KR101643362B1 - A surgical device - Google Patents

Abstract

The above description relates to a surgical instrument. According to one embodiment, the surgical instrument comprises a joint portion; And a force transmitting member for adjusting the direction and angle of bending of the joint portion, and the force transmitting member may include a first leg portion in the shape of a plate disposed along the longitudinal direction of the joint portion.

Description

[0001] A SURGICAL DEVICE [0002]

The following description relates to a surgical instrument.

Recently, surgery has been developed to minimize the invasion of patients in various surgical fields. Accordingly, studies for miniaturizing surgical instruments have been actively conducted.

FIG. 1 is a view showing a surgical instrument according to the related art, and FIG. 2 is a view showing a wire cable used as a driving means of a surgical instrument according to the prior art.

Referring to FIGS. 1 and 2, in order to miniaturize the surgical instruments, a tool having a tip having various functions such as forceps and cautery is attached to a distal end of a thin and long pipe. These instruments are not limited to laparoscopic surgery but are used in almost all surgical procedures. In order to make dexterous movement in the abdominal cavity, a number of surgical instruments including joints at the distal end have been developed. These joints are mostly driven by pulling or pushing a wire cable composed of a plurality of strands as shown in Fig. actuation).

However, these surgical instruments have limitations in miniaturizing the surgical instruments due to the limitations of the joints, the lack of rigidity of the wire cable, and the lack of connection between the wire cable and the joints. Specifically, in the case of the wire cable as shown in FIG. 2, there is a problem that the smaller the diameter is, the more the wire is broken and the force of the joint is reduced.

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Japanese Laid-Open Patent Publication No. 2013-220106 (Published date: October 27, 2013) Japanese Patent Application Laid-Open No. 10-2013-0132110 (Publication date: December 4, 2013) Japanese Patent Application Laid-Open No. 10-2012-0131523 (Published date: December 05, 2012) Published Patent Publication No. 10-2012-0061594 (Published date: June 23, 2012)

An object of the embodiment is to provide a surgical instrument using a thin elastic plate as a force transmitting member instead of a wire cable.

According to an embodiment, the surgical instrument comprises a joint portion; And a force transmitting member for adjusting the direction and angle of bending of the joint portion, and the force transmitting member may include a first leg portion in the shape of a plate disposed along the longitudinal direction of the joint portion.

The force transmitting member may include: a second leg portion in the form of a plate disposed along the longitudinal direction of the joint portion; And a connection portion connecting the first leg portion and the second leg portion.

The joint part may include a passage part formed along the longitudinal direction of the joint part, and the connection part may include a hole overlapping the passage part along the longitudinal direction of the joint part.

The first leg portion, the second leg portion, and the connecting portion may be integrally formed by cutting and bending a single thin plate member.

A first insertion space and a second insertion space for accommodating the first leg portion and the second leg portion are formed on both sides of the joint portion and a seating space for accommodating the connection portion may be formed at an end of the joint portion have.

At least one of the first insertion space, the second insertion space, and the seating space may be formed by a MEMS technique or a surface etching method.

At the end of the joint part, a protruding wall may be formed to surround at least a part of the seating space.

The surgical instrument may further include a release preventing member disposed to surround the force transmitting member along a circumferential direction thereof.

The release preventing member may be formed of an elastic material that provides a restoring force to return the joint to a predetermined position.

The joint portion may include a plurality of holes for increasing flexibility.

The joint part may be integrally formed of a flexible material or may include a plurality of nodes connected by a hinge coupling method, a pin coupling method, a rolling contact method, or a gear coupling method.

According to another embodiment, the surgical instrument comprises: a joint comprising a first joint and a second joint; A first force transmission member for adjusting a direction and an angle of bending of the first joint part; And a second force transmission member for adjusting the direction and angle of bending of the second joint portion, wherein at least one force transmission member of the first force transmission member and the second force transmission member may be formed of a thin plate material have.

