WO2025174106A1 - Surgical instrument feeding device and surgical device - Google Patents

Abstract

A surgical instrument feeding device according to an embodiment of the present invention includes: a holder for releasably gripping a surgical instrument inserted into a human body along a first axial direction; a force sensing unit connected to the holder to sense a force acting on the surgical instrument in the first axial direction; and a driving unit for moving the force sensing unit along the first axial direction.

Description

Surgical instrument feeding device and surgical device

The present invention relates to a surgical instrument feeding device and a surgical device including the same.

Endoscopic surgery is a method of performing surgery by inserting an endoscope equipped with a miniature camera into the body and observing the lesion area enlarged on a monitor while using surgical tools attached to the endoscope, such as a laser or basket.

Endoscopic surgery is one of the most popular surgical methods because it allows for the identification and treatment of tissue lesions without making incisions in the body, making the surgery relatively simple and allowing patients to recover quickly after surgery.

As one of the conventional endoscopic surgical devices, the surgical device disclosed in U.S. Patent Publication No. US 2024/0001541 includes an endoscope feeding device for inserting an endoscope equipped with a miniature camera and a working tube for surgical tools such as a basket into the human body.

The above feeding device feeds the endoscope into the human body using a pair of rollers that rotate in lockstep with each other under the rotational power of a motor.

Although conventional feeding devices like this have the advantage of being able to feed continuously, they have the disadvantage of being difficult to sense the minute catch load when inserting an endoscope, and also being difficult to make into disposable or consumable products considering the high manufacturing cost of parts used, such as motors.

In addition, conventional feeding devices have the disadvantage of making it difficult to implement power-free gripping because they require continuous power supply to the motor when the endoscope position needs to be fixed for surgery after insertion.

The present invention aims to solve at least one of the problems of the above-mentioned prior art.

One embodiment of the present invention aims to provide a surgical instrument feeding device capable of sensing a force applied in the insertion direction when an endoscope is inserted, and the surgical device.

In addition, one embodiment of the present invention aims to provide a surgical instrument feeding device and the surgical device that can easily separate and remove only a portion that is contaminated after a single use and is not suitable for reuse from the remaining portion.

In addition, one embodiment of the present invention aims to provide a surgical instrument feeding device and surgical device capable of fixing the position of an endoscope inserted into a human body in a non-powered gripping manner.

A surgical instrument feeding device according to one embodiment of the present invention comprises: a holder that is disposed on one side of a surgical instrument arranged to be inserted into a human body along a first axial direction and that releasably grips the surgical instrument; a force sensing unit that is connected to the holder and moves the holder in the first axial direction as it moves along the first axial direction and senses a force acting on the surgical instrument in the first axial direction; and a driving unit that moves the force sensing unit along the first axial direction.

In at least one embodiment of the present invention, the force sensing unit includes a sensor frame that is moved along the first axis direction by the driving unit, a force sensor installed on the sensor frame, a connection/transmission lever that is hinge-connected to the sensor frame, a connection unit connected to the holder, and a transmission unit that transmits the force to the force sensor.

In at least one embodiment of the present invention, the force sensor comprises a load cell.

In at least one embodiment of the present invention, the load cell is pre-compressed when the force is in a no-load state.

In at least one embodiment of the present invention, the force sensing unit further includes a spring that maintains the load cell in the compressed state.

In at least one embodiment of the present invention, the transmission portion comprises a ball probe, and the load cell comprises a probe cup in non-fixed contact with the ball probe.

In at least one embodiment of the present invention, the force sensing unit further includes a stopper that limits a compressive load applied to the force sensor by the connection/transmission lever to a set value or less.

In at least one embodiment of the present invention, the force sensing unit is detachably connected to the holder.

In at least one embodiment of the present invention, the holder includes a holder frame connected to the force sensing unit and including a first finger, and a link assembly including a second finger hingedly connected to the holder frame.

In at least one embodiment of the present invention, the link assembly further includes a release rod that slides through the holder frame, a first connecting rod hingedly connected to the release rod, a rotary lever including a first lever hingedly connected to the holder frame and hingedly connected to the first connecting rod, and a second lever positioned on an opposite side of the first lever with respect to a hinge point of the hinge connection, and a second connecting rod hingedly connected to the second lever and the second finger, respectively.

In at least one embodiment of the present invention, the holder further includes a spring connected between the first connecting rod and the holder frame to maintain the posture of the link assembly while gripping the surgical instrument.

In at least one embodiment of the present invention, the holder frame includes an insertion groove, and the force sensing unit includes a connecting portion that is detachably inserted into the insertion groove.

In at least one embodiment of the present invention, the holder frame includes a pair of guides allowing penetration of the surgical instrument on both sides of the first gripping surface of the first finger.

In at least one embodiment of the present invention, the holder frame includes an opening hole that is vertically downwardly open, and at least a portion of the link assembly is positioned inside the holder frame through the opening hole.

In at least one embodiment of the present invention, the holder frame includes a first wall including the first finger, a pair of sidewalls to which the link assembly is hingedly connected, and a second wall including a first coupling portion facing the first wall and connected to the pair of sidewalls and coupled to the force sensing portion.

In at least one embodiment of the present invention, the force sensing portion further includes a second coupling portion that detachably surrounds the first coupling portion and is releasably coupled to the first coupling portion.

In at least one embodiment of the present invention, the link assembly further includes a rotary lever hingedly connected to the holder frame and including a connecting portion and a release portion, and a connecting rod hingedly connected to the connecting portion and the second finger, respectively.

In at least one embodiment of the present invention, a first hinge point of the hinge connection between the connecting portion and the connecting rod, a second hinge point of the hinge connection between the rotating lever and the holder frame, and a third hinge point of the hinge connection between the connecting rod and the second finger are arranged so that in the released state of the gripping, the first hinge point is located on one side with respect to the connection line of the second hinge point and the third hinge point, and in the gripping state of the gripping, the first hinge point is located on the opposite side with respect to the connection line.

