KR101693355B1 - Instrument structure of surgical apparatus - Google Patents

Abstract

The present invention relates to an apparatus for surgical operation, that is, a robot or a hand-held surgical instrument, and more particularly to an instrument for surgical operation, which is mounted on the surgical operation apparatus, .

In particular, the present invention provides a multifunctional instrument that can be applied to a plurality of surgical instruments by using one instrument to constitute three or more surgical members in one instrument, thereby shortening the operation time, such as replacement time of the instrument, The number of instruments to be inserted into the body can be reduced, and the surgical procedure can be simplified. In addition, an instrument for a surgical operation apparatus which can simplify the overall configuration of a robot in the case of a surgical robot.

Surgery, robot, tool, instrument, share

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an instrument structure of a surgical apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for surgical operation, that is, a robot or a manual surgical instrument, and more particularly to a structure of an instrument mounted on the surgical operation apparatus and adapted to be operated in close proximity to or inserted into a human tissue .

Medically, surgery refers to the use of a medical device to cut skin, mucous membranes, or other tissues, or to repair the disease by applying other manipulations or other manipulations. Particularly, the incision of the skin of the surgical site to open and treat or mold or remove the internal organs of the internal organs is an effective method for minimizing the side effects due to bleeding, side effects, pain and scarring of the patient Laparoscopic surgery is expanding its application range.

Laparoscopic surgery refers to surgery that proceeds while observing the body with an endoscope or the like by inserting a surgical tool while minimizing the laparotomy site. To this end, various surgical instruments (scissors, forceps, clip, etc.) are mounted on the distal end, Hand-held surgical instruments that allow manual operation of a physician in vitro are widely used.

In addition, a surgical operation using a robot is also popular as an alternative. In general, such a surgical robot generally includes a master robot for generating and transmitting signals required by a physician's manipulation, And a slave robot for directly manipulating the patient to perform operations necessary for the operation. The master robot and the slave robot are integrally constructed, or they are configured as separate devices and are placed in the operating room.

FIG. 1 is a view of the apparatus disclosed in U.S. Patent No. 5,797,900, which is mounted on a robot arm of a slave robot and inserted into a skin mucous membrane or skin of a human body to perform an incision or the like of a tissue.

The instrument 10 shown in Fig. 1 is provided with a pair of surgical members 14 for surgery at one end of a tubular member 12 and a surgical member (not shown) 14 is provided with an instrument housing (not shown) coupled to the adapter of the robot arm.

Operation cables (C1, C2) connected through the inside of the tubular member (12) are connected between the surgical member (14) and the housing of the instrument (10). The operation cables C1 and C2 are connected to each of the surgical members 14 so as to move the surgical member 14 in a pair. That is, the pair of operation cables C1 are connected to move the first surgical member 14a, and the other pair of operation cables C2 are connected to move the second surgical member 14b.

To this end, the first and second surgical members 14 are arranged such that the respective rotary bodies 15a, 15b, to which the two operating cables C1, C2 are connected, (16).

The list member 16 is rotatably connected to the tubular member 12. The axis connecting the list member 16 and the tubular member 12 guides movement of the two pairs of operation cables C1 and C2 And an idler pulley 19 for supporting and supporting the idler pulleys 19 are provided.

The instrument 10 configured as described above operates the driving unit of the instrument 10 by the doctor operating the master robot in a state where the instrument 10 is connected to the robot arm of the slave robot, The pair of operation cables (C1, C2) can be pulled or pushed so that the pair of surgical members (14a, 14b) can be put in close contact with each other or separated from each other to cut the body tissue.

However, since the conventional instruments including the instrument 10 disclosed in the above-mentioned U.S. patent are constructed so as to be able to perform the operation while two pairs of the surgical members are arranged, a single surgical tool As shown in FIG.

In general, one operation requires a medical instrument with each function. In surgical robots, a plurality of instruments (10) having different functions must be used. However, if you are using an instrument with independent functions, you can operate the instrument for each function while inserting several instruments into the body at once, or use an instrument with the desired function It is necessary to perform the operation after inserting it in the body again after the replacement, so that the operation time is long and the operation procedure becomes complicated.

On the other hand, even in the case of a hand-held surgical instrument, there is a difference in that the manipulation at the distal end is performed manually, such as a physician's hand, rather than a robot. The structure and operation principle of the instrument itself are substantially similar to those described above There is a problem.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to provide a multifunctional instrument which can constitute three or more surgical members in one instrument and enable a plurality of surgical instruments to be applied using one instrument, It is possible to reduce the number of instruments to be inserted into the body and shorten the operation time, such as the replacement time, and simplify the surgical procedure. In addition, The purpose of the instrument is to provide.