Wherein the one force transmitting member comprises: a plurality of legs arranged along a longitudinal direction of the joint portion; And a connection portion connecting the plurality of leg portions.

Wherein the first force transmitting member includes: a plurality of first leg portions disposed along the longitudinal direction of the first joint portion; And a first connecting portion connecting the plurality of first leg portions to each other, wherein the second force transmitting member includes: a plurality of second leg portions disposed along the longitudinal direction of the second joint portion; A plurality of connecting legs connected to the plurality of second legs, respectively; A plurality of third legs connected to the plurality of connecting legs, respectively; And a second connection portion connecting the plurality of third leg portions to each other.

Wherein a plurality of first insertion portions for respectively receiving the plurality of first leg portions are formed to be opposed to each other in a first direction on both sides of the first joint portion and on both sides of the second joint portion, The plurality of second insertion portions accommodating the plurality of second insertion portions may be formed to face each other in a second direction intersecting the first direction.

A plurality of third insertion portions for connecting the plurality of first insertion portions and the plurality of second insertion portions are formed in the joint portion,

The plurality of third inserting portions may be formed in an oblique direction along the circumference of the joint portion.

According to the embodiment, by using a thin plate material having a much higher tensile strength, a smaller tensile ratio, and a smaller width of the cross section than the wire cable as a force transmitting means, it is possible to obtain a large, A surgical instrument including a joint can be provided.

Further, according to the joint shape of the joint and the thin elastic plate, a separate securing mechanism for securing both members is not required, so that space for installing the securing mechanism can be saved.

Further, since the welding process between the joint and the thin elastic plate is unnecessary, there is no need to consider the welding defect problem that may be caused by using different materials. Particularly, in the case of welding, both members to be welded must have a sufficient thickness, but it is not necessary to consider this depending on the shape of the upper joint. As a result, the surgical instrument can be remarkably miniaturized.

As a result of the miniaturization as described above, it is possible to use a relatively small-diameter surgical instrument such as brain surgery, shoulder surgery, and otolaryngology surgery, Surgical instruments may be used.

1 is a view showing a surgical instrument according to the prior art.
2 is a view showing a wire cable used as driving means of a surgical instrument according to the prior art.
3 is a perspective view of a surgical instrument according to an embodiment.
4 is an exploded perspective view of a surgical instrument according to an embodiment.
5 is a front view and a cross-sectional view in a state where the joint portion and the force transmitting member according to the embodiment are combined.
Fig. 6 is a side view in the state where the joint portion and the force transmitting member according to the embodiment are combined.
7 is a view showing the operation of the surgical instrument according to the embodiment.
8 is a view showing an operation of a surgical instrument according to another embodiment.
FIG. 9 is a view showing operation of a surgical instrument according to another embodiment.
10 is a view showing the operation of a surgical instrument according to a further embodiment.
11 is a perspective view of a surgical instrument according to yet another additional embodiment.
12 is an exploded perspective view of a surgical instrument according to still another additional embodiment.
13 is a view showing a state in which a first joint part of a surgical instrument according to still another embodiment is operated.
FIG. 14 is a view showing a state in which a second joint part of a surgical instrument according to still another embodiment is operated. FIG.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected,""coupled," or "connected. &Quot;

FIG. 3 is a perspective view of a surgical instrument according to an embodiment, and FIG. 4 is an exploded perspective view of a surgical instrument according to an embodiment.

FIG. 5 is a front view and a cross-sectional view in a state where the joint portion and the force transmitting member are combined according to the embodiment, and FIG. 6 is a side view in a state where the joint portion and the force transmitting member according to the embodiment are combined.

3 to 6, the surgical instrument 1 according to the embodiment includes a rod 10, a joint 11, a force transmitting member 12, a separation preventing member 13, , And fixture (14).

