KR20100078551A - Flexible surgical instrument - Google Patents

Abstract

PURPOSE: An instrument for a flexible operation is provided to smoothly perform the operation by preventing urge in the operation using the several instruments. CONSTITUTION: A first bending unit for bending is formed on random location of a shaft. User covers the first banding unit to a cover unit(130) in a bending state of the first banding unit with arbitrary angle. A coupler(110) is not each other collided by covering up the first bending unit to the cover unit. The cover unit comprises the flexible structure or rigid structure. One end of a shaft front-end unit is combined with the coupler. The shaft front-end unit is combined with the first bending unit of the cover unit. One end of a shaft back-end unit(140) is combined with the first bending unit. The shaft back-end unit is expanded as a second longitudinal direction formed the shaft front-end unit and predetermined angle.

Description

Flexible surgical instrument {Flexible surgical instrument}

TECHNICAL FIELD The present invention relates to medical devices, and more particularly to surgical instruments.

Medically, surgery means repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with medical devices. In particular, open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, surgery or using a robot (robot), which is performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgical microscope, etc. by forming a predetermined hole in the skin, has been spotlighted as an alternative.

In particular, the surgical robot is composed of a master robot that generates and transmits a signal required by a doctor's operation, and a slave robot that receives a signal from a master robot and directly applies a manipulation required to a patient. Robots and slave robots are integrated or configured as separate devices and placed in the operating room.

The slave robot has a robot arm for operation for surgery, and an instrument is mounted on the tip of the robot arm. A conventional instrument 54 that cooperates with a robot arm includes a coupler 110 that includes a housing 108 and an interface portion, a shaft 102 extending from the housing 108, and a shaft 102, as shown in FIG. 1. It is mounted to the end 106 of the) is made of a manipulator 112 in the form of a forceps to be inserted into the surgical site, the interface portion is formed on the bottom of the housing 108.

A plurality of driving wheels (not shown) are coupled to the bottom of the conventional instrument 54, and the wires connected to the respective parts of the operator 112 are pulley-coupled to the driving wheels to tension the wires by rotation of the driving wheels. By applying this, each part of the operator 112 is moved to pick up or cut the surgical site.

However, such a surgical instrument is suitable for surgery that drills multiple holes, such as laparoscopic surgery, but not for surgery that only drills one hole. For example, in single port access (SPA) surgery or microsurgery, surgery is performed by inserting both a vision system (laparoscopic, microsurgical microscope, etc.) and surgical instruments into one hole. Doing. At present, micro surgery, for example, limb conjugation, spinal surgery, brain surgery, etc., do not drill multiple holes, but only one hole or 1-2 cm, and then the operation is performed by inserting a microscope and surgical instrument. I have been. For such microsurgery or SPA surgery, there was a disadvantage that movement was not free with existing surgical instruments (including robotic surgery). That is, when several surgical instruments are put into one hole or a small 짼 part, the instrument housing 108, that is, the couplers collide with each other, has such a problem that it is inconvenient to use a conventional surgical instrument. In addition, according to the prior art, a user using a surgical instrument does not bend or straighten the shaft 102 arbitrarily, there is a problem that the user does not use conveniently and efficiently.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

The present invention is to provide a flexible surgical instrument that can be operated without colliding with each other when the user can be bent or unfolded arbitrarily.

In addition, the present invention is to provide a flexible surgical instrument having a variety of uses depending on the setting of the length.

Technical problems other than the present invention will be easily understood through the following description.

According to an aspect of the present invention, in the flexible surgical instrument coupled to the operator in contact with the surgical site at one end, the drive for operating the operator at the other end, one end is coupled to the drive and extend in a predetermined length direction A flexible surgical instrument is provided that includes a shaft having a bent portion that can be bent and a cover portion that receives the bending portion of the shaft.

The distance between one end of the shaft and the bending part may be different from the distance between the other end of the shaft and the bending part, and the bending part may be bent by a force applied by the user.

