KR20140134360A - Surgical instrument and surgical robot using the same - Google Patents

Abstract

According to an embodiment of the present invention, although force is applied to a gripper, a singular point in which a gripper is not moved may be prevented by separately providing a slit in which a moving shaft rotating a gripper is inserted and a rotation center of the gripper and preventing the slit and the rotation center from being not aligned in a straight line. A surgical device according to an embodiment of the present invention includes: a body with a slit; a first gripper rotatably mounted on the body; a first rotation shaft to rotatably mount the first gripper on the body; a second gripper rotatably mounted on the body; a second rotation shaft to rotatably mount the second gripper on the body; and a moving shaft formed through the first gripper and the second gripper and moving along the slit to rotate the first gripper and the second gripper. The first rotation shaft and the second rotation shaft are spaced apart from an extension line of the slit.

Description

[0001] SURGICAL INSTRUMENT AND SURGICAL ROBOT [0002]

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a surgical apparatus and a surgical robot having the same, wherein the gripper can be opened at various angles.

In general, conventional open incision surgery for patient treatment is a method of incising the skin and performing operation on the site. Laparotomy is easy to obtain, but the incision is large and the amount of bleeding that occurs during surgery is large, so the patient's recovery is slow after surgery and large scars remain after surgery. Laparoscopic surgery is the operation that complements the disadvantages of this open incision.

Laparoscopic surgery is a surgical procedure in which a large number of small holes are made in the skin and an endoscope and various surgical instruments are inserted into the human body. After surgery, the size of the scar is small and the patient 's recovery is fast.

In recent years, single port laparoscopic surgery has been attempted in which a surgical tool and an endoscope are inserted into a body through a single hole in a part of the navel or the like. Single-port surgery has the advantage that the amount of bleeding required for surgery is small, the amount of bleeding during operation is significantly smaller than that of open incision, and the patient's recovery period is fast and the external scar is small or rare. Is increasing significantly.

Laparoscopic surgery or single-port surgery can be performed by a surgical robot equipped with an endoscope and a surgical device. The surgical robot may include forceps, which is inserted into the human body together with an endoscope and an endoscope for securing the field of view of the surgical site, and is a surgical device capable of holding tissue or surgical instruments in the human body.

Conventional forceps have two grippers crossed around the axis of rotation. The two grippers could be opened or closed by rotating about the axis of rotation. The forceps can be connected to the driving portion by the connecting member. The two grippers and the connecting members each have a corresponding slit, and the shaft can penetrate the slit. At this time, the slit of the connecting member may be formed to be elongated in the longitudinal direction in which the connecting member is extended, and the slit of the gripper may be formed to intersect with the slit formed in the connecting member with the gripper being open. The shaft can be inserted into the slit to penetrate the two grippers and the connecting member. The shaft can be moved along the slit of the linking member by the drive and as the shaft moves along the slit of the linking member the gripper can be rotated about the axis of rotation to open or close.

The gripper does not move even if the driving force of the driving unit is transmitted to the shaft when the direction of the slit formed in the connecting member and the direction in which the slit formed in the gripper extends are close to the right angle. As described above, a region in which the gripper is prevented from moving due to a driving force by forming an angle at which the slit formed in the connecting member and the extending direction of the slit formed at the gripper are close to each other at right angles is referred to as a singular position.

According to an embodiment of the present invention, the slit into which the moving shaft for rotating the gripper is inserted and the rotation center where the gripper rotates are separately provided, and the gripper and the rotation center are not positioned on the straight line, It is possible to prevent the occurrence of a non-moving Cingular point.

A surgical apparatus according to an embodiment of the present invention includes: a body having a slit; A first gripper rotatably mounted on the body; A first rotating shaft for rotatably mounting the first gripper on the body; A second gripper rotatably mounted on the body; A second rotation shaft for rotatably mounting the second gripper on the body; And a moving shaft for rotating the first gripper and the second gripper by passing through the first gripper and the second gripper and moving along the slit, wherein the first rotating shaft and the second rotating shaft are rotatable about the slit And is spaced apart from an extension line of the second end portion.

