KR20200050227A - Surical device - Google Patents

Abstract

According to one embodiment, a surgical device comprises: a base; a slider provided at the front of the base and movable relative to the base; a joint part connected to the slider to be rotatable; a plurality of expansion members including a first end fixed to the base and a second end fixed to the joint part and deformed such that a central portion moves away from a central axis of the base when a distance between the base and the slider becomes closer; a spring provided between the base and the slider; and a first wire and a second wire fixed to the joint part by penetrating the base and disposed opposite each other with respect to the central axis of the base. According to the present invention, the surgical device has excellent durability.

Description

Surgical device {SURICAL DEVICE}

The description below relates to a surgical device.

The surgical device may require a mechanism in which the shape is firmly fixed by applying an external force in the peripheral direction according to the user's input. The surgical device can be in a relaxed or extended state. In the relaxed state, the surgical device can move freely through a narrow passage. In the expanded state, the surgical device can be secured with the space-expanding structure pushing around. The surgical device may be applied to a flexible joint device, for example, an industrial or medical endoscope, catheter, or the like.

For example, surgical devices should not stimulate or destroy peripheral nerves during surgery. The surgical device can secure the space in the constricted space by expanding the structure of the part through which the nerve passes. Through this, the surgical device can reduce the time required for treatment, and consequently the patient's pain and the doctor's fatigue. In the case of expanding the space using the balloon, it is not only time-consuming to switch from the relaxed state to the expanded state, but also the cleaning method is quite difficult.

Currently, a technique using a robot is actively developed in the surgical field. When working in a confined space, space expansion is required. In addition, in the case of surgery with the robot system, since the doctor cannot directly use the hand, space expansion is required.

The balloon catheter is a representative example of a spatial expansion mechanism. The balloon catheter has a risk of tearing the balloon during surgery, and it is difficult to advance the balloon itself to the area requiring space expansion. In addition, the balloon catheter has a risk of complications due to the long balloon expansion time as mentioned above. In addition, the balloon catheter is difficult to control pressure and is not easy to clean.

On the other hand, the surgical device performs only the function of expanding the space of the target area. There is a need for a surgical device that performs a function of guiding a surgical instrument while performing spatial expansion.

An object of one embodiment is to provide a surgical device capable of performing an operation of expanding a space and an operation of bending each or at a time.

In addition, an object of one embodiment is to provide a surgical device capable of controlling pressure to prevent tissue damage.

In addition, the purpose of one embodiment is to provide a surgical device that can quickly expand the space, has excellent durability, and is easy to clean and replace parts.

The surgical device according to an embodiment includes: a base; A slider provided in front of the base and movable relative to the base; A joint portion rotatably connected to the slider; A plurality of expansion members that are deformed such that a first end is fixed to the base, a second end is fixed to the joint, and a central portion is distant from the central axis of the base while the distance between the base and the slider is close; A spring provided between the base and the slider; And a first wire and a second wire that penetrate through the base and are fixed to the joint, and are provided opposite to each other based on the central axis of the base.

When the distance between the first end and the second end of the plurality of expansion members is maximum, the spring may be provided between the base and the slider in a contracted state.

The distance between the base and the joint portion and the rotation angle of the joint portion with respect to the slider may be determined based on the tension applied to the first wire and the second wire.

The joint portion, a first joint link rotatably connected to the slider; And a second joint link rotatably connected to the first joint link.

Each of the first wire and the second wire may be fixed to the second joint link through the slider and the first joint link.

The plurality of expansion members may be spaced apart in the circumferential direction of the base.

The slider, the slider head; And a sliding body extending rearward from the slider head and sliding in contact with the inner wall of the base.

The slider is slidable toward the base by the tension of the first wire and the second wire, and slidable in a direction away from the base by the restoring force of the spring.

Each of the plurality of expansion members may include a first connection link rotatably connected to the base; And a second connection link rotatably connected to each of the first connection link and the slider.

At least one connection link among the first connection link and the second connection link may include a stopper that limits the relative rotation of the first connection link and the second connection link.

