WO2023282416A1

WO2023282416A1 - Surgical manipulator

Info

Publication number: WO2023282416A1
Application number: PCT/KR2021/020163
Authority: WO
Inventors: 박철민; 승성민; 최종균; 송태하; 정세미; 박충환; 김상호; 우영재
Original assignee: 재단법인 대구경북첨단의료산업진흥재단
Priority date: 2021-07-06
Filing date: 2021-12-29
Publication date: 2023-01-12

Abstract

The present invention provides a surgical manipulator comprising: an outer tube; a steering tube which is provided at one end of the outer tube; a rotating shaft which is inserted into the outer tube and the steering tube; a first wire one end of which is connected to a first position of the steering tube; a second wire one end of which is connected to a second position of the steering tube, perpendicular to the first position; a first steering knob which translationally moves the first wire to steer the steering tube in a first direction; and a second steering knob which translationally moves the second wire to steer the steering tube in a second direction perpendicular to the first direction.

Description

surgical manipulator

The present invention relates to a surgical manipulator, and more particularly to a steering and rotatable surgical manipulator.

In general, endoscopic surgery is performed by inserting an endoscope equipped with a camera and a surgical tool (eg, a manipulator) through a small hole without making a large incision in the human body, and examining the affected part of the patient through the image taken by the endoscope. is to do

Endoscopic surgery, which started from laparoscopic surgery, has a small incision compared to open surgery, so it has a small scar and less blood loss, and has the advantage of a quick recovery time for the surgical patient.

In recent years, not only has technology developed to the extent that endoscopic surgery is possible for almost all surgeries requiring open surgery, but also the application of endoscopic surgery to other medical fields is increasing.

Such endoscopic surgery can also be applied to intrauterine myoma removal surgery, and in this case, a surgical manipulator is used to remove a lesional tissue, for example, intrauterine myoma.

Here, the surgical manipulator includes a hand piece providing a handle that a user can hold during surgery and a manipulator shaft fastened to the hand piece.

Specifically, a motor is built into the hand piece, and a manipulator shaft is connected to a rotating shaft of the motor to receive rotational force from the motor. In addition, a cutting tip is fastened to one end of the manipulator shaft, and the lesion tissue is removed as the cutting tip rotates together with the manipulator shaft.

However, since the manipulator shaft of the conventional surgical manipulator is formed in a straight shape, a curved blind spot in which the cutting tip does not reach the lesion tissue to be removed may occur. Accordingly, there is a problem in that the possibility of excessive normal tissue damage is increased in order to reach the lesion tissue with the cutting tip.

In order to solve the problems of the prior art as described above, an object of the present invention is to provide a surgical manipulator capable of accurately and quickly removing lesion tissue by enabling a change in direction of an end portion of a manipulator shaft with a relatively simple structure.

Another object of the present invention is to provide a surgical manipulator capable of preventing excessive normal tissue damage during surgery by reaching a cutting tip to a lesion tissue through a steering tube of a manipulator shaft.

The technical problems to be achieved in the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to solve the above problems, the present invention, an outer tube, a steering tube provided at one end of the outer tube, a rotating shaft inserted into the outer tube and the steering tube, and one end connected to the first position of the steering tube A first wire, a second wire having one end connected to a second position of the steering tube perpendicular to the first position, and a first steering knob for steering the steering tube in a first direction by translating the first wire; A surgical manipulator including a second steering knob for steering a steering tube in a second direction perpendicular to a first direction by translating a second wire.

Here, the first and second steering knobs may translate the first and second wires through a rotational motion, respectively.

In addition, the surgical manipulator of the present invention is connected to a guider connected to the other end of the outer tube, a first wire holder connected to the other end of the first wire and capable of translational movement along the guider, and connected to the other end of the second wire, A second wire holder capable of translational movement along the guider may be further included.

Also, the first steering knob may translate the first wire holder by a rotational motion, and the second steering knob may translate the second wire holder by a rotational motion.

In addition, the first steering knob includes a first insertion portion having a first receiving groove accommodating the first wire holder therein and having a screw thread formed on an outer circumferential surface thereof, a first cap closing the first receiving groove, and a first It is connected to one side of the insertion unit and may include a first manipulation unit in which a first flow groove is formed.

In addition, the second steering knob has a second accommodating groove for accommodating the second wire holder therein, a second insertion portion inserted into the first flow groove, a second cap for closing the second accommodating groove, It is connected to one side of the second insertion part, includes a second manipulation unit in which a second flow groove is formed, and a screw thread may be formed on an inner circumferential surface of the second flow groove.

In addition, the surgical manipulator of the present invention includes a first fastening part into which a first insertion part is inserted and a third flow groove having a screw thread formed on an inner circumferential surface thereof, and a second coupling part inserted into the second flow groove and having a screw thread formed on an outer circumferential surface thereof. A fastening part may be further included.

In addition, through holes are formed between the first and second steering knobs and the first and second coupling parts, and the through holes may be fastened to the guider.

Also, the first cap may translate the first wire holder by a rotational motion, and the second cap may translate the second wire holder by a rotational motion.