It is another object of the present invention to provide an instrument for a surgical operation apparatus that allows at least one surgical member to be shared with other surgical members, thereby realizing a multifunctional instrument while simplifying the entire configuration.

It is another object of the present invention to provide an instrument of a surgical apparatus which can be easily folded into a body so that an unused surgical member can be easily used.

In order to accomplish the above object, an instrument of a surgical operation apparatus according to an aspect of the present invention includes: a body for supporting a surgical operation device having a plurality of surgical members to perform surgery while moving according to an operation of an operator; In the instrument, at least one surgical member (hereinafter, referred to as a "shared surgical member") having three or more surgical members on the body, and a pair with the remaining two or more surgical members so as to constitute a plurality of pairs of surgical operations So that a plurality of surgical operation pairs can be realized.

Here, each of the surgical members may include a rotator mounted on the body rotatably through a shaft, and a tool protruding from the rotator to perform surgery in a state in which the surgical instrument is in proximity to or inserted into the human tissue.

At this time, the rotary unit may be configured to rotate by the operation cable connected through the body. Of course, it can be configured to rotate using a micro-motor or other power transmission mechanism.

That is, the rotary unit may be configured to rotate by linear motion of the operating rod connected through the body. At this time, the operating rod may be connected to the rotator by a crankshaft structure to rotate the surgical member 360 degrees.

In addition, the rotary unit may be configured to rotate by a rotary motion of a rotary operation shaft connected through the body. At this time, the rotation operating shaft and the rotating body may be connected to each other by a bevel gear or a worm gear structure so as to be able to transmit rotational force.

The plurality of surgical members may be configured such that each rotating body portion is arranged on the same axis.

Alternatively, the plurality of surgical members may be constituted such that at least one rotating body part is disposed on a different axis from the other rotating body parts. At least one of the at least one rotary unit may be installed in a state where a part of the at least one rotary unit is inserted into another rotary unit disposed on a different axial line from the rotary unit.

In the above, the surgical operation pair may be any one of a pair of clamps or scissors.

The covalent surgical member may be configured such that a portion corresponding to the relative operative member is formed on one tool portion so as to form a pair of operative members and a different operative member.

Alternatively, the covalent surgical member may be formed separately from at least two tool portions corresponding to the opposed surgical member so as to form a pair of operative members with different operative members.

Also, at least one of the surgical members may be configured to be used as a single surgical member.

The body may be configured to have a receiving part capable of folding and storing at least one of the plurality of surgical members.

Next, an instrument for a surgical operation apparatus according to another aspect of the present invention for realizing the above-mentioned problem is provided with a surgical operation apparatus having a plurality of surgical members, which are provided on a body and can be operated while moving according to the operation of a practitioner In the instrument of the apparatus, at least three of the surgical members may be provided at the end of the body, and at least one pair may be configured to combine or cooperate with one another to implement one surgical operation pair.

According to still another aspect of the present invention, there is provided an instrument for a surgical operation apparatus, comprising: a body; a surgical operation unit provided with a plurality of surgical members for performing an operation while moving according to an operation of an operator; In the instrument of the present invention, the body may be configured to have a receiving portion capable of folding and storing at least one of the plurality of surgical members.

The instrument according to the present invention as described above may be mounted on a surgical robot or a hand-held surgical instrument.

The above and other objects and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which: In addition to the principal task solutions as described above, various task solutions according to the present invention will be further illustrated and described.

The instrument of the surgical apparatus according to the present invention provides the following effects.

Since three or more surgical members are combined together, it is possible to use a plurality of surgical instruments in one instrument, and thus it is possible to perform the operation easily and quickly without replacing the instrument.

Further, since the present invention is configured to share at least one surgical member with each of the other surgical members, it is possible to realize a multifunctional instrument while providing an effect of simplifying the overall configuration.

In addition, since the surgical member which is not used among the plurality of surgical members is configured to be folded on the side of the body, the present invention minimizes the interference by the other surgical members, thereby providing the effect of facilitating the use of the surgical tool do.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

In the embodiment of the present invention to be described below, the surgical member, which is a major part of the present invention, is mainly described, and a driving force transmitting member such as a driving unit (operation driving mechanism) and an operating cable for operating the instrument, Slave robot, and the like can be variously modified by applying known techniques. Therefore, the basic structure that can be practiced with reference to the exemplary drawings of FIGS. 9 and 10 will be briefly described.

In describing the embodiments of the present invention, the same reference numerals are given to the same or similar constituent parts in the drawings, and a repetitive description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

Figs. 2 to 8 are views showing an embodiment of the first group of the present invention, Figs. 9 to 10 are diagrams for explaining a case where the instrument according to the present invention is applied to a surgical robot, The state in which the instrument of the embodiment is connected and the driving structure of the instrument are illustrated.