The base, the slider, and the joint portion may be provided with a hollow through which a surgical instrument can pass.

Each of the plurality of expansion members may have elasticity.

Each of the plurality of expansion members may have a plate shape in which each of the plurality of expansion members is collapsible.

A surgical device according to an embodiment includes a base including a plurality of joint links; A slider provided in front of the base and movable relative to the base; A plurality of expansion members that are deformed such that a first end is fixed to the base, a second end is fixed to the slider, and a central portion is distant from the central axis of the base while the distance between the base and the slider is close; A spring provided between the base and the slider; And a first wire and a second wire that penetrate through the base and are fixed to the slider and are provided on opposite sides of the center axis of the base.

When the distance between the first end and the second end is the maximum, the spring may be provided between the base and the slider in a contracted state.

The surgical device according to an embodiment may perform an operation of expanding a space and an operation of bending each or at a time by appropriately adjusting the tension of two wires.

In addition, the surgical device according to an embodiment can control the pressure applied to the space expansion site because the space is structurally expanded.

In addition, the surgical device according to one embodiment can rapidly expand the space, thereby reducing the risk of complications.

In addition, since the surgical device according to an embodiment uses a mechanical expansion member, for example, a superelastic plate or link structure, rather than a balloon, durability is excellent.

In addition, the surgical device according to an embodiment is easy to assemble and remove, so it is easy to clean and replace parts.

The following drawings attached to this specification illustrate one preferred embodiment of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so the present invention is limited to those described in those drawings. It should not be construed as limited.
1 is a perspective view of a surgical device according to an embodiment.
2 is a longitudinal sectional view of a surgical device according to an embodiment.
3 is a cross-sectional view of an expansion member according to an embodiment.
4 is a cross-sectional view taken along line IV-IV of FIG. 2.
5 is a side view showing a state in which the surgical device according to an embodiment performs a bending operation in a basic state.
6 is a side view showing a state in which a surgical device according to an embodiment is switched from a basic state to a spatially extended state.
7 is a side view illustrating a state in which a surgical device according to an embodiment is operated in a bending state in a space expansion state.
8 is a perspective view of a surgical device according to an embodiment.
9 is a perspective view of a surgical device according to an embodiment.
10 is a perspective view of a surgical device according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the embodiments, when it is determined that detailed descriptions of related well-known configurations or functions interfere with understanding of the embodiments, detailed descriptions thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), and the like can be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that may be "connected", "coupled" or "connected".

Components included in any one embodiment and components including a common function will be described using the same name in other embodiments. Unless there is an objection to the contrary, the description described in any one embodiment may be applied to other embodiments, and a detailed description will be omitted in the overlapped range.

1 is a perspective view of a surgical device according to an embodiment, and FIG. 2 is a longitudinal cross-sectional view of the surgical device according to an embodiment.

Referring to FIGS. 1 and 2, the surgical device 1 (hereinafter referred to as a “surgical device” for convenience of description) may perform both a spatial expansion operation and a bending operation. The surgical device 1 can mechanically expand the narrow space. Since the surgical device 1 has a compact structure, it can be easily inserted into a narrow space. The surgical device 1 may include a base 11, a slider 12, a joint 13, a spring 14, a plurality of extension members 15, a plurality of wires 16, and a surgical instrument 17. have.

The base 11 may be provided with a hollow 11a through which the surgical instrument 17 can pass. The base 11 may be, for example, a cylindrical shape with an empty central portion. The base 11 can be operated by a user to guide the surgical instrument 17 to a desired location. The base 11 may include a base body 111 and a base head 112.

The base body 111 may be bent, for example. The base body 111 may include a flexible tube or a plurality of links (not shown). The base body 111 is detachable to the base head 112. The user can easily wash and / or replace the base body 111 by removing it from the base head 112.

The base head 112 may include a base head 112 connected to the front of the base body 111 and supporting a plurality of expansion members 15. The base head 112 is spaced apart along the circumferential direction and may include a plurality of first hinge points 112a rotatably supporting one end (“first end”) of the plurality of expansion members 15. . The base head 212 may be made of a rigid material compared to the base body 211. The base head 212 can stably support the plurality of expansion members 15 while maintaining the shape even when an external force is applied.

