KR20210085037A - Uterine Manipulator for assist laparoscopic surgery and system comprising that - Google Patents

Abstract

The present invention relates to a uterine lifter for laparoscopic surgery assistance, and a uterine lifter system including the same. The uterine lifter comprises: a base; a body portion configured to be movable in the front-rear direction on the base; an insertion portion formed by extending a predetermined length from one side of the body to the front side; a head part provided on the front side of the insertion part, a part of which is configured to be insertable into the uterus; a plurality of steering shafts disposed through the inside of the insertion part, wherein one side is connected to the head part to adjust the angle of the head part, and the other side is disposed inside the body part; and a shaft driving unit configured to transmit tension to a plurality of steering shafts. The uterine lifter and a system including the same for laparoscopic surgery assistance according to the present invention can be precisely manipulated by adjusting the posture and direction of the lifter according to a user's input. It is possible to improve the surgical accuracy and perform the surgery efficiently. It is effective in preventing damage to a patient's uterus and surrounding tissues.

Description

Uterine Manipulator for assist laparoscopic surgery and system comprising that

This study was made with the support of the Korea Health Industry Promotion Agency's health and medical technology research micro-medical robot commercialization technology development project funded by the Ministry of Health and Welfare (task number: HI19C0664).

The present invention relates to a uterine lifter and a uterine lifter system including the same, and more particularly, to a uterine lifter that automatically operates to change the position of the uterus during laparoscopic surgery.

A uterine manipulator is a robot for repositioning the uterus during intra-abdominal surgery. The end is inserted into the uterine cavity through the vaginal canal and cervix and is temporarily mounted in the uterus. The uterine lifter changes the position and posture of the uterus while the part inserted into the uterine cavity by the user's manipulation outside the body applies an external force to the uterus. facilitate access.

US Patent Registration No. US9554827 is disclosed in relation to this prior art. However, this prior art required an inefficient manpower arrangement to help the operation while the uterine lifter was held by a professional manpower during the operation. In addition, since the existing uterine lifter is operated by a human hand, precise manipulation of the position and direction of the uterus is impossible, and there is a risk of damaging the vagina or surrounding tissues due to excessive intrauterine contact.

US registered patent US9554827

An object of the present invention is to provide a uterine lifter that can solve the problems of the conventional uterine lifter described above.

As a means of solving the above problems, a base, a body portion configured to be movable in the front-rear direction on the base, an insertion portion formed by extending a predetermined length from one side of the body portion to the front side, is provided on the front side of the insertion portion, a part of which is inside the uterus A head portion configured to be insertable into a body portion, disposed through the inside of the insertion portion, one side connected to the head portion to adjust the angle of the head portion, and the other side to a plurality of steering shafts and a plurality of steering shafts disposed inside the body portion There may be provided a uterine lifter configured to include a shaft drive configured to transmit tension.

Meanwhile, the plurality of steering shafts may be provided in parallel with each other in the front-rear direction, and may be provided rotationally symmetrically with respect to the central axis in the front-rear direction of the insertion part.

Meanwhile, the head unit may be rotatably connected to the insertion unit in front, rear, left, and right directions.

Further, the head portion further includes a joint connected to the insertion portion, the joint includes a shaft connection portion formed by extending a predetermined length in a radial direction with respect to the central axis in the front-rear direction, and each of the plurality of steering shafts has one side of the shaft connection portion can be connected at even intervals.

In addition, the head portion may further include a cup configured to surround the cervix at the position where the insert is inserted.

Furthermore, the head portion may be configured to further include a tip formed by extending a predetermined length in the longitudinal direction in the inner space of the cup so that the insertion portion can be inserted into the uterus at the inserted position.

On the other hand, the insertion portion includes a front insertion portion and a rear insertion portion, may further include a connecting portion configured to be connected in the longitudinal direction between the front insertion portion and the rear insertion portion.

