Surgical medical device

Abstract

Surgical medical device (100, 200) with a frame (110, 210) that can be inserted into a body, wherein the front end section of the frame (110, 210) can be fixed adjacent to an affected area, the frame (110, 210) forming a path of movement (111, 211) in its inner part; with at least one treatment unit (130) that is movable along the path of the frame (210) to provide access to the affected area for treatment; a drive unit that generates the driving force to drive the at least one treatment unit (130); a control unit that controls the operation of the treatment unit (130) by controlling the driving force generated by the drive unit, characterized in that the frame has a fixed frame section (228) that is straight and cannot be bent or deformed, and a bending section (120, 220).which is connected to the fixed frame section (228) and which is deformable or bendable, wherein the movement path (111, 211) is formed in the fixed frame section (228) and wherein a retaining element (136, 236) is arranged in the movement path (111, 211) to perform a sliding movement, wherein one end of the treatment unit (130) is connected to the retaining element (136, 236), wherein the treatment unit (136, 236) is movable back and forth by the sliding movement of the retaining element (136, 236) and wherein the retaining element (136, 236) is in contact with an inner surface of the fixed frame section (228) during the sliding movement.

Description

field of technology

[0001] The present invention relates to a surgical medical device with which accessibility to an affected area can be improved and surgical procedures can be performed on the affected area by using a treatment unit that can be guided in a fixed frame, the frame can be easily deformed or bent according to the shape of the inner body when approaching an affected area, so that the load of a patient can be reduced and the accuracy of the operation can be increased because the bent state can be maintained. State of the art

[0002] If wounds or cysts occur on the larynx or colon, surgery is performed to treat the wounds or remove the cysts by inserting the medical cutting device into the inner body for cutting.

[0003] If an affected area occurs particularly in the larynx, it is removed by suspension laryngeal surgery, whereby the path to the affected area must be secured in a straight line so that a surgical medical device (a suspension laryngeal scope) can approach the affected area.

[0004] In Fig. Figure 1 shows the state in which a surgical medical device has been inserted into the laryngeal region of the body according to conventional surgery. As shown in the figure, the affected area (3) of the larynx is removed by inserting a surgical device (1) after the head of the patient to be operated on is bent backward and a straight path of movement is ensured.

[0005] If the patient's head is bent backward as described above, there is a risk of additional damage if the pressure on the neck becomes too great. In some cases, depending on the patient's physical characteristics, surgery may even be impossible.

[0006] Even if the head, as in Fig. 1, approximately 10 percent of all patients requiring the above-mentioned surgery cannot access the affected area of ​​the larynx (3). This means that the affected area in the larynx (3) cannot be removed, and there are limitations to this surgical approach.

[0007] The above-mentioned surgery cannot be performed easily, especially if the patient's neck is short or thick, if the patient is overweight, if their lower jaw or tongue is short, if they are male, if they have a fractured cervical disc, if their teeth are loose, or if the patient has dentures. Even if the surgery is performed, other complications such as tooth damage or laryngeal edema may occur.

[0008] Conventionally, as in Fig. As shown in Figure 1, the surgeon performed the operation by checking the condition and location of the affected area with the naked eye, so if the surgeon does not accurately grasp the location of the affected area or his hands are shaking, the surgical operation may not be performed correctly.

[0009] Accordingly, the development of a medical device with a new structure that can reliably operate on affected areas is urgently needed, whereby, for example, the affected area of ​​the larynx can be removed in a relaxed state without bending the neck backward.

[0010] Furthermore, there is a need for a surgical device that can be maintained in a constant state, increases the accuracy of an operation, and can easily attach itself to the site of an affected area without placing any strain on the patient's neck or body.

[0011] WO 2009 / 023 779 A1 discloses a surgical device having the features of claim 1. Similar devices are also known from DE 10 2006 059 379 A1 and JP 2004180781 A. Detailed description of the inventionTechnical task

[0012] The present invention is based on the object of creating a surgical device of the type mentioned above, by means of which an operation can be carried out with greater precision.

[0013] The invention is defined by the features of claim 1.

[0014] The present invention provides a surgical medical device that performs a surgical procedure on an affected area by means of a treatment unit in a state where a frame is fixed, so that the accuracy of an operation is not reduced by accidental factors such as the trembling of the surgeon's hands.

[0015] The present invention provides a surgical medical device that improves surgical procedures on an affected area because the treatment unit that actually performs the surgical procedure on the affected area can be flexibly operated depending on the location of the affected area.

[0016] According to the invention, accessibility to an affected area is improved by using the treatment unit in a stable state while inserted into the body. The present invention thus provides a surgical medical device that can increase the accuracy of a surgery.

