CN-115153675-B - Asymmetric rolling joint device of surgical instrument

Abstract

The present invention relates to an asymmetric roll joint device for a surgical instrument, and more particularly, to an asymmetric roll joint device for a surgical instrument in which contact roll surfaces of opposing joint links are formed asymmetrically to increase traction. The asymmetric rolling joint device of the surgical instrument is characterized by comprising a first joint connecting rod part and a second joint connecting rod part, wherein the first joint connecting rod part is used for forming a joint of the surgical instrument, the second joint connecting rod part is in rolling contact with the first joint connecting rod part, a contact rolling surface of the first joint connecting rod part and the second joint connecting rod part, which are in rolling contact with each other, is formed asymmetrically, and compared with symmetry, traction force is relatively increased.

Inventors

• Quan Dongxiu
• An Zhengdao
• JIN JUNHUAN
• LIU ZAIMIN
• Jin Hanlv
• LI DONGJIE
• LI RUISHENG
• Bai Dongxun

Assignees

• 逸吉恩竣股粉公司
• 韩国科学技术院

Dates

Publication Date

20260508

Application Date

20210819

Priority Date

20210406

Claims (9)

1. 1. An asymmetric rolling joint device of a surgical instrument is characterized in that, Comprising the following steps: A first articulation link portion for forming an articulation of the surgical instrument; a second joint connecting rod part which is in rolling contact with the first joint connecting rod part, The contact rolling surface of the first joint connecting rod part and the second joint connecting rod part which are in rolling contact with each other is asymmetrically formed, and compared with the contact rolling surface which is symmetrically formed, the contact rolling surface which is asymmetrically formed relatively increases traction force; The first and second joint link sections include respectively: a first rolling surface formed on one side with reference to a virtual center line of the joint link; a second rolling surface formed on the other side with the center line as a reference; the first drive wire through hole and the second drive wire through hole are respectively arranged at two sides of the virtual center line of the first joint connecting rod part and the second joint connecting rod part, so that the drive wires pass through; the contact rolling surface is asymmetrically formed by the first rolling surface and the second rolling surface; The first rolling surface is formed by a portion of a circle formed at a first radius and a first tangent line that meets the portion of the circle formed at the first radius, The second rolling surface is formed by a part of a circle formed at a second radius and a second tangent line connected with the part of the circle formed at the second radius, The first radius and the second radius have different values, and the contact rolling surface is asymmetrically formed.
2. 2. The asymmetrical rolling joint device of a surgical instrument according to claim 1, wherein a height of each of the drive line through holes formed in the contact rolling surface is changed to increase traction force together with the asymmetrical contact rolling surface.
3. 3. The asymmetrical rolling joint device of a surgical instrument of claim 2, wherein the radius of the first rolling surface has a relatively larger value than the radius of the second rolling surface, the rolling surfaces being asymmetrically formed.
4. 4. The asymmetrical rolling joint device of a surgical instrument according to claim 2, wherein the circle formed with the radius of the second rolling surface as a reference is a circle inscribed with the circle formed with the radius of the first rolling surface as a reference.
5. 5. The asymmetric roll joint device of a surgical instrument as claimed in claim 2, wherein, The first drive line through hole and the second drive line through hole are respectively formed on the first rolling surface and the second rolling surface, The first driving wire through hole has a relatively small value compared to the second driving wire through hole, and the rolling surface is asymmetrically formed.
6. 6. The asymmetric roll joint device of a surgical instrument as claimed in claim 2, wherein, The first diameter has a relatively larger value than the second diameter, The slope of the second tangent line has a relatively larger value than the slope of the first tangent line, and the rolling surface is asymmetrically formed.
7. 7. The asymmetric roll joint device of a surgical instrument as claimed in claim 2, wherein, The first drive line through hole and the second drive line through hole are respectively formed on the first tangent line and the second tangent line, The first driving wire through hole has a relatively small value compared to the second driving wire through hole, and the rolling surface is asymmetrically formed.
8. 8. The asymmetric roll joint device of a surgical instrument as claimed in claim 2, wherein, The first drive line through hole is formed at a tangent line contacting a part of a circle formed by the first radius, The second drive line through hole is formed in a part of a circle formed by the second radius, The first driving wire through hole has a relatively small value compared to the second driving wire through hole, and the rolling surface is asymmetrically formed.
9. 9. The asymmetric roll joint device of a surgical instrument as claimed in claim 2, wherein, The first drive line through hole is formed in a part of a circle formed by the first radius, The second drive line through hole is formed at a tangent line contacting a part of a circle formed by the second radius, The first driving wire through hole has a relatively large value in terms of a formation height thereof compared to that of the second driving wire through hole, and the rolling surface is asymmetrically formed.

