KR20230104329A - Medical end effector with reduced diameter structure - Google Patents

Abstract

The present invention relates to a medical end effector having a reduced diameter size. According to the present invention, a central hole is provided in a tubular shape having a length, and a pair of insertion holes facing each other along the longitudinal direction are provided on one side and the other side. The first cutting groove formed in the horizontal direction on one surface and the second cutting groove formed in the horizontal direction on the other surface are formed in a form corresponding to the insertion hole with a tube and an elastic material formed in alternating succession, the insertion hole It is inserted into and includes a pair of bending regulators whose upper end is fixed to the upper end of the tube, wherein the insertion hole is formed in connection with the central hole of the tube for medical use with a reduced diameter size. End effectors can be provided.

Description

Medical end effector with reduced diameter structure

The present invention relates to a medical end effector having a structure with a reduced diameter, and more particularly, a center hole to which a tip of the end effector is coupled and an insertion hole into which a plate spring made of an elastic material, a wire, etc. It relates to a medical end effector having a reduced diameter structure that reduces the overall diameter size.

A surgical robot is a medical robot that assists a doctor in carrying out surgery, and a surgical method using a robot is in the limelight because a patient's recovery speed is fast and an area to be removed can be optimized and operated accurately.

Minimally Invasive Surgery (MIS) is a new concept surgery that minimizes damage to the body and increases the accuracy and safety of surgery to increase the survival rate and quality of life after surgery.

Current surgical robots include laparoscopic surgical robots that operate on soft tissues such as the prostate, stomach, and heart, artificial joint surgical robots that operate on hard tissues such as the knee joint, and catheters inserted into blood vessels. A vascular surgery robot that performs surgery is being developed.

In the case of such a surgical robot, forceps, a drill, etc. are mounted on an end effector and inserted into a surgical site to perform surgery.

Bone cyst or bone tumor surgical treatment using the existing end effector as described above involves skin incision, bypassing muscles and important nerves/vessels, exposing the bone surface, forming and temporarily removing a bone window, and internal sofa (small). After removal of the lattice and grid, bone transplantation by one's own or others, restoration of the bone window, external fixation using a cast or orthosis until the transplanted bone is remodeled, and rehabilitation treatment are in progress.

As an end effector used for such surgical treatment, Korean Patent Publication No. 10-2008-0012206 'a pneumatically powered surgical cutting fixture having a mechanical linkage coupling end effector and triggering motion' has been disclosed.

However, surgical treatment using the end effector as described above increases the incidence of infection due to large skin incisions for diagnosis and treatment and open surgery of bone treatment areas, and exposed areas of growing adolescents such as knees, shoulders, wrists, and ankles. The long surgical incision scar left on the joint had the problem of causing pain and mental stress during joint movement.

In order to solve the above problems, the present invention provides a central hole to which tips such as forceps, drills, cameras, etc. of the end effector are coupled, and an insertion hole into which members for operating the end effector, such as leaf springs and wires, are inserted. An object of the present invention is to provide a medical end effector having a reduced diameter size by reducing the overall outer diameter of the end effector by making it integral.

The medical end effector having a reduced diameter structure according to an embodiment of the present invention for solving the above problems is provided with a center hole in the form of a tube having a length, and a pair of inserts facing each other along the longitudinal direction on one side and the other side. A hole is formed, and a first cutting groove formed in a horizontal direction on one surface and a second cutting groove formed in a horizontal direction on the other surface are formed in a form corresponding to the insertion hole by a tube and an elastic material formed in alternating succession, wherein the It is inserted into the insertion hole and may include a pair of bending regulators having an upper end fixed to an upper end of the tube.

Here, the insertion hole may be formed to be connected to the center hole of the tube.

In addition, the bending control body may be formed of a plate spring or an elastic wire.

In addition, the tube may further form a small insertion hole having a smaller size than the insertion hole along the longitudinal direction.

Here, the end effector is formed of an optical fiber material in a shape corresponding to the small insertion hole, and may further include a light emitting body that is inserted into the small insertion hole and emits light.

In addition, the end effector may further include a plurality of empty capsules formed in the form of capsules and having accommodation spaces therein.

Here, the tube is further formed with a plurality of capsule insertion grooves connecting upper and lower sides in the form of the empty capsule so that the empty capsule is inserted between the first cutting groove or the second cutting groove, so that the empty capsule is inserted. can

The end effector may further include a fixing assembly extending from a lower surface of the tube where the insertion hole is formed and fixing the bending controller.

