KR101475473B1 - Flexure type surgical apparatus - Google Patents

Abstract

The bending type surgical device capable of easily accessing the affected part with the bending and performing the operation, allowing a plurality of the surgical tools to be simultaneously entered into the bending part, and also allowing the operator to easily and conveniently control the bending operation. do. The bending type surgical device may include a bending type frame having at least two channels and a bending type frame inserted through the at least two channels to allow the operator to grip the bending type frame with one hand, And may include at least two surgical instruments that allow intuitive surgery by matching the direction of rotation.

Description

[0001] FLEXURE TYPE SURGICAL APPARATUS [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a bending type surgical apparatus, and more particularly, to a bending type surgical apparatus capable of advancing an operation by approaching a plurality of surgical tools to a bendable ring.

When a lesion such as scarring or swelling occurs in the human body, surgery is performed to treat the lesion. If the lesion is protruded like a limb of a limb or trunk, and the surgical tool is easy to access, the surgeon can easily perform the operation with scissors, grabbing, or a small incision. However, when the lesion is deep in the body, , And in the case of a path with limited curvature in the large intestine, where the field of view is limited and access to the surgical tools is difficult, the procedure is difficult.

In order to approach the surgical tool to the affected part existing in the curved passage as described above, generally, a medical device such as a suspen- sion laryngoscope is used to secure a straight passage from the outside to the affected part, .

FIG. 1 is a view showing a state where a patient's head is bent backward to secure a straight passage, and then the medical instrument for surgery is introduced into the occipital region through the oral cavity.

Referring to FIG. 1, when the lesion is located at the occiput, the patient's head is turned backward to secure a straight passage, and then the surgical medical device is inserted into the occipital region through the oral cavity to treat the affected part. However, when the patient's head is tilted backward, the patient's body may be damaged by the pressure of the neck. In addition, depending on the physical characteristics of the patient, it may be difficult to secure a straight- There is a case. In particular, it is difficult to obtain a straight passage from the outside to the affected part of the occiput from a patient having a short neck, a narrow occiput, an overweight, a small mandible, a short tongue, a patient with a disc, There are many cases.

Therefore, when the affected part is located in the curved pathway, it is not easy to access the surgical tool to the affected part to perform the operation.

In addition, since the passageway having the curvature of the human body is generally narrow, there is a problem in that it is not easy to enter a plurality of manual surgical instruments at once to perform an operation.

In order to operate the affected part of the bent part like the laryngeal surgery, at least two surgical tools must be driven simultaneously. However, in the case of the conventional general manual surgical tool, both hands of the operator are required to operate one surgical tool At least two operators were needed during the operation.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a bending-type surgical apparatus which can easily approach and be operated on a curved ring.

Another object of the present invention is to provide a bending type surgical apparatus capable of simultaneously entering a plurality of surgical tools into a curved ring portion.

It is still another object of the present invention to provide a bending type surgical apparatus that can be easily and conveniently controlled by a practitioner.

The bending type surgical apparatus according to an embodiment of the present invention includes a bending type frame having at least two channels and a bending type frame inserted through the at least two channels, And may include at least two surgical tools that allow intuitive operation by matching the operating direction of the operator with the rotational direction of the tip.

For example, the surgical tool may include an end effector disposed at a distal end of the bending type frame to perform a treatment of the affected part, a handle disposed outside the channel of the bending type frame and capable of gripping the end effector with one hand An internal connecting unit which connects the handle unit and the end effector and performs relative translation and rotation motion with respect to the bending type frame, and an intuitive operation by matching the operation direction of the handle unit and the rotation direction of the end effector And a plurality of wires for transmitting the operation force of the handle unit to the end effector.

For example, the handle unit may include a support portion provided on an inner connection unit disposed outside a channel of the bending type frame, a gimbal joint installed on the support portion, and a gimbal joint provided on the gimbal joint to grip the surgical tool, And a plurality of wires connected to the end effector and connected to the gimbal joint so as to be rotatable about the operating direction of the grip portion and the end effector And a direction changing guide capable of matching directions.

