KR20230108795A - surgical instrument and assembling methods for surgical instrument - Google Patents

Abstract

A surgical instrument is disclosed. The surgical instrument of the present invention includes a shaft; an end effector connected to one end of the shaft and having a pair of grippers capable of gripping; and a joint portion provided between the shaft and the end effector and formed in a form in which a plurality of joint pieces are continuously arranged, wherein the end effector is coupled with a joint piece disposed most spaced apart from the shaft among the plurality of joint pieces. a first housing; a second housing coupled to an end of the first housing and to which the pair of grippers are rotatably coupled; and a gripping motion converting unit provided inside the second housing and connected to the pair of grippers to convert an operation of the grippers, wherein the second housing is connected to the first housing before being coupled with the first housing. It is characterized in that the gripping motion conversion unit is formed of a structure that can be disposed inside the second housing through sliding movement from the outside of the second housing. According to the present invention, by allowing the gripping motion conversion unit to move from the outside of the second housing to the inside of the second housing through sliding movement, a structure that can more easily assemble the end effector is provided, resulting in assembly defects during assembly. It can greatly improve productivity by providing ease of assembly and increased part processing efficiency.

Description

Surgical instrument and its assembly method {surgical instrument and assembling methods for surgical instrument}

The present invention relates to a surgical instrument capable of greatly improving overall productivity by facilitating assembly between parts and increasing part processability, and an assembly method thereof.

In medical terms, surgery refers to the treatment of diseases by cutting, cutting, or manipulating skin, mucous membranes, or other tissues using medical devices. In particular, open surgery, which incises and opens the skin at the surgical site and treats, molds, or removes internal organs, etc., causes problems such as bleeding, side effects, patient pain, and scarring. Therefore, recently, surgery performed by forming a predetermined hole in the skin and inserting only a medical device, for example, a laparoscope, a surgical instrument, a microscope for microsurgery, or the like, or surgery using a robot has been spotlighted as an alternative.

A surgical instrument is a tool for operating a surgical site by manually manipulating an end effector provided at one end of a shaft passing through a hole drilled in the skin by a doctor using a predetermined driving unit or by using a robot arm. A rotation operation, a gripping operation, a cutting operation, and the like are performed through a predetermined structure of an end effector provided in a surgical instrument.

Existing surgical instruments have a problem that it is not easy to access a surgical site and perform various surgical operations because the end effector portion is not bent. To compensate for this, surgical instruments in which an end effector portion can be bent with respect to a shaft have been developed and applied.

Specifically, a flexion joint that can be bent is provided between the shaft and the end effector, and this flexion joint has a form in which a bending section - a rigid straight section - a bending section are continuously connected to the end of the shaft to increase the durability of the entire flexion joint. or has a form in which a rigid straight section - bending section is continuously connected to the end of the shaft.

Here, the bending section is a section that is freely bent, and the rigid straight section means a straight section that is not bent. Conventional surgical instruments have such a rigid straight section at least partially.

Since this rigid straight section has a completely different shape and coupling structure in the bending section and component parts, conventionally, the bending section component parts and the rigid straight section component parts were designed and applied separately to form a flexion joint.

Accordingly, not only does manufacturing cost increase due to the increase in the number of component parts, but also there is a disadvantage that parts management efficiency is inevitably reduced because a large number of component parts must be separately managed even when managing component parts at the manufacturing site. .

In addition, the conventional surgical instrument has a structure in which the user rotates the wrist to bend the joint and end effector of the instrument, so that the user cannot but feel fatigue in the wrist during long-term surgery. there is.

In general, an end effector of a surgical instrument includes a housing connected to an end of a shaft and a pair of grippers provided inside the housing and performing a gripping operation while hingedly rotating with respect to the housing.

In the case of a housing constituting a conventional end effector, one end area connected to the shaft does not have a structure open to the outside, so that a pair of grippers had to be processed in a complex path to enable hinge rotation. Due to the characteristics of surgical instruments, which are inevitably applied to a small housing size, it is difficult to process complex paths in the housing, and productivity is inevitably reduced.

Republic of Korea Patent Registration No. 10-1693677 (2017. 1. 10 announcement)

The present invention has been made to solve the above-mentioned problems in the prior art, and in assembling and configuring an end effector, by providing a coupling structure to facilitate coupling between related parts, particularly forming a complex assembly path in the housing. It is an object of the present invention to provide a surgical instrument and an assembly method thereof that can significantly improve product productivity by increasing part processability and part assembly ability by not having to do so.

In addition, the present invention adopts a structure in which the user can perform vertical and horizontal deflection of the end effector using only one finger, thereby suppressing excessive use of the wrist during the procedure while manually operating the user, thereby reducing wrist fatigue. In addition, the movement direction of the control switch that controls the refraction direction of the end effector and the refraction direction of the end effector are applied in the same direction so that the user can intuitively adjust the refraction direction of the end effector to increase the efficiency of the procedure. It is an object of the present invention to provide a surgical instrument capable of

In addition, since the present invention can form a straight section and a curved section with the same part by unifying the components forming the straight section and the curved section at the joint, it is possible to reduce manufacturing costs and increase parts management efficiency due to unification of parts. Another object is to provide a surgical instrument that can be used.

In addition, another object of the present invention is to provide a surgical instrument capable of converting a straight section into a curved section when necessary and freely performing the shape conversion back to a straight section if necessary.

According to one aspect of the invention, the shaft; an end effector connected to one end of the shaft and having a pair of grippers capable of gripping; and a joint portion provided between the shaft and the end effector and formed in a form in which a plurality of joint pieces are continuously arranged, wherein the end effector is coupled with a joint piece disposed most spaced apart from the shaft among the plurality of joint pieces. a first housing; a second housing coupled to an end of the first housing and to which the pair of grippers are rotatably coupled; and a gripping motion converting unit provided inside the second housing and connected to the pair of grippers to convert an operation of the grippers, wherein the second housing is connected to the first housing before being coupled with the first housing. A surgical instrument having a structure in which the gripping motion conversion unit can be disposed inside the second housing through sliding movement from the outside of the second housing is provided.

The second housing has one end connected to the first housing that is movable to the inside of the second housing by sliding in a direction corresponding to the longitudinal direction of the second housing. may have an open structure.

In the second housing, a pair of slides supporting the sliding movement of the gripping motion converting part so that the gripping motion converting part slides reciprocally along the longitudinal direction of the second housing in a state of being coupled to the inside of the second housing. A groove is provided, and one side of the pair of slide grooves in the longitudinal direction may be made open to the outside.

The gripping motion converting unit includes a gripping motion converting body connected to a wire to convert the gripping motion of the gripper by a user's motion and capable of reciprocating along the slide groove while being supported by the slide groove; and a pair of links connecting between the gripping motion conversion body and the pair of grippers and performing a link movement according to the movement of the gripping motion conversion body.

The gripping operation conversion body may include a conversion body main body to which the wire is connected; and a pair of guide rods inserted inside the pair of slide grooves and movable along the slide grooves, wherein the guide rods may move along the inner wall of the slide grooves while in rolling contact.

Each of the pair of grippers may be provided with a coupling protrusion, and each of the pair of links may be provided with a pair of insertion holes into which the coupling protrusion and the guide bar may be inserted.

In the first housing, an insertion protrusion inserted into the opening of the slide groove is provided to release the open state of one side of the slide groove in the longitudinal direction to the outside, and in a state in which the insertion projection is inserted into the opening The first housing and the second housing may be integrated through welding or bonding.

In the first housing, an insertion protrusion inserted into the opening of the slide groove is provided to release the open state of one side of the slide groove in the longitudinal direction to the outside, and the insertion projection can be forcibly press-fitted into the opening. there is.

