KR102357852B1 - Training apparatus for transurethral endoscopic surgery - Google Patents

Abstract

The present invention is disposed between a first transurethral endoscopic surgical device and a second transurethral endoscopic surgical device spaced apart from the first transurethral endoscopic surgical device, wherein the second transurethral endoscopic surgical device is the first transurethral endoscope Provided is a training device for transurethral endoscopic surgery that connects to control a surgical device.

Description

Training apparatus for transurethral endoscopic surgery

The present invention relates to a training device for transurethral endoscopic surgery that can educate trainees, such as residents of urology major in a medical institution, on transurethral endoscopic surgery. It relates to a training device for transurethral endoscopic surgery that enables a surgeon to easily learn the surgical technique of a trained operator.

Urine is made in the kidneys, stored in the bladder, and then excreted out of the body through the urethra. The kidneys, ureters, bladder, and urethra, along with the passageway through which urine passes, is called the urinary tract. The human body has a physiological function to discharge waste products out of the body through the urinary tract.

When these diseases occur in the urinary tract, the diseases can be diagnosed by observing them through an endoscope through the urinary tract. Also, a method of surgically treating through this passage is called transurethral endoscopic surgery.

Transurethral endoscopic surgery refers to an operation in which tissue is destroyed or excised by accessing the diseased part of the urinary tract through an endoscopic instrument passage and then introducing a surgical endoscope through energy such as laser or electricity that can destroy tissue.

1 is a diagram schematically showing the bladder, urethra and prostate.

Referring to Figure 1, bladder and urethral diseases to which this transurethral endoscopic surgery can be applied include bladder tumor (a), bladder stone (b), benign prostatic hyperplasia (BPH) ( c) and urethral stricture (d), etc.

In general, endoscopic surgery has the characteristics of enabling minimally invasive surgery due to the great advantage of being able to access disease through a natural passage structure of the human body without open surgery. It is much more preferable than open surgery in terms of quick recovery of the patient.

On the other hand, endoscopic surgery generally requires higher skill than open surgery, and the difficulty of the operation is also very high. In open surgery, a trainee who is a surgical assistant and an operating surgeon, who is the main operator, can perform a cooperative operation using their hands at the same time in the same surgical field of view. Since he cannot approach, he is in a situation where he is only observing the operation from the side. Therefore, it becomes a very difficult situation for trainees to learn endoscopic surgery.

In general, as a training method for endoscopic surgery, a trained surgeon performs the operation under the very close supervision of an experienced surgeon. As the operation of endoscopic surgery depends only on the hands of the endoscope operator, even a momentary and minor mistake by the trainee can cause major complications such as unwanted bladder perforation and massive bleeding due to damage to the blood vessel 14. It is a very uneasy situation for all of the experienced supervisors.

Therefore, if there is a device that allows for more immediate motion intervention and intervention during surgery by trainees, both trainees and supervising surgeons can more safely teach about surgical methods, and the safety of patients undergoing surgery can be improved by that much. will be.

Bladder cancer (a) is a tumor that has grown in the bladder wall, and the bladder tumor is excised with an endoscope, but only the bladder tumor needs to be cut out without perforating the bladder. In addition, in the case of bladder stones (b), only the stones should be crushed with an energy source such as a laser without damaging the bladder wall. In the case of benign prostatic hyperplasia (c), the prostatic adenoma must be excised or isolated without perforation of the prostate capsule. In the case of urethral stenosis (d), the urethra must be expanded by cutting the stenosis in a certain direction with an electric or laser energy source. In all these transurethral surgeries, the momentary minute movements determine the surgical outcome, such as the success of the surgery and the occurrence of complications. Here, the present training apparatus will be mainly described by taking the enlarged prostate (c) as a representative example.

The prostate is a male reproductive organ that surrounds the bladder neck and posterior urethra and discharges prostate fluid.