The rod 10 may have a thin and long shape. The rod 10 may be in the form of a pipe including, for example, a hollow formed therein. The rod 10 may include a rod body 101 and a connector 102 connecting the rod body 101 and the joint 11.

The joint part (11) can be bent with a constant locus with respect to the rod (10). One end of the joint 11 may be fixed to the rod 10 and the other end may be bent with respect to the rod 10. The joint portion 11 may be formed of, for example, a flexible material. The joint portion 11 may include a plurality of holes for increasing flexibility. The joint portion 11 may be integrally formed, for example. On the other hand, in the embodiment, the shape of the joint portion 11 is not limited. It is sufficient that the joint portion 11 is capable of bending or bending in the direction of an acting force or torque. The joints 11 may be integrally formed. However, the joints 11 may be in the form of a joint in which a plurality of bodies are connected by hinges or fins.

The joint part 11 may include a passage part 111, a first insertion space 112, a second insertion space 113, and a seating space 115.

The passage portion 111 may be a hole formed in the center of the joint portion 11 along the longitudinal direction of the joint portion 11. As the passage portion 111, a surgical instrument having a tip including a forceps, a gripper or a cautery may be inserted, or a tube for injecting a drug may pass therethrough Or a camera signal line to which a camera is attached at the end can be passed.

The first insertion space 112 may be formed along the longitudinal direction of the joint 11. The first leg portion 122 of the force transmitting member 12 may be inserted into the first insertion space 112. The first insertion space 112 may be a groove formed on the outer surface of the joint part 11. [

The first insertion space 112 can be easily formed by a simple cutting process, a MEMS technique, or a surface etching method. Alternatively, unlike the first embodiment, the first insertion space 112 may be a hole formed in a portion of the joint 11 outside the center of the joint 11.

The second insertion space 113 may be spaced apart from the first insertion space 112. The second insertion space 113 may be formed on the opposite side of the first insertion space 112, for example. In other words, the first insertion space 112 and the second insertion space 113 may be formed opposite to each other with respect to the center of the joint 11. The second leg portion 123 of the force transmitting member 12 may be inserted into the second insertion space 113. The description of the first insertion space 112 may be applied to the second insertion space 113 as long as there is no opposite description.

The seating space 115 may be formed at the other end of the joint 11. The connection portion 125 of the force transmitting member 12 may be inserted into the seating space 115. The seating space 115 may be connected to the first insertion space 112 and / or the second insertion space 123. The seating space 115 may be connected to the passage portion 111. The seating space 115 may be, for example, a recess formed at the other end of the joint 11. In other words, at the other end of the joint part 11, a protruding wall 116 may be formed to surround at least a part of the seating space 115. Meanwhile, the seating space 115 may be omitted. In this case as well, the connection part 125 can be supported at the other end of the joint part 11. [

The force transmitting member 12 can adjust the direction and angle of the bending of the joint 11. The force transmitting member 12 may be formed of a thin plate material. For example, the force transmitting member 12 may be manufactured using a metal plate.

On the other hand, since the thin plate material has a much higher tensile strength and a smaller tensile ratio than the wire material of the wire rod, the force transmission member having the same level of tensile strength is provided at a much smaller sectional area than the wire cable made of the bundle wire material can do. In other words, according to the force transmitting member 12, it is easy to downsize while being able to exert a strong force against an external force and a large force.

The force transmitting member 12 may include a first leg portion 122, a second leg portion 123, and a connecting portion 125.

The first leg portion 122 may have a plate shape. The first leg portion 122 may be disposed along the longitudinal direction of the joint portion 11. The first leg 122 may extend along the pipe 10. The first leg portion 122 may be inserted into the first insertion space 112. The first leg portion (122) slides relative to the first insertion space (112) and can drive the joint portion (11).

On the other hand, since the first leg portion 122 has a plate shape, it can have a higher tensile strength than a general wire cable. Therefore, according to the first leg portion 122, a large force can be applied to the joint portion 11. In addition, since the first leg portion 122 has a plate shape, the tensile ratio is smaller than that of a general wire cable. Therefore, the accuracy is improved and stable driving becomes possible.

