KR102364670B1 - Surgical manipulator - Google Patents

Abstract

The present invention provides a surgical manipulator which comprises: an outer tube; a steering tube which is provided at one end of the outer tube; a rotating shaft which is inserted into the outer tube and the steering tube; a first wire which has one end connected to a first position of the steering tube; a second wire which has one end connected to a second position of the steering tube, which is perpendicular to the first position; a first steering knob which translates the first wire to steer the steering tube in a first direction; and a second steering knob which translates the second wire to steer the steering tube in a second direction perpendicular to the first direction.

Description

Surgical manipulator {SURGICAL MANIPULATOR}

The present invention relates to a surgical manipulator, and more particularly, to a steerable and rotatable surgical manipulator.

In general, endoscopic surgery does not make a large incision in the human body, but inserts an endoscope equipped with a camera and a surgical tool (eg, a manipulator) through a small hole, and the operation is performed while examining the patient's affected area through the image captured by the endoscope. will do

This endoscopic surgery, which started with laparoscopic surgery, has the advantage that the recovery time of the surgical patient is quick as the incision site is smaller than that of the open surgery, so the scar is small and bleeding is small.

In recent years, the technology has developed to the extent that endoscopic surgery is possible for almost all surgeries requiring open surgery, and the number of cases where endoscopic surgery is applied in other medical fields is increasing.

Such endoscopic surgery can also be applied to intrauterine myoma removal surgery. In this case, a surgical manipulator is used to remove the lesion tissue, for example, intrauterine myoma.

Here, the surgical manipulator includes a hand piece providing a handle that a user can grip during surgery, and a manipulator shaft coupled to the hand piece.

Specifically, a motor is built in the hand piece, and the manipulator shaft is connected to the rotation shaft of the motor to receive rotational force from the motor. In addition, a cutting tip is coupled to one end of the manipulator shaft, so that the lesion tissue is removed as the cutting tip rotates together with the manipulator shaft.

However, since the manipulator shaft is linear in the conventional surgical manipulator, a curved blind spot may occur in which the cutting tip cannot reach the lesion tissue to be removed. Accordingly, there is a problem in that the possibility of excessive normal tissue damage in order to reach the cutting tip to the lesion tissue is increased.

Korean Utility Model Publication No. 20-0487712

In order to solve the problems of the prior art as described above, it is an object to provide a surgical manipulator capable of accurately and rapidly removing lesion tissue by allowing the first and second directions of the manipulator shaft end to be switched with a relatively simple structure. The purpose.

Another object of the present invention is to provide a surgical manipulator capable of preventing excessive damage to normal tissue during surgery by bringing a cutting tip to a lesion tissue through a steering tube of a manipulator shaft.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

In order to solve the above problems, the present invention provides an outer tube, a steering tube provided at one end of the outer tube, an outer tube and a rotating shaft inserted into the steering tube, and one end connected to a first position of the steering tube A first wire, a second wire having one end connected to a second position of the steering tube perpendicular to the first position, and a first steering knob for translating the first wire to steer the steering tube in a first direction; Provided is a surgical manipulator including a second steering knob configured to steer the steering tube in a second direction perpendicular to the first direction by translating the second wire.

Here, the first and second steering knobs may respectively translate the first and second wires through a rotation operation.

In addition, the surgical manipulator of the present invention includes a guider connected to the other end of the outer tube, a first wire holder connected to the other end of the first wire and capable of translational movement along the guider, and the other end of the second wire, It may further include a second wire holder that is translatable along the guider.

Also, the first steering knob may translate the first wire holder by a rotational operation, and the second steering knob may translate the second wire holder by a rotational operation.

In addition, the first steering knob, the first receiving groove for accommodating the first wire holder is formed therein, a first insertion portion having a screw thread formed on the outer peripheral surface, a first cap closing the first receiving groove, the first It is connected to one side of the insertion part, and may include a first manipulation part in which a first flow groove is formed.