And benign prostatic hyperplasia, which is composed of prostate adenoma, is caused by various causes such as aging of the testicles, and can be caused by obstruction of the urethra that blocks the passage of urine from the lower part of the bladder, frequent urination, frequent urination, nocturia, delayed urination, and interrupted urination. show symptoms

The treatment for such benign prostatic hyperplasia is divided into pharmacological treatment with an enlarged prostatic agent such as an alpha blocker or androgen inhibitor, and surgical treatment to remove all or part of the prostate adenoma.

And surgical treatment includes transurethral resection, transurethral vaporization, and transurethral enucleation using electricity or laser energy.

In this surgical treatment, not only the surgical equipment required for surgery, but also the skill of the operator is very important.

Hereinafter, a holmium laser enucleation of prostate (HoLEP) operation during surgical treatment will be described as an example.

Unlike transurethral resection of prostate and transurethral laser vaporization of prostate, Holmium laser prostatoma extraction can more completely remove an enlarged prostate adenoma from the surface of the prostatic capsule. have.

2A to 2C are diagrams illustrating the process of Holmium laser prostatoma removal surgery.

2A to 2C , the prostate adenoma 11 that obstructs the flow of urine from the bladder 10 may be excised by Holmium laser prostatoma extraction.

Specifically, the operator inserts the endoscope 20 into the patient's body through the urethra 13, and separates the prostate adenoma 11 from the prostate capsule surface 12 by irradiating the laser 21 through the endoscope 20. .

And the operator pushes the prostate adenoma 11 separated from the prostate capsule surface 12 into the bladder 10 so that the separated prostate adenoma 11 is collected inside the bladder 10 .

Since the collected prostate adenoma 11 is too large to pass through the urethra 13 , the prostate adenoma 11 is shredded into pieces inside the bladder 10 and then removed through the endoscope 20 .

When separating a prostate adenoma using the Holmium laser, hemostasis of the bleeding blood vessels should be smooth. Otherwise, it is difficult to secure the surgical field of view due to bleeding, and the operation cannot proceed correctly.

In addition, if a perforation occurs in the prostate capsule on the outside of the prostate adenoma due to improper judgment or hand gestures during surgery, massive bleeding is induced in the large venous vessels 14 on the outside of the capsule, leading to conversion to open surgery or even death. Serious complications may occur.

On the other hand, if the separation between the capsule and the prostate adenoma is not achieved due to excessive concerns about capsular perforation, incomplete removal of the prostate adenoma may occur, and in the long term, surgical results such as recurrence of benign prostatic hyperplasia may result.

In addition, there is a urethral sphincter 15 in the distal part of the prostate. If the urethral sphincter 15 is damaged during surgery, urinary incontinence occurs after surgery, so be very careful when separating the prostate adenoma 11 from the urethral sphincter 15. should tilt

Therefore, performing the operation with the most appropriate hand movements at the most appropriate moment is a very important factor in determining the success of the operation.

For example, if we look at the surgical steps that require very precise hand movements in Holmium laser prostatoma extraction in detail, the direction in which the laser is fired to target the prostate adenoma, the distance between the tissue and the laser fiber, and the distance between the prostate adenoma and the prostate capsule are determined. For separation, the pushing force applied between the planes of the two structures with the tip of the endoscope, the pushing direction, the incision direction to the prostate mucosa using a laser, the depth of the incision, and the endoscopic manipulation at the prostatic apex closest to the sphincter.

For example, training on transurethral endoscopic surgery, including Holmium laser prostatoma excision, leads to training for direct treatment on a patient through literature review, professional surgical video viewing, simulation, and the like.

That is, there is a problem in that the risk of direct treatment on a patient as part of a training course in Holmium laser prostatoma removal surgery is high. Securing patient safety is very important in learning surgical techniques. This is also true for other transurethral endoscopic surgeries.

If there is thorough supervision and control by the skilled surgeon, in addition to securing patient safety, psychological stability of the trainee during surgery is also secured, so that the natural and rapid securing of the technique can be doubled so that he can focus more on the operation. In particular, such a training device will be even more essential when it is difficult to learn a surgical technique for various reasons, such as a relatively rare operation or when the surgical technique learning curve is very steep.

