Minimally invasive surgery device

Abstract

A minimally invasive surgical device (10) comprising: a body element (20); a tube member (30) having a proximal end portion (340) and a distal end portion (330) wherein the proximal end portion of the tube member (30) is connected to the body element (20); a plurality of tools (40), each tool having an operative portion (4210) for contact with a target, and a proximal end portion (4270); a tool magazine (50) having a plurality of chambers (520), each chamber configured to receive one of the plurality of tools (40); and a tool (40) exchange mechanism (60) configured to enable one of the plurality of tools (40) by advancing the one of the plurality of tools (40) through the tubular member (30) from a chamber (520) of the tool in the tool magazine (50) to a distal end portion (330) of the tubular member (30) and mounting the advanced tool (40) to the distal end portion (330) of the tubular member (30), and deactivating one of the plurality of tools (40) by detaching the tools (40) from the distal end portion (330) of the tubular member (30) and retracting the detached one of the tools (40) from the distal end portion (330) of the tubular member (30) through the tubular member (30) into the chamber (520) of the tool in the tool magazine (50). The tool exchange mechanism (60) has a selection structure to select one of the plurality of tools (40) in the tool magazine (50) to be activated. The minimally invasive surgical device (10) also includes a power supply arrangement (70) configured to provide power to a proximal end portion of one of the tools when the tool is mounted to the distal end portion (330) of the tube member (30). Each of the plurality of tools (40) is configured to transmit power through the proximal end portion (4270) of one of the tools (40) to the operative portion (4210), or to electrically isolate the proximal end portion (4270) of one of the tools (40) such that no power is transmitted to the operative portion (4210) when the tool is mounted to the distal end portion (330) of the tubular member (30).

Description

Technical Field

[0001] The present invention relates to a minimally invasive surgical device according to the preamble of independent claim 1. Such a device can be used for various laparoscopic or similar minimally invasive surgical operations, and comprises: a body element; a tube member having a proximal portion and a distal portion, wherein the proximal portion of the tube member is connected to the body element; a plurality of tools, each having an operating portion contacting a target, and a proximal portion; a tool magazine having a plurality of chambers, each chamber configured to receive one of the plurality of tools; and a tool exchange mechanism configured to: enable one of the plurality of tools by advancing one of the plurality of tools from the chamber of the tool in the tool magazine through the tube member to the distal portion of the tube member and mounting the advanced tool to the distal portion of the tube member, and to disable one of the plurality of tools by detaching one of the plurality of tools from the distal portion of the tube member and retracting the detached tool from the distal portion of the tube member through the tube member back into the chamber of the tool in the tool magazine, wherein the tool exchange mechanism has a selection structure for selecting one of the plurality of tools in the tool magazine to be enabled. Background Art

[0002] In modern laparoscopic surgery and similar minimally invasive surgeries, it is often necessary to use different tools within one surgical procedure. Therefore, minimally invasive surgical devices that allow different tools to be interchanged are known. For example, laparoscopic devices with a tool magazine with multiple tools are known. Such devices can allow tools to be replaced by shifting the tool from the tool magazine to the tip of the laparoscope or shifting the tool from the tip of the laparoscope to the tool magazine to remove the tool from the tip and store the tool in the tool magazine.

[0003] Furthermore, tissue coagulation has played an increasing role in laparoscopy and similar minimally invasive applications over the past few years. In particular, in laparoscopic surgery, it is very important to be able to coagulate and thereby seal the blood vessels in the tissue to be crossed. If the tissue and blood vessels inside are not sealed before crossing, a large and often uncontrollable blood loss usually results. This can lead to intraoperative complications and poor postoperative outcomes.

[0004] Therefore, there is a need for a system that allows for the efficient application of different tools during a surgical procedure and induces coagulation when needed. Summary of the invention

[0005] According to the invention, this need is solved by a minimally invasive surgical device as defined by the features of independent claim 1. Preferred embodiments are subject matter of the dependent claims.

[0006] In particular, the present invention is a minimally invasive surgical device that includes a body element, a tube member, a plurality of tools, a tool magazine, a tool exchange mechanism, and a power supply arrangement.

[0007] The tube component has a proximal portion and a distal portion. The proximal portion of the tube component is connected to the body element. Each of the plurality of tools has an operating portion for contacting a target. The tool magazine has a plurality of chambers, each chamber being configured to receive one of the plurality of tools.

[0008] The tool exchange mechanism is configured to activate one of the plurality of tools by advancing the tool from the chamber of the tool in the tool magazine through the tube member to the distal end portion of the tube member and installing the advanced tool to the distal end portion of the tube member. The tool exchange mechanism is also configured to deactivate one of the plurality of tools by detaching the tool from the distal end portion of the tube member and retracting the detached tool from the distal end portion of the tube member through the tube member into the chamber of the tool in the tool magazine. The tool exchange mechanism has a selection structure for selecting one of the plurality of tools in the tool magazine to be activated.

[0009] The operating portion of each of the plurality of tools is typically the portion of the tool that contacts the target when in operation. Such an operating portion may be, for example, one or more cutting edges or a gripping element. The portion of the operating portion that is intended to be energized (all portions or some specified portions) may be provided with power. The proximal portion of one of the tools is typically the portion of the tool that remains inside or at the tube component when the tool is mounted to the distal portion of the tube component.

[0010] The power arrangement is configured to provide power to a proximal portion of a tool of the plurality of tools when the tool is mounted to the tube member. Each tool of the plurality of tools is configured to transmit power to an operating portion through its proximal portion, or to electrically isolate its proximal portion so that no power can be transmitted to the operating portion when it is mounted to the distal portion of the tube member.

[0011] The body element may be a housing that receives and / or encloses other components of the device or may have such a housing. The tube element may be any structure having a tube or a tubular member. In particular, the tube element may be a hollow rod-shaped element or may have a hollow rod-shaped element. The minimally invasive surgical device may be a laparoscope.

[0012] The tool can be operated when enabled. Typically, this operation is performed by a skilled practitioner. Thus, operating the tool may involve a cutting motion such as performed by a scissors tool, a clamping motion such as performed by a pliers tool, etc.

[0013] The operating part of a tool is the part of the tool that contacts the target when the tool is in operation. Such an operating part may be, for example, one or more cutting edges or a gripping element of the tool. The part of the operating part that is intended to be energized (all parts or some specified parts) may be provided with power.

[0014] The tool may be configured to transmit power to the operating part through the proximal part by electrically connecting the operating part to the proximal part. Alternatively, the tool may be configured to isolate the proximal part of one of the tools from the power supply arrangement, for example by means of an isolation layer arranged between the tool and the tube part or the rod when the tool is mounted to the distal part of the tube part.

[0015] The term "distal end" used in conjunction with the tube member relates to the direction towards the structure to be treated by the activated tool. For example, such a structure may be tissue in the human or animal body. Vice versa, the term "proximal end" relates to the direction opposite to the distal end. In particular, the proximal end may be the direction away from the structure to be treated by the activated tool.

[0016] The selected structure of the tool exchange mechanism can be a structure that can be directly moved into the appropriate position by the practitioner or surgeon. Alternatively, the selected structure of the tool exchange mechanism can be a device that moves the structure to be properly positioned. For example, the selected structure of the tool exchange mechanism can be a bottom member that causes a motor to move the structure to change tools. Alternatively, the selected structure of the tool exchange mechanism can be a fully automatic configuration, such as a programmable robotic implementation.

[0017] The term "mounting" in conjunction with a tool and a distal portion of a tube component generally refers to a fixed or stable connection such that, when mounted, the tool is locked in a position or orientation relative to the distal portion of the tube. In this locked position, portions of the tool may still be movable relative to the tube component. However, the position or orientation of the tool relative to the distal portion of the tube component cannot be changed without disassembling the tool. Furthermore, the mounting of the tool to the distal portion of the tube component may be a direct mounting or an indirect mounting via another structure. For example, an indirect mounting may be provided via a rod or strip extending through the tube component and fixed axially relative to the tube component.

[0018] The power supply arrangement may be implemented to be connected to an internal or external energy source.

[0019] The minimally invasive surgical device according to the present invention enables a practitioner or surgeon to perform a wide range of operating steps in laparoscopic or endoscopic surgery using only one device. In particular, in addition to operating various tools on the tissue to be treated, tissue coagulation can also be induced if necessary by the power supplied to the tools. In particular, this allows different tools to be effectively applied in a surgical operation and coagulation to be induced when necessary.