The present invention provides an outer tube, a steering tube provided at one end of the outer tube, a rotating shaft inserted into the outer tube and the steering tube, a first wire having one end connected to a first position of the steering tube, and one end steering A surgical manipulator including a second wire connected to a second position of the tube and a steering knob for steering the steering tube in one direction by translating the first wire.

Here, the steering knob may translate the first wire through a rotational motion.

In addition, when the first wire is translated, the second wire may be translated in an opposite direction to the first wire.

In addition, the surgical manipulator of the present invention may further include a first fastening member coupled to one side of the steering knob and a second fastening member coupled to the other side of the steering knob and guiding movement of the steering knob.

Here, the first wire may move together with the steering knob, and the second wire may be elastically fixed to the second fastening member.

In addition, the first fastening member may have a first flow groove formed therein, and a screw thread may be formed in the first flow groove.

In addition, the steering knob may include a first insertion portion inserted into the first flow groove and having a thread formed on an outer circumferential surface thereof, and a manipulation portion connected to one side of the first insertion portion and having a second flow groove formed therein.

In addition, the surgical manipulator of the present invention includes a first sleeve connected to the other end of the first wire and moving together with the steering knob, and a second sleeve connected to the other end of the second wire and elastically fixed to the second fastening member. can include more.

In addition, the surgical manipulator of the present invention may further include a first elastic member connected to the second sleeve and a fixing member mounted to the second fastening member and coupled to the first elastic member.

In addition, the surgical manipulator of the present invention may further include a first fastening shaft fastened to an end of the rotating shaft and a second fastening shaft connecting the first fastening shaft and the rotation shaft of the motor.

In addition, the first fastening shaft may have a fixing hole, and the second fastening shaft may have a flow hole extending in a longitudinal direction.

In addition, the surgical manipulator of the present invention may further include a floating pin inserted into the fixing hole and the floating hole, and a second elastic member mounted on the first fastening shaft to provide elastic force to the rotating shaft.

Here, the second elastic member is constrained by the second fastening shaft, and the flow pin can move within the flow hole by the elastic force of the second elastic member.

According to the present invention, by employing a bending structure using a steering tube and a wire at the end of the manipulator shaft, the end of the manipulator shaft can be changed in direction with a relatively simple structure, so that lesion tissue can be removed accurately and quickly.

In addition, according to the present invention, when a curved blind spot occurs in which the cutting tip does not reach the lesion tissue to be removed, the cutting tip reaches the lesion tissue through the steering tube of the manipulator shaft, thereby preventing excessive normal tissue damage during surgery. can prevent

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is an overall perspective view of a surgical manipulator according to a first embodiment of the present invention.

2 is an enlarged view of a steering tube and a hand piece of a surgical manipulator according to a first embodiment of the present invention.

3 is a view showing the inside of the surgical manipulator according to the first embodiment of the present invention.

4 is an exploded perspective view of the surgical manipulator according to the first embodiment of the present invention.

5 is a view for explaining a process of steering a steering tube in a first direction in the surgical manipulator according to the first embodiment of the present invention.

6 is a view for explaining the operation of the surgical manipulator according to the first embodiment of the present invention when the steering tube is bent in the first direction.

7 is a view for explaining a process of steering a steering tube in a second direction in the surgical manipulator according to the first embodiment of the present invention.

8 is a view for explaining an operation of the surgical manipulator according to the first embodiment of the present invention when the steering tube is bent in a second direction.

9 is an overall perspective view of a surgical manipulator according to a second embodiment of the present invention.

10 is an enlarged view of a steering tube and a hand piece of a surgical manipulator according to a second embodiment of the present invention.

11 is a view showing the inside of a surgical manipulator according to a second embodiment of the present invention.

12 is an exploded perspective view of a surgical manipulator according to a second embodiment of the present invention.

13 is a view for explaining a process of steering a steering tube in a first direction in a surgical manipulator according to a second embodiment of the present invention.

14 is a view for explaining the operation of the surgical manipulator according to the second embodiment of the present invention when the steering tube is bent in one direction.

In order to fully understand the configuration and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be made. However, the description of the present embodiment is provided to complete the disclosure of the present invention and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. In the accompanying drawings, the size of the components is enlarged from the actual size for convenience of description, and the ratio of each component may be exaggerated or reduced.

Terms such as 'first' and 'second' may be used to describe various elements, but the elements should not be limited by the above terms. The above terms may only be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a 'first element' may be named a 'second element', and similarly, a 'second element' may also be named a 'first element'. can Also, singular expressions include plural expressions unless the context clearly indicates otherwise. Terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art unless otherwise defined.

1 is an overall perspective view of a surgical manipulator according to a first embodiment of the present invention, and FIG. 2 is an enlarged view of a steering tube and a hand piece of the surgical manipulator according to a first embodiment of the present invention. 3 is a view showing the inside of the surgical manipulator according to the first embodiment of the present invention, and FIG. 4 is an exploded perspective view of the surgical manipulator according to the first embodiment of the present invention.

Hereinafter, the configuration of the surgical manipulator according to the first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4 .

The surgical manipulator according to the first embodiment of the present invention may include a shaft 100 and a hand piece 200 .

