WO2011145803A2 - 수술용 의료 기기 - Google Patents

수술용 의료 기기 Download PDF

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Publication number
WO2011145803A2
WO2011145803A2 PCT/KR2011/002066 KR2011002066W WO2011145803A2 WO 2011145803 A2 WO2011145803 A2 WO 2011145803A2 KR 2011002066 W KR2011002066 W KR 2011002066W WO 2011145803 A2 WO2011145803 A2 WO 2011145803A2
Authority
WO
WIPO (PCT)
Prior art keywords
frame
medical device
surgical medical
unit
treatment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2011/002066
Other languages
English (en)
French (fr)
Korean (ko)
Other versions
WO2011145803A3 (ko
Inventor
이병주
권영식
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry University Cooperation Foundation IUCF HYU
Original Assignee
Industry University Cooperation Foundation IUCF HYU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020100045830A external-priority patent/KR101196610B1/ko
Priority claimed from KR1020110021780A external-priority patent/KR101234520B1/ko
Application filed by Industry University Cooperation Foundation IUCF HYU filed Critical Industry University Cooperation Foundation IUCF HYU
Priority to DE112011101691.3T priority Critical patent/DE112011101691B4/de
Priority to US13/698,355 priority patent/US20130072913A1/en
Priority to JP2013511097A priority patent/JP5825537B2/ja
Publication of WO2011145803A2 publication Critical patent/WO2011145803A2/ko
Publication of WO2011145803A3 publication Critical patent/WO2011145803A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/233—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the nose, i.e. nasoscopes, e.g. testing of patency of Eustachian tubes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/24—Surgical instruments, devices or methods for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2906—Multiple forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3407—Needle locating or guiding means using mechanical guide means including a base for support on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/3445—Cannulas used as instrument channel for multiple instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A61B2017/345—Cannulas for introduction into a natural body opening
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20—Surgical microscopes characterised by non-optical aspects

Definitions

  • the present invention relates to a surgical medical device, and more particularly, access to the affected area can be improved, the surgical unit can be performed using the treatment unit while the frame is fixed,
  • the present invention relates to a surgical medical device that can be easily deformed or bent according to the shape of the body, and thus can maintain the deformed or bent state, thereby reducing the burden on the patient and increasing the accuracy of the surgery.
  • a surgical medical device for ablation is introduced into the body to perform a surgery to remove the wound and water bumps.
  • the lesions are removed through suspension laryngeal surgery.
  • the path to the lesion should be secured in a straight line so that the suspension laryngoscope, a surgical medical device, can access the lesions.
  • FIG. 1 is a view showing a state in which a surgical medical device according to the prior art is inserted into the larynx portion of the body. As shown in FIG. 1, the head of the patient, who is the subject of surgery, is folded back to secure a straight path of movement, and then the surgical medical device 1 is inserted to remove the lesion on the larynx 3.
  • the operator visually checks the state of the affected part and performs a surgical operation on the affected part, in which case the operator shakes his hand or does not know the exact location of the affected part. Work may not be accurate.
  • the present invention performs a surgical procedure on the affected part using the treatment unit while the frame is fixed, a surgical medical device capable of preventing the accuracy of the operation from being deteriorated due to ancillary factors due to the shaking of the operator. to provide.
  • the present invention provides a surgical medical device that can be flexibly operated according to the location of the affected area, the treatment unit that substantially performs the surgical procedure on the affected area, thereby improving the ease of the surgical procedure on the affected area.
  • the present invention can improve the access to the affected area, and since the surgical procedure for the affected area can be performed using the treatment unit while maintaining a state of being inserted into the body to provide a surgical medical device that can increase the accuracy of the operation to provide.
  • the shape of the body may be fixed or changed or bent to correspond to the internal shape of the body, so that the patient does not have to take a specific posture, for example, tilting back of the neck for surgery. Therefore, there is provided a surgical medical device that can prevent the occurrence of ancillary body damage by preventing the pressure applied to a specific part of the body.
  • the present invention provides a surgical medical device that can adjust the degree of deformation or deformation of the frame according to the shape of the inside of the body approaching the affected area.
  • the present invention provides a surgical medical device that can increase the safety of the surgery by maintaining the deformed or curved state of the frame during surgery to the affected area.
