Forceps structure

Abstract

A forceps structure is disclosed. A forceps structure according to one aspect of the present invention comprises: a base member comprising a main body having a through hole formed therethrough in which a sheath is fixed along a first direction, a first guide extending a predetermined length from the main body along a first direction which is a longitudinal direction, and a second guide extending a predetermined length from the main body so as to be disposed parallel to the first guide along the first direction while being spaced apart from the first guide; a first gripper hinge-coupled to the first guide via a first hinge shaft so as to be rotatable with respect to the base member; a second gripper hinge-coupled to the second guide via a second hinge shaft so as to be rotatable with respect to the base member; and a movable member which fixes an end of a tendon passing through the sheath and linearly reciprocates in a direction parallel to the first direction by means of a driving force provided from the tendon so that the first gripper and the second gripper can simultaneously rotate around the first hinge shaft and the second hinge shaft, respectively, wherein the first hinge shaft and the second hinge shaft may be disposed on the base member so as to be located at positions spaced apart by a predetermined distance from the linear movement path of the movable member.

Description

Forceps structure

[0001] The present invention relates to a forceps structure, and more particularly, to a forceps structure that can be used in surgery or examination using an endoscope.

[0002] An endoscope is an instrument designed to be inserted into the body to examine lesions in organs.

[0003] Recently, various types of surgical devices have been designed that allow surgery on the inside of an organ without making an incision in the patient's body by attaching a surgical instrument to an endoscope and inserting it into the patient's organ.

[0004] In particular, a representative example of such surgical devices is the development of an endoscopic robotic arm that is installed on an endoscope and performs a specific function. As an example of this specific function, the endoscopic robotic arm can assist the work of other surgical instruments attached to the endoscope by grasping lesion tissue or surrounding tissue within the organ.

[0005] However, there is a problem that the range of motion of the endoscopic robotic arm is often limited during the surgical procedure performed by the doctor, and thus the endoscopic robotic arm does not operate as intended by the doctor.

[0006] The present invention is intended to solve the above-mentioned problems, and the purpose of the present invention is to provide a forceps structure that can smoothly provide rotational force for a gripping operation even when a small-sized driving force is provided.

[0007] Another object of the present invention is to provide a forceps structure capable of smoothly performing a gripping operation through a pair of grippers while minimizing the linear movement distance of a movable member for rotating a pair of grippers.

[0008] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description below.

[0009] According to one aspect of the present invention, there is provided a base member including a main body having a through hole formed therethrough to which a sheath is fixed along a first direction, a first guide extending a predetermined length from the main body in a first direction, which is a longitudinal direction, and a second guide extending a predetermined length from the main body so as to be arranged parallel to the first guide along the first direction while being spaced apart from the first guide; a first gripper hingedly connected to the first guide via a first hinge axis so as to be rotatable with respect to the base member; a second gripper hingedly connected to the second guide via a second hinge axis so as to be rotatable with respect to the base member; And a movable member that fixes the end of the tendon passing through the sheath and moves in a reciprocating linear direction parallel to the first direction by a driving force provided from the tendon so that the first gripper and the second gripper can rotate simultaneously about the first hinge axis and the second hinge axis, respectively; The forceps structure is provided such that the first hinge axis and the second hinge axis are respectively positioned at a position spaced apart by a certain distance with respect to the linear movement path of the movable member on the base member.

[0010] In addition, the movable member can reciprocally move linearly so as to pass between the first hinge axis and the second hinge axis along the linear movement path in the space between the first guide and the second guide.

[0011] In addition, the first gripper may be positioned on the upper surface side of the first guide and may be rotatably arranged around the first hinge axis, and the second gripper may be positioned on the lower surface side of the second guide, which is horizontal to the lower surface of the first guide, and may be rotatably arranged around the second hinge axis.

[0012] In addition, the first hinge axis may be coupled to the first guide so that one end thereof does not protrude downward from the lower surface of the first guide, and the second hinge axis may be coupled to the second guide so that one end thereof does not protrude upward from the upper surface of the second guide.

[0013] In addition, the movable member may include a body disposed in a space between the first guide and the second guide, a first protruding bar extending upward from an upper surface of the body at a predetermined height and connected to the first gripper, and a second protruding bar extending downward from a lower surface of the body at a predetermined height and connected to the second gripper.

