Abstract:
An aspect of the invention provides a PSI (purse-string instrument) for laparoscopic surgery that includes: a first jaw; a second jaw configured to clamp a suture site in cooperation with the first jaw; a first rod, which is coupled to one end of the first jaw and configured to rotate the first jaw such that the suture site is clamped, and which is held inside a shaft; and a second rod, which is coupled to one end of the second jaw and configured to rotate the second jaw such that the second jaw faces an extending direction of the shaft. The PSI can be inserted using the incision made beforehand in the surgical site during laparoscopic surgery and thus does not require making additional cuts in the patient&#39;s body or disassembling/reassembling the instrument when inserting the instrument into the abdominal cavity.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit of Korean Patent Application No. 10-2009-0030151 filed with the Korean Intellectual Property Office on Apr. 8, 2009, Korean Patent Application No. 10-2009-0099519 filed with the Korean Intellectual Property Office on Oct. 20, 2009, and Korean Patent Application No. 10-2010-0014968 filed with the Korean Intellectual Property Office on Feb. 19, 2010, the disclosures of which are incorporated herein by reference in their entirety. 
       BACKGROUND 
       [0002]    The present invention relates to a surgical apparatus, more particularly to a PSI (purse-string instrument) for laparoscopic surgery, a method of using the PSI, and a cabinet for using the PSI. 
         [0003]    In the field of medicine, surgery refers to a procedure in which a medical apparatus is used to make a cut or an incision in or otherwise manipulate a patient&#39;s skin, mucosa, or other tissue, to treat a pathological condition. A surgical procedure such as a laparotomy, etc., in which the skin is cut open and an internal organ, etc., is treated, reconstructed, or excised, may entail problems of blood loss, side effects, pain, and scars. Thus, methods of surgery that involve making an incision in the skin and inserting only a medical apparatus, such as a laparoscope, a surgical instrument, and a microscope, for example, are currently regarded as popular alternatives. 
         [0004]    The surgical PSI (purse-string instrument), for suturing the surgical site of an organ after surgery, has long been taught in various ways in the field of surgery as a means for attaching and healing tissues. In the related art, there have been several types of technology developed related to intraluminal or circular PSI&#39;s, to provide anastomosis for surgical procedures. 
         [0005]      FIG. 1  is a front view of a PSI for laparoscopic surgery according to the related art. Illustrated in  FIG. 1  are a first jaw  110 , a second jaw  120 , a shaft  130 , a grip  140 , a rod  150 , detents  155 , a stopper  160 , and a spring  165 . The jaws may include a first jaw  110  and a second jaw  120  to grab a suture site. The second jaw  120  may be connected with the rod  150  to move closer to or further from the first jaw  110 . The user may hold the grip  140 , push the rod  150  along the direction of the shaft  130  to grab the suture site, and then secure the rod  150  to the stopper using the detents  155 . Afterwards, the user may insert a needle (not shown) through a channel that passes through both ends of the first jaw  110  and second jaw  120 , to suture the surgical site. 
         [0006]    According to the related art, however, the size of the jaws may be greater than the thickness of the shaft  130 . The jaws may not be able to pass through the incision used for laparoscopic surgery, and the incision may have to be widened, resulting in more surgery scars. 
         [0007]    Also, according to the related art, the jaws may be bent by a fixed angle and thus may not be able to pass through the trocar used during laparoscopic surgery. Hence, a procedure according to the related art may entail making a greater incision in the surgical site or performing unnecessary processes such as disassembling the PSI, inserting the shaft through the trocar, and then reassembling the PSI to access the surgical site. 
         [0008]    Moreover, according to the related art, inserting the needle through the jaws may require pushing the needle through the channel, as described above, while holding the needle using a laparoscope instrument. As this involves a certain amount of force, even a slight crook in the needle may cause the needle to deviate from the channel path inside, preventing the needle from being inserted. As such, the user may have to be careful to see that the needle is not crooked while being inserted into the channel. 
         [0009]    The information in the related art described above was obtained by the inventors for the purpose of developing the present invention or was obtained during the process of developing the invention. As such, it is to be appreciated that this information did not necessarily belong to the public domain before the patent filing date of the invention. 
       SUMMARY 
       [0010]    An aspect of the invention is to provide a PSI for laparoscopic surgery that can be inserted using the incision made beforehand in the surgical site during laparoscopic surgery and thus does not require making additional cuts in the patient&#39;s body or disassembling/reassembling the instrument when inserting the instrument into the abdominal cavity. 
         [0011]    Another aspect of the invention is to provide a PSI for laparoscopic surgery, as well as a cabinet for using the PSI, with which the needle can be inserted easily during suturing. 
         [0012]    One aspect of the invention provides a PSI for laparoscopic surgery that includes: a first jaw; a second jaw configured to clamp a suture site in cooperation with the first jaw; a first rod, which is coupled to one end of the first jaw and configured to rotate the first jaw such that the suture site is clamped, and which is held inside a shaft; and a second rod, which is coupled to one end of the second jaw and configured to rotate the second jaw such that the second jaw faces an extending direction of the shaft. 
         [0013]    The first rod can be coupled by a wire with the first jaw, and the first jaw and the second jaw can be inserted inside the shaft by a linear movement of the second rod. 
         [0014]    Another aspect of the invention provides a PSI for laparoscopic surgery that includes: a set of jaws including a first jaw and a second jaw configured to clamp a suture site; a scissor link coupled to one end of each of the first jaw and the second jaw for adjusting a distance between the first jaw and the second jaw; and a first rod, which is coupled to one end of the scissor link and configured to control the scissor link such that the suture site is clamped. 
         [0015]    This embodiment can further include a shaft, which may hold the first rod and which may be equipped on one end with a bending part that is capable of bending. The embodiment can further include a second rod coupled to the bending part and configured to adjust a bending angle of the bending part. The second rod can be coupled with the bending part by a wire that applies a tensional force on the bending part. 
         [0016]    The second rod can be held inside the first rod. The embodiment can further include a stopper, which may be coupled to one end of the shaft and configured to be caught on a detent formed on one end of the first rod such that the first rod is stopped. Also, the first rod and the second rod can be configured to move linearly, and a portion of the first rod can be formed as a spring. 
         [0017]    Yet another embodiment of the invention provides a PSI for laparoscopic surgery that includes: a first jaw configured to be movable and rotatable by way of a first hinge axis; a second jaw, which may be configured to clamp a suture site in cooperation with the first jaw and be movable and rotatable by way of a second hinge axis; a shaft holding the first jaw and the second jaw; and a main rod coupled to the second hinge axis and configured to move the second hinge axis inside the shaft. 