The slider 12 may be provided with a hollow 12a through which the surgical instrument 17 can pass. The slider 12 may be provided in front of the base 11. Here, the front means a direction toward the tip of the surgical instrument 17. For example, based on FIG. 1, the base 11, the spring 14, the slider 12, and the joint 13 are arranged side by side toward the front. The slider 12 is movable relative to the base 11 and may provide a hollow through which the surgical instrument 17 can pass. The slider 12 is, for example, translatable relative to the base 11. The slider 12 can move one degree of freedom in a direction closer to or away from the base 11. The slider 12 is slidable toward the base 11 by tension of the plurality of wires 16 and slidable in a direction away from the base 11 by the restoring force of the spring 14. The slider 12 may include a slider head 121 and a slider extension 122.

The slider head 121 may rotatably support the other end (“second stage”) of the plurality of expansion members 15. According to the distance between the slider head 121 and the base 11, that is, the distance between the first end and the second end of the plurality of expansion members 15, the plurality of expansion members 15 and the spring 14 Can be transformed. Herein, it can be understood that the slider 12 being close to the base 11 means that the slider head 121 is getting close to the base 11. The slider head 121 can stably support the plurality of expansion members 15. The slider head 121 may be spaced apart along the circumferential direction, and may include a plurality of second hinge points 121a rotatably supporting the plurality of expansion members 15.

The slider extension 122 extends rearward from the slider head 121 and is slidable in contact with the inner wall of the base 11. The slider extension portion 122 may, for example, make surface contact with the inner wall of the base 11. The slider extension portion 122 is capable of translating one degree of freedom with respect to the base 11.

The joint 13 may be rotatably connected to the slider 12. The joint 13 may be provided in front of the slider 12. The joint portion 13 may include a plurality of joint links. It should be noted that the drawings show that the joint 13 includes two joint links, but is not limited thereto. The joint 13 may include a first joint link 131 and a second joint link 132.

The first joint link 131 may be rotatably connected to the slider 12. For example, the first joint link 131 and the slider 12 may be relatively in rolling contact or may be hinged. As another example, the first joint link 131 and the slider 12 may be connected through a connecting member made of a flexible material. It is noted that the connection method of the first joint link 131 and the slider 12 is not limited to the aforementioned methods. The first joint link 131 may provide a hollow 131a through which the surgical instrument 17 can pass.

The second joint link 132 may be rotatably connected to the first joint link 131. When the second joint link 132 is the foremost link of the joint, the second joint link 132 may fix the plurality of wires 16. The first joint link 131 and the second joint link 132 may rotate by the tension applied to each of the plurality of wires 16. The first joint link 132 may provide a hollow 132a through which the surgical instrument 17 can pass.

The spring 14 may be provided between the base 11 and the slider 12. The spring 14 may have a contraction degree determined based on the tension of the plurality of wires 16. For example, when the tension of the plurality of wires 16 increases, the slider 12 moves toward the base 11 and the spring 14 may increase the degree of contraction. In this case, the spring 14 can contract. On the other hand, when the tension of the plurality of wires 16 decreases, the slider 12 moves in a direction away from the base 11 and the degree of contraction of the spring 14 can be reduced.

The spring 14 can always remain in a retracted state. When the distance between the first end and the second end of the plurality of expansion members 15 is maximum, that is, even when the spring 14 is in the longest state between the base 11 and the slider 12 , Spring 14 may be in a contracted state. The retracted spring 14 can exert a restoring force on the slider 12. Even if the plurality of wires 16 pulls the slider 12, the sliding of the slider 12 will continue until the total sum of the tensions of the plurality of wires 16 exceeds the restoring force of the spring 14. ).

The plurality of expansion members 15 may be fixed to the base 11 and the slider 12. The plurality of expansion members 15 may have one end fixed to the base 11 and the other end fixed to the slider 12. The central portion of the plurality of expansion members 15 may be deformed to be away from the central axis of the base 11 while the distance between the base 11 and the slider 12 is getting closer. Here, the central axis of the base 11 may be an imaginary line passing through the central portion of the base 11. 1 shows the surgical instrument 17 passing through the central axis of the base 11.