Meanwhile, the connection part includes a first connection part provided on the front side of the rear insertion part and a second connection part provided on the rear side of the front insertion part, and the first connection part and the second connection part may be coupled by rotation relative to each other.

On the other hand, the steering shaft includes a rear steering shaft formed by extending from the body portion to the first connection portion of the rear insertion portion and a front steering shaft formed by extending from the first connection portion to the head portion, and the first connection portion and the second connection portion When fastening, the front steering shaft and the second rear shaft may be configured to support each other.

Meanwhile, the front insertion part and the head part may be disposable.

In addition, the base, the body portion configured to be movable in the front and rear direction on the base, the insertion portion formed to extend from one side of the body portion to the front side by a predetermined length, is provided on the front side of the insertion portion, so that a part can be inserted into the uterus It is arranged through the inside of the head part and the insertion part, and one side is connected to the head part so that the angle of the head part can be adjusted, and the other side can transmit tension to the plurality of steering shafts and the plurality of steering shafts disposed inside the body part. A uterine lifter system including a shaft driving unit configured to be so, a control unit configured to enable two-axis rotation manipulation input, and a control unit configured to control the shaft driving unit according to the input of the manipulation unit may be provided.

On the other hand, it further includes a body driving unit configured to move the body in a straight line, the manipulation unit is configured to generate a linear manipulation input in one direction, and the control unit is configured to control the body driving unit according to the linear manipulation input of the manipulation unit. can be

In addition, the manipulation unit may further include a plurality of position sensors to measure the linear manipulation input and the two-axis rotation manipulation input, respectively.

Meanwhile, the manipulation unit may be configured to maintain the current posture when no external force is applied by the user.

The uterine lifter for laparoscopic surgery assistance according to the present invention can be precisely manipulated by adjusting the posture and direction of the lifter according to a user's input, so that it is possible to improve surgical accuracy and efficiently perform surgery, and the patient's uterus and surrounding tissues of the uterus has the effect of preventing damage to

In addition, since the uterine lifter for laparoscopic surgery assistance according to the present invention can be easily separated and combined with the insertion part, there is an effect that can improve convenience.

1 is a perspective view of a uterine lifter system according to one embodiment;
2 is a perspective view of a uterine lifter according to another embodiment.
3 is an exploded perspective view of the uterine lifter.
4 is an exploded perspective view of the head.
5 is an exploded perspective view of the steering shaft.
6 is an enlarged perspective view of an insertion part connecting part;
7 is a view showing a state of use of the insertion part connecting part.
8 is an operational state diagram of the uterine lifter system.
9 is a state diagram of the use of the uterine lifter.
10 is a diagram of another use state of the uterine lifter.
11 is a conceptual diagram illustrating the appearance of the uterus as viewed through a laparoscope when manipulating the uterine lifter according to the present invention.

Hereinafter, a uterine lifter and a system including the same for laparoscopic surgery assistance according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. And in the description of the embodiments below, the name of each component may be called another name in the art. However, if they have functional similarity and identity, even if a modified embodiment is employed, it can be regarded as an equivalent configuration. In addition, the code added to each component is described for convenience of description. However, the contents shown in the drawings in which these symbols are indicated do not limit each component to the scope within the drawings. Similarly, even if an embodiment in which the configuration in the drawings is partially modified is employed, if there is functional similarity and sameness, it can be regarded as an equivalent configuration. In addition, in view of the level of a general engineer in the art, if it is recognized as a component to be included of course, a description thereof will be omitted.

Meanwhile, in the following description, the shape manipulation of the uterus will be described on the premise that it is an external change including at least one of the shape and posture of the uterus by manipulation of the uterine lifter in a state where a part of the uterine lifter is inserted into the uterine cavity.

In addition, in the following, 'anterior' refers to the direction that should be moved when inserting the vaginal tube between the legs of the patient, and 'posterior' is the direction opposite to the anterior, i.e., the direction of movement when withdrawing the insert from the vaginal tube. do. In addition, the 'left and right direction' or 'width direction' will be described on the premise that it means a direction perpendicular to the front-rear direction among the horizontal directions.