In addition, according to another embodiment of the present invention, in the flexible surgical instrument coupled to the operator in contact with the surgical site at one end, the driving unit for operating the operator at the other end, the one end is coupled to the drive and a predetermined length A flexible surgical instrument is provided that includes a shaft extending in a direction, the shaft being formed to be flexible, and a cover portion for receiving a bent portion of the shaft to maintain a curved angle of the shaft.

The shaft may be formed of a flexible material or may have a flexible structure, in which case the shaft may be a corrugated pipe formed of metal or synthetic resin.

The cover portion may be flexible or rigid, and the cover portion may be detachable to the shaft.

The driving unit may be a coupler having a driving wheel that receives the driving force from the surgical robot arm to which the flexible surgical instrument is coupled.

In addition, according to another aspect of the present invention, in the instrument mounted to the front end of the surgical robot arm provided with an actuator, a coupler having a driving wheel that is operated by receiving a driving force from the actuator, one end is coupled to the coupler A manipulator which extends in a predetermined length direction and which can be bent, a cover part which receives the bent part of the shaft to maintain the bent angle of the shaft, and which is coupled to the other end of the shaft and inserted into the body of the surgical patient Provided is a flexible robotic surgical instrument that includes.

Here, the shaft may include a first bent portion that can be bent, the cover portion may accommodate the first bent portion, and the shaft may be formed of a flexible material or have a flexible structure.

Here, the shaft may be a corrugated pipe formed of metal or synthetic resin, and the cover part may include an angle adjuster that adjusts an angle of bending corresponding to the bent portion of the shaft.

In addition, the angle adjuster may be a stopper or a screw, and the shaft may be rotatable about an extended longitudinal direction.

The separation distance between one end of the shaft and the bent portion may be different from the separation distance between the other end and the bent portion of the shaft.

The driving wheel is formed in a disc shape, and may be clutched to the actuator to receive the driving force.

In addition, the flexible robot surgical instrument according to the present embodiment is placed between the shaft and the operator, and may further include a second bend that can be bent, the driving wheel is tensioned so that the second bend in a predetermined direction The applying wire can be coupled.

According to yet another embodiment of the present invention, a tubular cannula includes a trocar housing including a housing hole coupled to one end of the cannula and connected to an opening of the cannula, wherein the cannula is bent. A medical trocar is provided which is flexible for insertion of a surgical instrument comprising a losing shaft.

The trocar housing may include a drive valve to which a wire for applying tension to bend the cannula in a predetermined direction is coupled, and the drive valve is operated by receiving a driving force from a surgical robot arm to which the surgical instrument is coupled. It can be operated by a drive wheel.

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

The flexible surgical instrument according to the present invention can be bent or unfolded by the user at random, so that the operation can be performed without colliding with each other when using multiple pieces, and there is an effect of having various use forms according to the setting of the length.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. In the following description of the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Figure 2 is a perspective view showing a flexible surgical instrument according to an embodiment of the present invention. 2, the coupler 110, the shaft front end 120, the cover 130, the shaft rear end 140, and the operator 150 are illustrated.

The present embodiment is characterized by having a structure that allows the user to bend the shaft by the force applied by the user so that several surgical instruments do not collide with each other during the actual operation, so that the operation can be performed smoothly. That is, by providing a first bending portion that can be bent at any position, for example, an intermediate position of the shaft, the user bends it at an arbitrary angle during surgery, and then covers the first bending portion with the cover portion 130 to thereby couple the coupler. Do not allow the 110 to collide with each other. The first bending part may be accommodated in the cover part 130 and used for surgery in a bent state.

Cover portion 130 may be formed of a removable structure. For example, the cover part 130 is tubular bent at a predetermined angle, and may be divided into two members so as to divide the tubular cross section. In this case, when the user bends the first bending part at a desired angle, the cover part 130 may be positioned to cover the first bending part by selecting the cover part 130 corresponding to the bent angle.

In addition, the cover unit 130 may be flexible or rigid. When the cover part 130 is flexible, the user may bend the shaft at a predetermined angle by applying a force to the first bending part while the cover part 130 accommodates the first bending part. To this end, the cover 130 may be formed of a material having a bending property when applying a force of a predetermined force or more. When the cover part 130 is rigid, the user may bend the first bending part at a predetermined angle and then cover the first bending part with the cover part 130 which is not bent in order to preserve this state.

