Bendable surgical device

Abstract

Provided is a bendable surgical device capable of easily removing stones inside a human body. A surgical device according to one aspect of the present invention comprises: a first tube configured to be bent by at least one first bending wire so as to correspond to the shape of the inside of a human body; and a second tube accommodated in the first tube, configured to be bent so as to correspond to the bent shape of the first tube, and including a laser unit at one end, the laser unit being configured to emit laser beams at stones located inside the human body.

Description

bendable surgical device

[0001] The present invention relates to a surgical device, and more particularly, to a bendable surgical device that can easily remove stones inside the human body.

[0002] Traditionally, open surgery, where the abdomen is cut open and opened, was the standard for abdominal surgery. However, with the introduction of laparoscopic surgery, which utilizes a laparoscope and miniature surgical instruments, laparoscopic surgery is becoming more common for relatively simple procedures such as cholecystectomy. Laparoscopy is a type of minimally invasive surgery that is performed through numerous small incisions (incision points), minimizing damage to surrounding organs and tissues and significantly reducing hospital stays. Furthermore, with the introduction of the concept of non-invasive surgery, natural orifice transluminal endoscopic surgery is gaining attention as a next-generation surgical technique.

[0003] The surgical instruments used in these endoscopic surgical devices are used in a wide range of procedures and surgical procedures. In particular, endoscopic surgical devices have recently been used to non-invasively remove stones in the kidneys and urinary tract.

[0004] However, conventional endoscopic surgical devices for stone removal have the problem that it is difficult to remove all stones in the kidney or urinary tract, and it is difficult to change to match the shape of the kidney or urinary tract, so there is a high possibility of damaging the kidney or urinary tract during operation.

[0005] The present invention has been devised to solve the above-mentioned problems, and its purpose is to provide a bendable surgical device that can easily remove stones inside the human body.

[0006] However, the technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0007] A surgical device according to one aspect of the present invention comprises a first tube configured to bend to correspond to a shape inside a human body, and a second tube accommodated in the first tube, configured to bend to correspond to a bending shape of the first tube, and including a laser unit configured at one end to irradiate a laser to a stone located inside the human body.

[0008] Preferably, the first tube can be configured to be bent by at least one first bending wire.

[0009] Preferably, the second tube can be configured to be bent to correspond to a shape inside the human body by at least one second bending wire.

[0010] Preferably, the laser unit may include an LED light source configured to irradiate light and a laser irradiation unit configured to be drawn out from the first tube or the second tube toward the inside of the human body and configured to irradiate a laser toward the stone.

[0011] Preferably, the second tube can be configured to be bendable or rotatable within the first tube, or to be bendable or rotatable while being withdrawn from the first tube.

[0012] Preferably, the surgical device may further include an image sensing unit provided in the second tube and configured to sense image information inside the human body.

[0013] Preferably, the first tube may further include a medium supply portion provided in the first tube and configured to inject liquid into the human body.

[0014] Preferably, the medium supply unit can be defined as the first tube, the second tube, or a space between the first tube and the second tube.

[0015] Preferably, the first tube may further include a stone suction unit formed between the outer surface of the second tube and the inner surface of the first tube in the radial direction and configured to suck liquid inside the human body so that the pressure inside the human body is maintained below a certain pressure.

[0016] Preferably, the device may further include a stone suction unit formed in a space extending longitudinally between the outer surface of the second tube and the inner surface of the first tube in the radial direction, or penetrating the second tube, and configured to suck liquid inside the human body so that the pressure inside the human body is maintained below a certain pressure.

[0017] Preferably, the stone suction unit is configured to suck stones crushed by laser irradiation, and the second tube can be configured to be drawn into the first tube when the crushed stones are sucked through the stone suction unit.

[0018] Preferably, the pressure sensing passage is provided along the longitudinal direction of the first tube and configured to measure the pressure inside the human body, and further includes a pressure measuring sensor provided at one end of the first tube and configured to measure the pressure inside the human body, and a delay rate between the pressure measuring signal inside the human body measured through the pressure sensing passage and the pressure measuring signal inside the human body measured through the pressure measuring sensor is calculated according to the length and diameter of the pressure sensing passage, and the difference in the delay rate calculated in the pressure measuring signal measured through the pressure sensing passage can be compensated for.

[0019] Preferably, the delay rate difference is defined as being proportional to the length of the pressure sensing passage and inversely proportional to the diameter, and a low pass filter (LPF) is applied to remove noise from a pressure measurement signal measured through the pressure sensing passage, and the delay rate difference can be compensated for by applying preset parameters that minimize the delay rate difference generated in the low pass filter.

[0020] Preferably, the first tube may further include at least one spiral pattern portion formed in a spiral shape along the longitudinal direction of the inner surface of the first tube.