In addition, the second steering knob includes a second accommodating groove formed therein for accommodating the second wire holder, a second insertion part inserted into the first flow groove, and a second cap closing the second accommodating groove; It is connected to one side of the second insertion part and includes a second manipulation part in which a second flow groove is formed, and a thread may be formed on an inner circumferential surface of the second flow groove.

In addition, the surgical manipulator of the present invention includes a first fastening part in which a third flow groove is formed in which a first insertion part is inserted and a thread is formed on an inner circumferential surface, and a second fastening part is inserted into the second flow groove and has a screw thread formed on an outer circumferential surface thereof. It may further include a fastening part.

In addition, the first and second steering knobs and the first and second fastening portions may have through holes formed therein, and the through holes may be fastened to the guider.

In addition, the first cap may translate the first wire holder by a rotation operation, and the second cap may translate the second wire holder by the rotation operation.

In addition, the rotating shaft, inserted into the steering tube, may include a flexible shaft made of a flexible material.

In addition, the surgical manipulator of the present invention may further include a cutting tip fastened to one end of the flexible shaft, and a motor for rotating the rotating shaft.

According to the present invention, by adopting a bending structure using a steering tube and a wire at the end of the manipulator shaft, it is possible to change the direction of the manipulator shaft end with a relatively simple structure, thereby enabling accurate and rapid lesion tissue removal.

In addition, according to the present invention, when a curved blind spot where the cutting tip cannot reach the lesion tissue to be removed occurs, the cutting tip reaches the lesion tissue through the steering tube of the manipulator shaft, thereby causing excessive normal tissue damage during surgery. can prevent

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be.

1 is an overall perspective view of a surgical manipulator according to an embodiment of the present invention.
2 is an enlarged view of a steering tube and a hand piece of a surgical manipulator according to an embodiment of the present invention.
3 is a view showing the inside of a manipulator for surgery according to an embodiment of the present invention.
4 is an exploded perspective view of a surgical manipulator according to an embodiment of the present invention.
5 is a view for explaining a process of steering a steering tube in a first direction in a surgical manipulator according to an embodiment of the present invention.
6 is a view for explaining an operation when the steering tube is bent in the first direction in the surgical manipulator according to the embodiment of the present invention.
7 is a view for explaining a process of steering a steering tube in a second direction in the surgical manipulator according to an embodiment of the present invention.
8 is a view for explaining an operation when the steering tube is bent in the second direction in the surgical manipulator according to the embodiment of the present invention.

In order to fully understand the configuration and effect of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various forms and various modifications may be made. However, the description of the present embodiment is provided so that the disclosure of the present invention is complete, and to fully inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention. In the accompanying drawings, components are enlarged in size from reality for convenience of description, and ratios of each component may be exaggerated or reduced.

Terms such as 'first' and 'second' may be used to describe various elements, but the elements should not be limited by the above terms. The above term may be used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a 'first component' may be termed a 'second component', and similarly, a 'second component' may also be termed a 'first component'. can Also, the singular expression includes the plural expression unless the context clearly dictates otherwise. Unless otherwise defined, terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those of ordinary skill in the art.

1 is an overall perspective view of a surgical manipulator according to an embodiment of the present invention, and FIG. 2 is an enlarged view of a steering tube and a hand piece of the surgical manipulator according to an embodiment of the present invention. 3 is a view showing the inside of the surgical manipulator according to an embodiment of the present invention, and FIG. 4 is an exploded perspective view of the surgical manipulator according to the embodiment of the present invention.

Hereinafter, a configuration of a surgical manipulator according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4 .

The surgical manipulator according to the embodiment of the present invention may include a shaft 100 and a hand piece 200 .

The hand piece 200 provides a handle that can be gripped by the user during surgery, and a motor (not shown) that generates a rotational force therein, a battery for supplying power to the motor, and the shaft 100 are steered It may be configured to include first and second steering knobs 210 and 220 for And, the handle may be provided with a button or a switch for driving or stopping the motor.