[0014] In addition, the first gripper may include a first guide hole formed through the hole so as to guide movement of the first protrusion bar when the body moves in a straight line while the first protrusion bar is inserted, and the second gripper may include a second guide hole formed through the hole so as to guide movement of the second protrusion bar when the body moves in a straight line while the second protrusion bar is inserted.

[0015] In addition, when the first protrusion bar is inserted into the first guide hole, the first protrusion bar may be positioned on the opposite side to the first hinge axis based on the linear movement path of the movable member, and when the second protrusion bar is inserted into the second guide hole, the second protrusion bar may be positioned on the opposite side to the second hinge axis based on the linear movement path of the movable member.

[0016] Additionally, the second protruding bar may extend downward from the lower surface of the body so as not to be positioned in a straight line with the first protruding bar.

[0017] According to the above configuration, the forceps structure according to the present invention has the advantage of being able to reduce the overall size by smoothly providing rotational force for a gripping operation even when the movable member for rotating a pair of grippers reciprocates over a minimum distance.

[0018] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0019] FIG. 1 is a drawing showing a forceps structure according to one embodiment of the present invention.

[0020] Fig. 2 is a drawing showing a state in which the teeth of the first gripper and the second gripper in Fig. 1 are spaced apart from each other.

[0021] Figure 3 is a bottom view of Figure 2.

[0022] Figure 4 is an exploded view of a forceps structure according to one embodiment of the present invention.

[0023] Figure 5 is a drawing of Figure 4 viewed from a different direction.

[0024] Fig. 6 is a drawing showing a state in which a part of the base member and the movable member in Fig. 1 is cut in the AA direction, and is a drawing showing a state in which the sheath and tendon are combined.

[0025] Fig. 7 is a cross-sectional view in the BB direction of Fig. 1, showing a state in which the first hinge axis and the second hinge axis are separated.

[0026] FIG. 8 is a drawing of a movable member in a forceps structure according to one embodiment of the present invention, which is a drawing of the movable member viewed from above and a drawing of the movable member viewed from the front.

[0027] FIG. 9 is a schematic diagram showing the operating state of a forceps structure according to one embodiment of the present invention, showing the arrangement relationship of a movable member, a first protruding bar, a first guide hole, a second protruding bar, and a second guide hole when the teeth of the first gripper and the teeth of the second gripper are closest to each other.

[0028] FIG. 10 is a schematic diagram showing the operating state of a forceps structure according to one embodiment of the present invention, showing the arrangement relationship of a first protrusion bar, a first guide hole, a second protrusion bar, and a second guide hole in a state where a movable member is positioned between a first hinge axis and a second hinge axis.

[0029] FIG. 11 is a schematic diagram showing the operating state of a forceps structure according to one embodiment of the present invention, showing the arrangement relationship of a movable member, a first protruding bar, a first guide hole, a second protruding bar, and a second guide hole in a state where the teeth of the first gripper and the teeth of the second gripper are the farthest apart.

[0030] FIG. 12 is a schematic diagram for explaining the linear movement path of the movable member and the rotation angles of the first gripper and the second gripper in the forceps structure according to one embodiment of the present invention, and is a diagram showing the positions of the first protrusion bar and the first guide hole according to the position of the movable member in a state where FIGS. 10 and 11 are merged.

[0031] Figure 13 is a diagram showing the state of use of a forceps structure according to another embodiment of the present invention.

[0032] Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts irrelevant to the description are omitted in the drawings, and the same reference numerals designate identical or similar components throughout the specification.

[0033] The words and terms used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted in a way that is consistent with the technical idea of ​​the present invention, in accordance with the principles by which the inventor can define terms and concepts in order to best explain his or her invention.

[0034] In addition, the upper surface used in this specification and claims may mean a surface viewed from above with reference to Fig. 1, and the lower surface may mean a surface viewed from below with reference to Fig. 1. In addition, the first direction and the longitudinal direction used in this specification and claims may mean a direction parallel to the x-axis with reference to Fig. 1, the second direction and the width direction may mean a direction parallel to the y-axis with reference to Fig. 1, and the third direction, the thickness direction and the height direction may mean a direction parallel to the upper surface to the lower surface or the lower surface to the upper surface direction with reference to Fig. 1.

