KR20110121860A - Surgery instrument for use in laparo-endoscopic single-site surgery - Google Patents

Abstract

PURPOSE: A surgery instrument for use in laparo-endoscopic single-site surgery is provided to secure a work space by being inserted through an incision part to from a triangle and being approached to a target. CONSTITUTION: In a surgery instrument for use in laparo-endoscopic single-site surgery, a first inner-shaft(200) is inserted into a first rod(100). A flexible shaft(400) is combined with one end of the first inner-shaft. A second hollow rod(700) is combined in one end of the first rod. A second inner-shaft(500) is inserted into the second rod. The second inner-shaft is combined in the other side of the flexible shaft.

Description

Surgical instrument for use in laparo-endoscopic single-site surgery

The present invention relates to a surgical tool for single-path surgery, more specifically, the single-channel surgical tool for forming a triangular shape through a single incision of the patient approaching the surgical target, rotational and linear motion is possible The present invention relates to a single channel surgical instrument.

Robots are mechanical devices that use electric or magnetic action to perform movements like human motion. The origin of the robot is said to be derived from the Slavic "ROBOTA (slave machine). The robot began to spread in Japan in the late 1960s, but most of the robots are automated and unmanned in production. It was an industrial robot, such as a manipulator and a transfer robot made into the objective.

Fixed-type robots, such as arm-type robots, which are fixed and installed in a specific place, work only in a work space that is fixed in a fixed place, such as assembling and sorting parts. In contrast, a mobile robot is not limited to a specific space, and the robot can move freely on a predetermined path or a path to perform a predetermined or arbitrary human work, or be replaced by a human, a dog, or other living things. It has the advantage of providing a wide range of services. In addition to these robots, robotic arms and surgical tools that are similar to human beings are becoming more and more similar to human beings, such as humanoid robots, modeled on human or animal body mechanisms and movements. Is also rising.

As one of the uses of the surgical tool, in the medical field, a surgical surgical tool may be used in place of a human hand to operate a body part of a patient during surgery.

However, in the case of a conventional laparoscopic robotic arm, various driving devices and motors are installed at joints and wrist parts, resulting in a burden of manufacturing cost along with an increase in the volume and size of the laparoscopic robotic arm due to a complicated mechanism. In addition, laparoscopic surgery has recently increased the tendency to operate through a single incision in order to minimize the incision of the patient. In the case of a general straight robot arm, even if a plurality of surgical robot arms are inserted into one incision, they have a triangular shape and are difficult to operate because they do not approach the surgical object.

Therefore, it is difficult to use such a robot arm with such a driving device in a surgical operation requiring detailed work through one incision site of the patient, and in the case of a linear robot arm, the above-described problems have been encountered.

Therefore, in the technical field to which the present invention belongs, the mechanical drive device is simple, and a surgical tool is required to develop a surgical tool that can be operated by forming a triangular shape even through one incision site of a patient.

Therefore, the present invention has been created to solve the problems described above, the simple construction of the surgical tool joints, easy disassembly or assembly, surgical tools for single-pass surgery to be suitable for precise and precise work in narrow surgical site The purpose is to provide.

In addition, an object of the present invention is to provide a price competitiveness of the single-pass surgical instruments by reducing the number of drive devices and mechanical components of the surgical instruments.

In addition, the present invention can be removed, attached to a variety of surgical medical instruments easy to change its use, it is possible to move freely to provide a convenience to the operator.

In addition, the present invention is a plurality of surgical instruments are inserted through one incision of the patient to form a triangle and to access the surgical object is to provide a secure field of view and secure working space.

And an object of the present invention is to provide a single-channel surgical surgical tool so that only a part of the surgical tool can rotate and linear movement as compared to the general surgical tool that the entire surgical tool is rotating and linear movement.

The above object of the present invention,

In surgical instruments that operate through the incision of the patient,

Hollow first rod 100 that can be gripped by the user; A first inner shaft 200 inserted into the first rod 100; A flexible shaft 400 coupled to one end of the first inner shaft 200; A hollow second rod 700 coupled to one end of the first rod 100; And a second inner shaft 500 inserted into the second rod 700 and coupled to the other side of the flexible shaft 400. The first inner shaft 200 and the second inner shaft 500 are included. It can be achieved by providing a single-pass surgical instrument for the surgical, characterized in that the linear movement in the axial direction or a configuration capable of relative rotational movement to the first, second rods (100, 700).

In addition, interposed between the first rod 100 and the first inner shaft 200, and further comprises a hollow first linear bushing 300 that can be coupled to the inner peripheral surface of the first rod 100 desirable.

