KR20120003091A - Surgery tools with rolling of end effector for minimally invasive surgery - Google Patents

Abstract

PURPOSE: A surgical device for minimally invasive surgery is provided to improve freedom of degree in a rolling and pitching direction of a surgical instrument by using a wire rope for the rolling movement of the end of the surgical instrument. CONSTITUTION: A wire rope fixing hole coupled with a first rolling driving wire rope and a second rolling driving wire rope is formed in an end fixing member. A bearing member is connected to one side of the end fixing member. The bearing fixing member has a wire hole coupled with a first pitching driving wire rope and a second pitching driving wire rope. A guiding unit(200) guides the first and second pitching driving wire ropes to the bearing fixing member of a surgical instrument(100). A wire rope driving unit(300) drives the first and second rolling driving wire rope and the first and second driving wire rope.

Description

Surgical tools with rolling of end effector for minimally invasive surgery}

The present invention relates to a surgical device, and more particularly, by using a wire rope to enable the rolling motion of the surgical tool end to improve the degree of freedom of the rolling and pitching direction for the surgical tool end and improve the operation efficiency of the operation The present invention relates to a minimally invasive surgical device capable of rolling movement of an end of a surgical tool.

Laparoscopic surgery is an operation in which 3-4 small invasive holes are cut into a patient's stomach and a thin, long laparoscopy surgical tool is inserted into the patient's stomach to perform incisional suture cauterization. Laparoscopic surgery, unlike open surgery, incisions in relatively small areas, so less pain after surgery, recovery is fast and cosmetically excellent aspects. However, a doctor performing surgery using a laparoscopic surgical tool cannot see the actual surgical site and must perform surgery while watching a monitor screen transmitted through the endoscope.

In order to overcome this disadvantage, a remote surgical robot system composed of a master and a slave system appeared in the same operating room. The doctor can perform the operation in a comfortable position using the master system, and the slave system inserts a surgical tool into the patient's stomach to perform the operation as the doctor's operation. The da Vinci system developed in the United States uses chordectomy, prostate surgery, urethral surgery, kidney stones, thyroid surgery, coronary artery bypass surgery, and beating heart surgery using 6-degree-of-freedom robot arms that solve the limitations of movement due to invasion points. Various surgeries were performed. The six-degree-freedom robot arm can attach and detach surgical instruments, and the surgical instruments inserted into the patient's stomach will have wrist joints, which can be rolled, pitched, and yawed. I can move it. However, when suturing in the abdomen (abdominal cavity) of the patient, it is simple and fast to align the surgical tool end in parallel with the ablation line, and to use the rolling direction of the end to suture. In other words, if the rotary joint of the surgical tool inserted into the stomach is capable of rolling, pitching, and rolling direction, the surgical operation may be made easier and intuitive.

Commercially available da Vinci surgical instruments do not have a rolling motion toward the end of the surgical tool, but a rolling motion around the long pipe through which the wire passes. Thus, the wrist articulation mechanism of the surgical tool may be called a pitch-yaw-roll tool in turn from the surgical tool end to the base (end to base). Pitch-yaw-roll tools developed to date are mostly limited in space and have a complicated structure.

There is already a patent on the surgical tool with the end part rolling movement among the DaVinci surgical tool patents, but it uses the cable differential mechanism, which makes it very difficult to change the position of the end roll direction joint and the axis of the joint perpendicular to it. There is a problem in that the structure of the surgical instruments and the complexity of the surgical instruments.

Accordingly, the present invention is to solve the above-mentioned disadvantages and problems of the prior art, the present invention is to enable the rolling motion of the surgical tool end by using a wire rope in the rolling and pitching direction of the surgical tool end The purpose of the present invention is to provide a minimally invasive surgical device capable of rolling movement of the end of a surgical tool that can improve the efficiency of surgical operation by improving the degree of freedom.

In other words, the present invention implements a rolling mechanism by spirally twisting two wire ropes in different directions at the end of a surgical tool, thereby implementing a rolling motion using a cable differential mechanism. The purpose of the present invention is to provide a minimally invasive surgical device capable of rolling movement of the end of a surgical tool that solves the spatial constraint that the pulleys connected to the shaft should be perpendicular to each other.

