Surgical tool fixing device

Abstract

This surgical tool fixing device comprises: a first body to which a surgical tool is fixed; and a second body which can be spaced apart from or brought into close contact with the first body and to which the surgical tool is fixed, wherein: the first body comprises a first body part including a first accommodation portion in which the surgical tool is accommodated, and a first fastening part including a plurality of protrusions which protrude from the first body part toward the second body; the second body comprises a second body part including a second accommodation portion in which the surgical tool is accommodated, and a second fastening part including a plurality of grooves which are formed to be recessed from the second body part toward the first body; and the plurality of protrusions and the plurality of grooves are arranged along the center of the first fastening part or the second fastening part, respectively.

Description

surgical instrument fixation device

[0001] The present invention relates to a surgical tool fixing device, and more particularly, to a surgical tool fixing device capable of fixing a surgical tool in an accurate position.

[0002] Robotic surgical techniques are being introduced to ensure surgical perfection. Compared to manual surgery, robots allow for more precise tool positioning, resulting in more successful surgeries.

[0003] For a successful surgery, surgical instruments must be accurately positioned and secured. Aligning and securing the instruments in their designated positions is crucial.

[0004] Surgical outcomes can vary if surgical instruments are not aligned or fixed in their designated positions. Even micrometer-level errors in the surgical robot's position, resulting in a misalignment, can alter surgical outcomes.

[0005] For this purpose, a device that can fix surgical tools in the exact position is being studied.

[0006] (Prior art literature)

[0007] Korean Patent Publication No. 10-1569995 (published on November 30, 2015)

[0008]

[0009] The present invention can provide a surgical tool fixing device that can align a surgical tool to an accurate position and fix the surgical tool so that it does not come out of the aligned position.

[0010] The present invention can provide a surgical tool fixing device capable of firmly connecting bodies for fixing surgical tools to each other.

[0011] The present invention can provide a surgical tool fixing device that facilitates the joining of bodies that fix surgical tools.

[0012] The present invention can provide a surgical tool fixing device that can easily remove errors even if some errors occur when joining bodies that fix surgical tools.

[0013] According to one embodiment of the present invention, a surgical tool fixing device is provided, comprising: a first body to which a surgical tool is fixed; and a second body, which is spaced apart from or closely attached to the first body and to which the surgical tool is fixed; wherein the first body includes a first body portion including a first receiving portion in which the surgical tool is received, and a first fastening portion including a plurality of protrusions formed protruding from the first body portion toward the second body, and wherein the second body includes a second body portion including a second receiving portion in which the surgical tool is received, and a second fastening portion including a plurality of grooves formed recessed from the second body portion toward the first body, and wherein the plurality of protrusions and the plurality of grooves are arranged along the center of the first fastening portion or the second fastening portion, respectively.

[0014] A surgical tool fixing device may be provided in which an angle between a pair of adjacent protrusions among the plurality of protrusions and a center of the first fastening portion is equal to each other, an angle between a pair of adjacent grooves among the plurality of grooves and a center of the second fastening portion is equal to each other, the number of the plurality of grooves is greater than or equal to the number of the protrusions, and a volume of each of the grooves is greater than or equal to the volume of each of the protrusions.

[0015] The second fastening portion may include a first region in which the grooves are defined and a second region surrounding the first portion, and a surgical tool fixing device may be provided in which, on a plane, an area of ​​the first region is greater than or equal to an area of ​​the second region.

[0016] The second fastening portion may be provided with a surgical tool fixing device including a curved surface defined in an area between the first area and the second area.

[0017] The above protrusions each include a first protrusion portion extending in a direction approaching the first fastening portion toward the second fastening portion and having a cross-sectional area decreasing in a direction approaching the second fastening portion, and a second protrusion portion provided at an end of the first protrusion portion and having at least a portion of a surface curved, and the grooves each include a first groove portion extending in a direction away from the second fastening portion toward the first fastening portion and having a cross-sectional area decreasing in a direction away from the first fastening portion, and a second groove portion provided at an end of the first groove portion and having at least a portion of a surface curved, and the curved portion of the second protrusion portion and the curved portion of the second groove portion have curved shapes corresponding to each other. A surgical tool fixing device may be provided.

[0018] On a plane, the second protrusion portion and the second groove portion each have a polygonal shape with rounded corners, and a surgical tool fixing device may be provided in which the second protrusion portion is fitted into the second groove portion.

[0019] On a plane, the second protruding portion and the second groove portion have rounded corners, and have an isosceles triangle shape in which adjacent pairs of sides have the same length with an angle between the center of the first fastening portion and the center of the second fastening portion and the adjacent vertex, and a surgical tool fixing device having six or more grooves may be provided.

[0020] A surgical tool fixing device may be provided in which the first fastening portion includes a first support portion that supports the protrusions, and a second support portion that supports the first support portion to the first body portion, and the second support portion further includes a spring member that elastically supports the first support portion.

[0021] A surgical tool fixing device may be provided in which the first fastening portion and the second fastening portion are each provided in multiple numbers, the first fastening portions are arranged along the first receiving portion, and the second fastening portions are arranged along the second receiving portion.

[0022] A surgical tool fixing device may be provided in which the first fastening portions are positioned at the same distance from the first receiving portion, and the second fastening portions are positioned at the same distance from the second receiving portion.

[0023] A surgical tool fixing device according to one embodiment of the present invention can align a surgical tool to an accurate position and fix the surgical tool so that it does not deviate from the aligned position.

[0024] A surgical tool fixing device according to one embodiment of the present invention can firmly connect bodies that fix surgical tools to each other.

[0025] A surgical tool fixing device according to one embodiment of the present invention can facilitate the joining of bodies that fix surgical tools.

[0026] A surgical tool fixing device according to one embodiment of the present invention can provide a surgical tool fixing device that can easily remove errors even if some errors occur when joining bodies that fix surgical tools.

[0027] FIG. 1 is a perspective view of a surgical tool fixing device according to one embodiment of the present invention.

[0028] FIG. 2 is a perspective view of a first body of a surgical tool fixing device according to one embodiment of the present invention.

[0029] FIG. 3 is a perspective view of a second body of a surgical tool fixing device according to one embodiment of the present invention.

[0030] FIG. 4 is a plan view of a first body of a surgical tool fixing device according to one embodiment of the present invention.

[0031] FIG. 5 is a plan view of a second body of a surgical tool fixing device according to one embodiment of the present invention.

[0032] FIG. 6 is a perspective view of a first fastening portion of a surgical tool fixing device according to one embodiment of the present invention.

[0033] FIG. 7 is a perspective view of a second fastening portion of a surgical tool fixing device according to one embodiment of the present invention.

[0034] FIG. 8 is a perspective view of a first fastening portion of a surgical tool fixing device according to one embodiment of the present invention.

[0035] FIG. 9 is a perspective view of a first body of a surgical tool fixing device according to one embodiment of the present invention.

[0036] FIGS. 10 and 11 are perspective views of a second body of a surgical tool fixing device according to one embodiment of the present invention.

[0037] FIGS. 12 to 14 are perspective views showing a state in which a first body and a second body of a surgical tool fixing device according to one embodiment of the present invention are coupled.

[0038] FIG. 15 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention.

[0039] Figure 16 is an exploded view of a surgical tool fixing device according to another embodiment of the present invention.

[0040] FIG. 17 is an enlarged view of a portion of a surgical tool fixing device according to another embodiment of the present invention.

[0041] FIG. 18 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention.

[0042] FIG. 19 is a plan view of a surgical tool fixing device according to another embodiment of the present invention.

[0043] FIG. 20 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention.

[0044] FIG. 21 is a schematic cross-sectional view of a surgical tool fixing device according to another embodiment of the present invention.

[0045]

[0046] In this specification, when it is said that a component (or region, layer, portion, etc.) is “on,” “connected to,” or “coupled to” another component, it means that it can be directly disposed / connected / coupled to the other component, or a third component may be disposed between them.

[0047] Identical drawing numbers indicate identical components. Furthermore, in the drawings, the thicknesses, proportions, and dimensions of the components are exaggerated for the purpose of effectively illustrating the technical content. "And / or" encompasses any combination of one or more of the associated components.

[0048] While terms such as "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component." Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0049] Additionally, terms such as "below," "lower," "above," and "upper" are used to describe the relationships between components depicted in the drawings. These terms are relative concepts and are described based on the directions indicated in the drawings.

[0050] It should be understood that terms such as "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0051] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. Furthermore, terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an overly idealistic or overly formal sense unless explicitly defined herein.

[0052] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0053]

[0054] FIG. 1 is a perspective view of a surgical tool fixing device (30) according to one embodiment of the present invention.

[0055] Referring to FIG. 1, the surgical tool fixing device (30) may include a first body (100), a second body (200), and a driving unit (300).

[0056] A surgical tool (10) can be fixed to the first body (100) and the second body (200). By fixing the surgical tool (10) to each of the first body (100) and the second body (200), the position of the surgical tool (10) can be prevented from being displaced from the aligned position after it has been aligned.

[0057] The second body (200) can be spaced apart from or in close contact with the first body (100). The driving unit (300) can transmit driving force from the first body (100) to the second body (200), more precisely, to the surgical tool (10) of the second body (200), when the first body (100) and the second body (200) are in close contact with each other. Here, the driving unit (300) may include an actuator such as a motor, and may include a device that generates various driving forces, without being limited thereto, and the surgical tool (10) that receives the driving force can be driven in a manner such as rotation.

[0058]

[0059] Fig. 2 is a perspective view of a first body (100) of a surgical tool fixing device (30) according to one embodiment of the present invention. Fig. 3 is a perspective view of a second body (200) of a surgical tool fixing device (30) according to one embodiment of the present invention.