[0020] In addition, depending on the type of operating power, the tool can be designed to energize its operating part or prevent its operating part from being energized, and thus coagulation can be selectively performed when necessary or useful. For example, the supply of power can be prevented in a tool that does not require coagulation. Therefore, the present invention provides a multifunctional laparoscope or other minimally invasive surgical device with an integrated intelligent coagulation function.

[0021] Preferably, the power arrangement comprises a first polar line and optionally a second polar line, the first polar line being configured to provide power from the body element to a proximal portion of one of the tools. Such an embodiment of the power arrangement allows for provision of electrocoagulation, which may be beneficial or desirable in some circumstances, and such an embodiment of the power arrangement in particular allows for bipolar electrocoagulation, which may be beneficial or desirable in some circumstances.

[0022] Therefore, each of the plurality of tools configured to transmit power from the proximal portion of one of the tools to the operating portion when mounted to the distal tube component is configured to electrically connect one pole line, such as the first pole line or the second pole line or the additional pole line, to the operating portion, or to electrically connect a plurality of pole lines, such as the first pole line and the second pole line, to the operating portion. In this way, the tool providing power to its operating portion can selectively implement bipolar power supply or monopolar power supply. In this way, the most suitable power supply can be selected according to the specific tool. In addition, the power supply can be provided by direct current or alternating current.

[0023] Preferably, the tool exchange mechanism includes a rod portion having a connector tip, wherein, in order to advance one of the plurality of tools from the chamber of the tool in the tool magazine to the distal end portion of the tube component, the rod portion, the tool magazine and the tube component are configured to connect the tool to the connector tip of the rod portion while the tool is arranged in one of the chambers of the tool magazine, and to move the rod portion together with the connected tool of the plurality of tools through the tube component until the tool of the plurality of tools is arranged at the distal end portion of the tube component. Such a rod portion allows for efficient advancement, retraction and operation of the tool.

[0024] Therefore, the tube part preferably forms a first pole line. In addition, a second pole line can be arranged along the rod part of the tool exchange mechanism. In this way, efficient bipolar energization or monopolar energization of the operating part of the enabled tool can be achieved. More specifically, for example, one energy pole can be connected to the outer part of the tube part, which guides different tools to the distal part of the tube part. Then, the second pole can be connected to the rod part, which is usually inside, and when the tool is located at the distal part of the tube part, the rod part additionally enables the tool. The two energy poles can be isolated from each other by parts of the transmission mechanism and / or specific isolation layers.

[0025] Therefore, the tool exchange mechanism preferably comprises a rod drive which is configured to move the rod portion through the pipe part. This movement can in particular be a linear or translational movement and can be performed in two directions.

[0026] The rod driver preferably comprises an engagement strip coupled to the rod portion and a worm gear or a self-locking transmission engaged with the engagement strip. The engagement strip may be a rack or a friction bar. The rod driver may also comprise a motor driving the working gear. Thus, the motor may be provided with a bottom part for enabling.

[0027] The rod portion can be a substantially stable or flexible member. In one example, the rod portion is a worm gear or includes a substantially rigid rod that moves linearly back and forth to activate and / or deactivate one of the tools. In addition, the rod portion can have a predetermined degree of flexibility, such as lateral flexibility, to be suitable for winding, etc.

[0028] Preferably, the rod portion is configured to be in a telescoping position and an extended position, wherein in the extended position the rod portion is firm or stable along the longitudinal axis of the rod portion. The term "firm along the longitudinal axis" or "stable along the longitudinal axis" relates to a configuration in which the rod portion is substantially rigid when moving back and forth. In this way, efficient and precise activation and deactivation of the selected tool and precise operation of the activated tool are possible.

[0029] This configuration of the rod portion allows the device to be realized in a compact manner. In particular, when retracting, i.e. after or before reaching one of the tools in the tool magazine, the rod portion can be telescoped so that the rod portion requires only a relatively small space. In this way, the rod portion can be prevented from interfering with or hindering movement around the device. Furthermore, the handling of the device can be improved.

[0030] To enable telescoping, in one embodiment, the rod portion may include rod segments configured to be telescopic relative to each other. To advance a tool from the tool magazine to the distal end portion of the tube component, the rod portion may be deployed by sliding the rod segments out of each other. In contrast, to retract a tool from the distal end portion of the tube component back into the tool magazine, the rod portion may be telescoping by sliding the rod segments into each other. In another embodiment, for the same purpose, the rod portion may include an deployable and telescopic spring rod. Thus, the tool exchange mechanism may include a hydraulic system configured to drive the movement of the rod portion.

[0031] In a particularly preferred embodiment, the shaft portion is rollable and in the telescoping position the shaft portion is rolled up.This configuration allows a particularly efficient realization of a telescoping shaft portion which is embodied to be stable along the longitudinal axis of the shaft portion.

[0032] Therefore, the rod portion is preferably displaceable around the axis of rotation.In this way, the rod portion can be effectively rolled up around the axis of rotation.

[0033] The axis of rotation is preferably perpendicular to the longitudinal axis. This allows a particularly compact design and efficient handling.

[0034] In a first preferred embodiment, the rod portion is configured to be displaceable about the rotation axis by being bendable about the rotation axis and to be stable along the longitudinal axis by being rigid along the longitudinal axis when unwinding. This configuration can be achieved, for example, by means of a tongue-shaped or flat strip-shaped rod or the like.

[0035] In a second preferred embodiment, the rod portion preferably comprises a plurality of rod segments configured to tilt relative to each other to displace about the rotation axis and to be stable along the longitudinal axis when unrolled.Such a segmented rod portion can be effectively rolled up to be telescoping.

[0036] In a third preferred embodiment, the first embodiment and the second embodiment are combined.

[0037] Preferably, the minimally invasive surgical device includes a tool operation force recognition structure configured to recognize, at the proximal end portion of the tube component, the amount of force applied to operate an enabled tool mounted to the distal end portion of the tube component. The term "at the proximal end portion of the tube component" may particularly be in or at the body element, or at a component coupled to the tube component.

[0038] This tool operation force recognition structure allows the practitioner or surgeon to be provided with information about the tactile sensation of operating the enabled tool. In this way, particularly convenient and accurate operation can be performed.

[0039] Preferably, the tool operating force identification structure includes an operating rod unit, wherein the operating rod unit is capable of being manually moved relative to the main body element and is connected to an enabled tool mounted to the distal end portion of the tube component so as to operate the enabled tool by moving the operating rod relative to the main body element, and wherein the force applied for operating the enabled tool mounted to the distal end portion of the tube component is related to the manual force applied to the operating rod to move the operating rod relative to the main body element.

[0040] The force applied to operate the tool may be related to the manual force by being corresponding or identical to the manual force, ie linearly related. Alternatively, it may be non-linearly related, for example in a gear-like manner.

[0041] Therefore, the body element preferably has a handle member, which is configured to be held by one hand of the practitioner, wherein the handle member and the operating lever unit are arranged so that the operating lever unit can be activated or moved relative to the handle member by one hand of the practitioner while holding the handle member, and wherein the handle member and the selection structure of the tool exchange mechanism are arranged so that the selection structure of the tool exchange mechanism can be activated or moved relative to the handle member by one hand of the practitioner while holding the handle member. In this way, one-handed operation of the device can be achieved. This allows particularly complex and convenient operation.

[0042] The tool operation force identification structure preferably includes a force sensor located at the proximal portion of the tube component, which is coupled to the enabled tool mounted to the distal portion of the tube component to detect the force applied to operate the enabled tool. Such a force sensor allows tactile information to be included in the automation system. For example, in a robotic device, the force sensor allows the force required to operate the enabled tool to be evaluated so that conclusions about the tactile sensation of the tool can be determined.

[0043] Preferably, the tool magazine comprises a barrel mounted in a rotatable manner around a barrel axis, and a plurality of chambers are arranged around the barrel axis.Such a barrel allows an efficient tool magazine that can be effectively applied to be effectively realized.

[0044] Therefore, the tube part preferably defines a tube axis parallel to the barrel axis. The axial distance between the barrel axis and the tube axis is preferably equal to the chamber distance between each chamber in the chamber and the barrel axis. In this way, effective advancement or retraction of the tool into or from the tube part can be achieved.