The plurality of expansion members 15 may be spaced apart in the circumferential direction of the base 11 and / or the slider 12. In the drawing, it is shown that the plurality of expansion members 15 are spaced apart at a 90-degree interval in the circumferential direction of the base 11 to show a total of four, but is not limited thereto. For example, the plurality of expansion members 15 may be six at 60-degree intervals, and may be provided in a larger number at irregular intervals. When the plurality of expansion members 15 are spaced apart in the circumferential direction of the base 11, while the distance between the base 11 and the slider 12 is closer, the plurality of expansion members 15 may be extended in all directions. Can be. The user can adjust the number of the plurality of expansion members to suit the desired surgery.

The plurality of expansion members 15 may be a link structure. The plurality of expansion members 15 includes a first connection link 151 rotatably connected to the base 11 and a second connection link rotatably connected to each of the first connection link 151 and the slider 12 It may include (152). The bending angles of the plurality of expansion members 15 may be adjusted according to the distance between the base 11 and the slider 12. The plurality of wires 16 increases the bending angle of the plurality of expansion members 15 by pulling the slider 12 toward the base 11, or by pushing the slider 12 in a direction away from the base 11 It is possible to reduce the bending angle of the two expanding members 15.

The first connection link 151 is rotatably connected to the first hinge point 112a provided on the base head 112, and the second connection link 152 is the second hinge point provided on the slider head 121 It can be rotatably connected to (121a). The first connection link 151 and the second connection link 152 may be rotatably connected to the third hinge point 15a.

The plurality of expansion members 15 are detachable to the base 11 and the slider 12. The user separates the plurality of expansion members 15 from the base 11 and the slider 12, separates the spring 14, and separates the base 11 and the slider 12 to easily clean and clean each component. / Or can be replaced.

The plurality of wires 16 may pull the slider 12 toward the base 11 or rotate the joint 13. The plurality of wires 16 may be formed of a flexible material. The plurality of wires 16 may be bent while the joint portion 13 rotates. The plurality of wires 16 may include a first wire 161 and a second wire 162 provided opposite to each other based on the central axis of the base 11.

Each of the plurality of wires 16 may be fixed to the joint 13 through the base 11 and the slider 12. For example, when the joint 13 includes a plurality of joint links 131 and 132, the plurality of wires 16 penetrates the joint link excluding the foremost joint link among the plurality of joint links 131 and 132, , Can be fixed to the foremost joint link. For example, each of the plurality of wires 16 may be fixed to the second joint link 132 through the base 11, the slider 12, and the first joint link 131. The base 11, the slider 12, the first joint link 131 and the second joint link 132 may have a plurality of holes for accommodating each of the plurality of wires 16. Each end of each of the plurality of wires 16 may be fixed to the hole of the second joint link 132.

The first wire 161 is a first wire head 161a fixed to the second joint link 132, and extends rearwardly from the first wire head 161a, the first joint link 131, the slider 12 And a first wire body 161b penetrating the base 11.

The second wire 1612 includes a second wire head 162a fixed to the second joint link 132 and a first joint link 131 and slider 12 extending rearward from the second wire head 162a. And a second wire body 162b penetrating the base 11.

When the total sum of the tensions of the first wire 161 and the second wire 162 is greater than the restoring force of the spring 14, the slider 12 moves toward the base 11, and the spring 14 is contracted. Can be. When the tension of the first wire 161 is greater than the tension of the second wire 162, the joint 13 may rotate in the direction toward the first wire 161. Similarly, when the tension of the second wire 162 is greater than the tension of the first wire 161, the joint 13 may rotate in the direction toward the second wire 162.

The surgical instrument 17 may penetrate the hollow in the base 11 and the slider 12 to perform a surgical operation. The surgical instrument 17 can perform various operations such as cutting and / or gripping.

3 is a cross-sectional view of an expansion member according to an embodiment.