In order to achieve the above object, the present invention, the end member of the surgical instrument, the end member for fixing the end member, a wire rope fixing hole is formed, the first and second rolling drive wire rope is fastened, the end portion A bearing member connected to one side of the fixing member, and a plurality of wire holes connected to the other side of the bearing member and allowing the first and second rolling drive wire ropes to pass through the outer circumferential surface thereof and to which the first and second pitching drive wire ropes are fastened. Surgical instruments composed of the bearing holding member configured; Guide means for guiding the first and second rolling drive wire ropes to the terminal fixing member of the surgical tool and for guiding the first and second pitching driving wire ropes to the bearing fixing member of the surgical tool; And a wire rope driving means for driving the first and second rolling drive wire ropes and the first and second pitching drive wire ropes. to provide.

Here, the first rolling drive wire rope is wound 180 degrees and passed through one of the plurality of wire holes of the bearing fixing member and connected to the wire rope drive means through the guide means, the second rolling drive wire rope first rolling drive Preferably, the bearing member is wound 180 degrees in the opposite direction to the wire rope and is connected to the wire rope driving means through another wire hole among the plurality of wire holes of the bearing fixing member.

In addition, the first and second rolling drive wire ropes preferably drive the end fixing member by rolling, and the first and second pitching drive wire ropes drive the bearing fixing member by pitching.

In addition, the surgical tool is preferably one of the forceps, tweezers or scalpel.

On the other hand, if the surgical tool is one of the forceps or tweezers, it is preferable that the surgical tool is further configured for the wire rope for the grip.

Here, the guiding means includes a hollow tube member for passing the first and second rolling drive wire ropes and the first and second pitching drive wire ropes, and the first and second rolling drive wire ropes and the first and second pitching drive. It is preferable that the first and second idler members are constituted by a plurality of pulleys through which the wire ropes pass, and the first and second idler shafts are coupled to the inner circumferential surface of the first and second idler members and fastened to the tubular member. Do.

The wire rope driving means may include a connection between the first rope fixing member and the second rope fixing member to which the first rolling drive wire rope and the second rolling wire rope are respectively fixed, and between the first rope fixing member and the second rope fixing member. A tension adjusting bolt member for adjusting the tension between the first rolling drive wire rope and the second rolling wire rope, and a ball screw nut member for fastening the first rope fixing member and the fixing bolt member on the first rope fixing member; When the ball screw screw member is fastened in the vertical direction of the ball screw nut member to adjust the vertical movement of the first rolling drive wire rope and the second rolling wire rope, and the first rope fixing member and the second rope fixing member are moved up and down. A linear guide member performing a guide function, a wire rope driving means shaft member extending inwardly from one side of the side case of the wire rope driving means, and a wire rope driving means idler member coupled to an inner surface of the wire rope driving means shaft member. And a wire rope through-hole formed in a lower surface of the wire rope driving means in a direction perpendicular to the wire rope driving means shaft member.

On the other hand, when the ball screw screw member rotates, the ball screw nut member is preferably configured to go straight.

In addition, when the ball screw screw member is rotated, it is preferable that the ball screw nut member and the first and second rope fixing members are configured to move straight.

Here, the ball screw screw member is connected to the rotary pulley, the rotary pulley is preferably controlled by a motor.

In addition, the rotation pulley is preferably configured with a groove for connecting with the motor shaft of the motor.

Meanwhile, a second rolling drive wire rope fastening groove for fastening the second rolling drive wire rope is formed in the first rope fixing member, and a first rolling drive wire rope for fastening the first rolling drive wire rope to the second rope fixing member. It is preferable that the fastening groove is configured.

In addition, the first rolling drive wire rope is connected to the wire rope drive means through the guide means, the second rolling drive wire rope is wound 180 degrees around the wire rope drive means idler member fixed to the wire rope drive means shaft member and again vertical It is preferable to descend to the direction and fixed to the first rope fixing member.

The first rolling drive wire rope and the second rolling drive wire rope may be fastened to the first rolling drive wire rope and the second rolling drive wire rope fastening groove by knot or clamping, respectively.