[0035] The forceps structure (100) according to one embodiment of the present invention can be implemented as a robotic arm for endoscopic surgery, and can grasp lesion tissue or surrounding lesion tissue inside an organ during endoscopic surgery or procedure.

[0036] For example, the forceps structure (100) according to one embodiment of the present invention can be coupled to an endoscope auxiliary cap (10) as illustrated in FIG. 13 to perform a function of assisting the operation of another surgical instrument.

[0037] Here, the auxiliary cap (10) for the endoscope may be coupled to the tip of the endoscope device to perform a predetermined function to assist the endoscope device.

[0038] However, the present invention is not limited thereto, and the forceps structure (100) according to one embodiment of the present invention may be implemented as forceps inserted into a forceps hole of an endoscope device so as to perform tissue examination or other procedures without being coupled to an endoscope auxiliary cap (10).

[0039] In addition, the forceps structure (100) according to one embodiment of the present invention can be driven through a known tendon-sheath mechanism using a tendon (30) provided with a wire and a sheath (20) provided with a hollow tube.

[0040] That is, in the forceps structure (100) according to one embodiment of the present invention, the tendon (30) can move back and forth inside the sheath (20), thereby causing relative movement between the tendon (30) and the sheath (20), and the movable member (140) to be described later can move back and forth through the relative movement of the tendon (30) with respect to the sheath (20), and a pair of grippers (120, 130) can be linked with the movement of the movable member (140).

[0041] Through this, the forceps structure (100) according to one embodiment of the present invention can be switched between a gripping operation in which the pair of grippers (120, 130) come close to each other to grip an object, as shown in FIGS. 1 to 3, and a releasing operation in which the pair of grippers (120, 130) move apart from each other to release the gripping state of the object.

[0042] In the present invention, the tendon-sheath mechanism is well known and therefore a detailed description thereof will be omitted.

[0043] A forceps structure (100) according to one embodiment of the present invention may include a base member (110), a first gripper (120), a second gripper (130), and a movable member (140) as shown in FIGS. 1 to 5.

[0044] The above base member (110) can fix a sheath (20) for a tendon-sheath mechanism, and the first gripper (120) and the second gripper (130) can be respectively coupled to one side.

[0045] To this end, the base member (110) may include a main body (112), a first guide (114), and a second guide (116), as shown in FIGS. 4 and 5, and the main body (112) may fix the sheath (20), and the first guide (114) and the second guide (116) may extend a certain length from the main body (112) in a first direction, which is a longitudinal direction, so that the first gripper (120) and the second gripper (130) may be coupled, respectively.

[0046] For example, the main body (112) may include a first fixing hole (113) formed through a first direction, the first guide (114) may extend from the main body (112) along the first direction by a certain length, and the second guide (116) may extend from the main body (112) by a certain length so as to be spaced apart from the first guide (114) and arranged parallel to the first guide (114) along the first direction.

[0047] In this case, the first guide (114) and the second guide (116) may be spaced apart from each other along the second direction, which is the width direction, and may be arranged parallel to each other along the first direction, and may extend from the main body (112) so as to be positioned on both sides of the first fixing hole (113).

[0048] Accordingly, as shown in FIG. 6, the sheath (20) can be fixed to the first fixing hole (113), and a predetermined space (118) can be formed along the first direction between the first guide (114) and the second guide (116), and the first fixing hole (113) can be connected to the space (118).

[0049] Through this, when the movable member (140) is placed on the space (118) side, the movable member (140) can reciprocate along the first direction in the space (118), and the movement direction of the movable member (140) can be limited to a direction parallel to the first direction by the first guide (114) and the second guide (116) defining the space (118).

[0050] Accordingly, when the movable member (140) in the forceps structure (100) according to one embodiment of the present invention moves in a direction parallel to the first direction within the space (118), the first gripper (120) and the second gripper (130) can be linked with the movement of the movable member (140).

[0051] The first gripper (120) and the second gripper (130) can each be coupled to the base member (110).