         [0018]    This embodiment can further include a rotation member coupled with the first jaw and configured to apply a rotational force on the first jaw. The rotation member can be an elastic wire or a spring, and the first hinge axis and the second hinge axis can provide rotational forces in different directions. 
         [0019]    This embodiment can also include an elastic member, which may be coupled to one or more of the first hinge axis and the second hinge axis to rotate the first jaw or the second jaw. Here, the elastic member can be any one or more of a V-spring, a flat spring, and a helical spring. 
         [0020]    The embodiment can further include a first rotation rod, which may have one end coupled to the first jaw, and which may be held inside the shaft and be configured to rotate the first jaw; and a second rotation rod, which may have one end coupled to the second jaw, and which may be held inside the shaft and be configured to rotate the second jaw. 
         [0021]    The embodiment can also include an elastic member that is coupled to one side of the second rotation rod and configured to apply an elastic force on the second rotation rod so as to rotate the second jaw in one direction. 
         [0022]    Here, the shaft can be shaped as a hollow tube, and the first rotation rod and the second rotation rod can be held inside the shaft. A trench can be formed in the main rod, extending along an axial direction of the main rod, and the first rotation rod and the second rotation rod can be held in the trench. 
         [0023]    The other end of the first rotation rod can be coupled to a lever protruding from a side surface of the shaft. An indentation can be formed in one end of the main rod, and the other end of the second rotation rod can be configured to fit into the indentation. 
         [0024]    The embodiment can further include a stopper coupled to one end of the shaft that is configured to be caught on a detent formed on one end of the first rod such that the first rod is stopped. 
         [0025]    Also, the main rod can be made to move in linear movements, and a portion of the main rod can be formed as a spring. A channel formed through both ends of one or more of the first jaw and the second jaw to receive a needle inserted therein can have its opening shaped as a funnel, and a diameter of the jaws, when the first jaw and the second jaw are clenched, can be made smaller than a diameter of the shaft. 
         [0026]    Another embodiment of the invention provides a cabinet for a PSI for laparoscopic surgery, for inserting a needle into a jaw that has a channel passing through both ends thereof. The cabinet includes: a frame, in which the jaw is inserted; and a support part, which is coupled to the frame and configured to support the needle in correspondence with an opening of the channel when one end of the jaw is inserted. 
         [0027]    This embodiment can further include a protruding part, which may be coupled to the frame, and which may be configured to be inserted in correspondence with a trench formed in the jaw. The number of support parts can correspond with the number of channels formed in the jaw, and one or more sides of the cabinet can be open. 
         [0028]    Yet another embodiment of the invention provides a method of using a PSI for laparoscopic surgery that includes: inserting a set of jaws, which includes a first jaw and a second jaw that clamp a suture site, inside the abdominal cavity of a patient while keeping the jaws parallel to the shaft; rotating the jaws to a particular angle with respect to the shaft; clamping the suture site with the jaws; and passing a needle through a channel formed in the jaws to suture the suture site. 
         [0029]    This embodiment can further include a protruding part, which may be coupled to the frame, and which may be configured to be inserted in correspondence with a trench formed in the jaw. In this case, the trench formed in the jaw can be parallel to an extending direction of the jaw, and the trench formed in the jaw can include an angled part that slants by a particular slope with respect to an extending direction of the jaw. 
         [0030]    In this case, the slope can be between 0 and 90 degrees, the angled part can be formed at an end portion of the trench, and there can be a multiple number of angled parts. 
         [0031]    Also, the number of support parts can correspond with the number of channels formed in the jaw, and one or more sides of the cabinet, other than the opening through which the jaw is inserted, can be open. 
         [0032]    Here, the support part can be located at a surface opposite the opening through which the jaw is inserted, and the support can be made of a flexible material. 
         [0033]    The support part can be shaped as any one of a cylinder, a cylindroid, and a prism. In a side of the support part, a side gap can be formed that allows the inserted needle to be detached from the support part when a force is applied in a direction orthogonal to an extending direction of the needle. 
         [0034]    Another aspect of the invention provides a PSI for laparoscopic surgery in which a needle can be inserted using the cabinet described above. The PSI includes: a first jaw, and a second jaw that clamps a suture site in cooperation with the first jaw, where a channel for inserting the needle is formed in any one or more of the first jaw and the second jaw. 
         [0035]    A PSI for laparoscopic surgery according to an embodiment of the invention can be inserted using the incision made beforehand in the surgical site during laparoscopic surgery and thus does not require making additional cuts in the patient&#39;s body or disassembling/reassembling the instrument when inserting the instrument into the abdominal cavity. Also, a cabinet used for the PSI for laparoscopic surgery according to an embodiment of the invention makes it possible to readily insert a needle during suturing. 
         [0036]    Additional aspects, features, and advantages, other than those described above, will be obvious from the claims and written description below. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0037]      FIG. 1  is a front view of a PSI for laparoscopic surgery according to the related art. 
           [0038]      FIG. 2  is a first front view of a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention. 
           [0039]      FIG. 3  is a second front view of a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention. 
           [0040]      FIG. 4  is a third front view of a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention. 
           [0041]      FIG. 5  is a partial side view of a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention. 
           [0042]      FIG. 6  is a partial perspective view of a jaw on a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention. 
           [0043]      FIG. 7  is a front view of a PSI for laparoscopic surgery according to a second disclosed embodiment of the invention. 
           [0044]      FIG. 8  is a first front view of a PSI for laparoscopic surgery according to a third disclosed embodiment of the invention. 
           [0045]      FIG. 9  is a second front view of a PSI for laparoscopic surgery according to a third disclosed embodiment of the invention. 
           [0046]      FIG. 10  is a third front view of a PSI for laparoscopic surgery according to a third disclosed embodiment of the invention. 
           [0047]      FIG. 11  is a partial magnified view of a PSI for laparoscopic surgery according to an embodiment of the invention. 
           [0048]      FIG. 12  is a partial magnified view of a PSI for laparoscopic surgery according to another embodiment of the invention. 
           [0049]      FIG. 13  is a front view of a PSI for laparoscopic surgery according to a fourth disclosed embodiment of the invention. 
           [0050]      FIG. 14  is a front view of a PSI for laparoscopic surgery according to a fifth disclosed embodiment of the invention. 
           [0051]      FIG. 15A  and  FIG. 15B  are cross-sectional views of PSI&#39;s for laparoscopic surgery according to an embodiment of the invention. 
           [0052]      FIG. 16A  and  FIG. 16B  are perspective views of cabinets for PSI&#39;s for laparoscopic surgery according to another embodiment of the invention. 