The second leg 123 may be disposed on the opposite side of the first leg 122, for example. The description of the first leg portion 122 may be applied to the second leg portion 123 as long as there is no opposite substrate.

Meanwhile, the first leg portion 122 and the second leg portion 123 do not necessarily have to be provided in mutually opposite directions. For example, the plurality of leg portions including the first leg portion 122 and the second leg portion 123 may be provided at three intervals of 120 degrees or four at intervals of 90 degrees.

The connection part 125 may connect the first leg part 122 and the second leg part 123. [ The connection portion 125 may be supported at the other end of the joint portion 11. [ For example, the connection portion 125 may be supported in the seating space 115. The connection portion 125 may include a hole 125a formed therein. The hole 125a may be formed to overlap with the passage part 111 along the longitudinal direction of the joint part 11. [ In this case, the surgical tool can pass through the passage portion 111 and the hole 125a.

For example, the first leg portion 122, the second leg portion 123, and the connecting portion 125 may be integrally formed by cutting and bending a single thin plate member. In other words, the force transmitting member 12 can be integrally formed.

When the force transmitting member 12 is integrally formed, the first leg portion 122, the second leg portion 123, and the connecting portion 125 are inserted into the first insertion space 112, 113 and the seating space 115 so that the force transmitting member 12 can transmit the force to the joint portion 11. [ In other words, there is no need for a separate fixing work or fixing means for fixing the force transmitting member 12 and the joint portion 11 to each other.

On the other hand, when a wire cable is used as a force transmitting means, a fixture for fixing the wire cable is required in a state in which the wire cable is welded to the joint portion or the wire cable is inserted to penetrate the joint portion. In general, the fastener is formed by passing a wire cable between ring-shaped metals and then crushing the ring-shaped metal. However, the force transmitting member 12 according to the embodiment can stably fix the force transmitting member 12 to the joint portion 11 without a separate fixing operation or fixing means.

In addition, when a wire cable is used as a force transmission means, additional shields for wrapping the sharp wire cable end or clamp are necessary. However, since the force transmitting member 12 according to the embodiment does not include a sharp portion, it is possible to safely perform surgery without the above-described additional protection.

Further, when the wire cable is used as the force transmitting means, stress is concentrated on the portion where the clamp is disposed. In this case, since the cushioning portion is required to withstand the stress caused by the fixing, the thickness of the end portion of the joint portion becomes large. However, since the connecting portion 125 of the force transmitting member 12 according to the embodiment can disperse the stress widely along the circumferential direction of the end portion of the joint portion 11, the thickness of the end portion of the joint portion 11 can be made much thinner As a result, the surgical instrument 1 can be miniaturized.

The release preventing member 13 can prevent the force transmitting member 12 from being detached. The release preventing member 13 may be configured to wrap around the force transmitting member 12 along the circumferential direction.

The release preventing member 13 may be formed of an elastic material, for example, to provide a restoring force so that the joint part 11 returns to a predetermined position. The release preventing member 13 may be a spring arranged to surround the joint 11. In this case, the release preventing member 13 can be bent flexibly in accordance with the bending of the joint portion 11. [ In addition, the release preventing member 13 may perform a function of returning the joint part 11 to a predetermined position.

The fixture (14) may be fixed to the other end of the joint (11). The fixture 14 can further securely fix the force transmitting member 12.

7 is a view showing the operation of the surgical instrument according to the embodiment.

Referring to FIG. 7, the surgical instrument 1 according to the embodiment can be operated according to a force acting on the first leg portion 122 and the second leg portion 123. The joint part 11 may be bent toward the second leg part 123 when a compressive force is applied to the first leg part 122 or a tensile force is applied to the second leg part 123 .