The hand piece 200 provides a handle that can be gripped by a user during surgery, a motor (not shown) generating rotational force therein, a battery for supplying power to the motor, and steering the shaft 100 It may be configured to include first and second steering knobs 210 and 220 for And, a button or switch for driving or stopping the motor may be provided on the handle.

The first and second steering knobs 210 and 220 may be fastened to the inside of the hand piece 200 and at least partially exposed to the outside. Here, the user may steer the shaft 100 by rotating at least one of the first and second steering knobs 210 and 220 exposed to the outside in one direction while holding the hand piece 200 .

The shaft 100 may be coupled to the hand piece 200 and may receive rotational force from a motor of the hand piece 200 .

In addition, the shaft 100 may include an outer tube 110, a steering tube 120, a rotating shaft 140, and a cutting tip 150.

The outer tube 110 may be made of a metal material that is harmless to the human body and is flexible, but is not limited thereto.

The steering tube 120 is provided at one end of the outer tube 110 and may be made of a flexible material or provided with a plurality of slits on the outer circumferential surface so as to be bendable.

In addition, the steering tube 120 may be coupled to an end of the outer tube 110 or integrally formed with the outer tube 110 .

In addition, the steering tube 120 may be connected to the first and

second wires

131 and 132, respectively, and may be steered by manipulating the first and second steering knobs 210 and 220, respectively.

The rotating shaft 140 is inserted into the outer tube 110 and can be rotated by the rotational force of the motor of the hand piece 200 . Here, the rotating shaft 140 may include a flexible shaft 141 made of a flexible material and inserted into the steering tube 120 .

The flexible shaft 141 may be coupled to an end of the rotating shaft 140 or integrally formed with the rotating shaft 140 . In addition, the flexible shaft 141 may be rotated together when the rotating shaft 140 rotates.

Parts of the rotating shaft 140, except for the flexible shaft 141, may be made of a rigid metal material, but are not limited thereto.

The cutting tip 150 may be fastened to one end of the rotary shaft 140 and more specifically, one end of the flexible shaft 141 . Here, the cutting tip 150 may be formed of a spherical abrasive or a spherical blade, and may remove lesion tissue by rotation.

As described above, since the flexible shaft 141 is made of a flexible material, the shape of the flexible shaft 141 inserted into the steering tube 120 can be changed in response to a change in the shape of the steering tube 120. there is.

Here, the steering tube 120 may be bent at various angles according to the location of the lesion tissue.

In the surgical manipulator according to the first embodiment of the present invention, between one end of the flexible shaft 141 and one end of the steering tube 120, and the other end of the flexible shaft 141 and the steering tube, for smooth rotation of the rotating shaft 110 (120) A bearing may be provided between the other ends.

The first and

second wires

131 and 132 may have one end connected to the inner circumferential surface of the steering tube 120 and pass through the outer tube 110, and then the other end connected to the hand piece 200.

Here, one end of the first wire 131 may be connected to a first position (eg, upper or lower side) of the steering tube 120, and the first steering knob 210 moves the first wire 131 in a translational manner. The steering tube 120 may be steered in a first direction (eg, a vertical direction).

For example, when the user rotates the first steering knob 210 in one direction, the degree of pulling of the first wire 131 may be adjusted according to the rotational motion of the first steering knob 210 . Accordingly, the first steering knob 210 may adjust the bending angle of the steering tube 120 in the first direction according to the degree of pulling of the first wire 131 .

In addition, one end of the second wire 132 may be connected to a second position (eg, left or right) perpendicular to the first position of the steering tube 120, and the second steering knob 220 may be connected to the second wire ( 132) may be translated to steer the steering tube 120 in a second direction (eg, a left-right direction) perpendicular to the first direction.

For example, when the user rotates the second steering knob 220 in one direction, the degree of pulling of the second wire 132 may be adjusted according to the rotational motion of the second steering knob 220 . Accordingly, the second steering knob 220 may adjust the bending angle of the steering tube 120 in the second direction according to the degree of pulling the second wire 132 .

As such, the surgical manipulator according to the first embodiment of the present invention can independently steer the manipulator shaft 100 in both first and second directions using the first and second steering knobs 210 and 220. There are benefits to being able to

5 is a view for explaining a process of steering a steering tube in a first direction in the surgical manipulator according to the first embodiment of the present invention, and FIG. 6 is a surgical manipulator according to the first embodiment of the present invention , a view for explaining an operation when the steering tube is bent in the first direction. 7 is a view for explaining a process of steering the steering tube in the second direction in the surgical manipulator according to the first embodiment of the present invention, and FIG. In the dragon manipulator, this is a diagram for explaining an operation when the steering tube is bent in the second direction.

First, the internal structure of the head piece 200 of the surgical manipulator according to the first embodiment of the present invention will be described in detail with reference to FIGS. 5 and 7 .

The hand piece 200 has a guider 250, first and second steering knobs 210 and 220, first and

second wire holders

215 and 225, and first and second fastening therein. It may be configured to include parts (230, 240). And these components may be accommodated inside the case 201 .