  • the frame is inserted into the body is fixed to the tip portion adjacent to the affected part, the inner frame is formed with a movement path; At least one treatment unit moved along the path of movement of the frame to access the affected area and to treat the affected area; A driving unit generating a driving force for driving the at least one treatment unit; And a control unit controlling an operation of the treatment unit by controlling a driving force generated from the driving unit.
  • the frame may be formed in a shape in which a curved curved portion is fixed to correspond to the shape in the body.
  • the frame may be formed to change shape or bend according to the shape of the inside of the body.
  • the frame may include a plurality of deformable members provided to overlap each other so that the shape of the frame may be changed or bent by the shape of the inside of the body in contact with the outer surface of the frame while the frame is introduced into the body. Can be.
  • One end of both ends of the frame in the longitudinal direction may be inserted into the neighboring variable member, and the other end of the frame may be inserted into the outer side of the neighboring variable member.
  • variable member may further include a protrusion protruding toward the movement path, and the protrusion may be formed with a through hole into which the operation wire is inserted.
  • the protrusion may be formed to face toward the upper and lower portions of the movement path, or may protrude in a direction orthogonal to a line passing through the center of the movement path.
  • One end of the working wire passes through the through hole formed in the protrusion and is connected to a frame cap mounted at the front end of the frame or one end of the frame, and the other end is provided at the other end side of the frame to adjust the bending degree of the variable member. It may be connected to the bending control to adjust.
  • the bending adjusting part may be provided with locking means for maintaining the deformed state or the bent state of the variable member.
  • the locking means may prevent the frame from being unfolded by binding the operation wire while the frame is bent while one of the operation wires is pulled by the bending adjusting unit.
  • the locking means may be formed to contact the variable member adjacent to the bending adjustment part in a state in which the operation wire is bound.
  • the locking means may include a clamp that binds the actuation wire or a hook caught by a groove formed in the actuation wire.
  • the locking means is capable of binding or releasing the actuation wire, and may maintain the engagement state of the actuation wire while the treatment unit treats the affected area.
  • the treatment unit the treatment unit for performing a surgical procedure for the affected area; And a treatment guide coupled to the distal end and having a longitudinal direction so as to be movable along the movement path of the frame.
  • the movement guide part may be provided with a spring capable of changing the position in the longitudinal direction and elastically deforming in the lateral direction, or may be made of a flexible plastic or steel material capable of elastic deformation.
  • the movement guide part may be provided with a plurality of link members coupled in a longitudinal direction, and the plurality of link members may rotate in multiple directions based on the connection part.
  • the treatment unit may be coupled to the front end of the moving guide part, the connecting member rotatably coupled in the lateral direction and the transverse direction of the moving guide part; A rotation member coupled to the connection member so as to be relatively rotatable; And a treatment member coupled to the rotation member to directly perform treatment for the affected part, wherein the operation of the connection member, the rotation member, or the treatment member is generated by the driving unit based on a command signal of the controller. It can be made by the driving force.
  • the treatment member may include a grip for gripping the affected part, a scissor for cutting the affected part, a knife for cutting the affected part, a noose surrounding the affected part, and a snare for removing the affected part. It may be provided with any one of the suction (cautery) and the suction tube to remove the affected part.
  • the driving unit includes a front and rear moving member for generating a driving force for moving the mounting member coupled to the rear end of the treatment unit forward and backward on the moving path of the frame; And a wire type treatment unit connected to the connection member, the rotation member, and the treatment member, and controlling an operation of the selected member among the connection member, the rotation member, and the treatment member according to a command signal of the controller. It may include a drive member.
  • the apparatus may further include a photographing unit configured to be adjacent to the affected part along the moving path of the frame to photograph the state of the affected part in real time, and the controller may control the operation of the treatment unit based on the photographing information of the photographed part.
  • a photographing unit configured to be adjacent to the affected part along the moving path of the frame to photograph the state of the affected part in real time
  • the controller may control the operation of the treatment unit based on the photographing information of the photographed part.
  • the accessibility to the affected part is improved as compared with the related art, and the treatment unit treats the affected part while the frame is fixed in the adjacent area of the affected part.
  • the accuracy of the surgery can be improved by the treatment unit performing treatment for the affected part while the shape or the degree of bending of the frame is maintained in the adjacent area of the affected part.