Figs. 11 to 15 are views showing embodiments of the second group of the present invention, Figs. 16 to 21 are views showing examples of the third group of the present invention and an instrument operation driver.

≪ Embodiment of the first group &

2 to 5 are a perspective view (FIG. 2), a main part exploded perspective view (FIG. 3), a scissor use state, and a clip use state diagram (FIGS. 4 and 5) showing the first embodiment of the present invention.

6, 7, and 8 are views showing modified embodiments in which the first embodiment of the present invention is modified.

A first embodiment of the present invention will be described with reference to Figs. 2 to 5. Fig.

The instrument 20A of the surgical operation apparatus according to the first embodiment of the present invention shows a configuration in which three surgical members 31, 32 and 33 are provided at the end of the body 23.

The body 23 includes a tubular member 21 extending from the driving unit of the instrument 20A and a distal end portion of the surgical member 31, 32, and 33 in a state of being rotatably connected to the tubular member 21, Or a wrist member in which a tube member is not installed, or may be a configuration in which only a list member that does not include a tube member is included. In addition, as long as it supports structures of the surgical members 31, 32 and 33 and can transmit operation force to the surgical members 31, 32 and 33, it can be variously modified by applying a known structure or a new structure .

Referring to FIG. 3, each of the surgical members 31, 32, and 33 includes rotatable body portions 31a and 31b rotatably mounted on the body 23 through a first shaft 30a or a second shaft 30b, 32a and 33a and tool portions 31b, 32b and 33b which protrude from the rotator portions 31a, 32a and 33a and are operated in a state in contact with or close to the human body tissue.

The operation of the surgical members 31, 32 and 33 can be configured such that the rotating body portions 31a, 32a and 33a are rotated by the respective operation cables Cl, C2 and C3 connected via the body 23 . The operating method of the surgical members using such a cable can be easily configured by applying a known technique including the instrument 10 shown in FIG. And can be constructed using the driving mechanisms illustrated in FIGS. 9 to 10. FIG. This is explained in detail below.

Instead of using the operating cables C1, C2 and C3, the first and second shafts 30a and 30b may be replaced by other mechanisms for rotating the first and second shafts 30a and 30b, for example, , 33 are also operated. 16 to 18, a structure using a rotating operation shaft and gears as shown in Figs. 19 to 21, etc., as shown in Figs. May be used.

In this embodiment, the surgical members 31, 32, and 33 are configured so that any one surgical member can pair with the remaining two surgical members to implement a plurality of surgical operation pairs.

The first and second surgical members 31 and 32 of the three surgical members 31, 32 and 33 are configured to be rotatable about the first axis 30a on the body 23 And the other third surgical member 33 is configured to be rotatable about a second axis 30b disposed orthogonally to the first axis 30a. That is, the rotator 33a of the third surgical member 33 is arranged on an axis different from that of the rotator 31a, 32a of the first and second surgical members 31, 32.

In particular, the second surgical member (also referred to as a 'covalent surgical member') 32 includes a first surgical member 31 that rotates about a first axis 30a and a second surgical member 31 that rotates about a second axis 30b And is configured to be able to implement a plurality of surgical operation pairs in cooperation or intersection with the third surgical member 33.

The surgical members 31, 32 and 33 illustrated in the figure are configured such that the first surgical member 31 and the second surgical member 32 together function as a scissors and the second surgical member 32 and the third surgical member 32 And the members 33 are configured to have a tongue function together.

4 and 5 are views showing a scissors function or a tongue function of the present embodiment. Fig. 4 is a view showing a state of use of a scissors using the first surgical member 31 and the second surgical member 32, The member (33) is shown folded rearward. 5 is a view showing a state of using a tongue using the second surgical member 32 and the third surgical member 33, and shows a state in which the first surgical member 31 is folded backward.

Particularly, the second surgical member 32 (covalent surgical member) is provided on one side and the other side of the tool part 32b to form a pair of surgical operation with the first surgical member 31 and the third surgical member 33, respectively And a scissor portion 32c and a grip portion 32d corresponding to the opponent surgical member 31 or 33 are formed, respectively.

In addition, if a pair of surgical members can be combined or cooperated to form one tool necessary for surgery, various modifications can be made. That is, the first surgical member 31 and the second surgical member 32, or the second surgical member 32 and the third surgical member 33 are connected to each other by laser, ultrasound, high frequency or the like Can be changed and applied.

The instrument 20B shown in Fig. 6 deforms the ends of the second surgical member 32 and the third surgical member 33 to deform the distal end of the second surgical member 32 and the third surgical member 33 so that the laser or electric frequency can be applied to the surgical site or the like And the tip portion 35 protrudes.