The handle unit may further include a high elasticity elastic member for elastically supporting the gimbals joint so that the gimbals joint is restored to its original position by elastic force when the operation force applied to the handle unit is removed.

Here, the grip portion is connected to the gimbal joint so as to freely rotate, so that the rotational force of the grip portion is not transmitted to the gimbal joint.

For example, the internal connection unit may include a plurality of rotation portions capable of translating and rotating relative to the bending type frame, and a plurality of links connecting the plurality of rotation portions to each other.

Here, the link may be a spring guide having a high-elasticity rod.

The bending type surgical apparatus according to an embodiment of the present invention may further include an endoscope unit including a photographing lens provided at the tip of the curved frame and a display showing an image photographed by the photographing lens.

The bending type surgical apparatus according to an embodiment of the present invention may further include a locking unit for generating a frictional force between the bending type surgical apparatus and the surgical tool inserted in the bending type frame to prevent the surgical tool from rotating.

The bending type surgical device according to the present invention as described above improves the accessibility of the surgical tool to the affected part, thereby facilitating the operation and reducing the inconvenience of the patient during the operation.

In addition, since a plurality of surgical instruments can be simultaneously brought close to the affected part, the operation is simplified.

In addition, since the operation direction of the knob is matched with the rotation direction of the end effector positioned at the tip of the bending type frame, intuitive operation can be performed, so that it is very convenient for a practitioner to view the affected part image displayed on the display and to control the surgical tool .

In addition, since the handle is swung around the gimbal joint in an infinite rotation, the rotational motion of the handle is not transmitted to the surgical tool, so that only the handle is rotated without rotating the surgical tool, thereby enabling the operator to grip the handle at a desired position. There is an effect that can be.

FIG. 1 is a view showing a state in which a straight path is secured by tilting a patient's head backward, and then the medical instrument for surgery is introduced into the occipital region through the oral cavity
2 is a perspective view of a bending type surgical device according to an embodiment of the present invention.
3 is a detailed view for explaining a surgical tool
4 is a perspective view illustrating a handle unit according to an embodiment of the present invention.
5 is a sectional view for explaining a handle unit according to an embodiment of the present invention
6 is a perspective view showing a state in which a locking unit is installed according to an embodiment of the present invention.
7 is a front view of the locking unit

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

2 is a perspective view of a bending type surgical device according to an embodiment of the present invention.

Referring to FIG. 2, the curved surgical apparatus 100 according to an embodiment of the present invention may include a curved frame 110 and at least two surgical tools 120.

The curved frame 110 may be curved so as to reach the curved ring portion such as the occipital region.

The curved frame 110 has at least two channels 111 at one end thereof. For example, at one end of the curved frame 110, two channels 111 separated in a Y-shape may be provided.

In addition, although not shown in the drawings, the curved frame 110 may further include channels that can use an endoscope, suction, or the like.

In addition, the curved frame 110 may further include a mounting terminal (not shown) coupled with a mount (not shown).

The at least two surgical tools 120 may be configured such that the handle unit 122 is positioned on the channel side of the bendable frame 110 and the end effector 121 Type frame 110 inserted into the bending-type frame 110 so that the operator can grasp the handle unit 122 with one hand and control the bending-type frame 110. The manipulation direction of the operator and the bending Shaped frame 110 is aligned with the rotation direction of the end effector 121 located at the distal end of the frame 110, so that an intuitive operation can be performed.

The construction of the surgical tool 120 will be described in detail with reference to FIGS. 3 to 6. FIG.

3, the surgical tool 120 according to an embodiment of the present invention includes an end effector 121, a handle unit 122, an internal connection unit 123 , And a plurality of first wires 124. [

The end effector 121 is disposed at the distal end of the curved frame 110 to process the affected part.

