KR-20260066963-A - Detachable minimally invasive surgical device for steering a gripper

Abstract

According to one embodiment of the technical concept of the present invention, a detachable surgical instrument for steering a gripper may include: a base plate; a movable rotary gear connected to the base plate by a universal joint; a housing fixed to the base plate and having a through groove formed therein to induce movement of the movable rotary gear moving around the universal joint; at least one housing outer gear rotatably connected to the outer surface of the housing and rotating in engagement with the movable rotary gear when the movable rotary gear moves along the through groove of the housing and makes contact; at least one rotational transmission gear rotatably connected to the base plate and rotating in engagement with the at least one housing outer gear; at least one rotational transmission part rotatably connected to the base plate and rotating by receiving the rotational motion of the at least one rotational transmission gear; and at least one wire winding roller coaxially connected to the at least one rotational transmission part, having wires wound around its outer surface, and the wires being wound or unwound by rotation.

Inventors

• 김기영
• 차효정
• 권오원

Assignees

• 한국기계연구원

Dates

Publication Date

20260512

Application Date

20241105

Claims (20)

1. In a surgical instrument for minimally invasive surgery that is connected to a gripper and steers the gripper by connecting it to a wire, Base plate; A movable rotary gear connected to a base plate by a universal joint; A housing fixed on a base plate and having a through groove formed therein to induce movement of a movable rotary gear moving around a universal joint; At least one housing outer gear rotatably connected to the outer surface of the housing, and which rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact; At least one rotational transmission gear rotatably connected to a base plate and rotated by engaging with at least one housing external gear; At least one rotational transmission part rotatably connected to a base plate and rotating by receiving the rotational motion of the at least one rotational transmission gear; and A surgical device characterized by including at least one wire winding roller that is coaxially connected to the above-mentioned at least one rotary transmission part, has wires wound around its outer surface, and winds or unwinds the wires by rotation.
2. In claim 1, the surgical device A sliding part connected to the lower surface of a base plate so as to be slidable, with a finger hook formed on the movable rotating gear side and a vertical connection formed on the opposite side; A wire linear motion part connected to a wire and connected to a vertical connection part, capable of performing linear motion and pulling the wire; and A surgical device characterized by further including a handle portion fixed to a base plate so that a finger hook portion can slide.
3. In Article 1, The movable rotary gear is A movable bar connected to a universal joint on a base plate and moving along a through groove of a housing; A rotating gear section rotatably connected to the end of a moving bar; It includes a rotary gear knob that is fixed to the rotary gear part to rotate together with the rotary gear part and rotates the rotary gear part, A surgical device characterized by a rotating gear portion meshing with at least one housing outer gear to rotate the at least one housing outer gear.
4. In Paragraph 3, At the end of the through groove of the housing, the rotating gear part engages with the at least one external gear of the housing, and A spring groove having a concave shape is formed at a position spaced a predetermined distance from the end of the through groove, and A surgical device characterized by a wave spring positioned in the spring groove to support a movable bar positioned at the end of the through groove.
5. In Paragraph 3, The above-mentioned at least one rotational transmission gear includes a worm wheel portion that rotates on a base plate around an axis perpendicular to the base plate, and The above at least one housing external gear is A rotatable body rotatably connected to the outer surface of the housing; A rotating gear section located at the first end of the rotating body and meshing with a movable rotating gear; and A surgical device characterized by including a worm gear portion located at the second end of a rotating body and meshing with a worm wheel portion of at least one rotational transmission gear.
6. In Article 1, A surgical device characterized in that a first wire and a second wire are each wound on at least one wire winding roller, wherein the first wire is wound clockwise and the second wire is wound counterclockwise.
7. In Article 1, The above at least one housing external gear is A left housing outer gear rotatably connected to the left outer surface of the housing, and which rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact; and It includes a right housing outer gear that is rotatably connected to the right outer surface of the housing and rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact. The above at least one rotational transmission gear is, A left rotary transmission gear rotatably connected to a base plate and rotated by meshing with an external gear of the left housing; and It includes a right rotational transmission gear that is rotatably connected to a base plate and rotates by meshing with an external gear of the right housing, and The above at least one rotational transmission part is, A left rotational transmission part rotatably connected to a base plate and rotating by receiving the rotational motion of a left rotational transmission gear; and It includes a right rotational transmission part that is rotatably connected to a base plate and rotates by receiving the rotational motion of a right rotational transmission gear, and The above at least one wire winding roller A left wire winding roller coaxially connected to a left rotary transmission unit, on which wires are wound around its outer surface, and on which the wires are wound or unwound by rotation; and A surgical device characterized by including a right wire winding roller that is coaxially connected to a right rotary transmission part, has wires wound around its outer surface, and winds or unwinds the wires by rotation.
8. In Article 7, The through groove of the housing is A vertical through-groove extending vertically and located in the center; Horizontal through-groove extending left and right from the top of the vertical through-groove; A left vertical through-groove extending vertically downward from the left end of the horizontal through-groove; and It includes a right vertical through-groove extending vertically downward from the right end of the horizontal through-groove, When the movable rotary gear is positioned at the lower end of the left vertical through-groove, the movable rotary gear meshes with the left housing external gear and rotates, and A surgical device characterized by the fact that when a movable rotary gear is positioned at the lower end of a right vertical through-groove, the movable rotary gear rotates by engaging with an external gear of the right housing.
9. In Article 8, A left spring groove having a concave shape in the direction of the vertical through-groove is formed at a position spaced by a predetermined height from the lower end of the left vertical through-groove, and A right spring groove having a concave shape in the direction of the vertical through-groove is formed at a position spaced by a predetermined height from the lower end of the right vertical through-groove, and A left wave spring is positioned in the left spring groove to support a movable rotary gear located at the lower end of the left vertical through groove, and A surgical device characterized by having a right wave spring positioned in the right spring groove to support a movable rotary gear positioned at the lower end of the right vertical through groove.
