KR20120071183A - Rotation structure of cross way and surgical instrument using it - Google Patents

Abstract

PURPOSE: A rotation structure of a twist method and a surgical instrument using the same are provided to facilitate an operation control by including an axial rotation structure and a shaft bending structure. CONSTITUTION: A surgical instrument includes a driving unit, a shaft(120), an effecter(130), a rotation shaft(125), a combining unit(135), a contact point(140a,140b), a direction changing unit(150a,150b), and a rotating unit(160a,160b). An axial direction is an extension direction of the surgical instrument and/or shaft. The effecter is combined with one end of the surgical instrument and is inserted into a patient for contacting with a surgical part.

Description

Rotation structure of cross way and surgical instrument using it

The present invention relates to a torsional rotational structure and surgical instruments using the same.

Medically, surgery refers to the use of medical devices to cut skin, mucous membranes, and other tissues, or to repair the disease by manipulating or manipulating it. 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.

Surgical instruments operate an end effector provided at one end of a shaft passing through a hole drilled in the skin by a doctor using a predetermined driving unit by hand or by using a robot arm. It is a tool for. According to the prior art, the effector provided in the surgical instrument performs a rotational operation, a gripping, cutting (cutting) and the like through a predetermined structure. There is now a need for a surgical instrument having a structure for the effector to be more precise and accurate in rotational motion, in particular in rotation about the axis of the shaft.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

The present invention is to provide a torsional rotation structure and a surgical instrument using the same for rotating the effector for manipulating the surgical site in the axial direction extending the surgical instrument.

The present invention is to provide a torsional rotation structure and a surgical instrument using the same by presenting the structure and the axial rotation structure to bend the shaft, to facilitate the operation control when using the surgical instrument.

The technical problems other than the present invention can be easily understood from the following description.

According to one aspect of the invention, in the axial rotation structure applied to the surgical instrument, one end is coupled to the coupling portion formed in the shaft of the surgical instrument, the shaft of the surgical instrument is not parallel to the axial direction extending A torsionally axially rotating structure is provided that includes a first rotating means comprising an inclined portion.

In addition, the present embodiment may further include a second rotation means having one end coupled to the coupling portion formed on the shaft of the surgical instrument, the second rotation means including an inclined portion intersected with the first rotation means.

Here, one end of the first rotating means may be coupled to an adjacent portion of the effector of the surgical instrument.

In addition, any one or more of the position of the contact point to which the first rotating means engages the engaging portion, the spacing of the contact point, and the degree to which the first rotating means rotates the engaging portion may be determined corresponding to the angle of the axial rotation. The means can be a wire.

In addition, the embodiment of the shaft includes a direction switching means for supporting the first rotation means, the direction change means and one end of the first rotation means may be disposed in parallel with the axial direction in which the shaft extends.

Here, the direction switching means may be formed of any one of a ring shape, a protrusion shape, a pin, a roller, a pulley and an idler.

In addition, one end of the first rotating means can engage a flexing element included in the bendable flexure of the shaft.

In addition, the present embodiment may further include an elastic means for applying a restoring force to the first rotation means, in this case, it is possible to control the axial rotation of the shaft by pulling the second rotation means.

According to another aspect of the present invention, an effector coupled to one end and in contact with the surgical site, a drive unit coupled to the other end to operate the effector, a shaft connecting the effector and the drive unit, and a coupling part formed on the shaft inside the shaft This combination is provided with a surgical instrument comprising first rotating means including a slanted portion that is not parallel to the axial direction in which the shaft of the surgical instrument extends.

The present embodiment may further include a second rotating means having one end coupled to the coupling portion formed in the shaft within the shaft, the second rotating means including an inclined portion intersected with the first rotating means.

Here, one end of the first rotating means may be coupled to an adjacent portion of the effector of the surgical instrument, the position of the contact that the first rotating means is coupled to the coupling portion, the distance of the contact point, the first rotation means is to rotate the coupling portion Any one or more of the degrees may be determined corresponding to the angle of axial rotation, and the first rotation means may also be a wire.

In addition, the embodiment of the shaft includes a direction switching means for supporting the first rotation means, the direction switching means and one end of the first rotation means may not be arranged in parallel with the axial direction in which the shaft extends. Here, the direction switching means may be formed of any one of a ring shape, a protruding shape, a pin, a roller, a pulley, an idler.

In addition, the embodiment may include a bent portion that can be bent the shaft, wherein the drive portion may be coupled to the bend means for applying a bending force to bend the bend in a predetermined direction.