2, in order to support the two shafts 30a and 30b, the body 23 is provided with a first shaft 30a and a second shaft 30b, The first shaft 30a is supported on the left and right surfaces 23a and 23b and the second shaft 30b is supported on the upper and lower surfaces 23c and 23d.

The body 23 may have a receiving part 26, 27 for holding the surgical members 31, 32, 33 in a folded state.

4 and 5 so that the remaining surgical members not used when a pair of surgical members are used do not interfere with the surgical operation. It is for.

The receiving portions 26 and 27 may be structured such that the first surgical member 31 and the second surgical member 32 are opened so as to be folded or the third surgical member 33, Can be configured to have a slit-type structure so as to be foldable.

7 and 8 are schematic views showing the construction of the instrument 20C in which a part of the third surgical member 33 is positioned inside the second surgical member 32 in the basic structure of the first embodiment as described above. The breadth of the instrument 20C can be reduced overall as compared with the instrument 20A of the first embodiment and the mutual engagement relationship of the instrument parts 31b, 32b, and 33b of the surgical members 31, As shown in FIG.

For this configuration, the rotator 32a of the second surgical member 32 has a cylindrical structure opened on both sides, and one of the rotator 32a and the second surgical member 31 has a support portion 31c and the opposite side can be supported by the supporting portion 24 protruding from the body 23. At this time, the support portion 24 protruding from the body 23 may have a plurality of arc-shaped structures so as not to interfere with the movement of the third surgical member 33.

The third surgical member 33 is configured such that the second shaft 30b is supported on the side of the body 23 in a state where a part of the third surgical member 33 is positioned inside the second surgical member 32 and can rotate.

7 and 8, the first surgical member 31 and the second surgical member 32 illustrate a combination of scissors, and the second surgical member 32 and the third surgical member 33 illustrate a combination of the scissors .

The configuration of the operating cable connected to the rotating body portions 31a, 32a, and 33a of the respective surgical members 31, 32, and 33 in FIGS. 7 and 8 is omitted.

Now, with reference to the drawings illustrated in FIGS. 9 to 10, an operation driving unit structure for driving an instrument according to the present invention having three or more surgical members 31, 32, 33 as described in the above embodiment Explain.

9 is a side view showing a state in which the instrument 20A according to the first embodiment of the present invention is mounted on the robot arm and includes the instrument 20A, the robot arm 100, the guide 118, the adapter 120 A housing 130, an interface unit 134, a tubular member 21, surgical members 31, 32 and 33, and the like.

In the instrument 20A, as shown in Fig. 9, the housing 130 may be formed in a tablet shape, and a surface of the thickness portion may be configured to be mounted so as to abut on the robot arm 100. Fig.

A tubular member 21 having a length corresponding to the distance from the housing 130 to the surgical site is provided. One end of the tubular member 21 is coupled to the housing 130, and the other end of the tubular member 21 is connected to the surgical site The tubular member 21 is supported by a trocar that is installed in advance to prevent the tubular member 21 from swinging. As the length of the tubular member 21 is increased, additional components for supporting the tubular member 21 can be further provided. A guide (not shown) for supporting the intermediate portion of the tubular member 21 is attached to the distal end of the robot arm 100 118 may be additionally formed.

The housing 130 is mounted on the adapter 120 and transmits the driving force to the robot arm 100 in the process of attaching the instrument 20A to the robot arm 100 by further forming the guide 118 adjacent to the adapter 120. [ And the tubular member 21 can be firmly fixed to the robot arm 100 by being supported by the guide 118.

A driving unit structure for smoothly transmitting the driving force transmitted from the actuator provided on the robot arm 100 side to the driver 136 of the instrument to the surgical members 31, 32, and 33 .

FIG. 10 is a view of various embodiments showing the internal structure of the housing 130 of the instrument, and shows the construction of a driving unit or a driving force transmission mechanism for operating the plurality of surgical members 31, 32, 33 as described above.

10A, when the driver 136 is formed into a wheel shape, the actuator can also be realized as a wheel ('A' in FIG. 10), and the disk-shaped drive wheel is clutched to the actuator The driving force can be transmitted. As shown in Fig. 9, as the instrument 20A is mounted on the robot arm 100, the driving wheel is coupled to the actuator, and the driving wheel is also operated according to the operation of the actuator. The pulleys and the operating cables C1, C2 and C3 connected to the pulleys are connected to the driving wheels so that the respective operating members C1, C2 and C3 constituted by the pulleys and the operating cables C1, C2 and C3, 31, 32, and 33, so that the surgical members 31, 32, and 33 as shown in FIG. 2 and the like can be operated.