In addition, the present invention is fixed to the surgical tool end member, the surgical member end member to achieve the above object and for controlling the rolling in the second direction corresponding to the first direction and the first direction of the surgical tool 1, the terminal end fixing member having a wire rope fixing hole to which the second rolling drive wire rope is fastened, a bearing member connected to one side of the terminal fixing member, and the other side of the bearing member, and the first and second rolling members. A surgical tool including a bearing fixing member configured to pass through the driving wire rope and to form a plurality of wire holes to which the first and second pitching driving wire ropes are fastened to control the pitching of the surgical tool; A first rolling drive wire rope wound in one direction with respect to the bearing member and passing through one of the plurality of wire holes of the bearing fixing member and fastened to the wire rope fixing hole of the terminal fixing member; The bearing member is wound in a direction opposite to the direction in which the first rolling drive wire rope is wound, and the terminal part is fixed by passing a wire hole different from the wire hole passed by the first rolling drive wire rope member among the plurality of wire holes of the bearing fixing member. A second rolling drive wire rope fastened to the wire rope fixing hole of the member; Wire rope driving means for driving the first and second rolling drive wire ropes and the first second pitching drive wire ropes; And a wire rope driving means and a guide means for guiding the first and second rolling drive wire ropes and the first second pitching drive wire ropes between the surgical tool and the surgical tool. Provide a surgical device for minimally invasive surgery.

According to the present invention has the following effects.

First, sutures in the abdominal cavity are made easier by improving the degree of freedom in the rolling and pitching direction with respect to the end of the minimally invasive surgical instrument.

Second, detailed and precise work is possible at narrow surgical site.

Third, it is possible to remove and attach a variety of laparoscopic surgical medical devices, it is easy to change the use, can move freely.

1 is a perspective view for explaining a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool according to the present invention;
Figure 2 is a view for explaining in detail the surgical tool of the surgical device for the minimally invasive surgery the rolling motion of the end of the surgical tool shown in Figure 1,
Figure 3 is a view for explaining the rolling motion of the surgical tool of the minimally invasive surgery surgical device capable of rolling the end of the surgical tool shown in Figure 1,
FIG. 4 is a view for explaining a grip drive, a rolling drive, and a pitching drive wire rope of a surgical device for minimally invasive surgery capable of a rolling motion of an end of the surgical tool shown in FIG. 1;
5 is a view for explaining in detail one of the wire rope driving means of the minimally invasive surgery surgical apparatus capable of rolling movement of the end of the surgical tool shown in FIG.
6 is a view showing a state in which the entire wire rope driving means of the surgical device for the minimally invasive surgery capable of rolling movement of the end of the surgical tool shown in FIG.
FIG. 7 is a perspective view for explaining a state in which the wire rope driving means of the minimally invasive surgery surgical device capable of rolling a terminal end of the surgical tool shown in FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In addition, although the term used in the present invention is selected as a general term that is widely used at present, there are some terms selected arbitrarily by the applicant in a specific case. In this case, since the meaning is described in detail in the description of the relevant invention, It is to be understood that the present invention should be grasped as a meaning of a term that is not a name of the present invention. Further, in describing the embodiments, descriptions of technical contents which are well known in the technical field to which the present invention belongs and which are not directly related to the present invention will be omitted. This is for the sake of clarity of the present invention without omitting the unnecessary explanation.

1 is a perspective view for explaining a minimally invasive surgical device capable of rolling movement of the surgical tool end portion according to the present invention. Minimally invasive surgery surgical apparatus capable of rolling movement of the end of the surgical tool according to the present invention, as shown in Figure 1, is composed of the surgical tool 100, the guide means 200 and the wire rope driving means (300). Here, the surgical tool 100 constitutes the end portions of various surgical tools such as tweezers or scissors used at the time of surgery, rolling by a plurality of wire ropes 401, 402, 403, 404, 405, 406 which will be described later. Pitching and yawing are driven. Then, the guide means 200 guides the surgical tool 100 to the surgical site after forming an invasive hole in the stomach of the patient. In addition, the guide means 200 is configured to have a hollow hole to extend the wire rope from the wire rope driving means 300 to the surgical tool 100 through the inner hole. The guide means 200 may be composed of a flexible flexible shaft for the convenience of surgery. The wire rope driving means 300 drives the wire ropes 401, 402, 405, 406 for the rolling and pitching of the surgical tool 100, and the wire ropes 403, 404 for the grip.

2 is a view for explaining in detail the surgical tool of the surgical device for the minimally invasive surgery of the surgical tool end portion shown in Figure 1, Figure 3 is a view for explaining the rolling motion of the surgical tool shown in FIG. . Surgical tool 100 of the minimally invasive surgical device capable of rolling movement of the surgical tool end portion according to the present invention, as shown in Figure 2, the first end member 101, the second end member 102, the end portion Fixing member 103, bearing fixing member 104, bearing member 105, wire rope fixing hole 106, a plurality of wire holes 107, the first end adjustment member 108 and the second end adjustment Member 109.