[0017] The present invention provides a surgical medical device wherein the patient does not need to assume a specific position for surgery, such as bending the neck backward, because the frame maintains the fixed state or is deformed or bent according to the shape of the inner body, and consequently, secondary injuries can be prevented by relieving the pressure on a specific part of the body.

[0018] The present invention provides a surgical medical device that adjusts the degree of deformation or bending of the shape of the frame according to the shape of the inner body when approaching an affected area.

[0019] The present invention provides a surgical medical device that can increase the safety of surgery by maintaining the deformed or bent state of the frame during surgery on an affected area. Technical solution

[0020] To achieve the above object, according to the present invention, there is provided a surgical medical device comprising: a frame insertable into a body, the front portion of the frame being fixable adjacent to the affected area, the frame including a movement path in its inner part; at least one treatment unit movable along the path of a frame to gain access to the affected area for treatment; a drive unit generating a driving force to drive the at least one treatment unit; a control unit controlling the operation of the treatment unit by controlling the driving force generated by the drive unit.

[0021] A bending section of the frame can adjust and be fixed according to the shape of the inner body.

[0022] The frame can be deformed to bend or warp according to the shape of the inner body.

[0023] The frame may comprise a plurality of adjustable elements overlapping one another such that when the frame is inserted into the body, the shape of the frame deforms or bends according to the shape of the inner part of the body due to contact between the outer surface of the frame and an inner part of the body.

[0024] One of the two longitudinal ends of the frame can be inserted into the inside of one adjustable element and the outside of the adjacent adjustable element can be inserted into the other.

[0025] On the adjustable element, projections projecting in the direction of the movement path are formed, and the projections may have holes into which an actuating wire is inserted.

[0026] The projections are formed facing the upper and lower parts of the movement path, or they may extend in an orthogonal direction to the line passing through the center of the movement path.

[0027] The end of the actuating wire passes through the holes formed in the protrusions and is connected to one end of the frame or to a frame cap installed at the front end of the frame. The other end is provided at the other end of the frame so that it can be connected to the bending control device that controls the degree of bending of the adjustable element.

[0028] A locking means may be formed in the bending control device to maintain the state of deformation or bending of the adjustable element.

[0029] The locking means may prevent the frame from stretching by holding the actuating wire in the bent state, wherein one of the actuating wires is pulled by the bending control device.

[0030] The locking means may be formed in a cohesive state of the actuating wire so that it can come into contact with the adjustable elements adjacent to the bending control device.

[0031] The locking means comprises clamps that bind the operating wire and a hook that is held in a groove formed on the operating wire.

[0032] The locking means can hold or unlock the actuating wire and maintain the held state of the actuating wire while the treatment unit treats the affected area.

[0033] The treatment unit may comprise: a treatment section that performs the surgical procedure on the affected area, and a guide section connected to the front of the treatment section, extending in a longitudinal direction and movable, which enables flexible movements according to the movement path of the frame.

[0034] The movable guide section may be equipped with a spring that enables the transformation of the position in the direction of length and the elastic deformation in the lateral direction, or may be provided with elastically deformable and flexible steel materials or plastic.

[0035] The movable guide portion may be made of a plurality of links coupled in the longitudinal direction, wherein the plurality of link members can be rotated multidirectionally on the basis of the joint portion.

[0036] The treatment section includes a connecting member coupled to the front end of the movable guide section, rotatable in lateral and horizontal directions of the movable guide section; a rotating member rotatably coupled to the connecting member; and a treatment element coupled to the rotating member and directly performing treatment of the affected area, wherein the connecting member, the rotating member, or the treatment element is driven by the driving force generated by the drive unit based on the command signals from the control unit.

[0037] The treatment element may be provided with any of the following: a grasper that grasps the affected area; scissors that cut the affected area; a knife that cuts the affected area; a snare that wraps and cuts the affected area; a cautery that removes the affected area; and a suction line that sucks the affected area.

[0038] The drive unit may include: a forward and backward movable member that generates driving force that moves a support member connected to a rear end portion of the treatment unit forward and backward along the movement path; a wire-type treatment section drive member that is connected to the connecting member, the rotating member, and the treatment member, and controls an action of a member selected from the connecting member, the rotating member, and the treatment member based on a command from the control unit.

[0039] Furthermore, the surgical medical device comprises an image pickup unit that is movable along the movement path of the frame to reach the affected area and record the condition of the affected area, and a control unit that controls the movements of the treatment unit based on the information of the image pickup unit. Effect of the invention

[0040] As described above, the surgical medical device improves accessibility to the affected area when performing surgery compared to the prior art. Since the treatment unit can treat the affected area in a fixed state adjacent to the affected area or in a state where the shape of the frame or the degree of bending adjacent to the affected area is maintained, the accuracy of the operation can also be improved.