[0021] Preferably, the first bending wire is provided in a plurality along the circumferential direction of the first tube, and the first tube may further include an elastic member configured to extend along the inner surface of the first tube and connect adjacent first bending wires along the circumferential direction of the first tube, and to elastically support the adjacent first bending wires.

[0022] Preferably, the device further includes a temperature measuring sensor provided at one end of the first tube and configured to measure the temperature inside the human body, and a pressure measuring sensor provided at one end of the first tube and configured to measure the pressure inside the human body, wherein the temperature measuring sensor and the pressure measuring sensor may be provided on a rotating member provided at one end of the first tube and configured to be rotatable.

[0023] Preferably, the rotating member may be configured to rotate by pressurization of the second tube inside the first tube when the second tube advances from the first tube toward the inside of the human body, thereby opening one end of the first tube.

[0024] Preferably, the first tube further includes a tip body configured to be slidable along a sliding guide provided at one end of the first tube and a tip body configured to photograph the inside of the human body through a photographing unit provided at the tip body, and the tip body may be configured to be placed at a part of an area from which the second tube is withdrawn at one end of the first tube.

[0025] Preferably, the surgical device further includes a main control unit, and the main control unit is configured to control the medium supply unit to inject liquid into the human body according to the state of the human body photographed through the photographing unit, and to control the tip body to advance along the sliding guide unit when the crushed stone is sucked through the stone suction unit according to the state of the human body photographed through the photographing unit.

[0026] Preferably, the tip portion may further include a passage portion provided in the tip portion body and configured to guide the laser irradiation portion to be withdrawn from the first tube toward the inside of the human body, and a connection portion configured to connect between the sliding guide portion and the tip portion body.

[0027] Preferably, the second tube may further include a protrusion configured to protrude radially from the outer surface of the second tube and contact the inner surface of the first tube.

[0028] Preferably, the other end of the first tube may further include a thermosensitive dye layer configured to detect the temperature inside the human body, including a thermosensitive dye.

[0029] According to the surgical device of the present invention, since the first tube made of a material with excellent elasticity and flexibility can be bent to correspond to the shape of the inside of the human body, a stone removal operation can be performed through a laser unit provided in the second tube accommodated in the first tube without damaging the inside of the human body.

[0030] In addition, according to an embodiment of the present invention, when the first tube is moved to a specific location inside the human body where the stone is located, a bending state corresponding to the shape inside the human body can be stably maintained through a metal bending wire, so that the second tube equipped with a laser section capable of removing the stone can perform the stone removal operation while moving more easily in and out of the first tube.

[0031] In addition, various additional effects can be achieved through various embodiments of the present invention. These various effects of the present invention will be described in detail in each embodiment, or descriptions of effects easily understandable to those skilled in the art will be omitted.

[0032] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to further understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

[0033] Figures 1 and 2 are drawings showing a surgical device according to one embodiment of the present invention.

[0034] Figure 3 is a drawing showing the state in which the surgical device of Figure 1 operates inside the human body.

[0035] Figure 4 is a drawing showing a state in which the surgical device of Figure 1 operates inside the ureter.

[0036] Figure 5 is a drawing showing a state in which the surgical device of Figure 1 operates inside the kidney.

[0037] Fig. 6 is a drawing showing an index that serves as a reference for correcting the pressure inside the human body measured by the pressure measurement sensor in the surgical device of Fig. 1.

[0038] Figure 7 is a drawing showing a surgical device according to a second embodiment of the present invention.

[0039] Figure 8 is a drawing showing a surgical device according to a third embodiment of the present invention.

[0040] Figure 9 is a drawing showing a surgical device according to a fourth embodiment of the present invention.

[0041] Fig. 10 is a drawing showing a surgical device according to a fifth embodiment of the present invention.

[0042] Fig. 11 is a drawing showing a surgical device according to the sixth embodiment of the present invention.

[0043] A surgical device according to one aspect of the present invention comprises a first tube configured to bend to correspond to a shape inside a human body, and a second tube accommodated in the first tube, configured to bend to correspond to a bending shape of the first tube, and including a laser unit configured at one end to irradiate a laser to a stone located inside the human body.

[0044] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that aligns with the technical spirit of the present invention.

[0045] Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, and it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

[0046] FIG. 1 and FIG. 2 are drawings showing a surgical device (10) according to one embodiment of the present invention, and FIG. 3 is a drawing showing a state in which the surgical device (10) of FIG. 1 is operated inside a human body.