Referring to FIG. 3, the expansion member 15 includes a first connection link 151 rotatably connected to the first hinge point 112a and a second connection rotatably connected to the second hinge point 121a Link 152 may be included. The first connection link 151 and the second connection link 152 may be relatively rotated around the third hinge point 15a.

At least one connection link among the first connection link 151 and the second connection link 152 may include a stopper that limits the relative rotation of the first connection link 151 and the second connection link 152. . Hereinafter, the second connection link 152 is described as including a stopper, but is not limited thereto. For example, the first connection link 151 may include a stopper, or both the first connection link 151 and the second connection link 152 may include a stopper.

The second connection link 152 is formed to protrude from the second connection link body 1521 supporting the third hinge point 15a and the second connection link body 1521 and capable of supporting the first connection link 151. A second connection link protrusion 1522 may be included. The second connection link protrusion 1522 provides a contact surface 1522a that contacts the first connection link 151 when the angle between the first connection link 151 and the second connection link 152 is narrowed to a certain angle. It can contain. For example, the contact surface 1522a may be in surface contact with the first connection link 151. The first connection link 151 is supported by the second connection link 152, and excessive bending of the expansion member 15 can be prevented.

4 is a cross-sectional view taken along line IV-IV of FIG. 2.

Referring to FIG. 4, the surgical instrument 17 may pass through the hollow 12a of the slider. The surgical instrument 17 may pass inside the slider extension 122. The slider extension portion 122 is slidable in a surface contact with the base head 112. The first wire 161 and the second wire 162 may be spaced apart from the hollow 12a of the slider. Due to such a structure, the first wire 161 and the second wire 162 may not interfere with the surgical instrument 17.

5 is a side view showing a state in which the surgical device according to an embodiment performs a bending operation in a basic state.

Referring to FIG. 5, the distance between the base 11 and the joint 13 and the rotation angle of the joint 13 with respect to the slider 12 are applied to the first wire 161 and the second wire 162. It can be determined based on the tension to be.

The basic state is a state in which no tension is applied to the first wire 161 and the second wire 162. In the basic state, the distance between both ends of the plurality of expansion members 15 is maximum. For example, the first connection link 151 and the second connection link 152 may be side by side. Even in the basic state, the spring 14 may be provided between the base 11 and the slider 12 in a contracted state. The base 11, the slider 12, the first joint link 131 and the second joint link 132 may be side by side. In the basic state, the plurality of expansion members 15 may be in a state in close contact with the base head 112.

It is assumed that tension T is applied to the first wire 161. Here, the tension T is smaller than the restoring force of the spring 14. Therefore, the spring 14 does not contract further by the tension applied to the first wire 161. However, the tension T is applied to the first wire 161, whereas the tension is not applied to the second wire 162, so the joint 13 can rotate upward. Specifically, the first joint link 131 may rotate upwards around the slider 12, and the second joint link 132 may rotate upwards around the first joint link 131. Here, it is revealed that the upward direction is based on FIG. 5.

The bending direction and the bending degree of the surgical device 1 may be determined by using a tension difference between the first wire 161 and the second wire 162. Earlier, the tension T is applied only to the first wire 161 as an example, but is not limited thereto. For example, when the tension T is applied only to the second wire 162, the joint 13 may rotate downward.

In addition, even if tension is applied to both the first wire 161 and the second wire 162, the surgical device 1 in the direction in which the greater tension is applied among the first wire 161 and the second wire 162 is It can bend. When the total sum of the tensions applied to the first wire 161 and the second wire 162 is less than the restoring force of the spring 14 in the basic state, the spring 14 does not contract, and the plurality of expansion members 15 ) Does not expand in the radial direction. Such an operation may be performed in an environment where space expansion is not required and only a bending operation is required.

6 is a side view showing a state in which a surgical device according to an embodiment is switched from a basic state to a spatially extended state.

