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WO2010140844A2 - Instrument chirurgical - Google Patents

Instrument chirurgical Download PDF

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Publication number
WO2010140844A2
WO2010140844A2 PCT/KR2010/003562 KR2010003562W WO2010140844A2 WO 2010140844 A2 WO2010140844 A2 WO 2010140844A2 KR 2010003562 W KR2010003562 W KR 2010003562W WO 2010140844 A2 WO2010140844 A2 WO 2010140844A2
Authority
WO
WIPO (PCT)
Prior art keywords
rotating
unit
surgical instrument
fixing
coupled
Prior art date
Application number
PCT/KR2010/003562
Other languages
English (en)
Korean (ko)
Other versions
WO2010140844A3 (fr
Inventor
최승욱
원종석
Original Assignee
주식회사 이턴
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 KR1020090089927A external-priority patent/KR101029997B1/ko
Application filed by 주식회사 이턴 filed Critical 주식회사 이턴
Publication of WO2010140844A2 publication Critical patent/WO2010140844A2/fr
Publication of WO2010140844A3 publication Critical patent/WO2010140844A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • 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
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • the present invention relates to medical devices, and more particularly to surgical instruments.
  • surgery means repairing a disease by cutting, slitting, or manipulating skin, mucous membranes, or other tissues with medical devices.
  • open surgery to incise and open the skin of the surgical site to treat, shape, or remove the organs therein causes problems such as bleeding, side effects, patient pain, and scars. Therefore, in recent years, surgery or using a robot (robot), which is performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgical microscope, etc. by forming a predetermined hole in the skin, has been spotlighted as an alternative.
  • a robot which is performed by inserting only a medical device, for example, a laparoscope, a surgical instrument, a microsurgical microscope, etc. by forming a predetermined hole in the skin
  • Surgical instruments operate an end effecter provided at one end of a shaft passing through a hole drilled in the skin by a doctor using a predetermined driving unit by hand or by using a robot arm. It is a tool for.
  • the operator provided in the surgical instrument performs a rotational operation, a gripping, cutting (cutting) and the like through a predetermined structure.
  • a surgical instrument having a structure that allows an operator to perform a more precise and accurate rotational motion.
  • the present invention is to provide a surgical instrument having an operator capable of performing a more precise and accurate rotation operation.
  • the present invention is to provide a surgical instrument having a manipulator easy to rotate using a variety of structures, the doctor directly manipulates by hand or using a robot arm.
  • the driving unit for operating the operator at the other end one end is coupled to the drive and extending in a predetermined longitudinal direction And a fixing part fixedly coupled to the other end of the shaft, and a rotating part having one end coupled to the operator and the other end coupled to the fixed part to be rotatable along the outer circumferential surface of the fixed part.
  • the edge of the longitudinal section of the fixed part and the rotating part includes an arc
  • the radius of the longitudinal section of the fixed part may be equal to or different from the radius of the longitudinal section of the rotating part.
  • the edge of the longitudinal section of the fixed part or the rotating part is any one of a circle, a semicircle, an arc, an ellipse, a semi-ellipse, an elliptical arc, a polygon and a part of the polygon.
  • the direction of the short axis may be toward the center point of the rotating part, or when the edge of the longitudinal section of the rotating part is elliptical, the direction of the long axis or the short axis of the rotating part may be toward the center point of the fixing part.
  • a dimple-shaped groove or groove may be formed on at least one surface of the fixing part and the rotating part.
  • the groove may have a circular shape around the contact point of the fixing part and the rotating part, and at least one surface of the fixing part and the rotating part may be formed with a radial groove extending radially about the contact point, and the fixing part and the rotating part. Can be combined with each other by magnetic force.
  • the groove extends radially about the contact point of the fixing part and the rotating part, and may have a zigzag shape.
  • the fixing part and the rotating part may be roller-engaged or gear-coupled with each other, and the surface where the fixing part contacts the rotating part may be concave in the direction of the rotating part.
  • the present embodiment may further include a coupling member having one end coupled to one side of the fixed portion, via a coupling portion of the fixed portion and the rotating portion, and the other end coupled to one side of the rotating portion, wherein the coupling member is X It may be a type coupling member.
  • the present embodiment may further include a coupling link that one end is coupled to the central axis of the fixing portion, the other end is coupled to the central axis of the rotating portion.
  • the fixed portion is formed integrally with the shaft, the drive and the rotating portion is coupled to the wire applying a tension to rotate the rotating portion in a predetermined direction, coupled to the fixed portion, rotatable roller supporting the wire connecting the driving portion and the rotating portion Additional may be included.