Here, the first end member 101 and the second end member 102 are fixed to one side of the terminal fixing member 103, the other side of the terminal fixing member 103 is the outer side of the bearing member 105 It is wrapped around and fixed. On the other hand, the other side of the bearing member 105 is fixed while the outer periphery is wrapped by the bearing fixing member 104. In the present invention, such a first terminal member 101 and the second terminal member 102 is shown a forceps surgical tool used to pick up the suture, or to lift the internal organs. However, in addition to such forceps surgical tools, surgical scalpels, surgical scissors, etc. may be configured as end members.

Meanwhile, a wire rope fixing hole 106 for fixing the first and second rolling drive wire ropes 401 and 402 for rolling the terminal fixing member 103 is formed at one outer circumferential surface of the terminal fixing member 103. Is formed. In addition, the bearing fixing member 104 is composed of a plurality of wire holes 107 through which the first and second rolling drive wire ropes 401 and 402 pass. At this time, the first and second rolling drive wire ropes 401 and 402 are fixed to the wire rope fixing holes 106 of the terminal fixing member 103 to drive the rolling mechanism.

In addition, the first end adjusting member 108 and the second end adjusting member 109 may have a gap between the first end member 101 and the second end member 102 when the first end member 101 and the second end member 102 are tongs as shown in the drawing. It is for retracting.

Here, reference numeral 201 denotes a pipe member of the guide means 200, and 202 and 203 denote first and second idler shafts, respectively. As described above, the outer circumferential surfaces of the first and second idler shafts 202 and 203 are respectively coupled to the inner circumferential surfaces of the hollow first and second idler members 204 and 205, respectively, to be formed inside the tubular member 201. The first and second idler shafts 202 and 203 pass through the outer circumferential surface of the tube member 201 and are fixed to the tube member 201. Further, each of the first and second idler members 204 and 205 consists of a plurality of pulleys through which each of the plurality of wire ropes passes.

Meanwhile, the first rolling drive wire rope 401 winds the bearing member 105 by 180 degrees in one direction (first direction) and passes through the wire hole 107 of the bearing fixing member 104 to form the first idler shaft 202. It is connected to the wire rope driving means 300 through the first idler member 204 coupled to. The second wire rope 402 winds the bearing member 105 180 degrees in a direction opposite to the first rolling drive wire rope 401 (second direction) and closes the wire hole 107 of the bearing fixing member 104. It is connected to the wire rope driving means 300 through a first idler member 204 coupled to the first idler shaft 202. In this case, the first rolling drive wire rope 401 and the second wire rope 402 are wire rope driving means through the second idler member 205 and the tubular member 201 attached to the second idler shaft 203, respectively. Connected to 300. According to such a configuration, when pulling the first rolling drive wire rope 401 and when pulling the second wire rope 402, the terminal fixing member 103 is rolled in one of a clockwise or counterclockwise direction. In other words, when the first and second rolling drive wire ropes 401 and 402 are used, the first and second end members 101 and 102 roll in the axial direction of the end member.

Since the bearing member 105 is inserted into the human body, it should not contain harmful substances. Normally, the bearing ball is lubricated, but the bearing member 105 used in the present invention is free of lubricating oil and can be disinfected so that it is preferable to use a bearing made of a material harmless to the human body. In addition, when the bearing is not used, it is preferable that the bearing fixing member 104 and the bearing fixing member 104 are made of a material which can rotate with little friction. For reference, the bearing fixing member 104 rotates in the pitching direction about the first idler shaft 202.

Meanwhile, the wire rope further includes a grip drive wire rope and a pitching drive wire rope in addition to the rolling drive wire rope as shown in FIG. 3. The grip driving wire rope and the pitching driving wire rope will be described with reference to FIG. 4.

FIG. 4 is a view for explaining a grip drive, a rolling drive, and a pitching drive wire rope of the minimally invasive surgical device capable of rolling a surgical tool end portion shown in FIG. 1. As shown in FIG. 4, the grip drive, the rolling drive, and the pitching drive wire rope of the surgical device for minimally invasive surgery capable of a rolling motion of the surgical tool according to the present invention includes a first and a second rolling drive wire rope 401 ( 402, first and second grip drive wire ropes 403 and 404, and first and second pitching drive wire ropes 405 and 406. Here, the operation of the first and second grip driving wire ropes 403 and 404 may vary depending on the configuration of the first end member 101 and the second end member 102. In other words, when the first end member 101 and the second end member 102 are forceps or scissors, a pinch operation and an open operation may be performed, and in the case of a scalpel, a cutting operation may be performed.