[0045] The tool magazine and the tube component are preferably configured to align one of the chambers with the tube component based on the rotational position of the barrel, so that one of the multiple tools arranged inside the aligned chamber can be moved into the tube component, or one of the multiple tools arranged inside the tube component can be moved into the aligned chamber.

[0046] Therefore, the tool exchange mechanism preferably includes a cartridge driver coupled to the cartridge of the tool magazine, and the selection structure of the tool exchange mechanism has a switch that can be activated by a finger of one hand of the practitioner. The cartridge driver may include a motor. The switch may be part of a graphical user interface of a computing device or screen.

[0047] The cartridge drive of the tool exchange mechanism is preferably configured to gradually rotate the cartridge of the tool magazine around the cartridge axis into a rotational position in which the chamber is aligned with the tube member. This gradual rotation can prevent the rotation from stopping at an inappropriate position in which no tool can be provided from or into one of the chambers.

[0048] Therefore, the switch of the tool exchange mechanism is preferably configured so that when it is enabled, the cartridge drive rotates the cartridge of the tool magazine step by step. In this way, automatic tool selection can be effectively achieved.

[0049] The tool exchange mechanism preferably includes an identification structure that identifies a tool and / or chamber of the tool magazine that is aligned with the tube member. In this way, a practitioner or surgeon can effectively identify which tool is accessible.

[0050] The barrel of the tool magazine is preferably capable of swinging laterally relative to the handle member between a loading position, in which the chamber is accessible, and an exchange position, in which each of the plurality of tools arranged in the chamber is enabled. This embodiment allows efficient and secure loading and unloading of tools from the tool magazine.

[0051] Therefore, the tool magazine preferably comprises a blocking member, which is configured to fix the cartridge in the exchange position.Such a blocking member can prevent the tool magazine from being handled incorrectly during operation.

[0052] As an alternative to the swingable design of the cartridge of the tool magazine, the cartridge is preferably mounted to the handle member in a removable manner. In this way, the cartridge can be effectively completely separated from the handle member. This allows efficient loading of the cartridge.

[0053] Preferably, the minimally invasive surgical device includes a tool rotation structure configured to rotate an activated tool mounted to the distal end portion of the tube member. Such a tool rotation structure allows the activated tool to be effectively oriented in a proper orientation for a specific operation.

[0054] Therefore, the handle member and the tool rotation structure are preferably arranged so that the tool rotation structure can be actuated by one hand of the practitioner while holding the handle member to rotate an activated tool mounted to the distal end portion of the tubular component.

[0055] The tool rotating structure preferably includes a wheel element arranged around the tube component, wherein the wheel element is coupled to the enabled tool mounted to the distal end portion of the tube component, so that rotating the wheel element by one hand of the practitioner while holding the handle member causes the enabled tool mounted to the distal end portion of the tube component to rotate. Such a wheel element allows convenient and precise handling of the tool rotating structure.

[0056] Therefore, the tool rotation structure preferably comprises at least one finger rest designed at the wheel element.For example, the finger rest can be realized as a recessed portion, which is shaped to receive the practitioner's finger.

[0057] The tool rotation structure preferably includes an orientation structure configured to prevent the activated tool mounted to the distal end portion of the tube component from rotating relative to the tube component. Alternatively, the orientation structure can be configured to maintain the activated tool mounted to the distal end portion of the tube component in a predetermined rotational position. Such an orientation structure allows ensuring that the tool is accurately oriented in a plurality of predetermined positions, or advantageously oriented in a plurality of predetermined positions, during operation. In this way, the practitioner can always know how the activated tool is precisely positioned during operation.

[0058] Therefore, the orientation structure preferably comprises a magnet for holding an activated tool mounted to the distal end portion of the tubular member in a predetermined rotational position.

[0059] Preferably, the operating lever unit is movable relative to the handle member from a zero position into an operating position in which an activated tool mounted to the distal end portion of the tube component is operated. The operating position may also include a plurality of sub-positions or a range of positions so that the operating intensity of the tool can be provided by the practitioner.

[0060] The tool rotation structure preferably includes a locking member coupled to the operating lever unit and configured to prevent rotation of an activated tool mounted to the distal end portion of the tubular member when the operating lever unit is in the operating position.

[0061] Preferably, the tool exchange mechanism includes a connecting member, an opposing connecting structure and a connecting enabler, wherein the connecting member is installed at the connector tip of the rod part, wherein each tool of the plurality of tools is equipped with one of the opposing connecting structures, and wherein the connecting enabler is arranged so that when the rod part moves distally near one of the tools, the connecting member engages with the opposing connecting structure of one of the tools, and when the rod part moves proximally so that one of the tools is located in one of the chambers of the tool library, the connecting member disengages from the opposing connecting structure of one of the tools.

[0062] In another aspect, the following embodiments of the minimally invasive surgical device may be beneficial:

[0063] Embodiment 1 is a minimally invasive surgical device, which includes: a main body element; a tube component having a proximal portion and a distal portion, wherein the proximal portion of the tube component is connected to the main body element; a plurality of tools, each tool having an operating portion for contacting a target; a tool magazine, the tool magazine having a plurality of chambers, each chamber being configured to receive one of a plurality of tools; and a tool exchange mechanism, the tool exchange mechanism being configured to enable one of a plurality of tools by advancing one of the plurality of tools from the chamber of the tool in the tool magazine through the tube component to the distal portion of the tube component and installing the advanced tool to the distal portion of the tubular component, and to deactivate one of the plurality of tools by detaching the tool from the distal portion of the tube component and retracting the detached tool from the distal portion of the tube component through the tube component back into the chamber of the tool in the tool magazine, wherein the tool exchange mechanism has a selection structure, which is used to select one of the plurality of tools in the tool magazine to be enabled.

[0064] The tool exchange mechanism includes a rod portion having a connector tip, wherein, in order to advance one of the multiple tools from the chamber of the tool in the tool magazine to the distal end portion of the tube component, the rod portion, the tool magazine and the tube component are configured to connect the tool to the connector tip of the rod portion while the one of the multiple tools is arranged in one of the chambers of the tool magazine, and to move the rod portion together with the connected tool of the multiple tools through the tube component until the tool of the multiple tools is arranged at the distal end portion of the tube component.

[0065] Embodiment 1 is characterized in that the rod portion of the tool exchange mechanism is configured to be in a retracted position and in an extended position, wherein in the extended position the rod portion is stable along a longitudinal axis of the rod portion.

[0066] The configuration of Embodiment 1 and the embodiments described below allow for the realization of the effects and benefits of the minimally invasive surgical device according to the present invention and / or the specific preferred features implemented therein as described above.

[0067] Embodiment 2 is the minimally invasive surgical device of embodiment 1, wherein the rod portion is rollable, and in the telescoping position, the rod portion is rolled up.

[0068] Embodiment 3 is the minimally invasive surgical device of embodiment 2, wherein the rod portion is displaceable around the rotation axis.

[0069] Embodiment 4 is the minimally invasive surgical device of embodiment 3, wherein the rotation axis is perpendicular to the longitudinal axis.

[0070] Embodiment 5 is the minimally invasive surgical device of embodiment 3 or 4, wherein the rod portion is configured to be displaceable about the rotation axis by being bendable about the rotation axis, and to be stable along the longitudinal axis by being rigid along the longitudinal axis when unrolled.

[0071] Embodiment 6 is the minimally invasive surgical device of embodiment 3 or 4, wherein the rod portion includes a plurality of rod segments configured to tilt relative to each other to shift about the rotation axis and to be stable along the longitudinal axis when unrolled.

[0072] Embodiment 7 is a minimally invasive surgical device of any one of embodiments 1 to 6, which includes a power supply arrangement structure configured to provide power to the proximal portion of one of the tools, wherein each of the multiple tools is configured to transmit power to the operating part through the proximal portion of one of the tools when installed to the distal portion of the tube component, or to electrically isolate the proximal portion of one of the tools from the power supply arrangement structure.

[0073] Embodiment 8 is a minimally invasive surgical device of any one of embodiments 1 to 7, wherein the power supply arrangement structure includes a first pole line and optionally a second pole line, the first pole line is configured to provide power from the main body element to the proximal portion of the tool when one of the tools is installed to the distal portion of the tube component, and the second pole line is configured to transmit power from the proximal portion of the tool to the main body element when one of the tools is installed to the distal portion of the tube component.