[0060] Referring to FIGS. 2 and 3, the first body (100) may include a first body portion (110), a first receiving portion (120), and a first fastening portion (130). The second body (200) may include a second body portion (210), a second receiving portion (220), and a second fastening portion (230).

[0061] A first receiving portion (120) for receiving a surgical tool (10) may be defined in the first body portion (110), and a second receiving portion (220) for receiving a surgical tool (10) may be defined in the second body portion (210). As illustrated in the drawing, the first receiving portion (120) and the second receiving portion (220) may have different shapes. When the first body (100) and the second body (200) are coupled, the second receiving portion (220) may be received in the first receiving portion (120).

[0062] As illustrated in the drawing, the first receiving portion (120) may be defined as a sunken shape, and the second receiving portion (220) may be defined as a protruding shape. An opening through which a surgical tool (10) may pass may be defined in each of the first receiving portion (120) and the second receiving portion (220).

[0063] According to one embodiment of the present invention, a first state in which a first body (100) and a second body (200) are coupled, and a second state in which the coupled state of the first body (100) and the second body (200) is released can be defined. In the first state, the first fastening portion (130) of the first body (100) and the second fastening portion (230) of the second body (200) are coupled, and in the second state, the coupled state of the first fastening portion (130) of the first body (100) and the second fastening portion (230) of the second body (200) is released.

[0064] The first fastening portion (130) may be formed to protrude from the first body portion (110) toward the second body (200). The second fastening portion (230) may be formed to protrude from the second body portion (210) toward the first body (100).

[0065] In addition, the first fastening portion (130) may include a plurality of protrusions (131) formed protruding from the first body portion (110) toward the second body (200), and the second fastening portion (230) may include a plurality of grooves (231) formed recessed from the second body portion (210) toward the first body (100). Each of the protrusions (131) and the grooves (231) may be received in the corresponding grooves (231) and the protrusions (131), and may be fitted together, for example.

[0066] Each of the protrusions (131) is accommodated in the grooves (231), so that the first body (100) and the second body (200) can be firmly combined, and the surgical tool (10) can be prevented from being dislodged from the aligned position.

[0067]

[0068] Fig. 4 is a plan view of a first body (100) of a surgical tool fixing device (30) according to one embodiment of the present invention. Fig. 5 is a plan view of a second body (200) of a surgical tool fixing device (30) according to another embodiment of the present invention.

[0069] Referring to FIGS. 4 and 5, the first fastening portion (130) and the second fastening portion (230) may each be provided in multiples. The number of the first fastening portions (130) and the number of the second fastening portions (230) may correspond to each other.

[0070] A plurality of first fastening portions (130) may be arranged along the center (120a) of the first receiving portion (120). A plurality of second fastening portions (230) may be arranged along the center (220a) of the second receiving portion (220). The distance (D1) between each of the plurality of first fastening portions (130) and the center (120a) of the first receiving portion (120) may be the same. The distance (D2) between each of the plurality of second fastening portions (230) and the center (220a) of the second receiving portion (220) may be the same. In this case, the distance (D1) between the center (120a) of the first receiving portion (120) and the first fastening portion (130) and the distance (D2) between the center (220a) of the second receiving portion (220) and the second fastening portion (230) may be the same.

[0071] According to one embodiment of the present invention, a plurality of protrusions (131) may be arranged along the center of the first fastening portion (130), respectively. According to one embodiment of the present invention, the distance between each of the plurality of protrusions (131) and the center (130a) of the first fastening portion (130) may be the same. The angle (θ1) formed between a pair of adjacent protrusions (131) and the center (130a) of the first fastening portion (130) may be the same.

[0072] In this way, a plurality of protrusions (131) are provided, and the angle (θ1) between a pair of protrusions (131) is the same, so that the first body (100) and the second body (200) can be easily joined in the first state.

[0073] A plurality of grooves (231) may be arranged along the center (230a) of the second fastening portion (230), respectively. According to one embodiment of the present invention, the distance between each of the plurality of grooves (231) and the center (230a) of the second fastening portion (230) may be the same. The angle (θ2) between a pair of adjacent grooves (231) and the center (230a) of the second fastening portion (230) may be the same. According to one embodiment, the angle (θ1) between the aforementioned adjacent protrusions (131) and the center of the first fastening portion (130) and the angle (θ2) between the corresponding adjacent grooves (231) and the center of the second fastening portion (230) may be the same.

[0074] According to one embodiment of the present invention, the number of grooves (231) may be greater than or equal to the number of protrusions (131). Through this, the protrusions (131) can be easily accommodated in the grooves (231). However, in this case, the planar shape of each groove (231) may be identical to the planar shape of each protrusion (131), and is not limited to any one embodiment.

[0075] According to one embodiment of the present invention, the grooves (231) may be provided in numbers of six or more, and at this time, the number of protrusions (131) may be provided in a number equal to or less than the number corresponding to the number of grooves (231), and is not limited to any one embodiment.

[0076] On a plane, the protrusions (131) and the grooves (231) may have a polygonal shape with rounded corners. For example, the protrusions (131) and the grooves (231) may have a shape such as an isosceles triangle, an equilateral triangle, a trapezoid, etc. with rounded corners, and may have a shape other than the polygonal shapes described above, and are not limited to any one embodiment.

[0077] According to one embodiment of the present invention, the second fastening portion (230) may include a first region (A1) and a second region (A2) surrounding the first region (A1). Grooves (231) are defined in the first region (A1), and the second region (A2) surrounds the grooves (231) and corresponds to a region that protrudes relatively more than the grooves (231). That is, the second region (A2) may be closer to the first body portion (110) than the first region (A1).

[0078] The area of ​​the first region (A1) on the plane may be greater than or equal to the area of ​​the second region (A2). This allows the protrusions (131) to be easily accommodated in the grooves (231).

[0079] A curved surface (CS) may be defined between the first region (A1) and the second region (A2). In the first state, the protrusion (131) may be directly accommodated in the groove (231), but the protrusion (131) may also be accommodated in the groove (231) through the curved surface (CS) defined in the first region (A1) and the second region (A2), thereby facilitating the joining of the bodies (100, 200).

[0080] The volume of each of the protrusions (131) and the volume of each of the corresponding grooves (231) may be the same. By having the same volume, the protrusions (131) and the grooves (231) can be fitted and coupled. This prevents the protrusions (131) from being displaced within the grooves (231) after the protrusions (131) and the grooves (231) are coupled, thereby preventing the position of the aligned surgical tool (10) from being changed.

[0081]

[0082] Fig. 6 is a perspective view of a first fastening portion (130) of a surgical tool fixing device (30) according to one embodiment of the present invention. Fig. 7 is a perspective view of a second fastening portion (230) of a surgical tool fixing device (30) according to one embodiment of the present invention.

[0083] Referring to FIGS. 6 and 7, the protrusion (131) may include a first protrusion portion (131a) and a second protrusion portion (131b).

[0084] The first protrusion portion (131a) extends in a direction approaching the first fastening portion (130) toward the second fastening portion (230). The protrusion (131) may include a tapered shape. Specifically, the cross-sectional area of ​​the first protrusion portion (131a) in the second direction (DR2) intersecting the first direction (DR1) may become smaller as it approaches the second fastening portion (230).

[0085] The second protrusion portion (131b) is provided at the end of the first protrusion portion (131a) and at least a portion of the surface can be curved.

[0086] The groove (231) may include a first groove portion (231a) and a second groove portion (231b). The first groove portion (231a) may extend in a direction away from the first fastening portion (130). The groove (231) may include a tapered shape. Specifically, the cross-sectional area of ​​the first groove portion (231a) in the second direction (DR2) may decrease as it moves away from the second fastening portion (230).

[0087] The second groove portion (231b) is provided at the end of the first groove portion (231a) and at least a portion of the surface can be curved.

[0088] The protrusion (131) and the groove (231) are provided in a tapered shape, and at least a portion of the end is provided to be curved so that the protrusion (131) can be easily received in the groove (231). Through this, the first body (100) and the second body (200) can be easily coupled.

[0089] The first protrusion portion (131a) and the first groove portion (231a) may have corresponding shapes, and the second protrusion portion (131b) and the second groove portion (231b) may have corresponding shapes. For example, the curved portion of the second protrusion portion (131b) and the curved portion of the second groove portion (231b) may have corresponding shapes. Through this, the protrusion (131) and the groove (231) can be easily fitted together.

[0090] On a plane, the second protruding portion and the second recessed portion (231b) may each have a polygonal shape with rounded corners. Specifically, based on a cross-section in a direction parallel to the second direction (DR2), the second protruding portion and the second recessed portion (231b) may each exhibit a polygonal shape with rounded corners.

[0091] According to one embodiment of the present invention, the second protrusion portion (131b) may have a shape of an isosceles triangle with rounded corners and a pair of adjacent sides having equal lengths, with the vertices adjacent to the center (130a) of the first fastening portion (130) being at an angle between them. However, the second protrusion portion (131b) may have an equilateral triangle shape or a fan shape, and is not limited to any one embodiment.

[0092] The second groove portion (231b) may have a shape of an isosceles triangle with rounded corners and a pair of adjacent sides having equal lengths, with the vertices adjacent to the center (230a) of the second fastening portion (230) being at an angle between them. However, the second groove portion (231b) may have an equilateral triangle shape or a fan shape, and is not limited to any one embodiment.

[0093] At this time, the shapes of the second protrusion portion (131b) and the second groove portion (231b) may correspond to each other. In other words, the second protrusion portion (131b) and the second groove portion (231b) may have substantially the same shape.