In at least one embodiment of the present invention, the holder further includes a spring connected between the holder frame and the rotary lever to maintain the posture of the rotary lever in the grip state.

In at least one embodiment of the present invention, the force sensing unit senses a first force acting on the surgical instrument in a direction opposite to the insertion direction when the surgical instrument is inserted into the human body, and senses a second force acting on the surgical instrument in a direction opposite to the withdrawal direction when the surgical instrument is withdrawn from the human body.

In at least one embodiment of the present invention, the driving unit includes a moving bracket connected to the force sensing unit and movably installed on a rail extending along the first axial direction, a motor providing a rotational driving force, a driving pulley rotated by the motor, a timing belt transmitting the rotational force of the driving pulley to the moving bracket as a linear force along the first axial direction, and at least one roller for maintaining tension of the timing belt.

Meanwhile, a surgical device according to one embodiment of the present invention may include the surgical instrument feeding device described above.

In addition, a surgical instrument feeding method according to one embodiment of the present invention includes a step of gripping a surgical instrument arranged to be inserted into a human body along a first axial direction with a holder at a first position; a feeding step of inserting the surgical instrument into the human body by moving a force sensing unit connected to the holder along the first axial direction to a second position while maintaining the holder in a gripped state; a step of releasing the gripping of the holder with respect to the surgical instrument at the second position; a step of moving the holder from the second position to the first position while maintaining the holder in a gripped state; and a step of detecting a first force acting on the surgical instrument in the first axial direction by the force sensing unit during the feeding step.

In at least one embodiment of the feeding method of the present invention, the method further comprises: a step of gripping the surgical instrument with a holder at the second position; a step of withdrawing the surgical instrument from the human body by moving a force sensing unit connected to the holder along the first axial direction to a first position while maintaining the holder in the gripping state; a step of releasing the gripping of the holder with respect to the surgical instrument at the first position; a step of moving the holder from the first position to the second position while maintaining the holder in the released gripping state; and a step of detecting a second force acting on the surgical instrument in the first axial direction by the force sensing unit during the withdrawing step.

The surgical instrument feeding method according to one embodiment of the present invention is very similar to the method in which a doctor holds a surgical instrument from the side with the thumb and index finger and slowly pushes it into the patient's body, so that doctors can perform surgery in a familiar environment without any sense of unfamiliarity.

According to one embodiment of the present invention, since the force acting in the direction of endoscope insertion can be directly sensed in real time, safe feeding of the endoscope into the human body can be achieved, thereby enabling the doctor to perform a safe and accurate surgery.

According to one embodiment of the present invention, when the force sensed by the force sensing unit is detected to be greater than a set value, the feeding stroke of the holder can be immediately stopped or the gripping can be released, thereby preventing damage to the human body caused by the surgical instrument during surgery.

In addition, according to one embodiment of the present invention, since only the part that grips the endoscope can be separated and removed, it is possible to make the part into a disposable or consumable product.

In addition, according to one embodiment of the present invention, after inserting an endoscope into a human body, its position can be fixed by a non-powered gripping method.

Figure 1 illustrates a surgical instrument feeding device according to one embodiment of the present invention.

Figure 2 shows a state in which the gripping of the surgical instrument is released in the feeding device of Figure 1.

Fig. 3 shows a gripping state for a surgical instrument in the feeding device of Fig. 1.

Fig. 4 shows the force sensing part of the feeding device of Fig. 1.

Fig. 5 shows a surgical instrument feeding device according to another embodiment of the present invention.

Fig. 6(a) shows the holder frame of Fig. 5.

Fig. 6(b) shows a cross-sectional view of the holder frame of Fig. 6(a).

Figures 7(a) and 7(b) show the link assembly of Figure 5.

Fig. 8 shows the force sensing unit of Fig. 5.

Figures 9(a), 9(b), and 9(c) show the gripping operation process of the holder of Figure 5.

Fig. 10 illustrates an example of a driving unit for the feeding device of Fig. 5.

Figure 11 illustrates a surgical device using the feeding device of Figure 1.

Fig. 12 shows a surgical instrument being fed by alternate operation of the first feeding device and the second feeding device of Fig. 11.

Fig. 13(a) shows the feeding stroke of the first feeding device of Fig. 11, and Fig. 13(b) shows the return stroke.

The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention.

The suffixes "module" and "part" used in this specification are used only for nominal distinction between components and should not be construed as implying that they are or can be physically or chemically distinguished or separated.

Terms containing ordinal numbers, such as "first," "second," etc., may be used to describe various components, but these components are not limited by these terms. These terms may only be used in a nominal sense to distinguish one component from another, and their ordinal meaning is determined from the context of the description, not from the names.

The term "and/or" is used to include any combination of the multiple items it refers to. For example, "A and/or B" means all three cases: "A," "B," and "A and B."

When it is said that a component is "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

First, a surgical instrument feeding device according to one embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4.

Referring to FIGS. 1 and 2, the feeding device of the present embodiment includes a holder (100) and a force sensing unit (200).

The holder (100) is placed on one side of a surgical instrument (1) arranged to be inserted into the human body along the first axis direction (x), and grips the surgical instrument (1) so as to be releasable.

In this embodiment, the first axis direction (x) is the feeding and withdrawal direction of the surgical instrument (1), the second axis direction (y) is a direction horizontally orthogonal to the first axis direction (x), and the third axis direction (z) is a vertical direction, but this does not limit the embodiment of the present invention.