           [0053]      FIG. 17A  and  FIG. 17B  are perspective views of cabinets for PSI&#39;s for laparoscopic surgery according to yet another embodiment of the invention. 
           [0054]      FIG. 18  is a perspective view of a PSI for laparoscopic surgery according to an eighth disclosed embodiment of the invention. 
           [0055]      FIG. 19A  is a perspective view of a cabinet for a PSI for laparoscopic surgery according to an eighth disclosed embodiment of the invention. 
           [0056]      FIG. 19B  is a partial bottom view of a cabinet for a PSI for laparoscopic surgery according to an eighth disclosed embodiment of the invention. 
           [0057]      FIG. 20A ,  FIG. 20B ,  FIG. 20C , and  FIG. 20D  illustrate a process of inserting a needle in a PSI for laparoscopic surgery according to an eighth disclosed embodiment of the invention. 
           [0058]      FIG. 21A  is a partial side view of a PSI for laparoscopic surgery according to a ninth disclosed embodiment of the invention. 
           [0059]      FIG. 21B  is a partial side view of a PSI for laparoscopic surgery according to a tenth disclosed embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0060]    As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the invention to particular modes of practice, and it is to be appreciated that all changes, equivalents, and substitutes that do not depart from the spirit and technical scope of the invention are encompassed in the present invention. 
         [0061]    While terms including ordinal numbers, such as “first” and “second,” etc., may be used to describe various components, such components are not limited to the above terms. The above terms are used only to distinguish one component from another. 
         [0062]    When a component is said to be “connected to” or “accessing” another component, it is to be appreciated that the two components can be directly connected to or directly accessing each other but can also include one or more other components in-between. 
         [0063]    The terms used in the present specification are merely used to describe particular embodiments, and are not intended to limit the present invention. An expression used in the singular encompasses the expression of the plural, unless it has a clearly different meaning in the context. In the present specification, it is to be understood that the terms “including” or “having,” etc., are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the specification. 
         [0064]    Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those with ordinary knowledge in the field of art to which the invention belongs. 
         [0065]    Also, in providing descriptions referring to the accompanying drawings, those components that are the same or are in correspondence are rendered the same reference numeral regardless of the figure number, and redundant descriptions are omitted. In the written description, certain detailed explanations of related art are omitted, when it is deemed that they may unnecessarily obscure the essence of the invention. 
         [0066]      FIG. 2  through  FIG. 4  are front views of a PSI for laparoscopic surgery according to a first disclosed embodiment of the invention, for various modes of use. Illustrated in  FIGS. 2 to 4  are a first jaw  210 , a second jaw  220 , a hinge axis  223 , a shaft  230 , a grip  240 , a first rod  250 , detents  255 , a second rod  260 , a stopper  270 , and a spring  275 . 
         [0067]    A feature of this embodiment is that the first jaw  210  and the second jaw  220 , which cooperate to clamp a suture site, are able to rotate towards the lengthwise direction in which the shaft  230  is extended, or towards a different direction in correspondence to a user manipulation. That is, the set of jaws, including the first jaw  210  and second jaw  220 , can be made to move and rotate, so that the jaws may point towards the lengthwise direction in which the shaft  230  is extended, when being inserted into the abdominal cavity, but point towards a direction forming a particular angle with the shaft  230 , for example in a perpendicular direction, when actually suturing the suture site. Also, when an instrument according to this embodiment is being inserted into or withdrawn from the abdominal cavity through a surgical trocar, the inner wall of the surgical trocar can cause the jaws to point in the lengthwise direction in which the shaft  230  is extended, and after the jaws are inserted in the abdominal cavity, a particular rotational force can cause the jaws to form a particular angle with the shaft  230 . 
         [0068]    The diameter of the jaws, when the first jaw  210  and second jaw  220  are clenched together, can be smaller than the diameter of the shaft  230 . In this case, the jaws can be inserted into the abdominal cavity as long as the shaft  230  can be inserted, and therefore the entire instrument can be inserted without having to further increase the cuts. Moreover, in this case, the jaws can be held inside the shaft  230 , allowing for easier insertion and storage. 
         [0069]    The first jaw  210  and second jaw  220  can include teeth that interlock with one another, so that the suture site may be positioned in-between and be stitched by a needle inserted through a channel that passes through both ends of the first jaw  210  and/or second jaw  220 . 
         [0070]    The distance between the first jaw  210  and second jaw  220  may be adjusted in order to clamp the suture site. The first rod  250  may be coupled to one end of the first jaw  210  adjacent to the hinge axis  223 , and when moved, may rotate the first jaw  210  counter-clockwise about the hinge axis  223  such that the first jaw  210  and second jaw  220  clench together. 
         [0071]    To this end, the first jaw  210  can be coupled with the first rod  250  directly or coupled by way of a coupling element such as a wire, etc. For example, if a wire has one end coupled to the first rod  250  and the other end coupled to the first jaw  210  askew of the hinge axis  223 , then pulling the first rod  250  downward may cause the wire to transfer a rotational force onto the first jaw  210 . If this rotational force is one that effects a counter-clockwise rotation about the hinge axis  223 , then the first jaw  210  may rotate in the counter-clockwise direction to clench with the second jaw  220 . In order to create such a rotational force, the other end of the wire can be coupled with the first jaw  210  at the left side of the hinge axis  223  in  FIG. 2 . 
         [0072]    A portion of the first rod  250 , for clamping the suture site with the first jaw  210  and second jaw  220 , can be formed as a spring  253 . That is, if a portion of the first rod  250  is formed as a spring  253 , then the spring  253  may form a buffer to prevent damage to the suture site when the thickness of the suture site is varied, and also, a constant pressure can be maintained for clamping. The location where the spring  253  is formed can be in a middle region or an arbitrary region of the first rod  250 . 
         [0073]    An example in which the first jaw  210  and second jaw  220  are clenched together is illustrated in  FIG. 3 . In the example shown in  FIG. 3 , the first rod  250  is pulled downwards, and the detents  255  formed on the first rod  250  are secured by the stopper  270 . 
         [0074]    An elastic member, such as a spring  275 , can apply a rotational force on the stopper  270 , which may catch onto the detent  255  and secure the first rod  250 , stopping the movement of the first rod  250 . That is, the elastic member may push the one end of the stopper  270 , to which the elastic member is coupled, further from the shaft  230 , and as a result, the other end of the stopper  270  may be forced closer to the first rod  250 . Thus, the stopper  270  may secure the first rod  250  using the force of the elastic member. 
