KR20160133195A

KR20160133195A - A surgical device

Info

Publication number: KR20160133195A
Application number: KR1020150065916A
Authority: KR
Inventors: 황민호; 권동수; 양운제; 천병식
Original assignee: 한국과학기술원
Priority date: 2015-05-12
Filing date: 2015-05-12
Publication date: 2016-11-22
Also published as: KR101688315B1

Abstract

The following description relates to a surgical device which is able to be miniaturized and has high durability. According to one embodiment, the surgical device includes: a first joint part; a solenoid provided at the first joint part; two wires respectively connected to both ends of the solenoid; a second joint part which is rotatable with respect to the first joint part; and a first magnetic body biased to one side on the basis of a center of the second joint part, wherein a rotation direction of the second joint part is changed according to the direction of a current flowing in the solenoid.

Description

[0001] A SURGICAL DEVICE [0002]

The following description relates to a surgical instrument.

Recently, surgery has been developed to minimize the invasion of patients in various surgical fields. Accordingly, studies for miniaturizing surgical instruments have been actively conducted.

FIG. 1 is a view showing a surgical instrument according to the related art, and FIG. 2 is a view showing a wire cable used as a driving means of a surgical instrument according to the prior art.

Referring to FIGS. 1 and 2, in order to miniaturize the surgical instruments, a tool having a tip having various functions such as forceps and cautery is attached to a distal end of a thin and long pipe. These instruments are not limited to laparoscopic surgery but are used in almost all surgical procedures. In order to make dexterous movement in the abdominal cavity, a number of surgical instruments including joints at the distal end have been developed. These joints are mostly driven by pulling or pushing a wire cable composed of a plurality of strands as shown in Fig. actuation).

As the degree of freedom of the joint increases, the number of wire cables increases, and the wire passes through the inner space of the shaft from the driving portion to the distal joint. For example, a pair of opposing wire cables can be used to bend on one plane. As another example, two pairs of opposing wire cables can be used to bend on two planes. Additionally, one or more wire cables are required to drive the distal end of a gripper or the like.

Further, in order to fix the wire cable to the end of the joint part, there has been used a method of welding or fixing the sleeve by permanently deforming the sleeve after passing the wire cable through a cylindrical sleeve.

However, in order to transmit a force by using a mechanical force transmitting member such as a wire cable, a space for passing the member (for example, a hole through which the wire cable penetrates) is required, There was a limit to the degree.

Further, there has been a problem in that a proper radius of curvature must be provided in designing the movable range of the link that surrounds the member so that the mechanical force transmitting member is not plastically deformed.

Further, since the wire cable must have a diameter over a certain length in order to transmit the force, miniaturization has been limited. For example, in the case of a steel cable, when the diameter is less than 0.4 mm, there is a problem that the cable easily breaks even with a force of 10 kgf. Specifically, in the case of the wire cable as shown in FIG. 2, there is a problem that the smaller the diameter is, the more the wire is broken and the force of the joint is reduced.

In addition, there is also a problem in the welding of the wire cable and the distal end joint, such as welding defect and finishing of the joint portion.

It is an object of the embodiments to provide a surgical instrument having means capable of driving a joint using an electromagnetic force as a means of replacing or using a mechanical force transmitting member such as a wire cable.

According to one embodiment, the surgical instrument comprises: a first joint; A solenoid provided in the first joint part; Two wires respectively connected to both ends of the solenoid; A second joint part pivotable about the first joint part; And a first magnetic body biased to one side with respect to a center of the second joint, wherein the second joint is capable of changing a direction of rotation according to a direction of a current flowing in the solenoid.

The surgical instrument may further include a second magnetic body positioned to be symmetrical with respect to the first magnetic body with respect to a center of the second joint and having a polarity opposite to that of the first magnetic body.

Wherein the first joint part includes a first joint part connected to the second joint part and the second joint part includes a second joint part connected to the first joint part, A hinge coupling method, a rolling contact method, or a gear coupling method.

The surgical instrument may further include a connecting member connecting the first joint part and the second joint part.

The connecting member may be formed of a flexible material.

The connecting member may include a first slit portion and a second slit portion formed to face each other in the same direction as the direction in which the first magnetic body and the second magnetic body face each other.

The connecting member may be formed of a material having elasticity.