The present invention was created to solve the above-mentioned problems, and while a specialist directly performs transurethral endoscopic surgery, training for transurethral endoscopic surgery can be safely acquired under the thorough supervision and control of an experienced surgeon. provide the device.

The present invention provides a training device for transurethral endoscopic surgery disposed between a first transurethral endoscopic surgical device and a second transurethral endoscopic surgical device spaced apart from the first transurethral endoscopic surgical device, the second transurethral endoscopic surgery connect a device to control the first transurethral endoscopic surgical device.

Through the training device for transurethral endoscopic surgery of the present invention, trainees such as residents can safely perform transurethral endoscopic surgery directly under the thorough supervision and control of skilled practitioners while accumulating techniques of transurethral endoscopic surgery.

1 is a schematic diagram of the bladder, urethra and prostate;
2a to 2c are diagrams showing the process of Holmium laser prostatoma extraction;
2a to 2c are diagrams showing the process of Holmium laser prostatoma extraction;
3 is a conceptual diagram for explaining a training apparatus for transurethral endoscopic surgery according to an embodiment of the present invention;
Figure 4 is a view for explaining the three-axis moving part of the training device of the transurethral endoscopic surgery of Figure 3,
5 is a view for explaining a pair of mounting parts, a ball joint, and a rotation transmission part of the training device for transurethral endoscopic surgery of FIG. 3,
6 and 7 are views for explaining the handle control unit of the training apparatus of the transurethral endoscopic surgery of FIG. 3,
8 is a view for explaining the pedal control unit of the training apparatus of the transurethral endoscopic surgery of FIG. 3,
9 is a conceptual diagram of a transurethral endoscopic surgery device for explaining the training device of the transurethral endoscopic surgery of FIG.
Figure 10 is a perspective view of A of the transurethral endoscopic surgical device of Figure 9,
11 is a BB view of the transurethral endoscopic surgery apparatus of FIG. 9 .

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings.

In the description of the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms.

2A to 2C are diagrams illustrating a process of Holmium laser prostatoma extraction, FIG. 3 is a conceptual diagram for explaining a training apparatus for transurethral endoscopic surgery according to an embodiment of the present invention, and FIG. It is a view for explaining the three-axis moving part of the training device for transurethral endoscopic surgery, and FIG. 5 is a view for explaining a pair of mounting parts, a ball joint and a rotation transmission part of the training device for transurethral endoscopic surgery of FIG. 3, 6 and 7 are views for explaining the handle control unit of the training device for transurethral endoscopic surgery of FIG. 3, and FIG. 8 is a view for explaining the pedal control unit of the training device for transurethral endoscopic surgery of FIG. 3, FIG. 9 is a conceptual diagram of a transurethral endoscopic surgery device for explaining the training device for transurethral endoscopic surgery of FIG. 3, FIG. 10 is a perspective view of A of the transurethral endoscopic surgery device of FIG. 9, and FIG. 11 is a transurethral view of FIG. It is a BB drawing of an endoscopic surgical device.

3, the training apparatus 200 for transurethral endoscopic surgery according to an embodiment of the present invention is a bladder tumor (bladder tumor), bladder stone (bladder stone), benign prostatic hyperplasia (BPH, benign prostatic hyperplasia), urethral stricture Apparatus for transurethral endoscopic surgery such as transurethral resection, transurethral vaporization, and transurethral enucleation using electricity or laser energy for urinary tract diseases such as urethral stricture All can be applied.

However, for convenience of explanation, the training apparatus 200 for transurethral endoscopic surgery according to an embodiment of the present invention will be described below as an example of holmium laser prostatoma excision, which is one of transurethral endoscopic surgery.

Therefore, after first explaining the Holmium laser prostatoma extraction apparatus 100 (hereinafter referred to as "transurethral endoscopic surgery apparatus 100"), the training apparatus 200 for transurethral endoscopic surgery will be described.

