WO2010101401A2 - 수술용 인스트루먼트 - Google Patents
수술용 인스트루먼트 Download PDFInfo
- Publication number
- WO2010101401A2 WO2010101401A2 PCT/KR2010/001314 KR2010001314W WO2010101401A2 WO 2010101401 A2 WO2010101401 A2 WO 2010101401A2 KR 2010001314 W KR2010001314 W KR 2010001314W WO 2010101401 A2 WO2010101401 A2 WO 2010101401A2
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- handle
- shaft
- bending
- driving
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- 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
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- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0023—Surgical instruments, devices or methods, e.g. tourniquets disposable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets 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
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2925—Pistol grips
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
Definitions
- the present invention relates to a surgical instrument.
- 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.
- a small insertion hole is drilled, and through this, a medical device such as an endoscope, a laparoscope, a surgical instrument, a microsurgical microscope is inserted to allow surgery to be performed in the body.
- a medical device such as an endoscope, a laparoscope, a surgical instrument, a microsurgical microscope is inserted to allow surgery to be performed in the body.
- 'Laparoscopic surgery' or 'minimally invasive surgery' is in the spotlight.
- Such a conventional surgical instrument 10 used for laparoscopic surgery has a structure in which the effector 16 is coupled to the end of the shaft 14 extending from the handle 12, as shown in FIG. If it is necessary to change the orientation of the effector 16 during the surgical procedure, conventional instruments allow a person to manually unlock the lock 18 and manually move the operator 26 so that a portion of the shaft 20 bends like a joint. It was then manipulated by locking the lock 18 again.
- the present invention provides a surgical instrument that can easily change the direction of the effector by bending the shaft simply by operating the controller.
- Technical problems other than the present invention will be easily understood through the following description.
- a handle a shaft coupled to the handle and extending in one direction, a bending portion formed on a portion of the shaft, mounted to the handle and generating a predetermined driving force
- Surgical instruments include a drive unit and a power transmission means for transmitting the driving force generated in the drive unit to the bending unit to bend the bending unit.
- the handle may be rotatably mounted, and may further include a rotation operator connected to the effector to rotate the effector about the extending direction of the shaft.
- the effector also includes a pair of jaws engaged with each other, and the handle may be coupled to a grip operator that is connected to the pair of jaws to allow the pair of jaws to open and close.
- the bending part is formed adjacent to the effector, and the direction in which the effector is directed may be changed according to the bending of the bending part.
- the bending part may include a snake type joint.
- the driving unit may include a motor unit, a power supply unit for supplying electric power for driving the motor unit, and a controller for controlling driving of the motor unit.
- the power supply may include a battery contained within the handle.
- the motor unit is located outside of the handle and can be connected to the handle by a driving force transmitting means.
- the controller may include a direction manipulator for controlling the driving of the motor unit to bend the bending part corresponding to the operation direction thereof.
- the driving unit may include a hold function for driving the motor unit so that the bending unit is maintained in a bent state corresponding to the operation when the direction manipulator is operated in a predetermined direction, and the motor is configured to restore the bending unit to an initial state. It may further include a release operator for controlling the driving of the negative.
- the direction manipulator is operated in two or more directions
- the motor unit may include a first motor driven corresponding to the first operation direction of the direction operator, and a second motor driven corresponding to the second operation direction of the direction operator.
- the bending part may be bent in the first direction according to the driving of the first motor, and may be bent in the second direction according to the driving of the second motor.
- the power transmission means includes a first wire connecting two points facing each other in the first direction of the first motor and the bending part, and a second wire connecting two points facing each other in the second direction of the second motor and the bending part. It may include.
- the reaction apparatus may further include a reaction force blocking unit interposed between the first and second wires and the bending unit to block a reaction force to be restored to the original position from being transmitted to the first and second motors.
- the reaction force blocker may include a worm gear.
- the worm gear may include a worm and a worm wheel engaged with the worm, and the worm may be separated from the worm wheel in accordance with the operation of the release operator provided in the driving unit.