The connecting member may include a first elastic body and a second elastic body disposed symmetrically with each other in a direction orthogonal to a plane in which the second joint part rotates.

The first elastic body and the second elastic body may be parallel to each other when no current flows through the solenoid, and may be bent in the same direction when a current flows through the solenoid.

Wherein the second joint part comprises: a joint body part; An insertion space formed in the joint body part and accommodating the first magnetic body; And a cap for covering the insertion space and preventing the first magnetic body from being detached.

The first joint part and the second joint part may include a first passage part and a second passage part, respectively.

According to embodiments, electromagnetic forces can be used to drive the joints as a means to replace or in conjunction with mechanical force transfer members, such as wire cables.

Therefore, the space required for disposing the mechanical force transmitting member (for example, a hole through which the wire cable penetrates) is not required, and consequently miniaturization of the entire surgical instrument can be achieved very easily. Specifically, the smallest surgical tool available today is about 5 mm in diameter. However, according to the embodiment, it can be easily manufactured up to 3 mm or less.

As a result of the miniaturization as described above, it is possible to use not only the abdominal surgery field in which a relatively large-diameter surgical instrument is used, but also a surgical operation such as neurosurgery (brain surgery, spine surgery), otolaryngology (ophthalmology, bronchial surgery, Surgery, and shoulder surgery, which require relatively small diameter surgical instruments. In addition, since it can be applied to a catheter, it can be used in the field of cardiovascular surgery.

Further, since the mechanical force transmitting member does not need to have an appropriate radius of curvature so as not to undergo plastic deformation, it is not necessary to consider the path of the wire cable, so that the degree of freedom of design is increased and a wider range of movable range can be ensured.

Also, joints with very small diameters (e.g., diameters less than 2 mm) can produce greater force than joints using wire cables.

Further, since the use of the electromagnetic force does not require consideration of the fatigue of the mechanical medium, it has an advantage in terms of durability.

1 is a view showing a surgical instrument according to the prior art.
2 is a view showing a wire cable used as driving means of a surgical instrument according to the prior art.
3 is a front view of the surgical instrument according to the embodiment.
4 is a top view of a surgical instrument according to an embodiment.
5 is a view showing a state in which the surgical instrument according to the embodiment operates in one direction.
6 is another view showing a state in which the surgical instrument according to the embodiment operates in a different direction.
7 is a front view of a surgical instrument according to another embodiment.
8 is a front view of a surgical instrument according to another embodiment.
Fig. 9 is a view from the left side of the surgical instrument of Fig. 8; Fig.
10 is a front view of a surgical instrument according to a further embodiment.
Fig. 11 is a view from the left side of the surgical instrument of Fig. 10; Fig.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected,""coupled," or "connected. &Quot;

FIG. 3 is a front view of the surgical instrument according to the embodiment, and FIG. 4 is a top view of the surgical instrument according to the embodiment.

The surgical instrument 10 according to the embodiment is an articulated surgical instrument including a joint portion that is rotated by using a magnetic force. 3 and 4, the surgical instrument 10 includes a power source unit 1, a first joint unit 110, a solenoid 120, a wire 130, a second joint unit 140, a first magnetic body 150 and a second magnetic body 160.

The first joint 110 may be connected to the surgical robot. For example, the first joint 110 may be detachably provided at the distal end of the surgical robot.

The first joint part 110 may include a first joint part 112 connected to the second joint part 140 and a first passage part 114.

The first connection portion 112 may be, for example, a hinge structure. The first connection portion 112 may be formed of, for example, a non-magnetic material.

The first passage part 114 may be formed along the longitudinal direction of the first joint part 110. For example, the first joint part 110 may be provided in a hollow cylindrical shape including a first passage part 114 therein. However, the shape of the first joint 110 is not limited in the present invention.

As the first passage portion 114, for example, a surgical instrument or a camera may be inserted, or a drug or the like may be injected. The surgical instrument may include a tool with a tip having various functions such as forceps, cautery, and the like.

The first joint 110 may comprise a material that magnetizes in a magnetic field. For example, when the first joint 110 is formed of iron, the strength of the magnetic field formed by the solenoid 120 can be increased.