         [0075]    The inclination of the stopper  270  and the detent  255  can be determined such that the first jaw  210  and second jaw  220  maintains their clamp on the suture site. In the example shown in  FIG. 3 , since the first rod  250  has moved down to rotate the first jaw  210 , the stopper  270  and the detent  255  may be formed with an inclination that prevents the first rod  250  from moving upward, in order to maintain this state. 
         [0076]    Also, when the first rod  250  is moved upward, the first jaw  210  may receive a rotational force about the hinge axis  223  in a clockwise direction, so that the jaws may again return to an unclosed state, as in the example shown in  FIG. 2 . Various embodiments can be applied to the invention to achieve this. For example, an elastic member (such as a spring) can be inserted in the hinge axis  223  that rotates the first jaw  210  clockwise about the hinge axis  223 . 
         [0077]    Thus, the user is able to close or unclose the jaws by linearly moving the first rod  250  along the lengthwise direction in which the shaft  230  is extended. In this case, in order to determine the maximum angle formed by the first jaw  210  and second jaw  220 , a protruding detent (not shown) can be formed along the direction of rotation of the first jaw  210 . 
         [0078]    Also, the second rod  260  can move the first jaw  210 , the second jaw  220 , and the hinge axis  223 , to alter the lengthwise direction of the first jaw  210  and second jaw  220  to the lengthwise direction of the shaft  230 , and furthermore hold these inside the shaft  230 . The second rod  260  can be held inside the first rod  250 . The second rod  260  can also undergo linear movements to perform the functions described above. 
         [0079]    An example in which the first jaw  210 , second jaw  220 , and hinge axis  223  are held inside the shaft  230  is illustrated in  FIG. 4 . 
         [0080]    In the example shown in  FIG. 4 , the second rod  260 , which is coupled with the first jaw  210 , second jaw  220 , and hinge axis  223 , is pulled downwards, and correspondingly, the first jaw  210 , second jaw  220 , and hinge axis  223  are held inside the shaft  230 . While the coupling relations between the second rod  260  and the first jaw  210 , second jaw  220 , and hinge axis  223  are not illustrated, these can include direct connections or coupling by wires. 
         [0081]    Of course, various methods for adjusting the distance between the first jaw  210  and second jaw  220  can be applied to the invention. For example, while the foregoing descriptions illustrate a case in which the first jaw  210  and second jaw  220  rotate about the same hinge axis  223 , the first jaw  210  and the second jaw  220  can be made to clench together by rotating about different, multiple hinge axes. 
         [0082]    Also, while the foregoing descriptions illustrate a case in which the first jaw  210  and second jaw  220  clench together by rotating about the hinge axis  223 , according to another embodiment, the distance between the first jaw  210  and second jaw  220  can be adjusted while keeping the lengthwise directions of the first jaw  210  and second jaw  220  parallel to each other. For example, the first jaw  210  can be coupled to a hinge axis equipped on the shaft  230 , while the second jaw  220  can be coupled to a hinge axis provided on one end of the first rod  250 , so that the second jaw  220  may be moved by a movement of the first rod  250  and clench with the first jaw  210  while keeping parallel to the first jaw  210 . 
         [0083]    A method of using a PSI for laparoscopic surgery according to this embodiment can include, first, inserting the jaws, which include the first jaw  210  and second jaw  220  for clamping the suture site, into the abdominal cavity of the patient while keeping the jaws parallel to the shaft  230 . Inside the abdominal cavity, the jaws may be rotated to a particular angle with respect to the shaft  230 , and the jaws can be made to clamp the suture site. Afterwards, a needle may be passed through channels  215 ,  225  formed in the jaws, whereby the suture site may be sutured. 
         [0084]      FIG. 5  is a partial side view of one end of a jaw as seen from direction (A) in  FIG. 2 , while  FIG. 6  is a partial perspective view of the other end of the jaw illustrated in  FIG. 2 . In each of the first jaw  210  and second jaw  220 , a channel  215 ,  225  may be formed that passes through both ends. A needle (not shown) may be inserted through the channels  215 ,  225  to suture the suture site. Grooves  217  may be formed in the opposing surfaces of the first jaw  210  and second jaw  220 , to allow a stronger clamp on the suture site. 
         [0085]    The channel  215 ,  225  can be shaped as a funnel, with the opening having a decreasing inner diameter towards the inside. As this funnel-shaped opening has a wide insertion area, a slightly crooked needle may easily enter the opening, and consequently, the needle can be readily inserted into the channel  215 ,  225 . 
         [0086]    In  FIG. 6 , a multiple number of trenches are illustrated that are formed in the opposing surfaces of the first jaw  210  and second jaw  220 , in orthogonal directions to the grooves  217 . The flesh of the suture site may enter these trenches, to be stitched by the needle. Multiple openings may be formed, as the channels  215 ,  225  are disconnected by the multiple trenches, and these multiple openings can also be shaped as funnels. Hence, a needle inserted in an opening at one end of a channel  215 ,  225  can readily pass through the channel  215 ,  225 , until it emerges through the opening at the other end. 
         [0087]      FIG. 7  is a front view of a PSI for laparoscopic surgery according to a second disclosed embodiment of the invention. Illustrated in  FIG. 7  are a first jaw  710 , a second jaw  720 , a shaft  730 , a grip  740 , a first rod  750 , detents  755 , a second rod  760 , a stopper  770 , a spring  775 , a scissor link  780 , and a bending part  785 . The following descriptions will focus mainly on differences from the embodiment described above. 
         [0088]    The first jaw  710  and the second jaw  720  may be parallel to each other, and each may have one end coupled to the scissor link  780 . The scissor link  780  may be a scissors-type link that is increased in breadth when shortened in the lengthwise direction and decreased in breadth when elongated in the lengthwise direction. The scissor link  780  may have one end coupled to the first rod  750 , to be controlled by the first rod  750 . That is, the scissor link  780  may be varied in breadth, as its length is varied according to the movement of the first rod  750 , and thus the distance between the first jaw  710  and second jaw  720  may also be varied. 
         [0089]    The first rod  750  can be connected with the scissor link  780  directly or by way of a wire.  FIG. 7  illustrates a coupling relation that uses a wire. 
         [0090]    The scissor link  780  and the first jaw  710  and second jaw  720  can be mate-coupled along trenches that are formed at the coupling portions in directions orthogonal to the lengthwise direction of the shaft  730 . That is, the first jaw  710  and second jaw  720  can be mate-coupled at the portions of coupling with the shaft  730  in such a way that the length of the scissor link  780  may be changed, with respect to the coupling portions of the scissor link  780  and the first jaw  710  and second jaw  720 , while at the same time, the distance between the first jaw  710  and second jaw  720  may be adjusted. Of course, it is obvious that the embodiment can be implemented using a form of coupling other than a mate-coupling. 