The first and second steering knobs 210 and 220 may be fastened to the inside of the hand piece 200 and at least a portion thereof may be exposed to the outside. Here, the user may steer the shaft 100 by rotating at least one of the first and second steering knobs 210 and 220 exposed to the outside while holding the hand piece 200 in one direction.

The shaft 100 may be fastened to the hand piece 200 , and may receive rotational force from a motor of the hand piece 200 .

In addition, the shaft 100 may include an outer tube 110 , a steering tube 120 , a rotation shaft 140 , and a cutting tip 150 .

The outer tube 110 is harmless to the human body and may be made of an inflexible metal material, but is not limited thereto.

The steering tube 120 is provided at one end of the outer tube 110, and may be made of a flexible material, or may have a plurality of slits on the outer peripheral surface to be bent.

In addition, the steering tube 120 may be coupled to the end of the outer tube 110 or formed integrally with the outer tube 110 .

Also, the steering tube 120 may be connected to the first and second wires 131 and 132 , respectively, and may be steered by manipulation of the first and second steering knobs 210 and 220 , respectively.

The rotation shaft 140 is inserted into the outer tube 110 and may be rotated by the rotational force of the motor of the hand piece 200 . Here, the rotating shaft 140 may include a flexible shaft 141 made of a flexible material and inserted into the steering tube 120 .

The flexible shaft 141 may be coupled to the end of the rotation shaft 140 or formed integrally with the rotation shaft 140 . In addition, the flexible shaft 141 may be rotated together when the rotating shaft 140 rotates.

A portion of the rotation shaft 140 excluding the flexible shaft 141 may be made of an inflexible metal material, but is not limited thereto.

The cutting tip 150 may be fastened to one end of the rotating shaft 140 and more specifically, one end of the flexible shaft 141 . Here, the cutting tip 150 may be made of a spherical abrasive tool or a spherical blade, and the lesion tissue may be removed by rotation.

As described above, since the flexible shaft 141 is made of a flexible material, the flexible shaft 141 inserted into the steering tube 120 may change its shape in response to the shape change of the steering tube 120 . there is.

Here, the steering tube 120 may be bent at various angles according to the location of the lesion tissue.

The surgical manipulator according to the embodiment of the present invention, between one end of the flexible shaft 141 and one end of the steering tube 120 , and the other end of the flexible shaft 141 and the steering tube 120 for smooth rotation of the rotating shaft 110 . ) A bearing may be provided between the other ends.

The first and second wires 131 and 132 may have one end connected to the inner circumferential surface of the steering tube 120 , and the other end may be connected to the hand piece 200 after passing through the outer tube 110 .

Here, one end of the first wire 131 may be connected to a first position (eg, upper or lower side) of the steering tube 120 , and the first steering knob 210 may translate the first wire 131 to The steering tube 120 may be steered in a first direction (eg, an up-down direction).

For example, when the user rotates the first steering knob 210 in one direction, the degree of pulling of the first wire 131 may be adjusted according to the rotational operation of the first steering knob 210 . Accordingly, the first steering knob 210 may adjust the bending angle of the steering tube 120 in the first direction according to the degree of pulling of the first wire 131 .

In addition, the second wire 132 may have one end connected to a second position (eg, left or right) perpendicular to the first position of the steering tube 120 , and the second steering knob 220 may be connected to the second wire ( By translating the 132 , the steering tube 120 may be steered in a second direction (eg, left-right direction) perpendicular to the first direction.

For example, when the user rotates the second steering knob 220 in one direction, the degree of pulling of the second wire 132 may be adjusted according to the rotation operation of the second steering knob 220 . Accordingly, the second steering knob 220 may adjust the bending angle of the steering tube 120 in the second direction according to the degree of pulling the second wire 132 .

As such, the surgical manipulator according to the embodiment of the present invention can independently steer the manipulator shaft 100 in both the first and second directions using the first and second steering knobs 210 and 220 . There is an advantage.