If the force is not applied to the first leg portion 122 or the second leg portion 123, the joint portion 11 can be returned to the original state by the restoring force of the separation preventing member 13 . It is needless to say that the same effect can be obtained by forming the joint part 11 itself with a material having an elastic force.

Hereinafter, the components included in the above embodiments and the components including the common functions will be described using the same names. Unless otherwise stated, the description of the above embodiment can be applied to the following embodiments. A detailed description will be omitted below.

8 is a view showing an operation of a surgical instrument according to another embodiment.

Referring to Fig. 8, the surgical instrument 2 according to another embodiment may include a joint portion 21 and the force transmitting member 12.

The joint part 21 may include a plurality of nodes. The plurality of nodes may include a first node 21a and a second node 21b rotatable with respect to the first node 21a. The first and second nodes 21a and 21b may be hinged using a hinge structure or a pin.

At least one of the first node 21a and the second node 21b may include a passage portion, a first insertion space, a second insertion space, and a seating space.

The force transmitting member 12 can adjust the bending direction and angle of the joint 21. The force transmitting member 12 may include a first leg portion 122, a second leg portion 123, and a connecting portion 125.

The joint part 21 can be operated in accordance with a force acting on the first leg part 122 and the second leg part 123. The joint part 21 can be bent toward the second leg part 123 when a compressive force is applied to the first leg part 122 or a tensile force is applied to the second leg part 123 .

FIG. 9 is a view showing operation of a surgical instrument according to another embodiment.

Referring to Fig. 9, the surgical instrument 3 according to another embodiment may include a joint portion 31 and the force transmitting member 12. As shown in Fig.

The joint 31 may include a plurality of nodes. The plurality of nodes may include a first node 31a and a second node 31b that is rotatable with respect to the first node 31a. The first and second nodes 31a and 31b may be coupled in a rolling contact manner.

At least one of the first and second nodes 31a and 31b may include a passage portion, a first insertion space, a second insertion space, and a seating space.

The force transmitting member 12 can adjust the bending direction and the angle of the joint 31. The force transmitting member 12 may include a first leg portion 122, a second leg portion 123, and a connecting portion 125.

The joint 31 may be operated according to a force acting on the first leg 122 and the second leg 123. The joint part 31 may be bent toward the second leg part 123 when a compressive force is applied to the first leg part 122 or a tensile force is applied to the second leg part 123 .

10 is a view showing the operation of a surgical instrument according to a further embodiment.

Referring to Fig. 10, the surgical instrument 4 according to a further embodiment may include a joint portion 41 and the force transmitting member 12.

The joint portion 41 may include a plurality of nodes. The plurality of nodes may include a first node 41a and a second node 41b rotatable relative to the first node 41a. The first and second nodes 41a and 41b may include a first gear 417a and a second gear 417b that mesh with each other.

At least one of the first node 41a and the second node 41b may include a passage portion, a first insertion space, a second insertion space, and a seating space.

The force transmitting member 12 can adjust the direction and angle of the bending of the joint portion 41. The force transmitting member 12 may include a first leg portion 122, a second leg portion 123, and a connecting portion 125.

The joint portion 41 may be operated in accordance with a force acting on the first leg portion 122 and the second leg portion 123. When the compressive force is applied to the first leg portion 122 or a tensile force is applied to the second leg portion 123, the joint portion 41 can be bent toward the second leg portion 123 .

FIG. 11 is a perspective view of a surgical instrument according to another additional embodiment, and FIG. 12 is an exploded perspective view of a surgical instrument according to still another additional embodiment.

Referring to Figs. 11 and 12, the surgical instrument 5 according to still another additional embodiment may include a multi-jointed bending structure capable of bending in multiple directions using a plurality of force transmitting members. The surgical instrument 5 includes a rod 10, a first force transmitting member 12, a joint portion 51, a second force transmitting member 52 and a separation preventing member 13 .