[0047] In an embodiment of the present invention, the X-axis direction shown in the drawing may mean the longitudinal direction of the surgical device (10) described later (the longitudinal direction of the first tube (100)), the Y-axis direction may mean the left-right direction of the surgical device (10) perpendicular to the X-axis direction and the horizontal plane (XY plane) (the radial direction of the first tube (100)), and the Z-axis direction may mean the up-down direction of the surgical device (10) perpendicular to both the X-axis direction and the Y-axis direction (the radial direction of the first tube (100)).

[0048] Referring to FIGS. 1 to 3, a surgical device (10) according to one embodiment of the present invention may include a first tube (100) and a second tube (200). In one embodiment, the surgical device (10) may be an endoscope, but is not limited thereto.

[0049] The first tube (100) may be configured to bend (bend) to correspond to the shape of the inside of the human body (e.g., inside the urinary tract or inside the kidney) by at least one first bending wire (110). As an example, the first tube (100) may be formed of a material having excellent elasticity and flexibility. For example, the first tube (100) may include a material such as silicone, urethane, or synthetic resin. In addition, the first bending wire (110) may be configured of a material that is easily shaped (e.g., bent, extended, reduced, etc.) by an external force. In this case, the first tube (100) may be configured to be movable inside the human body by being provided with a separate driving means (not shown).

[0050] Specifically, the first tube (100) can be easily bent to correspond to the shape of the inside of the human body, as shown in FIGS. 1 and 3, through the first bending wire (110) that is capable of changing shape, in addition to the material properties of the first tube (100) that are excellent in elasticity and flexibility.

[0051] As an example, the first bending wire (110) may be provided in a state of being embedded in the inner surface of the first tube (100) as in FIGS. 1 and 2.

[0052] The second tube (200) may be configured to be accommodated within the first tube (100) and to bend in accordance with the bending shape of the first tube (100). That is, the first tube (100) may include a receiving space configured to accommodate the second tube (200) therein. As an example, the second tube (200) may be formed of a material having excellent elasticity and flexibility. For example, the second tube (200) may include a material such as silicone, urethane, or synthetic resin. In this case, the second tube (200) may be configured to be able to move longitudinally back and forth within the first tube (100) by having a separate driving means (not shown).

[0053] That is, the second tube (200) can be bent to correspond to the bending shape of the first tube (100) when the first tube (100) is bent to correspond to the shape inside the human body. In particular, since the first tube (100) can be bent to correspond to the shape inside the human body through the first bending wire (110) made of a metal material, the second tube (200) accommodated therein can also be guided to be bent to correspond to the shape inside the human body. In addition, the second tube (200) can be configured to be bent in the longitudinal direction or the radial direction, or to be movable forward and backward in the longitudinal direction, through the aforementioned driving means in a state where the first tube (100) is bent to correspond to the shape inside the human body.

[0054] Additionally, the second tube (200) may be configured to be bent to correspond to the shape inside the human body by at least one second bending wire (210). Additionally, the second bending wire (210) may be configured of a material that is easily deformed (e.g., bent, extended, reduced, etc.) by an external force.

[0055] Specifically, the second tube (200) can be easily bent to correspond to the shape inside the human body as shown in FIGS. 1 and 3 through the second bending wire (210) that is capable of changing shape, in addition to the material properties of the second tube (200) that are excellent in elasticity and elasticity.

[0056] In addition, the second tube (200) may include a laser unit (300) configured to irradiate a laser to a stone (illustrated by reference symbol M in FIGS. 4 and 5 described below) located inside the human body at one end (front side). As an example, the stone may be a crystallized calcium or the like within the human body. In this case, the stone located inside the human body may be broken down by laser irradiation by the laser unit (300).

[0057] According to the surgical device (10) of the present invention, the first tube (100) made of a material with excellent elasticity and flexibility can be bent to correspond to the shape of the inside of the human body, so that a stone removal operation can be performed through the laser unit (300) provided in the second tube (200) without damaging the inside of the human body.

[0058] In addition, according to an embodiment of the present invention, when the first tube (100) is moved to a specific location inside the human body where the stone is located, the bending state corresponding to the shape inside the human body can be stably maintained through the first bending wire (110) made of a metal material, so that the second tube (200) equipped with a laser unit (300) capable of removing stones can perform the stone removal operation while moving more easily in and out of the first tube (100).

[0059] Meanwhile, the surgical device (10) may further include a main control unit (not shown). The main control unit may include a processor and may control the operation of the first tube (100), the second tube (200), and the laser unit (300).

[0060] Referring to FIGS. 1 to 3, the laser unit (300) may include an LED light source (310) and a laser irradiation unit (320).

[0061] The above LED light source (310) can be configured to irradiate light.

[0062] The above laser irradiation unit (320) may be configured to be extendable from the first tube (100) toward the inside of the human body. In addition, the laser irradiation unit (320) may be configured to irradiate the laser toward the stone inside the human body while ensuring a field of view by irradiating light from the LED light source (310).

