KR101736097B1 - Surgical instrument - Google Patents

Abstract

A surgical instrument is disclosed. A surgical instrument incorporating an auxiliary surgical instrument, comprising: a longitudinally extending shaft; an effector coupled to a distal end of the shaft, the effector being inserted into a surgical site to perform an operation required for a surgical operation; The surgical instrument including a driving unit for actuating the distal end of the auxiliary tool such that the distal end of the auxiliary tool is exposed through the distal end of the shaft may include an auxiliary tool at the distal end of the surgical instrument to which the principal effector is coupled, There is no need to drill a separate insertion hole for inserting the tool, and a minimally invasive operation can be realized.

Description

[0001] SURGICAL INSTRUMENT [0002]

The present invention relates to a surgical instrument.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. Particularly, the incision of the skin at the surgical site to open, and the internal organs to treat, shape or remove the open surgery causes bleeding, side effects, patient suffering, scarring, and the like.

On the contrary, instead of cutting the skin, a small insertion hole is drilled to insert a medical instrument such as an endoscope, a laparoscope, a surgical instrument, a microscope for microscopic surgery, etc., 'Laparoscopic surgery' or 'minimally invasive surgery' is in the spotlight.

Laparoscopic surgery includes major effectors, such as cutters, grippers, electrosurgical probes, staplers, and the like, which are inserted into a surgical site and perform operations necessary for surgery, In addition, ancillary tools such as laparoscopic, suction tubes, irrigating tubes are used together.

As described above, in order to insert the surgical tool into the body, the insertion hole must be drilled in the body of the patient. In the past, a considerable number of insertion holes are drilled in the body of the patient during the insertion of both the main effector and the auxiliary tool, This can be a cumbersome task and may result in a fading of the meaning of 'minimally invasive'. For example, if you perform laparoscopic surgery using three primary effects, one laparoscope, and one suction / immersion tube, you may need to puncture a total of six or more insertion holes in the patient's body You can.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

An object of the present invention is to provide a surgical instrument capable of performing laparoscopic surgery by puncturing only a minimum insertion hole in a patient's body.

According to an aspect of the present invention, there is provided a surgical instrument incorporating an auxiliary surgical instrument, the surgical instrument comprising: a longitudinally extending shaft; an effector coupled to a distal end of the shaft, There is provided a surgical instrument comprising an auxiliary tool received within a shaft and a drive for actuating the distal end of the auxiliary tool such that the distal end of the auxiliary tool is exposed through the distal end of the shaft.

The auxiliary tool may comprise at least one of a first tube for performing suction at the surgical site or a second tube for performing irrigation. The distal end of the auxiliary tool may be of a structure that is exposed through the open end of the shaft when the effector is tilted to open the distal end of the shaft.

The distal end of the auxiliary tool may be configured to be received in the shaft during non-operation of the driving portion and exposed through the distal portion of the shaft during operation of the driving portion. In this case, the distal end of the auxiliary tool is integrated with the shaft in a folded state when the drive unit is not in operation, and is exposed through the distal end of the shaft when the drive unit is in operation.

In addition, an opening hole is formed in the distal end of the shaft, and the distal end of the auxiliary tool is accommodated in the shaft when the driving part is not operated, and can be slid according to the operation of the driving part to be drawn out through the opening hole.

The instrument is mounted on a surgical robot, and an interface unit coupled to the robot and receiving a driving force from the robot is coupled to the distal end of the shaft. The effector performs an operation corresponding to the operation of the interface unit. Can be implemented.

Alternatively, the housing may be coupled to the distal end of the shaft, a first driver may be coupled to the effector on one side of the housing, and the driving unit may include a second driver provided on the other surface of the housing and operatively coupled to a power source provided from the outside Can be implemented. Alternatively, the driving unit may be implemented as a driver provided at the distal end of the shaft and operatively coupled to a power source provided from the outside. Alternatively, the driving unit may be implemented integrally in an apparatus that provides the hydraulic pressure for the auxiliary tool to perform its function.

In this case, the auxiliary tool is an irrigating tube, and the driving portion includes a cylinder for receiving the water to be supplied, a cylinder for partitioning the inner space of the cylinder, being installed in the cylinder so as to be resilient to the hydraulic pressure, And a valve coupled to the piston for passing water therethrough, wherein the irrigating tube is coupled to the piston and moves according to the movement of the piston so that its distal end is exposed through the distal end of the shaft, The water passed by it can be sprayed through its end. The valve is opened when water pressure greater than a preset reference value is applied, and is blocked when water pressure lower than the reference value is applied to shut off the water.

