KR20220050847A - Roll Joint Member for Surgical instrument - Google Patents

Abstract

Disclosed in the present invention is a roll joint member of a surgical instrument including a wire guide unit, a guide member including a wire support unit, and a shaft member rotatably coupled to the guide member. According to the present invention, the accuracy of a roll motion may be improved by the roll joint member of the surgical instrument.

Description

Roll Joint Member for Surgical Instruments

The present invention relates to a roll joint member for a surgical instrument, and more particularly, to a roll joint member for a surgical instrument with improved accuracy of roll operation.

The present invention was carried out with the support of the Commercialization Linked Technology Development Project (R&BD).

Medically, surgery refers to the treatment of diseases by cutting, slitting, or manipulating skin, mucous membranes, or other tissues using medical devices. In particular, open surgery in which the skin of the surgical site is incised and opened to treat, mold, or remove organs, etc., causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgery using a robot or surgery performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgery microscope, etc. by forming a predetermined hole in the skin, is in the spotlight as an alternative.

A surgical instrument is a tool for operating a surgical site by manually manipulating an end tool provided at one end of a shaft that passes through a hole punched in the skin by a doctor using a predetermined driving unit or using a robot arm. . The end tool provided in the surgical instrument performs a rotation operation, a clamping operation, a cutting operation, etc. through a predetermined structure.

The above-mentioned background art is technical information that the inventor possessed for the derivation of the present invention or acquired in the process of derivation of the present invention, and cannot necessarily be said to be a known technique disclosed to the general public prior to the filing of the present invention.

US registered patent US9033998B1

It is an object of the present invention to provide a roll joint member for a surgical instrument in which the accuracy of roll operation is improved.

The present invention discloses a roll joint member of a surgical instrument comprising a wire guide portion, a guide member including a wire support portion, and a shaft member rotatably coupled with respect to the guide member.

By the roll joint member of the surgical instrument according to the present invention, the accuracy of the roll operation can be improved.

1A is an exploded perspective view of a roll joint member according to a first embodiment of the present invention.
1B is an assembled perspective view of the roll joint member of FIG. 1A;
Figure 1c is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 1a.
1D is a side cross-sectional view of a guide member of the roll joint member of FIG. 1A;
Fig. 1E is a front view of a guide member of the roll joint member of Fig. 1A;
2A is an exploded perspective view of a roll joint member according to a second embodiment of the present invention.
FIG. 2B is an assembled perspective view of the roll joint member of FIG. 2A.
Figure 2c is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 2a.
FIG. 2D is a side cross-sectional view of the guide member of the roll joint member of FIG. 2A;
Fig. 2E is a front view of the guide member of the roll joint member of Fig. 2A;
3A is an exploded perspective view of a roll joint member according to a third embodiment of the present invention.
3B is an assembled perspective view of the roll joint member of FIG. 3A.
Figure 3c is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 3a.
3D is a side cross-sectional view of the guide member of the roll joint member of FIG. 3A ;
Fig. 3E is a front view of the guide member of the roll joint member of Fig. 3A;
4A is an exploded perspective view of a roll joint member according to a fourth embodiment of the present invention.
4B is an assembled perspective view of the roll joint member of FIG. 4A.
Figure 4c is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 4a.
4D is a side cross-sectional view of the guide member of the roll joint member of FIG. 4A ;
4E is a front view of the guide member of the roll joint member of FIG. 4A ;
5A is an exploded perspective view of a roll joint member according to a fifth embodiment of the present invention.
5B is an assembled perspective view of the roll joint member of FIG. 5A.
Figure 5c is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 5a.
5D is a side cross-sectional view of the guide member of the roll joint member of FIG. 5A.
5E is a front view of the guide member of the roll joint member of FIG. 5A ;
6A is an exploded perspective view of a roll joint member according to a sixth embodiment of the present invention.
6B is an assembled perspective view of the roll joint member of FIG. 6A.
Figure 6c is a perspective view of the partially cut-out coupling of Figure 6b.
Figure 6d is a combined perspective view showing a state in which the wire is coupled to the roll joint member of Figure 6a.
FIG. 6e is a partially cut-away perspective view of FIG. 6d ;

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals, and the overlapping description thereof will be omitted. do it with

In addition, in describing various embodiments of the present invention, each embodiment does not have to be interpreted or practiced independently, and the technical ideas described in each embodiment may be interpreted or practiced in combination with other embodiments described individually. It should be understood that there is

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

The surgical instrument 1 provided with a roll joint member according to the present invention includes a roll joint member 100 , an end tool 130 , and a connection part 103 . Here, the connection part 103 is formed in the shape of a hollow shaft, and one or more wires (to be described later) can be accommodated therein, the end tool 130 is coupled to one end thereof, and the other end is A manipulation unit (not shown) is coupled, and may serve to connect the end tool 130 and the manipulation unit (not shown). Here, the manipulation unit (not shown) may be a manipulation unit of a laparoscopic surgical tool, may be a driving unit of a surgical robot, and in addition to this, may be various members connected to the end tool 130 to operate the end tool 130 . .

Hereinafter, various embodiments of the roll joint member 100 formed between the end tool 130 and the connection part 103 of the surgical instrument 1 as described above to guide the roll motion of the end tool 130 will be described in detail. let it be described

<First embodiment>

1A is an exploded perspective view of a roll joint member according to a first embodiment of the present invention, FIG. 1B is a combined perspective view of the roll joint member of FIG. 1A, and FIG. 1C is a wire coupled to the roll joint member of FIG. 1A It is a combined perspective view, FIG. 1D is a side cross-sectional view of the guide member of the roll joint member of FIG. 1A, and FIG. 1E is a front view of the guide member of the roll joint member of FIG. 1A.