In addition, one end of the first rotation means and one end of the second rotation means may engage with the bending element included in the bendable bend of the shaft.

Here, the bent portion may be bent by the first and second rotation means.

In addition, the present embodiment may further include elastic means for applying a restoring force to the first rotating means, the present embodiment can control the axial rotation of the shaft by pulling the second rotating means.

According to another aspect of the present invention, an effector coupled to one end in contact with the surgical site, a drive unit coupled to the other end to operate the effector, a shaft connecting the effector and the drive unit, and a coupling unit formed in the shaft inside the shaft One pair of rotation means, including a pair of rotation means including an inclined portion that is not parallel to the axial direction in which the shaft of the surgical instrument extends and the inclined portions are staggered from each other, wherein the number of pairs of rotation means Can be.

Here, the effector can be rotated by pulling one of the rotating means of the pair of rotating means toward the driving unit.

In addition, the embodiment includes a bend that can be bent the shaft, it is possible to bend the bend by pulling all the rotating means included in the pair of rotation means to the drive side.

Here, the bending direction of the bent portion may be controlled by varying the magnitude of the force pulling the pair of rotation means for each pair of rotation means.

In addition, in the present embodiment, the maximum value of the angle between the center point of the shaft cross section and the pair of contacts coupled to the engaging portion by the two rotating means included in the pair of rotating means can be determined by the following equation.

Where n is the number of pairs of rotating means.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

The torsional rotation structure and the surgical instrument using the same according to the present invention can rotate the effector for manipulating the surgical site about the axial direction in which the surgical instrument extends, and the structure for bending the shaft and the axial rotation. By presenting the structure, there is an effect that can facilitate the operation control when using a surgical instrument.

1 is a perspective view of a surgical instrument according to an embodiment of the present invention.
Figure 2 is a side view of the surgical instrument according to an embodiment of the present invention.
3 is an operational state diagram of the surgical instrument according to an embodiment of the present invention.
4 is a cross-sectional view of the surgical instrument according to an embodiment of the present invention.
5a to 5f is a conceptual diagram of a surgical instrument according to another embodiment of the present invention.
6 is a perspective view of a surgical instrument according to another embodiment of the present invention.
7A-7D are some detailed views of surgical instruments in accordance with another embodiment of the present invention.
8A-8B are some side views of a surgical instrument according to another embodiment of the present invention.
9A-9B are cross-sectional views of surgical instruments in accordance with another embodiment of the present invention.
10 is a side view of a surgical instrument according to another embodiment of the present invention.

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. 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. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations 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. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a perspective view of a surgical instrument according to an embodiment of the present invention, Figure 2 is a side view of a surgical instrument according to an embodiment of the present invention. 1 and 2, the driving unit 110, the shaft 120, the effector 130, the rotation shaft 125, the coupling unit 135, the contacts 140a and 140b, and the direction switching unit 150a and 150b. Rotating means 160a and 160b are shown.

This embodiment has a feature of presenting a torsional rotation structure for rotating the effector for manipulating the surgical site in the surgical instrument in the axial direction in which the surgical instrument extends. In other words, the present embodiment proposes a structure in which the effector can rotate in the axial direction by arranging rotating means such as wires and pulling the rotating means.

The axial direction of the present invention may be the direction in which the surgical instrument and / or shaft 120 extends. Here, when the shaft 120 is straight, the axial direction may be a direction in which the shaft 120 extends to a date (rotation shaft of FIG. 1), and when the shaft 120 is bent, the axial direction is a curved shaft 120. ) May be in the direction in which the effector 130 coupled to (the rotation axis of FIG. 6) extends.

Surgical instruments 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 tip of the surgical robot arm provided with an actuator, and receives a driving force from the actuator to operate a driving wheel (not shown) provided in the coupler, which is the driving unit 110, and connects with the driving wheel. And the effector 130 inserted into the body of the surgical patient to perform a predetermined operation. For example, the driving wheel may be formed in a disc shape, and may 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, a predetermined driving unit 110, for example, an interface (stick shape, button shape, tong shape, lever shape, etc.) that can be directly manipulated by a doctor, is provided. The effector 130 connected to the corresponding interface and inserted into the body of the surgical patient performs a predetermined operation to perform the surgery. The following description will be based on the former.