The body is equipped with a first pulley located at one end of the slit and a second pulley located at the other end of the slit.

The first wire is wound a number of times on the first pulley and the moving shaft, and the second wire is wound on the second pulley and the moving shaft a number of times.

Wherein one end of the first wire and one end of the second wire are fixed to the body and the other end of the first wire and the other end of the second wire are connected to the driving unit to amplify the driving force of the driving unit, To the moving shaft.

The first gripper and the second gripper are opened when the first wire is pulled by the driving unit, and the first gripper and the second gripper are closed when the second wire is pulled by the driving unit.

The first gripper includes a grip portion and a coupling portion formed by bending the grip portion, and the coupling portion includes a first slit through which the moving shaft can pass.

The second gripper includes a grip portion and a coupling portion formed by bending the grip portion, and the coupling portion includes a second slit through which the moving shaft can pass.

In a state in which the first gripper and the second gripper are closed, the first slit and the second slit are intersected and positioned.

When the moving shaft moves along the slit formed in the body, a moving shaft moving along the first slit and the second slit opens or closes the first gripper and the second gripper.

The grip portion of the first gripper and the grip portion of the second gripper have concave and convex portions formed on one side thereof.

A first hole through which the first rotation shaft can be mounted is formed at the coupling portion of the first gripper, and a second hole through which the second rotation shaft can be mounted is formed at the coupling portion of the second gripper.

The body includes two extensions oppositely disposed.

Each of the two extension portions is formed with the slit on which the moving shaft is mounted.

The first gripper and the second gripper are inserted into a space formed between the two extensions.

The first rotation shaft and the second rotation shaft are formed in the extension portion, and the first pulley is positioned between the first rotation shaft and the second rotation shaft.

The surgical robot according to an embodiment of the present invention includes an endoscope module that is inserted into a human body and photographs the inside of the human body; A surgical instrument module that can be inserted into a human body and perform medical treatment; And a driving unit for transmitting a driving force to the endoscope module and the surgical instrument module, wherein the surgical instrument module comprises: two grippers having slits; A body in which a slit is formed; A moving shaft passing through the slit formed in the gripper and the slit formed in the body; And a rotary shaft on which the two grippers are rotatably mounted, wherein the extension of the slit formed on the body and the rotary shaft are spaced apart from each other.

The two grippers are opened or closed by moving the moving shaft along the slit.

The gripper includes a grip portion and a coupling portion formed with the slit, wherein the grip portion and the coupling portion are formed by bending.

Wherein the first pulley and the second pulley are mounted on the body, a first wire connected to the driving unit is wound on the first pulley and the moving shaft a plurality of times, and the second pulley and the moving shaft are connected to the driving unit Two wires are wound a plurality of times, and the driving force of the driving part is amplified and transmitted to the moving shaft.

When the first wire is pulled by the driving unit, the distance between the first pulley and the moving shaft becomes narrow to open the two grippers. When the second wire is pulled by the driving unit, The distance between the moving shafts is narrowed so that the two grippers are closed.

According to one embodiment of the invention, the gripper can be moved at various angles. In addition, it is possible to amplify the driving force of the driving unit to the gripper and to transmit and amplify the driving force, thereby improving the accuracy of the gripper operation. This can improve the performance of the surgical device.

1 is a view showing a surgical robot according to an embodiment of the present invention.
2 is a view showing an endoscope surgical unit according to one embodiment of the present invention.
3 is a view illustrating an endoscopic surgery instrument according to an embodiment of the present invention.
4 is a view showing a state in which the forceps is closed in accordance with an embodiment of the present invention.
5 is a view showing a state in which the forceps portion is opened in accordance with an embodiment of the present invention.
6 is an exploded perspective view of the forceps section according to an embodiment of the present invention.
7 is a perspective view illustrating the body of the forceps unit according to an embodiment of the present invention.
8 is a perspective view showing a gripper of the forceps portion according to an embodiment of the present invention.
9 is a view showing a state of a wire when the forceps portion is in a closed state according to an embodiment of the present invention.
10 is a view showing a state of the wire when the forceps portion is in an open state according to an embodiment of the present invention.