In addition, the surgical instrument (1) may be, for example, an endoscope. The endoscope may have a structure that includes, for example, a camera mounted at its end and provides a passageway to allow the insertion of a surgical tool (e.g., a laser, a basket, etc.), but this does not limit the embodiment of the present invention. Any elongated instrument that is flexible, long, and thin and can be inserted into the human body may be included in the surgical instrument (1) of the present embodiment.

As one embodiment, the surgical instrument (1) may be a ureteroscope inserted through the urethra to remove urinary stones.

The holder (100) includes a holder frame (110) and a link assembly (120) hinge-connected to the holder frame (110).

The holder frame (110) includes a horizontal frame (111) extending in the second axis direction (y) and a vertical frame (115) extending from the horizontal frame (111) in the third axis direction (z).

The horizontal frame (111) includes a first finger (112) at an end, and the first finger (112) includes a first gripping surface (112a) that contacts the lower surface of the surgical instrument (1) when gripping the surgical instrument (1).

In addition, the horizontal frame (111) is connected to a force sensing unit (200) described later on the opposite side of the first finger (112), and for this purpose, the horizontal frame (111) provides an insertion groove (114) extending in the second axis direction (y).

The link assembly (120) is hinge-connected at the first hinge point (113a) and the second hinge point (113b) of the horizontal frame (111), and includes a release rod (121) that slides while penetrating the through-hole (115a) of the holder frame (110) in the second axial direction (y), a first connecting rod (122) hinge-connected to the release rod (121), a first lever (123a) hinge-connected to the holder frame (110) and hinge-connected to the first connecting rod (122), and a second lever (123b) positioned on the opposite side of the first lever (123a) based on the first hinge point (113a), a second connecting rod (124) hinge-connected to the second lever (123b), and a second connecting rod (124) hinge-connected to the second lever (123b). It also includes a second finger (125) hingedly connected to the holder frame (110).

The second finger (125) includes a second gripping surface (125a) that contacts the upper surface of the surgical instrument (1) when gripping the surgical instrument (1).

The second finger (125) rotates around a hinge connection point for the horizontal frame (111), i.e., the second hinge point (113b), as one end is moved by the second connecting rod (124), thereby gripping or releasing the grip of the surgical instrument (1).

Additionally, the holder (100) includes a holder spring (130) whose one end is supported by the first connecting rod (122) and whose opposite end is supported by the vertical frame (115).

The holder spring (130) is formed to always pull the first connecting rod (122) in the second axial direction (y). For this purpose, the holder spring (130) is in a tensioned state in the gripping state of the surgical instrument (1) as shown in Fig. 1.

The surgical instrument (1) is gripped between the first gripping surface (112a) and the second gripping surface (125a) by the engagement of the first finger (112) and the second finger (125). At this time, the shape of the first gripping surface (112a) of the first finger (112) and the surrounding surfaces thereof and the shape of the second gripping surface (125a) of the second finger (125) and the surrounding surfaces thereof can be designed so that no excessive pressure is applied to the surgical instrument (1) during gripping.

The holder spring (130) pulls the first connecting rod (122), so that the posture of the link assembly (120) can be maintained while the surgical instrument (1) is gripped.

The holder (100) achieves power-free gripping, which eliminates the need for an actuator such as a motor for the gripping action of the holder (100).

Since the holder (100) is a component that becomes contaminated once it is used in surgery, it is not desirable to reuse it for another patient, and it is desirable to discard it after one use.

Therefore, it is desirable to separate and discard only the holder (100). In this case, if the actuator is included in the holder (100), it becomes a factor that increases the disposal cost, so power-free gripping is meaningful in that respect.

Hereinafter, the operation of the holder (100) of the present embodiment will be described with reference to FIGS. 2 and 3.

First, Fig. 2 shows a state in which gripping is released, and Fig. 3 shows a state in which gripping is performed.

Referring to FIG. 3, as described above, in the gripping state, the holder spring (130) pulls the first connecting rod (122) toward the vertical frame (115), thereby maintaining the posture of the link assembly (120).

To release from this gripping state, when a predetermined force (F1) is applied to the release rod (121) and pushed in the second axial direction (y), the holder spring (130) is further extended, pushing the first connecting rod (122) in the second axial direction (y), and the rotation lever (123) is rotated in the first rotation direction (r1).

By the rotation of the rotary lever (123), the second connecting rod (124) is rotated to pull and rotate the end of the second finger (125), and as the second finger (125) rotates, the gripping of the surgical instrument (1) is released.

Although not shown, it is obvious that the movement of the release rod (121) in the second axis direction (y) can be automated. For this purpose, for example, a motor and a mechanism for converting the rotational motion of the motor into linear motion, such as a cam, can be included. Here, the cam profile can be designed in consideration of the movement of the release rod (121) in the second axis direction (y). Accordingly, the release rod (121) can be reciprocated in the second axis direction (y) by the rotation of the cam by the motor, and the gripping and releasing can be repeated by such reciprocating motion. In addition, a gear assembly or a belt and pulley assembly can be used as the linear motion conversion mechanism, and it is not excluded that other conventionally known methods can be used.

Next, the force sensing unit (200) will be described with reference to FIG. 1 and FIG. 4.

The force sensing unit (200) includes a sensor frame (210) and a connection/transmission lever (220) hingedly connected to the sensor frame (210).

The sensor frame (210) includes a hinge portion (211) and a spring support portion (212), and the connection/transmission lever (220) is hinge-connected to the hinge portion (211).

The connection/transfer lever (220) includes a connection portion (221) extending forward of the hinge portion (211) and a transmission portion (222) extending rearward.

The connecting part (221) is inserted into the insertion groove (114) of the holder frame (110) in the second axial direction (y) and connected, and can be separated by pulling it out in the opposite direction of insertion.

In order to further secure the connection between the connecting portion (221) and the holder frame (110), a screw groove may be formed on the inner surface of the connecting portion (221) and the insertion groove (114) for screw connection.