According to another aspect of the present invention, an end effector having a shaft and a pair of grippers connected to one end of the shaft and capable of a gripping operation, and a plurality of joint pieces disposed between the shaft and the end effector in succession. A first housing including a joint portion formed in a form, wherein the end effector includes a first housing to which a joint piece disposed most spaced apart from the shaft among the plurality of joint pieces is coupled; a second housing coupled to an end of the first housing and to which the pair of grippers are rotatably coupled; and a gripping motion converting unit provided inside the second housing and connected to the pair of grippers to convert an operation of the grippers, wherein the gripping motion converting unit is provided in the second housing. A pair of slide grooves are provided to support the sliding movement of the gripping motion conversion unit so that the slide reciprocates along the longitudinal direction of the second housing while being coupled to the inside of the housing, and one side of the pair of slide grooves in the longitudinal direction is provided. is made open to the outside, and the gripping motion converting unit is connected to a wire to convert the gripping motion of the gripper by a user's motion and is capable of reciprocating along the slide groove while being supported by the slide groove; a gripping action conversion body including a conversion body main body to which wires are connected, and a pair of guide rods inserted inside the pair of slide grooves and movable along the slide grooves; and a pair of links connecting between the gripping motion conversion body and the pair of grippers and performing a link movement according to the movement of the gripping motion conversion body, wherein (a) the preparing an assembly in which one end of each pair of links is coupled to the pair of guide rods of the gripping action conversion body; (b) slide and insert the ends of the pair of guide rods of the assembly into the pair of slide grooves through one side opening of the second housing, and the other ends of the pair of links 2 inserting so as to be exposed to the outside of the housing; and (c) connecting the pair of grippers to each other end of the pair of exposed links.

(d) combining the pair of grippers with respect to the second housing so as to be hinged rotatably, and coupling the first housing to the second housing to release the open state of one side opening of the second housing; can include

According to the surgical instrument and assembly method of the present invention described above, the gripping motion conversion unit is movable from the outside of the second housing to the inside of the second housing through sliding movement, so that the end effector can be more easily assembled By providing the structure, as well as minimizing the occurrence of assembly defects during assembly, it is possible to greatly improve productivity by providing ease of assembly and increased part processing efficiency. That is, by not forming a complicated component assembly path in the first housing and the second housing as in the prior art, it is possible to greatly increase component processing efficiency and component assembly.

In addition, by adopting a structure in which the user can perform the vertical and horizontal deflection of the end effector using only one finger, the user can manually operate the instrument while suppressing excessive use of the wrist during the procedure, thereby reducing wrist fatigue. can be reduced

In addition, as the wire crossing section is provided, the user can intuitively control the bending direction of the end effector to correspond to the pressing position of the manipulation switch, so that easier and more efficient treatment is possible.

In addition, as the auxiliary operation switch is provided in the operation switch, the user can form both a straight part and a curved part in the joint part or form only the curved part using only the thumb, and can perform motion control in a very comfortable posture.

In addition, by applying a plurality of straight induction joint pieces and flexion induction joint pieces forming a straight portion and a curved portion in the same form, it is possible to reduce manufacturing costs and increase parts management efficiency due to unification of parts.

In addition, as the plurality of straight guide joint pieces and flexure guide joint pieces are formed in a left-right symmetrical structure, it is not necessary to greatly consider the coupling direction of parts in constructing the joint by connecting them to each other, so the operator can work with the coupling more easily and quickly. can be performed.

In addition, by separately providing a plurality of straight induction wires connecting the plurality of straight induction joint pieces and a plurality of bending induction wires connecting the straight induction joint pieces and the flexural induction joint pieces to each other, when necessary, a straight line through wire traction force is applied. A portion can be formed, and in some cases, the wire traction force can be released to freely change the shape of the straight portion into a bent portion.

In addition, as the plurality of joint pieces are connected adjacent to each other through the coupling between the spherical third segment portion and the insertion groove of the corresponding first segment portion, the movement of the plurality of joint pieces can be realized more naturally.

1 is a perspective view schematically showing a surgical instrument according to an embodiment of the present invention;
2 is a perspective view showing an end effector of a surgical instrument according to an embodiment of the present invention;
3 is an exploded perspective view showing an end effector of a surgical instrument according to an embodiment of the present invention;
Figure 4 is a rear perspective view of Figure 3;
5 is a view showing a gripping motion conversion body of a surgical instrument according to an embodiment of the present invention;
6 is a view showing changes in the operating state of a gripper of a surgical instrument according to an embodiment of the present invention;
7 is a perspective view showing an end effector, a joint, and a shaft of a surgical instrument according to an embodiment of the present invention;
8 is a side view showing a joint of a surgical instrument according to an embodiment of the present invention;
9 is a cross-sectional view showing one joint piece of a joint part of a surgical instrument according to an embodiment of the present invention;
Figure 10 is a perspective view of Figure 9;
11 is a view showing various shapes of one joint piece of a joint part of a surgical instrument according to an embodiment of the present invention;
12 is a cross-sectional view showing a state in which joint pieces of a joint part of a surgical instrument according to an embodiment of the present invention are connected to each other;
13 is a bottom view showing the lowermost joint piece constituting the linear part in the joint part of the surgical instrument according to an embodiment of the present invention;
14 is a schematic cross-sectional view of a surgical instrument according to an embodiment of the present invention;
15 is a partially enlarged view of FIG. 14;
16 is a view showing an operating state of a surgical instrument according to an embodiment of the present invention;
17 is a view showing a case where the operating position of the operation switch and the refraction direction of the end effector are applied in reverse;
18 and 19 are views showing that the shape of a joint is changed by an auxiliary operation switch operation in a surgical instrument according to an embodiment of the present invention;
20 is a view showing a modified example of an auxiliary operation switch in a surgical instrument according to an embodiment of the present invention;
21 is a view showing a method of assembling a surgical instrument according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments will complete the disclosure of the present invention, and will fully cover the scope of the invention to those skilled in the art. It is provided to inform you. Like reference numerals designate like elements in the drawings.

The surgical instrument according to a preferred embodiment of the present invention provides a structure for easily assembling an end effector, thereby minimizing the occurrence of assembly defects during assembly and increasing productivity by providing ease of assembly and increased part processing efficiency. can be greatly improved.

In addition, the surgical instrument according to an embodiment of the present invention adopts a structure in which an operator (user) can perform vertical and horizontal refraction of an end effector using only one finger, so that the operator manually operates the instrument while performing surgery. It is possible to reduce the occurrence of wrist fatigue by suppressing excessive use of the wrist during the process.

In addition, when the operator performs vertical and horizontal refraction of the end effector using only one finger, the movement direction of the control switch and the refraction direction of the end effector are applied in the same direction so that the operator can intuitively determine the refraction direction of the end effector. can be adjusted to increase the efficiency of the procedure.

In addition, the joint part of the surgical instrument according to an embodiment of the present invention is made so that the same parts can be formed in a continuous manner so that a certain section can be bent and, if necessary, another certain section can be selectively maintained as a straight section. That is, since a straight section can be maintained with the same parts without separate components being applied through maintenance of a straight section, manufacturing costs can be reduced and parts management efficiency can be increased through unification of parts.

Hereinafter, the present invention will be described in detail with reference to examples.

1 to 3, 7 and 8, a surgical instrument 1000 according to an embodiment of the present invention includes a shaft 10, an end effector 20, a joint part 100, and a plurality of wires. 150 and handle 300.