[0052] That is, the first gripper (120) and the second gripper (130) can be rotatably coupled to the base member (110), and can be rotated with respect to the base member (110) through the movement of the movable member (140).

[0053] For example, the first gripper (120) can be hinge-coupled to the base member (110) via a first hinge axis (151), and the second gripper (130) can be hinge-coupled to the base member (110) via a second hinge axis (152).

[0054] Accordingly, the first gripper (120) can be rotated around the first hinge axis (151), and the second gripper (130) can be rotated around the second hinge axis (152).

[0055] Additionally, the first gripper (120) and the second gripper (130) may include a plurality of teeth (121, 131) each protruding from one surface facing each other.

[0056] For example, as illustrated in FIGS. 1 to 5, the first gripper (120) may include a plurality of first teeth (121) protruding from one surface, and the second gripper (130) may include a plurality of second teeth (131) protruding from one surface facing the first gripper (120), and the plurality of first teeth (121) and the plurality of second teeth (131) may be interlocked with each other.

[0057] Through this, as illustrated in FIG. 9, when the first gripper (120) and the second gripper (130) in the forceps structure (100) according to one embodiment of the present invention rotate so that the plurality of first teeth (121) and the plurality of second teeth (131) approach each other, the first gripper (120) and the second gripper (130) can grip an object, and as illustrated in FIGS. 10 and 11, when the first gripper (120) and the second gripper (130) rotate so that the plurality of first teeth (121) and the plurality of second teeth (131) move away from each other, the first gripper (120) and the second gripper (130) can release the gripped object.

[0058] At this time, the first gripper (120) is positioned on the upper side of the first guide (114) and can rotate with respect to the first guide (114) about the first hinge axis (151), and the second gripper (130) is positioned on the lower side of the second guide (116) and can rotate with respect to the second guide (116) about the second hinge axis (152).

[0059] To this end, as shown in FIGS. 4, 5, and 7, the first gripper (120) may be positioned on the upper side of the first guide (114) and hinge-coupled to the first guide (114) via the first hinge axis (151), and the second gripper (130) may be positioned on the lower side of the second guide (116) and hinge-coupled to the second guide (116) via the second hinge axis (152).

[0060] In this case, the first gripper (120) may include a first connecting hole (122) formed through a third direction, and the first guide (114) may include a first fastening hole (115) formed through a third direction at a position corresponding to the first connecting hole (122), and the first hinge axis (151) may be fastened to the first fastening hole (115) after passing through the first connecting hole (122).

[0061] Similarly, as shown in FIGS. 4, 5 and 7, the second gripper (130) may include a second connecting hole (132) formed through a third direction, and the second guide (116) may include a second fastening hole (117) formed through a third direction at a position corresponding to the second connecting hole (132), and the second hinge axis (152) may be fastened to the second fastening hole (117) after passing through the second connecting hole (132).

[0062] In addition, the first hinge axis (151) can be coupled to the first guide (114) so ​​that one end does not protrude downward from the lower surface of the first guide (114), and the second hinge axis (152) can be coupled to the second guide (116) so that one end does not protrude upward from the upper surface of the second guide (116).

[0063] That is, as illustrated in FIG. 7, the first hinge axis (151) can be fastened to the first fastening hole (115) so that one end does not protrude outward from the first fastening hole (115) after passing through the first coupling hole (122), and the second hinge axis (152) can be fastened to the second fastening hole (117) so that one end does not protrude outward from the second fastening hole (117) after passing through the second coupling hole (132).

[0064] Accordingly, the first gripper (120) can be freely rotated around the first hinge axis (151) while being positioned above the first guide (114) and the second guide (116), and the second gripper (130) can be freely rotated around the second hinge axis (152) while being positioned below the first guide (114) and the second guide (116).

[0065] That is, even if the first hinge axis (151), which is the center of rotation of the first gripper (120), and the second hinge axis (152), which is the center of rotation of the second gripper (130), are not located at the same position, the first gripper (120) can rotate smoothly around the first hinge axis (151) without being interfered by the second hinge axis (152), and the second gripper (130) can rotate smoothly around the second hinge axis (152) without being interfered by the first hinge axis (151).