In addition, according to another embodiment, the first bending part may not be provided only at a specific point of the shaft, but may be formed of a material or a structure in which the entire shaft may be bent. In this case, the bent position is referred to as a first bending part, and the first bending part may be accommodated in the cover part 130 to maintain the bent shape.

The flexible surgical instrument according to the present embodiment can be used for robotic surgery or manual surgery. In the former case, the surgical instrument is mounted to the distal end of the surgical robot arm provided with an actuator, and a driving wheel (not shown) provided in the coupler 110 is operated by receiving a driving force from an actuator provided in the robot arm. The operator 150 connected to the wheel and inserted into the body of the surgical patient performs a predetermined operation to perform a surgery. The drive wheel is formed in a disc shape, and can be clutched to the actuator to receive the driving force. In addition, the number of driving wheels may be determined corresponding to the number of objects to be controlled, and the description of such driving wheels will be apparent to those skilled in the art related to surgical instruments, and thus detailed description thereof will be omitted.

In addition, in the latter case, instead of the coupler 110, a predetermined drive unit (not shown), for example, an interface (stick shape, button shape, tong shape, lever shape, etc.) which can be directly manipulated by a doctor, is provided. When the manipulator is connected to the corresponding interface and inserted into the body of the surgical patient, the operator 150 performs the operation by performing a predetermined operation. The following description will be based on the former.

One end of the shaft front end portion 120 couples with the coupler 110 and extends in a predetermined first length direction to engage with the first bending portion accommodated in the cover portion 130. One end of the shaft rear end 140 is coupled to the first bending part and extends in a second longitudinal direction forming a predetermined angle with the shaft front end 120.

Here, the first longitudinal direction and the second longitudinal direction are different directions, and the angles they form are adjustable within a range that is highly applicable in actual surgery. Since the shaft front end portion 120 extends in the first longitudinal direction, and the shaft rear end portion 140 extends in the second longitudinal direction, when the plurality of surgical instruments are used in surgery, the plurality of couplers 110 are mutually inclined. The chance of collision is small. Therefore, it is possible to apply the surgical instrument and robot surgery to the micro-surgery and the SPA surgery described above. In particular, when the surgical instrument has a structure extended by bending in the first direction and the second direction as described above, when combined with the robot arm, the installation direction of the robot arm, the extension direction of the surgical instrument, etc. are compared with the prior art. Since it is much more freely and is implemented similarly to surgery using both arms from the point of view of the actual operating user, there is an advantage that can bring a new surgical technique compared to the conventional.

In this embodiment, a wire connecting the driving wheel and the operator 150 may be used. That is, when the driving wheel is rotated, the wire coupled thereto is contracted or relaxed to control the operation of the operator 150. The number of driving wheels may be determined corresponding to the number of wires and the structure for controlling the operation of the operator 150.

The operator 150 is coupled to the other end of the shaft rear end 140 and is inserted into the body of the surgical patient. The operator 150 is a member in contact with the surgical site during the actual surgery. The operator 150 of the surgical instrument includes a pair of jaws for performing a grip or cutting operation. In addition, the entire operator 150 may be configured to rotate in conjunction with the rotation of the shaft rear end 140.

In this case, the driving wheel of the driving unit may be coupled to the pair of jaws and pulleys. The drive wheel and the pair of jaws can be coupled to one another in various ways, for example, a pair of wires to each jaw, a pair of wires to a pair of jaws, etc. Can be. Referring to the latter case, as the drive wheel rotates, the driving force is transmitted through the wire, so that the pair of jaws perform the tong or cutting operation. In order to move a pair of jaws through a pair of pulley wires, a pair of jaws are connected to each other by gears, and a pulley wire is coupled to one of a pair of jaws or a pair of jaws combined to drive force. Can be passed. In addition, a variety of mechanisms can be applied to use a pair of pulleys to force a pair of jaws to move the tongs.