The shaft 10 is made of a pipe structure having a certain length or more, and the end effector 20 is connected to one end of the shaft 10 and is a pair capable of gripping an object through a gripping operation approaching or spaced apart from each other. It includes a gripper 21 of.

2 to 6, the end effector 20 further includes a first housing 30, a second housing 40, and a gripping motion converter 50 in addition to the pair of grippers 21. do. The gripper 21, the first housing 30, the second housing 40, and the gripping motion converter 50 are each made of a corrosion-resistant biocompatible metal material such as stainless steel or titanium alloy and/or a plastic material. can be made with

Here, as shown in FIGS. 3 and 4 , coupling protrusions 22 are provided on each pair of grippers 21 .

The first housing 30 is coupled with the joint piece 101 disposed most apart from the shaft 10 among the plurality of joint pieces 101 .

Specifically, the first housing 30 is made of a structure in which the first housing through-hole 31 is formed along the longitudinal direction from one side to the other side, and the third segment portion 116 of the joint piece 101 to be described later is formed on one side. Is inserted and the other side is connected to the second housing (40). The third segment portion 116 of the joint piece 101 is inserted into one side of the through-hole of the first housing 30 in a state in which it can freely move (bending the joint portion) over a certain amount.

In addition, a plurality of first housing wire through-holes 33 are provided in the first housing 30 so that the first to fourth bend-inducing wires 154a, 154b, 154c, and 154d to be described later pass therethrough, and the first housing wire The hooking piece 156 is hooked around the through hole 33 so as to provide a traction force to the first to fourth bending guide wires 154a, 154b, 154c, and 154d.

In the embodiment of the present invention, the first housing through-hole 31 of the first housing 30 is provided with the gripping motion converting unit 50 and the gripping motion converting unit 50 so as to be moved by a user's motion. A gripper operating wire 32 connecting between the triggers 301 provided on the handle 300 may be inserted through.

In other words, as shown in FIG. 6 , when the user pulls the trigger 301 and withdraws the gripper operation wire 32 backward, the pair of grippers 21 are moved backward by the gripping operation conversion unit 50. ) move in a direction approaching each other. Conversely, when the user releases the action of pulling the trigger 301, the gripping action conversion unit 50 moves to the front initial position for position restoration, and the pair of grippers 21 move in a direction spaced apart from each other. To this end, the handle 300 is connected to the gripper operation wire 32 so that the gripping operation converting unit 50 automatically restores to the initial position when no external force is applied to the trigger 301, that is, a pair of grippers. A separate elastic member (not shown), specifically a tension spring, is provided to provide restoring force so that it becomes a widened normal state. In addition, various restoring structures may be applied in which the gripping motion conversion unit 50 automatically restores the original position to a standby state for gripping.

Next, as shown in FIGS. 3, 4 and 6, the second housing 40 has one side coupled to the end of the first housing 30 and the other side through a pair of hinge pins 23 The gripper 21 is rotatably coupled.

In the embodiment of the present invention, as shown in FIGS. 3 and 4 , in the second housing 40, the gripping motion conversion unit 50 slides in a direction corresponding to the longitudinal direction of the second housing 40. One end connected to the first housing 30 has a structure open to the outside so as to be movable to the inside of the second housing 40 through the.

In addition, in the second housing 40, the gripping operation conversion unit 50 performs a gripping operation so as to slide and reciprocate along the longitudinal direction of the second housing 40 while being coupled to the inside of the second housing 40. A pair of slide grooves 41 supporting the slide movement of the conversion unit 50 are provided, one longitudinal side of the pair of slide grooves 41 is made open to the outside and the other longitudinal side is closed by an inner wall. has a structure

In the embodiment of the present invention, before the second housing 40 is mutually coupled with the first housing 30, the gripping motion conversion unit 50 slides on the outside (rear side) of the second housing 40 to It is made of a structure that can be disposed inside the second housing 40.

That is, according to the present invention, the gripping motion conversion unit 50 slides from the rear to the front of the second housing 40 through one open side of the slide groove 41 as described above, and moves to the second housing 40. By providing a coupled structure, it is possible to more easily assemble the gripping motion conversion unit 50 with respect to the second housing 40, which minimizes the occurrence of assembly defects during assembly and provides ease of assembly, thereby increasing productivity. can be greatly improved.

In addition, as it is not necessary to form a complicated assembly path for coupling the gripping motion converter 50 to the second housing 40, the efficiency of parts processing of the second housing 40 can be increased, and as described above It is possible to greatly improve the assemblability between parts that are mutually coupled together.

Meanwhile, after the gripping motion conversion unit 50 is slidably inserted into the second housing 40, the second housing 40 and the first housing 30 are prevented from being separated from the gripping operation conversion unit 50. ) is made, and in the present invention, the first housing 30 and the second housing 40 may be integrated through welding or bonding, for example. Alternatively, the first housing and the second housing may be integrated through mutual forced press-fitting. Additional explanations related to this will be described later.

Referring to FIGS. 3 and 4, the second housing 40 will be further described, as long as the second housing 40 is disposed spaced apart from each other and has a slide groove 41 so that one side in the longitudinal direction is open to the outside. The first connecting bar 44 and the slide groove 41 connecting one side of the pair of second housing bars 42 and the pair of second housing bars 42 in the longitudinal direction of the slide groove 41 It includes a second connecting bar 45 connecting the other sides of the pair of second housing bars 42 based on the longitudinal direction of the.

In addition, the pair of second housing bars 42 are provided with hinge pin insertion holes 43 so that the hinge pins 23 are inserted for hinge rotation coupling of the pair of grippers 21, and the pair of grippers 21 ( 21) is similarly provided with a gripper hinge pin insertion hole 24 to insert the hinge pin 23 therein.

On the other hand, as shown in FIGS. 2 to 4, in the first housing 30, one side opening in the longitudinal direction of the slide groove 41 is released to release the open state of one side in the longitudinal direction of the slide groove 41 to the outside. An insertion protrusion 34 inserted into is provided. On the other hand, in the related drawings, the width of the insertion protrusion 34 is formed larger than a predetermined width than the left and right widths of the slide groove 41 in the longitudinal direction, and a stepped structure is provided at one side opening of the slide groove 41. However, this stepped portion may be omitted through size variation of the insertion protrusion 34 .

Next, as shown in FIGS. 2 and 6, the gripping motion conversion unit 50 is provided inside the second housing 40 and is connected to a pair of grippers 21 to form a gripper operation wire 32. The operation of the gripper may be changed while reciprocating along the longitudinal direction of the second housing 40 through driving.

Specifically, the gripping motion converting unit 50 includes a gripping motion converting body 51 and a pair of links 55 .

The gripper operation wire 32 is connected to the gripping operation conversion body 51 to convert the gripping operation of the gripper 21 by a user's operation (trigger pulling operation, etc.), and is supported by the slide groove 41. It is made reciprocally movable along the slide groove 41.

More specifically, as shown in FIGS. 3 to 5, the gripping operation conversion body 51 includes a conversion body body 52 to which the gripper operation wire 32 is connected, and both sides of the conversion body body 52. It protrudes from each and includes a pair of guide rods 54 that are inserted into the pair of slide grooves 41 and are movable along the slide grooves 41 . As shown in FIGS. 3, 4 and 6, the guide rod 54 moves along the inner wall of the slide groove 41 in rolling contact by the pulling or unwinding operation of the gripper operating wire 32, and the guide rod moves. The conversion body body 52 integrally formed with the body 54 also moves simultaneously in the forward and backward directions with respect to the second housing 40.