10 (b), when the driver 136 is formed into a screw shape, the actuator may be implemented as a driver ('B' in FIG. 10), and the screw may be rotated by engaging with the actuator The driving force can be transmitted. Referring to FIG. 9, as the instrument 20A is mounted on the robot arm 100, the screw is coupled to the actuator, and the screw also rotates according to the operation of the actuator. The worm gear 132d is connected to the screw so that the worm gear 132d is operated in conjunction with the rotation of the screw and the operation members 31, 32, 33 (See Fig. 2 and the like), so that it becomes possible to operate the surgical members 31, 32 and 33 as shown in Fig. 2 and the like.

When the driver 136 is formed into a lead screw shape as shown in FIG. 10C, the actuator can be realized as a driver ('C' in FIG. 10), and the lead screw is rotated by engagement with the actuator The driving force can be transmitted. As the instrument 20A is mounted on the robot arm 100, the lead screw is coupled to the actuator, and the lead screw is also actuated according to the operation of the actuator.

The lead screw is formed with half a left screw and a right screw, and by connecting wires or operating cables (C1, C2, C3) to the nuts coupled to the respective parts, the lead screw can be moved in any one direction , A pair of nuts are brought close to each other and a pair of nuts are separated from each other when the lead screw is rotated in the opposite direction (for example, counterclockwise).

The wires are connected to each of the pair of nuts and the wires are arranged parallel to the axis of the lead screw by using an idler pulley or the like so that the nuts are close to each other or spaced apart from each other during rotation of the lead screw, Is released or pulled out.

That is, a pair of nuts 132c are engaged with the lead screw, and a pair of nuts 132c are closely / spaced by interlocking with the rotation of the lead screw. A wire or an operation cable C1 32, and 33 via the operating members 31, 32, and 33, respectively. On the other hand, one or more rollers (see 'R' in FIG. 10 (c)) may be provided in the housing to allow the wires connected to each nut to be connected to the respective surgical members through the shaft.

10 (a), 10 (b) and 10 (c) illustrate a configuration in which the number of operation cables including the drivers 136 is five, Can be configured. In other words, three operating members 136 and three operating cable pairs can be used to operate only the three surgical members 31, 32, 33 described above. In addition, three or more surgical members may be further included or a body 23 mounted with the surgical members 31, 32 and 33 may be driven to rotate about the 'K' axis with respect to the tubular member 21, Additional pairs of operator and operating cables can be configured. The number of operation cables including the actuators 136 can be appropriately changed according to the number of the surgical members or the operation configuration of the effector.

When the driver 136 is formed in a slider shape as shown in FIG. 10D, the actuator may also be implemented as a slider ('D' in FIG. 10), and the driving slider is coupled to the actuator, The driving force can be transmitted in a reciprocating manner. As the instrument 20A is mounted on the robot arm 100, the driving slider is coupled to the actuator, and the driving slider is also operated according to the operation of the actuator. The link portion 132b is connected to the slider so that the link portion 132b operates in accordance with the reciprocating motion of the slider and the slider is connected to the distal end of the surgical member 31, The operating force is transmitted to the respective parts, and the operating members 31, 32, and 33 are operated.

On the other hand, FIG. 10 (d) shows an embodiment in which a single wire or an operating cable is connected to each of the surgical members 31, 32 and 33, in which two operating cables C are paired, As shown in FIG. Alternatively, one operating cable (C) may be connected to one surgical member, and each surgical member may be provided with elastic means to rotate the surgical member in a direction opposite to the pulling force of the operating cable It is also possible.

10 (d), when a wire or a cable for a single wire is used, the wire or the cable is made of a material having rigidity, and each of the surgical members 31, 32, 33 So as to transmit the operation force.

The coupling type between the actuator and the driver 136 and the driving force transmission mechanism accommodated in the housing 130 may be combined with each other in the various embodiments shown in FIG. 10 or other known power transmission mechanisms May be used or combined.

In addition, the structure of the instrument operation driving unit according to the present invention is merely an example, and can be variously constructed by applying a known driving operation structure such as U.S. Patent No. 5,792,135. It is needless to say that the present invention can also be applied to a hand-held surgical instrument by applying a known operation driving unit.

≪ Embodiment of the second group &

Figs. 11 to 14 are a perspective view (Fig. 11), a main part exploded perspective view (Fig. 12), a scissor use state and a tongue use state diagram (Figs. 13 and 14) showing a second embodiment of the present invention.

FIG. 15 is a view showing a modification of the second embodiment of the present invention.

As illustrated in these figures, the second group of embodiments differs from the first group of embodiments described above in that the three surgical members 31, 32, 33 are arranged on the same axis 30a, .

A second embodiment of the present invention will be described with reference to Figs. 11 to 14. Fig. For the sake of simplicity, repetitive explanations are omitted for constituent elements similar to those of the first group of embodiments described above. In addition, since a known instrument driving device including the instrument driving operating portion exemplified in Figs. 9 to 10 can be used, the drawing examples and explanations thereof will be omitted.