The solenoid 120 may be provided in the first joint 110. For example, the solenoid 120 may be cylindrical in the axial direction. As a specific example, the solenoid 120 may be wound along the circumferential direction of the first joint portion 110. As another example, the solenoid 120 may be wound in a direction perpendicular to the axis of the first joint 110, only in a part of the first joint 110, or in a different shape such as a square.

Depending on the direction of the current flowing through the solenoid 120, the directions of the N-pole and the S-pole applied to both ends of the solenoid 120 can be changed. The force of the joint part of the surgical instrument 10 can be adjusted by adjusting the number of winding times and length of the solenoid 120 or adjusting the magnitude of the current inputted to the solenoid 120. [

In the present invention, the solenoid 120 is a name collectively referred to as a magnet that is magnetized when an electric current flows and returns to an original state that is not magnetized when a current is interrupted, and its shape and specific structure are not limited.

The electric wire 130 can transmit a current from the power supply unit 1 to the solenoid 120. [ The electric wire 130 may include a first electric wire 132 and a second electric wire 134 connected to both ends of the solenoid 120, respectively. A switch unit 2 may be provided between the electric wire 130 and the power source unit 1 to switch the direction of current flowing to the solenoid 120.

The second joint part 140 may be installed to be rotatable with respect to the first joint part 110. The second joint 140 can change the direction of rotation according to the direction of the current flowing through the solenoid 120.

The second joint part 140 includes a joint body part, a first insertion space 146 formed in the joint body part to receive the first magnetic body 150, and a second insertion space 146 formed in the joint body part with reference to a virtual center line C of the joint body part A second insertion space provided on the opposite side of the first insertion space 146 for receiving the second magnetic body 160 and a second insertion space for covering the first insertion space 146 and / A second connecting portion 142 connected to the first connecting portion 112, and a second passage portion 144. The cap 170 may be formed of a material having high thermal conductivity, .

The joint body portion may be formed of a material such as plastic, which is not magnetized in a magnetic field or has a low degree of magnetization.

The first connection part 112 and the second connection part 142 may be connected by, for example, a hinge connection method. The first connection portion 112 and the second connection portion 142 may be formed at the outer edge of the end portion with respect to the center of the first joint portion 110 and the second joint portion 140, respectively.

As shown in FIG. 4, a separation preventing portion 147 may be formed on one side of the first insertion space 146 to prevent the first magnetic body 150 from being laterally released. 4, the first magnetic body 150 is exposed to the outside. However, the first magnetic body 150 is not exposed to the outside, but the inside of the second joint body 140 As shown in FIG.

The first magnetic body 150 may be provided in the second joint 140. For example, the first magnetic body 150 can be inserted into the first insertion space 146. [ The first magnetic body 150 can rotate the second joint 140 by interacting with the solenoid 120. The first magnetic body 150 may be installed to be deflected toward one side with respect to the center of the second joint 140. The first magnetic body 150 may be a permanent magnet that always maintains the magnetism regardless of the supply of electric current, for example. 1 to 4 show that the first magnetic body 150 and the second magnetic body 160 are in the form of a round bar and are disposed on both sides of the first magnetic body 150 and the second magnetic body 160. In the present invention, the first magnetic body 150 and the second magnetic body 160 160 are not limited in shape and number.

The second magnetic body 160 can be inserted in a direction opposite to the direction in which the first magnetic body 150 is inserted. In other words, the polarities of the first magnetic body 150 and the second magnetic body 160 may be set to be opposite to each other. The second magnetic body 160 may be provided on the opposite side of the first magnetic body 150 with respect to a virtual center line C of the second joint 140. The second magnetic body 160 may be arranged to be symmetrical with respect to the first magnetic body 150 with respect to the center line C as a reference. The description of the first magnetic body 150 can be applied to the second magnetic body 160 as long as there is no opposite substrate, and a detailed description thereof will be omitted.

FIG. 5 is a view showing a state in which the surgical instrument according to the embodiment operates in one direction, and FIG. 6 is another diagram showing a state in which the surgical instrument according to the embodiment operates in the other direction.