In the embodiment of the present invention, as shown in FIG. 6, the gripper operating wire 32 partially covers the outer surface of a pulley 25 to be described below interposed between the pair of grippers 21 while partially converting a portion of the area. It may be fixed to the body body 52 through screws or the like, and another region may extend toward the trigger 301 in a state of contacting the outer surface of the conversion body body 52 . In the related drawings, a screw insertion fixing hole 53 for fixing a portion of the gripper operating wire 32 provided to penetrate the conversion body body 52 by inserting a screw is shown. In addition, a portion of the gripper operating wire 32 pressed by the screw does not move relative to the conversion body body 52 when the trigger 301 is pulled or released, and is fixed to the conversion body body 52. In the same state as the conversion body body 52, it moves in the forward and backward directions. Here, the pulley 25 is rotatably provided between the pair of grippers 21 and is rotated by pulling or releasing the gripper operating wire 32 .

Next, the pair of links 55 each connect between the gripping motion conversion body 51 and the pair of grippers 21, and the pair moves while the link moves according to the movement of the gripping motion conversion body 51. The gripper 21 converts the motion so that it is spaced apart or approaches each other.

In other words, when the gripper operation wire 32 is pulled or released, the gripping operation conversion body 51 reciprocates along the front and back direction of the second housing 40 by the structure of the slide groove 41 and the guide bar 54. During this reciprocating motion, a link motion of the pair of links 55 occurs, and the pair of grippers 21 change their motion.

The pair of links 55 are made in the shape of a bar having a length of a certain length or more, and at both ends, guide rods 54 and coupling protrusions 22 formed on a pair of grippers 21 are inserted through each pair. The insertion hole 56 of is formed.

That is, the gripping motion conversion body 51 and the link 55, the link 55 and the gripper 21 are connected to each other through a projection and a hole structure, respectively, and the link 55 is the gripping motion conversion body 51 A link movement in which an angle of arrangement (connection) connecting between the gripper 21 and the gripper 21 is varied may be performed.

In the embodiment of the present invention, as shown in FIGS. 2 to 4, the first housing 30 has a gripping operation conversion body to release the open state of one side of the slide groove 41 in the longitudinal direction to the outside. An insertion protrusion 34 inserted into the opening of the slide groove 41 is provided to prevent the 51 from escaping to the outside through the open side opening of the slide groove.

For example, when the first housing 30 and the second housing 40 are made of a metal material having corrosion resistance, the first housing 30 and the second housing 30 and the second housing 34 are inserted into the opening. The housing 40 may be integrated through welding or bonding.

As another example, when both the first housing 30 and the second housing 40 are made of a plastic material, or one of the first housing and the second housing is made of a metal material and the other is made of a plastic material, insertion The protrusion 34 is forcibly press-fitted into the opening so that the first housing 30 and the second housing 40 may be integrally coupled.

Next, the joint part 100 is provided between the shaft 10 and the end effector 20, and is formed in a form in which a plurality of joint pieces 101 are continuously arranged, and a wire through a joystick type control unit 310 to be described later. As described above, by the traction operation of 150, not only can a certain section be bent at various angles, but also another certain section can be selectively maintained as a straight section if necessary. In an embodiment of the present invention, the joint portion 100 is made of a biocompatible material such as stainless steel or titanium alloy.

Next, as shown in FIGS. 7 and 8, the wire 150 connects the plurality of joint pieces 101 to each other, and partially bends the joint portion 100 and partially forms the joint portion 100 in a straight form. The shape of can be changed variably. The variable shape change of the joint part will be described in detail below.

Next, as shown in FIGS. 1, 14 and 15, the handle 300 is provided at the other end of the shaft 10, and the user can use only one finger, if added, the joint portion 100 using only the thumb. ) Has a joystick-type control unit 310 for manipulating the plurality of wires 150 to adjust the bending state.

On the other hand, since the structure for enabling the gripping operation of the pair of grippers of the end effector 20 through manipulation of the handle 300 is obvious to those skilled in the art, a detailed description thereof will be omitted.

Hereinafter, the detailed configuration of the present invention will be described in more detail, and the correlation between the joint portion 100 and the plurality of wires 150 will be described first, and the handle 300 related to the manipulation of the wire 150 ) The description of the detailed structure will be described later.

In an embodiment of the present invention, the wire 150 is made of a plurality, and only some of the plurality of wires are pulled through a joystick-type control unit 310 to be described later to bend a certain section of the joint part 100, and the remaining wires are the same. It is possible to maintain another predetermined section of the joint part 100 in a straight line by pulling with force. In addition, the entire section of the joint section 100 may be bent without a straight section by releasing the traction force of the wire for maintaining another section of the joint section 100 in a straight form.

Here, the wire traction force for bending a certain section of the joint part can be achieved through the manipulation switch 311 described later, and the wire traction force for maintaining the other certain section section of the joint part in a straight line form is performed by an auxiliary manipulation switch 340 described later. can be done through Meanwhile, the wire 150 is made of a biocompatible material such as stainless steel or titanium alloy.

That is, in the embodiment of the present invention, the wire 150 is used to variably change the shape of the joint part 100, specifically as described above: 1) a certain section of the joint part is bent and another certain section is a straight section. 2) The pulling force is variably applied by the control switch 311 and the auxiliary control switch 340 to be described later so as to bend the entire section of the joint without forming a straight section. A detailed description of this will be given later.

In the embodiment of the present invention, as shown in FIGS. 7 and 8 , the joint portion 100 includes a straight portion 105 composed of a plurality of straight guide joint pieces 102 and a plurality of flexion guide joint pieces 104. It includes a bent portion 108 made.

The straight portion 105 is provided adjacent to the shaft 10 and forms a straight section by the pulling force of the wire 150 . In addition, the bent portion 108 is provided between the straight portion 105 and the end effector 20 and forms a bending section by the traction force of the wire 150 .

Here, the plurality of linear induction joint pieces 102 and flexion induction joint pieces 104 are made of the same shape and each has a left-right symmetrical structure. Therefore, since a straight section can be maintained with the same part without a separate component being applied through maintenance of a straight section, manufacturing costs can be reduced and parts management efficiency can be increased through unification of parts. In addition, as the plurality of straight guide joint pieces and flexure guide joint pieces are formed in a left-right symmetrical structure, it is not necessary to greatly consider the coupling direction of parts in constructing the joint by connecting them to each other, so the operator can work with the coupling more easily and quickly. can be performed.

As shown in FIGS. 9 to 11, a plurality of joint pieces 101, specifically, a plurality of straight guide joint pieces 102 and flexion guide joint pieces 104, respectively, a first segment portion 109, a second It includes a 2 segment part 112 and a 3 segment part 116.

The first segment portion 109 has a substantially disc shape, and an insertion groove 110 having an arc-shaped cross section is provided at the center thereof.

The second segment portion 112 is integrally connected to one side of the first segment portion 109 and has a flat surface 114 at an end thereof. In addition, the third segment portion 116 is integrally connected to the end of the second segment portion 112, and is formed in a protrusion shape to have an arc-shaped cross section.

As shown in FIG. 9, the insertion groove 110 has an arc-shaped cross section and is formed in the form of a spherical groove cut as a whole, and the third segment portion 116 is similarly connected to the second segment portion 112. It consists of a spherical shape in which one side is cut.

That is, the third segment portion 116 has a spherical shape with one side cut so as to correspond to the flat surface 114 of the upper end of the second segment portion 112, and the insertion groove 110 is the third segment portion 116 is inserted into the inside and made of a shape that can rotate freely.