Referring to FIG. 6, the surgical device 1 can be switched from a basic state to a spatially extended state. For example, the same tension t is applied to the first wire 161 and the second wire 162, and the sum of the tensions of the first wire 161 and the second wire 162 is a spring 14 in the basic state. ), The spring 14 contracts, and the plurality of expansion members 15 may extend in the radial direction. Since the tension of the same size is applied to the first wire 161 and the second wire 162, the base 11, the slider 12, and the joint 13 can maintain a parallel state. Such an operation may be performed in an environment where only space expansion is required. Hereinafter, a state in which only space expansion is performed without bending is referred to as a space expansion state.

7 is a side view illustrating a state in which a surgical device according to an embodiment is operated in a bending state in a space expansion state.

Referring to FIG. 7, when the tension applied to the first wire 161 and the second wire 162 is different in a space expansion state, a larger tension is applied among the first wire 161 and the second wire 162. The surgical device 1 may be bent in the direction of the wire. Such an operation may be performed in an extension in which a bending operation is required while space expansion is required.

8 is a perspective view of a surgical device according to an embodiment.

Referring to FIG. 8, the surgical device 2 includes a base 21, a slider 22, a joint 23, a spring 24, a plurality of expansion members 25, a plurality of wires 26, and surgical instruments ( 27).

The base 21 may include a hollow 21a guiding the surgical instrument 27.

The slider 22 may include a hollow 22a guiding the surgical instrument 27. The slider 22 is slidable along the inner wall of the base 21, with at least a portion inserted in the base 21.

The joint part 23 may include a first joint link 231 rotatably connected to the slider 22 and a second joint link 232 rotatably connected to the first joint link 231. The first joint link 231 and the second joint link 232 may include hollows 231a and 232a, respectively, which guide the surgical instruments 27.

The plurality of expansion members 25 may have elasticity. The plurality of expansion members 25 may be deformed based on the sliding distance of the slider 22 with respect to the base 21. For example, when no external force is applied to the slider 22, the plurality of expansion members 25 may maintain a fully elongated flat plate shape. On the other hand, when an external force toward the base 21 acts on the slider 22, the plurality of expansion members 25 may be deformed so that the central portion has a convex improvement. On the other hand, when the external force is reduced or no longer acts, the slider 22 may return in a direction away from the base 21 by the restoring force of the plurality of expansion members 25 and / or springs 24. The user can freely control the deformation of the plurality of expansion members 25 by adjusting the size of the external force. The external force acting on the slider 22 may be determined by a plurality of wires 26.

The central portion of the plurality of expansion members 25 may have a convex shape in a direction away from the central axis of the base 21 while the distance between the base 21 and the slider 22 is close. As the shape of the part spaced most distant from the central axis of the base 21 among the plurality of expansion members 25 has a convex shape, it is possible to reduce the stimulation by increasing the area applied to the contact area.

The plurality of expansion members 25 may have superelasticity. For example, the plurality of expansion members 25 may be formed of a nickel-titanium alloy. The plurality of expansion members 25 may be deformed by elastic deformation without plastic deformation.

9 is a perspective view of a surgical device according to an embodiment.

Referring to FIG. 9, the surgical device 3 includes a base 31, a slider 32, a joint 33, a spring 34, a plurality of extension members 35, a plurality of wires 36, and surgical instruments ( 37).

The base 31 may include a hollow 31a guiding the surgical instrument 37.

The slider 32 may include a hollow 32a that guides the surgical instrument 37. The slider 32 is slidable along the inner wall of the base 31, with at least a portion inserted in the base 31.

The joint portion 33 may include a first joint link 331 rotatably connected to the slider 32 and a second joint link 332 rotatably connected to the first joint link 331. The first joint link 331 and the second joint link 332 may include hollows 331a and 332a that guide the surgical instrument 37, respectively.

The plurality of expansion members 35 may have a collapsible plate shape. The plurality of expansion members 35 may be folded into a predetermined shape while the distance between the base 31 and the slider 32 is getting closer. For example, the plurality of expansion members 35 may be a shape memory alloy. The plurality of expansion members 35 may include a folding line recessed in the middle portion. While the distance between the base 31 and the slider 32 is getting closer, the plurality of expansion members 35 can be folded along the fold line. The plurality of expansion members 35 may return to the initial shape when the set temperature is reached.