[0063] In one embodiment, the laser irradiation unit (320) may be configured to be pulled out from the first tube (100) toward the inside of the human body or introduced into the inside of the first tube (100) by driving a separate servo motor (not shown) under the control of the aforementioned main control unit.

[0064] In particular, as shown in FIG. 2, the laser irradiation unit (320) can be configured to be pulled out from the second tube (200) toward the inside of the human body or introduced into the second tube (200) by driving the aforementioned servo motor in order to irradiate the laser at the closest possible distance to the stone.

[0065] In one embodiment, the second tube (200) may be configured to rotate within the first tube (100). At this time, the second tube (200) may be equipped with a separate rotation motor (not shown). This rotation motor may be driven under the control of the aforementioned main control unit to rotate the second tube (200) within the first tube (100).

[0066] Accordingly, the position of the laser unit (300) provided in the second tube (200) in the circumferential direction of the first tube (100) can be configured to be changeable, so there is an advantage in that laser irradiation optimized for the position of a stone located inside the human body is possible.

[0067] In one embodiment, the surgical device (10) may further include an image sensing unit (400). The image sensing unit (400) may be provided in the second tube (200) and configured to sense image information inside the human body. In this case, the image sensing unit (400) may be a CMOS sensor.

[0068] For example, a user can identify the location of a stone inside the human body, etc., from image information of the human body sensed through the image sensing unit (400). Then, the user can control the operation of the first tube (100), the second tube (200), and the laser unit (300) in response to the identified location of the stone by manipulating the main control unit.

[0069] FIG. 4 is a drawing showing a state in which the surgical device (10) of FIG. 1 operates inside the urinary tract, and FIG. 5 is a drawing showing a state in which the surgical device (10) of FIG. 1 operates inside the kidney. Specifically, (a) of FIG. 4 is a drawing showing an example of a state in which the surgical device (10) irradiates a laser to a stone inside the urinary tract and crushes it, and (b) of FIG. 4 is a drawing showing a state in which the surgical device (10) sucks the stone crushed inside the urinary tract into the surgical device (10). In addition, (a) of FIG. 5 is a drawing showing an example of a state in which the surgical device (10) irradiates a laser to a stone inside the kidney and crushes it, and (b) of FIG. 5 is a drawing showing a state in which the surgical device (10) sucks the stone crushed inside the kidney into the surgical device (10).

[0070] Referring to FIGS. 1 to 5, the first tube (100) may further include a medium supply unit (120).

[0071] The above-described medium supply unit (120) may be provided in the first tube (100) and configured to inject liquid (e.g., water) into the human body. As an example, the medium supply unit (120) may be connected to a separate liquid injection device (not shown) located outside the surgical device (10). Then, under the control of the aforementioned main control unit, liquid may be supplied from the liquid injection device to the medium supply unit (120), and the liquid may be injected into the human body through the medium supply unit (120).

[0072] According to this implementation configuration, when the stone crushing operation is performed by laser irradiation by the laser unit (300) as in FIG. 4(a) and FIG. 5(a), it is possible to prevent the inside of the human body from being excessively heated by the laser and damage to the living tissue.

[0073] However, the medium supply unit (120) is not limited to being provided in the first tube (100), and may be formed in the space between the first tube (100), the second tube (200), or the first tube (100) and the second tube (200) to supply liquid.

[0074] Referring again to FIGS. 1 to 5, the first tube (100) may further include a stone suction section (122).

[0075] The above stone suction unit (122) is formed between the outer surface of the second tube (200) and the inner surface of the first tube (100) in the radial direction, and can be configured to suck liquid inside the human body so that the pressure inside the human body is maintained below a certain pressure. At this time, the first suction pump (not shown) is driven according to the control of the above-described main control unit, so that liquid inside the human body is sucked through the stone suction unit (122), and the liquid passing through the stone suction unit (122) can be injected into a liquid injection device outside the surgical device (10).

[0076] According to this implementation configuration, during the process of removing stones inside the human body using a surgical device (10), it is possible to prevent problems such as excessive liquid being injected into the human body, causing the inside of the human body to swell, or external viruses penetrating into the human body due to reverse osmosis.

[0077] In particular, the stone suction unit (122) may be configured to suck stones crushed by laser irradiation. At this time, a second suction pump (not shown) is driven under the control of the aforementioned main control unit to suck the crushed stones through the stone suction unit (122), and stones passing through the stone suction unit (122) may be injected into a stone storage unit (not shown) outside the surgical device (10).

[0078] Additionally, the second tube (200) may be configured to be introduced into the first tube (100) when the crushed stones are sucked through the stone suction unit (122).