         [0091]    The bending part  785  may be equipped on one end of the shaft  730  and may be capable of bending while holding the scissor link  780 . That is, since the bending part  785  can be bent in correspondence to user manipulation, the user can conveniently perform the suturing, by having the bending part  785  point towards the same direction as the lengthwise direction of the shaft  730  when it is being inserted into the abdominal cavity, and then curving the bending part  785  to a direction convenient for suturing after the jaws have been inserted into the abdominal cavity. 
         [0092]    The curving angle of the bending part  785  may be controlled by the operation of the second rod  760 , and for this, the bending part  785  and the second rod  760  can be connected to each other by a wire. For example, the bending part  785  can be such that tends to point towards the same direction as the lengthwise direction of the shaft  730  due to an elastic force, and a wire can be connected to a wall inside the bending part  785 . In this case, pulling down on the second rod  760  may cause the bending part  785  to curve in one direction due to the tension of the wire. The user can have the jaws face the suture site by rotating the whole shaft  730  about an axis following the lengthwise direction. Of course, various other mechanisms for bending the bending part  785  using wires can be applied to this embodiment. 
         [0093]      FIG. 8  through  FIG. 10  are front views of a PSI for laparoscopic surgery according to a third disclosed embodiment of the invention, for various modes of use. Illustrated in  FIGS. 8 to 10  are a first jaw  810 , a first hinge axis  815 , a second jaw  820 , a second hinge axis  825 , a shaft  830 , a grip  840 , a main rod  850 , detents  855 , a stopper  870 , a spring  875 , and a rotation member  880 . The following descriptions will focus mainly on differences from the embodiments described above. 
         [0094]    The first jaw  810  may be rotatably coupled to the first hinge axis  815  provided on the shaft  830 , and the second jaw  220  may be coupled to the second hinge axis  825  provided on one end of the main rod  850 . The first jaw  810  and the one end of the main rod  850  may be coupled by the rotation member  880 . The rotation member  880  may be a member that provides a rotational force to the first jaw  810  and can be an elastic member, such as a spring and a rubber band, which applies an elastic force. 
         [0095]    The first jaw  810  may receive a rotational force in a clockwise direction about the first hinge axis  815  from another elastic member, such as an elastic spring, equipped on the first hinge axis  815 . Also, the second jaw  820  may receive a rotational force in a counter-clockwise direction about the second hinge axis  825  from an elastic member equipped on the second hinge axis  825 . 
         [0096]    If the main rod  850  is pulled down to increase the distance between the first jaw  810  and the main rod  850 , the first jaw  810  and the second jaw  820  may both rotate to be parallel to the lengthwise direction of the shaft  830  and may be held inside the shaft  830 . Thus, the main rod  850  can rotate the first jaw  810  and second jaw  820  while moving linearly. 
         [0097]    The first jaw  810  may receive a rotational force in a counter-clockwise direction about the first hinge axis  815  from the rotation member  880 , which may be coupled with a particular distance from the first hinge axis  815 , and the first jaw  810  may thus rotate to be parallel to the lengthwise direction of the shaft  830 . Also, the second jaw  820 , as it is pulled downward by the main rod  850 , may be rotated by the inner wall of the shaft  830  to become parallel to the lengthwise direction of the shaft  830 . In the example shown in  FIG. 8 , the walls on either side of the shaft  830  where the first jaw  810  is located are open. 
         [0098]    In  FIG. 9 , an example is illustrated in which the first jaw  810  and second jaw  820  are rotated to protrude out of the shaft  830 . When the main rod  850  is moved up, the rotational force applied by the elastic member equipped on the first hinge axis  815  may become greater than the rotational force applied by the rotation member  880 , so that the first jaw  810  may rotate clockwise, and its lengthwise direction may not be parallel to the lengthwise direction of the shaft  830 . Also, when the main rod  850  is moved up, the second jaw  820  may move to the end of the shaft  830  where the left wall is open, and may thus protrude outwards of the shaft  830  due to the rotational force applied by the elastic member equipped on the second hinge axis  825 . In this case, detents (not shown) can be formed on the paths of rotation such that the first jaw  810  and second jaw  820  may be parallel to each other. 
         [0099]    In the example shown in  FIG. 10 , the first jaw  810  and second jaw  820  may clench together as the main rod  850  moves upwards. The operation of the main rod  850  may be stopped at the lower end by the stopper  870 . 
         [0100]    While the foregoing descriptions disclose a structure in which the first jaw  810  is rotated by the rotation member  880 , the invention is not thus limited. For example, the first jaw  810  can also be rotated by a movement of a separate, second rod, which couples with the first jaw  810 , as described above. 
         [0101]      FIG. 11  and  FIG. 12  are partially magnified views of a PSI for laparoscopic surgery according to embodiments of the invention. 
         [0102]    In the example illustrated in  FIG. 11 , V-springs  813   a ,  813   b  are used as the elastic members described above, as members for rotating the first jaw  810  and second jaw  820  about their respective rotational axes. The V-spring  813   a  may have its center coupled to the first hinge axis  815 , with one end coupled with the first jaw  810  and the other end coupled to the shaft  830 , so that the first jaw  810  can be rotated clockwise about the first hinge axis  815  due to the force exerted by the two ends tending to spread apart. Also, the V-spring  813   b  may have its center coupled to the second hinge axis  825 , one end coupled with the second jaw  820 , and the other end coupled to the main rod  850 , so that the second jaw  820  may be rotated counter-clockwise about the second hinge axis  825  due to the force exerted by the two ends tending to spread apart. Thus, when the main rod  850  is moved in the direction of the first jaw  810  as described above, the first jaw  810  may rotate clockwise about the first hinge axis  815 , and the second jaw  820  may rotate counter-clockwise about the second hinge axis  825 , to protrude outside of the shaft  830 . Of course, various other types of spring, such as a helical spring (coil), can be applied to this embodiment. 
         [0103]    In the example illustrated in  FIG. 12 , a flat spring  817  is used as the elastic member described above, as a member for rotating the first jaw  810 . The flat spring  817  can be formed by one or more elastic plates. The flat spring  817  may have one end coupled to the first jaw  810  adjacent to the first hinge axis  815 , and the other end coupled to the shaft  830  or to a separate support  816  secured to the shaft  830 , so that the first jaw  810  can be rotated in a clockwise direction about the first hinge axis  815  due to the restoring force of the spring. While an example is illustrated in which a V-spring is coupled to the second jaw  820 , the second jaw  820  can also be rotated by coupling a flat spring, as described above. Of course, various other types and structures of springs can be applied to this embodiment. 