Alternatively, the insertion groove (114) may have an inner diameter that becomes narrower as it goes inward, and the connecting portion (221) may also have a diameter that becomes narrower as it goes toward the end, and the connecting portion (221) and the insertion groove (114) may be combined by a fit.

In the transmission section (222) of the connection/transmission lever (220), a probe rod (223) is installed so as to penetrate the transmission section (222) in the first axial direction (x) and be fixedly installed through a first nut (223a).

The length of the probe rod (223) extended toward the load cell (230) described later can be adjusted by rotating the first nut (223a).

A ball probe (224) is provided at the end of the probe rod (223).

The ball probe (224) has a ball shape and achieves non-fixed point contact with the probe cup (231) of the load cell (230) to transmit only the load in the first axis direction (x) to the probe cup (231).

The transmission part (222) of the connection/transfer lever (220) also includes a first spring load (225).

The first spring load (225) penetrates the transmission part (222) in the first axial direction (x) and is fixed by the second nut (225a).

The first spring load (225) has a hole formed at the end to support one end of a sensor spring (240) described later, and the length protruding toward the sensor spring (240) can be adjusted by rotating the second nut (225a).

In addition, the transmission part (222) of the connection/transmission lever (220) includes a first stopper (226) to limit the compressive load applied to the load cell (230) through the transmission part (222) of the connection/transmission lever (220) to a set value or less together with the second stopper (214) described later.

The first stopper (226) is fixed by the third nut (226a), and the protrusion length toward the second stopper (214) can be adjusted by adjusting the rotation of the third nut (226a).

A load cell (230) is installed as a force sensor (230) in the sensor frame (210), and the load cell (230) includes a probe cup (231).

The load cell (230) can sense a force compressing in the first axis direction (x), and a strain gauge type load cell (230) can be used, but is not necessarily limited thereto.

In this embodiment, the force sensor (230) includes a load cell (230), but is not necessarily limited thereto, and the force sensor may be a piezoelectric sensor using a piezoelectric element, a capacitive sensor using the principle of changing electric capacity, an optical sensor using a change in the characteristics of light, or a magnetic sensor using a change in a magnetic field. These examples do not exclude other sensors, and any type of sensor suitable for sensing force in the first axis direction (x) may be used as the force sensor.

Meanwhile, the load cell (230) of the present embodiment may be calibrated to zero while compressed with a set load.

Since the output characteristics of the load cell (230) may not be linear when the compressive load is zero or close to zero, it is desirable to set the compressed state with the set load as the zero point so that sensing is performed in the linear output section of the load cell (230).

This zero point setting in a compressed state can be achieved by adjusting the protruding length of the probe rod (223) by the first nut (223a) and the elasticity of the sensor spring (240).

A second spring load (213) is installed opposite the first spring load (225) on the spring support (212) of the sensor frame (210) and is fixed by a fourth nut (213a).

The protrusion length of the second spring load (213) toward the first spring load (225) can be adjusted by rotation of the fourth nut (213a).

Additionally, a hole is formed at the end of the second spring load (213) to support one end of the sensor spring (240).

The sensor spring (240) is connected between the first spring load (225) and the second spring load (213), and exerts elastic force to pull the first spring load (225) toward the second spring load (213).

The sensor frame (210) can be connected to a driving unit, and the force sensing unit (200) can be moved linearly in the first axis direction (x) by the operation of the driving unit. By the linear movement of the force sensing unit (200), the holder (100) also moves in the same direction, through which the surgical instrument (1) is fed into or taken out of the patient's body.

Although not illustrated in this embodiment, the drive unit may include a motor and a motion conversion mechanism that converts the rotational force of the motor into linear motion in the first axis direction (x). Here, the motion conversion mechanism may include a gear assembly that converts circular motion into linear motion, or a belt and pulley. In addition, the drive unit may include a linear motor that directly induces linear motion.

Hereinafter, with reference to FIG. 1, it will be described how the force sensing unit (200) of the present embodiment senses the load.

As shown in Fig. 1, when the surgical instrument (1) is gripped by the holder (100) and the force sensing unit (200) is in the first axis direction (x) and moves in the feeding direction (positive x-axis direction in Fig. 1), the surgical instrument (1) is inserted into the human body by the amount of movement.

At this time, when the end of the surgical instrument (1) comes into contact with any part of the human body (e.g., the ureteral wall) or a stone, a force (F) is applied to the surgical instrument (1) in the direction opposite to the feeding direction in the first axial direction (x).

The force (F) applied in this manner is transmitted to the transmission unit (222) of the connection/transmission lever (220) of the force sensing unit (200) through the holder (100), thereby reducing the compression load of the load cell (230) that was in the initial compression state by the amount of the transmitted load.

At this time, the force applied to the surgical instrument (1) can be detected using the reduced load amount.

In addition, when the surgical instrument is removed from the human body after the completion of the surgery, a certain force may be applied to the surgical instrument in the opposite direction to F above, and this may add a compressive load to the load cell (230). It goes without saying that the force applied to the surgical instrument due to snagging or friction when the surgical instrument is withdrawn can be detected using the added load amount.

Fig. 5 shows a surgical instrument feeding device according to another embodiment of the present invention, which will be described below.

First, the holder (300) of the present embodiment will be described with reference to FIGS. 5 to 7.

The holder (300) of the present embodiment includes a holder frame (310) and a link assembly (323).

The holder frame (310) includes a first wall (311), a second wall (313) positioned opposite the first wall (311), and a first side wall (312) and a second side wall (314) connecting the first wall (311) and the second wall (313).

The holder frame (310) is opened downwards by forming an opening hole (318) at the bottom, and has a roughly square body structure, but is not necessarily limited thereto.