1A to 1E , the roll joint member 100 of the surgical instrument according to the first embodiment of the present invention includes a shaft member 110 and a guide member 120 . Here, the end tool 130 is coupled to one end of the shaft member 110 , and the connecting portion 103 of the surgical instrument 1 is coupled to one end of the guide member 120 . On the other hand, the roll wire 140 is formed such that one end thereof passes through the guide member 120 in a state in which it is fixedly coupled to the shaft member 110 toward the connection part 103 and the manipulation part (not shown). Hereinafter, each component will be described in more detail.

The roll wire 140 may include a first roll wire 141 and a second roll wire 142 . The first roll wire 141 and the second roll wire 142 may be formed as separate wires, and one end of each wire may be fixedly coupled to the shaft member 110 . Alternatively, the first roll wire 141 and the second roll wire 142 may be a single wire (connected to each other), and a central point (or connection point) thereof may be fixedly coupled to the shaft member 110 . Here, although not shown in the drawings, the roll wire 140 may be fixed to the shaft member 110 by various methods such as a hole, a groove, and welding.

The shaft member 110 includes a shaft 111 , an end tool receiving portion 113 , and an end tool coupling portion 115 .

The shaft 111 is formed in a cylindrical shape so as to be insertable into the guide member 120, and thus the shaft member 110 is moved around the roll axis R in a state in which the guide member 120 is fixed. 120) may be formed to be rotatable. In other words, the central axis of the shaft 111 may be the roll axis (R).

The end tool receiving part 113 is formed in a pair of parallel plate shapes, and may be formed to extend from the shaft 111 in the direction of the end tool 130 . On the other hand, an end tool coupling portion 115 may be further formed at an end of the end tool receiving portion 113 in the direction of the end tool 130 . Here, the end tool coupling part 115 may be formed in the form of a hole through which a coupling shaft (not shown) can be inserted, and in addition, the shaft member 110 and the end tool 130 can be coupled to each other. It may be formed in a variety of shapes.

The end tool 130 is accommodated in such an end tool receiving part 113 , and more specifically, the end tool shaft 133 is accommodated in the shaft 111 , and is coupled to the end tool shaft 133 . In a state in which the first set 131 and the second set 132 are accommodated in the end tool receiving portion 113 , the coupling shaft (not shown) is coupled to the end tool coupling portion 115 of the end tool receiving portion 113 . By passing through the first jaw 131 and the second jaw 132 in sequence, the shaft member 110 and the end tool 130 may be coupled.

The guide member 120 may include a housing 121 and a guide part 123 .

Here, in the roll joint member 100 according to the first embodiment of the present invention, the shaft member 110 and the guide member 120 are each formed as separate members, and in a state in which the guide member 120 is fixed, the shaft It is characterized in that the member 110 is formed to be rotatable with respect to the guide member 120 .

That is, in the case of a conventional roll joint member, it is common that the shaft and the guide are integrally formed. In this case, since the wire wound on the shaft for the roll operation is also wound on the guide, the shaft and the guide must be rotationally symmetrical only did That is, in order to maintain the shape of the wire wound around the guide regardless of the rotation of the shaft, the guide structure must be formed rotationally symmetrical with respect to the shaft axis, thus limiting the shape of the guide. Moreover, as the guide rotates, there is also a problem in that frictional force between the guide and the wire is generated in a direction other than the moving direction of the wire wound around the guide.

In order to solve this problem, in the roll joint member 100 according to the first embodiment of the present invention, the shaft member 110 and the guide member 120 are each formed as separate members, and the guide member 120 is In a fixed state, it is characterized in that the shaft member 110 is formed to be rotatable with respect to the guide member 120 . This will be described in more detail later.

The housing 121 is formed in a hollow hollow shape, and a guide part 123 may be formed at one end thereof, and the connection part 103 of the surgical instrument 1 may be coupled to the other end of the housing 121 . there is.

Meanwhile, one or more wire holes 122 may be formed in the housing 121 . The wire hole 122 may be formed to allow the roll wire 140 to pass therethrough, and the roll wire 140 may serve to connect the end tool 130 and the manipulation unit (not shown). Although only the wire hole 122 through which the roll wire 140 passes is shown in the drawing, the spirit of the present invention is not limited thereto, and additional wires for other operations of the end tool 130 pass through the housing 121 . One or more wire holes may be further formed.

The guide part 123 may be formed in a hollow hollow shape. Accordingly, the shaft hole 125 may be formed through the housing 121 and the guide part 123 , and the shaft 111 of the shaft member 110 may be rotatably coupled thereto.

The guide part 123 may include a wire guide part 123a and a wire support part 123c.

The wire guide part 123a serves to guide the path of the roll wire 140 passing through the wire hole 122 .

The wire support 123c may serve to support at least a portion of the roll wire 140 . That is, the wire support portion 123c is wound with the wire guide portion 123a while changing the winding direction of the roll wire 140 wound around the shaft member 110, so that the roll wire 140 is more stably the shaft member. It may serve to support the roll wire 140 so as to be wound around the 110 .

1D and 1E, the roll joint member 100 according to the first embodiment of the present invention has a wire guide part 123a and a wire support part 123c when viewed in a plane perpendicular to the roll axis R. It is characterized in that the upper and lower (or left and right according to the rotational position) are formed in an asymmetrical shape with respect to the roll axis (R). In other words, as seen in FIG. 1E , the upper and lower sides of the guide member 120 are asymmetrically formed with respect to a horizontal line including the roll axis R, and may be formed to have different cross sections. That is, since the shaft member 110 and the guide member 120 are formed as separate members separated from each other, and the guide member 120 does not rotate even when the shaft member 110 rotates, the guide does not rotate. The member 120 may be formed in an asymmetric shape.