Here, the guider 250 may be formed in the form of a square shaft having a rectangular cross section, but is not limited thereto.

The first and second steering knobs 210 and 220, the first and

second wire holders

215 and 225, and the first and

second fastening parts

230 and 240 may have through-holes, respectively. These through holes may be fastened to the guider 250 .

The guider 250 is connected to the other end of the outer tube 110 and may guide the movement of the first and

second wire holders

215 and 225 .

The first wire holder 215 is connected to the other end of the first wire 131 and is capable of translational movement along the guider 250 . Also, the second wire holder 225 is connected to the other end of the second wire 132 and is capable of translational movement along the guider 250 .

The first steering knob 210 may translate the first wire holder 215 by a rotational motion, and the second steering knob 220 may translate the second wire holder 225 by a rotational motion.

The first steering knob 210 may include a first insertion part 211 , a first cap 212 and a first manipulation part 213 .

The first insertion portion 211 has a first receiving groove 211a for accommodating the first wire holder 215 therein, and a screw thread may be formed on the outer circumferential surface.

The first cap 212 may close the first receiving groove 211a while the first wire holder 215 is accommodated in the first receiving groove 211a.

The first manipulation unit 213 is connected to one side of the first insertion unit 211, and a first flow groove 213a may be formed. In addition, a plurality of grooves may be formed in the longitudinal direction along the outer circumferential surface of the first control unit 213 to facilitate a user's operation.

The first flow groove 213a may provide a movement space in which the second insertion part 221 of the second steering knob 220, which will be described later, can move.

The second steering knob 220 may include a second insertion part 221 , a second cap 222 and a second manipulation part 223 .

The second insertion part 221 has a second receiving groove 221a accommodating the second wire holder 225 therein, and is inserted into the first flow groove 213a of the first steering knob 210. can

The second cap 222 may close the second receiving groove 221a while the second wire holder 225 is accommodated in the second receiving groove 221a.

The second manipulation unit 223 is connected to one side of the second insertion unit 221, and a second flow groove 223a may be formed. Here, a screw thread may be formed on the inner circumferential surface of the second flow groove 223a. In addition, a plurality of grooves may be formed in the longitudinal direction along the outer circumferential surface of the second control unit 223 to facilitate a user's operation.

The second flow groove 223a may provide a movement space in which the second coupling part 240, which will be described later, can move.

The first fastening part 230 may have a third flow groove 231 in which the first insertion part 211 of the first steering knob 210 is inserted and a screw thread is formed on the inner circumferential surface.

The third flow groove 231 may provide a movement space in which the first insertion part 211 of the first steering knob 210 can move.

Here, the screw of the first steering knob 210 and the screw of the first fastening part 230 are engaged with each other, and as the first steering knob 210 rotates, the first steering knob 210 It may be fastened to the fastening part 230 or released from the first fastening part 230 .

The second fastening part 240 is inserted into the second flow groove 223a of the second steering knob 220, and a screw thread may be formed on an outer circumferential surface thereof.

Here, the screw line of the second steering knob 220 and the screw line of the second coupling part 240 are engaged with each other, and according to the rotation of the second steering knob 220, the second steering knob 210 rotates the second steering knob 210. It may be fastened to the fastening part 240 or released from the second fastening part 240 .

The first cap 212 translates the first wire holder 215 along the guider 250 by a rotational motion, and the second cap 222 moves the second wire holder 225 by a rotational motion by the guider ( 250) can be translated along.

Next, a steering process of the surgical manipulator according to the first embodiment of the present invention will be described with reference to FIGS. 5 to 8 .

Referring to FIG. 5 , when the user rotates the first steering knob 210 in one direction (eg, clockwise) in a state in which the steering tube 120 is straight (a) (b), the first steering knob ( 210 moves in a direction in which the first fastening part 230 is released, that is, toward the second steering knob 220.

At this time, since the first cap 212 is integrally coupled with the first steering knob 210, it rotates together with the first steering knob 210 along the guider 250 toward the second steering knob 220. move Accordingly, the first cap 212 moves the first wire holder 215 accommodated in the first receiving groove 211a toward the second steering knob 220 by a first distance d1.

As such, when the first wire holder 215 moves, as shown in FIG. 6 , the first wire 131 connected to the first wire holder 215 is pulled, and thus the steering tube 120 is bent in the first direction.

At this time, the bending angle of the steering tube 120 in the first direction may be adjusted according to the degree of rotation of the first steering knob 210, and the user rotates the first steering knob 210 until the target bending angle is reached. If it is stopped after doing so, since the first steering knob 210 and the first fastening part 230 are screwed together, the bending angle of the steering tube 120 can be maintained. Then, when the rotating shaft 140 is rotated by driving the motor of the hand piece 200, the flexible shaft 141 rotates in a bent state. Accordingly, the lesion tissue may be removed by rotation of the cutting tip 150 coupled to the end of the flexible shaft 141 .

As such, in the surgical manipulator according to the first embodiment of the present invention, a curved first direction blind spot in which the cutting tip 150 does not reach the lesion tissue to be removed by the straight steering tube 120 occurs. In this case, the first steering knob 210 pulls the first wire 131 and bends the steering tube 120 in the first direction so that the cutting tip 150 can reach the diseased tissue. Through this, it is possible to prevent excessive normal tissue damage during surgery using the surgical manipulator.