Further, the auxiliary tool is a suction tube, and the driving portion is provided so as to divide the internal space of the cylinder and to be resiliently biased in the cylinder in the direction to resist the suction force by the vacuum, And a valve coupled to the piston, wherein the suction tube is coupled to the piston and moves according to the movement of the piston so that its distal end is exposed through the distal end of the shaft, So that the user can perform the suction. The valve is opened when a suction force larger than a predetermined reference value is applied, and may be closed when a suction force smaller than the reference value is applied.

The cylinder includes a separately partitioned space that receives the elastic body and to which no hydraulic pressure is applied, and the piston can be resiliently attached to the cylinder by the elastic body.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and the detailed description of the invention.

According to a preferred embodiment of the present invention, it is not necessary to drill a separate insertion hole for inserting an auxiliary tool into a patient's body by integrating an auxiliary tool at the distal end of the surgical instrument to which the main effector is coupled, Can be implemented. Also, the auxiliary tool is usually housed in the shaft, and the auxiliary tool is exposed through the end of the shaft only during use, so that an auxiliary tool integrated in the instrument can be selectively used as needed. Further, the distal end portion of the auxiliary tool is automatically stored and taken out by receiving a driving force provided from the outside such as a surgical robot, so that it can be utilized for laparoscopic surgery using a surgical robot.

1 is a conceptual view illustrating a surgical instrument according to an embodiment of the present invention.
FIGS. 2 to 4 are views showing an operating state of an auxiliary tool according to an embodiment of the present invention; FIG.
5 to 7 show a driving unit according to an embodiment of the present invention.
8 to 11 are views showing an operating structure of a hydraulic driving unit according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

1 is a conceptual diagram illustrating a surgical instrument according to an embodiment of the present invention. 1, an instrument 1, a shaft 10, an effector 12, an auxiliary tool 14, and a driving unit 20 are shown.

The present embodiment integrates an auxiliary tool such as a suction / irrigation tube to the surgical instrument shaft so that the auxiliary tool is not used separately (therefore, ), It is possible to perform additional suction / irrigations as needed in the course of using integrated instruments.

In the conventional surgical instrument, there is a case in which an outlet for irrigating is formed at the end of the shaft. However, the present embodiment is a technique further developed here. As described below, the present embodiment has a structure in which the distal end portion of the auxiliary tool is selectively used, And a structure for automatically operating the distal end of the tool is further added.

The surgical instrument 1 according to the present embodiment has not only the main effector 12 at the distal end but also the distal end portion of the shaft 10 (see 'Ds' in FIG. 1) And the auxiliary tool 14 is further integrated into the auxiliary tool 14. As shown in FIG.

The surgical instrument uses a longitudinally extending shaft for insertion into the body of the patient, and the effector is coupled to the distal end of the shaft. When the shaft is inserted into the patient's body for laparoscopic surgery, the effector associated with the distal end is positioned within the surgical site, and the physician manipulates the manipulator (not shown) coupled to the distal end of the shaft Such as cutting, gripping, suturing, stapling, etc., to perform the operations required for surgery.

Meanwhile, when the surgical instrument is mounted on the surgical robot for the robot surgery, the operation unit coupled to the distal end of the shaft is coupled to the robot, and can receive the driving force from the robot to perform the operation required for the surgery .

The term "proximal end" refers to the end of the shaft where the shaft starts, and the term "distal end" refers to the end of the shaft end, so that the tip and end are respectively at the opposite end of the shaft .

The instrument 1 according to the present embodiment is characterized in that not only the effector 12 is coupled to the end of the shaft 10 but also the auxiliary tool 14 is further housed in the shaft 10. [ For example, when a suction tube and / or an irrigating tube is used as the auxiliary tool 14, a suction tube and / or an excitation tube can be embedded in the clearance space in the shaft 10. Here, the auxiliary tool 14 'received' in the shaft 10 does not mean that the auxiliary tool 14 is entirely contained in the shaft 10, It is to be construed that the body of the auxiliary tool 14 is contained in the shaft 10 and the end of the auxiliary tool 14 is exposed to the outside of the shaft 10 .

