KR102649378B1 - Medical end effector made of soft material - Google Patents

Abstract

The present invention relates to a medical end effector formed of a soft material. According to the present invention, it is formed of a soft material in the form of a long tube, one side of which is formed as a flat joint surface, and an insertion hole along the longitudinal direction on the other side. is formed, and the cutting pattern, in which the outer peripheral surface excluding the joint surface is cut, is formed in a plurality of tubes and elastic materials at regular intervals along the longitudinal direction, and is formed in a shape corresponding to the insertion hole, and is inserted into the insertion hole at the upper end. A medical end including a bending adjuster fixed to the upper end of the tube, and formed of a soft material in which the cutting pattern is spread and the tube is bent by the force of the bending adjuster inserted into the insertion hole to push the tube. Effectors can be provided.

Description

Medical end effector made of soft material}

The present invention relates to a medical end effector made of a soft material, and more specifically, to a medical end effector made of a soft material that steers the direction of the tip to which the soft material tube is inserted by forming a cutting pattern and a flat joint surface. It relates to the formed end effector.

A surgical robot is a medical robot that assists a doctor and performs surgery. Surgical methods using robots are receiving a lot of attention because the patient's recovery speed is fast and the surgery can be performed accurately by optimizing the removal area.

Minimum invasive surgery (MIS) is a new concept of surgery that can increase the survival rate and quality of life after surgery by minimizing damage to the body and increasing the accuracy and safety of surgery.

Currently, surgical robots include laparoscopic surgery robots that operate on soft tissues such as the prostate, stomach, and heart, artificial joint surgery robots that operate on hard tissues such as knee joints, and catheters inserted into blood vessels. Vascular surgery robots are being developed.

In the case of these surgical robots, forceps, drills, etc. are mounted on an end effector and inserted into the surgical site to perform surgery.

Surgical treatment of bone cysts or bone tumors using the existing end effector as described above involves skin incision, exposure of the bone surface by bypassing muscles and important nerves/blood vessels, formation and temporary removal of a bone window, and internal curettage (small). After removal of the bone and grid, the process involves transplanting bone from one's own or another person, restoring the bone window to its original state, external fixation using a cast or brace until the transplanted bone settles, and rehabilitation treatment.

As a device used for such surgical treatment, Korean Patent Publication No. 10-2008-0012206 discloses 'Pneumatically powered surgical cutting fixture with a mechanical linkage coupling end effector and trigger movement'.

However, surgical treatment using the above device increases the incidence of infections due to large skin incisions for diagnosis and treatment and open surgery of the bone treatment area, and causes infection to remain in exposed areas of growing adolescents such as knees, shoulders, wrists, and ankles. Long surgical incision scars had the problem of causing pain and mental stress during joint movement.

In order to solve the above problems, the present invention simplifies the structure of the end effector to enable mass production, thereby reducing production costs and increasing production volume. It is a medical product made of soft material that can be discarded immediately after use and used for one-time use. The purpose is to provide an end effector.

A medical end effector made of a soft material according to an embodiment of the present invention to solve the above problems is formed of a soft material in the form of a long tube, with one side formed as a flat joint surface and the other side along the longitudinal direction. An insertion hole is formed, and a cutting pattern in which the outer peripheral surface excluding the joint surface is cut is formed in a plurality of tubes and elastic materials at regular intervals along the longitudinal direction in a shape corresponding to the insertion hole, and is inserted into the insertion hole. The upper end may include a bending adjuster fixed to the upper end of the tube.

Here, the tube may be bent as the cutting pattern spreads due to the force of the bending adjuster inserted into the insertion hole pushing the tube.

Additionally, the bending adjuster may be formed of a leaf spring or elastic wire.

Additionally, the insertion hole may have continuous curved portions formed along the longitudinal direction on the inner surface.

Here, the bending adjuster may include curved protrusions formed continuously along the longitudinal direction on the outer surface to correspond to the bent portion.

In addition, the end effector is formed to extend from the lower surface of the tube where the insertion hole is formed, and may further include a fixing assembly for fixing the bending adjuster.