Here, the fixing assembly has a connection hole penetrating in the vertical direction at a position corresponding to the insertion hole, and an accommodation groove formed upward on the lower surface and communicating with the connection hole to form an accommodation space inside the accommodation groove. Is provided, formed in the form of a fixing assembly housing and a plate having fixing protrusions formed on the lower surface of the accommodating space and positioned in the accommodating groove, a fixing groove corresponding to the fixing protrusion is formed, and a shaft protrusion is formed to fix the fixing A fixing lever connected to the assembly housing may be included.

In addition, the fixing lever may be rotated in the accommodating space to fix the bending control body.

In addition, the end effector may further include a bending adjusting body fixing member inserted into an upper end of the insertion hole to fix the bending adjusting body.

Here, the flexion regulator fixing member is formed in a shape corresponding to the flexure regulator, and is formed on the lower surface of the head in the form of a head having seating protrusions on both sides and a plate having a length in the vertical direction, It may include a plurality of legs formed with pressing protrusions for pressing the flexure control body.

As described above, the medical end effector having a reduced diameter structure according to an embodiment of the present invention reduces the overall outer diameter of the end effector, so that it can be inserted into the body where the area to be inserted is narrow, thereby expanding the applicable range of patients. there is.

In addition, by simplifying the structure and mass-producing, the production cost can be reduced and the production volume increased, so that it can be discarded immediately after use and used for one-time use.

In addition, when inserted into the body, a light source can be provided.

In addition, without having to have a separate device, it is possible to inject drugs necessary for tasks such as examination, surgery, and treatment using an end effector into the body.

In addition, by fixing the bending of the tip of the end effector, it is possible to maintain the bent shape of the tip without applying a separate external force to the bending controller.

In addition, it is possible to prevent the elastic wire from being separated from the tube by an external force applied to the elastic wire.

1(a) is a perspective view illustrating a medical end effector having a reduced diameter structure according to an embodiment of the present invention, and (b) is a perspective view illustrating a bent shape of (a).
Figure 2 is a plan view of Figure 1 (a) viewed from the top to the bottom.
Figure 3 (a) and (b) is a perspective view showing that the bending regulator of Figure 1 (a) and (b) is a plate spring form.
Figure 4 is a plan view of Figure 3 (a) viewed from the top to the bottom.
5 is a perspective view illustrating a light emitting body formed in a medical end effector having a structure having a reduced diameter size according to an embodiment of the present invention.
FIG. 6 is an exploded view of FIG. 5 .
FIG. 7 is a plan view of FIG. 5 viewed from top to bottom.
8 is a perspective view illustrating a light emitting body formed when the bending controller of FIG. 5 has a plate spring shape.
9 is a perspective view illustrating an empty capsule formed in a medical end effector having a structure having a reduced diameter size according to an embodiment of the present invention.
10 is a partial exploded view of the empty capsule of FIG. 9 disassembled.
11 (a) is a front view of FIG. 9 viewed from the front, and (b) is a front view of the empty capsule of (a) viewed from the front.
Figure 12 (a) to (c) is a perspective view showing that the empty capsule is separated according to the operation of Figure 9.
Figure 13 is a perspective view showing that the ball capsule is formed when the flexion regulator of Figure 9 is in the form of a plate spring.
14 is a perspective view illustrating a fixing assembly formed on a medical end effector having a reduced diameter structure according to an embodiment of the present invention.
15 is a perspective view of the fixing assembly of FIG. 14;
16 (a) and (b) are partial cross-sectional views of the operation of the fixing assembly of FIG. 14 viewed from the bottom to the top.
17 (a) to (c) are perspective views illustrating the operation of the fixing assembly of FIG. 14 .
FIG. 18 is a perspective view showing that the pads of FIG. 15 are formed.
FIG. 19 is a perspective view illustrating a fixing assembly formed when the bending adjuster of FIG. 14 has a plate spring shape.
20 is a perspective view illustrating that a bending adjuster fixing member is formed in a medical end effector having a structure having a reduced diameter size according to an embodiment of the present invention.
FIG. 21 is a perspective view illustrating the bending adjuster fixing member of FIG. 20;
(a) to (d) of FIG. 22 are exemplary diagrams illustrating a process in which the bending adjuster fixing member of FIG. 20 is coupled.
FIG. 23 is a perspective view illustrating the formation of a flexure controller fixing member when the flexure controller of FIG. 20 has a leaf spring shape.