         [0104]      FIG. 13  is a front view of a PSI for laparoscopic surgery according to a fourth disclosed embodiment of the invention. Illustrated in  FIG. 13  are a first jaw  810 , a first hinge axis  815 , a second jaw  820 , a second hinge axis  825 , a shaft  830 , a grip  840 , a main rod  850 , a spring  853 , detents  855 , a stopper  870 , a spring  875 , a first rotation rod  890 , a second rotation rod  895 , an elastic member  896 , and a lever  893 . The following descriptions will focus mainly on differences from the above. 
         [0105]    In this embodiment, the first jaw  810  may be rotated using the first rotation rod  890 , without a separate rotation member  880  coupled to the first jaw  810  and the main rod,  850 , and the second jaw  820  may be rotated using the second rotation rod  895 . 
         [0106]    The first rotation rod  890  may have one end coupled to the first jaw  810  at a particular distance from the first hinge axis  815 , while the other end may be equipped with a lever  893 . The lever  893  may be formed protruding from a side of the shaft  830 , and its location may be specified by securing the lever  893  to a stopper, a latch, or a separate indentation. By moving the lever  893  along the axial direction of the shaft  830 , the user may rotate the first jaw  810  coupled to one end of the first rotation rod  890 . For example, if one end of the first rotation rod  890  is coupled to the left of the first hinge axis  815  illustrated in  FIG. 13 , the first jaw  810  may be rotated about the first hinge axis  815  in a counter-clockwise direction when the first rotation rod  890  is moved downwards, while the first jaw  810  may be rotated about the first hinge axis  815  in a clockwise direction when the first rotation rod  890  is moved upwards. 
         [0107]    Also, the second rotation rod  895  may have one end coupled to the second jaw  820  at a particular distance from the second hinge axis  825 , with one side coupled to the elastic member  896 , so that the second jaw  820  can be rotated in one direction by the elastic force of the elastic member  896 . The elastic member  896  can be coupled to various positions, such as the far end or a middle side of the second rotation rod  895 , to apply an elastic force on the second rotation rod  895 . The elastic member  896  is not limited to a particular shape or structure, as long as it is a member for applying an elastic force on the second rotation rod  895 , and the elastic member  896  can be, for example, a helical spring. 
         [0108]    The elastic member  896  may be securely held on one side of the main rod  850 , on the inside, for example, and may apply an elastic force to pull or push the second rotation rod  895  towards the second jaw  820 , allowing the second jaw  820  to rotate in one direction. For example, if one end of the second rotation rod  895  is coupled to the right of the second hinge axis  825 , as illustrated in  FIG. 14 , the second rotation rod  895  may push the second jaw  820 , due to the elastic force of the elastic member  896  coupled to the other end, so that the second jaw  820  may continuously receive a force that rotates the second hinge axis  825  in a counter-clockwise direction. Also, if one end of the second rotation rod  895  is coupled to the left of the second hinge axis  825  illustrated  FIG. 14 , the second rotation rod  895  can pull the second jaw  820 , according to the elastic force of the elastic member  896  coupled to the other end, in which case the second jaw  820  may continuously receive a force that rotates the second hinge axis  825  in a counter-clockwise direction. 
         [0109]    Therefore, when the main rod  850  is moved so that the second jaw  820  coupled to the main rod  850  may be opened out of the shaft  830 , the elastic force of the elastic member  896  may be transferred to the second jaw  820 , which may then rotate counter-clockwise to be arranged orthogonally to the extending direction of the shaft  830 . 
         [0110]    A portion of the first rotation rod  890  and/or main rod  850  can be formed as a spring  853 . The spring  853  can be a typical helical spring and can serve to absorb and buffer impact energy. By forming a portion of the first rotation rod  890  and/or main rod  850  as a spring, as described above, the spring  853  may buffer the impact and prevent damage to the suture site when the thickness of the suture site is varied, and a constant pressure for clamping can be maintained. 
         [0111]      FIG. 14  is a front view of a PSI for laparoscopic surgery according to a fifth disclosed embodiment of the invention. Illustrated in  FIG. 14  are a first jaw  810 , a first hinge axis  815 , a second jaw  820 , a second hinge axis  825 , a shaft  830 , a grip  840 , a main rod  850 , a spring  853 , detents  855 , an indentation  857 , a securing element  858 , a stopper  870 , a spring  875 , a first rotation rod  890 , a second rotation rod  895 , and a lever  893 . The following descriptions will focus mainly on differences from the above. 
         [0112]    In the example shown in  FIG. 14 , the first jaw  810  may be rotated using the first rotation rod  890 , without a separate rotation member  880  coupled to the first jaw  810  and the main rod  850 , and the second jaw  820  may be rotated using the second rotation rod  895 , which extends to one end of the main rod  850 . 
         [0113]    The first rotation rod  890  may have one end coupled to the first jaw  810  at a particular distance from the first hinge axis  815 , while the other end may be equipped with a lever  893 . The lever  893  may be formed protruding from a side of the shaft  830 , and its location may be specified by securing the lever  893  to a stopper, a latch, or a separate indentation. By moving the lever  893  along the axial direction of the shaft  830 , the user may rotate the first jaw  810  coupled to one end of the first rotation rod  890 . For example, if one end of the first rotation rod  890  is coupled to the left of the first hinge axis  815  illustrated in  FIG. 14 , the first jaw  810  may be rotated about the first hinge axis  815  in a counter-clockwise direction when the first rotation rod  890  is moved downwards, while the first jaw  810  may be rotated about the first hinge axis  815  in a clockwise direction when the first rotation rod  890  is moved upwards. 
         [0114]    Also, the second rotation rod  895  may have one end coupled to the second jaw  820  at a particular distance from the second hinge axis  825 , to operate in a manner similar to that of the first rotation rod  890  described above and thereby rotate the second jaw  820  in. For example, if one end of the second rotation rod  895  is coupled to the right of the second hinge axis  825  illustrated in  FIG. 14 , the second jaw  820  may be rotated about the second hinge axis  825  in a clockwise direction when the second rotation rod  895  is moved downwards, while the second jaw  820  may be rotated about the second hinge axis  825  in a counter-clockwise direction when the second rotation rod  895  is moved upwards. 