The first and second rolling drive wire ropes 401 and 402 drive the rolling of the terminal fixing member 103.

The first and second pitching driving wire ropes 405 and 406 are coupled to each other in the manner of knotting or clamping to different wire holes 107 in the corresponding directions of the bearing fixing member 104, respectively. do.

Here, when driving the first pitching drive wire rope 405 is driven in the first pitching direction (for example, the front of the drawing), and when driving the second pitching drive wire rope 406 opposite to the first pitching direction Drive in a second pitching direction (e.g., the back side of the figure). Therefore, the bearing fixing member 104 can be pitched back and forth. At this time, the bearing fixing member 104 rotates using the first idler shaft 202 as the rotation shaft.

5 is a view for explaining in detail one of the wire rope driving means of the surgical device for the minimally invasive surgery capable of rolling movement of the end of the surgical tool shown in FIG. As shown in FIG. 5, the wire rope driving means of the minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool according to the present invention includes a first rope fixing member 301 and a second rope fixing member 302. Adjusting bolt member 303, ball screw nut member 304, ball screw screw member 305, linear guide member 306, wire rope drive means shaft member 307, wire rope drive means idler member 308 and It consists of case members 309 and 310.

Here, the first rolling drive wire rope 401 and the second rolling drive wire rope 402 are fixed to the first rope fixing member 301 and the second rope fixing member 302, respectively. The tension adjusting bolt member 303 is connected between the first rope fixing member 301 and the second rope fixing member 302 to adjust the bolt member so that the first rolling drive wire rope 401 and the second rolling member are adjusted. The tension between the wire ropes 402 is adjusted. In addition, the ball screw nut member 304 is fastened through the first rope fixing member 301 and the plurality of fixing bolt members 311 on the first rope fixing member 301. On the other hand, the ball screw screw member 305 is fastened in the vertical direction of the ball screw nut member 304 to adjust the vertical movement of the first rolling drive wire rope 401 and the second rolling wire rope 402. In addition, the linear guide member 306 is bolted to the first rope fixing member 301, and performs the guide function during the vertical movement of the first rope fixing member 301 and the second rope fixing member 302. The wire rope driving means idler member 308 is formed to extend into the driving means from one side of the side case 309 of the wire rope driving means. In addition, the lower surface case 310 of the wire rope driving means is provided with a wire rope through hole 312 formed in a direction perpendicular to the wire rope driving means shaft member 307. The first rolling drive wire rope 401 and the second rolling drive wire rope 402 extend to the surgical tool 100 through the wire rope through hole 312.

In this manner, the first and second grip driving wire ropes 403 and 404 and the first and second pitching driving wire ropes 405 and 406 also have respective rope fixing members, tension adjusting bolt members, and ball screws. It is interlocked with the nut member, the ball screw screw member, the linear guide member, the wire rope drive means shaft member, the wire rope drive means idler member, and coupled to the case member. 6 illustrates a state in which the first and second grip driving wire ropes 403 and 404 and the first and second pitching driving wire ropes 405 and 406 are coupled to the wire rope driving means. And, the ball screw screw member 305 in Figure 5 is connected to the rotary pulley 313 as in Figure 6, each of the rotary pulley 313 is a respective first to third motor (M1, M2, M3) Is controlled by To this end, each rotation pulley 313 is preferably configured with a groove for connecting with the motor shaft. The rotary pulley 313 is fixed to the ball screw screw member 305 to rotate the ball screw screw member 305 and thereby can drive the end fixing member 103 rolling. On the other hand, when the end member of the surgical tool is a surgical scalpel, since the configuration of the first and second grip driving wire ropes 403 and 404 may be unnecessary, in such a case, the configuration of the second motor may also be omitted. have. After the rotary pulley 313 is coupled, the wire rope driving means is covered by the case 314. The case 314 is waterproofed to protect each member constituting the wire rope driving means therein even during disinfection or sterilization.