[0094] Through this, even if the first body (100) or the second body (200) rotates at an angle smaller than the angle between the first and second bodies, the protrusion (131) that is not accommodated in the groove (231) can be accommodated in the groove (231), so that the first body (100) and the second body (200) can be easily joined.

[0095]

[0096] FIG. 8 is a perspective view of a first fastening portion (130) of a surgical tool fixing device (30) according to one embodiment of the present invention.

[0097] Referring to FIG. 8, a first fastening portion (130) according to one embodiment of the present invention may include a first support portion (132), a second support portion (133), and a spring member (134).

[0098] The first support member (132) can support the protrusions (131), the second support member (133) can support the first support member (132) to the first body member (110), and the spring member (134) can elastically support the first support member (132).

[0099] As shown in the drawing, the spring member (134) can surround the second support member (133) and elastically support the first support member (132) to the second support member (133) or the first body member (110).

[0100] As the spring member (134) elastically supports the first support portion (132), when the protrusion (131) is not accommodated in the groove (231) but is in close contact with the second area (A2), the position of the protrusion (131) changes due to the elastic force of the spring member (134) so ​​that the protrusion (131) can be accommodated in the groove (231). Through this, even if some error occurs in which the protrusion (131) is not accommodated in the groove (231) when the first body (100) and the second body (200) are coupled, the error can be easily removed using the elastic force of the spring member (134) so ​​that the protrusion (131) can be accommodated in the groove (231).

[0101] According to one embodiment, the length of the second support member (133) is changeable and can change along with the length of the spring member (134) when the length changes depending on the pressure applied to the first support member (132).

[0102]

[0103] Fig. 9 is a perspective view of a first body (100) of a surgical tool fixing device (30) according to one embodiment of the present invention. Figs. 10 and 11 are perspective views of a second body (200) of a surgical tool fixing device (30) according to one embodiment of the present invention.

[0104] Referring to FIGS. 9 to 11, the first body (100) may include a first body portion (110), a first receiving portion (120), a first fastening portion (130), a first coupling portion (140), and a first magnetic portion (150). The second body (200) may include a second body portion (210), a second receiving portion (220), a second fastening portion (230), a second coupling portion (240), and a second magnetic portion (250).

[0105] The first body part (110) of the first body (100) and the second body part (210) of the second body (200) can face each other.

[0106] A first receiving portion (120) for receiving a surgical tool (10) may be defined in the first body portion (110), and a second receiving portion (220) for receiving a surgical tool (10) may be defined in the second body portion (210). As illustrated in the drawing, the first receiving portion (120) and the second receiving portion (220) may have different shapes. When the first body (100) and the second body (200) are coupled, the second receiving portion (220) may be received in the first receiving portion (120).

[0107] As illustrated in the drawing, the first receiving portion (120) may be defined as a sunken shape, and the second receiving portion (220) may be defined as a protruding shape. An opening through which a surgical tool (10) may pass may be defined in each of the first receiving portion (120) and the second receiving portion (220).

[0108] According to one embodiment of the present invention, a first state in which a first body (100) and a second body (200) are coupled, and a second state in which the coupled state of the first body (100) and the second body (200) is released can be defined. In the first state, the first fastening portion (130) of the first body (100) and the second fastening portion (230) of the second body (200) are coupled, and in the second state, the coupled state of the first fastening portion (130) of the first body (100) and the second fastening portion (230) of the second body (200) is released.

[0109] The first fastening portion (130) may be formed to protrude from the first body portion (110) toward the second body (200). The second fastening portion (230) may be formed to protrude from the second body portion (210) toward the first body (100).

[0110] In addition, the first fastening portion (130) may include a plurality of protrusions (131) formed protruding from the first body portion (110) toward the second body (200), and the second fastening portion (230) may include a plurality of grooves (231) formed recessed from the second body portion (210) toward the first body (100). Each of the protrusions (131) and the grooves (231) may be received in the corresponding grooves (231) and the protrusions (131), and may be fitted together, for example.

[0111] Each of the protrusions (131) is accommodated in the grooves (231), so that the first body (100) and the second body (200) can be firmly combined, and the surgical tool (10) can be prevented from being dislodged from the aligned position.

[0112] The first coupling part (140) is placed in the first body part (110), and the second coupling part (240) is placed in the second body part (210). The first coupling part (140) and the second coupling part (240) can be coupled or decoupled.

[0113] In the first state, the first coupling portion (140) of the first body (100) and the second coupling portion (240) of the second body (200) are coupled, and in the second state, the coupled state of the first coupling portion (140) and the second coupling portion (240) is released. Specifically, the ratchet of the first coupling portion (140) can be accommodated in the ratchet groove (241) defined in the second coupling portion (240).

[0114] The first magnetic portion (150) may be placed on the first body portion (110), and the second magnetic portion (250) may be placed on the second body portion (120). Depending on the relative positions of the first magnetic portion (150) and / or the second magnetic portion (250), an attractive or repulsive force may be applied between the first magnetic portion (150) and the second magnetic portion (250).

[0115] In the first state, an attractive force may be applied between the first magnetic portion (150) of the first body (100) and the second magnetic portion (250) of the second body (200). In the first state, the attractive force between the first magnetic portion (150) and the second magnetic portion (250) may be used to strengthen the bonding relationship between the first coupling portion (140) and the second coupling portion (240), fix the positions of the first body (100) and the second body (200), and prevent the surgical tool (10) from moving while in an aligned state. In the second state, a repulsive force is applied between the first magnetic portion (150) and the second magnetic portion (250). In the second state, the position fixing state of the first body (100) and the second body (200) can be released by the repulsive force between the first magnetic part (150) and the second magnetic part (250), the fixing force of the first coupling part (140) and the second coupling part (240) can be weakened to release the coupling state, and the first body (100) and the second body (200) can be separated.

[0116] Specifically, in the first state, the second magnetic portion (250) is positioned at a position corresponding to the first magnetic portion (150), so that an attractive force can be applied. In the second state, the position of a part of the first magnetic portion (150) or the second magnetic portion (250) may be changed, so that it may be positioned at a different position from that in the first state. As a result, a repulsive force may be applied between the first magnetic portion (150) and the second magnetic portion (250).

[0117]

[0118] Figures 12 to 14 are perspective views showing a state in which a first body and a second body of a surgical tool fixing device according to one embodiment of the present invention are coupled.

[0119] The ratchet may include a first portion (141) protruding from the first coupling portion (140) toward the second body (200) and a second portion (142) bent from the first portion. A ratchet groove (241) capable of accommodating the ratchet may be defined in the second coupling portion (240), and a step (242) capable of supporting the second portion (142) accommodated in the ratchet groove (241) may be formed.

[0120] A ratchet is accommodated in the ratchet home (241), and the second part (142) of the ratchet is supported by the step (242), so that the first coupling part (140) and the second coupling part (240) can be firmly coupled in the first state.

[0121] The first body part (110) may include a first frame (111), a second frame (112), and an elastic member (113). The first frame (111) and the second frame (112) may be spaced apart in a second direction (DR2) intersecting the first direction (DR1). The elastic member (113) may be arranged between the first frame (111) and the second frame (112) to elastically support the first frame (111) and the second frame (112).

[0122] The first frame (111) and the second frame (112) can be moved relatively in the second direction (DR2) by applying an external force. However, the first frame (111) and the second frame (112) can be moved relatively in the second direction (DR2) by using an actuator or the like without applying an external force, and the present invention is not limited to any one embodiment.

[0123] An elastic member (113) is provided between the first frame (111) and the second frame (112), so that the first frame (111) and the second frame (112) can move relative to each other in a second direction (DR2). That is, in the process of changing from the first state to the second state, the first frame (111) and the second frame (112) move relative to each other in the second direction (DR2), and the length of the elastic member (113) that elastically supports the first frame (111) and the second frame (112) in the second direction (DR2) can change.

[0124] The first frame (111) and the second frame (112) move relative to each other in the second direction (DR2), and the ratchet can be received in the ratchet home (241) and then the receiving state can be released.

[0125] According to one embodiment of the present invention, the first magnetic portion (150) and the second magnetic portion (250) may each include a plurality of magnetic members. The first magnetic portion (150) may include a plurality of first magnetic members (151) and a plurality of second magnetic members (152), and the magnetism of the first magnetic member (151) and the second magnetic member (152) may be different. The second magnetic portion (250) may include a plurality of third magnetic members (251) and a plurality of fourth magnetic members (252), and the magnetism of the third magnetic member (251) and the fourth magnetic member (252) may be different.

[0126] At this time, the magnetic member may be provided as a permanent magnet, but is not limited thereto, and may be provided as an electromagnet, and some may be provided as permanent magnets and some as electromagnets, and is not limited to any one embodiment.

[0127] The magnetism of the first magnetic member (151) and the third magnetic member (251) may be different, and the squares of the second magnetic member (152) and the fourth magnetic member (252) may be different.

[0128] In the first state, the first magnetic member (151) and the third magnetic member (251) can overlap on a plane, and the second magnetic member (152) and the fourth magnetic member (252) can overlap on a plane. An attractive force is generated between the first magnetic member (151) and the third magnetic member (251), and an attractive force is generated between the second magnetic member (152) and the fourth magnetic member (252), thereby fixing the positions of the first body (100) and the second body (200).

[0129] In the process of converting from the first state to the second state, the first magnetic member (151) and the fourth magnetic member (252) can overlap on a plane, and the second magnetic member (152) can overlap on a plane with the third magnetic member (251). A repulsive force is generated between the first magnetic member (151) and the fourth magnetic member (252), and a repulsive force is generated between the second magnetic member (152) and the third magnetic member (251), thereby releasing the fixed state of the first body (100) and the second body (200), and separating the first body (100) and the second body (200).