         [0115]    The second rotation rod  895  can be held inside the main rod  850 , and in this case, if the other end of the second rotation rod  895  is coupled with the main rod  850 , the other end of the second rotation rod  895  can be inserted in the indentation  857  formed in the portion where it couples with the main rod  850 . The indentation  857  of the main rod  850  can be formed in correspondence with the shape of the other end of the second rotation rod  895 . When the other end of the second rotation rod  895  is inserted in the indentation  857  of the main rod  850 , the securing element  858  can be fastened to the other end of the second rotation rod  895  to stop the movement of the second rotation rod  895 . The securing element  858  may be an element that is movable along a direction orthogonal to the extending direction of the second rotation rod  895 , and can be implemented and expressed as various structures, such as a stopper, latch, etc. 
         [0116]    Also, a portion of the first rotation rod  890  and/or second rotation rod  895  can be formed as a spring  853 . The spring  853  may be a helical spring and can serve to absorb and buffer impact energy. By forming a portion of the first rotation rod  890  and/or second rotation rod  895  as a spring, as described above, the spring  853  may buffer the impact and prevent damage to the suture site when the thickness of the suture site is varied, and a constant pressure for clamping can be maintained. A portion of the main rod  850  can also be formed as a spring  853 . 
         [0117]    The shape by which the main rod  850 , first rotation rod  890 , and second rotation rod  895  are held inside the shaft  830  can be implemented in various ways. Referring to  FIG. 15A  and  FIG. 15B , which are cross-sectional views across the lines K-K′ in  FIG. 13  and  FIG. 14 , the shaft  830  can be shaped as a generally hollow tube, and the main rod  850 , first rotation rod  890 , and second rotation rod  895  can be held inside the shaft  830  ( FIG. 15A ). Also, referring to  FIG. 15B , the shaft  830  can be shaped as a generally hollow tube, and the main rod  850  can include separate trenches extending along the axial direction to hold the first rotation rod  890  and second rotation rod  895 , while the first rotation rod  890  and the second rotation rod  895  can each be held in a trench to move along the axial direction of the shaft  830 . 
         [0118]      FIG. 16A  and  FIG. 16B  are perspective views of cabinets for PSI&#39;s for laparoscopic surgery according to another embodiment of the invention. Illustrated in  FIGS. 16A and 16B  are a frame  910 , protruding parts  920 , a first support part  930 , a second support part  935 , a first needle  940 , a second needle  945 , a first thread  950 , and a second thread  955 . 
         [0119]    In an attempt to resolve the problem of difficulty in inserting a needle into the jaws described above, this embodiment provides a cabinet that corresponds with the size of the jaws and enables a needle to be inserted into the jaws at the same time as the jaws are inserted. While  FIGS. 16A and 16B  respectively illustrate examples in which the first needle  940  and the second needle  945  are provided separately, the invention is not limited to this structure. It is obvious, for example, that the first needle  940  and second needle  945  can both be coupled to a single frame  910  with a particular distance in-between. 
         [0120]    The frame  910  may be a scaffold into which the jaws may be inserted and may be formed in correspondence with the size of the jaws. Since the jaws are to be inserted into the cabinet while clamping the suture site, the cabinet according to this embodiment can be fabricated correspondingly after measuring the size of the jaws clamping the suture site. The frame  910  can be formed simply as a scaffold for maintaining its shape, or the frame  910  can be formed with its sides blocked other than the opening through which the jaws are inserted. 
         [0121]    The first support part  930 , first needle  940 , and first thread  950  may correspond with the first jaw  110 ,  210 ,  710 ,  810 , while the second support part  935 , second needle  945 , and second thread  955  may correspond with the second jaw  120 ,  220 ,  720 ,  820 . In cases where the first jaw  210  is inserted into the frame  910 , the first needle  940  facing the lengthwise direction of the first channel  215  may be inserted into the first channel  215 , and thus the first thread  950  may stitch the suture site. In this way, the user may resolve the difficulty of inserting only the first needle  940  into the first channel  215  as described above. 
         [0122]    The first support part  930  may be coupled to the frame  910  to support the first needle  940 , and when the first jaw  210  is inserted in the frame  910 , may apply the force for inserting the first needle  940  into the first channel  215 . To this end, the first support part  930  may be formed orthogonally to the direction in which the first jaw  210  is inserted and moved, or as in the illustrated example, may extend along a parallel direction, to support the first needle  940 . In the latter case, the first support part  930  can be coupled to the rear surface of the frame  910  facing the opening through which the first jaw  210  is inserted. 
         [0123]    Also, in the former case, a support-part through-channel (not shown) can be formed in the first jaw  210  through which the first support part  930  may pass. That is, since the first support part  930  may hinder the movement of the first jaw  210  if the first support part  930  is installed extending along a direction orthogonal to the direction in which the first jaw  210  is moved, a support-part through-channel can be formed in the first jaw  210  to resolve this issue. 
         [0124]    As in the illustrated example, the first support part  930  can be provided at the opening through which the first jaw  210  is inserted or at an arbitrary point along the direction in which the first jaw  210  is inserted. The first needle  940  can also be positioned at the opening through which the first jaw  210  is inserted or at an arbitrary point along the direction in which the first jaw  210  is inserted. 
         [0125]    The protruding parts  920  may be coupled to the frame  910  and may be inserted in correspondence with the trenches formed in the jaw. The protruding parts  920  allow the first needle  940  to be inserted in the first channel  215  more accurately. That is, groove-like trenches can be formed in the first jaw  210  with their relative distances to the first channel  215  calculated beforehand, and the first jaw  210  can be inserted into the frame  910  by coupling the trenches with the protruding parts  920 , so that the first needle  940  may be inserted into the first channel  215  accurately. There is no particular limit to the number of protruding parts  920 , and  FIGS. 16A and 16B  each illustrate examples that include two. 
         [0126]    Of course, the above descriptions can also be applied to the second support part  935 , second needle  945 , second thread  955 , and second jaw  120 . Furthermore, the number of support parts, including the first support part  930  and second support part  935 , can be determined in correspondence to the number of channels formed in the jaws. 
         [0127]    Also, the cabinet can be manipulated by the tongs of a surgical instrument or can be integrated with an instrument dedicated to its use. 
         [0128]      FIG. 17A  and  FIG. 17B  are perspective views of cabinets for PSI&#39;s for laparoscopic surgery according to yet another embodiment of the invention. Illustrated in  FIGS. 17A and 17B  are a frame  1010 , cabinet sides  1015 , a first support part  1030 , a second support part  1035 , a first needle  1040 , a second needle  1045 , a first thread  1050 , and a second thread  1055 . The following descriptions will focus mainly on differences from the embodiments described above. 
         [0129]    A feature of this embodiment is that, since the jaws would be clamping the suture site when the needle is to be inserted in the jaws, the cabinet to which the PSI for laparoscopic surgery is applied has its sides opened, so that the jaws may readily be inserted into the frame  1010 . That is, both sides of the cabinet may be open, so that the jaws may readily be inserted into the frame  1010 , even when portions of the suture site protrude at the sides. 
