WO2013022325A2 - 관절 구조를 고정시키기 위한 장치 - Google Patents

관절 구조를 고정시키기 위한 장치 Download PDF

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Publication number
WO2013022325A2
WO2013022325A2 PCT/KR2012/006444 KR2012006444W WO2013022325A2 WO 2013022325 A2 WO2013022325 A2 WO 2013022325A2 KR 2012006444 W KR2012006444 W KR 2012006444W WO 2013022325 A2 WO2013022325 A2 WO 2013022325A2
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WO
WIPO (PCT)
Prior art keywords
sliders
position guide
joint
guide
present
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Application number
PCT/KR2012/006444
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English (en)
French (fr)
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WO2013022325A3 (ko
Inventor
정창욱
김형태
신준철
Original Assignee
주식회사 모바수
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Application filed by 주식회사 모바수 filed Critical 주식회사 모바수
Priority to EP12822094.4A priority Critical patent/EP2743042A4/en
Publication of WO2013022325A2 publication Critical patent/WO2013022325A2/ko
Publication of WO2013022325A3 publication Critical patent/WO2013022325A3/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A61B2017/294—Connection of actuating rod to jaw, e.g. releasable

Definitions

  • the present invention relates to an apparatus for fixing a joint structure.
  • Joint motion refers to the movement of at least one of the two or more interconnected (machine) elements relative to the other. These joint movements can be observed in a variety of forms, from human arms or legs to robotic arms of industrial robots.
  • Instruments capable of articulation may in some cases require that the state of articulation of their mechanical elements is fixed.
  • Korean Patent Application No. 2011-3192 the specification of this application should be regarded as incorporated herein in its entirety
  • devices and components of ball and socket structures which rely primarily on the surface friction of mechanical elements, have been used, these devices or components are often insufficient to achieve a sufficiently rigid and efficient fixation.
  • the present invention aims to solve all of the above-mentioned problems of the prior art.
  • Another object of the present invention is to provide a small joint structure fixing device.
  • Another object of the present invention is to provide an apparatus capable of effectively fixing the joint structure without relying on surface friction.
  • an apparatus for fixing a joint structure comprising: a position guide, at least three sliders, a locking member for locking each of the at least three sliders, and each of the at least three sliders is guided to the position guide.
  • An apparatus is provided that includes at least three links for connecting to a.
  • a surgical instrument comprising: an end effector, an articulation portion allowing the end effector to articulate, and a device for fixing the articulation state of the articulation portion, wherein the fixation device is a position A guide, at least three sliders, a locking member for locking each of the at least three sliders, and at least three links for connecting each of the at least three sliders to the position guide, wherein the at least three sliders And, with a rotating component disposed in association with the position guide, an operation in the pitch direction or the yaw direction with respect to the position guide, wherein the joint and the rotation component are connected to each other by at least one wire.
  • An apparatus is provided.
  • a novel joint structure fixing device is provided.
  • a small joint structure fixing device is provided.
  • an apparatus capable of effectively fixing a joint structure without relying on surface friction is provided.
  • FIG. 1 is a conceptual diagram of a joint structure fixing device according to an embodiment of the present invention.
  • FIG. 2 is a conceptual view (cross section) of a rail for guiding sliding of the slider shown in FIG. 1.
  • FIG. 3 is another conceptual diagram of a joint structure fixing device according to an embodiment of the present invention.
  • FIG. 4 is a conceptual view of the principle of the joint structure fixing device according to the present invention.
  • FIG. 5 is a perspective view partially showing the inside of a joint structure fixing device of a surgical instrument specifically realized according to the present invention.
  • FIG. 1 is a conceptual diagram of a joint structure fixing device according to an embodiment of the present invention.
  • 2 is a conceptual view (cross section) of the rail 123 for guiding the sliding of the slider 120 shown in FIG. In the following, reference will be made to FIGS. 1 and 2.