[0130] In this case, the first magnetic member (151) and the third magnetic member (251) may partially overlap, and the second magnetic member (152) may partially overlap with the fourth magnetic member (252), but is not limited thereto.

[0131] According to one embodiment of the present invention, the first magnetic member (151) and the second magnetic member (152) may be arranged alternately along one direction, and the third magnetic member (251) and the fourth magnetic member (252) may be arranged alternately along one direction. In this case, the one direction may be a second direction (DR2) intersecting the first direction.

[0132] Depending on the relative movement of the first frame (111) and the second frame (112), the overlapping relationship of the first to fourth magnetic members (151, 152, 251, 252) may change. Specifically, in the first state, the first magnetic member (151) and the third magnetic member (251) may overlap, and the second magnetic member (152) and the fourth magnetic member (252) may overlap. In the process of converting from the first state to the second state, as the first frame (111) and the second frame (112) relatively move in the second direction (DR2), the first magnetic member (151) and the fourth magnetic member (252) may overlap, and the second magnetic member (152) and the third magnetic member (251) may overlap.

[0133] In the first state, the first body (100) and the second body (200) can be firmly fixed through a balance of the elastic support force of the elastic member (113), the fastening force through the fastening state of the ratchet (140) and the ratchet groove (241), the attractive force of the first magnetic member (151) and the third magnetic member (251), and the attractive force of the second magnetic member (152) and the fourth magnetic member (252). Through this, the position of the surgical tool (10) aligned to the correct position can be maintained, thereby facilitating a successful surgery.

[0134] In the second state, the balance of the elastic support force of the elastic member (113) described in the first state, the fastening force through the fastening state of the ratchet (140) and the ratchet groove (241), the attractive force of the first magnetic member (151) and the third magnetic member (251), and the attractive force of the second magnetic member (152) and the fourth magnetic member (252) is broken, thereby releasing the fixed state of the first body (100) and the second body (200) and separating the first body (100) and the second body (200). In addition, depending on the relative movement of the first magnetic member (151) and the second magnetic member (152), the overlapping relationship of the first to fourth magnetic members (151, 152, 251, 252) can be changed, and the first body (100) and the second body (200) can be easily separated by using the repulsive force of the first magnetic member (151) and the fourth magnetic member (252) and the repulsive force of the second magnetic member (152) and the third magnetic member (251).

[0135] According to one embodiment of the present invention, the first body (100) may include a first inclined portion (114), and the second body (200) may include a second inclined portion (243). Specifically, the first body portion (110) may include a first inclined portion (114) having a first inclined surface inclined in a direction intersecting the first direction (DR1), and the second coupling portion (240) may include a second inclined portion (243) having a second inclined surface inclined in a direction intersecting the first direction (DR1) at a position corresponding to the first inclined portion (114) and facing the first inclined surface. The inclined direction of the first inclined surface and the inclined direction of the second inclined surface may be the same.

[0136] In the process of transitioning from the first state to the second state, the first inclined portion (114) may move along the second inclined surface of the second inclined portion (243) while the first body (100) and the second body (200) are separated from each other. Alternatively, the second inclined portion (243) may move along the first inclined surface of the first inclined portion (114).

[0137] The first body (100) and / or the second body (200) may be configured to slide along the inclined surfaces of the first inclined portion (114) and the second inclined portion (243), so that the first body (100) and the second body (200) may be easily separated from each other in the second state. Alternatively, the state in which the ratchet is accommodated in the ratchet groove (241) may be easily released.

[0138] According to one embodiment of the present invention, each of the first magnetic portions (150) and the second magnetic portions (250) may be provided in multiples. Some of the first magnetic portions (150) may be arranged in the first frame (111), and the rest may be arranged in the second frame (112). Some of the second magnetic portions (250) may be arranged to correspond to the first magnetic portions (150) arranged in the first frame (111), and the rest may be arranged to correspond to the first magnetic portions (150) arranged in the second frame (112).

[0139] According to one embodiment of the present invention, the first body (100) may include a movement limiting member (160) that limits the movement direction of the magnetic members (151, 152) of the first magnetic portion (150). The movement limiting member (160) may allow the first magnetic members (151) and the second magnetic members (152) to move only in the second direction (DR2). That is, the movement limiting member (160) may limit movement in a direction different from the second direction (DR2) in addition to movement in the second direction (DR2).

[0140] The movement restriction member (160) may be coupled to the first body portion (110), but is not limited thereto, and may be coupled to the second coupling portion (240) or the second body portion (210) in the first state, but is not limited to any one embodiment.

[0141]

[0142] FIG. 15 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention, and FIG. 16 is an exploded view of a surgical tool fixing device according to another embodiment of the present invention.

[0143] For the matters described above in Figures 9 to 14, the same / similar matters shall use the same names or the same drawing symbols below, and the description thereof shall be omitted.

[0144] Referring to FIG. 15, according to one embodiment of the present invention, the first body (1100) may include a position adjustment unit (1400) that moves the position of the first magnetic portion (1150). The position adjustment unit (1400) may be disposed in the first body portion (1110).

[0145] The position adjustment unit (1400) may include a first rotation member (1410) and a second rotation member (1420). The first rotation member (1410) may be coupled to the first body (1100) and may include a rotation axis (1411) rotatable about a direction intersecting the first direction (DR1). The second rotation member (1420) may be rotated about the rotation axis (1411) provided in the first rotation member (1410). A first magnetic portion (1150) may be coupled to the second rotation member (1420).

[0146] The position adjustment unit (1400) may include a wing member (1430). An external force may be applied to the wing member (1430) to rotate the second rotation member (1420).

[0147] The second body portion (1210) of the second body (1200) may include a second magnetic portion (1250). The second magnetic portion (1250) may be placed on a support member (1290) of the second body portion.

[0148] In the first state, the first magnetic member (1151) and the third magnetic member (1251) are in contact and an attractive force is applied, and the second magnetic member (1152) and the fourth magnetic member (1252) are in contact and an attractive force is applied. Through this, the first body (1100) and the second body (1200) can be effectively fixed.

[0149] In the process of converting from the first state to the second state, the second rotation member (1420) can rotate about the rotation axis (1411). As the second rotation member (1420) rotates, the first magnetic member (1151) can come into contact with the fourth magnetic member (1252), and the second magnetic member (1152) can come into contact with the third magnetic member (1251). Accordingly, a repulsive force can be applied between the first magnetic member (1151) and the fourth magnetic member (1252), and a repulsive force can be applied between the second magnetic member (1152) and the third magnetic member (1251). Through this, the fixed state of the first body (1100) and the second body (1200) can be released.

[0150] A plurality of position adjustment units (1400) may be provided, and the position adjustment units (1400) may be located on at least one side of the side surfaces of the first body (1100). As illustrated in the drawing, the position adjustment units (1400) may be located on the side surfaces of the first body (1100) that face each other, but are not limited thereto, and may be arranged along the periphery of the first body (1100), and are not limited to any one embodiment.

[0151] FIG. 17 is an enlarged view of a portion of a surgical tool fixing device according to another embodiment of the present invention.

[0152] Referring to Fig. 17, the first magnetic member (1151) and the second magnetic member (1152) may be arranged alternately along one direction, and the third magnetic member (1251) and the fourth magnetic member (1252) may be arranged alternately along one direction. In this case, the one direction may be a circumferential direction with respect to the rotation axis (1411).

[0153] According to one embodiment of the present invention, the second rotating member (1420) may have a fan-shaped shape centered on the rotation axis (1411) of the first rotating member (1410), and the first magnetic members (1151) and the second magnetic members (1152) may be positioned in an arc of the fan-shaped shape.

[0154] The second body (1200) is connected to the second body part (1210) and has a shape corresponding to a fan-shaped arc, and may include a support member (1290) on which third magnetic members (1251) and fourth magnetic members (1252) are arranged.

[0155] The support member (1290) has a shape corresponding to the fan-shaped arc of the second rotation member (1420), and the third magnetic members (1251) and the fourth magnetic members (1252) are arranged at positions corresponding to the first magnetic members (1151) and the second magnetic members (1152) arranged in the arc of the second rotation member (1420), so that attractive and repulsive forces can be effectively applied between the first to fourth magnetic members (1252). It is possible to prevent attractive or repulsive forces from not being effectively applied between the first magnetic part (1150) and the second magnetic part (1250) according to rotational movement based on the rotation axis (1411) of the second rotation member (!420).

[0156] Specifically, according to the movement of the second rotation member (1420) in accordance with the movement of the wing member (1430), an attractive force can be effectively applied to the first magnetic member (1151) and the third magnetic member (1251) in the first state, and an attractive force can be effectively applied to the second magnetic member (1152) and the fourth magnetic member (1252). In addition, in the process of converting from the first state to the second state, a repulsive force can be effectively applied to the first magnetic member (1151) and the fourth magnetic member (1252) in accordance with the rotational movement of the second rotation member (1420) with respect to the rotational axis (1411), and a repulsive force can be effectively applied to the second magnetic member (1152) and the third magnetic member (1251).

[0157]

[0158] FIG. 18 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention, FIG. 19 is a plan view of a surgical tool fixing device according to another embodiment of the present invention, and FIG. 20 is a perspective view of a surgical tool fixing device according to another embodiment of the present invention.

[0159] For the matters described above in Figures 2 to 17, the same / similar matters shall use the same names or the same drawing symbols below, and the description thereof shall be omitted.