  • the fixing part includes a first fixing part and a second fixing part
  • the rotating part includes a first rotating part and a second rotating part
  • one end of the first fixing part is coupled to the other end of the shaft
  • the first rotating part is first
  • One end is coupled to the other end of the first fixing part so as to be rotatable in the first direction along the outer circumferential surface of the fixing part
  • the second fixing part is coupled to the other end of the first rotating part
  • the second rotating part is along the outer circumferential surface of the second fixing part.
  • One end is coupled to the other end of the second fixing part so as to be rotatable in the second direction, and the operator may be coupled to the other end of the second rotating part.
  • first rotating part and the second fixing part may be integrally formed, and the first rotating part and the second fixing part may be any one of a semi-cylinder, a semi-elliptic cylinder, and a semi-polygonal cylinder.
  • the rotating part may further include a first rotating part to which the first jaw of the operator engages, and a second rotating part to be coupled to face the longitudinal cross-section of the first rotating part and to engage the second jaw of the operator.
  • the rotating unit may include a first unit rotating unit that can rotate along the outer circumferential surface of the fixing unit and a second unit rotating unit that can rotate along the outer circumferential surface of the first unit rotating unit.
  • the first unit rotating part and the second unit rotating part may be coupled to each other by magnetic force, and a dimple-shaped groove or a groove may be formed on at least one surface of the first unit rotating part and the second unit rotating part. .
  • the groove may have a circular shape centering on a contact point of the first unit rotation part and the second unit rotation part, and a radial groove extending radially around the contact point on at least one surface of the first unit rotation part and the second unit rotation part. Can be formed.
  • the groove may extend radially around the contact point of the first unit rotation part and the second unit rotation part, and may have a zigzag shape.
  • Surgical instrument according to the present embodiment is provided with an operator that can perform a precise and accurate rotation operation using a more various structure, there is an effect that can be manipulated by a doctor directly or using a robot arm .
  • FIG. 1 is a view showing a driving principle of a surgical instrument according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of a surgical instrument according to an embodiment of the present invention.
  • FIG. 3 is a perspective view of a surgical instrument according to another embodiment of the present invention.
  • FIG. 4 is a perspective view of a surgical instrument according to another embodiment of the present invention.
  • FIG. 5 is a perspective view of a surgical instrument according to another embodiment of the present invention.
  • Figure 6 is a state of use of the surgical instrument according to an embodiment of the present invention.
  • FIG. 7 is a view showing a coupling structure of the surgical instrument according to an embodiment of the present invention.
  • FIG. 8 is a view showing a coupling structure of the surgical instrument according to another embodiment of the present invention.
  • 9 to 15 are partial perspective views of a surgical instrument according to another embodiment of the present invention.
  • 16 is a state diagram used in the surgical instrument according to another embodiment of the present invention.
  • 17 is a view showing a surface joint structure of the surgical instrument according to an embodiment of the present invention.
  • FIG. 18 is a view showing a surface joint structure of the surgical instrument according to another embodiment of the present invention.
  • 19 is a view showing a surface joint structure of the surgical instrument according to another embodiment of the present invention.
  • 20 is a view showing a surface joint structure of the surgical instrument according to another embodiment of the present invention.
  • FIG. 1 is an enlarged view showing a driving principle of a surgical instrument according to an embodiment of the present invention.
  • a shaft 120, a fixing part 130, a rotating part 140, an operator 150, and a roller part 157 are illustrated.
  • the surgical instrument by applying a surface joint composed of the fixing part 130 and the rotating part 140 to the rotating structure of the operator 150 mounted on the surgical instrument, even if the rotating part 140 is slightly rotated, the operator 150 It can be rotated as necessary, by adjusting the radius of the fixing unit 130 and the rotating unit 140 has a feature that can easily adjust the operation precision and operability of the operator (effector).
  • the driving principle of the surgical instrument according to this embodiment is as follows.
  • the length L of which the rotating part 140 is engaged with the fixing part 130 is as follows.
  • ⁇ 1 is an angle at which a straight line connecting the center of the fixing unit 130 and the center of the rotating unit 140 is rotated
  • ⁇ 2 is an angle at which the rotating unit 140 is rotated about the center of the rotating unit 140.
  • r 1 is the radius of the fixing part 130
  • r 2 is the radius of the rotating part 140.
  • the angle ⁇ that the operator 150 rotates about the center of the fixing unit 130 is as follows.
  • Equation (3) is derived by substituting Equation (1) into Equation (2). According to Equation (3), if the radius of the fixing unit 130 and the radius of the rotating unit 140 are the same, when ⁇ 1 is 45 degrees, the operator 150 rotates 90 degrees about the center of the fixing unit 130. Therefore, even if the user pulls the first wire 123 or the second wire 125 slightly, the operator 150 rotates a lot.
  • the rotation range of the operator 150 can be set differently for the same ⁇ 1 by changing the relative lengths of r 1 and r 2 .