Here, the fixing assembly has a connection hole penetrating in the vertical direction at a position corresponding to the insertion hole, and a receiving groove is formed on the lower surface that communicates upwardly with the connection hole to provide a receiving space therein. It is formed in the form of a fixing assembly housing and a plate with fixing protrusions formed on the lower surface of the housing and is located in the receiving groove, wherein fixing grooves corresponding to the fixing protrusions are formed, and axial protrusions are formed on both sides to couple to the fixing assembly housing. It may include a fixture that is

Additionally, the fixture may rotate within the accommodation space to fix the bending adjuster.

Additionally, the fixing assembly may be located on the upper surface of the fixing body and include a pad on which one or more contact protrusions are formed.

Here, the pad may be fixed by pressing the bending adjuster according to the rotation of the fixture.

In addition, the end effector is formed at the top of the insertion hole in the form of a plate corresponding to the insertion hole, and is located below the guard plate and a guard plate with plate protrusions formed on both sides, and is formed in a shape corresponding to the insertion hole. The upper surface is closed and the lower surface is open to form an insertion space into which the bending adjuster is inserted, and may include a guard cap with cap protrusions formed on both sides.

Here, the guard plate and the guard cap can prevent the bending adjuster from being separated from the insertion hole.

The medical end effector made of a soft material according to the embodiment of the present invention as described above can steer the direction of the tip by combining the tip.

In addition, by simplifying the structure and mass-producing it, production costs can be reduced, production volume can be increased, and it can be discarded immediately after use and used for one-time use.

Additionally, by preventing rapid bending changes in the end effector, damage to the end effector and accidents caused by sudden changes in the end effector can be prevented.

Additionally, by fixing the bending of the tip of the end effector, the changed bending shape of the tip can be maintained without applying a separate external force to the bending adjuster.

Additionally, it is possible to prevent the bending adjuster from being separated from the tube due to a pushing force.

Figure 1 (a) is a perspective view showing a medical end effector formed of a soft material according to an embodiment of the present invention, and (b) is a perspective view showing the bent form of (a).
FIG. 2 is a plan view of (a) in FIG. 1 viewed from above to below.
Figure 3 is an example of disassembling the tube and bending adjuster in (a) of Figure 1 and projecting the tube.
Figures 4 (a) and (b) are perspective views showing that the bending adjuster of Figures 1 (a) and (b) is in the form of a wire.
Figure 5 is a projection perspective view showing a curved portion and a curved protrusion formed in the insertion hole and the bending adjuster, respectively, according to an embodiment of the present invention.
Figure 6 is a partial cross-sectional view of Figure 5 viewed from the front.
Figure 7 is an exploded view of Figure 5.
FIG. 8 is a perspective view showing that when the bending adjuster of FIG. 5 is in the form of a wire, a bent portion and a bending protrusion are formed in the insertion hole and the bending adjuster, respectively.
Figure 9 is a perspective view showing a fixing assembly formed on a medical end effector made of a soft material according to an embodiment of the present invention.
Figure 10 is a perspective view showing the fixing assembly of Figure 9.
Figures 11 (a) and (b) are partial cross-sectional views of the operation of the fixing assembly of Figure 9 viewed from downward to upward.
Figures 12 (a) to (c) are perspective views showing the operation of the fixing assembly of Figure 9.
Figure 13 is a perspective view showing the pad formed in Figure 10.
Figure 14 is a perspective view showing a fixing assembly formed when the bending adjuster of Figure 9 is in the form of a wire.
Figure 15 is a perspective view showing a guard plate and a guard cap formed on a medical end effector made of a soft material according to an embodiment of the present invention.
Figure 16 is a partial cross-sectional view of Figure 15 viewed from the front.
Figure 17 is a perspective view showing the guard plate and guard cap of Figure 15.
FIG. 18 is a perspective view showing a guard plate and a guard cap formed when the bending adjuster of FIG. 15 is in the form of a wire.