[0160] Referring to FIGS. 18 to 20, the first body (2100) may include a first body portion (2110), and the second body (2200) may include a second body portion (2220).

[0161] A first receiving portion (2120) may be defined in the first body portion (2110), and a second receiving portion (2220) may be defined in the second body portion (2210).

[0162] According to one embodiment of the present invention, the first receiving portion (2120) may be defined as an opening, and the second receiving portion (2220) may protrude into the first body portion (2100) and be received in the opening. The first body (2100) and the second body (2200) may be coupled through the coupling structure of the first receiving portion (2120) and the second receiving portion (2220).

[0163] The first body part (2110) may include a first frame (2111) and a second frame (2112). A first support portion (2114) may be defined in the first frame (2111), and a second support portion (2115) may be defined in the second frame (2112). The first frame (2111) and the second frame (2112) may move relative to each other in a second direction (DR2) by an external force applied to the first support portion (2111) and / or the second support portion (2112).

[0164] According to one embodiment of the present invention, the first body (2100) may include a cover (2190) that covers the first body portion (2110). An opening that can accommodate the second receiving portion (2220) may be defined in the cover (2190).

[0165] FIG. 21 is a schematic cross-sectional view of a surgical tool fixing device according to another embodiment of the present invention.

[0166] Referring to FIG. 21, the first frame (2111) and / or the second frame (2112) may be provided with a first magnetic portion (2150), and the second body portion (2210) may be provided with a second magnetic portion (2250).

[0167] According to one embodiment of the present invention, the first magnetic portion (2150) and the second magnetic portion (2250) may each include a plurality of magnetic members. The first magnetic portion (2150) may include a plurality of first magnetic members (2151) and a plurality of second magnetic members (2152), and the magnetism of the first magnetic member (2151) and the second magnetic member (2152) may be different. The second magnetic portion (2250) may include a plurality of third magnetic members (2251) and a plurality of fourth magnetic members (2252), and the magnetism of the third magnetic member (2251) and the fourth magnetic member (2252) may be different.

[0168] At this time, the magnetic member may be provided as a permanent magnet, but is not limited thereto, and may be provided as an electromagnet, and some may be provided as permanent magnets and some as electromagnets, and is not limited to any one embodiment.

[0169] The magnetism of the first magnetic member (2151) and the third magnetic member (2251) may be different, and the squares of the second magnetic member (2152) and the fourth magnetic member (2252) may be different.

[0170] In the first state, the first magnetic member (2151) and the third magnetic member (2251) can overlap on a plane, and the second magnetic member (2152) and the fourth magnetic member (2252) can overlap on a plane. An attractive force is generated between the first magnetic member (2151) and the third magnetic member (2251), and an attractive force is generated between the second magnetic member (2152) and the fourth magnetic member (2252), thereby fixing the positions of the first body (2100) and the second body (2200).

[0171] In the process of converting from the first state to the second state, the first magnetic member (2151) and the fourth magnetic member (2252) can overlap on a plane, and the second magnetic member (2152) can overlap on a plane with the third magnetic member (2251). A repulsive force is generated between the first magnetic member (2151) and the fourth magnetic member (2252), and a repulsive force is generated between the second magnetic member (2152) and the third magnetic member (2251), thereby releasing the fixed state of the first body (2100) and the second body (2200), and separating the first body (2100) and the second body (2200).

[0172] In this case, the first magnetic member (2151) and the third magnetic member (2251) may partially overlap, and the second magnetic member (2152) may partially overlap with the fourth magnetic member (2252), but is not limited thereto.

[0173] According to one embodiment of the present invention, the first magnetic member (2151) and the second magnetic member (2152) may be arranged alternately along one direction, and the third magnetic member (2251) and the fourth magnetic member (2252) may be arranged alternately along one direction. In this case, the one direction may be a second direction (2DR2) intersecting the first direction.

[0174] Depending on the relative movement of the first frame (2111) and the second frame (2112), the overlapping relationship of the first to fourth magnetic members (2151, 2152, 2251, 2252) may change. Specifically, in the first state, the first magnetic member (2151) and the third magnetic member (2251) may overlap, and the second magnetic member (2152) and the fourth magnetic member (2252) may overlap. In the process of converting from the first state to the second state, as the first frame (2111) and the second frame (2112) relatively move in the second direction (2DR2), the first magnetic member (2151) and the fourth magnetic member (2252) may overlap, and the second magnetic member (2152) and the third magnetic member (2251) may overlap.

[0175]

[0176] The surgical device (5300) may include an arm module (5100) and a surgical tool module (5200).

[0177] The arm module (5100) may include at least one of a base (5101), a guide tube (5104), a motor (5102), a first interface (5110), and a first coupler (5112). The surgical tool module (5200) may include at least one of a housing (5201), a second interface (5210), a second coupler (5230), an elongated body (510), and an end effector (501).

[0178] The arm module (5100) can maintain the position and angle of the guide tube (5104) at a fixed position for the eye, which is a target of precision surgery. The arm module (5100) can include a plurality of operating arms having a parallelogram structure. The operating arm having a parallelogram structure can be more robust against positional errors, angular errors, translational motion errors, rotational motion errors, vibrations, backlash, hysteresis, nonlinear errors, etc., compared to a robot arm having a cantilever structure. It is preferable that a plurality of operating arms form a moving means for precision surgery.

[0179] A cantilever-structured robot arm is used for general surgeries requiring ordinary precision, but it is preferable to use the arm module (5100) of the present invention for surgeries requiring high precision, such as the ocular surgery of the present invention.

[0180] The arm module (5100) of the present invention, for example, has an x-axis rotational degree of freedom. This is a method in which multiple arms of a parallelogram structure move to implement the corresponding degree of freedom. Therefore, compared to a case using a single arm such as a cantilever, it is more robust to various errors and can improve surgical precision.

[0181] The guide tube (5104) can support the elongated body (510) of the surgical tool module (5200) at a position close to the eye, which is the surgical target. The elongated body (510), which may be vulnerable to vibration or bending during high-precision surgery, can be supported at both ends by the guide tube (5104) and the housing (5201). The elongated body (510) can have a support structure in the form of a double-end support beam in which both ends are supported by the guide tube (5104) of the arm module (5100) and the surgical tool module (5200).

[0182] For example, when the arm module (5100) is capable of two-degree-of-freedom rotational motion and two-degree-of-freedom translational motion, the arm module (5100) can set the position and angle of the guide tube (5104) to a desired position and angle while performing two-degree-of-freedom rotational motion and two-degree-of-freedom rotational motion.

[0183] Various types of surgical tool modules (5200) can be attached or detached to the arm module (5100) for replacement according to the surgical procedure. Consequently, the elongated body (510) of the surgical tool module (5200) can be attached or detached to the guide tube (5104) set at a desired position and angle by the arm module (5100).

[0184] The joining surface of the arm module (5100) and the surgical tool module (5200) can be completed in such a way that the first interface (5110) of the arm module (5100) and the second interface (5210) of the surgical tool module (5200) are joined while facing each other. The joining surface of the surgical tool module (5200) and the arm module (5100) can include the first interface (5110) of the arm module (5100) and the second interface (5210) of the surgical tool module (5200) that are joined to each other.

[0185] The joining surface of the surgical tool module (5200) and the arm module (5100) or the joining surface of the first interface (5110) and the second interface (5210) may correspond to a sterile interface. With the sterile interface as the reference surface, the part where the arm module (5100) is located corresponds to a sterile part and is preferably surrounded by a sterile vinyl (6000) to enable repeated use. With the sterile interface as the reference surface, the part where the surgical tool module (5200) is located corresponds to a non-sterile part and can be discarded after a certain number of uses.

[0186] The surgical tool module (5200) may be a part that is discarded after a certain number of uses, as it is exposed to the same space as the surgical target and is only sterilized to a certain degree. Therefore, it is preferable that the surgical tool module (5200), which is a disposable part, be equipped with only a minimum number of parts. The surgical tool module (5200) may include a housing (5201), a wire, a pulley around which the wire is wound, and a second coupler (5230) connected to the pulley. It is preferable that expensive parts such as the motor (5102) and the motor control unit be installed in the arm module (5100), which is a sterilization part.

[0187] For vibration reduction or mass distribution, the motors (5102) may be arranged in a ring or at equal intervals around the first hole (5111) or the guide tube hole (5105).

[0188] Although it would be desirable for the wire-wrapped pulley to be installed in the arm module (5100), in that case, the joining surfaces of the first interface (5110) and the second interface (5210) must have a structure in which the wire can be joined and separated, which may be practically impossible to implement. Therefore, inevitably, the first interface (5110) and the second interface (5210) are made to have a structure in which the first coupler (5112) and the second coupler (5230) can be attached and detached, and the discarded surgical tool module (5200) can have a structure in which the pulley and the wire are installed inside the housing (5201) as a minimum number of parts.

[0189] When the surgical tool module (5200) is mounted on the arm module (5100), the surgical tool module (5200) can be approached from a distal direction, which is a direction far from the surgical target, to a proximal direction, which is a direction close to the surgical target. When the second interface (5210) of the surgical tool module (5200) is coupled to the first interface (5110) of the arm module (5100), the mounting of the surgical tool module (5200) can be completed. When the surgical tool module (5200) is coupled, the elongated module and the end effector (501) can sequentially pass through the first hole (5111) of the first interface (5110) and the guide tube hole (5105) of the guide tube (5104). The motor (5102) of the arm module (5100) may be placed between the first hole (5111) and the guide tube hole (5105). The first hole (5111), the guide tube hole (5105), and the arm module (5100) correspond to sterilized parts that are not discarded but reused, and may be wrapped with a sterilizing vinyl (6000). The open portion of the sterilizing vinyl (6000) may be the first hole (5111) and the guide tube hole (5105), which are portions where the elongated module is mounted. It is preferable that the portions excluding the first hole (5111) and the guide tube hole (5105) be sealed with the sterilizing vinyl (6000).