Since the present invention can have various changes and various forms, specific embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Expressions in the singular include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "having" are intended to designate that a combination of features, numbers, steps, components, etc. described in the specification exist, but one or more other features or numbers, It should be understood that the presence or addition of combinations of steps, components, etc. is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this application, it should not be interpreted in an ideal or excessively formal meaning. don't

Here, repeated descriptions, well-known functions that may unnecessarily obscure the subject matter of the present invention, and detailed descriptions of configurations are omitted. Embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

Hereinafter, it will be described in detail with reference to FIGS. 1 to 23 for explaining an embodiment of the present invention.

Figure 1 (a) is a perspective view showing a medical end effector having a reduced diameter structure according to an embodiment of the present invention, (b) is a perspective view showing a bent form of (a), Figure 2 It is a plan view of FIG. 1 (a) viewed from the top to the bottom, and FIG. 3 (a) and (b) are perspective views showing that the bending controller of FIG. 1 (a) and (b) is in the form of a leaf spring, Figure 4 is a plan view of Figure 3 (a) viewed from the top to the bottom.

The medical end effector 1 (hereinafter, abbreviated as 'end effector') having a reduced diameter structure according to an embodiment of the present invention is coupled with tips (not shown) such as forceps, drills, and cameras. It is a surgical instrument that can be inserted into the body and perform various procedures.

However, the end effector 1 is not limited to a surgical instrument, and may be used for various tasks requiring a thin and long tube to be inserted into a narrow tube.

Referring to FIGS. 1 and 2 , the end effector 1 includes a tube 100 extending long enough to be inserted into the body and a bending controller 200 that is inserted into the tube 100 and bends the tube 100. can include

First, the tube 100 is provided with a center hole 110 in the form of a tube having a length, and a pair of insertion holes 120 facing each other along the longitudinal direction are formed on one side and the other side, and formed in a horizontal direction on one side. The first cutting groove 130 and the second cutting groove 140 formed in the horizontal direction on the other surface may be continuously formed alternately.

Tips such as forceps, a drill, and a camera may be coupled to the upper end of the central hole 110 according to a user's request.

This central hole 110 may be formed in various shapes depending on the purpose.

The insertion hole 120 may be formed to penetrate from the top to the bottom of the tube 100 along the length direction of the tube 100 .

Also, the insertion hole 120 may be connected to the central hole 110 of the tube 100 .

Specifically, the insertion hole 120 communicates with the central hole 110 as shown in FIG. 2 and may be formed such that the bending controller 200 does not escape into the central hole 110 .

Preferably, the insertion hole 120 may be formed adjacent to the outer circumferential surface of the bending controller 200 of the central hole 110 .

Thus, the entire outer diameter of the tube 100 may be reduced.

Due to this, the end effector 1 can be inserted into the body where the area to be inserted is narrow, and thus the applicable range of patients can be expanded.

In addition, the end effector 1 can minimize long surgical incision scars left on surgical sites such as the knee, shoulder, wrist, and ankle.

In addition, the insertion hole 120 may extend upward to form a welded portion (not shown) to which the flexure control body 200 is fixed.

At this time, it is preferable that the weld is fixed by welding the bending adjuster 200, but it may be fixed in various ways without being limited thereto.

As described above, the first cutting groove 130 and the second cutting groove 140 may be formed in a horizontal direction on one surface and the other surface, respectively.

Specifically, the first cutting groove 130 and the second cutting groove 140 may be formed around the insertion hole 120 formed on one surface and the insertion hole 120 formed on the other surface, respectively.

Preferably, the first cutting groove 130 and the second cutting groove 140 may be formed in a form in which half of the entire circumference of the tube 100 is cut around the insertion hole 120 on one side and the other side, but is limited thereto. It can be formed in various shapes without

In addition, the first cutting groove 130 and the second cutting groove 140 are preferably formed on the upper side of the tube 100, and more preferably may be formed upward from the middle of the tube 100, but this It may be formed at various positions along the longitudinal direction of the tube 100 according to the user's request without limitation.

Accordingly, the tube 100 may be bent as the first cutting groove 130 and the second cutting groove 140 are narrowed or widened.

Next, the bending controller 200 provided as a pair is formed of an elastic material in a shape corresponding to the insertion hole 120, and is inserted into the pair of insertion holes 120 so that the upper end of the tube 100 Can be fixed on top.

Here, the elastic material is preferably a stainless steel material, but may be formed of various types of elastic materials having a high elastic modulus.

In addition, the bending regulator 200 may be formed to be longer than the length of the tube 100 and exposed to the lower end of the insertion hole 120 .

In addition, the bending controller 200 may be formed of a plate spring or an elastic wire.

Specifically, the bending controller 200 may be formed in the form of an elastic wire as shown in FIGS. 1 and 2 .