Hereinafter, with reference to FIG. 1, an embodiment of the uterine lifter (1) system according to the present invention will be described in detail.

1 is a perspective view of a uterine lifter 1 system according to an embodiment.

As shown, the uterine lifter (1) system according to the present invention may be configured to include a uterine lifter (1), a manipulation unit (2) and a control unit.

The uterine lifter 1 is used for a patient who needs laparoscopic surgery, and is configured such that one side can be inserted into the uterus 10 through the patient's vaginal canal, and it moves the uterus 10 in the anteroposterior direction, or It is configured to be able to forcibly deform the shape of the uterus 10 in the direction of The uterine lifter 1 may be installed with one side fixed to the outside between the legs of a lying patient, and may include an insertion part 300 formed to extend in a direction to be inserted into the patient's vaginal canal. Meanwhile, the configuration of the uterine lifter 1 will be described in detail later.

The manipulation unit 2 is configured to include a holding unit 800 so that the user can generate a manipulation input by holding and manipulating the user. The operation unit 2 is configured so that a user can intuitively generate a desired input. That is, the user first determines the desired shape or posture of the uterus and then manipulates the manipulation unit. Specifically, if the user wants to change the shape of the uterus in the anteroposterior direction, the user generates an input that pulls or pushes the manipulation unit, and moves the uterus in the left and right directions. If you want to change your posture, you can operate the control unit in the left and right directions.

The manipulation unit 2 is configured to enable biaxial rotation in FIG. 1 in response to, for example, a desired shape or posture of the uterus. That is, the two-axis joint 810 may be configured to perform a linear operation in the longitudinal direction of the y-axis direction, a rotation operation about the z-axis, and a rotation operation about the x-axis. For linear operation in the y-axis direction, a linear guide 820 may be provided as an example, and the two-axis joint 810 may be configured in a form in which, for example, two members are vertically connected to each other, and each member is connected to each other. It may be provided in a configuration that becomes another rotational axis. This is a manipulation input necessary for changing the shape required when the uterus lifter 1 is inserted in the vaginal observation based on the patient's anatomical structure. During surgery, the uterus 10 needs to change its shape in the up, down, left and right (x, z directions) directions in the abdominal cavity, and by changing it in the anterior and posterior direction (y direction), it is possible to secure a field of view and accessibility of surgical tools. When the user deforms the manipulation unit 2 , the amount of deformation can be measured through the position sensor 830 provided in the manipulation unit 2 . On the other hand, the manipulation unit 2 may be configured so that an appropriate frictional force is formed in each connection unit so that it can be maintained in the form manipulated by the user. However, although the two-axis joint 810 in the form of '+' is shown in FIG. 1, this is only an example, and a configuration that can be operated including rotation based on two axes, such as a universal joint, and a linear operation input can be generated. It can be modified and applied in various configurations.

The control unit (not shown) is configured to control the uterine lifter 1 according to the manipulation input generated by the manipulation unit 2 . The control unit is configured to independently control each driving element provided in the lifter based on the sensed value received from the manipulation unit 2 . On the other hand, the control unit may be provided in the uterine lift (1), the operation unit (2) or an independent module. However, since the aforementioned control unit may be composed of widely used elements including a processor, a detailed description of its configuration will be omitted.

Hereinafter, the uterine lifter 1 will be described in detail with reference to FIGS. 2 to 10 .

2 is a perspective view of the uterine lifter 1 according to another embodiment, and FIG. 3 is an exploded perspective view of the uterine lifter 1 . 4 is an exploded perspective view of the head part 400 , and FIG. 5 is an exploded perspective view of the steering shaft 500 .

As shown, the uterine lifter 1 according to an embodiment of the present invention may be configured to include a base 100 , a body part 200 , and an insertion part 300 .

The base 100 is fixed to the outside and is configured to support other components.