- the shaft is detachably coupled to the handle, the power transmission means comprises a first power transmission means embedded in the shaft and a second power transmission means embedded in the handle, the first power transmission means as the shaft is coupled to the handle And the second power transmission means may be connected to each other.
- a drive unit such as a motor
- a controller such as a joystick
- the direction of the effector easily even while holding the instrument with one hand Can be changed.
- the reaction force applied to the effector can be felt in the process of changing the direction of the effector, thereby realizing 'haptic feedback'.
- FIG. 1 is a perspective view showing a robot surgical instrument according to the prior art.
- Figure 2 is a side view conceptually showing a surgical instrument according to an embodiment of the present invention.
- Figure 3 is a plan view showing a bending state of the bending portion according to an embodiment of the present invention.
- FIG. 4 is an enlarged cross-sectional view of portion 'A' of FIG. 3;
- FIG. 5 is a view showing a driving unit according to an embodiment of the present invention.
- FIG. 6 is a view showing a reaction force blocking unit according to an embodiment of the present invention.
- FIG. 7 is a view showing the operating state of the release operator according to an embodiment of the present invention.
- FIG. 8 is a view showing a state in which the shaft is detachably coupled to the handle according to an embodiment of the present invention.
- first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
- first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
- first component When a component is referred to as being "connected” or “connected” to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.
- FIG. 2 is a side view conceptually showing a surgical instrument according to an embodiment of the present invention
- Figure 3 is a plan view showing a bending state of the bending portion according to an embodiment of the present invention
- Figure 4 is 'A' of FIG.
- An enlarged sectional view of the part. 2 to 4, the handle 30, the rotation operator 32, the grip operator 34, the shaft 40, the bending part 42, the effector 44, the driving unit 50, and the direction operator ( 58, power transmission means 70, first wire 72, second wire 74 are shown.
- the instrument according to the present embodiment relates to a so-called 'motorized handheld instrument (Motorized Handheld Instrument)', and as shown in FIG. 2, the bending part 42 is formed at the distal end of the shaft 40, and FIG. As shown in FIG. 3, the bending part 42 is bent freely using the power of the motor, and the end of the instrument is easily bent by bending the shaft 40 using the force of a motor or the like in a manually operated instrument. Can move up, down, left and right.
- 'motorized handheld instrument Motorized Handheld Instrument
- the instrument according to the present embodiment is based on a structure in which the shaft 40 extends to the manipulation handle 30, and a bending portion 42 that is bent freely at the end of the shaft 40.
- the handle 30 is equipped with a drive unit 50 for generating a driving force to bend the bending portion 42, the drive unit 50 and the bending portion 42 is connected to the power transmission means 70 As the driving unit 50 drives, the bending unit 42 is bent in a desired direction.
- the end of the shaft 40 may be coupled to the effector 44 in the form of a forceps consisting of a pair of jaws, the effector 44 is cut, grip (grip) by the user holding the handle 30 Various operations required for surgery such as rotation.
- each operator and the effector 44 may be connected in various ways to implement various operations on the effector 44.
- a rotating operator rotatably coupled to the handle 30. 32 is connected to the shaft 40, so that the effector 44 connected to the shaft 40 and its end in accordance with the rotation of the rotary operator 32 can rotate, in the form of a lever to the handle 30
- the grip operator 34 to be coupled may be connected to a pair of jaws and wires so that the tension is transmitted through the wires as the grip operator 34 is pulled to allow the effector 44 to grip.
- various connection methods may be applied according to the operation method of the effector 44 and the operation method of each operator.
- the bending part 42 is formed in a part of the shaft 40 and serves as a joint to allow the shaft 40 to be bent in an arbitrary direction.
- an end portion of the shaft 40 That is, the case where the bending part 42 is formed in the part adjacent to the effector 44 is shown.
- the portion after the bending unit 42 that is, the portion where the effector 44 is coupled, is predetermined.
- the direction of the effector 44 is changed by the bending of the bending part 42.