  • the joint structure fixing device includes at least a portion of the position guide 110, at least three sliders 120 and 130 (the illustration associated with the slider 140 is omitted for convenience in this drawing), and the sliders 120 and 130.
  • the locking members 122 and 132 constituting the locking member 124 and 134 to engage with the locking members 122 and 132, rails 123 and 133 for guiding sliding of the sliders 120 and 130, and a position guide 110.
  • links 126 and 136 for connecting the sliders 120 and 130.
  • both ends of the links 126 and 136 may be accommodated in the connection portions 112 and 114 of the position guide 110 and the connection portions 128 and 138 of the sliders 120 and 130, respectively.
  • the position guide 110 may guide the position of a predetermined rotational component (not shown) therein (or adjacent thereto) (in this regard, of the drawings of Korean Patent Application No. 2011-3192). See component 122 and component 115).
  • the location guide 110 may be integrally formed, and may have a hemispherical shape, a funnel shape, and the like, of which the end is open. Accordingly, the rotary component disposed in association with the position guide 110 may operate in the pitch direction or the yaw direction according to the shape of the position guide 110.
  • the rotating component may then be connected to cause some articulation by a wire (not shown) extending through the open end of the position guide 110.
  • the rotating component may also be fixed relative to the position guide 110.
  • the slider 120 can only slide in one direction along the rail 123, and can include its locking member 122 and its position can be fixed in response to the action of this and the corresponding locking member 124 externally. have.
  • the locking members 122 and 124 may include a concave-convex structure that can be engaged with each other in order to secure the fixing as described above, but the shape or material of the locking members 122 and 124 may be The position of the slider 120 can be freely determined as long as it can be effectively fixed.
  • the rail 123 may have a configuration as shown in FIG. 2, which allows the slider 120 to slide in its groove, but the slider 120 does not shake significantly and only one rail on the rail 123 can be used. As long as it can only slide in the direction, the configuration of the slider 120 or the rail 123 can be variously changed.
  • both ends of the link 126 may be accommodated in the connection portion 112 of the position guide 110 and the connection portion 128 of the slider 120 to connect the position guide 110 and the slider 120.
  • the rotational component disposed in relation to the position guide 110 can be fixed in the pitch direction or yaw direction while still being able to operate with respect to the position guide 110. You can have it.
  • both ends of the link 126 may be spherical in shape similar to a ball bearing.
  • the connecting portion 112 of the position guide 110 and the connecting portion 128 of the slider 120 accommodate the corresponding end of the link 126 so that the link 126 is relatively free around each end. It can be shaped to move.
  • the joint structure fixing device according to the present invention, according to the principles of the present invention as described below, three or more sliders and their associated components ( Preferably, they are confirmed here that it is preferred to include) (having a similar configuration to each other).
  • FIG. 3 is another conceptual diagram of a joint structure fixing device according to an embodiment of the present invention.
  • the sliders 120, 130 and their associated components are relative to the position guide 110 (eg, about the axis of rotation of the rotating component) with the rotating component therebetween. It can operate in the pitch direction or yaw direction.
  • the positions of the links 126 and 136 may be changed to a state that allows the above operation as shown. This position change can occur as the slider 120 slides along the rail 123 in the left direction of the city and the slider 130 slides along the rail 133 in the right direction of the city.
  • the locking members 124, 134 are operated to engage the locking members 122, 132 according to a user's operation or the like, the sliders 120, 130 and the associated components may move together with the rotational component.
  • FIG. 4 is a conceptual view of the principle of the joint structure fixing device according to the present invention.
  • the points a to f represent abstractly the portion where the link is connected to the position guide or the slider
  • R.E. represents the rotational component abstractly
  • S represents the slider abstractly.