Since the present invention can make various changes and take various forms, specific embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the existence of a combination of features, numbers, steps, components, etc. described in the specification, but are not limited to one or more other features or numbers, It should be understood that the existence or addition possibility of combinations of steps, components, etc. is not excluded in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless clearly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Here, repeated descriptions, known functions that may unnecessarily obscure the gist of the present invention, and detailed descriptions of configurations are omitted. Embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 18.

Figure 1 (a) is a perspective view showing a medical end effector formed of a soft material according to an embodiment of the present invention, (b) is a perspective view showing the bent form of (a), and Figure 2 is a perspective view of the medical end effector formed of a soft material according to an embodiment of the present invention. (a) is a plan view viewed from above, and Figure 3 is an example of disassembling the tube and bending adjuster of Figure 1 (a) and projecting the tube, and Figures 4 (a) and (b) are This is a perspective view showing that the bending adjuster in Figures 1 (a) and (b) is in the form of a wire.

The medical end effector 1 (hereinafter abbreviated as 'end effector') formed of a soft material according to an embodiment of the present invention is used in the body in a state in which tips (not shown) such as forceps, drills, cameras, etc. are combined. It is a surgical instrument that can be inserted into the body to perform various procedures.

However, the end effector 1 is not limited to surgical instruments, and can be used for various tasks that require a long, thin tube to be inserted into a narrow conduit.

1 to 3, the end effector 1 includes a tube 100 that extends long so that it can be inserted into the body, and a bending adjuster 200 that is inserted into the tube 100 to bend the tube 100. It can be included.

First, the tube 100 is made of a soft material and is formed in the form of a long tube. One side is formed with a flat joint surface 110, and an insertion hole 120 is formed along the longitudinal direction on the other side, and the joint surface A plurality of cutting patterns 130, in which the outer peripheral surface excluding 110 is cut, may be formed at regular intervals along the longitudinal direction.

Here, the soft material is preferably made of plastic such as PVC, PE, or PUR, but is not limited to this and can be formed of various types of soft materials.

Additionally, the thickness of the joining surface 110 of the tube 100 may be thinner than the thickness of the other surface where the insertion hole 120 is formed.

Specifically, as shown in FIG. 2, the tube 100 extends in an arc from both sides of the joint surface 110 to form a tube, and the thickness is gradually increased up to the position where each arc is connected. You can.

Accordingly, the tube 100 can be more easily bent in the direction in which the joining surface 110 is formed.

Additionally, the insertion hole 120 may be formed in communication with the hollow central hole 140 of the tube 100.

Here, tips such as forceps, drills, cameras, etc. may be coupled to the top of the central hole 150 according to the user's request.

In addition, the overall diameter of the tube 100 is reduced to minimize long surgical incision scars left at surgical sites such as knees, shoulders, wrists, and ankles.

Additionally, as shown in FIG. 3, the insertion hole 120 may be formed to penetrate from the top to the bottom of the tube 100 along the longitudinal direction of the tube 100.

In addition, the cutting pattern 130 is preferably formed on the upper side, and more preferably, may be formed upward from the middle of the tube 100, but is not limited to this and can be adjusted to the length of the tube 100 according to the user's request. It can be formed in various locations along the direction.

Accordingly, the cutting pattern 130 of the tube 100 may be spread and bent around the joining surface 110.

Next, the bending adjuster 200 is made of an elastic material and is formed in a shape corresponding to the insertion hole 120, and can be inserted into the insertion hole 120 so that its upper end is fixed to the top of the tube 100.

Here, the elastic material is preferably stainless steel, but may be made of various types of elastic materials with a high elastic modulus.

Additionally, the bending adjuster 200 may be fixed to the insertion hole 120 by welding, but the fixing method is not limited to this and can be fixed in various ways.

Additionally, the bending adjuster 200 may be formed to be longer than the length of the tube 100 and be exposed to the bottom of the insertion hole 120.

Accordingly, the user applies an external force to push the exposed bending adjuster 200 upward, and a force point is created at the top of the bending adjuster 200 fixed at the top, so that the bending adjuster 200 moves toward the joint surface 110. The shape may be deformed by bending in one direction.