  • the hole 141 may be formed in the circumferential direction by a predetermined length in the coupling portion 130 and the rotating portion 140.
  • the hole 141 passes through the operation wire 155 supported and moved by the roller unit 157, and minimizes the influence on the operation wire 155 when the rotation unit 140 rotates.
  • the operation wire 155 is connected to the driver (not shown) and the operator 150 is provided to drive the operator 150. Since the operation wire 155 moves in the rotation direction when the rotation unit 140 rotates, the present embodiment includes a hole 141 to allow the operation wire 155 to move freely so that the rotation of the rotation unit 140 is performed by the operator ( There is an advantage that does not affect the operation of 150).
  • FIG. 2 is a perspective view of a surgical instrument according to an embodiment of the present invention. 2, the shaft 120, the fixing part 130, the rotating part 140, and the operator 150 are shown.
  • Surgical instruments according to the present embodiment can be used for robotic surgery or manual surgery.
  • the surgical instrument is mounted to the tip of a surgical robot arm equipped with an actuator, and receives a driving force from the actuator to operate a driving wheel (not shown) provided in the driving unit (not shown), and is connected to the driving wheel.
  • the operator 150 inserted into the body of the surgical patient performs a predetermined operation to perform the surgery.
  • the driving wheel is formed in a disc shape, and may be clutched to the actuator to receive the driving force.
  • the number of driving wheels may be determined corresponding to the number of objects to be controlled, and the description of such driving wheels will be apparent to those skilled in the art related to surgical instruments, and thus detailed description thereof will be omitted.
  • the driving unit is provided with an interface that can be directly manipulated by a doctor, for example, a stick shape, a button shape, a tong shape, a lever shape, and the like, and when the doctor controls the drive, the driving unit is connected to the corresponding interface and operated by the surgeon.
  • the operator 150 inserted into the body performs a predetermined operation to perform surgery. The following description will be based on the former.
  • One end of the shaft 120 is coupled to the driving unit and extends in a predetermined length direction.
  • the shaft 120 is flexible or rigid and may form an angle as necessary.
  • the fixing part 130 is coupled to the other end of the shaft 120, that is, the other side of the driving part, and the rotating part 140 is rotatably formed along the outer circumferential surface of the fixing part 130.
  • the shape of the fixing part 130 may be various shapes in which the outer circumferential surface of the cylindrical, elliptic cylindrical, polygonal cylindrical, spherical, etc. forms a curve.
  • the outer circumferential surface means an outer line of the longitudinal section, and may include a circle, an ellipse, and a straight line.
  • the shape of the fixing part 130 may be formed such that the edge of the longitudinal section includes a curved or straight line, for example, a part of a circle (circle), a part of an ellipse (ellipse), and a part of a polygon. That is, the fixing part 130 may include a shape in which an outer circumferential surface of the fixing part 130 that faces the rotating part 140 may be cloud-coupled with the rotating part 140.
  • the shape of the fixing part 130 may be a semi-cylindrical, semi-elliptic, semi-polygonal, hemispherical, or the like.
  • the shape of the fixing part 130 will be described mainly in the case of cylindrical, elliptic cylindrical, polygonal cylindrical, spherical, and the like, and the description is that the longitudinal section of the fixing part 130 is a part of a circle, a part of an ellipse, a part of a polygon, and the like. Of course, it can be applied to include.
  • the fixing part 130 may be integrally formed with the shaft 120. That is, the fixing part 130 may have a structure described above and be a structure provided on the other end side of the shaft 120.
  • the cylindrical shape is a circular longitudinal section when the longitudinal section is a plane perpendicular to the plane in which the straight line in the extension direction of the shaft 120 is a normal.
  • the longitudinal section is an ellipse
  • the longitudinal section is a polygon.
  • Cylindrical, ellipsoidal and polygonal cylinders are shaped to extend in the normal direction of the longitudinal section.
  • a polygonal cylinder may be a polygon whose longitudinal section is not only regular polygons such as regular pentagons, regular hexagons, regular octagons, etc., but also sides having different sides.
  • the fixing part 130 and / or the rotating part 140 has any one of a cylindrical shape, an elliptic cylinder shape, and a polygonal shape shape, the trajectory of the rotating part 140 to move is located on one plane parallel to the longitudinal section. .
  • the rotating part 140 has an advantage of being movable in any direction along the outer circumferential surface of the fixing part 130.
  • the rotating part 140 may move in an arbitrary direction on the outer circumferential surface of the sphere that is the fixing part 130, so that the point where the fixing part 130 and the rotating part 140 meet is a straight line, Various trajectories such as curves can be formed.