The shaft may rotate in a first longitudinal direction in which the shaft front end portion 120 extends. In this case, the shaft rear end 140 may rotate as a whole corresponding to the rotation of the shaft front end 120 in a state extending in the second longitudinal direction.

In addition, according to another embodiment, the shaft front end portion 120 and the shaft rear end portion 140 may be coupled to each other such that the shaft rear end portion 140 is rotatable in the above-described second longitudinal direction about the first bending portion. . For example, the shaft front end 120 and the shaft rear end 140 may be bearing-coupled to each other. Here, the bearing coupling is a coupling that enables a smooth rotational movement by reducing the friction force between the shaft front end 120 and the shaft rear end 140.

A separate wire may be coupled to one end of the driving wheel and the other end may be coupled to the shaft rear end 140 to enable the rotation of the shaft rear end 140. The manner in which the wire is coupled to the shaft rear end 140 may vary, for example, the way in which the wire is wound around the shaft rear end 140 and the wire is fixed to an arbitrary point of the shaft rear end 140. Way, and so on. In addition, various mechanisms capable of rotating the shaft rear end 140 using a wire may be applied to the present embodiment.

The shaft front end 120 and the shaft rear end 140 are coupled to each other so that the shaft rear end 140 can rotate in the second longitudinal direction as described above. In this specification, such a coupling method is collectively referred to as a bearing coupling, where the bearing coupling is a coupling structure such as, for example, a ball bearing, a roll bearing, a plate bearing, as well as a screw coupling and a shaft having a second longitudinal axis. It includes various coupling structures such as a coupling structure through a coupling member accommodated in a groove formed on the outer circumferential surface while surrounding the outer circumferential surface of the rear end 140. The bearing coupling has a rotatable structure such that the shaft rear end 140 can be bent in the above-described second longitudinal direction, and various bearing couplings may be applied to the present embodiment.

Figure 3 is a perspective view showing the bending portion of the flexible surgical instrument according to an embodiment of the present invention. Referring to FIG. 3, which shows the enlarged area A, the shaft front end 120, the cover 130, the first wire 132, the first bending part 135, and the shaft rear end 140 are illustrated.

The first wire 132 is coupled to the driving wheel and the operator 150 so that the operator 150 can move by the operation of the driving wheel. The first wire 132 is coupled to the driving wheel by the pulley and proceeds in one direction corresponding to the rotation of the driving wheel, and the operator 150 performs a predetermined operation in accordance with the traveling direction. In order for the first wire 132 to be coupled to the driving wheel and the operator 150, a hole may be formed inside the first bending part 135 in an extending direction thereof, and the first wire 132 may penetrate the hole. Can be extended.

In addition, according to another embodiment, one end of the first wire 132 is coupled to a portion of the drive wheel, the other end is coupled to a portion of the operator (150). The first wire 132 is contracted or relaxed by the rotational motion of the drive wheel, and the operator 150 performs a predetermined motion, for example, a forceps motion or a cutting motion, corresponding to the motion.

The first bending part 135 is formed of a structure or material that can be bent. For example, the first bending part 135 may include a plurality of joint parts spaced apart from each other, and may have a structure that may be bent when a predetermined force acts in a specific direction. In addition, the first bending part 135 may be formed of a material having strong bending property such as a synthetic resin tube. In addition, as described above, the entire shaft may be formed of a structure or a material that can be bent, and the shape can be maintained by covering the bent point with the cover 130 described above.

4 and 5 are diagrams illustrating the use of a flexible surgical instrument according to embodiments of the present invention. 4 and 5, the couplers 110a and 110b, the shaft front ends 120a and 120b, the cover parts 130a and 130b, the shaft rear ends 140a and 140b, the operator 150a and 150b, and surgery The object 310 is shown.