The handle unit 122 is disposed outside the channel 111 of the curved frame 110 so that the operator can grasp the end effector 121 with one hand so that the end effector 121 can be controlled.

The configuration of the handle unit 122 will be described in detail with reference to Figs. 4 and 5. Fig.

FIG. 4 is a perspective view illustrating a handle unit according to an embodiment of the present invention, and FIG. 5 is a cross-sectional view illustrating a handle unit according to an embodiment of the present invention.

4 and 5, the handle unit 122 according to an embodiment of the present invention may include a support portion 122a, a gimbal joint 122b, a handle portion 122c, and a direction change guide 122d. have.

The support portion 122a is installed in an inner connection unit 123 (see FIG. 2) disposed outside the channel 111 (see FIG. 2) of the bending type frame 110 (see FIG. 2). More specifically, the support portion 122a is installed inside the third rotation portion 123c disposed outside the channel 111 of the bending type frame 110. In addition,

The gimbal joint 122b is fixed to the support portion 122a. That is, the gimbals joint 122b is installed on the support portion 122a by a plurality of fastening means 1220b.

The handle 122c is connected to the gimbal joint 122b so that the operator can grip and manipulate the surgical tool 120. [ The grip portion 122c is connected to the gimbal joint 122b so as to freely rotate with respect to the gimbal joint 122b so that the rotational force of the grip 122c is transmitted to the gimbal joint 122b . For example, the handle portion 122c may be connected to the gimbals joint 122b so as to be freely rotatable by idle members 1220c as shown in FIG. Meanwhile, the handle portion 122c may be formed in a scissors shape so as to be used after the operator easily grasps it.

The handle 122c and the end effector 121 are connected to the second wire 122c by operating the end effector 121 as if the operator gripped the handle 122c. Not shown). More specifically, the second wire has one end connected to the handle 122c and the other end connected to the first through third rotating parts 123a, 123b, 123c and the first and second links 123d, 123e And is connected to the end effector 121. The second wire is stretched when the knob 122c is pulled or gathered to operate the end effector 121. The specific driving method may vary depending on the type of the end effector 121. [ For example, when the end effector 121 is operated by a combination of two blades such as a clamp or scissors, the grips or scissors of the end effector 121 are moved in synchronization with the scissoring operation of the grip 122c If the end effector 121 is to perform on / off operation such as a blower or a suction pipe, it may be turned on / off according to the scissoring operation of the handle 122c.

The direction change guide 122d is fixed to the internal connection unit 123 to be inserted into the support portion 122a and turns a plurality of first wires 124 connected to the end effector 121, So that the operation direction of the knob portion 122c can be made coincident with the rotation direction of the end effector 121 by connecting to the joint 122b.

For example, the direction change guide 122d may include a direction change plate 1220d, a fastening pin 1221d, and a plurality of fixing pins 1222d.

The direction changing plate 1220d has a plurality of support grooves 1223d formed at predetermined intervals on the outer periphery thereof and the support grooves 1223d support a plurality of first wires 124 connected to the end effector 121 The direction of the plurality of first wires 124 can be switched to be connected to the gimbals joint 122b. For example, as shown in FIG. 4, when the first wire 124 connected to the end effector 121 (see FIG. 3) is drawn out from the 12 o'clock direction to the outside of the third rotation part 123c, The wire 124 is supported by the support groove portion 1223d formed at the 6 o'clock direction of the direction change plate 1220d so that the first wire 124 is connected to the gimbal joint 122b, And the rotation direction of the end effector 121 rotated by the first wire 124 are aligned with each other, so that the operator can perform an intuitive operation.

The coupling pin 1221d protrudes from the direction changing plate 1220d and is inserted into the third rotating portion 123c so that the direction changing guide 122d can be fastened to the third rotating portion 123c.

The plurality of fixing pins 1222d protrude from the direction changing plate 1220d so as to be spaced apart from the direction of the connecting pin 1221d and inserted into the third rotating portion 123c, Thereby preventing the switching guide 122d from rotating.