[0074] Embodiment 9 is a minimally invasive surgical device of embodiment 8, wherein each of the multiple tools configured to transmit power from the proximal portion to the operating portion when mounted to the distal tube component is configured to electrically connect one pole wire, such as the first pole wire or the second pole wire or an additional pole wire, to the operating portion, or to electrically connect multiple pole wires, such as the first pole wire and the second pole wire, to the operating portion.

[0075] Embodiment 10 is the minimally invasive surgical device of embodiment 9, wherein the second polar line is arranged along the rod portion of the tool exchange mechanism.

[0076] Embodiment 11 is the minimally invasive surgical device of embodiment 10, wherein the tool exchanging mechanism includes a rod driver configured to move the rod portion through the tube member.

[0077] Embodiment 12 is the minimally invasive surgical device of embodiment 10 or 11, wherein the rod driver includes an engagement strip coupled to the rod portion and a worm gear or a self-locking transmission engaged with the engagement strip.

[0078] Embodiment 13 is a minimally invasive surgical device of any one of embodiments 1 to 12, comprising a tool operating force identification structure configured to identify, at a proximal portion of the tube component, an amount of force applied to operate an enabled tool mounted to a distal portion of the tube component.

[0079] Embodiment 14 is a minimally invasive surgical device of embodiment 13, wherein the tool operating force identification structure includes an operating rod unit, wherein the operating rod unit is capable of being manually moved relative to the main body element and is connected to an enabled tool mounted to the distal portion of the tube component so as to operate the enabled tool by moving the operating rod relative to the main body element, and wherein the force applied for operating the enabled tool mounted to the distal portion of the tube component is related to the manual force applied to the operating rod to move the operating rod relative to the main body element.

[0080] Embodiment 15 is a minimally invasive surgical device of embodiment 14, wherein the main body element has a handle member configured to be held by one hand of a practitioner, wherein the handle member and the operating rod unit are arranged so that the operating rod unit can be enabled or moved relative to the handle member while the practitioner's one hand is holding the handle member, and wherein the handle member and the selection structure of the tool exchange mechanism are arranged so that the selection structure of the tool exchange mechanism can be moved relative to the handle member while the practitioner's one hand is holding the handle member.

[0081] Embodiment 16 is a minimally invasive surgical device of embodiment 13, wherein the tool operation force identification structure includes a force sensor located at the proximal portion of the tube component, which is connected to an enabled tool mounted to the distal portion of the tube component to detect the force applied to operate the enabled tool.

[0082] Embodiment 17 is the minimally invasive surgical device of any one of embodiments 1 to 16, wherein the tool magazine includes a barrel rotatably mounted about a barrel axis, and the plurality of chambers are arranged about the barrel axis.

[0083] Embodiment 18 is the minimally invasive surgical device of embodiment 17, wherein the tube member defines a tube axis that is parallel to the barrel axis.

[0084] Embodiment 19 is the minimally invasive surgical device of embodiment 18, wherein the axial distance between the barrel axis and the tube axis is equal to the chamber distance between each of the chambers and the barrel axis.

[0085] Embodiment 20 is a minimally invasive surgical device of any one of embodiments 17 to 19, wherein the tool magazine and the tube component are configured to align one of the chambers with the tube component according to the rotational position of the barrel, so that one of the multiple tools arranged inside the aligned chamber can be moved into the tube component, or one of the multiple tools arranged inside the tube component can be moved into the aligned chamber.

[0086] Embodiment 21 is the minimally invasive surgical device of embodiment 20, wherein the tool exchange mechanism includes a barrel driver coupled to the barrel of the tool magazine, and the selection structure of the tool exchange mechanism has a switch that can be activated by a finger of one hand of the practitioner.

[0087] Embodiment 22 is the minimally invasive surgical device of embodiment 21, wherein the barrel driver of the tool exchange mechanism is configured to gradually rotate the barrel of the tool magazine about the barrel axis into a rotational position in which the chamber is aligned with the tube member.

[0088] Embodiment 23 is the minimally invasive surgical device of embodiment 22, wherein the switch of the tool exchange mechanism is configured such that the cartridge driver causes the cartridge of the tool magazine to rotate stepwise when enabled.

[0089] Embodiment 24 is the minimally invasive surgical device of any one of embodiments 20 to 23, wherein the tool exchange mechanism includes an identification structure that identifies one of the tools and / or chambers of the tool magazine that is aligned with the tube component.

[0090] Embodiment 25 is a minimally invasive surgical device of any one of embodiments 17 to 24, wherein the barrel of the tool magazine is capable of swinging laterally relative to the handle member between a loading position and an exchange position, wherein the chamber is accessible in the loading position and each of the multiple tools arranged in the chamber is enabled in the exchange position.

[0091] Embodiment 26 is the minimally invasive surgical device of embodiment 25, wherein the tool magazine includes a swing stop configured to secure the cartridge in the exchange position.

[0092] Embodiment 27 is the minimally invasive surgical device of any one of embodiments 1 to 26, comprising a tool rotation structure configured to rotate an activated tool mounted to the distal end portion of the tube member.

[0093] Embodiment 28 is the minimally invasive surgical device of embodiment 27, wherein the handle member and the tool rotation structure are arranged so that the tool rotation structure can be actuated by one hand of the practitioner while holding the handle member to rotate the enabled tool mounted to the distal portion of the tube component.

[0094] Embodiment 29 is a minimally invasive surgical device of embodiment 27 or 28, wherein the tool rotation structure includes a wheel element arranged around the tube component, wherein the wheel element is connected to an enabled tool mounted to the distal end portion of the tube component, so that rotating the wheel element while holding the handle component with one hand of the practitioner causes the enabled tool mounted to the distal end portion of the tube component to rotate.

[0095] Embodiment 30 is the minimally invasive surgical device of embodiment 29, wherein the tool rotation structure includes at least one finger rest designed at the wheel element.

[0096] Embodiment 31 is the minimally invasive surgical device of any one of embodiments 27 to 30, wherein the tool rotation structure includes an orientation structure configured to maintain an activated tool mounted to the distal end portion of the tube component in a predetermined rotational position.

[0097] Embodiment 32 is the minimally invasive surgical device of embodiment 31, wherein the orientation structure includes a magnet to hold an activated tool mounted to the distal end portion of the tube member in a predetermined rotational position.

[0098] Embodiment 33 is the minimally invasive surgical device of any one of embodiments 1 to 32, wherein the operating lever unit is movable from a zero position relative to the handle member to an operating position in which an enabled tool mounted to the distal end portion of the tube component is operated.

[0099] Embodiment 34 is the minimally invasive surgical device of embodiment 33, wherein the tool rotation structure includes a locking member connected to the operating lever unit and configured to prevent the enabled tool mounted to the distal end portion of the tube component from rotating when the operating lever unit is in the operating position.

[0100] Embodiment 35 is a minimally invasive surgical device of any one of embodiments 1 to 34, wherein the tool exchange mechanism includes a connecting member, an opposing connecting structure and a connecting enabler, wherein the connecting member is installed at the connector tip of the rod portion, wherein each of the multiple tools is equipped with one of the opposing connecting structures, and wherein the connecting enabler is arranged so that when the rod portion moves distally near one of the tools, the connecting member engages with the opposing connecting structure of one of the tools in the tool, and when the rod portion moves proximally so that one of the tools is located in one of the chambers of the tool library, the connecting member disengages from the opposing connecting structure of one of the tools in the tool.

[0101] Other embodiments of the surgical device are as follows:

[0102] Embodiment 36 is a handheld minimally invasive surgical device, comprising: a handle member configured to be held by one hand of a practitioner; an operating rod unit; a tube member fixedly connected to the handle member; a plurality of tools; a tool magazine having a plurality of chambers, each chamber configured to receive one of the plurality of tools; and a tool exchange mechanism configured to enable one of the plurality of tools by advancing one of the plurality of tools from the chamber of the tool in the tool magazine through the tube member to the distal end portion of the tube member and connecting the advancing tool to the distal end portion of the tubular member, and to deactivate one of the plurality of tools by disconnecting the mounted tool from the distal end portion of the tube member and retracting the disconnected tool from the distal end portion of the tube member through the tube member back into the chamber of the tool in the tool magazine. The tool exchange mechanism has a selection structure for selecting one of the plurality of tools in the tool magazine to be enabled. The operating rod unit is movable relative to the handle member to operate the enabled tool mounted to the distal end portion of the tube member. The handle member and the operating rod unit are arranged so that the operating rod unit can be activated or moved relative to the handle member by one hand of the practitioner while holding the handle member. In addition, the handle member and the selection structure of the tool exchange mechanism are arranged so that the selection structure of the tool exchange mechanism can be activated relative to the handle member by one hand of the practitioner while holding the handle member.