  • the frame is provided in a shape corresponding to the internal shape of the body or the frame is deformable to correspond to the internal shape of the body, the patient has a specific posture, For example, it is not necessary to take a posture such as tilting the back of the neck, and thus it is possible to prevent the occurrence of ancillary body damage by preventing pressure from being applied to a specific part of the body.
  • the surgical medical device in the state in which the frame is fixed using the treatment unit to perform a surgical procedure for the affected area, or the shape of the frame is deformed or bent state is maintained Since the treatment unit is used to perform the surgical procedure on the affected part, it is possible to prevent the accuracy of the operation from being lowered due to ancillary factors caused by the shaking of the operator.
  • the treatment unit for substantially performing the surgical procedure for the affected part can be flexibly operated according to the location of the affected part, thereby improving the ease of the surgical procedure for the affected part Can be.
  • FIG. 1 is a view showing a state in which a surgical medical device according to the prior art is inserted into the larynx portion of the body.
  • FIG 2 is a view showing a state in which the surgical medical device is inserted into the laryngeal region of the body according to an embodiment of the present invention.
  • FIG. 3 is a perspective view of the surgical medical device shown in FIG.
  • FIG. 4 is a perspective view of the frame shown in FIG. 3.
  • FIG. 5 is a diagram for describing the multiple degree of freedom operation of the treatment unit illustrated in FIG. 3.
  • FIG. 6 is a perspective view showing a frame of a surgical medical device according to another embodiment of the present invention.
  • FIG. 7 is a cross-sectional view illustrating the variable member of the frame according to FIG. 6.
  • FIG. 8 is a partial cross-sectional view showing a frame bent by the variable member according to FIG. 7.
  • the surgical medical device of the present invention is used to remove a lesion generated in the larynx, but is not limited thereto, and the surgical medical device of the present invention is not a lesion generated in the larynx. Naturally, it can be used to remove affected lesions on other body parts.
  • FIG. 2 is a view illustrating a state in which a surgical medical device is inserted into a laryngeal part of a body according to an embodiment of the present invention
  • FIG. 3 is a perspective view of the surgical medical device shown in FIG. 2
  • FIG. Figure 5 is a perspective view of the frame
  • Figure 5 is a view for explaining the multi-degree of freedom operation of the treatment unit shown in Figure 3
  • Figure 6 is a perspective view showing a frame of a surgical medical device according to another embodiment of the present invention
  • 7 is a cross-sectional view showing a variable member of the frame according to FIG. 6
  • FIG. 8 is a partial cross-sectional view showing a frame bent by the variable member according to FIG. 7.
  • the surgical medical device 100 is introduced into the larynx 103 through the mouth so that the tip portion is fixed adjacent to the affected part generated in the larynx 103.
  • a frame 110 having a movement path 111 formed therein, a plurality of treatment units 130 moving along the movement path 111 of the frame 110 to access the affected area, and directly treating the affected area,
  • a control unit (not shown) which accesses the affected part along a moving path of the frame 110 and controls the operation of the treatment unit 130 based on the photographing part 150 photographing the state of the affected part and the photographing information of the photographing part 150. City).
  • the bent portion 120 is formed so as to correspond to the shape of the oral cavity and larynx 103. Accordingly, the patient does not need to take a specific posture, for example, a posture of tilting the neck backward as in the related art, thereby maintaining a comfortable posture during the surgical procedure.
  • This frame 110 is fixed in the body to allow the treatment unit 130 to move therein.
  • a through hole 116 for movably supporting the tip of the treatment unit 130 and a through hole 117 for movably supporting the imaging unit 150 are provided at the tip of the frame 110. It is formed long along the longitudinal direction of the frame (110).
  • the treatment unit 130 is introduced into the frame 110 through the rear end of the frame 110 and then moved along the through hole 116 provided at the front end to access the lesion generated on the larynx 103.
  • the shape of the frame 110 has a curved shape because it will be described in the case of treating the affected part on the larynx 103, but the present invention is not limited thereto.
  • the frame 110 may be provided in a straight shape.
  • the treatment unit 130 is a portion for directly operating the affected area, as shown in Figures 2 and 3, the treatment unit 131 to directly deal with the affected area, the treatment unit 131 is coupled to the tip And provided to be long to move the movement guide part 135 along the through hole 116 of the frame 110 and the treatment part 131 or to move the movement guide part 135 according to a command signal of the controller. It includes a driver (not shown).