Effector 130 is coupled to one end of the surgical instrument and inserted into the body of the patient to be operated in contact with the surgical site. The effector 130 of the surgical instrument may include a pair of jaws coupled to one end of the shaft 120 to perform a grip or a cutting operation. That is, the end of the shaft 120 may be coupled to the effector 130, such as tongs, hooks, spatters, etc. consisting of a pair of jaws, the user is coupled to the robot By holding and operating an interface of a handle (not shown) or manual surgery, the effector 130 performs various operations required for surgery such as cutting, grip, and rotation. In the present specification, the effector 130 will be described based on a case in which a pair of jaws is formed of a pair of jaws.

In this case, the driving wheel of the driving unit 110 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.

In addition, the driving unit 110 may be coupled to the other end of the shaft 120 to pull or release the rotating means 160a and 160b to adjust the tension applied to the rotating means 160a and 160b. When the rotation means 160a and 160b are wires, one end of each wire may be coupled to the driving unit 110 so that each wire may be pulled or released.

Here, the rotating means (160a, 160b) is a means for applying a rotational force to the coupling portion to rotate it in a predetermined direction, it may be a wire, rod, steel belt (steel belt) and the like. That is, according to the present embodiment, the rotational force can be applied to the coupling site by pulling one side of the X-shaped rotating means 160a and 160b and releasing the other side.

The steel belt may be formed of a material resistant to high temperature, extension resistance, and chemical resistance, and may be applied to the present invention without being limited to its name and structure, such as a plain belt and a perforated belt.

The rotating means 160a and 160b may be divided into a first rotating means 160a and a second rotating means 160b. The first rotating means 160a is coupled to one end of the shaft 120, for example, to an adjacent portion of the effector 130 of the surgical instrument, and has an axial direction in which the shaft 120 of the surgical instrument extends. It may include non-parallel inclined portions. In addition, one end of the second rotating means 160b is coupled to an adjacent portion of the effector 130 of the surgical instrument, for example, inside the shaft 120, and is inclined to be alternated with the first rotating means 160a. It can include a part. Here, the adjacent portion of the effector 130 may refer to a position such as a portion of the shaft 120 adjacent to the effector 130 or a portion of the effector 130 adjacent to the shaft 120.

In the present specification, the one end of the rotating means (160a, 160b) will be described with reference to the embodiment coupled to the adjacent portion of the effector 130 of the surgical instrument, in order to implement a structure that can rotate the effector 130, the rotation One end of the means (160a, 160b) the effector 130, the shaft 120 portion adjacent to the effector 130, the intermediate portion of the shaft 120, the shaft 120 portion adjacent to the drive unit 110 135) of course.

Here, the inclined portion refers to the state of the rotating means (160a, 160b) connected between the contact (140a, 140b) and the direction switching means (150a, 150b). That is, the inclined portion is a contact portion (140a, 140b) and the rotating means (160a, 160b) coupled to the rotating means (160a, 160b) in the coupling portion 135 connected to one side of the effector 130 or one side of the shaft (120). Between the supporting turning means 150a, 150b, the rotating means 160a, 160b refer to a portion that is not parallel to the shaft axial direction of the surgical instrument.

Here, the direction switching means (150a, 150b) serves to support and fold the rotating means (160a, 160b) to switch the extending direction of the rotating means (160a, 160b) to create an inclined portion, the rotating means (160a, The structure capable of inclining the 160b may be implemented in various structures, for example, a ring shape, a protrusion shape, a pin, a roller, a pulley, and an idler.

Here, the contact 140a and the direction switching means 150a are not disposed in parallel with the axial direction in which the shaft 120 extends, thereby forming an inclined portion in the rotation means 160a.

The coupling part 135 is coupled to the shaft 120 in a rotatable structure about the rotation shaft 125 having the axis of extension of the shaft 120 as an axis. For example, the coupling unit 135 may be a bearing coupling with the shaft 120. The coupling part 135 may be implemented as part of the effector 130 or part of the shaft 120.

3 is an operational state diagram of the surgical instrument according to an embodiment of the present invention. Referring to FIG. 3, the shaft 120, the effector 130, the coupling part 135, the contacts 140a and 140b, the direction change means 150a and 150b, and the rotation means 160a and 160b are illustrated.