A first finger (315) having a first gripping surface (315a) is formed on the upper portion of the first month (311), and a first guide (316a) and a second guide (316b) are formed to guide the movement of the surgical instrument (1) in both directions of the first axial direction (x) with respect to the first finger (315).

A guide hole (316a') is formed in the first guide (316a) for the guide, and a guide hole (not shown) is similarly formed in the second guide (316b).

The first guide (316a) and the second guide (316b) support the surgical instrument (1) on both sides of the first gripping surface (315a) to help the gripping portion of the surgical instrument (1) to be properly maintained in position on the first gripping surface (315a).

The curved profiles of the first gripping surface (315a) and the second gripping surface (325a) described below can be designed to apply pressure that is suitable for gripping the surgical instrument (1) while not causing excessive deformation to the surgical instrument (1). At this time, if the surgical instrument (1) is gripped beyond the first gripping surface (315a) and the second gripping surface (325a), deformation may occur in the surgical instrument (1) due to the gripping. However, in the present embodiment, with the help of the first guide (316a) and the second guide (316b), the problem that the surgical instrument (1) may be gripped beyond the first gripping surface (315a) and the second gripping surface (325a) can be resolved.

A first hinge hole (h1) is formed on the upper portion of each of the first sidewall (312) and the second sidewall (314), and a second hinge hole (h2) is formed on the lower portion. In addition, a third hinge hole (h3) is formed on the opposite side of the second hinge hole (h2) among the lower portions of each of the first sidewall (312) and the second sidewall (314).

The first axial direction (x) width of the first sidewall (312) and the second sidewall (314) may be larger at the bottom than at the top in consideration of the movement of the link assembly (323).

The second month (313) has a curved shape with the lower part protruding in the second axis direction (y), and includes a first connecting portion (317) at the upper part.

The first connecting portion (317) is formed to protrude in the second axial direction (y) from the second month (313), and the first axial direction (x) width of the root portion is smaller than the first axial direction (x) width of the tip.

As shown in FIGS. 7(a) and 7(b), the link assembly (323) includes a rotary lever (323) including a connecting portion (323a) and a release portion (323b), a third connecting rod (324) hinge-connected to the connecting portion (323a), and a second finger (325) hinge-connected to the third connecting rod (324).

The link assembly (323) is inserted through the opening hole (318) of the holder frame (310) and positioned so that the second finger (325), the third connecting rod (324) and the upper portion of the rotary lever (323) are positioned inside the holder frame (310).

A fourth hinge hole (h4) is formed in the second finger (325), and a hinge pin (not shown) is inserted into the first hinge hole (h1) of the first side wall (312) and the second side wall (314) while penetrating the fourth hinge hole (h4), so that the second finger (325) can be hinge-connected to the holder frame (310).

The rotary lever (323) includes a hinge portion (323c) in which a fifth hinge hole (h5) is formed, a connecting portion (323a) is formed at a set angle above the hinge portion (323c), and a release portion (323b) is formed at the bottom.

The rotary lever (323) is hinge-connected to the holder frame (310) by a hinge pin (not shown) that passes through the fifth hinge hole (h5) and is inserted into and supported by the second hinge hole (h2).

The release portion (323b) is exposed outside the holder frame (310), and although not shown, a predetermined actuator can be connected to the lower portion of the release portion (323b) for automation of gripping and its release, as in the embodiment of FIG. 1.

Additionally, the rotary lever (323) includes a spring hooking portion (323d) in the release portion (323b).

The upper end of the holder spring (330) is supported by being hooked onto a support pin (not shown) inserted into the third hinge hole (h3) of the first side wall (312) and the second side wall (314) of the holder frame (310), and the lower end is supported by being hooked onto a spring hooking portion (323d).

The holder spring (330) is always in a tensioned state and thus exerts elastic force to always pull the lower part of the rotary lever (323), i.e., the spring hooking portion (323d), toward the support pin.

Next, the force sensing unit (400) of the present embodiment will be described with reference to FIGS. 5 and 8.

The force sensing unit (400) of this embodiment includes a sensor frame (410) and a connection/transmission lever (420).

The sensor frame (410) has a different shape from the above-described embodiment, but includes a hinge portion (411) and a spring support portion (412), and the connection/transmission lever (420) is hinge-connected to the hinge portion (411).

The connection/transfer lever (420) includes a connection portion (421) extending forward of the hinge portion (411) and a transmission portion (422) extending rearward.

The connecting portion (421) includes a second connecting portion (421a) at its end.

The second coupling portion (421a) may be in the form of a two-legged claw so as to be coupled with the first coupling portion (317) while surrounding the first coupling portion (317), as illustrated in FIG. 8.

The second coupling portion (421a) may be elastically deformable, and may be separated by twisting the second coupling portion (421a) while it is coupled to the first coupling portion (317). Alternatively, when the first coupling portion (317) is linearly moved in the third axis direction while the second coupling portion (421a) is coupled to the first coupling portion (317), the first coupling portion (317) may be separated from the second coupling portion (421a).

The first coupling portion (317) and the second coupling portion (421a) can achieve a perfectly matched shape coupling, and can be designed so that the second coupling portion (421a) does not rotate with respect to the third direction (z) when coupled. This rotational slip-free coupling can help increase the accuracy in sensing the force applied to the surgical instrument (1).

In the transmission section (422) of the connection/transmission lever (420), a probe rod (423) is installed so as to penetrate the transmission section (422) in the first axial direction (x) and be fixed thereto through a first screw (423a).

The length of the probe rod (423) extended toward the load cell (430) described later can be adjusted by rotating the first screw (423a).

A ball probe (424) is provided at the end of the probe rod (423).

The ball probe (424) is also in the shape of a ball in this embodiment, and achieves non-fixed point contact with the probe cup (431) of the load cell (430) to transmit only the load in the first axial direction (x) to the probe cup (431).