[0103] Embodiment 37 is a surgical device of embodiment 36, wherein the tool exchange mechanism includes a rod portion having a connector tip, wherein, in order to advance one of the multiple tools from the chamber of the tool in the tool magazine to the distal end portion of the tube component, the rod portion, the tool magazine and the tube component are configured to connect the tool to the connector tip of the rod portion while the one of the multiple tools is arranged in one of the chambers of the tool magazine, and to move the rod portion together with the connected tool of the multiple tools through the tube component until the one of the multiple tools is arranged at the distal end portion of the tube component.

[0104] Embodiment 38 is the surgical device of embodiment 37, wherein the shaft portion includes shaft segments configured to be telescopic relative to each other.

[0105] Embodiment 39 is the surgical device of embodiment 37, wherein the tool exchange mechanism includes a hydraulic system configured to drive movement of the rod portion.

[0106] Embodiment 40 is the surgical device of embodiment 37, wherein the rod portion comprises an expandable and retractable spring rod.

[0107] Embodiment 41 is the surgical device of any of embodiments 37 to 40, wherein the tool exchange mechanism includes a rod driver configured to move the rod portion through the tube member.

[0108] Embodiment 42 is the surgical device of any one of embodiments 35 to 41, wherein the tool magazine includes a barrel rotatably mounted about a barrel axis, and the plurality of chambers are arranged about the barrel axis.

[0109] Embodiment 43 is the surgical device of embodiment 42, wherein the tube member defines a tube axis that is parallel to the barrel axis.

[0110] Embodiment 44 is the surgical device of embodiment 43, wherein the axial distance between the barrel axis and the tube axis is equal to the chamber distance between each of the chambers and the barrel axis.

[0111] Embodiment 45 is a surgical device of any one of embodiments 42 to 44, wherein the tool magazine and the tube component are configured to align one of the chambers with the tube component based on the rotational position of the barrel, so that one of the multiple tools arranged inside the aligned chamber can be moved into the tube component, or one of the multiple tools arranged inside the tube component can be moved into the aligned chamber.

[0112] Embodiment 46 is the surgical device of embodiment 45 wherein the tool exchange mechanism includes a barrel driver coupled to the barrel of the tool magazine, and the selection structure of the tool exchange mechanism has a switch that can be activated by a finger of one hand of the practitioner.

[0113] Embodiment 47 is the surgical device of embodiment 46 wherein the cartridge driver of the tool exchange mechanism is configured to gradually rotate the cartridge of the tool magazine about the cartridge axis into a rotational position in which the chamber is aligned with the tube member.

[0114] Embodiment 48 is the surgical device of embodiment 47, wherein the switch of the tool exchange mechanism is configured such that when enabled, the cartridge drive causes the cartridge of the tool magazine to rotate incrementally.

[0115] Embodiment 49 is the surgical device of any one of embodiments 45 to 48, wherein the tool exchange mechanism includes an identification structure that identifies one of the tools and / or chambers of the tool magazine that is aligned with the tube member.

[0116] Embodiment 50 is the surgical device of any one of embodiments 42 to 49, wherein the barrel of the tool magazine is capable of swinging laterally relative to the handle member between a loading position and an exchange position, wherein the chamber is accessible and each of the multiple tools arranged in the chamber is enabled in the exchange position.

[0117] Embodiment 51 is the surgical device of embodiment 50, wherein the tool magazine includes a swing stop configured to secure the cartridge in the exchange position.

[0118] Embodiment 52 is the surgical device of any one of embodiments 36 to 51, comprising a tool rotation structure configured to rotate an activated tool mounted to the distal end portion of the tube component.

[0119] Embodiment 53 is a surgical device of any one of embodiments 52, wherein the handle member and the tool rotation structure are arranged so that the tool rotation structure can be actuated by one hand of the practitioner while holding the handle member to rotate an enabled tool mounted to the distal portion of the tube component.

[0120] Embodiment 54 is a surgical device of embodiment 52 or 53, wherein the tool rotation structure includes a wheel element arranged around the tube component, wherein the wheel element is connected to an enabled tool mounted to the distal end portion of the tube component, so that the enabled tool mounted to the distal end portion of the tube component is rotated by rotating the wheel element while holding the handle component with one hand of the practitioner.

[0121] Embodiment 55 is the surgical device of embodiment 54, wherein the tool rotation structure includes at least one finger rest designed at the wheel element.

[0122] Embodiment 56 is the surgical device of any one of embodiments 52 to 55, wherein the tool rotation structure includes an orientation structure configured to maintain an activated tool mounted to the distal end portion of the tube component in a predetermined rotational position.

[0123] Embodiment 57 is the surgical device of embodiment 56, wherein the orientation structure includes a magnet to maintain an activated tool mounted to the distal portion of the tube member in a predetermined rotational position.

[0124] Embodiment 58 is the surgical device of any one of embodiments 36 to 57, wherein the operating lever unit is movable relative to the handle member from a zero position to an operating position in which an enabled tool mounted to the distal end portion of the tube component is operated.

[0125] Embodiment 59 is the surgical device of embodiment 58, wherein the tool rotation structure includes a lock coupled to the lever unit and configured to prevent rotation of an enabled tool mounted to the distal end portion of the tube component when the lever unit is in the operating position.

[0126] Embodiment 60 is the surgical device of any one of embodiments 36 to 59, wherein the activated tool is mounted to the distal portion of the tube member such that force or motion provided to the activated tool is transmitted to the handle member via the tube member and / or the rod portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0127] The minimally invasive surgical device according to the present invention is described in more detail below by means of exemplary embodiments and with reference to the accompanying drawings, in which:

[0128] Figure 1 A schematic side view of a first embodiment of a minimally invasive surgical device according to the present invention is shown;

[0129] Figure 2 Shows Figure 1 A schematic top view of a minimally invasive surgical device, wherein: Figure 1 Section AA is cut;

[0130] Figure 3 Shows Figure 1 A schematic side view of a minimally invasive surgical device, wherein section BB of FIG. 21 is cut;

[0131] Figure 4 shows a schematic cross-sectional side view of a portion of a second embodiment of a minimally invasive surgical device according to the present invention;

[0132] Figure 5 Shows Figure 4 A schematic cross-sectional side view of a first embodiment of an activated scissors tool of a minimally invasive surgical device; and

[0133] Figure 6 Shows Figure 4 Schematic cross-sectional side view of a second embodiment of an enabled scissors tool of a minimally invasive surgical device. DETAILED DESCRIPTION

[0134] In the following description, certain terms are used for convenience reasons, and these terms are not intended to limit the present invention. The terms "right", "left", "up", "down", "below" and "above" refer to the directions in the figure. The terms include terms and their derivatives and terms with similar meanings that are clearly mentioned. In addition, spatial relative terms, such as "below", "below", "lower", "above", "upper", "proximal end", "distal end" etc. can be used to describe the relationship between an element or feature and another element and feature shown in the figure. These spatial relative terms are intended to cover the different positions and orientations of the device in use or operation in addition to the positions and orientations shown in the figure. For example, if the device in the figure is turned over, the element described as "below" or "below" of other elements or features will be located "above" or "above" of another element or feature. Therefore, the exemplary term "below" can include both the position and orientation of the top and bottom. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptors used herein can be interpreted accordingly. Similarly, the description of the movement along various axes and around various axes includes various specific device positions and orientations.

[0135] To avoid repetition in the drawings and in the description of various aspects and illustrative embodiments, it should be understood that many features are common to many aspects and embodiments. Omitting an aspect from the description or drawings does not mean that the aspect is missing from the embodiment that includes the aspect. On the contrary, for the sake of clarity and to avoid lengthy descriptions, the aspect may be omitted. In this case, the following applies to the rest of this specification: If, in order to make the drawings clear, a figure includes a reference numeral that is not explained in the directly related part of the specification, reference is made to the previous or subsequent explanatory part. In addition, for the sake of clarity, if a reference numeral is not provided for all features of a part in the drawings, reference is made to other drawings showing the same part. The same reference numerals in two or more figures represent the same or similar elements.