- the instrument by operating the instrument according to the present embodiment not only can the effector 44 perform various operations (cutting, grip, rotation, etc.) necessary for surgery, but also by changing the direction in which the effector 44 is directed to the entire instrument.
- Various surgical operations can be performed on the desired surgical site without changing the direction.
- the operation can be performed by bending the shaft 40 to change the direction in which the effector 44 faces.
- the bending part 42 may be implemented by combining various mechanisms such as hinges, pivots, bellows, and the like. It can be implemented in the form of a so-called “snake type" in which the flexible joint is speeched (continuously installed).
- the bending part 42 formed of the snake type can be bent in the desired direction by fixing the wire to the inner wall and transmitting tension through the wire as described later. For example, when pulling the wire on the left side and loosening the wire on the right side while fixing the four wires corresponding to the up, down, left, and right directions on the inner wall of the bending part 42, the bending part 42 ) Is bent to the left due to the tension of the wire.
- the motor is not necessarily used for the driving unit 50 according to the present embodiment, and various driving force generating means capable of bending the bending unit 42 may be used.
- the driving force generated and transmitted from the driving unit 50 is not necessarily used to bend the bending unit 42, and may be used as driving force for various operations such as the operation of the effector 44.
- the instrument according to the present embodiment is not necessarily limited to a manual type used by the user by hand, and the handle 30 is mounted on the surgical robot arm and may be implemented in such a manner that the driving force is received from the robot arm. It may be.
- the operation of each part of the instrument will be described in more detail.
- FIG. 5 is a view showing a driving unit according to an embodiment of the present invention. Referring to FIG. 5, the shaft 40, the driving unit 50, the first motor 52, the second motor 54, the power supply unit 56, the direction operator 58, the release operator 60, and the first wire 72, second wire 74 is shown.
- FIG. 5 a case in which the driving unit 50 according to the present embodiment is implemented by coupling a pair of motors and wires to each motor will be described as an example.
- the driving unit 50 may include a motor unit, a power supply unit 56, and a controller for controlling driving of the motor unit.
- a motor having a capacity capable of generating power required for the bending part 42 may be used, and in this case, the motor may be accommodated in the handle 30.
- a motor of size can be used.
- the motor unit according to the present embodiment is not necessarily to be accommodated in the handle, and by installing the motor unit outside the handle and connecting the motor unit to the handle by a driving force transmission means such as 'cable conduit', the driving force may be supplied from the outside. have.
- the power supply unit 56 is a component for supplying power required to drive the motor.
- the power supply unit 56 may receive power from the outside, and a battery such as a battery or a rechargeable battery accommodated in the handle may be used to improve portability of the instrument.
- a small motor may be used to generate the power required for the bending of the bending part 42, and accordingly, the power supply unit 56 may also be designed with a smaller capacity, thereby driving the driving unit 50 at a lower cost. Can be configured.
- the controller is a part for controlling the driving of the motor part.
- a direction manipulator 58 such as a small joystick or a direction key is installed on the handle part 30 as a controller so as to correspond to the bending direction of the bending part 42.
- the bending part 42 may be controlled to be bent.
- a joystick or the like which is operated in the up, down, left, and right directions may be installed so that the bending direction of the bending part 42 may be adjusted.
- the bending portion 42 is bent to the right R, and when the direction manipulator 58 is operated to the left L, Accordingly, the bending part 42 may be bent to the left side (L).
- FIG. 52 In order to bend the bending part 42 by operating the direction manipulator 58 in the up, down, left, and right directions to drive the motor, a pair of motor parts according to the present embodiment is shown in FIG. Motors 52 and 54 can be used.
- the first motor 52 is driven by operating the direction manipulator 58 in the vertical direction
- the second motor 54 is driven by manipulating the direction manipulator 58 in the left and right directions.
- the bending part 42 is bent in the vertical direction in accordance with the driving of the motor 52
- the bending part 42 is bent in the left and right directions in accordance with the driving of the second motor 54.
- the operation direction and the bending direction of the bending part 42 can be matched.
- the direction operator 58 has two directions, that is, the first direction.