The transmission section (422) of the connection/transfer lever (420) also includes a first spring load (425).

The first spring load (425) penetrates the transmission part (422) in the first axial direction (x) and is fixed by the second nut (425a).

The first spring load (425) has a hole formed at the end to support one end of a sensor spring (440) described later, and the length protruding toward the sensor spring (440) can be adjusted by rotating the second nut (425a).

Additionally, the transmission part (422) of the connection/transfer lever (420) includes a first stopper (426) to limit the load transmitted to the load cell (430) through the transmission part (422) of the connection/transfer lever (420) together with the second stopper (414) described later.

The first stopper (426) is fixed by the third nut (426a), and the protrusion length toward the second stopper (414) can be adjusted by adjusting the rotation of the third nut (426a).

A load cell (430) is also installed in the sensor frame (410) as a force sensor (430), and the load cell (430) includes a probe cup (431).

The load cell (430) can sense the force that the ball probe (424) exerts on the probe cup (431) in the first axial direction (x).

The load cell (430) of this embodiment may also be calibrated to zero while compressed to a set load.

A second spring load (413) is installed opposite the first spring load (425) on the spring support (412) of the sensor frame (410) and is fixed by a fourth nut (413a).

The protrusion length of the second spring load (413) toward the first spring load (425) can be adjusted by rotation of the fourth nut (413a).

Additionally, the second spring load (413) has a hole formed at the end to support one end of the sensor spring (440).

The sensor spring (440) is connected between the first spring load (425) and the second spring load (413) and exerts elastic force to pull the first spring load (425) toward the second spring load (413).

In this embodiment as well, the sensor frame (410) can be connected to a driving unit, and by the operation of the driving unit, the force sensing unit (400) can be moved linearly in the first axis direction (x).

Figures 9(a), 9(b), and 9(c) illustrate the gripping operation of the holder (400) according to the present embodiment, which will be described below.

First, FIG. 9(a) shows a state in which the rotation lever (323) is rotated to overcome the tensile force of the holder spring (330) and the gripping is released. At this time, the first hinge point (P1), the second hinge point (P2), and the third hinge point (P3) form an acute triangle whose three sides are the first connection line (L12), the second connection line (L23), and the third connection line (L13).

Here, the first hinge point (P1) means the hinge connection point between the connecting portion (323a) and the connecting rod (324), the second hinge point (P2) means the hinge connection point between the rotating lever (323) and the holder frame (310), and the third hinge point (P3) means the hinge connection point between the connecting rod (324) and the second finger (325).

Referring to Fig. 9(a), in the gripping release state, the first hinge point (P1) is located to the left of the second connection line (L23), which is a connection line between the second hinge point (P2) and the third hinge point (P3).

As the force pulling the release portion (323b) to the right in Fig. 9(a) is released, the rotary lever (323) rotates, and as shown in Fig. 9(b), the second connecting line (L23) lengthens, and the first hinge point (P1) approaches the second connecting line (L23).

When the rotary lever (323) is further rotated in the state of Fig. 9(b), the first hinge point (P1) moves to the right beyond the second connecting line (L23) as shown in Fig. 9(c), and the gripping operation is completed in this state.

Even in a gripping state as in Fig. 9(c), the holder spring (330) is in a tensioned state and thus exerts elastic force to pull upward the release portion (323b) of the rotary lever (323). However, this is not necessarily limited to this, and in a gripping state as in Fig. 9(c), the holder spring (330) is sufficient to prevent the release portion (323b) from being lowered, so it may be in a tension-free state, i.e., a no-load state.

The release portion (323b) is maintained in its position without falling down due to its own weight by the holder spring (330), thereby maintaining the gripping state.

In this embodiment, the holder (400) also achieves power-free gripping, and therefore, only the holder (400) can be disposed of after use by separating the first coupling portion (317) and the second coupling portion (421a).

Fig. 10 shows a driving unit (30) for the surgical instrument feeding device of Fig. 5, which will be described in detail below.

The driving unit (30) of this embodiment includes a moving bracket (37) to which a sensor frame (410) is fixedly connected.

The moving bracket (37) can be installed on a feeder base (20) fixedly installed on the surgical device so as to be able to move reciprocally in a linear manner along the first axis direction (x).

To this end, the feeder base (20) may include a rail (21), and the moving bracket (37) may include a slider (37a) that is mounted on the rail (21) and slides along the first axis direction (x).

The driving unit (30) also includes a motor (38) capable of forward and reverse rotation in both directions, a driving pulley (31) connected to the rotational axis of the motor (38) and rotating together with the motor (38), and a timing belt (32) connected between the driving pulley (31) and the moving bracket (37) to transmit the rotational force of the motor (38) to the moving bracket (37) as a linear force.

In order to maintain the tension of the timing belt (32), a plurality of rollers may be included at predetermined positions as shown in Fig. 10.

In this embodiment, the plurality of rollers may include a first roller (33) and a second roller (34) that rotate while pressing the timing belt (32) so that the timing belt (32) is kept wrapped around the driving pulley (31) by a predetermined angle on both sides of the driving pulley (31).

In addition, the driving unit (30) is arranged parallel to the rail (21) and spaced apart from each other in the first axial direction (x) at a predetermined distance in the second axial direction (y) from the rail (21) of the feeder base (20), and includes a third roller (35) and a fourth roller (36) that are wound by a timing belt (32) and rotate according to the movement of the timing belt (32).

In the timing belt (32), a moving bracket (37) is connected in a non-slip fixed state with respect to the first axial direction (x) in a straight section between the third roller (35) and the fourth roller (36).

