KR101366794B1 - Rigidity Controller for Flexible Surgical Instrument - Google Patents

Abstract

A plurality of short links installed in connection with the end member for performing the operation necessary for surgery, and a linear flexible adjustment member for connecting and supporting the short links so as to be able to selectively control flexibility and rigidity together with the elongated shape; Provided is a flexible surgical tool hardness control device including a tension control device for adjusting the length of the linear flexible adjustment member to change the short links in a close state or spaced state.

Description

Hardness controller for flexible surgical instruments {Rigidity Controller for Flexible Surgical Instrument}

The present invention relates to a flexible surgical tool hardness control device, and more particularly to a flexible surgical tool hardness control device capable of securing a partial rigidity in the long and thin surgical tool or robot.

In the past, laparotomy, which directly cuts the surgical site as a method of intraperitoneal surgery, was common, but recently, laparoscopic surgery has been proposed, and laparoscopic surgery is widely used for simple laparoscopic surgery such as gallbladder resection as robots are used for the surgery. .

Laparoscopic surgery is a field of Minimally Invasive Surgery (MIS), which minimizes incision and pain, and shortens the length of hospital stay.

Furthermore, with the introduction of the concept of non-invasive surgery in recent years, minimal or no invasive surgery has been introduced. Insertion and surgery to puncture the organs of the stomach and the like) is attracting attention as the next generation surgery.

In addition, SPA (Single Port Access) surgery, which is being actively researched recently, is performed through a single hole (for example, navel) without additional incision, and between laparoscopic surgery and natural opening endoscopic surgery (NOTES). Can be seen as a concept.

Minimally invasive surgery such as laparoscopic surgery, SPA surgery, spontaneous opening endoscopic surgery (NOTES), etc. are all manufactured in a thin and long form due to spatial constraints. For example, the diameter of the laparoscopic surgical tool is mainly 10mm or less and the length is more than 40cm, the surgical tool for natural opening endoscopic surgery has a length of about 1m in a diameter of about 5mm depending on the insertion passage. In the case where the same function can be obtained, the smaller the diameter is, the better.

Due to the morphological constraints of the surgical tools as described above, in the case of a surgical robot, the position of the actuator (motor, etc.) must be located outside, and the external actuator mainly uses a transmission such as a wire rope or a long link. Transmits power to the drive joint.

In the case of laparoscopic surgery, the elongated shaft does not need to be bent, whereas spontaneous opening endoscopic surgery (NOTES) requires the shaft to be flexible in its entirety and rigid in order to exert sufficient force for the task or to achieve the desired posture. It is preferable to have. This may also be the case for SPA surgical instruments, catheters, endoscopes, and the like.

The present invention has been made in view of the above point, to provide a flexible surgical tool hardness control device that can be controlled to have a flexible and rigidity with a thin and elongated form, the object thereof.

Hardness control device for a flexible surgical tool according to an embodiment of the present invention is a plurality of short links are connected to the end member is installed to perform the operation required for surgery, and a linear flexible adjustment member for connecting and supporting the short links, the linear flexible It comprises a tension adjusting device for adjusting the length of the adjustment member to change the short links in a close state or spaced state.

The linear flexible adjustment member is composed of a fixed wire and a sheath member surrounding the fixed wire, and configured using a Bowden cable or the like.

The tension control device is installed in a drive case in which a drive reel is installed to drive the linear operation member for operating the end member.

The tension adjusting device may include a first ring member installed in a state in which rotation is restricted to an upper end of the driving case, a second ring member screwed to an outer surface of the first ring member, and an inner surface of the second ring member. And a third ring member which is screwed with the screw in the opposite direction to the first ring member and installed in a state in which rotation is constrained, and a sheath member end of the linear flexible adjustment member positioned opposite the end member is fixed.

It is also possible to fix the end of the sheath member of the linear actuating member to the third ring member.

The drive case may be provided with a cover for preventing loosening in close proximity to the drive reel to prevent the wire of the linear actuating member from falling down from the drive reel in accordance with the operation of the tension control device.