Hereinafter, a surgical apparatus and a surgical robot having the same according to an embodiment of the present invention will be described in detail with reference to the drawings.

Hereinafter, an endoscopic surgical instrument according to an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a view showing a surgical robot according to an embodiment of the present invention, and FIG. 2 is a view illustrating an endoscope surgical unit according to an embodiment of the present invention.

1 and 2, a surgical robot 1 according to an embodiment of the present invention includes a base 2, a support portion 3, and an endoscope operating mechanism unit 4. [ The base 2 supports the support portion 3 and the endoscopic surgery instrument unit 4 is attached to the support portion 3. [ The endoscopic surgery instrument unit 4 is mounted on the support part 3 so as to be spaced apart from the floor surface, thereby facilitating medical treatment for the patient lying on the operating table.

The endoscopic surgical instrument unit 4 includes a driving part 10, a connecting part 20, and an endoscopic surgical instrument 30. [ The driving unit 10 can be mounted on the support 3. The endoscopic surgery instrument 30 can be inserted into the human body to perform medical treatment. The connecting portion 20 connects the endoscope operating mechanism 30 and the driving unit 10. The endoscopic surgery instrument 30 can be operated by receiving the driving force from the driving unit 10 through the connection unit 20. [

Hereinafter, an endoscopic surgical instrument according to an embodiment of the present invention will be described in detail with reference to the drawings.

3 is a view showing a part of an endoscopic surgical instrument according to an embodiment of the present invention.

Referring to FIG. 3, the endoscopic surgery instrument 30 according to an embodiment of the present invention includes an endoscope module 31 and a surgical instrument module 32. The endoscopic surgery instrument 30 is provided at one end of the connection portion 20 and can be inserted into the human body during surgery. Two surgical instrument modules 32 may be provided.

For example, the ends of the endoscope module 31 and the end portions of the two surgical instrument modules 32 may be disposed at positions corresponding to the vertexes of the triangle, respectively. That is, the two surgical instrument modules 32 and the endoscope module 31 may be triangular. For example, when the endoscope module 31 is positioned on the upper side and the two surgical instrument modules 32 are disposed on the lower side so that the camera 40 provided in the endoscope module 31 is positioned between the two surgical instrument modules 32 Can be photographed while observing the state of operation.

The endoscope module 31 includes a head portion 310 and an arm portion 311 on which the camera 40 is mounted. The head portion 310 may be provided with a first joint 312 that allows the endoscope module 31 to bend so that the camera 40 can take a different position. The head portion 310 and the arm portion 311 may be connected by a second joint 313 in a bendable manner. The head portion 310 is operated by the second joint 313 so that the field of view of the camera can be adjusted.

For example, the first joint 312 may be provided so that the head 310 can be tilted in both the left and right directions, and the second joint 313 may be provided such that the head 310 can be tilted in the vertical direction .

The endoscope module 31 and the surgical instrument module 32 may have joints. The endoscope module 31 and the surgical instrument module 32 may be bent around the joint to facilitate operation. At the end of the surgical instrument module 32, a forefoot portion 5 may be provided. The forceps portion 5 can be inserted into the inside of the human body to pick up the tissue or surgical instrument of the human body. The forceps portion 5 may be referred to as a surgical device.

In one example, the surgical instrument module 32 may include a first arm 321, a second arm 322, and a forefoot portion 5. A first joint portion 325 is provided between the first arm 321 and the forceps portion 5 and a second joint portion 324 is provided between the first arm 321 and the second arm 322 . The first arm 321 and the forceps portion 5 may be bent around the first joint portion 325.

More specifically, the first arm 321 is provided with a serrated gear portion at one end thereof, and the one end portion of the forceps portion 5 is provided with a gear portion formed with teeth corresponding to the gear portion formed in the first arm 321, The gear portion formed on the first arm 321 and the gear portion formed on the forceps portion 5 are engaged with each other and rotated so that the first arm 321 or the forceps portion 5 can be bent.

