be. As one end of the connecting portion 75 rotatably coupled to the variable portion 70 through the first rotational shaft 71 moves the other end of the connecting portion 75 to the sliding hole 61 formed in the fixing portion 60. Thus moving in a direction away from the end effector 30. That is, the second rotary shaft 77 directly connected to the slide rod 21 of the operation rod 20 moves along the sliding hole 61. In the above process, the guide protrusion 73 formed on the variable part 70 moves along the inner surface of the guide hole 62 formed on the fixed part 60 to thereby adjust the positional relationship between the variable part 70 and the fixed part 60. Make it stable.

As described above, the connection angle α formed between the effector mounting rod 25 and the intermediate rod 23 in the process of pulling the slide rod 21 toward the fixing part 60 by operating the rod driving module 50 is It becomes larger and larger (see FIGS. 2 and 4). Specifically, as the slide rod 21 moves, the first rod hinge 22 moves in a direction away from the third rod hinge 26, and the first rod hinge 22 and the third rod hinge 26 are moved. The second rod hinge 24, which is disposed between), is gradually closer to the support rod 10.

In the operation process for the conversion to the first state, the user applies the attraction force through the lower end of the pull clasp 91, and when the force is removed to the required position, the pull clasp 91 removes the torsion spring. Through the return to the original position through the rod drive module 50 to maintain a stable state.

On the other hand, in the case of changing from the first state to the second state, the variable part 70 of the rod driving module 50 is driven to rotate in the counterclockwise direction with respect to the fixed part 60 so as to be high with the variable part 70. It is possible to bend the bonding angle β of the government unit 60 to less than 180 degrees. That is, as the size of the coupling angle β becomes smaller and smaller, the size of the connecting angle α becomes smaller and smaller, and as the size of the coupling angle β becomes larger and larger, the size of the connecting angle α becomes larger. .

After stably determining the position of the actuating rod 20 through the rod driving module 50 and the clasp 90, the user adjusts the shape of the end effector 30 through the manipulation unit 80. In one embodiment of the end effector 30 through the operation unit 80, the knobs θ of the operation unit 80 are adjacent to each other as shown in FIG. 6, and the end angle effector 30 is adjusted. The two tongs 31 and 32 are separated from each other, and when the handles 81 and 83 are spaced apart from each other as shown in FIG. 1, the two tongs 31 and 32 may be adjacent to each other.

As described above, the flexible laparoscopic surgical instrument 100 according to the present invention operates the multi-jointed operating rod to freely change the position in the abdominal cavity of the end effector coupled to one end of the operating rod. Access to the affected area of the end effector is facilitated in the course of the procedure for the affected area.

Although the preferred embodiments of the present invention have been described, the present invention is not limited to the specific embodiments described above. It will be apparent to those skilled in the art that numerous modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. And equivalents should also be considered to be within the scope of the present invention.

10: support rod
12: slide groove
20: working rod
21: Load slide
22: first rod hinge
23: medium load
24: second rod hinge
25: effector mounting rod
26: third rod hinge
30: end effector
31: first clip unit
32: second clip unit
40: flexible tube
50: load driving module
60: fixed part
61: sliding hole
62: guide hole
64: hanging groove
70: variable part
71: first axis of rotation
72: stop projection
73: guide protrusion
75: connection
77: second axis of rotation
78: control dial
80: control panel
81: first handle
83: second handle
85: handle pivot
90: clasp
91: pull clasp
91a: pull latch rotation axis
92: first connecting shaft
93: connecting bar
94: second connecting shaft
95: retention clasp
100: flexible laparoscopic surgical instruments

Claims (10)

Support rod;
An actuating rod slidably coupled to the support rod, the actuating rod being articulated;
An end effector coupled to one end of the actuating rod;
A flexible tube connected to the end effector;
A rod driving module configured to provide driving force to the operating rod while being connected to the support rod and the operating rod; And
An operation unit coupled to the rod driving module and providing a driving force to the end effector through the flexible tube;
Lt; / RTI >
The working rod is
A slide rod sliding along the support rod;
An effector mounting rod, one end of which is coupled to the end effector; And
An intermediate rod having both ends hinged to the slide rod and the effector mounting rod, respectively;
≪ / RTI >
Flexible laparoscopic surgical instruments.
The method of claim 1,
The load drive module,
A fixed part coupled to the support rod,
A variable part rotatably coupled to the fixed part, and
One end is rotatably coupled to the variable portion and the other end is rotatably coupled to the other end of the working rod,
≪ / RTI >
Flexible laparoscopic surgical instruments.
3. The method of claim 2,
The other end of the connecting portion is characterized in that the sliding movement of the operating rod by moving along the sliding hole formed in the fixed portion,
Flexible laparoscopic surgical instruments.
3. The method of claim 2,
Guide protrusions formed in the variable portion is characterized in that to move along the guide hole formed in the fixed portion,
Flexible laparoscopic surgical instruments.
delete delete The method of claim 1,
The flexible tube is characterized in that is installed through the axial direction of the working rod,
Flexible laparoscopic surgical instruments.
The method of claim 7, wherein
The wire disposed inside the flexible tube is characterized in that connecting between the operation unit and the end effector,
Flexible laparoscopic surgical instruments.
3. The method of claim 2,
The flexible laparoscopic surgical instruments,
Further comprising a; clasp for maintaining the coupling angle of the fixed portion and the variable portion,
Flexible laparoscopic surgical instruments.
The method of claim 9,
The clasp portion is fixed to the locking groove detachably fastened to the locking groove formed on the outer surface of the fixing portion, a pull latch is spaced apart from the fixed clasp a predetermined distance rotatably coupled to the variable portion, and the fixing clasp and the pull It characterized in that it comprises a connecting bar rotatably coupled between the clasps, respectively,
Flexible laparoscopic surgical instruments.

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