10 is a perspective view of a surgical device according to an embodiment.

Referring to FIG. 10, the surgical device 4 includes a base 41, a slider 42, a spring 44, a plurality of extension members 45, a plurality of wires 46 and a surgical instrument 47 Can be.

The base 41 may include a base body 411, a plurality of joint links 412, 413 and a base head 414. The base 41 may have a hollow that guides the surgical instrument 47.

The plurality of joint links 412 and 413 may be provided between the base body 411 and the base head 414. It is noted that the plurality of joint links 412 and 413 are shown as two, but are not limited thereto. The plurality of joint links 412 and 413 are rotatably connected to the first joint link 412 rotatably connected to the base body 411 and to each of the first joint link 412 and the base head 414. It may include a second joint link (413).

As such, the plurality of joint links 412 and 413 may be located behind the plurality of expansion members 45. The positions of the plurality of expansion members 45 may be determined according to an interval between a point where space expansion is required and a point where a surgical operation is performed.

The slider 42 is provided in front of the base 41 and is movable relative to the base 41. The slider 42 may have a hollow 42a that guides the surgical instrument 47.

Although the embodiments have been described by the limited drawings as described above, a person skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components such as the structure, device, etc. described may be combined or combined in a different form from the described method, or may be applied to other components or equivalents. Even if replaced or substituted by, appropriate results can be achieved.

Claims (15)

Base;
A slider provided in front of the base and movable relative to the base;
A joint portion rotatably connected to the slider;
A plurality of expansion members that are deformed such that a first end is fixed to the base, a second end is fixed to the joint, and a central portion is distant from the central axis of the base while the distance between the base and the slider is close;
A spring provided between the base and the slider; And
A first wire and a second wire penetrated through the base and fixed to the joint, and provided on opposite sides of the base axis;
Surgical device comprising a.
According to claim 1,
When the distance between the first end and the second end of the plurality of expansion members is maximum, the spring is a surgical device provided between the base and the slider in a contracted state.
According to claim 2,
The distance between the base and the joint, and the rotation angle of the joint with respect to the slider is determined based on the tension applied to the first wire and the second wire.
According to claim 1,
The joint portion,
A first joint link rotatably connected to the slider; And
A surgical device comprising a second joint link rotatably connected to the first joint link.
The method of claim 4,
Each of the first wire and the second wire is a surgical device that is fixed to the second joint link through the slider and the first joint link.
According to claim 1,
The plurality of expansion members are surgical devices are spaced apart in the circumferential direction of the base.
According to claim 1,
The slider,
Slider head; And
A surgical device extending rearward from the slider head and including a sliding body slidable in contact with the inner wall of the base.
The method of claim 7,
The slider is a surgical device slidable toward the base by the tension of the first wire and the second wire, and slidable in a direction away from the base by the restoring force of the spring.
According to claim 1,
Each of the plurality of expansion members,
A first connection link rotatably connected to the base; And
A surgical device including a second connection link rotatably connected to each of the first connection link and the slider.
The method of claim 9,
At least one of the first connection link and the second connection link, the surgical device including a stopper for limiting the relative rotation of the first connection link and the second connection link.
According to claim 1,
The base, slider and joints are surgical devices that provide a hollow through which surgical instruments can pass.
According to claim 1,
Each of the plurality of expansion members is a surgical device having elasticity.
According to claim 1,
Each of the plurality of expansion members is a surgical device in which each of the plurality of expansion members is a collapsible plate shape.
A base including a plurality of joint links;
A slider provided in front of the base and movable relative to the base;
A plurality of expansion members that are deformed such that a first end is fixed to the base, a second end is fixed to the slider, and a central portion is distant from the central axis of the base while the distance between the base and the slider is close;
A spring provided between the base and the slider; And
A first wire and a second wire that penetrate through the base and are fixed to the slider, and are provided on opposite sides of the center axis of the base;
Surgical device comprising a.
The method of claim 14,
When the distance between the first end and the second end is the maximum, the spring is a surgical device provided between the base and the slider in a contracted state.

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