Conversely, when the external force pushing the bending adjuster 200 upward is removed, the shape and position of the bending adjusting body 200 can return to their initial shape and initial position.

Additionally, the bending adjuster 200 may be formed of a leaf spring or elastic wire.

Specifically, the bending adjuster 200 may be formed in the form of a leaf spring as shown in FIGS. 1 to 3.

Also, referring to FIG. 4, the bending adjuster 200 may be formed in the form of an elastic wire.

However, this is only an example in which the shape of the bending adjuster 200 can be selected and used depending on the purpose of the end effector 1, and the shape is not limited, and may be formed in various shapes.

To summarize, when the end effector 1 applies an external force that pushes the bending adjuster 200 inserted into the insertion hole by the user, the bending adjusting body 200 pushes the tube 100.

At this time, as the bending adjuster 200 is bent and deformed by the pushing force, the cutting pattern 130 spreads, and the tube 100 is bent like the bending adjusting member 200.

Conversely, when the pushing force is removed, the bending adjuster 200 returns to its initial shape and position, and the cutting pattern 130 may also return to its initial shape.

Accordingly, the end effector 1 can steer the direction of the coupled tip when inserted into the body according to the user's request.

In addition, the end effector 1 has a simple structure and can be mass-produced, thereby reducing the production cost of the end effector 1 and increasing production volume.

Accordingly, the user can prevent the occurrence of infection due to reuse of the end effector (1) by discarding the end effector (1) immediately after use and using it for one-time use.

Figure 5 is a projection perspective view showing a curved portion and a curved protrusion formed in the insertion hole and the bending adjuster, respectively, according to an embodiment of the present invention, Figure 6 is a partial cross-sectional view of Figure 5 viewed from the front, and Figure 7 is a cross-sectional view of Figure 5. This is an exploded view, and FIG. 8 is a perspective view showing that when the bending adjuster of FIG. 5 is in the form of a wire, a bent portion and a bending protrusion are formed in the insertion hole and the bending adjuster, respectively.

Referring to Figure 5, the insertion hole 120 and the bending adjuster 200 of the end effector 1 according to an embodiment of the present invention may be formed with a bent portion 121 and a bent protrusion 210, respectively.

Specifically, referring to FIG. 6, the insertion hole 120 may have curved portions 121 continuously formed along the longitudinal direction on the inner surface.

At this time, the bent portion 121 is preferably formed in a gentle shape so that the bending adjuster 200 can be inserted.

Additionally, the bent portion 121 may be formed in one or more directions among front, rear, left, and right.

Additionally, referring to FIG. 7 , the bending adjuster 200 may include curved protrusions 210 formed continuously along the longitudinal direction on the outer surface to correspond to the bent portion 121 .

Specifically, the curved protrusion 210 may be formed so that its initial position is located in the valley of the curved portion 121.

At this time, it is desirable that the curved protrusion 210 and the curved portion 121 completely contact each other so that no gap is formed.

Additionally, referring to FIG. 8 , as another example of the bending adjuster 200, when it is formed in the form of an elastic wire, the bending portion 121 and the bending protrusion 210 may be formed.

Accordingly, the end effector 1 causes the bending adjuster 200 to engage the bending portion 121 and the bending protrusion 210 on the tube 100 by the pushing force, so that the force point concentrated at the top of the tube 100 is applied to the bending portion. It can be distributed by (121) and curved protrusion (210).

In addition, when the end effector 1 is further inserted while the bending adjuster 200 is fixed to the top of the tube 100 by a pushing force, the bending protrusion 210 is inserted while being caught along the bending portion 121. It is possible to prevent the bending adjuster 200 from being inserted suddenly.

On the contrary, when the pushing force of the end effector 1 is removed and the bending adjuster 200 returns to its initial position, the bending protrusion 210 hangs along the bending portion 121, causing the bending adjuster 200 to suddenly move. This can prevent it from returning.

As a result, damage to the end effector 1 and accidents caused by sudden changes in the end effector 1 can be prevented.