[0041] Furthermore, during the surgical procedure, the patient does not need to assume a specific position, such as bending the neck backward, because the frame adapts to the internal shape of the body and can deform accordingly. This prevents subsequent injuries by avoiding pressure on a specific part of the body.

[0042] The surgical medical device according to an embodiment of the present invention performs the surgical operation of the affected area by means of the treatment unit with the frame fixed or with the shape of the frame maintained in the deformed or bent state, so that the reduction of the accuracy of an operation due to accidental factors such as the trembling of the surgeon's hands can be prevented.

[0043] Furthermore, according to the surgical medical device according to an embodiment of the present invention, the treatment unit that actually performs the surgical procedure on the affected area can be flexibly operated depending on the location of the affected area, so that the ease of the surgical procedures on the affected area can be improved. Brief description of the drawings Fig. Figure 1 is a drawing of the state in which the conventional surgical medical device is inserted into the laryngeal region of the body. Fig. 2 is a drawing showing the state in which the surgical medical device according to an embodiment of the present invention is inserted into the laryngeal region of the body. Fig. 3 is a perspective view of the surgical medical device shown in Fig. 2 is shown. Fig. 4 is a perspective view of the frame shown in Fig. 3 is shown. Fig. 5 is a drawing illustrating the multi-degree of freedom movement of the treatment unit, which is Fig. 3 is shown. Fig. 6 is a perspective view illustrating the frame of the surgical medical device according to another embodiment of the present invention. Fig. 7 is a cross-sectional view showing an adjustable element of the frame according to Fig. 6 represents. Fig. Fig. 8 is a cross-sectional view of a part showing a bent frame by the adjustable element according to Fig. 7 draws. Embodiment of the invention

[0044] In the following, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or restricted by the embodiments. The same reference numerals shown in each drawing indicate the same element.

[0045] The following description is one of several aspects of the present invention of the possible claims and the following description forms a part of the detailed description of the present invention.

[0046] The following describes only the case where the affected area of ​​the larynx is removed, but it is not limited to this. It goes without saying that the surgical medical device of the present invention can be used not only on the affected area of ​​the larynx, but also on the affected area of ​​other parts of the body.

[0047] Fig. Fig. 2 is a drawing showing the state in which the surgical medical device according to an embodiment of the present invention is inserted into the laryngeal region of the body, Fig. 3 is a perspective view of the surgical medical device shown in Fig. 2 is shown, Fig. 4 is a perspective view of the frame shown in Fig. 3 is shown, Fig. 5 is a drawing illustrating the multi-degree of freedom movement of the treatment unit, which is Fig. 3 is shown, Fig. 6 is a perspective view showing the frame of the surgical medical device according to another embodiment of the present invention, Fig. 7 is a cross-sectional view showing an adjustable element of the frame according to Fig. 6 represents, Fig. Fig. 8 is a cross-sectional view of a part showing a curved frame by the adjustable element according to Fig. 7 draws.

[0048] As shown in these figures, the surgical medical device (100) according to an embodiment of the present invention comprises a frame (110) inserted through the mouth into the larynx (103), its front end portion fixed adjacent to the affected area of ​​the larynx (103), and a movement path (111) formed in the inner part of which; and the plurality of treatment units (130) that move along the movement path (111) of the frame (110) and can thus access and directly treat the affected area; the image pickup unit (150) that can move along the movement path (111) of the frame (110) to reach the affected area and can thereby record the state of the affected area; the control unit (not shown) that controls the movements of the treatment units (130) based on the image pickup information of the image pickup unit (150).

[0049] When describing the configuration of the individual, the frame (110) is first bent with its bending section (120) according to the shape of the oral cavity and the larynx, as shown in Fig. 2 or 4, respectively. This eliminates the need for the patient to assume a specific position, such as bending the neck backward, allowing them to maintain a comfortable posture during the operation.

[0050] This frame (110) is fixed within the body, whereby the treatment unit (130) is movable into the body. Fig. 4, a through hole (116) supporting the movement of the end portion of the treatment unit (130) and a through hole (117) supporting the movement of the image pickup unit (150) are formed at the front end portion of the frame (110) along the longitudinal direction of the frame (110).

[0051] Namely, the treatment units (130) are inserted into the interior of the frame (110) through the rear end of the frame (110), and then they move along the through hole (116) arranged at the front end portion, thus reaching the affected area on the larynx (103).

[0052] In the present embodiment, only the case where the affected area of ​​the larynx (130) is removed is described, but it is not limited to this, although the shape of the frame (110) is described as being curved. It goes without saying that various shapes, such as a straight shape, may be provided depending on the shape of the affected area.