In contrast, in the surgical manipulator according to the first embodiment of the present invention, when the cutting tip 150 can reach the lesion tissue to be removed with the straight steering tube 120, the first steering knob 210 By unwinding the first wire 131 and making the steering tube 120 straight again, the cutting tip 150 can reach the lesion tissue.

Referring to FIG. 7 , when the user rotates the second steering knob 220 in one direction (eg, clockwise) in a state in which the steering tube 120 is straight (a) (b), the second steering knob ( 220 moves in the winding direction in the second fastening part 240, that is, toward the motor side of the hand piece 200.

At this time, since the second cap 222 is integrally coupled with the second steering knob 220, it rotates together with the second steering knob 220 and moves toward the motor along the guider 250. Accordingly, the second cap 222 moves the second wire holder 225 accommodated in the second receiving groove 211a toward the motor by a second distance d2.

As such, when the second wire holder 225 moves, as shown in FIG. 8 , the second wire 132 connected to the second wire holder 225 is pulled, and thus the steering tube 120 is bent in the second direction.

At this time, the bending angle of the steering tube 120 in the second direction may be adjusted according to the degree of rotation of the second steering knob 220, and the user rotates the second steering knob 220 until the target bending angle is reached. If it is stopped after doing so, since the second steering knob 220 and the second fastening part 240 are screwed together, the bending angle of the steering tube 120 can be maintained. Then, when the rotating shaft 140 is rotated by driving the motor of the hand piece 200, the flexible shaft 141 rotates in a bent state. Accordingly, the lesion tissue may be removed by rotation of the cutting tip 150 coupled to the end of the flexible shaft 141 .

As such, in the surgical manipulator according to the first embodiment of the present invention, a curved second direction blind spot in which the cutting tip 150 does not reach the lesion tissue to be removed by the straight steering tube 120 occurs In this case, the second steering knob 220 pulls the second wire 132 and bends the steering tube 120 in the second direction so that the cutting tip 150 can reach the diseased tissue. Through this, it is possible to prevent excessive normal tissue damage during surgery using the surgical manipulator.

In contrast, in the surgical manipulator according to the first embodiment of the present invention, when the cutting tip 150 can reach the lesion tissue to be removed with the straight steering tube 120, the second steering knob 220 By loosening the second wire 132 to straighten the steering tube 120 again, the cutting tip 150 can reach the lesion tissue.

As such, the surgical manipulator according to the first embodiment of the present invention adopts a bending structure using the steering tube 120 and the first and

second wires

131 and 132 at the end of the shaft 100, thereby providing relatively The first and second directions of the end of the manipulator shaft 100 can be switched with a simple structure, so that lesion tissue can be removed accurately and quickly.

9 is an overall perspective view of a surgical manipulator according to a second embodiment of the present invention, and FIG. 10 is an enlarged view of a steering tube and a hand piece of the surgical manipulator according to a second embodiment of the present invention. 11 is a view showing the inside of the surgical manipulator according to the second embodiment of the present invention, and FIG. 12 is an exploded perspective view of the surgical manipulator according to the second embodiment of the present invention.

Hereinafter, the configuration of the surgical manipulator according to the second embodiment of the present invention will be described in detail with reference to FIGS. 9 to 12 .

A surgical manipulator according to a second embodiment of the present invention may include a shaft 300 and a hand piece 400 .

The hand piece 400 provides a handle that the user can grip during surgery, a motor (not shown) generating rotational force therein, a battery for supplying power to the motor, and steering the shaft 300 It may be configured to include a steering knob 410 for. And, a button or switch for driving or stopping the motor may be provided on the handle.

The steering knob 410 is fastened to the inside of the hand piece 400 so that at least a portion thereof may be exposed to the outside. Here, the user may steer the shaft 300 by rotating the steering knob 410 exposed to the outside in one direction while holding the hand piece 400 .

The shaft 300 may be coupled to the hand piece 400 and may receive rotational force from a motor of the hand piece 400 .

In addition, the shaft 300 may include an outer tube 310, a steering tube 320, an inner tube 340, a rotating shaft 349, and a cutting tip 350.

The outer tube 310 may be made of a metal material that is harmless to the human body and is flexible, but is not limited thereto.

The steering tube 320 is provided at one end of the outer tube 310, and may be made of a flexible material or provided with a plurality of slits on the outer circumferential surface so as to be bendable.

In addition, the steering tube 320 may be coupled to the end of the outer tube 310 or integrally formed with the outer tube 310 .

In addition, the steering tube 320 may be connected to the first and

second wires

331 and 332, respectively, and may be steered by manipulating the steering knob 410. The inner tube 340 may be inserted into the outer tube 310 . At this time, the first and

second wires

331 and 332 are disposed between the inner tube 340 and the outer tube 310 .

The rotating shaft 349 is inserted into the inner tube 340 and can be rotated by the rotational force of the motor of the hand piece 400 . Here, the rotating shaft 349 may include a flexible shaft 341 made of a flexible material and inserted into the steering tube 320 .