  • the movement guide portion 135 of the present embodiment is provided with a spring (flexible) capable of flexible operation in the elastic deformation in the longitudinal direction and the lateral direction do.
  • the movement guide part 135 can be smoothly bent in the bend portion 120 of the frame 110 while being able to smoothly move back and forth along the through hole 116 by the driving part to be described later, so that the tip of the movement guide part 135 is provided.
  • the treatment unit 131 mounted on the to allow smooth access to the affected part.
  • the movement guide 135 is provided as a spring type, but is not limited thereto.
  • the movement guide 135 may be a node-type link in which a plurality of link members are coupled and coupled in the longitudinal direction. It is natural that it can have a structure.
  • the movement guide may be provided with a flexible plastic or steel material having a predetermined elastic force.
  • the treatment unit 131 of the present embodiment as shown in Figure 5, with respect to the front end of the movement guide portion 135 in the lateral direction (A direction of Figure 5) or its transverse direction (B direction of Figure 5)
  • a connecting member 132 rotatably coupled to the rotating member, and a rotating member 133 coupled to the distal end portion of the connecting member 132 and rotatably coupled relative to the connecting member 132 in the direction C of FIG.
  • the treatment member 134 is coupled to the distal end of the member 133 to perform an operation for treating the affected area (folding motion in the direction D of FIG. 5).
  • connection member 132 is rotated in the lateral direction or the transverse direction relative to the movement guide 135 as described above.
  • the connection member 132 may be inclined to one side with respect to the movement guide part 135.
  • the treatment member 134 may approach the affected part according to the lateral movement of the connecting member 132 regardless of the onset location of the larynx 103 on the larynx 103. It can be made smoothly.
  • Rotating member 133 is a portion connecting the connecting member 132 and the treatment member 134.
  • the rotating member 133 rotates relative to the connecting member 132 so that the treatment member 134 approaching the affected part by the connecting member 132 may be rotated at an angle suitable for operating the affected part. That is, the treatment member 134 located at the distal end of the treatment unit 131 may approach the affected part by the operation of the connecting member 132, and then may be suitable for performing the wound operation by the operation of the rotating member 133. Can be translated into a state.
  • the treatment member 134 is configured to directly operate the affected part, and includes a grip 134a for holding the affected part or a seesaw 134b for removing the affected part. Or the like. Therefore, the treatment member 134 should be able to grip and seesaw operation, which is made by the driving force provided from the driving unit to be described later.
  • the treatment member 134 is provided with a grip or a seesaw, but is not limited thereto.
  • a knife for cutting the affected part, a snare for cutting the wound around the affected part, and a cauterizer for removing the affected part can be provided with a suction tube for sucking the cautery) and the removed affected part.
  • the photographing unit 150 moves along the movement path 111 of the frame 110 and approaches the affected part through a through hole 117 provided in the tip portion of the frame 110. can do.
  • the photographing unit 150 may include an illumination member (not shown) for illuminating the affected area, and a photographing member (not shown) for photographing the affected area in real time.
  • the information on the imaged affected part can be monitored through an external monitor, so that the operator can monitor the condition of the affected part and reliably execute the surgical procedure on the affected part.
  • the body of the photographing unit 150 is provided with a flexible material so that the photographing unit 150 can smoothly access the affected area. Therefore, the photographing unit 150 may move along the movement path 111 of the frame 110 by the photographing unit 150 to be described later, thereby smoothly accessing the affected area.
  • the controller controls the driving of the driver to be described later based on the photographing information acquired by the photographing unit 150.
  • the photographing unit 150 photographs the affected area in real time, and the photographed information is displayed through an external monitor.
  • the operator transmits a command signal to the driving unit through the control unit to operate the treatment unit 130.
  • the control unit may drive not only the driving unit 130 as a whole, but also rotate the treatment unit 130, and also operate the treatment member 134 provided at the distal end of the treatment unit 130 to operate on the affected part. You can run the process.
  • the driving unit includes a front and rear moving member (not shown) for moving the mounting member 136 equipped with the rear end of the moving guide unit 135 back and forth on the moving path 111 of the frame 110, and the treatment unit 131.
  • a wire type treatment unit driving member (not shown) connected to the control unit to control an operation of the treatment unit 131 in a command signal of the controller.