According to the hardness adjustment device for a flexible surgical tool according to an embodiment of the present invention, it is possible to adjust the wire tension of the linear flexible adjustment member through the tension adjustment device, the rigid state is maintained by close contact between the plurality of short links. When the gap between the short links is loosened, the flexible state is maintained, so that the flexible insert can be inserted into the curved passage and then the rigid operation can be performed smoothly.

After changing the shape of the end portion connected with the end member to the desired shape in a flexible state, and then operating the tension control device to give the tension of the linear flexible control member to give rigidity, the end of the surgical tool has the desired shape It is also possible to configure a great force.

1 is a cross-sectional view showing a hardness control device for a flexible surgical tool according to an embodiment of the present invention.
2 is a cross-sectional view showing a state changed to a rigid state by operating the tension control device in the hardness adjustment device for a flexible surgical tool according to an embodiment of the present invention.
Figure 3 is an exploded perspective view showing a tension jog device in the hardness adjustment device for a flexible surgical tool according to an embodiment of the present invention.
Figure 4 is an exploded cross-sectional view showing a tension control device in the hardness adjustment device for a flexible surgical tool according to an embodiment of the present invention.
5 is an assembly cross-sectional view showing a tension control device in the hardness adjustment device for a flexible surgical tool according to an embodiment of the present invention.
6 is a partially enlarged cross-sectional view illustrating a state in which the tension of the fixing wire is released in a mechanism in which two cameras are disposed at a predetermined angle by applying a hardness adjusting device for a flexible surgical tool according to an embodiment of the present invention.
7 is a partially enlarged cross-sectional view illustrating a state in which tension is applied to a fixing wire in a mechanism in which two cameras are disposed at a predetermined angle by applying a hardness adjusting device for a flexible surgical tool according to an embodiment of the present invention.
8 is a partially enlarged cross-sectional view showing a state in which the tension of the fixing wire is released in a mechanism in which two cameras are arranged at a predetermined interval by applying a hardness adjusting device for a flexible surgical tool according to an embodiment of the present invention.
9 is a partially enlarged cross-sectional view illustrating a state in which tension is applied to a fixing wire in a device in which two cameras are arranged at regular intervals by applying a hardness adjusting device for a flexible surgical tool according to an embodiment of the present invention.

Next, a preferred embodiment of the flexible surgical tool for adjusting the hardness according to the present invention will be described in detail with reference to the drawings.

The present invention can be embodied in various forms and is not limited to the embodiments described below.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings, wherein like numerals refer to like elements throughout.

First, as shown in FIGS. 1 and 2, the hardness adjusting device for a flexible surgical tool according to an embodiment of the present invention includes a plurality of short links 50, a linear flexible adjusting member 60, and a tension adjusting device ( 70).

1 and 2 shows a surgical tool applied with a hardness control device for a flexible surgical tool according to an embodiment of the present invention.

The surgical tool penetrates the shaft 10 having a hollow tube-shaped flexibility, an end member 20 installed at the end of the shaft 10 and performing the operation necessary for surgery, and the inside of the shaft 10. And a linear actuating member 30 connected to the end member 20 to transmit the driving force, and installed on the opposite end of the end member 20 and wound or unwound the linear actuating member 30. Generating and including a drive reel 40 installed inside the drive case 42.

When the joint 28 is installed at the portion where the end member 20 is installed, the joint driving reel 46 for driving the joint 28 is additionally installed inside the driving case 42.

The linear actuating member 30 is connected to the end member 20 and the driving reel 40 and drive wire 31 for transmitting the driving force according to the rotation of the driving reel 40 to the end member 20, Sheath member (32) surrounding the drive wire (31).

The linear actuating member 30 is connected to the joint 28 and the joint driving reel 46 and the joint wire 35 for transmitting a driving force for driving the joint 28, the joint wire 35 It is also possible to further include a sheath member 36 wrapping.

The sheath members 32 and 36 partially surround the drive wire 31 and the joint wire 35, respectively, and receive compressive force when tension is applied to the drive wire 31 and the joint wire 35. do.