The first arm 321 and the second arm 322 may be bent around the second joint portion 324 similarly to the case of the first arm 321 and the forceps portion 5. [ The second arm 322 may be connected to the connection portion 20 by a third joint portion 323. The second arm 322 can be bent by the rotation of the gear portion provided in the third joint portion 323 similarly to the case of the first arm 321 and the forceps portion 5. [

Hereinafter, the structure and operation of the forceps section 5 will be described in detail with reference to the drawings.

FIG. 4 is a view illustrating a state in which the forceps portion is closed in accordance with an embodiment of the present invention, FIG. 5 is a view illustrating a state in which the forceps portion is opened according to an embodiment of the present invention, 7 is a perspective view illustrating the body of the forceps portion according to the embodiment of the present invention, and FIG. 8 is a perspective view of the forceps portion according to an embodiment of the present invention. A perspective view showing the gripper.

4 to 8, the forceps unit 5 according to an embodiment of the present invention includes a body 50 and grippers 51 and 52. [ The grippers 51 and 52 include a first gripper 51 and a second gripper 52. The first gripper 51 and the second gripper 52 may be rotatably mounted on the body 50. The forceps portion 5 may be connected to the driving portion 10 through the arm and the connecting portion 20. The grippers 51 and 52 can be opened or closed by the driving force transmitted from the driving unit 10. [

The forceps portion 5 may be connected to the connection portion 20 by means of arms 321 and 322 having a plurality of joints 323, 324 and 325. For example, the forceps portion 5 may be connected to the first arm 321 so as to be able to bend about the first joint portion 325. Hereinafter, it is assumed that the forceps portion 5 is connected to the first arm 321 with the first joint portion 325 as a center.

The forceps portion 5 includes a body 50 and grippers 51, 52. The body 50 may be connected to the first arm 321 so as to be able to bend about the first joint portion 325. One side of the body 50 may be mounted on the first arm 321 and the extension 500 500 'may be formed on the other side of the body 50. Grippers 51 and 52 may be mounted on the extensions 500 and 500 '.

For example, two extensions 500 and 500 'may be provided facing each other. In the case where the two extensions 500 and 500 'are opposed to each other, one side of the grippers 51 and 52 can be mounted so as to be positioned between the extensions 500 and 500'. Hereinafter, it is assumed that the two extensions 500 and 500 'are formed to be opposed to each other on the other side of the body 50.

Slits 501 and 501 'may be formed in the extension portions 500 and 500', respectively. The slits 501 and 501 'formed in the opposed extensions 500 and 500' may be formed in shapes corresponding to each other. For example, the slits 501 and 501 'may be elongated in a direction from one side of the body 50 to the other side. That is, the slits 501 and 501 'may be formed long toward the direction in which the grippers 51 and 52 are positioned from the direction in which the first arm 3321 is located. The moving shaft 53 can be inserted into the slits 501 and 501 '. The moving shaft 53 is provided so as to pass through the slit formed in the grippers 51 and 52 and can slide in the slits 501 and 501 'to open or close the grippers 51 and 52.

Holes or grooves on which the pulleys 56 and 57 can be mounted, respectively, may be formed at positions adjacent to both longitudinal ends of the slits 501 and 501 '. In the present embodiment, holes are formed at positions adjacent to both ends in the longitudinal direction of the slits 501 and 501 ', respectively.

Holes located at the ends of the slits 501 and 501 'at the grippers 51 and 52 are referred to as first holes 504 and 504' and holes located at the ends of the first arm 321 of the slits 501 and 501 ' The first pulleys 56 may be mounted on the first holes 504 and 504 'and the second pulleys 57 may be mounted on the second holes 505 and 505'. The first pulley 56 is fixed to the first holes 504 and 504 'and the second pulley 57 is fixed to the second holes 505 and 505' so that the second pulley 57 is not movable.