[0053] Furthermore, the treatment unit (130) is a part that directly operates the affected area and comprises: a treatment section (131) that operates the affected area as shown in the Fig. 2 and Fig. 3, directly treated; a movable guide section (135) having a front end connected to the treatment section (131) and elongated to move along the through hole (116) of the frame (110); a drive unit (not shown) that drives the treatment section (131) or the movable guide section (135) according to a command from the control unit.

[0054] The movable guide section (135) in front of the treatment section (131) will now be described. The movable guide section (135) of the present embodiment can undergo elastic deformation in the longitudinal and lateral directions and can thus be configured as a spring with flexible properties.

[0055] Consequently, the movable guide portion (135) can be smoothly moved forward and backward along the through hole (116) by the drive unit described later, and also flexibly bent at the bending portion (120) of the frame (110) to allow the treatment portion (131) installed at the front end of the movable guide portion (135) to smoothly access the affected area.

[0056] In the present embodiment, it is described that the movable guide portion (135) is formed only as a spring, but it is not limited to this. It is understood that the movable guide portion (135) may have a linking structure with hinges in which multiple links are coupled in the longitudinal direction. Furthermore, the movable guide portion may be provided with elastic and flexible plastic or steel material, etc.

[0057] Furthermore, the treatment section (131) includes, as in Fig. 5; the connecting element (132) which is connected to the front end portion of the movable guide portion (135) in the lateral direction (A direction of Fig. 5) or in traverse direction (B direction of Fig. 5) is rotatably connected to the guide portion (135); a rotary member (133) which is fixed to the front end portion of the connecting member (132) in the C direction of the Fig. 5 is connected to it in a manner that is rotatable relative thereto; and a treatment element (134) connected to the front end portion of the rotary element (133) and that performs the movement (the pivoting movement in the D direction of the Fig. 5) to treat the affected area.

[0058] As mentioned above, the connecting element (132) is rotated in the lateral or transverse direction relative to the movable guide section (135). In other words, the connecting element (132) can be tilted to one side relative to the movable guide section (135).

[0059] Accordingly, the treatment element (134) can reach the affected area according to the lateral movement of the connecting element (132), regardless of the position where the affected area originated in the larynx, so that the surgical procedure on the affected area can be performed smoothly.

[0060] The rotating member (133) is a part that connects the connecting member (132) and the treatment member (134). This rotating member (133) can be rotated relative to the connecting member (132), so that the treatment member (134), which has reached the affected area via the connecting member (132), can be rotated to a suitable angle for the operation. In other words, the treatment element (134), which is located at the tip in the treatment section (131), can access the affected area by moving the connecting member (132), and then can be positioned in the appropriate position for the operation by moving the rotating member (133).

[0061] As in Fig. 2 and Fig. 3, the treatment element (134) is configured for direct operation on the affected area and may include a gripper (134a) for gripping the affected area or scissors (134b) for removing the affected area, etc. Therefore, the treatment element (134) should be capable of a gripping action or a cutting action, respectively, and is driven by the driving force provided by the drive unit, which will be described later.

[0062] In the present embodiment, it is described that only the treatment element (134) is provided with a grasper or scissors, but it is not limited to this. It goes without saying that a knife that cuts the affected area, a loop that wraps and cuts the affected area, a cautery that removes the affected area, and a suction line that sucks the affected area, etc., may be provided.

[0063] In addition, the image recording unit (150) as shown in Fig. 3, move along the movement path (111) of the frame (110) and reach the affected area through the through hole (117) provided at the front end portion. This image pickup unit (150) may include an illumination element (not shown) for illuminating the affected area and an image pickup element (not shown) that captures the affected area in real time.

[0064] With this configuration, the information from the scanned area can be monitored through the external monitor, allowing the surgeon to reliably perform the surgical procedure by monitoring the condition of the affected area.

[0065] The body of the image acquisition unit (150) can be made of a flexible material to allow the image acquisition unit (150) to have smooth access to the affected area. Consequently, the image acquisition unit (150) can move along the movement path (111) of the frame (110), whereby the movement path (111) of the image acquisition unit (150) allows smooth access to the affected area.

[0066] The control unit controls the drive of the drive section, which will be described later, based on information provided by the image acquisition unit. In other words, the image acquisition unit (150) images the region of the affected area in real time, and the information is displayed on an external monitor. The surgeon controls the movements of the treatment unit (130) via command signals sent to the drive unit via the control unit. For example, the control unit can drive the drive unit so that the treatment unit (130) can move forward as a whole and also rotate.

[0067] The drive unit also includes: a forward and backward movable member (not shown) that allows a support member (136), to which a rear part of the movable guide section (135) is attached, to move forward and backward on the movement path (111) of the frame (110); and a wire-type drive member (not shown) of the treatment section that is connected to the treatment section (131) and controls the movement of the treatment section (131) according to the command signals from the control unit.