The length of the sheath members 32, 36 should be a little longer than the length of the shaft 10, which is an external structure, to effectively support the compressive force, but for convenience, the length does not show a difference.

The linear actuating member 30 can be freely bent.

The linear actuating member 30 can be configured using a Bowden cable or the like.

When the driving reel 40 is rotated in the state configured as described above, the driving wire 31 is rotated along the rotation of the driving reel 40 to implement an operation of opening or contacting the end member 20 (operation State on the right side of FIG. 2).

In addition, when the joint driving reel 46 is rotated, the joint wire 35 is rotated to implement an operation of bending the joint 28 inclined at an angle (shown in the right state of FIG. 2).

The basic of the shaft 10, the end member 20, the linear operating member 30, the drive reel 40, the joint 28, the joint drive reel 46, etc. of the surgical tool is applied to one embodiment of the present invention from the above Since the configuration and operation can be carried out in the same configuration as the conventional configuration of various surgical instruments, detailed description thereof will be omitted.

In Figures 1 and 2, the end member 20 is shown as a tong-shaped tool, but the present invention is not limited thereto, and it is also possible to install a surgical tool or an endoscope that performs various functions such as scissors or a cauterizer. .

The plurality of short links 50, as shown in Figures 1 and 2, is connected to the end member 20, the operation required for surgery is installed.

The plurality of short links 50 are disposed between the shaft 10 and the end member 20.

The plurality of short links 50 are disposed and installed inside the tubular shaft 10.

The plurality of short links 50 may be disposed before and after the joint 28 when the joint 28 is formed in the middle.

The plurality of short links 50 are each formed in a ring shape and are installed to penetrate the linear actuating member 30 and the linear flexible adjusting member 60 therein.

The linear flexible adjustment member 60 connects and supports the short links 50.

The linear flexible adjustment member 60 is composed of a fixing wire 62 and a sheath member 64 surrounding the fixing wire 62.

The sheath member 64 partially surrounds the fixing wire 62, and receives a compressive force when tension is applied to the fixing wire 62, and the length of the sheath member 64 is an external structure shaft 10. At least a little longer than the length of) can effectively support the compression force, but for convenience, the length did not show a difference.

The linear flexible adjustment member 60 can be freely bent.

The linear flexible adjustment member 60 can be configured using a Bowden cable or the like.

One end of the fixed wire 62 of the linear flexible adjustment member 60 is fixed to the end member 20, the other end of the fixed wire 62 is fixed to the drive case 42.

One end of the sheath member 64 of the linear flexible adjustment member 60 is fixed to the end of the end member 20 of the shaft 10, the opposite end of the sheath member 64 is the tension It is fixed to the adjusting device (70).

When the joint 28 is installed in the above, as shown in FIGS. 1 and 2, the sheath member 66 surrounding the fixing wire 62 of the linear flexible adjustment member 60 is also provided at the joint 28. Partial installation is also possible.

The tension control device 70 operates to adjust the length of the linear flexible adjustment member 60 to change the short links 50 in a close or spaced state.

The tension control device 70 is installed in a drive case 42 in which a drive reel 40 for driving the linear operation member 30 for operating the end member 20 is installed.

For example, as shown in FIGS. 1 and 3 to 5, the tension adjusting device 70 includes a first ring member 72 installed on the upper surface of the driving case 42 in a state in which rotation is restricted. The second ring member 74 is screwed to the outer surface of the first ring member 72 and the inner surface of the second ring member 74 is screwed in a direction opposite to the first ring member 72. And a third ring member 76 installed in a state in which rotation is constrained and the end of the sheath member 64 of the linear flexible adjustment member 60 positioned opposite to the end member 20.

The first ring member 72 may be integrally formed on the drive case 42 and installed, or may be assembled to the drive case 42.

Male threads are formed on the outer surface of the first ring member 72.

On the inner surface of the second ring member 74, female threads in opposite directions are formed at the upper and lower portions, respectively.

For example, if the female screw 75 formed on the inner surface of the second ring member 74 is a left screw, the female screw 73 formed on the lower inner surface of the second ring member 74 is formed of a right screw.