Also, referring to FIG. 3 , the flexure controller 200 may also be formed in the form of a plate spring.

Here, referring to FIG. 4 , the shape of the insertion hole 120 may be connected to the central hole 110 in the form of a plate spring according to the shape of the bending controller 200 .

However, this is only an example in which the shape of the bending controller 200 can be selected and used according to the purpose of the end effector 1, and the shape is not limited, and may be formed in various shapes.

In summary, in the end effector 1, when a user applies an external force that pushes or pulls upward to the exposed flexure controller 200, a force point is generated at the top of the fixed flexure controller 200, and the flexure controller 200 is bent and thus the tube 100 may be bent.

Specifically, to summarize the operation of the end effector 1, when the user applies a pulling external force to the bending regulator 200 inserted into one side of the tube 100, the first cutting groove 130 on one side by the pulling external force this can be narrowed down.

At this time, as shown in FIG. 1 (b), when an external force is applied to the bending regulator 200 on the other side, the second cutting groove 140 is widened by the external force, and the tube 100 is formed on one side. can be bent in either direction.

When an external force opposite to this is applied, the first cutting groove 130 widens, and the second cutting groove 140 narrows and can be bent in the direction of the other surface.

In addition, when the end effector 1 removes the external force applied to the flexure controller 200, the flexure controller 200, the first cutting groove 130 and the second cutting groove 140 return to their initial shape and initial position It can be.

Accordingly, the end effector 1 may steer the direction of the coupled tip according to the direction of the external force pushed or pulled by the user while being inserted into the body.

In addition, since the end effector 1 has a simple structure and can be mass-produced, the production cost of the end effector 1 can be reduced and production volume can be increased.

Accordingly, the user can prevent infection due to reuse of the end effector 1 by discarding the end effector 1 immediately after use and using the end effector 1 for a single use.

5 is a perspective view showing a light emitting body formed in a medical end effector having a reduced diameter structure according to an embodiment of the present invention, FIG. 6 is an exploded view of FIG. 5, and FIG. 7 is an exploded view of FIG. 5 from top to bottom. A plan view as viewed, and FIG. 8 is a perspective view showing that a light emitting body is formed when the bending controller of FIG. 5 has a leaf spring shape.

Referring to FIGS. 5 and 6 , the end effector 1 according to the embodiment of the present invention may further include a light emitting body 300 .

At this time, the tube 100 may further form a small insertion hole 150 having a smaller diameter than the insertion hole 120 along the longitudinal direction.

Specifically, the small insertion hole 150 may be formed to penetrate from the top to the bottom of the tube 100 along the length direction of the tube 100 .

Also, referring to FIG. 7 , the small insertion hole 150 may be formed by being connected to the central hole 110 of the tube 100 like the insertion hole 120 .

Thus, the tube 100 can maintain its overall diameter without increasing even when the small insertion hole 150 is formed.

In addition, a plurality of small insertion holes 150 may be formed.

In addition, the small insertion hole 150 may be formed so as not to overlap with the pair of insertion holes 120 .

The light emitting body 300 is formed of an optical fiber material in a shape corresponding to the small insertion hole 150, and may be inserted into the small insertion hole 300 to emit light.

Here, the optical fiber material is preferably a multi-mode optical fiber (MMF), but is not limited thereto and may be formed of various types of optical fiber materials.

In addition, a plurality of light emitting bodies 300 may be formed in one small insertion hole 150 .

Accordingly, when the end effector 1 is inserted into the body, the light emitting body 300 may provide a light source necessary for examination, surgery, treatment, and the like.

In addition, referring to FIG. 8 , as an example of another form of the bending controller 200, even when formed in the form of a plate spring, a small insertion hole 150 and a light emitting body 300 may be formed.

9 is a perspective view showing that an empty capsule is formed in a medical end effector having a structure with a reduced diameter size according to an embodiment of the present invention, and FIG. 10 is a partial exploded view of the empty capsule of FIG. a) is a front view of FIG. 9 viewed from the front, (b) is a front view of the empty capsule of (a) viewed from the front in a disassembled state, and FIGS. 12 (a) to (c) are according to the operation of FIG. It is a perspective view showing that the empty capsule is separated, and FIG. 13 is a perspective view showing that the empty capsule is formed when the bending regulator of FIG. 9 is in the form of a leaf spring.

Referring to FIGS. 9 and 10 , the end effector 1 according to an embodiment of the present invention may further include an empty capsule 400 .