Description

Asymmetric rolling joint device of surgical instrument Technical Field The present invention relates to an asymmetric roll joint device for a surgical instrument, and more particularly, to an asymmetric roll joint device for a surgical instrument in which contact roll surfaces of opposing joint links are formed asymmetrically to increase traction. Background If it is desired to draw, suture, and resect tissue in a narrow and curved human organ, a small and flexible surgical instrument with multiple degrees of freedom is required. When the diameter of a surgical instrument is reduced in order to manufacture a flexible surgical instrument having multiple degrees of freedom, the diameter of a driving wire for driving a joint is also reduced, and there is a problem in that traction force for each degree of freedom of the surgical instrument is reduced. In general, in actual surgery, as shown in fig. 2, a large traction force is mainly required for a first direction of the surgical instrument, and a traction force in a second direction opposite to the first direction is required to be relatively lower than the first direction in terms of an increase in force. Thus, rather than requiring a large traction force on the surgical instrument in all directions, the direction of the force may be different or determined for the purpose of the procedure than if a relatively large traction force were required. As described above, if a joint suitable for a surgical instrument requiring a relatively large traction force is to be manufactured, there is a problem that the conventional symmetrical joint cannot be used as shown in fig. 1. Prior art literature Patent literature (Patent document 0001) KR 10-1909041 Disclosure of Invention Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to asymmetrically design a rolling joint having a symmetrical shape for a conventional flexible joint, and to provide an invention capable of increasing traction force in a desired direction. However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art to which the present invention pertains from the following descriptions. The above object of the present invention can be achieved by providing an asymmetrical roll joint device for a surgical instrument, comprising a first joint link part for forming a joint of the surgical instrument, and a second joint link part in rolling contact with the first joint link part, wherein a contact rolling surface where the first joint link part and the second joint link part are in rolling contact with each other is formed asymmetrically, and traction force is relatively increased compared to symmetry. The height of each drive line through hole formed in the rolling surface is changed, and the traction force is increased together with the asymmetrical rolling surface. The joint link rod includes a first rolling surface formed on one side with respect to a virtual center line of the joint link rod, a second rolling surface formed on the other side with respect to the center line and having a value different from a radius of the rolling surface, and a first drive line through hole and a second drive line through hole provided on both sides so that the drive line passes through. Also, the radius of the first rolling surface has a relatively larger value than the radius of the second rolling surface, and the rolling surfaces are asymmetrically formed. The circle formed based on the radius of the second rolling surface is a circle inscribed in the circle formed based on the radius of the first rolling surface. The height of the first drive line through hole is relatively smaller than that of the second drive line through hole, and the rolling surface is formed asymmetrically. The joint link rod includes a first rolling surface formed on one side with respect to a virtual center line of the joint link rod, a second rolling surface formed on the other side with respect to the center line, and a first drive line through hole and a second drive line through hole provided on both sides so that the drive lines pass through, and the contact rolling surfaces are formed asymmetrically with respect to the first rolling surface and the second rolling surface. And, as a first embodiment, The radius of the first rolling surface and the radius of the second rolling surface have different values, and the contact rolling surface is asymmetrically formed. Also, the radius of the first rolling surface has a relatively larger value than the radius of the second rolling surface, and the rolling surfaces are asymmetrically formed. The circle formed based on the radius of the second rolling surface is a circle inscribed in the circle formed based on the radius of the first rolling surface. The first drive line through hole and the second drive l