The female screw 73 formed on the lower inner surface of the second ring member 74 and the male screw formed on the outer surface of the first ring member 72 are formed by screws in the same direction so as to be screwed together.

The outer surface of the third ring member 76 is formed with a male screw screwed to the female screw 75 formed on the upper inner surface of the second ring member 74.

The male screw formed on the outer surface of the first ring member 72 and the male screw formed on the outer surface of the third ring member 76 are formed by screws in opposite directions.

It is possible to form a cylindrical portion 78 integrally extended to the lower end of the portion where the male screw is formed and inserted into the inner surface of the first ring member 72 in the third ring member 76.

The outer surface of the cylindrical portion 78 is formed in the longitudinal direction of the anti-rotation groove (79), the inner surface of the first ring member 72 is inserted into the anti-rotation groove 79 is coupled to the anti-rotation projection ( 71) is formed long in the longitudinal direction.

When the first ring member 72 and the third ring member 76 are coupled to each other by forming the anti-rotation protrusion 71 and the anti-rotation groove 79 as described above, the first ring member 72. Since the rotation is installed in a constrained state, the third ring member 76 is also installed in a constrained rotation.

The third ring member 76 is installed to slide up and down with respect to the first ring member 72 in a state in which rotation is constrained.

When the second ring member 74 is rotated in the coupled state, the first ring member 72, the second ring member 74, the second ring member 74 and the third ring member are rotated. Screws 76 are made in opposite directions to each other, and since the rotation of the first ring member 72 and the third ring member 76 is constrained, the second ring member 74 may be rotated. Accordingly, the third ring member 76 is moved in the direction in which it is inserted into or withdrawn from the first ring member 72.

The third ring member 76 may be provided with a sheath fixing piece 80 for fixing the end of the sheath member 64 of the linear flexible adjustment member 60.

The sheath fixing piece 80 is formed by passing through an installation hole 83 into which the linear flexible adjustment member 60 is inserted.

The installation hole 83 is composed of two ends of the large diameter portion and the small diameter portion such that the sheath member 64 does not penetrate through the fixing wire 62. That is, the sheath member 64 of the linear flexible adjustment member 60 is inserted and fixed to the large diameter portion of the installation hole 83, and the fixing wire 62 of the linear flexible adjustment member 60 is the installation hole ( It passes through the small diameter part of 83).

An end portion of the fixing wire 62 passing through the installation hole 83 of the linear flexible adjustment member 60 is fixed inside the drive case 42.

The third ring member 76 may also be configured to fix the ends of the sheath members 32 and 36 of the linear actuating member 30 together.

For example, the sheath members 32 and 36 of the linear actuating member 30 are inserted into and fixed to the sheath fixing piece 80, and the drive wire 31 and the joint of the linear actuating member 30 are fixed thereto. It is also possible to further form an installation hole 83 through which the wire 35 penetrates.

The cylindrical portion 78 of the third ring member 76 is formed through the thickness of the fixing hole 77 is formed with a female thread, the outer surface of the sheath fixing piece 80 concave fixing grooves (around the perimeter) 85 is formed, and the fixing screw 88 is coupled to the fixing hole 77 so that the end portion protrudes to the inner surface of the third ring member 76 to fix the groove 85 of the sheath fixing piece 80. When configured to be inserted into, the sheath fixing piece 80 inserted in the inner surface of the cylindrical portion 78 of the third ring member 76 is maintained without being easily separated.

It is preferable that the fixing screw 88 is formed and installed without a head because a latch does not occur when the third ring member 76 is inserted into the first ring member 72.

In this configuration, the sheath member 64 of the linear flexible adjustment member 60 and the sheath members 32 and 36 of the linear actuating member 30 are fixed to the third ring member 76. It is installed in a state, according to the vertical movement of the third ring member 76, the sheath member 64 of the linear flexible adjustment member 60 and the sheath member 32, 36 of the linear actuating member 30. The position of the movement is made.