9 to 11 , the transurethral endoscopic surgical device 100 includes an outer tube 110 , a liquid flow unit 120 , a telescope 130 , an inner tube 140 , a laser unit 150 , and a handle. It includes a unit 160 , a light source unit 170 , and a camera module 180 .

The outer tube 110 is inserted into the urethra 13 so that the tip portion A of the outer tube 110 is directed toward the prostate adenoma 11 .

The outer tube 110 may include an outer shell 111 and an inner shell 112 .

An end of the inner shell 112 may be exposed from the outer tube 110 , and a distal end of the inner shell 112 may be inclined.

Accordingly, the operator can relatively easily position the distal end of the inner shell 112 between the prostatic capsule surface 12 and the prostate adenoma 11, and accurately direct the laser beam emitted from the laser fiber 151. It can lead to a prostate adenoma (11).

An outlet passage 110b is formed between the outer surface of the inner shell 112 and the inner surface of the outer shell 111 .

The telescope 130 may include a lens 131 and a light irradiation cable 132 .

The light irradiation cable 132 is disposed around the outer shell of the lens 131 .

In the process of separating the prostate adenoma 11 from the prostate capsule surface 12 , the lens 131 continuously captures the laser fiber 151 and images of the prostate adenoma 11 part around the laser fiber 151 . can do. And the image captured by the lens 131 is displayed through a display unit (not shown) provided in the transurethral endoscopic surgery apparatus (100).

The inner tube 140 is located inside the outer tube 110 , and guides the laser fiber 151 to the tip portion A of the outer tube 110 .

The laser unit 150 may include a laser fiber 151 and an optical fiber adapter 152 .

The optical fiber adapter 152 is located on one side of the outer tube 110 , and may fix the laser fiber 151 so that the laser fiber 151 passes through the inner tube 140 .

And the end of the laser fiber 151 is located near the end of the outer tube (110).

The laser fiber 151 is connected to the laser providing unit 154 , and when the operator steps on the pedal 153 , the laser provided by the laser providing unit 154 is emitted from an end of the laser fiber 151 .

The laser beam emitted to the end of the laser fiber 151 may separate the prostate adenoma 11 from the prostate capsule surface 12 .

The handle unit 160 includes a first handle 161 and a second handle 162 .

The first handle 161 is coupled to the outer tube 110 so as to be adjacent to the first stop cock 122 and the second stop cock 124 .

In addition, the index finger and middle finger of the operator's one hand may be accommodated in the first handle 161 .

The second handle 162 is coupled to the outer tube 110 so as to be adjacent to the laser unit 150 .

The second handle 162 may accommodate the thumb of one hand of the operator.

When the operator approaches the second handle 162 with the first handle 161 , the inner tube 140 protrudes to the outside of the outer tube 110 , and the laser installed on the inner tube 140 . The end of the fiber 151 may have more access to the prostate adenoma 11 to be removed.

The light source unit 170 may include an adapter 171 and an optical cable 172 .

The optical cable 172 is connected to the light irradiation cable 132 through the adapter 171 .

Accordingly, the light provided from the optical cable 172 may travel to the light irradiation cable 132 and illuminate the vicinity of the end of the telescope 130 .

The camera module 180 may be connected to the lens 131 to capture images of the laser fiber 151 and the prostate adenoma 11 around the laser fiber 151 .

Meanwhile, the camera module 180 is a part where the operator's other hand is gripped.

The transurethral endoscopic surgical device 100 is one side of the operator who holds the first handle 161 and the second handle 162 in the process of separating the prostate adenoma 11 from the prostate capsule surface 12 . The position is controlled by the hand and the user's other hand holding the camera module 180 .

That is, according to the operation of the operator's hands, the transurethral endoscopic surgery apparatus 100 performs a rotation operation, a rotation operation, a vertical/left-right operation, and a front-back operation.