Rotation axis insertion holes 502, 502 ', 503, 503' to which the rotation shafts 54, 55 of the grippers 51, 52 can be mounted are formed on both sides of the first holes 504, 504 ', respectively. The rotation axis insertion holes 502, 502 ', 503, 503' include first rotation axis insertion holes 502, 502 'and second rotation axis insertion holes 503, 503'. The first rotation axis insertion hole 503 and the second rotation axis insertion hole 503 'may be formed in the first rotation axis insertion holes 502 and 502' And a second rotation shaft 55 serving as a rotation center can be mounted.

The first gripper 51 may have a grip portion 510 on one side and a coupling portion 512 on the other side. The grip portion 510 and the engaging portion 512 may be formed to be bent at a predetermined angle. The grip portion 510 can hold tissue or a surgical instrument inside the human body. The engaging portion 512 may be attached to the body 50 by the first rotating shaft 54. The grip portion 510 may be provided with concave and convex portions 511. The concavity and convexity 511 can be formed on the inner side where the first gripper 51 can abut against the second gripper 52 while the grippers 51 and 52 are closed. Thereby increasing the frictional force of the grip portion 510 so that the grippers 51 and 52 can pick up the tissue or surgical instrument accurately.

A first slit 513 corresponding to the shape of the slits 501 and 501 'formed in the body 50 may be formed on one side of the engaging portion 512. The moving shaft 53 can pass through the slits 501 and 501 'formed in the body 50 and the first slit 513 formed in the first gripper 51. As the moving shaft 53 moves, the first gripper 51 can rotate around the first rotating shaft 54. [

A first hole 514 through which the first rotary shaft 54 can be mounted may be formed on the coupling portion 512. The first rotary shaft 54 may be mounted to pass through the first hole 514 and the first rotary shaft insertion holes 502 and 502 'formed in the body 50. When the moving shaft 53 moves along the slits 501 and 501 ', the first gripper 51 can rotate about the first rotating shaft 54. [

The structure of the second pipper 52 can be applied similarly to the structure of the first gripper 51. The second gripper 52 may be provided with a grip portion capable of holding tissue or a surgical instrument or the like inside the human body at one side and a coupling portion to be attached to the body 50 at the other side. The grip portion and the engaging portion can be bent at a predetermined angle. The grip portion can be formed in the concave and convex portions 511 on the inner side where the first gripper 51 and the second gripper 52 can come into contact with each other while the grippers 51 and 52 are closed. This increases the frictional force of the grip portion so that the grippers 51 and 52 can pick up the tissue or surgical instrument accurately.

A second slit corresponding to the shape of the slits 501 and 501 'formed in the body 50 may be formed on one side of the coupling portion. The moving shaft 53 can penetrate through the slits 501 and 501 'formed in the body 50 and the second slit formed in the second gripper 52. As the moving shaft 53 moves, the second gripper 52 can rotate about the second rotating shaft 55. [ When the movable shaft 53 moves along the slits 501 and 501 ', the first gripper 51 rotates around the first rotational shaft 54 and the second gripper 52 rotates about the center of the second rotational shaft 55 . Whereby the grippers 51 and 52 can be opened or closed.

The coupling portion may be formed with a second hole through which the second rotation shaft 55 can be mounted. The second rotary shaft 55 may be mounted to pass through the second rotary shaft insertion holes 503 and 503 'formed in the second hole and the body 50. When the movable shaft 53 moves along the slits 501 and 501 ', the second gripper 52 can rotate about the second rotational shaft 55. [

The moving shaft 53 includes slits 501 and 501 'formed in the extensions 500 and 500' of the body 50, a first slit 513 formed in the engaging portion 512 of the first gripper 51, 52 through the second slits. The slits 501 and 501 'formed in the extensions 500 and 500' of the body 50, the first slits 513 and the second slits may be formed in corresponding shapes. The moving shaft 53 can move along the slits 501 and 501 ', the first slit 513, and the second slit.

The first slit 513 and the second slit are formed at a predetermined angle with the slits 501 and 501 'formed in the extensions 500 and 500' of the body 50 when the grippers 51 and 52 are closed . For example, in a state where the grippers 51 and 52 are mounted on the body 50 and closed, the first slit 513 and the second slit may be crossed to form an alphabet X shape. When the movable shaft 53 moves along the slits 501 and 501 ', the first gripper 51 rotates along the first rotational shaft 54 and the second gripper 52 rotates along the second rotational shaft 55 can do.