In addition, interposing between the second rod 100 and the second inner shaft 200, and further comprises a hollow second linear bush 600 that can be coupled to the inner circumferential surface of the second rod 700. desirable.

In addition, the coupling of the first rod 100 and the second rod 700 is preferably hinged.

In addition, the first inner shaft 200 and the second inner shaft 500 may be circular, elliptical, or polygonal in cross section.

In addition, it is preferable that grooves 1100 for coupling the flexible shaft 400 are formed in one end surface of the first inner shaft 200 and the second inner shaft 500.

In addition, a plurality of bearings are attached to the inside of the first linear bushing 300 and the second linear bushing 600 so that the first inner shaft 200, the second inner shaft 500, and the flexible shaft 400 are integrated. It is desirable to be provided to be able to exercise.

In addition, the flexible shaft 400 preferably forms a plurality of grooves in the circumferential direction.

In addition, the flexible shaft 400 is any one of a columnar shape having a cross section of a circle, an ellipse, or a polygon.

It is preferable to be one.

In addition, the flexible shaft 400 may be elastically curved as flexible.

In addition, the surgical tool may be made of a plurality.

In addition, the plurality of surgical instruments are preferably performed by passing through one incision in the X-shape to form a shape concentrated on the surgical object.

And a single path surgical instrument 800; And a laparoscopic surgical medical instrument 900 that can be coupled to one end of the single-pass surgical tool 800 for surgery.

According to the single-pass surgical instrument of the present invention as described above, the configuration of the surgical tool joint is simple, easy to disassemble or assemble, there is an effect capable of fine and precise work in a narrow surgical site.

In addition, the present invention has the effect of ensuring the price competitiveness of the surgical tool for single-pass surgery by reducing the number of drive devices and mechanical parts of the surgical tool.

In addition, the present invention can be removed, attached to a variety of surgical medical instruments it is easy to change the use, there is an effect that can move freely.

In addition, the present invention has the effect of providing a secure field of view and secure working space by inserting a plurality of surgical instruments through one incision of the patient to form a triangle and access to the surgical object.

In addition, the present invention has the effect that only a part of the surgical tool can rotate and linear movement as compared to the general surgical tool that the entire surgical tool rotates and linear movement.

The following drawings, which are attached to this specification, illustrate one preferred embodiment of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention. It should not be construed as limited.
1 is a perspective view of a surgical tool for single passage surgery according to an embodiment of the present invention,
Figure 2 is a cross-sectional view of a surgical single surgical tool according to an embodiment shown in Figure 1,
Figure 3 is a perspective view of a single-pass surgery surgical tool system according to an embodiment of the present invention.

<Configuration of Surgical Instruments for Single Pathway Surgery>

Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention. In addition, one Example described below does not unduly limit the content of this invention described in the Claim, and the whole structure demonstrated by this Embodiment is not necessarily required as a solution of this invention.

1 is a perspective view of a single channel surgical surgical tool according to an embodiment of the present invention, Figure 2 is a cross-sectional view of a single channel surgical surgical tool according to an embodiment shown in FIG.

As shown in FIGS. 1 and 2, the surgical tool for single-pass surgery includes approximately the first rod 100, the first inner shaft 200, the first linear bush 300, the flexible shaft 400, and the second. The inner shaft 500, the second linear bushing 600, and the second rod 700 are included.

The first rod 100 according to an embodiment of the present invention can be gripped by the user to move the position of the surgical single surgical tool or to operate. In addition, since the first rod 100 is hollow, the first inner shaft 200, the first linear bushing 300, and the flexible shaft 400 may be inserted into the first rod 100. . In addition, the first rod 100 may be coupled to the second rod 700 by hinge coupling or screw coupling, and may be bent at a predetermined angle about the hinge axis 1000 together with the flexible shaft 400. Accordingly, the user may constantly adjust the bending angles of the first rod 100, the second rod 700, and the flexible shaft 400.

The second rod 700 according to an embodiment of the present invention may detach and attach the laparoscopic surgical medical instrument 900 to one end of the second rod 700, and the other side of the second rod 700. The termination may be coupled with the first rod 100. In this case, the first rod 100 and the second rod 700 may be hinged or screwed to couple with each other, and the second rod 700 is centered on the hinge shaft 1000 together with the flexible shaft 400. It can be bent at a constant angle, so the user can constantly adjust the bending angle of the first rod 100, the second rod 700, and the flexible shaft 400. In addition, the second rod 700 is formed in the same hollow as the first rod 100, and the flexible shaft 400, the second inner shaft 500, and the second linear bushing are formed inside the second rod 700. 600 may be inserted.