Referring to FIG. 4, two flexible surgical instruments according to the present embodiment are inserted into one hole formed in the surgical object 310, and in this case, the cover parts 130a and 130b are not inserted into the hole and are operated. Located outside the object 310. In this case, the shaft front ends 120a and 120b coupled to the shaft rear ends 140a and 140b extend in different directions, respectively, so that the couplers 110a and 110b do not collide with each other. In this case, the lengths of the shaft rear ends 140a and 140b may be greater than the lengths of the shaft front ends 120a and 120b. Laparoscopy may be inserted in the case of laparoscopic surgery, and a microscope may be inserted in the case of microsurgery, but such a vision system such as a microscope and a laparoscope is not shown for convenience of description.

In addition, referring to FIG. 5, two flexible surgical instruments according to the present embodiment are inserted into one hole formed in the surgical object 310, and in this case, the cover parts 130a and 130b are inserted into the holes. It is located inside the surgical object (310). In order to facilitate the surgery in this state, the length of the shaft rear ends 140a and 140b may be smaller than the length of the shaft front ends 120a and 120b. For example, when the length of the shaft rear ends 140a and 140b is smaller than the length of the shaft front ends 120a and 120b during SPA surgery, the operator 150a and 150b may be moved to the surgical site more easily and efficiently. Can be oriented.

Figure 6 is a perspective view showing a flexible surgical instrument according to another embodiment of the present invention. Referring to FIG. 6, the coupler 110, the shaft front end 120, the cover 130, the shaft rear end 140, the operator 150, and the second bending part 610 are illustrated. The difference from the above-described embodiment will be mainly described.

The second bending part 610 is interposed between the shaft rear end 140 and the operator 150 and has a structure that can be bent. Here, the meaning that the second bending part 610 is interposed between the shaft rear end 140 and the operator 150 means that the second bending part is a bending member that can be bent between the shaft rear end 140 and the operator 150. As well as the case in which the portion 610 is formed as a whole, a second bending portion 610, which is a bending member that can be bent at one end of the shaft rear end 140, is provided as shown, and an end portion extending by a predetermined length. It may include the case where the operator 150 is coupled to.

The second bending part 610 forms a predetermined angle with the second longitudinal direction in which the shaft rear end 140 extends, and is formed of a bent structure or material. Similar to the first bending part 135 described above, the second bending part 610 includes a plurality of joint parts spaced apart from each other, and may have a structure that may be bent when a predetermined force acts in a specific direction. The 2nd bending part 610 may be formed of a material having strong bending property such as a synthetic resin tube.

The second bending part 610 is controlled by the operation of the driving wheel. For this purpose, the second bending part 610 and the driving wheel may be connected to each other by a wire. Referring to FIG. 7, which shows the enlarged area B, the second wire 732 connects the driving wheel and the second bending part 610 to control the movement of the second bending part 610 by manipulating the driving wheel. Can be. One end of the second wire 732 is attached to four parts, for example, at 90 degree intervals, inside the second bending part 610, and the other end is coupled to the driving wheel, and the second wire 732 is rotated by the driving wheel. As the wire 732 is contracted or relaxed, the tension may be adjusted to determine the bending angle and direction of the second bending part 610. A driving wheel for manipulating the second bending part 610 may be additionally provided for this operation. In addition, various mechanisms capable of bending the second bending part 610 by using the second wire 732 may be applied to the present embodiment.

When the second bending part 610 is provided in the surgical instrument, the degree of freedom of motion control can be increased to allow for more convenient operation. That is, when the second bending part 610 is provided in FIGS. 4 and 5, the operator 150a and 150b may be more conveniently and efficiently positioned at the surgical site.

8 is a perspective view showing a flexible surgical instrument according to another embodiment of the present invention. Referring to FIG. 8, the coupler 110, the shaft front end 820, the cover 130, the shaft rear end 840, and the operator 150 are shown. Hereinafter, the differences from the above-described embodiment will be mainly described.

This embodiment is characterized in that the shafts 820 and 840 are implemented in a form that can be bent (flexible) as a whole. To this end, the shafts 820 and 840 may be formed of a structure in which the material itself may be bent or predetermined bend. The shafts 820 and 840 may be bent when a force greater than or equal to a threshold applied by the user may be bent, and may be bent or unfolded at another angle when a force greater than or equal to the threshold is again applied once bent. Here, the threshold force may be greater than or equal to a force that does not flex arbitrarily or bend in other directions when the flexible surgical instrument according to the present embodiment is used for surgery.