The instrument 20D of the second embodiment of the present invention is provided with three surgical members 31, 32, 33 arranged on the same axial line at the end of the body 23.

The first surgical member 31 and the second surgical member 32 are combined to constitute one surgical operation pair and the second surgical member 32 and the third surgical member 33 are combined with each other, Form a pair.

The first surgical member 31 and the second surgical member 32 are used as scissors and the second surgical member 32 and the third surgical member 33 are used as a forceps. FIG. 13 shows the state of use of the scissors, and FIG. 14 shows the state of using the scissors.

As described in the first embodiment of the present invention, if the two surgical members are a pair of surgical operations that can be used as a pair, each of the surgical members 31, 32, 33 It is needless to say that the present invention can be variously modified by changing the configuration of the tool portions 31b, 32b, and 33b.

The configuration of the operation cables (C1, C2, C3) for operating the respective surgical members (31, 32, 33) may be appropriately changed by applying a known operation configuration and a new operation configuration .

On the other hand, FIG. 15 illustrates a configuration in which two surgical instruments 32A and 32B are provided together in one surgical member 32. FIG. In other words, in the above-described various embodiments, one tool portion 32b is formed on the second surgical member 32, and a scissor portion or a catch portion is provided on the tool portion 32b. Two instruments 32A and 32B are formed in the second surgical member 32 in the instrument 20E of the first embodiment and one is used as the scissors tool portion 32B and the other is used as the gripper tool portion 32A It shows the possible configurations.

At this time, the receiving portion 26 of the body 23 is configured so as not to interfere with other structures inside the receiving portion 26 when any one of the tool portions 32A or 32B is used in the second surgical member 32 .

It is also possible to configure the first surgical member 31 or the third surgical member 33 to have a plurality of tool portions as described above in the same manner as the second surgical member 32, .

≪ Embodiment of the third group &

16 to 21 are exploded views of a main part (FIG. 16) showing a third embodiment of the present invention, a main part exploded perspective view (FIG. 17) showing a fourth embodiment of the present invention, these third embodiment and fourth embodiment (Fig. 18) of a driving unit for driving a preliminary instrument, an exploded perspective view of a main part (Fig. 19) showing a fifth embodiment according to the present invention, an exploded perspective view of a main part showing a sixth embodiment 20), and a drawing (Fig. 21) of an embodiment of a driving unit for driving the instruments of the fifth and sixth embodiments.

As illustrated in these drawings, the third group of embodiments are different from the first group and the second group of embodiments described above in that, instead of the operating cable, the operation member (31 , 32, 33). Although the drawings illustrated for explaining the embodiments of the third group are applied to the structure of the first embodiment of the present invention, in the various other embodiments described above, Or the rotation operation shaft structure may be applied equally. The drawing examples and explanations for this are omitted.

A third embodiment of the present invention will be described with reference to Fig.

The instrument 20F of the third embodiment of the present invention is configured to rotate the respective surgical members 31, 32, 33 using the respective operation rods R1, R2, R3.

That is, each of the surgical members 31, 32, and 33 is provided with rotary bodies 310, 320, and 330 rotatably mounted on the body through the first shaft 30a or the second shaft 30b, The operation rods R1, R2, and R3 are connected to the rotary bodies 310, 320, and 330 through the pivot joints P, respectively. Each of the operation rods R1, R2, and R3 is configured to be able to rotate the respective surgical members 31, 32, and 33 by linearly moving by the operation driving unit as illustrated in FIG.

The rotating body parts 310, 320 and 330 of the respective surgical members 31, 32 and 33 are provided with the tool parts 31b, 32b and 33b which are operated in contact with or close to the human body tissue, The same or similar. Other configurations may be similar to those of the first embodiment described above, and therefore repeated description thereof will be omitted.

Since each of the operating rods R1, R2, and R3 of the third embodiment is formed in a straight structure, it is preferable that the operating rods R1, R2, and R3 are made of a material having some elasticity. It is also possible to connect them by a joint structure that can be pivoted to any intermediate portion (preferably a portion close to the surgical member) of each of the operation rods R1, R2, and R3.

Fig. 17 illustrates a structure using an operating rod as illustrated in Fig. 16, in which the rotational range of each of the surgical members 31, 32, 33 is not limited.

The instrument 20G according to the fourth embodiment of the present invention as shown in Fig. 17 is configured to rotate each of the surgical members 31, 32, 33 using the crankshaft type operating rods CR1, CR2, CR3 do.