In Fig. 10, when the drive pulley (31) rotates forward (clockwise), the timing belt (32) rotates counterclockwise accordingly and moves the moving bracket (37) in the feeding direction (positive x-axis direction) of the first axial direction (x), and when the drive pulley (31) rotates backward (counterclockwise), the timing belt (32) rotates clockwise and moves the moving bracket (37) in the extraction direction (negative x-axis direction) of the first axial direction (x).

Although not shown, the surgical instrument feeding device may include a control unit for user (e.g., a doctor) manipulation of the surgical instrument feeding device, and may include a control unit for controlling components for such manipulation.

The operating unit may include, for example, a plurality of buttons or a joystick, and according to the operation of such buttons or joysticks, the control unit may control the forward and reverse rotation of the motor to perform feeding or withdrawal of the surgical instrument.

Additionally, the control unit may receive a signal from the force sensing unit and output related information to a display device such as a monitor.

At this time, the control unit may stop the operation of the surgical instrument feeding device when the force applied to the surgical instrument reaches a set level based on the signal received from the force sensing unit, and may also cause a warning message to be output to the display device to notify of the situation.

Here, the control unit may include a processor and a computer-readable recording medium.

A processor may include semiconductor integrated circuits and/or electronic components that perform at least one or more of comparisons, judgments, calculations, and decisions to achieve a programmed function. For example, the processor may be any one or a combination of a computer, a microprocessor, a central processing unit (CPU), an application-specific integrated circuit (ASIC), and electronic circuitry (logic circuits).

In addition, the computer-readable recording medium (or simply referred to as memory) includes all types of storage devices that store data that can be read by a computer system. For example, it may include at least one of memory such as a flash memory type, a hard disk type, a micro type, and a card type (e.g., an SD card (Secure Digital Card) or an XD card (eXtream Digital Card)), and memory of a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic memory (MRAM, Magnetic RAM), a magnetic disk, and an optical disk.

Such a recording medium may be electrically connected to the processor, and the processor may be capable of reading and writing data from the recording medium. The recording medium and the processor may be integrated or physically separate.

Fig. 11 shows a surgical device (10) according to an embodiment of the present invention, which will be described in detail below.

The surgical device (10) of FIG. 11 includes a pair of feeding devices of the surgical device (1) of the embodiment of FIG. 1, including a first feeding device (13) on one side of the surgical device (1) and a second feeding device (13') on the opposite side.

The surgical device (10) of Fig. 11 includes a bed on which a patient can lie down and a stand (12) having a supply reel (12d) for supplying surgical instruments (1) installed thereon. As shown, the stand (12) includes a plurality of horizontal frames (12a, 12b) that are hingedly connected to each other with the third axis direction (z) as the rotation axis, and a vertical frame (12c) that is rotatably connected thereto with the third axis direction (z) as the rotation axis and supports the supply reel (12d).

Fig. 12 is an enlarged view of the first feeding device (13) and the second feeding device (13') of Fig. 11, wherein the first feeding device (13) and the second feeding device (13') alternately execute movement strokes set along the first axial direction (x). That is, the first feeding device (13) and the second feeding device (13') alternately reciprocate to execute the feeding stroke and the return stroke.

More specifically, during a feeding stroke in which the first feeding device (13) grips the surgical instrument (1) and feeds it along the first axial direction (x), the second feeding device (13') is controlled to perform a return stroke in which it moves in the opposite direction of the feeding along the first axial direction (x) while releasing its gripping of the surgical instrument (1) and returns. Next, after the first feeding device (13) completes the feeding stroke and releases its gripping, during a return stroke in which it moves in the opposite direction of the feeding, the second feeding device (13') is controlled to perform a feeding stroke in which it grips the surgical instrument (1) and feeds it along the first axial direction (x).

Referring to FIG. 13(a), FIG. 13(b), and FIG. 14(a), the feeding process of the first feeding device (13) and its feeding stroke and return stroke will be described.

First, Fig. 13(a) shows the feeding stroke, and Fig. 13(b) shows the return stroke.

Referring to Fig. 13(a), after the surgical instrument (1) is gripped by the holder (100) at the first position (x1) (S10), the force sensing unit (200) and the holder (100) are moved in a straight line from the first position (x1) to the second position (x2) by the operation of the driving unit (not shown) while the gripping is maintained, thereby executing a feeding stroke (S11).

At this time, during the feeding stroke, the force sensing unit (200) senses the force in the first axial direction (x) acting on the surgical instrument (1) (S12).

At this time, the determination of the first position (x1) and the second position (x2) can be determined according to the user's manipulation of the operating unit. That is, the user can control the driving unit through manipulation of the operating unit to position the holder (100) at a desired position, and the feeding stroke can be executed with that position as the first position (x1). In addition, the user can check the position of the end of the surgical instrument (1) within the human body through the endoscope and its monitor during the progress of the feeding stroke, and when the end reaches the desired position, the user can stop the driving unit to position the holder (100) at the corresponding position. In this case, the position at which the holder (100) stops becomes the second position (x2).

Meanwhile, if the surgical instrument (1) is not inserted to the desired depth by a single feeding stroke (N of S13), especially in the initial insertion stage, the feeding stroke and return stroke may be repeated until the user stops it through the operating unit, and at this time, the first position (x1) and the second position (x2) may be determined by the maximum stroke allowed by the driving unit.

If feeding is not completed (N of S13), the holder releases its gripping at the second position (x2) and executes a return stroke to move along the first axis direction (x) to the first position (x1). (S15) Thereafter, as described above, the feeding stroke and return stroke can be repeated as many times as the user desires.

Meanwhile, when feeding is completed (Y of S13), the holder (100) maintains its gripping (S14), and surgery is performed using a surgical tool such as a basket or stone crusher inserted through the tube of the surgical instrument (1).

When the surgery is completed, the process of withdrawing the surgical instrument (1) from the patient's body is performed as shown in Fig. 14(b).