And with this movement, by the laser beam emitted from the end of the outer tube 110 of the transurethral endoscopic surgical device 100 or the laser fiber 151 during the Holep operation process, the prostate capsule surface 12 and the bladder In order not to damage the inner surface of (10), the skill level of the operator is more important than anything else.

Specifically, the transurethral endoscopic surgical device 100 during the Holep surgery process has the end of the outer tube 110 to separate the prostate adenoma 11 into the prostate capsule surface 12 to the prostate capsule surface 12 . ) in a curved motion toward the front, a straight forward motion in which the end of the outer tube 110 moves forward in order to push the separated prostate adenoma 11 into the bladder 10, and the A posterior rectilinear motion in which the end moves backward away from the bladder, and rotation of the telescope 130 to observe the prostate capsule surface 12 or the surface of the bladder 10 after the separated prostate adenoma 11 is removed. Motion, straight line motion in the front and back direction, and curve motion in the front and back direction are performed.

That is, the transurethral endoscopic surgery apparatus 100 in the Holep surgery process operates in all directions, including the axial rotational operation, a front-rear linear motion, a front-rear curved motion, an up-and-down motion, and a left-right motion.

Since these operations have a possibility of damaging the surface of the prostate capsule 12 and the inner surface of the bladder 10, a high-skilled operator must be able to quickly intervene in the hole-up surgery training of a low-skilled operator.

Hereinafter, a training apparatus for transurethral endoscopic surgery according to an embodiment of the present invention will be described.

2A to 8 , the training apparatus 200 for transurethral endoscopic surgery according to an embodiment of the present invention uses the first transurethral endoscopic surgical device 101 and the second transurethral endoscopic surgical device 102 to the left. /Connect in the right direction.

The first transurethral endoscopic surgical device 101 is a device operated by operator A, and the second transurethral endoscopic surgical device 102 is a device operated by operator B.

Here, operator A means an operator with low proficiency in transurethral endoscopic surgery, and operator B means an operator with high proficiency in transurethral endoscopic surgery.

And in the following, the configuration of the first transurethral endoscopic surgery device 101 and the configuration of the second transurethral endoscopic surgery device 102 are the same as the configuration of the transurethral endoscopic surgical device 100, respectively, so detailed description will be given below. is omitted.

The operator A and the operator B may check the transurethral endoscopic surgery scene through one or more monitors connected to the first transurethral endoscopic surgery device 101, respectively.

The training device 200 for transurethral endoscopic surgery connects the second transurethral endoscopic surgical device 102 and the first transurethral endoscopic surgical device 101 to provide the second transurethral endoscopic surgical device 102 . It may be configured to control the movement of the first transurethral endoscopic surgical device (101).

Therefore, operator B is involved in the process of operator A operating the first transurethral endoscopic surgery apparatus 101 through the second transurethral endoscopic surgery device 102 and the training device 200 for transurethral endoscopic surgery Thus, it is possible to prevent abnormal movement of the first transurethral endoscopic surgical device 101 inside the prostate capsule surface 12 or inside the bladder 10 .

The training apparatus 200 for transurethral endoscopic surgery includes a three-axis moving unit 210, a pair of mounting units 220, a ball joint 230, a connecting bar 250, a handle control unit 260, a pedal control unit ( 270) may be included.

The three-axis moving unit 210 includes the first transurethral endoscopic surgical device 101 and the second transurethral endoscope mounted on the pair of mounting units 220 and the pair of mounting units 220, respectively. The surgical device 102 may be moved in three directions.

In more detail, the three-axis moving unit 210 approaches the patient or moves away from the patient in the front-rear direction (X), the horizontal direction in the front-rear direction (X) and the left-right direction (Y) perpendicular to the front-back direction The pair of mounting units 220 may be moved in the vertical direction Z perpendicular to the direction X and the left and right direction Y, respectively.

The three-axis moving unit 210 may include a first transfer module 211 , a second transfer module 212 , and an elevating module 213 .