  • the front and rear moving members may move the treatment unit 130 coupled thereto by generating a driving force for moving the mounting member 136 along the movement path 111 of the frame 110. That is, when the front and rear moving member generates the driving force for advancing the mounting member 136 according to the command signal of the controller, the treatment unit 130 may move forward, and the front and rear moving member reverses the mounting member 136. When generating a driving force to the treatment unit 130 is to be able to reverse the inside of the frame (110).
  • the treatment unit driving member is provided in a wire type and is connected to the treatment member 134, the connection member 132, and the rotating member 133 included in the treatment unit 131, respectively.
  • the wire type treatment unit driving member may selectively operate the treatment member 134, the connection member 132, or the rotating member 133 to perform a surgical procedure on the affected part as the operator intends. Make sure
  • the frame 110 is drawn into the mouth so that its tip is positioned on the larynx 103.
  • the bent portion 120 of the frame 110 is placed in a part bent by the neck from the patient, so that the patient does not have to take a special posture such as tilting the neck.
  • the pair of treatment units 130 and the imaging unit 150 are introduced into the frame 110. Then, the pair of treatment units 130 and the imaging unit 150 approach the affected area by the driving force generated from the driving unit.
  • the affected area is photographed using the photographing unit 150 to obtain photographing information.
  • the photographing information is displayed on the external monitor in real time, and the operator operates the treatment unit 130 based on the photographing information of the photographing unit 150 to perform surgery on the affected part.
  • the treatment unit driving member of the driving unit is driven according to a command signal of the control unit, thereby selectively operating each component of the treatment unit, that is, treating member 134, connecting member 132, or rotating member 133. Run the surgical procedure on.
  • the treatment member 134a provided in one treatment unit 130 of the pair of treatment units 130 that is, the grip 134a grips the affected part, and the treatment provided in the other treatment unit 130 is provided.
  • the member 134b i.e., the seesaw 134b, may ablate the affected area to perform a surgical procedure, such as an ablation operation, on the affected area.
  • the neck when performing a surgical procedure on the affected part on the larynx 103, the neck does not have to be tilted back, thereby improving access to the affected part compared with the related art, and the frame 110 is fixed. In this state, the surgical procedure can be executed, thereby improving the accuracy of the surgical procedure.
  • the frame 110 is provided in a shape corresponding to the internal shape of the body, so that the patient does not have to take a specific posture, for example, leaning back the neck for surgery. Therefore, there is also an effect that can prevent the occurrence of ancillary body damage by preventing the pressure applied to a specific part of the body.
  • the treatment unit 130 that substantially executes the surgical procedure for the affected part can be flexibly operated according to the location of the affected part, thereby improving the ease of the surgical procedure for the affected part.
  • the surgical medical device 200 is inserted into the larynx 103 (see FIG. 2) through the mouth so that the distal end portion of the surgical medical device 200 is generated in the larynx 103.
  • a plurality of therapies that are fixed adjacently and move along the moving path 211 formed inside the frame 210 and the moving path 211 formed inside the frame 210 to access the affected area and directly treat the affected area.
  • the unit 130 see FIG. 3
  • the imaging unit 150 (refer to FIG. 3) and the imaging unit 150 which are accessible to the affected part along the moving path 211 formed in the frame 210 and photograph the state of the affected part. It may include a control unit (not shown) for controlling the operation of the treatment unit 130 based on the information.
  • the treatment unit 130 is the same as the case of the surgical medical device 100 according to an embodiment of the present invention described above, a repeated description thereof will be omitted.
  • the frame 210 may include a curved bent portion 220 to correspond to the shape of the oral cavity and larynx 103, as shown in FIG. Accordingly, the patient does not need to take a specific posture, for example, a posture of tilting the neck as in the related art, and thus, the patient may easily approach the affected part of the frame 110 even while maintaining a comfortable posture during the surgical procedure. .
  • the frame 210 maintains its state after being introduced into the body to allow the treatment unit 130 to move therein.
  • a through hole 216 for movably guiding and supporting the tip of the treatment unit 130 and a through hole for movably guiding and supporting the imaging unit 150 are provided at the tip of the frame 210.
  • 217 may be formed long along the length direction of the frame 210.
  • the through holes 216 and 217 may be formed in the frame cap 229 integrally formed with the frame 210 or mounted at the longitudinal end of the frame 210.