  • the positions of the points a to c are fixed (i.e. the position guide is fixed)
  • the positions of the points d to f are fixed relative to the rotating component (i.e. the slider is fixed relative to the rotating component) )
  • the rotating component can be fixed relative to the position guide, although it can act in the pitch direction or yaw direction relative to the position guide with the slider if the slider is not locked. have. That is, the rotational component can be constrained in its pitch or yaw direction relative to the position guide when the slider is locked.
  • FIG. 5 is a perspective view partially showing the inside of a joint structure fixing device of a surgical instrument specifically realized according to the present invention.
  • the entire surgical instrument including the articular structure fixation device includes a position guide 110, sliders 120 and 140, locking members 124 and 144, links 126, 136 and 146, and tightening. Ring 150, tightening ring pressing member 160, depressor 170, and rotational component (not shown because it is disposed inside of position guide 110).
  • the entire surgical instrument may include a total of three sliders, each of which may be associated with a corresponding associated component, such as a locking member.
  • the tightening ring 150 can tighten the locking members 124, 144 and the like when the tightening ring pressing member 160 presses it, so that each of these can fix the state in which the slider slides.
  • the tightening ring pressing member 160 is connected to the leaf spring (not shown) in the original position, and then tightens in the direction of the sliders 120 and 140 when the user presses the pusher 170. It may be configured to press the ring 150.
  • the tightening ring pressing member 160 and the pusher 170 when the user releases the pressing force, the position can be returned to its original position by the action of the leaf spring.
  • the rotating component may also be a component that causes the end effector to perform some joint movement by means of a wire that may be connected between an articulation portion (not shown) near the end effector (not shown) of the surgical instrument. have.
  • the rotating component can operate in the pitch direction or yaw direction relative to the position guide 110 which can be fixed relative to the body of the patient.
  • the state of the joint motion of the end effector may be fixed according to the user's pressing operation of the pusher 170.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
  • Connection Of Plates (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)

Abstract

본 발명은 관절 구조를 고정시키기 위한 장치에 관한 것이다. 본 발명의 일 태양에 따르면, 관절 구조를 고정시키기 위한 장치로서, 위치 가이드, 적어도 세 개의 슬라이더, 상기 적어도 세 개의 슬라이더의 각각을 잠그기 위한 잠금 부재, 및 상기 적어도 세 개의 슬라이더의 각각을 상기 위치 가이드에 연결하기 위한 적어도 세 개의 링크를 포함하는 장치가 제공된다.

Description

관절 구조를 고정시키기 위한 장치
본 발명은 관절 구조를 고정시키기 위한 장치에 관한 것이다.
관절 운동은 둘 이상의 서로 연결된 (기계) 요소 중 적어도 하나가 다른 것에 대하여 움직이는 것을 말한다. 이러한 관절 운동은 인간의 팔이나 다리로부터 산업용 로봇의 로봇 암까지에 걸쳐 다양한 모습으로 관찰될 수 있다.
관절 운동을 할 수 있는 기구(특히, 수술 기구)는 경우에 따라 그것의 기계 요소의 관절 운동 상태가 고정될 것을 요한다. 종래에는, 이러한 관절 구조의 고정을 위하여, 본 출원인의 한국특허출원 제2011-3192호(이 출원의 명세서는 그 전체로서 본 명세서에 편입된 것으로 간주되어야 한다) 등을 통하여 소개된 바와 같은, 두 기계 요소의 표면 마찰에 주로 의존하는, 볼 및 소켓 구조의 장치나 부품이 사용되었지만, 이러한 장치나 부품은 충분히 단단하면서도 효율적인 고정을 달성하기에는 미흡한 경우가 많았다.
따라서, 본 발명자(들)는 본 명세서를 통하여 신규한 관절 구조 고정 장치에 관하여 제안하는 바이다.
본 발명은 전술한 종래 기술의 문제점을 모두 해결하는 것을 그 목적으로 한다.
본 발명은 신규한 관절 구조 고정 장치를 제공하는 것을 다른 목적으로 한다.