Figure 9 is a perspective view showing a fixing assembly formed on a medical end effector made of a soft material according to an embodiment of the present invention, and Figure 10 is a perspective view showing the fixing assembly of Figure 9, and (a) and (in Figure 11). b) is a partial cross-sectional view showing the operation of the fixing assembly in FIG. 9 from bottom to top, FIG. 12 (a) to (c) is a perspective view showing the operation of the fixing assembly in FIG. 9, and FIG. 13 is a pad in FIG. 10. is a perspective view showing the formation, and FIG. 14 is a perspective view showing the fixing assembly being formed when the bending adjuster of FIG. 9 is in the form of a wire.

Referring to FIG. 9, the end effector 1 according to an embodiment of the present invention may further include a fixing assembly 300.

The fixing assembly 300 is formed to extend from the lower surface of the tube 100 where the insertion hole 120 is formed, and can fix the bending adjuster 200.

Specifically, referring to FIG. 10 , the fixing assembly 300 may include a fixing assembly housing 310 and a fixture 320 .

First, the fixed assembly housing 310 may be formed in a form in which only a portion of the tube 100 extends, but is not limited to this, and may be formed in a form in which only a part of the tube 100 extends to the lower surface, a form in which the entire tube 100 extends, etc., and an insertion hole. It can be formed by extending into various shapes based on the part where (120) is formed.

Here, the fixed assembly housing 310 may be formed with a connection hole 311 penetrating in the vertical direction at a position corresponding to the insertion hole 120.

Specifically, the connection hole 311 may be formed in a size corresponding to the insertion hole 120.

Accordingly, the bending adjuster 200 may pass through the connection hole 311 and be inserted into the connected insertion hole 120.

In addition, the fixed assembly housing 310 is formed with a receiving groove 312 that communicates with the connection hole 311 upwardly on the lower surface and provides a receiving space 312S therein, and a fixing protrusion is formed on the lower surface of the receiving space 312S. (313) can be formed.

Specifically, the receiving groove 312 accommodates the fixture 320 and may be formed to a size that allows the fixture 320 to rotate within the receiving groove 312.

Additionally, coupling grooves 312a to which the fixture 320 is coupled may be formed on both inner surfaces of the receiving groove 312.

At this time, the coupling grooves 312a are preferably formed in front of both inner surfaces of the receiving groove 312 for rotation and fixation of the fixture 320, but are not limited to this and are formed on various inner surfaces of the receiving groove 312. It can be formed in position.

Additionally, the fixing protrusion 313 may be formed in various shapes, such as a horizontally laid polyhedron or a cylinder.

Next, the fixture 320 may be formed in the shape of a plate and positioned in the receiving groove 312.

Here, the fixture 320 is formed with a fixing groove 321 corresponding to the fixing protrusion 313, and has axial protrusions 322 formed on both sides so that it can be coupled to the fixing assembly housing 310.

Specifically, the shaft protrusion 322 may be inserted into the coupling groove 312a and coupled to the fixing assembly housing 310 with the fixture 320 positioned in the receiving groove 312.

Additionally, the shaft protrusion 322 may be formed to a size smaller than the size of the coupling groove 312a, but may be formed to a size that prevents the shaft protrusion 322 from spinning around.

Accordingly, the fixture 320 can be rotated around the shaft protrusion 322.

Additionally, the fixing groove 321 may be formed at the top of the surface of the fixture 320 facing the fixing assembly housing 310.

Meanwhile, the fixture 320 can fix the bending adjuster 200 by rotating within the receiving space 312S.

Specifically, the fixture 320 can press and fix the bending adjuster 200 by rotating it 90° in the direction of the fixing protrusion 313 in an upright state.

At this time, the rotation angle of the fixing protrusion 313 is preferably between 0° and 90°, but is not limited to this and may be rotated at various angles.

More specifically, referring to Figures 11 (a) and (b), Figure 11 (a) shows the fixture 320 in an upright state.

At this time, the fixture 320 may not interfere with the operation in which the bending adjuster 200 is further inserted in an upright state.