At this time, the tube 100 is a capsule insertion groove 160 having upper and lower sides connected in the form of an empty capsule 400 so that the empty capsule 400 is inserted between the first cutting groove 130 or the second cutting groove 140. ) may be formed in multiple numbers.

Specifically, referring to (a) and (b) of FIG. 11, the capsule insertion groove 160 is the upper side of the empty capsule 400 on the upper side of the first cutting groove 130 or the second cutting groove 140, The lower side of the ball capsule 400 of the first cutting groove 130 or the second cutting groove 140 may be formed in a form inserted.

More specifically, the upper and lower sides of the capsule insertion groove 160 may be formed by being spaced apart from each other by the first cutting groove 130 or the second cutting groove 140 .

This capsule insertion groove 160 can form a part of the shape of the empty capsule 400 by connecting the upper and lower sides with an imaginary line.

In addition, the capsule insertion groove 160 is preferably formed to a depth into which more than 50% of the empty capsule 400 can be inserted so that the empty capsule 400 can be inserted and seated therein, but is not limited thereto, and is formed to various depths. can be formed

Accordingly, the capsule insertion groove 160 can be inserted into the empty capsule 400 in an initial state, and when the shape of the end effector 1 is changed by an external force, the first cutting groove 130 or the second cutting groove ( 140) is widened or narrowed so that the empty capsule 400 can be released.

Empty capsule 400 is formed in the form of a capsule may be provided with a filling space (not shown) therein.

At this time, the empty capsule 400 may be filled with powder, granular or liquid medicine in the filling space.

In addition, the empty capsule 400 may be formed of a material that is harmless to the human body and can be dissolved in the body, such as gelatin, white sugar, or vegetable.

With reference to (a) to (c) of FIG. 12, the empty capsule 400 will be described for the departure operation.

In the description of the operation, the formation of the capsule insertion groove 160 in the second cutting groove 140 is only an example for explaining the operation, and the shape is not limited, and the first cutting groove 130 or the second cutting groove 140, and both the first cutting groove 130 and the second cutting groove 140 may be formed.

In (a) of FIG. 12 , the empty capsule 400 is inserted into the capsule insertion groove 160 formed in the second cutting groove 140 and is seated.

At this time, the empty capsule 400 may be fixed without leaving the tube 100.

12 (b) is a state in which an external force is applied to the bending regulator 200 inserted into one surface of the tube 100, the first cutting groove 130 is narrowed and the second cutting groove 140 is widened, and the tube (100) is bent in the direction of one surface and the capsule insertion groove (160) is slightly open.

At this time, the upper and lower sides of the empty capsule 400 inserted into the capsule insertion groove 160 may be slightly separated from the capsule insertion groove 160 .

12(c) is a state in which an external force is further applied to the bending regulator 200 inserted into one side of the tube 100, the first cutting groove 130 is further narrowed and the second cutting groove 140 is further While being opened, the tube 100 is bent in the direction of one surface, and the capsule insertion groove 160 is further opened.

At this time, it can be seen that the upper and lower sides of the empty capsule 400 inserted into the capsule insertion groove 160 are completely separated from the capsule insertion groove 160 .

In another example, when an external force opposite to that of FIGS. 12 (b) and (c) is applied to the end effector 1 of the form shown in FIG. It can be bent in the direction of the other surface formed.

At this time, while the capsule insertion groove 160 is narrowed, the empty capsule 400 is pressed so that the empty capsule 400 bursts from the capsule insertion groove 160 or may be separated by pressure.

Accordingly, the user inserts the empty capsule 400 filled with the necessary medicine into the body in a state equipped with the end effector 1 without having to have a separate device for injecting the medicine, and inserts the empty capsule 400 into the desired location. can be put in and out.

In addition, referring to FIG. 13 , the capsule insertion groove 160 and the empty capsule 400 may be formed even when the bending regulator 200 is formed in the form of a leaf spring as an example of another form.

14 is a perspective view showing a fixing assembly formed on a medical end effector having a structure with a reduced diameter size according to an embodiment of the present invention, and FIG. 15 is a perspective view showing the fixing assembly of FIG. 14, and FIG. 16 (a ) and (b) are partial cross-sectional views of the operation of the fixing assembly of FIG. 14 viewed from bottom to top, FIG. 17 (a) to (c) are perspective views showing the operation of the fixing assembly of FIG. 14, and FIG. 15 is a perspective view showing that a pad is formed, and FIG. 19 is a perspective view showing that a fixing assembly is formed when the bending adjuster of FIG. 14 is in the form of a leaf spring.

Referring to FIG. 14 , the end effector 1 according to the embodiment of the present invention may further include a fixing assembly 500 .