3A illustrates a state in which the effector 130 is rotated counterclockwise. Here, the first rotating means 160a is pulled by the driving unit 110, and the second rotating means 160b may not be pulled or released. That is, when the driving unit 110 pulls the first rotating means 160a to the lower side of the drawing, the first rotating means 160a exerts a force that moves counterclockwise to the contact 140a of the coupling part 135. The effector 130 connected to the coupling part 135 receives a force that rotates in a counterclockwise direction. Therefore, as the rotation means is contracted or relaxed, the tension may be adjusted to determine the rotation angle and direction of the effector 130.

3B is a state in which the effector 130 is rotated clockwise. In the clockwise rotation state, the inverse mechanism symmetric to that described above for the counterclockwise rotation state can be applied. The second rotating means 160b is pulled by the driving unit 110, and the first rotating means 160a may not be pulled or released. That is, when the driving unit 110 pulls the second rotating means 160b to the lower side of the drawing, the second rotating means 160b applies a force that moves in the clockwise direction to the contact 140b of the coupling part 135, Effector 130 connected to the coupling unit 135 is subjected to a force to rotate in a clockwise direction.

4 is a cross-sectional view of a surgical instrument according to an embodiment of the present invention. Referring to FIG. 4, the coupling part 135 and the contacts 140a, 140b, 140c and 140d are shown. FIG. 4 may be a cross-sectional view taken along line c-c 'of FIG. 2. Although the case where four contacts are shown here, the present invention is not limited to the number of contacts.

The contacts 140a, 140b, 140c, 140d are the portions at which the rotating means 160a, 160b are coupled to the engaging portion 135, and the number and positions of the contacts 140a, 140b, 140c, 140d are the rotation means 160a, 160b). For example, the first contact point 140a and the second contact point 140b are portions in which rotation means 160a and 160b, which are alternately coupled to each other, are coupled to the coupling part 135, and the third contact point 140c and the fourth contact point 140a and the fourth contact point 140b and the fourth contact point 140b and the fourth contact point 140b and the fourth contact point 140b. The contact 140d may be a portion at which another rotation means coupled to each other is coupled to the coupling part 135.

Each contact may have a contact corresponding to each other. For example, the first contact 140a may correspond to the second contact 140b, and the third contact 140c may correspond to the fourth contact 140d. In this case, the first contact 140a and the fourth contact 140d rotate the coupling unit 135 in a counterclockwise direction, and the second contact 140b and the third contact 140c clock the coupling unit 135. It can rotate in the direction.

In addition, according to the present embodiment, the position of the contact point, the interval, and the degree of rotation of the rotation means 160a and 160b may be determined differently according to a desired rotation angle of the user. Here, the degree of rotation of the rotating means is the coupling portion 135 or shaft 120 while the rotating means 160a, 160b extends from the contact 140a, 140b to the turning means 150a, 150b in the above-mentioned inclined portion. It may be enough to rotate.

For example, as shown in Figs. 3 and 4, when the position of the contact point, the interval and the degree of rotation of the rotation means are determined, the pair of rotation means 160a, 160b is controlled (by pulling or loosening) The angle at which the 135 can be rotated may be 90 degrees or less. That is, referring to FIG. 4, the positions 140a, 140b, 140c, and 140d may be rotated by 90 degrees from the center of the coupling unit 135 to determine their positions and intervals.

However, when the contacts 140a, 140b, 140c, 140d are determined at a predetermined angle from the center of the coupling part 135, for example, 45 degrees, 120 degrees, 170 degrees, or the like, the coupling part operated by one rotating means. The maximum rotational angle of 135 can be determined corresponding to the position and spacing of these contacts 140a, 140b, 140c, 140d.

In addition, referring to FIG. 5A, the maximum rotation angle of the coupling unit 135 may be 360 degrees. That is, when the rotating means 160 is pulled downward (in the direction of the driving unit 110) because the rotating means 160 is wound spirally around the engaging portion 135 (and / or shaft 120). The applied coupling part 135 may rotate up to 360 degrees. Herein, the case in which the rotation means 160 turns the coupling part 135 has been described, but the rotation means 160 such as a quarter wheel, a half wheel, three quarter wheels, two wheels, and the like, may vary the coupling part 135. In this case, the angle at which the coupling unit 135 may be rotated by pulling the rotating means 160 may be determined in various ways.

In addition, various embodiments, such as the case where the number of contacts is an odd number, five or more may be applied to the present invention. For example, as shown in FIG. 5B, the number of contacts is eight, and each contact is coupled with a pair of rotating means 160 including inclined portions intersected with each other to couple the coupling part 135 and the effector. 130 may be rotated.