[0079] That is, the second tube (200) can minimize the collision area of ​​the laser unit (300) on the stone being sucked into the stone suction unit (122) by being drawn into the inside of the first tube (100) as shown in FIGS. 4(b) and 5(b) when the stone is sucked into the stone suction unit (122), compared to when the laser unit (300) is exposed to the outside of the first tube (100). In addition, the second tube (200) can maximize the cross-sectional area of ​​the stone suction unit (122) at the front side of the first tube (100) by being drawn into the inside of the first tube (100) when the stone is sucked into the stone suction unit (122), thereby inducing the stone to be sucked more easily.

[0080] FIG. 6 is a drawing exemplarily showing an error according to the delay rate between the pressure measurement signal inside the actual human body measured through the pressure measurement sensor (600) in the surgical device (10) of FIG. 1 and the pressure measurement signal measured through the pressure sensing passage (P).

[0081] Referring to FIGS. 1 to 3, the first tube (100) may further include a pressure sensing passage (P).

[0082] The above pressure sensing passage (P) is provided along the length of the first tube (100) and can be configured to measure the pressure inside the human body.

[0083] In addition, the surgical device (10) may include a pressure measurement sensor (600) provided at one end (front side) of the first tube (100) and configured to measure pressure inside the human body. Pressure measurement signal data inside the human body measured by the pressure measurement sensor (600) may be transmitted to the main control unit described above.

[0084] Here, if the pressure inside the human body measured by the pressure measurement sensor (600) is higher than a certain pressure, the main control unit can control the first suction pump to drive the liquid inside the human body to be sucked through the stone suction unit (122). Accordingly, during the process of removing stones inside the human body by the surgical device (10), it is possible to prevent excessive liquid from being injected into the human body, causing the inside of the human body to swell, or external viruses from penetrating into the human body due to reverse osmosis.

[0085] At this time, the main control unit may be configured to calculate the difference between the pressure measurement signal inside the human body measured through the pressure sensing passage (P) and the actual pressure measurement signal inside the human body measured through the pressure measurement sensor (600) according to the length and diameter of the pressure sensing passage (P), and to compensate for the difference in the delay rate calculated in the pressure measurement signal measured through the pressure sensing passage (P).

[0086] Here, the pressure measurement sensor (600) is provided at one end (front) of the first tube (100), but the pressure sensing passage (P) is provided along the length of the first tube (100), so a delay may occur in the pressure measurement signal inside the human body due to a resistance element inside the pressure sensing passage (P), and this delay may threaten safety by not being able to supply or suction liquid when necessary, so it is necessary to compensate for this delay difference.

[0087] In one embodiment, the delay rate difference is defined as being proportional to the length of the pressure sensing passage (P) and inversely proportional to the diameter, and a low pass filter (LPF) is applied to remove noise from a pressure measurement signal measured through the pressure sensing passage (P), and the delay rate difference can be compensated for by applying preset parameters that minimize the delay rate difference generated in the low pass filter.

[0088] Here, the preset parameter may mean a cutoff frequency at which the delay rate difference is minimized.

[0089] Specifically, in order to measure pressure, the measured pressure measurement signal has a delay rate due to the shape of the pressure sensing passage (P) in the form of a fine tube, and the longer the length of the pressure sensing passage (P) and the smaller the diameter, the greater the delay rate. Here, since the delay rate cannot be reduced by modifying the shape of the pressure sensing passage (P), a method for minimizing the delay rate generated in the low-pass filter generally applied for noise removal is applied. As a specific method, the delay rate generated in the low-pass filter can be minimized by applying a cutoff frequency to minimize the difference in delay rate generated in the applied low-pass filter.

[0090] Figure 7 is a drawing showing a surgical device (12) according to a second embodiment of the present invention.

[0091] Since the surgical device (12) according to the present embodiment is similar to the surgical device (10) of the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0092] Referring to FIG. 7, in the surgical device (12), the first tube (100) may include at least one spiral pattern portion (130).

[0093] The above spiral pattern portion (130) may be formed in a spiral shape along the longitudinal direction of the inner surface of the first tube (100). At this time, the spiral pattern portion (130) may be formed in the form of a protrusion protruding radially inwardly of the first tube (100).

[0094] In addition, when the liquid flows through the aforementioned medium supply unit (120), the liquid can be more easily guided and flowed toward the inside of the human body or the liquid injection device along the spiral protrusion shape of the spiral pattern unit (130).

[0095] Figure 8 is a drawing showing a surgical device (14) according to a third embodiment of the present invention.

[0096] Since the surgical device (14) according to the present embodiment is similar to the surgical device (10) of the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0097] Referring to FIG. 8, in the surgical device (14), a plurality of first bending wires (110) may be provided along the circumferential direction of the first tube (100).