The fixing assembly 500 is formed by extending from the lower surface where the insertion hole 120 of the tube 100 is formed, and may fix the bending controller 200.

In addition, the fixing assembly 500 may be formed on only one side or the other side, or may be formed on both sides.

Specifically, referring to FIG. 15 , the fixing assembly 500 may include a fixing assembly housing 510 and a fixing lever 520 .

First, the fixed assembly housing 510 may be formed in a form in which only a portion extends, but is not limited thereto, and only a portion of the tube 100 extends to the lower surface, a form in which the entire tube 100 extends, and the like through an insertion hole. Based on the portion where 120 is formed, it may be extended and formed in various shapes.

Here, the fixing assembly housing 510 may have a connection hole 511 penetrating in a vertical direction at a position corresponding to the insertion hole 120 .

Specifically, the connection hole 511 may be formed in a size corresponding to that of the insertion hole 120 .

Thus, the flexure control body 200 may pass through the connection hole 511 and be inserted into the connected insertion hole 120 .

In addition, the fixed assembly housing 510 communicates with the connection hole 511 upward on the lower surface to form an accommodation groove 512 in which an accommodation space 512S is provided therein, and a fixing protrusion on the lower surface of the accommodation space 512S. (513) may be formed.

Specifically, the accommodating groove 512 may be formed to a size in which the fixing lever 520 is accommodated and the fixing lever 520 can rotate inside the accommodating groove 512 .

In addition, coupling grooves 512a to which the fixing lever 520 is coupled may be formed on both inner surfaces of the receiving groove 512 .

At this time, the coupling groove 512a is preferably formed in front of both inner surfaces of the receiving groove 512 for rotation and fixation of the fixing lever 520, but is not limited thereto, and is not limited thereto. can be formed in place.

In addition, the fixing protrusion 513 may be formed in various shapes such as a horizontally laid polyhedron or a cylinder.

Next, the fixing lever 520 may be formed in a plate shape and positioned in the receiving groove 512 .

Here, the fixing lever 520 may be coupled to the fixing assembly housing 510 by having fixing grooves 521 corresponding to the fixing protrusions 513 and shaft protrusions 522 formed on both sides thereof.

Specifically, the shaft protrusion 522 may be inserted into the coupling groove 512a and coupled to the fixing assembly housing 510 while the fixing lever 520 is positioned in the receiving groove 512 .

In addition, the shaft protrusion 522 may be formed to a size smaller than the size of the coupling groove 512a, but not to cause the shaft protrusion 522 to rotate.

Accordingly, the fixing lever 520 may rotate with the shaft protrusion 522 as an axis.

Also, the fixing groove 521 may be formed at an upper end of a surface of the fixing lever 520 facing the fixing assembly housing 510 .

Meanwhile, the fixing lever 520 may be rotated in the accommodation space 512S to fix the bending controller 200.

Specifically, the fixing lever 520 may press and fix the flexure controller 200 by rotating 90° in the direction of the fixing protrusion 513 in a standing state.

At this time, the rotation angle of the fixing protrusion 513 is preferably 0° to 90°, but is not limited thereto, and may be rotated at various angles.

More specifically, referring to (a) and (b) of FIG. 16, (a) of FIG. 16 is a state in which the fixing lever 520 is standing.

At this time, the fixing lever 520 may not interfere with an operation in which the bending adjuster 200 is further inserted in an upright state.

In addition, (b) of FIG. 16 is a state in which the fixing lever 520 is rotated to press the bending controller 200.

At this time, the fixing protrusion 513 may be inserted into the fixing groove 521 of the fixing lever 520 and fixed to maintain a pressed state.

To summarize the operation of the fixing assembly 500 with reference to (a) to (c) of FIG. 17 , (a) is a state before the fixing assembly 500 operates.

Next, in (b) of FIG. 17 , the bend controller 200 is further inserted and the tube 100 is bent. At this time, the bend controller 200 may pass through the fixed assembly housing 510 .

Next, (c) of FIG. 17 is a state in which the fixing lever 520 rotates and presses the bending controller 200 in the state of FIG. 17 (b).

The operation described above is only an example to aid understanding, and the fixing assembly 500 may fix the flexion adjuster 200 according to a user's request regardless of the degree of insertion of the flexion adjuster 200 .

Accordingly, the fixing assembly 500 can be conveniently used in a state in which the bent shape of the end effector 1 is maintained without the user applying a separate external force according to the user's request.

Also, referring to FIG. 18 , the previously described fixing assembly 500 may further include a pad 530 .