         [0130]    The cabinet sides  1015  may extend a particular length from the upper portion, and these parts may allow easier insertion of the jaws. The distance between the cabinet sides  1015  at the upper portion can be formed with the same breadth as that of the jaws, so that the cabinet sides  1015  may serve as the protruding parts  920  described above. Of course, this embodiment can also include additional protruding parts  920 . 
         [0131]      FIG. 18  is a perspective view of a PSI for laparoscopic surgery according to an eighth disclosed embodiment of the invention,  FIG. 19A  is a perspective view of a cabinet for a PSI for laparoscopic surgery for inserting a needle into the PSI for laparoscopic surgery, and  FIG. 19B  is a partial rear view of the cabinet of  FIG. 19A  as seen from direction “A”, while  FIG. 20A  through  FIG. 20D  illustrate a process of inserting a needle in the PSI for laparoscopic surgery. Illustrated in  FIGS. 18 to 20D  are a first jaw  810 , trenches  811 , angled parts  812 , a second jaw  820 , a shaft  830 , a grip  840 , a frame  910 , protruding parts  920 , a first support part  930 , a first needle  940 , and a first thread  950 . While the following descriptions will mainly be provided with regards the form, function, and operation of the first jaw  810 , it is obvious that the descriptions can also apply to the second jaw  820 . The following descriptions will focus mainly on differences from the embodiments described above. 
         [0132]    A feature of this embodiment is to form a trench having a particular slope in the PSI for laparoscopic surgery, and form the protruding part, support part, and frame of the cabinet correspondingly, in order that the needle may readily be inserted into the PSI for laparoscopic surgery. That is, with a PSI for laparoscopic surgery according to this embodiment, when the user pushes the jaws in one direction, the PSI may be detached from the cabinet for the PSI while the needle is inserted in the jaws. 
         [0133]    In the first jaw  810  and/or second jaw  820 , groove-like trenches  811  may be formed, in which the protruding parts  920  formed on the cabinet for the PSI for laparoscopic surgery may be held. As in the illustrated example, the trenches  811  may be formed to be generally parallel to the extending directions of the first jaw  810  and second jaw  820 , respectively, and therefore the user can push the first jaw  810  and second jaw  820  along the extending direction, with the protruding parts  920  inserted in the trenches  811 , so that the first needle  940  may be inserted in the first jaw  810 . Although only the first needle  940  is illustrated in the drawings, it is obvious that a second needle  945  may additionally be included, which may be inserted into the channel of the second jaw  820 , as described above. 
         [0134]    Referring to  FIG. 19A , the frame  910  can be shaped as a “C”, having one side open, and in this case, the first jaw  810  and second jaw  820 , which may be inserted into the cabinet such that a needle is inserted in each channel, can be detached from the cabinet through the opened side. The protruding parts  920  may be formed in locations corresponding to the trenches  811  of the first jaw  810 , and the first needle  940  may be positioned such that it can be inserted into the channel formed in the first jaw  810 . Thus, as the protruding parts  920  are inserted into the trenches  811  of the first jaw  810 , the first needle  940  can be inserted into the channel formed in the first jaw  810 . 
         [0135]    The first support part  930  may be formed on the surface opposite the opening of the frame  910  through which the first jaw  810  is inserted, and may support the first needle  940 . For example, the first needle  940  may be supported while lodged in the first support part  930 . The first support part  930  may be formed from a flexible material such that the first needle  940  can be detached from the first support part  930  when the first needle  940  receives a force in a direction orthogonal to its extending direction. To this end, a side gap can be formed in the first support part  930  that can provide a detachment path when the first needle  940  receives the above force. For example, as illustrated in  FIG. 19A  and  FIG. 19B , the first support part  930  can be shaped as a cylinder, a cylindroid (including a partial cylindroid), a prism, etc., and a hole may be formed in a center portion, into which the first needle  940  can be inserted, while a gap may be formed in the side. Thus, when a force is applied to the first needle  940  inserted in the first support part  930  in a direction orthogonal to its extending direction, the first needle  940  can be detached from the first support part  930  through the gap. 
         [0136]    Referring to  FIGS. 20A to 20D , the first jaw  810  may include trenches  811  formed parallel to the extending direction of the first jaw  810 , while an angled part  812  having a particular slope with respect to the parallel direction may be formed in one end of a trench  811 . Here, the slope can be 0 to 90 degrees, and the angled parts  812  can be formed in various shapes, such as straight or curved lines, etc. Referring to  FIG. 20A , the protruding part  920  of the cabinet may correspond with the location of the trench  811 , and the first needle  940  may correspond with the location of a channel of the first jaw  810 . The protruding part  920  of the cabinet may be inserted in and moved along the trench  811 , whereby the movement path of the cabinet may be specified (see  FIG. 20B ). As the protruding part  920  is moved along the angled part  812 , the opening of the cabinet through which the first jaw  810  is inserted may be increased in height relative to the first jaw  810 , whereas the height of the first support part  930  may remain constant until the first needle  940  is detached, and therefore the cabinet may be slanted, with the left side of the cabinet higher than the other, as illustrated in  FIG. 20C . Afterwards, the first needle  940  may continue to receive a force in a direction orthogonal to its extending direction, and when the force exceeds a detachment threshold, the first needle  940  may be detached from the first support part  930  (see  FIG. 20D ). 
         [0137]    Thus, according to this embodiment, the user can apply a pushing force in one direction to insert a needle into a jaw and withdraw the jaw from the cabinet at the same time. 
         [0138]      FIG. 21A  and  FIG. 21B  are partial side views of a PSI for laparoscopic surgery according to another embodiment of the invention. In the example shown in  FIG. 21A , the slope of the angled part  812  described above with respect to the extending direction of the first jaw  810  is 90 degrees. In this case, the user may push the first jaw  810  into the cabinet until the protruding part  920  reaches the angled part  812 , and then move the first jaw  810  in a direction parallel to the angled part  812 , to detach the first jaw  810  from the cabinet. 
         [0139]    Referring to  FIG. 21B , the angled part  812  described above can be included in multiple numbers. Since the positions of the angled parts  812  can be determined by the length of the first needle  940  and the degree to which it protrudes, etc., the assembly can be applied in various ways to various cabinet structures, conditions, environments, etc., by using multiple angled parts  812  in different positions. 
         [0140]    Those of ordinary skill in the art will understand that various changes and modifications can be made to the invention without departing from the spirit and scope of the invention as defined by the appended claims below.