[0190] When the surgical tool module (5200) is separated from the arm module (5100), the second interface (5210) of the surgical tool module (5200) can be separated from the first interface (5110) of the arm module (5100). When the surgical tool module (5200) is moved from the proximal direction to the distal direction, the separation of the surgical tool module (5200) can be completed. When the surgical tool module (5200) is separated, the elongated module and the end effector (501) can sequentially pass through the guide tube hole (5105) and the first hole (5111) of the first interface (5110). The motor (5102) of the arm module (5100) can be placed between the first hole (5111) and the guide tube hole (5105). Various types of surgical tool modules (5200) can be combined or separated during the surgical process. A surgical tool module (5200) that has been repeatedly used may be discarded and replaced with a new surgical tool module (5200) to prevent infection of the patient. For this purpose, a first hole (5111) and a guide tube hole (5105) may be provided.

[0191] From the proximal end to the distal end, the arm module (5100) may have a structure in which a guide tube hole (5105), a motor (5102), and a first hole (5111) of a first interface (5110) are sequentially arranged. From the proximal end to the distal end, the surgical tool module (5200) may have a structure in which an end effector (501), an elongated module, a second interface (5210), and a housing (5201) are sequentially arranged.

[0192] The first interface (5110) may include a first coupler (5112) connected to a motor (5102). The second interface (5210) may include a second coupler (5230) connected to a wire or pulley inside the housing (5201). The torque of the motor (5102) is axially coupled to the first coupler (5112) and the second coupler (5230) by the housing.

[0193] (5201) can be transmitted to the internal pulley. The rotation of the pulley can be converted into tension of the wire. The wire extending into the interior of the elongated body (510) can apply tension and operate the end effector (501).

[0194] Since the first interface (5110) and the second interface (5210) form a mating surface, the housing (5201) of the surgical tool module (5200) can be exposed to the same space as the non-sterile part or surgical target.

[0195]

[0196] While the present invention has been described above with reference to preferred embodiments, it will be understood by those skilled in the art or those with ordinary knowledge in the art that various modifications and changes can be made to the present invention without departing from the spirit and technical scope of the present invention as set forth in the claims below. Accordingly, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

[0197] (Explanation of symbols)

[0198] 10: Surgical instruments

[0199] 100: First body

[0200] 110: First body section

[0201] 120: 1st Reception Unit

[0202] 130: First fastening section

[0203] 200: Second body

[0204] 210: Second body section

[0205] 220: Second Reception Unit

[0206] 230: Second fastening

[0207] 300: Drive unit

[0208] 5100: Arm Module

[0209] 5101: Base

[0210] 5102: Motor

Claims

1. A first body having a first fastening portion; A second body that can be connected to the first body and has a second fastening portion; and A surgical device in which, when the first body and the second body are joined, the first fastening part is accommodated within the second fastening part.

2. In paragraph 1, The first body further includes a first body portion and a first receiving portion for receiving a surgical tool, The first fastening portion includes a plurality of protrusions extending from the surface of the first body portion, The second body includes a second body portion and a second receiving portion for receiving a surgical tool, A surgical device wherein the second fastening portion includes a plurality of grooves sunken from the surface of the second body.

3. In paragraph 2, A surgical device in which the plurality of protrusions are arranged circumferentially on the first body portion such that the angles between adjacent protrusions are maintained approximately the same.

4. In paragraph 3, A surgical device wherein the plurality of grooves are arranged circumferentially on the second body portion such that the angles between adjacent protrusions of the plurality of grooves are maintained approximately the same.

5. In paragraph 2, A surgical device wherein each of the plurality of protrusions corresponds to one of the plurality of grooves.

6. In paragraph 5, A surgical device having a plurality of grooves and a size and shape capable of accommodating a plurality of protrusions.

7. In paragraph 2, Each of the plurality of protrusions includes a first protrusion and a second protrusion, A surgical device wherein the first protrusion is positioned close to the surface of the first main body, and the second protrusion is spaced apart from the surface of the first main body.

8. In paragraph 7, At least a portion of the second protrusion is curved, A surgical device in which the cross-sectional area of ​​the plurality of protrusions decreases from the first protrusion to the second protrusion.

9. In paragraph 2, Each of the above plurality of grooves includes a first groove portion and a second groove portion, A device in which the second home portion is positioned close to the second body portion and the first home portion is spaced apart from the second body portion.

10. In paragraph 9, A surgical device in which the cross-sectional area of ​​the plurality of grooves decreases from the first groove portion to the second groove portion.

11. In paragraph 8, A surgical device wherein the second protrusion has a polygonal cross-sectional shape with rounded corners.

12. In paragraph 11, The second groove has a polygonal cross-sectional shape with rounded corners corresponding to the second protrusion, A surgical device including a surgical tool fixing device that is fitted into the second groove portion and the second protrusion portion.

13. In paragraph 9, A surgical device in which the second protruding portion and the second groove portion have rounded corners, have the same length as the center of the first fastening portion, and include an isosceles triangle formed by a pair of adjacent sides forming a vertex adjacent to the center of the second fastening portion.

14. In paragraph 1, The first fastening portion further includes a first support portion that supports the protrusion, and a second support portion that supports the first support portion to the first body, A surgical device wherein the second support further includes a spring member that elastically supports the first support.

15. In paragraph 2, The above first fastening part is a plurality of first fastening parts, and the above second fastening part is a plurality of second fastening parts, The plurality of first fastening parts are arranged in the first receiving part, A surgical device in which the plurality of second fastening portions are disposed on the second fastening portions.

16. In paragraph 15, The plurality of first fastening portions are arranged at equal intervals in the first receiving portion, A surgical device in which the plurality of second fastening portions are arranged at equal intervals along the second receiving portion.

17. A method of operating a surgical device, First body part, a second body part connectable to the first main body part, and A step of providing a surgical device including a drive unit; A method comprising the step of operating a drive unit to couple or separate a first body portion and a second body portion.

18. In paragraph 17, The first body further includes a first receiving portion for receiving a first body portion and a surgical tool, The first fastening portion includes a plurality of protrusions extending from the surface of the first body portion, The second body includes a second body portion and a second receiving portion for receiving a surgical tool, A method wherein the second fastening portion includes a plurality of grooves sunken from the surface of the second body.

19. In paragraph 17, A method wherein the step of operating the drive unit comprises a step of performing a first drive operation and a step of performing a second drive operation.

20. In paragraph 19, The first driving operation includes a step of moving the first body of the first body part in a direction toward the second body part, A method wherein the step of performing the second driving operation comprises moving the first main body portion in a direction away from the first main body portion.

21. In paragraph 18, The above plurality of protrusions are arranged circumferentially on the first main body portion so that the angles between adjacent protrusions are maintained approximately the same, A method in which the plurality of grooves are arranged circumferentially on the second body portion such that the angles between adjacent protrusions of the plurality of grooves are maintained approximately the same.

22. In paragraph 18, Each of the plurality of protrusions corresponds to one of the plurality of grooves, Here, the plurality of grooves are sized and shaped to accommodate the plurality of protrusions.

23. In paragraph 20, A method in which, during the first driving operation, each of the plurality of protrusions is positioned inside each of the plurality of grooves.

24. In paragraph 18, Each of the above plurality of protrusions includes a first protrusion portion and a second protrusion portion, The first protrusion is positioned close to the surface of the first main body, and the second protrusion is spaced apart from the surface of the first main body, Each of the above plurality of grooves includes a first groove portion and a second groove portion, A method in which the second home portion is positioned close to the second body portion and the first home portion is spaced apart from the second body portion.

25. In paragraph 24, A method wherein the step of operating the driving unit comprises the step of moving the first portion toward the second portion so that the second protruding portion is disposed and comes into contact with the second groove portion.

26. In paragraph 24, A method wherein the step of operating the drive unit comprises the step of moving the first portion away from the second portion so that the second protruding portion is spaced from the second groove portion.

27. Surgical device system comprising: A surgical instrument for performing a surgery, comprising: a first body, a second body connectable to the first body, and a driving unit; A power module operably coupled to the surgical instrument to provide power to the surgical instrument; A communication module integrated within the surgical instrument and configured to establish wireless communication between the surgical instrument and an external computing device; An external computing device including a user interface application, wherein the user interface application is configured to receive and process data transmitted from the surgical instrument system via a communication module and to provide visual feedback and control options to the user.

28. In paragraph 27, The first body further includes a first body portion for accommodating a surgical tool and a first receiving portion, The first fastening portion includes a plurality of protrusions extending from the surface of the first body portion, The second body includes a second body portion and a second receiving portion for receiving a surgical tool, A surgical device system wherein the second fastening portion includes a plurality of grooves sunken from the surface of the second body.

29. In paragraph 28, A surgical device system wherein the plurality of protrusions are arranged circumferentially on the first body portion such that the angles between adjacent protrusions of the plurality of protrusions are maintained approximately equal.

30. In paragraph 29, A surgical device system wherein the plurality of grooves are arranged circumferentially on the second body portion such that the angles between adjacent protrusions of the plurality of grooves are maintained approximately equal.

31. In paragraph 28, A surgical device system wherein each protrusion of the plurality of protrusions corresponds to one of the plurality of grooves.