5 is a view for explaining a process of steering a steering tube in a first direction in a surgical manipulator according to an embodiment of the present invention, and FIG. It is a view for explaining an operation when the tube is bent in the first direction. 7 is a view for explaining a process of steering the steering tube in the second direction in the surgical manipulator according to the embodiment of the present invention, and FIG. 8 is the surgical manipulator according to the embodiment of the present invention , a diagram for explaining an operation when the steering tube is bent in the second direction.

First, an internal configuration of the head piece 200 of a surgical manipulator according to an embodiment of the present invention will be described in detail with reference to FIGS. 5 and 7 .

The hand piece 200 includes a guider 250 therein, first and second steering knobs 210 and 220 , first and second wire holders 215 and 225 , and first and second fastenings. It may be configured to include parts 230 and 240 . And these components may be accommodated in the case 201 .

Here, the guider 250 may be formed in the form of a square shaft having a rectangular cross section, but is not limited thereto.

The first and second steering knobs 210 and 220, the first and second wire holders 215 and 225, and the first and second fastening portions 230 and 240 may each have through-holes formed therein; These through-holes may be fastened to the guider 250 .

The guider 250 is connected to the other end of the outer tube 110 , and may guide the movement of the first and second wire holders 215 and 225 .

The first wire holder 215 is connected to the other end of the first wire 131 , and is movable in translation along the guider 250 . In addition, the second wire holder 225 is connected to the other end of the second wire 132 , and is movable in translation along the guider 250 .

The first steering knob 210 may translate the first wire holder 215 by a rotation operation, and the second steering knob 220 may translate the second wire holder 225 by a rotation operation.

The first steering knob 210 may include a first insertion part 211 , a first cap 212 , and a first manipulation part 213 .

The first insertion part 211 has a first receiving groove 211a for accommodating the first wire holder 215 therein, and a screw thread may be formed on the outer circumferential surface.

The first cap 212 may close the first receiving groove 211a while the first wire holder 215 is accommodated in the first receiving groove 211a.

The first manipulation unit 213 may be connected to one side of the first insertion unit 211 , and a first flow groove 213a may be formed. In addition, the first manipulation unit 213 may be formed with a plurality of grooves in the longitudinal direction along the outer circumferential surface to facilitate the user's manipulation.

The first flow groove 213a may provide a moving space in which the second insertion part 221 of the second steering knob 220, which will be described later, moves.

The second steering knob 220 may include a second insertion part 221 , a second cap 222 , and a second manipulation part 223 .

The second insertion part 221 has a second receiving groove 221a accommodating the second wire holder 225 therein, and is to be inserted into the first flow groove 213a of the first steering knob 210 . can

The second cap 222 may close the second accommodating groove 221a while the second wire holder 225 is accommodated in the second accommodating groove 221a.

The second manipulation unit 223 may be connected to one side of the second insertion unit 221 , and a second flow groove 223a may be formed. Here, a thread may be formed on the inner circumferential surface of the second flow groove 223a. In addition, the second manipulation unit 223 may have a plurality of grooves formed in the longitudinal direction along the outer circumferential surface to facilitate the user's manipulation.

The second flow groove 223a may provide a moving space in which the second fastening part 240 to be described later can move.

The first fastening part 230 may have a third flow groove 231 in which the first insertion part 211 of the first steering knob 210 is inserted and a screw thread is formed on the inner circumferential surface.

The third flow groove 231 may provide a moving space in which the first insertion part 211 of the first steering knob 210 can move.

Here, the screw line of the first steering knob 210 and the screw line of the first fastening part 230 are coupled to each other in an engaged state, and according to the rotation of the first steering knob 210 , the first steering knob 210 moves to the first It may be fastened to the fastening part 230 or loosened by the first fastening part 230 .

The second fastening part 240 may be inserted into the second flow groove 223a of the second steering knob 220 and a thread may be formed on the outer circumferential surface.