[0136] Figure 1 The first embodiment of a minimally invasive surgical device (MSD) 1 is shown, which includes a body element 2, a tube component 3, a tool magazine 5, a tool exchange mechanism 6, a tool operation force recognition structure 8 and a tool rotation structure 9. In addition, the minimally invasive surgical device 1 has the following combination Figures 4 to 6 The plurality of tools corresponding to the tool 40 described in the second embodiment of the minimally invasive surgical device 10 and the following combined Figures 4 to 6 The power supply structure 70 described in the second minimally invasive surgical device 10 depicted in FIG.

[0137] The body element 2 has a handle member 21 configured to be held by one hand of a practitioner and a housing 22 receiving various components of the minimally invasive surgical device 1. The housing 22 is implemented with a rod receiving portion 221 designed to accommodate the rod 61 of the tool exchange mechanism 61.

[0138] The tube member 3 has a proximal end portion connected to the body element 2, and a distal end portion 33. The tube member 3 extends horizontally from the body element 2 in a leftward direction.

[0139] The tool exchange mechanism 6 includes a rod portion 61 having a connector tip. The connector tip and the operation of the tool exchange mechanism 6 for activating and applying tools are similar to those described below in conjunction with the minimally invasive surgical device 10. However, as Figure 2 As can be seen in particular in the figure, the rod portion 61 can be arranged in a telescopic position. In particular, the rod portion can be bent or displaced around the rotation axis 611 so that the rod portion, when retracted, i.e. moved to the right relative to the tube part, for example by means of a motorized rod drive, is at least partially rolled up around the rotation axis 611 into the rod receiving portion 211 of the housing 22, where the rod portion is safely stored in a compact manner. In the rod receiving portion, the rod portion 61 is in a telescopic position.

[0140] like Figure 3 As can be seen in the figure, the rod portion 61 extends straight into the tube part 3 along the longitudinal axis 612 when being unwound or moved in the left direction, which can be caused by the rod drive. In this straight arrangement, the rod portion 61 is rigid along the longitudinal axis 612. Therefore, in the deployed position, the rod portion 61 is stable along the longitudinal axis 612 perpendicular to the rotation axis 611.

[0141] Back to Figure 1 The tool operation force recognition structure 8 includes an operation lever unit 81. In addition, the tool operation force recognition structure 8 is configured to recognize the amount of force applied for operating the enabled tool mounted to the distal end portion 33 of the tube member 3 at the lever unit 81 and thus at the proximal end portion of the tube member 3.

[0142] More specifically, the operating lever unit 81 can be manually moved relative to the body element 2, and is coupled to an enabled tool mounted to the distal end portion 33 of the pipe member 3, so that the enabled tool is operated by moving the operating lever unit 81 relative to the body element 2. The handle member 21 and the operating lever unit 81 are arranged so that the operating lever unit 81 can be moved relative to the handle member 21 by one hand of the practitioner while holding the handle member 21. Therefore, the force applied for operating the enabled tool mounted to the distal end portion 33 of the pipe member 3 is related to the manual force applied to the operating lever unit 81 to move the operating lever unit 81 relative to the body element 2.

[0143] The tool magazine 5 includes a barrel 51 having a plurality of chambers, as shown below. Figure 4 The second minimally invasive surgical device 10 depicted in Fig. 7 is described in more detail. The tool exchange mechanism 6 has a selection structure for selecting one tool to be activated among a plurality of tools in the tool magazine 5. The handle member 21 and the selection structure of the tool exchange mechanism 6 are arranged so that the selection structure of the tool exchange mechanism 6 can be moved relative to the handle member 21 while holding the handle member 21 by one hand of the practitioner.

[0144] The tool rotation structure 9 is configured to rotate the enabled tool mounted to the distal end portion 33 of the tube member 3. More specifically, the tool rotation structure 9 includes a wheel element 91 arranged around the tube member 3. The wheel element 91 is coupled to the enabled tool mounted to the distal end portion 33 of the tube member 3, so that the rotation of the wheel element 91 by one hand of the practitioner while holding the handle member 21 causes the enabled tool mounted to the distal end portion 33 of the tube member 3 to rotate. For ease of operation, the wheel element 91 includes a plurality of finger rest recesses. These recesses are shaped to receive the practitioner's fingers.

[0145] The tool rotation structure 9 also includes an orientation structure configured to prevent an activated tool mounted to the distal end portion 33 of the tubular member 3 from rotating relative to the tubular member 3 .

[0146] Figure 4 1 shows some components of a second embodiment of a minimally invasive surgical device 10 according to the present invention. The minimally invasive surgical device 10 includes a body element 20, a tube element 30, a plurality of tools 40, a tool magazine 50, a tool exchange mechanism 60, a power supply structure 70, and a tool rotation structure 90. In addition, the minimally invasive surgical device 10 has a structure similar to the above. Figures 1 to 3 The tool operation force identification structure 8 described in the first minimally invasive surgical device 1 depicted in FIG. Figure 4 Other components and configurations not shown in FIG. 7 are as described above. Figure 4 The second minimally invasive surgical device 10 depicted in FIG. 7 is implemented similarly as described.

[0147] The tube component 30 comprises a straight tube 310 that receives the stem portion 610 of the tool exchange mechanism 60. The tube 310 extends into and is fixed to the body element so that the proximal portion 340 of the tube component 30 is received in the body element 20. The stem portion 610 is provided with a connector tip 620 at the left or distal end.

[0148] The plurality of tools 40 include a hook-shaped tool 410 having a hook-shaped tip 4110 as an operating portion, and a first scissors tool 420 having a cutting edge 4210 as an operating portion and a coupling structure 4240 for causing the cutting edges 4210 to move relative to each other. Figure 4 , the hook tool 410 is arranged in the chamber 520 of the barrel 510 of the tool magazine 50, and the first scissors tool 420 is activated, ie, arranged at the distal end portion 330 of the tube member 30. The first scissors tool 420 is coupled to the connector tip 620 of the rod portion 610.

[0149] The barrel 510 of the tool magazine 50 is rotatably mounted around a central barrel axis 530, and a plurality of chambers 520 are regularly arranged around the barrel axis 530. Each chamber 520 defines a central chamber axis 5210 extending parallel to the barrel axis 530. In addition, the tube member 30 defines a longitudinal tube axis 320 also parallel to the barrel axis 530. The axial distance D between the barrel axis 530 and the tube axis 320 is A Equal to the chamber distance D between each of the chamber axes 5210 and the barrel axis 530 C . In this way, depending on the rotational position of the barrel 510, one of the chambers 520 is aligned with the tube component 30, so that the corresponding tool 40 arranged in the aligned chamber 520 can be reached by the retracted rod portion 610 and can be moved from the chamber 520 to the tube component 30 or from the tube component 30 to the chamber 520.

[0150] In order to rotate the barrel, the tool exchange mechanism 60 includes a barrel driver coupled to the barrel 510 of the tool magazine 50, and the selection structure of the tool exchange mechanism 60 has a switch that can be activated by a finger of one hand of the practitioner. The barrel driver of the tool exchange mechanism 60 is configured to rotate the barrel 510 stepwise around the barrel axis 530 to a rotational position in which the chamber 520 is aligned with the tube component 30 and the rod portion 610. The switch of the tool exchange mechanism 60 is configured so that when activated, the barrel driver rotates the barrel 510 stepwise.

[0151] As an example of tool activation, in order to remove the first scissors tool 420 from the corresponding chamber 520 of the first scissors tool 420 in the tool magazine 50 (in Figure 4The tool magazine 50 and the tube component 30 are configured to connect the first scissors tool 420 to the connector tip 620 of the rod portion 60 while arranging the corresponding chamber 520 of the tool magazine 50, and to move the rod portion 60 together with the connected scissors tool 420 through the tube 310 of the tube component 30 until the first scissors tool 420 is arranged at the distal end portion 330 of the tube component 30.