The crankshaft type operating rods CR1, CR2 and CR3 are connected to the rotating body portions 311, 321 and 331 of the respective surgical members 31, 32 and 33 to transmit operating force. The connecting method of the first and second surgical members 32 and 32 may be the same. A portion a of the second surgical member 32 connected to the rotator portion 321 is connected so that relative rotation is not possible and the connecting portions of b and c of the rod are connected so as to be rotatable relative to each other. Therefore, when the operating rod guided by the guide 25 linearly moves, the rod between a and b rotates around the a portion, and the second surgical member 32 can be rotated 360 degrees. The first surgical member 31 and the third surgical member 33 are also configured to rotate in the same manner.

The guide 25 is preferably configured to guide linear movement of the operating rods CR1, CR2, CR3 to the body side of the effector.

By using the crankshaft type operating rods CR1, CR2, and CR3 in this manner, it is possible to rotate the respective surgical members 31, 32, and 33 by 360 degrees, thereby varying the use angle of the surgical members variously, It becomes possible to more easily use the used surgical members in a state in which the used surgical member is folded.

Other configurations may be similar to those of the first and third embodiments described above, and repetitive description will be omitted.

18 is a diagram showing an embodiment of an operation drive unit for driving the instrument according to the third and fourth embodiments as described above. The drive unit E includes a driver (not shown) in the housing 130 The operating rod R1, R2, R3 or CR1, CR2, CR3 connected to the respective surgical members 31, 32, 33 (see Figs. 16 and 17) linearly moves and transmits the operating force. At this time, power transmission between the driver 136 and the operating rod can be made using the rack 142 and the pinion 141 method as illustrated in the figure.

In addition, if the operation rod R1, R2, R3 or CR1, CR2, CR3 is linearly moved to transmit the operation force to the respective surgical members 31, 32, 33, various known linear exercise mechanisms may be applied .

Now, with reference to Figs. 19 to 21, a structure for operating each surgical member using the rotary operation shaft will be described. Fig.

The fifth embodiment and the sixth embodiment of the present invention will be described with reference to Figs. 19 and 20. Fig.

The instrument 20H of the fifth embodiment of the present invention is configured to rotate the respective surgical members 31, 32, 33 using the respective rotation operation axes S1, S2, S3.

Each of the surgical members 31, 32 and 33 is provided with rotating body portions 312, 322 and 332 rotatably mounted on the body through a first shaft 30a or a second shaft 30b, S23 and S3 are configured to transmit rotational force through the bevel gears 314, 324, and 334, respectively.

The instrument 20I of the sixth embodiment of the present invention is also configured to rotate the respective surgical members 31, 32, 33 using the respective rotation operation axes S1 ', S2', S3 ' The shafts S1 ', S2', and S3 'and the rotating body portions 313, 323, and 333 are configured to transmit rotating operation force in the worm gears 315, 325, and 335.

21 is a view showing an embodiment of a driving unit for driving the instrument according to the fifth and sixth embodiments as described above. The driver 136 in the housing 130 is driven by a driving driver F, such as a motor, The rotation operation axes S1, S2 and S3 connected to the respective surgical members 31, 32 and 33 (see FIGS. 19 and 20) rotate to transmit the driving force to the respective surgical members. At this time, power transmission between the driver 136 and the rotation operation axes S1, S2, and S3 may be enabled by applying the bevel gear 150 method as illustrated in the drawing.

Of course, it is also possible to directly rotate each of the rotation operation axes S1, S2, S3 using a small motor or the like.

Although the third to sixth embodiments of the present invention described above are configured to rotationally drive the respective surgical members using the operating rod or the rotary operation shaft, Or the operation cable system described in the first and second embodiments of the present invention can be combined and configured.

<Other Embodiments>

The embodiments of the first group, the second group, and the third group as described above can also be applied to various embodiments by applying the technical idea of the present invention. It is to be understood that other embodiments may be readily implemented by those skilled in the art without departing from the spirit and scope of the present invention, And the configuration of each embodiment will be briefly described.

Although the above-described various embodiments of the present invention have exemplified the configuration using the three surgical members 31, 32, 33, it is also possible to combine four or more surgical members.

It is also possible to omit a cervical operation member (for example, 32) that has two or more functions on one surgical member and to configure two or more independent surgical operation pairs using four or more surgical members Do.

In addition, at least one surgical member among the plurality of surgical members may be configured so as not to be paired with other surgical members but used alone. That is, when the operation member is composed of three operation members, one operation member can be used as a cutter or a drill, and the other two operation members can be configured to form a single operation operation pair such as scissors or nippers.

As described above, the technical ideas described in the embodiments of the present invention can be performed independently of each other, and can be implemented in combination with each other. While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. It is possible. Accordingly, the technical scope of the present invention should be determined by the appended claims.