5 and 6, the surgical instrument 10 according to the embodiment can operate in different directions depending on the direction of the current flowing in the solenoid 120. [

5, when an electric current is supplied from the power supply unit 1 to the first electric wire 132, the N pole is applied to the upper side of the solenoid 120 and the S pole is applied to the lower side of the solenoid 120 . In this case, the first magnetic body 150 in which the N pole is inserted downward moves in the direction away from the solenoid 120 by the repulsive force, and the second magnetic body 160 in which the S pole is inserted in the downward direction passes through the solenoid 120 And can be moved in a direction approaching. As a result, the second joint part 140 including the first magnetic body 150 and the second magnetic body 160 can be rotated clockwise.

6, when an electric current is supplied from the power supply unit 1 to the second electric wire 134, the S-pole is applied to the upper side of the solenoid 120, and the N-pole is applied to the lower side of the solenoid 120 have. In this case, the first magnetic body 150 in which the N pole is inserted downward moves in a direction in which attraction is received from the solenoid 120, and the second magnetic body 160 in which the S pole is inserted in the downward direction, 120 in the direction away from it. As a result, the second joint part 140 including the first magnetic body 150 and the second magnetic body 160 can be rotated counterclockwise.

However, it is needless to say that only one of the first and second magnetic bodies 150 and 160 may be provided. However, if both the first magnetic body 150 and the second magnetic body 160 are provided, there is a simpler advantage in terms of control.

Meanwhile, at least one elastic body may be further provided between the first joint part 110 and the second joint part 140. The elastic body can maintain the first joint part 110 and the second joint part 140 in a relatively constant position when no current is applied to the solenoid 140. [ Here, the "fixed position" may be a position where the first joint part 110 and the second joint part 140 are parallel to each other, but the present invention is not limited thereto, and the first joint part 110 and the second joint part 140 It may be in a state rotated at a certain angle.

Hereinafter, the components included in the above embodiments and the components including the common functions will be described using the same names. Unless otherwise stated, the description of the above embodiment can be applied to the following embodiments. A detailed description will be omitted below.

7 is a front view of a surgical instrument according to another embodiment.

Referring to FIG. 7, the surgical instrument 20 according to another embodiment may include a connecting member 280 connecting the first joint part 110 and the second joint part 140.

The connecting member 280 may be formed of a flexible material. A third passage portion may be formed in the center of the connecting member 280, like the first joint portion 110 and the second joint portion 140. In other words, the connecting member 280 may be hollow cylindrical.

The connecting member 280 may include one or more slits to increase flexibility. For example, the connecting member 280 includes a first slit portion 282 and a second slit portion 284, which are formed so that the first magnetic body 150 and the second magnetic body 160 face each other in the same direction as the direction in which the first magnetic body 150 and the second magnetic body 160 face each other. ).

On the other hand, the portion where the first slit portion 282 and the second slit portion 284 are not formed can be defined as the support portion 286. [ The support part 286 can support the second joint part 140 from the first joint part 110. [ For example, the first joint part 110, the second joint part 140, and the connecting member 280 may be integrally formed.

The connecting member 280 may be formed of a material having elasticity. In this case, if no current is applied to the solenoid 120, the first joint part 110 and the second joint part 140 can be restored to a predetermined position without a separate elastic body.

FIG. 8 is a front view of a surgical instrument according to another embodiment, and FIG. 9 is a view from the left side of the surgical instrument of FIG.

Referring to FIGS. 8 and 9, the surgical instrument 30 according to another embodiment may include a connecting member 380 connecting the first joint part 110 and the second joint part 140. FIG.

The connecting member 380 may include a material having elasticity. The second joint portion 140 can be pivoted relative to the first joint portion 110 in accordance with the bending action of the connecting member 380 having elasticity. The connecting member 380 is bent when a current is applied to the solenoid 120, and can be restored to its original position when no current is applied. The connecting member 380 may include, for example, a spring such as a compression spring, a saddle spring, or a leaf spring, or a flexible tube such as a nitinol tube.

The connecting member 380 may include a first elastic body 382 and a second elastic body 384 disposed symmetrically with respect to each other.

For example, the first elastic body 382 and the second elastic body 384 may be disposed symmetrically with respect to each other in a direction orthogonal to the plane in which the second joint 140 rotates. In this case, the first elastic body 382 and the second elastic body 384 are kept parallel to each other when no current flows through the solenoid 120, and are bent in the same direction when a current flows through the solenoid 120 .