Referring to Fig. 14(b), first, after gripping the surgical instrument (1) with the holder (100) (S20), while maintaining the gripping state, the holder (100) and the force sensing unit (200) are moved by the driving unit to execute a withdrawal stroke to withdraw the surgical instrument (1) from the human body (S21).

At this time, during the execution of the withdrawal stroke, the force acting in the first axis direction (x) on the surgical instrument (1) is sensed by the force sensing unit (200). (S22)

Even during withdrawal, completion of withdrawal can be determined based on the user's manipulation of the control panel. That is, during the withdrawal stroke in step S21, the user can confirm through an endoscope and the naked eye that the surgical instrument has been completely removed from the human body. After confirming this, the user stops the drive unit by manipulating the control panel, thereby stopping the withdrawal stroke and completing the withdrawal (Y in S23).

At this time, if the withdrawal is not completed (N of S23), the holder (100) can be controlled to repeat the withdrawal stroke and return stroke as many times as the user desires.

For the return stroke, for example, the gripping of the holder (100) is released at the first position (x1), and the return stroke is executed by moving the holder (100) from the first position (x1) to the second position (x2) while maintaining the gripping release state (S24), and then the processes of S20 to S23 can be repeatedly executed.

Although the embodiments of the present invention have been described above, this is only one example of implementing the present invention, and no description should be construed as limiting the scope of rights by the claims.

The present invention relates to a feeding device that drives a surgical instrument, that is, a medical device itself rather than a medical procedure, and is an invention that can be applied industrially.

Claims (15)

A holder for gripping a surgical instrument inserted into a human body along a first axis direction so as to be releasable; A force sensing unit connected to the holder and sensing a force acting in the first axial direction on the surgical instrument; and A driving unit that moves the force sensing unit along the first axis direction including, surgical instrument feeding device In the first paragraph, The above force sensing unit, A sensor frame that moves along the first axis direction by the driving unit, A force sensor installed on the above sensor frame, A connecting/transmitting lever including a connecting portion connected to the holder and a transmitting portion that transmits the force to the force sensor, which is hinge-connected to the sensor frame. Surgical instrument feeding device. In the second paragraph, The above force sensor includes a load cell, Surgical instrument feeding device. In the second paragraph, The above force sensing unit further includes a stopper that limits the compressive load applied to the force sensor by the connection/transmission lever to a set value or less. Surgical instrument feeding device. In the first paragraph, The above holder, A holder frame connected to the above force sensing unit and including a first finger, A link assembly comprising a second finger hingedly connected to the holder frame, Surgical instrument feeding device. In paragraph 5, The above link assembly, A release rod that slides through the holder frame, A first connecting rod hingedly connected to the above release rod, A rotary lever including a first lever hinge-connected to the holder frame and hinge-connected to the first connecting rod, and a second lever positioned on the opposite side of the first lever with respect to the hinge point of the hinge connection; Further comprising a second connecting rod hingedly connected to the second lever and the second finger, respectively; Surgical instrument feeding device. In paragraph 5, The link assembly further includes a rotary lever hingedly connected to the holder frame and including a connecting portion and a release portion, and a connecting rod hingedly connected to the connecting portion and the second finger, respectively. Surgical instrument feeding device. In paragraph 7, The first hinge point of the hinge connection between the connecting portion and the connecting rod, the second hinge point of the hinge connection between the rotating lever and the holder frame, and the third hinge point of the hinge connection between the connecting rod and the second finger are arranged so that the first hinge point is located on one side with respect to the connection line of the second hinge point and the third hinge point in the gripping release state, and the first hinge point is located on the opposite side with respect to the connection line in the gripping grip state. Surgical instrument feeding device. In the first paragraph, The force sensing unit senses a first force acting on the surgical instrument in a direction opposite to the insertion direction when the surgical instrument is inserted into the human body, and senses a second force acting on the surgical instrument in a direction opposite to the withdrawal direction when the surgical instrument is withdrawn from the human body. Surgical instrument feeding device. In the first paragraph, The above driving part, A movable bracket connected to the above force sensing unit and movably installed on a rail extending along the first axis direction, A motor that provides rotational driving force, A drive pulley rotated by the above motor, A timing belt that transmits the rotational force of the above-mentioned driving pulley to the above-mentioned moving bracket as a linear force along the first axis direction, At least one roller for maintaining the tension of the timing belt including, Surgical instrument feeding device. In a surgical device including a surgical instrument feeding device, The above surgical instrument feeding device is, A holder that grips a surgical instrument inserted into a human body along the first axis direction so that it can be released, A force sensing unit that is connected to the holder and senses the force acting in the first axial direction on the surgical instrument; A driving unit that moves the force sensing unit in the first axis direction surgical device including A step of gripping a surgical instrument arranged to be inserted into a human body along a first axis direction with a holder; A feeding step of inserting the surgical instrument into the human body by moving the force sensing unit connected to the holder along the first axis direction by the driving unit while maintaining the holder in a gripping state; and During the feeding step, a step of detecting a force acting in the first axial direction on the surgical instrument by the force sensing unit including, Surgical instrument feeding method. In Article 11, In order to further insert the surgical instrument, the gripping of the holder is released, and the driving unit further includes a step of moving the holder in a direction opposite to the insertion along the first axis direction. Surgical instrument feeding method. In Article 11, Upon completion of feeding, the step of maintaining the holder in a gripping state is further included. Surgical instrument feeding method. A step of gripping a surgical instrument inserted into a human body with a holder; A withdrawal step of removing the surgical instrument from the human body by moving the force sensing unit connected to the holder along the first axis direction by the driving unit while maintaining the holder in a gripping state; and During the above withdrawal step, a step of detecting a force acting in the first axial direction on the surgical instrument by the force sensing unit including, Method of withdrawing surgical instruments.