The pad 530 is positioned on the upper surface of the fixing lever 520, but one or more contact protrusions 531 may be formed.

At this time, the pad 530 is formed of a wear-resistant material that withstands friction well, so that damage to the flexure controller 200 due to friction can be prevented.

In addition, the pad 530 may be detached from the fixing lever 520 and replaced.

The pad 530 may be fixed by pressing the bending controller 200 according to the rotation of the fixing lever 520 .

Specifically, the contact protrusion 531 of the pad 530 may come into contact with the flexure controller 200 to press the flexure controller 200 .

Accordingly, the pad 530 may more stably maintain the bent shape of the end effector 1 by increasing the force with which the fixing lever 520 presses the bending controller 200 .

Also, referring to FIG. 19 , the fixing assembly 500 may be formed even when it is formed in the form of a leaf spring as an example of another form of the flexion control body 200 .

20 is a perspective view showing that a bending regulator fixing member is formed in a medical end effector having a structure with a reduced diameter according to an embodiment of the present invention, and FIG. 21 is a perspective view showing the bending regulator fixing member of FIG. 20 22 (a) to (d) are exemplary diagrams illustrating a process in which the flexion controller fixing member of FIG. 20 is coupled, and FIG. 23 is when the flexure controller of FIG. 20 is in the form of a plate spring, and the flexure controller is fixed. It is a perspective view showing that the member is formed.

Referring to FIG. 20 , the end effector 1 according to the embodiment of the present invention may further include a flexure controller fixing member 600 .

The flexure controller fixing member 600 may be inserted into the upper end of the insertion hole 120 to fix the flexure controller 200 .

Specifically, referring to FIG. 21 , the flexion regulator fixing member 600 may include a head 610 and a leg 620 .

The head 610 is formed in a shape corresponding to the bending control body 200, and seating protrusions 611 may be formed on both sides thereof.

Specifically, the head 610 may be larger than or equal to the size of the insertion hole 120 to be seated on the upper surface of the bending controller 200 .

In addition, the seating protrusion 611 may be formed to extend from the lower side of the circumference of the head 610 to both side surfaces.

Accordingly, the seating protrusion 611 may be seated on the upper surface of the tube 100 without falling into the insertion hole 120 and fixed by a method such as adhesion, welding, pressure welding, or fastening.

For example, the mounting protrusion 611 may be fixed to the upper surface of the tube 100 by a screw hole (not shown) formed thereon.

At this time, a fixing hole (not shown) formed in communication with the screw hole in a form corresponding to the screw hole may be formed on the upper surface of the tube 100 on which the seating protrusion 611 is seated.

Legs 620 are formed in plurality on the lower surface of the head 610 in the form of a plate having a length in the vertical direction, and a pressing protrusion 621 for pressing the bending controller 200 may be formed on the inner surface.

Specifically, each of the legs 620 may have a predetermined interval along the circumference of the lower surface of the head 610 and may be provided with a flexion controller insertion space 620S in which the flexure controller 200 is accommodated.

More specifically, the bending adjuster accommodating space 620S may be formed in a shape equal to or larger than the size of the insertion hole 120 .

In addition, the leg 620 is preferably made of stainless steel, but may be formed of various types of elastic materials having a high modulus of elasticity.

Accordingly, when the leg 620 is inserted into the insertion hole 120 while accommodating the flexure controller 200, the shape is bent and deformed into the flexure controller insertion space 620S so that the pressing protrusion 621 adjusts the flexion. The sieve 200 can be more strongly pressed.

Referring to (a) to (d) of FIG. 22, to summarize the coupling process of the flexion regulator fixing member 600, (a) is that the upper part of the flexure regulator 200 passes through the insertion hole 120 It is exposed to the upper side of the tube 100.

22 (b) shows a state in which the exposed flexure controller 200 is inserted into the flexure controller insertion space 620S of the flexure controller fixing member 600.

Specifically, the lower surface of the head 610 is seated on the upper surface of the flexure controller 200, and a plurality of legs 620 may be formed to surround the circumference of the flexure controller 200.

At this time, the user applies an external force to the leg 620 of the flexion controller fixing member 200 in the direction of the flexure controller insertion space 620S to deform the shape so that the leg 620 grips the flexure controller 200. can

(c) of FIG. 22 is a state in which the flexure adjuster fixing member 600 is inserted into the insertion hole 120.

Specifically, the leg 620 of the flexure controller fixing member 600 receives an external force from the insertion hole 120 toward the flexure controller insertion space 620S so that the pressing protrusion 621 is the flexure controller (200) can be pressed more strongly.