[0152] Figure 5 and Figure 6 The power supply arrangement 70 is shown in more detail. Specifically, the power supply arrangement 70 includes: a tube 310, which is designed as a first pole line 730, wherein the tube 310 is surrounded by a spacer 710; and a second pole line 740, which is arranged along the rod portion 610, wherein the rod portion 610 is surrounded by a spacer 720. In this way, the power supply arrangement 70 is configured to provide power to and from the proximal portion 4270, 4370 of one of the tools (40). Each of the tools 40 is implemented to be selectively powered or not powered.

[0153] exist Figure 5 , the first scissors tool 420 is shown when activated. In particular, the first scissors tool 420 is mounted to the distal portion 330 of the tube component 30 and is coupled to the rod portion 610 via the connector tip 620 for operation. More specifically, the first scissors tool 420 has a connecting strip 4250, which is mounted to the connecting structure 4240 at one end and is coupled to the connector tip 620 at the opposite end. For coupling, the connecting strip 4250 is provided with a coupling head 4260, and the connector tip 620 is provided with a corresponding coupling cavity 6210 for receiving the coupling head 4260. In this way, the axial movement of the rod portion 610 relative to the tube component 30 causes the opening and closing of the cutting edge 4210 of the first scissors tool 420.

[0154] The first scissor tool 420 also includes a first connection feature 4220 electrically connecting the first polar line 730 of the power structure 70 to the cutting edge 4210 and a second connection feature 4230 electrically connecting the cutting edge 4210 to the second polar line 740 of the power structure 70. Thus, the first scissor tool 420 is configured for electrically induced bipolar coagulation.

[0155] Figure 6The second scissors tool 430 is shown when activated. Thus, the second scissors tool 430 is mounted to the distal end portion 330 of the tube member 30 in the same manner and is coupled to the rod portion 610 via the connector tip 620 to operate as the first scissors tool 420 described above. Like the first scissors tool 420, the second scissors tool 430 specifically includes the same cutting edge 4310 as an operating portion, a coupling structure 4340 and a connecting strip 4350 with a coupling head 4360.

[0156] However, for coagulation, the second scissor tool 430 has a first connection device 4320 that electrically connects the first pole line 730 of the power structure 70 to the proximal portion 4370 of the second scissor tool 430, but does not have a second connection device. Instead, the proximal portion 4370 is electrically isolated from the second pole line 740 of the power structure 70. Therefore, the second scissor tool 430 is configured for electrically induced monopolar coagulation.

[0157] Therefore, if Figure 5 and Figure 6 As illustrated in FIG. 1 , the tool 40 of the minimally invasive surgical device 10 is implemented to selectively energize the operating portion according to possible needs.

[0158] This specification and the accompanying drawings, which illustrate various aspects and embodiments of the present invention, should not be considered to limit the claims defining the protected invention. In other words, although the present invention has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description should be considered illustrative or exemplary, rather than restrictive. Various mechanical, compositional, structural, electrical and operational changes may be made without departing from the spirit and scope of the present specification and claims. In some cases, in order not to obscure the present invention, well-known circuits, structures and techniques are not shown in detail. Therefore, it will be understood that those of ordinary skill in the art may make changes and modifications within the scope and spirit of the appended claims. In particular, the present invention covers other embodiments having any combination of features from different embodiments described above and below. In particular, the components and configurations of the first minimally invasive surgical device 1 and the second minimally invasive surgical device 10 can be combined into a single device. Therefore, even if the features or structures of the minimally invasive surgical devices 1 and 10 are shown in different embodiments, they can be implemented in a single minimally invasive surgical device.

[0159] The present disclosure also covers all other features shown individually in the figures, even though they may not be described in the preceding or following description. Furthermore, individual alternatives of the embodiments described in the figures and the description of their features and individual alternatives may be abandoned from the subject matter of the present invention or the disclosed subject matter. The present disclosure includes subject matter consisting of the features defined in the claims or exemplary embodiments as well as subject matter containing said features.

[0160] Furthermore, in the claims, the word "comprising" does not exclude other elements or steps, and the expression "one" or "an" does not exclude the plurality. A single unit or step may implement the functions of multiple features described in the claims. The fact that certain measures are re-cited in mutually different dependent claims does not indicate that the combination of these measures cannot be used to advantage. In particular, the terms "substantially", "about", "approximately", etc. related to an attribute or value also accurately define the attribute or accurately define the value accordingly. In the context of a given numerical value or range, the term "approximately" refers to a value or range within, for example, 20%, 10%, 5% or 2% of a given value or range. Components described as being connected or connected may be directly electrically or mechanically connected, or they may be indirectly connected via one or more intermediate components. Any figure marks in the claims should not be interpreted as limiting the scope.

Claims

1. A minimally invasive surgical device (1; 10), including: Body element (2; 20); a tube member (3; 30) having a proximal portion (340) and a distal portion (33; 330), wherein the proximal portion of the tube member (3; 30) is connected to the body element (2; 20); A plurality of tools (40), each tool having an operating portion (4110, 4210, 4310) for contacting a target, and a proximal portion (4270; 4370); a tool magazine (5; 50) having a plurality of chambers (520), each chamber being configured to receive one tool of the plurality of tools (40); and A tool (40) exchanging mechanism (6; 60) configured to: advance one of the plurality of tools (40) from a chamber (520) for the tool in the tool magazine (5; 50) through the tube member (3; 30) to the distal end portion (33; 330) of the tube member (3; 30) and to mount the advanced tool (40) to the distal end portion (33; 330) of the tube member (3; 30); activating one of the plurality of tools (40) and deactivating one of the plurality of tools (40) by detaching the tool (40) from the distal end portion (33; 330) of the tube member (3; 30) and retracting the detached tool of the tools (40) from the distal end portion (33; 330) of the tube member (3; 30) through the tube member (3; 30) into a chamber (520) for the tool (40) in the tool magazine (5; 50); The tool (40) exchange mechanism (6; 60) has a selection structure for selecting a tool to be activated from among the plurality of tools (40) in the tool library (5; 50). Characterized in that the minimally invasive surgical device (1; 10) comprises: a power supply arrangement (70) configured to provide power to the proximal portion (4270; 4370) of one of the tools (40) when the tool is mounted to the distal portion (33; 330) of the tube member (3; 30), Wherein, each of the multiple tools (40) is configured to transmit power to the operating part (4110, 4210, 4310) through the proximal part (4270, 4370), or to electrically isolate the proximal part (4270; 4370) of one of the tools (40) so that when the tool is installed to the distal part (33; 330) of the tube part (3; 30), no power is transmitted to the operating part (4110, 4210, 4310).

2. The minimally invasive surgical device (1; 10) according to claim 1, wherein: The power supply arrangement structure (70) includes a first pole line (730), which is configured to provide power from the main body element (2; 20) to the proximal part (4270; 4370) of the tool when a tool in the tool (40) is installed to the distal part (33; 330) of the tube part (3; 30); and optionally a second pole line (740) or multiple pole lines, which are configured to transmit power from the proximal part (4270; 4370) of the tool to the main body element (2; 20) when a tool in the tool is installed to the distal part (33; 330) of the tube part (3; 30).

3. The minimally invasive surgical device (1; 10) according to claim 2, wherein: Each of the plurality of tools (40) configured to transmit electrical power from the proximal portion (4270; 4370) to the operating portion (4110, 4210, 4310) when mounted to the distal tube component (3; 30) is configured to electrically connect one pole wire, i.e., the first pole wire (730) or the second pole wire (740) or an additional pole wire to the operating portion (4110, 4210, 4310), or to electrically connect multiple pole wires, e.g., the first pole wire (730) and the second pole wire (740), to the operating portion (4110, 4210, 4310).

4. The minimally invasive surgical device (1; 10) according to any one of the preceding claims, wherein: The tool exchange mechanism (6; 60) comprises a rod portion (61; 610) having a connector tip (620), wherein, in order to advance one of the plurality of tools (40) from the tool chamber (520) in the tool magazine (5; 50) to the distal end portion (33; 330) of the tube component (3; 30), the rod portion (61; 610), the tool magazine (5; 50) and the tube component (3; 30) are configured to move one of the plurality of tools (40) from the chamber (520) of the tool in the tool magazine (5; 50) to the distal end portion (33; 330) of the tube component (3; 30). A tool is arranged in one of the chambers (520) of the tool magazine (5; 50) while the tool is connected to the connector tip (620) of the rod portion (61; 610), and the rod portion (61; 610) is moved together with the connected tool of the plurality of tools (40) through the tube part (3; 30) until the tool of the plurality of tools (40) is arranged at the distal end portion (33; 330) of the tube part (3; 30).