본 발명은 크기가 작은 관절 구조 고정 장치를 제공하는 것을 또 다른 목적으로 한다.
본 발명은 표면 마찰에 의존하지 않고도 효과적으로 관절 구조를 고정시킬 수 있는 장치를 제공하는 것을 또 다른 목적으로 한다.
상기 목적을 달성하기 위한 본 발명의 대표적인 구성은 다음과 같다.
본 발명의 일 태양에 따르면, 관절 구조를 고정시키기 위한 장치로서, 위치 가이드, 적어도 세 개의 슬라이더, 상기 적어도 세 개의 슬라이더의 각각을 잠그기 위한 잠금 부재, 및 상기 적어도 세 개의 슬라이더의 각각을 상기 위치 가이드에 연결하기 위한 적어도 세 개의 링크를 포함하는 장치가 제공된다.
본 발명의 다른 태양에 따르면, 수술 기구로서, 엔드 이펙터, 상기 엔드 이펙터가 관절 운동을 할 수 있도록 하는 관절부, 및 상기 관절부의 관절 운동 상태를 고정시키기 위한 장치를 포함하고, 상기 고정 장치는, 위치 가이드, 적어도 세 개의 슬라이더, 상기 적어도 세 개의 슬라이더의 각각을 잠그기 위한 잠금 부재, 및 상기 적어도 세 개의 슬라이더의 각각을 상기 위치 가이드에 연결하기 위한 적어도 세 개의 링크를 포함하며, 상기 적어도 세 개의 슬라이더는, 상기 위치 가이드와 연관되어 배치되는 회전 구성요소와 함께, 상기 위치 가이드에 대하여 피치 방향이나 요 방향으로 동작할 수 있고, 상기 관절부와 상기 회전 구성요소는 적어도 하나의 와이어에 의하여 서로 연결되어 있는 수술 기구가 제공된다.
이 외에도, 본 발명의 기술적 사상에 따라 다른 구성이 더 제공될 수도 있다.
본 발명에 의하면, 신규한 관절 구조 고정 장치가 제공된다.
본 발명에 의하면, 크기가 작은 관절 구조 고정 장치가 제공된다.
본 발명에 의하면, 표면 마찰에 의존하지 않고도 효과적으로 관절 구조를 고정시킬 수 있는 장치가 제공된다.
도 1은 본 발명의 일 실시예에 따른 관절 구조 고정 장치에 관한 개념도이다.
도 2는 도 1에 도시된 슬라이더의 슬라이딩을 안내하기 위한 레일에 관한 개념도(단면도)이다.
도 3은 본 발명의 일 실시예에 따른 관절 구조 고정 장치에 관한 다른 개념도이다.
도 4는 본 발명에 따른 관절 구조 고정 장치의 원리에 관한 개념도이다.
도 5는 본 발명에 따라 구체적으로 실현된 수술 기구의 관절 구조 고정 장치의 내부의 모습을 부분적으로 도시하는 사시도이다.
후술하는 본 발명에 대한 상세한 설명은, 본 발명이 실시될 수 있는 특정 실시예를 예시로서 도시하는 첨부 도면을 참조한다. 이러한 실시예는 당업자가 본 발명을 실시할 수 있기에 충분하도록 상세히 설명된다. 본 발명의 다양한 실시예는 서로 다르지만 상호 배타적일 필요는 없음이 이해되어야 한다. 예를 들어, 본 명세서에 기재되어 있는 특정 형상, 구조 및 특성은 본 발명의 정신 및 범위를 벗어나지 않으면서 일 실시예로부터 다른 실시예로 변경되어 구현될 수 있다. 또한, 각각의 실시예 내의 개별 구성요소의 위치 또는 배치도 본 발명의 정신 및 범위를 벗어나지 않으면서 변경될 수 있음이 이해되어야 한다. 따라서, 후술하는 상세한 설명은 한정적인 의미로서 행하여지는 것이 아니며, 본 발명의 범위는 특허청구범위의 청구항들이 청구하는 범위 및 그와 균등한 모든 범위를 포괄하는 것으로 받아들여져야 한다. 도면에서 유사한 참조부호는 여러 측면에 걸쳐서 동일하거나 유사한 구성요소를 나타낸다.