In addition, referring to FIG. 5C, in the present embodiment, when there are a plurality of rotating means 160, interference may occur due to contact with each other. Can be used. That is, since the plurality of through holes 137a, 137b, and 137c through which the plurality of rotating means 160 penetrates are drilled in the coupling part 135, the rotating means 160 such as a wire passing therethrough does not touch each other. No damage caused by friction occurs. In the drawing, although the through holes 137a, 137b, and 137c are perforated in the coupling part 135, the same may be drilled in the shaft 120 or the bending element 175 as described later, that is, the joint part (disc). Of course, it can be used as a principle.

The plurality of through holes 137a, 137b, and 137c may be generated while maintaining different distances from the center of the coupling part 135. For example, the through hole includes a first through hole 137a located at the largest distance from the center of the coupling part 135, a third through hole 137c located at the smallest distance, and a first through hole 137a. And a second through hole 137b positioned between the third through hole 137c.

Rotating means 160 for transmitting rotational force in different directions may pass through each through hole. For example, the rotation means 160 for rotating the coupling part 135 in the clockwise direction of FIG. 5C passes through the first through hole 137a and the third through hole 137c, and the second through hole 137b. Rotating means 160 for rotating the coupling part 135 in the counterclockwise direction may penetrate. The length of the rotating means 160 passing through each through hole may not be the same depending on the position of the contact point.

5E and 5F, a case in which a plurality of rotating means 160a, 160b, 160c passes through the through holes 137a, 137b, 137c drilled in FIG. 5c described above is illustrated. The rotating means 160a, 160b, 160c couple to the contact 140 via the side (inner or outer) side of the coupling part 135. As in this embodiment, when the plurality of rotation means (160a, 160b, 160c) in a spiral manner by varying the position in the plurality of contacts 140 has the advantage that can increase the rotational force of the coupling portion (135).

As described above, the case where the plurality of through holes 137a, 137b, and 137c are arranged and aligned in a line has been described, but as shown in FIG. 5D, the plurality of through holes 137a, 137b, and 137c are coupled to each other. It may be perforated while maintaining different distances from the center of the part 135. In addition, the plurality of through holes 137a, 137b, and 137c may be sporadically drilled to maintain different distances from the center of the coupling part 135, respectively.

6 is a perspective view of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 6, the driving unit 110, the shaft 120, the effector 130, and the bent portion A are illustrated.

This embodiment has a feature of presenting a structure that enables the axial rotation as described above even when the shaft is bent. That is, the present embodiment is characterized by rotating the bent portion itself or the effector 130 itself in the axial direction by combining the rotation means are arranged alternately with each other in the bent portion of the shaft. Hereinafter, the differences from the above description will be mainly described.

Flexure (A) is a component included in the shaft 120, has a structure that can be bent. Here, the meaning that the bent portion (A) is included in the shaft 120 means that the bent portion (A) is formed in the shaft 120 or the bent portion (A), which is a bending member that can be bent between the shaft (120) and the effector (130). ) Is formed as a whole as well as the bent portion (A) which is a bending member that can be bent at one end of the shaft 120 as shown, and the effector 130 is coupled to the distal end extending by a predetermined length May include cases.

The driving unit 110 may be coupled to bending means for applying a bending force such that the bending portion A is bent in a predetermined direction, for example, a wire, a rod, a steel belt, or the like. The wire and the steel belt may be bent to bend the bent portion A in a predetermined direction by applying tension, and the rod may be bent the bent portion A with a mechanical structure.

The bent portion A forms a predetermined angle with the longitudinal direction in which the shaft 120 extends, and may be formed of a bent structure or material. For example, the bend A includes a plurality of bent elements (joints) connected to be spaced apart from each other, and may have a structure that can be bent when a predetermined force acts in a specific direction. In addition, the bent portion (A) may be formed of a material having strong bending performance, such as a synthetic resin tube.

Here, each of the bending elements may have a structure rotatable with respect to each other. For example, the rotatable coupling structure of the coupling unit 135 and the shaft 120 may be coupled to be rotatable about a predetermined rotation axis.

In addition, the bent portion A may be controlled by the operation of the drive wheel of the drive unit 110, for this purpose, the bent portion A and the drive wheel may be connected to each other by a wire.

When such a curved portion (A) and the axial rotation structure is provided in the surgical instrument, the degree of freedom of motion control can be increased to operate more conveniently. That is, when the bent portion (A) is provided as shown in Figure 6, the user performing the surgery has the advantage that the effector 130 can easily approach the surgical site.