The body part 200 may be provided on one side of the base 100 and may include driving elements for steering the insertion part 300 to be described later. The body 200 is configured to be movable relative to the base 100 , and the body 200 and the base 100 may be connected to each other by a linear guide 150 . The body part 200 may be configured to be reciprocally moved in the y-axis direction. The body 200 may be moved on the base 100 by the body driving unit 250 . Meanwhile, the body part driving unit 250 is provided on one side of the base 100 , and one side may be connected to the body part 200 . The body 200 has a space inside it, and may be configured such that a part of the steering shaft 500 and a part or all of the shaft driving part 600, which will be described later, are provided.

The insertion part 300 may be formed to extend from one surface of the front side of the body part 200 toward the front. The insertion unit 300 may have a front end inserted through the vaginal canal of the patient, and the tip 430 provided in the insertion unit 300 may be configured to be inserted into the uterus 10 . The insertion unit 300 may include an insertion unit housing configured in a cylindrical shape as a whole so that it can be easily inserted into a woman's vaginal canal. The insertion part 300 may be bent by the driving of the shaft driving part 600 to be steered.

A head part 400 may be provided at an end of the insertion part 300 . The head part 400 may be connected to the insertion part 300 by a joint. The head part 400 may be connected to the insertion part 300 so that rotation about the x-axis and rotation about the z-axis can be simultaneously performed.

Referring to FIG. 4 , the head part 400 may include a shaft connection part 420 , a tip 430 , and a cup 440 .

The head part 400 may be provided at the front end of the front insertion part 340 . One side of the head part 400 may be connected to a front steering shaft 520 disposed inside the front insertion part housing 341 in the front-rear direction.

The shaft connection part 420 may be configured such that an end of the steering shaft 500 is connected. The shaft connection part 420 may be provided on the rear side of the head part 400 . The shaft connection part 420 may be connected to the steering shaft 500 at a plurality of points along the rotational direction at positions spaced apart by a predetermined length in the radial direction with respect to the joint. Afterwards, when the driving unit pushes the steering shaft 500 , one point or a plurality of points are pressed based on the joint, and the angle of the head unit 400 may be finally changed.

The tip 430 is provided at the center of the front portion of the head portion 400, and may be formed to extend a predetermined length toward the front. The tip 430 is configured in a cylindrical shape, and the end thereof may be configured to have a predetermined curvature so that it can be smoothly inserted into the cervix 20 . The tip 430 may be determined to have a length that can be fully inserted into the uterus 10 .

The cup 440 is configured to wrap the cervix 20 as described above, and may be configured to accommodate at least a portion of the cervix 20 inside. The cup 440 may be configured to include an extension 441 extending to the front and a cervical support 442 formed in a ring shape at the end of the extension 441 . A plurality of extension parts 441 may be provided to be spaced apart from each other in the rotational direction about a central axis in the front-rear direction, and an end of each extension part 441 may be connected to the cervical support part 442 . Therefore, since an empty space is formed in the cup 440, when the doctor inserts the head 400 into the vaginal canal, the inside space of the cup 440 and the tip 430 can be viewed with a view, and the uterine lifter 1 ) when the insertion is complete, it is also possible to check whether the cervix 20 is in close contact with the field of view. The inside of the cup 440 may be checked by a doctor directly or through an endoscope inserted into the vaginal canal.

Referring to FIG. 5 , the shaft driving unit 600 may be connected to the shaft support, and is configured to select the shaft to transmit force by rotating the shaft support. The shaft driving unit 600 may include an x-axis shaft driving unit 610 that generates a rotational motion around the x-axis and a z-axis shaft driving unit 620 that generates a rotational motion based on the z-axis. The shaft support portion is formed to extend a predetermined length in both radial directions from the center of rotation, and the steering shaft 500 may be connected to both sides, respectively. The steering shaft 500 is rotatably connected to the shaft support so that the connection is maintained even when pressed by rotation, and even if the angle between the shaft support and the shaft is changed by rotation, the support force can be stably transmitted. Specifically, one shaft support part is connected to two steering shafts 500 that rotate the head part 400 in one direction and the opposite direction, and each steering shaft 500 and the shaft support part can be connected to enable angle adjustment. have. For example, the steering shaft 500 and the shaft support part are connected by a ball joint, so that even if the relative angle between the shaft support part and the steering shaft is changed, the support force may be transmitted while the connection is maintained. However, in the present embodiment, a configuration in which the shaft support part and the steering shaft 500 are connected by a ball joint has been described, but the shaft support part may be modified into various configurations capable of supporting the shaft while rotating.