Here, the wire guide part 123a serves to guide the path of the roll wire 140 . Such a wire guide part 123a may be formed to include two inclined surfaces forming a predetermined angle with each other. The roll wire 140 having one end wound around the shaft member 110 is guided to the wire hole 122 along the slope of the wire guide part 123a. At this time, the roll wire 140 is brought into close contact with the surface of the wire guide part 123a by the tension applied to the roll wire 140 . However, although the wire guide part 123a is shown to be an inclined surface when viewed in a plane perpendicular to the roll axis R, it may be formed as a curved surface having a predetermined curvature as a whole.

In contrast, the wire support portion 123c is formed in a substantially cylindrical, for example, a hemispherical shape, and serves to support at least a portion of the portion wound around the shaft member 110 in the roll wire 140 . . That is, the wire support 123c may be formed in an arc shape having a predetermined central angle when viewed in a plane perpendicular to the roll axis R. In this way, by providing the wire support 123c to support the roll wire 140 so that the roll wire 140 can be wound around the shaft member 110 more stably, the linearity or stability of the roll motion is improved. can In addition, during the roll motion, the guide member 120 is fixed without rotation, and the roll wire 140 moves forward and backward only on the path wound around the guide member 120 , and the roll wire 140 and the guide The effect of minimizing the frictional force between the members 120 can be obtained. That is, the guide member 120 does not rotate in a direction different from the direction in which the roll wire 140 moves forward and backward, so that additional frictional force is not generated.

As described above, since the shaft member 110 and the guide member 120 are formed as separate members separated from each other, the shape of the guide member 120 can be formed asymmetrically regardless of axial rotational symmetry. Therefore, it is possible to manufacture the shape of the guide member 120 according to the optimal path of the roll wire 140 to fit the roll motion of the surgical instrument (1). In addition, in the form in which the roll wire 140 wound around the shaft member 110 is wound by the guide member 120 by changing the winding direction, by forming the wire support 123c, the roll wire 140 is more stably It may be supported so as to be wound around the shaft member 110 . In addition, with such a configuration, rotation by the roll motion of the shaft member 110 may not affect the shape in which the roll wire 140 is wound around the guide member 120 .

Here, the driving principle of the roll operation using the roll wire 140 is as follows.

When the first roll wire 141 and the second roll wire 142 are separate wires, one end of each wire, or when the first roll wire 141 and the second roll wire 142 are one wire In a state in which the central point (or connection point) is fixed to the shaft member 110, the first roll wire 141 and the second roll wire 142 are wound around the shaft member 110, and the first roll wire 141 and When a tension difference is applied to both sides of the second roll wire 142 (that is, when one is pulled), the first roll wire 141 and the second roll wire 142 are wound or unwound to rotate the shaft member 110. do.

In this case, one or more wire holes 122 may be formed in the guide member 120 to guide the path of the roll wire 140 . Accordingly, the roll wire 140 passes through the wire hole 122 of the guide member 120 in a state in which it is fixed and wound around the shaft member 110 to extend in the opposite direction to the direction in which the end tool 130 is formed. At this time, the guide part 123 of the guide member 120 guides the direction of the roll wire 140 toward the wire hole 122 in a state fixed and wound on the shaft member 110, and at the same time, the roll wire 140 is It plays a role of being wound around the shaft member 110 .

That is, the wire guide part 123a includes two inclined surfaces forming a predetermined angle with each other, and the roll wire 140 by the tension applied to the roll wire 140 is in close contact with the surface of the wire guide part 123a. do. In addition, the wire support portion 123c serves to support at least a portion of the portion wound around the shaft member 110 in the roll wire 140 .

According to the present invention, since the shaft member 110 and the guide member 120 are formed as separate members separated from each other, even if the shaft member 110 rotates, the guide member 120 does not rotate, The guide member 120 that does not rotate may be formed in an asymmetrical shape, and thus the degree of freedom in shape design may be greatly improved. In addition, by enabling the asymmetric shape as described above, a wire guide portion 123a to which the wire can be closely coupled is formed on one side to more stably guide the path of the roll wire 140 , and at the same time, a wire support portion 123c is formed on the other side. ) to support the shape of the roll wire 140 wound around the shaft member 110, the linearity or stability of the roll motion can be improved. In addition, since the guide member 120 is fixed without rotating during the roll motion of the shaft member 110 , frictional force against the roll wire 140 other than the forward and backward movement of the roll wire 140 is generated. does not

<Second embodiment>

Hereinafter, a roll joint member 200 of a surgical instrument according to a second embodiment of the present invention will be described. Here, the roll joint member 200 of the surgical instrument according to the second embodiment of the present invention is compared to the roll joint member (see 100 in FIG. 1A ) of the surgical instrument according to the first embodiment of the present invention described above. Since the configuration of the guide member 220 is characteristically different, hereinafter, the configuration of the guide member 220 will be mainly described.

Figure 2a is an exploded perspective view of a roll joint member according to a second embodiment of the present invention, Figure 2b is a combined perspective view of the roll joint member of Figure 2a, Figure 2c is a state in which the wire is coupled to the roll joint member of Figure 2a It is a combined perspective view, FIG. 2D is a side cross-sectional view of the guide member of the roll joint member of FIG. 2A, and FIG. 2E is a front view of the guide member of the roll joint member of FIG. 2A.