For example, the shafts 820, 840 can be corrugated tubes that can be bent. Here, the corrugated pipe may be generally formed of a synthetic resin or a metal, and a coating material made of a synthetic resin material may be covered on the outside thereof.

The cover 130 accommodates the bent portions of the shafts 820 and 840 bent by the user and serves to maintain the bent angles of the shafts 820 and 840. To this end, the cover 130 may have a form that can be fixed in a state bent at a predetermined angle. In this case, various types of cover parts 130 having structures bent at different angles are provided, and after the user determines the angles to bend the shafts 820 and 840 during surgery, the cover parts 130 corresponding to the corresponding angles are provided. By selecting and placing the cover portion 130 at the bent portions of the shafts 820 and 840, the bent angles of the shafts 820 and 840 can be maintained.

Alternatively, according to another embodiment, the cover 130 may also be bent to be flexible. In this case, the extent to which the cover portion 130 is hard and not bent may be greater than that of the shafts 820 and 840. That is, the cover 130 may perform the function of maintaining the degree of bending of the shafts 820 and 840, the force of the above-described threshold of the cover 130 is greater than the force of the threshold of the shaft (820, 840) Can be.

9 is a view showing a cover portion of a flexible surgical instrument according to an embodiment of the present invention. 9, the first cover part 131, the stopper 133, the second cover part 134, the rotation shaft 136, and the binding part 137 are illustrated.

According to the present embodiment, the cover portion 130, which can be bent in a rigid state can be presented. The cover portion 130 has an advantage that can be used to be adjusted according to the angle formed by the shaft (120, 140) of the flexible surgical instrument according to the present embodiment.

The cover 130 includes a first cover 131 extending toward the shaft front end 820, and a second cover 134 extending toward the shaft rear end 840. The first cover part 131 and the second cover part 134 may rotate by hinge coupling about the rotation shaft 136. The stopper 133 may adjust an engagement angle between the first cover part 131 and the second cover part 134 in cooperation with the binding part 137. That is, the stopper 133 is coupled to the first cover portion 131 and a plurality of locking jaws are formed on a predetermined circumference having the rotation shaft 136 as the origin, and the binding portion 137 is coupled to any locking jaw. Thus, the state in which the second cover part 134 is rotated about the rotation shaft 136 may be fixed. To this end, the binding part 137 may be formed to protrude at a predetermined position of the second cover part 134.

Through this structure, the cover part 130 may be fixed while the first cover part 131 and the second cover part 134 maintain a predetermined angle. In addition, the binding part 137 may be screwed with the second cover part 134. For example, when the second cover part 134 is rotated with respect to the first cover part 131, the screwing of the binding part 137 is loosened and rotated. Can be fixed by tightening.

In the above, the case in which the stopper 133 is formed in the first cover part 131 and the binding part 137 is formed in the second cover part 134 has been described, but the stopper 133 is formed in the second cover part 134. ), And the binding unit 137 may be formed in the first cover part 131.

10 is a view showing a coupling structure of a flexible surgical instrument and a medical trocar according to an embodiment of the present invention. Referring to FIG. 10, a coupler 110, a shaft front end 1020, a medical trocar, a shaft rear end 1040, and an operator 150 are shown. The medical trocar may include a trocar housing 1030, an exhaust pipe 1031, a cannula 1032, a driving valve 1034, a third wire 1036, and a third bending part 1037. The difference from the above-described embodiment will be mainly described.

Medical trocars are generally medical instruments used to access the abdominal cavity. During surgery, medical instruments such as laparoscopic and surgical instruments are inserted using a medical trocar. Medical trocar according to the present embodiment may be formed to be flexible in order to insert the above-described flexible surgical instrument.