7A to 7D are detailed views of some regions (region A of FIG. 6) of a surgical instrument according to another embodiment of the present invention. 7A to 7D, the proximal shaft 121, the distal shaft 122, the first to sixth contacts 140a to 140f, and the first to sixth direction switching means 150a to 150f), first through sixth rotation means 160a through 160f, and bending element 175 are shown. 7A to 7C illustrate a state in which each component is partially coupled, and FIG. 7D illustrates a state in which all the components are coupled to increase the discriminating power of the drawing. Here, the proximal shaft 121 is a shaft close to the drive unit 110 side, and the distal shaft 122 is a shaft close to the effector 130 side.

First, referring to FIG. 7A, the first rotation means 160a and the second rotation means 160b are paired with each other, and the directions of the first rotation means 160a and the second direction change means 150b are changed. Coupling to the first contact 140a and the second contact 140b formed in the bending element 175. Here, the bending element 175 may be embodied in a disk shape or a joint shape rotatable in the longitudinal direction of the shaft 120, a plurality of through holes 137a, 137b, 137c as described above may be formed have.

Here, although the first contact 140a and the second contact 140b are coupled to the bending element 175 closest to the distal shaft 122 proximate the effector 130, the present invention is not limited thereto. For example, it may be coupled to the distal shaft 122 or to other flexure elements 175.

7B and 7C, in a manner similar to that described above, the third rotation means 160c and the fourth rotation means 160d are paired with each other, and the third turning means 150c and the fourth turning means, respectively. At 150d, the direction is changed to engage the third contact 140c and the fourth contact 140d formed in the bending element 175. In addition, the fifth rotating means 160e and the sixth rotating means 160f are also paired with each other, and the directions of the fifth rotating means 160e and the sixth turning means 150f and the sixth turning means 150f are changed, respectively, to the bending element 175. It is coupled to the formed fifth contact 140e and the sixth contact 140f.

An embodiment in which all of the above components are combined with each other is shown in FIG. 7D. Here, at least one of the first rotating means 160a, the third rotating means 160c, and the fifth rotating means 160e is pulled toward the driving unit 110, and the second rotating means 160b and the fourth rotating means ( When the 160d) and the sixth rotating means 160f are properly released, the distal shaft 122 rotates in the R1 direction. Conversely, any one or more of the second rotating means 160b, the fourth rotating means 160d, and the sixth rotating means 160f is pulled toward the drive unit 110, and the first rotating means 160a and the third rotating means. When the 160c and the fifth rotating means 160e are properly released, the distal shaft 122 rotates in the R2 direction.

Therefore, by the rotation of the distal shaft 122, the effector 130 is rotatable about the extension direction of the shaft 120. Here, the axial direction in which the effector 130 rotates may be a direction in which the bend portion A is bent, and may be a longitudinal direction in which the effector 130 extends.

Referring to the side views of FIGS. 8A and 8B, respectively, seen in the B1 and B2 directions of FIG. 7D, the torsional and engaging structures of the first to sixth rotation means 160a to 160f are shown. In FIG. 8B, the second rotating means 160b and the third rotating means 160c are located at the rear of the figure and are represented by dotted lines.

Referring to FIGS. 9A and 9B as viewed from the direction A of FIG. 7D, the first to sixth rotation means 160a to 160f may not only transmit the rotational force by the torsion but also transmit the bending force to the bend A. FIG. Can be. That is, the bending element 175 rotates when only one of the rotating means is pulled. For example, in FIG. 9B, the distal shaft 122 rotates in the R1 direction when the first rotating means 160a is pulled toward the driving unit 110, and the distal shaft is pulled when the second rotating means 160b is pulled toward the driving unit 110. Reference numeral 122 rotates in the R2 direction.

In addition, the bending element 175 may be curved when pulling a plurality of rotating means. For example, when the first rotating means 160a and the second rotating means 160b are pulled toward the driving unit 110 at the same time, the bent portion A may be bent in the D1 direction. Further, the third rotating means 160c and the force of pulling the first to fourth rotating means 160a to 160d toward the driving unit 110 and pulling the first rotating means 160a and the second rotating means 160b. When the force for pulling the fourth rotating means 160d is slightly hardened, the bent portion A may be bent in the D2 direction. In this case, the non-pull rotating means may be released.