The shaft support part may include an x-axis direction shaft support part 710 and a z-axis direction shaft support part. The steering shaft 500 may include two x-axis rotational steering shafts 500 and a z-axis rotational steering shaft 500, and may be disposed at intervals of 90 degrees in the rotational direction on the cross-section of the insertion part 300. have. Accordingly, the steering in the x-axis direction and the steering in the z-axis direction can be independently performed.

Hereinafter, the connection of the insertion unit 300 will be described in detail with reference to FIGS. 6 and 7 .

6 is an enlarged perspective view of the insertion part 300 connection part, and FIG. 7 is a view showing the use state of the insertion part 300 connection part. In FIG. 6 , the housing of the insertion unit is omitted for convenience of description.

As shown, the insertion unit 300 may be configured to include a rear insertion unit 310 connected to the body unit 200 and a front insertion unit 340 provided with a head unit 400, the front insertion unit An insertion part 300 connection part configured to be detachably from each other may be provided between the 340 and the rear insertion part 310 .

At least a part of the front insertion part 340 is a part in contact with a woman's body tissue, and may be disposable. The user is provided with the rear insertion part 310, the body part 200, and the base 100, and is configured so that only the front insertion part 340 can be replaced and used.

The connection part may be provided on a surface facing each other between the front insertion part 340 and the rear insertion part 310, and configured to be coupled to each other by relatively rotating the front insertion part 340 and the rear insertion part 310 can be

The front insertion part 340 is provided with a front steering shaft 510 , the rear insertion part 310 may be provided with a rear steering shaft 520 , and a hollow 322 is formed in the connection part in the y-axis direction, and the steering The shaft 500 may be configured to pass therethrough. When the connection part is coupled, the ends of the front steering shaft 510 and the rear steering shaft 520 are in close contact with each other and when the rear steering shaft 520 receives an external force, the external force is transmitted to the front steering shaft 510 and finally the head part The angle of 400 can be adjusted.

In the connection part, the first connection part 320 is provided on the front side of the rear insertion part 310 , and the second connection part 330 is provided on the rear side of the front insertion part 340 , and may be configured in male and female forms. For example, the first connection part 320 may include a locking part 321 extending with a gap from the front surface to the front side, and the second connection part 330 is between the locking part and the front surface of the first connection part 320 . It may be configured to include a protrusion 331 that can be inserted into the gap. The first connection part 320 and the second connection part 330 may be configured to be coupled to each other by rotation. The hollow 322 formed in the first connection part 320 may be a long hole formed to a predetermined length in the rotational direction so that interference does not occur in the steering shaft 500 even when the hollow is fitted by rotation. However, the configuration of the connection part is divided into male and female, and the first connection part side has a female structure and the second connection part side has a male structure. On the contrary, the first connection part side has a male structure and the second connection part side has a male structure. The side may be configured as an arm structure.

The fastening of the front insertion part 340 and the rear insertion part 310 aligns the front insertion part 340 and the rear insertion part 310 with each other, as shown in FIG. 7(a), and then FIG. 7(b) As shown, the first connection part 320 and the second connection part 330 are brought into close contact with each other and then rotated relative to each other to couple them.

Hereinafter, the operation and use of the uterine lifter 1 and the uterine lifter system will be described in detail with reference to FIGS. 8 to 11 .