[0066] In addition, since the first hinge axis (151) is hinge-coupled to the first guide (114) and the second hinge axis (152) is hinge-coupled to the second guide (116), the first hinge axis (151), which is the rotation center of the first gripper (120), and the second hinge axis (152), which is the rotation center of the second gripper (130), may be positioned so as to be spaced apart from each other along the second direction, which is the width direction, without being positioned in a straight line with respect to the first direction, which is the movement direction of the movable member (140).

[0067] Accordingly, as illustrated in FIG. 12, the first hinge axis (151) and the second hinge axis (152) can be respectively coupled to the base member (110) so as to be positioned at a certain distance from the linear movement path (LP) on both sides of the linear movement path (LP) without being positioned in a straight line with the linear movement path (LP) of the movable member (140).

[0068] Through this, the forceps structure (100) according to one embodiment of the present invention can smoothly provide rotational force for a gripping operation even when the movable member (140) for simultaneously rotating the first gripper (120) and the second gripper (130) moves back and forth at a minimum distance.

[0069] Due to this, the forceps structure (100) according to one embodiment of the present invention can be made smaller by reducing the overall size by minimizing the linear movement distance (d) of the movable member (140).

[0070] The above movable member (140) can fix a tendon (30) for a tendon-sheath mechanism, and can be reciprocally moved in a first direction in a space (118) formed between the first guide (114) and the second guide (116) by a driving force provided from the tendon (30).

[0071] That is, the movable member (140) can reciprocate along a linear movement path (LP) formed in a direction parallel to the first direction in a space (118) formed between the first guide (114) and the second guide (116), as illustrated in FIGS. 4, 5, and 12.

[0072] Accordingly, when the movable member (140) moves in a direction parallel to the first direction along the linear movement path (LP) within the space (118), the first gripper (120) and the second gripper (130) can be linked with the movement of the movable member (140).

[0073] That is, the first gripper (120) and the second gripper (130) can be coupled to the movable member (140) so that they can simultaneously rotate about the first hinge axis (151) and the second hinge axis (152) by the driving force provided from the movable member (140) when the movable member (140) moves in a reciprocating linear manner.

[0074] To this end, the movable member (140) may include a body (142), a first protruding bar (144), and a second protruding bar (146), as illustrated in FIGS. 4 to 8, and the body (142) may fix the tendon (30), and the first protruding bar (144) and the second protruding bar (146) may extend from the body (142) by a certain height along the third direction so as to be connected to the first gripper (120) and the second gripper (130), respectively.

[0075] For example, the body (142) may include a second fixed hole (143) formed penetrating along the first direction, and may be positioned in a space (118) formed between the first guide (114) and the second guide (116).

[0076] Accordingly, as illustrated in FIG. 6, when the body (142) is placed in the space (118) formed between the first guide (114) and the second guide (116), the end of the tendon (30) protruding from the sheath (20) fixed to the first fixing hole (113) into the space (118) can be fixed to the second fixing hole (143) of the body (142), and the body (142) can reciprocate linearly in the first direction within the space (118) by the driving force provided from the tendon (30).

[0077] In addition, the first protruding bar (144) may extend upwardly from the upper surface of the body (142) in a third direction to a certain height, and the second protruding bar (146) may extend downwardly from the lower surface of the body (142) in a third direction to a certain height.

[0078] In this case, the first gripper (120) may include a first guide hole (123) formed through a hole so as to guide movement of the first protruding bar (144) when the first protruding bar (144) is inserted, and the second gripper (130) may include a second guide hole (133) formed through a hole so as to guide movement of the second protruding bar (146) when the second protruding bar (146) is inserted.

[0079] In the present invention, the first protruding bar (144) and the second protruding bar (146) may be positioned at positions spaced apart from each other along the second direction, which is the width direction, without being positioned in a straight line along the third direction, as shown in FIG. 8, and may extend from the body (142) along the third direction.

[0080] In addition, each of the first guide hole (123) and the second guide hole (133) may be formed to be inclined at a certain angle with respect to a straight line parallel to the first direction. For example, as illustrated in FIG. 9, when the teeth (121) of the first gripper (120) and the teeth (131) of the second gripper (130) are closest to each other, the first guide hole (123) may be formed in the shape of a long hole that is inclined in a direction closer to the straight movement path (LP) from the end of the first gripper (120) to the end where the teeth (121) are formed, and the second guide hole (133) may be formed to be extended in the shape of a long hole that is inclined in a direction closer to the straight movement path (LP) from the end of the second gripper (130) to the end where the teeth (131) are formed.