In the embodiment of the present invention, the third segment portion 116 is partially inserted into the insertion groove 110 so as to make rolling contact with the inner surface of the insertion groove 110 . In addition, the third segment portion 116 is free within the insertion groove 110 so that the angles in the longitudinal direction of the plurality of joint pieces 101 disposed adjacent to each other can be freely adjusted by wire traction operation (traction control). made rotatable. For example, by making the curvature of the outer surface of the third segment portion 116 greater than the curvature of the inner surface of the insertion groove 110, free movement of the third segment portion may be enabled.

As shown in FIG. 9, in the embodiment of the present invention, the through hole 120 is provided to pass through the first to third segment portions 109, 112, and 116 in the thickness direction, and the end effector 20 operates (gripper opening). A separate wire (not shown) or a bar (not shown) may be inserted into the through hole 120 and then connected to the end effector 20 to control the closing and closing operation. The wire (not shown) or bar (not shown) passes through the inside of the shaft 10 having a hollow shape and is connected to a separate control unit provided on the handle 300, and operation is controlled by the separate control unit.

As shown in FIGS. 9 and 11 , an angle α1 of 40 degrees to 90 degrees is preferably formed between the outer surface in the circumferential direction of the second segment portion 112 and the flat surface 114 . Accordingly, when the shape of the joint pieces 101 disposed adjacent to each other is deformed to be bent in one of the front and rear or left and right directions by the wire pulling operation, the gap between the second segment portions 112 of the joint pieces 101 adjacent to each other is changed. It is possible to prevent an inability to bend at a desired angle due to interference with a bending operation due to contact. That is, the degree of freedom for inducing free movement of the end effector 20 may be improved by allowing the rotational angle for bending of the plurality of joint pieces 101 as freely as possible.

For example, when the angle α1 is less than 40 degrees, contact between the second segment portions 112 of the articular pieces 101 adjacent to each other may interfere with bending motion.

In addition, when the angle α1 exceeds 90 degrees, a wire penetration for passing the wire 150 through the second segment 112 will be described later due to a reduction in the cross-sectional area of the second segment 112. There is a problem in that it is not easy to form a hole (a straight guide through hole or a bend guide through hole).

In the embodiment of the present invention, as shown in FIGS. 9 and 11 , the angle between the flat surface 114 of the second segment 112 and the third segment 116 is between 20 degrees and 90 degrees (α2 ) is preferably formed. Accordingly, as will be described later, the wire 150 penetrates the wire through-hole (straight guide through-hole, bend-guided through-hole) formed in the second segment portion 112 to easily connect a plurality of adjacent joint pieces 101 to each other. , and the third segment portion 116 is stably inserted into the insertion groove 110 to maintain a rotatable state.

For example, when the angle α2 is less than 20 degrees, as the area in which the spherical third segment portion 116 protrudes outward with respect to the edge end of the flat surface 114 increases, the wire penetrates A problem may occur in smooth wire control due to mutual friction between the wire 150 and the third segment portion 116 passing through the hole (straight guiding through hole or bending guiding through hole).

In addition, when the angle α2 is greater than 90 degrees, the volume of the third segment portion 116 is reduced compared to the cross-sectional area of the flat surface 114 of the second segment portion 112, resulting in insertion groove 110. The portion into which the third segment portion 116 is inserted is reduced, which may hinder the maintenance of a stable coupling state between adjacent joint pieces 101 . In addition, due to the reduced diameter of the through hole 120 through which a wire (not shown) or a bar (not shown) is inserted to control the movement of the end effector 20, it is easy to combine components for controlling the movement of the end effector 20. There may be problems that you don't do.

9, the longest length L between the flat surface 114 and the third segment portion 116, that is, the maximum height of the third segment portion 116 with respect to the flat surface 114 And, the ratio of the depth (D) of the insertion groove 110 is 1: 0.5 or less is preferable.

If this ratio is greater than 1: 0.5, for example, the depth of the insertion groove 110 gradually increases from the bottom surface of the first segment portion 109, such as 1: 0.6, 1: 0.7, 1: 0.8, etc. In this case, during rotational movement due to rolling contact between adjacent joint pieces 101, the outer surface of the third segment portion 116 contacts the inner surface of the insertion groove 110, and further rotation may be restricted. In addition, although the third segment part 116 should further rotate in one direction within the insertion groove 110 by the wire pulling operation, further rotation is not possible due to interference caused by contact with the inner surface of the insertion groove 110. There is a problem that can inhibit the free movement of the effector.

In addition, as shown in FIGS. 9 , 11 and 12 , a flat cutting surface 118 may be provided at an upper end of the third segment portion 116 .

Accordingly, by limiting the occurrence of a mutual contact area more than necessary between the outer surface of the third segment portion 116 and the inner surface of the insertion groove 110, when placing a plurality of joint pieces 101 adjacent to each other, a plurality of In the process of coupling the joint pieces 101 to each other, the separation of the joint pieces 101 from their coupling positions can be further minimized so that they can be more easily coupled to each other during the coupling process.

Next, as shown in FIGS. 8, 12 and 13, the wire 150 includes a plurality of straight guide wires 152 and bent guide wires 154.

The linear guide wire 152 connects the linear guide joint pieces 102 to each other, but is hooked on the straight guide joint piece 102 closest to the bent portion 108 and pulled with the same force to form a straight section. Here, control of the wire traction operation of the plurality of straight guide wires 152 is performed by an auxiliary operation switch 340 to be described later.

In addition, as shown in FIGS. 8 and 12, the flexion induction wire 154 connects both the straight induction joint piece 102 and the flexion induction joint piece 104 to each other, but is the most adjacent to the end effector 20. It is caught on the joint piece 104 and consists of a plurality to be able to form a bending section. Here, control of the wire traction operation of the plurality of bend induction wires 154 is performed by an operation switch 311 to be described later.

On the other hand, the linear induction joint piece 102 and the flexion induction joint piece 104 differ only in function, and are made of the same shape and structure in actual shape.

Both the straight guide wire 152 and the bend guide wire 154 include a general traction wire and a hooking piece 156 connected to an end of the traction wire in the form of a rod or bar, and the hooking piece 156 is a second segment. A traction force is applied to the wire while being caught on the upper surface of the unit 112 to control the shape of the plurality of linear guide joint pieces 102 and the flexure guide joint pieces 104.

9, 12 and 13, a plurality of straight guide wires 152 and a plurality of bend guide wires 154 pass through the first segment portion 109 and the second segment portion 112. A plurality of straight guide through holes 122 and bend guide through holes 124 are provided to do so.

Here, the straight guide wire 152 penetrates and is caught in the plurality of straight guide through holes 122, and specifically, the hook piece provided at the end of the straight guide wire 152 is among the plurality of straight guide joint pieces 102. It has a state of being caught on the second segment portion 112 of the straight guide joint piece 102 disposed most adjacent to the bent portion 108 .

In addition, the plurality of bending inducing through-holes 124 pass through and engage the bending inducing wire 154, and specifically, the engaging piece provided at the end of the bending inducing wire 154 is among the plurality of bending inducing joint pieces 104. It has a state of being caught by the second segment portion 112 of the flexion induction joint piece 104 disposed most adjacent to the end effector 20 .

In the embodiment of the present invention, the driving unit for controlling the traction force of the plurality of straight guide wires 152 and the plurality of bend guide wires 154 is separately provided on the handle 300, which will be described later provided on the handle 300. When pulling a plurality of straight guide wires 152 with the same force by operating the auxiliary operation switch 340 (pulling in the shaft direction), the plurality of straight guide joints 102 can maintain a connected state in a straight line. there is. In addition, it goes without saying that the traction force acting on the straight guide wire 152 may be released through manipulation of the auxiliary control switch 340 .