The flexible shaft 341 may be coupled to an end of the rotation shaft 349 or integrally formed with the rotation shaft 349 . In addition, the flexible shaft 341 may be rotated together when the rotating shaft 349 rotates.

Parts of the rotating shaft 349, except for the flexible shaft 341, may be made of an inflexible metal material, but are not limited thereto.

The inner tube 340 serves to separate the rotating shaft 349 and the first and

second wires

331 and 332 so that they are located in different spaces. Through this, the first and

second wires

331 and 332 are prevented from interfering with the rotation of the rotating shaft 349, and at the same time, the first and

second wires

331 and 332 are moved according to the rotation of the rotating shaft 349. It can prevent damage (wear).

The cutting tip 350 may be fastened to one end of the rotary shaft 349 and more specifically, one end of the flexible shaft 341 . Here, the cutting tip 350 may be formed of a spherical abrasive or a spherical blade, and may remove lesion tissue by rotation.

As described above, since the flexible shaft 341 is made of a flexible material, the shape of the flexible shaft 341 inserted into the steering tube 320 can be changed in response to a change in the shape of the steering tube 320. there is.

Here, the steering tube 320 may be bent at various angles according to the location of the lesion tissue.

In the surgical manipulator according to the second embodiment of the present invention, between one end of the flexible shaft 341 and one end of the steering tube 320, the other end of the flexible shaft 341 and the steering tube for smooth rotation of the rotating shaft 310 (320) A bearing may be provided between the other ends.

The first and

second wires

331 and 332 have one end connected to the inner circumferential surface of the steering tube 320 and penetrate between the outer tube 310 and the inner tube 340, and then the other end connected to the hand piece 400. can

Here, one end of the first wire 331 may be connected to a first position (eg, upper or lower side) of the steering tube 320, and the steering knob 410 translates the first wire 331 to move the steering tube 320 can be steered in one direction (eg, up and down).

For example, when the user rotates the steering knob 410 in one direction, the steering knob 410 moves forward or backward according to the rotational motion of the steering knob 410, so that the degree of pulling of the first wire 331 is adjusted. can Accordingly, the steering knob 410 may adjust the bending angle of the steering tube 320 in one direction according to the degree of pulling of the first wire 331 .

In addition, one end of the second wire 332 may be connected to a second position facing the first position of the steering tube 320 (eg, a position 180 degrees different from the first position), and the first wire 331 When is translated, it can translate in the opposite direction to the first wire 331 . That is, since the first and second wires 331 are each connected to the inner circumferential surface of the steering tube 320, as the first wire 331 pulls the steering tube 320, the second wire 332 can also be pulled together. .

As such, the surgical manipulator according to the second embodiment of the present invention can steer the manipulator shaft 300 in one direction using the steering knob 410 .

Referring to FIG. 11 , an end of the rotation shaft 310 may be coupled to a first coupling shaft 145 provided inside the hand piece 400 .

The second elastic member 334 may be installed through the first fastening shaft 345 to provide elastic force to the rotating shaft 349 . Here, the second elastic member 334 may be a spring, but is not limited thereto.

The first coupling shaft 345 may be inserted into the second coupling shaft 335 in a state where the second elastic member 334 is mounted. Also, the second elastic member 334 is constrained to the second fastening shaft 335 and can be contracted or relaxed by an elastic force.

The second fastening shaft 335 is hollow in the longitudinal direction and has a flow hole 336 penetrating the side surface. Also, a fixing hole is formed at the other end of the first fastening shaft 345 . Here, the flow hole 336 extends in the longitudinal direction to provide a space in which the flow pin 333 can move, and both ends of the flow hole 336 serve as stoppers to limit the movement of the flow pin 333 .

The floating pin 333 is formed through the flow hole 336 of the second coupling shaft 335 and the first coupling shaft 345 in a state where the first coupling shaft 345 is inserted into the hollow of the second coupling shaft 335. inserted into the fixing hole.

Here, when the cutting tip 350 contacts the diseased tissue and pressure is applied to the rotating shaft 310, the movement pin 333 can move within the movement hole 336 by the elastic force of the second elastic member 334. . That is, the pressure applied to the rotating shaft 310 varies according to the shape of the lesion tissue contacting the cutting tip 350, and the elastic force of the second elastic member 334 also varies accordingly. Accordingly, the floating pin 333 may move to one side or the other side of the floating hole 336 .

As such, the surgical manipulator according to the second embodiment of the present invention effectively removes the lesion tissue by providing flexibility when the cutting tip 320 removes the lesion tissue using the elastic force of the second elastic member 334. can do.

13 is a diagram for explaining a process of steering a steering tube in one direction in the surgical manipulator according to the second embodiment of the present invention, and FIG. 14 is a view for the surgical manipulator according to the second embodiment of the present invention. In this case, it is a view for explaining the operation when the steering tube is bent in one direction.

Referring to FIG. 13, the internal configuration of the hand piece 400 of the surgical manipulator according to the second embodiment of the present invention will be described in detail.