10. In Article 8, The left outer surface of the housing is connected to the left housing external gear, and The right housing outer gear is connected to the right outer surface of the housing, and The left outer surface of the housing is formed to be parallel to the movable rotating gear located at the lower end of the left vertical through-groove, and A surgical device characterized by the right outer surface of the housing being formed parallel to a movable rotary gear located at the lower end of the right vertical through-groove.
11. In Article 10, The movable rotary gear is A movable bar connected to a universal joint on a base plate; A rotating gear section rotatably connected to the end of a moving bar; It includes a rotary gear knob that is fixed to the rotary gear part to rotate together with the rotary gear part and rotates the rotary gear part, When the rotating gear part is positioned at the lower end of the left vertical through-groove, the rotating gear part meshes with the outer gear of the left housing and rotates, and A surgical device characterized in that when a rotating gear part is positioned at the lower end of a right vertical through-groove, the rotating gear part rotates by engaging with an external gear of the right housing.
12. In Article 10, The left rotational transmission gear includes a left worm wheel section that rotates on a base plate around an axis perpendicular to the base plate, and The right rotational transmission gear includes a right worm wheel section that rotates on a base plate around an axis perpendicular to the base plate, and The external gear on the left housing is A left rotating body rotatably connected to the left outer surface of the housing; A left rotating gear section located at the first end of the left rotating body and meshing with a movable rotating gear; and It includes a left worm gear section located at the second end of the left rotating body and meshing with the left worm wheel section of the left rotating transmission gear, The external gear on the right housing is A right rotating body rotatably connected to the right outer surface of the housing; A right rotating gear section located at the first end of the right rotating body and meshing with a movable rotating gear; and A surgical device characterized by including a right worm gear portion located at the second end of a right rotating body and meshing with the right worm wheel portion of a right rotating transmission gear.
13. In Article 7, The left first wire and the left second wire are each wound on the left wire winding roller, with the left first wire being wound clockwise and the left second wire being wound counterclockwise. A surgical device characterized in that a right first wire and a right second wire are each wound on a right wire winding roller, wherein the right first wire is wound clockwise and the right second wire is wound counterclockwise.
14. A surgical device operating unit for minimally invasive surgery coupled to a replaceable wire drive unit comprising a wire linear motion unit having a wire installed for steering a joint portion of a gripper and at least one wire winding roller, A base plate coupled to the lower part of a replaceable wire drive unit; A movable rotary gear connected to a base plate by a universal joint; A housing fixed on a base plate and having a through groove formed therein to induce movement of a movable rotary gear moving around a universal joint; At least one housing outer gear rotatably connected to the outer surface of the housing, and which rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact; At least one rotational transmission gear rotatably connected to a base plate and rotated by engaging with at least one housing external gear; and A surgical device operating unit characterized by including at least one rotational transmission unit that is rotatably connected to a base plate and receives the rotational motion of the at least one rotational transmission gear and rotates to rotate the at least one wire winding roller.
15. In claim 14, the surgical device operating part A sliding part connected to the lower surface of a base plate so as to be slidable, with a finger hook formed on the movable rotating gear side and a vertical connecting part formed on the opposite side that is connected to a wire linear motion part; and A surgical device operating part characterized by further including a handle part fixed to a base plate so that a finger hook part slides.
16. In Article 14, The movable rotary gear is A movable bar connected to a universal joint on a base plate and moving along a through groove in the housing; A rotating gear section rotatably connected to the end of a moving bar; It includes a rotary gear knob that is fixed to the rotary gear part to rotate together with the rotary gear part and rotates the rotary gear part, A surgical device operating part characterized by a rotating gear part meshing with at least one housing external gear to rotate the at least one housing external gear.
17. In Article 16, At the end of the through groove of the housing, the rotating gear part engages with the at least one external gear of the housing, and A spring groove having a concave shape is formed at a position spaced a predetermined distance from the end of the through groove, and A surgical device operating part characterized by a wave spring positioned in the spring groove to support a movable bar positioned at the end of the through groove.
18. In Article 16, The above-mentioned at least one rotational transmission gear includes a worm wheel portion that rotates on a base plate around an axis perpendicular to the base plate, and The above at least one housing external gear is A rotatable body rotatably connected to the outer surface of the housing; A rotating gear section located at the first end of the rotating body and meshing with a movable rotating gear; and A surgical device operating part characterized by including a worm gear part located at the second end of a rotating body and meshing with a worm wheel part of at least one rotational transmission gear.
19. In Article 14, The above at least one housing external gear is A left housing outer gear rotatably connected to the left outer surface of the housing, and which rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact; and It includes a right housing outer gear that is rotatably connected to the right outer surface of the housing and rotates by engaging with the movable rotating gear when the movable rotating gear moves along the through groove of the housing and makes contact. The above at least one rotational transmission gear is, A left rotary transmission gear rotatably connected to a base plate and rotated by meshing with an external gear of the left housing; and It includes a right rotational transmission gear that is rotatably connected to a base plate and rotates by meshing with an external gear of the right housing, and The above at least one rotational transmission part is, A left rotational transmission unit rotatably connected to a base plate and receiving rotational motion from a left rotational transmission gear to rotate and rotate the left wire winding roller; and A surgical device operating unit characterized by including a right rotational transmission unit that is rotatably connected to a base plate and receives the rotational motion of a right rotational transmission gear to rotate and rotate, thereby rotating a right wire winding roller.
20. In Article 19, The through groove of the housing is A vertical through-groove extending vertically and located in the center; Horizontal through-groove extending left and right from the top of the vertical through-groove; A left vertical through-groove extending vertically downward from the left end of the horizontal through-groove; and It includes a right vertical through-groove extending vertically downward from the right end of the horizontal through-groove, When the movable rotary gear is positioned at the lower end of the left vertical through-groove, the movable rotary gear meshes with the left housing external gear and rotates, and A surgical device operating part characterized in that when a movable rotary gear is positioned at the lower end of a right vertical through-groove, the movable rotary gear rotates by engaging with an external gear of the right housing.