5), when the moving shaft 53 is moved in the A direction, the first gripper 51 is moved to the first rotation axis (the second rotation axis) 54 and the second gripper 52 is rotated in the R direction about the second rotation shaft 55 so that the grippers 51 and 52 can be opened.

As described above, the moving shaft 53 for moving the slits 501 and 501 'and the rotating shafts 54 and 55 of the grippers 51 and 52 are separately provided, and the moving shaft 53 and the rotating shafts 54 and 55 are formed in the same straight line It is possible to prevent the occurrence of Cingular points that do not rotate even when the grippers 51 and 52 are subjected to a force exceeding a certain angle. That is, the extension of the slits 501 and 501 'and the first rotation axis 54 and the second rotation axis 55 may be spaced apart from each other. For example, the first rotary shaft 54 may be positioned at one side of the extension of the slits 501 and 501 ', and the second rotary shaft 56 may be positioned at the other side thereof. Thereby enabling the grippers 51 and 52 to rotate at various angles.

Hereinafter, a structure for allowing the moving shaft 53 to move within the slits 501 and 502 'by the driving unit 10 will be described.

FIG. 9 is a view showing a state of a wire when the forceps portion is in a closed state according to an embodiment of the present invention, FIG. 10 is a view of a wire when the forceps portion is in an open state according to an embodiment of the present invention Fig.

9 and 10, a first wire 58 may be wound around a moving shaft 53 and a first pulley 56 according to an embodiment of the present invention, and a moving shaft 53 and a second pulley The second wire 59 may be wound around the second wire 57. One end of the first wire 58 and one end of the second wire 59 may be fixed to the inner surface of the body 50. The other end of the first wire 58 and the other end of the second wire 59 may be connected to the driving unit 10.

The first wire 58 may be wound multiple times on the moving shaft 53 and the first pulley 56. As shown in FIG. 6, a plurality of wire grooves 530 may be provided on the moving shaft 53 to prevent the first wire 58 from being wound. Similarly, the first pulley 56 may be provided with a plurality of wire grooves 560 so that the first wire 58 is not wound around the wire.

The first wire 58 is wound on the moving shaft 53 and the first pulley 56 many times and can be pulled by the driving unit 10. When the first wire 58 is pulled by the driving unit 10, the moving shaft 53 moves in the direction A, and the distance between the moving shaft 53 and the first pulley 56 becomes narrow. Thereby, the grippers 51 and 52 can be opened. The driving force of the driving unit 10 can be amplified and transmitted to the moving shaft 53 by winding the first wire 58 a plurality of times to the moving shaft 53 and the first pulley 56.

The second wire 59 may be wound a plurality of times to the moving shaft 53 and the second pulley 57. 6, the moving shaft 53 is provided with a plurality of wire grooves 530 such that the second wire 59 is wound and not moved. Similarly, the second wire 57 is also provided with the second wire 59, 59 may be wound and not moved.

The second wire 59 is wound on the moving shaft 53 and the second pulley 57 many times and can be pulled by the driving unit 10. When the second wire 59 is pulled by the driving unit 10, the moving shaft 53 moves in the direction opposite to the direction A, and the gap between the moving shaft 53 and the second pulley 57 becomes narrow. This allows the graphers 51 and 52 to close. At this time, the driving force of the driving unit 10 can be amplified and transmitted to the moving shaft 53 by winding the second wire 59 to the moving shaft 53 and the second pulley 57 a plurality of times.

The driving force transmitted from the driving unit 10 is amplified by the first wire 58 and the second wire 59 and transmitted to the moving shaft 53 so that the grippers 51 and 52 are rotated by the amplified force It can operate more accurately. As a result, the performance of the forceps portion can be improved.