The hand piece 400 may include a steering knob 410, first and

second sleeves

415 and 425, and first and

second fastening members

430 and 420 therein. And these components may be accommodated inside the case 401 .

The steering knob 410 and the first and

second fastening members

430 and 420 may each have through-holes formed in the longitudinal direction, and the inner tube 340 may be fastened to these through-holes. Here, the inner tube 340 may pass through the first fastening member 430 , the steering knob 410 and the second fastening member 430 in sequence.

The first fastening member 430 is coupled to one side of the steering knob 410, and the second fastening member 420 is coupled to the other side of the steering knob 410 to guide the movement of the steering knob 410.

The steering knob 410 may include a first insertion part 411 and a manipulation part 413 , and the second fastening member 420 may include a second insertion part 421 and a fixing part 423 .

The first fastening member 430 has a first flow groove 431 formed therein, and a screw thread is formed in the first flow groove 431 . In addition, the first insertion portion 411 of the steering knob 410 has a thread formed on the outer circumferential surface and is inserted into the first flow groove 431 . Here, the first insertion portion 411 of the steering knob 410 may be screwed into the first flow groove 431 of the first fastening member 430 .

Specifically, the screw line of the steering knob 410 and the screw line of the first fastening member 430 are engaged with each other, and according to the rotation of the steering knob 410, the steering knob 410 moves in a translational manner to the first fastening member. It may be tightened to 430 or loosened from first fastening member 430 .

The control unit 413 of the steering knob 410 is connected to one side of the first insertion unit 411, and a second flow groove 413a is formed therein. Also, the second insertion part 421 of the second fastening member 420 is inserted into the second flow groove 413a of the steering knob 410 . In addition, a plurality of grooves may be formed in the longitudinal direction along the outer circumferential surface of the control unit 413 to facilitate a user's operation.

The control unit 413 of the steering knob 410 is the second insertion unit 421 in a state where the second insertion unit 421 of the second fastening member 420 is inserted into the second flow groove 413a of the operation unit 413. ) can be moved along the

The first wire 331 moves together with the steering knob 410, and the second wire 332 is elastically fixed to the second fastening member 420.

The first sleeve 415 is connected to the other end of the first wire 331 and can move along the inner tube 340 along with the steering knob 410 in translation. Also, the second sleeve 425 is connected to the other end of the second wire 332 and is elastically fixed to the second fastening member 420 .

The steering knob 410 may translate the first sleeve 415 by a rotational motion. Also, when the first wire 331 translates, the second wire translates in the opposite direction to the first wire 331 .

The second sleeve 425 connected to the second wire 332 may be connected to the ring-shaped first elastic member 426 . Also, a pillar-shaped fixing member 427 may be installed at the fixing part 423 of the second fastening member 420 . Here, the first elastic member 426 may be a wire or string of an elastic material or a spring, and may be coupled to the fixing member 427 to elastically fix the second sleeve 425 .

Next, referring to FIGS. 13 and 14, a steering process of the surgical manipulator according to the second embodiment of the present invention will be described.

When the user rotates the steering knob 410 in one direction (eg, clockwise) in a state in which the steering tube 320 is straight (a) (b), the first steering knob 410 is a first fastening member ( In 430 , it moves in the unwinding direction, that is, toward the second fastening member 420 .

At this time, the first sleeve 415 is restrained in a state accommodated in the first insertion portion 411 of the steering knob 410, and the second fastening member 420 along the inner tube 340 together with the steering knob 410. ) to the side. Accordingly, the first sleeve 415 moves the first wire 331 toward the second fastening member 420 by a predetermined distance.

In this way, when the first sleeve 415 moves, as shown in FIG. 14, the first wire 331 connected to the first sleeve 415 is pulled, and thus the steering tube 320 works. bent in the direction

Here, the second sleeve 425 is connected to the first elastic member 426, the first elastic member 426 is coupled to the fixing member 427, and the first and

second wires

331 and 332 are respectively steering. Since it is connected to the inner circumferential surface of the tube 320, as the first wire 331 pulls the steering tube 320, the second wire 332 may also be pulled together by the elastic force of the first elastic member 426.

The bending angle in one direction of the steering tube 320 may be adjusted according to the degree of rotation of the steering knob 410, and when the user rotates the steering knob 410 until the target bending angle is reached and then stops, the steering knob ( 410) and the first fastening member 430 are screwed together, the bending angle of the steering tube 320 can be maintained.

Then, when the motor of the hand piece 400 is driven to rotate the rotating shaft 349, the flexible shaft 341 rotates in a bent state. Accordingly, the lesion tissue may be removed by rotation of the cutting tip 350 coupled to the end of the flexible shaft 341 .

As such, in the surgical manipulator according to the second embodiment of the present invention, when a curved one-way blind spot occurs in which the cutting tip 350 does not reach the lesion tissue to be removed with the straight steering tube 320 The steering knob 410 may pull the first wire 331 and bend the steering tube 320 in the first direction so that the cutting tip 350 may reach the diseased tissue. Through this, it is possible to prevent excessive normal tissue damage during surgery using the surgical manipulator.