8 is an operational state diagram of the uterine lifter system. As shown in Fig. 8(a), when the control unit rotates the manipulation unit 2 about the x-axis, the x-axis shaft driving unit 610 drives the tip 430 of the uterine lifter 1 to rotate around the x-axis. In this figure, the operation of the uterine lifter is shown when the user rotates the manipulation unit in a counterclockwise direction about the x-axis. Also, as shown in Fig. 8(b), when the user rotates the manipulation unit 2 about the z-axis, the z-axis shaft driving unit 620 is controlled so that the tip 430 of the uterine lifter 1 rotates in the z-axis direction. . As a result, the uterine lifter (1) system can finally change the shape of the uterus (10) by appropriately driving the tip (430) as much as the user wants.

Meanwhile, although not shown, when the user manipulates the manipulation unit in the y-axis, the control unit drives the body unit driving unit 250 based on this to control the movement in the y-direction. Also

9 is a state diagram of the use of the uterine lifter (1).

As shown, the insertion part 300 is inserted through the vaginal canal, the tip 430 of the head part 400 is inserted into the uterus 10 through the cervix 20, and the cervix 20 is a cup. (440) The insertion of the uterine lifter 1 in the form accommodated in the inner space may be completed. Thereafter, as the user manipulates the manipulation unit, the uterine lifter inserted into the woman's body is operated to change the shape of the uterus as much as the user manipulates it.

10 is another use state diagram of the uterine lifter (1). When the user manipulates the manipulation unit 2 upward to move the uterus 10 in the upward direction, the control unit rotates the shaft support unit 710 in the x-axis direction to adjust the direction of the tip 430 in the x-axis direction. Controls the shaft driving unit 610 . On the other hand, the above-described mechanism may be equally applied to input rotation about the z-axis, which is the other direction.

On the other hand, although not shown, when the user grips the manipulation unit 2 and moves it linearly in the front-rear direction, the control unit controls the body part driving unit 250 to adjust the amount of movement in the linear direction (y-axis direction).

11 is a conceptual diagram illustrating the appearance of the uterus 10 viewed through a laparoscope when manipulating the uterine lifter 1 according to the present invention.

Referring to Fig. 11 (a), it is a view when an operation for lifting the uterus 10 is performed as shown in Fig. 8 (b) using the uterine lifter 1 . In this case, it is possible to minimize the interference of the image of the lower side of the uterus 10 by the uterus (10). Figure 11 (b) shows a state in which the uterus 10 is adjusted in a somewhat downward direction. That is, by adjusting the uterus 10 in the vertical direction as shown in FIGS. 11 ( a ) and 11 ( b ), visibility and accessibility of surgical equipment are improved.

Referring to FIG. 11( c ), it is shown that the uterus 10 is moved to the left side of the patient. In this case, the tissue connected to the fallopian tube 30 and the ovary 40 on the right side can be more easily checked with an image, and accessibility. It is also improved. On the contrary, if the uterine lifter 1 is operated to the right as shown in FIG. 11(d), the uterus 10 is moved to the right in the abdominal cavity, and it is easy to check the fallopian tubes 30 and the ovaries 40 on the left side, and surgery Accessibility of tools can be improved.

As described above, the uterine lifter and the system including the same for laparoscopic surgery assistance according to the present invention can be precisely manipulated by adjusting the posture and direction of the lifter according to the user's input, thereby improving surgical accuracy and efficiently proceeding with surgery. This is possible and has the effect of preventing damage to the patient's uterus and surrounding tissues.

In addition, since separation and coupling of the insertion part can be made easily, there is an effect of improving convenience.