Here, the screw line of the second steering knob 220 and the screw line of the second fastening part 240 are coupled to each other in an engaged state, and as the second steering knob 220 rotates, the second steering knob 210 moves to the second It may be fastened to the fastening part 240 or loosened by the second fastening part 240 .

The first cap 212 translates the first wire holder 215 along the guider 250 by rotational operation, and the second cap 222 rotates the second wire holder 225 by the guider ( 250) can be translated.

Next, a steering process of the surgical manipulator according to an embodiment of the present invention will be described with reference to FIGS. 5 to 8 .

Referring to FIG. 5 , when the user rotates the first steering knob 210 in one direction (eg, clockwise) in a state in which the steering tube 120 is straight (a) (b), the first steering knob ( 210 moves in a direction in which the first fastening part 230 is released, that is, toward the second steering knob 220 .

At this time, since the first cap 212 is integrally coupled with the first steering knob 210 , it rotates together with the first steering knob 210 and moves along the guider 250 toward the second steering knob 220 . Move. Accordingly, the first cap 212 moves the first wire holder 215 accommodated in the first receiving groove 211a toward the second steering knob 220 by a first distance d1.

As such, when the first wire holder 215 moves, as shown in FIG. 6 , the first wire 131 connected to the first wire holder 215 is pulled, and accordingly, the steering tube 120 is bent in the first direction.

In this case, the bending angle of the steering tube 120 in the first direction may be adjusted according to the degree of rotation of the first steering knob 210 , and the user rotates the first steering knob 210 until it reaches the target bending angle. When stopping, the bending angle of the steering tube 120 may be maintained because the first steering knob 210 and the first coupling part 230 are screwed together. Then, when the rotating shaft 140 is rotated by driving the motor of the hand piece 200, the flexible shaft 141 is rotated in a bent state. Accordingly, the lesion tissue can be removed by rotation of the cutting tip 150 coupled to the flexible shaft 141 end.

As described above, in the surgical manipulator according to the embodiment of the present invention, when a curved first-direction blind spot in which the cutting tip 150 does not reach the lesion tissue to be removed with the straight steering tube 120 occurs, The first steering knob 210 pulls the first wire 131 to bend the steering tube 120 in the first direction, so that the cutting tip 150 can reach the lesion tissue. Through this, it is possible to prevent excessive damage to normal tissue during surgery using a surgical manipulator.

In contrast, in the surgical manipulator according to the embodiment of the present invention, when the cutting tip 150 can reach the lesion tissue to be removed with the straight steering tube 120, the first steering knob 210 is 1 By loosening the wire 131 to make the steering tube 120 straight again, the cutting tip 150 can reach the lesion tissue.

Referring to FIG. 7 , when the user rotates the second steering knob 220 in one direction (eg, clockwise) in a state in which the steering tube 120 is straight (a) (b), the second steering knob ( 220 moves in the winding direction in the second fastening part 240 , that is, toward the motor side of the hand piece 200 .

At this time, since the second cap 222 is integrally coupled with the second steering knob 220 , it moves along the guider 250 toward the motor while rotating together with the second steering knob 220 . Accordingly, the second cap 222 moves the second wire holder 225 accommodated in the second receiving groove 211a toward the motor by a second distance d2.

In this way, when the second wire holder 225 moves, as shown in FIG. 8 , the second wire 132 connected to the second wire holder 225 is pulled, and accordingly, the steering tube 120 is bent in the second direction.

At this time, the bending angle of the steering tube 120 in the second direction may be adjusted according to the degree of rotation of the second steering knob 220 , and the user rotates the second steering knob 220 until the target bending angle is reached. When stopping, the second steering knob 220 and the second fastening part 240 are screwed together, so that the bending angle of the steering tube 120 may be maintained. Then, when the rotating shaft 140 is rotated by driving the motor of the hand piece 200, the flexible shaft 141 is rotated in a bent state. Accordingly, the lesion tissue can be removed by rotation of the cutting tip 150 coupled to the flexible shaft 141 end.