이하에서는, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 본 발명을 용이하게 실시할 수 있도록 하기 위하여, 본 발명의 여러 바람직한 실시예에 관하여 첨부된 도면을 참조하여 상세히 설명하기로 한다.
본 발명의 바람직한 실시예
도 1은 본 발명의 일 실시예에 따른 관절 구조 고정 장치에 관한 개념도이다. 그리고, 도 2는 도 1에 도시된 슬라이더(120)의 슬라이딩을 안내하기 위한 레일(123)에 관한 개념도(단면도)이다. 아래에서, 도 1과 도 2를 참조하여 살펴보기로 한다.
본 발명에 따른 관절 구조 고정 장치는 위치 가이드(110), 적어도 세 개의 슬라이더(120, 130)(140번의 슬라이더와 연관된 도시는 본 도면에서는 편의상 생략되었음), 슬라이더(120, 130)의 적어도 일부를 구성하는 잠금 부재(122, 132)와 이것과 맞물려 고정을 실현하기 위한 잠금 부재(124, 134), 슬라이더(120, 130)의 슬라이딩을 안내하기 위한 레일(123, 133), 그리고 위치 가이드(110)와 슬라이더(120, 130)를 연결시키기 위한 링크(126, 136)를 포함할 수 있다. 여기서, 링크(126, 136)의 양단은 각각 위치 가이드(110)의 연결 부위(112, 114)와 슬라이더(120, 130)의 연결 부위(128, 138)에 수용될 수 있다.
먼저, 위치 가이드(110)는 그 내부의 (또는, 그에 인접한) 소정의 회전 구성요소(미도시됨)의 위치를 안내할 수 있다(이 점에 관하여, 한국특허출원 제2011-3192호의 도면의 122번 구성요소와 115번 구성요소를 참조할 수 있다). 이러한 위치 가이드(110)는 일체로 형성될 수 있고, 그 단부가 개방된, 반구형, 깔대기형 등의 형태일 수 있다. 따라서, 위치 가이드(110)와 연관되어 배치되는 회전 구성요소는 위치 가이드(110)의 형태에 따라 피치 방향이나 요 방향으로 동작할 수 있다. 그리고, 회전 구성요소는 그에 연결되어 위치 가이드(110)의 개방된 단부를 통하여 연장되는 와이어(미도시됨)에 의하여 소정의 관절 운동을 야기할 수도 있다. 또한, 회전 구성요소는 위치 가이드(110)에 대하여 고정될 수도 있다.
그리고, 슬라이더(120)에 관하여 살펴본다(아래에서, 슬라이더(120)와 실질적으로 동일한 구성을 가질 수 있는 슬라이더(130)에 관한 자세한 설명은 생략하기로 한다). 슬라이더(120)는 레일(123)을 따라 오직 한 방향으로만 슬라이딩을 할 수 있고, 잠금 부재(122)를 포함하여 이것과 외부의 대응 잠금 부재(124)의 작용에 따라 그 위치가 고정될 수 있다. 도 1에 도시된 바와 같이, 잠금 부재(122, 124)는 위와 같은 고정이 단단하게 되도록 하기 위하여 서로 맞물릴 수 있는 요철 구조를 포함할 수 있지만, 잠금 부재(122, 124)의 형태나 재질은 슬라이더(120)의 위치가 효과적으로 고정될 수 있는 범위 내에서는 얼마든지 자유롭게 결정될 수 있다. 한편, 레일(123)은 슬라이더(120)가 그 홈에서 슬라이딩을 할 수 있도록 하는, 도 2에 도시된 바와 같은 구성을 가질 수 있지만, 슬라이더(120)가 크게 흔들리지 않고 레일(123) 상에서 오직 한 방향으로만 슬라이딩할 수 있게 되는 이상, 슬라이더(120)나 레일(123)의 구성은 얼마든지 다양하게 변경될 수 있다.