[0068] The forward-and-backward movable moving element generates the driving force that can move the support member (136) along the movement path (111) of the frame (110), whereby the treatment unit (130) connected to the support member (130) can move forward and backward. That is, when the forward-and-backward movable element generates a driving force that makes the support member (136) move forward according to the command signal from the control section, the treatment unit (130) can move forward. On the other hand, when the forward-and-backward movable moving element generates a driving force that makes the support member (136) move backward, the treatment unit (130) can move backward on the inside of the frame (110).

[0069] The wire-type drive element of the treatment section is connected to the treatment element (134), the connecting element (132), and the rotating element (133), respectively, which the treatment section (131) comprises. When a command signal is transmitted from the control unit, the wire-type drive element of the treatment section selectively drives the treatment element (134), the connecting element (132), or the rotating element (133), and thus the surgical procedure can be performed on the affected area according to the surgeon's intention.

[0070] Furthermore, the method of removing an affected area on the larynx (103) by means of the surgical medical device (100) configured in this way is described.

[0071] First, the frame (110) is inserted into the mouth, and its front end can be positioned in the larynx (103). At this point, the patient does not need to assume a specific position, such as flexing the neck backward, since the bending portion (120) of the frame (110) is positioned in the part bent from the mouth to the neck.

[0072] Subsequently, a pair of treatment units (130) and the image acquisition unit (150) are inserted into the inside of the frame (110). The pair of treatment units (130) and the image acquisition unit (150) are then moved to the affected area by the driving force generated by the drive unit.

[0073] The information is then obtained by imaging the affected area using the image acquisition unit (150). The image information is displayed in real time on the external monitor, and the surgeon performs the operation on the affected area, operating the treatment units (130) based on the information from the image acquisition unit (150).

[0074] Specifically, the surgical procedure on the affected area is performed such that the driving element of the treatment department in the drive unit is driven according to the command signals from the control unit, and thus each component of the treatment department, i.e., the treatment element (134), the connecting element (132), or the rotating element (133), is selectively operated. At this time, the treatment element (134a), i.e., the gripper (134a) constituting one treatment unit (130) of a pair of treatment units (130), grips the affected area, and the treatment element (134b), i.e., the scissors (134b) constituting the other treatment unit (130), cuts the affected area. Thus, the surgical procedure on the affected area, e.g., the cutting procedure, can be performed.

[0075] According to the present embodiment, therefore, since the surgical procedure can be performed without bending the neck backward, e.g., at the affected area on the larynx (103), the accessibility to the affected area can be improved compared to the conventional ones, and the accuracy of the surgical procedure can also be improved since the surgical procedure can be performed in the fixed state of the frame (110).

[0076] Furthermore, according to one embodiment of the present invention, the shape of the frame (110) is configured to match the internal shape of the body, thus eliminating the need for the patient to assume a specific posture such as bending the neck backward. This also has the effect of preventing consequential damage to the body by preventing pressure on specific parts of the body.

[0077] In addition, there is an effect in which the ease of the surgical procedure on the affected area can be improved because the treatment unit (130) which actually performs the surgical procedure on the affected area can be flexibly operated depending on the location of the affected area.

[0078] Furthermore, the surgical medical device according to another embodiment of the present invention will be described with reference to the following drawings.

[0079] As in Fig. 6, the surgical medical device (200) according to another embodiment of the present invention may comprise: a frame (210) inserted through the mouth into the larynx (103), with its front end portion adjacent to the affected area of ​​the larynx (103, see Fig. 2) is fixed, and in which a movement path (211) is formed; several treatment units (130, see Fig. 3) which move along the movement path (211) of the frame (210) and can thus reach the affected area and treat it directly; an image recording unit (150, see Fig. 3) which is movable along the movement path (211) of the frame (210) to reach the affected area and thus can record the condition of the affected area; the control unit (not shown) which controls the movements of the treatment units (130) on the basis of the recording information of the image recording unit (150).

[0080] Here, the repeated description of the treatment unit (130) is omitted because it is the same as the surgical medical device (100) according to an embodiment of the present invention described above.

[0081] If the configuration of each is described, the frame (210) can be used as shown in Fig. 6, a bending section (220) that is curved according to the shape of the oral cavity and larynx. Accordingly, the patient does not need to assume a specific position, such as bending the neck backward, as is usual, so that the patient can maintain a comfortable posture during the operation, yet the frame easily reaches the affected area.

[0082] This frame (210) retains its state after insertion into the interior of the body, so that the treatment unit (130) can move into the interior of the body. Fig. 6, a through hole (216) that movably guides and supports the end portion of the treatment unit (130) and a through hole (217) that movably guides and supports the image pickup unit (150) can be formed at the front end portion of the frame (210) along the longitudinal direction of the frame (210). Here, the through holes (216, 217) can be formed integrally with the frame (210) or the frame cap (229) attached to the distal end in the longitudinal direction of the frame.