[0081] In addition, when the first protrusion bar (144) is inserted into the first guide hole (123), the first protrusion bar (144) can be positioned on the opposite side to the first hinge axis (151) based on the linear movement path (LP) of the movable member (140), and when the second protrusion bar (146) is inserted into the second guide hole (133), the second protrusion bar (146) can be positioned on the opposite side to the second hinge axis (152) based on the linear movement path (LP) of the movable member (140).

[0082] Through this, when the movable member (140) reciprocates in the first direction within the space (118) through the driving force provided from the tendon (30), the first protruding bar (144) can reciprocate within the first guide hole (123) along the first guide hole (123), and when the first protruding bar (144) reciprocates along the first guide hole (123), the first gripper (120) can rotate about the first hinge axis (151) by the driving force transmitted through the first protruding bar (144).

[0083] Likewise, when the movable member (140) reciprocates in the first direction within the space (118) through the driving force provided from the tendon (30), the second protruding bar (146) can reciprocate within the second guide hole (133) along the second guide hole (133), and when the second protruding bar (146) reciprocates along the second guide hole (133), the second gripper (130) can rotate about the second hinge axis (152) by the driving force transmitted through the second protruding bar (146).

[0084] Accordingly, when the movable member (140) moves forward or backward in the first direction within the space (118) through the relative movement of the tendon (30) with respect to the sheath (20), each of the first gripper (120) and the second gripper (130) can simultaneously rotate about the first hinge axis (151) and the second hinge axis (152) in conjunction with the movement of the movable member (140).

[0085] Through this, the forceps structure (100) according to one embodiment of the present invention can be switched between a gripping operation in which the first gripper (120) and the second gripper (130) come close to each other to grip an object, as shown in FIGS. 9 to 11, and a releasing operation in which the first gripper (120) and the second gripper (130) move apart from each other to release the gripping state of the object.

[0086] In addition, when the first protrusion bar (144) is inserted into the first guide hole (123), the first protrusion bar (144) can move along the first guide hole (123) so as to be positioned on the opposite side to the first hinge axis (151) based on the linear movement path (LP) of the movable member (140), and when the second protrusion bar (146) is inserted into the second guide hole (133), the second protrusion bar (146) can move along the second guide hole (133) so as to be positioned on the opposite side to the second hinge axis (152) based on the linear movement path (LP) of the movable member (140).

[0087] Through this, the distance between the first protruding bar (144) and the first hinge axis (151) and the distance between the second protruding bar (146) and the second hinge axis (152) in the forceps structure (100) according to one embodiment of the present invention can have a longer length.

[0088] Accordingly, the forceps structure (100) according to one embodiment of the present invention can provide greater rotational force to the first gripper (120) and the second gripper (130) through the movable member (140) by having the first hinge axis (151) and the second hinge axis (152) positioned at positions spaced apart from the linear movement path (LP) by a certain distance on both sides of the linear movement path (LP), while the distance between the first protruding bar (144) and the first hinge axis (151) and the distance between the second protruding bar (146) and the second hinge axis (152) can have a longer length.

[0089] Due to this, the forceps structure (100) according to one embodiment of the present invention can be made smaller by reducing the overall size by minimizing the linear movement distance (d) of the movable member (140).

[0090] At this time, in the forceps structure (100) according to one embodiment of the present invention, the movable member (140) can reciprocally move in a linear manner to pass between the first hinge axis (151) and the second hinge axis (152) in the space (118) formed between the first guide (114) and the second guide (116).

[0091] That is, as illustrated in FIG. 12, in the forceps structure (100) according to one embodiment of the present invention, the movable member (140) that moves in a reciprocating linear manner along the first direction within the space (118) may be formed such that the linear movement path (LP) intersects the imaginary straight line (L) connecting the first hinge axis (151) and the second hinge axis (152).