또한, 링크(126)는, 위치 가이드(110)의 연결 부위(112)와 슬라이더(120)의 연결 부위(128)에 그 양단이 수용되어, 위치 가이드(110)와 슬라이더(120)를 연결시킬 수 있고, 더 나아가, 그 특정된 길이로 인하여, 위치 가이드(110)와 연관되어 배치되는 회전 구성요소가 위치 가이드(110)에 대하여 피치 방향이나 요 방향으로 동작할 수 있도록 하면서도 필요한 경우 고정될 수도 있게끔 할 수 있다.
링크(126)의 양단에 관하여 더 살펴보기로 한다. 도 1에 도시된 바와 같이, 링크(126)의 양단은 볼 베어링과 유사한 형태의 구형일 수 있다. 그리고, 위치 가이드(110)의 연결 부위(112)와 슬라이더(120)의 연결 부위(128)는, 링크(126)의 해당 단부를 수용하여, 링크(126)가 각 단부를 중심으로 하여 비교적 자유롭게 움직일 수 있도록 하는 형태를 가질 수 있다.
한편, 위에서 슬라이더(120)나 슬라이더(120, 130)에 관하여 주로 설명되었지만, 본 발명에 따른 관절 구조 고정 장치는, 후술하는 바와 같은 본 발명의 원리에 따라, 셋 이상의 슬라이더와 해당 연관 구성요소(바람직하게는, 이들은 서로 유사한 구성을 가짐)를 포함하는 것이 바람직함을 여기서 확인하여 둔다.
도 3은 본 발명의 일 실시예에 따른 관절 구조 고정 장치에 관한 다른 개념도이다.
도 3에 도시된 바와 같이, 슬라이더(120, 130)와 그 연관 구성요소는 그 사이의 회전 구성요소와 함께 (예를 들면, 회전 구성요소의 회전 축을 중심으로 하여) 위치 가이드(110)에 대하여 피치 방향이나 요 방향으로 동작할 수 있다. 이 경우, 링크(126, 136)의 위치는 도시된 바와 같이 위와 같은 동작을 허용하는 상태로 변경될 수 있다. 이러한 위치 변경은, 슬라이더(120)가 레일(123)을 따라 도시의 왼쪽 방향으로 슬라이딩하고 슬라이더(130)가 레일(133)을 따라 도시의 오른쪽 방향으로 슬라이딩함에 따라, 일어날 수 있다. 이후에, 사용자의 조작 등에 따라 잠금 부재(124, 134)가 동작하여 잠금 부재(122, 132)와 맞물리게 되면, 슬라이더(120, 130)와 그 연관 구성요소는 회전 구성요소와 함께 위치 가이드(110)에 대하여 피치 방향이나 요 방향으로 동작한 상태 그대로 고정될 수 있다(물론, 이러한 경우에도, 회전 구성요소(또는, 그 내부의 토크 전달 부재)의 서지(surge) 방향 동작이나 롤(roll) 방향 동작만은 자유로울 수도 있다). 이 경우, 잠금 부재(122, 124) 등에 의한 고정은 위에서 언급된 한국특허출원 제2011-3192호를 통하여 소개되어 있는 조여질 수 있는 소켓 장치에 의한 고정(즉, 두 구성요소의 표면 마찰에 의존한 고정)과는 달리 충분히 단단한 것이 될 수 있다.
도 4는 본 발명에 따른 관절 구조 고정 장치의 원리에 관한 개념도이다.