[0098] In particular, in this embodiment, the first tube (100) may include an elastic member (140).

[0099] The elastic member (140) may extend along the inner surface of the first tube (100) and connect adjacent first bending wires (110) along the circumferential direction of the first tube (100). In addition, the elastic member (140) may be configured to elastically support adjacent first bending wires (110).

[0100] Specifically, when the first tube (100) is bent to correspond to the shape of the inside of the human body while passing through a curved inside of the human body (e.g., inside the urinary tract or kidney, etc.), the elastic member (140) that connects adjacent first bending wires (110) to provide elastic support can be stretched.

[0101] Meanwhile, when the first tube (100) is moved inside a human body with a high degree of curvature and then passes through an inside of a human body with a low degree of curvature, the elastic portion (140) can be restored to its original state by elastic force. Here, when the elastic portion (140) is restored to its original state by elastic force, the interval between adjacent first bending wires (110) connected by the elastic portion (140) can be shortened compared to when the first tube (100) is bent to correspond to the shape of the inside of a human body with a high degree of curvature. At this time, the adjacent first bending wires (110) connected by the elastic portion (140) can easily become closer to each other by the elastic restoring force of the elastic portion (140). Accordingly, the overall shape of the first tube (100) in which the first bending wires (110) are installed can also be easily restored.

[0102] According to this implementation configuration, the shape of the first tube (100) constituting the exterior of the surgical device (10) can be easily deformed and restored according to the shape (e.g., curvature) of the inside of the human body during the surgical device (10) operation, so there is an advantage that the stone removal operation can be performed more easily.

[0103] Figure 9 is a drawing showing a surgical device (16) according to the fourth embodiment of the present invention.

[0104] Since the surgical device (16) according to the present embodiment is similar to the surgical device (10) of the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0105] Referring to FIG. 9, the surgical device (16) may include a temperature measurement sensor (500) and a pressure measurement sensor (600).

[0106] The above temperature measurement sensor (500) may be configured to be installed at one end (front side) of the first tube (100) and to measure the temperature inside the human body. The temperature information inside the human body measured by the temperature measurement sensor (500) may be transmitted to the main control unit described above.

[0107] Here, if the temperature inside the human body measured by the temperature measurement sensor (500) is higher than a predetermined temperature, the main control unit can control the liquid to be supplied from the liquid injection device to the medium supply unit (120). Accordingly, since a liquid having a temperature lower than a predetermined temperature can be injected into the human body through the medium supply unit (120), when the stone crushing operation is performed by laser irradiation, the inside of the human body can be prevented from being excessively heated by the laser and causing damage to living tissue.

[0108] The above pressure measurement sensor (600) may be configured to be installed at one end (front side) of the first tube (100) and to measure the pressure inside the human body. The pressure information inside the human body measured by the pressure measurement sensor (600) may be transmitted to the main control unit described above.

[0109] Here, if the pressure inside the human body measured by the pressure measurement sensor (600) is higher than a certain pressure, the main control unit can control the first suction pump to drive the liquid inside the human body to be sucked through the stone suction unit (122). Accordingly, during the process of removing stones inside the human body by the surgical device (10), it is possible to prevent excessive liquid from being injected into the human body, causing the inside of the human body to swell, or external viruses from penetrating into the human body due to reverse osmosis.

[0110] Specifically, as shown in FIG. 9, the temperature measurement sensor (500) and the pressure measurement sensor (600) can be provided on a rotating member (150) that is provided at one end of the first tube (100) and configured to be rotatable (see (a) of FIG. 9).

[0111] And, the rotating member (150) can be rotated by the pressure of the second tube (200) inside the first tube (100) when the second tube (200) advances from the first tube (100) toward the inside of the human body, thereby opening one end (front side) of the first tube (100). At this time, as shown in (b) of FIG. 9, the temperature measuring sensor (500) and the pressure measuring sensor (600) provided in the rotating member (150) can be opened toward the radial outside of the first tube (100). And, as the rotating member (150) is opened, the second tube (200) can advance from the first tube (100) toward the inside of the human body (see (b) of FIG. 9).

[0112] According to this implementation configuration, when the second tube (200) advances for laser irradiation, interference between the temperature measurement sensor (500) and the pressure measurement sensor (600) and the second tube (200) can be prevented. In addition, when the second tube (200) advances, the temperature measurement sensor (500) and the pressure measurement sensor (600) provided in the rotating member (150) are opened to the radial outer side of the first tube (100), so that the collision area of ​​the temperature measurement sensor (500) and the pressure measurement sensor (600) with respect to the stone being sucked into the stone suction unit (122) can be minimized.

[0113] Fig. 10 is a drawing showing a surgical device (18) according to the fifth embodiment of the present invention.