For example, as shown in FIG. 1, the third ring member 76 is sufficiently inserted into the first ring member 72 by rotating the second ring member 74 of the tension adjusting device 70. In the state, since the sheath member 64 of the linear flexible adjustment member 60 is moved toward the driving case 42 as a whole, the shaft 10 to which the end of the sheath member 64 is fixed is also driven by the driving case 42. And the distance between the shaft 10 and the end member 20 (the shaft 10 and the end member 20 of the fixing wire 62 of the linear flexible adjustment member 60). Distance), the plurality of short links 50 can be positioned at a distance from each other, and the flexible state becomes flexible.

In the flexible state as described above, the inside of the curved passage 2 (for example, the inside of the large intestine, etc.) may be inserted while being flexibly passed while deforming.

In addition, in the above state, the drive wire 31 and the joint wire 35 of the linear actuating member 30 also have a margin in the length, so that the connected joint 28 is free to move by external force. Helps with flexible insertion

As shown in FIG. 1, the driving wire 31 of the linear actuating member 30 extends downward from the driving reel 40 in the driving case 42 as the tension adjusting device 70 operates. It is also possible to install the anti-loosening cover 90 in close proximity to the drive reel 40 to prevent falling.

The anti-loosening cover 90 is preferably installed on the joint driving reel 46 side to prevent the joint wire 35 of the linear actuating member 30 from sagging from the joint driving reel 46.

When the anti-loosening cover 90 is installed as described above, the tension of the driving wire 31 and the joint wire 35 is removed and the driving wire 31 and the joint wire 35 are driven to the driving reel 40 and the joint. It is possible to prevent loosening and twisting of the drive reel 46.

The loosening prevention cover 90 is covered with a soft material such as a thin sponge on the surface surrounding the drive reel 40 and the joint drive reel 46, the drive reel 40 and the joint drive reel 46 and the drive It is also possible to configure so as to effectively prevent loosening and twisting of the driving wire 31 and the joint wire 35 without disturbing the movement of the wire 31 and the joint wire 35.

When two or more driving reels 40 and joint driving reels 46 are used as described above, the loosening preventing cover 90 is fixed based on the axes of the driving reels 40 and the joint driving reels 46. It is configured to maintain a constant distance between the drive reel 40 and the joint drive reel (46).

Also in the fixing wire 62, when configured in a structure wound up using a drive reel, a roller or the like, it is also possible to provide a pulley preventing cover 90 for the fixing wire 62.

As shown in FIG. 2, the second ring member 74 of the tension control device 70 is rotated so that the third ring member 76 is sufficiently drawn out from the first ring member 72. If changed, since the sheath member 64 of the linear flexible adjustment member 60 moves toward the end member 20 as a whole, the shaft 10 having the end portion of the sheath member 64 fixed to the end member ( 20 is positioned close to the side, and the distance between the shaft 10 and the end member 20 (the shaft 10 and the end member of the fixed wire 62 of the linear flexible adjustment member 60 ( 20) is shortened, and the plurality of short links 50 are in close contact with each other and are in a rigid state.

In the rigid state as described above, by operating the drive reel 40 or articulation drive reel 46, it is possible to operate the end member 20 or the joint 28 in the required state.

For example, the tension control device 70 adjusts the distance of the portion of the fixed wire 62 is exposed, while the length of the sheath member 64 of the linear flexible adjustment member 60 is kept constant. To adjust the tension.

In order to maintain sufficient tension in the above, the fixing wire 62 may be configured with a spring or the like.

6 to 9 show an example in which an embodiment according to the present invention is applied to an endoscope or a laparoscope having two or more cameras 24 in order to obtain stereoscopic information.

In general, the longer the distance between the two cameras, the more stereoscopic a feeling can be felt.

Application of the mechanism according to an embodiment of the present invention makes it possible to fix two or more endoscope cameras 24 for internal observation at a constant distance.

6 and 8 illustrate a state in which the tension is removed, and FIGS. 7 and 9 illustrate a state in which the tension is applied.

As shown in Fig. 7, the short links 51 and 52 which meet each other on the inclined surface are used so that the two cameras 24 can be photographed while maintaining a constant angle.