Meanwhile, the handle unit 122 according to an embodiment of the present invention is configured such that when the operation force applied to the handle 122c is removed, the gimbal joint 122b is restored to its original position by the elastic force And may further include a highly elastic rod 122e that elastically supports the elastic member.

3, the internal connection unit 123 according to an embodiment of the present invention will be described in detail as follows.

3, the internal connection unit 123 is inserted into the curved frame 110 to connect the handle unit 122 and the end effector 121 to each other. The internal connection unit 123 is inserted into the curved frame 110 so that the internal connection unit 123 can translate and rotate relative to the curved frame 110.

For example, the internal connection unit 123 may include first to third rotation units 123a, 123b, and 123c, and first and second links 123d and 123e.

The first rotation part 123a is disposed at the distal end of the curved frame 110. [ The first rotating portion 123a relatively moves and rotates relative to the bending type frame 110. In addition,

The second rotating part 123b is disposed at the center of the curved frame 110 and the second rotating part 123b is also relatively moved relative to the curved frame 110 like the first rotating part 123a And rotational motion.

The third rotation part 123c is disposed at the distal end of the bending type frame 110 so as to be connected to the handle unit 122. The third rotation part 123c is also disposed at the distal end of the bending type frame 110 in the same manner as the first rotation part 123a, And relatively translates and rotates relative to the frame 110.

The first link 123d is disposed inside the curved frame 110 to connect the first rotation part 123a and the second rotation part 123b to each other. More specifically, the first link 123d is disposed inside the first bend section 112 of the curved frame 110 to guide the first rotation part 123a and the second rotation part 123b Connect each other.

The second link 123e is disposed inside the curved frame 110 to connect the second rotation part 123b and the third rotation part 123c to each other. More specifically, the second link 123e is disposed inside the second bend section 113 of the curved frame 110 so that the second rotation part 123b and the third rotation part 123c Connect each other.

The links 123d and 123e smoothly bend at the bent portions 112 and 113 of the curved frame 110 to connect the rotating portion and the rotating portion to transmit pressure, tension, and rotational force.

For example, the links 123d and 123e are urged by a spring guide to transmit the force pushing the inner connecting unit 123 to the rotating parts 123a, 123b, and 123c, 123 can be transmitted to the rotating parts 123a, 123b, 123c by a spring guide having a highly elastic rod such as a high-elasticity carbon tube.

The internal connection unit 123 is connected to the rotation parts 123a, 123b, and 123c so that the rotation parts 123a, 123b, and 123c can smoothly rotate with respect to the inner peripheral surface of the bending type frame 110. [ (Not shown) for supporting the bearing member.

In addition, the bending-type surgery device 100 according to an embodiment of the present invention may further include an endoscope unit 125. [

The endoscope unit 125 may include a photographing lens provided at the distal end of the curved frame 110 and a display showing an image photographed by the photographing lens.

2, a bending type surgical apparatus 100 according to an embodiment of the present invention generates a frictional force between the bending type surgical apparatus 100 and the surgical tool 120 inserted in the bending type frame 110, And a locking unit 130 for preventing the locking member 120 from rotating.

The configuration of the locking unit 130 will be described in detail with reference to FIGS. 2, 6, and 7. FIG.

FIG. 6 is a perspective view showing a state in which a locking unit according to an embodiment of the present invention is installed, and FIG. 7 is a front view of the locking unit.

2, 6 and 7, the locking unit 130 is installed on the channel 111 of the curved frame 110 and is provided with the surgical tool 120 inserted into the curved frame 110. [ Thereby preventing the surgical tool 120 from being rotated in the curved frame 110. [0064] As shown in FIG.

The locking unit 130 may include a band portion 131 and a plurality of blocks 132.