Since the surgical accessory 14 is also inserted into the surgical site to perform the operation required for the operation, the distal end of the accessory 14 may be installed to be exposed to the outside of the shaft 10. For example, when the suction tube is used as the auxiliary tool 14, the end of the suction tube may be exposed through the distal end of the shaft 10 to perform suction in the surgical site. As the auxiliary tool 14, When a tube is used, the distal end of the immersion tube may be exposed through the distal end of the shaft 10 to effect migration within the surgical site.

That is, when the effector 12 is coupled to the distal end of the shaft 10 as shown in FIG. 1, an auxiliary tool 14 (not shown) may be inserted into the surgical site, 14 are exposed through the vicinity of the effector 12, i.e., the distal end of the shaft 10. [

In addition, the auxiliary tool 14 according to the present embodiment is normally installed in the shaft 10 in a state where its distal end is always exposed through the distal end of the shaft 10, And is exposed through the distal end of the shaft 10.

That is, the instrument 1 according to the present embodiment may further include a driving unit 20 for operating the distal end of the auxiliary tool 14 (see 'Da' in FIG. 1) 14 may be exposed through the distal end of the shaft 10 by a predetermined operation. For example, when the auxiliary tool 14 is slid and the end of the auxiliary tool 14 is pulled out of the shaft 10 as described later, the driving unit 20 according to the present embodiment includes the auxiliary tool 14 And may generate and / or transmit driving force to perform the sliding motion.

2 to 4 are views showing an operating state of an auxiliary tool according to an embodiment of the present invention. 2 to 4, a shaft 10, an effector 12, an auxiliary tool 14, and a driving unit 20 are shown. Hereinafter, with reference to Figs. 2 to 4, the manner in which an auxiliary tool (particularly, a distal end portion) installed on the shaft is operated according to the present embodiment will be described.

2 shows an example in which the auxiliary tool 14 is embedded in the shaft 10 such that the distal end of the auxiliary tool 14 is exposed through the end of the shaft 10. [ The effector 12 is coupled to the distal end of the shaft 10. During the operation, the effector 12 performs a tilting operation not only for gripping (in the case of a gripper) but also in a specific direction.

As such, when the effector 12 coupled to the end of the shaft 10 performs a tilting operation, the end of the shaft 10 may be in an open state. That is, the end of the shaft 10 is normally blocked by the effector 12, and when the effector 12 is tilted, the end of the shaft 10 is opened.

Here, the state that the end of the shaft 10 is 'blocked' means that the effector 12 is positioned on the extension line of the shaft 10 in the longitudinal direction, and the end of the shaft 10 is 'opened' Means that the end of the shaft 10 is exposed without interference by the effector 12 because the effector 12 is not positioned on the extension of the shaft 10 in the longitudinal direction. That is, when the effector 12 is tilted as shown in FIG. 2, the distal end of the shaft 10 may be exposed toward the surgical site, that is, opened.

The auxiliary tool 14 according to the present embodiment is installed in such a structure that its distal end portion is exposed through the end of the shaft 10. Therefore, when the auxiliary tool 14 is to be used, the effector 12 is tilted and the shaft 10 , The auxiliary tool 14 can be operated.

For example, when the suction tube is embedded as the auxiliary tool 14, the operator normally operates the effector 12 to perform an operation necessary for the operation. When the suction tube is to be sucked, the effector 12 is tilted to the shaft 10 And the sucking tube can be operated by operating the exposed suction tube through the end of the opened shaft 10.

In the case where the irrigating tube is embedded as the auxiliary tool 14, the irrigating tube can be operated as in the case of the suction tube, and both the suction tube and the irrigating tube can be buried as the auxiliary tool 14. Needless to say, another auxiliary tool 14 may be further installed and used although not illustrated.

The auxiliary tool 14 according to the present embodiment may be installed such that its distal end is normally housed in the shaft 10 and is selectively exposed through the distal end of the shaft 10 only at the time of use. Since the distal end of the auxiliary tool 14 according to the present embodiment can be operated by receiving the power from the driving unit 20 so that the driving unit 20 is not normally operated and the distal end of the auxiliary tool 14 is inserted into the shaft 10 When the auxiliary tool 14 is to be used, the driving unit 20 may be operated so that the distal end of the auxiliary tool 14 is exposed to the distal end of the shaft 10.