In addition, (b) of FIG. 11 shows a state in which the fixture 320 is rotated to press the bending adjuster 200.

At this time, the fixing protrusion 313 can be inserted into the fixing groove 321 of the fixture 320 and fixed to maintain the pressed state.

To summarize the operation of the fixing assembly 300 with reference to (a) to (c) of FIGS. 12, (a) is the state before the fixing assembly 300 operates.

Next, (b) in FIG. 12 is in a state in which the bending adjuster 200 is further inserted and the tube 100 is bent. At this time, the bending adjusting member 200 can pass through the fixed assembly housing 310.

Next, Figure 12 (c) shows a state in which the fixture 320 rotates and presses the bending adjuster 200 in the state of Figure 12 (b).

The operation described above is only an example to aid understanding, and the fixing assembly 300 can fix the bending adjuster 200 according to the user's request regardless of the degree of insertion of the bending adjusting body 200.

Accordingly, the fixing assembly 300 can be conveniently used while maintaining the changed bent shape of the end effector 1 without the user applying a separate external force according to the user's request.

Additionally, referring to FIG. 13 , the fixing assembly 300 described above may further include a pad 330.

The pad 330 is located on the upper surface of the fixture 320, and one or more contact protrusions 331 may be formed.

At this time, the pad 330 is made of a wear-resistant material that can withstand friction well, thereby preventing damage to the bending adjuster 200 due to friction.

Additionally, the pad 330 can be detached from the fixture 320 and replaced.

The pad 330 can be fixed by pressing the bending adjuster 200 according to the rotation of the fixture 320.

Specifically, the pad 330 may press the bending adjuster 200 by having a contact protrusion 331 come into contact with the bending adjusting body 200 .

Accordingly, the pad 330 can maintain the changed bending shape of the end effector 1 more stably by strengthening the intensity with which the fixture 320 presses the bending adjuster 200.

Additionally, referring to FIG. 14 , the fixing assembly 300 may be formed even when the bending adjuster 200 is formed in the form of an elastic wire as an example of another form.

Figure 15 is a perspective view showing a guard plate and a guard cap formed on a medical end effector made of a soft material according to an embodiment of the present invention, Figure 16 is a partial cross-sectional view looking at Figure 15 from the front, and Figure 17 is a view of Figure 15 It is a perspective view showing a guard plate and a guard cap, and FIG. 18 is a perspective view showing the guard plate and guard cap being formed when the bending adjuster of FIG. 15 is in the form of a wire.

15 to 17, the end effector 1 according to an embodiment of the present invention may further include a guard plate 400 and a guard cap 500.

First, the guard plate 400 is to prevent the bending adjuster 200 from being separated, and is formed on the top of the insertion hole 120 in the form of a plate corresponding to the insertion hole 120, with plate protrusions on both sides. (410) may be formed.

Specifically, the guard plate 400 may be formed with its upper surface exposed to the outside of the tube 100 and with plate protrusions 410 inserted into both inner surfaces of the insertion hole 120.

Accordingly, when an external force pushing upward is applied to the bending adjuster 200, the guard plate 400 can disperse the force.

Specifically, the guard plate 400 can distribute the external force transmitted from the bending adjuster 200 to the entire tube 100 through the plate protrusion 410.

Next, the guard cap 500 is located below the guard plate 400 and may be formed in a shape corresponding to the insertion hole 120.

In addition, the guard cap 500 has a closed upper surface and an open lower surface to form an insertion space (not shown) into which the bending adjuster 200 is inserted, and cap protrusions 510 may be formed on both sides.

Specifically, the guard cap 500 may be formed with cap protrusions 510 inserted into both inner surfaces of the insertion hole 120 at a position adjacent to the guard plate 400.

Accordingly, when an external force pushing upward is applied to the bending adjuster 200, the guard cap 500 can disperse the force.

Specifically, the guard cap 500 can distribute the external force transmitted from the bending adjuster 200 to the entire tube 100 through the cap protrusion 510.