  • the rotating unit 140 is coupled to the fixing unit 130 to be rotatable along the outer circumferential surface of the fixing unit 130. That is, one end of the rotating unit 140 is coupled to the operator 150, and the other end is coupled to the fixing unit 130 so as to be rotatable along the outer circumferential surface of the fixing unit 130.
  • the rotating part 140 may be coupled to the fixed part 130 by rolling, for example, roller coupling or gear coupling. In the latter case, the fixing part 130 and the rotating part 140 may have gear teeth on the surface thereof and engage with each other by gearing.
  • the shape of the rotating part 140 may also be various shapes such as a cylindrical shape, an elliptical cylinder shape, a polygonal cylinder shape, a spherical shape, and the like as the shape of the fixing part 130 described above.
  • the longitudinal section of the fixing unit 130 or the rotating unit 140 may be circular, elliptical, polygonal, or the like, or the edge thereof may include any one of a part of a circle, a part of an ellipse, and a part of a polygon. That is, the fixing part 130 and the rotating part 140 may be the same or different from each other while the longitudinal section thereof has the shape and may be in contact with each other in various ways.
  • the direction of the long axis or short axis of the fixing unit 130 may be the center point of the rotating unit 140 (for example, the central point may be the elliptical section of the rotating unit 140).
  • the fixing unit 130 and the rotating unit 140 may be coupled to each other so as to face the origin of the circle inscribed or circumscribed to the polygon.
  • the surface material of the fixing part 130 and the rotating part 140 is not particularly limited, but may be, for example, a rubber material that is coupled to be smoothly rotatable with each other.
  • the fixing unit 130 and the rotating unit 140 may be formed on the surface of the tooth so that the gear coupling.
  • the operator 150 is coupled to the other end of the rotating unit 140, and is inserted into the body of the surgical patient.
  • the operator 150 is a member in contact with the surgical site during the actual surgery.
  • the operator 150 of the surgical instrument is coupled to the distal end of the rotary unit 140, and includes a pair of jaws for performing a gripping or cutting operation.
  • the driving wheel of the driving unit described above may be coupled to the pair of jaws and pulleys.
  • the drive wheel and the pair of jaws can be coupled to one another in various ways, for example, a pair of wires to each jaw, a pair of wires to a pair of jaws, etc. Can be.
  • a pair of jaws are connected to each other by gears, and a pulley wire is coupled to one of a pair of jaws or a pair of jaws combined to drive force.
  • a variety of mechanisms can be applied to use a pair of pulleys to force a pair of jaws to move the tongs.
  • the fixing part 130 and the rotating part 140 positioned at the distal end of the shaft 120 have an extension direction of the shaft 120 with respect to the operator 150.
  • the axis is rotated a predetermined angle, for example 90 degrees.
  • the direction in which the operator 150 operates is different. Therefore, the operator 150 may operate in the first direction (for example, left / right) in (A) and the second direction (for example, front / back) in (B), so that the user may have various There is an advantage that can be directed to the operator 150 in the direction.
  • the fixing part includes a first fixing part 131 and a second fixing part 132
  • the rotating part includes a first rotating part 141 and a second rotating part 142.
  • one end of the first fixing part 131 is coupled to the other end of the shaft 120
  • the first rotating part 141 is rotatable in the first direction along the outer circumferential surface of the first fixing part 131.
  • One end of the rotating part 141 is coupled to the other end of the first fixing part 131
  • the second fixing part 132 is coupled to the other end of the first rotating part 141
  • the second rotating part 142 is the second high.
  • One end of the second rotating part 142 is coupled to the other end of the second fixing part 132 so as to be rotatable in the second direction along the outer circumferential surface of the government part 132.
  • the operator 150 is coupled to the other end of the second rotating part 142, the first direction and the second direction is a different direction, as shown in the fixed part and the rotating part may be arranged to be different from each other by 90 degrees have.
  • the arrangement order and relative rotation angles of the parts constituting the fixing part and the rotating part may be variously determined.
  • the first fixing part 131, the second fixing part 132, the first rotating part 141, and the second rotating part 142 may be the fixing part 130 and the rotating part shown in FIG. 2A. 140 and the fixing part 130 and the rotating part 140 shown in (B) of FIG. 2 may be arranged to sequentially combine with each other. Therefore, according to the coupling structure of Figure 3, the operator 150 has a feature that can operate left / right or forward / back.
  • the first rotating part 141 and the second fixing part 132 of FIG. 3 may be integrally formed. That is, a part of the first rotating part 141 and the part of the second fixing part 132 of FIG. 3 are coupled to each other to rotate in the first direction with respect to the first fixing part 131 as well as the second fixing part. A structure that rotates in the second direction with respect to 132 is implemented.