In this case, the pair of rotating means may be spaced apart as far as possible to increase the rotational force by torsion as much as possible. That is, referring to FIG. 9A, three pairs of rotation means are shown, and each pair may be spaced apart by θ = 120 degrees in order to be located as far as possible. Here, the maximum angle at which the two rotating means of the pair are separated from each other may be proportional to the total number of pairs, and the maximum angle may be 360 / n (where n is the number of pairs). Of course, this maximum angle can be greater if each pair is coupled to different flexure elements 175 or if a plurality of rotational means are coupled to different flexure elements 175 on different layers in a spiral manner as described above. have.

According to the above description, the three pairs of rotating means have been described, but the present invention is not limited thereto, and four or more pairs of rotating means may be provided.

In addition, according to another embodiment, a separate wire (not shown) coupled to the driving unit 110 and the operator 150 to move the effector 130 by the operation of the driving unit 110 may be further included. In addition, as described above, bending means (not shown) for applying bending force such that the bending portion A is bent in a predetermined direction, for example, a wire, a rod, a steel belt, or the like, may be the bending portion A and the driving unit 110. It can also be combined. One end of the bending means is coupled to the coupling part 135, and the other end is coupled to the driving part 110 to manipulate the driving part 110, that is, to pull or push the bending means to the coupling part 135 with respect to the shaft 120. It can be bent in a predetermined direction.

As described above, although the first to sixth rotation means 160a to 160f are coupled to the bending element 175, the present invention is not limited thereto, and the plurality of bending elements 175 of different layers may be provided. Of course, a variety of coupling schemes may be applied, such as the rotation means of coupling to different contacts in a spiral manner as described above.

Here, the bent portion A may be covered by the cover portion 180. Cover portion 180 may be formed of a removable structure. For example, the cover unit 180 may be tubular bent at a predetermined angle, and the cover unit 180 may be flexible or rigid.

10 is a side view of a surgical instrument according to another embodiment of the present invention. Referring to FIG. 10, the proximal shaft 121, the distal shaft 122, the first to second contact points 140a to 140b, the first to second turning means 150a to 150b, First to second rotating means 160a to 160b, bending element 175, elastic means 190 are shown.

The present embodiment is characterized in that the contact can be applied with a rotational force due to torsion without applying a restoring force to any one or more of the plurality of rotating means.

As described above, the first rotating means 160a may be pulled by the driving unit 110, and the second rotating means 160b may be continuously coupled by an elastic means 190 for applying an elastic force. Here, the elastic means 190 may be a spring.

The dotted lines of the first rotating means 160a and the second rotating means 160b mean that the corresponding portions are located at the rear of the drawing. In this case, the driving unit 110 may control only the first rotation means 160a to adjust the degree of rotation due to the torsion.

For example, FIG. 10A illustrates a case where the second rotating means 160b is continuously pulled by the elastic means 190 and the first rotating means 160a is released. 10B and 10C show a case in which the first rotating means 160a is pulled with a force greater than the elastic force of the elastic means 190, in which case the distal shaft 122 Rotates in the R direction, and the second rotating means 160b is wound around the bent portion.

As described above, the present invention has been described based on the case where a pair of rotating means is provided, but the present embodiment may be applied to a case where a pair of rotating means is provided.

In the above, the surgical instrument according to an embodiment of the present invention has been described in accordance with one embodiment the rotation means and its coupling state, but is not necessarily limited to this, the rotation means is replaced with another mechanical structure or Even if the coupling state is changed, if there is no difference in the overall operation and effect, such other configuration may be included in the scope of the present invention, and each component and / or function described in each embodiment may be implemented in combination with each other in combination.

Those skilled in the art will appreciate 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 claims below.

110: drive unit 120: shaft
121: proximal shaft 122: distal shaft
125: rotation axis 130: effector
135: coupling part
137a, 137b, 137c: through hole
140a, 140b, 140c, 140d, 140e, 140f: contacts
150a, 150b, 150e, 150f: direction change means
160a, 160b, 160c, 160e, 160f: rotating means
175: bending element 180: cover
190: elastic means

Claims (28)