At this time, the pressure protrusion 621 may dig into the bending controller 200 .

(d) of FIG. 22 shows a state in which the flexure adjuster fixing member 600 is completely inserted into the insertion hole 120 and coupled.

Specifically, the leg 620 of the flexure controller fixing member 600 is completely inserted into the insertion hole 120 while holding the flexure controller fixing member 600, and the seating protrusion 611 is attached to the tube 100. Can be coupled to the upper surface of.

Thus, the flexure controller fixing member 600 can prevent the flexure controller 200 from being separated from the tube 100 by an external force such as pulling or pushing.

Due to this, the flexion regulator fixing member 600 can prevent medical accidents that may occur due to separation of the flexion regulator 200 .

In addition, referring to FIG. 23 , as an example of another shape of the flexure controller 200, the flexure controller fixing member 600 may be formed even when it is formed in the form of a plate spring.

The embodiments of the present invention described above are not implemented only through devices, but may be implemented through devices for realizing functions corresponding to the configurations of the embodiments of the present invention, configurations included in the devices, and the like. can be easily implemented by an expert in the art to which the present invention pertains from the description of the above-described embodiment.

In addition, although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also present. fall within the scope of the invention.

1: Medical end effector with reduced diameter size
100: tube
110: central hall
120: insertion hole
130: first cutting groove
140: second cutting groove
150: small insertion hole
160: capsule insertion groove
200: bending controller
300: luminous body
400: empty capsule
500: fixed assembly
510: fixed assembly housing
511: connection hole
512: receiving groove
512a: coupling groove
512S: accommodation space
513: fixed protrusion
520: fixed lever
521: fixed groove
522: axis projection
530: pad
531: contact protrusion
600: bending control body fixing member
610: head
611: seating protrusion
620: bridge
620S: insertion space for the flexion regulator
621: pressure protrusion

Claims (6)

A central hole is provided in the form of a tube having a length, and a pair of insertion holes facing each other along the longitudinal direction are formed on one side and the other side, and a first cutting groove formed in a horizontal direction on one side and a horizontal direction on the other side. A tube in which the second cutting grooves are continuously formed in an alternating manner, and
It is formed of an elastic material in a shape corresponding to the insertion hole, and includes a pair of bending control bodies inserted into the insertion hole and having an upper end fixed to an upper end of the tube,
The insertion hole,
A medical end effector having a structure with a reduced diameter size, characterized in that it is formed by being connected to the central hole of the tube.
According to claim 1,
The bending regulator,
A medical end effector having a reduced diameter size, characterized in that it is formed of a leaf spring or an elastic wire.
According to claim 1,
the tube,
A small insertion hole having a smaller size than the insertion hole is formed along the longitudinal direction,
The end effector,
A medical end effector having a reduced diameter size, further comprising a light emitting body formed of an optical fiber material in a shape corresponding to the small insertion hole and inserted into the small insertion hole to emit light.
According to claim 1,
The end effector,
It is formed in the form of a capsule and further includes a plurality of empty capsules having an accommodation space therein,
the tube,
A diameter size characterized in that a plurality of capsule insertion grooves having upper and lower sides connected in the form of the empty capsule are formed so that the empty capsule is inserted between the first cutting groove or the second cutting groove and the empty capsule is inserted A medical end effector with a reduced structure.
According to claim 1,
The end effector,
Further comprising a fixing assembly extending from the lower surface of the tube where the insertion hole is formed and fixing the bending control body,
The fixing assembly,
A connection hole penetrating in the vertical direction is formed at a position corresponding to the insertion hole, and formed upward on the lower surface, and an accommodation groove communicating with the connection hole is formed to provide an accommodation space inside the accommodation groove. A fixed assembly housing with a fixed protrusion formed on the lower surface of the space, and
A fixing lever formed in the shape of a plate and located in the receiving groove, having a fixing groove corresponding to the fixing protrusion, and having a shaft protrusion formed thereon and connected to the fixing assembly housing;
The fixing lever,
A medical end effector having a structure with a reduced diameter size, characterized in that for fixing the bending adjuster by rotating in the accommodation space.
According to claim 1,
The end effector,
Further comprising a flexure controller fixing member inserted into the upper end of the insertion hole to fix the flexure controller,
The bending control body fixing member,
A head formed in a shape corresponding to the bending control body and having seating protrusions on both sides thereof; and
A medical end effector having a reduced diameter structure including a plurality of legs formed on the lower surface of the head in the form of a plate having a length in the vertical direction and having pressing protrusions formed on the inner surface thereof to press the flexion regulator.

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