[0114] Since the surgical device (18) according to the present embodiment is similar to the surgical device (10) of the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0115] Referring to FIG. 10, the first tube (100) may include a tip portion (160).

[0116] The above tip portion (160) may include a tip portion body (160a) and a photographing portion (162).

[0117] The above tip body (160a) may be configured to be slidable along the sliding guide part (100a) by being placed on the sliding guide part (100a) provided at one end of the first tube (100). At this time, the tip body (160a) may be configured to be movable along the sliding guide part (100a) by means of a separate driving means (not shown).

[0118] The above-mentioned photographing unit (162) may be provided in the tip body (160a) and configured to photograph the inside of the human body.

[0119] The above tip body (160a) can be placed in a part of the area where the second tube (200) is drawn out from one end of the first tube (100).

[0120] At this time, the aforementioned main control unit can control the medium supply unit (120) to inject liquid into the human body when it is determined that supply of medium into the human body is necessary based on the state of the human body photographed through the photographing unit (162).

[0121] In addition, the main control unit can be configured to control the tip body (160a) to move forward along the sliding guide unit (100a) when the crushed stones are sucked through the stone suction unit (122) according to the state of the inside of the human body photographed through the photographing unit (162) (see (b) of FIG. 10).

[0122] That is, the main control unit can control the tip body (160a) positioned in a part of the area where the second tube (200) is withdrawn from the end of the first tube (100) to advance by opening one end (front side) of the first tube (100) only when the crushed stones need to be sucked.

[0123] In particular, the tip portion (160) may include a passage portion (164) and a connection portion (166).

[0124] The above-mentioned passage (164) may be provided in the tip body (160a) and configured to guide the laser irradiation unit (320) to be withdrawn from the first tube (100) toward the inside of the human body (see (a) of FIG. 10). This passage (164) may be formed in the form of a hole penetrating the tip body (160a). Then, when the laser irradiation unit (320) is withdrawn from the first tube (100) toward the inside of the human body, the laser irradiation unit (320) may pass through the passage (164) and be withdrawn toward the inside of the human body. Accordingly, when the laser irradiation unit (320) is withdrawn from the first tube (100) toward the inside of the human body, the passage (164) may support the laser irradiation unit (320), thereby minimizing damage to the laser irradiation unit (320).

[0125] The above connecting portion (166) may be configured to connect between the sliding guide portion (100a) and the tip portion body (160a). In one embodiment, the connecting portion (166) may include, but is not limited to, a material having excellent elasticity.

[0126] Also referring to FIG. 10, the second tube (200) may further include a protrusion (220).

[0127] The above protrusion (220) may be configured to protrude radially from the outer surface of the second tube (200) and come into contact with the inner surface of the first tube (100). By virtue of this protrusion (220), vibrations may be prevented from occurring in the second tube (200) when the second tube (200) moves within the first tube (100).

[0128] Fig. 11 is a drawing showing a surgical device (20) according to the sixth embodiment of the present invention.

[0129] Since the surgical device (20) according to the present embodiment is similar to the surgical device (10) of the previous embodiment, duplicate descriptions of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0130] Referring to FIG. 11, the first tube (100) may include a thermosensitive dye layer (170).

[0131] The above-described thermochromic layer (170) is provided at the other end of the first tube (100) and can be configured to detect the temperature inside the human body by including a thermochromic dye. As an example, the thermochromic dye is a dye whose color changes due to a change in its chemical structure caused by heat, and may be a dye that exhibits a specific color at a specific temperature. The thermochromic layer (170) having such properties is provided at the other end of the first tube (100), and the temperature inside the human body can be determined through the color that appears when the liquid discharged to the outside through the stone suction unit (122) reacts with the thermochromic dye layer (170).

[0132] As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited thereto, and various modifications and variations are possible by a person having ordinary skill in the art to which the present invention pertains within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below.

[0133] Meanwhile, although terms indicating directions such as up, down, left, right, front, and back are used in the present invention, it is obvious to those skilled in the art that these terms are only for the convenience of explanation and may vary depending on the location of the target object or the location of the observer.

[0134] (Explanation of symbols)

[0135] 10, 12, 14, 16, 18, 20: Surgical device

[0136] 100: First tube

[0137] 200: Second tube

[0138] 300: Laser section

[0139] 400: Image sensing unit

[0140] 500: Temperature measurement sensor

[0141] 600: Pressure measurement sensor

Claims

1. A first tube configured to bend to correspond to the shape inside the human body; and A surgical device characterized by including a second tube accommodated within the first tube, configured to bend corresponding to the bending shape of the first tube, and including a laser unit configured at one end to irradiate a laser to a stone located within the human body.