In contrast, in the surgical manipulator according to the second embodiment of the present invention, when the cutting tip 350 can reach the lesion tissue to be removed with the straight steering tube 320, the steering knob 410 is 1 By unwinding the wire 331 and making the steering tube 320 straight again, the cutting tip 350 can reach the lesion tissue.

In the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, and should be defined by the following claims and equivalents thereof.

The surgical manipulator according to the present invention can be used in various medical device fields such as endoscopic surgical instruments.

Claims

outer tube;

a steering tube provided at one end of the outer tube;

a rotating shaft inserted into the outer tube and the steering tube;

a first wire having one end connected to a first position of the steering tube;

a second wire having one end connected to a second position of the steering tube perpendicular to the first position;

a first steering knob for steering the steering tube in a first direction by translating the first wire; and

A second steering knob for steering the steering tube in a second direction perpendicular to the first direction by translating the second wire

Surgical manipulator comprising a.
According to claim 1,

The first and second steering knobs are

Translating each of the first and second wires through a rotational motion

Surgical manipulator.
According to claim 1,

a guider connected to the other end of the outer tube;

a first wire holder connected to the other end of the first wire and capable of translational movement along the guider; and

A second wire holder connected to the other end of the second wire and capable of translational movement along the guider

A surgical manipulator further comprising a.
According to claim 3,

The first steering knob is

Translating the first wire holder by a rotational motion;

The second steering knob is

Translating the second wire holder by a rotational motion

Surgical manipulator.
According to claim 4,

The first steering knob is

a first insertion part having a first receiving groove for accommodating the first wire holder therein and having a screw thread formed on an outer circumferential surface thereof;

a first cap closing the first receiving groove; and

It is connected to one side of the first insertion part and includes a first manipulation part in which a first flow groove is formed.

Surgical manipulator.
According to claim 5,

The second steering knob is

a second insertion part having a second accommodation groove for accommodating the second wire holder therein and inserted into the first flow groove;

a second cap closing the second receiving groove;

A second operation unit connected to one side of the second insertion unit and having a second flow groove formed therein,

A thread is formed on the inner circumferential surface of the second flow groove

Surgical manipulator.
According to claim 6,

a first fastening part into which the first insertion part is inserted and a third flow groove having a screw thread formed on an inner circumferential surface thereof; and

A second fastening part inserted into the second flow groove and having a screw thread formed on an outer circumferential surface thereof

A surgical manipulator further comprising a.
According to claim 7,

The first and second steering knobs and the first and second fastening portions have through holes formed therein, and the through holes are fastened to the guider.

Surgical manipulator.
According to claim 7,

The first cap

Translating the first wire holder by a rotational motion,

The second cap

Translating the second wire holder by a rotational motion

Surgical manipulator.
outer tube;

a steering tube provided at one end of the outer tube;

a rotating shaft inserted into the outer tube and the steering tube;

a first wire having one end connected to a first position of the steering tube;

a second wire having one end connected to a second position of the steering tube; and

A steering knob for steering the steering tube in one direction by moving the first wire in translation

Surgical manipulator comprising a.
According to claim 10,

The steering knob is

Translating the first wire through a rotational motion

Surgical manipulator.
According to claim 10,

The second wire is

When the first wire is translated, the translational movement in the opposite direction to the first wire

Surgical manipulator.
According to claim 10,

a first fastening member coupled to one side of the steering knob; and

A second fastening member coupled to the other side of the steering knob and guiding movement of the steering knob

A surgical manipulator further comprising a.
According to claim 13,

The first wire moves together with the steering knob,

The second wire is elastically fixed to the second fastening member

Surgical manipulator.
According to claim 13,

The first fastening member is

A first flow groove is formed therein, and a screw thread is formed in the first flow groove.

Surgical manipulator.
According to claim 15,

The steering knob is

a first insertion portion inserted into the first flow groove and having a screw thread formed on an outer circumferential surface; and

A control unit connected to one side of the first insertion unit and having a second flow groove formed therein

Surgical manipulator.
According to claim 13,

a first sleeve connected to the other end of the first wire and moving together with the steering knob; and

A second sleeve connected to the other end of the second wire and elastically fixed to the second fastening member.

A surgical manipulator further comprising a.
18. The method of claim 17,

a first elastic member connected to the second sleeve; and

A fixing member mounted to the second fastening member and to which the first elastic member is coupled

A surgical manipulator further comprising a.
According to claim 10,

a first fastening shaft fastened to an end of the rotating shaft; and

A second fastening shaft connecting the first fastening shaft and the rotation shaft of the motor

A surgical manipulator further comprising a.
According to claim 19,

The first fastening shaft is formed with a fixing hole, and the second fastening shaft is formed with a flow hole extending in the longitudinal direction.

Surgical manipulator.
21. The method of claim 20,

a moving pin inserted into the fixing hole and the moving hole; and

A second elastic member mounted on the first fastening shaft to provide elastic force to the rotating shaft

A surgical manipulator further comprising a.
According to claim 21,

The second elastic member is constrained by the second fastening shaft, and the moving pin moves in the flow hole by the elastic force of the second elastic member.

Surgical manipulator.