[0083] Here, the treatment units (130) are inserted through the rear end of the frame (210) into the interior of the frame (110), and then moved along the through hole (216) arranged at the front end portion or at the frame cap (229), thus reaching the affected area on the larynx (103).

[0084] Furthermore, with regard to Fig. 6, the surgical medical device (200) according to another embodiment of the present invention comprises a frame (210) that guides the movements of the treatment unit (130) and prevents direct contact with the body tissue or damage to the body tissue by the treatment unit (130), wherein the frame (210) has a fixed frame portion (228) formed in the shape of a straight line, and a bending portion (220) connected to one end of the fixed frame portion (228) and capable of being deformed and bent. Here, the deformation of the fixed frame portion (228) is not possible, but the bending portion (220) can be deformed according to the shape of the interior of the body or the path to the affected area. That is,The bending section (220) can be deformed or bent by the force generated by contact or friction between the interior of the body into which the frame is inserted and the bending section (220). This allows the surgeon to deform the shape of the bending section (220) according to the shape of the interior body, or to adjust the degree of bending.

[0085] As in Fig. As shown in Figure 6, a movement path (211) for moving the treatment unit (130) is provided inside the fixed frame portion (228) of the frame (210), and a support member (236) connected and fixed to one end of the treatment unit (130) may be provided in the movement path (211). The support member (236) is in contact with the interior of the fixed frame (228) to perform a sliding movement, and thereby the treatment unit (130) can be transported.

[0086] The upper part of the fixed frame (228) is, as shown in Fig. 6, open. However, the upper part (220a) of the fixed frame section (228) can be shielded by a separate cover element (not shown), thereby protecting the interior of the fixed frame section (228). Furthermore, it is preferred that the upper part (220a) and lower part (220b) of the bending section (220) be formed from a plurality of adjustable elements so that it can be bent. That is, even if it is in Fig. 6 is not shown, viewed from the outside, it may appear as if wrinkles are occurring, since the upper part (220a) and the lower part (220b) of the bending section (220) are formed from a plurality of overlapping, adjustable elements. Furthermore, it is preferable that the upper part (220a) and the lower part (220b) are each formed with a plurality of adjustable elements.

[0087] The structure and operation of the bending section (220) are described below with reference to the figures.

[0088] Fig. 7 is a cross-sectional view showing a portion of the upper part (220a) of the bending section (220) of the frame (210) of the surgical medical device (200) according to another embodiment of the present invention. With reference to Fig. 7, the bending section (220) can be formed from several adjustable elements (221) overlapping one another.

[0089] In other words, the frame (210) or the bending portion (220) may comprise a plurality of adjustable elements provided overlapping one another so that the shape of the frame (210) or the bending portion (220) can be deformed or bent according to the shape of the inner body which is in contact with the outer surface of the frame during insertion of the frame into the body.

[0090] As in Fig. 7, the adjustable elements (221) have the same shape and structure, wherein along the longitudinal direction or the direction of movement of the treatment unit (130), one of the two ends of the adjustable element (221) can be inserted into the interior of the adjacent adjustable element (221) and the outside of the adjacent adjustable element (221) can be inserted into another end of the adjustable element (221).

[0091] With reference to Fig. 7, the adjustable element (221) has an approximately inclined shape. However, it is not limited to this shape; it can be formed into any shape if it can be bent while maintaining the contacted or connected state of the adjustable elements (221). Furthermore, it is desirable that a prescribed curved surface be formed on the area adjacent to the adjacent adjustable elements (221) or their contact surface, so that the adjustable elements remain connected to each other in the bent or bent state.

[0092] When the bending portion (220) of the frame (210) is formed by the plurality of partially overlapping adjustable members (221), the bending portion (220) can be bent or deformed by the force generated by the contact between the interior of the body and the outer surface of the frame (210) during insertion of the frame (210) into the interior of the body. That is, the bending portion (220) can be bent without a separate external force. This allows the patient to reduce the burden of maintaining the specific posture for surgery.

[0093] In addition, projections (222) provided in the direction of the movement path (211) may be formed on the adjustable elements (221). When the adjustable elements (221) provided in Fig. 7, e.g., forming the upper part (220a) of the bending section (220), the projections (222) can be formed projecting in the direction of the movement path (211) or the bottom surface of the lower side (220b). That is, the projections (222) can be formed facing the upper or lower parts of the movement path (211).

[0094] Here, each projection (222) may have a hole (223) at the same location as the other projections (222), and the actuating wire (226) may be inserted into the holes (223). That is, the holes (223) in the projections (222) may be formed at the same location so that the actuating wire (226) can pass through them.