For example, one short link 52 forms an inclined surface that is inclined to both sides about a center, and the two cameras 24 are composed of two sets of short links 50 arranged in separate states. It is installed in the arm, and the last short link 51 of each arm is formed into an inclined surface in contact with one inclined surface of the short link 52.

It is also possible to form an insertion groove 25 into one of the short links 50 into which the exposed portion of the camera 24 installed on the opposite side is inserted when two arms are joined.

In the above, the linear flexible adjustment member 60 is installed in the state that penetrates the two arms, respectively.

Wires or optical fibers 23 are connected to the camera 24, and the wires or optical fibers 23 are installed through the short links 50, 51, and 52.

In the state configured as described above, when the tension control device 70 is operated to make the tension of the fixed wire 62 of the linear flexible adjustment member 60 relaxed, as shown in FIG. 6, the short link ( 51 and the short link 52 remain spaced apart, and remain short and spaced apart from each other by the short links 50, thereby maintaining a freely flexible state.

When the tension control device 70 is operated to apply tension to the fixing wire 62 of the linear flexible control member 60, as shown in FIG. 7, the short links 50 and the short links 51 and As the spacing between the short links 52 is reduced, they are in close contact with each other, and the inclined surfaces are in contact with each other, thereby naturally maintaining the angle as if the two arms are separated from each other and open their arms.

8 and 9 are two cameras 24 are installed at a constant interval, and the neck of the bird in a straight line in a flexible state by adjusting the tension of the fixing wire 62 of the linear flexible adjustment member 60 The example which changes into the beak shape rigid state is shown.

In the above, various shapes are formed by appropriately combining short links 50 having parallel contact surfaces, short links 56 having both contact surfaces inclined surfaces, and short links 55 and 57 having one contact surface horizontal and the opposite contact surfaces inclined. It is possible to implement a state that is bent with.

The short link 50 may be formed in a state where the contact surface is curved in whole or in part.
Here, the meaning that both contact surfaces of the short link 50 is parallel means that both contact surfaces of the short link 50 are provided in a vertical plane with respect to the coupling axis in the longitudinal direction. The fact that both contact surfaces are inclined surfaces means that both contact surfaces of the short links 56 are inclined at predetermined angles with respect to the coupling axis in the longitudinal direction, respectively, so that the short links 55 and 57 are provided. Is that the contact surface of the one side is a horizontal plane and the other side of the other side is the inclined surface, that both contact surfaces of the short links 55 and 57 are respectively perpendicular to the engagement axis in the longitudinal direction, and the other side is at a predetermined angle. It can also be called the form provided with the inclined surface.

In the above description of the preferred embodiment of the flexible surgical tool for adjusting the hardness according to the present invention, the present invention is not limited to this, it is possible to perform various modifications within the scope of the claims and the specification and the accompanying drawings. This also belongs to the scope of the present invention.

10-shaft, 20-end member, 23-wire or optical fiber, 24-camera
25-insert groove, 28-articulated, 30-linear actuating element, 31-drive wire
32-sheath member, 35-articulated wire, 36-sheath member, 40-driven reel
42-Drive case, 46-Articulated reel, 50,51,52,55,56,57-Short link
60-linear flexible adjustment member, 62-fixed wire, 64,66-sheath member
70-tension adjusting device, 71-anti-rotation protrusion, 72-first ring member, 74-second ring member
76-third ring member, 77-fixing hole, 78-cylindrical part, 79-anti-rotation groove
80-Sheath fixing piece, 83-Mounting hole, 85-Fixing groove, 88-Fixing screw
90-Loosen cover, 2-Pathway

Claims (17)