2A to 2E , the roll joint member 200 of the surgical instrument according to the second embodiment of the present invention includes a shaft member 210 and a guide member 220 . Here, an end tool 230 is coupled to one end of the shaft member 210 , and a connection portion (see 103 in FIG. 1 ) of the surgical instrument 1 is coupled to one end of the guide member 220 . On the other hand, the roll wire 240 is formed such that one end thereof passes through the guide member 220 in a state in which it is fixedly coupled to the shaft member 210 toward the connection part (refer to 103 of FIG. 1 ) and the manipulation part (not shown). . Hereinafter, the guide member 220 will be described in more detail.

The guide member 220 may include a housing 221 and a guide part 223 .

The guide part 223 may be formed in a hollow hollow shape. Accordingly, the shaft hole 225 may be formed through the housing 221 and the guide part 223 , and the shaft 211 of the shaft member 210 may be rotatably coupled thereto.

The guide part 223 may include a wire guide part 223a and a wire support part 223c.

The wire guide part 223a serves to guide the path of the roll wire 240 passing through the wire hole 222 .

The wire support 223c may serve to support at least a portion of the roll wire 240 . That is, the wire support portion 223c is wound with the wire guide portion 223a while changing the winding direction of the roll wire 240 wound around the shaft member 210, so that the roll wire 240 is more stably the shaft member. It may serve to support the roll wire 240 so as to be wound around the 210 .

2D and 2E, in the roll joint member 200 according to the second embodiment of the present invention, when viewed in a plane perpendicular to the roll axis, the wire guide part 223a and the wire support part 223c are the roll shafts. It is characterized in that the up and down (or left and right depending on the rotational position) with respect to (R) is formed in an asymmetrical shape. That is, since the shaft member 210 and the guide member 220 are formed as separate members separated from each other, and the guide member 220 does not rotate even when the shaft member 210 rotates, the guide does not rotate. The member 220 may be formed in an asymmetric shape.

Here, the wire guide part 223a serves to guide the path of the roll wire 240 . Such a wire guide part 223a may be formed to include a substantially flat plane. The roll wire 240 having one end wound around the shaft member 210 is guided to the wire hole 222 along the plane of the wire guide part 223a. At this time, the roll wire 240 is brought into close contact with the surface of the wire guide part 223a by the tension applied to the roll wire 240 . However, although the wire guide part 223a is shown to be a flat plane when viewed in a plane perpendicular to the roll axis, it may be formed as a free curved surface of various shapes.

In contrast, the wire support portion 223c is formed in a substantially cylindrical, for example, hemispherical shape, and serves to support at least a portion of the portion wound around the shaft member 210 in the roll wire 240 . . By providing the wire support 223c in this way to support the roll wire 240 so that the roll wire 240 can be wound around the shaft member 210 more stably, the linearity or stability of the roll motion is improved. can In addition, during the roll motion, the guide member 220 is fixed without rotation, and the roll wire 240 moves forward and backward only on the path wound around the guide member 220 , and the roll wire 240 and the guide The effect of minimizing the frictional force between the members 220 may be obtained. That is, the guide member 220 does not rotate in a direction different from the direction in which the roll wire 240 moves forward and backward, so that additional frictional force is not generated.

As described above, since the shaft member 210 and the guide member 220 are formed as separate members separated from each other, the shape of the guide member 220 can be formed asymmetrically regardless of axial symmetry. Accordingly, it is possible to manufacture the shape of the guide member 220 according to the optimal path of the roll wire 240 suitable for the roll motion of the surgical instrument. In addition, in the form in which the roll wire 240 wound around the shaft member 210 is wound around the guide member 220 by changing the winding direction, by forming the wire support 223c, the roll wire 240 is more stably It may be supported so as to be wound around the shaft member 210 . In addition, with this configuration, rotation by the roll motion of the shaft member 210 may not affect the shape in which the roll wire 240 is wound around the guide member 220 .

<Third embodiment>

Hereinafter, a roll joint member 300 of a surgical instrument according to a third embodiment of the present invention will be described. Here, the roll joint member 300 of the surgical instrument according to the third embodiment of the present invention is compared to the roll joint member of the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 1A ). Since the configuration of the guide member 320 is characteristically different, hereinafter, the configuration of the guide member 320 will be mainly described.

3A is an exploded perspective view of a roll joint member according to a second embodiment of the present invention, FIG. 3B is a combined perspective view of the roll joint member of FIG. 3A, and FIG. 3C is a wire coupled to the roll joint member of FIG. 3A. It is a combined perspective view, FIG. 3D is a side cross-sectional view of the guide member of the roll joint member of FIG. 3A , and FIG. 3E is a front view of the guide member of the roll joint member of FIG. 3A .

3A to 3E , the roll joint member 300 of the surgical instrument according to the third embodiment of the present invention includes a shaft member 310 and a guide member 320 . Here, an end tool 330 is coupled to one end of the shaft member 310 , and a connection portion (see 103 in FIG. 1 ) of the surgical instrument 1 is coupled to one end of the guide member 320 . On the other hand, the roll wire 340 passes through the guide member 320 in a state in which one end is fixedly coupled to the shaft member 310 to be directed toward the connection part (refer to 103 of FIG. 1 ) and the operation part (not shown). . Hereinafter, the guide member 320 will be described in more detail.

The guide member 320 may include a housing 321 and a guide part 323 .

The guide part 323 may be formed in a hollow hollow shape. Accordingly, the shaft hole 325 may be formed through the housing 321 and the guide part 323 , and the shaft 311 of the shaft member 310 may be rotatably coupled thereto.