The first transfer module 211 is fixed to the floor or a shelf located on the floor, and the lifting module 213 is movably installed on the upper side.

The first transfer module 211 is elongated in the front-rear direction (X), and the elevating module 213 may move in the front-rear direction (X) from the upper side of the first transfer module 211 .

The first transfer module 211 may be any type of linear reciprocating movement of the elevating module 213 such as rails/rollers and rack gears in the front-rear direction (X), and the size is not limited. does not

The second transfer module 212 is located above the elevating module 213 and can reciprocate in the vertical direction Z by the elevating module 213 .

The length of the elevating module 213 is adjusted in the vertical direction by an external force to reciprocate the second transfer module 212 in the vertical direction (Z).

In addition, the second transfer module 212 may be installed in the elevating module 213 to move in the left-right direction (Y).

The second transfer module 212 may be any configuration capable of moving in the left-right direction (Y) from the upper side of the elevating module 213, such as a rail/roller, a rack gear, and the like.

The pair of mounting units 220 may be installed to be spaced apart from each other left and right on the upper side of the three-axis moving unit 210 , respectively.

In more detail, the pair of cradle 220 may include a first cradle 221 and a second cradle 222 , and the first cradle 221 and the second cradle 221 . The part 222 may be installed on the upper surface of the second transfer module 212 at first and second points A1 and A2 spaced apart from each other in the left and right directions, respectively.

In order to match the rotation of the first transurethral endoscopic surgical device 101 and the second transurethral endoscopic surgical device 102, the pair of mounting units 220 are, respectively, frames 2211 and 2221, and a worm gear. (2212, 2222).

By the worm gears 2212 and 2222, the rotation of the first transurethral endoscopic surgical device 101 and the second transurethral endoscopic surgical device 102 may coincide.

In more detail, the first holder 221 may include a first frame 2211 and a first worm gear 2212 , and the second holder 222 also includes the second frame 2221 and the second frame 2221 . 2 may include a worm gear 2222 .

The first frame 2211 is installed so that the first transurethral endoscopic surgery device 101 is rotatable based on a first axis, which is an axis in the longitudinal direction.

The first worm gear 2212 is installed in the first frame 2211, and the fixing part 200A of the first transurethral endoscopic surgical device 101 is inserted into the first frame 2211. And the first transurethral endoscopic surgery device 101 may rotate the first worm gear (2212).

That is, when the first transurethral endoscopic surgery device 101 is rotated, the first worm gear 2212 is also rotated.

The second frame 2221 is installed so that the second transurethral endoscopic surgical device 102 is rotatable based on a second axis, which is an axis parallel to the first axis.

The second worm gear 2222 is installed in the second frame 2221 , and the fixing part 200A of the second transurethral endoscopic surgical device 102 is inserted into the second frame 2221 . And the second transurethral endoscopic surgical device 102 may rotate the second worm gear (2222).

That is, when the second transurethral endoscopic surgical device 102 is rotated, the second worm gear 2222 is also rotated.

And the first worm gear 2212 and the second worm gear 2222 are connected to each other so that the rotation of the first transurethral endoscopic surgical device 101 and the second transurethral endoscopic surgical device 102 coincides with each other.

The pair of mounting units 220 may be installed to be rotatable on the upper side of the three-axis moving unit 210 , that is, on the upper surface of the second transfer module 212 by the pair of ball joints 230 . .

In addition, the pair of ball joints 230 may include a first ball joint 231 and a second ball joint 232 fixed to the upper surface of the second transfer module 212 to be spaced apart from each other.

The first holder 221 installed in the first ball joint 231 fixed to the first point A1 can be freely rotated by the first ball joint 231 . That is, the first frame 2211 is fixed to the first ball joint 230 and can be freely rotated by the rotational movement of the first ball joint 231 . Therefore, the first transurethral endoscopic surgery device 101 installed in the first holder 221 can rotate freely.