A plurality of short links disposed and installed between the end member and the shaft on which operations necessary for surgery are performed;
A linear flexible adjustment member for supporting and connecting the short links;
And a tension adjusting device for adjusting the length of the linear flexible adjusting member to change the short links into a close state or spaced apart state.
The plurality of short links are each ring-shaped, and are installed to penetrate the linear operating member and the linear flexible control member for operating the end member therein, the short links having both contact surfaces parallel to each other, and the short contact surfaces being both inclined surfaces. A hardness control device for a flexible surgical tool comprising at least one of a link, a short link on one side of which is horizontal and a short link on which the other side is an inclined surface, and a short link of which the surface is entirely or partially curved. The method according to claim 1,
Wherein the plurality of short links, if the joint is formed in the middle of the flexible surgical tool hardness control device is installed by placing before and after the joint. delete The method according to claim 1,
The plurality of short links is a flexible surgical tool for adjusting the hardness comprising a short link to meet each other inclined surface. delete The method according to claim 1,
The linear flexible control member is fixed to one end is fixed to the end member and the other end is fixed to the drive case in which the drive reel is installed, the fixed wire wraps one end is fixed to the tension control device The opposite end is a flexible surgical tool hardness control device consisting of a sheath member fixed to the end of the shaft to which the short link is connected. The method of claim 6,
The linear flexible adjustment member is a hardness control device for flexible surgical instruments configured using Bowden (Bowden) cable. The method of claim 6,
If the joint is installed in the middle hardness control device for flexible surgical tools to partially install a sheath member surrounding the fixed wire of the linear flexible adjustment member in the joint portion. The method of claim 6,
The tension control device is installed in a drive case in which a drive reel for driving a linear operation member for operating the end member,
The tension adjusting device may include a first ring member installed in a state in which rotation is restricted to an upper end of the driving case, a second ring member screwed to an outer surface of the first ring member, and an inner surface of the second ring member. Flexible surgery including a third ring member is screwed with the screw in the opposite direction to the first ring member and installed in a state in which rotation is constrained and the sheath member end of the linear flexible adjustment member positioned opposite the end member is fixed. Old hardness control device. The method of claim 9,
The third ring member is a hardness adjustment device for a flexible surgical tool for fixing the end of the sheath member of the linear operating member together. The method of claim 9,
The first ring member is a hardness adjustment device for a flexible surgical tool fixedly installed in the drive case. The method of claim 9,
Male threads are formed on the outer surface of the first ring member,
Inner surfaces of the second ring member are formed at upper and lower portions of female threads in opposite directions, respectively.
The female screw formed on the lower inner surface of the second ring member and the male screw formed on the outer surface of the first ring member are screwed together,
Hardness adjusting device for a flexible surgical tool is formed on the outer surface of the third ring member is a male screw threaded to the female screw formed on the inner surface of the second ring member. The method of claim 9,
The third ring member is integrally extended to the lower end of the portion where the male screw is formed and forms a cylindrical portion inserted into the inner surface of the first ring member,
On the outer surface of the cylindrical portion is formed a long rotation preventing groove in the longitudinal direction,
Longitudinal adjustment device for a flexible surgical tool is formed on the inner surface of the first ring member is formed in the longitudinal direction of the rotation preventing projection is inserted into the rotation prevention groove in the longitudinal direction. The method of claim 9,
The hardness control device for a flexible surgical tool to install a sheath fixing piece for fixing the sheath member end of the linear flexible adjustment member to the third ring member. The method according to claim 14,
The sheath fixing piece is formed through the installation hole through which the linear flexible adjustment member is inserted,
The installation hole is a flexible surgical tool for adjusting the hardness consisting of a large diameter portion and a small diameter portion, so that the sheath member does not penetrate through only the fixing wire. The method according to claim 14,
The cylindrical portion of the third ring member is formed with a fixing hole through which the female thread is formed through the thickness,
The outer surface of the sheath fixing piece to form a concave fixing groove along the circumference,
Combination of the fixing screw to the fixing hole end portion protrudes to the inner surface of the third ring member is configured to be inserted into the fixing groove of the sheath fixing piece hardness control device for flexible surgical tools. The method of claim 9,
The drive case has a hardness for flexible surgical tools to install the anti-loosening cover in close proximity to the drive reel to prevent the fixed wire of the linear actuating member from falling down from the drive reel in accordance with the operation of the tension control device Regulator.

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