In addition, when pulling any one of the plurality of bending induction wires 154 with a relatively stronger force by operating the operation switch 311 provided on the handle 300 (pulling in the shaft direction), a plurality of The flexion induction joint piece 104 may have a state of being bent in one direction.

As shown in FIG. 13 , the plurality of straight guide through holes 122 and the plurality of bend guide through holes 124 alternate with each other along the circumferential direction of the first segment portion 109 and the second segment portion 112. placed and spaced apart from each other. Therefore, the plurality of straight guide wires 152 and the bend guide wires 154 can perform a wire pulling operation without interfering with each other. In the related drawings, a state in which a plurality of straight guide through holes 122 and four bend guide through holes 124 are provided and spaced apart at intervals of 90 degrees is shown, but is not necessarily limited thereto. However, for convenience of description and illustration, the following description is based on a case in which four straight guide wires 152 and four bent guide wires 154 are provided.

On the other hand, in the above description, the plurality of linear guide wires 152 are pulled with the same force to maintain the plurality of linear guide joint pieces 102 in a straight shape, but it is not limited thereto, and the user can use a plurality of It is possible to bend the plurality of joint pieces 101 as a whole by providing a traction force only to the plurality of bending guide wires 154 without providing a traction force to the straight guide wire 152 of the. Specifically, the user can implement the above-described state change by operating only the manipulation switch 311 without operating the auxiliary manipulation switch 340 provided on the handle 300 to be described later. In this case, the rotation angle range of the end effector 20 may be increased to move the end effector within a wider range.

Hereinafter, the handle 300 will be described in more detail, and a structure for controlling the pulling force of the wire to form the straight portion 105 and the bent portion 108 will be described in detail below.

As shown in FIGS. 1, 14 to 16, the handle 300 is provided at the other end of the shaft 10, so that the user can adjust the bending state of the joint 100 using only the thumb, for example. It has a joystick-type control unit 310 for controlling the traction of the wires 150, that is, the four straight guide wires 152 and the four bend guide wires 154.

In the present invention, in controlling the operation of the end effector 20, the user may control the operation of a pair of grippers of the end effector by pulling the trigger of the handle 300 or releasing the pulling operation with the index or middle finger. In addition, by controlling the operation of the joystick-type control unit 310 using only the thumb, the user can bend the joint part 100 as a whole or control the straight part 105 and the curved part 108 to be formed at the same time. That is, in the present invention, since the user can adjust various state changes of the joint part 100 using only the thumb, not only can the medical procedure be performed in a more comfortable posture, but also the occurrence of strain on the wrist part during the procedure can be reduced as much as possible. can make it

15 and 16, the joystick type control unit 310 includes an operation switch 311, a switch support unit 320, a wire pass control unit 330 and an auxiliary operation switch 340.

As described above, the plurality of wires 150 are made to variably change the shape of the joint portion 100 so as to partially bend the joint portion 100 and form a partially straight shape, and the joystick-type control unit 310 To variably change the shape of the joint portion 100, the pulling force (traction force) of the plurality of wires 150 is made to be able to variably act.

First, the operation switch 311 is formed in a substantially disk shape, and a switch protrusion 312 is provided on one side so that the user can easily operate the switch by contacting the thumb.

In the control switch 311, ends of the plurality of wires 150, specifically, ends of the four bend-inducing wires 154 are fixedly connected to each other. The user can perform an operation such as rotating the control switch 311 with respect to the switch support 320 or pressing one edge toward the shaft 10 using only the thumb, and such an operation switch 311 ) It is possible to control the wire pulling force acting on the four bending induction wires 154 through the operation control.

That is, in the present invention, as the ends of the four bend induction wires 154 are connected to the control switch 311, individual traction control of the four bend guide wires 154 can be performed by the control switch 311.

Next, as shown in FIG. 15, the switch support 320 has one edge where the control switch 311 is rotatable within a 360-degree rotation range and a selected part of the edge is relatively closer to the shaft 10 side. The control switch 311 is supported to perform a joystick operation including a pressing operation, an initial position restoration operation, and the like. Here, the switch support 320 is fixed in a buried state inside the body of the handle 300 .

Incidentally, the switch support portion 320 has a structure to support the operation switch 311 so that the operation switch 311 can perform a joystick operation (including 360 degree rotation), and for example, the user can operate the operation switch 311 ) There is also a structure for elastically restoring the operation switch 311 to the initial position when the pressing force is removed after pressing the edge end of one side of the shaft 10 side. Here, as a structure for elastically restoring the operation switch, for example, a torsion spring or the like may be employed.

In the related drawings, a detailed structure of the switch support unit 320 is not shown, and the switch support unit 320 may have various structures capable of implementing the above-described functions.

Next, as shown in FIG. 15, the wire pass-through control unit 330 is fixed to be embedded in the body of the handle 300 so that the switch support unit 320 is coupled thereto. In addition, an insertion groove is provided in the wire pass-through control unit 330 so that the switch support portion 320 is partially inserted, and the switch support portion 320 is forcibly press-fitted into the insertion groove of the wire pass-through control unit 330 or is screwed separately. Fixed coupling is possible through

As shown in FIG. 15, four first wire passage holes 331 are provided on one side of the wire passage control unit 330 so that the four bending induction wires 154 connected to the control switch 311 are individually inserted. And, on the other side, one second wire passage hole 332 is provided so that all four bend induction wires 154 pass through, and four first wire passage holes 331 and one second wire passage hole are provided on the inside. Four wire paths 333 connecting 332 are provided.

That is, the present invention fixes and connects the ends of the bend induction wires 154 individually passing through the four first wire passage holes 331 to the edge area of the operation switch 311, so that the user can select one of the four bend induction wires. Even if one side of the operation switch 311 is pressed with a smaller force when providing a traction force to either one, sufficient wire traction force can be applied. To elaborate, when viewed from the side, the central axis of one second wire passage hole 332 and the edge end of the control switch 311 are spaced apart from each other by a certain amount or more, as described above, the user can use little force. Even if the edge of the operation switch is pressed, it is possible to provide a force capable of pulling the bending guide wire 154 sufficiently.

In addition, by allowing the four bending induction wires 154 passing through the four first wire passage holes 331 spaced apart from each other by a certain amount to pass through one second wire passage hole 332 in a gathered state, the operation switch Compared to 311, it is possible to more easily insert (enter) the four bend guide wires 154 into the shaft 10 having a relatively small diameter.

As shown in FIG. 14 , the four bending induction wires 154 are the first bending induction wire 154a for bending the end effector 20 upward with respect to the shaft 10 and the shaft 10 with respect to the first bending induction wire 154a. A second bending induction wire 154b for bending the end effector 20 downward, a third bending induction wire 154c for bending the end effector 20 to the left with respect to the shaft 10, and the shaft 10 and a fourth bending guide wire 154d for bending the end effector 20 to the right.

On the other hand, as the direction of the bending force acting on the joint 100 according to the pressing position of the operation switch 311 acts opposite to each other, as shown in FIG. 12 (a) (b), in a state viewed from the side When the user presses the upper part (12 o'clock direction) of the control switch 311, the joint part 100 and the end effector 20 are bent downward (6 o'clock direction), and the lower part (6 o'clock direction) of the control switch When is pressed, the joint part 100 and the end effector 20 are bent upward (12 o'clock direction).

In addition, as shown in FIG. 17 (c) (d), when the user presses the left part (9 o'clock direction) of the control switch 311 in a state viewed from the front, the joint part 100 and the end effector 20 It is bent in the right direction (3 o'clock direction), and when the right part (3 o'clock direction) of the control switch is pressed, the joint part 100 and the end effector 20 are bent in the left direction (9 o'clock direction).