3, the auxiliary tool 14 is integrally formed with the shaft 10 in a state in which the distal end portion of the auxiliary tool 14 is folded, when necessary (when the driving unit 20 is in operation) An auxiliary tool 14 is installed so that the distal end of the auxiliary tool 14 is spread and usable.

The tip of the auxiliary tool 14 is folded and integrated with the shaft 10 so that when the auxiliary tool 14 is used, a wing spreads from a specific portion (for example, an end portion) of the shaft 10 The auxiliary tool 14 can be implemented with a structure in which the distal end of the auxiliary tool 14 is opened and a predetermined function (for example, suction or irrigation) is performed after the auxiliary tool 14 is unfolded.

For example, when the suction tube is provided as the auxiliary tool 14, the end portion of the suction tube is usually folded so as to be integrated with the shaft 10, and when the suction tube is to be sucked, After the distal end of the suction tube is exposed through the distal end of the shaft 10, the suction tube can be actuated to effect suction.

The hinge structure may be applied to the distal end of the auxiliary tool 14 in order to make the distal end of the auxiliary tool 14 folded and extended. In order to allow the distal end of the auxiliary tool 14 to be folded or unfolded, The driving unit 20 can be connected to the auxiliary tool 14. [ The specific configuration of the driving unit 20 will be described in more detail with reference to Figs. 5 to 7. Fig.

4 shows a state in which the distal end portion of the auxiliary tool 14 is accommodated in the shaft 10 at the usual time (during the non-operation of the drive portion 20) The auxiliary tool 14 is installed so that the distal end of the auxiliary tool 14 can be drawn out and used.

That is, an opening hole is drilled in the distal end of the shaft 10, and the auxiliary tool 14 is slid on the distal end of the auxiliary tool 14 when necessary, through the opening hole It can be drawn out and projected to the outside.

For example, when the suction tube is provided as the auxiliary tool 14, the suction tube is normally stored in the shaft 10, and when the suction tube is to be sucked, the suction tube is slid, So that the suction tube can be actuated to effect suction.

In order to make the auxiliary tool 14 into or out of the shaft 10, an opening hole may be formed in the distal end of the shaft 10 and a driving unit 20 Can be connected to the auxiliary tool 14 as described above. The specific configuration of the driving unit 20 will be described in more detail with reference to Figs. 5 to 7. Fig.

Herein, the case where the suction tube is installed as the auxiliary tool 14 is described as an example. However, when the suction tube as well as the irrigating tube or another auxiliary tool 14 are installed, the auxiliary tool 14 The distal end thereof) can be operated.

5 to 7 are views illustrating a driving unit according to an embodiment of the present invention. 5 to 7, an instrument 1, a shaft 10, an effector 12, an auxiliary tool 14, a driving unit 20, an interface unit 30, a housing 32, a driver 34 , 36 are shown.

As described above, the auxiliary tool 14 integrated in the instrument 1 according to the present embodiment may have a structure in which the distal end thereof is selectively operated to be selectively used as needed. Here, the manner of operating the distal end of the auxiliary tool 14, that is, the configuration of the driving unit will be described in detail.

First, the distal end of the auxiliary tool 14 incorporated in the instrument 1 may be operated manually by a person. When this method is referred to as 'manual operation', in the case of manual operation, the driving unit 20 may be an object operated by a person.

In addition, when the instrument 1 according to the present embodiment is an instrument to be mounted on the surgical robot, the distal end of the auxiliary tool 14 can be operated by receiving power from the surgical robot. In the case of the robot system, the driving unit 20 may be a part that receives power from the robot and transmits the power to the distal end of the auxiliary tool 14.

In addition, a housing 32 is coupled to the distal end of the instrument 1 (whether it is for robotic surgery or manual surgery) and a plurality of actuators 34 for actuating the effector 12 on the housing 32 The distal end portion of the auxiliary tool 14 can be operated by receiving power from another driver 36 installed in the housing 32 (or the tip end of the shaft 10). The drive unit 20 may be implemented in the form of a housing 32 or another driver 36 provided at the tip of the shaft 10. In this case,

In the case of the driver system, the driver 36 provided for operating the distal end of the auxiliary tool 14 may be manually operated by a person, if necessary, So as to be automatically operated.

When the auxiliary tool 14 according to the present embodiment is a tool that is operated by receiving hydraulic pressure from an external device such as a suction tube or an irrigating tube, the distal end portion of the auxiliary tool 14 is rotated by the hydraulic pressure Can be operated. When this method is referred to as 'hydraulic type', in the case of a hydraulic type, the driving part 20 may be integrated into an external device that provides the hydraulic pressure.