Such a wire rope driving means, the ball screw nut member 304 shown in Figure 5 is connected to the ball screw screw member 305, when the ball screw nut member 305 rotates the ball screw nut member 304 ) Will go straight. On the other hand, when the ball screw screw member 305 is rotated, the ball screw nut member 304 and the first and second rope fixing member 301, 302 is a straight motion. The linear guide member 306 restricts the motion in space other than the bidirectional straight motion.

The first rolling drive wire rope 401 passes through the guide means 200 and is connected to the warroof drive means 300, and the second rolling drive wire rope 402 is connected to the wire rope drive means shaft member 307. The fixed wire rope driving means idler member 308 is wound around 180 degrees and then lowered downward to be fixed to the first rope fixing member 301. In addition, a second rolling drive wire rope fastening groove 301a is formed in the first rope fixing member 301 so that the second rolling drive wire rope 402 is inserted into the corresponding fastening groove 301a so that one of knots or clampings is inserted. Is fastened in a manner of. In addition, the first rolling drive wire rope 401 is inserted into the first rolling drive wire rope fastening groove 302a of the second rope fixing member 302. The fastening method is knotted with the second rolling drive wire rope 402 to be fastened to the fastening groove 302a, or the other bolt is fastened to the fastening groove 302a together with the wire rope, and the bolt is fastened to be fixed by the pressing force. can do.

On the other hand, by adjusting the distance to the first, second rope fixing member 301, 302 by using the tension adjusting bolt 303, the tension in the linear guide member 306 can be properly balanced.

When the ball screw screw member 305 is rotated, the first and second rolling drive wire ropes 401 and 402 also move as the first rope fixing member 301 and the second rope fixing member 302 move. It moves and drives the terminal fixed member 103 by rolling.

Although the present invention has been described by way of example as described above, the present invention is not necessarily limited to these examples, and various modifications can be made without departing from the spirit of the present invention. Therefore, the examples disclosed in the present invention are not intended to limit the technical idea of the present invention but to explain the present invention, and the scope of the technical idea of the present invention is not limited by these examples. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: surgical instrument 101: first end member
102: second terminal member 103: terminal fixing member
104: bearing fixing member 105: bearing member
106: wire rope fixing hole 107: wire hole
108: first end adjustment member 109: second end adjustment member
200: guide means 201: guide means
202 and 203: first and second idler shafts 204: first and second idler members
300: wire rope driving means 301, 302: first, second rope fixing member
303: tension adjusting bolt member 304: ball screw nut member
305: ball screw thread member 306: linear guide member
307: wire rope drive means shaft member
308: wire rope drive means idler member
309, 310: case member 311: fixing bolt member
312: wire rope through hole
401, 402: first and second rolling drive wire rope
403 and 404: first and second grip driving wire rope
405, 406: first and second pitching drive wire rope

Claims (15)