The cannula 1032 inserted through the skin of the patient may include a third bending portion 1037 that may be bent at a predetermined position. As described above, the third bending part 1037 may be implemented by a predetermined material or structure. In addition, according to another embodiment, the entire cannula 1032 may be formed to be flexible. Such a structure may be implemented similar to the shaft structure of the flexible surgical instrument described above, and thus a detailed description thereof will be omitted. Here, as described above, the threshold force at which the cannula 1032 of the medical trocar can be bent may be greater than the threshold force at which the flexible surgical instrument can be bent, and thus the cannula 1032 is flexible. It is possible to maintain the bent angle of one surgical instrument.

The gas in the human body may be discharged to a predetermined place (eg, a vacuum suction pipe or a medical room vent, etc.) through a cannula 1032, an additional exhaust pipe 1031 that may be additionally provided, and a vacuum connection tube (not shown).

The drive valve 1034 may be provided to adjust the bending angle of the cannula 1032. That is, predetermined internal points of the driving valve 1034 and the cannula 1032 are connected by the third wire 1036, and the tension of the third wire 1036 is caused by the rotation or movement of the driving valve 1034. This adjustment allows the cannula 1032 to bend in a predetermined direction.

That is, one end of the third wire 1036 is attached to the inner part of the cannula 1032 at intervals of 90 degrees, and the other end is coupled to the driving valve 1034 to rotate the driving valve 1034. As described above, it is possible to determine the bending angle and direction of the cannula 1032 by adjusting the tension by contracting or relaxing each third wire 1036 by the movement. In addition, various mechanisms capable of bending the cannula 1032 using the third wire 1036 may be applied to the present embodiment.

In addition, according to another embodiment, the drive valve 1034 may be connected to the drive wheel of the coupler 110 by a predetermined wire. That is, the driving wheel of the coupler 110 is moved by the operation of the actuator of the robot arm, and the driving valve 1034 is controlled correspondingly, so that the cannula 1032 can be bent in a predetermined direction. According to this embodiment, the user has an advantage that can bend the medical trocar arbitrarily using the master robot.

In addition, although FIG. 10 illustrates a medical trocar having one passage into which a medical apparatus is inserted, the present invention is not limited thereto, and the medical trocar according to another embodiment may include a plurality of passages, for example, a single port ( single port) It may be formed with a plurality of passages, such as a plurality of holes are drilled for surgery.

In addition, specific device design for the flexible surgical instrument according to an embodiment of the present invention and a surgical robot operating in connection with it, standardization of common platform technologies such as embedded systems, O / S, communication protocols, I / O interfaces, etc. Detailed descriptions of technologies and component standardization techniques such as actuators, batteries, cameras, sensors, etc. will be omitted since they are obvious to those skilled in the art.

In the above, the flexible surgical instrument according to an embodiment of the present invention described in accordance with one embodiment the configuration of the shaft and the configuration for performing a specific function, but is not necessarily limited to this, the shaft is more detailed If it is divided into or driven in a manner other than the wire, if the overall operation and effect is not different, such other configuration may be included in the scope of the present invention, and those skilled in the art to the following claims It will be understood that various modifications and changes can be made in the present invention without departing from the spirit and scope of the invention as set forth in the following.

1 is a perspective view showing a surgical instrument according to the prior art.

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

Figure 3 is a perspective view of the bending portion of the flexible surgical instrument according to an embodiment of the present invention.

Figure 4 and Figure 5 is a state of use of the flexible surgical instrument according to an embodiment of the present invention.

Figure 6 is a perspective view of a flexible surgical instrument according to another embodiment of the present invention.

Figure 7 is a perspective view of the bending portion of the flexible surgical instrument according to another embodiment of the present invention.

Figure 8 is a perspective view of a flexible surgical instrument according to another embodiment of the present invention.

9 is a view showing a cover portion of a flexible surgical instrument according to an embodiment of the present invention.

10 is a view showing a coupling structure of a flexible surgical instrument according to an embodiment of the present invention and medical trocar.