From here. "Hydraulic" is not necessarily limited to devices that use liquids to apply pressure, but may be used in a variety of ways, such as a method of ejecting liquids (eg, irrigations) or a method of sucking air in a vacuum (eg, suction) It can be interpreted as including both a method of applying pressure or a method of using pressure of liquid or gas.

Fig. 5 illustrates a robot-type driving unit. The instrument 1 according to the present embodiment can be mounted on a surgical robot. In this case, a medium for coupling the instrument 1 to the robot can be coupled to the proximal end portion of the shaft 10. When the mediator is the interface unit 30, the interface unit 30 is a component that is coupled to the surgical robot and receives the driving force from the robot.

When the interface unit 30 is coupled to the distal end of the shaft 10, the effector 12 coupled to the distal end of the shaft 10 (receiving power from the robot) Thereby performing a predetermined operation correspondingly.

For example, when four driving wheels are provided in the interface unit 30 and each driving wheel receives power from the robot and rotates, each driving wheel is connected to each part of the effector 12 by wires or the like And as the four driving wheels rotate, the effector 12 can perform four degrees of freedom operation (e.g., rotation, tilting, and gripping operation of each pair of jaws).

In such an instrument structure, the driving unit 20 according to the present embodiment can be implemented as a part of the interface unit 30. [ In the case of the above-described example, the fifth driving wheel is installed on the interface, the fifth driving wheel is connected to the distal end of the auxiliary tool 14, and the fifth driving wheel receives power from the robot, The distal end can be activated.

The manner in which the distal end of the auxiliary tool 14 is operated can be implemented in various ways such as a 'wing-like spreading method' and a 'storage / withdrawal method'.

In Fig. 6, a driving unit of a driver type is illustrated. A housing 32 may be coupled to the distal end of the shaft 10 of the instrument 1 according to the present embodiment and a plurality of drivers 34 for actuating the effector 12 may be mounted on one side of the housing 32 Can be installed. The plurality of drivers 34 may be manually operated by a person, or may be operated by receiving power from an external device such as a robot.

When the housing 32 according to the present embodiment is manufactured to be connectable to the surgical robot, the housing 32 may serve as the interface unit 30 in the robot system. When the housing 32 according to the present embodiment is configured to be coupled to the surgical robot, the driver 34 may correspond to a driving wheel of a robot system.

When a plurality of drivers 34 are installed in the housing 32, the effector 12 coupled to the end of the shaft 10 performs a predetermined operation corresponding to the operation of the driver 34. For example, when four actuators 34 (first actuators) are provided on one side of the housing 32, each actuator 34 can be connected to each part of the effector 12 by wires or the like And each of the four drivers 34 is operated so that the effector 12 can perform four degrees of freedom operation (for example, rotation, tilting, and grip operation of each pair of jaws).

In such an instrument structure, the driving unit 20 according to the present embodiment can be realized in the form of another driving unit 36 provided in the housing 32. In the above example, the fifth driver 36 is provided on the other surface of the housing 32, the fifth driver 36 (second driver) is connected to the distal end of the auxiliary tool 14, The distal end of the auxiliary tool 14 can be operated as the arm 36 is operated.

On the other hand, irrespective of whether the first driver 34 is operated by receiving power from the robot or the like or the first driver 34 is manually operated, the second driver 36 is provided with a dedicated power source Motor device, etc.) may be combined to allow the distal end of the auxiliary tool 14 to be automatically activated.

6 illustrates the case where the second driver 36 is installed on the other surface of the housing 32. The second driver 36 may be installed on any surface of the housing 32, The shaft 36 is not necessarily installed in the housing 32 but may be installed at various positions in which the distal end of the auxiliary tool 14 can be operated by the user's operation .

Further, regardless of the position of the second driver, the second driver may be manually operated by a person (manually) or may be driven by a separate power source (adapter).

The manner in which the distal end of the auxiliary tool 14 is operated can be implemented in various ways such as a 'wing-like spreading method' and a 'storage / withdrawal method'.

Fig. 7 illustrates a hydraulic drive unit. An auxiliary tool 14 is embedded in the shaft 10 of the instrument 1 according to the present embodiment. In this case, the auxiliary tool 14 has its distal end exposed through the distal end of the shaft 10, And is exposed through the distal end of the shaft 10.