  • the combined shape of the second fixing part 132 and the first rotating part 141 is to bisect one cylinder having the same height and diameter along the cross section, and then one of the semi-cylinders to the axis of the cross section normal axis. It can be rotated 90 degrees to form a shape combined with other semi-cylinders.
  • the coupling shape may be applied to the case where the second fixing part 132 and the first rotating part 141 are not only cylindrical but also elliptical or polygonal. Therefore, the first rotating part 141 is rolling in the first direction by rolling coupling with the circumferential surface of the first fixing part 131, the second rotating part 142 is rolling coupling with the circumferential surface of the second fixing part 132 It can rotate in the second direction.
  • the rotating part may be divided into a first rotating part 147 and a second rotating part 149 in which longitudinal sections thereof face each other.
  • the pair of jaws described above (including the first jaw and the second jaw) are coupled to the first rotating portion 147 and the second rotating portion 149, respectively. That is, the rotating part is coupled to the first rotation part 147 to which the first jaw of the operator 150 is coupled and the longitudinal cross section of the first rotation part 147, and the second rotation part to which the second jaw of the operator 150 is coupled. (149).
  • the jaws may move with each other.
  • various methods of operating the first rotating part 147 and the second rotating part 149 may be applied to the present invention.
  • the first rotating part 147 and the second rotating part 149 may be driven. And may be operated by being connected to different wires.
  • FIG. 6 is a state diagram used in the surgical instrument according to an embodiment of the present invention. Referring to FIG. 6, the shaft 120, the first wire 123, the second wire 125, the fixing part 130, the roller part 135, the rotating part 140, and the operator 150 are illustrated.
  • FIG. 6B illustrates a state in which the rotating unit 140 is arranged in line with the shaft 120 and the fixing unit 130, that is, the non-rotating state.
  • 6A illustrates a state in which the rotating unit 140 rotates in a counterclockwise direction
  • FIG. 6C illustrates a state in which the rotating unit 140 rotates in a clockwise direction.
  • the driving unit and the rotating unit 140 are connected to each other by the first wire 123 and the second wire 125. That is, the first wire 123 and the second wire 125 are applied to the driving unit and the rotating unit 140 to apply tension to rotate the rotating unit 140 in a predetermined direction.
  • the first wire 123 and the second wire 125 are supported by the rotatable roller portion 135.
  • the roller unit 135 may be coupled to both sides of the fixing unit 130 and include a pair of rollers on one side.
  • the first wire 123 and the second wire 125 are respectively inserted between the pair of roller parts 135 to be supported by the roller part 135 when the driving part is operated, and can move smoothly.
  • FIG. 6A a state in which the first wire 123 is pulled toward the driving unit and the second wire 125 is released is rotated in the counterclockwise direction.
  • FIG. 6C the second wire 125 is pulled toward the driving unit, and the rotating unit 140 rotates in the clockwise direction as the first wire 123 is released.
  • the center of the rotating unit 140 rotates about the center of the fixing unit 130 and also rotates by the rotating unit 140 itself, so that the first wire 123 or the second wire is rotated. Even if 125 is slightly pulled out, the operator 150 can rotate a lot. That is, the outer circumferential surface of the rotating part 140 is in contact with the outer circumferential surface of the fixing part 130, and the fixing part 130 and the rotating part 140 constitute a face joint.
  • the rotating part 140 when the rotating part 140 and the fixing part 130 are spherical, the rotating part 140 may not only rotate about the normal of the plane including FIG. 6, but also contact the outer circumferential surface of the fixing part 130. It can also rotate in the direction. In this case, three or more wires may be coupled to the rotating unit 140 to manipulate the rotation of the rotating unit 140.
  • one end of the wire is attached to four parts of the rotating part 140, for example, at 90 degree intervals, and the other end is coupled to the driving part (for example, the driving wheel described above) to rotate the driving wheel.
  • the driving part for example, the driving wheel described above
  • the tension is adjusted to determine the rotation angle and direction of the rotating unit 140.
  • the above-described operation wire 155 is provided for the forceps operation and the rotation operation of the jaw of the operator 150.
  • the number of the manipulation wires 155 may be determined as needed. For example, two pairs of wires may be provided to perform a pair of forceps of the jaws.
  • a plurality of grooves are formed on the surface of the rotating part 140 and / or the fixing part 130 to prevent slippage and stepwise rotation of the rotating part 140 when the rotating part 140 is rotated. It may have a dimple shape. That is, when the surface of the spherical rotating part 140 and / or the fixing part 130 has a dimple shape, such as a golf ball, the rotating part 140 can be rotated without slipping.
  • the rotating part 140 and / or the fixing part 130 is cylindrical or elliptical
  • the length of the rotating part 140 and the rotating part 140 are perpendicular to the longitudinal direction in which the shaft 120 extends.