도 4에서, a 내지 f의 점은 링크가 위치 가이드나 슬라이더에 연결되는 부위를 추상적으로 나타낸 것이고, R.E.는 회전 구성요소를 추상적으로 나타낸 것이며, S는 슬라이더를 추상적으로 나타낸 것이다. a 내지 c의 점의 위치가 고정되어 있고(즉, 위치 가이드가 고정되어 있고) d 내지 f의 점의 위치가 회전 구성요소에 대하여 고정되어 있으며(즉, 슬라이더가 회전 구성요소에 대하여 고정되어 있으며) 링크의 길이가 특정되어 있는 경우, 회전 구성요소는, 그것이 슬라이더가 잠겨 있지 않은 경우에는 슬라이더와 함께 위치 가이드에 대하여 피치 방향이나 요 방향으로 동작할 수 있음에도 불구하고, 위치 가이드에 대하여 고정될 수 있다. 즉, 회전 구성요소는 슬라이더가 잠겨 있는 경우에는 위치 가이드에 대한 그 피치 방향이나 요 방향으로의 동작이 구속될 수 있다.
도 5는 본 발명에 따라 구체적으로 실현된 수술 기구의 관절 구조 고정 장치의 내부의 모습을 부분적으로 도시하는 사시도이다.
도 5에 도시된 바와 같이, 관절 구조 고정 장치를 포함하는 전체 수술 기구는 위치 가이드(110), 슬라이더(120, 140), 잠금 부재(124, 144), 링크(126, 136, 146), 조임 링(150), 조임 링 누름 부재(160), 누름쇠(170) 및 회전 구성요소(위치 가이드(110)의 안쪽에 배치되므로 미도시됨)를 포함할 수 있다. 비록 도 5에 전부 도시되지는 않았지만, 전체 수술 기구는 총 세 개의 슬라이더를 포함할 수 있고, 각 슬라이더는 잠금 부재와 같은 해당 연관 구성요소와 연동할 수 있다.
우선, 조임 링(150)은, 조임 링 누름 부재(160)가 그것을 누르면 잠금 부재(124, 144) 등을 조여서, 이것들의 각각이 해당 슬라이더가 슬라이딩한 상태를 고정시키도록 할 수 있다.
그리고, 조임 링 누름 부재(160)는, 판 스프링(미도시됨)과 연결되어 애초의 위치에 있다가, 사용자가 누름쇠(170)를 누르는 조작을 하면 슬라이더(120, 140)의 방향으로 조임 링(150)을 누르도록 구성될 수 있다. 한편, 조임 링 누름 부재(160)와 누름쇠(170)는, 사용자가 누르던 힘을 해제하면, 판 스프링의 작용에 의하여 그 위치가 원상복귀될 수 있다.
또한, 회전 구성요소는, 수술 기구의 엔드 이펙터(미도시됨) 근방의 관절부(미도시됨)와 그것 사이에 연결될 수 있는 와이어에 의하여, 엔드 이펙터가 소정의 관절 운동을 하도록 하는 구성요소일 수 있다. 이러한 관절 운동을 위하여, 회전 구성요소는 환자의 신체에 대하여 고정되어 있을 수 있는 위치 가이드(110)에 대하여 피치 방향이나 요 방향으로 동작할 수 있다. 또한, 이에 의한 엔드 이펙터의 관절 운동의 상태가 사용자의 누름쇠(170) 누름 조작에 따라 고정될 수 있음은 전술한 바와 같다.
한편, 앞에서 자세하게 설명된 구성요소나 한국특허출원 제2011-3192호, 한국특허출원 제2011-26243호(이 출원의 명세서는 그 전체로서 본 명세서에 편입된 것으로 간주되어야 한다) 등을 통하여 자세하게 소개된 구성요소와 유사한 구성요소에 관하여는 설명을 생략하기로 한다.