[0092] Accordingly, the forceps structure (100) according to one embodiment of the present invention can rotate the first gripper (120) and the second gripper (130) at a larger angle even if the reciprocating linear movement distance (d) of the movable member (140) is minimized.

[0093] If the movable member (140) moves reciprocally in a straight line within the space (118) so as not to pass between the first hinge axis (151) and the second hinge axis (152), the first gripper (120) and the second gripper (130) can rotate in a range of approximately 0 degrees to 45 degrees or less about the first hinge axis (151) and the second hinge axis (152), as shown in FIGS. 9 and 10.

[0094] However, when the movable member (140) moves reciprocally in the first direction within the space (118) so as to intersect with the imaginary straight line (L) connecting the first hinge axis (151) and the second hinge axis (152), the first gripper (120) and the second gripper (130) can be rotated in a range of approximately 0 degrees to 90 degrees or less about the first hinge axis (151) and the second hinge axis (152), as illustrated in FIGS. 9 to 11.

[0095] Due to this, the forceps structure (100) according to one embodiment of the present invention can grip an object using the first gripper (120) and the second gripper (130) in a larger angular range, thereby expanding the operator's treatment range.

[0096] Although the embodiments of the present invention have been described, the spirit of the present invention is not limited to the embodiments presented in this specification, and those skilled in the art who understand the spirit of the present invention will be able to easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same spirit, but this will also be considered to fall within the spirit of the present invention.

Claims

1. A base member including a main body having a through hole formed along a first direction through which a sheath is fixed, a first guide extending a predetermined length from the main body in a first direction, which is a longitudinal direction, and a second guide extending a predetermined length from the main body so as to be arranged parallel to the first guide along the first direction while being spaced apart from the first guide; A first gripper hinged to the first guide via a first hinge axis so as to be rotatable with respect to the base member; A second gripper hinged to the second guide via a second hinge axis so as to be rotatable with respect to the base member; and A movable member is provided which fixes an end of a tendon passing through the sheath, and moves in a reciprocating linear direction parallel to the first direction by a driving force provided from the tendon so that the first gripper and the second gripper can simultaneously rotate around the first hinge axis and the second hinge axis, respectively; A forceps structure in which the first hinge axis and the second hinge axis are respectively positioned on the base member at positions spaced apart from each other by a certain distance with respect to the linear movement path of the movable member.

2. In paragraph 1, The above-mentioned movable member is a forceps structure that reciprocates linearly so as to pass between the first hinge axis and the second hinge axis along the linear movement path in the space between the first guide and the second guide.

3. In paragraph 1, The above first gripper is positioned on the upper surface side of the first guide and is arranged to be rotatable around the first hinge axis, The second gripper is a forceps structure positioned on the lower surface of the second guide, which is horizontal to the lower surface of the first guide, and is rotatable around the second hinge axis.

4. In paragraph 3, The above first hinge axis is coupled to the first guide so that one end does not protrude downward from the lower surface of the first guide, The second hinge axis is a forceps structure that is coupled to the second guide so that one end does not protrude upward from the upper surface of the second guide.

5. In paragraph 1, The above movable member is a forceps structure including a body arranged in a space between the first guide and the second guide, a first protruding bar extending upward from the upper surface of the body to a certain height and connected to the first gripper, and a second protruding bar extending downward from the lower surface of the body to a certain height and connected to the second gripper.

6. In paragraph 5, The above first gripper includes a first guide hole formed through a hole so as to guide the movement of the first protrusion bar when the body moves linearly while the first protrusion bar is inserted. The second gripper is a forceps structure including a second guide hole formed through the hole so as to guide the movement of the second protrusion bar when the body moves linearly while the second protrusion bar is inserted.

7. In paragraph 6, In a state where the first protrusion bar is inserted into the first guide hole, the first protrusion bar is positioned on the opposite side to the first hinge axis based on the linear movement path of the movable member. A forceps structure in which the second protrusion bar is positioned on opposite sides of the second hinge axis with respect to the linear movement path of the movable member while the second protrusion bar is inserted into the second guide hole.

8. In paragraph 5, The second protruding bar is a forceps structure that extends downward from the lower surface of the body so as not to be positioned in a straight line with the first protruding bar along the third direction.

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