For example, when the suction tube is installed as the auxiliary tool 14, the distal end of the suction tube is exposed through the distal end of the shaft 10, the body of the suction tube is accommodated in the shaft 10, The tip portion may be installed to be exposed through the tip portion of the shaft 10. In this case, a suction device is connected to the tip of the suction tube so that the distal end of the suction tube performs suction.

When the suction tube is connected to the suction tube, the distal end of the suction tube can be operated by the hydraulic pressure supplied from the suction device. That is, the driving unit 20 according to the present embodiment can be implemented in a form integrated with a device (a suction device in the case of a suction tube) that provides the hydraulic pressure for the auxiliary tool 14 to perform its function.

In this case, when the suction device is connected, the distal end of the suction tube is automatically operated by the hydraulic pressure to be in a usable state, and then the suction is performed by the hydraulic pressure provided from the suction device.

Here, the case where the suction tube and the suction device are provided has been described as an example, but it is needless to say that the driving part 20 can be implemented in the same manner as the suction tube even when the irrigating tube and the irrigator are installed.

The manner in which the distal end of the auxiliary tool 14 is operated can be implemented in various ways such as a 'wing-like spreading method' and a 'storage / withdrawal method'.

8 to 11 are views showing an operation structure of a hydraulic driving unit according to an embodiment of the present invention. 8 to 11, an instrument 1, a shaft 10, an effector 12, an auxiliary tool 14, a driving unit 20, a spring 22, a piston 24, a cylinder 26, Valve 28 is shown.

Hereinafter, a detailed description will be given in detail of the embodiment in which the sliding movement of the auxiliary tool 14 is implemented by the hydraulic driving unit 20, that is, the water injection (agitation) or the vacuum (suction). The manner in which the distal end of the auxiliary tool 14 is operated will be described by taking the case of the 'storage / withdrawal method' as an example.

First, FIG. 8 shows a structure for automatically actuating the distal end of the auxiliary tool 14 by the hydraulic pressure when the irrigator is connected. 8 includes a cylinder 26 for receiving the water to be supplied, a piston 24 for partitioning the internal space of the cylinder 26 and moving in a direction in which the water pressure is applied, And a valve 28 coupled thereto.

In the irrigation off state, the piston 24 enters the cylinder 26 (left in Fig. 8) by the force of the spring 22 as shown in Fig. 8 (a). That is, the piston 24 is resiliently supported in the cylinder 26 in a direction to resist water pressure.

When water is supplied as shown in FIG. 8 (b), the cylinder 26 moves in the direction in which the piston 24 is pushed out (right in FIG. 8) as the water rises. At this time, the irrigating tube (auxiliary tool 14) coupled to the piston 24 also moves (slides) together with the movement of the piston 24, so that the distal end thereof is drawn out of the shaft 10.

On the other hand, since the valve 28 is provided in the piston 24 to be opened at a predetermined reference pressure or higher, the valve 28 is closed at the beginning of the water injection and water is not discharged through the valve 28, The internal pressure is increased and the valve 28 is opened so that water passes through the valve 28 and flows through the tube 28. As a result, (E.g., tool 14).

When the water is blocked while the water is sprayed in this way, the piston 24 enters the cylinder 26 again by the force of the spring 22, so that the irrigating tube (auxiliary tool 14) And the end thereof is housed in the shaft 10 (sliding).

Next, Fig. 9 shows a structure in which when the suction device is connected, the end portion of the auxiliary tool 14 is automatically operated by the hydraulic pressure. 9 includes a cylinder 26 for providing a space to which a vacuum is applied, a piston 24 for dividing an internal space of the cylinder 26 and moving in a direction in which a suction force is applied by vacuum, And a valve (28) coupled to the piston (24).

In the suction off state, the piston 24 enters the cylinder 26 (left in Fig. 9) by the force of the spring 22 as shown in Fig. 9 (a). That is, the piston 24 is elastically supported in the cylinder 26 in a direction against the suction force by vacuum.

9 (b), since the vacuum is applied to the inside of the cylinder 26, the spring 22 is stretched and the direction in which the piston 24 is pushed out 8 to the right). At this time, the suction tube (auxiliary tool 14) coupled to the piston 24 also moves (slides) together with the movement of the piston 24 so that the distal end thereof is drawn out of the shaft 10.