The band portion 131 is wound on a channel 111 of the curved frame 110 and a connecting portion 131a is formed at both end portions. A connection tool such as a buckle is connected to the connection part 131a so as to tightly fasten the band part 131 so that the plurality of blocks 132 are brought into close contact with the outer circumferential surface of the third rotation part 123c. Here, the buckle is manufactured so that the band portion 131 can be tightened step by step so that the pressure of the plurality of blocks 132 closely contacting the outer circumferential surface of the third rotating portion 123c can be adjusted in stages.

The plurality of blocks 132 protrude from the inner circumferential surface of the band portion 131 at predetermined intervals and are inserted into the channel 111 through a plurality of holes (not shown) formed in the channel 111, The surgical tool 120 contacts the outer circumferential surface of the third rotary part 123c located in the inside of the curved frame 110 to generate a frictional force with the third rotary part 123c, .

2 to 7, the operation and effect of the bending-type surgical apparatus according to one embodiment of the present invention will be described.

A case in which the bending type surgical apparatus 100 according to an embodiment of the present invention is used in the occipital surgery will be described as an example.

2 to 7, in order to perform surgery on a lesion such as the occipital region using the bending type surgical apparatus 100 according to an embodiment of the present invention, the patient first lays down in a state in which the ceiling can be seen, Thereby securing a passage through which the tip of the bending-type surgical apparatus 100 according to the present invention can reach the occipital region.

After securing the passage as described above, the practitioner inserts the bending frame 110 with the end effector 121 protruding through the mouth of the patient so that the end effector 121 reaches near the affected part on the occipital area , And a curved frame 110 is mounted on a cradle (not shown) located outside the patient.

Next, the practitioner rotates and translates the surgical tool 120 with respect to the bending frame 110 to move the end effector 121 so that the end effector 121 is in a proper position and direction to operate the affected part. The translational movement of the surgical tool 120 with respect to the curved frame 110 may be performed by the operator after gripping the handle portion 122c or the third rotation portion 123c of the surgical tool 120, The rotational movement of the surgical tool 120 with respect to the curved frame 110 may be performed by rotating the grip portion 122c such that the grip portion 122c freely rotates with respect to the gimbal joint 122b The operator can not rotate the surgical tool 120 using the handle 122c and can rotate the surgical tool 120 only while holding the third rotating part 123c.

After the end effector 121 is moved to a proper position and direction as described above, the band portion 131 of the locking unit 130 is tightened to secure the end effector 121 between the plurality of blocks 132 and the surgical tool 120 So that the surgical tool 120 is fixed to the bending frame 110 such that it can no longer be translated or rotated.

After the surgical tool 120 is fixed so that the surgical tool 120 can no longer translate and rotate about the bending type frame 110, the operator operates the handle 122c to move the gimbal joint 120, The end effector 121 is operated by the plurality of first wires 124 by rotating the first end effector 122b to face the affected part.

At this time, the plurality of first wires 124 connected to the end effector 121 are turned by the direction change guide 122d and connected to the gimbals joint 122b. That is, in the case of the first wire 124 having one end connected to the left end of the end effector 121, the other end is turned by the direction change guide 122d and connected to the right side of the gimbal joint 122b, In the case of the first wire 124 connected to one end of the end effector 121 on the right side, the other end may be turned by the direction change guide 122d and connected to the left side of the gimbals joint 122b. In other words, in the case of the plurality of first wires 124, one end of which is connected to the end effector 121, the other end of the first wire 124 is connected to the end effector 121, And is turned by the switching guide 122d and connected to the gimbals joint 122b.