The guide part 323 may include a wire guide part 323a and a wire support part 323c.

The wire guide part 323a serves to guide the path of the roll wire 340 passing through the wire hole 322 .

The wire support portion 323c may serve to support at least a portion of the roll wire 340 . That is, the wire support portion 323c is wound with the wire guide portion 323a while changing the winding direction of the roll wire 340 wound around the shaft member 310, so that the roll wire 340 is more stably the shaft member. It may serve to support the roll wire 340 so as to be wound around the 310 .

3D and 3E, in the roll joint member 300 according to the third embodiment of the present invention, when viewed in a plane perpendicular to the roll axis, the wire guide part 323a and the wire support part 323c are the roll shafts. It is characterized in that the up and down (or left and right depending on the rotational position) with respect to (R) is formed in an asymmetrical shape. That is, since the shaft member 310 and the guide member 320 are formed as separate members separated from each other, and the guide member 320 does not rotate even when the shaft member 310 rotates, the guide does not rotate. The member 320 may be formed in an asymmetric shape.

Here, the wire guide part 323a serves to guide the path of the roll wire 340 . Such a wire guide part 323a may be formed in a kind of channel shape. That is, it is formed in a shape recessed into the inside in a cylindrical shape, it may be formed to achieve a predetermined curved surface inside along the path of the wire. In other words, when viewed in cross-section, a groove that is depressed to a certain extent in the direction of the roll axis is formed. there is. In addition, the roll wire 340 having one end wound around the shaft member 310 is guided to the wire hole 322 along the curved surface of the wire guide part 323a. At this time, the roll wire 340 is brought into close contact with the surface of the wire guide part 323a by the tension applied to the roll wire 340 .

On the other hand, the wire support part 323c is formed in a substantially circular arc shape below the wire guide part 323a, and serves to support at least a portion of the portion wound around the shaft member 310 in the roll wire 340. there is. By providing the wire support 323c in this way, the roll wire 340 is supported so that the roll wire 340 can be wound around the shaft member 310 more stably, so that the linearity or stability of the roll motion is improved. can In addition, during the roll motion, the guide member 320 is fixed without rotation, and the roll wire 340 moves forward and backward only on the path wound around the guide member 320 , and the roll wire 340 and the guide The effect of minimizing the frictional force between the members 320 may be obtained. That is, the guide member 320 does not rotate in a direction different from the direction in which the roll wire 340 moves forward and backward, so that additional frictional force is not generated.

At this time, although not shown in the drawings, the arc shape of the upper as well as the lower side of the wire support part 323c may serve to support the wire. That is, in FIG. 3C , since the shaft member 310 is in a default state, it is not shown that the upper arc supports the roll wire 340 , but a roll operation is performed on the shaft and the wire hole 322 is ) is placed on the side or the lower surface, the roll wire 340 may be of a form supported by the upper arc shape.

As described above, since the shaft member 310 and the guide member 320 are formed as separate members separated from each other, the shape of the guide member 320 can be formed asymmetrically regardless of axial symmetry. Therefore, it is possible to manufacture the shape of the guide member 320 in accordance with the optimal path of the roll wire 340 suitable for the roll motion of the surgical instrument. In addition, in the form in which the roll wire 340 wound around the shaft member 310 is wound by the guide member 320 by changing the winding direction, by forming the wire support portion 323c, the roll wire 340 is more stably It may be supported so as to be wound around the shaft member 310 . In addition, with this configuration, the rotation by the roll motion of the shaft member 310 may not affect the shape in which the roll wire 340 is wound around the guide member 320 .

<Fourth embodiment>

Hereinafter, a roll joint member 400 of a surgical instrument according to a fourth embodiment of the present invention will be described. Here, the roll joint member 400 of the surgical instrument according to the fourth embodiment of the present invention is compared to the roll joint member (see 100 in FIG. 1A ) of the surgical instrument according to the first embodiment of the present invention described above. Since the configuration of the guide member 420 is characteristically different, the configuration of the guide member 420 will be mainly described below.

4A is an exploded perspective view of a roll joint member according to a fourth embodiment of the present invention, FIG. 4B is a combined perspective view of the roll joint member of FIG. 4A, and FIG. 4C is a wire coupled to the roll joint member of FIG. 4A. 4A is a cross-sectional side view of the guide member of the roll joint member of FIG. 4A , and FIG. 4E is a front view of the guide member of the roll joint member of FIG. 4A .

4A to 4E , the roll joint member 400 of the surgical instrument according to the fourth embodiment of the present invention includes a shaft member 410 and a guide member 420 . Here, an end tool 430 is coupled to one end of the shaft member 410 , and a connection portion (see 103 in FIG. 1 ) of the surgical instrument 1 is coupled to one end of the guide member 420 . On the other hand, the roll wire 440 is formed such that one end thereof passes through the guide member 420 in a state in which it is fixedly coupled to the shaft member 410 toward the connection part (refer to 103 of FIG. 1) and the manipulation part (not shown). . Hereinafter, the guide member 420 will be described in more detail.

The guide member 420 may include a housing 421 and a guide part 423 .

The guide part 423 may be formed in a hollow hollow shape. Accordingly, the shaft hole 425 may be formed through the housing 421 and the guide part 423 , and the shaft 411 of the shaft member 410 may be rotatably coupled thereto.

The guide part 423 may include a wire guide part 423a and a wire support part 423c.

The wire guide part 423a serves to guide the path of the roll wire 440 passing through the wire hole 422 .