The joint part 51 may include a first joint part 51a and a second joint part 51b. For example, the first joint 51a and the second joint 51b may be integrally formed as shown in FIG. However, the present invention is not necessarily limited to the above, and the first joint 51a and the second joint 51b may be formed as separate members.

One end of the first joint part 51a may be connected to the rod 10 and the other end may be connected to the second joint part 51b. A first passage portion 111 may be formed in the first joint portion 51a. A surgical tool, a tube, a signal line, or the like can be passed through the first passage portion 111.

A first seating space 115 may be formed at the other end of the first joint 51a along the periphery of the first passage 111. The first connection portion 125 of the first force transmission member 12 may be seated in the first seating space 115.

On both sides of the first joint part 51a, a plurality of first insertion parts 512c may be formed to face each other in the first direction. The first direction may be, for example, the x-axis direction in Fig. The plurality of first legs 122, 123 of the first force transmitting member 12 may be inserted into the plurality of first insertion portions 512c. The plurality of second leg portions 522a and 523a of the second force transmission member 52 may be inserted into the plurality of first insertion portions 512c. As the first insertion portion 512c, a plurality of first leg portions 122, 123 of the first force transmission member 12 and a plurality of second leg portions 522a of the second force transmission member 52 , And 523a may be all inserted.

One end of the second joint 51b may be connected to the first joint 51a. A second passage portion 511 may be formed in the second joint portion 51b. The second passage portion 511 communicates with the first passage portion 111, and a surgical tool, a tube, a signal line, or the like can be passed through the second passage portion 511.

A second seating space 515 may be formed at the other end of the second joint 51b along the periphery of the second passage 511. The seating portion 525 of the second force transmission member 52 may be seated in the second seating space 515.

And a plurality of second insertion portions 512a may be formed on both sides of the second joint portion 51b so as to face each other in a second direction intersecting the first direction. The second direction may be, for example, the y-axis direction in Fig. In other words, the first direction and the second direction may be orthogonal to each other. A plurality of third leg portions 522b and 523b of the second force transmission member 12 may be inserted into the plurality of second insertion portions 512a.

A plurality of third inserting portions 512b may be formed between the plurality of second inserting portions 512a and the plurality of first inserting portions 512c. The plurality of third insertion portions 512b may be formed along the circumference of the second joint 51b. For example, the plurality of third inserting portions 512b may be formed in a diagonal direction from the plurality of first inserting portions 512c to the plurality of second inserting portions 512a. The plurality of third leg portions 522c and 523c of the second force transmission member 12 may be inserted into the plurality of third insertion portions 512b.

The first force transmitting member 12 can adjust the direction and angle of the bending of the first joint 51a. The first force transmitting member 12 may be formed of a thin plate member. For example, the first force transmitting member 12 may be manufactured using a metal plate.

The first force transmitting member 12 may include the first leg portions 122 and 123 and the first connecting portion 125 connecting the plurality of first leg portions 122 and 123 have. The first connection part 125 may include a first hole 125a formed therein. The first hole 125a may be formed to overlap the first passage part 111 along the longitudinal direction of the first joint part 51a. In this case, the surgical tool can pass through the first passage portion 111 and the first hole 125a.

The first force transmitting member 12 may be inserted and coupled along the second passage portion 511, for example. The first leg portion 123 of the first force transmission member 12 is inserted through the hole formed in the side surface of the first joint portion 51a so as to communicate with the first passage portion 111, Or the like.

The second force transmitting member 52 can adjust the direction and angle of bending of the second joint 51b. The second force transmitting member 52 may be formed of a thin plate material such as a metal plate.

The second force transmitting member 52 includes the plurality of second leg portions 522a and 523a and the plurality of third leg portions 522b and 523b and the plurality of second leg portions 522a and 523a 523c connecting the plurality of third leg portions 522b, 523b and the plurality of third leg portions 522b, 523b connecting the plurality of third leg portions 522b, 523b, (525). The second connection portion 525 may include a second hole 525a formed therein. The second hole 525a may be formed to overlap with the second passage part 511 along the longitudinal direction of the second joint part 51b. In this case, the surgical tool can pass through the second passage portion 511 and the second hole 525a.