As such, in the surgical manipulator according to the embodiment of the present invention, when a curved second-direction blind spot occurs in which the cutting tip 150 cannot reach the lesion tissue to be removed with the straight steering tube 120, The second steering knob 220 pulls the second wire 132 to bend the steering tube 120 in the second direction, so that the cutting tip 150 can reach the lesion tissue. Through this, it is possible to prevent excessive damage to normal tissue during surgery using a surgical manipulator.

On the other hand, in the surgical manipulator according to the embodiment of the present invention, when the cutting tip 150 can reach the lesion tissue to be removed with the straight steering tube 120, the second steering knob 220 is 2 By loosening the wire 132 to make the steering tube 120 straight again, the cutting tip 150 can reach the lesion tissue.

As described above, the surgical manipulator according to the embodiment of the present invention has a relatively simple structure by adopting a bending structure using the steering tube 120 and the first and second wires 131 and 132 at the end of the shaft 100 . It is possible to change the first and second directions of the end of the manipulator shaft 100 , so that it is possible to accurately and quickly remove the lesion tissue.

In the detailed description of the present invention, although specific embodiments have been described, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, and should be defined by the following claims and their equivalents.

100: shaft
110: outer tube
120: steering tube
131, 132: first and second wires
140: rotation shaft
141: flexible shaft
200: hand piece
210: first steering knob
220: second steering knob
230: first fastening part
240: second fastening part

Claims (12)

outer tube;
a steering tube provided at one end of the outer tube;
a rotating shaft inserted into the outer tube and the steering tube;
a first wire having one end connected to a first position of the steering tube;
a second wire having one end connected to a second position of the steering tube perpendicular to the first position;
a first steering knob for translating the first wire to steer the steering tube in a first direction;
a second steering knob for translating the second wire to steer the steering tube in a second direction perpendicular to the first direction; and
It includes a first wire holder connected to the other end of the first wire,
The first steering knob is
a first insertion part having a first accommodating groove formed therein for accommodating the first wire holder and having a screw thread formed therein;
a first cap closing the first receiving groove; and
It is connected to one side of the first insertion part and includes a first manipulation part in which a first flow groove is formed.
Surgical manipulator.
The method of claim 1,
The first and second steering knobs are
Translating each of the first and second wires through a rotation operation
Surgical manipulator.
The method of claim 1,
Further comprising a guider connected to the other end of the outer tube and a second wire holder connected to the other end of the second wire,
The first and second wire holders are translatable along the guider.
Surgical manipulator.
4. The method of claim 3,
The first steering knob is
Translating the first wire holder by a rotational operation,
The second steering knob is
Translating the second wire holder by a rotation operation
Surgical manipulator.
delete 4. The method of claim 3,
The second steering knob is
a second insertion part having a second accommodating groove formed therein for accommodating the second wire holder, and being inserted into the first flow groove;
a second cap closing the second receiving groove;
It is connected to one side of the second insertion part and includes a second manipulation part in which a second flow groove is formed,
A thread is formed on the inner circumferential surface of the second flow groove
Surgical manipulator.
7. The method of claim 6,
a first fastening part into which the first insertion part is inserted and a third flow groove in which a screw thread is formed is formed on an inner circumferential surface; and
A second fastening part inserted into the second flow groove and having a thread formed on an outer circumferential surface
Surgical manipulator further comprising a.
8. The method of claim 7,
The first and second steering knobs and the first and second fastening portions have through-holes formed therein, and the through-holes are fastened to the guider.
Surgical manipulator.
8. The method of claim 7,
the first cap
Translating the first wire holder by a rotation operation,
the second cap
Translating the second wire holder by a rotation operation
Surgical manipulator.
The method of claim 1,
the rotating shaft
Inserted into the steering tube, comprising a flexible shaft made of a flexible material
Surgical manipulator.
11. The method of claim 10,
Cutting tip fastened to one end of the flexible shaft
Surgical manipulator further comprising a.
The method of claim 1,
a motor that rotates the rotating shaft
A surgical manipulator further comprising a.

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