5. The minimally invasive surgical device (1; 10) according to any one of claims 2 to 4, wherein: The tube member (3; 30) forms the first polar line (730).

6. The minimally invasive surgical device (1; 10) according to claim 5, wherein: The tool exchange mechanism (6; 60) comprises a rod driver configured to move the rod portion (61; 610) through the pipe part (3; 30).

7. The minimally invasive surgical device (1; 10) according to claim 5 or 6, wherein: The rod driver comprises an engagement strip coupled to the rod portion (61; 610) and a worm gear or a self-locking transmission engaging with the engagement strip.

8. The minimally invasive surgical device (1; 10) according to any one of claims 4 to 7, wherein: The rod portion (61; 610) of the tool exchange mechanism (6; 60) is configured to be in a telescoping position and an extended position, wherein in the extended position the rod portion (61; 610) is stable along a longitudinal axis of the rod portion (61; 610).

9. The minimally invasive surgical device (1; 10) according to claim 8, wherein: The rod portion (61; 610) is rollable and in the telescoping position, the rod portion (61; 610) is rolled up.

10. The minimally invasive surgical device (1; 10) according to claim 9, wherein: The rod portion (61; 610) is displaceable about an axis of rotation (611).

11. The minimally invasive surgical device (1; 10) according to claim 10, wherein: The rotation axis (611) is perpendicular to the longitudinal axis (612).

12. The minimally invasive surgical device (1; 10) according to claim 10 or 11, wherein: The rod portion (61; 610) is configured to be displaceable about the rotation axis (611) by being bendable about the rotation axis (611) and to be stable along the longitudinal axis (612) when unwinding by being rigid along the longitudinal axis (612).

13. The minimally invasive surgical device (1; 10) according to claim 10 or 11, wherein: The rod portion (61; 610) comprises a plurality of rod segments configured to tilt relative to each other for displacement about the rotation axis (611) and to be stable along the longitudinal axis (612) when retracted.

14. The minimally invasive surgical device (1; 10) according to any one of the preceding claims, comprises a tool operating force identification structure (8), which is configured to identify, at the proximal portion (340) of the tube component (3; 30), the amount of force applied by an enabled tool (40) for operating the distal portion (33; 330) mounted to the tube component (3; 30).

15. The minimally invasive surgical device (1; 10) according to claim 14, in, The tool operating force identification structure (8) comprises an operating lever unit (81), wherein the operating lever unit (81) is manually movable relative to the body element (2; 20) and is coupled to an activated tool (40) mounted to the distal end portion (33; 330) of the tube member (3; 30) so as to operate the activated tool (40) by moving the operating lever unit (81) relative to the body element (2; 20), and wherein the force applied by an enabled tool (40) for operating the distal portion (33; 330) mounted to the tube member (3; 30) is related to the manual force applied to the operating lever unit (81) for moving the operating lever unit (81) relative to the body element (2; 20).

16. The minimally invasive surgical device (1; 10) according to claim 15, in, The body element (2; 20) has a handle member (21) configured to be grasped by one hand of a practitioner; wherein the handle member (21) and the operating lever unit (81) are arranged so that the operating lever unit (81) can be moved relative to the handle member (21) by one hand of a practitioner while holding the handle member (21), and The handle member (21) and the selection structure of the tool exchange mechanism (6; 60) are arranged so that the selection structure of the tool exchange mechanism (6: 60) can be activated while the practitioner holds the handle member (21) with one hand.

17. The minimally invasive surgical device (1; 10) according to claim 14, wherein: The tool operation force identification structure (8) includes a force sensor located at the proximal portion (340) of the tube member (3; 30), and the force sensor is connected to an enabled tool (40) mounted to the distal portion (33; 330) of the tube member (3; 30) to detect the force applied to operate the enabled tool.

18. The minimally invasive surgical device (1; 10) according to any one of the preceding claims, wherein: The tool magazine (5; 50) comprises a barrel (51; 510) mounted in a rotatable manner around a barrel axis (530), and the plurality of chambers (520) are arranged around the barrel axis (530).

19. The minimally invasive surgical device (1; 10) according to claim 18, wherein: The tube member (3; 30) defines a tube axis parallel to the barrel axis (530).

20. The minimally invasive surgical device (1; 10) according to claim 19, wherein: The axial distance (D) between the cylinder axis (530) and the tube axis A ) is equal to the chamber distance (D) between each chamber in the chamber (520) and the cylinder axis (530) C ).

21. The minimally invasive surgical device (1; 10) according to any one of claims 18 to 20, wherein: The tool magazine (5; 50) and the tube component (3; 30) are configured so that one of the chambers (520) is aligned with the tube component (3; 30) according to the rotational position of the barrel (51; 510), so that one of the multiple tools (40) arranged inside the aligned chamber (520) can be moved into the tube component (3; 30), or one of the multiple tools (40) arranged inside the tube component (3; 30) can be moved into the aligned chamber (520).

22. The minimally invasive surgical device (1; 10) according to claim 21, wherein: The tool exchange mechanism (6; 60) includes a cartridge driver coupled to the cartridge (51; 510) of the tool magazine (5; 50), and the selection structure of the tool exchange mechanism (6: 60) has a switch that can be activated by a finger of one hand of a practitioner.

23. The minimally invasive surgical device (1; 10) according to claim 22, wherein: The cartridge drive of the tool exchange mechanism (6; 60) is configured to rotate the cartridge (51; 510) of the tool magazine (5; 50) stepwise around the cartridge axis (530) into a rotational position in which the chamber (520) is aligned with the tube member (3; 30).

24. The minimally invasive surgical device (1; 10) according to claim 23, wherein: The switch of the tool exchange mechanism (6; 60) is configured such that, when activated, the cartridge drive causes the cartridge (51; 510) of the tool magazine (5; 50) to rotate stepwise.

25. The minimally invasive surgical device (1; 10) according to any one of claims 21 to 24, wherein: The tool exchange mechanism (6; 60) includes an identification structure that identifies a tool and / or chamber (520) of the tools in the tool magazine (5; 50) that is aligned with the tube component (3; 30).

26. The minimally invasive surgical device (1; 10) according to any one of claims 18 to 25, wherein: The barrel (51; 510) of the tool magazine (5; 50) is capable of being swung laterally relative to the handle member (21) between a loading position in which the chamber (520) is accessible and an exchange position in which each of the plurality of tools (40) arranged in the chamber (520) is enabled.

27. The minimally invasive surgical device (1; 10) according to claim 26, wherein: The tool magazine (5; 50) comprises a swing block which is configured to fix the cartridge (51; 510) in the exchange position.

28. The minimally invasive surgical device (1; 10) according to any one of claims 18 to 25, wherein: The cartridge (51; 510) of the tool magazine (5; 50) is removably mounted to the handle member (21).

29. The minimally invasive surgical device (1; 10) according to any one of the preceding claims, comprises a tool rotation structure (9; 90), which is configured to rotate an enabled tool (40) mounted to the distal portion (33; 330) of the tube member (3; 30).

30. The minimally invasive surgical device (1; 10) according to claim 29, wherein: The handle member (21) and the tool rotating structure (9; 90) are arranged so that the tool rotating structure (9; 90) can be operated by a practitioner holding the handle member (21) with one hand. 90) can be actuated to rotate an activated tool (40) mounted to the distal end portion (33; 330) of the tubular member (3; 30).

31. The minimally invasive surgical device (1; 10) according to claim 29 or 30, wherein: The tool rotation structure (9; 90) includes a wheel element (91; 910) arranged around the tube part (3; 30), wherein the wheel element (91; 910) is connected to an enabled tool (40) mounted to the distal part (33; 330) of the tube part (3; 30), so that the enabled tool (40) mounted to the distal part (33; 330) of the tube part (3; 30) is rotated by the practitioner holding the handle member (21) with one hand.

32. The minimally invasive surgical device (1; 10) according to claim 31, wherein: The tool rotating structure (9; 90) includes at least one finger rest designed at the wheel element (91; 910).

33. The minimally invasive surgical device (1; 10) according to any one of claims 29 to 32, wherein: The tool rotation structure (9; 90) includes an orientation structure configured to prevent an activated tool (40) mounted to the distal end portion (33; 330) of the tubular member (3; 30) from rotating relative to the tubular member (3; 30).

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