The first inner shaft 200 according to the exemplary embodiment of the present invention may be inserted into the first rod 100, and an outer circumferential surface of the first inner shaft 200 and an inner circumferential surface of the first linear bush 300 may be formed. The first inner shaft 200 may be coupled to each other, and a groove such as the groove 1100 of the second inner shaft 500 for coupling with the flexible shaft 400 may be formed at one end of the first inner shaft 200. In addition, the cross section of the first inner shaft 200 may be any one of columnar shapes such as circles, ellipses, and polygons. In one embodiment of the present invention, one embodiment is configured in a cylindrical shape.

The first linear bushing 300 according to an embodiment of the present invention is interposed between the first rod 100 and the first inner shaft 200, and the inner circumferential surface of the first rod 100 and the first linear bushing ( The outer circumferential surface of 300 may be coupled to each other. In addition, the first linear bush 300 is made of a hollow, a plurality of bearings are attached to the inner side to enable a linear motion and a rotational motion to be described later.

The flexible shaft 400 according to the exemplary embodiment of the present invention may be coupled to the groove of one end portion of the first inner shaft 200, and the other end portion of the flexible shaft 400 facing the one end portion of the first inner shaft 200. A groove 1100 of the second inner shaft 500 may be formed in the coupling to the flexible shaft 400. In addition, the flexible shaft 400 is formed with a plurality of grooves in the transverse direction along the outer circumferential surface. This is to allow the flexible shaft 400 to bend at a certain angle, as shown in FIG. In addition, the flexible shaft 400 may be formed of any one of columnar shapes having a circle, an ellipse, and a polygon. However, in one embodiment of the present invention, the embodiment of the flexible shaft 400 has a cylindrical shape.

The second inner shaft 500 according to the embodiment of the present invention may be combined with the flexible shaft 400. In addition, the second inner shaft 500 has a groove 1100 formed at one end thereof for coupling with the flexible shaft 400 so that the groove 1100 and the flexible shaft 400 are coupled to each other.

The second linear bushing 600 according to an embodiment of the present invention may be coupled to the inner circumferential surface of the first rod 700, and the second inner shaft 500 is inserted into the second linear bushing 600. In addition, a plurality of bearings are configured inside the second inner shaft, and thus, linear motion and rotational motion, which will be described later, may be enabled.

Figure 3 illustrates a perspective view of a surgical tool system for single passage surgery according to an embodiment of the present invention. As shown in FIG. 3, the single passage surgical tool 800 may be configured in plural. In addition, according to one embodiment of the present invention, the second rod 700 may be detached and attached to the laparoscopic surgical medical instrument 900 to constitute a surgical tool unit, and the surgical tool unit may be combined with various kinds of medical instruments. It is possible and can be used freely. In addition, the surgical tool unit may be configured with a plurality of laparoscopic surgery robot arm system.

<Operation of Surgical Instruments for Single Path Surgery>

(Insert of single path surgical instrument)

Figure 3 illustrates a perspective view of a surgical tool system for single passage surgery according to an embodiment of the present invention. As shown in FIG. 3, a single passage surgical tool 800 may be configured in plural, and according to an embodiment of the present invention, a user may use a single passage surgical tool system through one incision of a patient. When inserted, the incision can pass through the X-shape, and if the single-pass surgical instrument system passes through the incision in the X-shape, it can be performed by forming a triangular shape on the surgical object. If the procedure is formed in a triangular shape, the surgical tool attached to the end of the single-pass surgical tool can be collected at one point of the operation object, unlike a general straight surgical tool, in the case of one incision during surgery.

(Linear and rotational movement of surgical instruments for single passage surgery)

As shown in Figure 1, the linear motion of the surgical tool for single-pass surgery operates as follows. A plurality of bearings are attached to the inner side of the first linear bushing 300 and the second linear bushing 600 so that when the first inner shaft 200 is pushed or pulled, the first inner shaft 200 and the second inner shaft 500 are mounted. ), And the flexible shaft 400 may be integrally linear, and the first rod 100 and the second rod 700 may not move.

In addition, the rotational movement of the surgical tool for single-pass surgery operates as follows. When the first inner shaft 200 is rotated in the horizontal axis direction, the first inner shaft 200, the second inner shaft 500, and the flexible shaft do not move while the first rod 100 and the second rod 700 do not move. The 400 may be integrally rotatable.

Therefore, when the laparoscopic surgical medical instrument 900 is attached as shown in Figure 3, by pushing or rotating the first inner shaft 200 of the single-pass surgical instrument 800 for laparoscopic surgery ( The tongs attached to the front of the 900 may perform a linear motion or a rotary motion.