32. In paragraph 31, A surgical device system having multiple grooves sized and shaped to accommodate multiple protrusions.

33. In paragraph 28, Each of the above plurality of protrusions includes a first protrusion portion and a second protrusion portion, A surgical device system wherein the first protrusion is positioned close to the surface of the first main body, and the second protrusion is spaced apart from the surface of the first main body.

34. In paragraph 33, At least a portion of the second protrusion is curved, A surgical device system in which the cross-sectional area of ​​the plurality of protrusions decreases from the second protrusion to the first protrusion.

35. In paragraph 28, Each of the plurality of grooves includes a first groove portion and a second groove portion, A surgical device system wherein the second home portion is positioned proximate to the second body portion and the first home portion is spaced apart from the second body portion.

36. In paragraph 35, A surgical device system in which the cross-sectional area of ​​the plurality of grooves decreases in the direction from the first groove portion to the second groove portion.

37. In paragraph 34, A surgical device system wherein the second protrusion has a polygonal cross-sectional shape with rounded corners.

38. In paragraph 37, The second groove portion has a polygonal cross-sectional shape with rounded corners corresponding to the second protruding portion, A surgical device system including a surgical tool fixing device that is fitted into the second groove portion and the second protrusion portion.

39. In paragraph 35, A surgical device system in which the second protruding portion and the second groove portion have rounded corners, have the same length as the center of the first fastening portion, and include an isosceles triangle formed by a pair of adjacent sides forming a vertex adjacent to the center of the second fastening portion.

40. In paragraph 27, The first fastening portion further includes a first support portion that supports the protrusion, and a second support portion that supports the first support portion to the first body, A surgical device system wherein the second support further includes a spring member that elastically supports the first support.

41. In paragraph 28, The above first fastening part is a plurality of first fastening parts, and the above second fastening part is a plurality of second fastening parts, The plurality of first fastening parts are arranged in the first receiving part, A surgical device system in which the plurality of second fastening portions are disposed on the second fastening portions.

42. In paragraph 41, The plurality of first fastening portions are arranged at equal intervals in the first receiving portion, A surgical device system in which the plurality of second fastening portions are arranged at equal intervals along the second receiving portion.

43. In paragraph 27, The external computing device is a surgical device system that is a cloud-based system.

44. In paragraph 27, A surgical device system further comprising a data storage module integrated within the surgical instrument or an external computing device, wherein the data storage module is configured to store surgical procedure data and / or patient information.

45. In paragraph 27, A surgical device system comprising an encryption module integrated within the surgical instrument system or an external computing device, the encryption module configured to encrypt surgical procedure data and patient information while being transmitted via the communication module.

46. ​​Use of a device according to any one of claims 1 to 45 for performing surgery.

47. Surgical devices including: It includes a first body to which a surgical tool is fixed, A first body portion having a first receiving portion for receiving a surgical instrument; First magnetic part; and A first connecting portion arranged in the first body portion; A second body comprising: A second body portion is accommodated having a second receiving portion for accommodating a surgical instrument; A second magnet part that generates a repulsive or attractive force between the first magnet part and the second magnet part; A second connecting portion connected to the first connecting portion; In the first state, the first coupling portion and the second coupling portion are coupled, and an attractive force is generated between the first magnetic portion and the second magnetic portion to fix the first body and the second body. A surgical device in which, in the second state, a repulsive force is generated between the first magnetic part and the second magnetic part, the fixed state of the first body and the second body is released, and the bonding state of the first coupling part and the second coupling is released.

48. In paragraph 47, A surgical device in which the second magnetic part is positioned at a position corresponding to the position of the first magnetic part.

49. In paragraph 47 or 48, In the first state, the first body and the second body are in close contact in the first direction, A surgical device in which the first body and the second body are spaced apart in the second state.

50. In any one of paragraphs 47 to 49, The first body further includes a first frame and a second frame spaced apart in a second direction intersecting the first direction; An elastic member disposed between the first frame and the second frame to elastically support the second frame, and A surgical device for controlling the length of the elastic member in the second direction to switch the elastic member from the first state to the second state.

51. In any one of Articles 47 to 50, The above first coupling portion further includes a ratchet, wherein the ratchet: A first portion protruding from the first body toward the second body, and Including the second part which is bent in the first part, A surgical device including a surgical tool fixing device having a ratchet groove capable of accommodating the ratchet and a step for supporting the second part accommodated in the ratchet groove, wherein the second coupling portion is a ratchet groove.

52. In any one of paragraphs 47 to 51, The first magnet portion further includes a plurality of first magnet members and a plurality of second magnet members, The second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member. In the first state, the first magnetic member and the third magnetic member overlap in a plane, and the second magnetic member and the fourth magnetic member overlap in a plane, When transitioning from the first state to the second state, the first magnetic member is formed flat with the fourth magnetic member according to the relative movement of the first frame and / or the second frame in the second direction, A surgical device in which the second magnetic member overlaps the third magnetic member on a plane.

53. In any one of paragraphs 47 to 52, A surgical device wherein the plurality of first magnet members have different magnetism from the plurality of second magnet members.

54. In any one of paragraphs 47 to 53, The first magnetic member and the second magnetic member are alternately arranged along the second direction, A surgical device in which the third magnetic member and the fourth magnetic member are arranged alternately along the second direction.

55. In any one of paragraphs 47 to 54, A surgical device further comprising a movement-limiting member that limits movement of the first magnetic member and the second magnetic member in a direction other than the second direction, rather than in the second direction.

56. In any one of paragraphs 47 to 55, The first body includes a first inclined portion having a first inclined surface inclined in a direction intersecting the first direction, The second connecting portion includes a second inclined portion that is inclined in a direction intersecting the first direction at a position corresponding to the first inclined portion and has a second inclined surface facing the first inclined surface, Here, a surgical device in which, when transitioning from the first state to the second state, the second inclined surface moves along the first inclined surface.

57. In any one of paragraphs 47 to 56, The first magnetic part and the second magnetic part are provided in multiple numbers, The first magnetic part is respectively placed on the first frame and the second frame, A surgical device characterized in that the second magnet portion is positioned at a position corresponding to the first magnet portion.

58. In any one of paragraphs 47 to 57, The first body further includes a first fastening portion including a plurality of protrusions protruding from the first body toward the second body, A surgical device comprising a second fastening portion including a plurality of grooves formed recessed from the second body toward the first body.

59. In any one of paragraphs 47 to 58, The first receiving portion includes an opening formed in the first body, A surgical device in which the second receiving portion protrudes from the second body toward the first body and is received in the opening.

60. In any one of paragraphs 47 to 59, A surgical device wherein the first main body further includes a position adjustment unit for moving the position of the first magnetic part.

61. In any one of Articles 47 to 60, The position adjustment unit is A first rotating member coupled to the first body; A rotational axis rotatable around a direction intersecting the first direction, and A surgical device comprising a second rotating member coupled to the first magnetic member and rotating around the rotational axis of the first rotating member.

62. In any one of Articles 47 to 61, The first magnetic portion includes a plurality of first magnetic elements and a plurality of second magnetic elements having different magnetisms, The second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member. In the first state, the first magnetic member and the third magnetic member are in contact, and the second magnetic member and the fourth magnetic member are in contact. A surgical device in which, when transitioning from the first state to the second state, the first magnetic member comes into contact with the fourth magnetic member according to the rotational movement of the second rotational member, and the second magnetic member comes into contact with the third magnetic member.

63. In any one of paragraphs 47 to 62, Further comprising a support member coupled to the second body, The second rotating member includes a fan-shaped shape having a fan-shaped arc based on the rotation axis of the first rotating member, The first magnet members and the second magnet members are arranged in a fan-shaped arc shape, A surgical device in which the third magnetic member is placed on the support member.

64. In any one of paragraphs 47 to 63, A positioning unit is a surgical device having multiple positioning units.

65. Use of a surgical device according to any one of claims 47 to 64 for performing surgery.

66. Surgical device system comprising: A surgical instrument comprising a surgical tool module having surgical tools for performing a surgery; A power module operably coupled to the surgical instrument to provide power to the surgical instrument; A communication module integrated within the surgical instrument and configured to establish wireless communication between the surgical instrument and an external controller; A surgical device system wherein the external controller comprises a user interface application, the user interface application being configured to receive and process data transmitted from the surgical device system via a communication module and to present visual feedback and control options to the user.

67. In paragraph 66, The surgical tool module is It includes a first body to which a surgical tool is fixed, A first body portion having a first receiving portion for receiving a surgical instrument; First magnetic part; and A first connecting portion arranged in the first body portion; A second body comprising: A second body portion is accommodated having a second receiving portion for accommodating a surgical instrument; A second magnet part that generates a repulsive or attractive force between the first magnet part and the second magnet part; A second connecting portion connected to the first connecting portion; In the first state, the first coupling portion and the second coupling portion are coupled, and an attractive force is generated between the first magnetic portion and the second magnetic portion to fix the first body and the second body. A surgical device system in which, in the second state, a repulsive force is generated between the first magnetic part and the second magnetic part, the fixed state of the first body and the second body is released, and the bonding state of the first coupling part and the second coupling is released.

68. In paragraph 66 or 67, A surgical device system in which the second magnetic part is positioned at a position corresponding to the position of the first magnetic part.

69. In any one of paragraphs 66 to 68, In the first state, the first body and the second body are in close contact in the first direction, A surgical device system in which the first body and the second body are spaced apart in the second state.

70. In any one of Articles 66 to 69, The first body further includes a first frame and a second frame spaced apart in a second direction intersecting the first direction; An elastic member disposed between the first frame and the second frame to elastically support the second frame, and A surgical device system comprising a step of adjusting the length of the elastic member in the second direction to switch the elastic member from the first state to the second state.