Similarly, the second holder 222 installed on the second ball joint 232 fixed to the second point A2 can also be freely rotated by the second ball joint 232 . That is, the second frame 2221 is fixed to the second ball joint 232 and can be freely rotated by the rotational movement of the second ball joint 232 . Therefore, the second transurethral endoscopic surgery device 102 installed in the second holder 222 can also be freely rotated.

As such, the first transurethral endoscopic surgery device 101 and the second transurethral endoscopic surgery device 102 are freely movable even after being installed in the training device 200 of the transurethral endoscopic surgery.

The connecting bar 250 may match the rotational operation of the first transurethral endoscopic surgical device 101 and the second transurethral endoscopic surgical device 102 .

In more detail, in order to match the rotation of the first frame 2211 and the second frame 2221 , both ends of the connection bar 250 are connected to the other end of the first frame 2211 and the second frame. The other end of (2221) is hinged. In addition, one end of the first frame 2211 may be fixed to the first ball joint 230 , and one end of the second frame 2221 may be fixed to the second ball joint 230 .

Here, one end and the other end of the first frame 2211 refer to points spaced apart from each other in the front-rear direction (X). Similarly, one end and the other end of the second frame 2221 also refer to points spaced apart from each other in the front-rear direction (X).

Accordingly, when the first frame 2211 is rotated, the second frame 2221 may also rotate in the same manner as the first frame 2211 .

However, by the connection bar 250 , rotation of the first frame 2211 is limited based on the first axis, and rotation of the second frame 2221 is restricted based on the second axis.

The first worm shaft 2212b and the second worm shaft 2222b may be connected to each other by a universal joint 223 .

When the first transurethral endoscopic surgical device 101 rotates about the first axis, the first worm wheel 2212a of the first worm gear 2212 is rotated, and when the first worm wheel 2212a is rotated, the The first worm shaft 2212b of the first worm gear 2212 engaged with the first worm wheel 2212a may be rotated.

When the second transurethral endoscopic surgical device 102 rotates about the second axis, the second worm wheel 2222a of the second worm gear 2222 is rotated, and when the second worm wheel 2222a is rotated, the The second worm shaft 2222b of the second worm gear 2222 engaged with the second worm wheel 2222a may be rotated.

The universal joint 223 matches the rotation day of the first worm shaft 2212b and the second worm shaft 2222b, and the first transurethral endoscopic surgical device 101 rotates with respect to the first axis, The second transurethral endoscopic surgical device 102 may match the rotation with respect to the second axis.

In more detail, when the first transurethral endoscopic surgical device 101 rotates about the first axis, the first worm wheel 2212a, the first worm shaft 2212b, the universal joint 223, the first The second transurethral endoscopic surgery device 102 by the second worm shaft 2222b and the second worm wheel 2222a may be rotated with respect to the second axis.

Conversely, when the second transurethral endoscopic surgical device 102 rotates about the second axis, the second worm wheel 2222a, the second worm shaft 2222b, the universal joint 223, and the first worm shaft 2212b ), the first transurethral endoscopic surgical device 101 by the first worm wheel 2212a may also be rotated about the first axis.

The handle control unit 260 is configured according to the amount of movement of the second handle 162B of the second transurethral endoscopic surgical device 102 approaching the first handle 161B, the first transurethral endoscopic surgical device 101 The amount of movement of the second handle 162A approaching the first handle 161A may be limited. Therefore, within the range of operator B operating the second handle 162B and the first handle 161B of the second transurethral endoscopic surgical device 102, operator A is the first transurethral endoscopic surgical device The second handle 162A and the first handle 161A of 101 can be manipulated, so that the inner tube 140 of the first transurethral endoscopic surgical device 101 is outside the outer tube 110 . The degree of exposure can be controlled.

To this end, the handle control unit 260 includes a sensor 261 for measuring the distance the second handle 162B approaches to the first handle 161B in the second transurethral endoscopic surgical device 102, In the first transurethral endoscopic surgical device 101, the second handle 162A is a wire 262A and a motor 262B for adjusting the distance to which the first handle 161A can be approached, and the sensor ( The control module 263 for controlling the driving of the motor 262B according to the signal of 261 may be included.