The wire support 423c may serve to support at least a portion of the roll wire 440 . That is, the wire support portion 423c is wound by the wire guide portion 423a while changing the winding direction of the roll wire 440 wound around the shaft member 410, so that the roll wire 440 is more stably the shaft member. It may serve to support the roll wire 440 so as to be wound around the 410 .

4D and 4E, in the roll joint member 400 according to the second embodiment of the present invention, when viewed in a plane perpendicular to the roll axis, the wire guide part 423a and the wire support part 423c are the roll shafts. It is characterized in that the up and down (or left and right depending on the rotational position) with respect to (R) is formed in an asymmetrical shape. That is, since the shaft member 410 and the guide member 420 are formed as separate members separated from each other, and the guide member 420 does not rotate even when the shaft member 410 rotates, the guide does not rotate. The member 420 may be formed in an asymmetric shape.

Here, the wire guide part 423a serves to guide the path of the roll wire 440 . Such a wire guide portion 423a may have a predetermined curvature and may be formed in the shape of a concave recessed portion. The roll wire 440 having one end wound around the shaft member 410 is guided to the wire hole 422 along the concave portion of the wire guide portion 423a. At this time, the roll wire 440 comes into close contact with the surface of the wire guide part 423a by the tension applied to the roll wire 440 .

On the other hand, the wire support part 423c is formed in a substantially circular arc or a hemispherical shape, and may serve to support at least a portion of a portion wound around the shaft member 410 in the roll wire 440 . By providing the wire support 423c in this way, the roll wire 440 is supported so that the roll wire 440 can be wound around the shaft member 410 more stably, so that the linearity or stability of the roll motion is improved. can In addition, during the roll motion, the guide member 420 is fixed without rotation, so that the roll wire 440 moves forward and backward only on the path wound around the guide member 420 , and the roll wire 440 and the guide The effect of minimizing the frictional force between the members 420 may be obtained. That is, the guide member 420 does not rotate in a direction different from the direction in which the roll wire 440 moves forward and backward, so that additional frictional force is not generated.

As described above, since the shaft member 410 and the guide member 420 are formed as separate members separated from each other, the shape of the guide member 420 can be formed asymmetrically regardless of axial symmetry. Accordingly, it is possible to manufacture the shape of the guide member 420 according to the optimal path of the roll wire 440 suitable for the roll motion of the surgical instrument. In addition, in the form in which the roll wire 440 wound on the shaft member 410 is wound by the guide member 420 by changing the winding direction, by forming the wire support portion 423c, the roll wire 440 is more stably It may be supported so as to be wound around the shaft member 410 . In addition, with this configuration, rotation by the roll motion of the shaft member 410 may not affect the shape in which the roll wire 440 is wound around the guide member 420 .

< 5th embodiment >

Hereinafter, a roll joint member 500 of a surgical instrument according to a fifth embodiment of the present invention will be described. Here, the roll joint member 500 of the surgical instrument according to the fifth embodiment of the present invention is compared to the roll joint member of the surgical instrument according to the first embodiment of the present invention described above (see 100 in FIG. 1A ). Since the configuration of the guide member 520 is characteristically different, the configuration of the guide member 520 will be mainly described below.

5A is an exploded perspective view of a roll joint member according to a second embodiment of the present invention, FIG. 5B is a combined perspective view of the roll joint member of FIG. 5A, and FIG. 5C is a wire coupled to the roll joint member of FIG. 5A It is a combined perspective view, FIG. 5D is a side cross-sectional view of the guide member of the roll joint member of FIG. 5A, and FIG. 5E is a front view of the guide member of the roll joint member of FIG. 5A.

5A to 5E , the roll joint member 500 of the surgical instrument according to the fifth embodiment of the present invention includes a shaft member 510 and a guide member 520 . Here, an end tool 530 is coupled to one end of the shaft member 510 , and a connection portion (refer to 103 in FIG. 1 ) of the surgical instrument 1 is coupled to one end of the guide member 520 . On the other hand, the roll wire 540 passes through the guide member 520 in a state in which one end is fixedly coupled to the shaft member 510 to be directed toward the connection part (refer to 103 of FIG. 1 ) and the manipulation part (not shown). . Hereinafter, the guide member 520 will be described in more detail.

The guide member 520 may include a housing 521 and a guide part 523 .

The guide part 523 may be formed in a hollow hollow shape. Accordingly, the shaft hole 525 may be formed through the housing 521 and the guide part 523 , and the shaft 511 of the shaft member 510 may be rotatably coupled thereto.

The guide part 523 may include a wire guide part 523a and a wire support part 523c.

The wire guide part 523a serves to guide the path of the roll wire 540 passing through the wire hole 522 .

The wire support 523c may serve to support at least a portion of the roll wire 540 . That is, the wire support portion 423c is wound by the wire guide portion 423a while changing the winding direction of the roll wire 440 wound around the shaft member 410, so that the roll wire 440 is more stably the shaft member. It may serve to support the roll wire 440 so as to be wound around the 410 .

5D and 5E, the roll joint member 500 according to the fifth embodiment of the present invention has a wire guide part 523a and a wire support part 523c when viewed in a plane perpendicular to the roll axis R. It is characterized in that the upper and lower (or left and right according to the rotational position) are formed in an asymmetrical shape with respect to the roll axis (R). That is, since the shaft member 510 and the guide member 520 are formed as separate members separated from each other, and the guide member 520 does not rotate even when the shaft member 510 rotates, the guide does not rotate. The member 520 may be formed in an asymmetric shape.