That is, as the direction of the bending force acting on the joint 100 according to the pressing position of the manipulation switch 311 acts opposite to each other, the user controls the operation of the end effector in the actual operation site. There is a problem in that it is difficult to intuitively control the refraction direction of the end effector through manipulation of .

In order to solve this problem, as shown in FIG. 14, the present invention is connected to the joint portion 100 in a state in which the first bend induction wire 154a and the second bend induction wire 154b cross each other, and in addition to the first A wire crossing section 500 is provided so that the three bend induction wires 154c and the fourth bend induction wire 154d are connected to the joint part 100 in a state of crossing each other. The wire crossing section 500 may be provided inside the body of the handle 300 or inside the shaft 10 .

In this way, as the wire crossing section 500 is provided, the user can intuitively control the bending direction of the end effector 20 to correspond to the pressing position of the manipulation switch 311, which makes it easier and more efficient. possible.

That is, when the user presses the upper part (12 o'clock direction) of the control switch 311, the joint part 100 and the end effector 20 are bent in the same upper direction (12 o'clock direction), and the lower part (6 direction) is pressed, the joint part 100 and the end effector 20 are bent in the same downward direction (6 o'clock direction). In addition, when the user presses the left part (9 o'clock direction) of the control switch 311, the joint part 100 and the end effector 20 are bent in the same left direction (9 o'clock direction), and the right part (3 direction) is pressed, the joint part 100 and the end effector 20 are bent in the same right direction (3 o'clock direction).

Next, as shown in FIGS. 14, 15, 18 and 19, the switch protrusion 312 of the control switch 311 is hinged while being rotatable with respect to the control switch 311, that is, the switch protrusion 312. An auxiliary operation switch 340 is further provided so that the position can be restored sexually.

In the embodiment of the present invention, the four straight guide wires 152 are connected to the auxiliary operation switch 340, and the same pulling force acts on the four straight guide wires according to whether the auxiliary operation switch 340 is operated by the user. Or the traction force may not work.

When the user manipulates the auxiliary operation switch 340, the same pulling force acts on the four straight guide wires 152, so that the straight part 105 can be formed at the joint part 100, and the user can press the auxiliary operation switch 340 If not separately manipulated, the traction force does not act on the four straight guide wires 152, so that the straight portion 105 is not formed at the joint portion 100, and the joint portion may have a shape that is bent as a whole.

After the four straight guide wires 152 pass through the wire pass-through control unit 330 and the switch support unit 320 and are drawn outward, their ends may be connected to the same position of the auxiliary operation switch 340.

To elaborate, a wire passage hole (not shown) is provided separately from the first wire passage hole 331, the second wire passage hole 332, and the wire path 333 in the wire passage control unit 330, and similarly, the switch support part 320 is also provided with a space through which the straight guide wire 152 can pass.

In the embodiment of the present invention, when looking at the shaft 10 in its longitudinal direction, the central axis of the shaft 10 and the portion where the four straight guide wires 152 are connected to the auxiliary operation switch 340 are It is desirable to be on the same line. Accordingly, in a state in which the straight portion 105 is provided at the joint portion, even if the user performs an operation of rotating and pressing the manipulation switch 311 in the up and down and left and right directions, the four straight guide wires 152 stably form the straight portion ( 105) to provide a uniform traction force. That is, the operation of the control switch 311 in the state where the straight part 105 is provided does not affect the maintenance of the straight part 105 .

Through-holes may be additionally provided in the operation switch 311 so that the four straight guide wires 152 pass therethrough and are connected to the auxiliary operation switch 340 .

In addition, as shown in FIGS. 15, 18 and 19, the auxiliary operation switch 340 is rotatably hingedly connected to the switch protrusion 312 of the operation switch 311, and the auxiliary operation switch and the hinge of the operation switch A separate torsion spring 341 for elastically restoring the auxiliary operation switch 340 to an initial position is provided at the connecting portion. Therefore, when the user manipulates (pushes) the auxiliary operation switch 340, the same pulling force acts on all four straight guide wires 152 to form a straight part 105 at the joint part 100, and the auxiliary operation switch When not operated (pushed), the auxiliary operation switch 340 is elastically restored to the initial position by the torsion spring 341, and as the wire traction force does not act on the four straight guide wires 152, the joint 100 A straight portion 105 is not formed.

In the present invention, as the auxiliary operation switch 340 is provided in the operation switch 311, the user forms both the straight part 105 and the curved part 108 in the joint part 100 using only the thumb, or the bent part ( 108) can be performed in a very comfortable posture.

Unlike the structure described above, as shown in FIG. 20 , the auxiliary operation switch 350 may be provided in a form coupled to be slidably movable with respect to the operation switch 311 .

Specifically, the auxiliary operation switch 350 is elastically supported in the insertion groove formed in the operation switch 311 and is slidably provided, and four straight guide wires 152 are connected to the auxiliary operation switch 350. .

In the embodiment of the present invention, when the auxiliary operation switch 350 moves in the direction of being drawn outward with respect to the operation switch 311, a traction force acts on the four straight guide wires 152, and the joint part 100 has a straight part. (105) can be formed.

In addition, when the auxiliary operation switch 350 moves in the direction of being inserted inwardly with respect to the operation switch 311, the traction force does not act on the four straight guide wires 152, and accordingly, the joint part 100 has a straight part ( 105) is not formed.

The auxiliary operation switch 350 has a state of being elastically supported by a separate elastic restoring means (not shown) for the operation switch 311, and when a separate external force is not applied by the user, the operation switch 311 maintains the state of being drawn outward for The auxiliary operation switch 350 is moved to the inside of the operation switch 311 only when the user presses the auxiliary operation switch 350 so that the pulling force of the wire does not act.

That is, when the user wants to form the straight portion 105 on the joint portion 100, the user does not have to push the auxiliary operation switch 350, and wants to bend the joint portion 100 as a whole without forming the straight portion 105. Only when the auxiliary operation switch 350 is pushed.

Hereinafter, a method of assembling a surgical instrument according to an embodiment of the present invention will be described, and in detail, the gripper 21 constituting the end effector 20, the first housing 30, the second housing 40, and the gripping A method of assembling between motion conversion units 50 will be described.

As shown in FIG. 21, first, an assembly in which each end of the pair of links 55 is coupled to the pair of guide rods 54 of the gripping action conversion body 51 is prepared. Specifically, a pair of guide rods 54 are inserted into the insertion holes 56 respectively formed in the pair of links 55, and at this time, the protruding ends of the guide rods 54 protrude beyond a certain amount from the links 55. have a state

Next, the ends of the pair of guide rods 54 of the assembly are slide-inserted into the pair of slide grooves 41 through one side opening of the second housing 40, respectively, and the pair of links 55 The other ends of each are inserted so as to be exposed to the outside of the second housing 40 . Specifically, the guide rod 54 is inserted to the innermost side of the slide groove 41 so that the other end of the link 55 is exposed to the outside.

Next, a pair of grippers 21 are connected to the other ends of the pair of exposed links 55, respectively.

Specifically, the coupling protrusion 22 formed on any one gripper 21 is inserted into the insertion hole 56 formed at the other end of any one link 55. Subsequently, a short auxiliary hinge pin 26 is inserted into the gripper hinge pin insertion hole 24 formed in one of the grippers 21 and the pulley 25 is inserted into the auxiliary hinge pin 26 . Here, the auxiliary hinge pin 26 can be discharged to the outside by inserting the hinge pin 23 to be described later, and a related description will be described later.