  • a groove may be formed in the direction. For example, by forming a groove parallel to the axis of rotation of the rotating part 140 on the surface of the rotating part 140 and / or the fixing part 130, the sliding and theft rotation of the rotating part 140 as described above Can be induced.
  • one end of the fixing unit 130 and the rotating unit 140 is coupled to one side of the fixing unit 130, via the coupling portion of the fixing unit 130 and the rotating unit 140, the other end of the rotating unit 140 It can couple with each other by the coupling member couple
  • the coupling members are provided to cross each other, the fixing part 130 and the rotating part 140 may be rotatably coupled by the X-type coupling member 133 as shown in FIG. 7.
  • the X-type coupling member 133 may include a pair of tapes. For example, one end of each tape is attached to the fixing unit 130, the other end is attached to the rotating unit 140 are provided alternately. Therefore, the rotating unit 140 is rotatable in both directions in a state where it is not separated from the outer circumferential surface of the fixing unit 130.
  • the fixing part 130 and the rotating part 140 have one end coupled to a central axis thereof at the surface of the longitudinal section of the fixing part 130, and the other end thereof at the surface of the longitudinal section of the rotating part 140.
  • the coupling links 134 may be coupled to each other by a central axis.
  • the coupling link may be coupled to only one end of the fixing part 130 and the rotating part 140 or may be coupled to both ends.
  • 9 to 15 are partial front views of a surgical instrument according to another embodiment of the present invention. 9 to 15, the shaft 120, the fixing part 130, the rotating part 140, and the operator 150 are illustrated. Hereinafter, the size or shape of the fixing part 130 and / or the rotating part 140 will be described.
  • the longitudinal section of the fixing part 130 and the rotating part 140 is circular, and the radius of the rotating part 140 is smaller than the radius of the fixing part 130.
  • the distance between the center of the fixing part 130 and the rotating part 140 is indicated by a dotted line.
  • the longitudinal section of the fixing part 130 is elliptical, and the longitudinal section of the rotating part 140 is circular.
  • such a coupling structure indicates that the direction of the short axis of the fixing part 130 faces the origin of the rotating part 140.
  • the magnitude of ⁇ does not change sensitively.
  • the center of the rotating unit 140 moves along a curve having a large curvature in a large range of ⁇ 1 , the magnitude of ⁇ also changes sensitively. Therefore, such a structure is characterized in that the operator 150 is less sensitive in a range where ⁇ 1 is small and sensitively in a range where ⁇ 1 is large.
  • FIG. 12 is a structure contrasted with that of FIG. 11. That is, referring to FIG. 12, the longitudinal section of the fixing part 130 is elliptical, the longitudinal section of the rotating part 140 is circular, and the long axis of the fixing part 130 faces the origin of the rotating part 140. Contrary to the above, since the center of the rotating unit 140 moves along a curve having a large curvature in a range where ⁇ 1 is small, the magnitude of ⁇ changes sensitively. However, since the center of the rotating part 140 moves along a straight line in a large range of ⁇ 1 , the size of ⁇ also changes less sensitively. Therefore, such a structure can be advantageously applied to an environment in which the operator 150 is sensitive in a range where ⁇ 1 is small and less sensitive in a range where ⁇ 1 is large.
  • the longitudinal section of the fixing part 130 is circular, and the longitudinal section of the rotating part 140 is polygonal.
  • the rotating unit 140 has a feature capable of stealing stepwise rotation according to the rotation angle.
  • the longitudinal section of the rotating part 140 is circular, and the fixing part 130 is concave in contact with the rotating part 140 in the direction of the rotating part 140. Therefore, the convex rotating part 140 does not deviate from the concave fixing part 130, and there exists an effect which can rotate stably.
  • the longitudinal section of the fixing part 130 has a circular shape, and the rotating part 140 has a concave surface in contact with the fixing part 130 in the direction of the fixing part 130 and the fixing part 130. It is a shape corresponding to the outer circumferential surface. According to such a structure, the concave rotating part 140 does not deviate about the convex fixing part 130, and there exists an effect which can rotate stably.
  • FIG. 16 is a state diagram used in the surgical instrument according to another embodiment of the present invention. Referring to FIG. 16, the shaft 120, the first wire 123, the second wire 125, the fixing part 130, the roller part 135, and the rotating part 140 are illustrated. The differences from the above will be explained mainly.
  • the rotation unit 140 having a plurality of unit rotations is provided to maximize the function of the rotation unit 140 as described above, so that the entire rotation unit 140 and the operator 150 may be rotated even if each unit rotation unit is only slightly rotated. There is a feature that can be rotated as needed.