Here, the wire guide part 523a serves to guide the path of the roll wire 540 . Such a wire guide portion 523a may be formed in an open or cut-out form in a cylindrical shape. That is, a portion of the cylindrical shape is cut in the roll axis direction to form a groove, and the roll wire 540 is guided to the wire hole 522 along the cut out portion. At this time, the roll wire 540 comes into close contact with the surface of the wire guide part 523a by the tension applied to the roll wire 540 .

On the other hand, the wire support part 523c is formed in a substantially circular arc or a hemispherical shape, and may serve to support at least a portion of a portion wound around the shaft member 510 in the roll wire 540 . In this way, by providing the wire support 523c to support the roll wire 540 so that the roll wire 540 can be wound around the shaft member 510 more stably, the linearity or stability of the roll motion is improved. can In addition, during the roll motion, the guide member 520 is fixed without rotation, and the roll wire 540 moves forward and backward only on the path wound around the guide member 520 , and the roll wire 540 and the guide The effect of minimizing the frictional force between the members 520 may be obtained. That is, the guide member 520 does not rotate in a direction different from the direction in which the roll wire 540 moves forward and backward, so that additional frictional force is not generated.

As described above, since the shaft member 510 and the guide member 520 are formed as separate members separated from each other, the shape of the guide member 520 can be formed asymmetrically regardless of axial symmetry. Accordingly, it is possible to manufacture the shape of the guide member 520 according to the optimal path of the roll wire 540 suitable for the roll motion of the surgical instrument. In addition, in the form in which the roll wire 540 wound around the shaft member 510 is wound by the guide member 520 by changing the winding direction, by forming the wire support 523c, the roll wire 540 is more stably It may be supported so as to be wound around the shaft member 510 . In addition, with this configuration, rotation by the roll motion of the shaft member 510 may not affect the shape in which the roll wire 540 is wound around the guide member 520 .

<Sixth embodiment>

Hereinafter, a roll joint member 600 of a surgical instrument according to a sixth embodiment of the present invention will be described. Here, the roll joint member 600 of the surgical instrument according to the sixth embodiment of the present invention is compared to the roll joint member (see 100 in FIG. 1A ) of the surgical instrument according to the first embodiment of the present invention described above. Since the configuration of the guide member 620 is characteristically different, the configuration of the guide member 620 will be mainly described below.

6A is an exploded perspective view of a roll joint member according to a sixth embodiment of the present invention, FIG. 6B is a coupled perspective view of the roll joint member of FIG. 6A, FIG. 6C is a partially cutaway coupled perspective view of FIG. 6B, and FIG. 6D is FIG. 6a is a coupled perspective view showing a state in which the wire is coupled to the roll joint member, and FIG. 6e is a partially cutaway coupled perspective view of FIG. 6d.

6A to 6E, the roll joint member 600 of the surgical instrument according to the sixth embodiment of the present invention includes a shaft member 610, a first guide member 620, and a second guide member 650. includes Here, the end tool 630 is coupled to one end of the shaft member 610, and the connecting portion (refer to 103 of FIG. 1) of the surgical instrument 1 is coupled to one end of the first guide member 620, there is. On the other hand, the roll wire 640 passes through the first guide member 620 in a state in which one end is fixedly coupled to the shaft member 610 to be directed toward the connection part (refer to 103 of FIG. 1 ) and the manipulation part (not shown). is formed

Here, the roll joint member 600 of the surgical instrument according to the sixth embodiment of the present invention is formed by separating the guide member into two members, the first guide member 620 and the second guide member 650, It is characterized in that the first roll wire 641 and the second roll wire 642 wound together prevent mutual interference. Hereinafter, the first guide member 620 and the second guide member 650 will be described in more detail.

The first guide member 620 may include a housing 621 and a guide part 623 .

Here, the first guide member 620 is substantially the same as the guide member of the first embodiment (see 120 of FIG. 1A ) except that a coupling portion is formed so that the second guide member 650 can be coupled, so a detailed description will be omitted. . Of course, the guide member of other embodiments may be applied as the first guide member.

The second guide member 650 may be formed in a hollow hollow shape. Here, the shaft 611 of the shaft member 610 may be rotatably coupled. In addition, the second guide member 650 may be fitted to the first guide member 620 . Here, the second guide member 650 may be viewed in a shape similar to that of the first guide member 620 without a housing.

The second guide member 650 may include a wire guide part 653a and a wire support part 653c. The wire guide part 653a serves to guide the path of the roll wire 640 passing through the wire hole. The wire support 653c may serve to support at least a portion of the roll wire 640 . That is, the wire support part 653c is wound with the wire guide part 653a while changing the winding direction of the roll wire 640 wound around the shaft member 610, so that the roll wire 640 is more stably the shaft member. It may serve to support the roll wire 640 so as to be wound around the 610 .

Here, the first guide member 620 and the second guide member 650 are formed to be separated from each other. In addition, both the first roll wire 641 and the second roll wire 642 are coupled to the shaft member 610 . The difference between the sixth embodiment of the present invention and the previous embodiments is that the two wire coupling holes 611a formed in the shaft member 610 are formed along the roll axis rather than crossing the roll axis. In addition, the second roll wire 642 may be supported and guided by the guide member 653 of the first guide member 620 .

Here, the first roll wire 641 and the second roll wire 642 may be formed as separate wires, and one end of each wire may be fixedly coupled to the shaft member 610 . Alternatively, the first roll wire 641 and the second roll wire 642 may be a single wire (connected to each other), and a central point (or connection point) thereof may be fixedly coupled to the shaft member 610 .