It is also possible to replace any one of the first force transmitting member 12 and the second force transmitting member 52 with a wire or the like. For example, the first force transmitting member 12 may be formed of a thin plate member, and the second force transmitting member 52 may be formed of a wire. The reverse is also true.

The release preventing member 13 can prevent the first force transmitting member 12 and the second force transmitting member 22 from being disengaged from the joint portion 51. [ The release preventing member 13 may be configured to surround the joint portion 51 along the circumferential direction.

13 is a view showing a state in which a first joint part of a surgical instrument according to still another embodiment is operated. Fig.

13, the surgical instrument 5 according to still another embodiment is operated in accordance with a force acting on the plurality of first leg portions 122, 123 of the first force transmitting member 11 . When a compressive force is applied to one of the first leg portions 122 of the plurality of first leg portions 122 and 123 or a tensile force is applied to the other first leg portion 123, (51a) can be bent toward the other first leg portion (123). The first joint 51a may be warped in the clockwise direction with respect to the y-axis. Similarly, when the forces acting on the plurality of first leg portions 122, 123 are reversed, the first joint portion 51a can be bent counterclockwise with respect to the y-axis.

On the other hand, if no force is applied to the first legs 122, 123, the first joint 51a is restored to the original state by the restoring force of the separation preventing member 13 (see FIG. 11) . It should be noted that the first joint 51a itself may be made of a material having elasticity to achieve the same effect.

FIG. 14 is a view showing a state in which a second joint part of a surgical instrument according to still another embodiment is operated. FIG.

14, the surgical instrument 5 according to still another embodiment is operated according to a force acting on the plurality of second leg portions 522a, 523a of the second force transmission member 51 . When tensile force is applied to one of the second leg portions 522a of the plurality of second leg portions 522a and 523a or compressive force is applied to the other second leg portion 523a, (51b) can be warped in the clockwise direction with respect to the x-axis. Similarly, when the forces acting on the plurality of second leg portions 522a and 523a are reversed, the second joint portion 51b can be bent counterclockwise with respect to the x-axis.

On the other hand, if no force acts on the plurality of second leg portions 522a and 523a, the second joint portion 51b is restored to the original state by the restoring force of the separation preventing member 13 (see FIG. 11) . It should be noted that the second joint 51b itself may be made of a material having elasticity to achieve the same effect.

13 and 14, the first joint part 51a and the second joint part 51b are formed by a force acting on each of the first force transmission member 11 and the second force transmission member 51, Therefore, they can be independently bent. The first joint 51a is bent in a clockwise or counterclockwise direction with respect to the first rotation axis and the second joint 51b is inclined with respect to a second rotation axis intersecting with the first rotation axis It can be warped clockwise or counterclockwise. In other words, the first joint part 51a and the second joint part 51b can be bent in different directions. That is, the first joint part 51a and the second joint part 51b can be bent at two degrees of freedom. Through the above structure, the surgical instrument 2 having a multi-joint structure can be provided. Likewise, it is also possible to arrange the force transmitting member additionally to provide a surgical instrument with a higher degree of freedom.

On the other hand, by adding a known force transmitting member, for example, a wire or the like, to the embodiment, a surgical instrument having a multi-joint structure may be constructed. In this case, It will be possible.