For example, depending on the degree to which the wire 262A is unwound from the motor 262B installed in the first transurethral endoscopic surgery device 101, the second handle 162A can be approached to the first handle 161A. The distance may be adjusted, and the control module 263 may control the driving of the motor 262B according to a signal from the sensor 261 .

The pedal control unit 270 causes the pedal 153A of the first transurethral endoscopic surgical device 101 to operate when the pedal 153B of the second transurethral endoscopic surgical device 102 is depressed, and the The laser provided by the laser providing unit 154 may be emitted from the end of the laser fiber 151 .

In the above, even though it has been described that all the components constituting the embodiment of the present invention operate by being combined or combined into one, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more.

In addition, all terms including technical or scientific terms described above have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

And, the above description is merely illustrative of the technical idea of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

101: first transurethral endoscopic surgical device
102: second transurethral endoscopic surgical device
200: training device for transurethral endoscopic surgery
210: 3-axis moving part
220: a pair of mounts
230: ball joint
240: rotation transfer unit
250: connecting bar
260: handle control
270: pedal control

Claims (6)

It is disposed between a first transurethral endoscopic surgical device and a second transurethral endoscopic surgical device spaced apart from the first transurethral endoscopic surgical device so that the second transurethral endoscopic surgical device operates the first transurethral endoscopic surgical device. In the training device of transurethral endoscopic surgery connected to control,
a 3-axis moving unit for moving the first transurethral endoscopic surgical device and the second transurethral endoscopic surgical device in 3-axis directions;
a pair of ball joints fixed to an upper side of the three-axis moving part to be spaced apart from each other;
a pair of mounting units respectively installed in the pair of ball joints and on which the first transurethral endoscopic surgical device and the second transurethral endoscopic surgical device are respectively mounted; and
Connecting the respective mounting portions to include a connecting bar for matching the rotational operation of the first transurethral endoscopic surgical device and the second transurethral endoscopic surgical device,
Each of the holding units,
Rotation of the first transurethral endoscopic surgical device with respect to a first axis, which is an axis in the longitudinal direction of the first transurethral endoscopic surgical device, and a second axis, which is an axis in the longitudinal direction of the second transurethral endoscopic surgical device, as a reference A training device for transurethral endoscopic surgery including a worm gear that matches the rotation of the second transurethral endoscopic surgical device.
The method according to claim 1,
The three-axis moving unit,
A first transfer module formed in the front-rear direction, and
an elevating module whose length is adjusted in the vertical direction by an external force, and which reciprocates in the front-rear direction in the first transfer module;
Training apparatus for transurethral endoscopic surgery including a second transfer module installed in the elevating module so as to move in the left and right direction perpendicular to the front-rear direction in the horizontal direction.
3. The method according to claim 2,
The pair of ball joints,
a first ball joint installed at a first point that is a left point of the upper surface of the second transfer module;
Training apparatus for transurethral endoscopic surgery including a second ball joint installed at a second point spaced apart to the right from the first point on the upper surface of the second transfer module.
4. The method according to claim 3,
The pair of mounting parts,
a first holder installed in the first ball joint;
A training device for transurethral endoscopic surgery including a second holder installed on the second ball joint.
5. The method according to claim 4,
The first holder,
A first frame in which the first transurethral endoscopic surgical device is rotatably installed based on a first axis, which is an axis in the longitudinal direction, and;
and a first worm gear installed in the first frame and rotated when the first transurethral endoscopic surgical device is rotated,
The second holder,
a second frame in which the second transurethral endoscopic surgical device is rotatably installed based on a second axis, which is an axis in the longitudinal direction;
A training device for transurethral endoscopic surgery including a second worm gear installed on the second frame and rotated when the second transurethral endoscopic surgical device is rotated.
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