By such a configuration, the first roll wire 641 and the second roll wire 642 are formed so as not to contact/interfere with each other, so that the roll operation is more stably and reliably implemented.

The specific implementations described in the present invention are only examples, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of lines between the components shown in the drawings illustratively represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections, physical connections that are replaceable or additional may be referred to as connections, or circuit connections. In addition, unless there is a specific reference such as "essential", "importantly", etc., it may not be a necessary component for the application of the present invention.

In the specification of the present invention (especially in the claims), the use of the term "above" and similar referential terms may be used in both the singular and the plural. In addition, when a range is described in the present invention, each individual value constituting the range is described in the detailed description of the invention as including the invention to which individual values belonging to the range are applied (unless there is a description to the contrary). same as Finally, the steps constituting the method according to the present invention may be performed in an appropriate order unless the order is explicitly stated or there is no description to the contrary. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is limited by the examples or exemplary terms unless limited by the claims. it's not going to be In addition, those skilled in the art will recognize that various modifications, combinations, and changes can be made in accordance with design conditions and factors within the scope of the appended claims or their equivalents.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded in a computer-readable medium. In this case, the medium may be to continuously store a program executable by a computer, or to store it for execution or download. In addition, the medium may be various recording means or storage means in the form of a single or several hardware combined, it is not limited to a medium directly connected to any computer system, and may exist distributedly on a network. Examples of the medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and those configured to store program instructions, including ROM, RAM, flash memory, and the like. In addition, examples of other media may include recording media or storage media managed by an app store that distributes applications, sites that supply or distribute various other software, and servers.

In the above, the present invention has been described with reference to specific matters such as specific components and limited embodiments and drawings, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments, Those of ordinary skill in the art to which the invention pertains can make various modifications and changes from these descriptions.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the spirit of the present invention is not limited to the scope of the scope of the present invention. will be said to belong to

100: a roll joint member of a surgical instrument
110: shaft member 120: guide member

Claims (11)

a shaft member including a shaft to which one or more roll wires are coupled and rotatable about a roll axis (R) according to the movement of the roll wire; and
and a guide member to which the shaft member is rotatably coupled to one side about the roll axis (R).
The guide member,
a wire hole through which the roll wire passes;
A wire guide formed in contact with at least a portion of the roll wire to guide an entry path of the roll wire into the wire hole so that the incoming and outgoing directions of the roll wire into the wire hole coincide with the extension direction of the shaft wealth,
and a wire support for supporting at least a portion of the roll wire wound around the shaft member,
In a state in which the shaft member is fitted to the guide member, the shaft member and the wire support portion of the guide member are formed to be stepped,
After at least a portion of the roll wire is wound around the shaft, the roll joint member of a surgical instrument, characterized in that it is introduced into the wire hole through the wire guide part in a state supported by the wire support part in the stepped area. The method of claim 1,
Roll joint of a surgical instrument, characterized in that the radius of the wire support is formed larger than the radius of the shaft so that movement of the roll wire in the roll axis direction is restricted in a state in which the roll wire is wound around the shaft. absence. The method of claim 1,
The shaft member and the guide member are respectively formed as separate members and coupled,
In a state in which the guide member is fixed, the shaft member rotates with respect to the guide member,
When viewed on a plane perpendicular to the roll axis (R), the wire guide portion and the wire support portion are asymmetrically formed to have different shapes, a roll joint member of a surgical instrument. The method of claim 1,
The guide member,
A housing that is formed in a hollow hollow shape, and the connection part of a surgical instrument is coupled to one end thereof;
Formed on the other end of the housing, the roll joint member of a surgical instrument comprising a guide portion including the wire guide portion and the wire support portion. 5. The method of claim 4,
The wire guide unit, a roll joint member of a surgical instrument, characterized in that it serves to guide the path of the roll wire passing through the wire hole. The method of claim 1,
The wire guide portion is formed to include two inclined surfaces forming a predetermined angle with each other when viewed in a plane perpendicular to the roll axis (R),
The wire support portion is a roll joint member of a surgical instrument, characterized in that it is formed in an arc shape having a predetermined central angle when viewed in a plane perpendicular to the roll axis (R). The method of claim 1,
The wire guide part is formed including a flat plane when viewed in a plane perpendicular to the roll axis (R),
The wire support portion is a roll joint member of a surgical instrument, characterized in that it is formed in an arc shape having a predetermined central angle when viewed in a plane perpendicular to the roll axis (R). 5. The method of claim 4,
The wire guide portion is formed in a shape recessed into the guide portion,
A roll joint member of a surgical instrument, characterized in that the wire guide portion is formed along the recessed surface. The method of claim 1,
The wire guide portion is formed by being concavely depressed with a predetermined curvature when viewed in a plane perpendicular to the roll axis (R),
The wire support portion is a roll joint member of a surgical instrument, characterized in that it is formed in an arc shape having a predetermined central angle when viewed in a plane perpendicular to the roll axis (R). 5. The method of claim 4,
The wire guide part is formed by opening or cutting a part of the guide part,
The wire support portion is a roll joint member of a surgical instrument, characterized in that it is formed in an arc shape having a predetermined central angle when viewed in a plane perpendicular to the roll axis (R). The method of claim 1,
The guide member,
A first guide member to which a connection part is coupled to one end, and
A second guide member to which the shaft member is coupled to one side and the first guide member to the other side is included,
The first guide member and the second guide member each include the wire guide part and the wire support part,
The first roll wire of the roll wire is supported and guided by the second guide member, and the second roll wire of the roll wire is supported and guided by the first guide member, of a surgical instrument No roll joint.

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