  • 16B is a state in which the rotating unit 140 is arranged in a line with the shaft 120 and the fixing unit 130
  • FIG. 16A is a state in which the rotating unit 140 rotates in a counterclockwise direction
  • 16C is a state in which the rotating unit 140 rotates clockwise.
  • the rotating unit 140 includes a plurality of unit rotating units. Referring to FIG. 16, four unit rotation parts may be provided, and each unit rotation part may be referred to as first to fourth unit rotation parts. However, the present invention is not limited to the number and name of the unit rotation parts. Each unit rotating unit may have the same shape or different shapes.
  • Each unit rotating unit may have a shape rotatable along the outer circumferential surface of the other unit rotating unit.
  • the shape of each unit rotating part is a cylinder, a sphere, a semi-cylinder, a semi-elliptic cylinder, a semi-cylindrical cylinder whose longitudinal section has a circle, a semicircle, an arc, an ellipse, a semi-ellipse, an ellipse, a polygon, a part of a polygon, and the like And so on.
  • the unit rotating part is connected by the driving part, the first wire 123, and the second wire 125 described above.
  • the first wire 123 and the second wire 125 may include a plurality of wires and may be supported by the roller unit 135 provided in the unit rotating unit.
  • Each wire is connected to the unit rotating unit, so that when the first wire 123 or the second wire 125 is pulled in the direction of the driving unit, the rotating unit 140 rotates in a predetermined direction.
  • FIG. 16A illustrates a case where the first wire 123 is pulled
  • FIG. 16C illustrates a case where the second wire 125 is pulled.
  • each wire included in the first wire 123 (or the second wire 125) may be controlled by being pulled as a whole or pulled separately. Therefore, as shown in the case where there are a plurality of unit rotating parts, each unit rotating part rotates with respect to the fixing part 130 or another unit rotating part, so that a large rotational variable may occur in the rotating part 140 as a whole even for a small rotational displacement. There is this.
  • each unit rotation part when each unit rotation part is controlled by different wires, the directions in which they rotate may be different from each other.
  • the first unit rotation part rotates in a clockwise direction of FIG. 16, and the second unit rotation part rotates in a direction perpendicular to FIG. 16, and each unit rotation part is rotatable in a different direction.
  • the operator 150 has a free operating range.
  • each unit rotation part has magnetic properties, and surfaces in contact with each other have different magnetic poles, so that each unit rotation part may receive a force arranged in an extension direction of the shaft 120. That is, as described above, the rotating unit 140 rotates in a predetermined direction by the first wire 123 and the second wire 125 and may be arranged in a line by magnetic force when the tension of each wire is weak.
  • FIG. 18 is a view schematically showing the surface joint structure of the surgical instrument according to another embodiment of the present invention. Referring to FIG. 18, the fixing part 130, the rotating part 140, the groove 161, the protrusions 162 and 164, and the groove 163 are shown.
  • the present exemplary embodiment has a predetermined groove or protruding structure for preventing slipping and stepwise rotation of the rotating part 140. There is this.
  • a description will be given of a case in which grooves or protrusion structures are formed on the surfaces of the rotating part 140 and the fixing part 130, but when the rotating part 140 and the fixing part 130 are replaced with each other, instead of the fixing part 130.
  • the same content can be applied to various cases, such as when the other rotating unit 140 is applied.
  • a plurality of grooves 161 extending in a predetermined direction are formed on a surface of the rotating part 140, and grooves at the time of rotation of the rotating part 140 are rotated on the surface of the fixing part 130.
  • a protrusion 162 extending in a predetermined direction is formed at a position engaged with the 161.
  • the direction in which the groove 161 and the protruding portion 162 extend is parallel to the rotation axis in which the rotating part 140 rotates with respect to the fixing part 130, and is centered on the contact point between the rotating part 140 and the fixing part 130. It may be a circumferential direction of the circle, a direction perpendicular to the longitudinal direction in which the shaft 120 extends.
  • the groove 161 and the protrusion 162 may be formed in various directions to prevent slippage of the rotating part 140.
  • a dimple-shaped groove 163 is formed on the surface of the rotating part 140, and a protrusion having a shape corresponding to the groove 163 is formed on the surface of the fixing part 130. 164 is formed.
  • the dimple-shaped grooves 163 are arranged to form a pattern having a specific separation distance from each other, the rotation unit 140 can be rotated stepwise by a predetermined unit angle, it is possible to perform a modest rotation without slipping.
  • a radial protrusion 165 and a radial groove 166 are formed to prevent slippage in various directions.
  • not only the groove 161 and the protrusion 162 are formed on the surface of the fixing part 130 and / or the rotating part 140, but also in a direction perpendicular to the extending direction of the groove 161 and the protrusion 162.
  • the radial protrusion 165 and the radial groove 166 may have a shape extending radially around a contact point where the fixing part 130 and the rotating part 140 contact each other.