In the axial rotation structure applied to the surgical instrument,
A torsionally axial rotation structure having one end coupled to a coupling portion formed in the shaft of the surgical instrument, the first rotation means including an inclined portion that is not parallel to the axial direction in which the shaft of the surgical instrument extends. .
The method of claim 1,
One end is coupled to the coupling portion formed in the shaft of the surgical instrument, the torsionally axial rotation structure further comprises a second rotating means including an inclined portion arranged to be staggered with the first rotating means.
The method of claim 1,
One end of the first rotating means is torsionally axial rotation structure, characterized in that for coupling to the adjacent portion of the effector of the surgical instrument.
The method of claim 1,
The position of the contact point to which the first rotation means is coupled to the engaging portion, the distance between the contact point, and the degree of rotation of the first rotation means to the engaging portion is characterized in that determined according to the angle of the axial rotation. Torsional axial rotation structure.
The method of claim 1,
And the first rotating means is a wire.
The method of claim 1,
The shaft includes a turning means for supporting the first rotation means,
A torsionally axial rotation structure according to claim 1, wherein one end of the turning means and the first rotating means is not disposed in parallel with the axial direction in which the shaft extends.
The method of claim 6,
Torsional axial rotation structure, characterized in that formed by at least one of the ring shape, the protrusion shape, pin, roller, pulley and idler structure.
The method of claim 1,
One end of the first rotating means is coupled to the bending element included in the bendable bent portion of the shaft.
The method of claim 2,
And a resilient means for applying a restoring force to said first rotating means.
10. The method of claim 9,
A torsional axial rotation structure, characterized in that for controlling the axial rotation of the shaft by pulling the second rotation means.
An effector coupled to one end and in contact with the surgical site,
A driving unit coupled to the other end to operate the effector;
A shaft connecting the effector and the driving unit;
And a first rotating means coupled to an engagement portion formed in the shaft within the shaft, the first rotating means including an inclined portion that is not parallel to an axial direction in which the shaft of the surgical instrument extends.
The method of claim 11,
One end is coupled to the coupling portion formed in the shaft in the shaft, the surgical instrument further comprises a second rotating means including an inclined portion intersect with the first rotating means.
The method of claim 11,
One end of the first rotating means is a surgical instrument, characterized in that for coupling to the adjacent portion of the effector of the surgical instrument.
The method of claim 11,
The position of the contact point to which the first rotation means is coupled to the engaging portion, the distance between the contact point, and the degree of rotation of the first rotation means to the engaging portion is characterized in that determined according to the angle of the axial rotation. Surgical instruments.
The method of claim 11,
Surgical instrument, characterized in that the first rotating means is a wire.
The method of claim 11,
The shaft includes a turning means for supporting the first rotation means,
Surgical instrument, characterized in that the redirection means and one end of the first rotation means is not disposed parallel to the axial direction in which the shaft extends.
The method of claim 16,
The means for changing the direction of the surgical instrument, characterized in that formed in at least one of the ring shape, protruding shape, pin, roller, pulley, idler structure.
The method of claim 11,
The shaft is a surgical instrument comprising a bend that can be bent.
The method of claim 18,
Surgical instrument is coupled to the drive unit bend means for applying a bending force to bend the bend in a predetermined direction.
The method of claim 18,
One end of the first rotating means and one end of the second rotating means is coupled to a bending element included in the bendable bent portion of the shaft.
21. The method of claim 20,
And the bent portion is bent by the first and second rotation means.
The method of claim 12,
Surgical instrument further comprises an elastic means for applying a restoring force to the first rotation means.
The method of claim 22,
Surgical instrument, characterized in that for controlling the axial rotation of the shaft by pulling the second rotation means.
An effector coupled to one end and in contact with the surgical site,
A driving unit coupled to the other end to operate the effector;
A shaft connecting the effector and the driving unit;
A pair of rotation means having one end coupled to a coupling portion formed in the shaft in the shaft and including an inclined portion which is not parallel to an axial direction in which the shaft of the surgical instrument extends, and wherein the inclined portions are staggered with each other; Including,
Surgical instrument, characterized in that the number of the pair of rotation means is a plurality.
25. The method of claim 24,
Surgical instrument, characterized in that for rotating the effector by pulling one of the rotation means of the pair of rotation means toward the drive side.
25. The method of claim 24,
The shaft includes a bend that can be bent,
Surgical instrument, characterized in that for bending the bend by pulling all the rotation means included in the pair of rotation means toward the drive side.
The method of claim 26,
Surgical instrument, characterized in that for controlling the bending direction of the bent portion by varying the magnitude of the force for pulling the pair of rotation means for each pair of rotation means.
25. The method of claim 24,
Surgical instrument, characterized in that the central point of the shaft cross section, the maximum value of the angle formed by the pair of contacts coupled to the coupling portion by the two rotation means included in the pair of rotation means is determined by the following equation .

Where n is the number of pairs of rotating means.

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