이상에서 본 발명이 구체적인 구성요소 등과 같은 특정 사항과 한정된 실시예 및 도면에 의하여 설명되었으나, 이는 본 발명의 보다 전반적인 이해를 돕기 위하여 제공된 것일 뿐, 본 발명이 상기 실시예에 한정되는 것은 아니며, 본 발명이 속하는 기술분야에서 통상적인 지식을 가진 자라면 이러한 기재로부터 다양한 수정 및 변경을 꾀할 수 있다.
따라서, 본 발명의 사상은 상기 설명된 실시예에 국한되어 정해져서는 아니 되며, 후술하는 특허청구범위뿐만 아니라 이 특허청구범위와 균등한 또는 이로부터 등가적으로 변경된 모든 범위는 본 발명의 사상의 범주에 속한다고 할 것이다.
[부호의 설명]
110: 위치 가이드
112: 연결 부위
120: 슬라이더
122, 124: 잠금 부재
123: 레일
126: 링크
128: 연결 부위

Claims (8)

  1. 관절 구조를 고정시키기 위한 장치로서,
    위치 가이드,
    적어도 세 개의 슬라이더,
    상기 적어도 세 개의 슬라이더의 각각을 잠그기 위한 잠금 부재, 및
    상기 적어도 세 개의 슬라이더의 각각을 상기 위치 가이드에 연결하기 위한 적어도 세 개의 링크
    를 포함하는 장치.
  2. 제1항에 있어서,
    상기 적어도 세 개의 슬라이더의 각각은 해당 레일을 따라 슬라이딩할 수 있는 장치.
  3. 제2항에 있어서,
    상기 잠금 부재는 상기 적어도 세 개의 슬라이더의 각각의 상기 슬라이딩을 잠그기 위한 요철 구조를 포함하는 장치.
  4. 제1항에 있어서,
    상기 적어도 세 개의 링크의 각각의 양단은 상기 위치 가이드와 상기 적어도 세 개의 슬라이더 중 그에 대응되는 것에 수용되는 장치.
  5. 제4항에 있어서,
    상기 양단의 각각은 그것을 중심으로 하여 해당 링크가 움직일 수 있는 형태를 갖는 장치.
  6. 제1항에 있어서,
    상기 위치 가이드는 고정되어 있고,
    상기 적어도 세 개의 슬라이더는, 상기 위치 가이드와 연관되어 배치되는 회전 구성요소와 함께, 상기 위치 가이드에 대하여 피치 방향이나 요 방향으로 동작할 수 있는
    장치.
  7. 수술 기구로서,
    엔드 이펙터,
    상기 엔드 이펙터가 관절 운동을 할 수 있도록 하는 관절부, 및
    상기 관절부의 관절 운동 상태를 고정시키기 위한 장치
    를 포함하고,
    상기 고정 장치는,
    위치 가이드,
    적어도 세 개의 슬라이더,
    상기 적어도 세 개의 슬라이더의 각각을 잠그기 위한 잠금 부재, 및
    상기 적어도 세 개의 슬라이더의 각각을 상기 위치 가이드에 연결하기 위한 적어도 세 개의 링크
    를 포함하며,
    상기 적어도 세 개의 슬라이더는, 상기 위치 가이드와 연관되어 배치되는 회전 구성요소와 함께, 상기 위치 가이드에 대하여 피치 방향이나 요 방향으로 동작할 수 있고,
    상기 관절부와 상기 회전 구성요소는 적어도 하나의 와이어에 의하여 서로 연결되어 있는
    수술 기구.
  8. 제7항에 있어서,
    상기 잠금 부재를 작동시키기 위한 조임 링, 및
    상기 조임 링을 눌러서 작동시키기 위한 조임 링 누름 부재
    를 더 포함하는 수술 기구.
PCT/KR2012/006444 2011-08-11 2012-08-13 관절 구조를 고정시키기 위한 장치 WO2013022325A2 (ko)

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KR1020110080182A KR20130017624A (ko) 2011-08-11 2011-08-11 관절 구조를 고정시키기 위한 장치

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