  • a zigzag radial protrusion 167 and a corresponding zigzag radial groove 168 are formed on the surfaces of the fixing part 130 and / or the rotating part 140, respectively.
  • the zigzag-shaped radial protrusion 167 is inserted into the zigzag-shaped radial groove 168 so that not only the rotation direction of the rotation part 140 but also a direction different from the rotation direction, for example, There is an advantage that the slip can be prevented even in the vertical direction.
  • the zigzag shape may be a shape including an amorphous curve, a wave shape, etc., as well as a shape having a specific continuous pattern.
  • the surgical instrument according to the embodiment of the present invention described the configuration of the fixing unit 130 and the rotating unit 140 according to the embodiments, but is not necessarily limited to this, fixing unit 130 And even if the shape of the longitudinal section of the rotating unit 140 is changed or a combination thereof, if there is no difference in the overall operation and effect, such other configuration may be included in the scope of the present invention, having a common knowledge in the art It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as set forth in the claims below.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un instrument chirurgical, et selon un aspect de cette invention, l'instrument chirurgical dont une extrémité est associée à un actionneur en contact avec un site chirurgical et l'autre extrémité associée à une unité de commande qui commande l'actionneur, comprend un arbre dont une extrémité est associée à l'unité de commande et qui s'étend dans un sens longitudinal, une unité de fixation qui est fixée et associée à l'autre extrémité de l'arbre et une unité de rotation dont une extrémité est associée à l'actionneur et dont l'autre extrémité est associée à l'unité de fixation pour permettre la rotation de cette dernière le long de sa surface circonférentielle externe. L'instrument chirurgical est pourvu d'un actionneur qui peut effectuer une rotation précise à l'aide de plusieurs structures et qui peut être actionné directement par un chirurgien ou par un bras de robot.
PCT/KR2010/003562 2009-06-05 2010-06-03 Instrument chirurgical WO2010140844A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20090049943 2009-06-05
KR10-2009-0049943 2009-06-05
KR1020090089927A KR101029997B1 (ko) 2009-06-05 2009-09-23 수술용 인스트루먼트
KR10-2009-0089927 2009-09-23

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WO2010140844A3 WO2010140844A3 (fr) 2011-04-14

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EP2666434A1 (fr) * 2012-05-25 2013-11-27 Samsung Electronics Co., Ltd Unité de bras et robot la comportant
WO2015132549A1 (fr) * 2014-03-07 2015-09-11 Cambridge Medical Robotics Limited Bras chirurgical
CN108366836A (zh) * 2015-10-16 2018-08-03 医疗显微器具股份公司 手术工具
US11291516B2 (en) 2015-05-14 2022-04-05 Cmr Surgical Limited Torque sensing in a surgical robotic wrist

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JP2006191939A (ja) * 2005-01-11 2006-07-27 Hitachi Ltd 手術装置およびそれに用いるマニピュレータ
US20080065102A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Surgical instrument with parallel motion mechanism

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Publication number Priority date Publication date Assignee Title
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
JP2006191939A (ja) * 2005-01-11 2006-07-27 Hitachi Ltd 手術装置およびそれに用いるマニピュレータ
US20080065102A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Surgical instrument with parallel motion mechanism

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2666434A1 (fr) * 2012-05-25 2013-11-27 Samsung Electronics Co., Ltd Unité de bras et robot la comportant
CN103417298A (zh) * 2012-05-25 2013-12-04 三星电子株式会社 臂单元及具有该臂单元的机器人
US9981392B2 (en) 2012-05-25 2018-05-29 Samsung Electronics Co., Ltd. Arm unit and robot having the same
WO2015132549A1 (fr) * 2014-03-07 2015-09-11 Cambridge Medical Robotics Limited Bras chirurgical
CN106102630A (zh) * 2014-03-07 2016-11-09 剑桥医疗机器人技术有限公司 外科手术臂
US9937012B2 (en) 2014-03-07 2018-04-10 Cmr Surgical Limited Surgical arm
EP3906881A1 (fr) * 2014-03-07 2021-11-10 CMR Surgical Limited Bras chirurgical
US11224488B2 (en) 2014-03-07 2022-01-18 Cmr Surgical Limited Surgical arm
US11291516B2 (en) 2015-05-14 2022-04-05 Cmr Surgical Limited Torque sensing in a surgical robotic wrist
US11903668B2 (en) 2015-05-14 2024-02-20 Cmr Surgical Limited Torque sensing in a surgical robotic wrist
CN108366836A (zh) * 2015-10-16 2018-08-03 医疗显微器具股份公司 手术工具
CN108366836B (zh) * 2015-10-16 2021-08-27 医疗显微器具股份公司 手术工具

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