  • the treatment unit 130 is introduced into the inside of the frame 210 through the rear end of the frame 210 and then moved along the through hole 216 provided in the front end or the frame cap 229 and placed on the laryngeal 103.
  • the affected lesion can be accessed.
  • the surgical medical device 200 guides the movement of the treatment unit 130 and the treatment unit 130 directly contacts the tissue inside the body or the treatment unit.
  • a frame 210 is provided to prevent damage to body tissue by the 130, and the frame 210 is connected to one end of the fixed frame 228 and the fixed frame 228, which is formed in a straight line shape, and is shaped. It may include a bent portion 220 that can be deformed or bent.
  • the fixed frame 228 is impossible to modify its shape, but the bent portion 220 may be modified according to the shape of the path toward the inside of the body or the affected part.
  • the bent portion 220 may be changed or bent due to a force generated when the frame 210 is contacted or friction between the inside of the body in which the frame 210 is inserted or inserted, and the shape of the inside of the body by the induction.
  • the shape of the bend 220 may be changed or the degree of bending may be adjusted to fit.
  • a movement path 211 for the movement of the treatment unit 130 is provided inside the fixed frame 228 of the frame 210, and the movement path 211 includes a movement path 211 of the treatment unit 130.
  • a mounting member 236 having one end connected and fixed may be provided. The mounting member 236 slides while contacting the inner surface of the fixed frame 228, and may transfer the treatment unit 130 through the sliding movement.
  • the fixing frame 228 shown in FIG. 6 is in an open state, an upper portion of the fixing frame 228 may be shielded by a separate cover member (not shown) to protect the inside thereof.
  • the bent portion 220, the upper portion 220a and the lower portion 220b is preferably made of a plurality of variable members to bend. That is, although not explicitly shown in Figure 6, the upper portion (220a) and the lower portion (220b) of the bent portion 220 is formed because a plurality of variable members are overlapping when viewed from the outside as if it may have a wrinkled shape.
  • the upper portion 220a and the lower portion 220b may be each formed of a plurality of variable members so that the curved portion 220 may be bent.
  • the bent portion 220 may be formed of a plurality of variable members 221 formed so that portions thereof overlap each other.
  • the frame 210 or the bent portion 220 is formed by the shape of the inside of the body that contacts the outer surface of the frame 210 while the frame 210 is introduced into the body of the frame 210 or the bent portion 220. It may include a plurality of variable members 221 provided to overlap each other so that the shape can be changed or bent.
  • variable members 221 have the same shape and structure, and either end of the variable member 221 in the longitudinal direction of the frame 210 or in the transport direction of the treatment unit 130 may be formed.
  • the adjacent variable member 221 may be inserted into an inner side, and the other end of the variable member 221 may be inserted into an outer side of the neighboring variable member 221.
  • the bent portion 220 may be bent or deformed in a state of being connected or contacted with each other.
  • variable member 221 has an approximately inclined shape, but is not necessarily limited thereto, and the variable member 221 may be bent in any form as long as the variable members 221 can be bent while being in contact with or connected to each other. can do.
  • variable member 221 or the bent portion 220 may be bent or deformed by a force generated by the contact of the. That is, even when there is no separate external force, the bent portion 220 may be bent. This reduces the burden on the patient to maintain a particular posture for surgery.
  • variable member 221 may further include a protrusion 222 protruding toward the movement path 211.
  • the protrusion 222 may cover the bottom surface of the movement path 211 to the lower portion 220b. Can be projected towards. That is, the protrusion 222 may be formed to face toward the upper and lower portions of the movement path 211.
  • each protrusion 222 may be formed with a through hole 223 at the same position, the operation wire 226 may be inserted into the through hole 223. That is, the through hole 223 may be formed in the same position in each protrusion 222 so that the working wire 226 can pass through.
  • the protrusion 222 may be said to protrude in a direction orthogonal to the line passing through the center of the movement path 211.
  • the line connecting the lower end of each protrusion 222 that is, the line parallel to the line passing through the center of the movement path 211 and the protrusion 222 may be approximately orthogonal. In this way, the protrusion 222 is formed in the direction orthogonal to the line passing through the center of the movement path 211, it is possible to easily insert the operation wire 226 into the through hole 223.