1: surgical robot 2: base
3: Support 4: Surgical instrument unit
5: forceps part 50: body
51: first gripper 52: second gripper
53: moving shaft 54: first rotating shaft
55: second rotating shaft 56: first pulley
57: second pulley 58: first wire
59: second wire

Claims (20)

A slit formed body;
A first gripper rotatably mounted on the body;
A first rotating shaft for rotatably mounting the first gripper on the body;
A second gripper rotatably mounted on the body;
A second rotation shaft for rotatably mounting the second gripper on the body; And
And a moving shaft for rotating the first gripper and the second gripper by passing through the first gripper and the second gripper and moving along the slit,
Wherein the first rotation axis and the second rotation axis are spaced apart from an extension of the slit. The method according to claim 1,
Wherein the body is equipped with a first pulley located at one end of the slit and a second pulley located at the other end of the slit. 3. The method of claim 2,
Wherein the first wire is wound a plurality of times on the first pulley and the moving shaft and the second wire is wound on the second pulley and the moving shaft a plurality of times. The method of claim 3,
Wherein one end of the first wire and one end of the second wire are fixed to the body and the other end of the first wire and the other end of the second wire are connected to the driving unit to amplify the driving force of the driving unit, A surgical device for delivering to a moving shaft. 5. The method of claim 4,
The first gripper and the second gripper are opened when the first wire is pulled by the driving unit, and when the second wire is pulled by the driving unit, the first gripper and the second gripper are closed Device. The method according to claim 1,
Wherein the first gripper includes a grip portion and a coupling portion formed by bending the grip portion, and the coupling portion includes a first slit through which the moving shaft can pass. The method according to claim 6,
Wherein the second gripper includes a grip portion and a coupling portion formed by bending the grip portion, and the coupling portion includes a second slit through which the moving shaft can pass. 8. The method of claim 7,
Wherein the first slit and the second slit are located in an intersecting relationship with the first gripper and the second gripper being closed. 9. The method of claim 8,
Wherein when the moving shaft moves along the slit formed in the body, a moving shaft moving along the first slit and the second slit opens or closes the first gripper and the second gripper. The method according to claim 6,
Wherein the grip portion of the first gripper and the grip portion of the second gripper have concave and convex portions. The method according to claim 6,
Wherein a first hole through which the first rotation shaft is mountable is formed at a coupling portion of the first gripper and a second hole through which the second rotation shaft can be mounted is formed at a coupling portion of the second gripper, . The method according to claim 1,
Wherein the body includes two extensions provided opposite each other. 13. The method of claim 12,
Wherein the slit is formed in each of the two extended portions by moving the moving shaft. 3. The method of claim 2,
Wherein the first gripper and the second gripper are inserted into a space formed between the two extensions. 15. The method of claim 14,
Wherein the first rotation axis and the second rotation axis are formed in the extension portion, and the first pulley is positioned between the first rotation axis and the second rotation axis. An endoscope module which is drawn into the inside of the human body and photographs the inside of the human body;
A surgical instrument module that can be inserted into a human body and perform medical treatment; And
And a driving unit for transmitting driving force to the endoscope module and the surgical instrument module,
The surgical instrument module includes two grippers having slits formed therein;
A body in which a slit is formed;
A moving shaft passing through the slit formed in the gripper and the slit formed in the body; And
And a rotary shaft on which the two grippers are rotatably mounted, respectively,
And the rotation axis is spaced apart from an extension of the slit formed in the body. 17. The method of claim 16,
And the two grippers are opened or closed by moving the moving shaft along the slit. 18. The method of claim 17,
Wherein the gripper includes a grip portion and a coupling portion formed with the slit, wherein the grip portion and the coupling portion are formed by bending. 17. The method of claim 16,
Wherein the first pulley and the second pulley are mounted on the body, a first wire connected to the driving unit is wound on the first pulley and the moving shaft a plurality of times, and the second pulley and the moving shaft are connected to the driving unit Two wires are wound a plurality of times, and a driving force of the driving part is amplified and transmitted to the moving shaft. 20. The method of claim 19,
When the first wire is pulled by the driving unit, the distance between the first pulley and the moving shaft becomes narrow to open the two grippers. When the second wire is pulled by the driving unit, And the two grippers are closed by narrowing the distance between the moving shafts.

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