- the bending portion 42 it is also possible to match the bending portion 42 to be bent in the first direction and the second direction corresponding to the operation direction and the second operation direction.
- Each point of the first and second motors 52 and 54 and the bending part 42 may be connected to a power transmission means 70 such as a wire.
- the first motor 52 may include a first wire 72.
- the second motor 54 may be connected to two points of the bending part 42 by the second wire 74.
- the first wire 72 is connected to the first motor 52. May be connected to two upper and lower points of the bending part 42, and the second wire 74 connected to the second motor 54 may be connected to two left and right points of the bending part 42. Further, when the first motor 52 corresponds to the bending in the first direction and the second motor 54 corresponds to the bending in the second direction, the first wire 72 moves in the first direction of the bending part 42.
- the second wire 74 may be connected to two points that face each other, and the second wire 74 may be connected to two points that face each other in the second direction of the bending part 42.
- the driving unit 50 may have a 'hold' function and a 'release' function.
- the hold function is a function that maintains the bent portion 42 in a curved state when the direction manipulator 58 is not touched.
- the bending part 42 is operated to the operation.
- the release function may be implemented in response to the hold function.
- the release function is a function for automatically returning the shaft 40 bent to a predetermined state by operating a release operator 60 such as a release button.
- the release operator 60 serves to drive the motor unit such that the bending unit 42 is restored to an initial state.
- the release operator 60 may be implemented in a separate button form, or as a direction operator 58 when the joystick is operated up, down, left, or right by adding a pressing function to the joystick, and when the joystick is pressed, the release operator 60. It can be implemented in various ways, such as to operate as 60.
- FIG. 6 is a view showing a reaction force blocking unit according to an embodiment of the present invention
- Figure 7 is a view showing the operating state of the release operator according to an embodiment of the present invention. 6 and 7, the shaft 40, the bending part 42, the driving part 50, the direction operator 58, the release operator 60, the first wire 72, and the second wire 74. , Reaction force block 76, worm 78, worm wheel 80 is shown.
- the reaction force blocking part 76 is installed in the middle of the power transmission means 70.
- the gears such as the worm gears 78 and 80, are interposed in the middle of the drive part 50 from the driving part 50 toward the bending part 42 (forward direction).
- the driving force is transmitted, but in reverse, the reaction force due to the bending from the bending part 42 to the driving part 50 side (reverse direction) may be prevented from being directly transmitted to the motor.
- the bending portion 42 is provided between the first and second wires 72 and 74 and the bending portion 42 with a reaction force blocking portion 76 such as a worm gear 78 and 80 interposed therebetween.
- the reaction force to be restored to the original position can be prevented from being transmitted directly to the first and second motors 52 and 54 so that unnecessary load is not applied to the motor.
- the force generated and transmitted from the motor does not directly act on the bending part 42, but the motor rotates the worm 78, and accordingly, the worm wheel 80 meshed with the worm 78.
- This rotation causes tension to act at each point of the bending part 42.
- the reaction force due to the bending of the bending part 42 may be prevented from being directly transmitted to the motor in reverse.
- the release operator 60 is installed in the driving unit 50 to drive the motor unit so that the bending unit 42 bent to a predetermined state is restored to an initial state, so that the curved shaft 40 is returned to its original state.
- the release function may be implemented.
- the release button may be operated to electronically return the shaft 40, and the release function may be implemented by mechanically separating the reaction force blocking unit 76.
- the worm 78 is operated by operating the release operator 60 (see 'B' in FIG. 7).
- the shaft 60 may be caused by the reaction force caused by bending the bending portion 42, that is, the elastic restoring force of the bending portion 42. Can be returned to its original position.
- FIG. 8 is a view showing a state in which the shaft is coupled to the handle detachably according to an embodiment of the present invention. Referring to FIG. 8, the handle 30, the rotation operator 32, the shaft 40, the drive unit 50, the power transmission means 70, the worm 78, and the worm wheel 80 are shown.