1 is a perspective view showing an instrument disclosed in U.S. Patent No. 5,797,900.

2 is a perspective view showing an instrument of a first embodiment according to the present invention.

3 is an exploded perspective view of a main portion of an instrument according to the first embodiment of the present invention.

4 is a perspective view showing a state where the instrument of the first embodiment according to the present invention is used as a scissors.

5 is a perspective view showing a state where the instrument of the first embodiment according to the present invention is used as a forceps.

6 is a perspective view showing an alternative embodiment in which the first embodiment of the present invention is modified.

7 is a plan view showing another modified embodiment constructed by modifying the first embodiment of the present invention.

8 is an exploded perspective view showing the embodiment shown in FIG.

9 is a schematic view showing a connection state when the instrument according to the present invention is applied to a surgical robot.

FIG. 10 is a view showing the internal structure of the housing of FIG. 9, and is an exemplary view showing various embodiments of a driving unit structure applicable to the instrument of the present invention.

11 is a perspective view showing an instrument of a second embodiment according to the present invention.

12 is an exploded perspective view of a main part of an instrument according to a second embodiment of the present invention.

13 is a perspective view showing a state where an instrument according to a second embodiment of the present invention is used as a scissors.

14 is a perspective view showing a state in which the instrument of the second embodiment according to the present invention is used as a forceps.

Fig. 15 is a perspective view showing an alternative embodiment in which the second embodiment of the present invention is modified.

16 is an exploded perspective view of a main part of an instrument according to a third embodiment of the present invention.

17 is an exploded perspective view of a main part of an instrument according to a fourth embodiment of the present invention.

18 is a configuration diagram showing an embodiment of a driving unit for driving the instrument of the third embodiment and the fourth embodiment according to the present invention.

19 is an exploded perspective view of a main portion of an instrument according to a fifth embodiment of the present invention.

20 is an exploded perspective view of a main part of an instrument according to a sixth embodiment of the present invention.

FIG. 21 is a configuration diagram showing an embodiment of a driving unit for driving the instrument according to the fifth embodiment and the sixth embodiment according to the present invention.

Description of the Related Art

20A, 20B, 20C, 20D and 20E:

21: tube member 23: body

26, 27:

30a, 30b: a first axis, a second axis

31, 32, 33: first, second and third surgical members

31a, 32a, 33a:

31b, 32b, 33b:

C1, C2, C3: Operation cable

R1, R2, R3, CR1, CR2, CR3: Operation load

S1, S2, S3:

Claims (18)

An instrument for a surgical operation apparatus having a plurality of surgical members provided on a body so as to perform surgery while moving according to an operation of an operator, Wherein at least one of the pair of the first and second surgical members has a first operative member, a second operative member, and a third operative member at an end of the body, The first surgical member, the second surgical member, and the third surgical member are rotatably mounted on the body through a shaft, and are operated in a state in which they are protruded from the rotator and are in proximity to or inserted into a human tissue Wherein the first surgical member and the second surgical member are rotated about the first axis and the third surgical member is rotated about a second axis orthogonal to the first axis , Wherein the second surgical member is configured to cooperate or intersect with the first surgical member rotating about the first axis and the third surgical member rotating about the second axis to implement a plurality of surgical operation pairs, The surgical instrument of claim 2, wherein a scissors portion corresponding to the first surgical member is formed on one side of the instrument portion, and a clamp portion corresponding to the third surgical member is formed on the other side, Wherein the body is provided with a first receiving portion that is vertically opened in a direction in which the first and second surgical members are rotated so that the first and second surgical members are folded, A second receiving portion formed in a slit-like structure on a side surface in a rotating direction, Wherein the rotatable portion of the second surgical member has a cylindrical structure with both sides open and one of which is fitted in a support portion which is cylindrically protruded from the rotator portion of the first surgical member and the other side of which is divided into a plurality of arc- Wherein the support member is supported by the support member. delete delete delete The method according to claim 1, Wherein the rotating body is configured to rotate by an operating cable connected through the body. The method according to claim 1, Wherein the rotating body is configured to rotate by a linear motion of an operating rod connected through the body. The method of claim 6, Wherein the operating rod is connected to the rotator by a crankshaft structure to rotate the surgical member by 360 degrees. The method of claim 6, Wherein the rotary unit is configured to rotate by a rotational motion of a rotary operation shaft connected through the body. The method of claim 8, Wherein the rotating operation shaft and the rotating body are connected to each other by a bevel gear or a worm gear structure to transmit rotational force. delete delete delete delete delete delete The method according to claim 1, Wherein at least one of the first surgical member, the second surgical member, and the third surgical member is used as a single surgical member. delete The method according to claim 1, Wherein the instrument is mounted on a surgical robot or a hand-held surgical instrument.

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