The valve 28 is closed at the beginning of the vacuum so that the air is not sucked through the valve 28 and the cylinder 26 is closed. When the pressure inside is sufficiently low, the valve 28 is opened and air can be sucked through the valve 28 to allow suction to be carried out through the end of the tube (auxiliary tool 14).

When the vacuum is shut off, the piston 24 is again pushed into the cylinder 26 by the force of the spring 22, so that the suction tube (auxiliary tool 14) is also moved to the left And the end thereof is housed in the shaft 10 (sliding).

10 shows another embodiment in which the end of the auxiliary tool 14 is automatically operated by using the hydraulic pressure of the irrigation device (see FIG. 10A) or the suction device (see FIG. 10B) .

The drive unit 20 illustrated in Fig. 10 is a separately partitioned space ('R' in Fig. 10) in the cylinder 26 so that no hydraulic pressure is applied to the elastic body (spring 22) 8 or 9 in that the spring 22 is received in the spring 22 and the piston 24 is received in the spring 22.

10 (a), when water is not applied to the spring 22, it is advantageous to save the spring 22, and the piston 24 moves as shown in FIG. 10 (b) It is possible to use a compression spring instead of using a tension spring as shown in Fig. 9, which is advantageous in always maintaining a uniform elastic force.

Since the operation of each device is the same as that of Figs. 8 and 9, a detailed description thereof will be omitted.

11 is an example in which the above-described hydraulic driving unit 20 is applied to an instrument. First, as shown in FIG. 11 (a), the hydraulic driving unit 20 is coupled to the distal end of the instrument shaft 10. 11 (b), the effector 12 may be tilted in a proper direction and then subjected to irrigations (or suctions) (see Fig. 2 for a detailed configuration) or Fig. 11 (c The distal end of the auxiliary tool 14 may be pulled out through the distal end of the shaft 10 (see FIG. 4 for a detailed configuration).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill 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. And changes may be made without departing from the spirit and scope of the invention.

1: Instrument 10: Shaft
12: Effector 14: Ancillary Tools
20: driving part 22: spring
24: piston 26: cylinder
28: valve 30:
32: housing 34, 36: driver

Claims (15)

A longitudinally extending shaft;
An effector coupled to a distal end of the shaft and inserted into a surgical site to perform operations required for surgery;
A tube received within the shaft and performing suction or irrigation at a surgical site;
And a drive for actuating the distal end of the tube such that the distal end of the tube is exposed through the distal end of the shaft,
Wherein the distal end of the tube is configured to be exposed through an open end of the shaft when the end effector is tilted to open the distal end of the shaft.
delete delete The method according to claim 1,
Wherein the distal end of the tube is received in the shaft during non-operation of the drive, and exposed through the distal end of the shaft during operation of the drive.
delete 5. The method of claim 4,
An open hole is drilled in the distal end of the shaft,
Wherein the distal end of the tube is housed in the shaft when the driving unit is not operated, and is slid according to the operation of the driving unit and is drawn out through the opening hole.
The method according to claim 1,
The instrument is mounted on a surgical robot,
An interface portion coupled to the robot and operable to receive a driving force from the robot is coupled to the distal end portion of the shaft,
Wherein the effector performs an operation corresponding to the operation of the interface unit,
Wherein the driver is implemented as part of the interface.
The method according to claim 1,
A housing is coupled to a distal end of the shaft,
A first driver connected to the effector is provided on one side of the housing,
Wherein the driving unit is implemented as a second driver provided on the other surface of the housing and coupled to a power source provided from the outside.
The method according to claim 1,
Wherein the driving unit is implemented as a driver provided at a distal end of the shaft and operatively coupled to a power source provided from the outside.
The method according to claim 1,
Wherein the drive is integrated in a device that provides hydraulic pressure to cause the tube to perform its function.
11. The method of claim 10,
The driving unit includes:
A cylinder for receiving water to be supplied;
A piston arranged in the cylinder so as to partition the internal space of the cylinder and to resist the water pressure, the piston moving in a direction in which the water pressure is applied;
And a valve coupled to the piston to allow water to pass therethrough,
Wherein the tube is coupled to the piston and moves according to movement of the piston such that the distal end thereof is exposed through the distal end of the shaft and the water passed by the valve is injected through the distal end thereof. .
12. The method of claim 11,
Wherein the valve is opened when water pressure greater than a preset reference value is applied, and blocked when the water pressure is lower than the reference value.
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