71. In any one of Articles 66 to 70, The first body further includes a ratchet, wherein the ratchet comprises: A first portion protruding from the first body toward the second body, and The second part is bent from the first part, A surgical device system including a surgical tool fixing device having a ratchet groove capable of accommodating the ratchet and a step for supporting the second part accommodated in the ratchet groove, wherein the second coupling portion is a ratchet groove capable of accommodating the ratchet.

72. In any one of paragraphs 66 to 71, The first magnetic portion further includes a plurality of first magnetic members and a plurality of second magnetic members, The second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member. In the first state, the first magnetic member and the third magnetic member overlap in a plane, and the second magnetic member and the fourth magnetic member overlap in a plane, When transitioning from the first state to the second state, the first magnetic member is formed flat with the fourth magnetic member according to the relative movement of the first frame and / or the second frame in the second direction, A surgical device system in which the second magnetic member overlaps the third magnetic member on a plane.

73. In any one of paragraphs 66 to 72, A surgical device system wherein the plurality of first magnetic elements have different magnetism from the plurality of second magnetic elements.

74. In any one of paragraphs 66 to 73, The first magnetic member and the second magnetic member are arranged alternately along the second direction, A surgical device system in which the third magnetic member and the fourth magnetic member are arranged alternately along the second direction.

75. In any one of paragraphs 66 to 74, A surgical device system further comprising a movement limiting member for limiting movement of the first magnetic member and the second magnetic member in a direction other than the second direction, but not in the second direction.

76. In any one of paragraphs 66 to 75, The first body includes a first inclined portion having a first inclined surface inclined in a direction intersecting the first direction, The second connecting portion includes a second inclined portion that is inclined in a direction intersecting the first direction at a position corresponding to the first inclined portion and has a second inclined surface facing the first inclined surface, Here, a surgical device system in which, when transitioning from the first state to the second state, the second inclined surface moves along the first inclined surface.

77. In any one of paragraphs 66 to 76, The first magnetic part and the second magnetic part are provided in plurality, The first magnetic part is respectively placed on the first frame and the second frame, A surgical device system in which the second magnet portion is positioned at a position corresponding to the first magnet portion.

78. In any one of paragraphs 66 to 77, The first body further includes a first fastening portion including a plurality of protrusions protruding from the first body toward the second body, A surgical device system wherein the second body includes a second fastening portion including a plurality of grooves formed recessed from the second body toward the first body.

79. In any one of paragraphs 66 to 78, The first receiving portion includes an opening formed in the first body, A surgical device system in which the second receiving portion protrudes from the second body toward the first body and is received in the opening.

80. In any one of paragraphs 66 to 79, A surgical device system wherein the first main body further includes a position adjustment unit for moving the position of the first magnetic portion.

81. In any one of Articles 66 to 80, The position adjustment unit is A first rotating member coupled to the first body; A rotational axis rotatable around a direction intersecting the first direction, and A surgical device system comprising a second rotating member coupled to the first magnetic member and rotating around the rotational axis of the first rotating member.

82. In any one of paragraphs 66 to 81, The first magnetic portion includes a plurality of first magnetic elements and a plurality of second magnetic elements having different magnetisms, The second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member. In the first state, the first magnetic member and the third magnetic member are in contact, and the second magnetic member and the fourth magnetic member are in contact. A surgical device system in which, when transitioning from the first state to the second state, the first magnetic member comes into contact with the fourth magnetic member according to the rotational movement of the second rotational member, and the second magnetic member comes into contact with the third magnetic member.

83. In any one of paragraphs 66 to 82, Further comprising a support member coupled to the second body, The second rotating member includes a fan-shaped shape having a fan-shaped arc based on the rotation axis of the first rotating member, The first magnet members and the second magnet members are arranged in a fan-shaped arc shape, A surgical device system in which the third magnetic member is placed on the support member.

84. In any one of paragraphs 66 to 83, The position adjustment unit is a surgical device system having multiple position adjustment units.

85. In any one of paragraphs 66 to 84, The external computing device is a surgical device system that is a cloud-based system.

86. In any one of paragraphs 66 to 85, A surgical device system further comprising a data storage module integrated within the surgical instrument or an external computing device, wherein the data storage module is configured to store surgical procedure data and / or patient information.

87. In any one of paragraphs 66 to 86, A surgical device system further comprising an encryption module integrated within the surgical instrument system or an external computing device, the encryption module configured to encrypt surgical procedure data and patient information while being transmitted via the communication module.

88. Use of a surgical device system according to any one of claims 66 to 87 for performing surgery.

89. A method of operating a surgical device, A step of providing a surgical tool having a first body and a second body, A step of changing the above surgical tool into a first state in which adhesion is generated between the first body and the second body; The step of changing the above surgical tool into a second state in which the first body and the second body are separated and a repulsive force is generated, and A method comprising a step of transitioning a surgical tool between a first state and a second state.

90. In paragraph 89, The above first body: A first body portion having a first receiving portion for receiving a surgical instrument; First magnetic part; and A first connecting portion arranged in the first body portion, The above second body: A second body portion is accommodated having a second receiving portion for accommodating a surgical instrument; A second magnet part that generates a repulsive or attractive force between the first magnet part and the second magnet part; A method comprising a second coupling portion coupled to the first coupling portion.

91. In paragraph 89 or 90, The first body further includes a first frame and a second frame spaced apart in a second direction intersecting the first direction; An elastic member disposed between the first frame and the second frame to elastically support the second frame, and A method wherein the step of switching the surgical tool between the first state and the second state comprises the step of adjusting the length of the elastic member in the second direction.

92. In any one of paragraphs 89 to 91, The first body further comprises a ratchet, wherein the ratchet: A first portion protruding from the first body toward the second body, and The second part is bent from the first part, A method in which the second coupling part includes a surgical tool fixing device having a ratchet groove capable of accommodating the ratchet and a step for supporting the second part accommodated in the ratchet groove.

93. In any one of paragraphs 89 to 92, The first magnetic portion further includes a plurality of first magnetic elements and a plurality of second magnetic elements, The second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member. In the first state, the first magnetic member and the third magnetic member overlap in a plane, and the second magnetic member and the fourth magnetic member overlap in a plane.

94. In any one of paragraphs 89 to 93, A method wherein the transition between the first state and the second state further comprises the step of positioning the first magnetic member flush with the fourth magnetic member according to relative movement of the first frame and / or the second frame in the second direction.

95. In any one of paragraphs 89 to 94, A method wherein the plurality of first magnetic elements have different magnetism from the plurality of second magnetic elements.

96. In any one of paragraphs 89 to 95, The first magnetic member and the second magnetic member are alternately arranged along the second direction, A method in which the third magnetic member and the fourth magnetic member are arranged alternately along the second direction.

97. In any one of paragraphs 89 to 96, A method wherein the surgical tool further comprises a movement limiting member for limiting movement of the first magnetic member and the second magnetic member in a direction other than the second direction, but not in the second direction.

98. In any one of Articles 89 to 97, The first body includes a first inclined portion having a first inclined surface inclined in a direction intersecting the first direction, The second connecting portion includes a second inclined portion that is inclined in a direction intersecting the first direction at a position corresponding to the first inclined portion and has a second inclined surface facing the first inclined surface, A method wherein the transition between the first state and the second state comprises moving the second slope along the first slope.

99. In any one of paragraphs 89 to 98, The first magnetic part and the second magnetic part are provided in multiple units, The first magnetic part is respectively placed on the first frame and the second frame, A method in which the second magnet portion is positioned at a position corresponding to the first magnet portion.

100. In any one of Articles 89 to 99, The first body further includes a first fastening portion including a plurality of protrusions protruding from the first body in the direction of the second body, A method wherein the second body includes a second fastening portion including a plurality of grooves formed recessed from the second body toward the first body.

101. In any one of Articles 89 to 100, The first receiving portion includes an opening formed in the first body, The above second receiving portion is a method in which it protrudes from the second body toward the first body and is received in the opening.

102. In any one of Articles 89 to 101, A method wherein the first body further includes a position adjustment unit for moving the position of the first magnetic portion.

103. In any one of paragraphs 89 to 102, The position adjustment unit is A first rotating member coupled to the first body; A rotational axis rotatable around a direction intersecting the first direction, and A method comprising a second rotating member coupled to the first magnetic member and rotating around the rotational axis of the first rotating member.

104. In any one of paragraphs 89 to 103, The first magnetic portion includes a plurality of first magnetic elements and a plurality of second magnetic elements having different magnetisms, A method in which the second magnetic member includes a plurality of third magnetic members having the same magnetism as the second magnetic member and a plurality of fourth magnetic members having the same magnetism as the first magnetic member.

105. In any one of paragraphs 89 to 104, A method for placing a surgical tool into a first state, the method comprising: positioning a first magnetic member to contact a third magnetic member; and positioning a second magnetic member to contact a fourth magnetic member. Member, and A method for transitioning between the first and second states, the method comprising positioning the first magnetic member so that it contacts the fourth magnetic member and the second magnetic member contacts the third magnetic member in response to rotational movement of the second rotating member.

106. In any one of paragraphs 89 to 105, The surgical instrument further comprises a support member coupled to the second body, The second rotating member includes a fan-shaped shape having a fan-shaped arc based on the rotation axis of the first rotating member, The first magnet members and the second magnet members are arranged in a fan-shaped arc shape, A method in which the third magnetic member is placed on the support member.

107. In any one of paragraphs 89 to 106, A method wherein the position adjustment unit is a plurality of position adjustment units.

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