  • the operation wire 226 is a wire to which an external force acts to deform or bend the shape of the bend 220.
  • One end of the operation wire 226 is connected to the frame cap 229 mounted at one end of the frame 210 by passing through the through hole 223 formed in the protrusion 222 so that the bend 220 may be bent or deformed.
  • the other end may be connected to the bending adjustment unit 260 (see FIG. 8) provided at the other end side of the frame 210.
  • one end of the operation wire 226 is fixed to the front end of the fixed frame cap 229 or the frame 210 and the other end is connected to the movable bending control unit 260 to bend the bent part 220.
  • FIG. 8 is a partial cross-sectional view of a curved portion 220 formed of a plurality of variable members 221 in a side view.
  • one end of two actuating wires 226a and 226b is connected to the bending adjusting part 260, and the wire 226b shown below is pulled further than the actuation wire 226a shown above. It's a state. That is, the bending part 220 may be bent by operating the bending adjusting part 260 and further pulling one of the two operating wires.
  • the locking means 240 may be formed at the bending adjustment unit 260 to maintain the deformed state or the bent state of the variable member 221.
  • the locking means 240 moves the operation wires 226a and 226b while the frame 210 or the bend 220 is bent while one of the operation wires 226a and 226b is pulled by the bending adjustment unit 260.
  • the locking means 240 may be referred to as a means for fixing or maintaining the lengths of the operation wires 226a and 226b drawn by the bending adjustment unit 260.
  • the locking means 240 may contact the variable member 227 adjacent to the bending adjustment unit 260 in a state in which the operation wire 226 is bound. That is, referring to FIG. 8, the locking means 240 may maintain the binding state of the operation wire 226 while being in contact with the leftmost variable member 227.
  • the locking means 240 preferably binds the operation wire 226 in contact with the variable member 221 adjacent to the bending adjustment unit 260.
  • the locking means 240 may include a clamp (not shown) that binds the actuation wire 226 or a hook (not shown) caught in a groove (not shown) formed in the actuation wire 226.
  • the locking means 240 may be formed with a sensor (not shown) for detecting the length of the operation wire 226. By providing a sensor, information on how much the bend 220 is bent can be obtained from the length of the working wire 226, and the bending control unit 260 and the locking means 240 are automatically controlled based on the length information. You may.
  • the locking means 240 may not only bind the operation wire 226 but also release the binding state. While the treatment unit 130 treats the affected area, the locking means 240 maintains the binding state of the operation wire 226, and locks to release the binding state when the treatment or surgery is completed or when the treatment area needs to be changed. It is preferred to operate the means 240.
  • the patient may perform a specific posture, for example, for surgery. It is not necessary to take a posture such as tilting back the neck, and thus preventing additional body damage from occurring by preventing pressure from being applied to a specific part of the body.
  • the present invention can be used for medical surgical robots and the like.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Otolaryngology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physiology (AREA)
  • Pulmonology (AREA)
  • Surgical Instruments (AREA)
  • Radiation-Therapy Devices (AREA)
  • Prostheses (AREA)
PCT/KR2011/002066 2010-05-17 2011-03-25 수술용 의료 기기 Ceased WO2011145803A2 (ko)

Priority Applications (3)

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DE112011101691.3T DE112011101691B4 (de) 2010-05-17 2011-03-25 Chirurgische medizinische Vorrichtung
US13/698,355 US20130072913A1 (en) 2010-05-17 2011-03-25 Medical device for surgery
JP2013511097A JP5825537B2 (ja) 2010-05-17 2011-03-25 手術用医療機器

Applications Claiming Priority (4)

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KR1020100045830A KR101196610B1 (ko) 2010-05-17 2010-05-17 수술용 의료 기기
KR10-2010-0045830 2010-05-17
KR1020110021780A KR101234520B1 (ko) 2011-03-11 2011-03-11 수술용 의료 기기
KR10-2011-0021780 2011-03-11

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WO2011145803A3 WO2011145803A3 (ko) 2012-02-23

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US20130072913A1 (en) 2013-03-21
WO2011145803A3 (ko) 2012-02-23
DE112011101691T5 (de) 2013-03-21
JP5825537B2 (ja) 2015-12-02
DE112011101691B4 (de) 2025-01-02
JP2013529951A (ja) 2013-07-25

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