Next, the coupling protrusion 22 formed on the other gripper 21 is inserted into the insertion hole 56 formed at the other end of the other link 55. Subsequently, the auxiliary hinge pin 26 is moved to the side of the other gripper 21 to temporarily fix and couple the pair of grippers 21 and pulleys 25 using the auxiliary hinge pin 26 .

Thereafter, the assembly of the gripping action conversion body 51, the link 55, the pair of grippers 21 and the pulley 25 is moved backward along the slide groove 41, and the pair of second housing bars The hinge pin insertion hole 43 formed in (42) and the gripper hinge pin insertion hole 24 formed in the pair of grippers 21 are moved so that they are aligned with each other.

Thereafter, the hinge pin 23 having a predetermined length or more is inserted into the hinge pin insertion hole 43 and the gripper hinge pin insertion hole 24 arranged in a straight line with each other using a separate insertion tool. Specifically, the hinge pin 23 is inserted into any one of the pair of hinge pin insertion holes 43 formed in the pair of second housing bars 42 at a predetermined depth or more, and at this time, the gripper 21 and The auxiliary hinge pin 26 connecting the pulleys 25 passes through the other one of the pair of hinge pin insertion holes 43 and is separated. The auxiliary hinge pin 26 separated in this way can be reused for assembling other surgical instruments. Both ends of the hinge pin 23 may be integrally fixed to the second housing 40 through welding (for example, spot welding). The hinge has a rotatable coupled state with respect to the housing 40 .

Next, the first housing 30 is coupled to the second housing 40 to release the open state of one side opening of the slide groove 41 of the second housing 40 . The first housing 30 may be integrally coupled to the second housing 40 through methods such as welding, bonding, and forced press fitting, as described above.

In the above, the present invention has been shown and described in relation to preferred embodiments for illustrating the principles of the present invention, but the present invention is not limited to the configuration and operation as shown and described. Rather, it will be appreciated by those skilled in the art that many changes and modifications may be made to the present invention without departing from the spirit and scope of the appended claims.

10: shaft 20: end effector
21: gripper 22: coupling protrusion
23: hinge pin 25: pulley
26: auxiliary hinge pin 30: first housing
32: gripper operation wire 34: insertion protrusion
40: second housing 41: slide groove
42: second housing bar 50: gripping operation conversion unit
51: gripping action conversion body 52: conversion body body
53: screw insertion fixing hole 54: guide rod
55: link 56: insertion hole
100: joint part 101: joint piece
102: straight induction joint piece 104: flexion induction joint piece
105: straight part 108: bent part
109: first segment portion 112: second segment portion
116: third segment portion 120: through hole
122: straight guide through hole 124: bend guide through hole
150: wire 152: straight wire
154: bend induction wire 154a: first bend induction wire
154b: second bend induction wire 154c: third bend induction wire
154d: fourth bending guide wire 156: hooking piece
300: handle 310: joystick type control unit
311: operation switch 320: switch support
330: wire passage control unit 331: first wire passage hole
332: second wire passage hole 333: wire path
340, 350: auxiliary operation switch 341: torsion spring
500: wire intersection

Claims (10)

shaft;
an end effector connected to one end of the shaft and having a pair of grippers capable of gripping; and
A joint portion provided between the shaft and the end effector and formed in a form in which a plurality of joint pieces are continuously arranged;
The end effector,
a first housing to which, among the plurality of joint pieces, the joint pieces disposed most spaced apart from the shaft are coupled;
a second housing coupled to an end of the first housing and to which the pair of grippers are rotatably coupled; and
Further comprising a gripping motion conversion unit provided inside the second housing and connected to the pair of grippers to convert the motion of the grippers,
The surgical instrument of claim 1 , wherein the second housing has a structure in which the gripping motion conversion unit can be disposed inside the second housing through a slide movement from the outside of the second housing before being coupled with the first housing. According to claim 1,
The second housing has one end connected to the first housing that is movable to the inside of the second housing by sliding in a direction corresponding to the longitudinal direction of the second housing. A surgical instrument characterized in that it has an open structure. According to claim 2,
In the second housing,
A pair of slide grooves are provided to support the sliding movement of the gripping motion conversion unit so that the gripping operation conversion unit slides and reciprocates along the longitudinal direction of the second housing in a state of being coupled to the inside of the second housing. One side of the pair of slide grooves in the longitudinal direction is a surgical instrument, characterized in that made open to the outside. According to claim 3,
The gripping motion conversion unit,
a gripping motion conversion body connected to a wire to change the gripping motion of the gripper by a user's motion and capable of reciprocating along the slide groove while being supported by the slide groove; and
The surgical instrument comprising a pair of links connecting between the gripping motion conversion body and the pair of grippers and performing a link movement according to the movement of the gripping motion conversion body. According to claim 4,
The gripping action conversion body,
a conversion body main body to which the wire is connected; and
It includes a pair of guide rods inserted inside the pair of slide grooves and movable along the slide grooves,
The guide rod is a surgical instrument, characterized in that moving while in rolling contact along the inner wall of the slide groove. According to claim 5,
Each of the pair of grippers is provided with a coupling protrusion,
A surgical instrument, characterized in that a pair of insertion holes are provided in each of the pair of links so that the coupling protrusion and the guide rod can be inserted. According to claim 3,
The first housing is provided with an insertion protrusion inserted into the opening of the slide groove to release the open state of one side of the slide groove in the longitudinal direction to the outside,
The first housing and the second housing are integrated through welding or bonding in a state in which the insertion protrusion is inserted into the opening. According to claim 3,
The first housing is provided with an insertion protrusion inserted into the opening of the slide groove to release the open state of one side of the slide groove in the longitudinal direction to the outside,
The insertion protrusion is a surgical instrument, characterized in that forcibly press-fitted into the opening. A shaft, an end effector having a pair of grippers connected to one end of the shaft and capable of a gripping operation, and a joint part provided between the shaft and the end effector and having a plurality of joint pieces arranged in succession; ,
The end effector may include a first housing to which a joint piece disposed most spaced apart from the shaft among the plurality of joint pieces is coupled; a second housing coupled to an end of the first housing and to which the pair of grippers are rotatably coupled; and a gripping motion conversion unit provided inside the second housing and connected to the pair of grippers to convert motions of the grippers,
In the second housing, a pair of slides supporting the sliding movement of the gripping motion converting part so that the gripping motion converting part slides reciprocally along the longitudinal direction of the second housing in a state of being coupled to the inside of the second housing. A groove is provided, one side of the pair of slide grooves in the longitudinal direction is made open to the outside,
The gripping motion converting unit is connected to a wire to convert the gripping motion of the gripper by a user's motion, and is capable of reciprocating along the slide groove in a state supported by the slide groove, and a conversion body body to which the wire is connected. a gripping action conversion body including a pair of guide rods inserted into the pair of slide grooves and movable along the slide grooves; and a pair of links connecting between the gripping motion conversion body and the pair of grippers and performing a link movement according to the movement of the gripping motion conversion body,
(a) preparing an assembly in which one end of each of the pair of links is coupled to the pair of guide rods of the gripping action conversion body;
(b) slide and insert the ends of the pair of guide rods of the assembly into the pair of slide grooves through one side opening of the second housing, and the other ends of the pair of links 2 inserting so as to be exposed to the outside of the housing; and
(c) connecting the pair of grippers to the other ends of the exposed pairs of links. According to claim 9,
(d) combining the pair of grippers with respect to the second housing so as to be hinged rotatably, and coupling the first housing to the second housing to release the open state of one side opening of the second housing; A method of assembling a surgical instrument comprising:

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