Accordingly, when the first inner shaft 200 is rotated forward and backward or rotates in the horizontal axis direction, a general surgical surgical tool includes a linear motion or a rotational motion as a whole, but in one embodiment of the present invention, The first rod 100 and the second rod 700 may not move, and only a portion of the single-pass surgical tool 800 may move in a linear motion or a rotational motion.

< Up, Down, Left and Right Movement and Rotational Movement of Laparoscopic Surgical Instruments>

(Up and down, left and right movements of the tongs and gripping or cutting)

The movement of the forceps located at the front end of the laparoscopic surgical medical instrument 900 is to pull a plurality of wires connected to the inside of each rod of the laparoscopic surgical medical instrument 900, the flexible shaft is curved to move up and down and left and right, The forceps may grasp or cut the surgical object.

(Rotational movement)

Rotation of the forceps when the first inner shaft 200 of the laparoscopic robotic robot 800 is rotated, the rotational force is transmitted to the flexible shaft 400 to the second inner shaft 500, and thus the rotational force is a laparoscopic surgical medical The forceps are delivered to the instrument 900 to rotate.

As mentioned above, although demonstrated with reference to one Embodiment of this invention, this invention is not limited to this, A various deformation | transformation and an application are possible. That is, those skilled in the art will readily appreciate that many modifications are possible without departing from the spirit of the invention.

100: first rod 200: first inner shaft
300: first linear bush 400: flexible shaft
500: 2nd inner shaft 600: 2nd linear bush
700: second load 800: single-pass surgical instruments
900: Laparoscopic surgery medical equipment 1000: Hinge axis
1100: home

Claims (13)

In surgical instruments that operate through the incision of the patient,
Hollow first rod 100 that can be gripped by the user;
A first inner shaft 200 inserted into the first rod 100;
A flexible shaft 400 coupled to one end of the first inner shaft 200;
A hollow second rod 700 coupled to one end of the first rod 100; And
A second inner shaft 500 inserted into the second rod 700 and coupled to the other side of the flexible shaft 400;
The first inner shaft 200 and the second inner shaft 500 are a single passage, characterized in that the linear movement in the axial direction or a configuration capable of relative rotational movement to the first, second rods (100, 700) Surgical instruments.
The method of claim 1,
Interposed between the first rod 100 and the first inner shaft 200, and further comprises a hollow first linear bushing 300 that can be coupled to the inner peripheral surface of the first rod 100 Surgical instruments for single passage surgery, characterized in that.
The method of claim 1,
Interposed between the second rod 700 and the second inner shaft 500, and further comprises a hollow second linear bush 600 that can be coupled to the inner circumferential surface of the second rod 700 Surgical instruments for single passage surgery, characterized in that.
The method of claim 1,
The first rod 100 and the second rod 700 is coupled to the single-pass surgical instrument, characterized in that the hinge is coupled.
The method of claim 1,
The first inner shaft (200) and the second inner shaft (500) is a single-pass surgical instruments, characterized in that any one of the columnar shape of the circle, ellipse, polygon.
The method of claim 1,
One side end surface of the first inner shaft (200) and the second inner shaft (500) is a single-pass surgical instrument, characterized in that the groove (1100) for coupling the flexible shaft (400) is formed.
The method of claim 1,
A plurality of bearings are attached to the inner side of the first linear bushing 300 and the second linear bushing 600 to allow the first inner shaft 200, the second inner shaft 500, and the flexible shaft 400 to be mounted. ) Is a single channel surgical surgical tool characterized in that it is provided to be able to exercise integrally.
The method of claim 1,
The flexible shaft 400 is a single passage surgical tool, characterized in that a plurality of grooves are formed in the circumferential direction.
The method of claim 1,
The flexible shaft 400 is a single-pass surgical tool, characterized in that any one of the columnar shape of the cross section is a circle, ellipse, polygon.
The method of claim 1,
The flexible shaft 400 is a single-pass surgical instrument, characterized in that it can be elastically curved as flexible.
The method of claim 1,
The surgical tool is a single-pass surgery surgical tool, characterized in that made of a plurality.
The method of claim 11,
A plurality of the surgical tool is a single-pass surgery surgical tool, characterized in that the procedure is formed by passing through a single incision in the X-shape to form a shape concentrated on the surgical object.
The method of claim 1,
Single-pass surgical instruments 800; And
Single path surgical surgical tools further comprising; laparoscopic surgical medical instrument 900 that can be coupled to one end of the surgical tool for surgical operation (800).

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