The first and second elastic bodies may be disposed so that they face each other in the same direction as the direction in which the first magnetic body 150 and the second magnetic body 160 face each other. In this case, the first elastic body 382 and the second elastic body 384 maintain the same length when no current flows through the solenoid 120 and are compressed or shortened to different lengths when a current flows through the solenoid 120 It could be stretched.

FIG. 10 is a front view of a surgical instrument according to a further embodiment, and FIG. 11 is a view from the left side of the surgical instrument of FIG.

Referring to FIGS. 10 and 11, the first joint part 110 and the second joint part 140 of the surgical instrument 40 according to a further embodiment can be moved in a rolling contact manner. The first connecting portion 412 of the first joint part 110 and the second connecting part 442 of the second joint part 140 each include a curved surface and the two curved surfaces can be rotated while relatively moving.

Meanwhile, the first connection part 412 and the second connection part 442 may be operated not only by the rolling contact method, but also by the gear connection method.

According to embodiments, electromagnetic forces can be used to drive the joints as a means to replace or in conjunction with mechanical force transfer members, such as wire cables. Therefore, the space required for disposing the mechanical force transmitting member (for example, a hole through which the wire cable penetrates) is not required, and consequently miniaturization of the entire surgical instrument can be achieved very easily. Specifically, the smallest surgical tool available today is about 5 mm in diameter. However, according to the embodiment, it can be easily manufactured up to 3 mm or less. As a result of the miniaturization as described above, it is possible to use not only the abdominal surgery field in which a relatively large-diameter surgical instrument is used, but also a surgical operation such as neurosurgery (brain surgery, spine surgery), otolaryngology (ophthalmology, bronchial surgery, Surgery, and shoulder surgery, which require relatively small diameter surgical instruments. In addition, since it can be applied to a catheter, it can be used in the field of cardiovascular surgery. Further, since the mechanical force transmitting member does not need to have an appropriate radius of curvature so as not to undergo plastic deformation, it is not necessary to consider the path of the wire cable, so that the degree of freedom of design is increased and a wider range of movable range can be ensured. Also, joints with very small diameters (e.g., diameters less than 2 mm) can produce greater force than joints using wire cables. Further, since the use of the electromagnetic force does not require consideration of the fatigue of the mechanical medium, it has an advantage in terms of durability.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Therefore, other implementations, other embodiments and equivalents to the claims are within the scope of the following claims.

Claims

A first joint;
A solenoid provided in the first joint part;
Two wires respectively connected to both ends of the solenoid;
A second joint part pivotable about the first joint part; And
And a first magnetic body that is installed to be biased toward one side with respect to the center of the second joint,
Wherein the second joint part has a turning direction changed in accordance with a direction of a current flowing in the solenoid.

The method according to claim 1,
And a second magnetic body positioned to be symmetrical to the first magnetic body with respect to a center of the second joint, the second magnetic body being disposed so that the polarity of the second magnetic body is opposite to that of the first magnetic body.

3. The method of claim 2,
Wherein the first joint part includes a first joint part connected to the second joint part,
The second joint part includes a second connection part connected to the first connection part,
Wherein the first connection portion and the second connection portion are connected by a hinge coupling method, a rolling contact method, or a gear coupling method.

The method according to claim 1,
And a connecting member connecting the first joint part and the second joint part.

5. The method of claim 4,
Wherein the connecting member is formed of a flexible material.

6. The method of claim 5,
Wherein the connecting member includes a first slit portion and a second slit portion formed to face each other in the same direction as a direction in which the first magnetic body and the second magnetic body face each other.

5. The method of claim 4,
Wherein the connecting member is formed of a material having elasticity.

8. The method of claim 7,
Wherein the connecting member includes a first elastic body and a second elastic body disposed symmetrically with each other in a direction orthogonal to a plane in which the second joint part rotates.

8. The method of claim 7,
Wherein the first elastic body and the second elastic body are made of a metal material,
When the current does not flow in the solenoid,
And is bent in the same direction when a current flows through the solenoid.

The method according to claim 1,
The second joint part
Joint body part;
An insertion space formed in the joint body part and accommodating the first magnetic body; And
And a cap for covering the insertion space and preventing the first magnetic body from being detached.

The method according to claim 1,
Wherein the first joint portion and the second joint portion each include a first passage portion and a second passage portion.