A terminal member having an end member of the surgical tool, a terminal rope fixing hole for fixing the terminal member and a wire rope fixing hole to which the first and second rolling drive wire ropes are fastened, a bearing member connected to one side of the terminal fixing member; Surgical tool comprising a bearing fixing member connected to the other side of the bearing member and passing through the first and second rolling drive wire ropes on an outer circumferential surface thereof and configured with a plurality of wire holes to which the first and second pitching drive wire ropes are fastened. ;
Guide means for guiding the first and second rolling drive wire ropes to the end fixing member of the surgical tool and guiding the first and second pitching driving wire ropes to the bearing fixing member of the surgical tool; And
Minimally invasive surgery capable of rolling motion of the end of the surgical tool, characterized in that it comprises a; wire rope driving means for driving the first, second rolling drive wire rope and the first, second pitching drive wire rope Device.
The method of claim 1,
The first rolling drive wire rope is wound 180 degrees around the bearing member and connected to the wire rope driving means through the guide means through one of the plurality of wire holes of the bearing fixing member,
The second rolling drive wire rope is wound 180 degrees in the direction opposite to the first rolling drive wire rope and is connected to the wire rope driving means through another wire hole of the plurality of wire holes of the bearing fixing member. Surgical device for minimally invasive surgery capable of rolling movement of the end of the surgical tool.
The method according to claim 1 or 2,
The first and second rolling drive wire ropes drive the terminal fixing member in a rolling manner.
The first and second pitching drive wire rope is a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that for pitching driving the bearing fixing member.
The method of claim 1,
The surgical tool,
Minimally invasive surgical device capable of rolling movement of the end of the surgical tool, characterized in that one of the forceps, tweezers or scalpel.
The method of claim 4, wherein
If the surgical tool is one of the forceps or tweezers, the surgical tool is a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that the wire rope for the grip further configured.
The method of claim 1,
The guide means,
A hollow pipe member passing through the first and second rolling drive wire ropes and the first and second pitching drive wire ropes;
First and second idler members comprising a plurality of pulleys through which the first and second rolling drive wire ropes and the first and second pitching drive wire ropes respectively pass;
The first and second idler member is coupled to the inner circumferential surface, the minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that composed of the first and second idler shaft fastened to the tube member.
The method of claim 1,
The wire rope driving means,
A first rope fixing member and a second rope fixing member to which the first rolling drive wire rope and the second rolling wire rope are respectively fixed;
A tension adjusting bolt member connected between the first rope fixing member and the second rope fixing member to adjust the tension between the first rolling drive wire rope and the second rolling wire rope;
A ball screw nut member configured to fasten the first rope fixing member and the fixing bolt member on the first rope fixing member;
A ball screw screw member which is fastened in a vertical direction of the ball screw nut member to adjust vertical movement of the first rolling drive wire rope and the second rolling wire rope;
A linear guide member that performs a guide function during vertical movement of the first rope fixing member and the second rope fixing member;
A wire rope driving means shaft member extending inwardly from one side of the side case of the wire rope driving means;
A wire rope driving means idler member coupled to an inner surface of the wire rope driving means shaft member;
And a wire rope through-hole formed in a direction perpendicular to the wire rope driving means shaft member on the bottom case of the wire rope driving means.
The method of claim 7, wherein
Minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that the ball screw nut member is configured to go straight when the ball screw screw member is rotated.
The method of claim 7, wherein
And the ball screw nut member and the first and second rope fixing members are configured to perform a straight motion when the ball screw screw member is rotated.
The method of claim 7, wherein
The ball screw screw member is connected to the rotary pulley, the rotary pulley is a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that controlled by a motor.
The method of claim 10,
The rotary pulley is a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that the groove is configured for connecting with the motor shaft of the motor.
The method of claim 7, wherein
The first rope fixing member is provided with a second rolling drive wire rope fastening groove to which the second rolling drive wire rope is fastened,
The second rope fixing member is a minimally invasive surgery surgical device capable of rolling movement of the end of the surgical tool, characterized in that the first rolling drive wire rope fastening groove is configured to the first rolling drive wire rope is fastened.
The method of claim 12,
The first rolling drive wire rope is connected to the wire rope drive means through the guide means,
The second rolling drive wire rope is wound around the wire rope driving means idler member fixed to the wire rope driving means shaft member 180 degrees and descends down again in the vertical direction is fixed to the first rope fixing member, characterized in that Surgical device for minimally invasive surgery that can be rolled negative.
The method of claim 12,
The first rolling drive wire rope and the second rolling drive wire rope are respectively connected to the first rolling drive wire rope and the second rolling drive wire rope fastening groove by a knot or clamping rolling movement. This minimally invasive surgical device.
A first and second rolling drive wire ropes for fixing a surgical tool end member and a termination member of the surgical tool and for controlling rolling in a first direction and a second direction corresponding to the first direction of the surgical tool; A terminal fixing member having a wire rope fixing hole to be fastened, a bearing member connected to one side of the terminal fixing member, and connected to the other side of the bearing member, and the first and second rolling drive wire ropes passing through Surgical tool comprising a bearing fixing member consisting of a plurality of wire holes to which the first, second pitching driving wire rope is fastened for controlling the pitching of the surgical tool;
The first rolling drive wire rope wound in one direction with respect to the bearing member and passing through one of the plurality of wire holes of the bearing fixing member and fastened to the wire rope fixing hole of the terminal fixing member;
The bearing member is wound in a direction opposite to the direction in which the first rolling driving wire rope is wound, and a wire hole different from the wire hole through which the first rolling driving wire rope passes is passed among the plurality of wire holes of the bearing fixing member. The second rolling drive wire rope passing through and fastened to the wire rope fixing hole of the terminal fixing member;
Wire rope driving means for driving the first and second rolling drive wire ropes and the first second pitching drive wire ropes; And
And a guide means for guiding the first and second rolling drive wire ropes and the first second pitching drive wire rope between the wire rope driving means and the surgical tool. Surgical device for minimally invasive surgery with a rolling motion.

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