[0095] In addition, the projections (222) may be formed in a protruding direction orthogonal to the line passing through the center of the movement path (211). As shown in Fig. As can be seen from Fig. 7, a line connecting a lower end of each projection (222), that is, the line may be parallel to the line passing through the center of the moving path (211), and the projections (222) may be orthogonal to each other. Thus, the projections (222) are orthogonal to the line passing through the center of the moving path (211), and thus the operating wire (226) can be easily inserted into the holes (223). If the projections (222) were not formed orthogonally to the line passing through the center of the moving path (211), all the holes (223) might not be in the same position, and therefore, it might take many man-hours to insert the operating wire (226) into the holes (223). This may lead to a decrease in productivity.

[0096] The actuating wire (226) here is a wire that exerts the external force that deforms or bends the shape of the bending portion (220). One end of the actuating wire (226) passes through the holes (223) formed in the projections (223) and is connected to the frame cap (229) attached to one end of the frame (210), and another end can be connected to the bending control portion (260, see Fig. 8), which is arranged on the other side of the frame (210).

[0097] Thus, the bending portion (220) can be bent so that one end of the operating wire (226) is fixed to the fixed frame cap (229) or the front end portion of the frame (210), and the other end is connected to the movable bending control portion (260). That is, the adjustable member (221) can be bent or deformed by shortening the length of the operating wire (226) passing through the bending portion (220) by pulling the bending control portion (260).

[0098] Fig. Figure 8 is a cross-sectional view showing the curved shape of the bending section (220) consisting of a plurality of adjustable elements (221) from the side. Fig. 8, one end of the two actuating wires (226a, 226b) is connected to the bending control section (260), and the lower actuating wire (226b) is pulled more strongly than the upper actuating wire (226a). That is, the flexion section (220) can be bent by pulling one of the two actuating wires more strongly through the operation of the bending control section (260).

[0099] In addition, a locking means (240) may be formed on the side of the bending control section (260) in order to maintain the state of deformation or bending of the adjustable elements (221).

[0100] This locking means (240) can prevent the frame (210) or the bending section (220) from stretching by holding the operating wires (226a, 226b) so that the operating wires (226a, 226b) are immobile in a bent state of the frame (210) or the bending section (220) in which the bending control section (260) has pulled one of the operating wires (226a, 226b). That is, the locking means (240) is a means for fixing the operating wires (226a, 226b) pulled by the bending control section (260) or for maintaining their length.

[0101] The locking means (240) can, in the holding state of the actuating wire (226), contact the adjustable element (227) which is adjacent to the bending control section (260). That is, with respect to Fig.8, the locking means (240) can maintain the holding state of the operating wire (226) while in contact with the leftmost adjustable element (227). It is preferable that the locking means (240) maintains the operating wire (226) in contact with the adjustable element (221) adjacent to the bending control portion (260).

[0102] Furthermore, the locking means (240) may include clamps (not shown) that hold the actuating wire (226), or a hook (not shown) that is caught in a groove (not shown) formed on the actuating wire (226). For this purpose, a sensor (not shown) that detects the length of the actuating wire (226) may be provided on the locking means (240). By equipping the sensor, information about the degree of bending of the bending section (220) can be obtained from the length of the actuating wire (226), and the bending control section (260) and the locking means (240) can be automatically controlled based on the length information.

[0103] The locking means (240) can hold the actuating wire (226) and also unlock the holding state. It is preferred that the locking means (240) maintain the holding state of the actuating wire (226) while the treatment unit (130) is treating the affected area. However, it is preferred that the locking means (240) unlock the holding state when the treatment or surgery is completed or a change in the treatment area, etc., is required.

[0104] As described above, the treatment unit (130) is inserted into the body by means of the frame (210), which is deformed or bent according to the internal shape of the body. Thus, the patient does not need to assume a specific position for the operation, such as bending the neck backward. Consequently, secondary injuries can be prevented by inhibiting pressure on a specific part of the body.

[0105] In one embodiment of the present invention as described above, only the specific details such as detailed components and limited embodiment and figures have been described, but it is only intended to aid the overall understanding.

[0106] Therefore, the present invention is not limited to the above-described embodiment, and those skilled in the art may add or replace it. Therefore, the concept of the present invention should not be limited to the above-described embodiment, and all inventions that fall within the scope of the claims described below, as well as those that are equal to or equivalent to these claims, should be considered to fall within the scope of the present invention. Industrial applicability

[0107] The present invention can be used for the medical surgical robot.