1: Uterine Elevator
2: control panel 10: uterus
20: cervix 30: fallopian tubes
40: ovary
100: base 150: linear guide
200: body part 250: body part driving part
300: insert
310: rear insertion portion 320: first connection portion
311: rear insert housing
330: second connection portion 340: front insertion portion
341: front insert housing
321: stopping part 322: hollow
331: protrusion
400: head 410: joint
420: shaft connection 430: tip
440: cup 441: extension
442: cervical support
500: steering shaft
510: front steering shaft 520: rear steering shaft
600: shaft drive unit
610: x-axis shaft driving unit 620: z-axis shaft driving unit
700: shaft support
710: x-axis shaft support 720: z-axis shaft support
800: grip part
810: biaxial joint
820: linear guide
830: position sensor

Claims (14)

Base;
a body portion configured to be movable in the front-rear direction on the base;
an insertion part extending from one side of the body part to a front side by a predetermined length;
a head part provided on the front side of the insertion part, a part of which is configured to be insertable into the uterus;
a plurality of steering shafts disposed through the inside of the insertion part, one side connected to the head part so as to adjust the angle of the head part, and the other side disposed inside the body part; and
A uterine lifter configured to include a shaft driving unit configured to transmit tension to the plurality of steering shafts. According to claim 1,
The plurality of steering shafts are provided in parallel with each other in the front and rear directions,
Uterine lifter, characterized in that it is provided rotationally symmetrically with respect to the central axis in the front-rear direction of the insertion part. 3. The method of claim 2,
The head part,
Uterine lifter, characterized in that it is rotatably connected to the front, rear, left and right directions with respect to the insertion part. 4. The method of claim 3,
The head part further includes a joint connected to the insertion part,
The joint is
and a shaft connection portion formed by extending a predetermined length in a radial direction with respect to the central axis in the front-rear direction,
Uterine lift, characterized in that one side of each of the plurality of steering shafts is connected at a uniform distance from the shaft connection part. 3. The method of claim 2,
The head unit further comprises a cup configured to surround the cervix at the position where the insertion unit is inserted. 6. The method of claim 5,
The head portion is a uterine lifter, characterized in that it further comprises a tip formed by extending a predetermined length in the longitudinal direction in the inner space of the cup so that the insertion portion can be inserted into the uterus at the inserted position. 3. The method of claim 2,
The insert includes a front insert and a rear insert,
Uterine lifter, characterized in that it further comprises a connecting portion configured to be connected in the longitudinal direction between the front insertion portion and the rear insertion portion. 8. The method of claim 7,
The connection part,
a first connection part provided on the front side of the rear insertion part; and
and a second connection part provided on the rear side of the front insertion part,
The uterine lifter, characterized in that the first connection portion and the second connection portion are coupled by rotation relative to each other. 9. The method of claim 8,
The steering shaft is
a rear steering shaft extending from the body portion to the first connection portion of the rear insertion portion; and
and a forward steering shaft extending from the first connection part to the head part,
The uterine lifter, characterized in that the front steering shaft and the second rear shaft are configured to support each other when the first connection part and the second connection part are fastened. 8. The method of claim 7,
Uterine lift, characterized in that the anterior insertion portion and the head portion is configured for a single use. Base;
a body portion configured to be movable in the front-rear direction on the base;
an insertion part extending from one side of the body part to a front side by a predetermined length;
a head part provided on the front side of the insertion part, a part of which is configured to be insertable into the uterus;
a plurality of steering shafts disposed through the inside of the insertion part, one side connected to the head part so as to adjust the angle of the head part, and the other side disposed inside the body part;
a shaft driving unit configured to transmit tension to the plurality of steering shafts;
a manipulation unit configured to enable a two-axis rotation manipulation input; and
Uterine lift system including a control unit for controlling the shaft driving unit according to the input of the manipulation unit. 12. The method of claim 11,
Further comprising a body part driving part configured to linearly move the body part,
The manipulation unit is configured to generate a linear manipulation input in one direction,
The control unit is a uterine lifter system, characterized in that for controlling the body unit driving unit according to the linear manipulation input of the manipulation unit. 13. The method of claim 12,
The manipulation unit further comprises a plurality of position sensors to measure the linear manipulation input and the two-axis rotation manipulation input, respectively. 14. The method of claim 13,
The uterine lift system, characterized in that the manipulation unit is configured to maintain the current posture when no external force is applied by the user.

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