Surgical operation by wire type surgical operation apparatus

• US 9,968,413 B2
• Filed: 02/01/2016
• Issued: 05/15/2018
• Est. Priority Date: 02/26/2013
• Status: Active Grant

• Current Assignee: Seoul National University R&DB Foundation (Seoul National University)
• Original Assignee: Seoul National University R&DB Foundation (Seoul National University)
• Inventors: Kim, Sungwan, Kim, Youdan, Kim, Hyeon Hoe, Kim, Hee Chan, Park, Yong Hyun, Lee, Chiwon, Kim, Wonshik, Yoon, Chiyul, Noh, Seungwoo, Lee, Choonghee
• Primary Examiner(s): TYSON, MELANIE RUANO
• Application Number:
  US15/012,700
• Publication Number:
  US 20160143701A1
• Time in Patent Office: 834 Days
• Field of Search: 606205-208
• CPC Class Codes: A61B 2017/00402 Piezo electric actuators
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence

Abstract

Disclosed herein is a surgical operation by wire (SOBW) type surgical operation apparatus including an end effector configured so as to remove or minimize configurations of a mechanical cable. The SOBW type surgical operation apparatus includes: a body part; an extension part having one end connected to the body part; and an end effector formed at the other end of the extension part, and receiving electrical energy transferred through the body part and the extension part and converting the electrical energy into mechanical energy.

Claims

1. A surgical operation by wire (SOBW) type surgical operation apparatus, comprising:

a body part;

an extension part having one end connected to the body part; and

an end effector formed at the other end of the extension part, and for receiving electrical energy transferred through the body part and the extension part and converting the electrical energy into mechanical energy,

the end effector includes a pitching operator;

wherein the pitching operator comprises;

a pitching motor part;

a first gear connected to the pitching motor part;

a second gear formed perpendicularly to the first gear and supported to a second gear support bar; and

a third gear connected to the second gear and supported to a third gear support bar;

wherein the end effector comprises;

an effector for accessing a surgical operation target site to perform a surgical operation work; and

a gripping operator receiving the electrical energy transferred from the body part and the extension part to induce a gripping operation of the effector,

wherein the gripping operator comprises;

a gripping motor part converting the electrical energy into rotational motion; and

a gripping extension part converting the rotational motion of the gripping motor part into linear motion to induce the gripping operation of the effector,

a sub extension part which is pivot-coupled to an end of the gripping extension part through a pivot coupling part;

a support member which is formed to support the effector; and

a groove part which is formed in a portion of an inner side of the support member to accommodate motion of the sub extension part inward.

2. The SOBW type surgical operation apparatus as set forth in claim 1, wherein the effector is formed of forceps comprising first and second legs, and

the gripping operator further comprises a linear motion transfer member formed at one end of the gripping extension part and transferring force to each of the first and second legs in different directions.

3. The SOBW type surgical operation apparatus as set forth in claim 2, wherein the gripping operator further comprises:

a first connection member formed at one side of the linear motion transfer member and coupled to one end of the first leg; and

a second connection member formed at the other side of the linear motion transfer member and coupled to one end of the second leg, and

the first and second connection members transfer force to the first and second legs in different directions, respectively, according to linear motion of the linear motion transfer member.

4. The SOBW type surgical operation apparatus as set forth in claim 1, wherein:

the pitching motor part converts the electrical energy into rotational motion; and

the first, second, and third gears induce the pitching operation of the effector through the rotational motion of the pitching motor part.

5. The SOBW type surgical operation apparatus as set forth in claim 4, wherein the first, second, and third gears are part is formed of at least one selected from a group consisting of a spur gear, a helical gear, a worm gear, a rack gear, and a bevel gear.

6. The SOBW type surgical operation apparatus as set forth in claim 1, wherein the effector is any one of forceps, scissors, a needle driver, a clip applier, a probe grasper, and a retractor.