Claims

[1] A surgical medical device (100, 200) comprising a frame (110, 210) insertable into a body, the front end portion of the frame (110, 210) being fixable adjacent to an affected area, the frame (110, 210) forming a movement path (111, 211) in its inner part; at least one treatment unit (130) movable along the path of the frame (210) to gain access to the affected area for treatment; a drive unit generating the drive force to drive the at least one treatment unit (130); a control unit controlling the operation of the treatment unit (130) by controlling the drive force generated by the drive unit, characterized byin that the frame has a fixed frame section (228) which is linearly shaped and cannot be bent or deformed, and a bending section (120, 220) which is connected to the fixed frame section (228) and which is deformable or bendable, wherein the movement path (111, 211) is formed in the fixed frame section (228) and wherein a holding element (136, 236) is arranged in the movement path (111, 211) in order to perform a sliding movement, wherein one end of the treatment unit (130) is connected to the holding element (136, 236), wherein the treatment unit (136, 236) is movable back and forth by the sliding movement of the holding element (136, 236), and wherein the holding element (136, 236) is in contact with an inner surface of the fixed frame section (228) during the sliding movement. [2] Surgical medical device according to claim 1, characterized byin that the bending section (120,220) comprises a plurality of adjustable elements (221) which overlap one another and which, when the frame (110,210) is inserted into the body, are deformable or bendable by the contact between the outer surface of the frame (110,210) and the shape of the inner body, the shape of the frame according to the shape of the inner body. [3] Surgical medical device according to claim 1 characterized by that one of the two longitudinal ends of the frame (110,210) can be inserted into the interior of an adjacent adjustable element (221) and the outside of the adjacent adjustable element (221) can be inserted into another. [4] Surgical medical device according to claim 3, characterized bythat projections (222) which project in the direction of the movement path (111,211) are formed on the adjustable element (221), and holes (223) into which an actuating wire is inserted are arranged in the projections (222). [5] Surgical medical device according to claim 4, characterized by that the projections are formed facing each other in the direction of the upper and lower parts of the movement path (111,211) or projecting in an orthogonal direction to the line passing through the center of the movement path (111,211). [6] Surgical medical device according to claim 5, characterized bythat the end of the actuating wire passes through the holes (223) formed in the projections (222) and is connected to a frame cap attached to the front end of the frame, and the other end is arranged at the other end of the frame and connected to the bending control section (260) which controls the degree of bending of the adjustable element. [7] Surgical medical device according to claim 6, characterized byin that a locking means (240) is formed in the bending control section (260) in order to maintain the state of deformation or bending of the adjustable element, wherein the locking means (240) can prevent the frame (110, 210) from stretching by holding the actuating wire in the bent state in which one of the operating wires is pulled through the bending control section, and wherein the locking means (240) in the held state of the actuating wire touches the adjustable elements adjacent to the bending control section (260). [8] Surgical medical device according to claim 1, characterized byin that the treatment unit (130) comprises: a movable guide section (135) which is connected to the holding element (136, 236), a connecting element (132) which is connected to a front end of the movable guide section (135), a rotating element (133) which is rotatably coupled to the connecting element (132) and a treatment element (134) which is coupled to the rotating element (133), wherein the holding element (136) is connected to a rear end section of the movable guide section (135), wherein the movable guide section (135) is movable back and forth by the sliding movement of the holding element (136) and wherein the connecting element (132) is inclinable to one side with respect to the movable guide section (136). [9] Surgical medical device according to claim 8, characterized bythat the movable guide element (132) has a spring which enables a change in position in the longitudinal direction and the elastic deformation in the lateral direction, or consists of flexible steel materials or plastic which are / is elastically deformable. [10] Surgical medical device according to claim 8, characterized by in that the movable guide element (132) has a plurality of links coupled in the longitudinal direction, wherein the plurality of links can be rotated multidirectionally on the basis of a joint portion. [11] Surgical medical device according to claim 8, characterized bythat one of the following treatment elements (134) is provided: a gripper that grips the affected area, scissors that remove the affected area, a knife that cuts the affected area, a loop that wraps and cuts the affected area, a cautery that removes the affected area and a suction line that sucks the affected area. [12] Surgical medical device according to claim 11 characterized byin that the drive unit comprises: a forward and backward movable element via which the support element (136, 236) connected to a rear end portion of the treatment unit (134) is movable forward and backward along the movement path (111, 211); and a wire-type drive element of the treatment section which is connected to the connecting element (132), the rotating element (133) and the treatment element (134) and via which an action of an element selected from the connecting element (132), the rotating element (133) and the treatment element (134) is controllable on the basis of a command from the control unit. [13] Surgical medical device according to claim 11, characterized byin that the surgical medical device comprises an image recording unit (150) which is movable along the movement path (111,211) of the frame (110,210) in order to reach the affected area and record the condition of the affected area, and the movements of the treatment unit (130) can be controlled via a control unit on the basis of the information from the image recording unit (150).

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