Patent ID: 9241727
Filing Date: 2016-01-26
CPC Classification: A61B

Claim Text:
1. Tool for minimally invasive surgery comprising, a main shaft, a first control shaft and a second control shaft positioned in sequence from one end of the main shaft, a first actuating shaft and a second actuating shaft positioned in sequence from the other end of the main shaft, an adjustment handle positioned around one end of the second control shaft, an end effector positioned around one end of the second actuating shaft, a pitch control part positioned around one position of the positions between the main shaft and the first control shaft, between the first control shaft and the second control shaft, and between the second control shaft and the adjustment handle, for transferring a motion of the adjustment handle in a pitch direction to the end effector, a first yaw control part and a second yaw control part positioned around the other positions of the positions between the main shaft and the first control shaft, between the first control shaft and the second control shaft, and between the second control shaft and the adjustment handle, respectively, for transferring a motion of the adjustment handle in a yaw direction to the end effector, a pitch actuating part positioned around one position of the positions between the main shaft and the first actuating shaft, between the first actuating shaft and the second actuating shaft, and between the second actuating shaft and the end effector, a first yaw actuating part and a second yaw actuating part positioned around the other positions of the positions between the main shaft and the first actuating shaft, between the first actuating shaft and the second actuating shaft, and between the second actuating shaft and the end effector, respectively, and a pitch cable, a first yaw cable, and a second yaw cable for transferring motions from the pitch control part, the first yaw control part, and the second yaw control part to the pitch actuating part, the first yaw actuating part, and the second yaw actuating part, respectively, wherein at least one of the pitch control part, the first yaw control part, the second yaw control part, the pitch actuating part, the first yaw actuating part, and the second yaw actuating part comprises a pair of plates, a pair of adjustment gears disposed onto each of the pair of plates, a joint rotation axis inserted in the middle between each of the pair of adjustment gears, and a link for enabling the pairs of adjustment gears on each of the pair of plates to intermesh, the link is placed between each of the pair of plates perpendicularly and between each of the pair of adjustment gears of each of the pair of plates, wherein each of the pair of plates is spaced apart from each other by a predetermined distance and the pair of adjustment gears are disposed on perpendicular to the planes of each of the pair of plates, the pair of adjustment gears disposed on the same plane of each of the pair of plates are parallel to each other with respect to the center axis of the plate, wherein each of the at least two adjustment gears is in semi-circular shape and includes a circular space disposed on the plane of each of the pair of plates between each of the pair of adjustment gears, the joint rotation axis is rotatably inserted in the circular space, and wherein the pair of plates are inclined at an angle of approximately 45 degrees to an orthogonal direction to each of the corresponding shafts.