Additionally, referring to FIG. 18 , as an example of another form of the bending adjuster 200, the guard plate 400 and the guard cap 500 may be formed even when the bending adjuster 200 is formed in the form of an elastic wire.

Accordingly, the guard cap 500 primarily prevents the bending adjuster 200 from being separated from the tube 100, and the guard plate 400 prevents the bending adjuster 200 from separating from the tube 100. It can be prevented secondarily.

Because of this, the guard plate 400 and the guard cap 500 can prevent medical accidents that may occur due to separation of the bending adjuster 200.

The embodiments of the present invention described above are not implemented only through devices, but may also be implemented through devices for realizing functions corresponding to the configurations of the embodiments of the present invention, components included in the devices, etc., and such implementations can be easily implemented by an expert in the technical field to which the present invention belongs based on the description of the above-described embodiments.

In addition, although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements can also be made by those skilled in the art using the basic concept of the present invention defined in the following claims. It falls within the scope of invention rights.

1: Medical end effector made of soft material
100: tube
110: joint surface
120: insertion hole
121: bend part
130: Cutting pattern
140: central hall
200: bending adjuster
210: curved protrusion
300: Fixed assembly
310: Fixed assembly housing
311: connection hole
312: Accommodation groove
312a: engaging groove
312S: Accommodation space
313: fixing protrusion
320: fixture
321: fixed groove
322: axis protrusion
330: pad
331: contact protrusion
400: Guard plate
410: plate protrusion
500: Guard cap
510: Cap projection

Claims (6)

It is made of a soft material and is formed in the form of a long tube. One side is formed as a flat joint surface, and an insertion hole is formed along the longitudinal direction on the other side, and the cutting pattern in which the outer peripheral surface excluding the joint surface is cut runs in the longitudinal direction. A plurality of tubes are formed at regular intervals along the
It is formed of an elastic material in a shape corresponding to the insertion hole, and includes a bending adjuster that is inserted into the insertion hole and whose upper end is fixed to the top of the tube,
Characterized in that the cutting pattern is spread and the tube is bent by the force of the bending adjuster inserted into the insertion hole to push the tube,
A medical end effector formed of a soft material extending from a lower surface of the tube where the insertion hole is formed, and further comprising a fixing assembly for fixing the bending adjuster.
According to clause 1,
The bending adjuster is,
A medical end effector made of a soft material, characterized in that it is formed of a leaf spring or elastic wire.
According to clause 1,
The insertion hole is,
Bent portions are formed continuously along the longitudinal direction on the inner surface,
The bending adjuster is,
A medical end effector made of a soft material, characterized in that it includes curved protrusions continuously formed along the longitudinal direction on the outer surface to correspond to the curved portion.
According to clause 1,
The fixing assembly is,
A connection hole penetrating in the vertical direction is formed at a position corresponding to the insertion hole, and a receiving groove is formed on the lower surface to communicate with the connection hole upwardly to provide a receiving space therein, and a fixing protrusion is formed on the lower surface of the receiving space. A fixed assembly housing formed and
A fixture is formed in the shape of a plate and positioned in the receiving groove, has a fixing groove corresponding to the fixing protrusion, has axial protrusions formed on both sides, and is coupled to the fixing assembly housing,
The fixture is,
A medical end effector formed of a soft material, characterized in that it rotates within the receiving space to fix the bending adjuster.
According to clause 4,
The fixing assembly is,
Located on the upper surface of the fixture, it includes a pad on which one or more contact protrusions are formed,
The pad is,
A medical end effector made of a soft material, characterized in that the bending adjuster is pressed and fixed according to the rotation of the fixture.
According to clause 1,
The end effector is,
A guard plate formed at the top of the insertion hole in the form of a plate corresponding to the insertion hole and having plate protrusions on both sides, and
It is located below the guard plate and is formed in a shape corresponding to the insertion hole, the upper surface is closed and the lower surface is open to form an insertion space into which the bending adjuster is inserted, and includes a guard cap with cap protrusions formed on both sides; ,
A medical end effector made of a soft material, wherein the guard plate and the guard cap prevent the bending adjuster from being separated from the insertion hole.

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