- the shaft 40 portion may be made disposable, and the handle 30 portion may be manufactured in a reusable structure. That is, by separately manufacturing the shaft portion 40 and the handle portion 30, 40 ', but configured to be removable from each other, the shaft portion 40 once used as needed, discarded and the new shaft handle 30 again ) To be reused.
- the power transmission means 70 is separated into a first power transmission means 70 built in the shaft 40 side and a second power transmission means 70 'built in the handle 30 side. And the first power transmission means 70 in the process of coupling the shaft 40 to the handle 30 by forming coupling mechanisms corresponding to each other at each end of the separated power transmission means 70 and 70 '. ) And the second power transmission means 70 ′ may be connected to each other.
- the shaft 40 is formed.
- the wires may be coupled and connected to each other.
- the reaction force blocking portions 76 such as the worm gears 78 and 80 are installed in the shafts 40 and 40 ′
- the worm 78 is provided on one side 40 ′ of the separated shaft.
- the other side 40 is provided with a worm wheel 80 engaged with the worm 78, so that the power transmission means 70 and 70 ′ naturally join each other due to the worm gear being engaged in the separation and coupling process of the shaft 40. You can also make connections.
- the instrument according to the present embodiment does not necessarily have to separate the shaft from the portion adjacent to the handle, and by separating the middle portion of the shaft by connecting a part of the handle to the other part by configuring the shaft tip to be detachable from each other
- the shaft tip may be made disposable, and the handle and the shaft portion connected to the handle may be manufactured in a reusable structure.
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- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
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Abstract
Description
Claims (17)
- 핸들과;상기 핸들에 결합되며, 일방향으로 연장된 샤프트(shaft)와;상기 샤프트의 일부에 형성되는 벤딩(bending)부와;상기 핸들에 장착되며, 소정의 구동력을 생성하는 구동부와;상기 구동부에서 생성된 구동력을 상기 벤딩부에 전달하여 상기 벤딩부가 구부러지도록 하는 동력전달 수단을 포함하는 수술용 인스트루먼트.
- 제1항에 있어서,상기 벤딩부는 스네이크(snake) 타입의 관절을 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제1항에 있어서,상기 샤프트의 말단부는, 상기 핸들에 대한 사용자 조작에 따라 수술에 필요한 동작을 하도록 작동되는 이펙터(effector)가 결합되고,상기 벤딩부는 상기 이펙터에 인접하여 형성되며, 상기 벤딩부의 굴곡에 따라 상기 이펙터가 향하는 방향이 변환되는 것을 특징으로 하는 수술용 인스트루먼트.
- 제3항에 있어서,상기 이펙터는 서로 맞물린 한 쌍의 죠(jaw)를 포함하고,상기 핸들에는 상기 이펙터에 연결되어 상기 이펙터가 상기 샤프트의 연장 방향을 중심으로 회전하도록 하는 회전 조작자와,상기 한 쌍의 죠에 연결되어 상기 한 쌍의 죠가 개폐되도록 하는 그립 조작자가 결합되는 것을 특징으로 수술용 인스트루먼트.
- 제1항에 있어서, 상기 구동부는,모터부와;상기 모터부의 구동에 소요되는 전력을 공급하는 전원부와;상기 모터부의 구동을 제어하는 컨트롤러를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제5항에 있어서,상기 전원부는 상기 핸들 내에 수용되는 배터리(battery)를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제5항에 있어서,상기 모터부는 상기 핸들의 외부에 위치하며, 구동력 전달 수단에 의해 상기 핸들에 연결되는 것을 특징으로 하는 수술용 인스트루먼트.