Accordingly, when the knob 122c is moved to the left side, the end effector 121 is also moved to the left side by the first wire 124 The end effector 121 is also moved to the right by the first wire 124 when the handle 122c is moved to the right. That is, the manipulation direction of the operator's grip 122c and the rotation direction of the end effector 121 positioned at the tip of the flexible frame 110 coincide with each other, thereby enabling an intuitive operation. That is, even if the operator grasps the handle 122c and rotates like the wrist, the operation direction of the handle 122c is the same as the movement direction of the end effector 121, so that the operator can see the affected part image displayed on the display, It is very convenient to control the display unit 120. [

The grip portion 122c is connected to the gimbal joint 122b by an idler 1220c and is infinitely rotated around the gimbals joint 122b so that the rotation of the grip 122c is transmitted to the surgical tool 120, As shown in FIG.

Therefore, the bending type surgical apparatus 100 according to the embodiment of the present invention can rotate the knob part 122c without rotating the surgical tool 120 so that the operator can grip the knob part 122c at a desired position Usability can be greatly improved.

After the user adjusts the direction of the end effector 121 by operating the knob 122c as described above, the operator manipulates the knob 122c in a scissor-like manner to grip the affected part through the end effector 121, , Cauterization, and so on.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

(110): a curved frame (120): a surgical tool
(130): a locking unit

Claims (9)

A curved frame having at least two channels; And
At least two operations for performing an intuitive operation by aligning the operation direction of the operator with the rotation direction of the tip can be performed by inserting the operator into the bending frame through the at least two channels and grasping the operator with one hand, Tools,
The surgical tool includes:
An end effector disposed at a distal end of the curved frame to perform a treatment of the affected part;
A handle unit disposed outside a channel of the bending type frame and capable of holding the end effector with a hand held by a practitioner;
An internal connecting unit connecting the handle unit and the end effector and relatively translating and rotating relative to the bending type frame; And
And a plurality of wires for transmitting operation force of the handle unit to the end effector so as to perform an intuitive operation by matching the operation direction of the handle unit and the rotation direction of the end effector,
Wherein the handle unit comprises:
A supporting part installed on an inner connecting unit disposed outside the channel of the bending type frame;
A gimbal joint mounted on the support;
A grip part connected to the gimbal joint so that the operator can grip and manipulate the surgical tool; And
A plurality of wires connected to the end effector are connected to the gimbals joint by being turned around a plurality of wires fixed to the inner connecting unit so as to be inserted into the inside of the support unit, thereby making the direction of rotation of the end effector coincide with the direction of rotation of the end effector A curved surgical device comprising a guide. delete delete The method according to claim 1,
Wherein the handle unit comprises:
Further comprising a high-elasticity rod elastically supporting the gimbal joint so that the gimbal joint is restored to its original position by an elastic force when the operation force applied to the grip portion is removed. The method according to claim 1,
The handle portion
Wherein the gimbal joint is rotatably connected to the gimbal joint so that the rotational force of the grip is not transmitted to the gimbal joint. delete A curved frame having at least two channels; And
At least two operations for performing an intuitive operation by aligning the operation direction of the operator with the rotation direction of the tip can be performed by inserting the operator into the bending frame through the at least two channels and grasping the operator with one hand, Tools,
The surgical tool includes:
An end effector disposed at a distal end of the curved frame to perform a treatment of the affected part;
A handle unit disposed outside a channel of the bending type frame and capable of holding the end effector with a hand held by a practitioner;
An internal connecting unit connecting the handle unit and the end effector and relatively translating and rotating relative to the bending type frame; And
And a plurality of wires for transmitting operation force of the handle unit to the end effector so as to perform an intuitive operation by matching the operation direction of the handle unit and the rotation direction of the end effector,
The internal connecting unit includes:
A plurality of rotating parts capable of translating and rotating relative to the bending type frame; And
And a plurality of links connecting the plurality of rotation portions to each other,
Wherein the link is a spring guide with a high-elasticity rod incorporated therein. The method according to claim 1,
A photographing lens provided at the tip of the curved frame; And
And an endoscopic unit configured by a display showing an image photographed by the photographing lens. The method according to claim 1,
Further comprising a locking unit for generating a frictional force between the surgical instrument inserted into the curved frame and the surgical instrument so that the surgical instrument is not rotated.

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