Description

Detachable minimally invasive surgical device for steering a gripper The present invention relates to a detachable surgical instrument for minimally invasive surgery for steering a gripper, and more specifically, to a detachable surgical instrument for minimally invasive surgery that steers a gripper by moving a single movable rotary gear along a plurality of paths to mesh with other rotary transmission gears to transmit power. Conventional endoscopic instruments (forceps, scissors, snares, etc.) inserted into the working channel of endoscopic camera equipment present a problem in that the grippers at the tips of the instruments cannot be steered up, down, left, or right, making complex surgical operations difficult. Steering of the gripper is essential for deeper insertion through complex pathways inside the human body, such as in the bronchi. Although it is expected that complex endoscopic surgical operations would become possible if endoscopic instruments implemented joints at the gripper tips and possessed a mechanical hand interface structure capable of driving them, endoscopic instruments capable of steering in all directions (up, down, left, and right) have not yet been commercialized because they require flexible shafts and have very small diameters. Many inventors recognize this problem and are researching and developing surgical instruments that allow for easy manual operation of articulated grippers capable of up-down and left-right steering, applicable not only to endoscopic instruments but also to laparoscopic instruments; however, satisfactory results have not been achieved to date. A brief description of each drawing is provided to help to better understand the drawings cited in this specification. FIG. 1 is a drawing illustrating a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention. FIG. 2 is a drawing illustrating a detached state of a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention. FIGS. 3 to 6 are drawings of a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention, viewed from different directions in a separated state. FIG. 7 is a drawing illustrating a movable rotary gear of a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention. FIG. 8 is a drawing illustrating a through groove of the housing of a detachable minimally invasive surgical instrument according to the technical concept of the present invention. The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that the present invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. In describing the present invention, if it is determined that a detailed description of related prior art may unnecessarily obscure the essence of the present invention, such detailed description is omitted. Additionally, numbers used in the description of this specification (e.g., 1st, 2nd, etc.) are merely identification symbols to distinguish one component from another. In addition, when a component is described in this specification as being "connected" or "connected" to another component, it should be understood that the component may be directly connected to or directly connected to the other component, but unless otherwise specifically stated, it may also be connected or connected through another component in between. In addition, components expressed as '~part' in this specification may consist of two or more components combined into a single component, or a single component may be divided into two or more components according to more detailed functions. Furthermore, each component described below may additionally perform some or all of the functions performed by other components in addition to the primary function it is responsible for, and it goes without saying that some of the primary functions performed by each component may be exclusively performed by other components. Hereinafter, embodiments based on the technical concept of the present invention will be described in detail in turn. FIG. 1 is a drawing illustrating a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention. FIG. 2 is a drawing illustrating a detachable surgical instrument for minimally invasive surgery according to the technical concept of the present invention in a separated state. FIG. 3 to 6 are drawings of a detachable surgical instrument for minimally invasive surgery according to the technical concept of t