According to the embodiment, by using a thin plate material having a much higher tensile strength, a smaller tensile ratio, and a smaller width of the cross section than the wire cable as a force transmitting means, it is possible to obtain a large, A surgical instrument including a joint can be provided. Further, according to the joint shape of the joint and the thin elastic plate, a separate securing mechanism for securing both members is not required, so that space for installing the securing mechanism can be saved. Further, since the welding process between the joint and the thin elastic plate is unnecessary, there is no need to consider the welding defect problem that may be caused by using different materials. Particularly, in the case of welding, both members to be welded must have a sufficient thickness, but it is not necessary to consider this depending on the shape of the upper joint. As a result, the surgical instrument can be remarkably miniaturized. As a result of the miniaturization as described above, it is possible to use a relatively small-diameter surgical instrument such as brain surgery, shoulder surgery, and otolaryngology surgery, Surgical instruments may be used.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

Claims (16)

Joints; And
And a force transmitting member for adjusting the direction and angle of the bending of the joint,
The force transmitting member
A first leg portion in the form of a plate disposed along the longitudinal direction of the joint portion;
A second leg portion in the shape of a plate disposed along the longitudinal direction of the joint portion; And
And a connecting portion connecting the first leg portion and the second leg portion.
delete The method according to claim 1,
Wherein the joint part includes a passage part formed inside along the longitudinal direction of the joint part,
Wherein the connection portion includes a hole which overlaps with the passage portion along the longitudinal direction of the joint portion.
The method according to claim 1,
Wherein the first leg portion, the second leg portion, and the connection portion are integrally formed by cutting and bending a single thin plate material.
The method according to claim 1,
A first insertion space and a second insertion space for accommodating the first leg part and the second leg part are formed on both sides of the joint part,
And a seating space for receiving the connection portion is formed at an end of the joint portion.
Claim 6 has been abandoned due to the setting registration fee. 6. The method of claim 5,
Wherein at least one of the first insertion space, the second insertion space, and the seating space is formed by a MEMS technique or a surface etching method.
6. The method of claim 5,
And a protruding wall surrounding at least a part of the seating space is formed at an end of the joint portion.
The method according to claim 1,
And a release preventing member disposed to surround the force transmitting member along a circumferential direction of the force transmitting member.
9. The method of claim 8,
Wherein the release preventing member is formed of an elastic material that provides a restoring force to return the joint to a predetermined position.
The method according to claim 1,
Wherein the joint includes a plurality of holes for increasing flexibility.
The method according to claim 1,
The joint part
It may be integrally formed of a flexible material,
A plurality of nodes connected by a hinge coupling method, a pin coupling method, a rolling contact method, or a gear coupling method.
A joint comprising a first joint and a second joint;
A first force transmission member for adjusting a direction and an angle of bending of the first joint part; And
And a second force transmission member for adjusting the direction and angle of bending of the second joint,
Wherein at least one of the first force transmitting member and the second force transmitting member includes a force transmitting member,
A plurality of legs arranged along the longitudinal direction of the joint portion; And
And a connecting portion connecting the plurality of leg portions,
Wherein at least one force transmitting member of the first force transmitting member and the second force transmitting member is formed of a thin plate material.
delete 13. The method of claim 12,
Wherein the first force transmitting member comprises:
A plurality of first leg portions disposed along a longitudinal direction of the first joint portion; And
And a first connection part connecting the plurality of first leg parts to each other,
Wherein the second force transmitting member comprises:
A plurality of second legs arranged along the longitudinal direction of the second joint;
A plurality of connecting legs connected to the plurality of second legs, respectively;
A plurality of third legs connected to the plurality of connecting legs, respectively; And
And a second connection portion connecting the plurality of third leg portions to each other.
15. The method of claim 14,
Wherein a plurality of first insertion portions for respectively receiving the plurality of first leg portions are formed on both sides of the first joint portion so as to face each other in the first direction,
And a plurality of second insertion portions for respectively receiving the plurality of third leg portions are formed on both sides of the second joint portion so as to face each other in a second direction intersecting the first direction.
16. The method of claim 15,
A plurality of third insertion portions for connecting the plurality of first insertion portions and the plurality of second insertion portions are formed in the joint portion,
Wherein the plurality of third insertion portions are formed in an oblique direction along the circumference of the joint portion.

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