<Description of the symbols for the main parts of the drawings>

110: coupler 120, 820, 1020: shaft front end

130: cover part 131: first cover part

132: first wire 133: stopper

134: second cover part 135: first bending part

136: rotation axis 137: binding unit

140, 840, 1040: rear end of the shaft 150: operator

310: operation target 610: second bending part

732: second wire 1030: trocar housing

1031: exhaust pipe 1032: cannula

1034: drive valve 1036: third wire

1037: third bending part

Claims (23)

In the surgical instrument coupled to the operator in contact with the surgical site at one end, the drive unit for operating the operator at the other end, A shaft having one end coupled to the driving part, extending in a predetermined length direction, and having a bending part that can be bent; Flexible surgical instrument comprising a cover for receiving the bending portion of the shaft. The method of claim 1, The flexible surgical instrument is different from the one end of the shaft and the bending portion is different from the other end of the shaft and the bending portion. The method of claim 1, The bending part is a flexible surgical instrument that can be bent by the force applied by the user. In the surgical instrument coupled to the operator in contact with the surgical site at one end, the drive unit for operating the operator at the other end, A shaft having one end coupled to the driving part and extending in a predetermined length direction and formed to be flexible; A flexible surgical instrument comprising a cover portion for receiving the bent portion of the shaft to maintain the curved angle of the shaft. The method of claim 4, wherein The shaft is formed of a flexible material or a flexible surgical instrument, characterized in that it has a flexible structure. The method of claim 5, The shaft is a flexible surgical instrument, characterized in that the corrugated pipe formed of metal or synthetic resin. The method according to claim 1 or 4, The cover part is flexible or rigid (rigid), characterized in that the flexible surgical instrument. The method according to claim 1 or 4, The flexible surgical instrument, characterized in that the cover portion detachable to the shaft. The method according to claim 1 or 4, The driving unit includes: Flexible surgical instrument is a coupler is provided with a driving wheel that receives the driving force from the surgical robot arm coupled to the flexible surgical instrument coupled. In the instrument mounted to the tip of the surgical robot arm equipped with an actuator, A coupler having a driving wheel that operates by receiving a driving force from the actuator; A shaft having one end coupled to the coupler and extending in a predetermined length direction and capable of being bent; A cover part configured to receive the bent portion of the shaft to maintain a curved angle of the shaft; A flexible robotic surgical instrument coupled to the other end of the shaft, including an operator that is inserted into the body of the surgical patient. The method of claim 10, The shaft includes a first bent portion that can be bent, the cover part is a flexible robot surgical instrument, characterized in that for receiving the first bent portion. The method of claim 10, The shaft is a flexible robot surgical instrument, characterized in that formed of a flexible material or having a flexible structure. The method of claim 12, The shaft is a flexible robot surgical instrument, characterized in that the corrugated pipe formed of metal or synthetic resin. The method of claim 10, The cover part, Flexible robot surgical instrument, characterized in that it comprises an angle adjuster for adjusting the angle of bending corresponding to the bent portion of the shaft. The method of claim 14, The angle adjusting unit is a flexible robot surgical instrument, characterized in that the stopper or screw. The method of claim 10, The shaft is a flexible robot surgical instrument, characterized in that rotatable around the extending longitudinal direction. The method of claim 10, The distance between the one end of the shaft and the bent portion is different from the distance between the other end of the shaft and the bent portion flexible robot surgical instrument. The method of claim 10, The drive wheel is formed in a disc shape, the flexible robot surgical instrument, characterized in that the clutch is clutched to the actuator to receive a driving force. The method of claim 11, A flexible robotic surgical instrument further disposed between the shaft and the operator, the second bending portion that can be bent. The method of claim 19, Flexible robot surgical instrument coupled to the drive wheel is a wire for applying a tension to bend the second bending portion in a predetermined direction. Tubular cannula; A trocar housing coupled to one end of the cannula and including a housing hole connected to an opening of the cannula; The medical trocar is characterized in that the cannula is flexible for insertion of a surgical instrument including a bent shaft. The method of claim 21, The trocar housing, Medical trocar comprising a drive valve is coupled to the wire applying tension to the cannula bend in a predetermined direction. The method of claim 22, The drive valve, Medical trocar operated by a driving wheel that receives the driving force from the surgical robot arm to which the surgical instrument is coupled.

Images