- 제5항에 있어서,상기 컨트롤러는, 그 조작 방향에 상응하여 상기 벤딩부가 구부러지도록 상기 모터부의 구동을 제어하는 방향 조작자를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제8항에 있어서,상기 구동부는, 상기 방향 조작자가 소정의 방향으로 조작된 경우, 상기 벤딩부가 그 조작에 상응하여 구부러진 상태로 유지되도록 상기 모터부를 구동시키는 홀드(hold) 기능을 구비하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제8항에 있어서,상기 구동부는, 상기 벤딩부가 초기 상태로 복원되도록 상기 모터부의 구동을 제어하는 릴리즈(release) 조작자를 더 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제8항에 있어서,상기 방향 조작자는 2 이상의 방향으로 조작되며,상기 모터부는 상기 방향 조작자의 제1 조작 방향에 상응하여 구동되는 제1 모터와, 상기 방향 조작자의 제2 조작 방향에 상응하여 구동되는 제2 모터를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제11항에 있어서,상기 벤딩부는 상기 제1 모터의 구동에 따라 제1 방향으로 구부러지며, 상기 제2 모터의 구동에 따라 제2 방향으로 구부러지는 것을 특징으로 하는 수술용 인스트루먼트.
- 제12항에 있어서,상기 동력전달 수단은, 상기 제1 모터와 상기 벤딩부의 상기 제1 방향으로 서로 대향하는 2점을 연결하는 제1 와이어와, 상기 제2 모터와 상기 벤딩부의 상기 제2 방향으로 서로 대향하는 2점을 연결하는 제2 와이어를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제13항에 있어서,상기 동력전달 수단은, 상기 제1 와이어와 상기 벤딩부 사이에 개재되어, 상기 벤딩부가 원래의 위치로 복원되려는 반력이 상기 제1 모터로 전달되는 것을 차단하는 반력 차단부를 더 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제14항에 있어서,상기 반력 차단부는 웜기어(worm gear)를 포함하는 것을 특징으로 하는 수술용 인스트루먼트.
- 제14항에 있어서,상기 웜기어는 웜과 상기 웜에 치합되는 웜휠을 포함하며,상기 구동부에 구비되는 릴리즈 조작자의 조작에 상응하여 상기 웜은 상기 웜휠로부터 분리되는 것을 특징으로 하는 수술용 인스트루먼트.
- 제1항에 있어서,상기 샤프트는 상기 핸들에 탈착 가능하도록 결합되고, 상기 동력전달 수단은 상기 샤프트에 내장되는 제1 동력전달 수단과, 상기 핸들에 내장되는 제2 동력전달 수단으로 이루어지며, 상기 샤프트가 상기 핸들에 결합됨에 따라 상기 제1 동력전달 수단과 상기 제2 동력전달 수단은 서로 연결되는 것을 특징으로 하는 수술용 인스트루먼트.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US13/254,679 US20120004648A1 (en) | 2009-03-06 | 2010-03-03 | Surgical instrument |
CN201080010300.8A CN102341049B (zh) | 2009-03-06 | 2010-03-03 | 手术用器械 |
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Application Number | Priority Date | Filing Date | Title |
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KR10-2009-0019072 | 2009-03-06 | ||
KR1020090019072A KR20100100278A (ko) | 2009-03-06 | 2009-03-06 | 수술용 인스트루먼트 |
Publications (2)
Publication Number | Publication Date |
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WO2010101401A2 true WO2010101401A2 (ko) | 2010-09-10 |
WO2010101401A3 WO2010101401A3 (ko) | 2010-12-09 |
Family
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PCT/KR2010/001314 WO2010101401A2 (ko) | 2009-03-06 | 2010-03-03 | 수술용 인스트루먼트 |
Country Status (4)
Country | Link |
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US (1) | US20120004648A1 (ko) |
KR (1) | KR20100100278A (ko) |
CN (1) | CN102341049B (ko) |
WO (1) | WO2010101401A2 (ko) |
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JP6081309B2 (ja) * | 2013-07-24 | 2017-02-15 | オリンパス株式会社 | 医療用マニピュレータ |
KR101584766B1 (ko) | 2014-04-24 | 2016-01-12 | 주식회사 리브스메드 | 수술용 인스트루먼트 |
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Also Published As
Publication number | Publication date |
---|---|
WO2010101401A3 (ko) | 2010-12-09 |
US20120004648A1 (en) | 2012-01-05 |
CN102341049B (zh) | 2014-03-12 |
CN102341049A (zh) | 2012-02-01 |
KR20100100278A (ko) | 2010-09-15 |
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