2. In paragraph 1, The above first tube, A surgical device characterized by being bent by at least one first bending wire.

3. In paragraph 1, The second tube above, A surgical device characterized in that it is configured to be bent to correspond to a shape inside a human body by at least one second bending wire.

4. In paragraph 1, The above laser part, An LED light source configured to irradiate light; and A surgical device characterized by including a laser irradiation unit configured to be withdrawable from the first tube or the second tube toward the inside of the human body and configured to irradiate a laser toward the stone.

5. In paragraph 1, The second tube above, A surgical device characterized in that it is configured to be bendable or rotatable within the first tube, or to be bendable or rotatable while being withdrawn from the first tube.

6. In paragraph 1, A surgical device characterized by further comprising an image sensing unit provided in the second tube and configured to sense image information inside the human body.

7. In paragraph 1, A surgical device characterized by further comprising a medium supply unit provided in the first tube and configured to inject liquid into the human body.

8. In paragraph 7, The above media supply unit, A surgical device characterized by being defined by the first tube, the second tube, or the space between the first tube and the second tube.

9. In paragraph 1, A surgical device characterized by further including a stone suction unit formed in a space formed between the outer surface of the second tube and the inner surface of the first tube in the radial direction, or extending longitudinally through the second tube, and configured to suck liquid inside the human body so that the pressure inside the human body is maintained below a certain pressure.

10. In paragraph 9, The above-mentioned absence suction part is, It is configured to suck stones that have been broken down by laser irradiation, The second tube above, A surgical device characterized in that the crushed stone is configured to be introduced into the first tube when sucked through the stone suction unit.

11. In paragraph 1, A pressure sensing passage provided along the length of the first tube and configured to measure the pressure inside the human body; Further comprising a pressure measuring sensor provided at one end of the first tube and configured to measure the pressure inside the human body; A surgical device characterized in that it calculates a delay rate between a pressure measurement signal inside the human body measured through the pressure sensing passage and a pressure measurement signal inside the human body measured through the pressure measurement sensor according to the length and diameter of the pressure sensing passage, and compensates for the difference in the calculated delay rate in the pressure measurement signal measured through the pressure sensing passage.

12. In paragraph 11, The above delay rate difference is defined as being proportional to the length of the pressure sensing passage and inversely proportional to the diameter, A low pass filter (LPF) is applied to remove noise from the pressure measurement signal measured through the above pressure sensing passage. A surgical device characterized in that the delay difference is compensated for by applying a preset parameter that minimizes the delay difference occurring in the low-frequency filter.

13. In paragraph 1, The above first tube, A surgical device characterized by further comprising at least one spiral pattern portion formed in a spiral shape along the longitudinal direction of the inner surface of the first tube.

14. In paragraph 2, The above first bending wire, It is provided in multiple pieces along the circumferential direction of the above first tube, The above first tube, A surgical device characterized in that it further includes an elastic member extending along the inner surface of the first tube and connecting adjacent first bending wires along the circumferential direction of the first tube, and configured to elastically support the adjacent first bending wires.

15. In paragraph 1, It further includes a temperature measuring sensor provided at one end of the first tube and configured to measure the temperature inside the human body, and a pressure measuring sensor provided at one end of the first tube and configured to measure the pressure inside the human body. A surgical device, characterized in that the temperature measuring sensor and the pressure measuring sensor are provided on one end of the first tube and are provided on a rotating member configured to be rotatable.

16. In paragraph 15, The above rotating member is, A surgical device characterized in that when the second tube advances from the first tube toward the inside of the human body, the second tube is rotated by the pressure of the second tube inside the first tube to open one end of the first tube.

17. In paragraph 9, The above first tube, It further includes a tip body configured to be slidable along the sliding guide part and arranged on a sliding guide part provided at one end of the first tube, and a tip body configured to photograph the inside of the human body through a photographing part provided on the tip body. The above tip body is, A surgical device characterized in that one end of the first tube is configured to be positioned in a portion of an area from which the second tube is withdrawn.

18. In paragraph 17, The above surgical device further includes a main control unit, The above main control unit, The medium supply unit is configured to control the injection of liquid into the human body according to the state of the human body captured through the photographing unit. A surgical device characterized in that it is configured to control the tip body to advance along the sliding guide part when the crushed stone is sucked through the stone suction part according to the state of the inside of the human body captured through the photographing part.

19. In paragraph 17, The above tip part is, A surgical device characterized in that it further includes a passage provided in the tip body and configured to guide the laser irradiation unit to be withdrawn from the first tube toward the inside of the human body.

20. In paragraph 1, A surgical device characterized by further comprising a thermosensitive dye layer provided at the other end of the first tube and configured to detect the temperature inside the human body, including a thermosensitive dye.

Images